BDA 2013 Dynamics

En. Saifulnizan Bin Jamian

Faculty of Mechanical Engineering and
Manufacturing
Kolej Universiti Teknologi Tun Hussein
Onn
86400 Parit Raja, Johor

[C16-101-11 saifulnz@kuittho.edu.my]
[ 07-453 6200 EXT 1379 ]

Copyright 2005

Contents

zIntroduction
zSemester Overview
zMechanics
zVectors
zKinematics of Particles
zRectilinear Motion

1
 Introduction
z Sinopsis:
Pengenalan dinamik, kinematik zarah, kinematik jasad
tegar, kinetik zarah dan kinetik jasad tegar.
z Objektif:
Kursus ini dirangka untuk membantu pelajar
memahami perkara berikut:
Memahami konsep kinematik zarah.
Memahami konsep kinetik zarah.
Memahami konsep kinematik jasad tegar.
Memahami konsep kinetik jasad tegar.

Introduction
Rujukan Utama :
z Bear F.P. and Johnson E. R., 2004. Vector Mechanics for Engineers
Dynamics, 7th S.I. Edition, Mc Graw Hill
z Hibbeler R.C., 2004. Engineering Mechanics Dynamics, 3rd S.I. Edition,
Prentice Hall.
Rujukan lain :
z David H. Myszka, 2005. Machines and Mechanisms, 3rd Edition, Prentice
Hall.
z Meriam J.L. and Kraige L. G., 1997. Engineering mechanics Vol. 2 Statics
and Dynamics, 4th Edition, John Wiley & Sons, Inc.
z Bedford A. & Wallace T. Fowler, 2005. Engineering Mechanics-Dynamics, S.I.
Edition, Prentice Hall.
z Abdul Ghani Mohamad, 1996. Mekanik Badan Tegar Dinamik, Penerbit UTM.
PENILAIAN (PERATUS TABURAN MARKAH)
(a) Tugasan & Tutorial : 5%
(b) Projek Mini : 5%
(c) Ujian 1, 2 & 3 : 40%
(d) Peperiksaan Akhir : 50%

2
 Introduction (cont.)
KEHADIRAN/PERATURAN SEMASA KULIAH

z Pelajar mesti hadir tidak kurang dari 80% masa pertemuan yang
ditentukan bagi sesuatu mata pelajaran termasuk mata pelajaran
Hadir Wajib (HW) dan matapelajaran Hadir Sahaja (HS).
z Pelajar yang tidak memenuhi perkara (1) diatas tidak dibenarkan
menghadiri kuliah dan menduduki sebarang bentuk penilaian
selanjutnya. Markah sifar (0) akan diberikan bagi mata pelajaran
yang berkenaan atau Hadir Gagal (HG) bagi mata pelajaran Hadir
Wajib (HW)
z Pelajar perlu mengikut dan patuh kepada peraturan berpakaian
yang berkuatkuasa dan menjaga displin diri masing-masing untuk
mengelakkan dari tindakan tatatertib diambil oleh pelajar.
z Pelajar perlu mematuhi peraturan keselamatan semasa
pengajaran dan pembelajaran

Overview of Semester Topics

Kinematics - the study of how objects move without regard to the forces
associated with that motion

z Particles (Test 1)
rectilinear kinematics
curvilinear kinematics
9 Rectangular
9 normal-tangential
9 Polar
dependent motion
relative motion
z Rigid bodies (Test 2)
fixed-axis rotation
absolute motion
relative motion
9 velocity
9 acceleration
instantaneous centers of zero velocity

3
Overview of Semester Topics
(cont.)
Kinetics - the study of the relationship between the motion and the
forces that cause the motion
z ParticlesUsing Newton's laws
Using Newtons laws
Using work and energy methods
Using impulse and moments methods (Test 3)
z Rigid bodies
Using Newtons laws
9 translation
9 fixed-axis rotation
9 general plane motion
Using work and energy methods
Using impulse and moments methods

Mechanics
Terms
z mechanics - the study of forces and their effects
z matter - any substance that occupies space
z body - matter bounded by a closed surface
z mass - quantitative measure of a body's resistance to a
change in its motion; used to measure inertia
z weight - the force of gravity acting on a body; depends
on location (W=mg)
z force - the action of one body on another
z concentrated force - represents a loading which is
assumed to act at a point on a body
z particle - an object with mass but whose size can be
ignored

4
Rigid Body
z A rigid body is a collection of particles that
remain at fixed distances from each other at all
times and under all conditions of loading.
z The rigid-body concept represents an
idealization of the true situation, since all real
bodies will change shape to a certain extent
when they are subjected to a system of forces.
When it is assumed that the body is rigid (free of
deformation), the material properties of the body
are not required for the analysis of forces and
their effects on the body.

Three Branches of "Mechanics"

z rigid body mechanics (Classical mechanics)
Statics- the study of bodies in equilibrium (zero
acceleration -- at rest or moving with constant velocity)
Dynamics- the study of the accelerated motion of
bodies
Kinematics
Kinetics
z deformable body mechanics (Mechanics of
materials)
z fluid mechanics

5
 Newton's Laws
"The genesis of his principal ideas, both mathematical and physical, took place in a two-year
period when he was in his twenties."
-- David Berlinski

paraphrased:
A particle at rest or in motion will remain unless acted upon by an
external force.
An unbalanced force causes an acceleration in the same direction as the
applied force. (F=ma)
Every action has an equal but opposite reaction.

Vectors
vector - a quantity that has both
magnitude and direction (e.g.
position vector, rAB)
scalar - physical quantity
completely described by a real
number, rAB
magnitude - non-negative real
number, |rAB|
unit vector - a vector whose
magnitude is one, e or u = rAB /
|rAB|

6
 Vectors (cont.)
A vector is represented graphically by
an arrow, which is used to define its
magnitude, direction, and sense. The
magnitude of the vector is the length of
the arrow, the direction is defined by the
angle between a reference axis and the
arrow's line of action, and the sense is
indicated by the arrowhead. The end with
the arrowhead is call the tip or head of the
vector, and the other end is called the tail.
A = AuA = A cos(a) i + A cos(b) j + A
cos(g) k = Ax i + Ay j + Az k

I am picky about notation and units.

Vector Algebra

zSee Vector Summary or your calculus

book.
zDot products, cross products, and mixed
triple products will be used to determine
moment vectors (torque).

7
 Vector Components

zSee Coordinate Systems.

zIn statics, it is easier to work with the
rectangular components (Cartesian
coordinates) of a vector.
zRight-handed, 3D Cartesian coordinate
systems:
zLay fingers in direction of +x-axis, bend
fingers in direction of +y-axis, and thumb
will point in direction of +z-axis.

Vector Components (cont.)

z Right-handed, 3D Cartesian coordinate systems:
z Lay fingers in direction of +x-axis, bend fingers in direction of +y-
axis, and thumb will point in direction of +z-axis.

8
 Kinematics of Particles
Terms
z particle - an object whose size can be ignored when
studying its motion position vector of point P with
respect to origin O is written as rP/O(t).
z displacement - the difference in position of a particle at
two instants in time
z velocity - the time rate change of a particle's position
z acceleration - the time rate of change of a particle's
velocity
z Displacement, velocity, and acceleration are
independent of the origin location.
z Velocity is in the same direction as displacement.

Kinematics of Particles (cont.)

9
 In terms of a fixed, rectangular, Cartesian
coordinate system,

Position

Displacement

Velocity

Acceleration

Types of Motion
z rectilinear motion - motion in a coordinate
system such that y- and z-components of r, v,
and a are all zero for all time
i.e. motion along a straight line with varying
speed and acceleration
z plane curvilinear motion - motion in a
coordinate system such that z-components of r,
v, and a are all zero for all time
z general curvilinear or space curvilinear
motion - motion where no coordinate system
can be found that makes at least on component
of r, v, and a zero for all time

10
 Rectilinear Motion
z If the coordinate system is oriented such that the x-axis coincides with the line of
motion, the general equations for position, displacement, velocity, and acceleration
simplify to

Position

Displacement

Velocity

Acceleration

Rectilinear Motion (cont.)

Velocity acts in the same direction as displacement.
Accelerations acts colinearly with velocity.
If v and a have the same sign, then v is increasing
(particle is accelerating).
If v and a have opposite signs, then v is decreasing
(particle is decelerating).
Distance traveled (a scalar) is a measure of the total
length of a particle's path.
Displacement (a vector) is a measure of the difference
between the beginning and the end of a particle's path.

11
Examples 1 ( Hibbeler 12-1)

zA bicyclist starts from rest and after

traveling along a straight path a distance
of 20 m reaches a speed of 30 km/h.
Determine his acceleration if it is constant.
Also, how long does it take to reach the
speed of 30 km/h?

Answer.

Examples 2 (Hibbeler 12-3, 10th Ed.)

zA baseball is thrown downward from a 50

ft tower with an initial speed of 18 ft/s.
Determine the speed at which it hits the
ground and the time of travel.

Answer

12
Example 3 (Hibbeler 12-13, 10th Ed.)

zThe position of a particle along a straight

line is given by s=(1.5t3 13.5t2 + 22.5t)ft,
where t is in seconds. Determine the
position of the particle when t = 6s and the
total distance it travels during the 6 s time
interval. Hint: Plot the path to determine
the total distance traveled.
Answer

Example 4 (Hibbeler 12-19, 10th Ed.)

A stone A is dropped from rest down a

well, and in 1 s another stone B is dropped
from rest. Determine the distance between
the stones another second later.

Answer

13
Example 5 (Hibbeler 12-5, 10th Ed.)

zTraveling with an initial speed of 70 km/hr,

a car accelerates at 6000 km/hr2 along a
straight road. How long will it take to reach
a speed of 120 km/h? Also, through what
distance does the car travel during this
time?
Answer

Example 5 (Hibbeler 12-31, 10th Ed.)

zDetermine the time required for a car to

travel 1 km along a road if the car starts
from rest, reaches a maximum speed at
some intermediate point, and then stops at
the end of the road. The car can
accelerate at 1.5 m/s2 and decelerate at 2
m/s2.
Answer a, b

14
Rectilinear Motion: Position, Velocity
& Acceleration
Particle moving along a straight line is said
to be in rectilinear motion.
Position coordinate of a particle is defined
by positive or negative distance of particle
from a fixed origin on the line.
The motion of a particle is known if the
position coordinate for particle is known for
every value of time t. Motion of the particle
may be expressed in the form of a function,
e.g.,
x = 6t 2 t 3
or in the form of a graph x vs. t.

Rectilinear Motion: Position, Velocity

& Acceleration
Consider particle which occupies position P
at time t and P at t+t,
x
Average velocity =
t
x
Instantaneous velocity = v = lim
t 0 t
Instantaneous velocity may be positive or
negative. Magnitude of velocity is referred
to as particle speed.
From the definition of a derivative,
x dx
v = lim =
t 0 t dt
e.g., x = 6t 2 t 3
dx
v= = 12t 3t 2
dt

15
Rectilinear Motion: Position, Velocity
& Acceleration
Consider particle with velocity v at time t and
v at t+t,
v
Instantaneous acceleration = a = lim
t 0 t
Instantaneous acceleration may be:
- positive: increasing positive velocity
or decreasing negative velocity
- negative: decreasing positive velocity
or increasing negative velocity.

From the definition of a derivative,

v dv d 2 x
a = lim = =
t 0 t dt dt 2
e.g. v = 12t 3t 2
dv
a= = 12 6t
dt

Rectilinear Motion: Position, Velocity

& Acceleration
Consider particle with motion given by
x = 6t 2 t 3
dx
v= = 12t 3t 2
dt

dv d 2 x
a= = = 12 6t
dt dt 2

at t = 0, x = 0, v = 0, a = 12 m/s2

at t = 2 s, x = 16 m, v = vmax = 12 m/s, a = 0

at t = 4 s, x = xmax = 32 m, v = 0, a = -12 m/s2

at t = 6 s, x = 0, v = -36 m/s, a = 24 m/s2

16
 Determination of the Motion of a
Particle
Recall, motion of a particle is known if position is known for all time t.
Typically, conditions of motion are specified by the type of acceleration
experienced by the particle. Determination of velocity and position requires
two successive integrations.
Three classes of motion may be defined for:
- acceleration given as a function of time, a = f(t)
- acceleration given as a function of position, a = f(x)
- acceleration given as a function of velocity, a = f(v)

Determination of the Motion of a

Particle
Acceleration given as a function of time, a = f(t):
v (t ) t t
dv
= a = f (t ) dv = f (t ) dt dv = f (t ) dt v(t ) v0 = f (t ) dt
dt v 0 0
0
x (t ) t t
dx
= v(t ) dx = v(t ) dt dx = v(t ) dt x(t ) x0 = v(t ) dt
dt x0 0 0

Acceleration given as a function of position, a = f(x):

dx dx dv dv
v= or dt = a= or a = v = f ( x )
dt v dt dx
v( x ) x x
v dv = f ( x )dx v dv = f ( x )dx 1 v ( x )2
2
12 v02 = f ( x )dx
v0 x0 x0

17
 Determination of the Motion of a
Particle
Acceleration given as a function of velocity, a = f(v):
v (t ) t
dv dv dv
= a = f (v ) = dt = dt
dt f (v ) v0 f (v ) 0
v (t )
dv
=t
v0 f (v )
x (t ) v (t )
dv v dv v dv
v = a = f (v ) dx = dx = f (v )
dx f (v ) x0 v0
v (t )
v dv
x(t ) x0 =
v f (v )
0

Example 6: Sample Problem 11.2 (Beer)

SOLUTION:
Integrate twice to find v(t) and y(t).

Solve for t at which velocity equals

zero (time for maximum elevation)
and evaluate corresponding altitude.

Solve for t at which altitude equals

Ball tossed with 10 m/s vertical velocity zero (time for ground impact) and
from window 20 m above ground. evaluate corresponding velocity.
Determine:
velocity and elevation above ground at
time t,
highest elevation reached by ball and
corresponding time, and
time when ball will hit the ground and
corresponding velocity.

18
Example 6: Sample Problem 11.2 (Beer)
SOLUTION:
Integrate twice to find v(t) and y(t).
dv
= a = 9.81 m s 2
dt
v (t ) t
dv = 9.81 dt v(t ) v0 = 9.81t
v0 0

m m
v(t ) = 10 9.81 2 t
s s
dy
= v = 10 9.81t
dt
y (t ) t
dy = (10 9.81t )dt y (t ) y0 = 10t 12 9.81t 2
y0 0

m m
y (t ) = 20 m + 10 t 4.905 2 t 2
s s

Example 6: Sample Problem 11.2 (Beer)

Solve for t at which velocity equals zero and evaluate
corresponding altitude.
m m
v(t ) = 10 9.81 2 t = 0
s s
t = 1.019 s

Solve for t at which altitude equals zero and evaluate

corresponding velocity.

m m
y (t ) = 20 m + 10 t 4.905 2 t 2
s s
m m
y = 20 m + 10 (1.019 s) 4.905 2 (1.019 s )
2
s s

y = 25.1 m

19
Example 6: Sample Problem 11.2 (Beer)
Solve for t at which altitude equals zero and
evaluate corresponding velocity.
m m
y (t ) = 20 m + 10 t 4.905 2 t 2 = 0
s s
t = 1.243 s (meaningless )
t = 3.28 s

m m
v(t ) = 10 9.81 2 t
s s
m m
v(3.28 s ) = 10 9.81 2 (3.28 s )
s s

m
v = 22.2
s

Example 7 : Sample Problem 11.3 (Beer)

SOLUTION:

a = kv Integrate a = dv/dt = -kv to find v(t).

Integrate v(t) = dx/dt to find x(t).
Integrate a = v dv/dx = -kv to find
v(x).
Brake mechanism used to reduce gun
recoil consists of piston attached to barrel
moving in fixed cylinder filled with oil.
As barrel recoils with initial velocity v0,
piston moves and oil is forced through
orifices in piston, causing piston and
cylinder to decelerate at rate proportional
to their velocity.
Determine v(t), x(t), and v(x).

20
Example 7 : Sample Problem 11.3 (Beer)
SOLUTION:
Integrate a = dv/dt = -kv to find v(t).
v (t )
dv dv t
v(t )
a= = kv = k dt ln = kt
dt v v 0 v0
0

v(t ) = v0 e kt

Integrate v(t) = dx/dt to find x(t).

dx
v(t ) = = v0 e kt
dt
x (t ) t t
1
kt
dx = v0 e dt x(t ) = v0 e kt
0 0 k 0

x(t ) =
v0
k
(
1 e kt )

Example 7 : Sample Problem 11.3 (Beer)

Integrate a = v dv/dx = -kv to find v(x).
v x
dv
a=v = kv dv = k dx dv = k dx
dx v0 0
v v0 = kx
v = v0 kx

Alternatively,

with
v
(
x(t ) = 0 1 e kt
k
)
v(t )
and v(t ) = v0 e kt or e kt =
v0
v0 v(t )
then x(t ) = 1
k v0
v = v0 kx

21
Uniform Rectilinear Motion
For particle in uniform rectilinear motion, the acceleration is zero and
the velocity is constant.

dx
= v = constant
dt
x t
dx = v dt
x0 0
x x0 = vt
x = x0 + vt

Uniformly Accelerated Rectilinear

Motion
For particle in uniformly accelerated rectilinear motion, the acceleration of
the particle is constant.
v t
dv
= a = constant dv = a dt v v0 = at
dt v0 0
v = v0 + at

x t
dx
dt
= v0 + at dx = (v0 + at )dt x x0 = v0 t + 12 at 2
x0 0
2
x = x0 + v0 t + 12 at

(v 2 v02 ) = a(x x0 )
v x
dv 1
v = a = constant v dv = a dx 2
dx v0 x0

v 2 = v02 + 2a( x x0 )

22
 Motion of Several Particles: Relative
Motion
For particles moving along the same line, time
should be recorded from the same starting
instant and displacements should be measured
from the same origin in the same direction.

x B A = x B x A = relative position of B
with respect to A
xB = x A + xB A

v B A = v B v A = relative velocity of B
with respect to A
vB = v A + vB A

a B A = a B a A = relative acceleration of B
with respect to A
aB = a A + aB A

Example 8 :Sample Problem 11.4(Beer)

SOLUTION:
Substitute initial position and velocity
and constant acceleration of ball into
general equations for uniformly
accelerated rectilinear motion.

Substitute initial position and constant

Ball thrown vertically from 12 m level
in elevator shaft with initial velocity of
18 m/s. At same instant, open-platform
elevator passes 5 m level moving
upward at 2 m/s.
Determine (a) when and where ball hits
elevator and (b) relative velocity of ball
and elevator at contact.
velocity of elevator into equation for
uniform rectilinear motion.
Write equation for relative position of
ball with respect to elevator and solve
for zero relative position, i.e., impact.
Substitute impact time into equation
for position of elevator and relative
velocity of ball with respect to
elevator.

23
Example 8 :Sample Problem 11.4(Beer)
SOLUTION:
Substitute initial position and velocity and constant
acceleration of ball into general equations for
uniformly accelerated rectilinear motion.
m m
v B = v0 + at = 18 9.81 2 t
s s
m m
y B = y0 + v0 t + 12 at 2 = 12 m + 18 t 4.905 2 t 2
s s

Substitute initial position and constant velocity of

elevator into equation for uniform rectilinear motion.
m
vE = 2
s
m
y E = y0 + v E t = 5 m + 2 t
s

Example 8 :Sample Problem 11.4(Beer)

Write equation for relative position of ball with respect to
elevator and solve for zero relative position, i.e., impact.

yB E ( )
= 12 + 18t 4.905t 2 (5 + 2t ) = 0
t = 0.39 s (meaningless )
t = 3.65 s

Substitute impact time into equations for position of elevator

and relative velocity of ball with respect to elevator.
y E = 5 + 2(3.65)
y E = 12.3 m

v B E = (18 9.81t ) 2
= 16 9.81(3.65)
m
v B E = 19.81
s

24
Example 9 (Hibbeler 12-7, 10th Ed.)

zThe position of particle along a straight

line is given by s=(t3-9t2+15t)ft where t is in
seconds. Determine its maximum
acceleration and maximum velocity during
the time interval 0t 10 s.
Answer

Example 10 (Hibbeler 12-11, 10th Ed.)

zThe acceleration of particle as it moves

along a straight line given by a=(2t-1)m/s2,
where t is in seconds. If s =1 m and v =
2m/s when t = 0, determine the particles
velocity and position when t = 6s. Also,
determine the total distance the particle
travels during this time period.
Answer

25
Example 11 (Hibbeler 12-2, 10th Ed.)

zA car starts from rest and reaches a speed

of 20 fps after traveling 500 ft along a
straight road. Determine its constant
acceleration and the time of travel.
Answer.

Example 12 (Hibbeler 12-9, 10th Ed.)

zA car is to be hoisted by elevator to the

fourth floor of a parking garage, which is
48 ft above the ground. If the elevator can
accelerate at 0.6 fps2, decelerate at 0.3
fps2, and reach a maximum speed of 8 ft/s,
determine the shortest time to make the
lift, starting from rest and ending at rest.
zAnswer

26
Example 13 (Hibbeler 12-17, 10th Ed.)

zTwo particles A and B start from rest at the

origin s=0 and move along a straight line
such that aA=(6t-3) m/s2, and aB=(12t2-8)
m/s2, where t is in seconds. Determine the
distance between them when t = 4s and
the total distance each has been traveled
in t=4s.
zAnswer

Motion of Several Particles:

Dependent Motion
Position of a particle may depend on position of one
or more other particles.
Position of block B depends on position of block A.
Since rope is of constant length, it follows that sum of
lengths of segments must be constant.
x A + 2 x B = constant (one degree of freedom)
Positions of three blocks are dependent.
2 x A + 2 x B + xC = constant (two degrees of freedom)

For linearly related positions, similar relations hold

between velocities and accelerations.
dx A dx dx
2 + 2 B + C = 0 or 2v A + 2v B + vC = 0
dt dt dt
dv A dv B dvC
2 +2 + = 0 or 2a A + 2a B + aC = 0
dt dt dt

27
 Example 14 : Sample Problem 11.5
(Beer) SOLUTION:
Pulley D is attached to a collar which
is pulled down at 75 mm/s. At t = 0,
collar A starts moving down from K Block B motion is dependent on motions
with constant acceleration and zero
initial velocity. Knowing that
velocity of collar A is 300 mm/s as it
passes L, determine the change in
elevation, velocity, and acceleration
of block B when block A is at L.
Define origin at upper horizontal surface
with positive displacement downward.
Collar A has uniformly accelerated
rectilinear motion. Solve for acceleration
and time t to reach L.
Pulley D has uniform rectilinear motion.
Calculate change of position at time t.
of collar A and pulley D. Write motion
relationship and solve for change of block
B position at time t.
Differentiate motion relation twice to
develop equations for velocity and
acceleration of block B.

Example 14 : Sample Problem 11.5

(Beer) SOLUTION:
Define origin at upper horizontal surface with
positive displacement downward.

Collar A has uniformly accelerated rectilinear

motion. Solve for acceleration and time t to reach L.

v A2 = (v A )0 + 2a A [x A ( x A )0 ]
2

(300 mm/s)2 = 2a A (200 mm) a A = 225mm / s 2

v A = (v A )0 + a At
300 mm = 225t mm / s 2 t = 1.333 s

28
Example 14 : Sample Problem 11.5
(Beer) Pulley D has uniform rectilinear motion. Calculate
change of position at time t.

xD = ( xD )0 + vD t
xD ( xD )0 = (75 mm/s )(1.333 s ) = 100 mm

Block B motion is dependent on motions of collar

A and pulley D. Write motion relationship and
solve for change of block B position at time t.
Total length of cable remains constant,
x A + 2 x D + x B = ( x A )0 + 2(x D )0 + (x B )0
[x (x ) ] + 2[x (x ) ] + [x (x ) ] = 0
A A 0 D D 0 B B 0

(200 mm) + 2(100 mm) + [x (x ) ] = 0

B B 0

xB (xB )0 = 400 mm

Example 14 : Sample Problem 11.5

(Beer)
Differentiate motion relation twice to develop
equations for velocity and acceleration of block B.

x A + 2 xD + xB = constant
v A + 2vD + vB = 0
(300 mm/s) + 2(75 mm/s) + vB = 0
vB = 450 mm / s

a A + 2a D + a B = 0
(225 mm /s^2) + aB = 0
aB = 225 mm/s 2

29
 Graphical Solution of Rectilinear-
Motion Problems

Given the x-t curve, the v-t curve is equal to

the x-t curve slope.

Given the v-t curve, the a-t curve is equal to

the v-t curve slope.

Graphical Solution of Rectilinear-

Motion Problems

Given the a-t curve, the change in velocity between t1 and t2 is

equal to the area under the a-t curve between t1 and t2.

Given the v-t curve, the change in position between t1 and t2 is

equal to the area under the v-t curve between t1 and t2.

30
Other Graphical Methods
Moment-area method to determine particle position at
time t directly from the a-t curve:
x1 x0 = area under v t curve
v1
= v0t1 + (t1 t )dv
v0

using dv = a dt ,
v1
x1 x0 = v0t1 + (t1 t ) a dt
v0
v1
(t1 t ) a dt = first moment of area under a-t curve
v0 with respect to t = t1 line.

x1 = x0 + v0 t1 + (area under a-t curve)(t1 t )

t = abscissa of centroid C

Other Graphical Methods

Method to determine particle acceleration

from v-x curve:
dv
a=v
dx
= AB tan
= BC = subnormal to v-x curve

31
Curvilinear Motion: Position, Velocity
& Acceleration
Particle moving along a curve other than a straight line
is in curvilinear motion.

Position vector of a particle at time t is defined by a

vector between origin O of a fixed reference frame and
the position occupied by particle.

Consider particle which occupies position P defined

r r
by r at time t and P defined by r at t + t,
r r
r r dr
v = lim =
t 0 t dt
= instantaneous velocity (vector)

s ds
v = lim =
t 0 t dt
= instantaneous speed (scalar)

Curvilinear Motion: Position, Velocity

& Acceleration
r
Consider velocity v of particle at time t and velocity
r
v at t + t,
r r
r v dv
a = lim =
t 0 t dt
= instantaneous acceleration (vector)

In general, acceleration vector is not tangent to

particle path and velocity vector.

32
 Derivatives rof Vector Functions
Let P (u ) be a vector function of scalar variable u,
r r r r
dP P P(u + u ) P(u )
= lim = lim
du u 0 u u 0 u
Derivative of vector sum,
r r r r
d (P + Q ) dP dQ
= +
du du du
Derivative of product of scalar and vector functions,
r r
d ( f P ) df r dP
= P+ f
du du du
Derivative of scalar product and vector product,
r r r r
d (P Q ) dP r r dQ
= Q + P
du du du
r r r r
d (P Q ) dP r r dQ
= Q + P
du du du

Rectangular Components of Velocity

& Acceleration
When position vector of particle P is given by its
rectangular components,
r r r r
r = xi + y j + zk

Velocity vector,
r dx r dy r dz r r r r
v = i + j + k = x&i + y& j + z&k
dt dt dt
r r r
= vx i + v y j + vz k

Acceleration vector,
r d 2 xr d 2 y r d 2 z r r r r
a = 2 i + 2 j + 2 k = &x&i + &y& j + &z&k
dt dt dt
r r r
= ax i + a y j + az k

33
Rectangular Components of Velocity
& Acceleration
Rectangular components particularly effective
when component accelerations can be integrated
independently, e.g., motion of a projectile,
a x = &x& = 0 a y = &y& = g a z = &z& = 0
with initial conditions,
x0 = y 0 = z 0 = 0 (v x )0 , (v y ) , (v z )0 = 0
0
Integrating twice yields
v x = (v x )0 v y = (v y )0 gt vz = 0
x = (v x )0 t y = (v y )0 t 2 gt z = 0
1 2

Motion in horizontal direction is uniform.

Motion in vertical direction is uniformly accelerated.

Motion of projectile could be replaced by two

independent rectilinear motions.

Example 15(Hibbeler 12-67, 10th Ed.)

zThe velocity of a particle is given by v

={16t2i+4t3j+(5t+2)k} m/s, where t is in
seconds. If the particle is at the origin
when t =0, determine the magnitude of the
particles acceleration when t=2 s. Also,
what is the x, y, z coordinate position of
the particle at this instant?
zAnswer

34
Example 16(Hibbeler 12-74, 10th Ed.)

zA particle moves along the curve y=e2x

such that its velocity has constant
magnitude of v=4 ft/s. Determine the x and
y components of velocity when the particle
is at y=5 ft.
zAnswer

Example 17(Hibbeler 12-78, 10th Ed.)

zThe particle travels along the path defined

by the parabola y=0.5x2. If the component
of velocity along the x axis is vx=(5t)ft/s,
where t is in seconds, determine the
particles distance from the origin O and
the magnitude of its acceleration when
t=1s. When t=0, x=0, y=0.
zAnswer

35
Example 18(Hibbeler 12-79, 10th Ed.)

zWhen a rocket reaches an altitude of 40 m

it begins to travel along the parabolic path
(y-40)2=160x, where the coordinates are
measured in meters. If the component of
velocity in the vertical direction is constant
at vy=180m/s, determine the magnitudes
of the rockets velocity and acceleration
when it reaches an altitude of 80 m.
zAnswer

Example 19(Hibbeler 12-95, 10th Ed.)

zDetermine the horizontal velocity vA of a

tennis ball at A so that it just clears the net
at B. Also, find the distances s where the
ball strikes the ground.
zAnswer

36
Example 20(Hibbeler 12-98, 10th Ed.)

zThe ball is thrown from the tower with a

velocity of 20 ft/s as shown. Determine the
x and y coordinates to where the ball
strikes the slope. Also, determine the
speed at which the ball hits the ground.
zAnswer

Example 21(Hibbeler 12-83, 10th Ed.)

zDetermine the maximum height on the wall

to which the firefighter can project water
from the hose, if the speed of the water at
the nozzle is vc=48 ft/s.
zAnswer

37
Example 22(Hibbeler 12-84, 10th Ed.)

zDetermine the smallest angle , measured

above the horizontal, that the hose should
be directed so that the water stream
strikes the bottom of the wall at B. The
speed of the water at the nozzle is vC=48
ft/s.
zAnswer

Motion Relative to a Frame in

Translation
Designate one frame as the fixed frame of reference.
All other frames not rigidly attached to the fixed
reference frame are moving frames of reference.
Position vectors for particles A and B with respect to
r r
the fixed frame of reference Oxyz are rA and rB .
r
Vector rB A joining A and B defines the position of
B with respect to the moving frame Axyz and
r r r
rB = rA + rB A
Differentiating twice,
r r r r
vB = v A + vB A vB A = velocity of B relative to A.
r r r r
a B = a A + aB A aB A = acceleration of B relative
to A.
Absolute motion of B can be obtained by combining
motion of A with relative motion of B with respect to
moving reference frame attached to A.

38
Tangential and Normal Components
Velocity vector of particle is tangent to path of
particle. In general, acceleration vector is not.
Wish to express acceleration vector in terms of
tangential and normal components.
r r
et and et are tangential unit vectors for the
particle path at P and P. When drawn with
r r r
respect to the same origin, et = et et and
is the angle between them.

et = 2 sin ( 2 )
r
et sin ( 2 ) r r
lim = lim en = en
0 0 2
r
r de
en = t
d

Tangential and Normal Components

r r
With the velocity vector expressed as v = vet
the particle acceleration may be written as
r r r
r dv dv r de dv r de d ds
a= = et + v = et + v
dt dt dt dt d ds dt
but r
det r ds
= en d = ds =v
d dt
After substituting,
r dv r v 2 r dv v2
a = et + en at = an =
dt dt
Tangential component of acceleration reflects
change of speed and normal component reflects
change of direction.
Tangential component may be positive or
negative. Normal component always points
toward center of path curvature.

39
Tangential and Normal Components
Relations for tangential and normal acceleration
also apply for particle moving along space curve.
r dv r v 2 r dv v2
a = et + en at = an =
dt dt

Plane containing tangential and normal unit

vectors is called the osculating plane.
Normal to the osculating plane is found from
r r r
eb = et en
r
en = principal normal
r
eb = binormal

Acceleration has no component along binormal.

Example 23(Hibbeler 12-102, 10th Ed.)

zAt a given instant the jet plane has a

speed of 400 ft/s and an acceleration of 70
ft/s2 acting in the direction shown.
Determine the rate of increase in the
planes speed and the radius of curvature
of the path.
zAnswer

40
Example 24(Hibbeler 12-100, 10th Ed.)

zA car is traveling along a circular curve

that has a radius of 50 m. If its speed is 16
m/s and is increasing uniformly at 8 m/s2,
determine the magnitude of its
acceleration at this instant.
zAnswer

Example 25(Hibbeler 12-107, 10th Ed.)

zStarting from rest, motorboat travels

around the circular path, , at a speed
v=(0.8t) m/s, where t is in seconds.
Determine the magnitudes of the boats
velocity and acceleration when it has
traveled 20 m.
zAnswer

41
Example 26(Hibbeler 12-115, 10th Ed.)

zThe truck travels in a circular path having

a radius of 50 m at a speed is increased
by a = (0.05s) m/s2, where s is in meters.
Determine its speed and the magnitude of
its acceleration when it has moved s=10m.
zAnswer

Example 27(Hibbeler 12-109, 10th Ed.)

zA car moves along a circular track of

radius 250 ft, and its speed for a short
period of time 0t 2 s is v =3(t+t2) ft/s,
where t is in seconds. Determine the
magnitude of its acceleration when t=2s.
How far has it traveled in t=2s?
zAnswer

42
Example 28(Hibbeler 12-121, 10th Ed.)

zThe box of negligible size is sliding down

along a curved path defined by the
parabola y=0.4x2. When it is at A(xA=2m,
yA=1.6m), the speed is vB=8m/s and the
increase in speed is dvB/dt = 4m/s2.
Determine the magnitude of the
acceleration of the box at this instant.
zAnswer

Example 29(Hibbeler 12-128, 10th Ed.)

zA boy sits on a merry-go-round so that he

is always located at r=8 ft from the center
of rotation. The merry-go-round is
originally at rest, and then due to rotation
the boys speed is increased at 2 ft/s2.
Determine the time needed for his
acceleration to become 4 ft/s2.
zAnswer

43
 Radial and Transverse Components
When particle position is given in polar coordinates,
it is convenient to express velocity and acceleration
with components parallel and perpendicular to OP.

The particle velocity vector is

r
r d r dr r der dr r d r
v= ( )
re r = e r + r = er + r e
dt dt dt dt dt
r r
= r& er + r& e
r r
r = re r
r r Similarly, the particle acceleration vector is
de r r de r
= e = er r d dr r d r
d d a = er + r e
dt dt dt
r r r r
der der d r d d 2 r r dr der dr d r d 2 r d de
= = e = 2 er + + e + r 2 e + r
dt d dt dt dt dt dt dt dt dt dt dt
( )
r r
de de d r d = &r& r& er + (r&& + 2r&& )e
2 r r
= = er
dt d dt dt

Radial and Transverse Components

When particle position is given in cylindrical
coordinates, it is convenient to express the
velocity and acceleration
r vectors using the unit
r r
vectors eR , e , and k .

Position vector,
r r r
r = R e R +z k

Velocity vector,
r r
r dr & r r
v= = R eR + R& e + z& k
dt

Acceleration vector,
r
r dv
a=
dt
= R ( ) r
&& R& 2 erR + (R&& + 2 R& & )er + &z& k

44
 Example 30 (Sample Problem 11.10)
SOLUTION:
Calculate tangential and normal
components of acceleration.

Determine acceleration magnitude and

direction with respect to tangent to
curve.
A motorist is traveling on curved
section of highway at 100 km/h. The
motorist applies brakes causing a
constant deceleration rate.
Knowing that after 8 s the speed has
been reduced to 75 km/h, determine
the acceleration of the automobile
immediately after the brakes are
applied.

Example 30 (Sample Problem 11.10)

SOLUTION:
Calculate tangential and normal components of
acceleration.
v (20.8 ms 27.8 m/s)
at = = = 0.875 m/s 2
t 8s
v 2 (27.8 m/s)
2
an = = = 1.03 m/s 2
750 m
100 km/ h = 27.8 m/s
Determine acceleration magnitude and direction
75 km/ h = 20.8 m/s with respect to tangent to curve.

a = at2 + an2 = ( 0.875)2 + 1.032 a = 1.35 m/s 2

an 1.03
= tan 1 = tan 1 = 49.7
at 0.875

45
 Example 31(Sample Problem 11.12)
Rotation of the arm about O is defined
by = 0.15t2 where is in radians and t
in seconds. Collar B slides along the
arm such that r = 0.9 - 0.12t2 where r is
in meters.
SOLUTION:
Evaluate time t for = 30o.
Evaluate radial and angular positions,
and first and second derivatives at
time t.
Calculate velocity and acceleration in
cylindrical coordinates.
Evaluate acceleration with respect to
arm.

After the arm has rotated through 30o,

determine (a) the total velocity of the
collar, (b) the total acceleration of the
collar, and (c) the relative acceleration
of the collar with respect to the arm.

Example 31(Sample Problem 11.12)

SOLUTION:
Evaluate time t for = 30o.
= 0.15 t 2
= 30 = 0.524 rad t = 1.869 s

Evaluate radial and angular positions, and first

and second derivatives at time t.
r = 0.9 0.12 t 2 = 0.481 m
r& = 0.24 t = 0.449 m s
&r& = 0.24 m s 2

= 0.15 t 2 = 0.524 rad

& = 0.30 t = 0.561 rad s
&& = 0.30 rad s 2

46
Example 31(Sample Problem 11.12)
Calculate velocity and acceleration.
vr = r& = 0.449 m s
v = r& = (0.481m )(0.561rad s ) = 0.270 m s
v
v = vr2 + v2 = tan 1
vr
v = 0.524 m s = 31.0
ar = &r& r& 2
= 0.240 m s 2 (0.481m )(0.561rad s )2
= 0.391m s 2
a = r&& + 2r&&
( )
= (0.481m ) 0.3 rad s 2 + 2( 0.449 m s )(0.561rad s )
2
= 0.359 m s
a
a = ar2 + a2 = tan 1
ar
a = 0.531 m s = 42.6

Example 31(Sample Problem 11.12)

Evaluate acceleration with respect to arm.
Motion of collar with respect to arm is rectilinear
and defined by coordinate r.

a B OA = &r& = 0.240 m s 2

47
Example 32(Hibbeler 12-140, 10th Ed.)

zIf a particle moves along a path such that

r=(2cos t) ft and =(t/2) rad, where t is in
seconds, plot the path r =f() and
determine the particles radial and
transverse components of velocity and
acceleration.
zAnswer

Example 33(Hibbeler 12-150, 10th Ed.)

zA block moves outward along the slot in

the platform with speed of (dr/dt)=(4t) m/s,
where t is in seconds. The platform rotates
at a constant rate of 6 rad/s. If the block
starts from rest at the center, determine
when t=1 s.
zAnswer

48
Example 34(Hibbeler 12-154, 10th Ed.)

z Because of telescopic action, the end of the

industrial robotic arm extends along the path of
the limacon r=(1+0.5 cos)m. At the instant
=/4, the arm has an angular rotation
(d/dt)=0.6 rad/s, which is increasing at (d2
/dt2)=0.25 rad/s2. Determine the radial and
transverse components of the velocity and
acceleration of the object A held in its grip at this
instant.
z Answer

Example 35(Hibbeler 12-163, 10th Ed.)

zA particle P moves along the spiral path

r=(10/) ft, where is in radians. If it
maintains a constant speed of v=20 ft/s,
determine the magnitudes vr and v as
functions of and evaluate each at =1
rad.
zAnswer.

49
 Rectangular Coordinates (x,y)
In a rectangular coordinate system, the position of a particle is described
by the distance from two orthogonal lines (x- and y-axes).
This coordinate system is convenient to use when the x- and y-
components of motion are specified separately from each other and/or
do not depend on each other.

50
Rectangular Coordinates (x,y) (cont.)
Velocity acts tangent to the path.
Acceleration generally does not act tangent to the path.

Normal/Tangential Coordinates (n,t)

51
Polar (Radial/Transverse) Coordinates
(r,)

52