Linear Motion Angular Motion

TRANSLATION ONLY! ROTATION ONLY!

Object maintains angular Object rotates about a fixed point (axis)

orientation (q) but this point does NOT have to lie

within the object
measured in meters - SI unit
other units - inches, feet, miles, measured in radians – SI Unit

Kinematics centimeters, millimeters

Rectilinear motion - if path of one point
other units – degrees, revolutions

on object is a straight line

Physics for Engineers Curvilinear motion – if path of one
point on object is curved

q q
1 2

Kinematics is the study of motion without Position and Displacement (d)

regard for the forces causing the motion or …
the description of motion • Position (s or x) is the location of an object in
space
There are several KEY kinematic variables that we
use. • units: m, cm, km, in, ft, mi
Symbol Variable Units • Distance (d)is how far you have traveled
t Time s regardless of direction.
a Acceleration m/s2
• Displacement (s= sf - si) is the change in
x or y Displacement m
position of an object
vo Initial velocity m/s
v Final velocity m/s displacement (x= xf - xi)
g or ag Acceleration due m/s2
to gravity 3 4

Example Distance ( )
You are done with your class and can’t wait to go home to play
DOTA. You get in your car and drive. Find the distance and the
Distance is the length of the path traveled
displacement. • it is a scalar - “How far”
• units: meter (m)
School
2.0 mi

dx + dy = distance =
1.5 mi d
Home
dy Note: use “ ” for length
2.0 mi

dx
6

Linear Kinematics 1
 Example - Distance vs. Displacement (∆ )
Displacement
Displacement is the change in position in
time.
•∆ = − 0
N
Total DISTANCE Traveled  = final position
d= 2 miles + 1.5 miles + 2 miles  0 = initial position
School d= 5.5 miles For non-collinear
2.0 mi • it is a vector quantity vectors:
• units: m ∆ = +
1.5 mi

Home = tan

2.0 mi 7 8

Displacement Magnitude & Speed, Velocity, & Acceleration

Direction Speed (v) – how fast you go.
∆ = +
School Average speed ( v )=
2.0 mi 2 mi
 x  4 2  1 .5 2
Initial position Velocity ( ) – how fast and which way;
1.5 mi 1.5 mi x  18.25
the rate at which position changes.
Home x 4.27 miles
2.0 mi
Final position
tan = Average velocity ( )=
= tan
Acceleration (a) – how fast you speed
−1.5 up, slow down, or change direction;
= tan
4
= 20.56° 9 the rate at which velocity changes 10

Velocity Uniform Velocity

• Velocity is the rate of change of position. • Uniform velocity is the special case of constant velocity
• Velocity is a vector quantity. • In this case, instantaneous velocities are always the same, all
displacement
– “How fast and in which direction” the instantaneous velocities will also equal the average
• units: m/s, km/hr, mi/hr, ft/s velocity
distance
• We will be concerned with three quantities, defined as:
• Begin with v  x  x f then
xi x f  xi  v x t
– Average velocity x x f  xi x
t t
vavg   Note: we are plotting
t t x v
velocity vs. time
– Average speed x(t)
savg 
total distance v(t)
t xf vx
– Instantaneous x dx
v  lim  xi
velocity t  0 t dt
0 t 0 t
displacement ti tf

Linear Kinematics 2
 Adding Velocities Example:

Use the laws of vswimmer = 2 m/s

vector algebra. vriver = 0.5 m/s
Example - the path
of the swimmer is
determined by the
What is the swimmer’s
vector sum of the resultant velocity?
swimmer’s velocity
and the river current’s
velocity.

13 14

Example - Solution
Average Acceleration
• Changing velocity (non-uniform) means an acceleration is
vR = (2 m/s)2 + (0.5 m/s)2 present.
vR = 2.06 m/s • Acceleration is the rate of change of velocity.
• Acceleration is a vector quantity.
• Acceleration has both magnitude and direction.
• Acceleration has a dimensions of length/time2: [m/s2].
q = 14
• Definition:
50 m 0.5 m/s – Average acceleration aavg 
v v f  vi

t t f  ti

2 m/s vR – Instantaneous acceleration

v dv d dx d 2 v
a  lim   
t 0 t dt dt dt dt 2

15

Acceleration Velocity & Acceleration Sign Chart

Acceleration – how fast you speed up, slow VELOCITY
down, or change direction; it’s the rate at
which velocity changes. Two examples: A
C
+ -
t (s) v (mph) t (s) v (m/s) C
0 55 0 34 E Moving forward; Moving backward;
1 57 1 31
L + Speeding up Slowing down
E
R
2 59 2 28
A
3 61 3 25 T
I
- Moving forward; Moving backward;
O Slowing down Speeding up
a = +2 mph / s a = -3 m/s
s
= -3 m/s 2 N
17 18

Linear Kinematics 3
 Six Cases of Acceleration Six Cases of Acceleration
1 - speed up in positive direction = positive accel. 1 - speed up in positive direction = positive accel.
2 - slow down in positive direction = negative accel.

+ direction t = 3 seconds + direction t = 3 seconds

a a

vi = 5 m/s vf = 8 m/s vi = 8 m/s vf = 5 m/s

Calculate average acceleration! Calculate average acceleration!

19 20

Six Cases of Acceleration Six Cases of Acceleration

1 - speed up in positive direction = positive accel. 1 - speed up in positive direction = positive accel.
2 - slow down in positive direction = negative accel. 2 - slow down in positive direction = negative accel.
3 - speed up in negative direction = negative accel. 3 - speed up in negative direction = negative accel.
t = 3 seconds 4 - slow down in negative direction = positive accel.
+ direction t = 3 seconds
+ direction
a

vf = -8 m/s vi = -5 m/s
vf = -5 m/s vi = -8 m/s
Calculate average acceleration! Calculate average acceleration!

What is happening to speed?, velocity? 21

What is happening to speed?, velocity? 22

Six Cases of Acceleration Six Cases of Acceleration

1 - speed up in positive direction = positive accel.
2 - slow down in positive direction = negative accel.
3 - speed up in negative direction = negative accel.
4 - slow down in negative direction = positive accel.
5 - reverse directions from pos to neg = negative accel.
+ direction t = 3 seconds
a
1 - speed up in positive direction = positive accel.
2 - slow down in positive direction = negative accel.
3 - speed up in negative direction = negative accel.
4 - slow down in negative direction = positive accel.
5 - reverse directions from pos to neg = negative accel.
6 - reverse directions from neg to pos = positive accel.
+ direction t = 3 seconds

vi = +1 m/s vi = +1 m/s vf = -1 m/s

vf = -1 m/s

Calculate average acceleration! Calculate average acceleration!

23 24

Linear Kinematics 4
 Special Case: Motion with Uniform
Kinematic Variables: x, v, a Acceleration (our typical case)
• Position is a function of time: x  x (t ) • Acceleration is a constant
• Velocity is the rate of change of position. • Kinematic Equations (which we will derive in a moment)
• Acceleration is the rate of change of velocity.
KINEMATICS EQUATIONS MISSING
x dx v dv
v  lim  a  lim 
 t  0 t dt t 0 t dt = +
d d
dt dt 1
• Position Velocity Acceleration ∆ = +
2
1
∆ = +
2
= +2 ∆

Example Example
A subway train starts from rest at a station and accelerates The displacement (in meters) of a particle moving in a
at a rate of 2 m/s2 for 10 seconds. It then runs a t a constant straight line is given by the equation of motion
speed for 30 seconds, and slows down at -4 m/s2 until it =5 3+3 +8
stops at the next station. Find the total distance covered. 750 where t is measured in seconds.
m a. Find the distance after t = 2 seconds.
t =10 s t =30 s =20 m/s
a =2 m/s2 =20 m/s
a =-4 m/s2
b. Find the velocity after t =2 seconds.
=20 m/s c. Find the acceleration after t = 2 seconds.
= 100 = 600 = 50 m
1
1 = + ∆ = + =0
∆ = + 2
2 = 20 + 20 (30) = +2 ∆
1 = 0 + 2(10)
= 0 + 0(10) + (2) (10)
2 =20 m/s = 600 0 = 20 + 2(−4)
= 100 20
=− = 50 m
= 100 + 600 + 50 = 750 −8 27 28

a. Find the distance after t = 2 seconds.

Kinematic #1
=5 3+3 +8 c. Find the acceleration after
Example: A boat moves slowly out of a marina (so as to not leave a
wake) with a speed of 1.50 m/s. As soon as it passes the
= 5(2)3 + 3(2) + 8 t = 2 seconds. breakwater, leaving the marina, it throttles up and accelerates at
2
= 54 = 2.40 m/s/s.
2
a) How fast is the boat moving after accelerating for 5
= 15 2 +3 seconds?
b. Find the velocity after t =2 seconds.
2 v  vo  at
= = 30 What do I What do I
2
2
know? want? v  (1.50)  (2.40)(5)
=5 3+3 +8 = 30(2)
= 1.50 m/s =?
2 v  13.5 m/s
2
= 2.40 m/s/s
= 15 +3 = 60 / 2
=5s

= 15 2 2 + 3 = 63 = 63 /
29 30

Linear Kinematics 5
 Kinematic #2 Kinematic #3
v 2  vo2  2a( x  xo )
x  xo  voxt  1 at 2
2 Example: You are driving through town at 12 m/s when suddenly a ball rolls
out in front of your car. You apply the brakes and begin decelerating at
b) How far did the boat travel during that time? 3.5 m/s2.
How far do you travel before coming to a complete stop?
x  xo  voxt  1 at 2
2 What do I What do I v 2  vo2  2a( x  xo )
know? want?
x  0  (1.5)(5)  1 (2.40)(52 ) = 12 m/s =?
0  12 2  2( 3.5)( x  0)
2  144  7 x
= -3.5 m/s2
x  37.5 m x  20.57 m
= 0 m/s

31 32

“g” or ag – The Acceleration due to gravity

Kinematics for the VERTICAL Direction The acceleration due to gravity is a special constant that exists in a
VACUUM, meaning without air resistance. If an object is in FREE
FALL, gravity will CHANGE an objects velocity by 9.8 m/s every
second.
KINEMATICS EQUATIONS MISSING
g  a g  9.8 m / s 2
= +
1
g  a g  32.2 ft / s 2
∆ = + The acceleration due to gravity:
2
•ALWAYS ACTS DOWNWARD
= +2 ∆
•IS ALWAYS CONSTANT near
the surface of Earth

33 34

Examples Examples
A stone is dropped at rest from the top of a cliff. It is A pitcher throws a fastball with a velocity of 43.5 m/s. It is determined that
observed to hit the ground 5.78 s later. How high is the during the windup and delivery the ball covers a displacement of 2.5
meters. This is from the point behind the body when the ball is at rest to
cliff? the point of release. Calculate the acceleration during his throwing
motion.
What do I What do I Final Velocity!
know? want?
What do I What do I
v 2  vo2  2a ( x  xo )
= 0 m/s =? y  yo  voy t  1 gt 2 know? want?
2
= -9.8 m/s2 y  (0)(5.78)  4.9(5.78) 2 vo= 0 m/s a=?
43.52  0 2  2a (2.5  0)
=0 m y  -163.7 m x = 2.5 m
= 5.78 s v = 43.5 m/s
a  378.5 m/s/s
H =163.7m

35 36

Linear Kinematics 6
 Examples Examples
How long does it take a car at rest to cross a 35.0 m intersection after A car accelerates from 12.5 m/s to 25 m/s in 6.0 seconds.
the light turns green, if the acceleration of the car is a constant What was the acceleration?
2.00 m/s/s?

What do I What do I What do I What do I v  vo  at

know? want? x  xo  vox t  1 at 2 know? want?
2
= 0 m/s =? = 12.5 m/s =? 25  12.5  a (6)
= 35 m 35  0  (0)  1 (2)t 2 = 25 m/s
2 a  2.08 m/s/s
= 2.00 m/s/s t  5.92 s
= 6s

37 38

a) the time needed for the stone to reach its maximum height.
Free Fall for Rookie
• A stone is thrown from the top of a building with an initial What do I What do I = +
velocity of 20.0 m/s straight upward, at an initial height of know? want?
50.0 m above the ground. The stone just misses the edge of
the roof on the its way down. Determine = 20.0 m/s =? 0= 20 − 9.8
• (a) the time needed for the stone to reach its maximum =0m
height.
9.8 = 20
• (b) the maximum height. = -9.8 m/s2
20
• (c) the time needed for the stone to return to the height = 0 m/s =
from which it was thrown and the velocity of the stone at 9.8
that instant.
• (d) the time needed for the stone to reach the ground = 2.04
• (e) the velocity and position of the stone at t = 5.00s

39 40

c) the time needed for the stone to return to the height from
b) the maximum height. which it was thrown and the velocity of the stone at that instant.
1 What do I What do I want?
What do I What do I ∆ = + 1
know? want? 2 know? ∆ = +
2
= 20.0 m/s =? 1 = 0 m/s =?
− = + 1
=0m 2 =0m = + − = +
2
1 = -9.8 m/s2 1
= -9.8 m/s2 − 0 = 20(2.04) + (−9.8)(2.04) 20.4 − 0 = 0 + (9.8)
2 2
= 0 m/s = 2.04 1
= 20.4 20.4 = (9.8)
= 2.04 2
2(20.4)
= + =
9.8
= 2.04 + 2.04
2(20.4)
=4.08 s = = 2.04 s
9.8
41 42

Linear Kinematics 7
 e) the position of the stone at t = 5.00s
d) the time needed for the stone to reach the ground

What do I What do I want? What do I What do 1

know? 1 know? I want? ∆ = +
∆ = + 2
= 0 m/s =? 2 = 0 m/s 1
1 − = +
∆ = (20.4+50) = + 70.4 = (0) + (9.8) = 9.8 m/s2 2
2 1
m 1 = 2.04 − 0 = 0(2.96) + (9.8)(2.96)
∆ = 70.4 70.4 = (9.8) 2
2 1
= 9.8 m/s2 =5.0 s
2(70.4) = (9.8)(2.96)
= = 2.96 2
= 2.04
9.8
= 42.93
= + =0
2(70.4) = 70.4 − 42.93
= = 3.79 s
= 2.04 +3.79 9.8
= 50 − 27.5=22.5 m = 27.5 m above the
=5.83 s below the top of the building ground
43 44

Projectile Motion: A special case of

e) the velocity of the stone at t = 5.00s
uniformly accelerated motion
What do I What do
= +
know? I want? If air resistance is negligible then only gravity
= 0 m/s affects the path (or trajectory) of a projectile.
= 0 + 9.8(2.96)
= 9.8 m/s2
= 2.04 = 29.0 / This path is a parabola.
=5.0 s
= 2.96

=0

45 46

Horizontal and vertical components of velocity Horizontal velocity will remain constant.
are independent.
Vertical velocity decreases at a constant rate
due to the influence of gravity.
Vertical velocity = 0

Positive velocity Negative velocity

gets smaller gets larger

47 48

Linear Kinematics 8
 3 Primary Factors Projection Angle
Affecting Trajectory • The optimal angle of
• Projection angle projection is dependent
on the goal of the
aka release angle or take-off angle activity.
• Projection height • For maximal height the
aka relative height optimal angle is 90o.
• For maximal distance
= release height - landing height)
the optimal angle is 45o.
• Projection velocity • Optimal angle changes
aka release velocity or take-off velocity if projection height is not
equal to 0.
49 50

Projection angle = 10 degrees Projection angle = 30 degrees

10 degrees 10 degrees
30 degrees

51 52

Projection angle = 40 degrees Projection angle = 45 degrees

10 degrees 10 degrees
30 degrees 30 degrees
40 degrees 40 degrees
45 degrees

53 54

Linear Kinematics 9
 Projection angle = 60 degrees Projection angle = 75 degrees
10 degrees 10 degrees
30 degrees 30 degrees
40 degrees 40 degrees
45 degrees 45 degrees
60 degrees 60 degrees
75 degrees

So angle that maximizes Range

(qoptimal) = 45 degrees (or so it appears)
55 56

Projection Height Effect of Projection Height on Range

(when qrelease = 45 degrees)
• Projection height = release height - landing height h1 < h2 < h3
R1 < R2 < R3

hrelease = hlanding
R1
hrelease > hlanding R2

hrelease >> hlanding R3

57 58

Projection Height and Projection Angle When hlanding < hrelease

interact to affect Range
hprojection = 0 R45 > R40 > R30 hprojection > 0 R45 > R40 > R30
BUT difference
b/w R’s is
hrelease hlanding hrelease smaller

R30 hlanding
R40
R45

59 60

Linear Kinematics 10
 When hlanding << hrelease It’s possible to have a negative
projection height (hrelease < hlanding)
hprojection > 0 R40 > R30 > R45
In this case the optimal qrelease is
greater than 45 degrees

hrelease

So … as hprojection increases
the optimal qrelease decreases
hlanding
61 62

The effect of Projection Velocity on The effect of Projection Velocity on

the Range of a projectile the Range of a projectile

40 Range ~ 10 m 40 Range ~ 10 m
10 m/s @ 45 degrees 10 m/s @ 45 degrees
20 m/s @ 45 degrees Range ~ 40 m
30 30

20 20

10 10

0 0
0 10 20 30 40 50 60 70 80 90 100 0 10 20 30 40 50 60 70 80 90 100

63 64

The effect of Projection Velocity on FORMULAS for Projectile

the Range of a projectile motion
40 • = 0 (constant since there is no horizontal acceleration)
10 m/s @ 45 degrees Range ~ 10 m
• = 0
20 m/s @ 45 degrees Range ~ 40 m • = −
30 0
30 m/s @ 45 degrees Range ~ 90 m 1 2
• = 0 −2
20 2
• = −2 2 2

10 • =
So R a v2 (time to rise to reach the highest point)
2 2

0 • = = 2
(maximum height reached)

0 10 20 30 40 50 60 70 80 90 100 2 2
• = (range)
•Because R a v2, it has the greatest influence 2 2
• =
on the Range of the projectile 65 66

Linear Kinematics 11
 Example 1 a. Maximum height of the trajectory
A golfer hits the golf ball from the tee at an
angle of 30° with a speed of 30 m/s. = =
2
Determine the maximum height of the
(30) ( 30)
trajectory , range and duration of the flight. =
2(9.8)
What do I What do I = 11.5
know? want?
= 30 m/s =?
= 30° =?
g = 9.8 m/s2 =?

67 68

b) duration of the flight c) range

1
= + = − 2
2 =
= 11.5= (0) 30 + (−9.8)
30 30 11.5= 0 − 4.9 30 2(30)
= =
9.8 9.8
= 1.53 4.9 = 11.5
11.5 = 79.53
=
4.9
= + 11.5
=
4.9
= 1.53 + 1.53
= 1.53
= 3.06
69 70

Example 2 a) Position of the shell after 20 seconds

A shell leaves a mortar with a muzzle velocity of 1
= = +
500 ft/sec directed upward at 60° with the horizontal. 2
= 500 20 cos 60 1
Determine the position of the shell and its resultant = 5000 = 500 20 sin 60 + (−32.2)(20)
2
velocity 20 seconds after firing. How high it will = 2220.3
rise?
What do I What do I
know? want?
= 500 ft/s =?
= 60° =?
= 20 s =?
=32.2 ft/s2
71 72

Linear Kinematics 12
 b) Resultant velocity of the shell after 20 seconds c) maximum height (H)
= = +
= 500 cos 60 = 500 sin 60 + (−32.2)(20)
= =
= −211 / 2
= 250 /
(500) (sin 60)
=
2(32.2)
= +
= 2911.5 ft
= 250 + (−211)
= 327.13 /

73 74

Example 3 a) How high is the cliff?

= +
A stone is thrown with speed 10 m/s at an angle of projection = = =
of 30° from the top of a cliff and hits the sea 2.5 sec later. 2 = −
How high is the cliff? How far from the base of the cliff does 10 sin 30 (10) (sin 30)
= = = 2.5 − 0.5
the stone hit the water? 9.8 2(9.8)
=0.5 s =2
= 1.28 m
What do I What do I
know? want?
= 10 m/s =? 1
= + = −
= 30° =? 2 1
= 10 2 sin 30 + (9.8)(2) = 29.6 − 1.28
= 2.5 s 2
=32.2 ft/s2 = 29.6 = 28.32 m
75 76

b) How far from the base of the cliff does the stone
hit the water?

=
= 10(2.5) cos 30
= 21.65

77

Linear Kinematics 13