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LECTURE 04:
RELATIVE & DEPENDENT
MOTION
ENGR. GIANCARLO P. VENTURA
Institute of Civil Engineering
College of Engineering
University of the Philippines Diliman
KINEMATICS OF PARTICLES
Analysis of motion
of a particle relative
to another particle
Kinematics of
Analysis of motion of Particles
a particle according
to the path it follows
Motion of Motion of
Individual Several
Particles Particles
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.
For the motion of two particles A and B along one
direction only, the relative motion of B with respect to
A (represented by double subscripts) can be
determined using the absolute motion of each
particle.
xB A xB x A vB A vB v A aB A aB a A
relative position of B relative velocity of B relative acceleration of B
with respect to A with respect to A with respect to A
xB x A xB A vB v A vB A aB a A aB A
ES 12: DYNAMICS OF RIGID BODIES 5 GPVentura
MOTION RELATIVE TO A FRAME IN TRANSLATION
For two particles A and B, their position vectors may bedrawn with respect to
the fixed frame of reference Oxyz and they are given by rA and rB .
r
The relative position vector B A joining A and B now defines the position of B
with respect to the moving frame Ax’y’z’ and their relationship is given by rB rA rB A
Differentiating twice,
rB rA rB A rB A position of B relative to A
vB v A vB A v B A velocity of B relative to A
a B a A aB A a B A acceleration of B relative to A
aA 0
m
v A v A 0 10
m
v A 10
s s
m m
x A x A 0 v A 0 t 10 t x A 10 (5 s) 50 m
s s
ES 12: DYNAMICS OF RIGID BODIES 8 GPVentura
EXAMPLE 4.1
Automobile A is traveling east at the constant SOLUTION:
speed of 10 m/s. As automobile A crosses the • Write first all equations of motion for automobiles A
intersection shown, automobile B starts from and B. Set the intersection as the origin. Set the north
rest 35 m north of the intersection and moves and east directions as positive for the “horizontal” and
south with a constant acceleration of 1.2 m/s2. “vertical” directions respectively.
Determine the position, velocity, and • Automobile B is in uniformly-accelerated motion. Take
acceleration of B relative to A 5 s after A note that its motion is directed along the “vertical”.
crosses the intersection. m m
aB 1.2 aB 1.2 2
s2 s
m m
vB vB 0 aB t 1.2 2 t
m
vB 1.2 2 (5 s) 6
s s s
1 m
y B y B 0 vB 0 t aB t 2
1
y B 35 1.2 2 5 s
2
2 2 s
1 m
35 1.2 2 t 2 20 m
2 s
ES 12: DYNAMICS OF RIGID BODIES 9 GPVentura
EXAMPLE 4.1
Automobile A is traveling east at the constant SOLUTION:
speed of 10 m/s. As automobile A crosses the • To solve for the relative position, draw vectors with
intersection shown, automobile B starts from respect to an actual origin.
rest 35 m north of the intersection and moves
south with a constant acceleration of 1.2 m/s2. rA 50 m
Determine the position, velocity, and
acceleration of B relative to A 5 s after A rB 20 m
crosses the intersection.
m
aB / A 1.2 2
s
A. 25o C.
B. 25o D.
ES 12: DYNAMICS OF RIGID BODIES 13 GPVentura
EXAMPLE 4.2
Car B is traveling along the curved
path with a speed of 15 m/s while
decreasing its speed at 2 m/s2. At this
same instant car C is traveling along
the straight road with a speed of 30
m/s while decelerating at 3 m/s2.
vC = 30 m/s
𝑣𝐵/𝐶 = 152 + 302 − 2 15 30 cos 30𝑜
𝒎 vB/C
𝒗𝑩/𝑪 = 𝟏𝟖. 𝟓𝟗 𝜃
𝒔
sin 𝜃 sin 30
= 𝜽 = 𝟐𝟑. 𝟖𝟎𝒐
15 18.59 vB/C = 18.59 m/s, 66.2o ↗
ES 12: DYNAMICS OF RIGID BODIES 18 GPVentura
EXAMPLE 4.2 – GEOMETRIC APPROACH
Car C aC = 3 m/s2, ↑
aC = 3 m/s2
𝜃
𝑎𝐵/𝐶 = 𝑎𝐵2 + 𝑎𝐶2 − 2𝑎𝐵 𝑎𝐶 cos 𝜃
aB = 3.01 m/s2
𝑎𝐵/𝐶 = 3 2 + 3.01 2 − 2 3 3.01 cos 18.37𝑜 18.37𝑜
𝒎
𝑎𝐵/𝐶 = 𝟎. 𝟗𝟔 𝟐
𝒔 71.63𝑜
sin 𝜃 sin 18.37𝑜
= 𝜽 = 𝟖𝟎. 𝟎𝟏𝒐
3 0.96 aB/C = 0.96 m/s2, 8.57o ↘
ES 12: DYNAMICS OF RIGID BODIES 20 GPVentura
MOTION OF SEVERAL PARTICLES: DEPENDENT MOTION
2
in.
12 2a A 8 in.
in.
aA 9
s s2
v A v A 0 a At
in. in.
12 9 2 t t 1.333 s
s s
ES 12: DYNAMICS OF RIGID BODIES 23 GPVentura
EXAMPLE 4.3
Pulley D is attached to a collar which is pulled SOLUTION:
down at 3 in./s. At t = 0, collar A starts moving • Since pulley D is under uniform rectilinear motion,
down from K with constant acceleration and calculate its change in position at time t.
xD xD 0 vD t
zero initial velocity. Knowing that velocity of
collar A is 12 in./s as it passes L, determine
in.
the change in elevation, velocity, and xD xD 0 3 1.333 s 4 in.
acceleration of block B when block A is at L. s
• The motion of block B is dependent on the motions
of collar A and pulley D. Take note that the length
of the cable remains constant.
x A 2 xD xB x A 0 2xD 0 xB 0
x x 2x x x x 0
A A 0 D D 0 B B 0
xB xB 0 16 in.
ES 12: DYNAMICS OF RIGID BODIES 24 GPVentura
EXAMPLE 4.3
Pulley D is attached to a collar which is pulled SOLUTION:
down at 3 in./s. At t = 0, collar A starts moving • Differentiate the motion relationship twice to
down from K with constant acceleration and develop the equations for the velocity and
zero initial velocity. Knowing that velocity of acceleration of block B.
collar A is 12 in./s as it passes L, determine x A 2 xD xB constant
the change in elevation, velocity, and
acceleration of block B when block A is at L. v A 2vD vB 0
in. in. in.
12 2 3 vB 0 vB 18
s s s
a A 2a D a B 0
in. aB 9
in.
9 2 aB 0
s s2
ES 12: DYNAMICS OF RIGID BODIES 25 GPVentura
QUIZ
At the instant shown, cars A and B are
traveling at velocities of 40 m/s and 30
m/s, respectively. If B is increasing its
velocity by 2 m/s2, while A maintains a
constant velocity. The radius of curvature
at B is rB = 200 m.
A. Determine the relative velocity of B
with respect to A.
B. Determine the relative acceleration of
B with respect to A.
Draw vector polygons and label properly to help
simplify the problem.
ANSWERS:
A. 20.5 m/s, 43.1o ↙
B. 4.92 m/s2, 6.04o ↙
ES 12: DYNAMICS OF RIGID BODIES 26 GPVentura
QUIZ (TRUE or FALSE)
Consider two particles A and B moving in two different paths.
3. The relative velocity of B with respect to A is zero when the two particles meet at
the same point in space.
ANSWERS:
A. 8.53 cm/s, 54.1o ↖
B. 6.40 cm/s2, 54.1o ↖
gianpventura@gmail.com
Beer, F. P. et al (2013). Vector Mechanics for Engineers: Statics and Dynamics (10th ed.). New York: McGraw-Hill.
Hibbeler, R. C., & Hibbeler, R. C. (2013). Engineering Mechanics: Dynamics (12th ed.). Upper Saddle River, NJ: Pearson/Prentice Hall.
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