Chap1 Note

CHAPTER 1
Kinematics of Particles
Content
Learning outcome
Review on vector
Review on calculus
Introduction to dynamics
Rectilinear motion
Curvilinear motion
Relative motion
Dependent motion
Review problems
MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 2

Review on Vector
Scalar
Parameters possessing magnitude only but not direction. Examples:
mass, distance, speed, length, energy
Vector
Parameters possessing magnitude and direction. Examples:
displacements, velocities, accelerations, force, moment
Review on Vector
Vector representation
Scalar Multiplication and Division
Parallelogram Law

Review on Vector
Resolution vector
breaking up a vector into components
resolve vectors into components using the x and y axes system
Review on Vector
…Resolution vector
Each component of the vector is shown as a magnitude and a direction
The directions are based on the x and y axes. We use the “unit vectors” i
and j to designate the x and y axes
The x and y axes are always perpendicular to each other
For example,
F = Fx i + Fy j or F' = F'x i + F'y j
Review on Vector
Addition of several vectors
• Step 1 is to resolve each force

into its components
• Step 2 is to add all the x
components together and add all
the y components together. These
two totals become the resultant
vector.
• Step 3 is to find the magnitude and
angle of the resultant vector.
Review on Vector
…Addition of several vectors
A 2-D vector can also be represented with a magnitude and angle

Review on Vector
A unit vector
For a vector A with a magnitude of A, an unit vector is defined as
‫ܣ‬
‫ݑ‬஺ =
|‫|ܣ‬
Characteristics of a unit vector:

¾ Its magnitude is 1.
¾ It is dimensionless.
¾ It points in the same direction as the original vector (A).
The unit vectors in the Cartesian axis system are i, j, and k. They are
unit vectors along the positive x, y, and z axes respectively
Review on Vector
3 – D vector
Consider a box with sides AX, AY, and AZ meters
long
The vector A can be defined as
A = (AX i + AY j + AZ k)
The magnitude of the position vector A is
‫= ܣ‬ ‫ܣ‬ଶ௫ + ‫ܣ‬ଶ௬ + ‫ܣ‬௭ଶ
The direction or orientation of vector A is defined

by the angles D, E and J
Using trigonometry, the relationship can be
established

Review on Vector
the unit vector of any position vector is given by:-
OR we can also write : u A = cos D i + cos E j + cos J k

Review on Vector
Exercise
Determine the magnitude and direction of resultant vector
Determine its unit vector
ܴ = ͷͲ݅ െ ͳͲͲ݆ + ͳͲͲ݇

ܴ = 191
ߙ = 74.8°, ߚ = 102°, ߛ = 19.6°
‫ݑ‬ோ = 0.ʹ͸݅ െ 0.ʹͳ݆ + 0.ͻͶ݇

Review on Vector
Review on Calculus
Calculus – Differentiation
the derivative of a function f (x) with respect to the independent variable x
is given by :-
Properties of derivatives
The derivative of a product of two functions u(x), v(x) is
The derivative of the sum of two functions is the sum of their respective
derivatives;

Review on Calculus
Review on Calculus
Example
Differentiate ‫ ݐ( = ݏ‬ଷ + ͹‫ ݐ‬െ 1)(ͷ‫ ݐ‬+ 2)
Solution
ௗ௨ ௗ௩
Let ‫ ݐ = ݑ‬ଷ + ͹‫ ݐ‬െ 1, ՜ = 3‫ ݐ‬ଶ + 7; ‫ = ݒ‬ͷ‫ ݐ‬+ 2, ՜ =5
ௗ௧ ௗ௧
ௗ௦ ௗ௨ ௗ௩
Thus =‫ݒ‬ +‫ݑ‬ = ͷ‫ ݐ‬+ 2 3‫ ݐ‬ଶ + 7 + (‫ ݐ‬ଷ + ͹‫ ݐ‬െ 1)(5)
ௗ௧ ௗ௧ ௗ௧
= 20‫ ݐ‬ଷ + 6‫ ݐ‬ଶ + 70‫ ݐ‬െ 9

Review on Calculus
Quotient rule
݀‫ݑ‬ ݀‫ݒ‬
݀‫ ݔ݀ ݒ ݕ‬െ ‫ݔ݀ ݑ‬
=
݀‫ݔ‬ ‫ݒ‬ଶ
Example :
௧మ
Differentiate ‫= ݏ‬
ଷ௧ିଵ
Solution
ௗ௨ ௗ௩
Let ‫ ݐ = ݑ‬ଶ , ՜ = ʹ‫ ݐ͵ = ݒ ; ݐ‬െ 1, ՜ =3
ௗ௧ ௗ௧
೏ೠ ೏ೡ
ௗ௦ ௩
೏೟
ି௨
೏೟ ଷ௧ିଵ ଶ௧ ି ௧ మ ଷ ௧(ଷ௧ିଶ)
= = =
ௗ௧ ௩మ (௧௫ିଵ)మ (ଷ௧ିଵ)మ
Review on Calculus
Chain rule
݀‫ݐ݀ ݕ݀ ݕ‬
= ȉ
݀‫ݔ݀ ݐ݀ ݔ‬
Example:
Differentiate ‫ ݔ͵( = ݕ‬+ 1)ଶ
Solution :
ௗ௨ ௗ௬
Let ‫ ݔ͵ = ݑ‬+ 1, ՜ = 3 ; ‫ݑ = ݕ‬ଶ , ՜ = ʹ‫ݑ‬
ௗ௫ ௗ௨
ௗ௬ ௗ௬ ௗ௨
Thus, = ȉ = 2 ‫ ݑ‬3 = 6 ͵‫ ݔ‬+ 1 = ͳͺ‫ ݔ‬+ 6.
ௗ௫ ௗ௨ ௗ௫

Review on Calculus
Example
Obtain the time derivative for ‫ ݕ‬ଶ = ‫ ݔ‬+ 5
Solution
ௗ ௗ
‫ݕ‬ଶ = ‫ ݔ‬+ 5 Æ ݂ ‫)ݔ(݃ = ݕ‬
ௗ௧ ௗ௧
ௗ[௙ ௬ ] ௗ௬ ௗ[௚ ௫ ] ௗ௫ ௗ௬ ௗ௫
ȉ = ȉ Æ ʹ‫ݕ‬ = 1 ȉ ՜ ૛࢟ ȉ ࢟ሶ = ࢞ሶ
ௗ௬ ௗ௧ ௗ௫ ௗ௧ ௗ௧ ௗ௧
Review on Calculus
Example
Obtain the time derivative for ʹ‫ ݕ‬ȉ ‫ݕ‬ሶ = ‫ݔ‬ሶ
Solution
ௗ ௗ
ʹ‫ ݕ‬ȉ ‫ݕ‬ሶ = ‫ݔ‬ሶ Æ ݂ ‫)ݔ(݃ = ݕ‬
ௗ௧ ௗ௧
for ݂ ‫ ݕ‬:
ௗ௨ ௗ[௙ ௨ ] ௗ௬ ௗ௬
‫ = ݑ‬2‫ݕ‬, ՜ = ȉ =2ȉ = 2‫ݕ‬ሶ
ௗ௧ ௗ௬ ௗ௧ ௗ௧
ௗ௩ ௗ[௙ ௩ ] ௗ
‫ݕ = ݒ‬,ሶ ՜ = = (‫)ݕ‬
ሶ = ‫ݕ‬ሷ = ‫ݕ‬ሷ
ௗ௧ ௗ௬ ௗ௧
ௗ ௗ௨ ௗ௩
Thus ʹ‫ ݕ‬ȉ ‫ݕ‬ሶ = ‫ݒ‬ +‫ݑ‬ = ‫ݕ‬ሶ 2‫ݕ‬ሶ + (ʹ‫)ݕ()ݕ‬
ሷ
ௗ௧ ௗ௧ ௗ௧
ௗ[௚ ௫ ] ௗ
for ݃(‫ )ݔ‬Æ = ‫ݔ‬ሶ = ‫ݔ‬ሷ
ௗ௫ ௗ௧
The answer Æ ૛࢟ሶ ૛ + (૛࢟)(࢟)

ሷ = ࢞ሷ
Review on Calculus
Integration
Let ݃ ‫ ݔ = ݔ‬௡ so that ௗ[௚ௗ௫௫ ] = ݊‫ ݔ‬௡ିଵ & the integral

න ݀[݃ ‫ ] ݔ‬ȉ ݀‫ = ݔ‬න(݊‫ ݔ‬௡ିଵ ) ȉ ݀‫ ݔ = ݔ‬௡ + ‫ܥ‬
Review on Calculus

Kinematics:
• Study of the geometry of motion.
• Relates displacement, velocity, acceleration, and
time without reference to the cause of motion
Dynamics
Kinetics:
• study of the relations existing between the forces
acting on a body, the mass of the body, and the
motion of the body.
• Kinetics is used to predict the motion caused by
given forces or to determine the forces required to
produce a given motion.
Particle Æ assume the motion of entire unit.
¾ Neglect the rotation about their own mass center
¾ Neglect their shape / size
Rectilinear motion:
position, velocity, and acceleration of a
particle as it moves along a straight line.
Particle
kinetics
Curvilinear motion:
position, velocity, and acceleration of a
particle as it moves along a curved line in
two or three dimensions.

Rectilinear Motion
Rectilinear motion: particle moving along a straight line
Position coordinate: defined by positive or negative distance from a
fixed origin on the line
x is the position vector from O to P
The motion of a particle is known if the position coordinate for particle is

known for every value of time t
Rectilinear Motion
Consider particle which occupies position P at time t and P’ at t + 't
The velocity of P relative to O at a time t is the derivative of the position

vector x with respect to t (the rate of change of x)
ο‫ݔ‬
‫= ݕݐ݅ܿ݋݈݁ݒ ݁݃ܽݎ݁ݒܣ‬
ο‫ݐ‬
The instantaneous velocity is the velocity of an object in motion at a
specific point in time
ο‫ݔ݀ ݔ‬
‫ = ݕݐ݅ܿ݋݈݁ݒ ݏݑ݋݁݊ܽݐ݊ܽݐݏ݊ܫ‬lim =
ο௧՜଴ ο‫ݐ‬ ݀‫ݐ‬
Instantaneous velocity may be positive or negative.
Negative value means that the velocity is in the opposite sense to the
direction that has been set as being positive and vice-versa
Magnitude of velocity is referred to as particle speed
Rectilinear Motion
The acceleration of P relative to O at a time t is the derivative of the
velocity with respect to t (the rate of change of v)
ο‫ݒ‬
‫= ݕݐ݅ܿ݋݈݁ݒ ݁݃ܽݎ݁ݒܣ‬
ο‫ݐ‬
The instantaneous velocity is the velocity of an object in motion at a
specific point in time
ο‫ݒ݀ ݒ‬
ο௧՜଴ ο‫ݐ‬ ݀‫ݐ‬
Rectilinear Motion
Instantaneous acceleration may be:
¾ positive: increasing positive velocity
¾ positive : decreasing negative velocity
¾ negative: decreasing positive velocity
¾ negative : increasing negative velocity

Rectilinear Motion
Analyzing graph x vs. t
The curve may be expressed in the form of a

function ‫ = ݔ‬6‫ ݐ‬ଶ െ ‫ ݐ‬ଷ
at t = 2 s, x = 16 m
The instantaneous velocity
݀‫ݔ‬
‫=ݒ‬ = ͳʹ‫ ݐ‬െ 3‫ ݐ‬ଶ
݀‫ݐ‬
at t = 0 s, v = 0 m/s
at t = 2 s, v = 12 m/s (max)
at t = 4 s, v = 0 m/s
at t = 6 s, v = - 36 m/s
The instantaneous acceleration
݀‫ݒ‬
ܽ= = 12 െ 6‫ݐ‬
݀‫ݐ‬
Rectilinear Motion
Finding the maximum velocity ݀‫ݒ‬
=0
݀‫ݐ‬
Max. velocity occurred when the slope of velocity
݀‫ݒ‬
profile = 0 >0 ݀‫ݒ‬
݀‫ݐ‬ <0
݀‫ݐ‬
Set ௗ௩
ௗ௧
= 0, from here we may have the time when
the velocity is maximum.
Substitute the value of t into velocity equation
Example
Suppose we have ‫ ݐʹͳ = ݒ‬െ 3‫ ݐ‬ଶ
ௗ௩
ܽ= = 12 െ ͸‫ = ݐ‬0, Æ ‫ = ݐ‬2
ௗ௧
thus, ‫ݒ‬௠௔௫ occurred at t = 2s Æ ‫ݒ‬௠௔௫ = 12 ݉/‫ݏ‬

Rectilinear Motion
Analysis of the motion
When the acceleration is known as a function of time
ௗ௩
ܽ= , Æ ݀‫ ܽ = ݒ‬ȉ ݀‫ݐ‬
ௗ௧
න ݀‫ ܽ = ݒ‬න ݀‫ݐ‬
‫ ܽ = ݒ‬න ݀‫ ݐ‬+ ‫ܥ‬
When the acceleration is known as a function of displacement

ௗ௩ ௗ௦
ܽ= .‫ݒ‬ = , Æ ‫ ݒ‬ȉ ݀‫ ܽ = ݒ‬ȉ ݀‫ݔ‬
ௗ௧ ௗ௧
‫ ݒ‬න ݀‫ ܽ = ݒ‬න ݀‫ݔ‬
Rectilinear Motion
When the velocity is known as a function of time
ௗ௦
‫=ݒ‬ , Æ ݀‫ ݒ = ݏ‬ȉ ݀‫ݐ‬
ௗ௧
න ݀‫ ݒ = ݏ‬න ݀‫ݐ‬
‫ ݒ = ݏ‬න ݀‫ ݐ‬+ ‫ܥ‬
When the acceleration is constant

௦ ௧
න ݀‫ ݒ = ݏ‬න ݀‫ݐ‬
௦೚ ௧೚
‫ ݏ‬െ ‫ݏ‬௢ = ‫ ݐ(ݒ‬െ ‫ݐ‬௢ )
௩ ௧
න ݀‫ ܽ = ݒ‬න ݀‫ݐ‬
௩೚ ௧೚
‫ ݒ‬െ ‫ݒ‬௢ = ܽ(‫ ݐ‬െ ‫ݐ‬௢ )

Rectilinear Motion
…when the acceleration is constant / uniform acceleration
݀‫ݔ‬
െ ‫ݒ‬௢ = ܽ ȉ ‫ݐ‬, ՜ ݀‫ݒ = ݏ‬௢ ݀‫ ݐ‬+ ܽ ȉ ‫ ݐ‬ȉ ݀‫ݐ‬
݀‫ݐ‬
௫ ௧ ௧
න ݀‫ݒ = ݔ‬௢ න ݀‫ ݐ‬+ ܽ න ‫ ݐ‬ȉ ݀‫ݐ‬

௫೚ ௧೚ ௧೚
ܽ
‫ ݔ‬െ ‫ݔ‬௢ = ‫ݒ‬௢ ‫ ݐ‬െ ‫ݐ‬௢ + ‫ ݐ‬ଶ െ ‫ݐ‬௢ଶ
2
-------------------------------------------------------------------------------------------------
௩ ௫
න ‫ ݒ‬ȉ ݀‫ ܽ = ݒ‬න ݀‫ݔ‬

௩೚ ௫೚
ଶ
‫ݒ‬ ‫ݒ‬௢ଶ
െ = ܽ ‫ ݔ‬െ ‫ݔ‬௢ ՜ ‫ ݒ‬ଶ െ ‫ݒ‬௢ଶ = 2ܽ ‫ ݔ‬െ ‫ݔ‬௢
2 2
Rectilinear Motion
Example
After deploying its drag parachute, the airplane’s acceleration is ܽ =
െ 0.004‫ ݒ‬ଶ . Determine the time required for the plane’s velocity to
decrease from 80 m/s to 10 m/s.

Rectilinear Motion
Rectilinear Motion
Example
A particle moves along the x axis with an initial velocity of 50 m/s at the
origin when t = 0. For the first 4s it has no acceleration, and thereafter it
is acted on by a retarding force which gives it a constant acceleration a =
-10 m/s2. Calculate the velocity and the position of the particle at t = 8s
and t = 12s, find the maximum distance reached by the particle.

Rectilinear Motion
Rectilinear Motion
Example
A sprinter in a 100-m race accelerates uniformly for the first 35 m and
then runs with constant velocity. If the sprinter’s time for the first 35 m is
5.4 s, determine (a) his acceleration, (b) his final / maximum velocity, (c)
his time for the race.

Rectilinear Motion
Rectilinear Motion
Exercise
A small package is released from rest at A and moves along the skate
wheel conveyor ABCD. The package has a uniform acceleration of 4.8
as it moves down sections AB and CD, and its velocity is constant
between B and C. If the velocity of the package at D is 7.2 m/s,
determine (a) the distance d between C and D, (b) the time required for
the package to reach D. [Ans : a) d = 2.40m, b) t = 2.06s]

Rectilinear Motion
Curvilinear motion
Curvilinear motion occurs when the particle moves along a curved path.
Consider a particle which occupies position P defined by ‫ ݎ‬at time t and
P’ defined by ‫ݎ‬Ԣ at t + 't,
ο‫ݎ݀ ݎ‬
ο௧՜଴ ο‫ݐ‬ ݀‫ݐ‬
The velocity is tangent to the curve path

Curvilinear motion
Consider velocity v of a particle at time t and velocity v’ at t + 't
ο‫ݒ݀ ݒ‬
‫ = ݊݋݅ݐܽݎ݈݁݁ܿܿܽ ݏݑ݋݁݊ܽݐ݊ܽݐݏ݊ܫ‬lim =
ο௧՜଴ ο‫ݐ‬ ݀‫ݐ‬
In general, the acceleration vector is not tangent to the particle path and
velocity vector.
Curvilinear motion
Example
The box slides down the slope described by the equation y = (0.05x2) m,
where x is in meters. vx = -3 m/s, ax = -1.5 m/s2 at x = 5 m. Find The y
components of the velocity and the acceleration of the box at x = 5 m.

Curvilinear motion
Solution
Find the y-component of velocity by taking a time derivative of
the position y = (0.05x2)

y = 2 (0.05) x x = 0.1 x x

Find the acceleration component by taking a time derivative of

the velocity y

y = 0.1 x x + 0.1 x x
Substituting the x-component of the acceleration, velocity at x=5

into y and y.
Curvilinear motion

Since x = vx = -3 m/s, x = ax = -1.5 m/s2 at x = 5 m

y = 0.1 x x = 0.1 (5) (-3) = -1.5 m/s

y = 0.1 x x + 0.1 x x
= 0.1 (-3)2 + 0.1 (5) (-1.5)
= 0.9 – 0.75
= 0.15 m/s2
At x = 5 m
vy = – 1.5 m/s = 1.5 m/s p
ay = 0.15 m/s2 n

Curvilinear motion
Projectile motion
It is a form of motion experienced by an object or particle that is thrown
near the Earth's surface and moves along a curved path under the action
of gravity only
Assumptions
¾ The gravitational acceleration is constant (a = 8.81 m/s2) – vertical motion
¾ negligible air resistance
¾ The horizontal motion is the result of the tendency of any object to remain in
motion at constant velocity (a = 0)
Curvilinear motion
Projectile motion

Curvilinear motion
Vertical motion Horizontal motion
‫ݕ‬௠௔௫ , ‫ݒ‬௬ = 0
‫ݔ‬௠௔௫ , ܽ௫ = 0
Positively y axis directed Constant velocity, ܽ௫ = 0

upward
‫ݒ‬௫ = ௫௧
ܽ௬ = െ݃ = െ9.81 ݉/‫ ݏ‬ଶ
‫ݔ = ݔ‬௢ + ‫ݒ‬௢௫ ‫ݐ‬
‫ݒ‬௬ = ‫ݒ‬௢௬ െ ݃‫ݐ‬
‫ݕ = ݕ‬௢ + ‫ݒ‬௢௬ ‫ ݐ‬െ ଵଶ ݃‫ ݐ‬ଶ
‫ݒ‬௬ଶ = ‫ݒ‬௢௬
ଶ
െ ʹ݃(‫ ݕ‬െ ‫ݕ‬௢ )
Curvilinear motion
Example
A projectile is fired from the edge of a 150-m cliff with an initial velocity of
180 m/s at an angle of 30°with the horizontal. Neglecting air resistance,
find (a) the horizontal distance from the gun to the point where the
projectile strikes the ground, (b) the greatest elevation above the ground
reached by the projectile.

Curvilinear motion
Solution
Given: (v)o =180 m/s (y)o =150 m

(a)y = - 9.81 m/s2 (a)x = 0 m/s2
Vertical motion – uniformly accelerated:
Horizontal motion – uniformly accelerated:

Choose positive x to the right as shown
Curvilinear motion
Horizontal distance
Projectile strikes the ground at:
Substitute into equation (1) above
Solving for t, we take the positive root
Substitute t into equation (4)
Maximum elevation occurs when vy=0
Maximum elevation above the ground =

Curvilinear motion
Class exercise
A baseball pitching machine “throws” baseballs with a horizontal velocity
v0. If you want the height h to be 1 m, determine the value of v0.
Projectile is fired with vA=150 m/s at point A. The horizontal distance it

travels (R) and the time in the air.
Curvilinear motion

Curvilinear motion
Curvilinear motion
Tangential and Normal Components
Applicable to the case when the path
along which a particle is moving is
known.
The tangential direction (et) is tangent to
the path of the particle. This velocity
vector of a particle is in this direction
The normal direction (en) iss y
perpendicular to et and points towardss
the inside of the curve.
The acceleration can have components
in both the en and et directions en v= vt et
et
x
Curvilinear motion
Tangential and Normal Components
‫݁ ݒ = ݒ‬௧
ܽ = ܽ௧ ݁௧ + ܽ௡ ݁௡
݀‫ݒ‬ ‫ݒ‬ଶ
ܽ= ݁ + ݁௡
݀‫ ݐ‬௧ ߩ
U= the instantaneous
The magnitude of the acceleration vector is radius of curvature
ܽ= ܽ௧ଶ + ܽ௡ଶ
The velocity vector is always tangent to the
path of motion (t-direction).
The tangential component of acceleration
reflects change of speed and the normal
component reflects change of direction.
The tangential component may be positive or
negative. Normal component always points
toward center of path curvature.
Curvilinear motion
Example
A motorist is traveling on a curved section of highway of radius 750 m at
the speed of 90 km/h. The motorist suddenly applies the brakes, causing
the automobile to slow down at a constant rate. Knowing that after 8 s the
speed has been reduced to 72 km/h, determine the acceleration of the
automobile immediately after the brakes have been applied.

Curvilinear motion
Solution
SOLUTION:
• Define your coordinate system
• Determine velocity and acceleration in
the tangential direction
et § km · § 1000 m · § 1 h ·
en 90 km/h = ¨ 90 ¸¨ ¸¨ ¸ 25 m/s
© h ¹ © 1 km ¹ © 3600 s ¹
72 km/h = 20 m/s
• The deceleration constant, therefore
Dv 20 m/s - 25 m/s
at = average at = = = - 0.625 m/s2
Dt 8s
• Immediately after the brakes are applied,
the speed is still 25 m/s
v 2 (25 m/s)2
an = = = 0.833 m/s2
r 750 m
an 0.833 m/s2
a an at
2 2
( 0.625) (0.833)
2 2 tan a = =
at 0.625 m/s2
a = 1.041 m/s2 a = 53.1$
Curvilinear motion
Radial and Transverse components
(cylindrical/polar coordinate)
Point P in the diagram can be located relative to
origin O by rectangular coordinate (xp , yp) or polar
coordinate (r , T)
In rectangular coordinates we have
‫ݔ‬௣ = ‫ ݎ‬cos ߠ ܽ݊݀ ‫ݕ‬௣ = ‫ ݎ‬sin ߠ
For polar coordinate we have
‫ݕ‬௣
‫=ݎ‬ ‫ݔ‬௣ଶ + ‫ݕ‬௣ଶ ܽ݊݀ ߠ = ‫ି݊ܽݐ‬ଵ
‫ݔ‬௣
The cylindrical coordinate is the 3-D
representation of polar coordinates (r , T , z)

Curvilinear motion
The position of a particle P is expressed as a
distance r from the origin O to P
this defines the radial direction er and the transverse
direction eT. Both are perpendicular to each other
The velocity P is defined as,
‫ݒ‬௉ = ‫ݎ‬ሶ ݁௥ + ‫ߠݎ‬ሶ ݁ఏ
The magnitude of velocity is
‫ݒ‬௉ = ሶ ଶ
(‫)ݎ‬ሶ ଶ +(‫)ߠݎ‬
Curvilinear motion
The acceleration is
ܽ௉ = ‫ݎ‬ሷ െ ‫ߠݎ‬ሶ ଶ ݁௥ + ‫ߠݎ‬ሷ + 2‫ݎ‬ሶ ߠሶ ݁ఏ
The magnitude of acceleration is
ଶ ଶ
ܽ௉ = ‫ݎ‬ሷ െ ‫ߠݎ‬ሶ ଶ + ‫ߠݎ‬ሷ + 2‫ݎ‬ሶ ߠሶ

Curvilinear motion
Example
The platform is rotating such that, at any instant, its angular position is
= (4t3/2) rad, where t is in seconds. A ball rolls outward so that its
position is r = (0.1t3) m. The magnitude of velocity and acceleration of
the ball when t = 1.5 s
Curvilinear motion
Solution
Substitute into the. equation. for velocity

v = r ur + rq uș = 0.675 ur + 0.3375 (7.348) uș
= 0.675 ur + 2.480 uș
v = (0.675)2 + (2.480)2 = 2.57 m/s

Curvilinear motion
Substitute in the equation for acceleration:
a = (r – rq 2)ur + (rq + 2rq)uș
a = [0.9 – 0.3375(7.348)2] ur
+ [0.3375(2.449) + 2(0.675)(7.348)] uș
a = – 17.33 ur + 10.75 uș m/s2
a = (– 17.33)2 + (10.75)2 = 20.4 m/s2
Curvilinear motion
Example
Rotation of the arm about O is defined by q = 0.15t2 where q 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. 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.

Curvilinear motion
SOLUTION:
• Evaluate time t for T = 30o.
T 0.15 t 2
30q 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
T 0.15 t 2 0.524 rad

T 0.30 t 0.561 rad s
T 0.30 rad s 2
Curvilinear motion
• Calculate velocity and acceleration.
vr r 0.449 m s
vT rT 0.481m 0.561rad s 0.270 m s
v
v vr2 vT2 E tan 1 T
vr
v 0.524 m s E 31.0q
ar r rT 2
0.240 m s 2 0.481m 0.561rad s 2
0.391m s 2
aT rT 2rT
0.481m 0.3 rad
s 2 2 0.449 m s 0.561rad s
0.359 m s 2
a
a ar2 aT2 J tan 1 T
ar
a 0.531m s J 42.6q

Curvilinear motion
Class exercise
In the mechanism shown below, arm PQ is the driver. At the distance
shown, the arm PQ is rotating in CCW dierection at a constant angular
velocityy (in
( rad/s).
)
Curvilinear motion

Relative motion
In many applications, it is necessary to analyze
the motions of two or more points relative to a
frame of reference
Oxyz Æ fixed frame of reference; Ax’y’z’ Æ
moving frame of reference.
Position vectors for particles A and B with
respect to the fixed frame of reference Oxyz are
rA and rB
Vector rB/A joining A and B defines the position
of B with respect to the moving frame Ax’y’z’
‫ݎ‬஻/஺ = ‫ݎ‬஻ െ ‫ݎ‬஺
Differentiating the displacement :
Velocity Æ ‫ݒ‬஻/஺ = ‫ݒ‬஻ െ ‫ݒ‬஺
Acceleration Æ ܽ஻/஺ = ܽ஻ െ ܽ஺
Relative motion
Sketching the velocity & acceleration vector diagram
Sometimes it is much easier to solve the problems geometrically. The
velocity and acceleration vector diagram can be helpful to solve scalar
problems
Some useful trigonometric formula
Basic trigonometry Sine & Cosine rules
B
B
c
c
a a
C
A
b
A
C b
௔ ௕ ௖
Pythagorean theorem ܽଶ + ܾ ଶ = ܿ ଶ Sine rule : = =
ୱ୧୬ ஺ ୱ୧୬ ஻ ୱ୧୬ ஼
ܽ ܾ ܽ
sin ‫ ; = ܣ‬cos ‫ ; = ܣ‬tan ‫= ܣ‬ Cosine rule : ܿ ଶ = ܽଶ + ܾ ଶ െ 2 ȉ ܽ ȉ ܾ cos ‫ܥ‬
ܿ ܿ ܾ
Relative motion
Example
Automobile A is traveling east at the constant speed of 36 km/h. As
automobile A crosses the intersection shown, automobile B starts from
rest 35 m north of the intersection and moves south with a constant
acceleration of 1.2 m/s2. Determine the position, velocity, and
acceleration of B relative to A 5 s after A crosses the intersection.
Relative motion
Solution
We can solve the problems geometrically, and apply the arctangent relationship:
Or we can solve the problems using vectors to obtain equivalent results:

rB rA rB/ A vB v A v B/ A aB a A a B/ A
20 j 50i rB/ A 6 j 10i v B/ A 1.2 j 0i a B/ A
rB/ A 20 j 50i (m) v B/ A 6 j 10i (m/s) a B/ A 1.2 j (m/s 2 )
Physically, a rider in car A would 䇾see䇿 car B travelling south and west.

Relative motion
Exercise
Three seconds after automobile B passes through the intersection
shown, automobile A passes through the same intersection. Knowing
that the speed of each automobile is constant,
a) draw velocity vector diagrams.
b) find the relative velocity of B with respectt
to A,
c) find the change in position of B with
respect to A during a 4-s interval,
d) find the distance between the two
automobiles 2 s after A has passed through 13 m/s
30 m/s
the intersection. Show the displacementt
vector diagram.
Relative motion

Dependent Motion
In many kinematics problems, the motion of
one object will depend on the motion of
another object
The motion of each block can be related
mathematically by defining position
coordinates, sA and sB.
Each coordinate axis is defined from a fixed
point or datum line, measured positive along
each plane in the direction of motion of each
block.
If the cord has a fixed length, the position
coordinates sA and sB are related
mathematically by the equation
sA + lCD + sB = lT
Here lT is the total cord length and lCD is the length
of cord passing over the arc CD on the pulley.
Dependent Motion
The velocity,
݀ ݀
‫ݏ‬஺ + ݈஼஽ + ‫ݏ‬஻ = (݈ ் )
݀‫ݐ‬ ݀‫ݐ‬
Note that lCD and lT remain constant
‫ݒ‬஺ + ‫ݒ‬஻ = 0
The acceleration,
݀
(‫ ݒ‬+ ‫ݒ‬஻ ) = 0
݀‫ ݐ‬஺
ܽ஺ + ܽ஻ = 0

Dependent Motion
Example
The red colored segments of the cord remain
constant in length during motion of the blocks.
The position equation
2‫ݏ‬஻ + ݄ + ‫ݏ‬஺ = ݈ ்
The velocity equation is
2‫ݒ‬஻ + ‫ݒ‬஺ = 0
The acceleration equation is
2ܽ஻ + ܽ஺ = 0
When block B moves downward (+sB), block A
moves to the left (-sA).
Remember to be consistent with your sign
convention!
Dependent Motion
Example
In the figure on the left, the cord at A is pulled down with a speed of 2
m/s. Find the speed of block B.

Dependent Motion
2) Write position/length equations for

each cord. Define l1 as the length of
the first cord, minus any segments of
constant length. Define l2 in a similar
manner for the second cord:
Cord 1: sA + 2sC = l1
Cord 2: sB + (sB – sC) = l2
3) Eliminating sC between the two

equations, we get
sA + 4sB = l1 + 2l2
4) Relate velocities by differentiating this expression. Note that l1 and l2

are constant lengths.
vA + 4vB = 0 vB = – 0.25vA = – 0.25(2) = – 0.5 m/s
The velocity of block B is 0.5 m/s up (negative sB direction).
Dependent Motion
Example
The elevator shown starts from rest and moves upward with a constant
acceleration. If the counterweight W moves through 10 m in 5 s,
determine (a) the accelerations of the elevator and the cable C, (b) the
velocity of the elevator after 5 s.
[Ans: a) aE = 0.800 m/s2, aC = 1.600 m/s2; b) (vE)5 = 4.00 m/s]

Dependent Motion
Solution

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CHAPTER 1

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 2

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 3

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 4

 resolve vectors into components using the x and y axes system

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 5

• Step 1 is to resolve each force

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 7

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 8

 Characteristics of a unit vector:

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 9

 The direction or orientation of vector A is defined

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 10

 the unit vector of any position vector is given by:-

 OR we can also write : u A = cos D i + cos E j + cos J k

ܴ = ͷͲ݅ െ ͳͲͲ݆ + ͳͲͲ݇

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 12

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 13

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 14

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 15

= 20‫ ݐ‬ଷ + 6‫ ݐ‬ଶ + 70‫ ݐ‬െ 9

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 16

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 17

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 18

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 19

The answer Æ ૛࢟ሶ ૛ + (૛࢟)(࢟)

 Let ݃ ‫ ݔ = ݔ‬௡ so that ௗ[௚ௗ௫௫ ] = ݊‫ ݔ‬௡ିଵ & the integral

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 21

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 22

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 23

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 24

x is the position vector from O to P

 The motion of a particle is known if the position coordinate for particle is

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 25

 The velocity of P relative to O at a time t is the derivative of the position

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 27

¾ positive : decreasing negative velocity

¾ negative: decreasing positive velocity

¾ negative : increasing negative velocity

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 28

 The curve may be expressed in the form of a

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 29

thus, ‫ݒ‬௠௔௫ occurred at t = 2s Æ ‫ݒ‬௠௔௫ = 12 ݉/‫ݏ‬

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 30

‫ ܽ = ݒ‬න ݀‫ ݐ‬+ ‫ܥ‬

 When the acceleration is known as a function of displacement

‫ ݒ‬න ݀‫ ܽ = ݒ‬න ݀‫ݔ‬

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 31

‫ ݒ = ݏ‬න ݀‫ ݐ‬+ ‫ܥ‬

 When the acceleration is constant

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 32

න ݀‫ݒ = ݔ‬௢ න ݀‫ ݐ‬+ ܽ න ‫ ݐ‬ȉ ݀‫ݐ‬

න ‫ ݒ‬ȉ ݀‫ ܽ = ݒ‬න ݀‫ݔ‬

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 33

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 34

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 35

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 36

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 37

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 38

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 39

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 40

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 41

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 42

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 43

resolve vectors into components using the x and y axes system

Characteristics of a unit vector:

The direction or orientation of vector A is defined

the unit vector of any position vector is given by:-

OR we can also write : u A = cos D i + cos E j + cos J k

Let ݃ ‫ ݔ = ݔ‬௡ so that ௗ[௚ௗ௫௫ ] = ݊‫ ݔ‬௡ିଵ & the integral

The motion of a particle is known if the position coordinate for particle is

The velocity of P relative to O at a time t is the derivative of the position

The curve may be expressed in the form of a

When the acceleration is known as a function of displacement

When the acceleration is constant

Positively y axis directed Constant velocity, ܽ௫ = 0

Projectile is fired with vA=150 m/s at point A. The horizontal distance it