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DYNAMICS
Chapter 12 Kinematics of A Particle
INTRODUCTION &
RECTILINEAR KINEMATICS: CONTINUOUS
MOTION
Today’s Objectives:R206 In-Class Activities:
Students will be able to: • Reading Quiz
1. Find the kinematic • Applications
quantities (position, • Relations between s(t),
displacement, velocity, v(t), and a(t) for general
and acceleration) of a rectilinear motion
particle traveling along a • Relations between s(t),
straight path. v(t), and a(t) when
acceleration is constant
• Concept Quiz
• Attention Quiz
READING QUIZ
APPLICATIONS
Why?
Dynamics:
Statics: The study of
1. Kinematics – concerned
bodies in equilibrium.
with the geometric aspects of
motion
2. Kinetics – concerned with
the forces causing the motion
ACCELERATION
Acceleration is the rate of change in the velocity of a particle.
It is a vector quantity. Typical units are m/s2.
Vector form: a = dv / dt
Velocity: Position:
v t v s s t
dv a dt or v dv a ds ds v dt
vo o vo so so o
CONSTANT ACCELERATION
The three kinematic equations can be integrated for the
special case when acceleration is constant (a = ac) to obtain
very useful equations. A common example of constant
acceleration is gravity; i.e., a body freely falling toward earth.
In this case, ac = g = 9.81 m/s2 downward. These equations
are:
v t
dv a c dt
vo o
yields v vo act
s t
ds v dt yields s s o v ot (1/2) a c t 2
so o
v s
EXAMPLE
(continued)
Solution:
1) Take a derivative of the velocity to determine the
acceleration.
a = dv / dt = d(4 t – 3 t2) / dt = 4 – 6 t
a = – 20 m/s2 (or in the direction) when t = 4 s
s – 0 = 2(4)2 – (4)3 s = – 32 m ( or )
Example 12.1
Example 12.1
Solution
Coordinate System
Positive is to the right.
v
ds
dt
0.9t 2 0.6t
Position
When s = 0 when t = 0, we have
ds 3t
s t s t
2
2t dt s t t3 2
t3 t2
0 0 0 0
Solution
Acceleration
Knowing v = f(t), the acceleration is determined from a =
dv/dt, since this equation relates a, v and t.
dv d 2
a 3t 2t 6t 2
dt dt
When t = 3s, a = 20 m/s2
Example 12.2
A small projectile is forced downward into a
fluid medium with an initial velocity of 60m/s.
Due to the resistance of the fluid the
projectile experiences a deceleration equal to
a = (-0.4v3)m/s2, where v is in m/s2.
Determine the projectile’s velocity and
position 4s after it is fired.
Example 12.2
Solution
Coordinate System
Since the motion is downward, the position coordinate is
downwards positive, with the origin located at O.
dv
a 0.4v 3
dt
Velocity
Here a = f(v), velocity is a function of time using a =
dv/dt, since this equation relates v, a and t.
Example 12.2
Solution
v dv t
Velocity 60 m / s
0.4v 3 0
dt
1 1 1 v
t 0
0 .4 2 v 2 60
1 1 1
t
0.8 v 2 60 2
1
1/ 2
v 0.8t m / s
60 2
1 / 2 1 / 2
ds 1 s 1
t
v 0 .8t ds 0.8t dt
dt 60 2
0 0
60
2
1 1 1
1 / 2
s 0.8t m
0.4 60 2
60
When t = 4s, s = 4.43m
Example 12.3
A rocket travel upward at
75m/s. When it is 40m from
the ground, the engine fails.
Determine max height sB
reached by the rocket and its
speed just before it hits the
ground. While in motion the
rocket is subjected to a
constant downward
acceleration of 9.81 m/s2.
Neglect air resistance.
Example 12.3
Solution
Coordinate System
Origin O for the position coordinate at ground level with
positive upward
Maximum Height
Rocket traveling upward, vA = +75m/s when t = 0. s = sB when
vB = 0 at max ht. For entire motion, acceleration aC = -9.81m/s2
(negative since it act opposite sense to positive velocity or
positive displacement)
vB2 v A2 2aC ( s B s A ) s B 327 m
Example 12.3
Solution
Velocity
The negative root was chosen since the rocket is moving
downward.
Example 12.4
Solution
Coordinate System
It is shown that s is taken positive downward, measured from
plate A
Velocity
Since a = f(s), velocity as a function of position can be
obtained by using v dv = a ds. Realising v = 0 at s = 100mm
= 0.1m
1
1 2v 4 2S
v 2 s 0.01 2
v s
v dv a ds v dv 4 s ds v s 2
0 0.1 2 0 2 0.1
ln s 2 0.01 s 2t
s
0.1
t
ln s 2
0.01 s 2.33 2t
Example 12.5
A particle moves along a horizontal path with
a velocity of v = (3t2 – 6t) m/s. if it is
initially located at the origin O, determine
the distance traveled in 3.5s and the
particle’s average velocity and speed during
the time interval.
Example 12.5
Solution
Coordinate System
Assuming positive motion to the right, measured from the
origin, O
Distance traveled
Since v = f(t), the position as a function of time may be
found integrating v = ds/dt with t = 0, s = 0.
ds vdt 3t 2 6t dt
ds 3 t dt 6 tdt s t
s t t
2 3
3t 2 m
0 0 0
Example 12.5
Solution
Distance traveled
0 ≤ t < 2 s the velocity is negative, which means the particle is
traveling to the left, and for the t>2s the particle is moving to the right.
s 0 s 4.0m s 6.125m
t 0 t 2 s t 3.5 s
Average speed, v
sp avg
sT 14.125
4.04m / s
t 3.5 0
CONCEPT QUIZ
3 m/s 5 m/s
t=2s t=7s
A) 0.0 m B) 6.0 m
C) 18.0 m D) 9.0 m
A) 50 m B) 100 m
C) 150 m D) 200 m
A) velocity. B) acceleration.
C) position. D) jerk.
A) a-t B) a-s
C) v-t C) s-t
ERRATIC MOTION
(Section 12.3)
Graphing provides a good way
to handle complex motions that
would be difficult to describe
with formulas.
Graphs also provide a visual
description of motion and
reinforce the calculus concepts
of differentiation and integration
as used in dynamics.
V-T GRAPH
Plots of velocity vs. time can be used
to find acceleration vs. time curves.
Finding the slope of the line tangent
to the velocity curve at any point is
the acceleration at that point (or a =
dv/dt).
A-S GRAPH
a = v (dv/ds).
EXAMPLE
Given: The s-t graph for a sports car moving along a straight
road.
Find: The v-t graph and a-t graph over the time interval shown.
v(m/s)
v-t graph
30
t(s)
5 10
EXAMPLE (continued)
Similarly, the a-t graph can be constructed by finding the
slope at various points along the v-t graph. Using the
results of the first part where the velocity was found:
when 0 < t < 5 s; a0-5 = dv/dt = d(6t)/dt = 6 m/s2
6
t(s)
5 10
EXAMPLE 12.6
Solution:
v-t Graph. The v-t graph can be determined by differentiating
the eqns defining the s-t graph
ds
0 t 10 s; s t2 v 2t
dt
ds
10 s t 30 s; s 20t 100 v 20
dt
The results are plotted.
We obtain specify values of v by measuring the slope of the s-t
graph at a given time instant.
s 500 100
v 20m / s
t 30 10
EXAMPLE 12.6 (Continued)
dv
0 t 10 s; v 2t a 2m/s 2
dt
dv
10 t 30 s; v 20 a 0
dt
EXAMPLE 12.7
Solution:
v-t Graph. The v-t graph can be determined by integrating the
straight-line segments of the a-t graph. Using initial condition v =
0 when t = 0,
v t
0 t 10 s a 10; 0
dv 10 dt , v 10t
0
s-t Graph. Integrating the eqns of the v-t graph yields the
corresponding eqns of the s-t graph. Using the initial conditions s
= 0 when t = 0,
s t
0 t 10 s; v 10t ;
0
ds 10t dt , s 5t 2
0
EXAMPLE 12.7 (Continued)
ds 2t 120 dt
s t
10 s t 60 s; v 2t 120;
500 10
s t 2 120t 600
When t’ = 60s, the position is s = 3000m
EXAMPLE 12.8
Solution:
a-s Graph. Since the eqns for the segments of the v-s graph are
given, a-s graph can be determined using a ds = v dv.
0 s 200m; v 0.2 s 10
dv
av 0.04 s 2
ds
200m s 400m; v 50;
dv
av 0
ds
ds ds
0 s 200 m; v 0.2 s 10; dt
v 0.2 10
t ds
s
o dt
0 0 .2 s 10
t 5 ln( 0.2 s 10 ) 5 ln 10
At s = 200 m, t = 8.05 s
For second segment of motion,
ds ds
200 s 400m; v 50; dt
v 50
t s ds
8.05 200 50
dt
s
t 4.05
50
At s = 400 m, t = 12.1 s
CONCEPT QUIZ
ATTENTION QUIZ
1. If a car has the velocity curve shown, determine the time
t necessary for the car to travel 100 meters.
v
A) 8 s B) 4 s 75
C) 10 s D) 6 s
t
6s
2. Select the correct a-t graph for the velocity curve shown.
a a
v
A) B)
t t
a a
C) D) t
t t
CURVILINEAR MOTION:
GENERAL & RECTANGULAR COMPONENTS
Today’s Objectives:
Students will be able to:
1. Describe the motion
of a particle traveling In-Class Activities:
along a curved path. • Reading Quiz
2. Relate kinematic • Applications
quantities in terms of • General Curvilinear Motion
the rectangular • Rectangular Components
components of the of Kinematic Vectors
vectors. • Concept Quiz
• Attention Quiz
READING QUIZ
1. In curvilinear motion, the direction of the instantaneous
velocity is always
A) tangent to the hodograph.
B) perpendicular to the hodograph.
C) tangent to the path.
D) perpendicular to the path.
APPLICATIONS
(continued)
VELOCITY
Velocity represents the rate of change in the
position of a particle.
The average velocity of the
particle during the time increment
t is
vavg = r/t .
The instantaneous velocity is the
time-derivative of position
v = dr/dt .
The velocity vector, v, is always
tangent to the path of motion.
EXAMPLE (continued)
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
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
ay = 0.15 m/s2
EXAMPLE 12.9
Solution:
Velocity.
d
v x x 8t 8m / s
dt
v y y
d 2
dt
x / 10 2 xx / 10 25.6m / s
v 8 2 25 .6 2 26 . 8 m / s
The direction is tangent to the path, where
vy
v tan 1 72.6
vx
Acceleration.
a x vx 0
d
a y v y (2 xx / 10) 2 xx / 10 2 xx / 10 12.8
dt
a 0 12.8 12.8m / s 2
2 2
12.8
a tan 1 90
0
EXAMPLE 12.10
Solution:
Position.
2
When y=100m, then 100=0.001 x or x=316.2m. Also, since vy=10m/s, then
y= vy t 100m=(10m/s)t t=10s
Velocity.
Using the chain rule to find the relationship between the velocity components,
We have d
v y y (0.001x 2 ) (0.002 x) x 0.002 xvx (1)
dt
Thus
10m / s 0.002(316.2m)(v x )
v x 15.81m / s
The magnitude of the velocity is therefore
2 2
v v x v y 15.812 10 2 18.7 m / s
EXAMPLE 12.10 (Continued)
Acceleration.
Using the chain rule, the time derivative of Eq. (1) gives the relation between
the acceleration components.
2
a y v y 0.002 xv x 0.002 xvx 0.002(v x xa x )
a y = -0.791 m / s 2
CONCEPT QUIZ
1. If the position of a particle is defined by
r = [(1.5t2 + 1) i + (4t – 1) j ] (m), its speed at t = 1 s
is
A) 2 m/s B) 3 m/s
C) 5 m/s D) 7 m/s
MOTION OF A PROJECTILE
Today’s Objectives:
Students will be able to: In-Class Activities:
1. Analyze the free-flight • Reading Quiz
motion of a projectile. • Applications
• Kinematic Equations for
Projectile Motion
• Examples
• Concept Quiz
• Attention Quiz
READING QUIZ
APPLICATIONS
vy = voy – g t
y = yo + (voy) t – ½ g t2
Since y = 0 at C
0 = (10 sin 30) t – ½ (9.81) t2 t = 0, 1.019 s
EXAMPLE I (continued)
EXAMPLE II
Example III
80 88.27
tAB= =
vA (cos 25) vA
Motion in y-direction:
Using yB = yA + voy(tAB) – ½ g(tAB)2
88.27 88.27 2
– 64 = 0 + vA(sin 25) { – }½ (9.81) { }
vA vA
vA = 19.42 m/s
Example IV
Example IV
(continued)
Solution:
Motion in x-direction:
Using xB = xA + vox(tAB)
d cos10 = 0 + 24 (cos 55) tAB y
tAB = 0.07154 d x
Motion in y-direction:
Using yB = yA + voy(tAB) – ½ g(tAB)2
d sin10 = 0 + 24(sin 55)(0.07154 d) – ½ (9.81) (0.07154 d)2
0 = 1.2328 d – 0.025104 d2
d = 0, 49.1 m
CONCEPT QUIZ
A) 1 B) 2
C) 3 D) 4
ATTENTION QUIZ
1. A projectile is given an initial velocity
vo at an angle above the horizontal.
The velocity of the projectile when it
hits the slope is ____________ the
initial velocity vo.
READING QUIZ
1. If a particle moves along a curve with a constant speed,
then its tangential component of acceleration is
A) positive. B) negative.
C) zero. D) constant.
Why would you care about the total acceleration of the car?
.
Here v represents the change
in the magnitude of velocity
.
and ut represents the rate of
change in the direction of ut.
EXAMPLE I
Given: A car travels along the road
with a speed of v = (2s)
m/s, where s is in meters.
= 50 m
EXAMPLE II
Given: A boat travels around a
circular path, = 40 m, at a
speed that increases with
time, v = (0.0625 t2) m/s.
Example III
Tangential component :
at =14 cos(75) = 3.623 m/s2
Normal component :
an = 14 sin(75) = 13.52 m/s2
CONCEPT QUIZ
. . . . .
C) (r)2 + (r)2 D) (r)2 + (r)2 + (z)2
APPLICATIONS
A cylindrical coordinate
system is used in cases
where the particle moves
along a 3-D curve.
Thus,
the velocity vector has two components:
r, called the radial component, and r called
the transverse component. The speed of the
particle at any given instant is the sum of the
squares of both components or
v= (r 2 r )2
ACCELERATION (POLAR COORDINATES)
The instantaneous acceleration is defined as:
. .
a = dv/dt = (d/dt)(rur + ruθ)
.. . .. ..
The magnitude of acceleration is a = (r – r 2)2 + (r + 2r)2
CYLINDRICAL COORDINATES
rP = rur + zuz
. . .
Velocity: vP = ru r + ruθ + zuz
.. . .. .. ..
Acceleration: aP = (r – r )ur + (r + 2r)uθ
2 + zuz
EXAMPLE
EXAMPLE
(continued)
a = [0.9 – 0.3375(7.348)2] ur
+ [0.3375(2.449) + 2(0.675)(7.348)] uθ
Example II
Substitute in the
. equation
. for velocity
.
v = r ur + r uθ + z ur
= 1.5 ur + 3 (1.5) uθ + 24 uz
= 1.5 ur + 4.5 uθ + 24 uz
Example II (continued)
The searchlight casts a spot of light along the face of a wall that is
located 100m from the searchlight. Determine the magnitudes of
the velocity and acceleration at which the spot appears to travel
across the wall at the instant θ = 45°. The searchlight is rotating at
a constant rate of 4 rad/s
EXAMPLE 12.19(Continued)
EXAMPLE 12.19(Continued)
a (r r 2 )ur (r 2r)u
{4525.5ur 4525.5u }mm / s 2
a 6400mm / s 2
EXAMPLE 12.20
r 0.15(1 cos )
r 0.15(sin )
r 0.15(cos )() 0.15(sin )
v r 2 r
2
4rad / s
CONCEPT QUIZ
.
1. If r is zero for a particle, the particle is
APPLICATIONS
The cable and pulley system shown
can be used to modify the speed of
the mine car, A, relative to the
speed of the motor, M.
DEPENDENT MOTION
(continued)
In this example, position
coordinates sA and sB can be
defined from fixed datum lines
extending from the center of
the pulley along each incline
to blocks A and B.
Here lT is the total cord length and lCD is the length of cord
passing over the arc CD on the pulley.
DEPENDENT MOTION
(continued)
The velocities of blocks A and B
can be related by differentiating
the position equation. Note that
lCD and lT remain constant, so
dlCD/dt = dlT/dt = 0
Prove to yourself that the results are the same, even if the sign
conventions are different than the previous formulation.
DEPENDENT MOTION: PROCEDURES
These procedures can be used to relate the dependent motion of
particles moving along rectilinear paths (only the magnitudes of
velocity and acceleration change, not their line of direction).
EXAMPLE
Given:In the figure on the left,
the cord at A is pulled
down with a speed of 2
m/s.
EXAMPLE (continued)
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
Plan:
Example II (continued)
Solution:
1) A datum line can be drawn through the upper, fixed,
pulleys. Two coordinates must be defined: one for block A
(sA), one for the cable(sM), is drawn towards the motor.
2) Defining sA and sM as shown, the
position relation can be written:
3 sA + sM = l
sA 3) Taking the time derivative of the
sM above equation to relate
velocities:
3 vA + vM = 0 (+ )
Since the rope is drawn towards the
motor at a speed of (5t3/2) m/s,
Plan:
Example III
Solution: (continued)
1) A datum line can be drawn through the upper, fixed, pulleys
and position coordinates defined from this line to each block
(or the pulley above the block).
Time Derivative.
Taking time derivative, using the chain rule where, vS = dy/dt and
vA = dx/dt
dy 1 2x dx
vS
dt 2 225 x 2 dt
x
v (2)
2 A
225 x
d2y x(dx / dt ) 1 dx
aS 2
2 3/ 2 xv A dt v A
dt (225 x ) 225 x
2
1 dv A 225v 2A
x
2 dt
225 x
225 x 2
3/ 2
At x = 20 m, with vA = 0.5 m/s,
aS 3.6mm / s 2
CONCEPT QUIZ
1. Determine the speed of block B.
A) 1 m/s B) 2 m/s
ATTENTION QUIZ
1. Determine the speed of block B when
block A is moving down at 6 m/s while
block C is moving down at 18 m/s.
A) 24 m/s B) 3 m/s
C) 12 m/s D) 9 m/s
vA=6 m/s vC=18 m/s
READING QUIZ
A) vB – vA . B) vA – vB .
C) vB + vA . D) vA + vB .
A) one B) two
C) three D) four
RELATIVE POSITION
Therefore, if rB = (10 i + 2 j ) m
and rA = (4 i + 5 j ) m,
then rB/A = (6 i – 3 j ) m.
RELATIVE VELOCITY
Solving Problems
EXAMPLE 12.25
Scalar Analysis.
The unknown components of vT / A can also be determined
by applying a scalar analysis. We will assume these
components act in the positive x and y directions. Thus,
vt v A vT / A
60 km / h 45km / h (vT / A) x (vT / A) y
45
Resolving each vector into its x and y components yields
( )60 45 cos 45 (vT / A ) x 0
( )0 45 sin 45 0 (vT / A ) y
(vT / A ) x 28.2km / h 28.2km / h
(vT / A ) y 31.8km / h 31.8km / h
EXAMPLE 12.26
vB v A vB / A
( )
600 700 vB / A
vB / A 100km / h 100km / h
EXAMPLE 12.26 (Continued)
EXAMPLE 12.27
Thus,
vB / A 92 3.5882 9.69m / s
Its direction is
vB / A y 3.588
tan
vB / A x 9
21.7
ATTENTION QUIZ