Lecture 01.

Rectilinear Motion

DYNAMICS OF RIGID BODIES

INTRODUCTION
Kinematics
• study of the geometry of motion.
• used to relate displacement,
velocity, acceleration, and time
without reference to the cause of
motion.
DYNAMICS OF RIGID BODIES
Kinetics:
• study of the relations existing
between the forces acting on a body,
the mass of the body, and the motion
of the body.
• used to predict the motion caused by
given forces or to determine the
forces required to produce a given
motion.
INTRODUCTION

Kinematics of Particles

Analysis of motion of a particle Relative Motion

relative to another particle

Analysis of motion of a particle Rectilinear Curvilinear

Motion Motion
according to the path it follows

General
Rectangular
Rectilinear
Components
Motion

Normal and
Uniform Motion Tangential
Components

Uniformly Radial and

Accelerated Transverse
Motion Components*

DYNAMICS OF RIGID BODIES

INTRODUCTION

Particle Analysis Rigid Body Analysis

• Rigid bodies are assumed and • Actual shapes and sizes of rigid
visualized as single points bodies are considered
• Rotation of bodies will not be • Rotation of the bodies will be taken
taken into account into account

DYNAMICS OF RIGID BODIES

RECTILINEAR MOTION

A particle moving along a straight line is said to be in

rectilinear motion.

DYNAMICS OF RIGID BODIES

RECTILINEAR MOTION

DYNAMICS OF RIGID BODIES

Lecture Objectives

After this lecture, students are expected to be able to:

• identify the particle model in a given problem,

• define and relate position, displacement, velocity, and
acceleration with time,
• classify rectilinear motion as either uniform, uniformly
accelerated, or non-uniformly accelerated, and
• calculate position, displacement (or distance), velocity (or
speed), and acceleration for a rectilinear motion problem.

DYNAMICS OF RIGID BODIES

RECTILINEAR MOTION

The position coordinate of a particle is defined by the positive or negative

distance of the particle from a fixed origin on the number line.

There are two quantities that can be derived from the position of a particle:
1.Distance is a scalar quantity that pertains to the sum of the absolute values
of the changes in the position of a particle.
2.Displacement is a vector quantity that pertains to the algebraic difference of
the final and initial positions.

DYNAMICS OF RIGID BODIES

RECTILINEAR MOTION
• Positive Position Coordinate
• as a convention, the position
coordinate is positive when the particle
is:
– to the right of the origin (for a
horizontal number line) or
– above the origin (for a vertical
number line)
DYNAMICS OF RIGID BODIES
• Negative Position Coordinate
• as a convention, the position
coordinate is negative when the
particle is:
– to the left of the origin (for a
horizontal number line) or
– below the origin (for a vertical
number line)
RECTILINEAR MOTION

The motion of a particle is known if the position coordinate for the particle is
known for every value of time t. The motion of the particle may be expressed
in the form of a function, or in the form of a graph (x vs. t).

2 3
e.g., x  6t  t

This can be expressed in terms of the graph shown.

It can be noticed that the particle reached

its highest (farthest) position x = 32 m at time t = 4 s.

DYNAMICS OF RIGID BODIES

RECTILINEAR MOTION

Now consider a particle which occupies

position P at time t and P’ at t + Δt,

The average velocity of a particle is defined

Average  vave  x
as the ratio of the total distance covered Velocity t
to the total time elapsed.

x
The instantaneous velocity of a particle is Instantaneous  v  lim
t  0  t
the time rate of change of its position. Velocity

Instantaneous velocity may be positive or negative. The magnitude of velocity is referred

to as the particle speed.

DYNAMICS OF RIGID BODIES

RECTILINEAR MOTION

• Positive Velocity • Negative Velocity

• the instantaneous velocity is • the instantaneous velocity is

positive when the particle is negative when the particle is
moving along the positive moving along the negative
direction direction

DYNAMICS OF RIGID BODIES

RECTILINEAR MOTION
From the definition of a derivative, x dx
v  lim 
t 0 t dt
x  6t  t
2 3
e.g.,
dx
v  12t  3t 2
dt
Observe that at the time when v = 0 (at t = 4 s),
the particle reverses the direction of its motion.
•From t = 0 s to t = 4 s, the particle is moving
towards the position x = 32 m.
•From t = 4 s to t = 6 s, the particle is moving
away from the position x = 32 m.

DYNAMICS OF RIGID BODIES

RECTILINEAR MOTION

Now consider a particle with velocity v

at time t and v’ at t + Δt,

v
The instantaneous acceleration of Instantaneous Acceleration  a  lim
a particle is defined as the time rate t 0 t

of change of its velocity.

Instantaneous acceleration may be positive or negative. However, it is not indicative of

the direction of motion of the particle.

DYNAMICS OF RIGID BODIES

RECTILINEAR MOTION

• Positive Acceleration • Negative Acceleration

• the instantaneous acceleration is positive • the instantaneous acceleration is
when the particle has: negative when the particle has:
– increasing positive velocity, or – decreasing positive velocity, or

– decreasing negative velocity – increasing negative velocity

DYNAMICS OF RIGID BODIES

RECTILINEAR MOTION
v dv d 2 x
From the definition of a derivative, a  lim
t  0 t
  2
dt dt

v  12 t  3t 2
e.g., dv
a  12  6t
dt
Observe that at the time when a = 0 (at t = 2 s),
the change in speed of the particle reverses.
•From t = 0 s to t = 2 s, the speed is increasing
(while moving along the positive direction).
•From t = 2 s to t = 4 s, the speed is decreasing
(while moving along the positive direction).
•From t = 4 s to t = 6 s, the speed is increasing
(while moving along the negative direction).

DYNAMICS OF RIGID BODIES

RECTILINEAR MOTION

• Recall: The motion of a particle is known if its position is known

for all time t.

• Typically, the conditions of motion are specified by the type of

acceleration experienced by the particle.

• Rectilinear motion can be categorized into three:

– Non-Uniformly Accelerated Motion (a ≠ constant)
– Uniform Motion (a = 0)
– Uniformly Accelerated Motion (a = constant)

• Determination of velocity and position requires two successive

integrations.

DYNAMICS OF RIGID BODIES

RECTILINEAR MOTION

• For such problems, it will be important to set an origin and sign convention
in order to write the correct position, velocity, and acceleration functions (or
sometimes referred to as equations of motion).

• In general, especially for non-uniformly accelerated motion, 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)

DYNAMICS OF RIGID BODIES

NON-UNIFORMLY ACCELERATED MOTION

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 v0 0 0

t
vt   v0   f t  dt
0

x t  t t
dx xt   x0   vt  dt
 vt  dx  vt  dt  dx   vt  dt
dt x0 0
0

t
xt   x0   vt  dt
0

DYNAMICS OF RIGID BODIES

NON-UNIFORMLY ACCELERATED MOTION

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

dv dv
v
dx
or dt 
dx a or a  v  f x 
dt v dt dx
vx  x x

v dv  f  x dx  v dv   f x dx vx   12 v02   f x dx

1 2
2
v0 x0 x0

x
v x   v02  2  f x dx
2

x0

DYNAMICS OF RIGID BODIES

NON-UNIFORMLY ACCELERATED MOTION

Acceleration given as a function of velocity, a = f (v):

dv v t 
 a  f v 
v t 
dv dv
t
dv
 dt    dt
 t
dt f v  v0
f v  0
v0
f v 

x t  v t 
dv v dv v dv
 a  f v 
v
dx
dx 
f v   dx  
x0 v0
f v 
v t 
v dv
xt   x0  
v0
f v 

v t 
v dv
xt   x0  
v0
f v 

DYNAMICS OF RIGID BODIES

 EXAMPLES
1. The brake mechanism used to reduce a gun SOLUTION:
recoil consists of a piston attached to a barrel
• Integrate a = dv/dt = -kv to
moving in the fixed cylinder filled with oil. As
find v(t).
the barrel recoils with an initial velocity v0, the
dv
piston moves and the oil is forced through the a   kv
orifices in the piston, causing the piston and the dt
cylinder to decelerate at a rate proportional to
v t  t
their velocities given by dv
  k  dt
a   kv v0
v 0

vt 
ln   kt
v0
Determine v (t), x (t), and v (x). Assume that the
cylinder has zero initial position.
=> vt   v0 e  kt

DYNAMICS OF RIGID BODIES

 EXAMPLES
1. The brake mechanism used to reduce a gun SOLUTION:
recoil consists of a piston attached to a barrel
• Integrate v(t) = dx/dt to
moving in the fixed cylinder filled with oil. As
find x(t). dx
the barrel recoils with an initial velocity v0, the v t    v0e kt
piston moves and the oil is forced through the dt
x t  t
orifices in the piston, causing the piston and the
 0
 kt
cylinder to decelerate at a rate proportional to dx  v e dt
0 0
their velocities given by
a   kv  1 kt 
t

x t   v0   e 
 k 0

Determine v (t), x (t), and v (x). Assume that the

cylinder has zero initial position.
=> xt  
v0
k

1  e  kt 
DYNAMICS OF RIGID BODIES
 EXAMPLES
1. The brake mechanism used to reduce a gun SOLUTION:
recoil consists of a piston attached to a barrel
• Integrate a = v dv/dx = -kv
moving in the fixed cylinder filled with oil. As
to find v(x).
the barrel recoils with an initial velocity v0, the dv
piston moves and the oil is forced through the av  kv
orifices in the piston, causing the piston and the dx
cylinder to decelerate at a rate proportional to dv   k dx
their velocities given by v x

a   kv  dv  k  dx
v0 0

v  v0   kx
=> v  v0  kx
Determine v (t), x (t), and v (x). Assume that the
cylinder has zero initial position.

DYNAMICS OF RIGID BODIES

UNIFORM MOTION

For a 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
DYNAMICS OF RIGID BODIES
UNIFORM MOTION

For a 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
 dx   v0  at dt x  x0  v0t  at 1 2
 v0  at 2
dt x0 0

x  x0  v0t  at 1
2
2

v 
v x

 v02  a x  x0 
dv
v
dx
 a  constant  v dv  a  dx
v0 x0
1
2
2

v  v  2a x  x0 
2 2
0

DYNAMICS OF RIGID BODIES

 EXAMPLES
A ball is thrown vertically from the 12 m level
SOLUTION:
in the elevator shaft with an initial velocity of
18 m/s. At the same instant, an open- • Substitute initial position and velocity
and constant acceleration of ball into
platform elevator passes the 5 m level
general equations for uniformly
moving upward at 2 m/s. Determine when
accelerated rectilinear motion.
and where the ball hits the elevator.
vB  v0  at
m  m
 18   9.81 2 t
s  s 
y B  y0  v0t  at 1
2
2

 m  m 2
 12 m  18 t   4.905 2 t
 s  s 

DYNAMICS OF RIGID BODIES

 EXAMPLES
3. A ball is thrown vertically from the 12 m
SOLUTION:
level in the elevator shaft with an initial
velocity of 18 m/s. At the same instant, an • Substitute initial position and
open-platform elevator passes the 5 m level constant velocity of elevator into
moving upward at 2 m/s. Determine when equation for uniform rectilinear
and where the ball hits the elevator. motion.

vE  constant
m
2
s
y E  y0  v E t
 m
 5 m   2 t
 s

DYNAMICS OF RIGID BODIES


3. A ball is thrown vertically from the 12 m
level in the elevator shaft with an initial
velocity of 18 m/s. At the same instant, an
open-platform elevator passes the 5 m level
moving upward at 2 m/s. Determine when
and where the ball hits the elevator.
EXAMPLES
SOLUTION:
• Equate the position functions of the
ball and the elevator to determine the
time at which they hit one another.
12  18t  4.905t   5  2t 
2

t  0.39 s meaningles s 
=> t  3.65 s

• Substitute time into equations for

position of elevator or of ball.
y E  5  23.65
=> y E  12.3 m
DYNAMICS OF RIGID BODIES
End of Lecture