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Kinematics of particles
v ru r + ru θ
a v ru r + ru r + ru θ + ru θ + ru θ
u θ u r
u u
r
Solution:
5 r 100( 2 cos )
r 100 sin ( ) 500 sin
At θ=120o
vr r 500 sin 120 433.013
v r 100(2 cos120)(5) 1250
v (433.013) 2 + (1250) 2 1322.9 mm s 1.32 m s
. . .. . 2 .. ..
v = rur + ruθ a = (r – r )ur + (r + 2r)uθ
Given: In the above problem.
Find: Determine the magnitude of the acceleration of the slider blocks
when θ=120o.
b=100mm, c=2, θ’=5rad/s, θ1=120o .
Solution:
5 0
r 100( 2 cos )
r 100 sin ( ) 500 sin
r 500 cos ( ) 2500 cos
2
ar r r
2500 cos 100(2 cos )(5) 2
5000(cos 120 1) 7500 mm s 2
a r + 2 r 0 + 2(500 sin )(5)
5000 sin 120 4330.1mm s 2
a (7500) 2 + (4330.1) 2 8660.3 mm s 2 8.66 m s 2
. . .. . 2 .. ..
v = rur + ruθ a = (r – r )u + (r + 2r)u
EXAMPLE
Given: r. = 5 cos(2) (m)
= 3t2 (rad/s)
o = 0
t t
.
Solution: dt = 3t2 dt = t3
t o 0 0
p
At 30, = = t3. Therefore: t = 0.806 s.
6
.
= 3t2 = 3(0.806)2 = 1.95 rad/s
. . .. . 2 .. ..
v = rur + ruθ a = (r – r )ur + (r + 2r)uθ
EXAMPLE (continued)
..
= 6t = 6(0.806) = 4.836 rad/s2
. . .. . 2 .. ..
v = rur + ruθ a = (r – r )ur + (r + 2r)uθ
Given: A truck is travelling along the horizontal circular curve of radius
r=60m with a constant speed v =20m/s.
Find: Determine the angular rate of rotation of the radial line and the
magnitude of the truck’s acceleration.
r=60m, v=20m/s.
Solution:
r 60 r 0 r 0
v 20 vr r 0
v r 60
v (vr ) 2 + (v ) 2
20 60 0.333 rad s
ar r r ( ) 2 ar 0 60(0.333) 2 6.67 m s 2
. . a r + 2 r 60 .. . 2 .. ..
v = rur + ruθ a = (r – r )ur + (r + 2r)uθ
Since,
v r
dv / dt r + r
0 0 + 60
0
Thus,
a 0
a ar 6.67 m s 2
. . .. . 2 .. ..
v = rur + ruθ a = (r – r )ur + (r + 2r)uθ
Rectilinear Motion
Variable acceleration
v = ds/dt a = dv/dt a ds = v dv
Constant acceleration
RECTANGULAR COMPONENTS
Curvilinear Motion
– Rectangular Components
• Position vector r = x i + y j + z k
• Velocity v = vx i + vy j + vz k (tangent to path)
• Acceleration a = ax i + ay j +az k
Recommended for Projectile motion.
∆θ
∆ur
u ur v = dr/dt = d(rur)/dt
ur
∆r
. dur
v = rur + r
u dt
ur
r’ p
r
θ
o
Displacement Velocity Acceleration
ut1
dut
ut1 ds
ut2 ut 2 v v vut
ds dt
dut = dθun dθ ut1
un 2 ‘v’ direction tangent to
the path
un1 dv
ρ a
dθ dt
ds = ρdθ
o dv dυ
a υt + v t
dt dt
s v
u t un un Rate of change of direction
r r a at υt + anυn
v2
an at
dv
or at ds vdv
a at + an r
2 2
dt
Magnitude always positive