Rectilinear Kinematics - Hibbler

INTRODUCTION &
RECTILINEAR KINEMATICS: CONTINUOUS MOTION

Today’s Objectives:
Students will be able to:
1. Find the kinematic quantities
In-Class Activities:
(position, displacement, velocity,
• Check Homework
and acceleration) of a particle
• Reading Quiz
traveling along a straight path.
• Applications
• Relations between s(t), v(t),
and a(t) for general
rectilinear motion.
• Relations between s(t), v(t),
and a(t) when acceleration is
constant.
• Concept Quiz
• Group Problem Solving
• Attention Quiz
READING QUIZ
1. In dynamics, a particle is assumed to have _________.

A) both translation and rotational motions
B) only a mass
C) a mass but the size and shape cannot be neglected
D) no mass or size or shape, it is just a point
2. The average speed is defined as __________.

A) Dr/Dt B) Ds/Dt
C) sT/Dt D) None of the above.
APPLICATIONS
The motion of large objects,

such as rockets, airplanes, or
cars, can often be analyzed
as if they were particles.
Why?
If we measure the altitude

of this rocket as a function
of time, how can we
determine its velocity and
acceleration?
APPLICATIONS
(continued)
A sports car travels along a straight road.

Can we treat the car as a particle?
If the car accelerates at a constant rate, how can we
determine its position and velocity at some instant?
An Overview of Mechanics
Mechanics: The study of how bodies

react to forces acting on them.
Statics: The study of Dynamics:

bodies in equilibrium. 1. Kinematics – concerned with
the geometric aspects of motion
2. Kinetics - concerned with
the forces causing the motion
RECTILINEAR KINEMATICS: CONTINIOUS MOTION
(Section 12.2)
A particle travels along a straight-line path
defined by the coordinate axis s.
The position of the particle at any instant,

relative to the origin, O, is defined by the
position vector r, or the scalar s. Scalar s
can be positive or negative. Typical units
for r and s are meters (m) or feet (ft).
The displacement of the particle is

defined as its change in position.
Vector form: D r = r’ - r Scalar form: D s = s’ - s
The total distance traveled by the particle, sT, is a positive scalar
that represents the total length of the path over which the particle
travels.
VELOCITY
Velocity is a measure of the rate of change in the position of a particle.
It is a vector quantity (it has both magnitude and direction). The
magnitude of the velocity is called speed, with units of m/s or ft/s.
The average velocity of a particle during a

time interval Dt is
vavg = Dr / Dt
The instantaneous velocity is the time-derivative of position.
v = dr / dt
Speed is the magnitude of velocity: v = ds / dt
Average speed is the total distance traveled divided by elapsed time:

(vsp)avg = sT / Dt
ACCELERATION
Acceleration is the rate of change in the velocity of a particle. It is a
vector quantity. Typical units are m/s2 or ft/s2.
The instantaneous acceleration is the time

derivative of velocity.
Vector form: a = dv / dt
Scalar form: a = dv / dt = d2s / dt2
Acceleration can be positive (speed

increasing) or negative (speed decreasing).
As the book indicates, the derivative equations for velocity and

acceleration can be manipulated to get a ds = v dv
SUMMARY OF KINEMATIC RELATIONS:
RECTILINEAR MOTION
• Differentiate position to get velocity and acceleration.
v = ds/dt ; a = dv/dt or a = v dv/ds
• Integrate acceleration for velocity and position.
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
• Note that so and vo represent the initial position and

velocity of the particle at t = 0.
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 = 32.2 ft/s2
downward. These equations are:
v t
 dv =  a
vo o
c dt 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
 v dv =  ac ds yields v 2 = (vo )2 + 2ac(s - so)

vo so
EXAMPLE
Given: A particle travels along a straight line to the right

with a velocity of v = ( 4 t – 3 t2 ) m/s where t is
in seconds. Also, s = 0 when t = 0.
Find: The position and acceleration of the particle

when t = 4 s.
Plan: Establish the positive coordinate, s, in the direction the

particle is traveling. Since the velocity is given as a
function of time, take a derivative of it to calculate the
acceleration. Conversely, integrate the velocity
function to calculate the position.
EXAMPLE
Solution: (continued)
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
2) Calculate the distance traveled in 4s by integrating the

velocity using so = 0: s t
v = ds / dt => ds = v dt =>  ds =  (4 t – 3 t2) dt

=> s – so = 2 t2 – t3 so o
=> s – 0 = 2(4)2 – (4)3 => s = – 32 m ( or )

CONCEPT QUIZ
3 m/s 5 m/s
t=2s t=7s
1. A particle moves along a horizontal path with its velocity
varying with time as shown. The average acceleration of the
particle is _________.
A) 0.4 m/s2 B) 0.4 m/s2
C) 1.6 m/s2 D) 1.6 m/s2
2. A particle has an initial velocity of 30 ft/s to the left. If it
then passes through the same location 5 seconds later with a
velocity of 50 ft/s to the right, the average velocity of the
particle during the 5 s time interval is _______.
A) 10 ft/s B) 40 ft/s
C) 16 m/s D) 0 ft/s
GROUP PROBLEM SOLVING
Given:Ball A is released from rest
at a height of 40 ft at the
same time that ball B is
thrown upward, 5 ft from the
ground. The balls pass one
another at a height of 20 ft.
Find:The speed at which ball B was
thrown upward.
Plan: Both balls experience a constant downward acceleration

of 32.2 ft/s2 due to gravity. Apply the formulas for
constant acceleration, with ac = -32.2 ft/s2.
1) First consider ball A. With the origin defined at the ground,

ball A is released from rest ((vA)o = 0) at a height of 40 ft
((sA )o = 40 ft). Calculate the time required for ball A to drop to
20 ft (sA = 20 ft) using a position equation.
sA = (sA )o + (vA)o t + (1/2) ac t2
So,
20 ft = 40 ft + (0)(t) + (1/2)(-32.2)(t2) => t = 1.115 s

2) Now consider ball B. It is throw upward from a height of 5 ft

((sB)o = 5 ft). It must reach a height of 20 ft (sB = 20 ft) at the
same time ball A reaches this height (t = 1.115 s). Apply the
position equation again to ball B using t = 1.115s.
sB = (sB)o + (vB)ot + (1/2) ac t2

So,
20 ft = 5 + (vB)o(1.115) + (1/2)(-32.2)(1.115)2
=> (vB)o = 31.4 ft/s

ATTENTION QUIZ
1. A particle has an initial velocity of 3 ft/s to the left at

s0 = 0 ft. Determine its position when t = 3 s if the
acceleration is 2 ft/s2 to the right.
A) 0.0 ft B) 6.0 ft
C) 18.0 ft D) 9.0 ft
2. A particle is moving with an initial velocity of v = 12 ft/s

and constant acceleration of 3.78 ft/s2 in the same direction
as the velocity. Determine the distance the particle has
traveled when the velocity reaches 30 ft/s.
A) 50 ft B) 100 ft
C) 150 ft D) 200 ft
RECTILINEAR KINEMATICS: ERRATIC MOTION
Students will be able to: In-Class Activities:
1. Determine position,
velocity, and acceleration of • Check Homework
a particle using graphs. • Reading Quiz
• Applications
• s-t, v-t, a-t, v-s, and a-s diagrams
• Concept Quiz
• Attention Quiz
READING QUIZ
1. The slope of a v-t graph at any instant represents instantaneous
A) velocity. B) acceleration.
C) position. D) jerk.
2. Displacement of a particle in a given time interval equals the

area under the ___ graph during that time.
A) a-t B) a-s
C) v-t C) s-t
APPLICATION
In many experiments, a
velocity versus position (v-s)
profile is obtained.
If we have a v-s graph for the

tank truck, how can we
determine its acceleration at
position s = 1500 feet?
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.
The approach builds on the facts that slope and differentiation
are linked and that integration can be thought of as finding the
area under a curve.
S-T GRAPH
Plots of position vs. time can be

used to find velocity vs. time
curves. Finding the slope of the
line tangent to the motion curve at
any point is the velocity at that
point (or v = ds/dt).
Therefore, the v-t graph can be

constructed by finding the slope at
various points along the s-t graph.
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).
Therefore, the acceleration vs. time (or

a-t) graph can be constructed by
finding the slope at various points
along the v-t graph.
Also, the distance moved

(displacement) of the particle is the
area under the v-t graph during time Dt.
A-T GRAPH
Given the acceleration vs. time

or a-t curve, the change in
velocity (Dv) during a time
period is the area under the a-t
curve.
So we can construct a v-t graph

from an a-t graph if we know the
initial velocity of the particle.
A-S GRAPH
A more complex case is presented by

the acceleration versus position or a-s
graph. The area under the a-s curve
represents the change in velocity
(recall  a ds =  v dv ).
s2
½ (v1² – vo²) =  a ds = area under the
s1
a-s graph
This equation can be solved for v1,
allowing you to solve for the velocity
at a point. By doing this repeatedly,
you can create a plot of velocity
versus distance.
V-S GRAPH
Another complex case is presented
by the velocity vs. distance or v-s
graph. By reading the velocity v at
a point on the curve and
multiplying it by the slope of the
curve (dv/ds) at this same point,
we can obtain the acceleration at
that point. Recall the formula
a = v (dv/ds).
Thus, we can obtain an a-s plot

from the v-s curve.
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.
What is your plan of attack for the problem?

EXAMPLE (continued)
Solution: The v-t graph can be constructed by finding the slope
of the s-t graph at key points. What are those?
when 0 < t < 5 s; v0-5 = ds/dt = d(3t2)/dt = 6 t m/s
when 5 < t < 10 s; v5-10 = ds/dt = d(30t75)/dt = 30 m/s
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.
when 0 < t < 5 s; a0-5 = dv/dt = d(6t)/dt = 6 m/s2
when 5 < t < 10 s; a5-10 = dv/dt = d(30)/dt = 0 m/s2
a(m/s2)
a-t graph
6
t(s)
5 10
CONCEPT QUIZ
1. If a particle starts from rest and

accelerates according to the graph
shown, the particle’s velocity at
t = 20 s is
A) 200 m/s B) 100 m/s

C) 0 D) 20 m/s
2. The particle in Problem 1 stops moving at t = _______.

A) 10 s B) 20 s
C) 30 s D) 40 s
Given: The v-t graph shown.
Find: The a-t graph, average

speed, and distance
traveled for the 0 - 90 s
interval.
Plan:
Find slopes of the v-t curve and draw the a-t graph.
Find the area under the curve. It is the distance traveled.
Finally, calculate average speed (using basic definitions!).
(continued)
Solution:
Find the a–t graph:
For 0 ≤ t ≤ 30 a = dv/dt = 1.0 m/s²
For 30 ≤ t ≤ 90 a = dv/dt = -0.5 m/s²
a(m/s²) a-t graph
1
30 90 t(s)
-0.5
GROUP PROBLEM SOLVING (continued)
Now find the distance traveled:
Ds0-30 =  v dt = (1/2) (30)2 = 450 m
Ds30-90 =  v dt
= (1/2) (-0.5)(90)2 + 45(90) – (1/2) (-0.5)(30)2 – 45(30)
= 900 m
s0-90 = 450 + 900 = 1350 m
vavg(0-90) = total distance / time

= 1350 / 90
= 15 m/s
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) t B) t
a a
t
C) t D) t
CURVILINEAR MOTION:
GENERAL & RECTANGULAR COMPONENTS
1. Describe the motion of a
particle traveling along a In-Class Activities:
curved path. • Check Homework
2. Relate kinematic quantities • Reading Quiz
in terms of the rectangular • Applications
components of the vectors. • General Curvilinear Motion
• Rectangular Components of
Kinematic 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.
2. In curvilinear motion, the direction of the instantaneous

acceleration is always
A) tangent to the hodograph.
B) perpendicular to the hodograph.
C) tangent to the path.
D) perpendicular to the path.
APPLICATIONS
The path of motion of a plane can

be tracked with radar and its x, y,
and z coordinates (relative to a
point on earth) recorded as a
function of time.
How can we determine the velocity

or acceleration of the plane at any
instant?
APPLICATIONS
(continued)
A roller coaster car travels down

a fixed, helical path at a constant
speed.
How can we determine its

position or acceleration at any
instant?
If you are designing the track, why is it important to be

able to predict the acceleration of the car?
GENERAL CURVILINEAR MOTION
(Section 12.4)
A particle moving along a curved path undergoes curvilinear motion.
Since the motion is often three-dimensional, vectors are used to
describe the motion.
A particle moves along a curve

defined by the path function, s.
The position of the particle at any instant is designated by the vector

r = r(t). Both the magnitude and direction of r may vary with time.
If the particle moves a distance Ds along the

curve during time interval Dt, the
displacement is determined by vector
subtraction: D r = r’ - r
VELOCITY
Velocity represents the rate of change in the position of a
particle.
The average velocity of the particle
during the time increment Dt is
vavg = Dr/Dt .
The instantaneous velocity is the
time-derivative of position
v = dr/dt .
The velocity vector, v, is always
tangent to the path of motion.
The magnitude of v is called the speed. Since the arc length Ds
approaches the magnitude of Dr as t→0, the speed can be
obtained by differentiating the path function (v = ds/dt). Note
that this is not a vector!
ACCELERATION
Acceleration represents the rate of change in the
velocity of a particle.
If a particle’s velocity changes from v to v’ over a

time increment Dt, the average acceleration during
that increment is:
aavg = Dv/Dt = (v - v’)/Dt
The instantaneous acceleration is the time-
derivative of velocity:
a = dv/dt = d2r/dt2
A plot of the locus of points defined by the arrowhead

of the velocity vector is called a hodograph. The
acceleration vector is tangent to the hodograph, but
not, in general, tangent to the path function.
CURVILINEAR MOTION: RECTANGULAR COMPONENTS
(Section 12.5)
It is often convenient to describe the motion of a particle in
terms of its x, y, z or rectangular components, relative to a fixed
frame of reference.
The position of the particle can be
defined at any instant by the
position vector
r=xi+yj+zk .
The x, y, z components may all be
functions of time, i.e.,
x = x(t), y = y(t), and z = z(t) .
The magnitude of the position vector is: r = (x2 + y2 + z2)0.5

The direction of r is defined by the unit vector: ur = (1/r)r
RECTANGULAR COMPONENTS: VELOCITY
The velocity vector is the time derivative of the position vector:
v = dr/dt = d(xi)/dt + d(yj)/dt + d(zk)/dt
Since the unit vectors i, j, k are constant in magnitude and
direction, this equation reduces to v = vx i + vy j + vz k
• • •
where vx = x = dx/dt, vy = y = dy/dt, vz = z = dz/dt
The magnitude of the velocity

vector is
v = [(vx)2 + (vy)2 + (vz)2]0.5
The direction of v is tangent

to the path of motion.
RECTANGULAR COMPONENTS: ACCELERATION
The acceleration vector is the time derivative of the

velocity vector (second derivative of the position vector):
a = dv/dt = d2r/dt2 = ax i + ay j + az k
•
•• •• •
v
where ax = x = x v
= dvx /dt, ay = y = y = dvy /dt,
az = v• z = z•• = dvz /dt
The magnitude of the acceleration vector is
a = [(ax)2 + (ay)2 + (az)2 ]0.5
The direction of a is usually

not tangent to the path of the
particle.
EXAMPLE
Given:The motion of two particles (A and B) is described by

the position vectors
rA = [3t i + 9t(2 – t) j] m and
rB = [3(t2 –2t +2) i + 3(t – 2) j] m.
Find: The point at which the particles collide and their

speeds just before the collision.
Plan: 1) The particles will collide when their position

vectors are equal, or rA = rB .
2) Their speeds can be determined by differentiating
the position vectors.
EXAMPLE (continued)
Solution:
1) The point of collision requires that rA = rB,
so xA = xB and yA = yB .
Set the x-components equal: 3t = 3(t2 – 2t + 2)
Simplifying: t2 – 3t + 2 = 0
Solving: t = {3  [32 – 4(1)(2)]0.5}/2(1)
=> t = 2 or 1 s
Set the y-components equal: 9t(2 – t) = 3(t – 2)
Simplifying: 3t2 – 5t – 2 = 0
Solving: t = {5  [52 – 4(3)(–2)]0.5}/2(3)
=> t = 2 or – 1/3 s
So, the particles collide when t = 2 s (only common
time). Substituting this value into rA or rB yields
xA = xB = 6 m and yA = yB = 0
EXAMPLE (continued)
2) Differentiate rA and rB to get the velocity vectors.
• •
vA = drA/dt = .xA i + yA j = [ 3 i + (18 – 18t) j ] m/s
At t = 2 s: vA = [ 3i – 18 j ] m/s
vB = drB/dt = xB i + yB j = [ (6t – 6) i + 3 j ] m/s

• •
At t = 2 s: vB = [ 6 i + 3 j ] m/s
Speed is the magnitude of the velocity vector.

vA = (32 + 182) 0.5 = 18.2 m/s
vB = (62 + 32) 0.5 = 6.71 m/s
CHECK YOUR UNDERSTANDING 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
2. The path of a particle is defined by y = 0.5x2. If the

component of its velocity along the x-axis at x = 2 m is
vx = 1 m/s, its velocity component along the y-axis at this
position is
A) 0.25 m/s B) 0.5 m/s
C) 1 m/s D) 2 m/s
Given: The velocity of the particle is

v = [ 16 t2 i + 4 t3 j + (5 t + 2) k] m/s.
When t = 0, x = y = z = 0.
Find: The particle’s coordinate position and the magnitude of
its acceleration when t = 2 s.
Plan:
Note that velocity vector is given as a function of time.
1) Determine the position and acceleration by
integrating and differentiating v, respectively, using
the initial conditions.
2) Determine the magnitude of the acceleration vector
using t = 2 s.
Solution:
1) x-components: •
Velocity known as: vx = x = dx/dt = (16 t2 ) m/s
x t
Position:  dx =  (16 t ) dt  x = (16/3)t
0
2 3 = 42.7 m at t = 2 s
0
•• •
Acceleration: ax = x = vx = d/dt (16 t2) = 32 t = 64 m/s2
2) y-components:
•
Velocity known as: vy = y = dy/dt = (4 t3 ) m/s
y t
Position: 
0

dy = (4 t3) dt  y = t4 = (16) m at t = 2 s
0
•• •
Acceleration: ay = y = vy = d/dt (4 t3) = 12 t2 = 48 m/s2
3) z-components:
•
Velocity is known as: vz = z = dz/dt = (5 t + 2) m/s
z t
Position:  dz =  (5 t + 2) dt  z = (5/2) t
0
2 + 2t = 14 m at t=2s
0
•• •
Acceleration: az = z = vz = d/dt (5 t + 2) = 5 m/s2
4) The position vector and magnitude of the acceleration vector

are written using the component information found above.
Position vector: r = [ 42.7 i + 16 j + 14 k] m.
Acceleration vector: a = [ 64 i + 48 j + 5 k] m/s2
Magnitude: a = (642 + 482 +52)0.5 = 80.2 m/s2
ATTENTION QUIZ
1. If a particle has moved from A to B along the circular path in
4s, what is the average velocity of the particle ?
A) 2.5 i m/s y
B) 2.5 i +1.25j m/s R=5m x

C) 1.25  i m/s A B
D) 1.25  j m/s
2. The position of a particle is given as r = (4t2 i - 2x j) m.

Determine the particle’s acceleration.
A) (4 i +8 j ) m/s2 B) (8 i -16 j ) m/s2
C) (8 i) m/s2 D) (8 j ) m/s2
MOTION OF A PROJECTILE
• Check Homework
1. Analyze the free-flight
motion of a projectile. • Reading Quiz
• Applications
• Kinematic Equations for
Projectile Motion
• Concept Quiz
• Attention Quiz
READING QUIZ
1. The downward acceleration of an object in free-flight

motion is
A) zero. B) increasing with time.
C) 9.81 m/s2. D) 9.81 ft/s2.
2. The horizontal component of velocity remains _________

during a free-flight motion.
A) zero B) constant
C) at 9.81 m/s2 D) at 32.2 ft/s2
APPLICATIONS
A good kicker instinctively knows at what angle, q, and initial

velocity, vA, he must kick the ball to make a field goal.
For a given kick “strength”, at what angle should the ball be
kicked to get the maximum distance?
APPLICATIONS
(continued)
A basketball is shot at a certain angle. What parameters should

the shooter consider in order for the basketball to pass through
the basket?
Distance, speed, the basket location, … anything else ?

APPLICATIONS
(continued)
A firefighter needs to know the maximum height on the wall

she can project water from the hose. What parameters would
you program into a wrist computer to find the angle, q, that
she should use to hold the hose?
MOTION OF A PROJECTILE (Section 12.6)
Projectile motion can be treated as two rectilinear motions, one in
the horizontal direction experiencing zero acceleration and the other
in the vertical direction experiencing constant acceleration (i.e.,
from gravity).
For illustration, consider the two balls on the

left. The red ball falls from rest, whereas the
yellow ball is given a horizontal velocity. Each
picture in this sequence is taken after the same
time interval. Notice both balls are subjected to
the same downward acceleration since they
remain at the same elevation at any instant.
Also, note that the horizontal distance between
successive photos of the yellow ball is constant
since the velocity in the horizontal direction is
constant.
KINEMATIC EQUATIONS: HORIZONTAL MOTION
Since ax = 0, the velocity in the horizontal direction remains

constant (vx = vox) and the position in the x direction can be
determined by:
x = xo + (vox) t
Why is ax equal to zero (assuming movement through the air)?
KINEMATIC EQUATIONS: VERTICAL MOTION
Since the positive y-axis is directed upward, ay = – g.

Application of the constant acceleration equations yields:
vy = voy – g t
y = yo + (voy) t – ½ g t2
vy2 = voy2 – 2 g (y – yo)
For any given problem, only two of these three equations

can be used. Why?
EXAMPLE I
Given: vo and θ
Find: The equation that defines
y as a function of x.
Plan: Eliminate time from the
kinematic equations.
Solution: Using vx = vo cos θ and vy = vo sin θ

x
We can write: x = (vo cos θ)t or t =
vo cos θ
y = (vo sin θ) t – ½ g (t)2
By substituting for t:
y = (vo sin θ) { x } – g { x }2
vo cos θ 2 vo cos θ
EXAMPLE I
(continued)
Simplifying the last equation, we get:
g x2
y = (x tanq) – (1 + tan2q)
2vo2
The above equation is called the “path equation” which

describes the path of a particle in projectile motion.
The equation shows that the path is parabolic.
EXAMPLE II
Given: Projectile is fired with vA=150 m/s

at point A.
Find: The horizontal distance it travels

(R) and the time in the air.
Plan:
Establish a fixed x, y coordinate system (in this solution,
the origin of the coordinate system is placed at A).
Apply the kinematic relations in x- and y-directions.
EXAMPLE II (continued)
Solution:
1) Place the coordinate system at point A.
Then, write the equation for horizontal motion.
+ xB = xA + vAx tAB
where xB = R, xA = 0, vAx = 150 (4/5) m/s
Range, R will be R = 120 tAB
2) Now write a vertical motion equation. Use the distance equation.

+ yB = yA + vAy tAB – 0.5 g tAB2
where yB = – 150, yA = 0, and vAy = 150(3/5) m/s
We get the following equation: –150 = 90 tAB + 0.5 (– 9.81) tAB2
Solving for tAB first, tAB = 19.89 s.
Then, R = 120 tAB = 120 (19.89) = 2387 m
CONCEPT QUIZ
1. In a projectile motion problem, what is the maximum

number of unknowns that can be solved?
A) 1 B) 2
C) 3 D) 4
2. The time of flight of a projectile, fired over level ground,

with initial velocity Vo at angle θ, is equal to?
A) (vo sin q)/g B) (2vo sin q)/g
C) (vo cos q)/g D) (2vo cos q)/g

y Given: A skier leaves the ski

x jump ramp at qA = 25o
and hits the slope at B.
Find: The skier’s initial speed vA.
Plan:
Establish a fixed x,y coordinate system (in this solution,

the origin of the coordinate system is placed at A).
Apply the kinematic relations in x and y-directions.
(continued)
Solution:
Motion in x-direction:
Using xB = xA + vox(tAB) => (4/5)100 = 0 + vA (cos 25) tAB
tAB= 80 88.27
=
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
ATTENTION QUIZ
1. A projectile is given an initial velocity
vo at an angle f above the horizontal.
The velocity of the projectile when it
hits the slope is ____________ the
initial velocity vo.
A) less than B) equal to

C) greater than D) None of the above.
2. A particle has an initial velocity vo at angle q with respect to the

horizontal. The maximum height it can reach is when
A) q = 30° B) q = 45°
C) q = 60° D) q = 90°
CURVILINEAR MOTION:
NORMAL AND TANGENTIAL COMPONENTS
1. Determine the normal and
tangential components of In-Class Activities:
velocity and acceleration of a • Check Homework
particle traveling along a • Reading Quiz
curved path. • Applications
• Normal and Tangential
Components of Velocity and
Acceleration
• Special Cases of Motion
• Concept Quiz
• Attention Quiz
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.
2. The normal component of acceleration represents

A) the time rate of change in the magnitude of the velocity.
B) the time rate of change in the direction of the velocity.
C) magnitude of the velocity.
D) direction of the total acceleration.
APPLICATIONS
Cars traveling along a clover-leaf
interchange experience an
acceleration due to a change in
velocity as well as due to a change
in direction of the velocity.
If the car’s speed is increasing at a

known rate as it travels along a
curve, how can we determine the
magnitude and direction of its total
acceleration?
Why would you care about the total acceleration of the car?
APPLICATIONS
(continued)
A roller coaster travels down a

hill for which the path can be
approximated by a function
y = f(x).
The roller coaster starts from rest

and increases its speed at a
constant rate.
How can we determine its velocity
and acceleration at the bottom?
Why would we want to know
these values?
(Section 12.7)
When a particle moves along a curved path, it is sometimes convenient
to describe its motion using coordinates other than Cartesian. When the
path of motion is known, normal (n) and tangential (t) coordinates are
often used.
In the n-t coordinate system, the

origin is located on the particle
(the origin moves with the
particle).
The t-axis is tangent to the path (curve) at the instant considered,

positive in the direction of the particle’s motion.
The n-axis is perpendicular to the t-axis with the positive direction
toward the center of curvature of the curve.
(continued)
The positive n and t directions are
defined by the unit vectors un and ut,
respectively.
The center of curvature, O’, always

lies on the concave side of the curve.
The radius of curvature, r, is defined
as the perpendicular distance from
the curve to the center of curvature at
that point.
The position of the particle at any

instant is defined by the distance, s, along the curve from a
fixed reference point.
VELOCITY IN THE n-t COORDINATE SYSTEM
The velocity vector is always

tangent to the path of motion
(t-direction).
The magnitude is determined by taking the time derivative of

the path function, s(t).
v = v ut where v = .s = ds/dt
Here v defines the magnitude of the velocity (speed) and

ut defines the direction of the velocity vector.
ACCELERATION IN THE n-t COORDINATE SYSTEM
Acceleration is the time rate of change of velocity:
. .
a = dv/dt = d(vut)/dt = vut + vut
.
Here v represents the change in
.
the magnitude of velocity and ut
represents the rate of change in
the direction of ut.
After mathematical manipulation,

the acceleration vector can be
expressed as:
.
a = v ut + (v2/r) un = at ut + an un.
ACCELERATION IN THE n-t COORDINATE SYSTEM
(continued)
So, there are two components to the
acceleration vector:
a = at ut + an un
• The tangential component is tangent to the curve and in the

direction of increasing or decreasing velocity.
.
at = v or at ds = v dv
• The normal or centripetal component is always directed
toward the center of curvature of the curve. an = v2/r
• The magnitude of the acceleration vector is
a = [(at)2 + (an)2]0.5
SPECIAL CASES OF MOTION
There are some special cases of motion to consider.
1) The particle moves along a straight line. .
r  => an = v /r = 0 => a = at = v
2
The tangential component represents the time rate of change in

the magnitude of the velocity.
2) The particle moves along a curve at constant speed.
.
at = v = 0 => a = an = v2/r
The normal component represents the time rate of change in the
direction of the velocity.
SPECIAL CASES OF MOTION (continued)
3) The tangential component of acceleration is constant, at = (at)c.
In this case,
s = so + vo t + (1/2) (at)c t2
v = vo + (at)c t
v2 = (vo)2 + 2 (at)c (s – so)
As before, so and vo are the initial position and velocity of the
particle at t = 0. How are these equations related to projectile
motion equations? Why?
4) The particle moves along a path expressed as y = f(x).
The radius of curvature, r, at any point on the path can be
calculated from
[ 1 + (dy/dx)2 ]3/2
r = ________________
d2y/dx2
THREE-DIMENSIONAL MOTION
If a particle moves along a space
curve, the n and t axes are defined as
before. At any point, the t-axis is
tangent to the path and the n-axis
points toward the center of curvature.
The plane containing the n and t axes
is called the osculating plane.
A third axis can be defined, called the binomial axis, b. The

binomial unit vector, ub, is directed perpendicular to the osculating
plane, and its sense is defined by the cross product ub = ut × un.
There is no motion, thus no velocity or acceleration, in the

binomial direction.
EXAMPLE
Given: A boat travels around a
circular path, r = 40 m, at a
speed that increases with
time, v = (0.0625 t2) m/s.
Find: The magnitudes of the boat’s
velocity and acceleration at
the instant t = 10 s.
Plan:
The boat starts from rest (v = 0 when t = 0).
1) Calculate the velocity at t = 10 s using v(t).
2) Calculate the tangential and normal components of
acceleration and then the magnitude of the
acceleration vector.
EXAMPLE (continued)
Solution:
1) The velocity vector is v = v ut , where the magnitude is
given by v = (0.0625t2) m/s. At t = 10s:
v = 0.0625 t2 = 0.0625 (10)2 = 6.25 m/s
.
2) The acceleration vector is a = atut + anun = vut + (v2/r)un.
.
Tangential component: at = v = d(.0625 t2 )/dt = 0.125 t m/s2
At t = 10s: at = 0.125t = 0.125(10) = 1.25 m/s2
Normal component: an = v2/r m/s2

At t = 10s: an = (6.25)2 / (40) = 0.9766 m/s2
The magnitude of the acceleration is

a = [(at)2 + (an)2]0.5 = [(1.25)2 + (0.9766)2]0.5 = 1.59 m/s2
1. A particle traveling in a circular path of radius 300 m has an

instantaneous velocity of 30 m/s and its velocity is
increasing at a constant rate of 4 m/s2. What is the
magnitude of its total acceleration at this instant?
A) 3 m/s2 B) 4 m/s2
C) 5 m/s2 D) -5 m/s2
2. If a particle moving in a circular path of radius 5 m has a
velocity function v = 4t2 m/s, what is the magnitude of its
total acceleration at t = 1 s?
A) 8 m/s B) 8.6 m/s
C) 3.2 m/s D) 11.2 m/s
Given: A roller coaster travels along a

vertical parabolic path defined by
the equation y = 0.01x2. At point B,
it has a speed of 25 m/s, which is
increasing at the rate of 3 m/s2.
Find: The magnitude of the roller coaster’s
acceleration when it is at point B.
Plan:
1. The change in the speed of the car (3 m/s2) is the
tangential component of the total acceleration.
2. Calculate the radius of curvature of the path at B.
3. Calculate the normal component of acceleration.
4. Determine the magnitude of the acceleration vector.
1) The tangential component of acceleration is the . rate of2
increase of the roller coaster’s speed, so at = v = 3 m/s .
2) Determine the radius of curvature at point B (x = 30 m):
dy/dx = d(0.01x2)/dx = 0.02x, d2y/dx2 = d (0.02x)/dx = 0.02
At x =30 m, dy/dx = 0.02(30) = 0.6, d2y/dx2 = 0.02
[1+(dy/dx)2]3/2
=> r = = [1 + (0.6)2]3/2/(0.02) = 79.3 m
d2y/dx2
3) The normal component of acceleration is

an = v2/r = (25)2/(79.3) = 7.881 m/s2
4) The magnitude of the acceleration vector is
a = [(at)2 + (an)2]0.5 = [(3)2 + (7.881)2]0.5 = 8.43 m/s2
ATTENTION QUIZ
1. The magnitude of the normal acceleration is

A) proportional to radius of curvature.
B) inversely proportional to radius of curvature.
C) sometimes negative.
D) zero when velocity is constant.
2. The directions of the tangential acceleration and velocity are

always
A) perpendicular to each other. B) collinear.
C) in the same direction. D) in opposite directions.
CURVILINEAR MOTION: CYLINDRICAL COMPONENTS
1. Determine velocity and In-Class Activities:
acceleration components • Check Homework
using cylindrical
coordinates. • Reading Quiz
• Applications
• Velocity Components
• Acceleration Components
• Concept Quiz
• Attention Quiz
READING QUIZ
1. In a polar coordinate system, the velocity

. vector can
. be
.
written as v = vrur + vθuθ = rur + rquq. The term q is called
A) transverse velocity. B) radial velocity.
C) angular velocity. D) angular acceleration.
2. The speed of a particle in a cylindrical coordinate system is

. .
A) r B) rq
.2 .2 .2 . 2 . 2
C) (rq) + (r) D) (rq) + (r) + (z)
APPLICATIONS
The cylindrical coordinate

system is used in cases
where the particle moves
along a 3-D curve.
In the figure shown, the box

slides down the helical ramp.
How would you find the
box’s velocity components to
know if the package will fly
off the ramp?
CYLINDRICAL COMPONENTS
(Section 12.8)
We can express the location of P in polar coordinates as r = r ur.

Note that the radial direction, r, extends outward from the fixed
origin, O, and the transverse coordinate, q, is measured counter-
clockwise (CCW) from the horizontal.
VELOCITY in POLAR COORDINATES)
The instantaneous velocity is defined as:
v = dr/dt = d(rur)/dt
. dur
v = rur + r
dt
Using the chain rule:
dur/dt = (dur/dq)(dq/dt) .
We can prove that dur/d
. . q = uθ so dur/dt = quθ
Therefore: v = rur + rquθ
.
.
Thus, the velocity vector has two components: r,
called the radial component, and rq 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 q )2 + ( r )2
ACCELERATION (POLAR COORDINATES)
The instantaneous acceleration is defined as:
. .
a = dv/dt = (d/dt)(rur + rquθ)
After manipulation, the acceleration can be
expressed as
.. . .. ..
a = (r – rq )ur + (rq + 2rq)uθ
2
.. .
The term (r – rq 2) is the radial acceleration
or ar .
.. ..
The term (rq + 2rq) is the transverse
acceleration or aq .
.. .2 2 .. . .
The magnitude of acceleration is a = (r – rq ) + (rq + 2rq) 2
CYLINDRICAL COORDINATES
If the particle P moves along a space

curve, its position can be written as
rP = rur + zuz
Taking time derivatives and using

the chain rule:
. . .
Velocity: vP = rur + rquθ + zuz
.. . 2 .. .. ..
Acceleration: aP = (r – rq )ur + (rq + 2rq)uθ + zuz
EXAMPLE
Given: A car travels along acircular path.

.
r = 300 ft, q = 0.4 (rad/s),
..
q = 0.2 (rad/s2)
Find: Velocity and acceleration
Plan: Use the polar coordinate system.
Solution:
. .. . ..
r = 300 ft, r = r = 0, and q = 0.4 (rad/s), q = 0.2 (rad/s2)
Substitute in the equation
. for velocity
.
v = r ur + rq uθ = 0 ur + 300 (0.4) uθ
v = (0)2 + (120)2 = 120 ft/s

EXAMPLE
(continued)
Substitute in the equation for acceleration:

.. . .. . .
a = (r – rq )ur + (rq + 2rq)uθ
2
a = [0 – 300(0.4)2] ur + [300(0.2) + 2(0)(0.4)] uθ
a = – 48 ur + 60 uθ ft/s2
a = (– 48)2 + (60)2 = 76.8 ft/s2

CONCEPT QUIZ
.
1. If r is zero for a particle, the particle is
A) not moving. B) moving in a circular path.
C) moving on a straight line. D) moving with constant velocity.
2. If a particle moves in a circular path with constant velocity, its

radial acceleration is
..
A) zero. B) r .
. . .
C) − rq 2. D) 2rq .
Given: The car’s speed is constant at
1.5 m/s.
Find: The car’s acceleration (as a
vector).
Plan:
Hint: The tangent to the ramp at any point is at an angle

12
f = tan (-1 ) = 10.81°
2(10)
Also, what is the relationship between f and q?
Plan: Use cylindrical coordinates. Since r is constant, all

derivatives of r will be zero.
Solution: Since r is
. constant, the velocity only has 2 components:
.
vq = rq = v cos f and vz = z = v sin f
. v cosf
Therefore: q = ( ) = 0.147 rad/s
r
..
q = 0
.
vz = z = v sinf = 0.281 m/s
..
z = 0
. ..
r = r = 0
.. . .. . . ..
a = (r – rq )ur + (rq + 2rq)uθ + zuz
2
.
a = (-rq 2)ur = -10(0.147)2ur = -0.217ur m/s2
ATTENTION QUIZ
1. The radial component of velocity of a particle moving in a
circular path is always
A) zero.
B) constant.
C) greater than its transverse component.
D) less than its transverse component.
2. The radial component of acceleration of a particle moving in

a circular path is always
A) negative.
B) directed toward the center of the path.
C) perpendicular to the transverse component of acceleration.
D) All of the above.
ABSOLUTE DEPENDENT MOTION ANALYSIS OF
TWO PARTICLES
1. Relate the positions, velocities,
and accelerations of particles In-Class Activities:
undergoing dependent motion. • Check Homework
• Reading Quiz
• Applications
• Define Dependent Motion
• Develop Position, Velocity,
and Acceleration
Relationships
• Concept Quiz
• Attention Quiz
READING QUIZ
1. When particles are interconnected by a cable, the motions
of the particles are ______
A) always independent. B) always dependent.
C) not always dependent. D) None of the above.
2. If the motion of one particle is dependent on that of

another particle, each coordinate axis system for the
particles _______
A) should be directed along the path of motion.
B) can be directed anywhere.
C) should have the same origin.
D) None of the above.
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.
It is important to establish the

relationships between the various
motions in order to determine the
power requirements for the motor
and the tension in the cable.
For instance, if the speed of the cable (P) is known because we
know the motor characteristics, how can we determine the
speed of the mine car? Will the slope of the track have any
impact on the answer?
APPLICATIONS
(continued)
Rope and pulley arrangements

are often used to assist in lifting
heavy objects. The total lifting
force required from the truck
depends on both the weight and
the acceleration of the cabinet.
How can we determine the

acceleration and velocity of
the cabinet if the acceleration
of the truck is known?
DEPENDENT MOTION (Section 12.9)
In many kinematics problems, the motion of one object will
depend on the motion of another object.
The blocks in this figure are

connected by an inextensible cord
wrapped around a pulley.
If block A moves downward along
the inclined plane, block B will
move up the other incline.
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.
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.
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
(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
dsA/dt + dsB/dt = 0 => vB = -vA

The negative sign indicates that as A moves down the incline
(positive sA direction), B moves up the incline (negative sB
direction).
Accelerations can be found by differentiating the velocity
expression. Prove to yourself that aB = -aA .
DEPENDENT MOTION EXAMPLE
Consider a more complicated

example. Position coordinates (sA
and sB) are defined from fixed
datum lines, measured along the
direction of motion of each block.
Note that sB is only defined to the

center of the pulley above block
B, since this block moves with the
pulley. Also, h is a constant.
The red colored segments of the cord remain constant in length

during motion of the blocks.
DEPENDENT MOTION EXAMPLE (continued)
The position coordinates are related by
the equation
2sB + h + sA = lT
Where lT is the total cord length minus
the lengths of the red segments.
Since lT and h remain constant

during the motion, the velocities and
accelerations can be related by two
successive time derivatives:
2vB = -vA and 2aB = -aA
When block B moves downward (+sB), block A moves to the left

(-sA). Remember to be consistent with your sign convention!
DEPENDENT MOTION EXAMPLE (continued)
This example can also be worked
by defining the position coordinate
for B (sB) from the bottom pulley
instead of the top pulley.
The position, velocity, and

acceleration relations then become
2(h – sB) + h + sA = lT
and 2vB = vA 2aB = aA
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).
1. Define position coordinates from fixed datum lines,
along the path of each particle. Different datum lines can
be used for each particle.
2. Relate the position coordinates to the cord length.
Segments of cord that do not change in length during the
motion may be left out.
3. If a system contains more than one cord, relate the
position of a point on one cord to a point on another
cord. Separate equations are written for each cord.
4. Differentiate the position coordinate equation(s) to relate
velocities and accelerations. Keep track of signs!
EXAMPLE
Given: 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.
Plan:
There are two cords involved
in the motion in this example.
There will be two position
equations (one for each cord).
Write these two equations,
combine them, and then
differentiate them.
EXAMPLE (continued)
Solution:
1) Define the position coordinates from a fixed datum line. Three
coordinates must be defined: one for point A (sA), one for block B
(sB), and one for block C (sC).
• Define the datum line through the top

pulley (which has a fixed position).
• sA can be defined to the point A.
• sB can be defined to the center of the
pulley above B.
• sC is defined to the center of pulley C.
• All coordinates are defined as positive
down and along the direction of motion
of each point/object.
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
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).
CONCEPT QUIZ
1. Determine the speed of block B.
A) 1 m/s B) 2 m/s
C) 4 m/s D) None of the above.
2. Two blocks are interconnected by a

cable. Which of the following is
correct ?
y
A) vA= - vB B) (vx)A= - (vx)B
C) (vy)A= - (vy)B D) All of the above. x

Given: In this pulley system, block A is
moving downward with a speed
of 4 ft/s while block C is
moving up at 2 ft/s.
Find: The speed of block B.
Plan:
All blocks are connected to a single cable, so only one
position/length equation will be required. Define
position coordinates for each block, write out the
position relation, and then differentiate it to relate the
velocities.
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).
2) Defining sA, sB, and sC as shown,
the position relation can be written:
sA + 2sB + sC = l
3) Differentiate to relate velocities:
vA + 2vB + vC = 0
 4 + 2vB + (-2) =0
 vB = -1 ft/s
The velocity of block B is 1 ft/s up (negative sB direction).
ATTENTION QUIZ
1. Determine the speed of block B when
block A is moving down at 6 ft/s while
block C is moving down at 18 ft/s .
A) 24 ft/s B) 3 ft/s
C) 12 ft/s D) 9 ft/s vA=6 ft/s vC=18 ft/s
2. Determine the velocity vector of

block A when block B is moving
downward with a speed of 10 m/s.
j
A) (8i + 6j) m/s B) (4i + 3j) m/s
vB=10 m/s
C) (-8i - 6j) m/s D) (3i + 4j) m/s
i
RELATIVE-MOTION ANALYSIS OF TWO PARTICLES
USING TRANSLATING AXES
1. Understand translating In-Class Activities:
frames of reference. • Check Homework,
2. Use translating frames of • Reading Quiz
reference to analyze relative
motion. • Applications
• Relative Position, Velocity and
Acceleration
• Vector & Graphical Methods
• Concept Quiz
• Attention Quiz
READING QUIZ
1. The velocity of B relative to A is defined as
A) vB – vA . B) vA – vB .
C) vB + vA . D) vA + vB .
2. Since two dimensional vector addition forms a triangle,

there can be at most _________ unknowns (either
magnitudes and/or directions of the vectors).
A) one B) two
C) three D) four
APPLICATIONS
When you try to hit a
moving object, the position,
velocity, and acceleration of
the object all have to be
accounted for by your mind.
You are smarter than you

thought!
Here, the boy on the ground is at d = 10 ft when the girl in

the window throws the ball to him.
If the boy on the ground is running at a constant speed of 4

ft/s, how fast should the ball be thrown?
APPLICATIONS (continued)
When fighter jets take off or

land on an aircraft carrier,
the velocity of the carrier
becomes an issue.
If the aircraft carrier is underway with a forward velocity of 50

km/hr and plane A takes off at a horizontal air speed of 200
km/hr (measured by someone on the water), how do we find the
velocity of the plane relative to the carrier?
How would you find the same thing for airplane B?
How does the wind impact this sort of situation?
RELATIVE POSITION (Section 12.10)
The absolute position of two
particles A and B with respect to
the fixed x, y, z reference frame are
given by rA and rB. The position of
B relative to A is represented by
rB/A = rB – rA
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
To determine the relative velocity of B
with respect to A, the time derivative of
the relative position equation is taken.
vB/A = vB – vA
or
vB = vA + vB/A
In these equations, vB and vA are called absolute velocities

and vB/A is the relative velocity of B with respect to A.
Note that vB/A = - vA/B .

RELATIVE ACCELERATION
The time derivative of the relative

velocity equation yields a similar
vector relationship between the
absolute and relative accelerations
of particles A and B.
These derivatives yield: aB/A = aB – aA

or
aB = aA + aB/A
SOLVING PROBLEMS
Since the relative motion equations are vector equations,

problems involving them may be solved in one of two ways.
For instance, the velocity vectors in vB = vA + vB/A could be
written as two dimensional (2-D) Cartesian vectors and the
resulting 2-D scalar component equations solved for up to
two unknowns.
Alternatively, vector problems can be solved “graphically” by
use of trigonometry. This approach usually makes use of the
law of sines or the law of cosines.
Could a CAD system be used to solve these types of problems?

LAWS OF SINES AND COSINES
C Since vector addition or subtraction forms

b a triangle, sine and cosine laws can be
a applied to solve for relative or absolute
velocities and accelerations. As a review,
A
B their formulations are provided below.
c
Law of Sines: a b c
= =
sin A sin B sin C
Law of Cosines: a 2 = b 2 + c 2  2 bc cos A

b = a + c  2 ac cos B
2 2 2
c = a + b  2 ab cos C
2 2 2
EXAMPLE
Given: vA = 650 km/h

vB = 800 km/h
Find: vB/A
Plan:
a) Vector Method: Write vectors vA and vB in Cartesian

form, then determine vB – vA
b) Graphical Method: Draw vectors vA and vB from a

common point. Apply the laws of sines and cosines to
determine vB/A.
EXAMPLE (continued)
Solution:
a) Vector Method:
vA = (650 i ) km/h
vB = –800 cos 60 i – 800 sin 60 j
= ( –400 i – 692.8 j) km/h
vB/A = vB – vA = (–1050 i – 692.8 j) km/h
vB /A = (1050)2 +(692.8)2 = 1258 km/h

692.8
q= tan-1( ) = 33.4 q
1050
EXAMPLE (continued)
b) Graphical Method:
Note that the vector that measures the tip of B relative to A is vB/A.
vA
120
vB/A
vB
Law of Cosines:
(vB/A)2 = (800) 2 + (650) 2 − (800) (650) cos 120
vB/A = 1258 km/h
Law of Sines:
vB/A vA
= or q = 33.4
sin(120 ) sin q
CONCEPT QUIZ
1. Two particles, A and B, are moving in ft
the directions shown. What should be vB = 4 s
the angle q so that vB/A is minimum? q
B
A) 0° B) 180°
A vA = 3 ft s
C) 90° D) 270°
2. Determine the velocity of plane A with respect to plane B.

A) (400 i + 520 j ) km/hr
B) (1220 i - 300 j ) km/hr
30
C) (-181 i - 300 j ) km/hr
D) (-1220 i + 300 j ) km/hr
Given: vA = 30 mi/h
vB = 20 mi/h
aB = 1200 mi/h2
aA = 0 mi/h2
Find: vB/A
aB/A
Plan:
Given: vA = 30 mi/h
vB = 20 mi/h
aB = 1200 mi/h2
aA = 0 mi/h2
Find: vB/A
aB/A
Plan: Write the velocity and acceleration vectors for A and B

and determine vB/A and aB/A by using vector equations.
Solution:
The velocity of B is:
vB = –20 sin(30) i + 20 cos(30) j = (–10 i + 17.32 j) mi/h
GROUP PROBLEM SOLVING (solution continued)
The velocity of A is:
vA = –30 i (mi/h)
The relative velocity of B with respect to A is (vB/A):
vB/A = vB – vA = (–10i + 17.32j) – (–30i) = (20 i + 17.32 j) mi/h
or vB/A = (20)2 + (17.32)2 = 26.5 mi/h

17.32
q = tan-1( ) = 40.9° q
20
GROUP PROBLEM SOLVING (solution continued)
The acceleration of B is:
aB = (at)B + (an)B = [– 1200 sin(30) i +1200 cos(30) j]
20 2 202
+[( ) cos(30) i +( ) sin(30) j]
0.3 0.3
aB = 554.7 i +1706 j (mi/h2)
The acceleration of A is zero : aA = 0
The relative acceleration of B with respect to A is:

aB/A = aB – aA = 554.7 i +1706 j (mi/h2)
aA/B = (554.7)2 + (1706)2 = 1790 mi/h2
b = tan-1(1706 / 554.7) = 72° b
ATTENTION QUIZ
1. Determine the relative velocity of particle B with respect to
particle A. y
A) (48i + 30j) km/h
B
B) (- 48i + 30j ) km/h vB=100 km/h
C) (48i - 30j ) km/h 30 x

A
D) (- 48i - 30j ) km/h vA=60 km/h
2. If theta equals 90° and A and B start moving from the same
point, what is the magnitude of rB/A at t = 5 s?
ft
A) 20 ft vB = 4 s
B) 15 ft q
B
C) 18 ft
D) 25 ft A vA = 3 ft s
NEWTON’S LAWS OF MOTION, EQUATIONS OF
MOTION, & EQUATIONS OF MOTION FOR A SYSTEM OF
PARTICLES
1. Write the equation of motion
for an accelerating body. In-Class Activities:
2. Draw the free-body and kinetic • Check Homework
diagrams for an accelerating • Reading Quiz
body. • Applications
• Newton’s Laws of Motion
• Newton’s Law of Gravitational
Attraction
• Equation of Motion For A
Particle or System of Particles
• Concept Quiz
• Attention Quiz
READING QUIZ
1. Newton’s second law can be written in mathematical form
as F = ma. Within the summation of forces, F,
________ are(is) not included.
A) external forces B) weight
C) internal forces D) All of the above.
2. The equation of motion for a system of n-particles can be

written as Fi =  miai = maG, where aG indicates _______.
A) summation of each particle’s acceleration
B) acceleration of the center of mass of the system
C) acceleration of the largest particle
APPLICATIONS
The motion of an object depends on the

forces acting on it.
A parachutist relies on the atmospheric

drag resistance force of her parachute to
limit her velocity.
Knowing the drag force, how can we

determine the acceleration or velocity of
the parachutist at any point in time? This
has some importance when landing!
The baggage truck A tows a cart B,

and a cart C.
If we know the frictional force

developed at the driving wheels of
the truck, can we determine the
acceleration of the truck?
How?
Can we also determine the horizontal force acting on the

coupling between the truck and cart B? This is needed when
designing the coupling (or understanding why it failed).
A freight elevator is lifted using a

motor attached to a cable and pulley
system as shown.
How can we determine the tension

force in the cable required to lift the
elevator and load at a given
acceleration? This is needed to decide
what size cable should be used.
Is the tension force in the cable greater than the weight

of the elevator and its load?
NEWTON’S LAWS OF MOTION (Section 13.1)
The motion of a particle is governed by Newton’s three laws of

motion.
First Law: A particle originally at rest, or moving in a straight
line at constant velocity, will remain in this state if the resultant
force acting on the particle is zero.
Second Law: If the resultant force on the particle is not zero, the
particle experiences an acceleration in the same direction as the
resultant force. This acceleration has a magnitude proportional to
the resultant force.
Third Law: Mutual forces of action and reaction between two
particles are equal, opposite, and collinear.
NEWTON’S LAWS OF MOTION
(continued)
The first and third laws were used in developing the
concepts of statics. Newton’s second law forms the
basis of the study of dynamics.
Mathematically, Newton’s second law of motion can be

written
F = ma
where F is the resultant unbalanced force acting on the
particle, and a is the acceleration of the particle. The
positive scalar m is called the mass of the particle.
Newton’s second law cannot be used when the particle’s
speed approaches the speed of light, or if the size of the
particle is extremely small (~ size of an atom).
NEWTON’S LAW OF GRAVITATIONAL ATTRACTION
Any two particles or bodies have a mutually attractive

gravitational force acting between them. Newton postulated
the law governing this gravitational force as
F = G(m1m2/r2)
where F = force of attraction between the two bodies,

G = universal constant of gravitation ,
m1, m2 = mass of each body, and
r = distance between centers of the two bodies.
When near the surface of the earth, the only gravitational

force having any sizable magnitude is that between the earth
and the body. This force is called the weight of the body.
MASS AND WEIGHT
It is important to understand the difference between the

mass and weight of a body!
Mass is an absolute property of a body. It is independent of

the gravitational field in which it is measured. The mass
provides a measure of the resistance of a body to a change
in velocity, as defined by Newton’s second law of motion
(m = F/a).
The weight of a body is not absolute, since it depends on the
gravitational field in which it is measured. Weight is defined
as
W = mg
where g is the acceleration due to gravity.
UNITS: SI SYSTEM VS. FPS SYSTEM
SI system: In the SI system of units, mass is a base unit and
weight is a derived unit. Typically, mass is specified in
kilograms (kg), and weight is calculated from W = mg. If the
gravitational acceleration (g) is specified in units of m/s2, then
the weight is expressed in newtons (N). On the earth’s
surface, g can be taken as g = 9.81 m/s2.
W (N) = m (kg) g (m/s2) => N = kg·m/s2
FPS System: In the FPS system of units, weight is a base unit

and mass is a derived unit. Weight is typically specified in
pounds (lb), and mass is calculated from m = W/g. If g is
specified in units of ft/s2, then the mass is expressed in slugs.
On the earth’s surface, g is approximately 32.2 ft/s2.
m (slugs) = W (lb)/g (ft/s2) => slug = lb·s2/ft
EQUATION OF MOTION (Section 13.2)
The motion of a particle is governed by Newton’s second law, relating
the unbalanced forces on a particle to its acceleration. If more than one
force acts on the particle, the equation of motion can be written
F = FR = ma
where FR is the resultant force, which is a vector summation of all the
forces.
To illustrate the equation, consider a
particle acted on by two forces.
First, draw the particle’s free-body
diagram, showing all forces acting
on the particle. Next, draw the
kinetic diagram, showing the
inertial force ma acting in the same
direction as the resultant force FR.
INERTIAL FRAME OF REFERENCE
This equation of motion is only valid if the

acceleration is measured in a Newtonian or inertial
frame of reference. What does this mean?
For problems concerned with motions at or near the

earth’s surface, we typically assume our “inertial
frame” to be fixed to the earth. We neglect any
acceleration effects from the earth’s rotation.
For problems involving satellites or rockets, the

inertial frame of reference is often fixed to the stars.
EQUATION OF MOTION FOR A SYSTEM OF PARTICLES
(Section 13.3)
The equation of motion can be extended to include systems of
particles. This includes the motion of solids, liquids, or gas systems.
As in statics, there are internal forces and
external forces acting on the system.
What is the difference between them?
Using the definitions of m = mi as the

total mass of all particles and aG as the
acceleration of the center of mass G of
the particles, then maG = miai .
The text shows the details, but for a system of particles: F = maG
where F is the sum of the external forces acting on the entire
system.
KEY POINTS
1) Newton’s second law is a “law of nature”-- experimentally

proven, not the result of an analytical proof.
2) Mass (property of an object) is a measure of the resistance

to a change in velocity of the object.
3) Weight (a force) depends on the local gravitational field.

Calculating the weight of an object is an application of
F = m a, i.e., W = m g.
4) Unbalanced forces cause the acceleration of objects.

This condition is fundamental to all dynamics problems!
PROCEDURE FOR THE APPLICATION OF THE
EQUATION OF MOTION
1) Select a convenient inertial coordinate system. Rectangular,
normal/tangential, or cylindrical coordinates may be used.
2) Draw a free-body diagram showing all external forces

applied to the particle. Resolve forces into their
appropriate components.
3) Draw the kinetic diagram, showing the particle’s inertial
force, ma. Resolve this vector into its appropriate
components.
4) Apply the equations of motion in their scalar component
form and solve these equations for the unknowns.
5) It may be necessary to apply the proper kinematic relations
to generate additional equations.
EXAMPLE
10 kg
Given: A 10-kg block is subjected to the force F=500 N. A spring

of stiffness k=500 N/m is mounted against the block. When s=0,
the block is at rest and the spring is uncompressed. The contact
surface is smooth.
Find: Draw the free-body and kinetic diagrams of the block.
Plan:
EXAMPLE
Given: A 10-kg block is subjected to the force F=500 N. A spring

of stiffness k=500 N/m is mounted against the block. When s=0,
the block is at rest and the spring is uncompressed. The contact
surface is smooth.
Find: Draw the free-body and kinetic diagrams of the block.
Plan: 1) Define an inertial coordinate system.
2) Draw the block’s free-body diagram, showing all
external forces applied to the block in the proper
directions.
3) Draw the block’s kinetic diagram, showing the inertial
force vector ma in the proper direction.
EXAMPLE (continued)
Solution:
1) An inertial x-y frame can be defined as fixed to the ground.
2) Draw the free-body diagram of the block:
F=500 (N) W = 10 g The weight force (W) acts through the
3 block’s center of mass. F is the applied
4 Fs=500 s (N)
y load and Fs =500s (N) is the spring force,
where s is the spring deformation. The
x normal force (N) is perpendicular to the
N surface. There is no friction force since
the contact surface is smooth.
3) Draw the kinetic diagram of the block:
The block will be moved to the right.
The acceleration can be directed to the
10 a
right if the block is speeding up or to the
left if it is slowing down.
CONCEPT QUIZ
1. The block (mass = m) is moving upward with a speed v.

Draw the FBD if the kinetic friction coefficient is k.
mg mg
v
A) kN B) kN
N N
mg
C) kmg D) None of the above.
N
CONCEPT QUIZ
(continued)
2. Packaging for oranges is tested using a machine that exerts
ay = 20 m/s2 and ax = 3 m/s2, simultaneously. Select the
correct FBD and kinetic diagram for this condition. y
W may x
W
A) B)
= • max = • max
Rx Rx
Ry Ry
C) may
D) may
W
= • = • max
Ry Ry
Given: The block and cylinder have a

mass of m. The coefficient of
kinetic friction at all surfaces
of contact is . Block A is
moving to the right.
Find: Draw the free-body and kinetic diagrams of each block.

Plan:
1) Define an inertial coordinate system.
2) Draw the free-body diagrams for each block, showing
all external forces.
3) Draw the kinetic diagrams for each block, showing the
inertial forces.
1) An inertial x-y frame can be defined as fixed to the ground.
2) Draw the free-body diagram of each block:
Block B:
y Block A: y 2T
WA = mg
x x
T
FfA = NA NA WB = mg
The friction force opposes the motion of block A relative to the
surfaces on which it slides.
3) Draw the kinetic diagram of each block: Block B:
Block A:
maA maB
ATTENTION QUIZ
1. Internal forces are not included in an equation of motion

analysis because the internal forces are_____
A) equal to zero.
B) equal and opposite and do not affect the calculations.
C) negligibly small.
D) not important.
2. A 10 lb block is initially moving down a ramp

with a velocity of v. The force F is applied to F
bring the block to rest. Select the correct FBD.
10 F 10 F 10 F v
A) k10 B) k10 C) kN
N N N
EQUATIONS OF MOTION:
RECTANGULAR COORDINATES
1. Apply Newton’s second law
to determine forces and In-Class Activities:
accelerations for particles in • Check Homework
rectilinear motion. • Reading Quiz
• Applications
• Equations of Motion Using
Rectangular (Cartesian)
Coordinates
• Concept Quiz
• Attention Quiz
READING QUIZ
1. In dynamics, the friction force acting on a moving object is

always ________
A) in the direction of its motion. B) a kinetic friction.
C) a static friction. D) zero.
2. If a particle is connected to a spring, the elastic spring force

is expressed by F = ks . The “s” in this equation is the
A) spring constant.
B) un-deformed length of the spring.
C) difference between deformed length and un-deformed
length.
D) deformed length of the spring.
APPLICATIONS
If a man is trying to move a 100 lb crate, how large a force F

must he exert to start moving the crate? What factors influence
how large this force must be to start moving the crate?
If the crate starts moving, is there acceleration present?
What would you have to know before you could find these
answers?
APPLICATIONS
(continued)
Objects that move in air (or other fluid) have a drag force
acting on them. This drag force is a function of velocity.
If the dragster is traveling with a known velocity and the
magnitude of the opposing drag force at any instant is given
as a function of velocity, can we determine the time and
distance required for dragster to come to a stop if its engine is
shut off? How ?
RECTANGULAR COORDINATES
(Section 13.4)
The equation of motion, F = m a, is best used when the problem
requires finding forces (especially forces perpendicular to the
path), accelerations, velocities, or mass. Remember, unbalanced
forces cause acceleration!
Three scalar equations can be written from this vector equation.
The equation of motion, being a vector equation, may be
expressed in terms of its three components in the Cartesian
(rectangular) coordinate system as
F = ma or Fx i + Fy j + Fz k = m(ax i + ay j + az k)
or, as scalar equations, Fx = max , Fy = may , and Fz = maz .
PROCEDURE FOR ANALYSIS
• Free Body Diagram (always critical!!)

Establish your coordinate system and draw the particle’s
free body diagram showing only external forces. These
external forces usually include the weight, normal forces,
friction forces, and applied forces. Show the ‘ma’ vector
(sometimes called the inertial force) on a separate diagram.
Make sure any friction forces act opposite to the direction

of motion! If the particle is connected to an elastic linear
spring, a spring force equal to ‘k s’ should be included on
the FBD.
(continued)
• Equations of Motion
If the forces can be resolved directly from the free-body
diagram (often the case in 2-D problems), use the scalar
form of the equation of motion. In more complex cases
(usually 3-D), a Cartesian vector is written for every force
and a vector analysis is often best.
A Cartesian vector formulation of the second law is
F = ma or
Fx i + Fy j + Fz k = m(ax i + ay j + az k)
Three scalar equations can be written from this vector
equation. You may only need two equations if the motion is
in 2-D.
(continued)
• Kinematics
The second law only provides solutions for forces and

accelerations. If velocity or position have to be found,
kinematics equations are used once the acceleration is
found from the equation of motion.
Any of the kinematics tools learned in Chapter 12 may be

needed to solve a problem.
Make sure you use consistent positive coordinate

directions as used in the equation of motion part of the
problem!
EXAMPLE
Given: The 200 lb mine car is
hoisted up the incline.
aP/c= 4ft/s2
The motor M pulls in the
cable with an acceleration of
4 ft/s2.
Find: The acceleration of the mine
car and the tension in the
cable.
Plan:
Draw the free-body and kinetic diagrams of the car.
Using a dependent motion equation, determine an
acceleration relationship between cable and mine car.
Apply the equation of motion to determine the cable
tension.
EXAMPLE
(continued)
Solution:
1) Draw the free-body and kinetic diagrams of the mine car:
W = mg 3T maC
y =
x
30° N
Since the motion is up the incline, rotate the x-y axes.

Motion occurs only in the x-direction. We are also neglecting
any friction in the wheel bearings, etc., on the cart.
EXAMPLE (continued)
2) The cable equation results in

sp + 2 sc = lt
sp
Taking the derivative twice yields aP/c= 4ft/s2
ap + 2 ac = 0 (eqn. 1)
The relative acceleration equation is sc
ap = ac + ap/c
As the motor is mounted on the car,
ap/c = 4 ft/s2
So, ap = ac + 4 ft/s2 (eqn. 2)
Solving equations 1 and 2, yields aC=1.333 ft/s2

EXAMPLE (continued)
3) Apply the equation of motion in

the x-direction: aP/c= 4ft/s2
+  Fx = max => 3T – mg(sin30°) = max
=> 3T – (200)(sin 30°) = (200/32.2) (1.333)
=> T = 36.1 lb
1. If the cable has a tension of 3 N,

determine the acceleration of block B.
A) 4.26 m/s2 B) 4.26 m/s2 10 kg
k=0.4
C) 8.31 m/s2 D) 8.31 m/s2
4 kg
2. Determine the acceleration of the block.

•
30
A) 2.20 m/s2 B) 3.17 m/s2

C) 11.0 m/s2 D) 4.26 m/s2 60 N
5 kg
Given: WA = 10 lb
WB = 20 lb
voA = 2 ft/s
k = 0.2
Find: vA when A has moved 4 feet to

the right.
Plan: This is not an easy

problem, so think carefully about
how to approach it!
Given: WA = 10 lb
WB = 20 lb
voA = 2 ft/s
k = 0.2
Find: vA when A has moved 4 feet to

the right.
Plan: Since both forces and velocity are involved, this
problem requires both the equation of motion and kinematics.
First, draw free body diagrams of A and B. Apply the
equation of motion to each.
Using dependent motion equations, derive a relationship
between aA and aB and use with the equation of motion
formulas.
(continued)
Solution: 2T
Free-body and kinetic
diagrams of B:
=
WB mBaB
Apply the equation of motion to B:

+ ∑Fy= m ay
WB – 2T = mB aB
20
20 – 2T = aB (1)
32.2
(continued)
Free-body and kinetic diagrams of A:
WA
T mAaA
=
F = kN N
Apply the equations of motion to A:
+ ∑F = m a

+ ∑Fy = m ay = 0 x x
N = WA = 10 lb F – T = mA aA
F = kN = 2 lb 10
2–T= aA (2)
32.2
(continued)
Now consider the kinematics.

Constraint equation:
sA + 2 sB = constant
Datums or
sA
vA + 2 vB = 0
sB Therefore
aA + 2 aB = 0
aA = − 2 a B (3)
(Notice aA is considered positive

to the left and aB is positive
downward.)
(continued)
Now combine equations (1), (2), and (3).

22
T= = 7.33 lb
3
aA = −17.16 ft/s2 = 17.16 ft/s2
Now use the kinematic equation:

(vA)2 = (v0A)2 +2 aA(sA − s0A)
(vA)2 = (2)2 +2 (17.16)(4)
vA = 11.9 ft/s 
ATTENTION QUIZ
1. Determine the tension in the cable when the
T
400 kg box is moving upward with a 4 m/s2
acceleration.
60
A) 2265 N B) 3365 N
a = 4 m/s2
C) 5524 N D) 6543 N
2. A 10 lb particle has forces of F1= (3i + 5j) lb and

F2= (-7i + 9j) lb acting on it. Determine the acceleration of
the particle.
A) (-0.4 i + 1.4 j) ft/s2 B) (-4 i + 14 j) ft/s2
C) (-12.9 i + 45 j) ft/s2 D) (13 i + 4 j) ft/s2
NORMAL AND TANGENTIAL COORDINATES
1. Apply the equation of motion
using normal and tangential
• Check Homework
coordinates.
• Reading Quiz
• Applications
• Equation of Motion in n-t
Coordinates
• Concept Quiz
• Attention Quiz
READING QUIZ
1. The “normal” component of the equation of motion is written

as Fn=man, where Fn is referred to as the _______.
A) impulse B) centripetal force

C) tangential force D) inertia force
2. The positive n direction of the normal and tangential

coordinates is ____________.
A) normal to the tangential component
B) always directed toward the center of curvature
C) normal to the bi-normal component
APPLICATIONS
Race tracks are often banked in the turns to reduce the frictional
forces required to keep the cars from sliding up to the outer rail
at high speeds.
If the car’s maximum velocity and a minimum coefficient of
friction between the tires and track are specified, how can we
determine the minimum banking angle (q) required to prevent
the car from sliding up the track?
The picture shows a ride at the amusement park. The

hydraulically-powered arms turn at a constant rate, which creates
a centrifugal force on the riders.
We need to determine the smallest angular velocity of the
cars A and B so that the passengers do not loose contact with
the seat. What parameters do we need for this calculation?
Satellites are held in orbit around the earth by using the earth’s
gravitational pull as the centripetal force – the force acting to
change the direction of the satellite’s velocity.
Knowing the radius of orbit of the satellite, we need to
determine the required speed of the satellite to maintain this
orbit. What equation governs this situation?
NORMAL & TANGENTIAL COORDINATES
(Section 13.5)
When a particle moves along a
curved path, it may be more
convenient to write the equation
of motion in terms of normal
and tangential coordinates.
The normal direction (n) always points toward the path’s center
of curvature. In a circle, the center of curvature is the center of
the circle.
The tangential direction (t) is tangent to the path, usually set as

positive in the direction of motion of the particle.
EQUATIONS OF MOTION
Since the equation of motion is a
vector equation , F = ma,
it may be written in terms of the n
& t coordinates as
Ftut + Fnun+ Fbub = mat+man
Here Ft & Fn are the sums of the force components acting in
the t & n directions, respectively.
This vector equation will be satisfied provided the individual
components on each side of the equation are equal, resulting in
the two scalar equations: Ft = mat and Fn = man .
Since there is no motion in the binormal (b) direction, we can also
write Fb = 0.
NORMAL AND TANGENTIAL ACCERLERATIONS
The tangential acceleration, at = dv/dt, represents the time rate of

change in the magnitude of the velocity. Depending on the direction
of Ft, the particle’s speed will either be increasing or decreasing.
The normal acceleration, an = v2/r, represents the time rate of change

in the direction of the velocity vector. Remember, an always acts
toward the path’s center of curvature. Thus, Fn will always be
directed toward the center of the path.
Recall, if the path of motion is defined dy 2 3/2

[1 + ( ) ]
as y = f(x), the radius of curvature at dx
r =
any point can be obtained from d2y
dx2
SOLVING PROBLEMS WITH n-t COORDINATES
• Use n-t coordinates when a particle is moving along a known,
curved path.
• Establish the n-t coordinate system on the particle.
• Draw free-body and kinetic diagrams of the particle. The normal

acceleration (an) always acts “inward” (the positive n-direction).
The tangential acceleration (at) may act in either the positive or
negative t direction.
• Apply the equations of motion in scalar form and solve.
• It may be necessary to employ the kinematic relations:
at = dv/dt = v dv/ds an = v2/r

EXAMPLE
Given:At the instant q = 45°, the boy with
a mass of 75 kg, moves a speed of 6
m/s, which is increasing at 0.5 m/s2.
Neglect his size and the mass of the
seat and cords. The seat is pin
connected to the frame BC.
Find: Horizontal and vertical reactions

of the seat on the boy.
Plan:
1) Since the problem involves a curved path and requires
finding the force perpendicular to the path, use n-t
coordinates. Draw the boy’s free-body and kinetic
diagrams.
2) Apply the equation of motion in the n-t directions.
EXAMPLE
(continued)
Solution:
1) The n-t coordinate system can be
established on the boy at angle 45°.
Approximating the boy and seat
together as a particle, the free-body and
kinetic diagrams can be drawn.
Free-body diagram Kinetic diagram

t W t
mat
Rx =
45
Ry n man
n
EXAMPLE (continued)
2) Apply the equations of motion in the n-t directions.
(a) Fn = man => – Rx cos 45° – Ry sin 45° +W sin 45° = man
Using an = v2/r = 62/10, W = 75(9.81) N, and m = 75 kg,
we get: – Rx cos 45° – Ry sin 45° + 520.3 = (75)(62/10) (1)
(b) Ft = mat => – Rx sin 45° + Ry cos 45° – W cos 45° = mat
we get: – Rx sin 45° + Ry cos 45° – 520.3= 75 (0.5) (2)
Using equations (1) and (2), solve for Rx, Ry.
Rx= –217 N, Ry=572 N

CONCEPT QUIZ
1. A 10 kg sack slides down a smooth surface. If the normal
force on the surface at the flat spot, A, is 98.1 N () , the
radius of curvature is ____.
A) 0.2 m B) 0.4 m
v=2m/s
C) 1.0 m D) None of the above. A
2. A 20 lb block is moving along a smooth surface. If the

normal force on the surface at A is 10 lb, the velocity is
________.
A
A) 7.6 ft/s B) 9.6 ft/s r=7 ft
C) 10.6 ft/s D) 12.6 ft/s

Given: A 800 kg car is traveling over
the hill having the shape of a
parabola. When it is at point
A, it is traveling at 9 m/s and
increasing its speed at 3 m/s2.
Find: The resultant normal force and resultant frictional force

exerted on the road at point A.
Plan:
1) Treat the car as a particle. Draw the free-body and
kinetic diagrams.
2) Apply the equations of motion in the n-t directions.
3) Use calculus to determine the slope and radius of
curvature of the path at point A.
(continued)
Solution:
1) The n-t coordinate system can
be established on the car at
point A. Treat the car as a
particle and draw the free-
body and kinetic diagrams:
W
q
F
N
= man mat
q
n t n t
W = mg = weight of car
N = resultant normal force on road
F = resultant friction force on road
(continued)
2) Apply the equations of motion in the n-t directions:
 Fn = man => W cos q – N = man

Using W = mg and an = v2/r = (9)2/r
=> (800)(9.81) cos q – N = (800) (81/r)
=> N = 7848 cos q – 64800/r (1)
 Ft = mat => W sin q – F = mat

Using W = mg and at = 3 m/s2 (given)
=> (800)(9.81) sin q – F = (800) (3)
=> F = 7848 sin q – 2400 (2)
(continued)
3) Determine r by differentiating y = f(x) at x = 80 m:
y = 20(1 – x2/6400) => dy/dx = (–40) x / 6400
=> d2y/dx2 = (–40) / 6400
dy 2 3/2
[1 + ( )] [1 + (–0.5)2]3/2
dx
r = 2
= = 223.6 m
dy 0.00625
x = 80 m 2
dx
Determine q from the slope of the curve at A:
tan q = dy/dx
dy x = 80 m
q
q = tan-1 (dy/dx) = tan-1 (-0.5) = 26.6°
dx
(continued)
From Eq.(1): N = 7848 cos q – 64800 / r

= 7848 cos (26.6°) – 64800 / 223.6 = 6728 N
From Eq.(2): F = 7848 sin q – 2400

= 7848 sin (26.6°) – 2400 = 1114 N
ATTENTION QUIZ
1. The tangential acceleration of an object
A) represents the rate of change of the velocity vector’s
direction.
B) represents the rate of change in the magnitude of the
velocity.
C) is a function of the radius of curvature.
D) Both B and C.
2. The block has a mass of 20 kg and a speed of
v = 30 m/s at the instant it is at its lowest point.
Determine the tension in the cord at this instant. 10 m
q
A) 1596 N B) 1796 N
v = 30m/s
C) 1996 N D) 2196 N
1. Analyze the kinetics of a In-Class Activities:
particle using cylindrical • Check Homework
coordinates. • Reading Quiz
• Applications
• Equations of Motion Using
Cylindrical Coordinates
• Angle Between Radial and
Tangential Directions
• Concept Quiz
• Attention Quiz
READING QUIZ
1. The normal force which the path exerts on a particle is

always perpendicular to the _________
A) radial line. B) transverse direction.
C) tangent to the path. D) None of the above.
2. When the forces acting on a particle are resolved into

cylindrical components, friction forces always act in the
__________ direction.
A) radial B) tangential
C) transverse D) None of the above.
APPLICATIONS
The forces acting on the 100-lb

boy can be analyzed using the
cylindrical coordinate system.
How would you write the

equation describing the
frictional force on the boy as
he slides down this helical
slide?
When an airplane executes the vertical loop shown above, the

centrifugal force causes the normal force (apparent weight)
on the pilot to be smaller than her actual weight.
How would you calculate the velocity necessary for the pilot
to experience weightlessness at A?
(Section 13.6)
This approach to solving problems has
some external similarity to the normal &
tangential method just studied. However,
the path may be more complex or the
problem may have other attributes that
make it desirable to use cylindrical
coordinates.
Equilibrium equations or “Equations of Motion” in cylindrical
coordinates (using r, q , and z coordinates) may be expressed in
scalar form as: .
..
 Fr = mar = m (r – r q 2 )
.. . .
 Fq = maq = m (r q – 2 r q )
..
 Fz = maz = m z
(continued)
If the particle is constrained to move only in the r – q
plane (i.e., the z coordinate is constant), then only the first
two equations are used (as shown below). The coordinate
system in such a case becomes a polar coordinate system.
In this case, the path is only a function of q.
.. .
 Fr = mar = m(r – rq 2 ).
.. .
 Fq = maq = m(rq – 2rq )
Note that a fixed coordinate system is used, not a “body-

centered” system as used in the n – t approach.
TANGENTIAL AND NORMAL FORCES
If a force P causes the particle to move along a path defined

by r = f (q ), the normal force N exerted by the path on the
particle is always perpendicular to the path’s tangent. The
frictional force F always acts along the tangent in the opposite
direction of motion. The directions of N and F can be
specified relative to the radial coordinate by using angle y .
DETERMINATION OF ANGLE y
The angle y, defined as the angle

between the extended radial line
and the tangent to the curve, can be
required to solve some problems. It
can be determined from the
following relationship.
r dq r
tan y = =
dr dr/dq
If y is positive, it is measured counterclockwise from the radial

line to the tangent. If it is negative, it is measured clockwise.
EXAMPLE
Given: The ball (P) is guided along
the vertical circular
. path.
W.. = 0.5 lb, q2 = 0.4 rad/s,
q = 0.8 rad/s , rc = 0.4 ft
Find: Force of the arm OA on the
ball when q = 30.
Plan:
EXAMPLE
Given: The ball (P) is guided along
the vertical circular
. path.
W.. = 0.5 lb, q2 = 0.4 rad/s,
q = 0.8 rad/s , rc = 0.4 ft
Find: Force of the arm OA on the
ball when q = 30.
Plan: Draw a FBD. Then develop the kinematic equations and

finally solve the kinetics problem using cylindrical
coordinates.
Solution: Notice that r = 2rc cos q, therefore:
. .
r = -2rc sin q q
.. .2 ..
r = -2rc cos q q – 2rc sin q q
EXAMPLE
(continued)
Free Body Diagram and Kinetic Diagram : Establish the r, q
inertial coordinate system and draw the particle’s free body
diagram.
mg maq mar
=
Ns
NOA
2q
EXAMPLE
(continued)
Kinematics: at q = 30
r = 2(0.4) cos(30) = 0.693 ft
.
r = - 2(0.4) sin(30)(0.4) = - 0.16 ft/s
..
r = - 2(0.4) cos(30)(0.4)2 – 2(0.4) sin(30)(0.8) = - 0.431 ft/s2
Acceleration components are

.. .
ar = r – rq 2 = - 0.431 – (0.693)(0.4)2 = - 0.542 ft/s2
.. . .
aq = rq + 2rq = (0.693)(0.8) + 2(-0.16)(0.4) = 0.426 ft/s2
EXAMPLE
(continued)
Equation of motion: r direction
 Fr = mar
0.5
Ns cos(30) – 0.5 sin(30) = (-0.542)
32.2
Ns = 0.279 lb
maq mar
=
EXAMPLE
(continued)
Equation of motion: q direction
 Fq = maq
0.5
NOA + 0.279 sin(30) – 0.5 cos(30) = (0.426)
32.2
NOA = 0.3 lb
maq mar
=
CONCEPT QUIZ B
1. When a pilot flies an airplane in a
vertical loop of constant radius r at C r A
constant speed v, his apparent weight
is maximum at
D
A) Point A B) Point B (top of the loop)
C) Point C D) Point D (bottom of the loop)
2. If needing to solve a problem involving the pilot’s weight at

Point C, select the approach that would be best.
A) Equations of Motion: Cylindrical Coordinates
B) Equations of Motion: Normal & Tangential Coordinates
C) Equations of Motion: Polar Coordinates
D) No real difference – all are bad.
E) Toss up between B and C.
Given: The smooth particle is attached to
an elastic cord extending from O
to P and due to the slotted arm guide
moves along the horizontal circular
path.
The cord’s stiffness is k=30 N/m
unstretched length = 0.25 m
m=0.08 kg, r = (0.8 sin q) m
Find: Forces of the guide on the particle when q = 60 and
q = 5 rad/s, which is constant.
Plan: . ..
Determine r and r by differentiating r. Draw Free Body
Diagram & Kinetic Diagram. Solve for the accelerations,
and apply the equation of motion to find the forces.
(continued)
Solution:
Kinematics:
r = 0.8 (sin q )
·
r· = 0.8 (cos q ) q
· ··
r = -0.8 (sin q ) q + 0.8 (cos q ) q
·· 2
· ··
When q = 60; q = 5 rad/s, q = 0 rad/s2.
r = 0.6928 m
r· = 2 m/s
··
r = -17.32 m/s2
Accelerations :
·2
ar = r − r q = -17.32 − (0.6928) 52 = -34.64 m/s2
··
·· ·
aq = r q + 2 ·r q = (0.6928) 0 + 2 (2) 5 = 20 m/s2
(continued)
Free Body Diagram & Kinetic Diagram
mar
= maq
where the spring force F will be

Fs = k s
= 30 (0.6928 -0.25) = 13.28 N
Kinetics:  Fr = mar => -13.28 + N cos 30 = 0.08 (-34.64)

N = 12.1 N
(continued)
Kinetics:  Fq = maq => F - N sin 30 = 0.08 (20)
F = 7.67 N
mar
= maq
ATTENTION QUIZ
1. For the path defined by r = q 2 , the angle y at q = 0.5 rad

is
A) 10º B) 14º
C) 26º D) 75º
··
2. If r = q 2 and q = 2t, find the magnitude of r· and q when
t = 2 seconds.
A) 4 cm/sec, 2 rad/sec2 B) 4 cm/sec, 0 rad/sec2
C) 8 cm/sec, 16 rad/sec2 D) 16 cm/sec, 0 rad/sec2
THE WORK OF A FORCE, THE PRINCIPLE OF
WORK AND ENERGY & SYSTEMS OF PARTICLES
1. Calculate the work of a force. In-Class Activities:
2. Apply the principle of work and • Check Homework
energy to a particle or system of • Reading Quiz
particles. • Applications
• Work of A Force
• Principle of Work And
Energy
• Concept Quiz
• Attention Quiz
READING QUIZ
F
1. What is the work done by the force F?
A) F s B) –F s s1 s2
C) Zero D) None of the above. s
2. If a particle is moved from 1 to 2, the work done on the

particle by the force, FR will be
s2
 Ft ds s2
A) s1
B)   Ft ds
s1
s2
D)  s Fn ds
s2
C) 
s1
Fn ds
1
APPLICATIONS
A roller coaster makes use of gravitational forces to assist the

cars in reaching high speeds in the “valleys” of the track.
How can we design the track (e.g., the height, h, and the radius
of curvature, r) to control the forces experienced by the
passengers?
APPLICATIONS
(continued)
Crash barrels are often used
along roadways for crash
protection.
The barrels absorb the car’s

kinetic energy by deforming.
If we know the velocity of

an oncoming car and the
amount of energy that can
be absorbed by each barrel,
how can we design a crash
cushion?
WORK AND ENERGY
Another equation for working kinetics problems involving

particles can be derived by integrating the equation of motion
(F = ma) with respect to displacement.
By substituting at = v (dv/ds) into Ft = mat, the result is

integrated to yield an equation known as the principle of work
and energy.
This principle is useful for solving problems that involve

force, velocity, and displacement. It can also be used to
explore the concept of power.
To use this principle, we must first understand how to
calculate the work of a force.
WORK OF A FORCE (Section 14.1)
A force does work on a particle when the particle undergoes a
displacement along the line of action of the force.
Work is defined as the product of force

and displacement components acting in
the same direction. So, if the angle
between the force and displacement
vector is q, the increment of work dU
done by the force is
dU = F ds cos q
By using the definition of the dot product r2
and integrating, the total work can be U =
written as
1-2  F • dr
r1
WORK OF A FORCE
(continued)
If F is a function of position (a common
case) this becomes
s2
U1-2 =  F cos q ds
s1
If both F and q are constant (F = Fc), this equation further
simplifies to
U1-2 = Fc cos q (s2 - s1)
Work is positive if the force and the movement are in the
same direction. If they are opposing, then the work is
negative. If the force and the displacement directions are
perpendicular, the work is zero.
WORK OF A WEIGHT
The work done by the gravitational force acting on a particle

(or weight of an object) can be calculated by using
y2
U1-2 =  - W dy = - W (y2 − y1) = - W Dy

y1
The work of a weight is the product of the magnitude of

the particle’s weight and its vertical displacement. If
Dy is upward, the work is negative since the weight
force always acts downward.
WORK OF A SPRING FORCE
When stretched, a linear elastic spring

develops a force of magnitude Fs = ks, where
k is the spring stiffness and s is the
displacement from the unstretched position.
The work of the spring force moving from position s1 to position

s2 is s2 s2
U1-2 = Fs ds =  k s ds = 0.5 k (s2)2 – 0.5 k (s1)2

s1 s1
If a particle is attached to the spring, the force Fs exerted on the

particle is opposite to that exerted on the spring. Thus, the work
done on the particle by the spring force will be negative or
U1-2 = – [ 0.5 k (s2)2 – 0.5 k (s1)2 ] .
SPRING FORCES
It is important to note the following about spring forces.
1. The equations above are for linear springs only! Recall

that a linear spring develops a force according to
F = ks (essentially the equation of a line).
2. The work of a spring is not just spring force times distance

at some point, i.e., (ksi)(si). Beware, this is a trap that
students often fall into!
3. Always double check the sign of the spring work after

calculating it. It is positive work if the force put on the object
by the spring and the movement are in the same direction.
PRINCIPLE OF WORK AND ENERGY
(Section 14.2 & Section 14.3)
By integrating the equation of motion,  Ft = mat = mv(dv/ds), the
principle of work and energy can be written as
 U1-2 = 0.5 m (v2)2 – 0.5 m (v1)2 or T1 +  U1-2 = T2
U1-2 is the work done by all the forces acting on the particle as it
moves from point 1 to point 2. Work can be either a positive or
negative scalar.
T1 and T2 are the kinetic energies of the particle at the initial and final
position, respectively. Thus, T1 = 0.5 m (v1)2 and T2 = 0.5 m (v2)2.
The kinetic energy is always a positive scalar (velocity is squared!).
So, the particle’s initial kinetic energy plus the work done by all the
forces acting on the particle as it moves from its initial to final position
is equal to the particle’s final kinetic energy.
(continued)
Note that the principle of work and energy (T1 +  U1-2 = T2) is
not a vector equation! Each term results in a scalar value.
Both kinetic energy and work have the same units, that of
energy! In the SI system, the unit for energy is called a joule (J),
where 1 J = 1 N·m. In the FPS system, units are ft·lb.
The principle of work and energy cannot be used, in general, to

determine forces directed normal to the path, since these forces
do no work.
The principle of work and energy can also be applied to a system

of particles by summing the kinetic energies of all particles in the
system and the work due to all forces acting on the system.
WORK OF FRICTION CAUSED BY SLIDING
The case of a body sliding over a rough surface merits special
consideration.
Consider a block which is moving over a
rough surface. If the applied force P just
balances the resultant frictional force k N,
a constant velocity v would be maintained.
The principle of work and energy would be
applied as
0.5m (v)2 + P s – (k N) s = 0.5m (v)2
This equation is satisfied if P = k N. However, we know from

experience that friction generates heat, a form of energy that does
not seem to be accounted for in this equation. It can be shown that
the work term (k N)s represents both the external work of the
friction force and the internal work that is converted into heat.
EXAMPLE
Given: When s = 0.6 m, the spring is

not stretched or compressed,
and the 10 kg block, which is
subjected to a force of F=
100 N, has a speed of 5 m/s
down the smooth plane.
Find: The distance s when the block stops.

Plan: Since this problem involves forces, velocity and displacement,
apply the principle of work and energy to determine s.
EXAMPLE
(continued)
Solution:
Apply the principle of work and energy between position 1
(s1 = 0.6 m) and position 2 (s2). Note that the normal force (N)
does no work since it is always perpendicular to the
displacement.
T1 + U1-2 = T2
There is work done by three different forces;

1) work of a the force F =100 N;
UF = 100 (s2− s1) = 100 (s2 − 0.6)
2) work of the block weight;
UW = 10 (9.81) (s2− s1) sin 30 = 49.05 (s2 − 0.6)
3) and, work of the spring force.
US = - 0.5 (200) (s2−0.6)2 = -100 (s2 − 0.6)2
EXAMPLE
(continued)
The work and energy equation will be
T1 + U1-2 = T2
0.5 (10) 52 + 100(s2 − 0.6) + 49.05(s2 − 0.6) − 100(s2 − 0.6)2 = 0
 125 + 149.05(s2 − 0.6) − 100(s2 − 0.6)2 = 0
Solving for (s2 − 0.6),

(s2 − 0.6) = {-149.05 ± (149.052 – 4×(-100)×125)0.5} / 2(-100)
Selecting the positive root, indicating a positive spring deflection,

(s2 − 0.6) = 2.09 m
Therefore, s2 = 2.69 m
CONCEPT QUIZ
1. A spring with an un-stretched length of 5 in expands from a
length of 2 in to a length of 4 in. The work done on the spring
is _________ in·lb .
A) -[0.5 k(4 in)2 - 0.5 k(2 in)2] B) 0.5 k (2 in)2
C) -[0.5 k(3 in)2 - 0.5 k(1 in)2] D) 0.5 k(3 in)2 - 0.5 k(1 in)2
2. If a spring force is F = 5 s3 N/m and the spring is compressed

by s = 0.5 m, the work done on a particle attached to the
spring will be
A) 0.625 N · m B) – 0.625 N · m
C) 0.0781 N · m D) – 0.0781 N · m
Given: Block A has a weight of 60 lb
and block B has a weight of 40
lb. The coefficient of kinetic
friction between the blocks and
the incline is k = 0.1. Neglect
the mass of the cord and pulleys.
Find: The speed of block A after block B moves 2 ft up the

plane, starting from rest.
Plan: 1) Define the kinematic relationships between the blocks.
2) Draw the FBD of each block.
3) Apply the principle of work and energy to the system
of blocks. Why choose this method?
Solution:
1) The kinematic relationships can be determined by defining
position coordinates sA and sB, and then differentiating.
Since the cable length is constant:

2sA + sB = l
sA sB 2DsA + DsB = 0
When DsB = -2 ft => DsA = 1 ft
and 2vA + vB = 0
=> vB = -2vA
Note that, by this definition of sA and sB, positive motion
for each block is defined as downwards.
(continued)
2) Draw the FBD of each block.
WA
2T T WB
y
x
A NA B
NB
30
60 NB
NA
Sum forces in the y-direction for block A

Similarly, for block B:
(note that there is no motion in y-direction):
Fy = 0: NA – WA cos 60 = 0 NB = WB cos 30
NA = WA cos 60
(continued)
3) Apply the principle of work and energy to the system (the
blocks start from rest).
T1 + U1-2 = T2
[0.5mA(vA1)2 + .5mB(vB1)2] + [WA sin 60– 2T – NA]DsA

+ [WB sin 30– T + NB]DsB = [0.5mA(vA2)2 + 0.5mB(vB2)2]
where vA1 = vB1 = 0, DsA = 1ft, DsB = -2 ft, vB = -2vA,

NA = WA cos 60, NB = WB cos 30
=> [0 + 0] + [60 sin 60– 2T – 0.1(60 cos 60)] (1)

+ [40 sin 30 – T + 0.1(40 cos 30)] (2)
= [0.5(60/32.2)(vA2)2 + 0.5(40/32.2)(-2vA2)2]
(continued)
Again, the Work and Energy equation is:
=> [0 + 0] + [60 sin 60– 2T – 0.1(60 cos 60)] (1)
+ [40 sin 30 – T + 0.1(40 cos 30)] (2)
= [0.5(60/32.2)(vA2)2 + 0.5(40/32.2)(-2vA2)2]
Solving for the unknown velocity yeilds

=> vA2 = 0.771 ft/s
Note that the work due to the cable tension force on each block
cancels out.
ATTENTION QUIZ
1. What is the work done by the normal
force N if a 10 lb box is moved from A
to B ?
A) - 1.24 lb · ft B) 0 lb · ft
C) 1.24 lb · ft D) 2.48 lb · ft
2. Two blocks are initially at rest. How many equations would
be needed to determine the velocity of block A after block B
moves 4 m horizontally on the smooth surface?
A) One B) Two
2 kg
C) Three D) Four
2 kg
POWER AND EFFICIENCY
1. Determine the power generated
by a machine, engine, or motor. In-Class Activities:
2. Calculate the mechanical
• Check Homework
efficiency of a machine.
• Reading Quiz
• Applications
• Define Power
• Define Efficiency
• Concept Quiz
• Attention Quiz
READING QUIZ
1. The formula definition of power is ___________.

A) dU / dt B) F  v
C) F  dr/dt D) All of the above.
2. Kinetic energy results from _______.

A) displacement B) velocity
C) gravity D) friction
APPLICATIONS
Engines and motors are often

rated in terms of their power
output. The power output of the
motor lifting this elevator is
related to the vertical force F
acting on the elevator, causing it
to move upwards.
Given a desired lift velocity for the

elevator (with a known maximum
load), how can we determine the
power requirement of the motor?
The speed at which a truck

can climb a hill depends in
part on the power output of
the engine and the angle of
inclination of the hill.
For a given angle, how can we determine the speed of this

truck, knowing the power transmitted by the engine to the
wheels? Can we find the speed, if we know the power?
If we know the engine power output and speed of the truck, can
we determine the maximum angle of climb of this truck ?
POWER AND EFFICIENCY
(Section 14.4)
Power is defined as the amount of work performed per unit
of time.
If a machine or engine performs a certain amount of work,
dU, within a given time interval, dt, the power generated can
be calculated as
P = dU/dt
Since the work can be expressed as dU = F • dr, the power
can be written
P = dU/dt = (F • dr)/dt = F • (dr/dt) = F • v
Thus, power is a scalar defined as the product of the force

and velocity components acting in the same direction.
POWER
Using scalar notation, power can be written
P = F • v = F v cos q
where q is the angle between the force and velocity vectors.
So if the velocity of a body acted on by a force F is known,

the power can be determined by calculating the dot product
or by multiplying force and velocity components.
The unit of power in the SI system is the Watt (W) where

1 W = 1 J/s = 1 (N · m)/s .
In the FPS system, power is usually expressed in units of
horsepower (hp) where
1 hp = 550 (ft · lb)/s = 746 W .
EFFICIENCY
The mechanical efficiency of a machine is the ratio of the

useful power produced (output power) to the power supplied
to the machine (input power) or
e = (power output) / (power input)
If energy input and removal occur at the same time, efficiency

may also be expressed in terms of the ratio of output energy
to input energy or
e = (energy output) / (energy input)
Machines will always have frictional forces. Since frictional

forces dissipate energy, additional power will be required to
overcome these forces. Consequently, the efficiency of a
machine is always less than 1.
• Find the resultant external force acting on the body causing
its motion. It may be necessary to draw a free-body diagram.
• Determine the velocity of the point on the body at which the

force is applied. Energy methods or the equation of motion
and appropriate kinematic relations, may be necessary.
• Multiply the force magnitude by the component of velocity
acting in the direction of F to determine the power supplied
to the body (P = F v cos q ).
• In some cases, power may be found by calculating the work
done per unit of time (P = dU/dt).
• If the mechanical efficiency of a machine is known, either
the power input or output can be determined.
EXAMPLE
Given: A 50 kg block (A) is hoisted by the pulley
system and motor M. The motor has an
efficiency of 0.8. At this instant, point P
on the cable has a velocity of 12 m/s
which is increasing at a rate of 6 m/s2.
Neglect the mass of the pulleys and
cable.
Find: The power supplied to the motor at this
instant.
Plan:
1) Relate the cable and block velocities by defining position
coordinates. Draw a FBD of the block.
2) Use the equation of motion to determine the cable tension.
3) Calculate the power supplied by the motor and then to the
motor.
EXAMPLE (continued)
Solution:
1) Define position coordinates to relate velocities.
Datum sm Here sP is defined to a point on the cable. Also
sB sA is defined only to the lower pulley, since the
SP block moves with the pulley. From kinematics,
SA
sP + 2 s A = l
 aP + 2 a A = 0
 aA = − aP / 2 = −3 m/s2 (↑)
Draw the FBD and kinetic diagram of the block:

2T
mA aA
A = A
WA
EXAMPLE
(continued)
2) The tension of the cable can be obtained by applying the
equation of motion to the block.
+↑ Fy = mA aA
2T − 490.5 = 50 (3)  T = 320.3 N
3) The power supplied by the motor is the product of the force

applied to the cable and the velocity of the cable.
Po = F • v = (320.3)(12) = 3844 W
The power supplied to the motor is determined using the
motor’s efficiency and the basic efficiency equation.
Pi = Po/e = 3844/0.8 = 4804 W = 4.8 kW
CONCEPT QUIZ
1. A motor pulls a 10 lb block up a smooth

incline at a constant velocity of 4 ft/s. 30º
Find the power supplied by the motor.

A) 8.4 ft·lb/s B) 20 ft·lb/s
C) 34.6 ft·lb/s D) 40 ft·lb/s
2. A twin engine jet aircraft is climbing at a 10 degree angle at

260 ft/s. The thrust developed by a jet engine is 1000 lb.
The power developed by the aircraft is
A) (1000 lb)(260 ft/s) B) (2000 lb)(260 ft/s) cos 10
C) (1000 lb)(260 ft/s) cos 10 D) (2000 lb)(260 ft/s)
Given:A sports car has a mass of 2000 kg and an engine

efficiency of e = 0.65. Moving forward, the wind creates
a drag resistance on the car of FD = 1.2v2 N, where v is the
velocity in m/s. The car accelerates at 5 m/s2, starting
from rest.
Find: The engine’s input power when t = 4 s.
Plan: 1) Draw a free body diagram of the car.
2) Apply the equation of motion and kinematic equations
to find the car’s velocity at t = 4 s.
3) Determine the output power required for this motion.
4) Use the engine’s efficiency to determine input power.
(continued)
Solution:
1) Draw the FBD of the car.
The drag force and weight are
known forces. The normal force Nc
and frictional force Fc represent the
resultant forces of all four wheels.
The frictional force between the
wheels and road pushes the car
forward.
2) The equation of motion can be applied in the x-direction,
with ax = 5 m/s2:
+ Fx = max => Fc – 1.2v2 = (2000)(5)
=> Fc = (10,000 + 1.2v2) N
(continued)
3) The constant acceleration equations can be used to
determine the car’s velocity.
vx = vxo + axt = 0 + (5)(4) = 20 m/s

4) The power output of the car is calculated by multiplying the
driving (frictional) force and the car’s velocity:
Po = (Fc)(vx ) = [10,000 + (1.2)(20)2](20) = 209.6 kW
5) The power developed by the engine (prior to its frictional

losses) is obtained using the efficiency equation.
Pi = Po/e = 209.6/0.65 = 322 kW

ATTENTION QUIZ
1. The power supplied by a machine will always be

_________ the power supplied to the machine.
A) less than B) equal to
C) greater than D) A or B
2. A car is traveling a level road at 88 ft/s. The power being

supplied to the wheels is 52,800 ft·lb/s. Find the
combined friction force on the tires.
A) 8.82 lb B) 400 lb
C) 600 lb D) 4.64 x 106 lb
CONSERVATIVE FORCES, POTENTIAL ENERGY
AND CONSERVATION OF ENERGY
1. Understand the concept of In-Class Activities:
conservative forces and
• Check Homework
determine the potential
energy of such forces. • Reading Quiz
2. Apply the principle of • Applications
conservation of energy. • Conservative Force
• Potential Energy
• Conservation of Energy
• Concept Quiz
• Attention Quiz
READING QUIZ
1. The potential energy of a spring is ________

A) always negative. B) always positive.
C) positive or negative. D) equal to ks.
2. When the potential energy of a conservative system

increases, the kinetic energy _________
A) always decreases. B) always increases.
C) could decrease or D) does not change.
increase.
APPLICATIONS
The weight of the sacks resting on

this platform causes potential energy
to be stored in the supporting springs.
As each sack is removed, the platform

will rise slightly since some of the
potential energy within the springs
will be transformed into an increase
in gravitational potential energy of the
remaining sacks.
If the sacks weigh 100 lb and the equivalent spring constant

is k = 500 lb/ft, what is the energy stored in the springs?
The boy pulls the water balloon launcher back, stretching each
of the four elastic cords.
If we know the unstretched length and stiffness of each cord,
can we estimate the maximum height and the maximum range
of the water balloon when it is released from the current
position ?
The roller coaster is released from rest at the top of the hill. As
the coaster moves down the hill, potential energy is
transformed into kinetic energy.
What is the velocity of the coaster when it is at B and C?
Also, how can we determine the minimum height of the hill
so that the car travels around both inside loops without
leaving the track?
CONSERVATIVE FORCE
(Section 14.5)
A force F is said to be conservative if the work done is
independent of the path followed by the force acting on a particle
as it moves from A to B. This also means that the work done by
the force F in a closed path (i.e., from A to B and then back to A)
is zero.
 F · d r = 0 z
F B
Thus, we say the work is conserved.

A
The work done by a conservative y
force depends only on the positions
of the particle, and is independent of x
its velocity or acceleration.
CONSERVATIVE FORCE (continued)
A more rigorous definition of a conservative force makes

use of a potential function (V) and partial differential
calculus, as explained in the text. However, even without
the use of the these mathematical relationships, much can be
understood and accomplished.
The “conservative” potential energy of a particle/system is

typically written using the potential function V. There are two
major components to V commonly encountered in mechanical
systems, the potential energy from gravity and the potential
energy from springs or other elastic elements.
Vtotal = Vgravity + Vsprings
POTENTIAL ENERGY
Potential energy is a measure of the amount of work a

conservative force will do when a body changes position.
In general, for any conservative force system, we can define

the potential function (V) as a function of position. The work
done by conservative forces as the particle moves equals the
change in the value of the potential function (e.g., the sum of
Vgravity and Vsprings).
It is important to become familiar with the two types of

potential energy and how to calculate their magnitudes.
POTENTIAL ENERGY DUE TO GRAVITY
The potential function (formula) for a gravitational force, e.g.,

weight (W = mg), is the force multiplied by its elevation from a
datum. The datum can be defined at any convenient location.
Vg = ± W y
Vg is positive if y is above the

datum and negative if y is
below the datum. Remember,
YOU get to set the datum.
ELASTIC POTENTIAL ENERGY
Recall that the force of an elastic spring is F = ks. It is
important to realize that the potential energy of a spring, while
it looks similar, is a different formula.
Ve (where ‘e’ denotes an

elastic spring) has the distance
“s” raised to a power (the
result of an integration) or
1 2
Ve = ks
2
Notice that the potential
function Ve always yields
positive energy.
CONSERVATION OF ENERGY
(Section 14.6)
When a particle is acted upon by a system of conservative
forces, the work done by these forces is conserved and the
sum of kinetic energy and potential energy remains
constant. In other words, as the particle moves, kinetic
energy is converted to potential energy and vice versa.
This principle is called the principle of conservation of
energy and is expressed as
T1 + V1 = T2 + V2 = Constant
T1 stands for the kinetic energy at state 1 and V1 is the
potential energy function for state 1. T2 and V2
represent these energy states at state 2. Recall, the
kinetic energy is defined as T = ½ mv2.
EXAMPLE
Given: The 2 kg collar is moving down

with the velocity of 4 m/s at A.
The spring constant is 30 N/m. The
unstretched length of the spring is
1 m.
Find: The velocity of the collar when

s = 1 m.
Plan:
Apply the conservation of energy equation between A and
C. Set the gravitational potential energy datum at point A
or point C (in this example, choose point A—why?).
EXAMPLE
(continued)
Solution:
Note that the potential energy at C has two parts.
VC = (VC)e + (VC)g
VC = 0.5 (30) (√5 – 1)2 – 2 (9.81) 1
The kinetic energy at C is
TC = 0.5 (2) v2
Similarly, the potential and kinetic energies at A will be

VA = 0.5 (30) (2 – 1)2, TA = 0.5 (2) 42
The energy conservation equation becomes TA + VA = TC + VC .
[ 0.5(30) (√5 – 1)2 – 2(9.81)1 ] + 0.5 (2) v2
= [0.5 (30) (2 – 1)2 ]+ 0.5 (2) 42
 v = 5.26 m/s
CONCEPT QUIZ
1. If the work done by a conservative force on a particle as it

moves between two positions is –10 ft·lb, the change in its
potential energy is _______
A) 0 ft·lb. B) -10 ft·lb.
C) +10 ft·lb. D) None of the above.
2. Recall that the work of a spring is U1-2 = -½ k(s22 – s12) and

can be either positive or negative. The potential energy of a
spring is V = ½ ks2. Its value is __________
A) always negative. B) either positive or negative.
C) always positive. D) an imaginary number!
Given: The 800 kg roller

coaster starts from
A with a speed of
3 m/s.
Find: The minimum height, h, of the hill so that the car

travels around inside loop at B without leaving the track. Also
find the normal reaction on the car when the car is at C for this
height of A.
Plan: Note that only kinetic energy and potential energy due
to gravity are involved. Determine the velocity at B using the
equation of equilibrium and then apply the conservation of
energy equation to find minimum height h .
Solution:
1) Placing the datum at A:
TA + VA = TB + VB
 0.5 (800) 32 + 0
= 0.5 (800) (vB)2 − 800(9.81) (h − 20) (1)
2) Find the required velocity of the coaster at B so it doesn’t

leave the track.
Equation of motion applied at B:
2 NB  0
v
 Fn = man = m r
(vB)2 =
800 (9.81) = 800
10 man
mg
 vB = 9.905 m/s
Now using the energy conservation, eq. (1), the minimum h

can be determined.
0.5 (800) 32 + 0 = 0.5 (800) (9.905)2 − 800(9.81) (h − 20)
 h= 24.5 m
3) To find the normal reaction at C, we need vc.
TA + VA = TC + VC
 0.5 (800) 32 + 0 = 0.5 (800) (vC)2 − 800(9.81) (24.5 − 14)
 VC = 14.66 m/s
NC
Equation of motion applied at B:
v2 14.662
 Fn = m r  NC+800 (9.81) = 800 =
7 man
mg
 NC = 16.8 kN
ATTENTION QUIZ
1. The principle of conservation of energy is usually ______ to

apply than the principle of work & energy.
A) harder B) easier
C) the same amount of work D) It is a mystery!
2. If the pendulum is released from the

horizontal position, the velocity of its
bob in the vertical position is _____
A) 3.8 m/s. B) 6.9 m/s.
C) 14.7 m/s. D) 21 m/s.
PRINCIPLE OF LINEAR IMPULSE AND MOMENTUM
1. Calculate the linear momentum
of a particle and linear impulse
of a force. In-Class Activities:
2. Apply the principle of linear • Check Homework
impulse and momentum. • Reading Quiz
• Applications
• Linear Momentum and Impulse
• Principle of Linear Impulse and
Momentum
• Concept Quiz
• Attention Quiz
READING QUIZ
1. The linear impulse and momentum equation is obtained by

integrating the ______ with respect to time.
A) friction force B) equation of motion

C) kinetic energy D) potential energy
2. Which parameter is not involved in the linear impulse and

momentum equation?
A) Velocity B) Displacement
C) Time D) Force
APPLICATIONS
A dent in an automotive fender
can be removed using an impulse
tool, which delivers a force over a
very short time interval. To do so
the weight is gripped and jerked
upwards, striking the stop ring.
magnitude of the linear impulse
applied to the fender?
Could you analyze a carpenter’s

hammer striking a nail in the
same fashion?
Sure!
APPLICATIONS
(continued)
When a stake is struck by a
sledgehammer, a large impulse
force is delivered to the stake and
drives it into the ground.
If we know the initial speed of the

sledgehammer and the duration of
impact, how can we determine the
magnitude of the impulsive force
delivered to the stake?
(Section 15.1)
The next method we will consider for solving particle
kinetics problems is obtained by integrating the equation of
motion with respect to time.
The result is referred to as the principle of impulse and

momentum. It can be applied to problems involving both
linear and angular motion.
This principle is useful for solving problems that involve

force, velocity, and time. It can also be used to analyze the
mechanics of impact (taken up in a later section).
(continued)
The principle of linear impulse and momentum is obtained
by integrating the equation of motion with respect to time.
The equation of motion can be written
F = m a = m (dv/dt)
Separating variables and integrating between the limits v = v1
at t = t1 and v = v2 at t = t2 results in
t2 v2
  F dt = m  dv = mv2 – mv1
t1 v1
This equation represents the principle of linear impulse and

momentum. It relates the particle’s final velocity (v2) and
initial velocity (v1) and the forces acting on the particle as a
function of time.
(continued)
Linear momentum: The vector mv is called the linear momentum,
denoted as L. This vector has the same direction as v. The linear
momentum vector has units of (kg·m)/s or (slug·ft)/s.
Linear impulse: The integral F dt is the linear impulse, denoted

I. It is a vector quantity measuring the effect of a force during its
time interval of action. I acts in the same direction as F and has
units of N·s or lb·s.
The impulse may be determined by
direct integration. Graphically, it
can be represented by the area under
the force versus time curve. If F is
constant, then
I = F (t2 – t1) .
(continued)
The principle of linear impulse and momentum in
vector form is written as
t2
mv1 +   F dt = mv2
t1
The particle’s initial momentum plus the sum of all the

impulses applied from t1 to t2 is equal to the particle’s
final momentum.
The two momentum diagrams indicate direction

and magnitude of the particle’s initial and final
momentum, mv1 and mv2. The impulse diagram is
similar to a free body diagram, but includes the
time duration of the forces acting on the particle.
IMPULSE AND MOMENTUM: SCALAR EQUATIONS
Since the principle of linear impulse and momentum is a
vector equation, it can be resolved into its x, y, z component
scalar equations: t2
m(vx)1 +   Fx dt = m(vx)2
t1
t2
m(vy)1 +   Fy dt = m(vy)2
t1
t2
m(vz)1 +   Fz dt = m(vz)2
t1
The scalar equations provide a convenient means for applying
the principle of linear impulse and momentum once the velocity
and force vectors have been resolved into x, y, z components.
PROBLEM SOLVING
• Establish the x, y, z coordinate system.
• Draw the particle’s free body diagram and establish the

direction of the particle’s initial and final velocities, drawing
the impulse and momentum diagrams for the particle. Show
the linear momenta and force impulse vectors.
• Resolve the force and velocity (or impulse and momentum)

vectors into their x, y, z components, and apply the principle
of linear impulse and momentum using its scalar form.
• Forces as functions of time must be integrated to obtain

impulses. If a force is constant, its impulse is the product of
the force’s magnitude and time interval over which it acts.
EXAMPLE
Given: A 0.5 kg ball strikes the rough

ground and rebounds with the
velocities shown. Neglect the
ball’s weight during the time it
impacts the ground.
Find: The magnitude of impulsive force exerted on the ball.
Plan: 1) Draw the momentum and impulse diagrams of the

ball as it hits the surface.
2) Apply the principle of impulse and momentum to
determine the impulsive force.
EXAMPLE
(continued)
Solution:
1) The impulse and momentum diagrams can be drawn as:
 W dt  0 mv2
45°
+ = 30°
mv1  F dt  N dt  0
The impulse caused by the ball’s weight and the normal

force N can be neglected because their magnitudes are
very small as compared to the impulse from the ground.
EXAMPLE
(continued)
2) The principle of impulse and momentum can be applied along
the direction of motion:
t2
mv1 +  t F dt = mv2
1
t2
0.5 (25 cos 45° i − 25 sin 45° j) +   F dt
 t1
= 0.5 (10 cos 30° i + 10 sin 30° j)
The impulsive force vector is
t2
I =   F dt = (4.509 i + 11.34 j ) Ns
t1
Magnitude: I = √ 4.5092 + 11.342 = 12.2 Ns

F
1. Calculate the impulse due to the force. 10 N Force

curve
A) 20 kg·m/s B) 10 kg·m/s
C) 5 N·s D) 15 N·s 2s
t
2. A constant force F is applied for 2 s to change the particle’s

velocity from v1 to v2. Determine the force F if the particle’s
mass is 2 kg.
A) (17.3 j) N B) (–10 i +17.3 j) N v2=20 m/s
C) (20 i +17.3 j) N D) ( 10 i +17.3 j) N

60 v1=10 m/s
Given: The 20 kg crate is resting
on the floor. The motor M
pulls on the cable with a
force of F, which has a
magnitude that varies as
shown on the graph.
Find: The speed of the crate
when t = 6 s.
Plan:
1) Determine the force needed to begin lifting the crate, and
then the time needed for the motor to generate this force.
2) After the crate starts moving, apply the principle of
impulse and momentum to determine the speed of the
crate at t = 6 s.
Solution:
1) The crate begins moving when the cable force F exceeds the
crate weight. Solve for the force, then the time.
F = mg = (20) (9.81) = 196.2 N
F = 196.2 N = 50 t
t = 3.924 s
2) Apply the principle of impulse and momentum from the time

the crate starts lifting at t1 = 3.924 s to t2 = 6 s.
Note that there are two external forces (cable force and
weight) we need to consider.
A. The impulse due to cable force:
6
+↑  F dt = [0.5(250) 5 + (250) 1] – 0.5(196.2)3.924= 490.1 Ns
3.924
B. The impulse due to weight:

6
+↑ 3.924
(− mg) dt = − 196.2 (6 − 3.924) = − 407.3 Ns
Now, apply the principle of impulse and momentum

t2
+↑ mv1 +   F dt = mv2 where v1 = 0
t1
0 + 490.1 − 407.3 = (20) v2
=> v2 = 4.14 m/s

ATTENTION QUIZ
1. Jet engines on the 100 Mg VTOL aircraft exert a constant

vertical force of 981 kN as it hovers. Determine the net
impulse on the aircraft over t = 10 s.
A) -981 kN·s B) 0 kN·s
C) 981 kN·s D) 9810 kN·s
2. A 100 lb cabinet is placed on a smooth

surface. If a force of a 100 lb is applied
for 2 s, determine the net impulse on the
cabinet during this time interval.
A) 0 lb·s B) 100 lb·s 30
C) 200 lb·s D) 300 lb·s

AND CONSERVATION OF LINEAR MOMENTUM FOR
SYSTEMS OF PARTICLES
Students will be able to: In-Class Activities:
1. Apply the principle of linear • Check Homework
impulse and momentum to a • Reading Quiz
system of particles. • Applications
• Linear Impulse and
2. Understand the conditions for
Momentum for a System of
conservation of momentum.
Particles
• Conservation of Linear
Momentum
• Concept Quiz
• Attention Quiz
READING QUIZ
1. The internal impulses acting on a system of particles
always __________
A) equal the external impulses. B) sum to zero.
C) equal the impulse of weight. D) None of the above.
2. If an impulse-momentum analysis is considered during the

very short time of interaction, as shown in the picture, weight
is a/an __________
A) impulsive force.
B) explosive force.
C) non-impulsive force.
D) internal force.
APPLICATIONS
As the wheels of this pitching machine

rotate, they apply frictional impulses to
the ball, thereby giving it linear
momentum in the direction of Fdt and
F ’dt.
The weight impulse, WDt is very small
since the time the ball is in contact
with the wheels is very small.
Does the release velocity of the ball

depend on the mass of the ball?
This large crane-mounted hammer is

used to drive piles into the ground.
Conservation of momentum can be
used to find the velocity of the pile
just after impact, assuming the
hammer does not rebound off the pile.
If the hammer rebounds, does the pile velocity change from

the case when the hammer doesn’t rebound ? Why ?
In the impulse-momentum analysis, do we have to consider
the impulses of the weights of the hammer and pile and the
resistance force ? Why or why not ?
FOR A SYSTEM OF PARTICLES
(Section 15.2)
For the system of particles shown,

the internal forces fi between
particles always occur in pairs with
equal magnitude and opposite
directions. Thus the internal
impulses sum to zero.
The linear impulse and momentum equation for this system

only includes the impulse of external forces.
t2
 mi(vi)1 +   Fi dt =  mi(vi)2
t1
MOTION OF THE CENTER OF MASS
For a system of particles, we can define a “fictitious” center

of mass of an aggregate particle of mass mtot, where mtot is
the sum ( mi) of all the particles. This system of particles
then has an aggregate velocity of vG = ( mivi) / mtot.
The motion of this fictitious mass is based on motion of the

center of mass for the system.
The position vector rG = ( miri) / mtot describes the motion

of the center of mass.
CONSERVATION OF LINEAR MOMENTUM FOR A
SYSTEM OF PARTICLES (Section 15.3)
When the sum of external impulses acting on a system

of objects is zero, the linear impulse-momentum
equation simplifies to
 mi(vi)1 =  mi(vi)2
This equation is referred to as the conservation of
linear momentum. Conservation of linear momentum
is often applied when particles collide or interact.
When particles impact, only impulsive forces cause a
change of linear momentum.
The sledgehammer applies an impulsive force to the stake. The weight
of the stake is considered negligible, or non-impulsive, as compared to
the force of the sledgehammer. Also, provided the stake is driven into
soft ground with little resistance, the impulse of the ground acting on the
stake is considered non-impulsive.
EXAMPLE I
Given: M = 100 kg, vi = 20j (m/s)

vA
mA = 20 kg, vA = 50i + 50j (m/s)
vB
y mB = 30 kg, vB = -30i – 50k (m/s)
A
An explosion has broken the
vi mass m into 3 smaller particles,
vC B
M = a, b and c.
C
x
z Find: The velocity of fragment C after

the explosion.
Plan: Since the internal forces of the explosion cancel out, we can
apply the conservation of linear momentum to the SYSTEM.
EXAMPLE I
(continued)
Solution:
mvi = mAvA + mBvB + mCvC
100(20j) = 20(50i + 50j) + 30(-30i-50k) + 50(vcx i + vcy j + vcz k)
Equating the components on the left and right side yields:

0 = 1000 – 900 + 50(vcx) vcx = -2 m/s
2000 = 1000 + 50 (vcy) vcy = 20 m/s
0 = -1500 + 50 (vcz) vcz = 30 m/s
So vc = (-2i + 20j + 30k) m/s immediately after the explosion.

EXAMPLE II
Given: Two rail cars with masses
of mA = 20 Mg and mB =
15 Mg and velocities as
shown.
Find: The speed of the car A after collision if the cars
collide and rebound such that B moves to the right
with a speed of 2 m/s. Also find the average
impulsive force between the cars if the collision
place in 0.5 s.
Plan: Use conservation of linear momentum to find the
velocity of the car A after collision (all internal
impulses cancel). Then use the principle of impulse
and momentum to find the impulsive force by looking
at only one car.
EXAMPLE II
Conservation of linear momentum (x-dir):
mA(vA1) + mB(vB1) = mA(vA2)+ mB(vB2)
20,000 (3) + 15,000 (-1.5)
= (20,000) vA2 + 15,000 (2)
vA2 = 0.375 m/s
Impulse and momentum on car A (x-dir):
mA (vA1)+ ∫ F dt = mA (vA2)
20,000 (3) - ∫ F dt = 20,000 (0.375)
∫ F dt = 52,500 N·s
The average force is
∫ F dt = 52,500 N·s = Favg(0.5 sec); Favg = 105 kN
CONCEPT QUIZ
1) Over the short time span of a tennis ball hitting the racket
during a player’s serve, the ball’s weight can be
considered _____________
A) nonimpulsive.
B) impulsive.
C) not subject to Newton’s second law.
D) Both A and C.
2) A drill rod is used with a air hammer for making holes in
hard rock so explosives can be placed in them. How many
impulsive forces act on the drill rod during the drilling?
A) None B) One
C) Two D) Three
Given: The free-rolling ramp has a

weight of 120 lb. The 80 lb crate
slides from rest at A, 15 ft down
the ramp to B.
Assume that the ramp is smooth,
and neglect the mass of the
wheels.
Find: The ramp’s speed when the crate reaches B.
Plan: Use the energy conservation equation as well as

conservation of linear momentum and the relative
velocity equation (you thought you could safely forget
it?) to find the velocity of the ramp.
(continued)
Solution:
Energy conservation equation:
0 + 80 (3/5) (15)
= 0.5 (80/32.2)(vB)2 + 0.5 (120/32.2)(vr)2
To find the relations between vB and vr, use
conservation of linear momentum:
+ 0 = (120/32.2) v − (80/32.2) v
→ r Bx
 vBx =1.5 vr (1)
Since vB = vr + vB/r  -vBx i + vBy j = vr i + vB/r (−4/5 i −3/5 j)
 -vBx = vr − (4/5) vB/r (2)
vBy = − (3/5) vB/r (3)
Eliminating vB/r from Eqs. (2) and (3) and Substituting Eq.
(1) results in vBy =1.875 vr
(continued)
Then, energy conservation equation can be rewritten ;
0 + 80 (3/5) (15) = 0.5 (80/32.2)(vB)2 + 0.5 (120/32.2)(vr)2
0 + 80 (3/5) (15) = 0.5 (80/32.2) [(1.5 vr)2 +(1.875 vr)2]

+ 0.5 (120/32.2) (vr)2
720 = 9.023 (vr)2
vr = 8.93 ft/s
ATTENTION QUIZ
1. The 20 g bullet is fired horizontally at 1200 m/s into the
300 g block resting on a smooth surface. If the bullet
becomes embedded in the block, what is the velocity of the
block immediately after impact.
1200 m/s
A) 1125 m/s B) 80 m/s
C) 1200 m/s D) 75 m/s
2. The 200-g baseball has a horizontal velocity of 30 m/s when it
is struck by the bat, B, weighing 900-g, moving at 47 m/s.
During the impact with the bat, how many impulses of
importance are used to find the final velocity of the ball?
A) Zero B) One vball
BAT
C) Two D) Three vbat

IMPACT
1. Understand and analyze the
mechanics of impact.
2. Analyze the motion of bodies • Check Homework
undergoing a collision, in both
central and oblique cases of • Reading Quiz
impact. • Applications
• Central Impact
• Coefficient of Restitution
• Oblique Impact
• Concept Quiz
• Attention Quiz
READING QUIZ
1. When the motion of one or both of the particles is at an angle

to the line of impact, the impact is said to be ________
A) central impact. B) oblique impact.
C) major impact. D) None of the above.
2. The ratio of the restitution impulse to the deformation

impulse is called _________
A) impulse ratio. B) restitution coefficient.
C) energy ratio. D) mechanical efficiency.
APPLICATIONS
The quality of a tennis ball is measured by the height of its

bounce. This can be quantified by the coefficient of
restitution of the ball.
If the height from which the ball is dropped and the height of
its resulting bounce are known, how can we determine the
coefficient of restitution of the ball?
APPLICATIONS
(continued)
In the game of billiards, it is important to be able to predict

the trajectory and speed of a ball after it is struck by
another ball.
If we know the velocity of ball A before the impact, how
can we determine the magnitude and direction of the
velocity of ball B after the impact?
What parameters do we need to know for this?
IMPACT (Section 15.4)
Impact occurs when two bodies collide during a very short time
period, causing large impulsive forces to be exerted between the
bodies. Common examples of impact are a hammer striking a
nail or a bat striking a ball. The line of impact is a line through
the mass centers of the colliding particles. In general, there are
two types of impact:
Central impact occurs when the
directions of motion of the two colliding
particles are along the line of impact.
Oblique impact occurs when the direction

of motion of one or both of the particles is
at an angle to the line of impact.
CENTRAL IMPACT
Central impact happens when the velocities of the two objects

are along the line of impact (recall that the line of impact is a
line through the particles’ mass centers).
vA vB
Line of impact
Once the particles contact, they may

deform if they are non-rigid. In any
case, energy is transferred between the
two particles.
There are two primary equations used when solving impact
problems. The textbook provides extensive detail on their
derivation.
CENTRAL IMPACT
(continued)
In most problems, the initial velocities of the particles, (vA)1 and

(vB)1, are known, and it is necessary to determine the final
velocities, (vA)2 and (vB)2. So the first equation used is the
conservation of linear momentum, applied along the line of impact.
(mA vA)1 + (mB vB)1 = (mA vA)2 + (mB vB)2
This provides one equation, but there are usually two unknowns,
(vA)2 and (vB)2. So another equation is needed. The principle of
impulse and momentum is used to develop this equation, which
involves the coefficient of restitution, or e.
CENTRAL IMPACT
(continued)
The coefficient of restitution, e, is the ratio of the particles’
relative separation velocity after impact, (vB)2 – (vA)2, to the
particles’ relative approach velocity before impact, (vA)1 – (vB)1.
The coefficient of restitution is also an indicator of the energy
lost during the impact.
The equation defining the coefficient of restitution, e, is
(vB)2 – (vA)2
e =
(vA)1 - (vB)1
If a value for e is specified, this relation provides the second
equation necessary to solve for (vA)2 and (vB)2.
COEFFICIENT OF RESTITUTION
In general, e has a value between zero and one.
The two limiting conditions can be considered:
• Elastic impact (e = 1): In a perfectly elastic collision, no

energy is lost and the relative separation velocity equals the
relative approach velocity of the particles. In practical
situations, this condition cannot be achieved.
• Plastic impact (e = 0): In a plastic impact, the relative
separation velocity is zero. The particles stick together and
move with a common velocity after the impact.
Some typical values of e are:
Steel on steel: 0.5 – 0.8 Wood on wood: 0.4 – 0.6
Lead on lead: 0.12 – 0.18 Glass on glass: 0.93 – 0.95
IMPACT: ENERGY LOSSES
Once the particles’ velocities before and after the collision

have been determined, the energy loss during the collision
can be calculated on the basis of the difference in the
particles’ kinetic energy. The energy loss is
 U1-2 =  T2 −  T1 where Ti = 0.5mi (vi)2
During a collision, some of the particles’ initial kinetic

energy will be lost in the form of heat, sound, or due to
localized deformation.
In a plastic collision (e = 0), the energy lost is a maximum,

although it does not necessarily go to zero. Why?
OBLIQUE IMPACT
In an oblique impact, one or both of the
particles’ motion is at an angle to the line of
impact. Typically, there will be four
unknowns: the magnitudes and directions of
the final velocities.
The four equations required to solve for the unknowns are:

Conservation of momentum and the coefficient
of restitution equation are applied along the line
of impact (x-axis):
mA(vAx)1 + mB(vBx)1 = mA(vAx)2 + mB(vBx)2
e = [(vBx)2 – (vAx)2]/[(vAx)1 – (vBx)1]
Momentum of each particle is conserved in the direction perpendicular to

the line of impact (y-axis):
mA(vAy)1 = mA(vAy)2 and mB(vBy)1 = mB(vBy)2
• In most impact problems, the initial velocities of the particles
and the coefficient of restitution, e, are known, with the final
velocities to be determined.
• Define the x-y axes. Typically, the x-axis is defined along the
line of impact and the y-axis is in the plane of contact
perpendicular to the x-axis.
• For both central and oblique impact problems, the following

equations apply along the line of impact (x-dir.):
 m(vx)1 =  m(vx)2 and e = [(vBx)2 – (vAx)2]/[(vAx)1 – (vBx)1]
• For oblique impact problems, the following equations are also

required, applied perpendicular to the line of impact (y-dir.):
mA(vAy)1 = mA(vAy)2 and mB(vBy)1 = mB(vBy)2
EXAMPLE
Given: The ball strikes the smooth wall

with a velocity (vb)1 = 20 m/s. The
coefficient of restitution between
the ball and the wall is e = 0.75.
Find: The velocity of the ball just after the

impact.
Plan:
The collision is an oblique impact, with the line of impact
perpendicular to the plane (through the relative centers of
mass).
Thus, the coefficient of restitution applies perpendicular to the
wall and the momentum of the ball is conserved along the
wall.
EXAMPLE
Solve the impact problem by using x-y axes defined along and
perpendicular to the line of impact, respectively:
The momentum of the ball is conserved in
the y-dir:
m(vb)1 sin 30° = m(vb)2 sin q
(vb)2 sin q = 10 m/s (1)
The coefficient of restitution applies in the x-dir:
e = [ 0 – (vbx)2 ] / [ (vbx)1 – 0 ]
 0.75 = [ 0 – (-vb)2 cos q ] / [ 20 cos 30° – 0]
 (vb)2 cos q = 12.99 m/s (2)
Using Eqs. (1) and (2) and solving for the velocity and q yields:
(vb)2 = (12.992+102)0.5 = 16.4 m/s
q = tan-1(10/12.99)=37.6°
CONCEPT QUIZ
1. Two balls impact with a coefficient of restitution of 0.79.
Can one of the balls leave the impact with a kinetic energy
greater than before the impact?
A) Yes B) No
C) Impossible to tell D) Don’t pick this one!
2. Under what condition is the energy lost during a collision

maximum?
A) e = 1.0 B) e = 0.0
C) e = -1.0 D) Collision is non-elastic.
Given: A 2 kg crate B is released from
rest, falls a distance h = 0.5 m, and
strikes plate P (3 kg mass). The
coefficient of restitution between B
and P is e = 0.6, and the spring
stiffness is k = 30 N/m.
Find: The velocity of crate B just

after the collision.
Plan:
1) Determine the speed of the crate just before the collision
using projectile motion or an energy method.
2) Analyze the collision as a central impact problem.
(continued)
Solution:
1) Determine the speed of block B just before impact by using
conservation of energy (why?). Define the gravitational
datum at the initial position of the block (h1 = 0) and note
the block is released from rest (v1 = 0):
T1 + V1 = T2 + V2
0.5m(v1)2 + mgh1 = 0.5m(v2)2 + mgh2
0 + 0 = 0.5(2)(v2)2 + (2)(9.81)(-0.5)
v2 = 3.132 m/s
This is the speed of the block just before the collision. Plate
(P) is at rest, velocity of zero, before the collision.
(continued)
2) Analyze the collision as a central impact problem.
(vB)2 (vB)1 = 3.132 m/s
Apply conservation of momentum to the
B system in the vertical direction:
P + m (v ) + m (v ) = m (v ) + m (v )
B B 1 P P 1 B B 2 P P 2
(vP)2 (vP)1 = 0 (2)(-3.132) + 0 = (2)(vB)2 + (3)(vP)2
Using the coefficient of restitution:
+ e = [(vP)2 – (vB)2]/[(vB)1 – (vP)1]
=> 0.6 = [(vP)2 – (vB)2]/[-3.132 – 0] => -1.879 = (vP)2 – (vB)2
Solving the two equations simultaneously yields
(vB)2 = -0.125 m/s and (vP)2 = -2.00 m/s
Both the block and plate will travel down after the collision.
ATTENTION QUIZ
1. Block B (1 kg) is moving on the smooth surface at 10 m/s

when it squarely strikes block A (3 kg), which is at rest. If
the velocity of block A after the collision is 4 m/s to the
right, (vB)2 is
vB=10 m/s
A) 2 m/s B) 7 m/s
B A
C) 7 m/s D) 2 m/s
2. A particle strikes the smooth surface with a
velocity of 30 m/s. If e = 0.8, (vx) 2 is y
_____ after the collision. v
30
A) zero B) equal to (vx) 1 30 m/s x
q
C) less than (vx) 1 D) greater than (vx) 1
ANGULAR MOMENTUM, MOMENT OF A FORCE AND
PRINCIPLE OF ANGULAR IMPULSE AND MOMENTUM
1. Determine the angular In-Class Activities:
momentum of a particle and • Check Homework
apply the principle of angular • Reading Quiz
impulse & momentum.
• Applications
2. Use conservation of angular
momentum to solve problems. • Angular Momentum
• Angular Impulse and
Momentum Principle
• Conservation of Angular
Momentum
• Concept Quiz
• Attention Quiz
READING QUIZ
1. Select the correct expression for the angular momentum of a
particle about a point.
A) r × v B) r × (m v)
C) v × r D) (m v) × r
2. The sum of the moments of all external forces acting on a

particle is equal to
A) angular momentum of the particle.
B) linear momentum of the particle.
C) time rate of change of angular momentum.
D) time rate of change of linear momentum.
APPLICATIONS
Planets and most satellites move in elliptical orbits. This

motion is caused by gravitational attraction forces. Since
these forces act in pairs, the sum of the moments of the forces
acting on the system will be zero. This means that angular
momentum is conserved.
If the angular momentum is constant, does it mean the linear
momentum is also constant? Why or why not?
The passengers on the amusement-park

ride experience conservation of angular
momentum about the axis of rotation
(the z-axis). As shown on the free body
diagram, the line of action of the normal
force, N, passes through the z-axis and
the weight’s line of action is parallel to
it. Therefore, the sum of moments of
these two forces about the z-axis is zero.
If the passenger moves away from the z-

axis, will his speed increase or decrease?
Why?
ANGULAR MOMENTUM
(Section 15.5)
The angular momentum of a particle about point O is

defined as the “moment” of the particle’s linear momentum
about O.
i j k
Ho = r × mv = rx ry rz
mvx mvy mvz
The magnitude of Ho is (Ho)z = mv d

RELATIONSHIP BETWEEN MOMENT OF A FORCE
AND ANGULAR MOMENTUM
(Section 15.6)
The resultant force acting on the particle is equal to the time
rate of change of the particle’s linear momentum. Showing the
time derivative using the familiar “dot” notation results in the
equation
 
F = L = mv
We can prove that the resultant moment acting on the particle

about point O is equal to the time rate of change of the
particle’s angular momentum about point O or

Mo = r × F = Ho
PRINCIPLE OF ANGULAR IMPULSE AND MOMENTUM
(Section 15.7)
Considering the relationship between moment and time
rate of change of angular momentum

Mo = Ho = dHo/dt
By integrating between the time interval t1 to t2
t2 t2
  Mo dt = ( Ho )2  ( Ho )1 or ( Ho ) 1 +   Mo dt = ( Ho )2
t1 t1
This equation is referred to as the principle of angular impulse

and momentum. The second term on the left side,  Mo dt, is
called the angular impulse. In cases of 2D motion, it can be
applied as a scalar equation using components about the z-axis.
CONSERVATION OF ANGULAR MOMENTUM
When the sum of angular impulses acting on a particle or a

system of particles is zero during the time t1 to t2, the
angular momentum is conserved. Thus,
(HO)1 = (HO)2
An example of this condition occurs

when a particle is subjected only to
a central force. In the figure, the
force F is always directed toward
point O. Thus, the angular impulse
of F about O is always zero, and
angular momentum of the particle
about O is conserved.
EXAMPLE
Given:A satellite has an elliptical
orbit about earth.
msatellite = 700 kg
mearth = 5.976 × 1024 kg
vA = 10 km/s
rA = 15 × 106 m
fA = 70°
Find: The speed, vB, of the satellite at its closest distance,

rB, from the center of the earth.
Plan: Apply the principles of conservation of energy
and conservation of angular momentum to the
system.
EXAMPLE
(continued)
Solution:
Conservation of energy: TA + VA = TB + VB becomes
1 ms vA2 – G ms me = 1 ms vB2 – G ms me
2 rA 2 rB
where G = 66.73×10-12 m3/(kg·s2). Dividing through by ms and

substituting values yields:
-12(5.976 24)
66.73 × 10 × 10
0.5(10,000) 
2
15 x 106
66 .73 ×10 -12(5.976 ×1024)
= 0.5 v 
2
B
rB
or 23.4 × 106 = 0.5 (vB)2 – (3.99 × 1014)/rB
EXAMPLE
(continued)
Solution:
Now use Conservation of Angular Momentum.
(rA ms vA) sin fA = rB ms vB
(15 × 106)(10,000) sin 70° = rB vB or rB = (140.95 × 109)/vB
Solving the two equations for rB and vB yields
rB = 13.8 × 106 m vB = 10.2 km/s

CONCEPT QUIZ
1. If a particle moves in the x - y plane, its angular momentum
vector is in the
A) x direction. B) y direction.
C) z direction. D) x - y direction.
2. If there are no external impulses acting on a particle
A) only linear momentum is conserved.

B) only angular momentum is conserved.
C) both linear momentum and angular momentum are
conserved.
D) neither linear momentum nor angular momentum are
conserved.
Given: The four 5 lb spheres are

rigidly attached to the
crossbar frame, which has a
negligible weight.
A moment acts on the shaft
as shown, M = 0.5t + 0.8
lb·ft).
Find: The velocity of the spheres
after 4 seconds, starting
from rest.
Plan:
Apply the principle of angular impulse and momentum
about the axis of rotation (z-axis).
(continued)
Solution:
Angular momentum: HZ = r × mv reduces to a scalar equation.
(HZ)1 = 0 and (HZ)2 = 4×{(5/32.2) (0.6) v2} = 0.3727 v2
Angular impulse:
t2 t2
4
 M dt = (0.5t + 0.8) dt = [(0.5/2) t2 + 0.8 t]
0
= 7.2 lb·ft·s
t1 t1
Apply the principle of angular impulse and momentum.

0 + 7.2 = 0.3727 v2  v2 = 19.4 ft/s
ATTENTION QUIZ
1. A ball is traveling on a smooth surface in a 3 ft radius circle
with a speed of 6 ft/s. If the attached cord is pulled down
with a constant speed of 2 ft/s, which of the following
principles can be applied to solve for the velocity of the ball
when r = 2 ft?
A) Conservation of energy
B) Conservation of angular momentum
C) Conservation of linear momentum
D) Conservation of mass
2. If a particle moves in the z - y plane, its angular momentum

vector is in the
A) x direction. B) y direction.
C) z direction. D) z - y direction.
PLANAR RIGID BODY MOTION: TRANSLATION &
Today’s Objectives : ROTATION
1. Analyze the kinematics of a rigid body undergoing planar
translation or rotation about a fixed axis.
In-Class Activities :
• Check Homework
• Reading Quiz
• Applications
• Types of Rigid-Body Motion
• Planar Translation
• Rotation About a Fixed Axis
• Concept Quiz
• Attention Quiz
READING QUIZ
1. If a rigid body is in translation only, the velocity at

points A and B on the rigid body _______ .
A) are usually different
B) are always the same
C) depend on their position
D) depend on their relative position
2. If a rigid body is rotating with a constant angular

velocity about a fixed axis, the velocity vector at point
P is _______.
A)   rp B) rp 
C) drp/dt D) All of the above.
APPLICATIONS
Passengers on this amusement ride are subjected to curvilinear

translation since the vehicle moves in a circular path but they
always remains upright.
If the angular motion of the rotating arms is known, how can
we determine the velocity and acceleration experienced by the
passengers? Why would we want to know these values?
Does each passenger feel the same acceleration?
Gears, pulleys and cams, which

rotate about fixed axes, are often
used in machinery to generate
motion and transmit forces. The
angular motion of these
components must be understood
to properly design the system.
To do this design, we need to relate the angular motions of

contacting bodies that rotate about different fixed axes. How is
this different than the analyses we did in earlier chapters?
RIGID BODY MOTION
(Section 16.1)
There are cases where an object cannot be treated as a

particle. In these cases the size or shape of the body must be
considered. Rotation of the body about its center of mass
requires a different approach.
For example, in the design of gears, cams, and links in
machinery or mechanisms, rotation of the body is an
important aspect in the analysis of motion.
We will now start to study rigid body motion. The analysis
will be limited to planar motion.
A body is said to undergo planar motion when all parts of
the body move along paths equidistant from a fixed plane.
PLANAR RIGID BODY MOTION
There are three types of planar rigid body motion.

(continued)
Translation: Translation occurs if every line segment on

the body remains parallel to its original direction during the
motion. When all points move along straight lines, the
motion is called rectilinear translation. When the paths of
motion are curved lines, the motion is called curvilinear
translation.
(continued)
Rotation about a fixed axis: In this case, all
the particles of the body, except those on
the axis of rotation, move along circular
paths in planes perpendicular to the axis of
rotation.
General plane motion: In this case, the

body undergoes both translation and
rotation. Translation occurs within a
plane and rotation occurs about an axis
perpendicular to this plane.
(continued)
An example of bodies
undergoing the three types
of motion is shown in this
mechanism.
The wheel and crank undergo rotation about a fixed axis. In this
case, both axes of rotation are at the location of the pins and
perpendicular to the plane of the figure.
The piston undergoes rectilinear translation since it is constrained
to slide in a straight line.
The connecting rod undergoes curvilinear translation, since it will
remain horizontal as it moves along a circular path.
The connecting rod undergoes general plane motion, as it will both
translate and rotate.
RIGID-BODY MOTION: TRANSLATION
(Section 16.2)
The positions of two points A and B
on a translating body can be related by
rB = rA + rB/A
where rA & rB are the absolute
position vectors defined from the
fixed x-y coordinate system, and rB/A
is the relative-position vector between
B and A.
The velocity at B is vB = vA+ drB/A/dt .
Now drB/A/dt = 0 since rB/A is constant. So, vB = vA, and by
following similar logic, aB = aA.
Note, all points in a rigid body subjected to translation move
with the same velocity and acceleration.
RIGID-BODY MOTION: ROTATION ABOUT A FIXED AXIS
(Section 16.3)
When a body rotates about a fixed axis, any
point P in the body travels along a circular path.
The angular position of P is defined by q.
The change in angular position, dq, is called the
angular displacement, with units of either
radians or revolutions. They are related by
1 revolution = (2) radians
Angular velocity, , is obtained by taking the
time derivative of angular displacement:
 = dq/dt (rad/s) +
Similarly, angular acceleration is
 = d2q/dt2 = d/dt or  = (d/dq) + rad/s2
RIGID-BODY MOTION: ROTATION ABOUT A FIXED AXIS
(continued)
If the angular acceleration of the body is
constant,  = C, the equations for angular
velocity and acceleration can be integrated
to yield the set of algebraic equations
below.
 = 0 + C t
q = q0 + 0 t + 0.5 C t2
2 = (0)2 + 2C (q – q0)
q0 and 0 are the initial values of the body’s
angular position and angular velocity. Note
these equations are very similar to the
constant acceleration relations developed for
the rectilinear motion of a particle.
RIGID-BODY ROTATION: VELOCITY OF POINT P
The magnitude of the velocity of P is

equal to r (the text provides the
derivation). The velocity’s direction is
tangent to the circular path of P.
In the vector formulation, the magnitude

and direction of v can be determined
from the cross product of  and rp .
Here rp is a vector from any point on the
axis of rotation to P.
v =  × rp =  × r
The direction of v is determined by the
right-hand rule.
RIGID-BODY ROTATION: ACCELERATION OF POINT P
The acceleration of P is expressed in terms of

its normal (an) and tangential (at) components.
In scalar form, these are at =  r and an = 2 r.
The tangential component, at, represents the

time rate of change in the velocity's
magnitude. It is directed tangent to the path of
motion.
The normal component, an, represents the time

rate of change in the velocity’s direction. It is
directed toward the center of the circular path.
RIGID-BODY ROTATION: ACCELERATION OF POINT P
(continued)
Using the vector formulation, the acceleration
of P can also be defined by differentiating the
velocity.
a = dv/dt = d/dt × rP +  × drP/dt
=  × rP +  × ( × rP)
It can be shown that this equation reduces to

a =  × r – 2r = at + an
The magnitude of the acceleration vector is a = (at)2 + (an)2

ROTATION ABOUT A FIXED AXIS: PROCEDURE
• Establish a sign convention along the axis of rotation.
• If a relationship is known between any two of the variables (,

, q, or t), the other variables can be determined from the
equations:  = dq/dt  = d/dt  dq =  d
• If  is constant, use the equations for constant angular
acceleration.
• To determine the motion of a point, the scalar equations v =  r,

at =  r, an = 2r , and a = (at)2 + (an)2 can be used.
• Alternatively, the vector form of the equations can be used

(with i, j, k components).
v =  × rP =  × r
a = at + an =  × rP +  × ( × rP) =  × r – 2r
EXAMPLE
Given: The motor gives the blade an angular

acceleration  = 20 e-0.6t rad/s2, where t is
in seconds. The initial conditions are that
when t = 0, the blade is at rest.
Find: The velocity and acceleration of the tip P of one of the

blades when t =3 s. How many revolutions has the blade
turned in 3 s ?
Plan: 1) Determine the angular velocity and displacement of the

blade using kinematics of angular motion.
2) The magnitudes of the velocity and acceleration of
point P can be determined from the scalar equations of
motion for a point on a rotating body. Why scalar?
EXAMPLE (continued)
Solution:
1) Since the angular acceleration is given as a function of time,
 = 20 e-0.6t rad/s2 , the angular velocity and displacement
can be found by integration.
 =   dt = 20  e-0.6t dt
=
20
e-0.6t  when t = 3 s,
(-0.6)  = -5.510 rad/s
Angular displacement
q =   dt
20 20  when t = 3 s,
q=  e dt =
-0.6t
2 e-0.6t q = 9.183 rad
(-0.6) (-0.6)
= 1.46 rev.
Also , when t = 3 s,  = 20 e-0.6(3) b= 3.306 rad/s2
EXAMPLE (continued)
2) The velocity of point P on the the fan, at a radius of 1.75 ft,

is determined as
vP =  r = (5.510)(1.75) = 9.64 ft/s
The normal and tangential components of acceleration of

point P are calculated as
an = ()2 r = (5.510)2 (1.75) = 53.13 ft/s2
at =  r = (3.306)(1.75) = 5.786 ft/s2
The magnitude of the acceleration of P is determined by

aP = (an)2 + (at)2 = (53.13)2 + (5.786)2 = 53.4 ft/s2
CONCEPT QUIZ
y
2 rad/s2
1. A disk is rotating at 4 rad/s. If it is subjected
to a constant angular acceleration of 2 rad/s2,
determine the acceleration at B. O A
x
A) (4 i + 32 j) ft/s2 B) (4 i - 32 j) ft/s2
2 ft
C) (- 4 i + 32 j) ft/s2 D) (- 4 i -32 j) ft/s2 B
2. A Frisbee is thrown and curves to the right. It is

experiencing
A) rectilinear translation. B) curvilinear translation.
C) pure rotation. D) general plane motion.
Given: Starting from rest when gear A
is given a constant angular
acceleration, A = 4.5 rad/s2. The
cord is wrapped around pulley D
which is rigidly attached to gear B.
Find: The velocity of cylinder C and
the distance it travels in 3 seconds.
Plan: 1) The angular acceleration of gear B (and pulley D) can
be related to A.
2) The acceleration of cylinder C can be determined by
using the equations for motion of a point on a rotating
body since (at)D at point P is the same as ac.
3) The velocity and distance of C can be found by using
the constant acceleration equations.
(continued)
Solution:
1) Gear A and B will have the same speed and tangential
component of acceleration at the point where they mesh. Thus,
at = ArA = BrB  (4.5)(75) = B(225)  B = 1.5 rad/s2
Since gear B and pulley D turn together, D = B = 1.5 rad/s2
2) Assuming the cord attached to pulley D is inextensible and

does not slip, the velocity and acceleration of cylinder C will
be the same as the velocity and tangential component of
acceleration along the pulley D:
aC = (at)D = D rD = (1.5)(0.125) = 0.1875 m/s2
(continued)
3) Since A is constant, D and aC will be constant. The

constant acceleration equation for rectilinear motion can be
used to determine the velocity and displacement of
cylinder C when t = 3 s (s0= v0 = 0):
vc = v0 + aC t = 0 + 0.1875 (3) = 0.563 m/s
sc = s0 + v0 t + (0.5) aC t2
= 0 + 0 + (0.5) 0.1875 (3)2 = 0.844 m
ATTENTION QUIZ
1. The fan blades suddenly experience an angular acceleration

of 2 rad/s2. If the blades are rotating with an initial angular
velocity of 4 rad/s, determine the speed of point P when the
blades have turned 2 revolutions
(when  = 8.14 rad/s).
A) 14.2 ft/s B) 17.7 ft/s
C) 23.1 ft/s D) 26.7 ft/s
2. Determine the magnitude of the acceleration at P when the

blades have turned the 2 revolutions.
A) 0 ft/s2 B) 3.5 ft/s2
C) 115.95 ft/s2 D) 116 ft/s2
ABSOLUTE MOTION ANALYSIS
Today’s Objective:
1. Determine the velocity and acceleration
of a rigid body undergoing general plane
motion using an absolute motion
analysis. In-Class Activities:
• Check Homework
• Reading Quiz
• Applications
• General Plane Motion
• Concept Quiz
• Attention Quiz
READING QUIZ
1. A body subjected to general plane motion undergoes a/an

A) translation.
B) rotation.
C) simultaneous translation and rotation.
D) out-of-plane movement.
2. In general plane motion, if the rigid body is represented by a

slab, the slab rotates
A) about an axis perpendicular to the plane.
B) about an axis parallel to the plane.
C) about an axis lying in the plane.
APPLICATIONS
The dumping bin on the truck rotates
about a fixed axis passing through the
pin at A. It is operated by the extension
of the hydraulic cylinder BC.
The angular position of the bin can be

specified using the angular position
coordinate q and the position of point C
on the bin is specified using the
coordinate s.
As a part of the design process for the truck, an engineer had to

relate the velocity at which the hydraulic cylinder extends and
the resulting angular velocity of the bin.
The large window is opened using a

hydraulic cylinder AB.
The position B of the hydraulic

cylinder rod is related to the angular
position, q, of the window.
A designer has to relate the translational

velocity at B of the hydraulic cylinder
and the angular velocity and acceleration
of the window? How would you go
about the task?
The position of the piston, x, can be defined as a function of

the angular position of the crank, q. By differentiating x with
respect to time, the velocity of the piston can be related to the
angular velocity, , of the crank. This is necessary when
designing an engine.
The stroke of the piston is defined as the total distance moved
by the piston as the crank angle varies from 0 to 180°. How
does the length of crank AB affect the stroke?
ABSOLUTE MOTION ANALYSIS
(Section 16.4)
The figure below shows the window using a hydraulic cylinder AB.
The absolute motion analysis method relates

the position of a point, B, on a rigid body
undergoing rectilinear motion to the angular
position, q , of a line contained in the body.
Once a relationship in the form of sB = f (q) is

established, the velocity and acceleration of
point B are obtained in terms of the angular
velocity and angular acceleration of the rigid
body by taking the first and second time
derivatives of the position function.
Usually the chain rule must be used when taking the derivatives
of the position coordinate equation.
EXAMPLE I
Given: The platform is constrained
to move vertically by the
smooth vertical guides. The
cam C rotates with a
constant angular velocity, .
Find: The velocity and acceleration
of platform P as a function of
the angle q of cam C.
Plan: Use the fixed reference point O and define the position of
the platform, P, in terms of the parameter q.
Take successive time derivatives of the position equation

to find the velocity and acceleration.
EXAMPLE I
(continued)
Solution:
By geometry, y = r + r sin q
By differentiating with respect to time,

O vP = r cos q (q) = r cos q
Note that the cam rotates with a constant

angular velocity.
Differentiating vP to find the acceleration,
aP = d(r cos q) / dt = r(-sin q) () = − r2 sin q

EXAMPLE II
Given: Crank AB rotates at a constant velocity of  = 150

rad/s .
Find: The velocity of point P when q = 30°.
Plan: Define x as a function of q and differentiate with

respect to time.
Solution: xP = 0.2 cos q + (0.75)2 – (0.2 sin q)2
vP = -0.2 sin q + (0.5)[(0.75)2

– (0.2sin q)2]-0.5(-2)(0.2sin q)(0.2cos q ) 
vP = -0.2 sin q – [0.5(0.2)2 sin2q ] / (0.75)2 – (0.2 sin q)2
At q = 30°,  = 150 rad/s and vP = -18.5 ft/s = 18.5 ft/s

1. The position, s, is given as a function of angular position, q,

as s = 10 sin 2q . The velocity, v, is
A) 20 cos 2q B) 20 sin 2q
C) 20  cos 2q D) 20  sin 2q
2. If s = 10 sin 2q, the acceleration, a, is
A) 20  sin 2q B) 20  cos 2q − 40 2 sin 2q

C) 20  cos 2q D) -40  sin2 q
Given: The circular cam is

rotating about the fixed
point O with =4 rad/s,
 = 2 rad/s2 with the
dimensions shown.
Find: The velocity and
acceleration of the plate
when q =30.
Plan: Set the coordinate x to be the distance between O and the
plate. Relate x to the angular position, q . Then take time
derivatives of the position to find the velocity and
acceleration.
Solution:
1) Relate x, the distance between
O and the plate, to q.
x = 120 sin q + 150 (mm)
2) Take time derivatives of the
position to find the velocity
and acceleration.

vC= dx/dt = 120 cos q (q) = 120  cos q (mm/s)
aC= d vC/dt = 120  cos q + 120 (sin q)() (mm/s2)
When q = 30,  = 4 rad/s, and  = 2 rad/s2 . Substituting,
vC = 120 (4) cos30 = 416 mm/s
aC = 120 (2) cos30 + 120(42 )(sin 30)= 752 mm/s2
ATTENTION QUIZ
1. The sliders shown below are confined to move in the

horizontal and vertical slots. If vA=10 m/s, determine the
connecting bar’s angular velocity when q = 30.
A) 10 rad/s B) 10 rad/s
C) 8.7 rad/s D) 8.7 rad/s
2. If vA=10 m/s and aA=10 m/s, determine

the angular acceleration, , when q = 30.
A) 0 rad/s2 B) -50.2 rad/s2
C) -112 rad/s2 D) -173 rad/s2
RELATIVE MOTION ANALYSIS: VELOCITY
1. Describe the velocity of a rigid
body in terms of translation and In-Class Activities:
rotation components. • Check Homework
2. Perform a relative-motion • Reading Quiz
velocity analysis of a point on the
• Applications
body.
• Translation and Rotation
Components of Velocity
• Relative Velocity Analysis
• Concept Quiz
• Attention Quiz
READING QUIZ
1. When a relative-motion analysis involving two sets of
coordinate axes is used, the x’ - y’ coordinate system will
A) be attached to the selected point for analysis.
B) rotate with the body.
C) not be allowed to translate with respect to the fixed frame.
2. In the relative velocity equation, vB/A is

A) the relative velocity of B with respect to A.
B) due to the rotational motion.
C)  × rB/A .
APPLICATIONS
As the slider block A moves horizontally to the left with vA, it

causes the link CB to rotate counterclockwise. Thus vB is directed
tangent to its circular path.
Which link is undergoing general plane motion? Link AB or
link BC?
How can the angular velocity,  of link AB be found?
Planetary gear systems are used in many

automobile automatic transmissions.
By locking or releasing different gears,
this system can operate the car at
different speeds.
How can we relate the angular velocities of the various gears in

the system?
RELATIVE MOTION ANALYSIS
(Section 16.5)
When a body is subjected to general plane motion, it undergoes a
combination of translation and rotation.
Point A is called the base point in this analysis. It generally has a

known motion. The x’- y’ frame translates with the body, but does not
rotate. The displacement of point B can be written:
Disp. due to translation
drB = drA + drB/A
Disp. due to translation and rotation Disp. due to rotation

The velocity at B is given as : (drB/dt) = (drA/dt) + (drB/A/dt) or

vB = vA + vB/A
Since the body is taken as rotating about A,

vB/A = drB/A/dt =  × rB/A
Here  will only have a k component since the axis of rotation
is perpendicular to the plane of translation.
RELATIVE MOTION ANALYSIS: VELOCITY (continued)
vB = vA +  × rB/A
When using the relative velocity equation, points A and B

should generally be points on the body with a known motion.
Often these points are pin connections in linkages.
For example, point A on link AB must
move along a horizontal path, whereas
point B moves on a circular path.
The directions of vA and vB are known
since they are always tangent to their
paths of motion.
(continued)
vB = vA +  × rB/A
When a wheel rolls without slipping, point A is often selected

to be at the point of contact with the ground.
Since there is no slipping, point A has zero velocity.
Furthermore, point B at the center of the wheel moves along a
horizontal path. Thus, vB has a known direction, e.g., parallel
to the surface.
The relative velocity equation can be applied using either a
Cartesian vector analysis or by writing scalar x and y component
equations directly.
Scalar Analysis:
1. Establish the fixed x-y coordinate directions and draw a
kinematic diagram for the body. Then establish the
magnitude and direction of the relative velocity vector vB/A.
2. Write the equation vB = vA + vB/A. In the kinematic diagram,
represent the vectors graphically by showing their
magnitudes and directions underneath each term.
3. Write the scalar equations from the x and y components of
these graphical representations of the vectors. Solve for
the unknowns.
(continued)
Vector Analysis:
1. Establish the fixed x - y coordinate directions and draw the
kinematic diagram of the body, showing the vectors vA, vB,
rB/A and . If the magnitudes are unknown, the sense of
direction may be assumed.
2. Express the vectors in Cartesian vector form (CVN) and
substitute them into vB = vA +  × rB/A. Evaluate the cross
product and equate respective i and j components to obtain
two scalar equations.
3. If the solution yields a negative answer, the sense of

direction of the vector is opposite to that assumed.
EXAMPLE I
Given: Roller A is moving to the

right at 3 m/s.
Find: The velocity of B at the

instant q = 30.
Plan:
1. Establish the fixed x - y directions and draw a kinematic

diagram of the bar and rollers.
2. Express each of the velocity vectors for A and B in terms
of their i, j, k components and solve vB = vA +  × rB/A.
EXAMPLE I (continued)
Solution:
Kinematic diagram:
y
y
Express the velocity vectors in CVN
vB = vA +  × rB/A
-vB j = 3 i + [ k ×
(-1.5cos30i +1.5sin 30j )]
-vB j = 3 i – 1.299  j – 0.75  i
Equating the i and j components gives:

0 = 3 – 0.75 
-vB = – 1.299 
Solving:  = 4 rad/s or  = 4 rad/s k

vB = 5.2 m/s or vB = -5.2 m/s j
EXAMPLE II
Given: Crank rotates OA with an

angular velocity of 12 rad/s.
Find: The velocity of piston B

and the angular velocity of
rod AB.
Plan:
Notice that point A moves on a circular path. The
directions of vA is tangent to its path of motion.
Draw a kinematic diagram of rod AB and use
vB = vA + AB × rB/A.
Solution:
Kinematic diagram of AB:
Since crack OA rotates with an angular
velocity of 12 rad/s, the velocity at A
will be: vA = -0.3(12) i = -3.6 i m/s
Rod AB. Write the relative-velocity

equation:
vB = vA + AB × rB/A
vB j = -3.6 i + AB k × (0.6cos30 i − 0.6sin30 j )

vB j = -3.6 i + 0.5196 AB j + 0.3 AB i
By comparing the i, j components:
i: 0 = -3.6 + 0.3 AB  AB = 12 rad/s
j: vB = 0.5196 AB  vB = 6.24 m/s
1. If the disk is moving with a velocity at point

O of 15 ft/s and  = 2 rad/s, determine the
velocity at A. 2 ft
V=15 ft/s
A) 0 ft/s B) 4 ft/s O
C) 15 ft/s D) 11 ft/s A
2. If the velocity at A is zero, then determine the angular

velocity, .
A) 30 rad/s B) 0 rad/s
C) 7.5 rad/s D) 15 rad/s
Given: The ring gear R is rotating at

R = 3 rad/s, and the sun gear S is
held fixed, S = 0.
Find: The angular velocity of the each
of the planet gears P and of shaft
A.
Plan: Draw the kinematic diagram of

gears. Then, apply the relative
velocity equations to the gears and
solve for unknowns.
Kinematic diagram of gears.
A
vA
C vB= 0 Since the ring gear R is rotating at
P R = 3 rad/s, the velocity at point A
B
will be ;
3 rad/s
S vA = -3(160) i = -480 i mm/s
160 mm
y
R Also note that vB = 0 since the gear
x
R is held fixed S = 0.
Applying the relative velocity equation to points A and B;
vB = vA + P × rB/A
0 = - 480 i + (P k)×(- 80 j)  0 = - 480 i + 80 P i

P = 6 rad/s
Solution:
Apply the relative velocity equation at point B and C to Gear P
in order to find the velocity at B.
vC = vB + P × rC/B
= 0 + (6 k)×(40 j) = - 240 i mm/s
A
vA
C vB= 0 Note that the shaft A has a circular
P motion with the radius of 120 mm.
B
3 rad/s The angular velocity of the shaft is

S
160 mm
y
A = vC / r
= -240 / 120 = -2 rad/s.
R x
The shaft A is rotating in counter-clockwise direction !

ATTENTION QUIZ
vA
1. Which equation could be used to find
the velocity of the center of the gear, C,
if the velocity vA is known?
A) vB = vA + gear × rB/A B) vA = vC + gear × rA/C

C) vB = vC + gear × rC/B D) vA = vC + gear × rC/A
2. If the bar’s velocity at A is 3 m/s, what B

“base” point (first term on the RHS of the
velocity equation) would be best used to 4m
simplify finding the bar’s angular q
velocity when q = 60º? A
C
A) A B) B
C) C D) No difference.
INSTANTANEOUS CENTER OF ZERO VELOCITY
1. Locate the instantaneous center of
zero velocity. In-Class Activities:
2. Use the instantaneous center to
• Check Homework
determine the velocity of any point
on a rigid body in general plane • Reading Quiz
motion. • Applications
• Location of the
Instantaneous Center
• Velocity Analysis
• Concept Quiz
• Attention Quiz
READING QUIZ
1. If applicable, the method of instantaneous center can be used

to determine the __________ of any point on a rigid body.
A) velocity B) acceleration
C) velocity and acceleration D) force
2. The velocity of any point on a rigid body is __________ to

the relative position vector extending from the IC to the
point.
A) always parallel B) always perpendicular
C) in the opposite direction D) in the same direction
APPLICATIONS
The instantaneous center (IC)
of zero velocity for this
bicycle wheel is at the point
in contact with ground. The
velocity direction at any point
on the rim is perpendicular to
the line connecting the point
to the IC.
Which point on the wheel has the maximum velocity?
Does a larger wheel mean the bike will go faster for the
same rider effort in pedaling than a smaller wheel?
As the board slides down the wall (to

the left), it is subjected to general
plane motion (both translation and
rotation).
Since the directions of the velocities

of ends A and B are known, the IC is
located as shown.
How can this result help you analyze
other situations?
What is the direction of the velocity of the center of gravity of

the board?
INSTANTANEOUS CENTER OF ZERO VELOCITY
(Section 16-6)
For any body undergoing planar motion, there always exists a
point in the plane of motion at which the velocity is
instantaneously zero (if it is rigidly connected to the body).
This point is called the instantaneous center (IC) of zero

velocity. It may or may not lie on the body!
If the location of this point can be determined, the velocity

analysis can be simplified because the body appears to rotate
about this point at that instant.
LOCATION OF THE INSTANTANEOUS CENTER
To locate the IC, we can use the fact that the velocity of a point
on a body is always perpendicular to the relative position vector
from the IC to the point. Several possibilities exist.
First, consider the case when velocity vA
of a point A on the body and the angular
velocity  of the body are known.
In this case, the IC is located along the

line drawn perpendicular to vA at A, a
distance rA/IC = vA/ from A.
Note that the IC lies up and to the right
of A since vA must cause a clockwise
angular velocity  about the IC.
(continued)
A second case is when the lines

of action of two non-parallel
velocities, vA and vB, are
known.
First, construct line segments
from A and B perpendicular to
vA and vB. The point of
intersection of these two line
segments locates the IC of the
body.
(continued)
A third case is when the magnitude and direction of two parallel

velocities at A and B are known. Here the location of the IC is
determined by proportional triangles.
As a special case, note that if the body is translating only
(vA = vB), then the IC would be located at infinity. Then 
equals zero, as expected.
VELOCITY ANALYSIS
The velocity of any point on a body undergoing general plane

motion can be determined easily once the instantaneous center
of zero velocity of the body is located.
Since the body seems to rotate about

the IC at any instant, as shown in this
kinematic diagram, the magnitude of
velocity of any arbitrary point is v = 
r, where r is the radial distance from
the IC to the point.
The velocity’s line of action is
perpendicular to its associated radial
line.
EXAMPLE I
Given: A linkage undergoing
motion as shown. The
velocity of the block, vD,
is 3 m/s.
Find: The angular velocities

of links AB and BD.
Plan: Locate the instantaneous center of zero velocity of link

BD and then solve for the angular velocities.
EXAMPLE I
Solution: Since D moves to the right, it causes link AB to

rotate clockwise about point A. The instantaneous center of
velocity for BD is located at the intersection of the line
segments drawn perpendicular to vB and vD. Note that vB is
perpendicular to link AB. Therefore we can see that the IC is
located along the extension of link AB.
Using these facts,
rB/IC = 0.4 tan 45° = 0.4 m
rD/IC = 0.4/cos 45° = 0.566 m
Since the magnitude of vD is known,
the angular velocity of link BD can be
found from vD = BD rD/IC .
BD = vD/rD/IC = 3/0.566 = 5.3 rad/s
Link AB is subjected to rotation about A.
AB = vB/rB/A = (rB/IC)BD/rB/A = 0.4(5.3)/0.4 = 5.3 rad/s

EXAMPLE II
Given: The wheel rolls on its hub
without slipping on the
horizontal surface with
vC = 2 ft/s.
Find: The velocities of

points A and B at the
instant shown.
Plan:
Locate the IC of the wheel. Then
calculate the velocities at A and B.
Solution:
Note that the wheel rolls without
slipping. Thus the IC is at the
contact point with the surface.
The angular velocity of the wheel

can be found from
 = vC/rC/IC = 2/3 =0.667 rad/s
Or,  = 0.667 k (rad/s)
The velocity at A and B will be
vA =  × rA/IC = (0.667 ) k × (3 i + 3j) = (2 i  2 j) in/s
vB =  × rB/IC = (0.667 ) k × (11 j) = 7.34 i in/s
vA = √(22 + 22) = 2.83 in/s, vB = 7.34 in/s
CONCEPT QUIZ
1. When the velocities of two points on a body are equal in
magnitude and parallel but in opposite directions, the IC is
located at
A) infinity.
B) one of the two points.
C) the midpoint of the line connecting the two points.
2. When the direction of velocities of two points on a body are
perpendicular to each other, the IC is located at
A) infinity.
B) one of the two points.
C) the midpoint of the line connecting the two points.
Given: The four bar linkage is
moving with CD equal
to 6 rad/s CCW.
Find: The velocity of point E

on link BC and angular
velocity of link AB.
Plan: This is an example of the second case in the lecture notes.

Since the direction of Point B’s velocity must be
perpendicular to AB, and Point C’s velocity must be
perpendicular to CD, the location of the instantaneous
center, I, for link BC can be found.
(continued)
C vB
Link CD: Link AB:
vC B
0.6 m
1.2 m
CD = 6 rad/s AB
D 30°
vC = 0.6(6) = 3.6 m/s A
I From triangle CBI

Link BC: 60°
IC = 0.346 m
IB = 0.6/sin 60° = 0.693 m
vB vE BC vC = (IC)BC
E C BC = vC/IC = 3.6/0.346
B
30° 0.6 m vC = 3.6 m/s BC = 10.39 rad/s
(continued)
vB = (IB)BC = 0.693(10.39) = 7.2 m/s
From link AB, vB is also equal to 1.2 AB.
Therefore 7.2 = 1.2 AB => AB = 6 rad/s
vE = (IE)BC where distance IE = 0.32 + 0.3462 = 0.458 m
vE = 0.458(10.39) = 4.76 m/s q
where q = tan-1(0.3/0.346) = 40.9°

ATTENTION QUIZ
1. The wheel shown has a radius of 15 in and rotates clockwise
at a rate of  = 3 rad/s. What is vB?
A) 5 in/s B) 15 in/s
C) 0 in/s D) 45 in/s
2. Point A on the rod has a velocity of 8 m/s to the right.

Where is the IC for the rod?
A) Point A. •C
B) Point B.
C) Point C.
D) Point D. D •
RELATIVE MOTION ANALYSIS: ACCELERATION
1. Resolve the acceleration of a point
on a body into components of In-Class Activities:
translation and rotation. • Check Homework
2. Determine the acceleration of a • Reading Quiz
point on a body by using a relative • Applications
acceleration analysis. • Translation and Rotation
Components of Acceleration
• Relative Acceleration
Analysis
• Roll-Without-Slip Motion
• Concept Quiz
• Attention Quiz
READING QUIZ
1. If two bodies contact one another without slipping, and the points in
contact move along different paths, the tangential components of
acceleration will be ______ and the normal components of
acceleration will be _________.
A) the same, the same B) the same, different
C) different, the same D) different, different
2. When considering a point on a rigid body in general plane
motion,
A) It’s total acceleration consists of both absolute
acceleration and relative acceleration components.
B) It’s total acceleration consists of only absolute
acceleration components.
C) It’s relative acceleration component is always normal
to the path.
APPLICATIONS
In the mechanism for a window, link
AC rotates about a fixed axis through
C, and AB undergoes general plane
motion. Since point A moves along a
curved path, it has two components
of acceleration while point B, sliding
in a straight track, has only one.
The components of acceleration of
these points can be inferred since
their motions are known.

accelerations of the links in the
mechanism?
In an automotive engine, the

forces delivered to the
crankshaft, and the angular
acceleration of the crankshaft,
depend on the speed and
acceleration of the piston.
How can we relate the

accelerations of the piston,
connection rod, and crankshaft
to each other?
(Section 16-7)
The equation relating the accelerations of two points on the
body is determined by differentiating the velocity equation
with respect to time.
dvB dvA dv
= + B/ A
dt dt dt
These are absolute accelerations This term is the acceleration

of points A and B. They are of B with respect to A and
measured from a set of fixed includes both tangential and
x,y axes. normal components.
The result is aB = aA + (aB/A)t + (aB/A)n

(continued)
Graphically: aB = aA + (aB/A)t + (aB/A)n
The relative tangential acceleration component (aB/A)t is ( ×rB/A)

and perpendicular to rB/A.
The relative normal acceleration component (aB/A)n is (−2 rB/A)
and the direction is always from B towards A.
(continued)
Since the relative acceleration components can be expressed
as (aB/A)t =   rB/A and (aB/A)n = - 2 rB/A, the relative
acceleration equation becomes
aB = aA +   rB/A − 2 rB/A
Note that the last term in the relative acceleration equation is

not a cross product. It is the product of a scalar (square of
the magnitude of angular velocity, 2) and the relative
position vector, rB/A.
APPLICATION OF THE RELATIVE ACCELERATION
EQUATION
In applying the relative acceleration equation, the two points used in the
analysis (A and B) should generally be selected as points which have a
known motion, such as pin connections with other bodies.
In this mechanism, point B is known to travel along a circular path, so

aB can be expressed in terms of its normal and tangential components.
Note that point B on link BC will have the same acceleration as point B
on link AB.
Point C, connecting link BC and the piston, moves along a straight-line
path. Hence, aC is directed horizontally.
1. Establish a fixed coordinate system.
2. Draw the kinematic diagram of the body.
3. Indicate on it aA, aB, , , and rB/A. If the points A and B

move along curved paths, then their accelerations should
be indicated in terms of their tangential and normal
components, i.e., aA = (aA)t + (aA)n and aB = (aB)t + (aB)n.
4. Apply the relative acceleration equation:

aB = aA +   rB/A − 2 rB/A
5. If the solution yields a negative answer for an unknown
magnitude, this indicates that the sense of direction of the
vector is opposite to that shown on the diagram.
EXAMPLE I
Given:Point A on rod AB has an
acceleration of 5 m/s2 and a
IC
velocity of 6 m/s at the instant
shown.
Find: The angular acceleration of
the rod and the acceleration at
B at this instant.
Plan: Follow the problem solving
procedure!
Solution: First, we need to find the angular velocity of the rod
at this instant. Locating the instant center (IC) for
rod AB, we can determine :
 = vA/rA/IC = vA / (3) = 2 rad/s
Since points A and B both move
along straight-line paths,
aA = -5 j m/s2
aB = aB i m/s2
Applying the relative acceleration equation

aB = aA +  × rB/A – 2rB/A
aB i = - 5 j +  k × (3 i – 4 j) – 22 (3 i – 4 j)
aB i = - 5 j + 4  i + 3  j – (12 i – 16 j)
So with aB i = - 5 j + 4  i + 3  j – (12 i – 16 j) , we can solve.
By comparing the i, j components;

aB = 4  – 12
0 = 11 + 3
Solving:
aB = - 26.7 m/s2
 = - 3.67 rad/s2
BODIES IN CONTACT
Consider two bodies in contact with one another without slipping,
where the points in contact move along different paths.
In this case, the tangential components of acceleration will be the

same, i. e.,
(aA)t = (aA’)t (which implies B rB = C rC ).
The normal components of acceleration will not be the same.

(aA)n  (aA’)n so aA  aA’
ROLLING MOTION
Another common type of problem encountered in dynamics
involves rolling motion without slip; e.g., a ball, cylinder, or disk
rolling without slipping. This situation can be analyzed using
relative velocity and acceleration equations.
As the cylinder rolls, point G (center) moves along a straight line.

If  and  are known, the relative velocity and acceleration
equations can be applied to A, at the instant A is in contact with
the ground. The point A is the instantaneous center of zero
velocity, however it is not a point of zero acceleration.
ROLLING MOTION
(continued)
• Velocity: Since no slip occurs, vA = 0 when A is in contact
with ground. From the kinematic diagram:
vG = vA +   rG/A
vG i = 0 + (-k)  (r j)
vG = r or vG = r i
• Acceleration: Since G moves along a straight-line path, a is
G
horizontal. Just before A touches ground, its
velocity is directed downward, and just after
contact, its velocity is directed upward. Thus,
point A accelerates upward as it leaves the ground.
aG = aA +   rG/A – 2rG/A => aG i = aA j + (- k)  (r j) – 2(r j)
Evaluating and equating i and j components:
aG = r and aA = 2r or aG = r i and aA = 2r j
EXAMPLE II
Given:The gear rolls on the
fixed rack.
Find: The accelerations of

point A at this instant.
Plan:
Follow the solution procedure!
Solution: Since the gear rolls on the fixed rack without slip, aO
is directed to the right with a magnitude of:
aO = r = (6 rad/s2)(0.3 m)=1.8 m/s2
So now with aO = 1.8 m/s2, we can apply the relative

acceleration equation between points O and A.
aA = aO +  × rA/O – 2 rA/O
aA = 1.8i + (-6k)×(0.3j) –122 (0.3j)
= (3.6 i – 43.2j) m/s2
1.8 m/s2
y
x
CONCEPT QUIZ
1. If a ball rolls without slipping, select the

tangential and normal components of
the relative acceleration of point A with
respect to G.
A) r i + 2r j B) - r i + 2r j
C) 2r i − r j D) Zero.
2. What are the tangential and normal components of the

relative acceleration of point B with respect to G.
A) - 2r i −r j B) - r i + 2r j
C) 2r i −r j D) Zero.
Given: The smember AB is rotating with

AB=3 rad/s, AB=2 rad/s2 at this
instant.
Find: The velocity and acceleration of
the slider block C.
Plan: Follow the solution procedure!
Note that Point B is rotating. So

what components of acceleration
will it be experiencing?
Solution:
Since Point B is rotating, its velocity and acceleration will be:
vB = (AB) rB/A = (3) 7 = 21 in/s

aBn = (AB)2 rB/A= (3)2 7 = 63 in/s2
aBt = (AB) rB/A = (2) 7 = 14 in/s2
vB = (-21 i ) in/s
aB = (-14 i −63 j ) in/s2
Now apply the relative velocity equation between points B and C

to find the angular velocity of link BC.
vC = vB + BC× rC/B
(-0.8 vC i −0.6 vC j) = (-21 i ) + BC k × (-5 i −12 j)
= (-21 + 12 BC) i −5 BC j
-0.8 vC = - 21 + 12 BC
-0.6 vC = - 5 BC
Solving:
BC = 1.125 rad/s
vC = 9.375 in/s
Now, apply the relative acceleration equation between points B
and C. a = a +  × r – 2 r
C B BC C/B BC C/B
(-0.8 aC i − 0.6 aC j) = (-14 i − 63 j)

+ BC k × (-5 i −12 j) – (1.125)2 (-5 i −12 j)
(- 0.8 aC i − 0.6 aC j)
= (-14+12 BC + 6.328 ) i
+ (- 63 – 5 BC + 15.19) j

- 0.8 aC = -7.672 + 12 BC
- 0.6 aC = - 47.81 –5 BC
Solving these two i, j component

equations
- 0.8 aC = -7.672 + 12 BC
- 0.6 aC = - 47.81 –5 BC
Yields
BC = -3.0 rad/s2
aC = 54.7 in/s2
ATTENTION QUIZ
1. Two bodies contact one another
without slipping. If the tangential
component of the acceleration of point
A on gear B is 100 ft/sec2, determine
the tangential component of the
acceleration of point A’ on gear C.
A) 50 ft/sec2 B) 100 ft/sec2
C) 200 ft/sec2 D) None of above.
2. If the tangential component of the acceleration of point A on
gear B is 100 ft/sec2, determine the angular acceleration of
gear B.
A) 50 rad/sec2 B) 100 rad/sec2
C) 200 rad/sec2 D) None of above.
MOMENT OF INERTIA
1. Determine the mass moment In-Class Activities:
of inertia of a rigid body or a • Check Homework
system of rigid bodies. • Reading Quiz
• Applications
• Mass Moment of Inertia
• Parallel-Axis Theorem
• Composite Bodies
• Concept Quiz
• Attention Quiz
READING QUIZ
1. Mass moment of inertia is a measure of the resistance of a
body to _____________.
A) translational motion B) deformation
C) angular acceleration D) impulsive motion
2. Mass moment of inertia is always ____________.

A) a negative quantity
B) a positive quantity
C) an integer value
D) zero about an axis perpendicular to the plane of motion
APPLICATIONS
The large flywheel in the picture is
connected to a large metal cutter. The
flywheel mass is used to help provide a
uniform motion to the cutting blade.
What property of the flywheel is most
important for this use? How can we
determine a value for this property?
Why is most of the mass of the flywheel located near the

flywheel’s circumference?
The crank on the oil-pump rig

undergoes rotation about a
fixed axis that is not at its mass
center. The crank develops a
kinetic energy directly related
to its mass moment of inertia.
As the crank rotates, its kinetic
energy is converted to potential
energy and vice versa.
Is the mass moment of inertia of the crank about its axis of
rotation smaller or larger than its moment of inertia about
its center of mass?
MASS MOMENT OF INERTIA
Consider a rigid body with a center of

mass at G. It is free to rotate about the z
axis, which passes through G. Now, if we
apply a torque T about the z axis to the
body, the body begins to rotate with an
angular acceleration of .
T and  are related by the equation T = I  . In this equation, I

is the mass moment of inertia (MMI) about the z axis.
The MMI of a body is a property that measures the resistance

of the body to angular acceleration. The MMI is often used
when analyzing rotational motion.
(continued)
Consider a rigid body and the arbitrary axis

P shown in the figure. The MMI about the
P axis is defined as I = m r2 dm, where r,
the “moment arm,” is the perpendicular
distance from the axis to the arbitrary
element dm.
The mass moment of inertia is always a

positive quantity and has a unit of kg ·m2
or slug · ft2.
(continued)
The figures below show the mass moment of inertia
formulations for two flat plate shapes commonly used when
working with three dimensional bodies. The shapes are often
used as the differential element being integrated over the entire
body.
When using direct integration, only symmetric bodies having surfaces
generated by revolving a curve about an axis will be considered.
Shell element
• If a shell element having a height z, radius r = y, and
thickness dy is chosen for integration, then the volume
element is dV = (2y)(z)dy.
• This element may be used to find the moment of inertia
Iz since the entire element, due to its thinness, lies at the
same perpendicular distance y from the z-axis.
Disk element
• If a disk element having a radius y and a thickness dz is
chosen for integration, then the volume dV = (y2)dz.
• Using the moment of inertia of the disk element, we
can integrate to determine the moment of inertia of the
entire body.
EXAMPLE I
Given: The volume shown with r =

5 slug/ft3.
Find: The mass moment of inertia

of this body about the y-
axis.
Plan: Find the mass moment of

inertia of a disk element about
the y-axis, dIy, and integrate.
Solution:
The moment of inertia of a disk about an

axis perpendicular to its plane is I = 0.5 m
r2.
Thus, for the disk element, we have
dIy = 0.5 (dm) x2
where the differential mass dm = r dV =
rx2 dy.
rx4 r 8 = (5) =
1 1
Iy 
= dy =  y dy 0.873 slug•ft2
0 2 2 0 18
PARALLEL-AXIS THEOREM
If the mass moment of inertia of a body about an axis passing
through the body’s mass center is known, then the moment of
inertia about any other parallel axis may be determined by using
the parallel axis theorem,
I = IG + md2
where IG = mass moment of inertia about the body’s mass center
m = mass of the body
d = perpendicular distance between the parallel axes
RADIUS OF GYRATION AND COMPOSITE BODIES
Radius of Gyration
The mass moment of inertia of a body about a specific axis can be
defined using the radius of gyration (k). The radius of gyration has
units of length and is a measure of the distribution of the body’s
mass about the axis at which the moment of inertia is defined.
I = m k2 or k = (I/m)
Composite Bodies
If a body is constructed of a number of simple shapes, such as
disks, spheres, or rods, the mass moment of inertia of the body
about any axis can be determined by algebraically adding
together all the mass moments of inertia, found about the same
axis, of the different shapes.
EXAMPLE II
Given: The pendulum consists of a

q
slender rod with a mass 10 kg
and sphere with a mass of 15 kg.
r
pFind: The pendulum’s MMI about an
axis perpendicular to the screen
and passing through point O.
Plan: Follow steps similar to finding
the MoI for a composite area (as
done in statics). The pendulum’s
can be divided into a slender rod
(r) and sphere (s)
Solution:
1. The center of mass for rod is at point Gr, 0.225
m from Point O. The center of mass for sphere is
at Gs, 0.55 m from point O.
2. The MMI data for a slender rod and sphere are
given on the inside back cover of the textbook.
Using those data and the parallel-axis theorem,
calculate the following.
IO = IG + (m) (d) 2
IOr = (1/12) (10)(0.45)2 +10 (0.225)2 = 0.675 kg·m2
IOs = (2/5) (15) (0.1)2 + 15 (0.55)2 = 4.598 kg·m2
3. Now add the two MMIs about point O.
IO = IOr + IOs = 5.27 kg·m2
1. The mass moment of inertia of a rod of mass m and length L

about a transverse axis located at its end is _________ .
A) (1/12) m L2 B) (1/6) m L2
C) (1/3) m L2 D) m L2
2. The mass moment of inertia of a thin ring of mass m and

radius R about the z axis is ___________ .
A) (1/2) m R2 B) m R2
C) (1/4) m R2 D) 2 m R2
Given: The pendulum consists of a 5 kg
plate and a 3 kg slender rod.
Find: The radius of gyration of

the pendulum about an axis
perpendicular to the screen and
passing through point G.
Plan:
Determine the MMI of the pendulum using the method for
composite bodies. Then determine the radius of gyration
using the MMI and mass values.
(continued)
Solution:
1. Separate the pendulum into a square plate (P) and a slender
rod (R).
2. The center of mass of the plate and rod are

2.25 m and 1 m from point O, respectively.
y = ( y m) / ( m )
= {(1) 3 + (2.25) 5} / (3+5) = 1.781 m
3. The MMI data on plates and slender rods are

given on the inside cover of the textbook.
Using those data and the parallel-axis
theorem,
IP = (1/12) 5 (0.52 + 12) + 5 (2.251.781)2
= 1.621 kg·m2
IR = (1/12) 3 (2)2 + 3 (1.781  1)2
= 2.830 kg·m2
4. IO = IP + IR = 1.621 + 2.830 = 4.45 kg·m2
5. Total mass (m) equals 8 kg
Radius of gyration k = IO / m = 0.746 m
ATTENTION QUIZ
1. The mass moment of inertia of any body about its center of

mass is always ____________.
A) maximum B) minimum
C) zero D) None of the above
2. If the mass of body A and B are equal but kA = 2kB, then

____________.
A) IA = 2IB B) IA = (1/2)IB
C) IA = 4IB D) IA = (1/4)IB
ROTATION ABOUT A FIXED AXIS
1. Analyze the planar kinetics
of a rigid body undergoing
rotational motion. • Check Homework
• Reading Quiz
• Applications
• Rotation About an Axis
• Concept Quiz
• Attention Quiz
READING QUIZ
1. In rotational motion, the normal component of acceleration

at the body’s center of gravity (G) is always __________.
A) zero
B) tangent to the path of motion of G
C) directed from G toward the center of rotation
D) directed from the center of rotation toward G
2. If a rigid body rotates about point O, the sum of the

moments of the external forces acting on the body about
point O equals?
A) IG B) IO
C) m aG D) m aO
APPLICATIONS
The crank on the oil-pump rig undergoes

rotation about a fixed axis, caused by the
driving torque, M, from a motor.
As the crank turns, a dynamic reaction is

produced at the pin. This reaction is a
function of angular velocity, angular
acceleration, and the orientation of the
crank.
Pin at the center of If the motor exerts a constant torque M
rotation. on the crank, does the crank turn at a
constant angular velocity? Is this
desirable for such a machine?
APPLICATIONS
(continued)
The pendulum of the Charpy

impact machine is released from
rest when q = 0°. Its angular
velocity () begins to increase.
Can we determine the angular
velocity when it is in vertical
position ?
On which property (P) of the
pendulum does the angular
acceleration () depend ?
What is the relationship
between P and ?
EQUATIONS OF MOTION: ROTATION ABOUT A
FIXED AXIS (Section 17.4)
When a rigid body rotates about a fixed axis
perpendicular to the plane of the body at
point O, the body’s center of gravity G moves
in a circular path of radius rG. Thus, the
acceleration of point G can be represented by
a tangential component (aG)t = rG  and a
normal component (aG)n = rG 2.
Since the body experiences an angular acceleration, its inertia
creates a moment of magnitude, Ig, equal to the moment of the
external forces about point G. Thus, the scalar equations of
motion can be stated as:
 Fn = m (aG)n = m rG 2
 Ft = m (aG)t = m rG 
 MG = IG 
EQUATIONS OF MOTION (continued)
Note that the MG moment equation may be replaced by a

moment summation about any arbitrary point. Summing the
moment about the center of rotation O yields
MO = IG + rG m (aG) t = [IG + m(rG)2] 
From the parallel axis theorem, IO = IG + m(rG)2, therefore
the term in parentheses represents IO.
Consequently, we can write the three

equations of motion for the body as:
Fn = m (aG)n = m rG 2
Ft = m (aG)t = m rG 
MO = IO 
Problems involving the kinetics of a rigid body rotating about
a fixed axis can be solved using the following process.
1. Establish an inertial coordinate system and specify the sign and
direction of (aG)n and (aG)t.
2. Draw a free body diagram accounting for all external forces

and couples. Show the resulting inertia forces and couple
(typically on a separate kinetic diagram).
3. Compute the mass moment of inertia IG or IO.
4. Write the three equations of motion and identify the

unknowns. Solve for the unknowns.
5. Use kinematics if there are more than three unknowns (since
the equations of motion allow for only three unknowns).
EXAMPLE
Given:The uniform slender rod has a

mass of 15 kg.
G
Find: The reactions at the pin O and
the angular acceleration of the
rod just after the cord is cut.
Plan: Since the mass center, G, moves in a circle of radius

0.15 m, it’s acceleration has a normal component toward O
and a tangential component acting downward and
perpendicular to rG.
Apply the problem solving procedure.
EXAMPLE
Solution:
(continued)
FBD & Kinetic Diagram
rG
Equations of motion:
+ Fn = man = mrG2  Ox = 0 N
+ Ft = mat = mrG  -Oy + 15(9.81) = 15(0.15) (1)
+ MO = IG  + m rG  (rG)  (0.15) 15(9.81)= IG  + m(rG)2 
Using IG = (ml2)/12 and rG = (0.15), we can write:

IG  + m(rG)2  = [(15×0.92)/12 + 15(0.15)2]  = 1.35 
EXAMPLE
(continued)
rG
After substituting:
22.07 = 1.35    = 16.4 rad/s2
From Eq (1) :
-Oy + 15(9.81) = 15(0.15)
 Oy = 15(9.81) − 15(0.15)16.4 = 110 N
CONCEPT QUIZ
1. If a rigid bar of length l (above) is released

from rest in the horizontal position (q = 0),
the magnitude of its angular acceleration is
at maximum when
A) q = 0 B) q = 90
C) q = 180 D) q = 0 and 180
2. In the above problem, when q = 90°, the horizontal

component of the reaction at pin O is __________.
A) zero B) m g
C) m (l/2) 2 D) None of the above
Given: Wsphere = 30 lb,

Wrod = 10 lb
Find: The reaction at the pin O

just after the cord AB is cut.
Plan:
Draw the free body diagram and kinetic diagram of the

rod and sphere as one unit.
Then apply the equations of motion.
(continued)
Solution:
FBD and kinetic diagram;
msphere(3)(0)2
30 lb 10 lb (IG)rod
(IG)sphere
mrod(1.0)(0)2
Ox
=
Oy mrod(1.0)
msphere(3)
Fn = m(aG)n: Ox = (30/32.2)(3)(0)2 + (10/32.2)(1.0)(0)2
 Ox = 0 lb
(continued)
msphere(3)(0)2
30 lb 10 lb (IG)rod
(IG)sphere
mrod(1.0)(0)2
Ox
=
Oy mrod(1.0)
msphere(3)
Ft = m(aG)t: - Oy + 30 + 10 = (30/32.2) (3) + (10/32.2) (1.0)

 Oy = 40 – 3.106 
MO = Io:
30(3.0) + 10(1.0) = [ 0.4 (30/32.2) (1)2 + (30/32.2) (3)2 ]sphere 
+ [ (1/12) (10/32.2) (2)2 + (10/32.2) (1)2 ]rod 
 100 = 9.172 
Therefore,  = 10.9 rad/s2, Oy = 6.14 lb
(a) m (b) m
ATTENTION QUIZ
T
10 lb 10 lb
1. A drum of mass m is set into motion in two ways: (a) by a

constant 40 N force, and, (b) by a block of weight 40 N. If a
and b represent the angular acceleration of the drum in each
case, select the true statement.
A) a > b B) a < b
C) a = b D) None of the above
2. In case (b) above, what is the tension T in the cable?

A) T = 40 N B) T < 40 N
C) T > 40 N D) None of the above
GENERAL PLANE MOTION
1. Analyze the planar kinetics of a
rigid body undergoing general
plane motion. In-Class Activities:
• Check Homework
• Reading Quiz
• Applications
• Frictional Rolling Problems
• Concept Quiz
• Attention Quiz
READING QUIZ
1. If a disk rolls on a rough surface without slipping, the

acceleration af the center of gravity (G) will _________ and
the friction force will be __________.
A) not be equal to  r; less than sN
B) be equal to  r; equal to kN
C) be equal to  r; less than sN
D) None of the above
2. If a rigid body experiences general plane motion, the sum of
the moments of external forces acting on the body about any
point P is equal to __________.
A) IP  B) IP  + maP
C) m aG D) IG  + rGP × maP
APPLICATIONS
As the soil compactor accelerates

forward, the front roller experiences
general plane motion (both translation
and rotation).
What are the loads experienced by
the roller shaft or bearings?
The forces shown on the

roller’s FBD cause the
= accelerations shown on the
kinetic diagram.
Is the point A the IC?
The lawn roller is pushed forward with a force of 200 N when

the handle is at 45°.
How can we determine its translation acceleration and angular
acceleration?
Does the acceleration depend on the coefficient’s of static and
kinetic friction?
During an impact, the center of

gravity of this crash dummy will
decelerate with the vehicle, but also
experience another acceleration due
to its rotation about point A.
Why?
How can engineers use this information to determine the forces

exerted by the seat belt on a passenger during a crash?
EQUATIONS OF MOTION: GENERAL PLANE MOTION
(Section 17.5)
When a rigid body is subjected to external
forces and couple-moments, it can undergo
both translational motion and rotational
motion. This combination is called general
plane motion.
Using an x-y inertial coordinate system,

the equations of motions about the
center of mass, G, may be written as:
 Fx = m (aG)x
 Fy = m (aG)y
 MG = I G 
EQUATIONS OF MOTION: GENERAL PLANE MOTION
(continued)
Sometimes, it may be convenient to write the
moment equation about a point P other than G.
Then the equations of motion are written as
follows:
 Fx = m (aG)x
 Fy = m (aG)y
 MP =  (Mk )P
In this case,  (Mk )P represents the sum of the

moments of IG and maG about point P.
FRICTIONAL ROLLING PROBLEMS
When analyzing the rolling motion of wheels, cylinders, or disks,
it may not be known if the body rolls without slipping or if it
slides as it rolls.
For example, consider a disk with mass m
and radius r, subjected to a known force P.
The equations of motion will be:

 Fx = m(aG)x => P  F = m aG
 Fy = m(aG)y => N  mg = 0
 MG = IG => F r = IG 
There are 4 unknowns (F, N, , and aG) in

these three equations.
FRICTIONAL ROLLING PROBLEMS
(continued)
Hence, we have to make an assumption
to provide another equation. Then, we
can solve for the unknowns.
The 4th equation can be obtained from

the slip or non-slip condition of the disk.
Case 1:
Assume no slipping and use aG =  r as the 4th equation and
DO NOT use Ff = sN. After solving, you will need to verify
that the assumption was correct by checking if Ff  sN.
Case 2:
Assume slipping and use Ff = kN as the 4th equation.
In this case, aG  r.
Problems involving the kinetics of a rigid body undergoing
general plane motion can be solved using the following procedure.
1. Establish the x-y inertial coordinate system. Draw both the

free body diagram and kinetic diagram for the body.
2. Specify the direction and sense of the acceleration of the

mass center, aG, and the angular acceleration  of the body.
If necessary, compute the body’s mass moment of inertia IG.
3. If the moment equation Mp= (Mk)p is used, use the

kinetic diagram to help visualize the moments developed by
the components m(aG)x, m(aG)y, and IG.
4. Apply the three equations of motion.

(continued)
5. Identify the unknowns. If necessary (i.e., there are four
unknowns), make your slip-no slip assumption (typically no
slipping, or the use of aG =  r, is assumed first).
6. Use kinematic equations as necessary to complete the
solution.
7. If a slip-no slip assumption was made, check its validity!!!
Key points to consider:
1. Be consistent in using the assumed directions.
The direction of aG must be consistent with .
2. If Ff = kN is used, Ff must oppose the motion. As a test,
assume no friction and observe the resulting motion.
This may help visualize the correct direction of Ff.
EXAMPLE
Given: A spool has a mass of 200 kg and a radius of gyration (kG)

of 0.3 m. The coefficient of kinetic friction between the
spool and the ground is k = 0.1.
Find: The angular acceleration () of the spool and the tension
in the cable.
Plan: Focus on the spool. Follow the solution procedure (draw
a FBD, etc.) and identify the unknowns.
EXAMPLE (continued)
Solution:
The free body diagram and kinetic diagram for the body are:
IG 
maG
=
1962 N
Fy = m (aG)y : NB − 1962 = 0
 NB = 1962 N
EXAMPLE
(continued)
Note that aG = (0.4) . Why ?

Fx = m (aG)x: T – 0.1 NB = 200 aG = 200 (0.4) 
 T – 196.2 = 80 
MG = IG  : 450 – T(0.4) – 0.1 NB (0.6) = 20 (0.3)2 
 450 – T(0.4) – 196.2 (0.6) = 1.8 
Solving these two equations, we get
 = 7.50 rad/s2, T = 797 N
CONCEPT QUIZ
1. An 80 kg spool (kG = 0.3 m) is on a 
rough surface and a cable exerts a 30 N 30N
load to the right. The friction force at A 0.2m
•G
acts to the __________ and the aG
0.75m
should be directed to the __________ . A
A) right, left B) left, right
C) right, right D) left, left
2. For the situation above, the moment equation about G is?
A) 0.75 (FfA) - 0.2(30) = - (80)(0.32)
B) -0.2(30) = - (80)(0.32)
C) 0.75 (FfA) - 0.2(30) = - (80)(0.32) + 80aG
Given: A 80 kg lawn roller has a
radius of gyration of
kG = 0.175 m. It is pushed
forward with a force of 200 N.
Find: The angular acceleration if
s = 0.12 and k = 0.1.
Plan: Follow the problem solving

procedure.
Solution:
The moment of inertia of the roller about G is
IG = m(kG)2 = (80)(0.175)2 = 2.45 kg·m2
FBD:
 Fx = m(aG)x
FA – 200 cos 45 = 80 aG
 Fy = m(aG)y
NA – 784.8 – 200 sin 45 = 0
 MG = I G 
– 0.2 FA = 2.45 
We have 4 unknowns: NA, FA, aG and .
Another equation is needed to allow solving for the

unknowns.
The three equations we have now are:

FA – 200 cos 45° = 80 aG
NA – 784.8 – 200 sin 45° = 0
– 0.2 FA= 2.45 
First, assume the wheel is not slipping.
Thus, we can write
aG = r  = 0.2 
Now solving the four equations yields:
NA = 926.2 N, FA = 61.4 N,  = -5.01 rad/s2 , aG = -1.0 m/s2
The no-slip assumption must be checked.
Is FA = 61.4 N  s NA= 111.1 N ?
Yes, therefore, the wheel rolls without slip.
ATTENTION QUIZ
1. A slender 100 kg beam is suspended by a

cable. The moment equation about point A is? A
A) 3(10) = 1/12(100)(42) 
B) 3(10) = 1/3(100)(42)  3m
4m
C) 3(10) = 1/12(100)(42)  + (100 aGx)(2)
10 N
2. Select the equation that best represents the “no-slip”

assumption.
A) Ff = s N B) Ff = k N
C) aG = r  D) None of the above
KINETIC ENERGY, WORK, PRINCIPLE OF
WORK AND ENERGY
1. Define the various ways a force
and couple do work. In-Class Activities:
2. Apply the principle of work and
• Check Homework
energy to a rigid body.
• Reading Quiz
• Applications
• Kinetic Energy
• Work of a Force or Couple
• Principle of Work and Energy
• Concept Quiz
• Attention Quiz
READING QUIZ
1. Kinetic energy due to rotation of the body is defined as

A) (1/2) m (vG)2. B) (1/2) m (vG)2 + (1/2) IG 2.
C) (1/2) IG 2. D) IG 2.
2. When calculating work done by forces, the work of an

internal force does not have to be considered because
____________.
A) internal forces do not exist
B) the forces act in equal but opposite collinear pairs
C) the body is at rest initially
D) the body can deform
APPLICATIONS
The work of the torque (or moment) developed by the driving

gears on the two motors on the concrete mixer is transformed
into the rotational kinetic energy of the mixing drum.
If the motor gear characteristics are known, how would you
find the rotational velocity of the mixing drum?
The work done by the soil compactor's engine is transformed

into the translational kinetic energy of the frame and the
translational and rotational kinetic energy of the roller and
wheels (excluding the internal kinetic energy developed by the
moving parts of the engine and drive train).
Are the kinetic energies of the frame and the roller related to
each other? If so, how?
KINETIC ENERGY
(Section 18.1)
The kinetic energy of a rigid body can be expressed as the

sum of its translational and rotational kinetic energies.
In equation form, a body in general plane motion has
kinetic energy given by:
T = 1/2 m (vG)2 + 1/2 IG 2
Several simplifications can occur.
1. Pure Translation: When a rigid body
is subjected to only curvilinear or
rectilinear translation, the rotational
kinetic energy is zero
( = 0). Therefore,
T = 1/2 m (vG)2
KINETIC ENERGY (continued)
2. Pure Rotation: When a rigid body is

rotating about a fixed axis passing through
point O, the body has both translational
and rotational kinetic energy. Thus,
T = 0.5 m (vG)2 + 0.5 IG 2
Since vG = rG, we can express the kinetic
energy of the body as:
T = 0.5 [ IG + m(rG)2 ] 2 = 0.5 IO 2
If the rotation occurs about the mass center, G, then what is the
value of vG?
In this case, the velocity of the mass center is equal to zero.
So the kinetic energy equation reduces to:
T = 0.5 IG 2
THE WORK OF A FORCE (Section 18.2)
Recall that the work done by a force can be written as:
UF =  F•dr =  (F cos q ) ds.
s
When the force is constant, this equation reduces to
UFc = (Fc cos q )s where Fccosq represents the component of
the force acting in the direction of the displacement, s.
Work of a weight: As before, the work can
be expressed as Uw = -WDy. Remember, if
the force and movement are in the same
direction, the work is positive.
Work of a spring force: For a linear spring,
the work is:
Us = -0.5k[(s2)2 – (s1)2]
FORCES THAT DO NO WORK
There are some external forces that do no work.
For instance, reactions at fixed supports do no work because
the displacement at their point of application is zero.
Normal forces and friction forces acting on

bodies as they roll without slipping over a
rough surface also do no work since there is
no instantaneous displacement of the point
in contact with ground (it is an instant
center, IC).
Internal forces do no work because they always act in equal
and opposite pairs. Thus, the sum of their work is zero.
THE WORK OF A COUPLE
(Section 18.3)
When a body subjected to a couple experiences
general plane motion, the two couple forces do
work only when the body undergoes rotation.
If the body rotates through an angular
displacement dq, the work of the couple
moment, M, is:
q2
UM =  M dq
q1
If the couple moment, M, is constant, then
UM = M (q2 – q1)
Here the work is positive, provided M and (q2 – q1) are in
the same direction.
(Section 18.4)
Recall the statement of the principle of work and energy

used earlier:
T1 + U1-2 = T2
In the case of general plane motion, this equation states

that the sum of the initial kinetic energy (both
translational and rotational) and the work done by all
external forces and couple moments equals the body’s
final kinetic energy (translational and rotational).
This equation is a scalar equation. It can be applied to a
system of rigid bodies by summing contributions from all
bodies.
EXAMPLE
Given:The disk weighs 40 lb and
has a radius of gyration (kG)
of 0.6 ft. A 15 ft·lb moment
is applied and the spring has
a spring constant of 10 lb/ft.
Find: The angular velocity of the wheel when point G moves

0.5 ft. The wheel starts from rest and rolls without
slipping. The spring is initially un-stretched.
Plan: Use the principle of work and energy to solve the
problem since distance is the primary parameter. Draw a
free body diagram of the disk and calculate the work of
the external forces.
EXAMPLE (continued)
Solution: Free body diagram of the disk:
Since the disk rolls without slipping

on a horizontal surface, only the
spring force and couple moment M
do work. Why don’t forces FB and
NB do any work?
Since the spring is attached to the

top of the wheel, it will stretch
twice the amount of displacement
of G, or 1 ft.
EXAMPLE (continued)
Work: U1-2 = -0.5k[(s2)2 – (s1)2] + M(q2 – q1)

U1-2 = -0.5(10)(12 – 0) + 15(0.5/0.8) = 4.375 ft·lb
Kinematic relation: vG = r  = 0.8

Kinetic energy:
T1 = 0
T2 = 0.5m (vG)2 + 0.5 IG 2
T2 = 0.5(40/32.2)(0.8)2 + 0.5(40/32.2)(0.6)22
T2 = 0.621 2
Work and energy: T1 + U1-2 = T2
0 + 4.375 = 0.621 2
 = 2.65 rad/s
CONCEPT QUIZ
1. If a rigid body rotates about its center of gravity, its
translational kinetic energy is ___________ at all times.
A) constant
B) zero
C) equal to its rotational kinetic energy
D) Cannot be determined
2. A rigid bar of mass m and length L is released from rest in

the horizontal position. What is the rod’s angular velocity
when it has rotated through 90°?
m
A) g/3L B) 3g/L •
L
C) 12g/L D) g/L
Given: The 50 kg pendulum of
the Charpy impact machine
is released from rest when
q = 0. The radius of
gyration kA = 1.75 m.
Find: The angular velocity of the
pendulum when q = 90°.
Plan: Since the problem involves distance, the principle of

work and energy is an efficient solution method. The
only force involved doing work is the weight, so only its
work need be determined.
(continued)
Solution:
Calculate the vertical distance the mass center moves.
Dy = 1.25 sin q
Then, determine the work due to the weight.
Uw = -WDy
U1-2 = W (1.25 sin q )
= 50(9.81) (1.25 sin 90)
= 613.1 N·m
The mass moment of inertia about A is:

IA = m (kA)2 = 50(1.75)2 = 153.1 kg·m2
(continued)
Kinetic energy:
T1 = 0
T2 = 0.5m(vG)2 + 0.5 IG 2
= 0.5 IA 2
= 0.5 (153.1) 2
Now apply the principle of work and energy equation:

T1 + U1-2 = T2
0 + 613.1 = 76.55 2
 = 2.83 rad/s
ATTENTION QUIZ
1. A disk and a sphere, each of mass m and radius r, are
released from rest. After 2 full turns, which body has a
larger angular velocity? Assume roll without slip.
r
A) Sphere B) Disk q
C) The two are equal. D) Cannot be determined.
2. A slender bar of mass m and length L is released from rest in

a horizontal position. The work done by its weight when it
has rotated through 90° is?
m
A) m g (/2) B) m g L •
L
C) m g (L/2) D) -m g (L/2)
LINEAR AND ANGULAR MOMENTUM, PRINCIPLE
OF IMPULSE AND MOMENTUM
1. Develop formulations for the linear and
angular momentum of a body.
2. Apply the principle of linear and angular • Check Homework
impulse and momentum. • Reading Quiz
• Applications
• Linear and Angular
Momentum
• Principle of Impulse and
Momentum
• Concept Quiz
• Attention Quiz
READING QUIZ
1. The angular momentum of a rotating two-dimensional rigid

body about its center of mass G is ___________.
A) m vG B) IG vG
C) m  D) IG 
2. If a rigid body rotates about a fixed axis passing through its

center of mass, the body’s linear momentum is __________.
A) a constant B) zero
C) m vG D) IG 
APPLICATIONS
The swing bridge opens and

closes by turning using a
motor located under the
center of the deck at A that
applies a torque M to the
bridge.
If the bridge was supported at its end B, would the same torque
open the bridge in the same time, or would it open slower or
faster?
What are the benefits of making the bridge with the variable
depth (thickness) substructure as shown?
APPLICATIONS
(continued)
As the pendulum of the Charpy tester swings downward, its

angular momentum and linear momentum both increase. By
calculating its momenta in the vertical position, we can
calculate the impulse the pendulum exerts when it hits the test
specimen.
As the pendulum rotates about point O, what is its angular
momentum about point O?
APPLICATIONS
(continued)
The space shuttle has several engines that exert thrust on the
shuttle when they are fired. By firing different engines, the
pilot can control the motion and direction of the shuttle.
If only engine A is fired, about which axis does the shuttle
tend to rotate?
LINEAR AND ANGULAR MOMENTUM
(Section 19.1)
The linear momentum of a rigid body is defined as
L = m vG
This equation states that the linear momentum vector L has a
magnitude equal to (mvG) and a direction defined by vG.
The angular momentum of a rigid

body is defined as
HG = I G 
Remember that the direction of
HG is perpendicular to the plane
of rotation.
LINEAR AND ANGULAR MOMENTUM
(continued)
Translation.
When a rigid body undergoes
rectilinear or curvilinear
translation, its angular momentum
is zero because  = 0.
Therefore,
L = m vG
and
HG = 0
LINEAR AND ANGULAR MOMENTUM (continued)
Rotation about a fixed axis.

When a rigid body is rotating
about a fixed axis passing
through point O, the body’s
linear momentum and angular
momentum about G are:
L = mvG
HG = I G 
It is sometimes convenient to compute the angular momentum

of the body about the center of rotation O.
HO = ( rG × mvG) + IG  = IO 
LINEAR AND ANGULAR MOMENTUM (continued)
General plane motion.

When a rigid body is subjected to
general plane motion, both the linear
momentum and the angular momentum
computed about G are required.
L = m vG
HG = IG
The angular momentum about point A is

HA = IG + mvG (d)
PRINCIPLE OF IMPULSE AND MOMENTUM
(Section 19.2)
As in the case of particle motion, the principle of impulse
and momentum for a rigid body is developed by
combining the equation of motion with kinematics. The
resulting equations allow a direct solution to problems
involving force, velocity, and time.
Linear impulse-linear momentum equation:
t2 t2
L1 +  t F dt = L2 or (mvG)1 +  t F dt = (mvG)2
1 1
Angular impulse-angular momentum equation:

t2 t2
(HG)1 +  MG dt = (HG)2 or IG1 +  MG dt = IG2

t1 t1
PRINCIPLE OF IMPULSE AND MOMENTUM
(continued)
The previous relations can be represented graphically by
drawing the impulse-momentum diagram.
To summarize, if motion is occurring in the x-y plane, the

linear impulse-linear momentum relation can be applied to
the x and y directions and the angular momentum-angular
impulse relation is applied about a z-axis passing through
any point (i.e., G). Therefore, the principle yields three
scalar equations describing the planar motion of the body.
• Establish the x, y, z inertial frame of reference.
• Draw the impulse-momentum diagrams for the body.
• Compute IG, as necessary.
• Apply the equations of impulse and momentum (one vector

and one scalar or the three scalar equations).
• If more than three unknowns are involved, kinematic equations

relating the velocity of the mass center G and the angular
velocity  should be used to furnish additional equations.
EXAMPLE
Given: The 300 kg wheel has a
radius of gyration about its
mass center O of kO = 0.4 m.
The wheel is subjected to a
couple moment of 300 Nm.
A
Find: The angular velocity after 6 seconds if it starts from rest

and no slipping occurs.
Plan: Time as a parameter should make you think Impulse and

Momentum! Since the body rolls without slipping, point A
is the center of rotation. Therefore, applying the angular
impulse and momentum relationships along with
kinematics should solve the problem.
EXAMPLE (continued)
Solution: y
Impulse-momentum diagram: x
Mt Wt
(m vG)1 (m vG)2
G + r G
A
=
Ft
IG1 IG 2
Kinematics: (vG)2 = r 2 Nt
t2
Impulse & Momentum: (HA)1 +   MA dt = (HA)2
t1
0 + M t = m(vG)2 r + IG 2 = m r2 2 + m(kO)2 2 = m{r2 + (kO)2}2
Mt 300 (6)
2 = = = 11.5 rad/s
m {r2 + (kO)2} 300 (0.62 + 0.42)
CONCEPT QUIZ
1. If a slab is rotating about its center of

mass G, its angular momentum about
any arbitrary point P is __________ its
angular momentum computed about G
(i.e., IG ).
A) larger than B) less than
C) the same as D) None of the above
2. The linear momentum of the slab in question 1 is __________.

A) constant B) zero
C) increasing linearly D) decreasing linearly
with time with time
Given: A gear set with:
mA = 10 kg
mB = 50 lb
kA = 0.08 m
kB = 0.15 m
M = 10 N·m
Find: The angular velocity of gear B after 5 seconds if the

gears start turning from rest.
Plan: Time is a parameter, thus Impulse and Momentum is
recommended. First, relate the angular velocities of the
two gears using kinematics. Then apply angular impulse
and momentum to both gears.
Solution:
Impulse-momentum diagrams: Note that the initial momentum is
zero for both gears.
Gear A: WAt
IA A y
x
Mt Ax t
= rA
Ft
Ay t
Gear B: Ft WBt
Bxt rB
Byt = IB B
Kinematics: rAA = rBB
Angular impulse & momentum relation:
For gear A: M t − (F t) rA = IA A
For gear B: (F t) rB = IB B  (F t) = (IB B) / rB
Combining the two equations yields:
M t = IAA + (rA/rB) IBB
Substituting from kinematics for A= (rB/rA)B, yields

M t = B [ (rB/rA) IA + (rA/rB) IB ] eqn (1)
where
IA = mA (kA)2 = 10 (0.08)2 = 0.064 kg·m2
IB = mB (kB)2 = 50 (0.15)2 = 1.125 kg·m2
Using Eq. (1),

M t = B [ (rB/rA) IA + (rA/rB) IB ]
10 (5) = B [ (0.2/0.1) 0.064 + (0.1/0.2) 1.125 ]
50 = 0.6905 B
Therefore, B = 72.4 rad/s

and A = (rB/rA) B = (0.2/0.1) 72.4 = 144 rad/s
ATTENTION QUIZ
1. If a slender bar rotates about end A, its A

angular momentum with respect to A is? 
A) (1/12) m l2  B) (1/6) m l2  G
l
C) (1/3) m l2  D) m l2 
2. As in the principle of work and energy, if a force does no

work, it does not need to be shown on the impulse and
momentum diagram/equation.
A) False B) True
C) Depends on the case D) No clue!
CONSERVATION OF MOMENTUM
1. Understand the conditions for
conservation of linear and
angular momentum. In-Class Activities:
2. Use the condition of • Check Homework
conservation of linear/ angular • Reading Quiz
momentum.
• Applications
• Conservation of Linear and
Angular Momentum
• Concept Quiz
• Attention Quiz
READING QUIZ
1. If there are no external impulses acting on a body
_____________.
A) only linear momentum is conserved
B) only angular momentum is conserved
C) both linear momentum and angular momentum are
conserved
D) neither linear momentum nor angular momentum are
conserved
2. If a rigid body rotates about a fixed axis passing through its
center of mass, the body’s linear momentum is __________.
A) constant B) zero
C) m vG D) IG 
APPLICATIONS
A skater spends a lot of time either spinning on the ice or

rotating through the air. To spin fast, or for a long time, the
skater must develop a large amount of angular momentum.
If the skater’s angular momentum is constant, can the

skater vary her rotational speed? How?
The skater spins faster when the arms are drawn in and
slower when the arms are extended. Why?
Conservation of angular momentum allows cats to land on

their feet and divers to flip, twist, spiral and turn. It also
helps teachers make their heads spin!
Conservation of angular momentum makes water circle the
drain faster as it gets closer to the drain.
CONSERVATION OF LINEAR MOMENTUM
(Section 19.3)
Recall that the linear impulse and momentum relationship is
t2 0 t2
0
L1 +  t F dt = L2 or (m vG)1 +  t F dt = (m vG)2
1 1
If the sum of all the linear impulses acting on the rigid

body (or a system of rigid bodies) is zero, all the impulse
terms are zero. Thus, the linear momentum for a rigid
body (or system) is constant, or conserved. So L1 = L2.
This equation is referred to as the conservation of linear

momentum. The conservation of linear momentum
equation can be used if the linear impulses are small or
non-impulsive.
CONSERVATION OF ANGULAR MOMENTUM
Similarly, if the sum of all the angular impulses due to
external forces acting on the rigid body (or a system of rigid
bodies) is zero, all the impulse terms are zero. Thus, angular
momentum is conserved
t2 0 t2 0
(HG)1 +  t MG dt = (HG)2 or IG1 +   MG dt = IG2
t1
1
The resulting equation is referred to as the conservation of

angular momentum or (HG)1 = (HG)2 .
If the initial condition of the rigid body (or system) is known,
conservation of momentum is often used to determine the final
linear or angular velocity of a body just after an event occurs.
• Establish the x, y, z inertial frame of reference and draw FBDs.
• Write the conservation of linear momentum equation.
• Write the conservation of angular momentum equation about a

fixed point or at the mass center G.
• Solve the conservation of linear or angular momentum

equations in the appropriate directions.
• If the motion is complicated, use of the kinematic equations

relating the velocity of the mass center G and the angular
velocity  may be necessary.
EXAMPLE
Given: A 10 kg wheel
(IG = 0.156 kg·m2) rolls
without slipping and does
not rebound.
Find: The minimum velocity, vG, the wheel must have to just
roll over the obstruction at A.
Plan: Since no slipping or rebounding occurs, the wheel pivots
about point A. The force at A is much greater than the
weight, and since the time of impact is very short, the
weight can be considered non-impulsive. The reaction
force at A is a problem as we don’t know either its
direction or magnitude. This force can be eliminated by
applying the conservation of angular momentum equation
about A.
EXAMPLE (continued)
Solution:
Impulse-momentum diagram:
Conservation of angular momentum:

(HA)1 = (HA)2
r ' m (vG)1 + IG 1 = r m (vG)2 + IG 2
(0.2 - 0.03) 10 (vG)1 + 0.156 1 = 0.2(10) (vG)2 + 0.156 2
Kinematics: Since there is no slip,  = vG/r = 5 vG.
Substituting and solving the momentum equation yields
(vG)2 = 0.892 (vG)1
EXAMPLE (continued)
To complete the solution,

conservation of energy can be used.
Since it cannot be used for the
impact (why?), it is applied just
after the impact. In order to roll over
the bump, the wheel must go to position 3 from 2. When (vG)2 is
a minimum, (vG)3 is zero. Why?
Energy conservation equation : T2 + V2 = T3 + V3
{½ (10) (vG)22 + ½ (0.156) 22 } + 0 = 0 + 98.1 (0.03)
Substituting 2 = 5 (vG)2 and (vG)2 = 0.892 (vG)1 and solving

yields
(vG)1 = 0.729 m/s
CONCEPT QUIZ
1. A slender rod (mass = M) is at rest. If a bullet (mass = m) is
fired with a velocity of vb, the angular A
momentum of the bullet about A just 0.5 2
before impact is ___________. m
G
A) 0.5 m vb 2 B) m vb
1.0
C) 0.5 m vb D) zero
2. For the rod in question 1, the angular momentum about A of

the rod and bullet just after impact will be ___________.
A) m vb + M(0.5)2 B) m(0.5)22 + M(0.5)22
C) m(0.5)22 + M(0.5)22 D) zero
+ (1/12) M 2
Given: Two children(mA= mB= 30 kg)
sit at the edge of the merry-go-
round, which has a mass of 180
kg and a radius of gyration of
kz = 0.6 m.
Find: The angular velocity of the merry-go-round if A jumps

off horizontally in the +t direction with a speed of 2 m/s,
measured relative to the merry-go-round.
Plan: Draw an impulse-momentum diagram. The
conservation of angular momentum can be used to find
the angular velocity.
Solution:
Impulse-momentum diagram:
Apply the conservation of angular
M
mB mA momentum equation:
2 rad/s
∑(H)1 = ∑(H)2
180 (0.6)2 (2) + 2 × {(30) 2 (0.75) 2}
=
vA/M = 2 m/s
= 180 (0.6)2  + (30)  (0.75) 2
+ (30) (0.75  + 2) (0.75)
M
mB mA  197.1 = 98.55  + 45

Solving yields
 = 1.54 rad/s
ATTENTION QUIZ
1. Using conservation of linear and angular momentum

requires that _____________.
A) all linear impulses sum to zero
B) all angular impulses sum to zero
C) both linear and angular impulses sum to zero
2. The angular momentum of a body about a point A that is

the fixed axis of rotation but not the mass center (G) is
_____________.
A) IA B) IG 
C) rG (m vG) + IG  D) Both A & C

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INTRODUCTION &

RECTILINEAR KINEMATICS: CONTINUOUS MOTION

1. In dynamics, a particle is assumed to have _________.

2. The average speed is defined as __________.

The motion of large objects,

If we measure the altitude

A sports car travels along a straight road.

Mechanics: The study of how bodies

Statics: The study of Dynamics:

The position of the particle at any instant,

The displacement of the particle is

The average velocity of a particle during a

Speed is the magnitude of velocity: v = ds / dt

Average speed is the total distance traveled divided by elapsed time:

The instantaneous acceleration is the time

Scalar form: a = dv / dt = d2s / dt2

Acceleration can be positive (speed

As the book indicates, the derivative equations for velocity and

• Differentiate position to get velocity and acceleration.

v = ds/dt ; a = dv/dt or a = v dv/ds

• Integrate acceleration for velocity and position.

• Note that so and vo represent the initial position and

 v dv =  ac ds yields v 2 = (vo )2 + 2ac(s - so)

Given: A particle travels along a straight line to the right

Find: The position and acceleration of the particle

Plan: Establish the positive coordinate, s, in the direction the

2) Calculate the distance traveled in 4s by integrating the

v = ds / dt => ds = v dt =>  ds =  (4 t – 3 t2) dt

=> s – 0 = 2(4)2 – (4)3 => s = – 32 m ( or )

Plan: Both balls experience a constant downward acceleration

1) First consider ball A. With the origin defined at the ground,

sA = (sA )o + (vA)o t + (1/2) ac t2

20 ft = 40 ft + (0)(t) + (1/2)(-32.2)(t2) => t = 1.115 s

2) Now consider ball B. It is throw upward from a height of 5 ft

sB = (sB)o + (vB)ot + (1/2) ac t2

=> (vB)o = 31.4 ft/s

1. A particle has an initial velocity of 3 ft/s to the left at

2. A particle is moving with an initial velocity of v = 12 ft/s

1. The slope of a v-t graph at any instant represents instantaneous

2. Displacement of a particle in a given time interval equals the

If we have a v-s graph for the

Plots of position vs. time can be

Therefore, the v-t graph can be

Therefore, the acceleration vs. time (or

Also, the distance moved

Given the acceleration vs. time

So we can construct a v-t graph

A more complex case is presented by

Thus, we can obtain an a-s plot

What is your plan of attack for the problem?

when 0 < t < 5 s; v0-5 = ds/dt = d(3t2)/dt = 6 t m/s

when 5 < t < 10 s; v5-10 = ds/dt = d(30t75)/dt = 30 m/s

when 0 < t < 5 s; a0-5 = dv/dt = d(6t)/dt = 6 m/s2

when 5 < t < 10 s; a5-10 = dv/dt = d(30)/dt = 0 m/s2

1. If a particle starts from rest and

A) 200 m/s B) 100 m/s

2. The particle in Problem 1 stops moving at t = _______.

Given: The v-t graph shown.

Find: The a-t graph, average

For 30 ≤ t ≤ 90 a = dv/dt = -0.5 m/s²

a(m/s²) a-t graph

Ds0-30 =  v dt = (1/2) (30)2 = 450 m

s0-90 = 450 + 900 = 1350 m