Physics 170 Week 8, Lecture 3

http://www.phas.ubc.ca/gordonws/170

Physics 170 203 Week 8, Lecture 3

Textbook Chapter 12:

Section 12.9-10

Physics 170 203 Week 8, Lecture 3

Learning Goals:
After todays lecture, students will be able to relate the
positions, velocities and accelerations of two particles
undergoing dependent motion primarily problems with
pulleys.
Students will be able to understand translating frames of
reference and use translating frames of reference to analyze
relative motion.

Physics 170 203 Week 8, Lecture 3

Dependent motion
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.

Physics 170 203 Week 8, Lecture 3

Dependent motion contd

In this example, 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 `tot , the position coordinates are related mathematically by
the equation
sA (t) + `CD + sB (t) = `tot
Here, `CD is the length of cord passing over the arc CD of the
pulley. Here, we are allowing for the blocks to move by allowing sA
and sB to depend on time. `tot and `CD do not depend on time.

Physics 170 203 Week 8, Lecture 3

Dependent motion contd

The velocities of the block can be

related by differentiating the position equation, taking into account
d
d
that dt
`tot = 0 and dt
`CD = 0. s A (t) + s B (t) = 0 which tells us
that vA (t) = vB (t) .
Acceleration can be found by differentiating the velocity equation,
aA (t) = aB (t) .

Physics 170 203 Week 8, Lecture 3

Example:
Determine the speed of block A if block B has an upward speed of
6 ft/s.

Physics 170 203 Week 8, Lecture 3

Solution:
We begin by defining the positionss of the components that can
move from fixed, reference, datum positions. There are the
variables sA (t) and sB (t) depicted in the figure.

Physics 170 203 Week 8, Lecture 3

Solution contd:
We then write an equation for the total length of the cord
sA (t) + 3sB (t) = constant
Note that, in this equation, we have not worried much about the
total length or other contributions to the length that cannot change
with time.
Physics 170 203 Week 8, Lecture 3

Solution contd:
Now, we take the derivative of the equation for the length of the
cord by time to get
sA + 3sB = constant s A + 3s B = 0
vA (t) = 3vB (t)

Physics 170 203 Week 8, Lecture 3

10

Solution contd:
We have derived the following formula which relates the velocities
of components of the system, vA = 3vB . We are told that
vB = 6 f t/s Then vA = 3vB = (3)(6 f t/s) and finally
vB = 18 f t/s

Physics 170 203 Week 8, Lecture 3

11

Dependent Motion Proceedure: These proceedures can be

used to relate the dependent motion of particles moving along
rectilinear paths (only the magnitudes of velocities and
accelerations change, not their line of direction).
Define position coordinates from fixed datum lines, along the
path of each particle which can move.
Relate the position coordinates of the particles to the cord
length. Segments of cord that do not change in length during
the motion may be left out. There should be one such relation
for every cord in the system.
Differentiate the equations for positions to get equations for
velocities and accelerations.

Physics 170 203 Week 8, Lecture 3

12

Example:
Determine the speed with which the block B rises if the end of the
cord at A is pulled down with a speed of 2m/s.

Physics 170 203 Week 8, Lecture 3

13

Solution:
We begin by identifying the position of all components of the
system which will move, the hand at A by sA (t), the pulley at C by
sC (t) and the pulley at E by sB (t).

Physics 170 203 Week 8, Lecture 3

14

Solution contd:
We then write an equation for the length of each cord,
sA (t) sC (t) + sB (t) sC (t) + sB (t) = constant
sC (t) + sB (t) = constant

Physics 170 203 Week 8, Lecture 3

15

Solution contd:
We take derivatives of the cord equations,
d
d
(sA sC + sB sC + sB ) = 0 ,
(sC + sB ) = 0
dt
dt
to get

vA + 2vB 2vC = 0 and

Physics 170 203 Week 8, Lecture 3

vB + vC = 0

16

Solution contd:
Solve the second of the two equations for velocities,
vA + 2vB 2vC = 0 and vB + vC = 0 , to eliminate vC :
vC = vB . Plug this into the other equation and get
vB = 14 vA = 0.5 m/s so, finally, vA = 0.5m/s .

Physics 170 203 Week 8, Lecture 3

17

Relative position, velocity, acceleration

The position of particle B with respect to particle A is
~rBA (t) = ~rB (t) ~rA (t)
The velocity of particle B with respect to particle A is
~vBA (t) = ~vB (t) ~vA (t) =

d
d
~rB (t) ~rA (t)
dt
dt

The acceleration of particle B with respect to particle A is

d
d2
d
d2
~aBA (t) = ~aB (t) ~aA (t) = ~vB (t) ~vA (t) = 2 ~rB (t) t ~rA (t)
dt
dt
dt
dt
Also, change in position (velocity) is the integral of velocity
(acceleration)
Z t2
Z t2
~rBA (t2 ) ~rBA (t1 ) =
dt ~vBA , ~vBA (t2 ) ~vBA (t1 ) =
dt ~aBA
t1

Physics 170 203 Week 8, Lecture 3

t1

18

Example:
Two planes, A and B, are flying at the same altitude. If their
velocities are vA = 600 km/h and vB = 500 km/h such that the
angle between their straight-line courses is = 75 degrees,
determine the velocity of plane B with respect to plane A.

Physics 170 203 Week 8, Lecture 3

19

Solution:
Assume planes are in xy-plane. Then, orienting the coordinate axes
such that plane A is traveling in the negative x-direction, we find
h
i
vA = (600 km/h) cos(75) i sin(75) j , vB = (500 km/h) i

Physics 170 203 Week 8, Lecture 3

20

Solution contd:
To find the velocity of B relative to A, we form
h
i
~vBA = ~vB ~vA = (500 km/h) i(600 km/h) cos(75) i sin(75) j
Finally ~vBA = (655 km/h) i + (580 km/h) j

Physics 170 203 Week 8, Lecture 3

21

Example:
At the instant shown, cars A and B are traveling at speeds of
30 m/h and 20 mi/h, respectively. If A is increasing its speed at
400 mi/h2 whereas the speed of B is decreasing at 800 mi/h2 ,
determine the velocity and acceleration of B with respect to A.

Physics 170 203 Week 8, Lecture 3

22

Solution:
We assume that the ground is the xy-plane and that car A is
traveling in the negative x-direction. In its case, its velocity is
~vA = (30 m/h)i and its acceleration is ~aA = (400 mi/h2 ) i .

Physics 170 203 Week 8, Lecture 3

23

Solution contd:
Car B is traveling on a curved trajectory. Its tangential and
normal unit vectors are
u
t = sin 30 i + cos 30 j , u
n = cos 30 i + sin 30j
The velocity is
~vB = vB u
t , ~aB = v B
or

2
vB
u
t +
u
n
B

h
i
~vB = (20 mi/h) sin 30 i + cos 30 j
h
i
2
~aB = (800 mi/hr ) sin 30 i + cos 30 j
i
(20 mi/hr)2 h
+
cos 30 i + sin 30j
(0.3 mi)

Physics 170 203 Week 8, Lecture 3

24

Solution contd:
Given that
~vA = (30 m/h) i , ~aA = (400 mi/h2 ) i
h
i
~vB = (20 mi/h) sin 30 i + cos 30 j
h
i
2
~aB = (800 mi/hr ) sin 30 i + cos 30 j
i
(20 mi/hr)2 h
cos 30 i + sin 30j
+
(0.3 mi)
The relative velocity is
~vBA = ~vB ~vA = [(30mi/h) (20 mi/h) sin 30] i+(20 mi/h) cos 30 j
~vBA = (20 mi/h) i + (17.3 mi/h) j .

Physics 170 203 Week 8, Lecture 3

25

Solution contd:
The relative acceleration is
~aBA

h
i
= ~aB ~aA = (800 mi/hr ) sin 30 i + cos 30 j
2

i
(20 mi/hr)2 h
+
cos 30 i + sin 30j + (400 mi/h2 ) i
(0.3 mi)
2

(20 mi/hr)
= (800 mi/hr ) sin 30 +
cos 30 + (400 mi/h2
(0.3 mi)

2
(20 mi/hr)
2
sin 30 j
+ (800 mi/hr ) cos 30 +
(0.3 mi)
2

~a = (1950 mi/h2 ) i + (26.2 mi/h2 ) j .

Physics 170 203 Week 8, Lecture 3

26

For the next lecture, please read

Textbook Chapter 13:
Section 13.1

Physics 170 203 Week 8, Lecture 3

27