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Chapter 12 : Kinematics Of A Particle

Chapter Objectives
To introduce the concepts of position, displacement,
velocity, and acceleration.
To study particle motion along a straight line and
represent this motion graphically.
To investigate particle motion along a curved path
using different coordinate systems.
To present an analysis of dependent motion of two
particles.
To examine the principles of relative motion of two
particles using translating axes.
Chapter Outline
Introduction
Rectilinear Kinematics: Continuous Motion
Rectilinear Kinematics: Erratic Motion
Curvilinear Motion: Rectangular Components
Motion of a Projectile
Curvilinear Motion: Normal and Tangential Components
Curvilinear Motion: Cylindrical Components
Absolute Dependent Motion Analysis of Two Particles
Relative Motion Analysis of Two Particles Using Translating Axes
Introduction
Mechanics a branch of science which studies on
how bodies react to forces acting on them

Statics a branch of mechanics which deals with
analysis of loads on a particle or body in
equilibrium.

Dynamics a branch of mechanics which deals
with particle in motion.

Introduction
Difference of Kinematics and Kinetics.

1) Kinematics deals with geometry in motion
without consideration of forces involved.

2) Kinetics relates the force acting on a particle to
its mass and acceleration.
Introduction
Difference of Particle to Body

Particle refers to the item that is being analyze
to be point in size.

Body it is a system of particle with appreciable
size.
Motion of Particle
Translation motion of a rigid body in a
straight or curvilinear path where particles
stay in parallel and adjacent in referral to their
initial position.

Rectilinear motion lies in a straight line.

Curvilinear motions path is in a curve.
Rectilinear Kinematics: Continuous Motion
Rectilinear Kinematics specifying at any instant, the
particles position, velocity, and acceleration

Position
1) Single coordinate axis, s
2) Origin, O
3) Position vector r specific location of particle P at
any instant

4) Algebraic Scalar s in metres




Note : - Magnitude of s = Dist from O to P
- The sense (arrowhead dir of r) is defined by
algebraic sign on s
=> + = right of origin, - = left of origin
Rectilinear Kinematics: Continuous Motion
Displacement change in its position, vector
quantity
Rectilinear Kinematics: Continuous Motion
If particle moves from P to P
=>


is +ve if particles position is right of its initial
position
is -ve if particles position is left of its initial position

s s s
'
= A
r r r
'
= A
s A
s A
Rectilinear Kinematics: Continuous Motion
Velocity
Average velocity,
(total change in position divided by the total elapsed time)

Instantaneous velocity is defined as
(differential/infinitesimal change in position per differential change in time)



t
r
v
avg
A
A
=
( ) t r v
t
ins
A A =
A
/ lim
0
dt
dr
v
ins
=
Rectilinear Kinematics: Continuous Motion
Representing as an algebraic scalar,



Velocity is +ve = particle moving to the right
Velocity is ve = Particle moving to the left
Magnitude of velocity is the speed (m/s)
ins
v
dt
ds
v =
|
.
|

\
|

+
Rectilinear Kinematics: Continuous Motion
Average speed is defined as total distance
traveled by a particle, s
T
, divided by the
elapsed time .


The particle travels along
the path of length s
T
in time

=> (average speed; magnitude only)

(average velocity; includes direction (sign)

t A
( )
t
s
v
T
avg
sp
A
=
t A
( )
t
s
v
t
s
v
avg
T
avg
sp
A
A
=
A
=
Rectilinear Kinematics: Continuous Motion
Acceleration velocity of particle is known at
points P and P during time interval t,
average acceleration is




v represents difference in the velocity
during the time interval t, ie
t
v
a
avg
A
A
=
v v v = A '
t
v
a
avg
A
A
=
Rectilinear Kinematics: Continuous Motion
Instantaneous acceleration at time t is found by
taking smaller and smaller values of t and
corresponding smaller and smaller values of v,
( ) t v a
t
A A =
A
/ lim
0
|
.
|

\
|

+
|
.
|

\
|

+
2
2
dt
s d
a
dt
dv
a
=
=
Rectilinear Kinematics: Continuous Motion
Particle is slowing down, its speed is
decreasing => decelerating =>
will be negative.
Consequently, a will also be negative,
therefore it will act to the left, in the opposite
sense to v
If velocity is constant,
acceleration is zero
v v v = A '
Rectilinear Kinematics: Continuous Motion
Velocity as a Function of Time

Integrate a
c
= dv/dt, assuming that initially v
= v
0
when t = 0.

} }
=
t
c
v
v
dt a dv
0
0
t a v v
c
+ =
0
|
.
|

\
|

+
Constant Acceleration
Rectilinear Kinematics: Continuous Motion
Position as a Function of Time
Integrate v = ds/dt = v
0
+ a
c
t, assuming that
initially s = s
0
when t = 0
( )
2
0 0
0
0
2
1
0
t a t v s s
dt t a v ds
c
t
c
s
s
+ + =
+ =
} }
|
.
|

\
|

+
Constant Acceleration
Rectilinear Kinematics: Continuous Motion
Velocity as a Function of Position
Integrate v dv = a
c
ds, assuming that initially v =
v
0
at s = s
0
( )
0
2
0
2
2
0 0
s s a v v
ds a vdv
c
s
s
c
v
v
+ =
=
} }
|
.
|

\
|

+
Constant Acceleration
Rectilinear Kinematics: Continuous Motion
PROCEDURE FOR ANALYSIS
1) Coordinate System
Establish a position coordinate s along the path
and specify its fixed origin and positive direction.
The particles position, velocity, and acceleration,
can be represented as s, v and a respectively and
their sense is then determined from their algebraic
signs.
Rectilinear Kinematics: Continuous Motion
The positive sense for each scalar can be indicated
by an arrow shown alongside each kinematics eqn
as it is applied
Rectilinear Kinematics: Continuous Motion
2) Kinematic Equation
If a relationship is known between any two of the
four variables a, v, s and t, then a third variable
can be obtained by using one of the three the
kinematic equations
When integration is performed, it is important that
position and velocity be known at a given instant
in order to evaluate either the constant of
integration if an indefinite integral is used, or the
limits of integration if a definite integral is used
Rectilinear Kinematics: Continuous Motion
Remember that the three kinematics equations can
only be applied to situation where the acceleration
of the particle is constant.
Rectilinear Kinematics: Continuous Motion
The car moves in a straight line such that for a short
time its velocity is defined by v = (0.9t
2
+ 0.6t) m/s
where t is in sec. Determine its position and
acceleration when t = 3s. When t = 0, s = 0.
EXAMPLE 12.1
Solution:
Coordinate System. The position coordinate
extends from the fixed origin O to the car, positive to
the right.
Position. Since v = f(t), the cars position can be
determined from v = ds/dt, since this equation relates
v, s and t. Noting that s = 0 when t = 0, we have
( ) t t
dt
ds
v 6 . 0 9 . 0
2
+ = =
|
.
|

\
|

+
EXAMPLE 12.1
( )
( )
2 3
0
2 3
0
0
2
0
3 . 0 3 . 0
3 . 0 3 . 0
6 . 0 9 . 0
t t s
t t s
dt t t ds
t s
t s
+ =
+ =
+ =
} }
When t = 3s,
s = 10.8m
EXAMPLE 12.1
Acceleration. Knowing v = f(t), the acceleration is determined
from a = dv/dt, since this equation relates a, v and t.
|
.
|

\
|

+
( )
6 . 0 8 . 1
6 . 0 9 . 0
2
+ =
+ = =
t
t t
dt
d
dt
dv
a
When t = 3s,
a = 6m/s
2

( )
EXAMPLE 12.1
A small projectile is fired downward into a
fluid medium with an initial velocity of 60m/s.
Due to the resistance of the fluid the
projectile experiences a deceleration equal to a =
(-0.4v
3
)m/s
2
, where v is in m/s.
Determine the projectiles
velocity and position 4s
after it is fired.
EXAMPLE 12.2
Solution:
Coordinate System. Since the motion is
downward, the position coordinate is downwards
positive, with the origin located at O.
Velocity. Here a = f(v), velocity is a function of
time using a = dv/dt, since this equation relates v,
a and t.
3
4 . 0 v
dt
dv
a = =
( ) + +
EXAMPLE 12.2
( )
( )
s m t v
t
v
dt
v
dt
v
dv
t
v
t v
s m
/ 8 . 0
60
1
60
1 1
8 . 0
1
1
2
1
4 . 0
1
4 . 0
2 / 1
2
2 2
0
60
2
0 / 60
3

+ =
=
(

=
|
.
|

\
|

=

}
} }
When t = 4s,
v = 0.559 m/s
EXAMPLE 12.2
( ) + +
Position. Since v = f(t), the projectiles position can be
determined from v = ds/dt, since this equation relates v, s
and t. Noting that s = 0 when t = 0, we have
( )
2 / 1
2
8 . 0
60
1

|
|
.
|

\
|
+ = = t
dt
ds
v
( )
( )
t
t s
t s
dt t ds
0
2 / 1
2
0
2 / 1
2
0
8 . 0
60
1
8 . 0
2
8 . 0
60
1
|
|
.
|

\
|
+
|
.
|

\
|
=
|
|
.
|

\
|
+ =
} }

EXAMPLE 12.2
When t = 4s,
s = 4.43m
( )
m t s

|
|
.
|

\
|
+ =
2
2 / 1
2
60
1
8 . 0
60
1
4 . 0
1
EXAMPLE 12.2
( ) + +
A rocket travels upward at
75m/s. When it is 40m from
the ground, the engine fails.
Determine max height s
B

reached by the rocket and its
speed just before it hits the
ground.
EXAMPLE 12.3
Solution:
Coordinate System. Origin O for the position coordinate at
ground level with positive upward.
Maximum Height. Rocket traveling upward, v
A
= +75m/s
when t = 0. s = s
B
when v
B
= 0 at max ht. For entire motion,
acceleration a
C
= -9.81m/s
2
(negative since it act opposite
sense to positive velocity or positive displacement)

EXAMPLE 12.3
) ( 2
2 2
A B C A B
s s a v v + =
s
B
= 327 m
Velocity.
+ = =
+ =
s m s m v
s s a v v
C
B C C B C
/ 1 . 80 / 1 . 80
) ( 2
2
2 2
The negative root was chosen since the rocket is moving
downward
EXAMPLE 12.3
A particle moves along a horizontal path with a velocity of v =
(3t
2
6t) m/s. If it is initially located at the origin O,
determine the distance traveled in 3.5s and the particles
average velocity and speed during the time interval.
EXAMPLE 12.4
Solution:
Coordinate System. Assuming positive motion to the right,
measured from the origin, O
Distance traveled. Since v = f(t), the position as a function
of time may be found integrating v = ds/dt with t = 0, s = 0.
EXAMPLE 12.4
( )
( )m t t s
tdt dt t ds
dt t t
vdt ds
s t t
2 3
0 0 0
2
2
3
6 3
6 3
=
=
=
=
} } }
|
.
|

\
|

+
( )
( )m t t s
tdt dt t ds
dt t t
vdt ds
s t t
2 3
0 0 0
2
2
3
6 3
6 3
=
=
=
=
} } }
|
.
|

\
|

+
0 t < 2 s -> -ve velocity -> the particle is moving to the left, t > 2a -> +ve velocity ->
the particle is moving to the right
m s
s t
125 . 6
5 . 3
=
=
m s
s t
0 . 4
2
=
=
0
0
=
= t
s
EXAMPLE 12.4
The distance traveled in 3.5s is
s
T
= 4.0 + 4.0 + 6.125 = 14.125m
Velocity. The displacement from t = 0 to t = 3.5s is s =
6.125 0 = 6.125m
And so the average velocity is
=

=
A
A
= s m
t
s
v
avg
/ 75 . 1
0 5 . 3
125 . 6
Average speed, ( ) s m
t
s
v
T
avg
sp
/ 04 . 4
0 5 . 3
125 . 14
=

=
A
=
EXAMPLE 12.4
Rectilinear Kinematics: Erratic Motion
Rectilinear Kinematics: Erratic Motion
When particles motion is erratic, it is best described
graphically using a series of curves that can be
generated experimentally from computer output.
a graph can be established describing the relationship
with any two of the variables, a, v, s, t
using the kinematics equations a = dv/dt, v = ds/dt,
a ds = v dv
Given the s-t Graph, construct the v-t Graph
The s-t graph can be plotted if the position of the
particle can be determined experimentally during a
period of time t.
To determine the particles velocity as a function of
time, the v-t Graph, use v = ds/dt
Velocity as any instant is determined by measuring the
slope of the s-t graph
Rectilinear Kinematics: Erratic Motion
v
dt
ds
=
Slope of s-t graph = velocity
Rectilinear Kinematics: Erratic Motion
Given the v-t Graph, construct the a-t Graph
When the particles v-t graph is known, the
acceleration as a function of time, the a-t graph can be
determined using a = dv/dt
Acceleration as any instant is determined by
measuring the slope of the v-t graph
Rectilinear Kinematics: Erratic Motion
a
dt
dv
=
Slope of v-t graph = acceleration
Rectilinear Kinematics: Erratic Motion
Since differentiation reduces a polynomial of
degree n to that of degree n-1, then if the s-t
graph is parabolic (2
nd
degree curve), the v-t
graph will be sloping line (1
st
degree curve), and
the a-t graph will be a constant or horizontal line
(zero degree curve)
Rectilinear Kinematics: Erratic Motion
EXAMPLE 12.6
A bicycle moves along a straight road such that it position is described by the graph as
shown. Construct the v-t and a-t graphs for 0 t 30s.
Solution:
v-t Graph. The v-t graph can be determined by differentiating the eqns
defining the s-t graph

6 30 6 ; 30 10
6 . 0 3 . 0 ; 10 0
2
= = = s s
= = = s s
dt
ds
v t s s t s
t
dt
ds
v t s s t
The results are plotted.
EXAMPLE 12.6
We obtain specific values of v by measuring the slope of the s-t
graph at a given time instant.
s m
t
s
v / 6
10 30
30 150
=

=
A
A
=
a-t Graph. The a-t graph can be determined by
differentiating the eqns defining the lines of the v-t graph.
EXAMPLE 12.6
0 6 ; 30 10
6 . 0 6 . 0 ; 10 0
= = = s <
= = = s s
dt
dv
a v s t
dt
dv
a t v s t
The results are plotted.
EXAMPLE 12.6
Rectilinear Kinematics: Erratic Motion
Given the a-t Graph, construct the v-t Graph
When the a-t graph is known, the v-t graph may be constructed using a = dv/dt
}
= A dt a v
Change in
velocity
Area under a-t graph
=
Knowing particles initial velocity v
0
, and add to this small
increments of area (v)
Successive points v
1
= v
0
+ v, for the v-t graph
Each eqn for each segment of the a-t graph may be
integrated to yield eqns for corresponding segments of the v-
t graph
Rectilinear Kinematics: Erratic Motion
Given the v-t Graph, construct the s-t Graph
When the v-t graph is known, the s-t graph may be constructed using v = ds/dt
}
= A dt v s
Displacement Area under v-t
graph
=
Rectilinear Kinematics: Erratic Motion
knowing the initial position s
0
, and add to this area
increments s determined from v-t graph.
describe each of there segments of the v-t graph by a
series of eqns, each of these eqns may be integrated to
yield eqns that describe corresponding segments of
the s-t graph
Rectilinear Kinematics: Erratic Motion
EXAMPLE 12.7
A test car starts from rest and travels along a
straight track such that it accelerates at a
constant rate for 10 s and then decelerates
at a constant rate. Draw the v-t and s-t
graphs and determine the time t needed to
stop the car. How far has the car traveled?
Solution:
v-t Graph. The v-t graph can be determined by integrating the straight-line
segments of the a-t graph. Using initial condition v = 0 when t = 0,

t v dt dv a s t
t v
10 , 10 ; 10 10 0
0 0
= = = s s
} }
EXAMPLE 12.7
When t = t we require v = 0. This yield t = 60 s
s-t Graph. Integrating the eqns of the v-t graph yields the corresponding eqns
of the s-t graph. Using the initial conditions s = 0 when t = 0,
2
0 0
5 , 10 ; 10 ; 10 0 t s dt t ds t v s t
t s
= = = s s
} }
When t = 10s, v = 100m/s, using this as the initial condition for the next time
period, we have
120 2 , 2 ; 2 ; 10
10 100
+ = = =
'
s s
} }
t v dt dv a t t s
t v
EXAMPLE 12.7
When t = 60s, the position is s = 3000m
When t = 10s, s = 500m. Using this initial condition,
( )
600 120
120 2 ; 120 2 ; 60 10
2
10 500
+ =
+ = + = s s
} }
t t s
dt t ds t v s t s
t s
EXAMPLE 12.7
Rectilinear Kinematics: Erratic Motion
Given the a-s Graph, construct the v-s Graph
v-s graph can be determined by using v dv = a ds, integrating
this eqn between the limit v = v
0
at s = s
0
and v = v
1
at s = s
1
( )
}
=
1
0
2
0
2
1
2
1
s
s
ds a v v
Area under
a-s graph
determine the eqns which define the segments of the a-s graph
corresponding eqns defining the segments of the v-s graph can
be obtained from integration, using vdv = a ds
Rectilinear Kinematics: Erratic Motion
Given the v-s Graph, construct the a-s Graph
v-s graph is known, the acceleration a at any position s can be
determined using a ds = v dv

|
.
|

\
|
=
ds
dv
v a
Acceleration = velocity times slope of v-s graph
Rectilinear Kinematics: Erratic Motion
At any point (s,v), the slope dv/ds of the v-s graph is measured
Since v and dv/ds are known, the value of a can be calculated
Rectilinear Kinematics: Erratic Motion
EXAMPLE 12.8
The v-s graph describing the motion of a motorcycle is shown in Fig 12-15a. Construct
the a-s graph of the motion and determine the time needed for the motorcycle to reach
the position s = 120 m.
Solution:
a-s Graph. Since the eqns for the segments of the v-s graph are given, a-s
graph can be determined using a ds = v dv.

0
; 15 ; 120 60
6 . 0 04 . 0
3 2 . 0 ; 60 0
= =
= s <
+ = =
+ = s s
ds
dv
v a
v m s m
s
ds
dv
v a
s v m s
EXAMPLE 12.8
View Free Body Diagram
Time. The time can be obtained using v-s graph and v = ds/dt. For the first
segment of motion, s = 0 at t = 0,
3 ln 5 ) 3 2 . 0 ln( 5
3 2 . 0
3 2 . 0
; 3 2 . 0 ; 60 0
0
+ =
+
=
+
= = + = s s
} }
s t
s
ds
dt
ds
v
ds
dt s v m s
s t
o
At s = 60 m, t = 8.05 s
EXAMPLE 12.8
For second segment of motion,
05 . 4
15
15
15
; 15 ; 120 60
60 05 . 8
+ =
=
= = = s <
} }
s
t
ds
dt
ds
v
ds
dt v m s
s t
At s = 120 m, t = 12.0 s
EXAMPLE 12.8

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