Week 8 1 Kinematics Sec.12.1 - Sec.12.

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12.10 How to locate an object (equation of motion) Physical quantities to describe the motion of an object; Their relationships.

Chapter12 Kinematics of a Particle

Concepts of position, displacement, velocity, and acceleration Rectilinear motion Curvilinear motion described in N-T coordinate and cylindrical coordinate Absolute-dependent motion and relative motion

12.2 Rectilinear motion (1 freedom)

A particle in the rectilinear motion can be defined using only one coordinate axis 1freedom. The kinematics of a particle is characterized by specifying the particle s position, velocity, and acceleration.

Position coordinate, an algebraic scalar(s), r represents the particles position vector. Displacement is defined as the change in its position. r=r- r

Position: velocity

equation of motion: s=s(t)

average velocity vavg =

r dr = t 0 t dt Speed is the magnitude of the velocity, i.e. instantaneous velocity v = lim

r t

dr dt

Acceleration

r r v average acceleration aavg = t r r v dv r instantaneous acceleration a = lim = t 0 t dt

If equation of motion of a particle is known, its all information about motion, position, path, velocity and acceleration can be obtained by calculation. Likewise, if the a is known, s can be determined from dv=adt .

Case study: constant-acceleration motion

When t = 0, s = s0 and v = v0 v = v0 + a t s = s0 + v0 t + (1/2) a t2 Using v dv = a ds (How to derive?) v2 = v02 + 2 a (s-s0)

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Example 1: A boat pulled by a rope, the end of the boat moves with constant speed v. Determine the velocity of the boat.

Example 2:

As a body is projected to a high attitude above the earths surface, the variation of the acceleration of gravity with respect to altitude y must be taken into account. Neglecting air resistance, this acceleration is determined from the formula a = -g0[R2/ (R+y)2], where g0 is the constant gravitational acceleration at sea level, R is the radius of the earth, and the positive direction is measured upward. If g0 = 9.81 m/s2 and R = 6356 km, determine the minimum initial velocity (escape velocity) at which a projectile should be shot vertically from the earths surface so that it does not fall back to the earth. (Prob. 12-34) Hint: This requires that v = 0 as y .

12.4 General Curvilinear Motion Position:

Position Vector: r=r(t) is a function of time ,called equation of motion. Displacement: r=r-r Path : the ends of all position vectors form the path.

Velocity
average velocity vavg = r t

instantaneous velocity v = lim

r dr = t 0 t dt

Acceleration
r r v average acceleration aavg = t r r If equation of motion of a known, its all information about motion, v is dv r particle instantaneous acceleration a = lim = position, path, velocity and acceleration can t 0 t dt be obtained by calculation. Likewise, if the a is known, s can be determined from dv=adt .

12.5 Curvilinear motion expressed in Cartesian coordinate system Position: equation of motion: r = r (t)= x(t)i +y(t)j+z(t)k
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or

x=x(t) y=y(t) z=z(t)

magnitude:

direction:

r=(x2+y2 +z2 )0.5 u r=r/r

Velocity:
r r x y z r average velocity vavg = = i+ j+ k t t t t r dz r dr dx dy Acceleration instantaneous velocity v = = i+ j+ k r dt dt dt r v dt average acceleration aavg = =v i x t + v y j + vz k r r dv dvx dv y dv instantaneous acceleration a = = i+ j+ z k 12.6 Motion of a Projectile dt dt dt dt Case study: motion of a projectile &+ & &+ & & =& xi yj zk When air resistance is neglected, a constant downward gravity is the only force acting on the projectile. When air resistance is neglected, a constant downward gravity is the only force acting on the projectile. Horizontal motion. Since ax = 0, vx = v0x x = x0 + v0x t Vertical motion. Since ay = -g = -9.8 m/s2 = -32.2 ft/s2 vy = v0y g t y = y0 + v0y t (1/2) g t2 vy2 = voy2 2 g (y y0) Example 4: The motorcycle travels with constant speed v0 along the path, for a short distance, takes a form of sine curve. Determine the x and y components of its velocity at any instant on the curve. (Prob. 12-77)

Example 5: The ball at A is kicked such that A = 30o. If it strikes the ground at B having coordinates x = 15 ft, y = -9 ft, determine the speed at which it is kicked and the speed at which it strikes the ground. (Prob. 12-94)

Homework
Prob. 29, 33, 54, 79, 86

Week 8 2 Sec12.7-12.8 12.7 Curvilinear motion in N & T coordinates n-t coordinate

When a particle moves along a fixed curve and the path is known, how many freedoms the particle has? (1 freedom) Position: equation of motion: s=s(t) We can use the arc length measured from a fixed point O to locate its position in space. If O and the positive direction of s ( in the direction of increasing s.) is preassigned previously . S is called arc length coordinate. Usually n-t coordinate is used to describe the motion above. The origin of the coordinate locates at the particle on the curve at a given instant T. The normal tangent and binormal axes act on the path. How is the n-t coordinate constructed? Osculating plane A particle locates at point P on the path at instant T and moves to p at instant T+ T. There are tangent lines t t at P and P respectively . In general cases, t t are not in a same plane. Draw a line t parallel to t at point P. Obviously t and t can determine a plane . When P tends to P , changes its direction . The limiting position (if exists) of Is called Osculating Plane, represented by .( ). (In the process , rotates around t .) At point P on the path there are tangent line t and osculating Plane ,and t is in plane , of course.
n-t coordinate: Form a plane N at point P perpendicular to the t axis , called normal plane .The normal

plane N and osculating Plane form a line n called normal axis . The n (normal) axis, perpendicular to the t axis, is directed from P toward the center of curvature O.
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Draw a line b perpendicular to the n axis in normal plane N , called binormal axis . Obviously t n b are perpendicular mutually, and construct a right-handed coordinate system .

N & T components of velocity and acceleration r r Vr r dr lim Velocity v = = V t 0 V dt t r Vr Vs ds & lim = lim = = s Magnitude: V t 0 V t Vt 0 Vt dt Direction: (always tangent to the path)

r ds t v= u dt r r r dut dut r d (vut ) dv r r &t + s & a= = ut + v =& su Acceleration dt dt dt dt r r dut Vu V = lim t Vut = 1g dt Vt 0 Vt Vu V Vs V & =s lim Magnitude: lim t = lim Vt 0 V Vt 0 Vs t Vt 0 Vs Vt V lim is called curvature k. (The unit of curvature 1/L) Vt 0 Vs Let =1/k. is called radius of curvature. Formula of & lim So we have s Vt 0 r r Direction: Vut un ( time rate of change in the speed ) ( time rate of change in the direction of velocity ) Two special cases: Moving along a straight line, .
2 & V s & Vu s = , and lim t = Vt 0 V Vs t

v2 r dv a= u + un t dt
2 dv v a = + dt 2 2

Move along a curve with a constant speed, at = 0 and an = v2/ .

12.8 Curvilinear motion in polar coordinate

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r : radial coordinate

: transverse coordinate

Position

r r equation of motion r = ru

r = r (t ) = (t )

r r r r r r ur = cos i + sin j u = sin i + cos j r r r r r r r du dur r = sin i + cos j = u = cos i sin j = ur d d r r r r dur dur d & du du d r r & = = u = = ur dt d dt dt d dt r r r du r dr d (rur ) r &r + r r v= = = ru dt dt dt r r Velocity & &r + r u = ru
2 & & v= r + (r )2

r r r r r & &r + r u ) du dur r dv d (ru r r r & & & & &r + r & +r & a= = =& ru u + r u + r dt dt dt dt Acceleration r r 2 &)u + ( r & & & & = (& r& r + 2r )u r r 2 & & & & & & & a = (r r )u r + ( r + 2r )u
2 2 & & & & & & & a = (r r ) + (r + 2r )2

A rod rotates around a pin O, at the same time a collar is traveling along rod OA. The position of collar C can be described by polar coordinate system r = r (t ) = (t ) . Its velocity is

r r r r r 2 r & & & & & &r + r & v == ru u , and the acceleration is a == (& r& r )ur + (r + 2r )u .
The physical explanation of the terms in the formulas is : When = 0 =constant, the motion of collar C is rectilinear motion, and is the measure of its

&r is the velocity and & &r is the acceleration of collar C. ru position. ru
When r = R =constant, the moeion of collar is along a circular path with radius R.

r 2r & & & R u is the tangential acceleration, and r ur is the normal acceleration respectively. & & The last term 2r u called Coriolis acceleration, is caused by two motion occur at the same time. r

Homework Prob. 115, 137, 147, 163, 205