11 Lecture PPT Rectilinear Motion

Tenth Edition
CHAPTER
11
VECTOR MECHANICS FOR ENGINEERS:
DYNAMICS
Ferdinand P. Beer
E. Russell Johnston, Jr.
Phillip J. Cornwell
Lecture Notes:
Brian P. Self
Kinematics of ParticlesRectilinear motion
California Polytechnic State University
2013 The McGraw-Hill Companies, Inc. All rights reserved.
Tenth
Edition
Vector Mechanics for Engineers: Dynamics

Contents
Introduction
Rectilinear Motion: Position,
Velocity & Acceleration
Determination of the Motion of a
Particle
Sample Problem 11.2
Sample Problem 11.3
Uniform Rectilinear-Motion
Uniformly Accelerated RectilinearMotion
Motion of Several Particles:
Relative Motion
Sample Problem 11.4
Motion of Several Particles:
Dependent Motion
Sample Problem 11.5

Graphical Solution of RectilinearMotion Problems
Curvilinear Motion: Position, Velocity
& Acceleration
Derivatives of Vector Functions
Rectangular Components of Velocity
and Acceleration
Motion Relative to a Frame in
Translation
11 - 2
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Application
Kinematic relationships are used to
help us determine the trajectory of a
golf ball, the orbital speed of a
satellite, and the accelerations
during acrobatic flying.
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Introduction
Dynamics includes:
Kinematics: study of the geometry of motion.
Relates displacement, velocity, acceleration, and time without reference
to the cause of motion.
Fthrust
Fdrag
Flift
Kinetics: study of the relations existing between the forces acting on

a body, the mass of the body, and the motion of the body. Kinetics is
used to predict the motion caused by given forces or to determine the
forces required to produce a given motion.
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Introduction
Particle kinetics includes:
Rectilinear motion: position, velocity, and acceleration of a
particle as it moves along a straight line.
Curvilinear motion: position, velocity, and acceleration of a

particle as it moves along a curved line in two or three
dimensions.
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Rectilinear Motion: Position, Velocity & Acceleration
Rectilinear motion: particle moving
along a straight line
Position coordinate: defined by
positive or negative distance from a
fixed origin on the line.
The motion of a particle is known if

the position coordinate for particle is
known for every value of time t.
May be expressed in the form of a
function, e.g.,
2
3
x 6t t
or in the form of a graph x vs. t.

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Consider particle which occupies position P
at time t and P at t+Dt,
Dx
Average velocity
Dt
Dx
lim
Instantaneous velocity
Dt 0 D t
Instantaneous velocity may be positive or

negative. Magnitude of velocity is referred
to as particle speed.
From the definition of a derivative,
Dx dx
v lim
dt
Dt 0 Dt
e.g., x 6t 2 t 3
dx
v
12t 3t 2
dt
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Consider particle with velocity v at time t and
v at t+Dt,
Dv
Instantaneous acceleration a lim
Dt 0 Dt
Instantaneous acceleration may be:

- positive: increasing positive velocity
or decreasing negative velocity
- negative: decreasing positive velocity
or increasing negative velocity.
From the definition of a derivative,
Dv dv d 2 x
a lim
2
dt dt
Dt 0 Dt
e.g. v 12t 3t 2
a
dv
12 6t
dt
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Concept Quiz
What is true about the kinematics of a particle?

a) The velocity of a particle is always positive
b) The velocity of a particle is equal to the slope of
the position-time graph
c) If the position of a particle is zero, then the
velocity must zero
d) If the velocity of a particle is zero, then its
acceleration must be zero
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From our example,
x 6t 2 t 3
v
dx
12t 3t 2
dt
dv d 2 x
a
12 6t
dt dt 2
What are x, v, and a at t = 2 s ?

- at t = 2 s, x = 16 m, v = vmax = 12 m/s, a = 0
Note that vmax occurs when a=0, and that the
slope of the velocity curve is zero at this point.
What are x, v, and a at t = 4 s ?
- at t = 4 s, x = xmax = 32 m, v = 0, a = -12 m/s2
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Determination of the Motion of a Particle
We often determine accelerations from the forces applied
(kinetics will be covered later)
Generally have three classes of motion
- acceleration given as a function of time, a = f(t)
- acceleration given as a function of position, a = f(x)
- acceleration given as a function of velocity, a = f(v)
Can you think of a physical example of when force is a
When force is a function of velocity?
function of position?
a spring
drag
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Acceleration as a function of time, position, or velocity
If.
a a t
a a x
Kinematic relationship
dt
dx
dv
and a
v
dt
dv
a (v )
dt
dv
v
a v
dx
v0
dv a t dt
dv
a (t )
dt
v dv a x dx
a a v
Integrate
v0
x0
v dv a x dx
v
dv
v a v 0 dt
0
x
v dv
x dx v a v
0
0
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Sample Problem 11.2
SOLUTION:
Integrate twice to find v(t) and y(t).
Solve for t when velocity equals zero

(time for maximum elevation) and
evaluate corresponding altitude.
Ball tossed with 10 m/s vertical velocity
from window 20 m above ground.
Solve for t when altitude equals zero

(time for ground impact) and evaluate
corresponding velocity.
Determine:
velocity and elevation above ground at
time t,
highest elevation reached by ball and
corresponding time, and
time when ball will hit the ground and
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Sample Problem 11.2
SOLUTION:
Integrate twice to find v(t) and y(t).
dv
a 9.81 m s 2
dt
v t
t
vt v0 9.81t
dv 9.81 dt
v0
vt 10
dy
v 10 9.81t
dt
y t
t
dy 10 9.81t dt
y0
m
m
9.81 2 t
s
s
y t y0 10t 12 9.81t 2
m
m
y t 20 m 10 t 4.905 2 t 2
s
s
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Sample Problem 11.2
Solve for t when velocity equals zero and evaluate
corresponding altitude.
vt 10
m
m
9.81 2 t 0
s
s
t 1.019 s
Solve for t when altitude equals zero and evaluate

m
m
y t 20 m 10 t 4.905 2 t 2
s
s
m
m
y 20 m 10 1.019 s 4.905 2 1.019 s 2
s
s
y 25.1 m
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Sample Problem 11.2
Solve for t when altitude equals zero and evaluate
m
m
y t 20 m 10 t 4.905 2 t 2 0
s
s
t 1.243 s meaningles s
t 3.28 s
vt 10
m
m
9.81 2 t
s
s
v3.28 s 10
m
m
9.81 2 3.28 s
s
s
v 22.2
m
s
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Sample Problem 11.3
SOLUTION:
a kv
Integrate a = dv/dt = -kv to find v(t).

Integrate v(t) = dx/dt to find x(t).
Brake mechanism used to reduce gun

recoil consists of piston attached to barrel
moving in fixed cylinder filled with oil.
As barrel recoils with initial velocity v0,
piston moves and oil is forced through
orifices in piston, causing piston and
cylinder to decelerate at rate proportional
to their velocity.
Integrate a = v dv/dx = -kv to find

v(x).
Determine v(t), x(t), and v(x).
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Sample Problem 11.3
SOLUTION:
Integrate a = dv/dt = -kv to find v(t).
v
dv
a
kv
dt
dv
v v k 0 dt
0
ln
v t
v0
kt
vt v0 e kt
Integrate v(t) = dx/dt to find x(t).
v t
dx
v0e kt
dt
kt
dx
v
e
0
dt
x t v0 e kt
k
0
xt
v0
1 e kt
k
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Sample Problem 11.3
Integrate a = v dv/dx = -kv to find v(x).
dv
a v kv
dx
dv k dx
v0
dv k dx
v v0 kx
v v0 kx
Alternatively,
with
and
then
xt
v0
1 e kt
k
vt
vt v0 e kt or e kt
v0
v vt
xt 0 1
k
v0
v v0 kx
11 - 19
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Problem Solving
A bowling ball is dropped from a boat so that it
strikes the surface of a lake with a speed of 5 m/s.
Assuming the ball experiences a downward
acceleration of a =10 - 0.01v2 when in the water,
determine the velocity of the ball when it strikes the
bottom of the lake.
+y
Which integral should you choose?

v
(a)
(b)
dv a t dt
v0
v dv
x dx v a v
0
0
(c)
v0
x0
v dv a x dx
v
(d)
dv
v a v 0 dt
0
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Problem Solving
SOLUTION:
Determine the proper kinematic
relationship to apply (is acceleration
a function of time, velocity, or
position?
The car starts from rest and accelerates
according to the relationship
a 3 0.001v
Determine the total distance the car

travels in one-half lap
Integrate to determine the velocity

after one-half lap
It travels around a circular track that has

a radius of 200 meters. Calculate the
velocity of the car after it has travelled
halfway around the track. What is the
cars maximum possible speed?
11 - 21
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Problem Solving
Given: a 3 0.001v 2
vo = 0, r = 200 m
Find: v after lap

Maximum speed
Choose the proper kinematic relationship

Acceleration is a function of velocity, and
we also can determine distance. Time is not
involved in the problem, so we choose:
dv
v
a v
dx
v dv
x dx v a v
0
0
Determine total distance travelled

x r 3.14(200) 628.32 m
11 - 22
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Problem Solving
Determine the full integral, including limits
x
v dv
dx
x
v a v
0
0
628.32
v
dv
2
3 0.001v
0
dx
Evaluate the interval and solve for v

1
2 v
628.32
ln 3 0.001v
0
0.002
628.32(0.002) ln 3 0.001v2 ln 3 0.001(0)

ln 3 0.001v2 1.2566 1.0986= 0.15802
Take the exponential of each side

3 0.001v 2 e 0.15802
11 - 23
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Problem Solving
Solve for v
3 0.001v 2 e 0.15802
3 e0.15802
v
2146.2
0.001
2
v 46.3268 m/s
How do you determine the maximum speed the car can reach?
a 3 0.001v 2
Velocity is a maximum when

acceleration is zero
0.001v 2 3
This occurs when
vmax
0.001
vmax 54.772 m/s
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Uniform Rectilinear Motion
During free-fall, a parachutist
reaches terminal velocity when
her weight equals the drag
force. If motion is in a straight
line, this is uniform rectilinear
motion.
For a particle in uniform

rectilinear motion, the
acceleration is zero and
the velocity is constant.
dx
v constant
dt
x
x0
dx v dt
x x0 vt
x x0 vt
Careful these only apply to
uniform rectilinear motion!
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Uniformly Accelerated Rectilinear Motion
If forces applied to a body
are constant (and in a
constant direction), then
you have uniformly
accelerated rectilinear
motion.
Another example is freefall when drag is negligible
11 - 26
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Uniformly Accelerated Rectilinear Motion
For a particle in uniformly accelerated rectilinear motion, the
acceleration of the particle is constant. You may recognize these
constant acceleration equations from your physics courses.
dv
a constant
dt
dx
v0 at
dt
dv a dt
v0
dx v0 at dt
x0
dv
v a constant
dx
v v0 at
x x0 v0t 12 at 2
v0
x0
v dv a dx
v 2 v02 2a x x0
Careful these only apply to uniformly

accelerated rectilinear motion!
11 - 27
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Motion of Several Particles
We may be interested in the motion of several different particles,
whose motion may be independent or linked together.
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Motion of Several Particles: Relative Motion
For particles moving along the same line, time
should be recorded from the same starting
instant and displacements should be measured
from the same origin in the same direction.
x B x A relative position of B
with respect to A
xB x A xB A
xB
v B v A relative velocity of B
with respect to A
vB v A vB A
vB
a B a A relative acceleration of B
with respect to A
aB a A aB A
aB
11 - 29
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Sample Problem 11.4
SOLUTION:
Substitute initial position and velocity
and constant acceleration of ball into
general equations for uniformly
accelerated rectilinear motion.
Substitute initial position and constant
velocity of elevator into equation for
uniform rectilinear motion.
Ball thrown vertically from 12 m level

in elevator shaft with initial velocity of
18 m/s. At same instant, open-platform
elevator passes 5 m level moving
upward at 2 m/s.
Determine (a) when and where ball hits
elevator and (b) relative velocity of ball
and elevator at contact.
Write equation for relative position of

ball with respect to elevator and solve
for zero relative position, i.e., impact.
Substitute impact time into equation

for position of elevator and relative
velocity of ball with respect to
elevator.
11 - 30
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Sample Problem 11.4
SOLUTION:
Substitute initial position and velocity and constant
acceleration of ball into general equations for
uniformly accelerated rectilinear motion.
v B v0 at 18
m
m
9.81 2 t
s
s
m
m
y B y0 v0t 12 at 2 12 m 18 t 4.905 2 t 2
s
s
Substitute initial position and constant velocity of

elevator into equation for uniform rectilinear motion.
vE 2
m
s
m
y E y0 v E t 5 m 2 t
s
11 - 31
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Sample Problem 11.4
Write equation for relative position of ball with respect to
elevator and solve for zero relative position, i.e., impact.
y B E 12 18t 4.905t 2 5 2t 0
t 0.39 s meaningles s
t 3.65 s
Substitute impact time into equations for position of elevator

and relative velocity of ball with respect to elevator.
y E 5 23.65
y E 12.3 m
v B E 18 9.81t 2
16 9.813.65
v B E 19.81
m
s
11 - 32
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Motion of Several Particles: Dependent Motion
Position of a particle may depend on position of one
or more other particles.
Position of block B depends on position of block A.

Since rope is of constant length, it follows that sum of
lengths of segments must be constant.
x A 2 x B constant (one degree of freedom)
Positions of three blocks are dependent.

2 x A 2 x B xC constant (two degrees of freedom)
For linearly related positions, similar relations hold

between velocities and accelerations.
dx
dx A
dx
2 B C 0 or 2v A 2v B vC 0
dt
dt
dt
dv
dv
dv
2 A 2 B C 0 or 2a A 2a B aC 0
dt
dt
dt
2
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Sample Problem 11.5
SOLUTION:
Define origin at upper horizontal surface
with positive displacement downward.
Collar A has uniformly accelerated
rectilinear motion. Solve for acceleration
and time t to reach L.
Pulley D has uniform rectilinear motion.
Pulley D is attached to a collar which
Calculate change of position at time t.
is pulled down at 75 mm/s. At t = 0,
collar A starts moving down from K Block B motion is dependent on motions
of collar A and pulley D. Write motion
with constant acceleration and zero
initial velocity. Knowing that velocity relationship and solve for change of block
B position at time t.
of collar A is 300 mm/s as it passes L,
determine the change in elevation,
Differentiate motion relation twice to
velocity, and acceleration of block B
develop equations for velocity and
when block A is at L.
acceleration of block B.
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Sample Problem 11.5
SOLUTION:
Define origin at upper horizontal surface with
positive displacement downward.
Collar A has uniformly accelerated rectilinear

motion. Solve for acceleration and time t to reach L.
2
v A2 v A 0 2a A x A x A 0
2
mm
300
2a A 200 mm
s
mm
a A 225 2
s
v A = (v A )0 + a At
300
mm
mm
= 225 2 t
s
s
t = 1.333 s
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Sample Problem 11.5
Pulley D has uniform rectilinear motion. Calculate
change of position at time t.
x D = ( x D ) 0 + vD t
mm
xD - ( xD ) 0 = 75
(1.333s) = 100 mm
s
Block B motion is dependent on motions of collar
A and pulley D. Write motion relationship and
solve for change of block B position at time t.
Total length of cable remains constant,
x A 2 xD xB x A 0 2 x D 0 x B 0
x A x A 0 2 xD xD 0 xB x B 0 0
200 mm 2 100 mm xB xB 0 0
xB - (xB )0 = - 400mm
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Sample Problem 11.5
Differentiate motion relation twice to develop
equations for velocity and acceleration of block B.
x A 2 xD xB constant
v A 2vD vB 0
mm
mm
300
2 75
vB 0
s
s
vB = - 450
mm
mm
= 450
s
s
a A 2 aD aB 0
mm
225
2(0) aB 0
2
s
aB = - 225
mm
mm
=
225
s2
s2
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Problem Solving
Slider block A moves to the left with a
constant velocity of 6 m/s. Determine the
velocity of block B.
Solution steps
Sketch your system and choose
coordinate system
Write out constraint equation
Differentiate the constraint equation to
get velocity
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Problem Solving
Given: vA= 6 m/s left Find: vB
xA
This length is constant no

matter how the blocks move
Sketch your system and choose coordinates

yB
Define your constraint equation(s)
x A 3 yB constants L
Differentiate the constraint equation to
get velocity
6 m/s + 3vB 0
v B 2 m/s
Note that as xA gets bigger, yB gets smaller.
11 - 39
Graphical Solution of Rectilinear-Motion Problems

Engineers often collect position, velocity, and acceleration
data. Graphical solutions are often useful in analyzing
these data.
Data Fideltity / Highest Recorded Punch
180
160
Acceleration data
from a head impact
during a round of
boxing.
140
Acceleration (g)
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120
100
80
60
40
20
0
47.76
47.77
47.78
47.79
47.8
47.81
Time (s)
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Given the x-t curve, the v-t curve is

equal to the x-t curve slope.
Given the v-t curve, the a-t curve is
equal to the v-t curve slope.
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Given the a-t curve, the change in velocity between t1 and t2 is

equal to the area under the a-t curve between t1 and t2.
Given the v-t curve, the change in position between t1 and t2 is

equal to the area under the v-t curve between t1 and t2.
11 - 42

11 Lecture PPT Rectilinear Motion

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Tenth Edition

VECTOR MECHANICS FOR ENGINEERS:

Kinematics of ParticlesRectilinear motion

California Polytechnic State University

2013 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

Sample Problem 11.5

2013 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

2013 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

Kinetics: study of the relations existing between the forces acting on

Vector Mechanics for Engineers: Dynamics

Curvilinear motion: position, velocity, and acceleration of a

Vector Mechanics for Engineers: Dynamics

The motion of a particle is known if

or in the form of a graph x vs. t.

Vector Mechanics for Engineers: Dynamics

Instantaneous velocity may be positive or

Vector Mechanics for Engineers: Dynamics

Instantaneous acceleration may be:

Vector Mechanics for Engineers: Dynamics

What is true about the kinematics of a particle?

2013 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

What are x, v, and a at t = 2 s ?

Vector Mechanics for Engineers: Dynamics

Vector Mechanics for Engineers: Dynamics

2013 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

Solve for t when velocity equals zero

Solve for t when altitude equals zero

Vector Mechanics for Engineers: Dynamics

Vector Mechanics for Engineers: Dynamics

Solve for t when altitude equals zero and evaluate

Vector Mechanics for Engineers: Dynamics

2013 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

Integrate a = dv/dt = -kv to find v(t).

Brake mechanism used to reduce gun

Integrate a = v dv/dx = -kv to find

Determine v(t), x(t), and v(x).

2013 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

Vector Mechanics for Engineers: Dynamics

2013 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

Which integral should you choose?

2013 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

Determine the total distance the car

Integrate to determine the velocity

It travels around a circular track that has

Vector Mechanics for Engineers: Dynamics

Find: v after lap

Choose the proper kinematic relationship

Determine total distance travelled

2013 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

Evaluate the interval and solve for v

628.32(0.002) ln 3 0.001v2 ln 3 0.001(0)

Take the exponential of each side

Vector Mechanics for Engineers: Dynamics