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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.
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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
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Chapter Outline
Curvilinear Motion: Cylindrical Components
Absolute Dependent Motion Analysis of Two
Particles
Relative Motion Analysis of Two Particles
Using Translating Axes
Introduction
Mechanics the state of rest of motion of
bodies subjected to the action of forces
Static equilibrium of a body that is either at
rest or moves with constant velocity
Dynamics deals with accelerated motion of
a body
1) Kinematics treats with geometric aspects
of the motion
2) Kinetics analysis of the forces causing
the motion
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s s s
r
Average velocity,vavg
t
dr
vins
dt
ds
v
dt
sT
vsp avg
t
s
vavg
t
aavg
v v'v
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a limv / t
t 0
dv
a
dt
d 2s
a 2
dt
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v0
dv a dt
c
v v0 act
Constant Acceleration
Constant Acceleration
v0
s0
vdv a ds
c
v v 2ac s s0
2
2
0
Constant Acceleration
EXAMPLE 12.1
The car moves in a straight line such that for a
short time its velocity is defined by v = (0.9t2 +
0.6t) m/s where t is in sec. Determine it 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
ds
2
0
.
9
t
0.6t
dt
EXAMPLE 12.1
ds 0.9t 2 0.6t dt
0
s 0.3t 3 0.3t 2
0
s 0.3t 0.3t
3
When t = 3s,
s = 10.8m
t
0
EXAMPLE 12.1
Acceleration.
Knowing v = f(t), the acceleration
is determined from a = dv/dt, since this equation
relates a, v and t.
dv d
a 0.9t 2 0.6t
dt dt
1.8t 0.6
When t = 3s,
a = 6m/s2
EXAMPLE 12.2
A small projectile is forced 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 =
(-0.4v3)m/s2, where v is in m/s2.
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.
dv
3
a
0.4v
dt
EXAMPLE 12.2
t
dv
60m / s 0.4v 3 0 dt
t
1 1 1 v
2 0 dt
0.4 2 v 60
v
1 1
1
t
2
2
0.8 v 60
1/ 2
1
v
0.8t m / s
2
60
When t = 4s,
v = 0.559 m/s
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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
1 / 2
ds 1
v
0.8t
2
dt 60
0 ds 0 602 0.8t
s
1 / 2
2 1
0.8t
s
2
0.8 60
dt
1 / 2
t
0
EXAMPLE 12.2
1 / 2
1 1
1
0.8t m
s
2
0.4 60
60
When t = 4s,
s = 4.43m
EXAMPLE 12.3
A rocket travel upward at
75m/s. When it is 40m from
the ground, the engine fails.
Determine max height sB
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, vA =
+75m/s when t = 0. s = sB when vB = 0 at max ht. For
entire motion, acceleration aC = -9.81m/s2 (negative
since it act opposite sense to positive velocity or
positive displacement)
EXAMPLE 12.3
v v 2aC ( s B s A )
2
B
2
A
sB = 327 m
Velocity.
v v 2aC ( sC s B )
2
C
2
B
v 80.1 m / s 80 / 1 m / s
2
C
EXAMPLE 12.4
A metallic particle travels downward
through a fluid that extends from plate
A and plate B under the influence of
magnetic field. If particle is released
from rest at midpoint C, s = 100 mm,
and acceleration, a = (4s) m/s2,
where s in meters, determine velocity
when it reaches plate B and time
need to travel from C to B
EXAMPLE 12.4
Solution:
Coordinate System.
It is shown that s is taken
positive downward, measured from plate A
Velocity.
Since a = f(s), velocity as a function of
position can be obtained by using v dv = a ds.
Realising v = 0 at s = 100mm = 0.1m
EXAMPLE 12.4
v dv a ds
v
0.1
v dv
4s ds
1 2v 4 2S
v s
2 0 2 0.1
v 2 s 2 0.01
1
2
At s = 200mm = 0.2m,
vB 0.346 m / s 346 mm / s
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EXAMPLE 12.4
ds v dt
s
0. 1
2 s 0.01
ds
2
ln s
0.01
0.5
0.5
2 dt
0
2t
0.01 s 2.33 2t
ln s 0.01 s
2
dt
0. 1
EXAMPLE 12.5
A particle moves along a horizontal path with a velocity
of v = (3t2 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 12.5
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 12.5
ds vdt
3t 2 6t dt
s
ds 3 t dt 6 tdt
s t 3t m
EXAMPLE 12.5
ds vdt
3t 2 6t dt
s
ds 3 t dt 6 tdt
s t 3t m
3
t 0
t 2 s
4.0m
t 3.5 s
6.125m
EXAMPLE 12.5
The distance traveled in 3.5s is
sT = 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
aavg
s 6.125
1.75m / s
t 3.5 0
Average speed,
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sp avg
sT 14.125
4.04m / s
t 3.5 0
ds
v
dt
Slope of s-t graph =
velocity
dv
a
dt
Slope of v-t graph =
acceleration
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.
EXAMPLE 12.6
Solution:
v-t Graph. The v-t graph can be determined by
differentiating the eqns defining the s-t graph
0 t 10 s;
s 0.3t
10 s t 30 s; s 6t 30
ds
0.6t
v
dt
ds
6
v
dt
EXAMPLE 12.6
We obtain specify values of v by measuring the
slope of the s-t graph at a given time instant.
s 150 30
6m / s
v
t 30 10
EXAMPLE 12.6
dv
0 t 10 s; v 0.6t a
0.6
dt
dv
10 t 30s; v 6
a
0
dt
v a dt
Change in = Area under
velocity
a-t graph
s v dt
Displacement = Area under
v-t graph
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?
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EXAMPLE 12.7
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,
0 t 10 s a 10;
dv 10 dt , v 10t
0
EXAMPLE 12.7
When t = 10s, v = 100m/s, using this as initial
condition for the next time period, we have
10s t t ; a 2;
dv 2 dt , v 2t 120
100
10
ds 10t dt , s 5t 2
0
EXAMPLE 12.7
When t = 10s, s = 500m. Using this initial condition,
10 s t 60 s; v 2t 120;
ds 2t 120dt
s
500
10
s t 2 120t 600
s1
1 2 2
v1 v0 a ds
s0
2
Area under
a-s graph
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.
EXAMPLE 12.8
View Free Body Diagram
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 s 60m; v 0.2 s 3
dv
0.04 s 0.6
av
ds
60m s 120m; v 15;
dv
0
av
ds
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EXAMPLE 12.8
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,
ds
ds
0 s 60m; v 0.2 s 3; dt
v 0.2 3
t
s
ds
o dt 0 0.2s 3
t 5 ln(0.2 s 3) 5 ln 3
At s = 60 m, t = 8.05 s
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EXAMPLE 12.8
For second segment of motion,
ds ds
60 s 120m; v 15; dt
v 15
t
s ds
8.05 dt 60 15
s
t 4.05
15
At s = 120 m, t = 12.0 s
Acceleration.
If the particle has a velocity v at
time t and a velocity v` = v + v at time t` = t + t.
The average acceleration during the time interval
t is
aavg
dv d 2 r
a
2
dt dt
Position.
Velocity.
dr
v
vx i v y j vz k
dt
where v x x v y y v z z
2
y
2
z
Acceleration.
dv
a
axi a y j az k
dt
where a x vx x
a y v y y
a z vz z
Kinematic Quantities
Since the rectilinear motion occurs along each
coordinate axis, the motion of each component is
found using v = ds/dt and a = dv/dt, or a ds = v ds
Once the x, y, z components of v and a have
been determined. The magnitudes of these vectors
are found from the Pythagorean theorem and their
directions from the components of their unit
vectors.
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EXAMPLE 12.9
EXAMPLE 12.9
Solution:
Position. When t = 2 s, x = 9(2) m = 18 m and
y = (18)2/30 = 10.8 m
The straight-line distance from A to B is
r
Velocity.
18 10.8
2
21 m
d
v x x 9t 9m / s
dt
d 2
v y y
x / 30 10.8m / s
dt
EXAMPLE 12.9
9 10.8
2
14.1m / s
EXAMPLE 12.9
0 5.4
2
5 .4 m / s 2
The direction of a is
5.4
a tan
90
0
1
EXAMPLE 12.10
EXAMPLE 12.10
View Free Body Diagram
Solution:
Position. Evaluating r when t = 0.75 s yields
EXAMPLE 12.10
86.1
107
EXAMPLE 12.10
Velocity.
dr
v
{1 cos(2t )i 1sin(2t ) j 0.2k }m / s
dt
Acceleration.
to the path.
dv
a
{2 sin( 2t )i 2 cos(2t ) j }m / s 2
dt
At t = 0.75 s, a = 2 m/s2
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Motion of a Projectile
Free-flight motion studied in terms of rectangular
components since projectiles acceleration always
act vertically
Consider projectile launched at (x0, y0)
Path defined in the x-y plane
Air resistance neglected
Only force acting on the projectile is its weight,
resulting in constant downwards acceleration
ac = g = 9.81 m/s2
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Motion of a Projectile
Motion of a Projectile
Horizontal Motion
v v0 ac t ;
1 2
x x0 v0t ac t ;
2
v 2 v02 2ac ( s s0 );
Since ax = 0,
v x (v0 ) x
x x0 (v0 ) x t
v x (v0 ) x
Motion of a Projectile
Vertical.
ay = - g
v v0 ac t ;
v y (v0 ) y gt
1 2
y y0 v0t ac t ;
2
v 2 v02 2ac ( y y0 );
1 2
y y0 (v0 ) y t gt
2
v x (v0 ) 2y 2 g ( y y0 )
Motion of a Projectile
Problems involving the motion of a projectile have
at most three unknowns since only three
independent equations can be written:
- one in the horizontal direction
- two in the vertical direction
Velocity in the horizontal and vertical direction are
used to obtain the resultant velocity
Resultant velocity is always tangent to the path
Motion of a Projectile
PROCEDURE FOR ANALYSIS
Coordinate System
Establish the fixed x, y, z axes and sketch the
trajectory of the particle
Specify the three unknowns and data between
any two points on the path
Acceleration of gravity always acts downwards
Express the particle initial and final velocities in
the x, y components
Motion of a Projectile
Positive and negative position, velocity and
acceleration components always act in accordance
with their associated coordinate directions
Kinematics Equations
Decide on the equations to be applied between
the two points on the path for the most direct
solution
Motion of a Projectile
Horizontal Motion
Velocity in the horizontal or x directions is
constant (vx) = (vo)x
x = xo + (vo)x t
Vertical Motion
Only two of the following three equations should
be used
Motion of a Projectile
v y (v0 ) y gt
1 2
y y0 (v0 ) y t gt
2
v x (v0 ) 2y 2 g ( y y0 )
EXAMPLE 12.11
A sack slides off the
ramp with a horizontal
velocity of 12 m/s. If the
height of the ramp is 6 m
from the floor, determine
the time needed for the
sack to strike the floor
and the range R where
the sacks begin to pile
up.
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EXAMPLE 12.11
Coordinate System. Origin of the coordinates is
established at the beginning of the path, point A.
Initial velocity of a sack has components (vA)x = 12
m/s and (vA)y = 0
Acceleration between point A and B ay = -9.81 m/s2
Since (vB)x = (vA)x = 12 m/s, the three unknown are
(vB)y, R and the time of flight tAB
EXAMPLE 12.11
Vertical Motion. Vertical distance from A to B is
known
1 2
y y0 (v0 ) y t AB ac t AB ;
2
t AB 1.11s
EXAMPLE 12.11
Horizontal Motion.
x x0 (v0 ) x t AB
R 13.3m
EXAMPLE 12.12
The chipping machine is designed to eject wood at
chips vO = 7.5 m/s. If the tube is oriented at 30
from the horizontal, determine how high, h, the
chips strike the pile if they land on the pile 6 m
from the tube.
EXAMPLE 12.12
Coordinate System. Three unknown h, time of
flight, tOA and the vertical component of velocity
(vB)y. Taking origin at O, for initial velocity of a chip,
(vO ) x (7.5 cos 30 ) 6.5m / s
(vO ) y (7.5 sin 30 ) 3.75m / s
EXAMPLE 12.12
Horizontal Motion.
x A x0 (v0 ) x tOA
tOA 0.9231s
Vertical Motion.
Relating tOA to initial and final elevation of the chips,
1 2
y A h 2.1 yO (v0 ) y tOA ac tOA
2
h 1.38m
EXAMPLE 12.13
The track for this racing event
was designed so that the
riders jump off the slope at
30, from a height of 1m.
During the race, it was
observed that the rider
remained in mid air for 1.5 s.
Determine the speed at which he was traveling off
the slope, the horizontal distance he travels before
striking the ground, and the maximum height he
attains. Neglect the size of the bike and rider.
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EXAMPLE 12.13
View Free Body Diagram
EXAMPLE 12.13
Horizontal Motion
( sB ) x ( s A ) x (v A )t AB
EXAMPLE 12.13
Since vA known, determine h using the following
equations
(vc )2y (vA)2y 2ac[(sC ) y (sA) y ]
2
h 3.28m
Consider a coordinate
system that has origin at a
fixed point on the curve on
the curve, and at the instant,
considered this origin
happen to coincide with the
location of the particle
t axis is tangent to the curve at P and is positive in
the direction of increasing s
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Velocity.
Since the particle is moving, s is a function of time
Particles velocity v has direction that is always
tangent to the path and a magnitude that is
determined by taking the time derivative of the path
function s = s(t)
v vut
where
v s
Acceleration
Acceleration of the particle is the time rate of
change of velocity
a v vut vut
s
v
ut un un un
where
a at ut anun
at v
and
at ds vdv
an
v2
a at2 an2
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Velocity
Particles velocity is always tangent to the path
Magnitude of the velocity is found from the
derivative of the path function
v s
Tangential Acceleration
Tangential component of acceleration is the result
of the time rate of change in the magnitude of
velocity
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v 2 v02 2(ac )c ( s s0 )
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Normal Acceleration
Normal component of acceleration is the result of
the time rate of change in the direction of the
particles velocity
Normal component is always directed towards the
center of curvature of the path along the positive n
axis
For magnitude of the normal component,
an
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v2
d 2 y / dx 2
EXAMPLE 12.14
When the skier reaches the
point A along the parabolic
path, he has a speed of 6m/s
which is increasing at 2m/s2.
Determine the direction of his
velocity and the direction and
magnitude of this
acceleration at this instant.
Neglect the size of the skier
in the calculation.
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EXAMPLE 12.14
Coordinate System. Establish the origin of the n,
t axes at the fixed point A on the path and
determine the components of v and a along these
axes.
Velocity.
path.
v A 6m / s
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EXAMPLE 12.14
2
Acceleration.
Determined from a vut (v / )un
2 3/ 2
[1 (dy / dx) ]
28
.
28
m
d 2 y / dx 2
a A vut
v2
un
{2ut 1.273un }m / s 2
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EXAMPLE 12.14
2 1.237 2.37m / s 2
2
2
tan
57.5
1.327
1
EXAMPLE 12.15
Race car C travels round the horizontal circular
track that has a radius of 90 m. If the car increases
its speed at a constant rate of 2.1 m/s2, starting
from rest, determine the time needed for it to reach
an acceleration of 2.4 m/s2. What is its speed at
this instant?
EXAMPLE 12.15
Coordinate System. The origin of the n and t
axes is coincident with the car at the instant. The t
axis is in the direction of the motion, and the
positive n axis is directed toward the center of the
circle.
Acceleration.
The magnitude of acceleration
can be related to its components using a at2 an2
v v0 (at )c t
2.1t
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EXAMPLE 12.15
Thus,
an
0.049t 2m / s 2
v 2.1t 10.2m / s
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EXAMPLE 12.16
EXAMPLE 12.16
View Free Body Diagram
Since vA when t = 0
at v 0.2t
v
(1)
0 dv 0 0.2t dt
v 0.1t 2
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(2)
EXAMPLE 12.16
The time needed for the box to reach point B can
be determined by realizing that the position of B is
sB = 3 + 2(2)/4 = 6.142 m, since sA = 0 when t = 0
ds
2
v 0.1t
dt
6.142
ds 0.1t 2dt
t B 5.690 s
tB
EXAMPLE 12.16
Substituting into eqn (1) and (2),
2
(aB )t vB 0.2(5.690) 1.138m / s
vB 0.1(5.69) 3.238m / s
2
At B, B = 2 m,
(aB ) n
vB2
5.242m / s 2
aB (1.138) (5.242)
2
5.36m / s 2
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r rur
v r rur rur
ur
lim
ur lim
u
t 0 t
t 0 t
ur u
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v vr ur v u
vr r
where
v r
Radical component vr is a measure of the rate of
increase or decrease in the length of the radial
coordinate
Transverse component v is the rate of motion
along the circumference of a circle having a radius
r
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v r r
Direction of v is tangent
to the path at P
where
a ar ur a u
ar r r 2
a r 2r
a r r
r 2r
Cylindrical Coordinates
If the particle P moves along
a space, then its location may
be specified by the three
cylindrical coordinates r, , z
z coordinate is similar to that
used for rectangular
coordinates
rp ru r zu z
v rur ru zu z
a (r r )ur (r 2r )u zu z
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EXAMPLE 12.17
The amusement park consists of a chair that is
rotating in a horizontal circular path of radius r such
that the arm OB has an angular velocity and
angular acceleration. Determine the radial and
transverse components of velocity and acceleration
of the passenger.
EXAMPLE 12.17
Coordinate System. Since the angular motion of
the arm is reported, polar coordinates are chosen
for the solution. is not related to r, since radius is
constant for all .
Velocity and Acceleration.
rr
Since r is constant,
r 0 r 0
EXAMPLE 12.17
vr r 0
v r
2
2
ar r r r
a r 2r r
EXAMPLE 12.18
The rob OA is rotating in the horizontal plane such
that = (t3) rad. At the same time, the collar B is
sliding outwards along OA so that r = (100t2)mm. If
in both cases, t is in seconds, determine the
velocity and acceleration of the collar when t = 1s.
EXAMPLE 12.18
Coordinate System. Since time-parametric
equations of the particle is given, it is not
necessary to relate r to .
Velocity and Acceleration.
r 100t
r 200t
r 200
t 1s
t 1 s
t 1 s
100mm t
3
t 1 s
200mm / s 3t
200mm / s
6t
1rad 5.73
t 1 s
t 1 s
2rad / s
6rad / s
EXAMPLE 12.18
v rur ru
1 300
56
.
3
200
tan
57.3 114
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EXAMPLE 12.18
a (r r )ur (r 2r )u
2
{700ur 1800u }mm / s
The magnitude of a is
1 1800
68
.
7
700
tan
EXAMPLE 12.19
The searchlight casts a spot of light along the face
of a wall that is located 100m from the searchlight.
Determine the magnitudes of the velocity and
acceleration at which the spot appears to travel
across the wall at the instant = 45. The
searchlight is rotating at a constant rate of 4 rad/s
EXAMPLE 12.19
Coordinate System. Polar coordinates will be
used since the angular rate of the searchlight is
given. To find the time derivatives, it is necessary to
relate r to .
r = 100/cos = 100sec
Velocity and Acceleration.
r 100(sec tan )
2
2
3
EXAMPLE 12.19
Since = 4 rad/s = constant, = 0, when = 45,
r 141.4
r 565.7
r 6788.2
v rur ru
{565.7ur 565.7u }m / s
v 800m / s
EXAMPLE 12.19
a (r r )ur (r 2r )u
EXAMPLE 12.20
Due to the rotation of the
forked rod, ball A travels
across the slotted path, a
portion of which is in the shape
of a cardioids, r = 0.15(1 cos
)m where is in radians. If
the balls velocity is v = 1.2m/s
and its acceleration is 9m/s2 at
instant = 180, determine the
angular velocity and angular
acceleration of the fork.
2007 Pearson Education South Asia Pte Ltd
EXAMPLE 12.20
View Free Body Diagram
Coordinate System.
polar coordinates.
r 0.3m r 0 r 0.15 2
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EXAMPLE 12.20
Since v = 1.2 m/s
2
v r
4rad / s
2
2 2
2
a (r r ) (r 2r )
2
18rad / s
0
or vB v A
dt
dt
The negative sign indicates that when block A has
a velocity downward in the direction of position sA, it
causes a corresponding upward velocity of block B;
B moving in the negative sB direction
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EXAMPLE 12.21
Determine the speed of block A if block B has an
upward speed of 2 m/s.
EXAMPLE 12.21
Position Coordinate System. There is one cord in
this system having segments which are changing
length. Position coordinates sA and sB will be used
since each is measured from a fixed point (C or D)
and extends along each blocks path of motion. In
particular, sB is directed to point E since motion of
B and E is the same. The red colored segments of
the cords remain at a constant length and do not
have to be considered as the block move.
EXAMPLE 12.21
The remaining length of the cord, l, is also
considered and is related to the changing position
coordinates sA and sB by the equation
s A 3sB l
Time Derivative.
yields
v A 3vB 0
EXAMPLE 12.22
Determine the speed of block A if block B has an
upward speed of 2m/s.
EXAMPLE 12.22
Position Coordinate Equation.
Positions of A
and B are defined using coordinates sA and sB.
Since the system has two cords which change
length, it is necessary to use a third coordinate sC
in order to relate sA to sB. Length of the cords can
be expressed in terms of sA and sC, and the length
of the other cord can be expressed in terms of sB
and sC. The red colored segments are not
considered in this analysis.
EXAMPLE 12.22
For the remaining cord length,
s A 2 sC l1
sB ( sB sC ) l2
Eliminating sC yields,
s A 4 sB 2l2 l1
Time Derivative.
vB 8m / s 8m / s
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EXAMPLE 12.23
Determine the speed with which block B rises if the
end of the cord at A is pulled down with a speed of
2m/s.
EXAMPLE 12.23
Position-Coordinate Equation.
The position of
A is defined by sA, and the position of block B is
specified by sB since point E on the pulley will have
the same motion as the block. Both coordinates are
measured from a horizontal datum passing through
the fixed pin at pulley D. Since the system consists
of two cords, the coordinates sA and sB cannot be
related directly. By establishing a third position
coordinate, sC, and the length of the other cord in
terms of sA, sB and sC.
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EXAMPLE 12.23
Excluding the red colored segments of the cords,
the remaining constant cord lengths l1 and l2 (along
the hook and link dimensions) can be expressed as
sC sB l1
s A sC sB sC sB l2
Eliminating sC yields
sC 4 sB l2 2l1
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EXAMPLE 12.23
Time Derivative.
vB 0.5m / s 0.5m / s
EXAMPLE 12.24
A man at A s hoisting a safe
S by walking to the right
with a constant velocity vA =
0.5m/s. Determine the
velocity and acceleration of
the safe when it reaches the
elevation at E. The rope is
30m long and passes over
a small pulley at D.
EXAMPLE 12.24
View Free Body Diagram
EXAMPLE 12.24
Using Pythagorean Theorem,
I DA
15 x
2
I CD 15 y
l lDA lCD
30
15 x 15 y
2
y 225 x 2 15
(1)
EXAMPLE 12.24
Time Derivative.
Taking time derivative,
using the chain rule where, vS = dy/dt and vA =
dx/dt
dx
2x
dy 1
vS
2
dt 2 225 x dt
x
225 x
vA
(2)
At y = 10 m, x = 20 m, vA = 0.5 m/s, vS =
400mm/s
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EXAMPLE 12.24
The acceleration is determined by taking the time
derivative of eqn (2),
x(dx / dt )
dx
1
aS 2
xv
v
A
A
2 3/ 2
2
dt
225 x dt
(225 x )
d2y
dv A
1
225v 2A
3/ 2
2
2
dt
225 x
225 x
aS 3.6mm / s 2
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rB rA rB / A
vB v A vB / A
aB a A aB / A
Here aB/A is the acceleration of B as seen by the
observer located at A and translating with the x, y
and z reference frame
EXAMPLE 12.25
A train, traveling at a constant speed of 90km/h,
crosses over a road. If automobile A is traveling t
67.5km/h along the road, determine the magnitude
and direction of relative velocity of the train with
respect to the automobile
EXAMPLE 12.25
Vector Analysis.
The relative velocity is
measured from the translating x, y axes attached
to the automobile. Since vT and vA are known in
both magnitude and direction, the unknowns
become the x and y components of vT/A. Using the
x, y axes and a Cartesian vector analysis,
vT v A vT / A
~
~
~
90 i (67.5 cos 45 i 67.5 sin 45 j ) vT / A
v
{42.3~
i 47.7 ~j )km / h
T/A
EXAMPLE 12.25
The magnitude of vT/A is
2 2
vT / A y 47.7
tan
vT / A x 42.3
48.40
EXAMPLE 12.26
Plane A is flying along a straight-line path, while
plane B is flying along a circular path having a
radius of curvature of B = 400 km. Determine the
velocity and acceleration of B as measured by the
pilot of A.
EXAMPLE 12.26
Velocity.
The x, y axes are located at an
arbitrary fixed point. Since the motion relative to
plane A is to be determined, the translating frame
of reference x. y is attached to it. Applying the
relative-velocity equation in scalar form since the
velocity vectors of both plane are parallel at the
instant shown,
( ) v B v A v B / A
600 700 vB / A
vB / A 100km / h 100km / h
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EXAMPLE 12.26
Acceleration.
Plane B has both tangential
and normal components of acceleration, since it is
flying along a curved path. Magnitude of normal
acceleration,
2
vB
aB n 900km / h 2
aB / A 900~
i 150 ~j km / h 2
EXAMPLE 12.26
From the figure shown, the magnitude and direction
of aB / A
2
1 150
aB / A 912km / h
tan
9.46
900
EXAMPLE 12.27
At the instant, car A and B
are traveling with the speed
of 18 m/s and 12 m/s
respectively. Also at this
instant, A has a decrease in
speed of 2 m/s2, and B has
an increase in speed of 3
m/s2. Determine the velocity
and acceleration of B with
respect to A.
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EXAMPLE 12.27
View Free Body Diagram
vB v A vB / A
~
~
~
12 j 18 cos 60 i 18 sin 60 j vB / A
v
9~
i 3.588 ~j m / s
B/ A
Thus,
vB / A 9 3.588 9.69m / s
2
EXAMPLE 12.27
Its direction is
vB / A y 3.588
tan
vB / A x
9
21.7
Acceleration.
component is
aB n
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vB2
1.440m / s 2
EXAMPLE 12.27
Applying the equation for relative acceleration
yields
aB a A aB / A
~
~
~
~
1.440 i 3 j 2 cos 60 i 2 sin 60 j aB / A
~
~
2
a
2.440 i 4.732 j m / s
B/ A
62.7
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Chapter Review
Rectilinear Kinematics.
Rectilinear
kinematics refers to motion along a straight line. A
position coordinate s specifies the location of the
particle on the line and the displacement s is the
change in this position.
The average velocity is a vector quantity, defined
as the displacement divided by the time interval.
vavg
Chapter Review
This is the different than the average speed, which
is a scalar and is the total distance traveled divided
by the time of travel.
sT
vsp avg t
The time, position, instantaneous velocity and
instantaneous acceleration are related by the
differential equations
v ds / dt
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a dv / dt
a ds v dv
Chapter Review
If the acceleration is known to be constant, then the
integration of these equations yields
v v0 a c t
1 2
s s0 v0t act
2
2
2
v v0 2 a c s s 0
Chapter Review
Graphical Solutions. If the motion is erratic, then
it can be described by a graph. If one of these
graphs is given, then the others can be established
using the differential relations, v = ds/dt, a = dv/dt,
or a ds = v dv.
Curvilinear Motion, x, y, z. For this case, motion
along the path is resolved into rectilinear motion
along the x, y, z axes. The equation of the path is
used to relate the motion along each axis.
Chapter Review
Projectile Motion.
Free flight motion of a
projectile follows a parabolic path. It has a constant
velocity in the horizontal direction and constant
acceleration of g = 9.81 m/s2 in the vertical
direction. Any two of the three equations for
constant acceleration apply in the vertical direction,
and in the horizontal direction only
x x0 (v0 ) x t
Chapter Review
Curvilinear Motion n, t.
If normal and tangential
axes are used for the analysis, then v is always in
the positive t direction. The acceleration has two
components. The tangential components, at,
accounts for the change in the magnitude of the
velocity; a slowing down is in the negative t direction,
and a speeding up is in the positive t direction. The
normal component, an accounts for the change in the
direction of velocity. The component is always in the
positive n direction.
Chapter Review
Curvilinear Motion r, , z. If the path of motion is
expressed in polar coordinates, then the velocity
and acceleration components can be written as
vr r
ar r r 2
v r
a r 2r
To apply these equations, it is necessary to determine
r , r, r,,
at the instant considered. If the path r
= f() is given, then the chain rule of calculus must be
used to obtain the time derivatives.
Chapter Review
Once the data is substituted into the equations,
then the algebraic sign of the results will indicate
the direction of components of v or a along each
axis.
Absolute Dependent Motion of Two Particles.
The dependent motion of blocks that are
suspended from pulleys and cables can be related
by the geometry of the system.
Chapter Review
This is done by first establishing position
coordinates, measured from a fixed origin to each
block so that they are directed along the line of
motion of the blocks. Using geometry and/or
trigonometry, the coordinates are then related to
the cable length in order to formulate a position
coordinate equation. The first time derivative of this
equation gives a relationship between the velocities
of the blocks, and a second time derivative gives
the relationship between their accelerations.
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Chapter Review
Relative Motion Analysis Using Translating Axes.
If two particles A and B undergo independent
motions, then these motions can be related to their
relative motion. Using a translating set axes
attached to one of the particles (A), the velocity and
acceleration equations become
vB v A vB / A
aB a A aB / A
Chapter Review
For planar motion, each of these equations
produces two scalar equations, one in the x, and
the other in the y direction. For solution, the vectors
can be expressed in Cartesian form or the x and y
scalar components can be written directly.