ES 12 Lecture 1 Rectilinear and Curvilinear Motion

Lecture 0
CLASS
POLICIES
ES 12 WBC2
ES 12 Dynamics of Rigid Bodies Kinematics of Particles (by F.P. Beer and E.R.
1
Johnston, Notes by J.W. Oler)
First Semester AY 2015-2016
Class Policies
1. ATTENDANCE. Attendance is required!
2. Any form of intellectual dishonesty will be strictly

penalized according to prevailing university rules.
3. NON-ACADEMIC REQUIREMENTS. Students in this

course are expected to have great minds, good hearts, and
passion for learning. Courtesy towards each member of the
class is expected; thus, any behavior that will impede
learning will not be tolerated. You must always understand
and apply the ideals of a true Iskolar ng Bayan!.
Kinematics of Particles (by F.P. Beer and E.R. Johnston, Notes by J.W. Oler) 2
Class Policies
4. SOME ADDITIONAL REQUIREMENTS

Fully accomplished Info Card with Picture
Blue Book for Quizzes
Engr. Maxell P. Lumbera

09173118190
maxell_lumbera@yahoo.com
Consultation Hours/Place: TTh 10-5PM,
NCTS 2F Envi Office
Students Performances in ES 12
Lecture 0
OVERVIEW OF
MECHANICS
Kinematics of Particles (by F.P. Beer and E.R.

5
Lesson Objectives
At the end of the lecture, you are expected to:
1. Identify the particle model in a given problem,
2. Define and relate position, displacement, velocity, and

acceleration, with time,
3. Classify rectilinear motion into uniform, uniformly

accelerated, and non-uniformly accelerated, and
4. Calculate position, displacement, distance, velocity,

speed, or acceleration for a rectilinear motion problem.
Overview of Mechanics
Mechanics is concerned with the analysis of

the action of forces on objects.
7
What is Kinematics?
Kinematics: study of the geometry of motion.

Kinematics is used to relate displacement,
velocity, acceleration, and time without
reference to the cause of motion.
.
What is Kinetics?
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.
.
Overview of Kinematics of Particles
10
Lecture 1
RECTILINEAR
MOTION

11
Rectilinear Motion
A particle moving along a straight line is said to be in

rectilinear motion.
Position Coordinate
The position coordinate of a particle is defined by the

positive or negative distance of the particle from a fixed
origin on the line.
The motion is known if
The motion of a particle is known if the position coordinate

for the particle is known for every value of time t. The
motion of the particle may be expressed in the form of a
function, or in the form of a graph x vs. t.
x 6t t 2 3
Average/Instantaneous Velocity
Consider a particle which occupies position P at time t and

P at t + t,
x
Average Velocity vave
t
x
Instantaneous Velocity v lim
t 0 t
Particle Speed
Instantaneous velocity may be positive or negative. The

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

- positive: increasing positive velocity or decreasing
negative velocity
Instantaneous acceleration may be:

- negative: decreasing positive velocity or increasing
negative velocity
From the definition of a derivative,
v dv d 2 x
a lim 2
t 0 t dt dt
e.g. v 12t 3t 2
dv
a 12 6t
dt
Rectilinear Motion
Non-uniformly Accelerated Motion
Recall: The motion of a particle is known if its position is

known for all time t.
Typically, the conditions of motion are specified by the

type of acceleration experienced by the particle.
Determination of velocity and position requires two
successive integrations.
Three classes of motion may be defined for:

- 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)
Acceleration given as a function of time, a = f (t):
v t t t
a f t dv f t dt dv f t dt vt v0 f t dt
dv
dt v0 0 0
t
vt v0 f t dt
0
x t t t
vt dx vt dt dx vt dt xt x0 vt dt
dx
dt x0 0 0
t
xt x0 vt dt
0
Acceleration given as a function of position, a = f (x):
f x
dx dx dv dv
v or dt a or a v
dt v dt dx
vx x x
v dv f x dx v dv f x dx vx 12 v f x dx
1 2 2
2 0
v0 x0 x0
x
v x v02 2 f x dx
2
x0
Acceleration given as a function of velocity, a = f (v):
v t t
a f v
dv dv dv
dt f v
dt
v0
dt
f v 0
v t
dv

v0
f v
t
x t v t
a f v
dv v dv v dv
v
dx
dx
f v x0
dx
v0
f v
v t
xt x0
v dv

v0
f v
v t
xt x0
v dv

v0
f v
Sample Problem 1
The brake mechanism used to

reduce a gun recoil consists of
a piston attached to a barrel
moving in the fixed cylinder
filled with oil. As the barrel
recoils with an initial velocity
v0, the piston moves and the
oil is forced through the
orifices in the piston, causing a kv
the piston and the cylinder to
decelerate at a rate
proportional to their velocities.
Determine v (t), x (t), and v (x).
Uniform Rectilinear Motion
For a particle in uniform rectilinear motion, the

acceleration is zero and the velocity is constant.
dx
v constant
dt
x t
dx v dt
x0 0
x x0 vt
x x0 vt
Uniformly Accelerated Rectilinear
Motion
For a particle in uniformly accelerated rectilinear
motion, the acceleration of the particle is constant.
v t
dv
a constant dv a dt v v0 at
dt v0 0
v v0 at
x t
dx
dt
v0 at dx v0 at dt x x0 v0t 12 at 2
x0 0
x x0 v0t 12 at 2
v 2 v02 ax x0
v x
dv
v a constant v dv a dx 1
2
dx v0 x0
v 2 v02 2a x x0
Sample Problem 2
A ball is thrown vertically from the 12 m level in the elevator

shaft with an initial velocity of 18 m/s. At the same instant,
an open-platform elevator passes the 5 m level moving
upward at 2 m/s. Determine when and where the ball hits
the elevator.
Quiz (Prob 11.46)
A train moving with a constant acceleration travels 7 m/s

during the 10th sec of its motion and 5 m/s during the 12th
sec of its motion. Find its initial velocity and its constant
acceleration.
Rectilinear Motion
END OF LECTURE
Rectilinear Morion Example
The car is traveling at 48 km/h when the traffic light 90 m

ahead turns yellow. The driver takes one second to react
before he applies the brakes.
(a) After he applies the brakes, what constant rate of
deceleration will cause the car to come to a stop just as
it reached the light?
(b) How long does it take the car to travel the 90 m?
Checklist
1. Identify the particle model in a given problem,

3. Classify rectilinear motion into uniform, uniformly

accelerated, and non-uniformly accelerated, and
4. Calculate position, displacement, distance, velocity,

speed, or acceleration for a rectilinear motion problem.
Lecture 2
CURVILINEAR
MOTION
Use of Rectangular Components
34
Lesson Objectives
1. Distinguish curvilinear motion from rectilinear motion

3. Analyze projectile motion in terms of horizontal and

vertical components
Curvilinear Motion
A particle moving along a curve other than a straight line is

in curvilinear motion.
Curvilinear Motion
The position vector of a particle at time t is defined by a

vector between the origin O of a fixed reference frame and
the position occupied by the particle.
Curvilinear Motion
The position vector of a particle at time t is defined by a

vector between the origin O of a fixed reference frame and
the position occupied by the particle.
Curvilinear Motion
a particle which occupies

Consider position P defined
by r at time t and P defined by r at t + t,

r d r
v lim
t 0 t dt
Instantaneous Velocity
(vector)
s ds
v lim
t 0 t dt
Instantaneous Speed
(scalar)
Curvilinear Motion

Consider velocity v of the particle at time t and velocity v
at t + t,

v dv
a lim
t 0 t dt
Instantaneous
Acceleration (vector)
Curvilinear Motion
In general, the acceleration vector is not tangent to the

particle path and the velocity vector.
Preliminary: Vector Functions
Let P(u) be a vector function of scalar variable u,

dP P Pu u Pu
lim lim
du u 0 u u 0 u
Preliminary: Vector Functions
Derivative of vector
sum,

d P Q dP dQ

du du du
Derivative of product of scalar and vector functions,

d f P df dP
P f
du du du
Derivative of scalar
product
and vector
product,
d P Q dP dQ
Q P
du du du

d P Q dP dQ
Q P
du du du
Rectangular Components
When the position vector of the particle P is given by its

rectangular components,

r xi y j zk
the velocity vector is then given by,
dx dy dz
v i j k xi y j zk
dt dt dt

vx i v y j vz k
Rectangular Components
and the acceleration vector is expressed as,

d 2 x d 2 y d 2 z
a 2 i 2 j 2 k xi y j zk
dt dt dt

ax i a y j az k
Projectile Motion
Rectangular components are particularly effective when the

component accelerations can be integrated independently.
(e.g., motion of a projectile)
a x x 0 a y y g a z z 0
with initial conditions, z0 0 vz 0 0
Projectile Motion
Integrating twice yields

v x v x 0 v y v y 0 gt vz 0
x x 0 v x 0 t y y 0 v y 0 t 12 gt 2 z0
Motion in the horizontal
direction is uniform.
Motion in the vertical
direction is uniformly
accelerated.
Motion of the projectile
could be replaced by
two independent
rectilinear motions.
Sample Problem 1
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 sacks begin to pile up.
Sample Problem 2
A projectile is fired with a speed v = 60 m/s at an angle of

60o. A second projectile is then fired with the same speed
0.5 s later. Determine the angle of the second projectile
so that the two projectiles collide. At what position (x,y) will
this happen?
Quiz (Exam Problem 1-14-15)
An ES 12 student (at point B)

challenges his instructor (at point A)
in a different Ice Bucket Challenge.
In this challenge, the student will
stand on top of a building and will
release a bucket from rest 20 m
above the base of the building as
shown
His instructor, standing 15 m from
the building will throw a block of ice
at the instant the bucket is released.
The block of ice will be thrown at a
height of 2 m from the ground, with
an initial speed vo at an angle from
the horizontal. Take note that the
target is to hit the bucket, assuming
that the ice will not melt throughout
its motion. Neglect air resistance.
Determine the angle .
Curvilinear Motion: Rectangular Components
END OF LECTURE

ES 12 Lecture 1 Rectilinear and Curvilinear Motion

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Lecture 0

1. ATTENDANCE. Attendance is required!

2. Any form of intellectual dishonesty will be strictly

3. NON-ACADEMIC REQUIREMENTS. Students in this

4. SOME ADDITIONAL REQUIREMENTS

Engr. Maxell P. Lumbera

Kinematics of Particles (by F.P. Beer and E.R.

At the end of the lecture, you are expected to:

1. Identify the particle model in a given problem,

2. Define and relate position, displacement, velocity, and

3. Classify rectilinear motion into uniform, uniformly

4. Calculate position, displacement, distance, velocity,

Mechanics is concerned with the analysis of

Kinematics: study of the geometry of motion.

Kinetics: study of the relations existing between the

Kinematics of Particles (by F.P. Beer and E.R.

A particle moving along a straight line is said to be in

The position coordinate of a particle is defined by the

The motion of a particle is known if the position coordinate

Consider a particle which occupies position P at time t and

Instantaneous velocity may be positive or negative. The

From the definition of a derivative,

Consider a particle with velocity v at time t and v at t + t,

Instantaneous acceleration may be:

Instantaneous acceleration may be:

From the definition of a derivative,

Recall: The motion of a particle is known if its position is

Typically, the conditions of motion are specified by the

Three classes of motion may be defined for:

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):

The brake mechanism used to

For a particle in uniform rectilinear motion, the

A ball is thrown vertically from the 12 m level in the elevator

A train moving with a constant acceleration travels 7 m/s

The car is traveling at 48 km/h when the traffic light 90 m

At the end of the lecture, you are expected to:

1. Identify the particle model in a given problem,

2. Define and relate position, displacement, velocity, and

3. Classify rectilinear motion into uniform, uniformly

4. Calculate position, displacement, distance, velocity,

At the end of the lecture, you are expected to:

1. Distinguish curvilinear motion from rectilinear motion

2. Define and relate position, displacement, velocity, and

3. Analyze projectile motion in terms of horizontal and

A particle moving along a curve other than a straight line is

The position vector of a particle at time t is defined by a

The position vector of a particle at time t is defined by a

a particle which occupies

In general, the acceleration vector is not tangent to the

Let P(u) be a vector function of scalar variable u,

When the position vector of the particle P is given by its

and the acceleration vector is expressed as,

Rectangular components are particularly effective when the

Integrating twice yields

A sack slides off the ramp with a horizontal velocity of 12

A projectile is fired with a speed v = 60 m/s at an angle of

An ES 12 student (at point B)

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