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Contents
Introduction Sample Problem 11.5
Rectilinear Motion: Position, Graphical Solution of Rectilinear-
Velocity & Acceleration Motion Problems
Determination of the Motion of a Other Graphical Methods
Particle
Curvilinear Motion: Position, Velocity
Sample Problem 11.2 & Acceleration
Sample Problem 11.3
Derivatives of Vector Functions
Uniform Rectilinear-Motion
Rectangular Components of Velocity
Uniformly Accelerated Rectilinear- and Acceleration
Motion
Motion Relative to a Frame in
Motion of Several Particles: Translation
Relative Motion
Tangential and Normal Components
Sample Problem 11.4
Radial and Transverse Components
Motion of Several Particles:
Dependent Motion Sample Problem 11.10
Sample Problem 11.12
11 - 2
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.
11 - 3
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
a spring drag 11 - 10
Acceleration as a function of time, position, or velocity
If. Kinematic relationship Integrate
v t
dv a t dt
dv
a a t a(t )
dt v0 0
dx dv
dt and a v x
v dv a x dx
v dt
a a x
v dv a x dx
v0 x0
v t
dv dv
dt
a (v ) v a v 0 dt
a a v
0
x v
dv
v a v v dv
dx x dx v a v
0 0
11 - 11
Sample Problem
SOLUTION:
Integrate twice to find v(t) and y(t).
m m
vt 10 9.81 2 t
s s
dy
v 10 9.81t
dt
y t t
dy 10 9.81t dt y t y0 10t 12 9.81t 2
y0 0
m m
yt 20 m 10 t 4.905 2 t 2
s s
11 - 13
Sample Problem
Solve for t when velocity equals zero and evaluate
corresponding altitude.
m m
vt 10 9.81 2 t 0
s s
t 1.019 s
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
11 - 14
Sample Problem
Solve for t when altitude equals zero and evaluate
corresponding velocity.
m m
yt 20 m 10 t 4.905 2 t 2 0
s s
t 1.243 s meaningles s
t 3.28 s
m m
vt 10 9.81 2 t
s s
m m
v3.28 s 10 9.81 2 3.28 s
s s
m
v 22.2
s
11 - 15
Sample Problem
SOLUTION:
11 - 16
Sample Problem
SOLUTION:
Integrate a = dv/dt = -kv to find v(t).
dv
v
dv
t
v t
a
dt
kv v v k 0 dt ln
v0
kt
0
vt v0 e kt
dx v0 dt
e kt
x t v0 e kt
0 0 k 0
v
xt 0 1 e kt
k
11 - 17
Sample Problem
Integrate a = v dv/dx = -kv to find v(x).
v x
dv
a v kv dv k dx dv k dx
dx v0 0
v v0 kx
v v0 kx
Alternatively,
with
v
xt 0 1 e kt
k
vt
and vt v0 e kt or e kt
v0
v vt
then xt 0 1
k v0
v v0 kx
11 - 18
Uniform Rectilinear Motion
During free-fall, a parachutist
For a particle in uniform
reaches terminal velocity when
rectilinear motion, the
her weight equals the drag
acceleration is zero and
force. If motion is in a straight
the velocity is constant.
line, this is uniform rectilinear
motion. dx
v constant
dt
x t
dx v dt
x0 0
x x0 vt
x x0 vt
11 - 20
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.
v t
dv
dt
a constant dv a dt
v0 0
v v0 at
x t
dx
dt
v0 at dx v0 at dt
x0 0
x x0 v0t 12 at 2
v x
dv
v a constant v dv a dx v 2 v02 2a x x0
dx v0 x0
11 - 22
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.
xB x B x A relative position of B
A
with respect to A
xB x A xB A
vB v B v A relative velocity of B
A
with respect to A
vB v A vB A
aB a B a A relative acceleration of B
A
with respect to A
aB a A aB A
11 - 23
Sample Problem
SOLUTION:
Substitute initial position and velocity
and constant acceleration of ball into
general equations for uniformly
accelerated rectilinear motion.
11 - 25
Sample Problem
Write equation for relative position of ball with respect to
elevator and solve for zero relative position, i.e., impact.
yB E
12 18t 4.905t 2 5 2t 0
t 0.39 s meaningles s
t 3.65 s
v B E 18 9.81t 2
16 9.813.65
m
vB E 19.81
s
11 - 26
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 xB xC constant (two degrees of freedom)
v A2 v A 0 2a A x A x A 0
2
2
mm mm
300 2a A 200 mm a A 225 2
s s
vA vA 0
a At
mm mm
300 225 2
t t 1.333 s
s s
11 - 29
Sample Problem
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 xD 0 xB 0
x A x A 0 2 xD x D 0 x B x B 0 0
200 mm 2 100 mm xB xB 0 0
xB xB 0
400mm
11 - 30
Sample Problem
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
mm mm
vB 450 450
s s
a A 2aD aB 0
mm
225 2
2(0) aB 0
s
mm mm
aB 225 225
s2 s2
11 - 31
Graphical Solution of Rectilinear-Motion Problems
180
160
120
40
20
0
47.76 47.77 47.78 47.79 47.8 47.81
Time (s)
11 - 32
Graphical Solution of Rectilinear-Motion Problems
11 - 33
Graphical Solution of Rectilinear-Motion Problems
11 - 34
Other Graphical Methods
Moment-area method to determine particle position at
time t directly from the a-t curve:
x1 x0 area under v t curve
v1
v0t1 t1 t dv
v0
using dv = a dt ,
v1
x1 x0 v0t1 t1 t a dt
v0
v1
t1 t a dt first moment of area under a-t curve
v0 with respect to t = t1 line.
11 - 35
Other Graphical Methods
dv
av
dx
AB tan
BC subnormal to v-x curve
11 - 36
Curvilinear Motion: Position, Velocity & Acceleration
11 - 38
Curvilinear Motion: Position, Velocity & Acceleration
Instantaneous velocity Instantaneous speed
(vector) (scalar)
Dr dr Ds ds
v lim v lim
Dt 0 Dt dt Dt 0 Dt dt
11 - 39
Curvilinear Motion: Position, Velocity & Acceleration
Consider velocity v of a particle at time t and velocity v at t + Dt,
Dv dv
a lim instantaneous acceleration (vector)
Dt 0 Dt dt
Velocity vector,
dx dy dz
v i j k xi y j zk
dt dt dt
vx i v y j vz k
Acceleration vector,
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
11 - 41
Rectangular Components of Velocity & Acceleration
Rectangular components particularly effective
when 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,
x0 y0 z0 0
v x 0 , v y 0 , v z 0 0
Integrating twice yields
v x v x 0 v y v y gt vz 0
0
x v x 0 t y v y y 12 gt 2 z0
0
11 - 44
Sample Problem
SOLUTION:
Horizontal distance
Projectile strikes the ground at:
Substitute into equation (1) above
11 - 46
Motion Relative to a Frame in Translation
Designate one frame as the fixed frame of reference.
All other frames not rigidly attached to the fixed
reference frame are moving frames of reference.
Position vectors for particles A and B with respect to
the fixed frame of reference Oxyz are rA and rB .
Vector B A joining A and B defines the position of
r
B with respect to the moving frame Axyz and
rB rA rB A
Differentiating twice,
vB v A vB A vB A velocity of B relative to A.
a B a A aB A aB A acceleration of B relative
to A.
Absolute motion of B can be obtained by combining
motion of A with relative motion of B with respect to
moving reference frame attached to A.
11 - 47
Sample Problem
SOLUTION:
At t = 5 s
11 - 49
Sample Problem
SOLUTION:
At t = 5 s
11 - 50
Sample Problem
SOLUTION:
We can solve the problems geometrically, and apply the arctangent relationship:
Physically, a rider in car A would see car B travelling south and west.
11 - 51
Tangential and Normal Components
11 - 52
Tangential and Normal Components
y
r= the instantaneous
radius of curvature
v v et
en v= vt et dv v2
et a e t en
dt r
x
The tangential direction (et) is tangent to the path of the
particle. This velocity vector of a particle is in this direction
The normal direction (en) is perpendicular to et and points
towards the inside of the curve.
The acceleration can have components in both the en and et directions
11 - 53
Tangential and Normal Components
To derive the acceleration vector in tangential
and normal components, define the motion of a
particle as shown in the figure.
et and et are tangential unit vectors for the
particle path at P and P. When drawn with
respect to the same origin, Det et et and
D is the angle between them.
Det 2 sinD 2
Det sinD 2
lim lim en en
D 0 D D 0 D 2
det
en
d
11 - 54
Tangential and Normal Components
With the velocity vector expressed as v vet
the particle acceleration may be written as
dv dv de dv de d ds
a et v et v
dt dt dt dt d ds dt
but
det ds
en r d ds v
d dt
After substituting,
dv v 2 dv v2
a et en at an
dt r dt r
The tangential component of acceleration
reflects change of speed and the normal
component reflects change of direction.
The tangential component may be positive or
negative. Normal component always points
toward center of path curvature.
11 - 55
Tangential and Normal Components
Relations for tangential and normal acceleration
also apply for particle moving along a space curve.
dv v 2 dv v2
a et en at an
dt r dt r
11 - 56
Sample Problem
SOLUTION:
Some possibilities:
11 - 59
Radial and Transverse Components
By knowing the distance to the aircraft and the
angle of the radar, air traffic controllers can
track aircraft.
11 - 60
Radial and Transverse Components
The position of a particle P is
expressed as a distance r from the
origin O to P this defines the
radial direction er. The transverse
direction e is perpendicular to er
r rer
The particle velocity vector is
v = rer + rq eq
The particle acceleration vector is
( ) (
a = r - rq 2 er + rq + 2rq eq )
11 - 61
Radial and Transverse Components
We can derive the velocity and acceleration
relationships by recognizing that the unit vectors
change direction.
Position vector,
r R e R z k
Velocity vector,
dr
v R eR R e z k
dt
Acceleration vector,
dv
a
dt
R 2
R eR R 2 R e z k
11 - 63
Sample Problem
SOLUTION:
Evaluate time t for = 30o.
Evaluate radial and angular positions,
and first and second derivatives at
time t.
Rotation of the arm about O is defined Calculate velocity and acceleration in
by = 0.15t2 where is in radians and t cylindrical coordinates.
in seconds. Collar B slides along the
arm such that r = 0.9 - 0.12t2 where r is Evaluate acceleration with respect to
in meters. arm.
11 - 65
Sample Problem
Calculate velocity and acceleration.
vr r 0.449 m s
v r 0.481m 0.561rad s 0.270 m s
v
v vr2 v2 tan 1
vr
v 0.524 m s 31.0
ar r r 2
0.240 m s 2 0.481m 0.561rad s 2
0.391m s 2
a r 2r
0.481m 0.3 rad s 2 2 0.449 m s 0.561rad s
0.359 m s 2
a
a ar2 a2 tan 1
ar
a 0.531m s 42.6
11 - 66
Sample Problem
Evaluate acceleration with respect to arm.
Motion of collar with respect to arm is rectilinear
and defined by coordinate r.
a B OA r 0.240 m s 2
11 - 67