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Problems:
How can we determine the velocity or acceler-
ation of each plane at any instant?
Should they be the same for each aircraft?
9 Position
The position of the particle, measured from a fixed point O, is designated
by the position vector r = r(t).
Fig.12-7
9 Displacement
Suppose during a small time interval t, the particle moves a distance
s along the curve to a new position P, defined by r = r + r. The
displacement r represents the change in the particles position.
The magnitude of v is called the speed. Since the arc length s approaches
the magnitude of r as t0, the speed can be obtained by differentiating
the path function ds
v= (12-6)
dt
DepartmentNote that this
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not a vector!
Engineering 3
Chinese University of Hong Kong
9 Position:
The position of the particle can be defined at any instant by the position
vector
(12-8)
r = xi + yj + zk
The magnitude of r is always positive and defined as
r = x2 + y2 + z 2
Here, the x, y, z components may all be functions
of time, i.e.,
x = x(t), y = y(t), and z = z(t).
v = v x2 + v y2 + v z2
a z = v&z = &z&
Objective:
Be able to determine the normal and tangential components of
velocity and acceleration of a particle traveling along a curved path.
v = vut (12-13)
.
where v = s = ds/dt (12-14)
a = a t2 + a n2 (12-19)
Three-Dimensional Motion
If a particle moves along a space curve,
the n and t axes are defined as before. At
any point, the t-axis is tangent to the path
and the n-axis points toward the center of
curvature. The plane containing the n and
t axes is called the osculating plane.
Solution:
The boat starts from rest (v=0 when t=0).
.
Tangential component: at = v = d(0.2t2)/dt = 0.4t m/s2
At t=3s: at = 0.4t = 0.4(3) = 1.2 m/s2
Fig.12-13
Objective:
To determine velocity and acceleration
components using cylindrical coordinates.
Department of Mechanical and Automation Engineering 22
Chinese University of Hong Kong
Special case:
Fig.12-14
9 When the particle moves in a plane (2-D), and the radial distance, r,
is not constant, the polar coordinate system can be used to express
the path of motion of the particle.
9 Position
We can express the location of P in polar coordinates as
r = r ur (12-20)
Note that the radial direction, r, extends outward from the fixed origin,
O, and the transverse coordinate, , is measured counter-clockwise
(CCW) from the horizontal.
.. . 2
The term (r r ) is the radial acceleration or ar.
.. . .
The term (r + 2r) is the transverse acceleration
or a
Cylindrical Coordinates
rP = rur + zuz
Taking time derivatives and using the
chain rule:
200
a = (&r& r& 2 )u r + (r&& + 2r&&)u = {700u r + 1800u } mm/s 2
The magnitude of a is
700
Fig.12-19
Objective:
To relate the positions, velocities, and accelerations
of particles undergoing dependent motion.
Fig.12-20
9 The negative sign indicates that as A moves down the incline (positive
sA direction), B moves up the incline (negative sB direction).
Since l and h remain constant during the motion, the velocities and acceler-
ations can be related by two successive time derivatives:
2vB = -vA and 2aB = -aA
When block B moves downward (+sB), block A moves to the left (-sA).
Remember to be consistent with the sign convention!
This example can also be worked by defining the position coordinate for
B (sB) from the bottom pulley instead of the top pulley.
[Prove to yourself that the results are the same, even if the sign conventions
are different than the previous formulation.]
Solution:
1) Define the position coordinates from a fixed
datum line
DATUM
sA
sC
sB
Fig.12-22
2). Define l1 as the length of the first cord, minus any segments of constant
length. Define l2 in a similar manner for the second cord:
Fig.12-24 Objectives:
a). To understand translating frames of reference.
b). To use translating frames of reference to analyze
Department relative motion.
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9 Relative Position
Consider particles A and B, which move along the arbitrary paths aa and
bb, respectively,
The absolute position of two particles
A and B with respect to the fixed x, y,
z reference frame are given by rA and
rB. The position of B relative to A is
represented by
rB/A = rB rA (12-25)
where rB/A is the relative-position
vector which describes the relative
Fig.12-25
position of B with respect to A
Example, if rB = (10i + 2j) m and rA = (4i + 5j) m,
then rB/A = (6i 3j) m.
Department of Mechanical and Automation Engineering 45
Chinese University of Hong Kong
9 Relative Velocity
To determine the relative velocity of B with
respect to A, the time derivative of the relative
position equation is taken.
vB/A = vB vA or vB = vA + vB/A (12-26)
where vB and vA -- absolute velocities, since they are
observed from the fixed frame. vB/A is the relative
velocity of B w.r.t to A, because it is observed from
Fig.12-26
the translating frame. Negative
Note: vB/A = -vA/B
9 Relative Acceleration
The time derivative of the relative velocity
equation yields a similar vector relationship
between the absolute and relative acceler-
ations of particles A and B
aB/A = aB aA or aB = aA + aB/A (12-27) Fig.12-27
Department of Mechanical and Automation Engineering 46
Chinese University of Hong Kong
Example 8
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.
Solution:
1). Velocity.
The fixed x, y axes are established at a point
on the ground and the translating x, y axes
are attached to car A. Using Cartesian vector
analysis,
vB = v A + vB/ A
( )
12 j = 18 cos 60o i 18 sin 60o j + v B / A
v B / A = {9i + 3.588 j} m / s
Fig.12-28
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Thus,
vB / A = 9 2 + 3.5882 = 9.69 m / s
Its direction is
(vB / A )y 3.588
tan = = , = 21.7 o
(vB / A )x 9
2). Acceleration.
vB2
The magnitude of the normal component is (aB )n = = 1.440 m / s 2
Applying the equation for relative acceleration yields
aB = a A + aB/ A
( 1.440i 3j) = (2 cos 60o i + 2 sin 60o j) + a B / A
a B / A = { 2.440i 4.732 j} m / s 2
Magnitude and direction are
aB / A = 5.32 m / s 2 , = 62.7 o
Department of Mechanical and Automation Engineering 48
Chinese University of Hong Kong
Exercise:
1. The velocity of B relative to A is defined as
A) vB vA . B) vA vB . C) vB + vA . D) vA + vB .
2. Since vector addition forms a triangle, there can be at most _________
unknowns (either magnitudes and/or directions of the vectors) to solve
the problem.
m
A) one B) two C) three D) four vB = 4 s
3. Two particles, A and B, are moving in the
directions shown. What should be the angle B
so that vB/A is minimum?
A) 0 B) 180 C) 90 D) 270 A vA = 3 ms
4. Determine the velocity of plane A with respect to plane B.
A) (400i+520j) km/hr
B) (1220i-300j) km/hr
C) (-181i-300j) km/hr 30
D) (-1220i+300j) km/hr
Department of Mechanical and Automation Engineering 49