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Chapter 11
Kinematics of
Particles
1 Dr. Mohammad Suliman Abuhaiba, P.E.
2 1/31/2014 8:29 PM
Introduction
Mechanics
Introduction
Mechanics of rigid bodies is
subdivided into:
1. Statics: deals with bodies at rest
2. Dynamics: deals with bodies in
motion
Introduction
Dynamics is subdivided into:
1. Kinematics
study of geometry of motion.
relating displacement, velocity,
acceleration, and time without reference
to the cause of motion
2. Kinetics
study of the relation existing between the
forces acting on a body, the mass of the
body, and the motion of the body
Dr. Mohammad Suliman Abuhaiba, P.E.
5 1/31/2014 8:29 PM
Introduction
A dynamic study could be done on
two levels:
1. Particle
an object whose size and shape can
be ignored when studying its motion.
2. Rigid Body
a collection of particles that remain at
fixed distance from each other at all
times and under all conditions of
loading. Dr. Mohammad Suliman Abuhaiba, P.E.
6 1/31/2014 8:29 PM
Motion of Particles
Motion of Particles:
1. Rectilinear Motion
2. Curvilinear Motion
Velocity
x
Average velocity
t
Instantaneous x
v lim
t 0 t
Dr. Mohammad Suliman Abuhaiba, P.E.
velocity
8 1/31/2014 8:29 PM
v
Average acceleration
t
Instantaneous v
a lim
acceleration t 0 t
9 1/31/2014 8:29 PM
Rectilinear Motion of
Particles
• Consider particle with motion given by
dx
x 6t t
2 3 v 12t 3t 2
dt
dv d 2 x
a 2 12 6t
dt dt
• at t = 0, x = 0, v = 0, a = 12 m/s2
• at t = 2 s, x = 16 m, v = vmax = 12 m/s, a = 0
• at t = 4 s, x = xmax = 32 m, v = 0, a = -12 m/s2
• at t = 6 s, x = 0, v = -36 m/s, a = 24 m/s2
Dr. Mohammad Suliman Abuhaiba, P.E.
10 1/31/2014 8:29 PM
Determination of Motion of a
Particle
• Typically, conditions of motion are specified by
type of acceleration experienced by the particle.
• Determination of velocity & position requires two
successive integrations.
Determination of Motion of a
Particle
Three classes of motion may be defined:
1.acceleration is a function of time, a = f(t)
2.acceleration is a function of position, a = f(x)
3.acceleration is a function of velocity, a = f(v)
dv f t dt
v0 0
vt v0 f t dt
0
vt dx vt dt
dx
dt
x t t t
dx vt dt
x0 0
xt x0 vt dt
0 Dr. Mohammad Suliman Abuhaiba, P.E.
13 1/31/2014 8:29 PM
or a v f x
dx dx dv dv
v or dt a
dt v dt dx
vx x
v dv f x dx v dv f x dx
v0 x0
x
v x 12 v02 f x dx
1 2
2
x0 Dr. Mohammad Suliman Abuhaiba, P.E.
14 1/31/2014 8:29 PM
a f v
dv dv
dt
dt f v
v t t v t
dv dv
v0
dt
f v 0
v0
f v
t
a f v
dv v dv
v dx
dx f v
x t v t v t
xt x0
v dv v dv
dx
x0 v0
f v
v0
f v Dr. Mohammad Suliman Abuhaiba, P.E.
15 1/31/2014 8:29 PM
Sample 11.2
Ball tossed with 10 m/s vertical
velocity from window 20 m above
ground.
Determine:
a. velocity & elevation above ground
at time t
b. highest elevation reached by ball
and corresponding time
c. time when ball will hit the ground
and corresponding velocity
Dr. Mohammad Suliman Abuhaiba, P.E.
16 1/31/2014 8:29 PM
Sample 11.2
Solution:
Integrate twice to find v(t) and y(t).
dv
a 9.81 m s 2
dt
v t t
dv 9.81 dt vt v0 9.81t
v0 0
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
y t 20 m 10 t 4.905 2 t 2
Dr. Mohammad Suliman Abuhaiba, P.E.
s s
17 1/31/2014 8:29 PM
Sample 11.2
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
Dr. Mohammad Suliman Abuhaiba, P.E.
18 1/31/2014 8:29 PM
Sample 11.2
Solve for t at which altitude equals zero
and evaluate corresponding velocity.
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
m m
v t 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 Dr. Mohammad Suliman Abuhaiba, P.E.
19 1/31/2014 8:29 PM
Sample 11.3
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; that is a = -kv
Determine v(t), x(t), and v(x).
Sample 11.3
Solution:
Integrate a = dv/dt = -kv to find v(t)
v t t
dv dv
a
dt
kv
v0
v
k dt
0
ln
vt
kt vt v0 e kt
v0
Integrate v(t) = dx/dt to find x(t)
dx
vt v0 e kt
dt
x t t t
1
dx v0 e
kt
dt xt v0 e kt
0 0 k 0
Sample 11.3
Integrate a = v dv/dx = -kv to find v(x).
dv
av kv dv k dx
dx
v x
dv k dx
v0 0
v v0 kx
v v0 kx
k
xt 1 e kt
v0
vt v0e kt
or
v0 vt
xt 1 v v0 kx
k v0
Dr. Mohammad Suliman Abuhaiba, P.E.
22 1/31/2014 8:29 PM
Uniformly Accelerated
Rectilinear Motion
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
Sample 11.4
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 the
elevator
b. relative velocity of ball and
elevator at contact
Dr. Mohammad Suliman Abuhaiba, P.E.
27 1/31/2014 8:29 PM
Solution:
ball moves with uniformly accelerated
rectilinear motion.
m m
v B v0 at 18 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
elevator moves with uniform
rectilinear motion.
m
vE 2
s
m
y E y0 v E t 5 m 2 t
s
28 1/31/2014 8:29 PM
Sample 11.4
Write equation for relative position of
ball wrt elevator & solve for zero
relative position (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 & relative velocity of ball wrt elevator.
y E 5 23.65 y E 12.3 m
v B E 18 9.81t 2 m
vB 19.81
16 9.813.65 E
s
Dr. Mohammad Suliman Abuhaiba, P.E.
29 1/31/2014 8:29 PM
Sample 11.4
Solution:
• Define origin at upper horizontal
surface with +ve displacement
downward.
• Collar A has uniformly accelerated
rectilinear motion. Solve for
acceleration and time t to reach L.
v 2A v A 02 2a A x A x A 0
2
cm cm
12 2a A 8 cm aA 9
s s2
v A v A 0 a At
cm cm
Dr. Mohammad Suliman Abuhaiba, P.E.
12 9 2 t t 1.333 s
s s
33 1/31/2014 8:29 PM
Sample 11.4
Pulley D has uniform rectilinear motion. Calculate
change of position at time t.
x D x D 0 v D t
cm
x D x D 0 3 1.333 s 4 cm
s
Sample 11.4
Block B motion is dependent on motions of collar A
& pulley D. Write motion relationship and solve for
change of block B position at time t.
x A 2 x D x B x A 0 2 x D 0 x B 0
x A x A 0 2xD xD 0 xB xB 0 0
8 cm 24 cm x B x B 0 0
xB xB 0 16 cm
xB xB 0 16 cm
Sample 11.4
Differentiate motion relation twice to develop
equations for velocity and acceleration of block B.
x A 2 x D x B constant
v A 2v D v B 0
cm cm
12 2 3 v B 0
s s
cm
vB 18
cm s
a A 2aD aB 0 a B 9 cm
s2 vB 18
cm s
9 2 aB 0 cm
s aB 9 2
s Dr. Mohammad Suliman Abuhaiba, P.E.
36 1/31/2014 8:29 PM
Graphical Solution of
Rectilinear-Motion Problems
Graphical Solution of
Rectilinear-Motion Problems
initial conditions:
x0 y0 z0 0
Integrating twice:
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
rB : position of B wrt
A
moving frame Ax’y’z’
rB rA rB A
Dr. Mohammad Suliman Abuhaiba, P.E.
1/31/2014 8:29 PM
Motion Relative to a Frame in Translation
vB v A vB A vB A velocity of B relative to A
a B a A aB A a B A acceleration of B relative to A
det ds
en d ds v
d dt
dv v 2 dv v2
a et en at an
dt dt
Dr. Mohammad Suliman Abuhaiba, P.E.
Tangential and Normal Components
Tangential component of acceleration reflects
change of speed
Normal component reflects change of direction.
Tangential component may be positive or negative.
Normal component always points toward center of
path curvature.
der de
r rer e er
d d
der der d d
e
dt d dt dt
de de d d
er
dt d dt dt Dr. Mohammad Suliman Abuhaiba, P.E.
Radial and Transverse Components
The particle acceleration vector is
d dr d
a er r e
dt dt dt
d 2 r dr der dr d d 2 d de
2 er e r 2 e r
dt dt dt dt dt dt dt dt
r r er r 2r e
2
v 0.524 m s 31.0
a 0.531m s 42.6
a B OA r 0.240 m s 2