11 Lecture PPT Rectilinear Motion PDF

Tenth Edition
CHAPTER VECTOR MECHANICS FOR ENGINEERS:
11 DYNAMICS
Ferdinand P. Beer
E. Russell Johnston, Jr.
Phillip J. Cornwell Kinematics of Particles-
Lecture Notes:
Brian P. Self Rectilinear motion
California Polytechnic State University
© 2013 The McGraw-Hill Companies, Inc. All rights reserved.

Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Contents
Introduction Sample Problem 11.5
Rectilinear Motion: Position, Graphical Solution of Rectilinear-
Velocity & Acceleration Motion Problems
Determination of the Motion of a Curvilinear Motion: Position, Velocity
Particle & Acceleration
Sample Problem 11.2 Derivatives of Vector Functions
Sample Problem 11.3
Rectangular Components of Velocity
Uniform Rectilinear-Motion and Acceleration
Uniformly Accelerated Rectilinear- Motion Relative to a Frame in
Motion Translation
Motion of Several Particles:
Relative Motion
Sample Problem 11.4
Motion of Several Particles:
Dependent Motion
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 2

Edition
Tenth
Application
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.

Edition
Tenth
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
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.
Edition
Tenth
Introduction
• Particle kinetics includes:
• Rectilinear motion: position, velocity, and acceleration of a

particle as it moves along a straight line.
• Curvilinear motion: position, velocity, and acceleration of a

particle as it moves along a curved line in two or three
dimensions.
Edition
Tenth
Rectilinear Motion: Position, Velocity & Acceleration
• Rectilinear motion: particle moving
along a straight line
• Position coordinate: defined by
positive or negative distance from a
fixed origin on the line.
• The motion of a particle is known if

the position coordinate for particle is
known for every value of time t.
• May be expressed in the form of a
function, e.g.,
x  6t  t
2 3
or in the form of a graph x vs. t.

Edition
Tenth
• Consider particle which occupies position P
at time t and P’ at t+Dt,
Dx
Average velocity 
Dt
Dx
Instantaneous velocity  v  lim
Dt  0 D t
• Instantaneous velocity may be positive or

negative. Magnitude of velocity is referred
to as particle speed.
• From the definition of a derivative,
Dx dx
v  lim 
Dt  0 Dt dt
e.g., x  6t 2  t 3
dx
v  12t  3t 2
dt
Edition
Tenth
• Consider particle with velocity v at time t and
v’ at t+Dt,
Dv
Instantaneous acceleration  a  lim
Dt 0 Dt
• Instantaneous acceleration may be:

- positive: increasing positive velocity
or decreasing negative velocity
- negative: decreasing positive velocity
or increasing negative velocity.
• From the definition of a derivative,
Dv dv d 2 x
a  lim   2
Dt 0 Dt dt dt
e.g. v  12t  3t 2
dv
a  12  6t
dt
Edition
Tenth
Concept Quiz
What is true about the kinematics of a particle?
a) The velocity of a particle is always positive

b) The velocity of a particle is equal to the slope of
the position-time graph
c) If the position of a particle is zero, then the
velocity must zero
d) If the velocity of a particle is zero, then its
acceleration must be zero

Edition
Tenth
• From our example,
x  6t 2  t 3
dx
v  12t  3t 2
dt
dv d 2 x
a   12  6t
dt dt 2
• What are x, v, and a at t = 2 s ?

- at t = 2 s, x = 16 m, v = vmax = 12 m/s, a = 0
• Note that vmax occurs when a=0, and that the

slope of the velocity curve is zero at this point.
• What are x, v, and a at t = 4 s ?
- at t = 4 s, x = xmax = 32 m, v = 0, a = -12 m/s2

Edition
Tenth
Determination of the Motion of a Particle
• We often determine accelerations from the forces applied

(kinetics will be covered later)
• Generally have three classes of motion
- 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)
• Can you think of a physical example of when force is a

function of position? When force is a function of velocity?
a spring drag
Edition
Tenth
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
 a v v dv
v
dx x dx  v a  v 
0 0

Edition
Tenth
Sample Problem 11.2
SOLUTION:
• Integrate twice to find v(t) and y(t).
• Solve for t when velocity equals zero

(time for maximum elevation) and
evaluate corresponding altitude.
• Solve for t when altitude equals zero

Ball tossed with 10 m/s vertical velocity (time for ground impact) and evaluate
from window 20 m above ground. corresponding velocity.
Determine:
• velocity and elevation above ground at
time t,
• highest elevation reached by ball and
corresponding time, and
• time when ball will hit the ground and
corresponding velocity.
Edition
Tenth
Sample Problem 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 vt   v0  9.81t
v0 0
m  m
vt   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
 s  s 
Edition
Tenth
Sample Problem 11.2
• Solve for t when velocity equals zero and evaluate
corresponding altitude.
m  m
vt   10   9.81 2  t  0
s  s 
t  1.019 s
• Solve for t when altitude equals zero and evaluate

 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

Edition
Tenth
Sample Problem 11.2
• Solve for t when altitude equals zero and evaluate
 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
v3.28 s   10   9.81 2  3.28 s 
s  s 
m
v  22.2
s

Edition
Tenth
Sample Problem 11.3
SOLUTION:
a  kv • Integrate a = dv/dt = -kv to find v(t).

• Integrate v(t) = dx/dt to find x(t).
• Integrate a = v dv/dx = -kv to find
v(x).
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.
Determine v(t), x(t), and v(x).

Edition
Tenth
Sample Problem 11.3
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
vt   v0 e kt
• Integrate v(t) = dx/dt to find x(t).

dx
v t    v0e  kt
dt
t
 1 
x t
 dx  v0  dt
e  kt
x  t   v0   e  kt 
0 0  k 0
xt  
v0
k

1  e  kt 
Edition
Tenth
Sample Problem 11.3
• 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 xt  
v0
k

1  e  kt 
vt 
and vt   v0 e  kt or e  kt 
v0
v  vt  
then xt   0 1  
k  v0 
v  v0  kx

Edition
Tenth
Problem Solving
A bowling ball is dropped from a boat so that it
strikes the surface of a lake with a speed of 5 m/s.
+y Assuming the ball experiences a downward
acceleration of a =10 - 0.01v2 when in the water,
determine the velocity of the ball when it strikes the
bottom of the lake.
Which integral should you choose?
v t v x
(a)  dv   a  t  dt
v0 0
(c)  v dv   a  x  dx
v0 x0
v t
x v dv
(b)
v dv
x dx  v a  v  (d) v a  v   0 dt
0
0 0

Edition
Tenth
Problem Solving
SOLUTION:
• Determine the proper kinematic
relationship to apply (is acceleration
a function of time, velocity, or
position?
• Determine the total distance the car
The car starts from rest and accelerates travels in one-half lap
according to the relationship
• Integrate to determine the velocity
a  3  0.001v 2
after one-half lap
It travels around a circular track that has

a radius of 200 meters. Calculate the
velocity of the car after it has travelled
halfway around the track. What is the
car’s maximum possible speed?

Edition
Tenth
Problem Solving
Given: a  3  0.001v 2 Find: v after ½ lap
vo = 0, r = 200 m Maximum speed
Choose the proper kinematic relationship
Acceleration is a function of velocity, and
we also can determine distance. Time is not
involved in the problem, so we choose:
x v
dv
 a v v dv
v
dx x dx  v a  v 
0 0
Determine total distance travelled

x   r  3.14(200)  628.32 m

Edition
Tenth
Problem Solving
Determine the full integral, including limits
x v
v dv 628.32 v
x v a  v 
 v
0
dx
0

0
dx  
0
3  0.001v 2
dv
Evaluate the interval and solve for v

1 2 v
628.32   ln 3  0.001v 
0.002 0
628.32(0.002)  ln 3  0.001v2   ln 3  0.001(0) 
ln 3  0.001v2   1.2566  1.0986=  0.15802
Take the exponential of each side 3  0.001v 2  e 0.15802

Edition
Tenth
Problem Solving
Solve for v 3  0.001v 2  e 0.15802
3  e0.15802
v 
2
 2146.2 v  46.3268 m/s
0.001
How do you determine the maximum speed the car can reach?
Velocity is a maximum when a  3  0.001v 2
acceleration is zero
This occurs when 0.001v 2  3
vmax  3
0.001 vmax  54.772 m/s

Edition
Tenth
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
Careful – these only apply to

uniform rectilinear motion!
Edition
Tenth
Uniformly Accelerated Rectilinear Motion
If forces applied to a body

are constant (and in a
constant direction), then
you have uniformly
accelerated rectilinear
motion.
Another example is free-

fall when drag is negligible

Edition
Tenth
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
Careful – these only apply to uniformly

accelerated rectilinear motion!
Edition
Tenth
Motion of Several Particles
We may be interested in the motion of several different particles,
whose motion may be independent or linked together.

Edition
Tenth
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
Edition
Tenth
Sample Problem 11.4
SOLUTION:
• Substitute initial position and velocity
and constant acceleration of ball into
general equations for uniformly
accelerated rectilinear motion.
• Substitute initial position and constant

velocity of elevator into equation for
uniform rectilinear motion.
Ball thrown vertically from 12 m level
in elevator shaft with initial velocity of • Write equation for relative position of
18 m/s. At same instant, open-platform ball with respect to elevator and solve
elevator passes 5 m level moving for zero relative position, i.e., impact.
upward at 2 m/s.
• Substitute impact time into equation
Determine (a) when and where ball hits for position of elevator and relative
elevator and (b) relative velocity of ball velocity of ball with respect to
and elevator at contact. elevator.
Edition
Tenth
Sample Problem 11.4
SOLUTION:
• Substitute initial position and velocity and constant
acceleration of ball into general equations for
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 
• Substitute initial position and constant velocity of

elevator into equation for uniform rectilinear motion.
m
vE  2
s
 m
y E  y0  v E t  5 m   2 t
 s

Edition
Tenth
Sample Problem 11.4
• Write equation for relative position of ball with respect to
elevator and solve for zero relative position, i.e., 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

and relative velocity of ball with respect to elevator.
y E  5  23.65
y E  12.3 m
v B E  18  9.81t   2
 16  9.813.65
m
v B E  19.81
s
Edition
Tenth
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 x B  xC  constant (two degrees of freedom)
• For linearly related positions, similar relations hold

between velocities and accelerations.
dx A dx dx
2  2 B  C  0 or 2v A  2v B  vC  0
dt dt dt
dv dv dv
2 A  2 B  C  0 or 2a A  2a B  aC  0
dt dt dt
Edition
Tenth
Sample Problem 11.5
SOLUTION:
• Define origin at upper horizontal surface
with positive displacement downward.
• Collar A has uniformly accelerated
rectilinear motion. Solve for acceleration
and time t to reach L.
• Pulley D has uniform rectilinear motion.
Pulley D is attached to a collar which Calculate change of position at time t.
is pulled down at 75 mm/s. At t = 0,
collar A starts moving down from K • Block B motion is dependent on motions
with constant acceleration and zero of collar A and pulley D. Write motion
initial velocity. Knowing that velocity relationship and solve for change of block
of collar A is 300 mm/s as it passes L, B position at time t.
determine the change in elevation, • Differentiate motion relation twice to
velocity, and acceleration of block B develop equations for velocity and
when block A is at L. acceleration of block B.
Edition
Tenth
Sample Problem 11.5
SOLUTION:
• Define origin at upper horizontal surface with
positive displacement downward.
• Collar A has uniformly accelerated rectilinear

motion. Solve for acceleration and time t to reach L.
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
v A = (v A )0 + a At
mm mm
300 = 225 2 t t = 1.333 s
s s

Edition
Tenth
Sample Problem 11.5
• Pulley D has uniform rectilinear motion. Calculate
change of position at time t.
x D = ( x D ) 0 + vD t
æ mm ö
xD - ( xD ) 0 = ç 75 ÷ (1.333s) = 100 mm
è s ø
• 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  x D  0   x B 0
 x A   x A  0   2  xD   xD 0    xB   x B 0   0
     
 200 mm   2 100 mm    xB   xB 0   0
xB - (xB )0 = - 400mm
Edition
Tenth
Sample Problem 11.5
• 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  2 aD  aB  0
 mm 
 225 2 
 2(0)  aB  0
 s 
mm mm
aB = - 225 = 225
s2 s2

Edition
Tenth
Problem Solving
Slider block A moves to the left with a
constant velocity of 6 m/s. Determine the
velocity of block B.
Solution steps
• Sketch your system and choose

coordinate system
• Write out constraint equation
• Differentiate the constraint equation to
get velocity

Edition
Tenth
Problem Solving
Given: vA= 6 m/s left Find: vB
xA This length is constant no
matter how the blocks move
Sketch your system and choose coordinates

yB
Define your constraint equation(s)
x A  3 yB  constants  L
Differentiate the constraint equation to

get velocity
6 m/s + 3vB  0
v B  2 m/s 
Note that as xA gets bigger, yB gets smaller.
Edition
Tenth
Graphical Solution of Rectilinear-Motion Problems
Engineers often collect position, velocity, and acceleration

data. Graphical solutions are often useful in analyzing
these data.
Data Fideltity / Highest Recorded Punch
180
160
140 Acceleration data

from a head impact
Acceleration (g)
120
100 during a round of

80 boxing.
60
40
20
0
47.76 47.77 47.78 47.79 47.8 47.81
Time (s)

Edition
Tenth
• Given the x-t curve, the v-t curve is

equal to the x-t curve slope.
• Given the v-t curve, the a-t curve is

equal to the v-t curve slope.

Edition
Tenth
• Given the a-t curve, the change in velocity between t1 and t2 is

equal to the area under the a-t curve between t1 and t2.
• Given the v-t curve, the change in position between t1 and t2 is

equal to the area under the v-t curve between t1 and t2.

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Tenth Edition

CHAPTER VECTOR MECHANICS FOR ENGINEERS:

© 2013 The McGraw-Hill Companies, Inc. All rights reserved.

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 2

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 3

Kinetics: study of the relations existing between the forces acting on

• Rectilinear motion: position, velocity, and acceleration of a

• Curvilinear motion: position, velocity, and acceleration of a

• The motion of a particle is known if

or in the form of a graph x vs. t.

• Instantaneous velocity may be positive or

• Instantaneous acceleration may be:

What is true about the kinematics of a particle?

a) The velocity of a particle is always positive

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• What are x, v, and a at t = 2 s ?

• Note that vmax occurs when a=0, and that the

- at t = 4 s, x = xmax = 32 m, v = 0, a = -12 m/s2

• We often determine accelerations from the forces applied

• Can you think of a physical example of when force is a

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• Solve for t when velocity equals zero

• Solve for t when altitude equals zero

• Solve for t when altitude equals zero and evaluate

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a  kv • Integrate a = dv/dt = -kv to find v(t).

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• Integrate v(t) = dx/dt to find x(t).

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Which integral should you choose?

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It travels around a circular track that has

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Determine total distance travelled

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Evaluate the interval and solve for v

628.32(0.002)  ln 3  0.001v2   ln 3  0.001(0) 

ln 3  0.001v2   1.2566  1.0986=  0.15802

Take the exponential of each side 3  0.001v 2  e 0.15802

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This occurs when 0.001v 2  3

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Careful – these only apply to

If forces applied to a body

Another example is free-

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Careful – these only apply to uniformly

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• Substitute initial position and constant

• Substitute initial position and constant velocity of

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• Substitute impact time into equations for position of elevator

• For linearly related positions, similar relations hold

• Collar A has uniformly accelerated rectilinear

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• Sketch your system and choose

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Sketch your system and choose coordinates

Differentiate the constraint equation to

Engineers often collect position, velocity, and acceleration

140 Acceleration data