Dynamics11lecture PDF

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

Edition
Vector Mechanics for Engineers: Dynamics
Tenth
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
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 2
Edition
Tenth
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.
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 2-3

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., 2 3
x  6t  t
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+ t,
x
Average velocity 
t
x
Instantaneous velocity  v  lim
t 0 t
• Instantaneous velocity may be positive or

negative. Magnitude of velocity is referred
to as particle speed.
• From the definition of a derivative,
x dx
v  lim 
t 0 t 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+ t,
v
Instantaneous acceleration  a  lim
t 0 t
• 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,
v dv d 2 x
a  lim   2
t 0 t 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
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 2-9

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  a t 
dt
 a (t )  dv   a  t  dt
v0 0
dx dv
dt  and a  v x
v dt
a  a  x  v dv   a  x  dx
v0 x0
v dv  a  x  dx
v t
dv dv
dt
 a (v ) v a  v   0 dt
a  a v
0
dv x v
v dv
v  a v  dx  
dx x0 v0
a v
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 2
 
y t  20 m  10 t   4.905 2 t
 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 meaningless 
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
x t t
 1 
 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
Group Problem Solving
A bowling ball is dropped from a boat so that it
strikes the surface of a lake with a speed of 15 ft/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
v dv dv
(b) x dx  v a  v  (d) v a  v   0 dt
0
0 0

Edition
Tenth
Concept Question
When will the bowling ball start slowing down?
A bowling ball is dropped from a boat so that it

strikes the surface of a lake with a speed of 15 ft/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.
The velocity would have to be high

enough for the 0.01 v2 term to be bigger
than 10

Edition
Tenth
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
2
a  3  0.001v 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
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:
dv x v
v dv
v  a v  dx  
dx x0 v0
a v
Determine total distance travelled

x   r  3.14(200)  628.32 m

Edition
Tenth
Determine the full integral, including limits
x v
v dv 628.32 v
v
x dx  v a  v   dx  
3  0.001v 2
dv
0 0 0 0
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  0.001v 2   ln 3  0.001(0) 
ln 3  0.001v 2   1.2566  1.0986=  0.15802
Take the exponential of each side 3  0.001v 2  e 0.15802

Edition
Tenth
Solve for v 3  0.001v 2  e 0.15802
2 3  e 0.15802
v   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.
yB E  
 12  18t  4.905t 2  5  2t   0
t  0.39 s meaningless 
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
vB 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 3 in./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 12 in./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 2A  v A 02  2a A x A   x A 0 
2
 in.  in.
12   2a A 8 in. aA  9
 s  s2
v A  v A 0  a At
in. in.
12 9 2t 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  v D t
 in. 
x D   x D 0   3 1.333 s   4 in.
 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 x D  x B   x A 0  2 x D 0   x B 0
x A   x A 0   2x D   x D 0   x B   x B 0   0
8 in.  24 in.  x B   x B 0   0
x B   x B 0  16 in.
Edition
Tenth
Sample Problem 11.5
• 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
 in.   in.  in.

12   2 3   v B  0 v B  18
 s   s  s
a A  2a D  a B  0
 in.  in.
 9 2   vB  0 a B  9 2
 s  s

Edition
Tenth
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
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 y B  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

120 from a head impact
Acceleration (g)
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.

Edition
Tenth
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.
x1  x0  v0t1  area under a-t curvet1  t 

t  abscissa of centroid C

Edition
Tenth
Other Graphical Methods
• Method to determine particle acceleration from v-x curve:
dv
av
dx
 AB tan 
 BC  subnormal to v-x curve

Edition
Tenth
Curvilinear Motion: Position, Velocity & Acceleration
The softball and the car both undergo

curvilinear motion.
• A particle moving along a curve other than a

straight line is in curvilinear motion.
Edition
Tenth
• The position vector of a particle at time t is defined by a vector between
origin O of a fixed reference frame and the position occupied by particle.

• Consider a particle which occupies position P defined by r at time t

and P’ defined by r  at t + t,

Edition
Tenth
Instantaneous velocity Instantaneous speed
(vector) (scalar)
 
 r dr s ds
v  lim  v  lim 
t  0 t dt t  0 t dt

Edition
Tenth
 
• Consider velocity v of a particle at time t and velocity v  at t + t,
 
 v dv
a  lim   instantaneous acceleration (vector)
t  0 t dt
• In general, the acceleration vector is not tangent

to the particle path and velocity vector.
Edition
Tenth
Derivatives of Vector Functions

• Let P u  be a vector function of scalar variable u,
   
dP P Pu  u   Pu 
 lim  lim
du u 0 u u 0 u
• Derivative of vector sum,
    Delete or put in
d P  Q  dP dQ
du
 
du du “bonus” slides
• 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
Edition
Tenth
Rectangular Components of Velocity & Acceleration
• When position vector of particle P is given by its
rectangular components,
   
r  xi  y j  zk
• Velocity vector,
 dx  dy  dz    
v  i  j  k  xi  y j  zk
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  xi  y j  zk
dt dt dt
  
 ax i  a y j  az k

Edition
Tenth
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  y 0  z 0  0  
v x 0 , v y 0 , v z 0  0
Integrating twice yields
v x  v x 0  
v y  v y  gt
0
vz  0
x  v x 0 t  0
y  v y y  12 gt 2 z0
• Motion in horizontal direction is uniform.

• Motion in vertical direction is uniformly accelerated.
• Motion of projectile could be replaced by two

independent rectilinear motions.
Edition
Tenth
Sample Problem 11.7
SOLUTION:
• Consider the vertical and horizontal motion
separately (they are independent)
• Apply equations of motion in y-direction
• Apply equations of motion in x-direction
• Determine time t for projectile to hit the

A projectile is fired from the edge
ground, use this to find the horizontal
of a 150-m cliff with an initial
distance
velocity of 180 m/s at an angle of
30°with the horizontal. Neglecting • Maximum elevation occurs when vy=0
air resistance, find (a) the horizontal
distance from the gun to the point
where the projectile strikes the
ground, (b) the greatest elevation
above the ground reached by the
projectile.
Edition
Tenth
Sample Problem 11.7
SOLUTION:
Given: (v)o =180 m/s (y)o =150 m

(a)y = - 9.81 m/s2 (a)x = 0 m/s2
Vertical motion – uniformly accelerated:
Horizontal motion – uniformly accelerated:

Choose positive x to the right as shown

Edition
Tenth
Sample Problem 11.7
SOLUTION:
Horizontal distance
Projectile strikes the ground at:
Substitute into equation (1) above
Solving for t, we take the positive root
Substitute t into equation (4)
Maximum elevation occurs when vy=0
Maximum elevation above the ground =

Edition
Tenth
Concept Quiz
If you fire a projectile from 150
meters above the ground (see
Ex Problem 11.7), what launch
angle will give you the greatest
horizontal distance x?
a) A launch angle of 45
b) A launch angle less than 45
c) A launch angle greater than 45
d) It depends on the launch velocity

Edition
Tenth
SOLUTION:
A baseball pitching machine • Consider the vertical and horizontal motion
“throws” baseballs with a separately (they are independent)
horizontal velocity v0. If you
want the height h to be 42 in., • Apply equations of motion in y-direction
determine the value of v0.
• Apply equations of motion in x-direction
• Determine time t for projectile to fall to 42

inches
• Calculate v0=0
Edition
Tenth
Given: x= 40 ft, yo = 5 ft,
yf= 42 in.
Find: vo
Analyze the motion in Analyze the motion in

the y-direction the x-direction
1 2
y f  y0  (0)t  gt x  0  (vx )0 t  v0t
2
1 2 40 ft  (v0 )(0.305234 s)
3.5  5  gt
2
1 v0  131.047 ft/s  89.4 mi/h
1.5 ft   (32.2 ft/s 2 )t 2
2
t  0.305234 s

Edition
Tenth
Motion Relative to a Frame in Translation
It is critical for a pilot to
A soccer player must consider know the relative motion
the relative motion of the ball of his aircraft with respect
and her teammates when to the aircraft carrier to
making a pass. make a safe landing.

Edition
Tenth
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 .

r
• Vector B A joining A and B defines the position of
B with respect to the moving frame Ax’y’z’ 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.
Edition
Tenth
Sample Problem 11.9
SOLUTION:
• Define inertial axes for the system
• Determine the position, speed, and

acceleration of car A at t = 5 s
• Determine the position, speed, and
acceleration of car B at t = 5 s
Automobile A is traveling east at the • Using vectors (Eqs 11.31, 11.33, and
constant speed of 36 km/h. As 11.34) or a graphical approach, determine
automobile A crosses the intersection the relative position, velocity, and
shown, automobile B starts from rest acceleration
35 m north of the intersection and
moves south with a constant
acceleration of 1.2 m/s2. Determine
the position, velocity, and
acceleration of B relative to A 5 s
after A crosses the intersection.
Edition
Tenth
Sample Problem 11.9
SOLUTION: • Define axes along the road
Given: vA=36 km/h, aA= 0, (xA)0 = 0

(vB)0= 0, aB= - 1.2 m/s2, (yA)0 = 35 m
Determine motion of Automobile A:
We have uniform motion for A so:
At t = 5 s

Edition
Tenth
Sample Problem 11.9
SOLUTION:
Determine motion of Automobile B:
We have uniform acceleration for B so:
At t = 5 s

Edition
Tenth
Sample Problem 11.9
SOLUTION:
We can solve the problems geometrically, and apply the arctangent relationship:
Or we can solve the problems using vectors to obtain equivalent results:

rB  rA  rB/ A v B  v A  v B/ A a B  a A  a B/ A
20 j  50i  rB/ A 6 j  10i  v B/ A 1.2 j  0i  a B/ A
rB/ A  20 j  50i (m) v B/ A  6 j  10i (m/s) a B/ A  1.2 j (m/s 2 )
Physically, a rider in car A would “see” car B travelling south and west.
Edition
Tenth
Concept Quiz
If you are sitting in train
B looking out the window,
it which direction does it
appear that train A is
moving?
a) 25o c)
b) 25o d)

Edition
Tenth
If we have an idea of the path of a vehicle, it is often convenient

to analyze the motion using tangential and normal components
(sometimes called path coordinates).

Edition
Tenth
y
= the instantaneous
radius of curvature
v  v et
en v= vt et dv v2
et a  e t  en
dt 
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
Edition
Tenth
• 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, et  et  et and
 is the angle between them.
et  2 sin  2 


et sin  2   
lim  lim en  en
 0   0  2

 det
en 
d

Edition
Tenth
 
• With the velocity vector expressed as v  vet
the particle acceleration may be written as
  
 d v dv  d e dv  de d ds
a  et  v  et  v
dt dt dt dt d ds dt
but 
det  ds
 en  d  ds v
d dt
After substituting,
 dv  v 2  dv v2
a  et  en at  an 
dt  dt 
• 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.
Edition
Tenth
• 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  dt 
• The plane containing tangential and normal unit

vectors is called the osculating plane.
• The normal to the osculating plane is found from
  
eb  et  en

en  principal normal

eb  binormal
• Acceleration has no component along the binormal.

Edition
Tenth
Sample Problem 11.8
SOLUTION:
• Define your coordinate system
• Calculate the tangential velocity and

tangential acceleration
• Calculate the normal acceleration
A motorist is traveling on a curved • Determine overall acceleration magnitude

section of highway of radius 2500 ft after the brakes have been applied
at the speed of 60 mi/h. The motorist
suddenly applies the brakes, causing
the automobile to slow down at a
constant rate. Knowing that after 8 s
the speed has been reduced to 45
mi/h, determine the acceleration of
the automobile immediately after the
brakes have been applied.
Edition
Tenth
Sample Problem 11.8
SOLUTION: • Define your coordinate system
• Determine velocity and acceleration in
the tangential direction
et
en
• The deceleration constant, therefore
• Immediately after the brakes are applied,

the speed is still 88 ft/s
a  an2  at2  2.752  3.102

Edition
Tenth
In 2001, a race scheduled at the Texas Motor Speedway was
cancelled because the normal accelerations were too high and
caused some drivers to experience excessive g-loads (similar to
fighter pilots) and possibly pass out. What are some things that
could be done to solve this problem?
Some possibilities:
Reduce the allowed speed

Increase the turn radius
(difficult and costly)
Have the racers wear g-suits

Edition
Tenth
SOLUTION:

• Calculate the tangential velocity and
tangential acceleration
• Calculate the normal acceleration
• Determine overall acceleration

The tangential acceleration of the magnitude
centrifuge cab is given by
at  0.5 t (m/s 2 )
where t is in seconds and at is in
m/s2. If the centrifuge starts from
fest, determine the total acceleration
magnitude of the cab after 10
seconds.

Edition
Tenth
Define your coordinate system
In the side view, the tangential
direction points into the “page”
en
Determine the tangential velocity
at  0.5 t
t
2 t
vt   0.5 t dt  0.25t  0.25t 2 Top View
0 0
vt  0.25 10   25 m/s

2
et
Determine the normal acceleration en
 t  252
2
v 2
an    78.125 m/s
r 8
Determine the total acceleration magnitude
amag  an2  at2  78.1252 +  (0.5)(10) 
2
amag  78.285 m/s 2
Edition
Tenth
Notice that the normal

acceleration is much higher than
the tangential acceleration.
What would happen if, for a
given tangential velocity and
acceleration, the arm radius was
doubled?
a) The accelerations would remain the same
b) The an would increase and the at would decrease
c) The an and at would both increase
d) The an would decrease and the at would increase

Edition
Tenth
By knowing the distance to the aircraft and the
angle of the radar, air traffic controllers can
track aircraft.
Fire truck ladders can rotate as well as extend;

the motion of the end of the ladder can be
analyzed using radial and transverse
components.

Edition
Tenth
• 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  re r
• The particle velocity vector is
   
v  r er  r e

• The particle acceleration vector is
 2  
    
r  r er  r  2r e
a    
Edition
Tenth
• We can derive the velocity and acceleration
relationships by recognizing that the unit vectors
change direction.
• The particle velocity vector is


 d  dr  der dr  d 
v  r e r   e r  r  er  r e
dt dt dt dt dt
 
 r er  r e
 
r  re r
  • Similarly, the particle acceleration vector is
der  de 
 e   er  d  dr  d  
d d a   er  r e 
dt  dt dt 
   
der der d  d
  e d 2 r  dr der dr d  d 2  d de
 2 er   e  r 2 e  r
dt d dt dt dt dt dt dt dt dt dt dt
 
de de d

 d
  er  
 
 r  r 2 er  r  2r e
dt d dt dt
Edition
Tenth
Concept Quiz
If you are travelling in a perfect

circle, what is always true about
radial/transverse coordinates and
normal/tangential coordinates?
a) The er direction is identical to the en direction.

b) The e direction is perpendicular to the en direction.
c) The e direction is parallel to the er direction.

Edition
Tenth
• When particle position is given in cylindrical
coordinates, it is convenient to express the
velocity and acceleration
 vectors using the unit
 
vectors eR , e , and k .
• Position vector,
  
r  R e R z k
• Velocity vector,
 
 dr    
v  R e R  R e  z k
dt
• Acceleration vector,

 dv
a
dt
 R   2
    
  R e R  R  2 R  e  z k

Edition
Tenth
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.
After the arm has rotated through 30o,

determine (a) the total velocity of the
collar, (b) the total acceleration of the
collar, and (c) the relative acceleration
of the collar with respect to the arm.
Edition
Tenth
SOLUTION:
• Evaluate time t for = 30o.
  0.15 t 2
 30  0.524 rad t  1.869 s
• Evaluate radial and angular positions, and first

and second derivatives at time t.
r  0.9  0.12 t 2  0.481 m
r  0.24 t  0.449 m s
r  0.24 m s 2
  0.15 t 2  0.524 rad

  0.30 t  0.561 rad s
  0.30 rad s 2

Edition
Tenth
• Calculate velocity and acceleration.
vr  r  0.449 m s
v  r  0.481m 0.561rad s   0.270 m s
v
v  vr2  v2   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  a2   tan 1 
ar
a  0.531m s   42.6
Edition
Tenth
• 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

Edition
Tenth
SOLUTION:
• Calculate the angular velocity after

three revolutions
• Calculate the radial and transverse
accelerations
The angular acceleration of the • Determine overall acceleration
centrifuge arm varies according to magnitude
  0.05 (rad/s 2 )
where is measured in radians. If the

centrifuge starts from rest, determine the
acceleration magnitude after the gondola
has travelled two full rotations.
Edition
Tenth
Define your coordinate system
In the side view, the transverse er
direction points into the “page”
Determine the angular velocity
  0.05 (rad/s 2 )
Acceleration is a function Top View
d  d er
of position, so use:
Evaluate the integral e

(2)(2 ) 
 0.05 d   d
0 0
2 2(2 )

0.05  2
  0.05  2(2 ) 
 2 2

2 0
2 0
Edition
Tenth
Determine the angular velocity
 2  0.05  2(2 )  er
2
  2.8099 rad/s
Determine the angular acceleration

  0.05 = 0.05(2)(2 )  0.6283 rad/s 2
Find the radial and transverse accelerations
  
a    
r  r 2 er  r  2r e 
2  
  0  (8)(2.8099)  er   (8)(0.6283)  0  e
 
 63.166 er  5.0265 e (m/s 2 )
Magnitude:
amag  ar2  a2  (63.166 ) 2 + 5.0265
2
amag  63.365 m/s 2
Edition
Tenth
r
What would happen if you
designed the centrifuge so
that the arm could extend
from 6 to 10 meters?
You could now have additional acceleration terms. This might

give you more control over how quickly the acceleration of the
gondola changes (this is known as the G-onset rate).
 2  

  
r  r er  r  2r e
a     

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Tenth Edition

VECTOR MECHANICS FOR ENGINEERS:

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

Kinematic relationships are used to

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 2-3

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

• 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

• 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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When will the bowling ball start slowing down?

A bowling ball is dropped from a boat so that it

The velocity would have to be high

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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  0.001v 2   ln 3  0.001(0) 

ln 3  0.001v 2   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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 in.   in.  in.

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• Sketch your system and choose

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Sketch your system and choose coordinates