Absolute Dependent Motion

Analysis of Two Particles

Applications
The cable and pulley modify the
speed of B relative to the speed of
the motor. It is important to relate
the various motions to determine
the power requirements for the
motor and the tension in the cable.

If the speed of the A is known, how

can we determine the speed of
block B?
Applications
Rope and pulley arrangements
are used to assist in lifting
heavy objects. The total lifting
force required from the truck
depends on the acceleration of
the cabinet A.

How can we determine the

acceleration and velocity of A if
the acceleration of B is known?
 Absolute Dependent Motion
Analysis of Two Particles
•In many kinematics problems, the motion of one object
will depend on the motion of another.
•Motion of one particle will depend on the corresponding
motion of another particle.
• Dependency occur when particles are interconnected by
the inextensible cords which are wrapped around pulleys.
 Absolute Dependent Motion
Analysis of Two Particles
The blocks A and B are
connected by an inextensible
cord wrapped around a
pulley. If block A moves
downward, block B will move
up.
sA and sB define motion of blocks. Each starts from a
fixed point, positive in the direction of motion of block.
 Absolute Dependent Motion
Analysis of Two Particles
sA and sB are defined
from the center of the
pulley to blocks A and B.

If the cord has a fixed length, then: sA + lCD + sB = lT

lT is total cord length and lCD is the length of cord
passing over arc CD on the pulley.
 Absolute Dependent Motion
Analysis of Two Particles
Velocities can be found by
differentiating the position
equation. Since lCD and lT
remain constant, so
dlCD dlT
 0
dt dt
dsA dsB
  0 or vB  v A
dt dt
The negative sign indicates that as A moves down (positive
sA), B moves up (negative sB direction).
 Absolute Dependent Motion
Analysis of Two Particles
In a similar manner, time differentiation of velocities yields
the relations between accelerations as: aB = -aA .

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 Absolute Dependent Motion
Analysis of Two Particles
• Forexample involving dependent
motion of two blocks
• Position of block A is specified by
sA, and the position of the end of the
cord which block B is suspended is
defined by sB .
Absolute Dependent Motion
Analysis of Two Particles
sB is defined to the center of the
pulley above block B, since this
block moves with the pulley.
The red colored segments of
the cord and h remain
constant in length.
 Absolute Dependent Motion
Analysis of Two Particles
The position coordinates are related
by 2 sB  h  s A  l .
Where l is the total cord length
minus the lengths of the red
segments.
Velocities and accelerations
can be related by two
successive time derivatives:
2vB  v A and 2aB  a A
When block B moves downward (+sB), block A moves
to the left (-sA).
Absolute Dependent Motion
Analysis of Two Particles
The example can also be worked
by defining the sB from the bottom
pulley instead of the top pulley.
The position, velocity, and
acceleration relations become
2(h  sB )  h  s A  l
Time differentiation yields
2vB  v A 2aB  a A
 Absolute Dependent Motion
Analysis of Two Particles
PROCEDURE FOR ANALYSIS
Position-Coordinate Equation
• Establish position coordinates which have their origin
located at a fixed point or datum.
• The coordinates are directed along the path of motion
and extend to a point having the same motion as each of
the particles.
• It is not necessary that the origin be the same for each
of the coordinates; however, it is important that each
coordinate axis selected be directed along the path of
motion of the particle.
 Absolute Dependent Motion
Analysis of Two Particles
• Using geometry or trigonometry, relate the coordinates
to the total length of the cord, lT, or to that portion of cord,
l, which excludes the segments that do not change length
as the particle move, such as arc segments wrapped over
pulleys.
• For problem involving a system of two or more cords
wrapped over pulleys, then the position of a point on one
cord must be related to the position of a point on another
cord using the above procedure.
• Separate equations must be written for a fixed length of
each cord of the system.
 Absolute Dependent Motion
Analysis of Two Particles
Time Derivatives
• Two successive time derivatives of the position-
coordinates equations yield the required velocity and
acceleration equations which relate motions of the
particles.
• The signs of the terms in these equations will be
consistent with those that specify the positive and
negative sense of the position coordinates.
Relative Motion Analysis
Applications
The boy on the ground is at d = 3m
when the ball was thrown to him
from the window. If the boy is
running at a constant speed of
1.2m/s, how fast should the ball be
thrown?

If aircraft carrier travels at

50km/hr and plane A takes off at
200 km/hr (in reference to water),
how do we find the velocity of
plane A relative to the carrier?
the same for B?
 Relative Position
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

Therefore, if rB = (10 i + 2 j ) m
and rA = (4 i + 5 j ) m,
then rB/A = (6 i – 3 j ) m.
 Relative Velocity
The relative velocity of B with respect
to A is the time derivative of the
relative position equation:
vB/A = vB – vA
or
vB = vA + vB/A

vB and vA are absolute velocities and vB/A is the

relative velocity of B with respect to A.
Note that vB/A = - vA/B .
Relative Acceleration
The time derivative of the relative
velocity equation yields a similar
vector relationship between the
absolute and relative accelerations
of particles A and B.

aB/A = aB – aA
or
aB = aA + aB/A
Relative Motion Analysis of Two
Particles Using Translating Axes
PROCEDURE FOR ANALYSIS
• When applying the relative position equations, rB = rA +
rB/A, it is necessary to specify the location of the fixed x, y
, z and translating x’, y’ and z’.
• Usually, the origin A of the translating axes is located at
a point having a known position rA.
• A graphical representation of the vector addition can be
shown, and both the known and unknown quantities
labeled on this sketch.
Relative Motion Analysis of Two
Particles Using Translating Axes
• Since vector addition forms a triangle, there can be at
most two unknowns, represented by the magnitudes
and/or directions of the vector quantities.
• These unknown can be solved for either graphically,
using trigonometry, or resolving each of the three vectors
rA, rB and rB/A into rectangular or Cartesian components,
thereby generating a set of scalar equations.
Relative Motion Analysis of Two
Particles Using Translating Axes
• The relative motion equations vB = vA + vB/A and aB = aA
+ aB/A are applied in the same manner as explained
above, except in this case, origin O of the fixed axes x, y,
z axes does not have to be specified.
 Graphical Solution
Laws of Sines and Cosines
C Since vector addition or subtraction
a b forms a triangle, sine and cosine
laws can be applied to solve for
A relative or absolute velocities and
B c accelerations.
Law of Sines: a b c
 
sin A sin B sin C
Law of Cosines: a 2  b 2  c 2  2 bc cos A
b  a  c  2 ac cos B
2 2 2

c  a  b  2 ab cos C
2 2 2
 Summary
Absolute Dependent Motion of Two Particles

sB  s A  l
 B   A
aB   a A

Relative-Motion Analysis of Two Particles Using

Translating Axes
rA  rB  rA B
v A  vB  v A B
aA  aB  aA B
 Suggested Readings
• Engineering Mechanics R.C.Hibbeler (Dynamics any
edition) - Kinematics of Particles
• Engineering Mechanics J.L Meriam and L.G. Kraige
(Dynamics any edition) - Kinematics of Particles

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