PHYS 2425-65001 Summer 2014

Chapter 4: Kinematics in Two Dimension

Chapter Goal
To learn how to solve problems about motion in a plane.
Preview
A ball is thrown upward at a 45 angle. In the absence of
air resistance, the ball follows a
A. Tangential curve.
B. Sine curve.
C. Parabolic curve.
D. Linear curve.
Preview
A ball is thrown upward at a 45 angle. In the absence of
air resistance, the ball follows a
A. Tangential curve.
B. Sine curve.
C. Parabolic curve.
D. Linear curve.
Review (Vectors)
y x
A A A

+ =
The components are the
legs of the right triangle
whose hypotenuse is A
( ) ( )
( )

|
|
.
|

\
|
= =
+ =

x
y
x
y
y x
A
A
A
A
A A A
1
2 2
tan or tan u u

) sin(
) cos(

=
=
u
u
A A
A A
y
x
Motion in three dimensions
Kinematic variables in one dimension
Position: x(t) m
Velocity: v(t) m/s
Acceleration: a(t) m/s
2
Kinematic variables in three dimensions
Position: m
Velocity: m/s
Acceleration: m/s
2
All are vectors: have direction and
magnitudes
k v j v i v t v
z y x


) ( + + =

k z j y i x t r


) ( + + =

k a j a i a t a
z y x


) ( + + =

y
x
z
i
j
k
y
x
z
i
j
k
x
Position
The position of an
object is described by
its position vector, r
r=x i +y j for 2D
r=x i +y j +z k for 3D
Displacement
The displacement of the object
is defined as the change in its
position
r = r
f
r
i
Dr=(x
f
-x
i
) i +(y
f
-y
i
) j for 2D
Dr=(x
f
-x
i
) i +(y
f
-y
i
) j +(z
f
-z
i
) k
(3D)
Position and Displacement
) (t r

In one dimension
In two dimensions
Position: the position of an object is
described by its position vector
--always points to particle from origin.
Displacement:
x
1
(t
1
) = - 3.0 m, x
2
(t
2
) = + 1.0 m
x = +1.0 m + 3.0 m = +4.0 m 1 2
r r r

= A
j y i x
j y y i x x
j y i x j y i x r


) (

) (
)

( )

(
1 2 1 2
1 1 2 2
A + A =
+ =
+ + = A

) ( ) (
1 1 2 2
t x t x x = A
1 2
r r r

= A
Average & Instantaneous Velocity
dt
r d
t
r
v v
t
avg


=
A
A
=
0 0 t
lim lim
Average velocity
Instantaneous velocity
v is tangent to the path in x-y graph;
j v i v j
t
y
i
t
x
v
y avg x avg avg

, ,
+ =
A
A
+
A
A
=

t
r
v
avg
A
A

j v i v j
dt
dy
i
dt
dx
dt
r d
v
y x

+ = + = =

Motion of Turtle
A turtle starts at the origin and moves with the speed of v
0
=10 cm/s in
the direction of 25 to the horizontal.
(a) Find the coordinates of a turtle 10 seconds later.
(b) How far did the turtle walk in 10 seconds?
Motion of Turtle
Notice, you can solve the
equations independently for the
horizontal (x) and vertical (y)
components of motion and then
combine them!
y x
v v v

+ =
0
0 0
cos 25 9.06 cm/s
x
v v = =

X components:
Y components:
Distance from the origin:
0
90.6 cm
x
x v t A = =
0 0
sin 25 4.23 cm/s
y
v v = =

0
42.3 cm
y
y v t A = =
cm 0 . 100
2 2
= A + A = y x d
Average & Instantaneous Acceleration
dt
v d
t
v
a a
t
avg


=
A
A
=
0 0 t
lim lim
Average acceleration
Instantaneous acceleration
The magnitude of the velocity (the speed) can change
The direction of the velocity can change, even though the
magnitude is constant
Both the magnitude and the direction can change
j a i a j
t
v
i
t
v
a
y avg x avg
y
x
avg

, ,
+ =
A
A
+
A
A
=

t
v
a
avg
A
A

j a i a j
dt
dv
i
dt
dv
dt
v d
a
y x
y
x

+ = + = =

Summary in Two Dimension

j y i x t r

) ( + =

Position
Average velocity
Instantaneous velocity
Acceleration
are not necessarily same direction.
j a i a j
dt
dv
i
dt
dv
dt
v d
t
v
t a
y x
y
x
t

lim ) (
0
+ = + = =
A
A
=

j v i v j
t
y
i
t
x
t
r
v
y avg x avg avg

, ,
+ =
A
A
+
A
A
=
A
A
=

j v i v j
dt
dy
i
dt
dx
dt
r d
t
r
t v
y x
t

lim ) (
0
+ = + = =
A
A
=

dt
dx
v
x

dt
dy
v
y

2
2
dt
x d
dt
dv
a
x
x
=
2
2
dt
y d
dt
dv
a
y
y
=
Constant Acceleration
If the acceleration is constant, then the two
components a
x
and a
y
are both constant.
In this case, everything from Chapter 2 about constant-
acceleration kinematics applies to the components.
The x-components and y-components of the motion can be
treated independently.
They remain connected through the fact that t must be the
same for both.
Problems
An objects position is given by , =(3.0t 4.0 t
2
) with t = in seconds
and in meters, (a) In unit-vectors notation, what is the objects velocity?
At t = 2.00 s, what is velocity (a) in unit vector notation and as (b) a
magnitude and (d) an angle relative to the positive direction of the x axis?
r

Problem 4.8
Projectile Motion
Baseballs, tennis balls, Olympic divers, etc. all exhibit
projectile motion.
A projectile is an object that moves in two dimensions under
the influence of only gravity.
Projectile motion extends the idea of free-fall motion
to include a horizontal
component of velocity.
Air resistance is
neglected.
Projectiles in two
dimensions follow
a parabolic trajectory
as shown in the photo.
Projectile Motion
The start of a
projectiles motion
is called the launch.
The angle u of the
initial velocity v
0
above the x-axis is
called the launch angle.
The initial velocity vector can be broken into components.
where v
0
is the initial speed.
Projectile Motion
Gravity acts downward.
Therefore, a projectile
has no horizontal
acceleration.
Thus:
The vertical component of acceleration a
y
is

g of free fall.
The horizontal component of a
x
is zero.
Projectiles are in free fall.
Projectile Motion
The figure shows a
projectile launched
from the origin with
initial velocity:
The value of v
x
never
changes because
theres no horizontal
acceleration.
v
y
decreases by 9.8 m/s
every second.
Projectile Motion
0 0 0
cosu v v
x
=
2-D problem and define a coordinate system.
Horizontal: a
x
= 0 and vertical: a
y
= -g.
Try to pick x
0
= 0, y
0
= 0 at t = 0.
Velocity initial conditions:
v
0
can have x, y components.
v
0x
is constant usually.
v
0y
changes continuously.
Equations:
0 0 0
sinu v v
x
=
gt v v
y y
=
0
2
2
1
0 0
gt t v y y
y
+ =
x x
v v
0
=
t v x x
x 0 0
+ =
Trajectory of Projectile Motion
Initial conditions (t = 0): x
0
= 0, y
0
= 0
v
0x
= v
0
cos
0
and v
0y
= v
0
sin
0
Horizontal motion:
Vertical motion:
Parabola;

0
= 0 and
0
= 90 ?
2
2
1
0
0 gt t v y
y
+ =
x
x
v
x
t t v x
0
0
0 = + =
2
0 0
0
2
|
|
.
|

\
|

|
|
.
|

\
|
=
x x
y
v
x g
v
x
v y
2
0
2 2
0
0
cos 2
tan x
v
g
x y
u
u =
Range R & Maximum Height h
Initial conditions (t = 0): x
0
= 0, y
0
= 0
v
0x
= v
0
cos
0
and v
0x
= v
0
sin
0
, then
Horizontal Vertical
2
2
1
0
0 0 gt t v
y
+ = t v x
x 0
0 + =
g
v
g
v v
t v x x R
x
0
2
0 0 0 0 0
0 0
2 sin sin cos 2 u u u
= = = =
g
v
g
v
t
y
0 0
0
sin 2
2
u
= =
2
0
2
2
1
0 0
2 2 2
|
.
|

\
|
= = =
t g t
v gt t v y y h
y h h y
g
v
h
2
sin
0
2 2
0
u
=
y
y
y y y
v
g
v
g v gt v v
0
0
0 0
2
= = =
h
gt v v
y y
=
0
2
2
1
0 0
gt t v y y
y
+ =
x x
v v
0
=
t v x x
x 0 0
+ =
Projectile Motion at Various Initial Angles
g
v
R
| 2 sin
2
0
=
Complementary values
of the initial angle result
in the same range
The heights will be
different
The maximum range
occurs at a projection
angle of 45
o
Quick Check
A heavy red ball is released
from rest 2.0 m above a flat,
horizontal surface. At exactly
the same instant, a yellow ball
with the same mass is fired
horizontally at 3.0 m/s. Which
ball hits the ground first?
A. The red ball hits first.
B. The yellow ball hits first.
C. They hit at the same time.
Quick Check
A heavy red ball is released
from rest 2.0 m above a flat,
horizontal surface. At exactly
the same instant, a yellow ball
with the same mass is fired
horizontally at 3.0 m/s. Which
ball hits the ground first?
A. The red ball hits first.
B. The yellow ball hits first.
C. They hit at the same time.
Quick Check
A 100 g ball rolls off a table and lands 2.0 m from the
base of the table. A 200 g ball rolls off the same table
with the same speed. It lands at distance
A. 1.0 m.
B. Between 1 m and 2 m.
C. 2.0 m.
D. Between 2 m and 4 m.
E. 4.0 m.
Quick Check
A 100 g ball rolls off a table and lands 2.0 m from the
base of the table. A 200 g ball rolls off the same table
with the same speed. It lands at distance
A. 1.0 m.
B. Between 1 m and 2 m.
C. 2.0 m.
D. Between 2 m and 4 m.
E. 4.0 m.
Quick check
Projectiles 1 and 2 are launched
over level ground with the same
speed but at different angles.
Which hits the ground first? Ignore
air resistance.
A. Projectile 1 hits first.
B. Projectile 2 hits first.
C. They hit at the same time.
D. Theres not enough information
to tell.
Quick Check
Projectiles 1 and 2 are launched
over level ground with the same
speed but at different angles.
Which hits the ground first? Ignore
air resistance.
A. Projectile 1 hits first.
B. Projectile 2 hits first.
C. They hit at the same time.
D. Theres not enough information
to tell.
Problem
A Projectile is fired horizontally from a gun that is 45.0 m above flat ground,
emerging from the gun with a speed of 250 m/s (a) How long does the
projectile remain in the air? (b) At what horizontal distance from the firing
point does it strike the ground? (c) what is the magnitude of the vertical
component of its velocity as it strikes the ground?
Problem 4.13
Problem
A Projectile is fired at t = 0, with an initial velocity of magnitude 20.0 m/s and
at an angle of 40
o
above the horizontal. What are the magnitudes of the (a)
horizontal and (b) vertical components of its displacement from the firing site
at t = 1.10 s? Repeat for the (c) horizontal and (d) vertical components of its
displacement at t = 5.0 s
Circular Motion
Consider a ball on a roulette
wheel.
It moves along a circular path
of radius r.
Other examples of circular
motion are a satellite in an
orbit or a ball on the end of a
string.
Circular motion is an example
of two-dimensional motion in
a plane.
Uniform Circular Motion
To begin the study of circular
motion, consider a particle
that moves at constant speed
around a circle of radius r.
This is called uniform circular
motion.
The time interval to complete
one revolution is called the
period, T.
The period T is related to the
speed v:
Angular Position
Consider a particle at a distance r
from the origin, at an angle u from
the positive x axis.
The angle may be measured in
degrees, revolutions (rev) or
radians (rad), that are related by:
If the angle is measured in radians,
then there is a simple relation
between u and the arc length s that
the particle travels along the edge
of a circle of radius r:
1 rev = 360 = 2t rad
Angular Velocity
A particle on a circular path
moves through an angular
displacement u = u
f
u
i
in a time interval t = t
f
t
i
.
In analogy with linear
motion, we define:
As the time interval t becomes very small, we arrive
at the definition of instantaneous angular velocity.
Angular Velocity
Angular velocity is the
rate at which a particles
angular position is changing.
As shown in the figure,
can be positive or negative,
and this follows from our
definition of u.
A particle moves with
uniform circular motion if is constant.
and u are related graphically:
Quick Check
This is the angular velocity graph of a
wheel. How many
revolutions does the
wheel make in the
first 4 s?
A. 1
B. 2
C. 4
D. 6
E. 8
Quick Check
This is the angular velocity graph
of a wheel. How many
revolutions does the
wheel make in the
first 4 s?
A. 1
B. 2
C. 4
D. 6
E. 8
Au = area under the angular velocity curve
Angular Velocity in Uniform Circular Motion
When angular velocity is constant, this is uniform circular
motion.
In this case, as the particle goes around a circle one time, its
angular displacement is Au = 2t during one period At = T.
The absolute value of the constant angular velocity is related
to the period of the motion by:
Quick Check
A ball rolls around a circular track with an angular
velocity of 4t rad/s. What is the period of the
motion?
A. s
B. 1 s
C. 2 s
D. s
E. s
1
2
1
2t
1
4t
Quick Check
A ball rolls around a circular track with an angular
velocity of 4t rad/s. What is the period of the
motion?
A. s
B. 1 s
C. 2 s
D. s
E. s
1
2
1
2t
1
4t
T =
2t
e
Tangential Velocity
The tangential velocity
component v
t
is the rate
ds/dt at which the particle
moves around the circle,
where s is the arc length.
The tangential velocity
and the angular velocity
are related by:
In this equation, the units of v
t
are m/s, the units of are
rad/s, and the units of r are m.
Centripetal Acceleration
In uniform circular motion,
although the speed is constant,
there is an acceleration because
the direction of the velocity
vector is always changing.
The acceleration of uniform
circular motion is called
centripetal acceleration.
The direction of the centripetal
acceleration is toward the
center of the circle.
The magnitude of the centripetal acceleration is constant for
uniform circular motion.
Centripetal Acceleration
The figure shows the velocity
at one instant and the
velocity an infinitesimal
amount of time dt later.
By definition, .
By analyzing the isosceles
triangle of velocity vectors,
we can show that:
which can be written in terms of angular velocity as: a =
2
r.
Angular Velocity of a Rotating Object
The figure shows a wheel
rotating on an axle.
Points 1 and 2 turn
through the same angle
as the wheel rotates.
That is, Au
1
= Au
2
during
some time interval At.
Therefore
1
=
2
= .
All points on the wheel rotate with the same angular
velocity.
We can refer to as the angular velocity of the wheel.
Angular Acceleration
Suppose a wheels rotation is
speeding up or slowing down.
This is called nonuniform circular
motion.
We can define the angular
acceleration as
The units of o are rad/s
2
.
The figure to the right shows a
wheel with angular acceleration o
= 2 rad/s
2
.
The Sign of Angular Acceleration
o is positive if || is increasing and
is counter-clockwise.
o is positive if || is decreasing
and is clockwise.
o is negative if || is increasing
and is clockwise.
o is negative if || is decreasing
and is counter-clockwise.
Angular Kinematics
The same relations that hold for linear motion between a
x
, v
x
,
and x apply analogously to rotational motion for o, , and u.
There is a graphical relationship between o and :
The table shows a comparison of the rotational and linear
kinematics equations for constant o or constant a
s
:
Acceleration in Nonuniform Circular Motion
The particle in the figure is
moving along a circle and is
speeding up.
The centripetal acceleration is
a
r
= v
t
2
/r, where v
t
is the
tangential speed.
There is also a tangential
acceleration a
t
, which is always
tangent to the circle.
The magnitude of the total
acceleration is
Nonuniform Circular Motion
A particle moves along a circle
and may be changing speed.
The distance traveled along
the circle is related to u :
The tangential velocity is related to the angular velocity:
The tangential acceleration is related to the angular
acceleration:
Problems
Model: Treat the record on a turntable as a particle rotating at 45 rpm.
Solve: (a) The angular velocity is
1min 2 rad
45 rpm 1.5 rad/s 4.7 rad/s
60 s 1 rev
t
e t = = ~
(b) The period is
2 rad 2 rad
1.33 s 1.3 s
1.5 rad/s
T
t t
e t

= = = ~
Problem
The fan is in nonuniform circular motion.
Summary
Motion in Two Dimensions
Constant Acceleration
Projectile Motion
Circular Motion