Kinematics of a Particle 12.1 Introduction ‘Mechanics is a branch of the physical sciences that is concerned with the state of rest or motion of bodies subjected to the action of forces. Engineering mechanics is divided into two areas of study, namely, statics and dynamics. Statics is concerned with the equilibrium of a body that is either at rest or moves with constant velocity. Here we will consider dynamics, which deals with the accelerated motion of a body. The subject of dynamics will be presented in two parts: kinematics, which treats only the geometric aspects of the motion, and kinetics, which is the analysis of the forces causing the motion. To develop these principles, the dynamics of a particle will be discussed first, followed by topics in rigid-body dynamics in two and then three dimensions.Charter 12 KINEMATICS OF A PARTICLE Historically, the principles of dynamics developed when it was possible to make an accurate measurement of time. Galileo Galilei (1564-1642) was one of the first major contributors to this field. His ‘work consisted of experiments using pendulums and falling bodies The ‘most significant contributions in dynamics, however, were made by Isaac Newton (1642-1727), who is noted for his formulation of the three fundamental laws of motion and the law of universal gravitational attraction, Shortly after these laws were postulated, important techniques for their application were developed by Euler, D’Alembert Lagrange, and others. ‘There are many problems in engineering whose solutions require application of the principles of dynamics. Typically the structural design of any vehicle, such as an automobile or airplane, requires consideration of the motion to which it is subjected. This is also true for many mechanical devices, such as motors, pumps, movable tools, industrial manipulators, and machinery. Furthermore, predictions of the motions of artificial satellites, projectiles, and spacecraft are based ‘on the theory of dynamics, With further advances in technology, there will be an even greater need for knowing how to apply the principles of this subject. Problem Solving. Dynamics is considered to be more than statics since both the forces applied to a body and its moti be taken into account. Also, many applications require using calculus, rather than just algebra and trigonometry. In any ease, the most effective way of learning the principles of dynamics iso solve problems. ‘To be successful at ths, iti necessary to present the work in a logical and orderly manner as suggested by the following sequence of steps: Read the problem carefully and try to correlate the actual physical situation with the theory you have studi 2. Draw any necessary diagrams and tabulate the problem data, 3. Establish a coordinate system and apply the relevant principles, generally in mathematical form. 4. Solve the necessary equations algebraically as far as practical; then, Use a consistent set of units and complete the solution numerically. Report the answer with no more significant figures than the accuracy of the given data. . Study the answer using technical judgment and common sense to determine whether or not it seems reasonable, 6. Once the solution has been completed, review the problem. Try to think of other ways of obtaining the same solution. In applying this general procedure, do the work as neatly as possible. Being neat generally stimulates clear and orderly thinking, and vice versa12.2. Recruneas Kinewanics: Connuous MOTION 12.2 Rectilinear Kinematics: Continuous Motion We will begin our study of dynamics by discussing the kinematics of a particle that moves along a rectilinear or straight-line path, Recall that a particle has a mass but negligible size and shape. Therefore we must limit application to those objects that have dimensions that are of no consequence in the analysis of the motion. In most problems, we will be interested in bodies of finite size, such as rockets, projectiles, or vehicles. Each of these objects can be considered as a particle, as long as the motion is characterized by the motion of its mass center and any rotation of the body is neglected. Rectilinear Kinematics. The kinematics ofa particle ischaracterized by specifying, at any given instant, the particle's position, velocity, and acceleration, Position. The straightline path of a particle will be defined using a single coordinate axis s, Fig. 12-1a. The origin O on the path isa fixed point, and from this point the position coordinate ss used to specify the location of the partile at any given instant. The magnitude of s is the distance from O to the particle, usually measured in meters (m) oF feet (tt), and the sense of direction is defined by the algebraic sign ons. Although the choice is arbitrary, in this case s is positive since the coordinate aisis postive tothe right of the origin. Likewise, itis negative if the particle is located tothe left of O. Realize that position isa vector quantity since it has both magnitude and direction, Here, however, itis being represented by the algebraic scalar s since the direction always remains along the coordinate axis, Displacement. The displacement of the particle is defined as the change in its position. For example, ifthe particle moves from one point to another, Fig. 2-16, the displacement is As=s'~s In this case As is positive since the particle's final position is to the right Of ts initial position, ie.,s" >». Likewise, if the inal position were to the left ofits initial position, As would be negarive. ‘The displacement of a particle is also a vector quantity, and it should be distinguished from the distance the particle travels. Specifically, the distance traveled is a positive scalar that represents the total length of path over which the particle travels. Position oCHarrer 12 Kinematics OF A Paaticie Velocity. Ifthe particle moves through a displacement As during the time interval Ay, the average velocity of the particle during this time interval is ngs aay It we take smaller and smaller values of A, the magnitude of 4s becomes smaller and smaller. Consequently, the instantaneous velocit defined as v = Jim(As/42), or a & o=4 (241) Since Ar or dt is always positive, the sign used to define the sense of the velocity is the same as that of As or ds. For example, if the particle is moving to the right, Fig. 12-Ic, the velocity is positive; whereas if it is moving to the left the velocity is negative. (This is emphasized here by the arrow written at the left of Eq. 12-1.) The magnitude of the velocity is known as the speed, and its generally expressed in units of m/s orfi/s Occasionally, the term “average speed” is used. The average speed is always @ positive scalar and is defined as the total distance traveled by a particle, sy, divided by the elapsed time A. Seg 22 (odes = By For example, the particle in Fig, 12-Id travels along the path of length sy in time Ar, so its average speed is (M)ng = Sr/At, but its average velocity 18 Uagg = ~As/At had $ va sty nd @ Fig. 12-1 (cont)12.2. Recruneae Kiewancs: ConnMUOUS MOTION Acceleration. Provided the velocity of the particle is known at two points, the average acceleration of the particle during the time interval Aris defined as A “es = Fy Here Av represents the difference in the velocity during the time interval Angie, Av = v' = 0,Fig 12-16. The instantaneous acceleration at time ris a veetor that is found by taking smaller and smaller values of Ar and corresponding smaller and smaller values of Av, so that a = Jim(v/A0,or (s) ant (12.2) ae Both the average and instantaneous acceleration can be either positive or negative. In particular, when the particle is slowing down, or its speed is decreasing the particle is said to be decelerating. In this case, v’ in Fig. 12-1 is less than v,andso Av = »” ~ vwill be negative, Consequently. will also be negative, and therefore it will act (o the left, in the opposite sense to v. ‘Also, notice that if the particle is originally at rest, then it can have an acceleration if a moment later it has a velocity 0’; and, if the velocity is constant, then the acceleration is zero since Av = »— v= 0. Unit commonly used to express the magnitude of acceleration are m/s? ot ft/s Finally, an important differential relation involving the displacement, velocity, and acceleration along the path may be obtained by eliminating, the time differential di between Eqs. 12-1 and 12-2, which gives ray ===aa]) ona Although we have now produced three important kinematic equations, realize that the above equation is not independent of gs. 12-1 and 12-2, Acceleration © 0 Fig, 12-1 (comt.)CHaprer 12 Kinematics OF & PaRricLe Constant Acceleration, @ = a,. When the acceleration is constant, cach of the three kinematic equations a, = dv/dt, and a, ds = v dv can be integrated to obtain formulas that rela and Velocity as.a Function of Time. Integrate a, = dv/dt, assuming that initially » =v when re) (2-4) Position asaFunction of Time. Integratev = ds/dt = t+ a4, assuming that initially s = sy when = 0. [or fowtene wt wy tae Consinnt Acceleration cs) (12-5) Velocity as a Function of Position. Either solve for rin ween Peanctaney Soeroueo te casei Supeecr [fos [aw + vo = + 2a(s - 5) oe Constant Acceleration ws The algebraic signs of sp, to, and a., used in the above three equations, are determined from the positive direction of the s axis as indicated by the arrow written at the left of each equation. Remember that these equations are useful only when the acceleration is constant and when 1 = 0,5 = 59.8 = 0. A typical example of constant accelerated motion ‘occurs when a body falls freely toward the earth. If air resistance is neglected and the distance of fall isshort,then the downward acceleration of the body when itis close to the earth is constant and approximately 9.81 m/s? or 32.2 f1/s*-The proof of this is given in Example 13.2.12.2. RecrUneak Kinewarics: ConnMUoUS MOTION 9 ran ‘Dynamics is concerned with bodies that have accelerated motion. + Kinematics is study of the geometry of the motion. * Kineties isa study ofthe forees that eause the motion, * Rectlinear kinematics refers to straight-line motion, * Speed refers to the magnitude of velocity. Average speed is the total distance traveled divided by the total time. This is different from the average velocity, which is the displacement divided by the time. ‘A particle that is slowing down is decelerating. © A particle ean have an acceler: © The relationship ads mn and yet have zero velocity. vdv is derived from a= dv/dt and Dring the ime this rocket undergoes rectilinear ‘motion, its altitude asa function of time can be measured and expressed ass = s(). Its velocity can then be found using v = ds/di, and its acceleration can be determined from a= de/dh. Re koaernny Coordinate System. + Establish a position coordinate s along the path and specify its fixed origin and positive direction. ‘* Since motion is along a straight line, the vector quantities position, velocity, and acceleration can be represented as algebraic scalars. For analytical work the sense of s, v, and a is then defined by their algebraic signs. ‘+ The positive sense for each of these scalars can be indicated by an arrow shown alongside each kinematic equation ast is applied. Kinematic Equations. ‘ Ifa relation is known between any wo of the four variables a, v, s, and ¢, then a third variable can be obtained by using one of the kinematic equations, a= dv/dé, » = ds/dt or ads = vde, since each equation relates all three variables.* ‘* Whenever integration is performed, itis important that the position and velocity be known at a given instant in order to evaluate cither the constant of integration if an indefinite integral is used, or the limits of integration if definite integral is used. ‘+ Remember that Eqs. 12-4 through 12-6 have only limited use. These equations apply only when the acceleration is constant and the initial conditions are s = sp and » = vy when t = 0. *Some standard differentiation and integration formulas ae given in Appendix A.10 Charter 12. KiNeMarics oF & PaaTicLe ‘The car on the left in the photo and in Fig. 12-2 moves in a straight line such that for a short time its velocity is defined by v= (3r° + 21) ft/s, where Fis in seconds. Determine its position and acceleration when 1 = 3s, When s = 0,5 = 0. —_—— Fig, 12-2 SOLUTION Coordinate System. The position coordinate extends from the fixed origin O to the car, positive to the right. Position. Since » = f(t), the car’s position can be determined from v = ds/dt, since this equation relates v, s, and ¢. Noting that when 1 = 0, we have* ds (4) o-4-¢ fm [ose 20m =P+é s=Pte When = 35 5 = GY + GF = 36K Ans. Acceleration. Since v = f(t), the acceleration is determined from a = du/dt, since this equation relates a, v, and a todo, () a= 2 = 468+ w+? a= 63) + 2 = 20ft/s?—> Ans. NOTE: The formulas for constant acceleration cannor be used to solve this problem, because the acceleration is a function of time. ‘The same result can be obtained by evaluating a constant of integration C rather than using definite limits on the integral. For example, integrating ds = (3° + 2 yields s= 2 +2 + C. Using the condition that at r= 0, = 0, then = 0.12.2. Recrunese Kinewanics: CoNTMUOUS MOTION " a A small projectile is fired vertically downward imto a fluid medium with an initial velocity of 60 m/s. Due to the drag resistance of the fluid the projectile experiences a deceleration of a = (~0.40") m/s, where vis in m/s. Determine the projectile’s velocity and position 4s after itis fired. SOLUTION Coordinate System. Since the motion is downward, the position coordinate is positive downward, with origin located at O, Fig, 12-3, Velocity. Here a = fiv) and so we must determine the velocity as a function of time using a = dv/dr,since this equation relates v,a,and t. (Why not use » = vy + 4.1?) Separating the variables and integrating, with m = 60 m/s when r = 0, yields (hy Fig. 12-3 Here the positive root is taken, since the projectile will continue to move downward. When 1 = 4, v = 0559 m/s) Ans. Position. Knowing » = f(¢), we can obtain the projectile’s position from v = ds/dt, since this equation relates s,b, and r. Using the initial condition s = 0, when 1 = 0, we have _ [pe oa] [fox fctpron] "a wails] aatles +08) ~ah> 5 = 443m Ans,12 CHarrer 12. KINEMATICS OF A PARTICLE During a test a rocket travels upward at 75 m/s, and when it is 40 m from the ground its engine fails. Determine the maximum height 55 reached by the rocket and its speed just before it hits the ground. While in motion the rocket is subjected to a constant downward acceleration of 9.81 m/s* due to gravity. Neglect the effect of air resistance, SOLUTION Coordinate System. The origin O for the position coordinate s is, taken at ground level with positive upward, Fig. 12-4. Maximum Height. Since the rocket is traveling upward, 04 = +75m/swhen = 0. At the maximum height s = 5 the velocity 0. For the entire motion, the acceleration is a. = —9.81 m/s? (negative since it acts in the opposite sense to positive velocity or positive displacement). Since a, is constant the rocket’s position may be related to its velocity at the two points A and B on the path by using myn Eq. 12-6, namely, oh Up = vA + asp ~ Sa) 0 = (75 m/s)? + 2(-9.81 m/s*\(5q ~ 40m) jn = 327m Ans, Velocity. To obtain the velocity of the rocket just before it hits the aunts ground, we can apply Eq. 12-6 between points Band C, Fig. 12-4. sab oD WG = wh + alse ~ $0) | 0 + 2(-9.81 m/s — 327 m) 80.1 m/s = 80.1 m/s | Ans. ‘The negative root was chosen since the rocket is moving downward. rly, Eq. 12-6 may also be applied between points A and C, ie, oD ve = wh + alse ~ 54) 75 m/s? + 2(-9.81 m/s2\0 ~ 40m) 80.1 m/s = 80.1 m/s 1 Ans. NOTE: Itshould be realized that the rocket is subjected to a deceleration from A to B of 981 m/s?, and then from B to C it is accelerated at this, rate, Furthermore, even though the rocket momentarily comes to rest at B (vg = 0) the acceleration at B is still 981 m/s? downward!12.2. RecruneaR Kinewanics: CoNTMUOUS MOTION 13 vv) ‘A metallic particle is subjected to the influence of a magnetic field as it travels downward through a fluid that extends from plate A to plate B, Fig. 12-5.If the particle is released from rest at the midpoint C, 5 = 100mm, and the acceleration is a = (4s) m/s*, where s is in meters, determine the velocity ofthe particle when it reaches plate B, = 200 mm, and the time it takes to travel from Cto B. SOLUTION Coordinate System. As shown in Fig. 12-5, is postive downward, measured from plate A. Velocity. Since a = f(s), the vel as a funetion of position can be obtained by using ndu = a ds. Realizing that » = Oats = 0.1m, we have Gb vdv = ads 4sds loim 2(s* = 0.01)" m/s a Ats = 200mm = 0.2m, vy = 0.346 m/s = 346 mm/s | Ans. ‘The positive root is chosen since the particle is traveling downward, ie, in the +s direction. Time. The time for the particle to travel from C to Bean be obtained, Fig 2s using » = ds/dr and Eq. 1, where s = 0.1m when 1 = 0, From Appendix A, ab ds = vdt 4s? = 0.01)"ar ds ’ (= 000) in( VF = 001 + 5) in VF = 001 + 5) + 2.308, Ats= 02m, 658s Ans mn( Voy — 001 + 0.2) + 2303 2 NOTE: The formulas for constant acceleration cannot be used here because the acceleration changes with position, ie.,a = 4s.14 v(m) CharTEeR 12. KINEMATICS OF A PaRTiCLE A particle moves along a horizontal path with a velocity of = GF ~ 61) m/s, where Fis the time in seconds. If i is initially located atthe origin O, determine the distance traveled in 35 ,and the particle's average velocity and average speed during the time interval. SOLUTION Coordinate System. Here positive motion isto the right, measured from the origin O, Fig. 12-64, Distance Traveled. Since » may be found by integrating » (ra) J (1), the position as a function of time ds/dt with 1 = 0,5 = 0. a In order to determine the necessary to investigate the path of motion, If we consider a graph of the velocity funetion, Fig. 12-66, then it reveals that for 0 2s the velocity is positive, and hence the particle is, traveling to the right. Also, note that » = 0 at r= 2. The particle's, position when f= 0, 1= 2s, and 1 = 3.5 can be determined from Eq. 1. This yields sho =O slearg= 40m slpens, = 6.125m ‘The path is shown in Fig. 12-6a. Hence, the distance traveled in 3.5 sis, Sp = 4044046125 = 14.128m= 141m Ans Velocity. The displacement from ¢ = 0 to¢ = As = shiease — Slimo = 6.125 m ~ 0 = 6.125 m and so the average velocity is x 125m. Ung = = Ar 358-0 ‘The average speed is defined in terms of the distance traveled sr. This positive scalar is Sis = 1.75 m/s—> Ans. (we 404 m/s Ans NOTE: In this problem, the acceleration isa = de/dt = (6¢ ~ 6)m/s?, which is not constant.12.2. Recrunese Kinewanics: CoTIMUOUS MOTION 15 It is highly suggested that you test yourself on the solutions to these ‘examples, by covering them over and then trying to think about which equations of kinematics must be used and how they are applied in order to determine the unknowns. Then before solving any of the problems, try and solve some of the Fundamental Problems given below. The solutions and answers to all these problems are given in the back of the book. Doing this throughout the book will help immensely in understanding how to apply the problem-solving skills. BBQ FI2-L. Initially. the car travels along a straight road with a speed of 35 m/s. If the brakes are applied and the speed of the car is reduced to 10 m/s in 15 s, determine the constant deceleration of the car. = Fa F12-2, A balls thrown vertically upward with a speed of| 15 m/s. Determine the time of flight whem it returns Co its original position, roa FI2-3. A particle travels along. a straight line with a velocity of v= (41 38)m/s, whore 1s im seconds Determine the position of the partsle when 1= 40 s=Owhens = 0 FI2-4, A particle travels along a straight line with a speed v= (05 ~ 81) m/s, where 1s in seconds, Determine the acceleration ofthe particle when t FIZ-S, The position of the particle is given by 5 = QF ~ 81 + 6)m, where rs in Seconds, Determine the time when the velocity ofthe particle is zero, and the total distance traveled by the particle when : = 3, — Ww. Fins FI2-6. A particle travels along a straight Tine with an acceleration of a = (10 ~ 02s) m/s*, where sis measured in meters. Determine the velocity of the particle when 5 = 10mifv = Sm/sat FI2-7. A particle moves along a straight line such that its acceleration is «= (4 — 2ym/s?, where £ is in seconds. When 1 = 0, the particle is located 2m to the left of the origin, and when / = 2s, itis 20 m to the left ofthe origin, Determine the position of the particle when 1 = 4, FIZ. A particle travels along a straight fine with a Xelocity of v= (20 ~ 0.055) m/s, where s is in-meters Determine the acceleration ofthe particle ats = 1S16 CHarrer 12. KINEMATICS OF A PARTICLE Bio 12-4. A baschall is thrown downward from a S0-ft tower with an initial speed of 18 ft/s, Determine the speed at Which it hits the ground and the time of travel 12.2. When a train is traveling along a straight track at 2 m/s it begins to accelerate ata = (60 0 *)m/s?, where © isin m/s Determine its velocity v and the position 3s after the acceleration. 12-3. From approximately what floor of a building must a car be dropped from an at-rest postion so that it reaches a speed of 80.7 ft/s (85 mi/h) when it hits the ground? Each floor is 12 ft higher than the one below it, (Note: You may ‘want to remember this when traveling SS mi/h.) SADA. Tiaveling with an initial speed of 70 kin/h, 3 ext accelerates at 6000 km/h? along a straight road. How long will it take to reach a speed of 120 km/h? Also, through what distance does the car travel during this time? 12-5, A bus starts from rest with a constant aeceleration fof 1'm/s*. Determine the time required for it to attain a speed of 25 m/s and the distance traveled 12-6, A stone A is dropped from rest down a well, and in 1s another stone B is dropped from rest. Determine the distance between the stones another second later 12-7. A bicyclist starts from rest and after traveling along A straight path a distance of 20 m reaches @ speed of 30 km/h. Determine his acceleration if it is consiant. Also, hhow long docsit take to reach the speed of 30 km/h? "12-8. A particle moves along a straight line with an acceleration of a = 5/(35!" + 5°") m/s’, where s is in meters, Determine the particle's velocity when s = 2m,ifit starts from rest when s = I'm, Use a numerical method to ‘evaluate the integral, 12-9, Ifittakes3 sfora ball strike the ground when itis released from rest, determine the height in meters of the building from which it was released. Also, what is the velocity of the ball when it strikes the ground? 12-40. The postion of a particle along a straight fine is given by $= (50 = 13312 +2280 whore is in seconds Determine the poston ofthe particle when = 6 and the total distance it travels during tho 6 time interval “Hint Plt the path o determine the total distance traveled. IZ-AL. Ha particle hasan initial velocity of vy = 1211/3 0 the right at sy = 0, determine its position when r= 10. if a= 2 fi/s tothe left “12-2 Determine the time required for a car to travel 1 km along a road if the car starts from rest, reaches a ‘maximum speed al some intermediate point and then stops athe end of the road. The car can accelerate at LS m/s? and decelerate 2 m/s. 12.43, Tests reveal that anormal driver takes about 075 s before he or she can rect 0a situation to avoid a colision. takes about 3s fora diver having 0.1% alcohol in his system to do the same. If such drivers are traveling on a SMraight road at 30 mph (44 fis) and their cars can Secclerate at 2/s?, determine the shortest stopping distance d for cach from the moment they see the pedestrians, Moral: you must drink, please don't drivel122 12-14, A caris tobe hoisted by elevator tothe fourth floor ‘of a parking garage, whichis 48 fL above the ground. Ifthe levator can accelerate at 6 /s, decelerate at 03 1/5, land reach a maximum speed of 81/5 determine the shortest time to make the i starting from res and ending at rest 2-15, A train starts from rest at station A and accelerates at 0.5 m/s! for 60 5 Afterwards it travels with a constant velocity for 15 min. It then decelerates at 1 m/s? until iis ‘brought torest at station B, Determine the distance between the stations. "12-16. A particle travels along a straight line such that in 2 sit moves from an initial position s, = +0.5m to @ position sy = —I.5m. Then in another 4s it moves from sp to sc = +25 m. Determine the particle's average velocity and average speed during the 6- time interval. 12-47, The acceleration of a particle as it moves along @ straight line is given by a = (r~ I) m/s%, where ¢ is in seconds. If = I m and » = 2m/s when 1 = 0, determine the particle's velocity and position when 1= 65. Also, determine the total distance the particle travels during this time period. 12-48, A freight train travels at v= 6O(1 ~~) N/s, where (is the elapsed time in seconds Determine the distance traveled in three seconds, and the acecleration at this time, bo — Prob. 12-185 12-19, A particle travels to the right along a straight line with a velocity v = [5/4 + 5)] m/s, where sis in meters Determine its position when r ‘Smwhen f= 0, RecruneaR KiNewancs: CONTINUOUS MOTION 7 "12-20, The velocity ofa particle traveling long a straight aft line is © = (3 ~ 60) ft/s, where ¢is in seconds If s when r= 0, determine the position ofthe particle when. What isthe total distance traveled during the time interval £=010 (= 45? Also, what isthe acceleration when (= 2.8? 12-21. If the effets of atmospheric resistance are accounted for, a freely falling body has an acceleration defined by the equation a 9.811 ~ v2 (10-)}m/s% where vis in m/s and the positive direction is downward, If the body is released from rest at a very high alte, determine (a) the velocity when 1 = 5, and (b) the body's terminal or maximum attainable velocity (as 1), 12-22. The position ofa particle on a straight line is given bys = (13 — 9 + 159 A, where isin seconds Determine the position of the particle when = 6s and the total distance i travels during the 6 time interval. Hint: Plot the path to determine the toil distance traveled. 12-23. Two particles A and B start from rest atthe origin s=0 and move along a straight line such that ay = (60 ~ 3) ft/s" and ay = (124? ~ 8) fi/s?, where ris in seconds. Determine the distance between them when = 4 sand the total distance each has traveled in + *12-24, A pauticle is moving along a straight line such that its velocity is defined as v = (4°) m/s, where sis in motors Ifs = 2 m when 1 0, determine the velocity and aceeleration as functions of time. 12-25, A sphere is fired downwards into a medium with an inital speed of 27 m/s. If t experiences a deceleration of = (61) m/s?, where isin seconds, determine the distance traveled before it stops. 12-26. When two cars A and B are next to one another, they are traveling in the same direction with speeds v4 and dp respectively If B maintains its constant speed, while A. begins to decelerate at a, determine the distance d between the cars atthe instant A stops.18 ChaPrer 12. KINEMATICS OF A PARTICLE 12-27. A particle is moving along a straight line such that when itis atthe origin it has a velocity of 4 m/s, fit begins to decelerate atthe rate of a = (~1.Sv") m/s’, where vis, in m/s, determine the distance it travels before it stops. "12-28, A particle travels to the right along a straight line with a velocity » = [5/(4 + s)] m/s, where s is in meters, Determine its deceleration when s 12-29. A particle moves along a straight line with an acceleration a=2 o mst, where visinm/sIfs=0.0=4 m/s when 1=0, determine the time for the particle to achieve a velocity of 20 m/s Also, find the displacomont of particle when 1=2s 12-30, Asa train accelerates uniformly it passes successive kilometer marks while traveling at velocities of 2 m/s and then 10 m/s. Determine the train's velocity when it passes the next kilometer mark and the time it takes to travel the 2k distance. 12-31. The acceleration of a particle along a st is defined by a = @2r ~ 9) m/s', where ris in seconds. At 1=0,2= Imand v= 10m/s, When ¢ = 9s, determine (a) the partice’s position, (b) the total distance traveled, and (c) the velocity, “IL-3, The acceleration of a particle traveling along a i ' s*m/ straight line is a where sis in meters If a determine the particle's velocity at 12-33. Ati =O bullet A is fired vertically with an initial (muzzle) velocity of 450 m/s. When f = 3, bullet Bis fired ‘upward with a muzzle velocity of 600 m/s. Determine the time 4 after A is fired, as to when bullet B passes bullet A. ‘At what altitude does this occur? 12-34. A hoy throws a ball straight up from the top of @ 2am high tower. If the ball falls past him 0.75 s later, determine the velocity at which it was thrown, the velocity ‘of the ball when it strikes the ground, and the time of flight, 12-38, When a particle falls through the ait its inital acceleration a = g diminishes uni itis zero, and thereafter it falls ata constant or terminal velocity by. If this variation ‘of the acecleration ean be expressed asa = (¢/1)(0 — «2, determine the time needed for the velocity to become ‘v= 1//2.Anitially the particle falls from rest. "12-36. A particle is moving with a velocity of ry when 5 = O-and = 0. If itis subjected to a deceleration of a= -ke', where k isa constant, determine its velocity and position as functions of time. 12-37. Asa body is projected to a high altitude above the cearth’s surface, the variation of the acceleration of gravity with respect to altitude y must be taken into account. Neglecting air resistance, this acceleration is determined from the formula a= ~gUR?/(R + y/1, where go is the ‘constant gravitational acceleration at sea level, R is the radius of the earth, and the positive direction is measured ‘9.81 m/s? and R = 6356 km, determine the ial velocity (escape velocity) at which a projectile should be shot vertically from the earth’s surface 0 that it dacs not fall back to the earth, Hint~This requires 12-38 Accounting for the variation of gravitational acceleration a with respect to altitude y (see Prob. 12-37), derive an equation that relates the velocity ofa freely falling particle to its altitude, Assume that the particle is released from rest at an altitude yp from the carth’s surface. With what velocity does the particle strike the earth if it is released from rest at an altitude yy = S00km? Use the ‘numerical data in Prob, 12-37.12.3. RECTUNEAR Knvewarics: Entatic MOTION. 9 12.3 Rectilinear Kinematics: Erratic Motion ‘When a particle has erratic or changing motion then its position, velocity, and acceleration cannor be described by a single continuous mathematical function along the entire path. Instead, a series of functions will be required to specify the motion at different intervals. For this reason, itis convenient to represent the motion as a graph. If a graph of the motion that relates any two of the variables, , rcan be drawn, then this graph can be used to construct subsequent graphs relating two other variables since the variables are related by the differential relationships » = ds/dt, a = dv/dt, orads = v dv, Several situations occur frequently. The st, v+t, and at Graphs. To construct the v-t graph given the s-t graph, Fig. 12-7a, the equation » is /dt should be used, since it relates the variables sand £10 U. This equation states that ds a slope of st graph For example, by measuring the slope on the s-t graph when f= 1), the velocity is v4, which is plotted in Fig. 12-76. The v-r graph can be constructed by plotting this and other values at each instant, ‘The a-t graph can be constructed from the v=t graph in a similar ‘manner, Fig. 12-8, since a a" slope Of acceleration ‘v-rgraph Examples of various measurements are shown in Fig. 12-8a and plotted in Fig. 12-8. If the s-r curve for each interval of motion can be expressed by a mathematical function s = s(), then the equation of the v-r graph for the same interval can be obtained by differentiating this function with respect to time since v = ds /dt. Likewise, the equation of the a-t graph for the same interval can be determined by differentiating v = v@) since a = dv/dt. Since differentiation reduces a polynomial of degree n to that of degree n ~ 1, then ifthe s-r graph is parabolic (a second-degree curve), the v-f graph will be a sloping line (a first-degree curve), and the a-t graph will be a constant or a horizontal line (a zero-degree curve).20 Charter 12. KINEMATICS OF & PaRricLe ) Fig. 12-10 If the a-t graph is given, Fig. 12-94, the »-r graph may be constructed using a = de dt, written as, a fhe change in _ area under velocity ~ a-rgraph Hence, to construct the »-1 graph, we begin with the particle’s initial velocity nyand then add to this small inerements of area (An) determined Trom the a-t graph. In this manner sucessive points, vj = tp + Av, et, for the v-1 graph are determined, Fig. 12-9. Notice that an algebraic addition of the area increments of the a-r graph is necessary, since areas lying above the # axis correspond to an increase in v (“positive” area), whereas those lying below the axis indicate a decrease in v (“negative” area). Similarly. the v-r graph is given, Fig 12-10a, itis possible to determine the s-t graph using » = ds/d, written as, ass foa ‘area under displacement he oot graph In the same manner as stated above, we begin with the particle’s initial position sp and add (algebraically) to this small area increments As determined from the vt graph, Fig. 12-10b. If segments of the a-r graph can be described by a series of equations, then each of these equations can be integraed to yield equations describing the corresponding segments of the v= graph. In a similar manner, the s-f graph can be obtained by integrating the equations which deseribe the segments of the vt graph, As a result, if the a-t graph is linear (a first-degree curve), integration will yield a 0-1 graph that is parabolic (a second-degree curve) and an s-t graph that is cubic (third-degree curve)12.3 RecTUNeaR Kniewarics: Entatic MOTION. 21 The v-s and a-s Graphs. If the a-s graph can be constructed, then points on the v-s graph can be determined by using vdv = a ds Integrating this equation between the limits b = ry at s ~ sp and» loi- p= [aa s area under as graph 6 Therefore, ifthe red area in Fig 12-Ia is determined, and the initial © velocity v at %=0 is known, then » = (2ftads + 0§)!?, Fig, 12-11b, Successive points on the v-s graph can be constructed in this meet manner. ° If the v-s graph is known, the acceleration a at any position s can be determined using a ds = nde, writen as ra eS velocity times es acceleration = slope of os graph f Thus, at any point (s,») in Fig. 12-124, the slope dv/ds ofthe v-s graph is ‘measured. Then with v and dv/ds known, the value of acan be calculated, Fig. 12-126. The v-s graph can also be constructed from the a-s graph. or vice versa, by approximating the known graph in various intervals with w ‘mathematical functions,» = fis) ora = (3), and then using a ds = vd to obtain the other graph. Fig. 12-1222 CHarrer 12. KINEMATICS OF A Particte i e=m0 149) 0 0 o aque?) ty =o © Fig, 2-13 A bicycle moves along a straight road such that its position is deseribed by the graph shown in Fig. 12-13a. Construct the v1 and a-t graphs for0 <1 = 30s, 5) SOLUTION vt Graph. Since v = ds/d, the v-r graph can be determined by differentiating the equations defining the t graph, Fig. 12-13a.We have <108: “ v= anys O=1< 105, en = ODM los <1= 30s; s=em- 10% — v= = 200/s ‘The results are plotted in Fig, 12-136, We can also obtain specific values of » by measuring the slope of the s-t graph at a given instant. For example, at 1 = 205, the slope of the s-t graph is determined from the straight line from 100 30, ic., _ As _ s00f ar 30s at Graph. Since a = dv/dr, the a-t graph can be determined by differentiating the equations defining the lines of the v-1 graph. ‘This yields r= ov ae . =1< 105; v= ntfs a= B= ays o=r<10 20 ty) antl de <15305 v=20/s a= <1 = 30 208/ = ‘The results are plotted in Fig, 12-13c. NOTE: Show that a = 2fi/s? when = 5s by measuring the slope of the v1 graph,42.3 RecruneaR Kinewarics: Emratic MOTION 23 , a ‘The car in Fig. 12-14a starts from rest and travels along a straight 4 ¢m.) track such that it accelerates at 10 m/s* for 10's, and then decelerates — at 2m/s?, Draw the v-1 and s-¢ graphs and determine the time ¢' needed to stop the car, How far has the car traveled? » SOLUTION vt Graph. Since dv = adr, the v-r graph is determined by integrating the straight-line segments of the a-t graph. Using the 109) initial condition » = 0 when t = 0, we have 10) m/s fo- [roa f /o O0, and consequently the direction of Ar approaches the tangent to the curve. Hence, v = Jim/Ar/A0 or ay 12-7) Since de wll be tangent to the curve the direction of vis also tangent to the curve, Fig. 12-16e. The magnitude of v, which is called the speed, i ‘obtained by realizing that che length of the straight line segment Ar in Fig. 12-16 approaches the are length As as Ar—0, wo have v= fim(Ar/Ad) = fim(As/A0), oF ds a (12-8) ‘Thus, the speed can be obtained by differentiating the path function s with respect to time, *A summary of some of the important concepts of vector analysis is given in Appendix12.4 GeneRAL CuruneaR MOTION 33 Acceleration. Ifthe particle has a velocity v at time ¢and a velocit vi =v + Avaty + Ar, Fig. 12-16d, then the average acceleration of the wher Av = v’ ~ v. To study this time rate of change, the two velocity vectors in Fig. 12-16d are plotted in Fig, 12-16e such that their tails are located at the fixed point 0’ and their arrowheads touch points on a curve. This curve iscalled a hodograph,and when constructed, it deseribes the locus of points for the arrowhead of the velocity vector in the same ‘manner as the path s describes the locus of points for the arrowhead of the position vector, Fig. 12-16. To obtain the instantaneous acceleration, let Ar—*0 in the above equation. In the limit Av will approach the tangent to the hodograph, and. soa = Jim(Av/A0), of dv aiZ 12-9) fa (2-9) By definition of the derivative, a acts tangent 10 the hodograph, Fig. 12-16f, and, in general it is not tangent to the path of motion, Fig. 12-16g. To clarify this point, realize that Av and consequently a must account for the change made in both the magnitude and direction of the velocity v as the particle moves from one point to the next along the path, Fig. 12-16d. However, in order for the particle to follow any curved path, the directional change always “swings” the velocity vector toward the “inside” or “concave side” of the path, and therefore a cannot remain tangent to the path. In summary, v is always tangent to the path and a is always tangent to the hodograph. © © SN 0” o Acceleration —/ path ® Fig, 12-1634 CHAPTER 12. KINEMATICS OF & PARTICLE Position « Velocity © Fig. 1217 12.5 Curvilinear Motion: Rectangular Components Occasionally the motion of a particle can best be described along a path that can be expressed in terms of its x,y, z coordinates. Position. If the particle is at point (x,y, 2) on the curved path s shown in Fig. 12-17, then its location is defined by the position vector ad > yj tak (2-10) r ‘When the particle moves, the x, y, z components of r will be functions of time; i... = x0, y = 0,2 = 2(9, 80 that r = FD, At any instant the magnitude of r is defined from Eq. B-3 in Appendix B as r=Vetyre And the direction of ris specified by the unit vector u, = r/r. Velocity. The first time derivative of f yields the velocity of the particle. Hence, dea dd 4 d cx) + TOD + Fk) ‘When taking this derivative, it is necessary to account for changes in both the magnitude and direction of each of the vector’s components. For example, the derivative of the i component of ris doy — “44 Joy = 41+ x8 ‘The second term on the right side is zero, provided the x,y, z reference frame is fixed, and therefore the direction (and the magnitude) of i does: not change with time. Differentiation ofthe j and k components may be carried out ina similar manner, which yields the final result, vd + og + vk a2) (12-12) where12.5 Curwuneas MOTION: RECTANGULAR COMPONENTS ‘The “dot” notation i,j, represents the first time derivatives of x = x0), =U), respectively. ity has a magnaude that is found from and a direction that i specified by the unit vector uy = v/v. As discussed. in Sec. 12-4, this direction is always tangent 10 the path, as shown in Fig. 12-17b, Acceleration. The acceleration of the particle is obtained by taking the first time derivative of Eq. 12 11 (or the second time derivative of Eq, 12-10), We have a 7 aaFaaltas+ak (12-13) where (2-44) Here a,, a,, a, represent, respectively, the first time derivatives of 2, ~ valth ty = P40)». ~ P(e) oF the second time derivatives ofthe functions x = x), y = (9,2 = 2(0). ‘The acceleration has a magnitude and a direction specified by the unit vector u, = a/a. Since a represents the time rate of change in both the magnitude and direction of the velocity, in general a will nor be tangent to the path, Fig. 12-17c. 3536 CHarrer 12. KINEMATICS OF A PARTICLE cease © Curvilinear motion can cause changes in both the magnitude and direction of the position, velocity, and acceleration vectors, © The velocity vector is always directed tangent to the path. ‘+ In general, the acceleration vector is nor tangent to the path, but rather, its tangent to the hodograph, ‘ Ifthe motion is described using rectangular coordinates, then the components along each of the axes do not change direction, only their magnitude and sense (algebraic sign) will change. + By considering the component motions the change in magnitude and direction of the particles postion and velocity are automaticaly taken into account. ESSE ae Rca uel ne Coordinate System. ‘A rectangular coordinate system can be used to solve problems for which the motion can conveniently be expressed in terms of its, y, components. Kinematic Quantities. © Since rectilinear motion occurs along each coordinate axis, the ‘motion along each axis is found using » = ds/de and a = do/dt, ‘or in cases where the motion is not expressed as a function of time, the equation a ds = v dv can be used. ‘+ In two dimensions, the equation of the path y = fix) can be used to relate the x and y components of velocity and acceleration by applying the chain rule of calculus. A review of this concept is given in Appendix C. ‘+ Once the x,y, z components of v and a have been determined, the ‘magnitudes of these vectors are found from the Pythagorean theorem, Eq. B-3, and their coordinate direction angles from the components of their unit vectors, Eqs. B-4 and B-S.12.5 Curwuneas MOTION: RECTANGULAR COMPONENTS 37 a iy ‘At any instant the horizontal position of the weather balloon in Fig. 12-18q is defined by (80) ft, where ¢ is in seconds. If the ‘equation of the path is y=.2/10, determine the magnitude and direction of the velocity and the acceleration when ¢ = 2. SOLUTION Velocity. The velocity component in the x direction is = en = 8h/s— 4 = FD = 8hy/s ‘To find the relationship between the velocity components we will use the chain rule of calculus When : = 2s,x = 8(2) = 16.8, Fig 12-18%, and so 1, = 5 = Leet/10) = 244/10 = 211648)/10 = 256 8/5 t When 1 = 2, the magnitude of velocity is therefore v= V@R/s + G56 a = 26.8 ft/s Ans. ‘The direction is tangent to the path, Fig. 12-18, where 256 _ 1 5 . tan SS = 128 Ans Acceleration. The relationship between the acceleration components is determined using the chain rule. (See Appendix C.) We have o a 5°) Lexis) = 2608/10 + 2000/10 = 218)°/10 + 2(16)(0)/10 = 12.8-/s* ‘Thus, V(OF + 02.87 = 12.8 f/s? Ans. 12-18e,is ‘The direction of a, as shown in Fi © NOTE: It is also possible to obtain vy and ay by first expressing () = (80/10 = 6.47 and then taking successive time derivatives.38 CHarrer 12. KINEMATICS OF A PARTICLE For a short time, the path of the plane in Fig, 12-194 is described by y= (0.00147) m, Ifthe plane is rising with a constant upward velocity of 10 m/s, determine the magnitudes of the velocity and acceleration of the plane when it reaches an altitude of y = 100 m, SOLUTION When y = 100m, then 100 = 0.0012? or x = 316.2 m. Also, due to ‘constant velocity 1, = 10m/s,so fs 100m = (10 m/s) 1 y 0s Velocity. Using the chain rule (see Appendix C) to find the relationship between the velocity components, we have 0.0012 (0.002%) = 0.002xm, (1) Thus A= 00012 10 m/s = 0.002(316.2 my(n,), acd 1, = 1581 m/s * The magnitude of the velocity is therefore ©) v= Vee et = VS8im/s + lOm/s = 18.7 m/s Ans Acceleration. Using the chain rule, the time derivative of Eq. (1) gives the relation between the acceleration components. (0.0025): + 0.0024¢%) = 0.002(03 + xa) y When x = 316.2m, », = 15.81 m/s, 6, = a, a 0 = 0.002[(15.81 m/s)? + 316.2. m(a,)] 4a, = =0.791 m/s? 100m] * The magnitude of the plane’s acceleration is therefore = Vai +a = ViR0791 m/s F + Om/ey © ae Fig. 12-19 = 0.791 m/s? Ans. ‘These results are shown in Fig, 12-195,126 12.6 Motion of a Projectile The free-flight motion of a projectile is often studied in terms of its rectangular components, To illustrate the kinematic analysis, consider a projectile launched at point (to, yu), ith having components (vi), and (¥o),, Fig. 12-20. When air resistance is neglected, the only force acting on the projectile is its weight, which causes the projectile to have a constant downward acceleration of approximately a, = ¢ = 981 m/s org = 322 f/s* n initial velocity of v ig. 12-20 Horizontal Motion. Since a, = 0, application of the constant acceleration equations, 12-4 to 12-6, yields v= wtag 2 = (od rey tty + tag x= my + (Wot fe) = a} + a(x — x) 2, = (to The first and last equations indicate that the hoy velocity always remains constant during the motion. sntal component of Vertical Motion. Since the positive y axis is directed upward, then a, = ~g. Applying Eqs. 12-4 to 12-6, we get v= ty + a B= (Wy - 8 yay tug + dae y = yo + (vols — Ha oh v= 05 + 2a — vor wf = (woh — 2e(y— yo) Recall that the last equation can be formulated on the basis of eliminating the time r from the first two equations. and therefore ontly nwo of the above three equations are independent of one another “This asumes thatthe earth’ gravitational ld doesnot vary with alttuds 39 Momion oF & Provecrie Each picture in this sequence is taken er the same time interval. The ted ball falls from rest, whereas the yellow bal is given horizontal velocity when released Both balls accelerate downward at the same rate and/so they remain atthe same fmt any instant. This accel tases the difference in elevation between the balls to increase between successive ‘photos. Also, note the horizontal distance between successive photos of the yellow ball i constant since the velocity in the horizontal direction remains constant.40 CharTEeR 12. KINEMATICS OF A PaRTiCLE Gravel falling off the end ofthis conveyor belt follows a path that can be predicted using the equations of constant acceleration. In this way the location of the accumulated pile ean be determined. Rectangular coordinates are used forthe analysis since the acceleration is only in the vertical direction. ‘To summarize, problems involving the motion of a projectile can have at most three unknowns since only three independent equations can be fen; that is, one equation in the horizontal direction and ovo in the vertical direction, Once v, and v, are obtained, the resultant velocity v, which is always tangent to the path, can be determined by the vector suum as shown in Fig, 12-20. Gono nn Coordinate System. ‘© Establish the fixed x, y coordinate axes and sketch the trajectory of the particle. Between any fvo points on the path specify the given problem data and identify the three unknowns. In all eases the acceleration of gravity acts downward and equals 9.81 m/s? or 32.2 ft/s". The particle's initial and final velocities should be represented in terms of their x and y components. + Remember that positive and negative position, velocity, and acceleration components always act in accordance with their associated coordinate directions. Kinematic Equations. '* Depending upon the known data and what is to be determined, a choice should be made as to which three of the following four equations should be applied between the two points on the path to obtain the most direct solution to the problem. Horizontal Motion. # The velocity in the horizontal or x direction is constant, B= (oe and ‘© In the vertical or y direction only nvo of the following three can be used for solution. eee Y= yt (Wyt + dar = (WH + aly — 99) For example, if the particle's final velocity vis not needed, then the first and third of these equations will not be useful.12.6 Monon oF A Provecrue 4a A sack slides off the ramp, shown in Fig. 12-21, with a horizontal velocity of 12m/s. If the height of the ramp is 6 m from the floor, determine the time needed for the sack to strike the floor and the range R where sacks begin to pile up. Fig. 1221 SOLUTION Coordinate System. The origin of coordinates is established at the beginning of the path, point A, Fig. 12-21. The initial velocity of a sack has components (v4), = 12 m/sand (v4), = 0. Also, between points A and Btheaccelerationisa, = 9.81 m/s" Since(,), = (0,)c = 12 m/s, the three unknowns are (v»),, R,and the time of flight (4. Here we do not need to determine (0), Vertical Motion. The vertical distance from A to B is known, and therefore we ean obtain a direct solution for f4y by using the equation an Ye =a + Osan + Satin 6m =0+0+ 4-981 m/s t= Ls Ans. Horizontal Motion. Since ‘4, has been calculated, R is determined asfollows: (4) Ap =X + (Vailas R=0+ 12m/s(L1s) R= 133m Ans NOTE: The calculation for typ also indicates that if a sack were released. rom rest at A, it would take the same amount of time to strike the floor at C, Fig. 12-21. |42 Charter 12. Kinematics oF a Paaticte ‘The chipping machine is designed to eject wood chips at vo = 25 ft/s as shown in Fig, 12-22. Ifthe tube isoriented at 30° from the horizontal, determine how high, h, the chips strike the pile if at this instant they land on the pile 20 ft from the tube. Fig, 12-22 SOLUTION Coordinate System. When the motion is analyzed between points O and A, the three unknowns are the height h, time of flight fo,, and vertical component of velocity (1%). [Note that (0), = (Wo)] With the origin of coordinates at O, Fig. 12-22, the intial velocity of a chip has components of (0), = (25.c0s 0°) ft/s = 21.65 ft/s—> (vo), = (25 sin 30°) fs = 12.5 f/st Also, (04), = (9); = 21.65 ft/s and a, = ~32.2 ft/s? Sine we do not need to determine (v,),, we have Horizontal Motion. (4) A = Xo + (Bolton 2 = 0+ 2L6SH/SVon fox = 0.9238 Vertical Motion. Relating fog to the intial and final elevations of a chip, we have C1) yn = vo + Walon + Factin (i= 41) = 0 + (125 fi/50.92385) + H—32.2 8/57(0.9238 5)" n= 18th Ans. NOTE: We can determine (v,), by using (v4), = (Wo)y + acfon126 MomoN oF A Provecnue 43 Gian ‘The track for this racing event was designed so that riders jump off the slope at 30°, from a height of 1 m, During a race it was observed that the rider shown in Fig, 12-234 remained in mid air for 1.5 5 Determine the speed at which he was traveling off the ramp, the horizontal distance he travels before striking the ground, and the ‘maximum height he attains. Neglect the size of the bike and rider. SOLUTION Coordinate System. As shown in Fig, 12-236, the origin of the ‘coordinates is established at A. Between the end points of the path AB the three unknowns are the initial speed m4, range R,and the vertical component of velocity (0), Vertical Motion. Since the time of flight and the vertical distance between the ends of the path are known, we can determine vy en Ya = Yat Onan + dats 1m = 0 + mysin30%LS s) + 4-981 m/s 15 hes 24 = 13.38 m/s = 13.4 m/s Ans. Horizontal Motion. The range R can now be determined. (s) a= + (Oda R= 0+ 1338 c0s 30° m/s(1.58) 114m Ans In order to find the maximum height h we will consider the path AC, Fig, 12-23b. Here the three unknowns are the time of flight t4c, the horizontal distance from A to C, and the height h. At the maximum height (ve), = 0, and since v, is known, we can determine it direedy without considering rc using the following equation, (eo = (03 + 2adlye ~ yal (0? = (13.38 sin 30° m/s)? + 2(-981 m/s2){Uh — 1m) ~ 0} h= 328m Ans. NOTE: Show that the bike will strike the ground at B with a velocity having components of (See en44 CHarrer 12. KINEMATICS OF A PARTICLE E |_| FUNDAMENTAL PROBLEMS FI2-AS. If the xand y components of a particle's velocity ate v, ~ G2) m/s and v, = Sm/s, determine the equation ofthe path y = f.x = Oand y = Owhen = 0. 12-16, _A particle is traveling along the straight path I its position along the axis is x= (8m, where 1 is in seconds, determine its speed when t = 2s. x= 4m Finis FIZ-I7. A particle is constrained to travel along the path, If x =Grym, where 1 is in seconds, determine the ‘magnitude of the particle's velocity and acceleration when 05s. pred = GA)m Far FI2AB, A particle travels along a straight-line path y= 05x. If the x component of the particle's velocity is 2 = Ge) m/s, where sis in seconds determine the magnitude ‘of the particles velocity and acceleration when ¢ = 4, Fas FIZ-19. A particle is traveling along the parabolic path y = 0.252. If x = GP) m, where ris in seconds, determine ‘the magnitude of the particles velocity and acceleration ows Fay FI2-20, The box slides down the slope described by the equation y = (0.05) m, where xis in meters Ifthe box has x components of velocity and acceleration of x, = —3m/s and a, = ~1.5 m/s? atx = Sm,determine the ycomponents fof the velocity and the acceleration of the box at this instant y= 0053? F22012.6 Monon oF A Provecrue 45 112-21, The hl Keo fom point A wit he into! P1228. alli thown fom A. itis requed toler tet Hm Dase maou Ao hel th eure th tem wars Bl a intial loi 12-22, The ball Kicked fom point A with th nal Cclsty s.= Omjs: Determine the rage fan the Speed he bl es he round Fin F12-23, Determine the speed at which the basketball at A ‘must be thrown at the angle of 30° so that it makes it to the basket at 2, FI2-26. A projectile is fired with an initial velocity of ‘v4 = 180m/s off the roof of the building. Determine the range R where it strikes the ground at B. 1224. Water ic gpeayed at an angle f OCF from the slope at 20m/s. Determine the range R. y Fi46 Cuapter 12. KINEMATICS OF & PARTICLE prone 12-7. The position of a parte is defined by {5(c0s 201 + (sin 2nj } m, where ¢ is im seconds and the atguments forthe sine and cosine are given in radians. Determine the magnitudes ofthe velocity and acceleration of the particle when 1 = I's. Also, prove that the path of the particle i elliptical 12-14, The velocity of a particle is v= {31+ (6—2nj} m/s, where £ is in seconds If = Owhens = 0, determine the Aisplacement of the particle during the time interval re tstor= 3s, 12-78, A particle, originally at rest and located at G f, 2 ft, 5M), is subjected to an acceleration of a= (om + 127k} 1/s%, Determine the particles position (ey apatr= ts. "12-46. The velocity of a particle is given by v= ise “S40j + (St-+ Dik} m/s, where ris in seconds Ifthe the origin when r = 0, determine the magnitude Ute panies accertion when = 2 Ala what the {coordinate postion ofthe particle at this instant? 12-77. The car travels from A to B, and then from B to C, 1s shown in the figure. Determine the magnitude of the displacement of the car and the distance traveled, Prob. 12-77 12-78. A car travels east 2 km for $ minutes, then north 3 km for 8 minutes, and then west 4 km for 10 minutes. Determine the total distance traveled and the magnitude of displacement of the car. Also, what is the magnitude of the average velocity and the average speed? 12-79. A car traveling along the straight portions of the road has the velocities indicated inthe figure when it arrives at points A, B, and C. If it takes 3 § to go from A to B, and then 5s to go from B to C, determine the acceleration between points A and Band between and C. Prob. 12-79) "12-80, A particle travels along the curve from A to Bin 2s takes 4 fo it to go from B to C and then 3s to go from C to D. Determine its average speed when it goes from A to D. Prob. 12-80)12-81. The position ofa crate sliding down a ramp is given by x= (0.25") m, y= (1.58) m,z = (6~ 0.75) m, where ris in seconds. Determine the magnitude of the erate's velocity and acceleration when ¢=2, 12-82, A rocket is fired from rest at longa parabolic trajectory described by» [120(10")x] m Ifthe x component of acceleration isa, = (4) m/s?, where ‘is in seconds, determine the magnitude of the rocket’ velocity and acceleration when (= 10's 0 and travels 12-83. ‘The particle travels along the path defined by the parabola y= 05x. If the component of velocity along the x axis is v= (S) l/s, where 1 is in seconds, determine the particles distance from the origin O and the magnitude of its acceleration when += 1s. When 12 0,x=0y=0, "1284. The motorcycle travels with constant speed along the path that, for a short distance, takes the form of a sine curve. Determine the x and y components ofits velocity atany instanton the curve. rn esin Ea) Prob. 12-84 12.6 Monon oF A Provecrue 47 12-85. A particle travels along the curve from A to Bin 1s it takes 3s for it to go from A to C, determine its average velocity when it goes from B to C. 42-86. When a rocket reaches am altitude of 40m it begins to travel along the parabolic path (9 ~ 40)? = tods, where the coordinates are measured in meters If the component of ‘velocity in the vertical direction isconstant atv, determine the magnitudes of the rockets velocity and acceleration when it reaches am alitude of 80m. 180 m/s, Joo Prob. 12-8648 Cuapter 12. KINEMATICS OF & PARTICLE 12-87. Pegs A and B are restricted to move in the eliptical slots due to the motion ofthe slotted link. Tf the link moves with a constant speed of 10 m/s, determine the magnitude of the velocity and acceleration of peg A when x 12-90. Determine the minimum initial velocity 1 and the corresponding angle & at which the ball must be kicked in ‘order for it (0 just cross over the 3-m high fence. Prob. 12-87 "12-88, ‘The van travels over the hill described by y= 1500.2 + 15)f IF it has a constant speed of 75it/s, determine the x and y components of the van's velocity and acceleration when.x = SOM. ish er C1SUO 2 + 1s) a Prob. 12-88 12-89. Lis observed that the time for the ball to strike the ground at B is 2.5 s Determine the speed v, and angle at Which the ball was thrown, 12-91, During a race the ditt bike was observed 10 leap up off the small hill at A at an angle of 60° with the horizontal, Ifthe point of landing is 20 ft away, determine the approximate speed at which the bike was traveling just before it left the ground. Neglect the size of the bike for the calculation. Prob. 12-91always throws the toys at an angle of 30° from point A as shown. Determine the time between throws so that both toys strike the edges of the pool B and C at the same instant, With what speed must she throw each toy? 12.93. The player kicks a football with an initial speed of 14) 90 ft/s. Determine the time the bal isin the air and the angle # of the kick. 12-94, From a videotape, it was observed that a player kicked a football 126 ft during a measured time of 36 seconds. Determine the initial speed of the ball and the angle # at which it was kicked 126.8 Probs. 12-9304 12.6 Monon oF A Provecrue 49 12-95. A projectile is given a velocity vy at an angle above the horizontal. Determine the distance d to where it strikes the sloped ground, The acceleration due to aravity is "12-96, A projectile is given a velocity vy. Determine the angle @ at which it should be launched so that d is a ‘maximum, The acceleration due to gravity sg 12-97. Determine the minimum height on the wall to Which the firefighter can project water from the hose, so that the water strikes the wall horizontally. The speed of the water at the nozzle is ue = 48 1/s "12-98. Determine the smallest angle 0, measured above ‘the horizontal, thatthe hose should be directed so that the ‘water stream strikes the bottom of the wall at B. The speed. fof the water at the nazzle is ve = 48 fs. w= 18. Aus robs. 12-9798 450 CHarrer 12. KINEMATICS OF A PARTICLE 12-99, Measurements of a shot recorded on a videotape during. a basketball game ate shown. The ball passed through the hoop even though t barely cleared the hands of the player B who attempted to block it, Neplectng the size of the all,determine the magnitude v ofits inital velocity and the height of the ball when it passes over player B. 12-100, I1is observed that the skier leaves the ramp A at an angle 0, = 25° with the horizontal. If he strikes the ground at B, determine his initial speed vy and the time of Aight Pa 12-101, It is observed that the skier leaves the ramp A at an angle = 25° with the horizontal. If he strikes the aground at B, determine his inital speed v4 and the speed at whieh he strikes the ground. 12-402, A golf ball is struck with a velocity of 80 {V/s as shown, Determine the distance d to where it will lan. Prob, 12-102 12-103, The ball is thrown from the tower with a velocity (of 20 fis as shown, Determine the x and y coordinates 10 where the ball trikes the slope. Also, determine the speed at which the ball hits the ground. Prob. 12-103 “12-404, ‘The projectile is launched with a velocity ¥o Determine the range R, the maximum height fr attained, and the time of flight. Express the results in terms of the angle # and ty, The acceleration duc to gravity ig12-108, Determine the horizontal velocity vy of a tennis ball at A so that it just clears the met at B. Aso, find the distance s where the ball strikes the ground. 12.6 Monion oF A Provecrue 51 12-108, The man at A wishes to throw two darts at the target at B'so that they arrive at the same ime. Ireach dart is thrown with a speed of 10 m/s, determine the angles 0 and p at which they should be thrown and the time between each throw. Note that the first dart must be thrown at Hc (> 8p). then the second dart is thrown at fp. 12-106. The ball at A is kicked with speed v4 = 8 ft/s and at an angle @ = 30°. Determine the point (x, ) where it strikes the ground, Assume the ground has the shape of a parabola as shown. 12-107, The ball at A is kicked such that 0 = 30". If strikes the ground at B having coordinates x= 15 ft, y= ~9f determine the speed at which itis kicked and the ‘speed at which it strikes the ground, Probs. 12-106/107 Prob. 12-108 12-409. A boy throws. ball at O inthe air with a speed ry ‘aan angle 0. IP he then throws another ball with the same speed ny at an angle #) < #,, determine the time between the throws so thatthe balls collide in midair at B Prob, 12-10952 CHarrer 12. KINEMATICS OF A PARTICLE FY off into al-m-tong loading ca. Ithe conveyor is running ata constant speed of ue = 2m/s, determine the smallest and largest distance R at which the end A of the ear may be placed from the conveyor so thatthe packages enter the car. Ez 12-110. Small packages traveling on the conveyor belt fall f "12-112, The baseball player A hits the baseball at 10, = 40 f1/s and 0 = 60° from the horizontal. When the balls directly overhead of player B he begins to run under it. Determine the constant speed at which # must run and the distance d in order to make the catch at the same elevation at which the ball was hit. Prob, 12-110 AZAILL, The fireman wishes to direct the flow of water {rom his hose tothe fire at B. Determine two possible angles 6, and @ at which this ean be done. Water flows from the hhose at v4 = 80ft/s. 3sk———_ Prob, 12-111 Prob. 12-112 12-113, The man stands 60 ft from the wall and throws a ball att with a speed rg = 50 ft/s. Determine the angle # at whieh he should release the ball so that it strikes the wall at the highest point possible. What is this height? The room thas a ceiling height of 20 y= 508, an Prob. 12-11312.7 Curwunear Mori 12.7 Curvilinear Motion: Normal and Tangential Components When the path along which a particle travels is known, then it is often convenient to describe the motion using m and fcoordinate axes which act normal and tangent to the path, respectively, and atthe instant considered have their origin located atthe particle. Planar Motion. Consider the particle shown in Fig, 12-24a, which moves in a plane along a fixed curve, such that at a given instant itis at position s, measured from point O. We will now consider a coordinate system that has its origin on the curve, and at the instant considered this, origin happens to coincide with the location of the particle. The ¢ axis is, tangent to the curve at the point and is positive in the direction of increasing s. We will designate this positive direction with the unit vector 1u,, A unique choice for the normal axis can be made by noting that geometrically the curve is constructed from a series of differential are segments ds, Fig. 12-24, Each segment ds is formed from the arc of an associated circle having a radius of curvature p (tho) and center of curvature 0°. The normal axis n is perpendicular to the ¢ axis with its positive sense directed roward the center of curvature 0’, Fig. 12-24a. This positive direction, which is always on the concave side of the curve, be designated by the unit vector u,. The plane which contains the nm and r axes is referred to as the embracing or osculating plane, and in this, cease itis fixed in the plane of motion.* Velocity. Since the particle moves sis a function of time.As indicated in Sec. 12.4, the particle's velocity v has a direction that is always tangent to the pa, Fig. 12-24c, and a magnitude that is determined by taking the time derivative of the path function s = s(9, ic, 0 = ds/dt (Eq. 12-8). Hence vou, (az 1s) where (12-46) The esculating plane may ako be defined asthe plane which as the greatest contact withthe curve at a point. Its the limiting postion ofa plane contacting both the pont and the ate segment ds. As noted above, the osculating plane is always coincident with a plane ‘curve: osieve, each pont of a three dimensional curve has a unigue osculating plane. JORNAL AND TANGENTIAL COMPONENTS Radius of curvature © o Velocity o Fig. 12-24 5312.7 Curwuinear Movin: NorMal AND TANGENTIAL COMPONENTS. 55 To better understand these results, consider the following two special cases of motion, 1. If the particle moves along a straight line, then p—> and from Eq, 12-20, ay = 0. Thus a = a, = &, and we can conclude that the tangential component of acceleration represents the time rate of change in the magnitude of the velocity. 2. If the particle moves along a curve with a constant speed, then 4, = = Oand a = a, = v°/p. Therefore, the normal component of acceleration represents the time rate of change in the direction of the velocity. Since a, always acts towards the center of curvature, this component issometimes referred to asthe centripetal (or center seeking) acceleration. As a result of these interpretations. a particle moving along the curved path in Fig. 12-25 will have accelera Change in ‘irection of seloaty Increasing speed of Three-Dimensional Motion. Ifthe particle moves along a space curve, Fig, 12-26, then at a given instant the ¢ axis is uniquely specif however, an infinite number of straight lines can be constructed normal to the tangent axis As in the case of planar motion, we will choose the positive n axis directed toward the path's center of curvature 0, This axis is referred to as the principal normal to the curve. With the n and ¢ axes so defined, Eqs. 2-15 through 12-21 can be used to determine v and a, Since u, and w, are always perpendicular to one another and lie in the osculating plane, for spatial motion a third unit vector, u,, defines the binornal axis b which is perpendicular to w, and ty, Fig. 12-26 Since the three unit veetors are related to one another by the vector cross product cg4.uy — tu, X ty, Fig. 12-26, it may be possible to use this relation to establish the direetion of one of the axes, if the directions of the other two are known. For example, no motion occurs in the wy direction, and if this direction and u, are known, then u, can be determined, where in this case u, = w, X u,, Fig. 12-26. Remember, though, that u, is always on the concave side ofthe curve. As the boy swings upward with a velocity ¥, his motion ean be analyzed using n-r coordinates. As he rises, the ‘magnitude of his velocity (speed) is decreasing, and so 4, will be negative. The rate at which the direction of his velocity changes is dy, which is always postive, that is, towards the center of _oseaating plane Fig. 12-2654 CHAPTER 12. KINEMATICS OF A PARTICLE © Acceleration 0 Fig. 12-24 (cont) Acceleration. The acceleration of the particle is the time rate of change of the velocity. Thus, iu, + vi, (2-17) In order to determine the time derivative @,, note that as the particle moves along the arc ds in time dt, u, preserves its magnitude of unity however, its direction changes, and becomes w,, Fig, 12-24d. As shown in Fig. 12-24e, we require u = u, + du,. Here du, stretches between the arrowheads of u, and u,, which ie on an infinitesimal are of radi 1 Hence, du, has a magnitude of du, = (1) d0, and its direetion is defined by 1, Consequently, du, = dé, and therefore the time derivative becomes 4, = du, Since ds = pdb, Fig. 12-24d, then 6 = 3/p, and therefore a, = du, Substituting into Eq. 12-17, a can be written as the sum of its two components, au, + 4,0, (1218) where or ads = ude (12-19) and e a-% (12-20) ‘These two mutually perpendicular components are shown in Fig. 12-24f, ‘Therefore, the magnitude of acceleration is the positive value of (12-21)56 CHAPTER 12. KINEMATICS OF & PARTICLE Motorists traveling along this eloverleat interchange experience anormal ‘acceleration duc tothe change in direction ‘oftheir velocity A tangential component fof acceleration aceurs when the ears speed is increased or decreased er tiencurcr nn Coordinate System. * Provided the path of the particle is known, we can establish a set of mand coordinates having a fixed origin, which is coincident with the particle a the instant considered. ‘+ The positive tangent axis acts in the direction of motion and the positive normal axis is directed toward the path’s center of curvature. Velocity. ‘© ‘The particle’s velocity is always tangent to the path. ‘© The magnitude of velocity is found from the time derivative of the path function. Tangential Acceleration. ‘+ The tangential component of acceleration isthe result of the time rate of change in the magnitude of velocity. This component acts i the positive s direction ifthe particle's speed is increasing or in the opposite direction ifthe speed is decreasing, + The relations between a, v, and s are the same as for rectilinear ‘motion, namely, 42% ads=vdv # Ifa, is constant, a, = (a), the above equations, when integrated, ield = tty + Hon? v= 0% + (ade wah + 2a) 50 Normal Acceleration. + The normal component of acceleration isthe result of tho time rate of change in the direction ofthe weloit. This component i aways dirceted toward the center of eurvature of the path, along the positive 1 axis. + The magnitude of this component is determined from > ‘© If the path is expressed as y = fla), the radius of curvature p at any point on the path is determined from the equation U+ ay/arh? |e'y/de"| “The derivation of this result is given in any standard calculus text poL 12.7. Curvunea® MoTiON: NORMAL AND TANGENTIAL COMPONENTS 87 ol 4 When the skier reaches point A along the parabolie path in Fig. 12-27a, he has a speed of 6 m/s which is increasing at 2 m/s*. Determine the direction of his velocity and the direction and magnitude of his acceleration at thisinstant. Neglect the size of the skierin the calculation. SOLUTION Coordinate System. Although the path has been expressed in terms of ts x and y coordinates, we can stil establish the origin of the n, axes at the fixed point A on the path and determine the components of v and a along these axes, Fig. 12-27a. Velocity. By definition, the velocity is always directed tangent to the path. Since y = he", dy/dx = hx, then at x = 10m,dy/de = 1, Hence, at A, v makes an angle of @ = tan™'l = 45° with the x axis, Fig. 12-27. Therefore, 4 = 6m/s 45° Ans. ‘The acceleration is determined from a = tu, + (0?/p)u,. However, it is first necessary to determine the radius of curvature of the path at A (10m, m). Since *y/di? = 4, then + @y/aep? _ [1+ (bx) )3| 2828m Téy/ae| tal "The accolaraton bocome | ® = (20, + 1.2730,}m, Asshown in Fig. 12-276, 0 = VamiF FURIMAT = 2570/8 eee Jnr Shes “Thus 48° + 90° + 575° = 180° = 125° so that, a a=237m/9 129 Ans. :: By usin; weding we re 0 readily solve this o NOTE: By using n, ¢ coordinates, we were able to readily solve thi Fig 12-27 problem through the use of Eq. 12-18, since it accounts for the separate changes in the magnitude and direction of v.58 Charter 12 Kinematics OF & PaRticLe A race car C travels around the horizontal circular track that has a radius of 300 ft, Fig. 12-28. If the car increases its speed at a constant rate of 7 fi/s*, starting from rest, determine the time needed for it to reach an acceleration of 8 ft/s". What is its speed at this instant? Fig, 12-28 SOLUTION Coordinate System. ‘The origin of the n and axes is coincident with the car at the instant considered, The ¢ axis is in the direction of motion, and the positive n axis is directed toward the center of the «circle. This coordinate system is selected since the path is known, Acceleration. The magnitude of acceleration can be related to its ‘componentsuusing a = Va} + a3. Here a, = 7f/s% Since a, = 0°/p, the velocity asa funetion of time must be determined first. v= m+ (ay v=0+7 a, = 5 = SE = one nys ‘The time needed for the acceleration to reach 8 ft/s? is therefore Bys = Vonysy + O.163rF Solving forthe positive value ofr yields 0.1637 = Vie i/s? — 7h/s 1487s Ans. Velocity. “The speed at time r v = Tr = 14.87) = 34.1 ft/s Ans. NOTE: Remember the velocity will always be tangent to the path, ‘whereas the acceleration will be directed within the curvature of the path.12.7 Cuevunca® MoTion: NoRwaL AND TANGENTIAL COMPONENTS. 59 EXA Pear ‘The boxes in Fig, 12-294 travel along the industrial conveyor. Ifa box as in Fig, 12-29b starts from rest at A and increases its speed such that 4, = (0.21) m/s*, where ris in seconds, determine the magnitude of its acceleration when it arrives at point B. SOLUTION Coordinate System. The position of the box at any instant is defined. from the fixed point A using the position or path coordinate s, Fig. 12-296. The acceleration is to be determined at B, so the origin of the n, raxes is at this point. Acceleration. To determine the acceleration components a, = and a, = v°/p, itis first necessary to formulate v and @ so that they may be evaluated at B. Since v = Owhen 1 = 0, then a,= b= 02 i) een [ote v= 01F @ ‘The time needed for the box to reach point B can be determined by realizing that the position of B is sy —3 | 2m(2)/4— 6.142m, Fig. 12-29b, and since s, = 0 when r= Owe have [tae fae 6.142 m = 0.033375, ty = 9.0908. Substituting into Eqs. 1 and 2 yields (ap), = bg = 0.205.690) = 1.138 m/s? Up = 0.15.69) At B, py = 2m, so that wh _ B.238 m/s? Ps 2m The magnitude of ap, Fig. 12-29, is therefore ay = V0138 m/S8F + 5282 m/s (ay), = 5.242 m/s 5.36 m/s? Ans Fig. 12-2960 Charter 12 KINEMATICS OF A PagticLe BRINE F12-27. The boat is traveling along the cireular path, with a speed of v = (020625¢) m/s, where ris in seconds. Determine the magnitude of ts acceleration when 1 = 10. = 006257 ria 12-28. The car is traveling along the road with a speed of v= (2s) m/s, where s is in meters. Determine the ‘magnitude ofits acceleration when s = 10m, = (as) m/s Fiz 12-29. I the car decelerates uniformly along the curved road from 2Sm/s at A to 1Sm/s at C, determine the acceleration of the ear at B. on™ 300 Fi229 12-30, When x = 10 the erate has a speed of 20 ft/s ‘which is increasing at 6 ft/s? Determine the direction of the crate's velocity and the magnitude ofthe crate's acceleration at this instant ¥ yay? FIZS1. If the motorcycle has a deceleration of 4, = =(0.0015) m/s and its speed at postion Ais 25 m/s determine the magnitude of ils acceleration when it pastes point J. FI2-32. The car travels up the hill with a speed of (02s) m/s, where « is in meters, measured from A. the magnitude of its acceleration when it is at 500 m.12.7 Curvunear Mon [NoRWal AND TANGENTIAL COMPONENTS 61 PE Jrrosiems AZ-AM4, A caris traveling along a circular curve that has a radi of 50 m. If its speed is 16 m/s and is increasing uniformly at 8 m/s’, determine the magnitude of is acceleration at this instant, 1248, Determine the maximum constant speed a race car ean have if the acceleration of the ear cannot exceed 7.5 m/s? while rounding track having a radius of curvature 0 200 m. "12-4116. A car moves along a circular track of radius 250 ft such that its speed for a short period of time 051545, is v = 3(1 + 1°) ft/s, where £ is in seconds, Determine the magnitude of its acceleration when + ow far has i traveled in = 35 12-117. A car travels along a horizontal circular curved road that has a radius of 600 m. Ifthe speed is uniformly increased ata rate of 2000 km/h, letermine the magnitude ff the acceleration at the instant the speed of the car is 60 kan/h, 12-118, The truck travels in acireular path having a radius of 50 m at a speed of v = 4 m/s. Fora short distance from (0.its speed is increased by & = (0105s) m/s?. where sis in meters. Determine its speed and the magnitude of its acceleration when it has moved s = 10m. (005s) m/s? ams som Prob, 12-118 12-119, The automobile is originally at rest at s = 0. Ifits speed is increased by 0) = (OSE) M/s, where ¢ is in seconds, determine the magnitudes of its velocity and aceeleration when 1 = 18 “12-120, The automobile is originally at rests then starts to increase its speed at = (00°) f/s, where +s in seconds, determine the magnitudes ofits velocity and acceleration at s = $80 }—s0n—4 Probs. 12-119/120 12-121. When the rollercoaster is a B, 1 hasa speed of 28 m/s, which is increasing at , = 3 m/s? Determine the ‘magnitude of the acceleration of the roller coaster at this, instant and the direction angle it makes withthe. ai 12-122, tthe riler coaster starts from restat Aandi speed increase ta, ~ (6 ~ 016s)m/s, determin the magnitude ofits acceleration when reaches where sp = 40 PAXIXIX BOIKXIXX Probs. 12-121/12262 Charter 12. KINEMATICS OF A PaaTicLe 12-123, The speedboat travels at a constant speed of 15 m/s while making a turn on a circular curve from A to B. it takes 45 sto make the turn. determine the magnitude of the boat's acceleration during the turn. Prob, 12-123, ¥12-124, The car travels along the circular path such that its speed is increased by a, = (0.5¢) m/s’, where £ isi seconds Determine the magnitudes of its velocity and acceleration after the car has traveled s = 18m starting from rest. Neglect the size ofthe car. Prob, 12-124 12-125, The car passes point A with a speed of 25 m/s. alter which ts sped is defined by v= (25 — 018s) m/s Determine the magnitude of the cars acceleration when i reaches point B, where s = 51.5 mands = 50m. 12-126, If the car passes point A with «speed of 20m/s and begins 10 increase its speed at a constant rate of a= 05m/s., determine the magnitude of the car's acceleration when » = 100mand.x = 0. Probs. 12-125/126 12-127. A train is traveling with a constant speed of 114 m/s along the curved path. Determine the magnitude of the acceleration of the front of the train, B, atthe instant it reaches point A (y = 0). ym) Prob 12-12712.7 Cuevunca® MoTion: NoRwaL AND TANGENTIAL COMPONENTS. 63 "12-128 When a car starts to round a curved road with the radius of curvature of 600 ft, itis traveling at 75 ft/s If the car's speed begins to decrease at a rate of b = (-0.06r) ft/s%, determine the magnitude of the acceleration of the car when it has traveled a distance of 700 ft Prob, 12-128 12-129. When the motorcyclist is at A, he increases hi speed along the vertical exrcular path at the rate of b= (030 1i/s7, where 1s in seconds. If he starts from rest at A, determine the magnitudes of his velocity and aceeleration when he reaches B. 12-130, When the motoreyelist is at A, he increases his speed along the vertical circular path at the rate of jb = (04s) ft/s? where sis in ft. Ihe starts at ry = 2 ft/s where s = Oat A, determine the magnitude of his velocity when he reaches B, Also, what i hs initial aeceleration? 0 ar. robs. 12-129/130 AZASL. At a given instant the train engine at E has a speed of 20'm/s and an acceleration of 14 m/s ating the direction shown. Determine the rate of increase in the trains speed and the radius of curvature p ofthe pth Prob, 12-191 "12-132, Car B urns such that its speed is increased by (ay = (0.5e) m/s?, where FIs in seconds. If the car stars from rest when = 0°, determine the magnitudes of velocity and acceleration when the arm AB rotates @ = 30° Neglect the size of the car 12.13% Car B turns such that its speed is increased by (dy = (O5e) m/s? where rs in seconds If the car starts from rest when d=, determine the magnitudes ofits velocity and acceleration when 1 = 2, Neglect the sizeof the ear64 ChaPrer 12. KINEMATICS OF A PARTICLE 12-134. A boat is traveling along a circular curve having a radius of 100 ft. If its speed at r= 0 is 15 ft/s and is increasing at 6 = (0380 f/s* determine the magnitude of its acceleration atthe instant = 5 12-135. A boat is traveling slong a circular path having a radius of 20 m, Determine the magnitude of the boat's acceleration when the speed is » = Sm/s and the rate of| increase in the speed is = 2m/s 2-136. Starting from rest, a bicyclist travels around horizontal circular path, p= 10m, at a speed of = (0097 + 0.10) m/s, where ¢ is in seconds. Determine the magnitudes of his velocity and acceleration when he has traveled s = 3m. 12-437. A particle travels around a circular path having a radius of 50 m. I its initially traveling with a speed of 10 m/s and its speed then increases ata rate of 8 = (0.05 ») m/s, termine the magnitude of the particle's acceleraton four seconds later. 12-138. When the bicycle passes point A. it has a speed of 6 m/s, which is increasing at the rate of 6 = 05 m/s* Determine the magnitude of its acceleration when it is at point A. Prob, 12-138 12-139, The motoreyce is traveling at a constant speed of 60 km/h. Determine the magnitude ofits acceleration when itisat point A, *12-140, The jet plane travels along the vertical parabolic path. When itis at point it has « speed of 200 m/s, which is increasing at the rate of 8m/s%. Determine the ‘magnitude of acceleration ofthe plane when itis at point A, , prooee 4 sm ‘ Prob. 12140 12-4141, The balls ejected horizontally from the tube with a speed of 8 m/s. Find the equation of the path, y = fi). and then find the ball’s velocity and the normal and tangential components of acceleration when # = 0.28 5 Prob. 12-14112.7 Curwuinear Movin: NorMal AND TANGENTIAL COMPONENTS. 65 12-442. A toboggan is traveling down along a curve which can be approximated by. the parabola y = 00Lx* Determine the magnitude ofits accleration when it reaches point A, where its speed is v4 = 10 m/s, and itis increasing atthe rate of iy = 3m/s. ==] Prob, 12-142 AZ-143. A particle Pmoves long the curve y = (<2 — 4mm ‘with «constant specd of 3 m/s, Determine the point on the Curve where the maximum magnitude of acceleration ‘occurs and compute is value. “IL-AG4, ‘The Ferris wheel tums such thatthe speed of the passengers is increased by b= (An ft/s, where 1 is in Seconds If the wheel starts from rest when 0 = 0°, determine the magnitudes ofthe velocity and acceleration fof the passengers when the wheel tuens ? = 30" Prob. 12-144 increasing at arate i)=3 ft/s, determine the magnitude of 12-148, Ifthe speed of the erate at A is 15 ft/s, which is the acceleration of the erate at this instant y 10a —| Prob. 12-145 12-146, The race car has an initial speed vg = 1S m/sat A. Itt increases its speed along the circular track atthe rate 44, = (Os) m/s", where s is in meters, determine the time needed for the car to travel 20 m.Take p = 150m. Prob, 12-146 12-47. A boy sits on a merry-go-round so that he is always located at r = 8 ft from the center of rotation. The ‘merry-go-round is originally at rest.and then due to rotation the boy's speed is increased at 2f1/s*, Determine the time needed for his acceleration to become 4 fr? “12-448, A particle travels along the path y= a be + ex’, where a, b, care constants If the speed ‘of the particle is constant, » = vp, determine the x and y’ components of velocity and the normal component of acceleration when x = 0.66 Charter 12. Kinematics oF a Paaticte 12-149, The wo particles A and B start atthe origin O and travel in opposite directions along the circular path at constant speeds ny =0.7m/s and vy = 1Sm/s, respectively. Determine in = 2s, (a) the displacement along the path ofeach particle, (b) the positon vector to each particle, and (c) the shortest distance between the particles. 12-150. The two particles A and B start at the origin O and travel in opposite directions along the circular path at constant speeds 2, = 0.7 m/saand vy = 1.5 m/s, respectively Determine the time when they collide and the magnitude of the acceleration of B just before this happens, i A Probs. 12-149/150 12-151. The position of a particle traveling along a curved, path is s= (3° = 4@ +4) m, where ¢is in seconds. When ‘the particle is at a position on the path where the ras of curvature is 25 m. Determine the magnitude of the particle's acceleration at this instant, "12-182. Ifthe speed of the box at point A on the track is 30/1/s which is increasing at the rate of b= 5ft/s*.determine the magnitude of the acceleration ofthe box at this instant. 12-153. A go-cart moves along a cicular track of radius 100 ft such that its speed for a short period of time, Osrs4s, is v= 601 —e*)f/s. Determine the ‘magnitude of its acceleration when 1 = 2s. How far has it traveled in = 2? Use a numerical method to evaluate the integral "12-484, The ball is jcked with an initial speed oq = 8m/s at an angle & = 40° with the horizontal. Find the equation of the path, y = fix), and then determine the ‘all's velocity and the normal and tangential components of its acceleration when 1 = 0.25. Prob. 12-154 12-158. The race car travels around the circular track with a speed of 16 m/s, When it reaches point A it increases its speed.at ¢, = @ 0") m/s. where vis in m/s. Determine the magnitudes of the velocity and acceleration of the ear when ittreaches point B. Also, how much time i required for it to travel from A to B? Pro, 12-15512.8 CURVIUNEAR MOTION: CYUNDRICAL COMPONENTS 67 *12-456, A particle P travels along an clpticl spiral 12-487. Tue motion of parle is defined by the pau Ga te puke oot tb eed by qe om ee ep Gye, wie oh a F = (2cos0.t¢ + L3sin(.1nj + Gi} m where isin seconds Determine the normal and tangential components Seconds andthe arguments forthesine andcosine are given ofthe particle's velcly and acceleration when t= 2 inradians When = 8 determin the coordinate direction IZ-S8. ‘The motoreyce travels along the elliptical track at angles a, , and y, which the binormal axis to the osculatin plane makes with the and aca Mine Soe or ine .costant speed. Determine the greatest magnitde of Yelocty vp and acceleration ay of the particle in terms he acceleration ifa > b ff their Lj, k components. The binormal is parallel to tp X ay. Why? a ly a Prob, 12-156 Prob, 12-188 12.8 Curvilinear Motion: Cylind Components Sometimes the motion af the particle is constrained on a path that i best described using eylindrical coordinates. If motion is restricted to the plane, then polar coordinates are used. - Polar Coordinates. We can specify the location of the particle : shown in Fig, 12-30a using a radial coordinate r, which extends outward ae from the fixed origin O to the particle, and a transverse coordinate 0, * which isthe counterclockwise angle hetween a fited reference line and the r axis. The angle is generally measured in degrees or radians, where “Tu 1 rad = 180°/n, The postive directions of the r and @ coordinates are defined by the unit vectors u, and uy, respectively. Here uw, is in the Poston direction of inereasing r when @is held fixed, and uy i in a dircetion of © increasing @ when r is held fixed. Note that these directions are perpendicular to one another. Fig 12-80