Engineering Mechanics:

Dynamics in SI Units, 12e

Chapter 12
Kinematics of a Particle
Copyright © 2010 Pearson Education South Asia Pte Ltd
12.4 General Curvilinear Motion

Curvilinear motion

occurs when the particle moves along a curved
path

Position

measured from a fixed point O, by the position
vector r = r(t)

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12.4 General Curvilinear Motion

Displacement

For a particle travel a distance ∆s along the
curve to a new position P’, within a small time
interval ∆t, it is defined by r’ = r + ∆r

The displacement ∆r represents the change in
the particle’s position

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12.4 General Curvilinear Motion

Velocity

Average velocity of the particle is defined as

∆r
vavg =
∆t

Instantaneous velocity is found from letting

∆t0,
dr
vins =
dt

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12.4 General Curvilinear Motion

Acceleration

The average acceleration during the time interval
∆t is ∆v dv d 2 r
aavg = a= =
∆t dt dt 2

a acts tangent to the hodograph and is not
tangent to the path

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12.5 Curvilinear Motion: Rectangular Components

Position

Position vector is defined by r = xi + yj + zk

The magnitude of r is always positive and
defined as
r = x2 + y2 + z 2

The direction of r is specified by the components
of the unit vector ur = r/r

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12.5 Curvilinear Motion: Rectangular Components

Velocity

We have
dr   
v= = vx i + v y j + vz k
dt
where v x = x
, v y = y
, vz = z

The velocity has a magnitude defined as the

positive value of
v = vx2 + v y2 + v z2

Unit vector uv = v/v and is always tangent to the

path
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12.5 Curvilinear Motion: Rectangular Components

Acceleration

We have

dv   
a= = ax i + a y j + az k
dt
where a x = v
x =
x
, a y = v
y =
y
, a z = v
z =
z

The acceleration has a magnitude defined as the

positive value of
a = a x2 + a y2 + a z2

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12.5 Curvilinear Motion: Rectangular Components

PROCEDURE FOR ANALYSIS

Coordinate System

Rectangular coordinate system can be
expressed in terms of its x, y and z components
Kinematic Quantities

Rectilinear motion is found using
v = ds/dt, a = dv/dt or a ds = v ds

Magnitudes of vectors are found from
Pythagorean theorem

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Example 12.9

At any instant the horizontal position of the weather

balloon is defined by x = (9t) m, where t is in second.
If the equation of the path is y = x2/30, determine the
distance of the balloon from the station at A, the
magnitude and direction of the both the velocity and
acceleration when t = 2 s.

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Example 12.9

Solution
Position
When t = 2  x = 9(2)= 18 m, y = (18)2/30 = 10.8m
The straight-line distance from A to B is

r= (18)2 + (10.8)2 = 21 m

Velocity
We have d
v x = x
= (9t ) = 9m / s →
dt
v y = y
=
d 2
dt
( )
x / 30 = 10.8m / s ↑

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Example 12.9

Solution
Velocity
When t = 2 s, the magnitude of velocity is
v= (9)2 + (10.8)2 = 14.1m / s
−1
vy
The x is tangent to the path is θ v = tan = 50.2
vx

Acceleration
We have ax = v
x = 0 and a y = v
y = 5.4m / s 2 ↑ thus,
∵a = (0)2 + (5.4)2 = 5.4m / s 2
5.4
θ a = tan −1 = 90°
0
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Example 12.10

For a short time, the path of the plane in the figure is

described by y = (0.001x2)m. If the plane is rising
with a constant velocity of 10m/s , determine the
magnitudes of the velocity and acceleration of the
plane when it is at y = 100 m

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Example 12.10

Solution
When y = 100m x = 316.2m
When vy = 10m/s  t = 10s
Velocity
Using the chain rule,
d
v y = y
=
dt
( )
0.001x 2 = 0.002 xvx

10 = 0.002(316.2)v x ⇒ vx = 15.81 m/s

The magnitude is v = vx2 + v y2 = 18.7 m/s

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Example 12.10

Solution
Acceleration
Using the chain rule,
(
a
= v
y = 0.002 x
v x + 0.002 xv
x = 0.002 v x2 + xa x )
When x = 316.2m, vx = 15.81m/s,
v
y = a y = 0
( )
0 = 0.002 15.812 + 316.2a x ⇒ a x = −0.791 m/s 2

Magnitude of the plane’s acceleration is

a = a x2 + a y2 = 0.791 m/s 2

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12.6 Motion of Projectile

Projectile’s acceleration always act vertically

Projectile launched at (x0, y0) and path is defined
in the x-y plane

Air resistance is neglected

Only force is its
weight downwards

ac = g = 9.81 m/s2

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12.6 Motion of Projectile

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12.6 Motion of Projectile

Horizontal Motion

Since ax = 0,
 + 
→
 
v = v0 + ac t ; v x = (v0 ) x
 + 
→
1 2
x = s0 + v0t + act ;
x = x0 + (v0 ) x t
 
2
 + 
v x = (v0 ) x
→
  v 2 = v02 + 2ac ( s − s0 );

Horizontal component of velocity remain

constant during the motion

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12.6 Motion of Projectile

Vertical Motion

Positive y axis is upward, thus ay = - g

(+ ↑) v = v0 + act ; v y = (v0 ) y − gt
1 2 1 2
(+ ↑) s = s0 + v0t + ac t ; y = y0 + (v0 ) y t − gt
2 2
(+ ↑) v 2 = v02 + 2ac ( s − s0 ); 2
v y = (v0 ) 2y − 2 g ( y − y0 )

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12.6 Motion of Projectile

PROCEDURE FOR ANALYSIS

Coordinate System

Establish the fixed x, y, z axes

Sketch the trajectory of the particle

Specify 3 unknowns and data between any two points on
the path

Acceleration of gravity always acts downwards

Express the particle initial and final velocities in the x, y
components

Positive and negative position, velocity and acceleration
components always act in accordance with their
associated coordinate directions

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12.6 Motion of Projectile

PROCEDURE FOR ANALYSIS

Kinematics Equations

Decide on the equations to be applied between
the two points on the path for the most direct
solution
Horizontal motion

x = xo + (vo)x t ; vx = (vo)x

Vertical motion
1 2
v y = (v0 ) y − gt ; y = y0 + (v0 ) y t − gt ; v y2 = (v0 ) 2y − 2 g ( y − y0 )
2
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Example 12.11

A sack slides off the ramp with a horizontal velocity

of 12 m/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 the sacks
begin to pile up.

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Example 12.11

Solution
Coordinate System
Origin at point A.
Initial velocity is (vA)x = 12 m/s and (vA)y = 0m/s
Acceleration between A and B is ay = -9.81 m/s2.
Since (vB)x = (vA)x = 12 m/s, the 3 unknown are
(vB)y, R and tAB

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Example 12.11

Solution
Vertical Motion
Vertical distance from A to B is known,

(+ ↑) 1 2
y B = y A + (v A ) y t AB + ac t AB
2
⇒ t AB = 1.11s

Horizontal Motion
 + 
 →  x = x A + (v A ) x t AB
 
R = 0 + 12(11.1)
R = 13.3m

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Example 12.12

The chipping machine is designed to eject wood at

chips vO = 7.5 m/s. If the tube is oriented at 30°from
the horizontal, determine how high, h, the chips
strike the pile if they land on the pile 6 m from the
tube.

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Example 12.12

Solution
Coordinate System
3 unknown h, tOA and (vA)y.
Taking origin at O, for initial velocity of a chip,
(vO ) x = (7.5 cos 30 ) = 6.5m / s →
(vO ) y = (7.5 sin 30 ) = 3.75m / s ↑

Also,
(vA)x = (vO)x = 6.5 m/s and ay = -9.81 m/s2

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Example 12.12

Solution
Horizontal Motion

x A = x0 + (v0 ) x tOA
⇒ tOA = 0.9231s
Vertical Motion
Relating tOA to initial and final elevation of the chips,
1 2
y A = h − 2.1 = yO + (v0 ) y tOA + ac tOA
2
h = 1.38m

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Example 12.13

The track for this racing event was designed so that

the riders jump off the slope at 30°, from a height of
1m. During the race, it was observed that the rider
remained in mid air for 1.5 s. Determine the speed at
which he was traveling off the slope, the horizontal
distance he travels before striking the ground, and
the maximum height he attains. Neglect the size of
the bike and rider.

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Example 12.13

Solution
Coordinate System
Origin is at point A.
3 unknown are vA, R and vB.

Vertical Motion
Since time of flight and the vertical distance between
the ends of the paths are known,

(↑ + ) 1
y B = y A + (v A ) y t AB + aC t AB
2
2
⇒ v A = 13.4m / s

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Example 12.13

Solution
Horizontal Motion
The range R can be determined as
xB = x A + (v A ) x t AB
 + 
 →  R = 0 + 13.38 cos 30 (1.5) = 17.4m


 

We can determine h directly without considering tAC

(vc )2y = (vA )2y + 2ac [ yC − yA ]

(0)2 = (13.38sin30 )2 + 2(−9.81)[(h −1) − 0] ⇒ h = 3.28m

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