Motions and Coordinates: Kinematics of Particles
Motions and Coordinates: Kinematics of Particles
Kinematics of Particles
Motions and Coordinates
• Motion
– Constrained motion
– Unconstrained motion
• Coordinates
– Used to describe the motion of particles
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Motion
Rectilinear motion (1-D)
Space curvilinear
motion (3-D)
Coordinates
Rectangular (Cartesian)
coordinates ( x, y ), ( x, y , z )
Polar coordinates ( r ,θ )
Cylindrical coordinates ( r ,θ , z )
Spherical coordinates ( r ,θ , φ )
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Chapter 2-2. Rectilinear Motion
ds
Instantaneous velocity: v= = s&
dt
⎧vdv = ads
Instantaneous acceleration: a =
dv
= v& ⇒⎨
dt
& & = &&
⎩ sds sds
d 2v
= = &&
s
dt 2
Graphical Interpretations
3
1 2
ads = vdv ⇒ ( v2 − v12 ) = (the area)
2
a dv
=
v ds
dv
(1). a = ⇒ v = v0 + at
dt
ds 1 2
(3). v = v0 + at = ⇒ s = s0 + v0t + at
dt 2
4
when a≠constant
dv t
a = f (t ) ⇒ (1). a =
dt
⇒ v = v + adt
∫
0
o
s
∫ ads
1
(2). vdv = ads ⇒ (v − v ) = 2 2
0
2 s0
ds t
(3). v =
dt ∫
⇒ s = s + vd t
0
0
dv v
dv t
a = f ( v ) ⇒ (1). a =
dt
= f (v) ⇒
∫ f (v) = ∫ dt = t
v0 o
v vdv s
(2). vdv = ads ⇒
∫ f (v) = ∫ ds = s − s
v0 s0
0
s
a = f ( s ) ⇒ (2). vdv = ads ⇒ v = v + 2
∫ f ( s)ds
2 2
0
s0
ds sds t
v = g ( s ) ⇒ (3). v =
dt
⇒
∫ g ( s) ∫
s0
= dt = t
0
Sample 2.1
s (t ) = 2t 3 − 24t + 6
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Problem 2/19
Problem 2/50
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Chapter 2-3. Plane Curvilinear Motion
1. 2-D motion: a special case of 3-D.
r
2. Define the position vector r measured from a fixed point O.
r r
r dr r& r dv r&
3. Time derivative of a position vector: v = = r, a = =v
dt dt
Polar coordinates ( r ,θ )
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Chapter 2.4 Rectangular coordinates (x-y)
Vector representation
r r r
r = xi + yj
r r& r r
v = r = xi + yj
& &
r r& &&r r r
a = v = r = &&
xi + &&
yj
Projectile motion: a x = 0, a y = - g
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Sample 2.5
v x (t ) = 50 − 16t ,
y (t ) = 100 − 4t 2 .
x (0) = 0, y in meter and t in second.
Question :
when y (t ) = 0, a = ? and v = ?
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Chapter 2.5
Normal and Tangential Coordinates (n-t)
ds = ρ d β ,
r r ds r r
⇒ v = vet = et = ρβ& et
dt
r r r r r
⇒ a = ve& t + ve&t = ve
& t + ρβ& 2 en
r v2 r
= ve
& t+ en
ρ
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A special case: Circular Motion
v = rθ&
& v2
an = vθ = = rθ& 2
r
at = rθ&&
θ = 60o
θ& = 2.00 rad/sec
θ&& = 4.025 rad/sec2
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Exercise 2/119
Calculate the radius of the path for the position when t =2 sec.
r r
r = rer
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r r
r = rer ,
r r r
v = r&er + rθ&eθ ,
r r r
a = ( &r& − rθ& 2 )er + ( rθ&& + 2 r&θ&)eθ .
Sample 2/9
v (3) = ? a (3) = ?
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Exercise 2/145 (slider)
Constant speed
v =0.6 m/s
R =1.2 m
r , θ , θ&, θ&& = ?
r , r&, &&
π
when t = 2(1 + )
3
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Chapter 2.7 Space Curvilinear Motion
• Rectangular (x-y-z)
• Cylindrical (r-θ-z)
• Spherical (R-θ-ψ)
• * n-t coordinates
r r r r
R = xi + yj + zk
r r& r r r
v = R = x& i + y& j + z&k
r& &r& r r r
a = v = R = &x&i + &y&j + &z&k
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Cylindrical Coordinates (r-θ-z)
r r r
R = rer + zk
r r& r r r
&
v = R = r&er + rθeθ + z&k
r &r& r r r
a = v& = R = ( &r& − rθ& 2 )er + ( rθ&& + 2 r&θ&)eθ + &z&k
Spherical Coordinates(R-θ-ψ)
r r
R = Re R
r r& r r r
v = R = R& e r + Rθ& cos φeθ + Rφ&eφ
r &r& && r
a = v& = R = ( R − Rφ& 2 − Rθ& 2 cos 2 φ )er
r
+ ( Rθ&&cos φ + 2 R& φ& cos φ − 2 Rφ&θ& sin φ )eθ
r
+ ( Rφ&& + 2 Rφ& + Rθ& 2 sin φ cos φ )eφ
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Sample 2/11
The power screw starts from rest and is
given a rotational speed θ& which increases
uniformly according to θ& = kt.
Suppose the lead of the screw
(advancement per revolution) is L.
Determine the expression for the velocity
and acceleration of the center of ball A
when the screw has turned through one
complete revolution from rest.
Exercise 2/169
• The velocity and acceleration of a particle are
given by r r r r
v = 6x − 3y + 2z
r r r r
a = 3x − 1 y − 5z
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Exercise 2/181
The revolving crane has a boom of
length 24 m, and is turning about the
vertical axis at a constant rate of
2 rev/ min . At the same time, the
boom is lowered at the constant rate
0.1 rad/ sec . Calculate the magnitudes
of the velocity and accelerati on of the
end of the boom when it is lowered to
30o.
rA = rB + rA / B ,
v A = vB + v A / B,
a A = aB + a A / B,
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Sample 2/12
Flight A is moving east at a
speed of 800 km/h
Flight B is moving northeast
(45o ) at a speed v
Passengers at flight A observe
that flight B moves northwest
(60o ).
Determine v = ?
Exercise 2/188
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Exercise 2/194
• A ship is capable of 16 knots through still
water is to maintain a true course due
west while encountering a 3-knots current
running from north to south. What should
be the heading of the ship (measured
clockwise from the north to the nearest
degree)? How long does it take the ship to
proceed 24 nautical miles due west?
x + 2y = k
x& + 2 y& = 0
&x& + 2 &y& = 0
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y A + 2 y D = k1
y B − y D + 2 yc = k 2
y& A + 2 y& D = 0
y& B − y& D + 2 y& c = 0
&y& A + 2 &y&D = 0
&y&B − &y&D + 2 &y&c = 0
Sample 2/15
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Exercise 2/207
Exercise 2/220
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Chapter Review
• Motion
– Rectilinear motion (1-D)
– Plane curvilinear motion (2-D)
– Space curvilinear motion (3-D)
• Coordinates
– Rectangular (Cartesian) coordinates ( x, y ), ( x, y , z )
– Polar coordinates ( r ,θ )
– Cylindrical coordinates ( r ,θ , z )
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