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Motions and Coordinates: Kinematics of Particles

This document discusses different types of motion and coordinate systems used to describe motion. It covers rectilinear motion in one, two and three dimensions. Specific coordinate systems are defined, including rectangular, normal-tangential, polar, cylindrical and spherical coordinates. Examples of kinematic equations and their graphical interpretations are provided for various motion scenarios.

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0% found this document useful (0 votes)
38 views23 pages

Motions and Coordinates: Kinematics of Particles

This document discusses different types of motion and coordinate systems used to describe motion. It covers rectilinear motion in one, two and three dimensions. Specific coordinate systems are defined, including rectangular, normal-tangential, polar, cylindrical and spherical coordinates. Examples of kinematic equations and their graphical interpretations are provided for various motion scenarios.

Uploaded by

Faisel
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Chapter 2

Kinematics of Particles
Motions and Coordinates
• Motion
– Constrained motion
– Unconstrained motion
• Coordinates
– Used to describe the motion of particles

1
Motion
Rectilinear motion (1-D)

Plane curvilinear motion


(2-D)

Space curvilinear
motion (3-D)

Coordinates
Rectangular (Cartesian)
coordinates ( x, y ), ( x, y , z )

Normal and tangential


coordinates ( n − t )

Polar coordinates ( r ,θ )

Cylindrical coordinates ( r ,θ , z )

Spherical coordinates ( r ,θ , φ )

2
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

High School Physics


Given a =constant (and s (t0 ) = s0 , v (t0 ) = v0 , when t0 = 0)

dv
(1). a = ⇒ v = v0 + at
dt

(2). vdv = ads ⇒ v 2 = v02 + 2a ( s − s0 )

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

(1).v (t1 ) = 72, t1 = ?


(2).v (t2 ) = 30, a (t2 ) = ?
(3).s (4) − s (3) = ?

5
Problem 2/19

• Small balls fall from


rest through the
opening at the steady
rate of 2 per-second.
Find the vertical
displacement h of 2
consecutive balls
when the lower one
has dropped 3 m.

Problem 2/50

• A bumper provides a deceleration as shown in the figure.


Suppose a train is approaching the bumper at speed of
40 ft/sec.
• Determine the maximum compression of the bumper.

6
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

Three coordinates systems to


describe the curvilinear motion
Rectangular (Cartesian)
coordinates ( x, y )

Normal and tangential


coordinates (n − t )

Polar coordinates ( r ,θ )

7
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

8
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 = ?

Determine θ such that R is maximized.

9
Chapter 2.5
Normal and Tangential Coordinates (n-t)

• The positive direction of n is always taken


toward the center of curvature of the path.

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

10
A special case: Circular Motion

v = rθ&

& v2
an = vθ = = rθ& 2
r
at = rθ&&

Write the vector expression


for the acceleration a of the
mass G of the simple pendulum
in both n - t and x - y coordinates
for the instance when

θ = 60o
θ& = 2.00 rad/sec
θ&& = 4.025 rad/sec2

11
Exercise 2/119

A particle moving in the x - y plane has the position vector as:


3 2 3
P = ( t2 , t ) (in)
2 3

Calculate the radius of the path for the position when t =2 sec.

Chapter 2.6 Polar coordinates (r-θ)


relative to a fixed point

r r
r = rer

12
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

θ (t ) = 0.2t + 0.02t 3 , r (t ) = 0.2 + 0.04t 2 .

v (3) = ? a (3) = ?

13
Exercise 2/145 (slider)

θ (t ) = 0.8t − 0.05t 2 , r (t ) = 1.6 − 0.2t.

v (4) = ? a (4) = ? and direction (relative to x -axis)

Constant speed
v =0.6 m/s
R =1.2 m
r , θ , θ&, θ&& = ?
r , r&, &&
π
when t = 2(1 + )
3

14
Chapter 2.7 Space Curvilinear Motion
• Rectangular (x-y-z)
• Cylindrical (r-θ-z)
• Spherical (R-θ-ψ)

• * n-t coordinates

Rectangular coordinates (x-y-z)

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

15
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

16
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

• Determine the angle between v and a, v& , and


the radius of curvature.

17
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.

Chapter 2.8 Relative Motion

rA = rB + rA / B ,
v A = vB + v A / B,
a A = aB + a A / B,

18
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

Two cars A and B are moving


along straight roads. If the time
rate of increase of the distance
between the cars equals the
magnitude of the relative
velocity of the cars. What
can be said concerning the
velocities of the cars?

19
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?

Chapter 2.9 Constrained Motion

x + 2y = k
x& + 2 y& = 0
&x& + 2 &y& = 0

20
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

The tractor A is used to hoist


the bale B with the pulley
arrangement shown. If A has a
forward velocity V A , determine
an expression for the upward
velocity VB of the bale in terms
of x.

21
Exercise 2/207

If block B has a leftward velocity


of 1.2 m/s, determine the velocity
of cylinder A.

Exercise 2/220

The particle A is mounted on


a loght rod pivoted at O and
therefore is constrained in a
curvelar arc of radius r.
Determine the velocity of A
in terms of the downward
velocity vB of the
counterweight for any angle θ .

22
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 )

– Normal and tangential coordinates (n − t )

– Polar coordinates ( r ,θ )

– Cylindrical coordinates ( r ,θ , z )

– Spherical coordinates ( r,θ , φ )

23

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