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[Dynamics online]
 CONTENT
1. Kinematics of Particles
- Velocity and Acceleration 2
- Graphical Interpretation 7
- Rectangular Coordinate 12
- Motion of Connected Particle 17
- Motion of Projectile 20
- Normal-Tangential Coordinate 23
- Polar Coordinate 27
- Space Curvilinear Motion 33
- Type of Coordinate 36
- Relative Motion 37
- Problems 42
2. Force and Acceleration
- Friction Coefficient 104
- Equation of Motion 104
- Rectangular Coordinate 105
- Curvilinear Motion 113
- Problems 119
3. Work and Energy
- Work 142
- Work and Energy Equation 143
- Power & Efficiency 143
- Problems 149
4. Impulse and Momentum
- Impulse and Momentum 172
- Impact 176
- Angular Impulse and Momentum 182
- Problems 184
 1
KINEMATICS
OF PARTICLES
1 KINEMATICS OF PARTICLES

VELOCITY AND ACCELERATION

Velocity

ds
v= = s!
dt

Acceleration

dv
a= = v!
dt

ads = vdv

with Constant Acceleration

v = v 0 + at

1 2
s = s 0 + v 0t + at
2

v 2 = v 2 0 + 2a(s − s0 )

!2
 VELOCITY AND ACCELERATION
Example1/1 ปล่อยบอล 2 ลูกลงตามแนวดิ่งห่างกัน t=0s t = 0.5 s
0.5 s เมื่อบอลลูกแรกตกลงไปได้ 3 m จงหาว่าบอลลูก v0 = 0 m/s v0 = 0 m/s
A B
ที่ 2 ห่างจากบอลลูกแรกเป็นระยะทางเท่าไร (ให้
ความเร่งเนื่องจากแรงโน้มถ่วง g = 9.81 m/s2)


3m
B
h



!3
1 KINEMATICS OF PARTICLES
Example1/2 A vacuum-propelled capsule for a high-
speed tube transportation system of the future is being
designed for operation between two stations A and B,
which are 10 km apart. If the acceleration and
deceleration are to have a limiting magnitude if 0.6g and
in velocity are to be limited to 400 km/h, determine the
minimum time t for the capsule to make the 10-km trip.*

t = 108.9 sec

!4
 VELOCITY AND ACCELERATION
Example1/3 A particle travels along a straight line with an acceleration of a = (5 - 0.1s) m/s2, where s is
measured in meters. Determine the velocity of the particle when s=10 m if v=5 m/s at s=0. (6 marks)



!5
 thrust and "kv is the acceleration due to aerody-
namic drag. If a0 ! 2 m/s2, k ! 0.00004 m"1, and v
R is in meters per second, determine the design length
of runway required for the airplane to reach the
1 KINEMATICS OF PARTICLES takeoff speed of 250 km/h if the drag term is (a) ex-
cluded and (b) included.
Problem 2/49
Example1/4 On its takeoff roll, the airplane starts from rest and
accelerates according to a = a0 -kv2, where a0 is the constant v0 = 0 v = 250 km/h
2/50 Compute the impact speed of body A which is re-
acceleration resulting
leased from from the
rest at engine thrust
an altitude h ! and -kvabove
750 mi
2 is the
the
acceleration due to aerodynamic
surface of the moon. drag. If a0assume
(a) First = 2 m/sa ,constant
2 k=
0.00004 m-1, and v is in meters
gravitational per second,
acceleration gm0 !determine
5.32 ft /sec2theand s
design length (b)
of runway required
then account forvariation
for the the airplane to reach
of gm with the
altitude
takeoff speed (refer
of 250tokm/h
Art. 1/5).
if the drag term is (a) excluded and Problem 2/53
(b) included.
2160 mi h

Problem 2/50

!6
 v = f(t) for each segment.
0 when t = 0.
26 CHAPTER 12 K I N E M AT I C S OF A PARTICLE v ! 2t
4
a (m/s)
t (s)
1 VELOCITY AND ACCELERATION
4
c) Draw the v–t 12
PRELIMINARY
GRAPHICAL INTERPRETATION 

and s–t graphs if va (m/s
PROBLEM
= 0,2 ) s = 0 when
t (s)
t = 0. 2
2
Differential =
P12–2. e) Draw the v–t graph if v = 0
t (s) a (m/s2 ) 4 v = f(t) for each segment.
a) Draw the s–t andIntegrate
a–t graphs tb)
=if s = 0 when(s)t Draw
= 0. the a–t and v–t graphs.
2
s (m)
2
!2
s (m)
2 v (m/s)
t (s)
4 v ! 2t 2
ds a (m/s2 )
v= 

dt
!2 s ! "2 t # 2
2

 f) Determine v at s = 2 m if v = 1 m>s at sg) Determine a at s = 1 m.
= 0.

d) Determine sdv
and a when t = 3 s if s = 0 when t 2= 0. t (s) t (s)
a= 
 1 2
t (s) dt a (m/s) v (m/s)


v (m/s) b) Draw the a–t 4and v–t graphs. 4 and s–t graphs !2

 c) Draw the v–t if v = 0, s =
v = 0, s = 0 when t = 0.
ads = vdv 
 s (m)
2
a (m/s2 )

 2

 t (s) s ! "2 t # 2
f) Determine v at s = 2 m if v
2 4 s (m) s (m)
2 2
CONSTRUCT GRAPH Prob. P12–2 2
a (m/s) t (s)
t (s) t (s)

 1
4
!2
c) g)
Draw the v–ta at
Determine and 1 m.graphs if v = 0, s = 0 when
s = s–t
t = 0.
s = 0 when t = 0. d) Determine s and a when t = 3 s if s = 0 when t =
v (m/s)
a (m/s2 )
4 v (m/s)

2
t (s)
2
t (s) !2 s (m)
2 t (s)
g) Determine a at s = 1 m.
Prob. P12–2 2 4

d) Determine s and a when t = 3 s if s = 0 when t = 0.

v (m/s)

v (m/s) 4

t (s)
2 4
Prob. P12–2 

!7
1 KINEMATICS OF PARTICLES
Example1/5 A bicycle moves along a straight road
such that its position is described by the graph
shown. Construct the v–t and a–t graphs for 0 ≤ t ≤
30 s.

!8
 VELOCITY AND ACCELERATION
Example1/6 The car in figure start from rest and
travels along a straight track such that it
accelerates at 10 m/s2, and then decelerates at 2
m/s2. Draw the v-t and s-t graphs and determine
the time t’ needed to stop the car. How far has the
car traveled?




!9
1 KINEMATICS OF PARTICLES
Example1/7 The v–s graph describing the motion
of a motorcycle is shown in figure. Construct the a–
s graph of the motion and determine the time
needed for the motorcycle to reach the position s =
400 m.

!10
RECTANGULAR COORDINATE (X-Y)
1 KINEMATICS OF PARTICLES

RECTANGULAR COORDINATE (x-y)

!
r = xi + yi
! ! !
v = r" = vx i +vy j
! !
a = ""
r = ax i +ay j

vx = ax =
! !
vy = ay =

!v = !θ v =

!a =

!12
 RECTANGULAR COORDINATE (X-Y)
Example1/8 The y-coordinate of a particle in curvilinear motion is given by y=4t3 -3t, where y is in mm and t
is in seconds. Also, the particle has an acceleration in the x-direction given by ax = 12t mm/s2. If the
velocity of the particle in the x-direction is 4 mm/sec when t = 0, calculate the magnitudes of the velocity v
and acceleration a of the particle when t = 1 sec.
*

v = 13.45 mm/sec, a = 26.8 mm/sec2



!13
1 KINEMATICS OF PARTICLES
Example1/9 หัวรถจักรวิ่งอยู่บนทางราบซึ่งเป็นส่วนโค้งรัศมี 2000 เมตร โดยมี
ระยะที่วัดจากจุดเริ่มต้นเคลื่อนที่เท่ากับ s=40t+t2 (เมื่อ s มีหน่วยเป็นเมตร และ t มี
หน่วยเป็น วินาที) จงหาตำแหน่ง และความเร็วของรถไฟในเทอมของส่วนประกอบ x


y เมื่อ t = 10 วินาที

!14
 RECTANGULAR COORDINATE (X-Y)
Example1/10 The box slides down the slope described by
the equation y = (0.05x2) m, where x is in meters. If the box
has x components of velocity and acceleration of vx = -3
m/s and ax = -1.5 m/s2 at x = 5 m, determine the y
components of the velocity and the acceleration of the box
at this instant.



!15
1 KINEMATICS OF PARTICLES
Example1/11 Pegs A and B are restricted to move
in the elliptical slots due to the motion of the slotted
link. If the link moves with a constant speed of 20
m/s, determine the magnitude of the velocity and
acceleration of peg A when x = 1 m. (10 marks)

v = 20 m/s

!16
 1 KINEMATICS OF PARTICLES

MOTION OF CONNECTED PARTICLES

e 2/221 Collars A and B slide along the fixed right-angle

s rods and are connected by a cord of length L.
l Determine the acceleration ax of collar B as a
e 
 function of y if collar A is given a constant upward
velocity vA.

L
y
B
x
-
e
h Problem 2/221
e
v 2/222 Collars A and B slide along the fixed rods and are
connected by a cord of length L. If collar A has a
velocity vA ! ẋ to the right, express the velocity
vB ! "ṡ of B in terms of x, vA, and s.

L
A
45°
s

x
 pulley arrangement shown. If the cable is wound
2/214 Determine the relationship which gove
up on the drum at the constant rate of 40 mm/s,
velocities of the two cylinders A and B. Ex
how long does it take for the truck to move 4 m up
velocities as positive down. How many de
1 KINEMATICS OF PARTICLES the incline?
freedom are present?

Example1/12 Determine the speed of A in figure if B has an upward speed of 6 m/s.

Problem 2/212 Problem 2/214

c02.qxd 2/8/12 7:11 PM Page 100

100 Chapter 2 Kinematics of Particles

SAMPLE
Example1/12 In the PROBLEM 2/15 shown, cylinder A has a downward velocity
pulley configuration
of 0.3 m/s. Determine the velocity of B.
In the pulley configuration shown, cylinder A has a downward velocity of 0.3
*
m/s. Determine the velocity of B. Solve in two ways.

yA
C
Solution (I). The centers of the pulleys at A and B are located by the coordi-
nates yA and yB measured from fixed positions. The total constant length of cable yB
in the pulley system is
L ! 3yB " 2yA " constants
where the constants account for the fixed lengths of cable in contact with the cir- A
! cumferences of the pulleys and the constant vertical separation between the two
upper left-hand pulleys. Differentiation with time gives
B
0 ! 3ẏ B " 2ẏ A
Substitution of vA ! ẏ A ! 0.3 m/s and vB ! ẏ B gives
dsB
" 0 ! 3(vB) " 2(0.3) or vB ! #0.2 m/s Ans. dsB
(a)

Solution (II). An enlarged diagram of the pulleys at A, B, and C is shown. 2dsA

During a differential movement dsA of the center of pulley A, the left end of its dsA 2dsA
dsB
horizontal diameter has no motion since it is attached to the fixed part of the dsB (c)
cable. Therefore, the right-hand end has a movement of 2dsA as shown. This
movement is transmitted to the left-hand end of the horizontal diameter of the
(b)
pulley at B. Further, from pulley C with its fixed center, we see that the displace-
ments on each side are equal and opposite. Thus, for pulley B, the right-hand
end of the diameter has a downward displacement equal to the upward displace-
ment dsB of its center. By inspection of the geometry, we conclude that Helpful Hints

2dsA ! 3dsB or dsB ! 23dsA ! We neglect the small angularity of

the cables between B and C.
Dividing by dt gives
" The negative sign indicates that the
"vB " ! 23 vA ! 23 (0.3) ! 0.2 m/s (upward) Ans.
velocity of B is upward.

1-11. 0.2 m/sSAMPLE PROBLEM 2/16

The tractor A is used to hoist the bale B with the pulley arrangement
!18 shown. If A has a forward velocity vA, determine an expression for the upward
velocity vB of the bale in terms of x.

l
 the cables between B and C.
Dividing by dt gives
" The negative sign indicates that the
"vB " ! 23 vA ! 23 (0.3) ! 0.2 m/s (upward) Ans.
velocity of B is upward.
MOTIONis OF
2/232 The small cylinder CONNECTED
made to move Palong
ARTICLES
the ro- 2/
tating rod with a motion between r ! r0 " b and
Example1/13The tractor A is used to hoist the bale B with the pulley 2$t
SAMPLE PROBLEM 2/16 r ! r0 # b given by r ! r0 " b sin # , where t is the
arrangement shown. If A has a forward velocity vA, determine an
The tractorfor
expression A the
is used to hoist
upward velocity vB ofBthe
the bale with theinpulley
bale of x.
 time counted from the instant the cylinder passes
termsarrangement
shown. If A has a forward velocity vA, determine an expression for the upwardthe position r ! r0 and # is the period of the oscilla-
velocity vB of the bale in terms of x. tion (time for one complete oscillation). Simultane-
ously, the rod rotates about the vertical at the
constant hangular rate "˙. Determine the value of r
l
Solution. We designate the position of the tractor by the coordinate x and the
for which the radial (r-direction) acceleration is
position of the bale by the coordinate y, both measured from a fixed reference.
The total constant length of the cable is zero.
B
y A
L ! 2(h # y) " l ! 2(h # y) " !h2 " x2
·
! Differentiation with time yields r0 r

xẋ x
0 ! #2ẏ "
!h2 " x2
Substituting vA ! ẋ and vB ! ẏ gives Helpful Hint
b
1 xvA b
! Differentiation of the relation for a
vB ! Ans.
2 !h2 " x2 right triangle occurs frequently in
mechanics.

2/

Problem 2/232

2/233 Rotation of the arm PO is controlled by the hori-

zontal motion of the vertical slotted link. If ẋ ! 4
ft/sec and ẍ ! 30 ft/sec2 when x ! 2 in., determine
"˙ and "¨ for this instant.

Example1/14 Rotation of the arm PO is controlled by the x

horizontal motion of the vertical slotted link. If x! = 4 m/sec
A
and x!! = 30 m/s2 when x = 150 mm., determine θ! and θ!!
for this instant

P

″ mm
4350
O

Problem 2/233



!19
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 (x0 , y0), with an initial velocity of v0 , having
components 1v02x and 1v02y , Fig. 12–20. When air resistance is neglected,
MOTION
the OF PROJECTILE
only force acting on the projectile is its weight, which causes the
projectile to have a constant
ลักษณะการเคลื่อนที่แบบ projectile downward acceleration of approximately
ax = 2 y=
a
ac = g = 9.81 m>s or g = 32.2 ft>s2.*

y a!g

vx
v0
(v 0 )y vy v
(v 0 )x r
y
y0

x
x0

x
Fig. 12–20
v = (v )
Horizontal
Horizontal :
Motion. Since ax = 0, application of the constant
x x 0

acceleration equations,
x = x 0 + (12–4
v x )0 t to 12–6, yields

1:+ 2 v = v + a t; 0 c vx = 1v02x
1:
+ 2 xv y== (xv y0)0+− gtv0t + 12 act2; x = x0 + 1v02xt
1:
Eac
+ 2 Vertical : 2
= v2
v v 2 = v0 ( )+ −2a
2
c1x− y- ) x02;
2g(y
vx = 1v02x afte
falls
y y 0 0

The first and last equations indicate that the horizontal component of give
y = y 0 + (v y ) t − gt 2
1
velocity always remains constant 0 2 during the motion.
Bot
sam
Vertical Motion. Since the positive y axis is directed upward, then elev
caus
ay = - g. Applying Eqs. 12–4 to 12–6, we get the
1+ c2 v = v0 + act; vy = 1v02y - gt pho
betw
1+ c 2 y = y0 + v0t + 12 act2; y = y0 + 1v02yt - 12 gt2 ball
hori
1+ c 2 v2 = v20 + 2ac1y - y02; v2y = 1v022y - 2g1y - y02

Recall that the last equation can be formulated on the basis of eliminating
the time t from the first two equations, and therefore only two of the
above three equations are independent of one another. !20
 Determine the magnitudes of the velocity v and
acceleration a and the angles which these vectors 2/67 A roofer tosses a small tool to the ground. What min-
make with the x-axis when t ! 2 s. imum magnitude v0 of horizontal velocity is required
to just miss the roof corner B? Also determine the
2/63 The x-coordinate of a particle in curvilinear motion distance d. M P
OTION OF ROJECTILE
is given by x ! 2t3 " 3t, where x is in feet and t is in
Example1/15
seconds. A roofer
The tosses aofsmall
y-component tool tointhe
acceleration ground.
feet per 2.4 m
second squared
What minimum is givenvby
magnitude ayhorizontal
0 of ! 4t. If the velocity
particle has
is A
y-components
required to just missy ! roofẏcorner
the0 and ! 4 ft/sec Also tdetermine
B?when ! 0, find v0
the magnitudes
the distance d. *‑
of the velocity v and acceleration a 1.2 m
when t ! 2 sec. Sketch the path for the first
2 seconds of motion, and show the velocity and accel- 0.9 m
eration vectors for t ! 2 sec. B

2/64 The y-coordinate of a particle in curvilinear motion

is given by y ! 4t3 " 3t, where y is in inches and t is
3m
in seconds. Also, the particle has an acceleration in
the x-direction given by ax ! 12t in. /sec2. If the ve-
locity of the particle in the x-direction is 4 in./sec
when t ! 0, calculate the magnitudes of the velocity
v and acceleration a of the particle when t ! 1 sec. d C
Construct v and a in your solution.

Problem 2/67

v0 = 3.67 m/s, d = 1.34 m



!21
1 KINEMATICS OF PARTICLES
Example1/16 The skier leaves ramp A at angle θA
= 29˚ with the horizontal.
a)  If he lands at point B, determine the initial
speed vA 

b)  Determine the time of flight tAB 


!22
NORMAL AND TANGENTIAL COORDINATE (n-t)

แกน tangential (t) คือ

แกน normal (n) คือ
!
v = vê t
!
a = an ên + at ê t , a = a 2n + a 2t

( )
3/2
an = ⎡ dy
2
⎤
⎢1+ dx ⎥
ρ=⎣ ⎦
d 2y
at = dx 2

Note: 1. เมื่อวัตถุเคลื่อนที่เป็นเส้นตรง

2. เมื่อวัตถุเคลื่อนที่โค้งด้วยความเร็วคงที่

3. สามารถหาแกน tangential จาก 


!23
1 KINEMATICS OF PARTICLES
Example1/17 A car travels along the level curved road
with a speed which is decreasing at the constant rate of
0.6 m/s each second. The speed of the car as it passes
point A is 16 m/s. Calculate the magnitude of the total
acceleration of the car as it passes point B which is 120 m
along the road from A. The radius of curvature of the road
at B is 60 m.

!24
 NORMAL AND TANGENTIAL COORDINATE (n-t)
Example1/18 When the skier reaches point A along the
parabolic path, he has a speed of 6 m/s which is
increasing at 2 m/s2. Determine the direction of his
velocity and the direction and magnitude of his
acceleration at this instant. Neglect the size of the skier in
the calculation.




!25
1 KINEMATICS OF PARTICLES
Example1/19 A jet aircraft pulls up into a vertical
curve as shown. As it passes the position where θ =
30˚, its speed is 1000 km/h and is decreasing at the
rate of 15 km/h per second. If the radius of curvature
ρ of the flight path is 1.5 km at this point calculate the
corresponding horizontal and vertical components, x!!
and y!! , of the acceleration of the aircraft.

!26
POLAR COORDINATE (r-θ)
Velocity

v = r! er + rθ! eθ

vr =
โดยที่
vθ =

Acceleration

!
a = (r"" − rθ" 2 )er + (rθ"" + 2r"θ")eθ



ar =
โดยที่
aθ =

Note:

1. การเคลื่อนที่เป็นวงกลม

2. มีความเร็วตามแนว r คงที่

3. เคลื่อนที่ด้วยความเร็วเชิงมุมคงที่

!27
 cylinder rotates at the constant rate !˙ ! 60 deg/s
and l is decreasing at the constant rate of 150
mm/s, calculate the magnitudes of the velocity v
1 KINEMATICS OF PARTICLES and acceleration a of end B when l ! 125 mm.

Example1/20 As the hydraulic cylinder rotates around O, the

exposed length l of the piston rod P is controlled by the l
action of oil pressure in the cylinder. If the cylinder rotates at
B
the constant rate θ! = 60 deg/s and l is decreasing at the
mm
constant rate of 150 mm/s. For this instant l=125 mm and θ 375
= 30˚, calculate the magnitudes and direction (relate to x-
axis) of the velocity v and acceleration a of end B. θ
O

Problem 2/136

2/137 The drag racer P starts from rest at the start line S
and then accelerates along the track. When it has
traveled 100 m, its speed is 45 m/s. For that in-
stant, determine the values of ṙ and !˙ relative to
axes fixed to an observer O in the grandstand G as
shown.

2/
S
P

35 m r

θ
O
G

Problem 2/137

2/138 In addition to the information supplied in the pre-

vious problem, it is known that the drag racer is ac-
celerating forward at 10 m/s2 when it has traveled
100 m from the start line S. Determine the corre-
sponding values of r̈ and !¨.

!28
has the position x ! 25 mm with no force in its at- at the rate of 2 rad/sec . For this instant, determine
tached spring. Each spring has a stiffness of 400 the tension T in the cord and the magnitude N of
N/m. Determine the value of x for each spring for a the force exerted on the slider by the sides of the
steady speed of 240 rev/min. Also calculate the nor- smooth radial slot. Indicate which
POLAR side, A (r
COORDINATE or-θB,
) of
mal force N exerted by the side of the slot on the the slot contacts the slider.
block. Neglect any
Example1/21 friction
สไลเดอร์ between the blocks and
C สามารถเคลื่อนที่เป็นเส้นตรงในราง
the slots, and neglect the mass of the springs. (Hint:
เข้าใกล้จุด O ซึ่งเป็นจุดหมุนของรางด้วยการดึงเชือก S ดังแสดง
Sum forces along and normal to the slot.)
ในรูป และรางสามารถหมุนรอบจุด O ได้ ตำแหน่งเชิงมุมของราง
t2
สามารถอธิบายได้ด้วยสมการ θ = 0.8t - โดย θ มีหน่วยเป็น
ω 20
เรเดียนและ t มีหน่วยเป็นวินาที ในขณะที่เวลา t = 0 วินาที
สไลเดอร์ C มีตำแหน่งห่างจากจุด O เป็นระยะ r = 1.6 เมตร
และหลังจากนั้นสไลเดอร์
A
C ถูกดึงเข้าหาจุด O ด้วยความเร็วคงที่
0.2 เมตรต่อวินาที จงหาขนาดของความเร็วและความเร่งของ
x O
สไลเดอร์ P ที่เวลา t = 4 วินาที

x Problem 3/80
A

80 80
mm mm

Problem 3/78



!29
1 KINEMATICS OF PARTICLES

Example1/22 A particle moves along a circular path of radius 400 mm. If its angular velocity is θ! = 3t 2 rad/s,
where t is in seconds, determine the magnitudes of the particle's velocity and acceleration when θ = 45˚ .
! vθ = rθ!, ar = r!! − rθ! 2 , aθ = rθ!! + 2r!θ!
The particle starts from rest when θ = 0˚ . (5 marks) Given: vr = r,
vr, vθ, ar, aθ,


!30
 string S, while the slotted arm rotates about point radar station shown. When ! reaches 60°, other cor-
O. The angular position of the arm is given by ! ! responding measurements give the values r !
t2
0.8t " , where ! is in radians and t is in seconds. 30,000 ft, r̈ ! 70 ft/sec2, and !˙ ! 0.02 rad/sec.
20 Calculate the magnitudes of the velocity and accel-
The slider is at r ! 1.6 m when t ! 0 and thereafter P C
OLAR OORDINATE -θ)
eration of the rocket at this position.
(r
is drawn inward at the constant rate of 0.2 m/s.
Example1/23 TheDetermine
rocketthe magnitude
is fired and direction
vertically and tracked(expressed
by the radar a
station shown. by the angle
When " relative
θ reaches the x-axis)
60˚,toother of the velocity
corresponding
and acceleration of the slider when v
!! t ! 4 s. 2
measurements give the values r = 900 m, r = 20 m/s , and θ = 0.02 !
rad/s. Calculate the magnitudes of the velocity and acceleration of the
rocket at this position.*y


r P
r

θ x
O
θ

Problem 2/141 Problem 2/143

2/142 The piston of the hydraulic cylinder gives pin A a 2/144 A hiker pauses to watch a squirrel P run up a par-
constant velocity v ! 3 ft/sec in the direction tially downed tree trunk. If the squirrel’s speed is
shown for an interval of its motion. For the instant v ! 2 m/s when the position s ! 10 m, determine
when ! ! 60!, determine ṙ , r̈ , !˙, and !¨ where the corresponding values of ṙ and !˙.
r ! OA.

r v
P

v
r s
A
60°
O θ
θ 6″ A
O
20 m

Problem 2/144
Problem 2/142

v = 36 m/s, a = 22.7 m/s2



!31
1 KINEMATICS OF PARTICLES
Example1/24 A tracking radar lies in the vertical plane of the
path of a rocket which is coasting in unpowered flight above the
atmosphere. For the instant when θ = 30˚, the tracking data give
r = 7.5(104) m, r! = 1200 m/s, θ! = 0.8 deg/sec. The acceleration of
the rocket is due only to gravitational attraction and for its
particular altitude is 9.6 m/s2 vertically down. For these
conditions determine the velocity v of the rocket and the values
of r!! and θ!! .

!32
 SPACE CURVILINEAR MOTION (r-θ-z)

SPACE CURVILINEAR MOTION (r-θ-z)

! r + rθ!eθ + z!k
v = re

vr =
vθ =
vz =

!
r − rθ" 2 )e r + (rθ"" + 2 r"θ" )eθ + ""
a = ("" zk
ar =
aθ =
az =

!33
 where t is in seconds. Determine the magnitudes
velocity and acceleration of the box at the
u = 2p rad.
1 KINEMATICS OF PARTICLES
Example1/25 The box slides down the helical ramp which is defined by r = 0.5 m,
θ = (0.5t3) rad, and z = (2 – 0.2t2) m, where t is in seconds. Determine the 0.5 m
magnitudes of the velocity and acceleration of the box at the instant θ = 2π rad.

1m

Probs. 12–182/183

!34
 SPACE CURVILINEAR MOTION (r-θ-z)
Example1/26 Car A is climbing up a parking lot ramp in the
form of a cylindrical helix. Its radius is 7.5 m and each floor is
6 m high. (3 m elevation for each half turn). Given that the car
is driving up the ramp with constant acceleration of 10 m/s2 7.5 m
and its current speed is 14 m/s. How much G-force does the
drive experience? *

3m
7.5 m

a = 2.8g


!35
1 KINEMATICS OF PARTICLES

TYPES OF COORDINATE
y y
Path Path

x x
n-t Coordinate r-θ Coordinate
y y
Path Path

x x
Velocity Acceleration

vx = vy = 
 ax = ay =


 

vn = vt = 
 an = at = 


 

vr = vθ = ar = aθ =

!36
 RELATIVE MOTION
30"
RELATIVE MOTION (Translation Axes) B
0.3 mi
vB ! 20 mi/h
A
vA ! 30 mi/h

! v! A
! !
= v B + v A/B โดยที่ ! v! A/B

Probs. 12–221/222

! a! A
! !
= a B + a A/B โดยที่ ! a! A/B

12–223. Two boats leave the shore at the same time and
travel in the directions shown. If vA = 20 ft>s and
vB = 15 ft>s, determine the velocity of boat A with respect
to boat B. How long after leaving the shore will the boats be
800 ft apart?

Example1/27 Two boats leave the shore at the same time

and travel in the directions shown. If vA = 20 m/s and vB =
15 m/s, determine the velocity of the boat A with respect vA
to boat B. How long after leaving the shore will the boats A
be 800 m apart?


B vB

30"
45"
O

Prob. 12–223



!37
 celerating at 3 m/s2. Determine the velocity and ac-
celeration of the car relative to observer B, who
rides in a nonrotating chair on the Ferris wheel.
1 KINEMATICS OF PARTICLES The angular rate " ! 3 rev /min of the Ferris wheel
is constant.

Example1/28 The car A has a forward speed of 18 km/h Ω = 3 rev/min y

and is accelerating at 3 m/s2. Determine the velocity and B
acceleration of the car relative to observer B, who rides in
x
a nonrotating chair on the Ferris wheel. The angular rate Ω
45°
= 3 rev/min of the Ferris wheel is constant. R=9m
*

Problem 2/188

vA/B=3.00i + 1.999j m/s

aA/B=3.63i + 0.628j m/s2

!38
 2) '!lt.11vl'!lel.:Jf1111.1d.:i~116'llel.:J1fl B
3) '!lt.!1vl'!lel.:Jf1111.lb1.:J'11.l'W'V16'llel.:JW 8 Lvic.1t11ltl1fl A RELATIVE MOTION
Example1/29 ขณะที่รถ A และรถ B อยู่ที่ตำแหน่งดังรูป รถ A
กำลังวิ่งเป็นเส้นตรงลดความเร็วลงด้วยอัตราหน่วง 5 m/s2 รถ B
กำลังวิ่งบนทางโค้งที่มีรัศมีความโค้ง 120 m ด้วยความเร็ว 40 km/
h และเพิ่มความเร็วด้วยอัตราเร่ง 2 m/s2 ถ้าความเร็วสัมพัทธ์ของรถ
B เทียบกับรถ A เป็น 100 km/h จงหา

A
ก) ขนาดความเร็วของรถ A
ข) ขนาดความเร่งลัพธ์ของรถ B
ค) ขนาดความเร่งสัมพัทธ์ของรถ B เทียบกับ A


- 2-



!39
1 KINEMATICS OF PARTICLES
Example1/30 A boat is trying to go from point A to B as
shown in the figure. However, a current of 20 m/s is
coming in the northeast direction which is 45 degree
angle as measure from the north. If the speed of the
boat is 150 km/hr, determine;
a) The direction in which the boat must head to travel
straight from A to B
b) The time required for the boat to go 150 km from A to
B in the easterly direction.

!40
 RELATIVE MOTION
Example1/31 ลูกบอล B ถูกโยนขึ้นด้วยที่ตำแหน่งสูงจากพื้น 12
m ด้วยความเร็ว 18 m/s ขณะเดียวกันแท่นเหล็ก E อยู่ตำแหน่ง 5
m สูงจากพื้น ด้วยความเร็วคงที่ 2 m/s จงคำนวณหา
ก) เวลา t และตำแหน่ง s ที่ลูกบอลปะทะแท่นเหล็ก

ข) ความเร็วของลูกบอกเทียบกับแท่นเหล็ก ที่ตำแหน่งปะทะ



!41
 PROBLEMS


1-1. [midterm 2015] A ball is thrown vertically upward with a speed of 20 m/s. Determine the time of flight
when it returns to its original position. (4 marks)










1-2. [midterm 2016] A particle travels along a straight line with a velocity of v = (5t - 2t2 ) m/s, where t is in
seconds. Determine the position of the particle when t = 4 s. Given s = 0 when t = O. (2 marks)
 PROBLEMS : VELOCITY AND ACCELERATION
1-3. [midterm 2015] A particle is moving along a straight line such that its position from a fixed point is s =
(20 - 27t2 +9t3) m, where t is in seconds. Determine the total distance traveled by the particle from t = 1 sec
to t = 3 sec. Also, find the average speed of the particle during this time interval. (8 marks)





1-4. [midterm 2017] The acceleration of the train during the interval of time from t = 2 sec to t = 4 sec is
a=2t m/s2, and at t = 2 sec its velocity is v = 180 km/hr. What is the train's velocity at t = 4 sec, and what is
its displacement from t = 2 see to t = 4 sec. (4 marks)



!43
1 KINEMATICS OF PARTICLE
1-5. A sandbag is dropped from a hot air balloon. The net effect of both
aerodynamic drag and gravity is to produce an acceleration
y!! = g − cv 2 ay = g - cv2 where c (equal to 6.00×10-4 m-1) is a drag
coefficient with units of m-1 when v is expressed in m/s. The positive y
direction is downward. Determine the sandbag’s speed after it has
fallen 400 m.

*


v2 = 79 m/s


!44
 PROBLEMS : VELOCITY AND ACCELERATION
1-6. A bowling ball is dropped from a boat so that it strikes the surface of
a lake with a speed of 25 m/s. Assuming the ball experiences a
downward acceleration of a =10 - 0.9v2 when in the water, determine the
velocity of the ball when it strikes the bottom of the lake.

*


3.33 m/s


!45
1 KINEMATICS OF PARTICLE
1-7. A temperature sensor is attached to slider AB which
moves back and forth through 60 m. The maximum
velocities of the slider are 12 m/s to the right and 30 m/s
to the left. When the slider is moving to the right, it
accelerates and decelerates at a constant rate of 6 m/s2;
when moving to the left, the slider accelerates and
decelerates at a constant rate of 20 m/s2. Determine the
time required for the slider to complete a full cycle, and
construct the v–t and x–t curves of its motion.

(a) 10.5 s. (b) v-t and x-t curves



!46
 PROBLEMS : VELOCITY AND ACCELERATION
1-8. Car A Start from rest at t = 0 and travels along a straight
road with a constant acceleration of 6 m/s2 until it reaches a
speed of 80 m/s. Afterwards it maintains this speed. Also, when t
= 0, car B located 6000 m down the road is traveling towards A
at a constant speed of 60 m/s. Determine the distance traveled
by car A when they pass each other.



!47
 creases linearly with distance s from its initial value
of 16,000 ft /sec2 at A upon release to zero at B after
a travel of 24 in. Calculate the maximum velocity v
1 KINEMATICS OF PARTICLE of the arrow.

1-9. In an archery test, the acceleration of the arrow de- creases

linearly with distance s from its initial value of 4800 km/s2 at A
upon release to zero at B after a travel of 600 mm. Calculate the
A B
maximum velocity v of the arrow. 60024″
mm



 s

Problem 2/36

2/37 The 230,000-lb space-shuttle orbiter touches down at 2

about 220 mi/hr. At 200 mi/hr its drag parachute
deploys. At 35 mi/hr, the chute is jettisoned from the
orbiter. If the deceleration in feet per second squared
during the time that the chute is deployed is
"0.0003v2 (speed v in feet per second), determine the
corresponding distance traveled by the orbiter. Assume
no braking from its wheel brakes.

Problem 2/37

2/38 Reconsider the rollout of the space-shuttle orbiter of

the previous problem. The drag chute is deployed at
200 mi/hr, the wheel brakes are applied at 100 mi/hr
until wheelstop, and the drag chute is jettisoned at
35 mi/hr. If the drag chute results in a deceleration 2
of "0.0003v2 (in feet per second squared when the
speed v is in feet per second) and the wheel brakes
cause a constant deceleration of 5 ft/sec2, determine
the distance traveled from 200 mi/hr to wheelstop.



!48
 2. The particle travels along a straight track such that
the s-t graph. Construct the v-t
PROBLEMS : VELOCITY graph
AND for the same tim
ACCELERATION
1-10. The particle travels along a straight track such S (m)
that its position is described by the s-t graph.
Construct the v-t graph for the same time interval.
s =108
108

6 8 10



!49
 F12–10
F12–11. A bicycle travels along a straight road where its
1 KINEMATICS OF PARTICLE velocity is described by the v -s graph. Construct the a-s
graph for the same time interval.
1-11. A bicycle travels along a straight road where its v (m/s)
velocity is described by the v-s graph. Determine the
acceleration at s = 20 m and s = 40 m. (6 marks)

10
v ! 0.25 s

s (m)
40
F12–11



!50
 PROBLEMS : VELOCITY AND ACCELERATION
1-12. [midterm 2015] The particle travels along a straight
line with the velocity described by the graph. Construct
the a-s graph. (7 marks)



!51
1 KINEMATICS OF PARTICLE
1-13. An electric car is subjected to acceleration tests along a
straight and level test track. The resulting v-t data are closely
modeled over the first 10 seconds by the function v=24t-t2+5 t ,
where t is the time in seconds and v is the velocity in meter per
second. Determine the displacement s as a function of time over the
interval 0 ≤ t ≤ 10 sec and specify its value at time t = 10 sec.

1-7 s = 972 m

1-8 t = 0.917 sec


!52
 the corresponding acceleration and the displacement
histories for the 2 seconds. Find the time t when the
1 KINEMATICS OF PARTICLE
Problem 2/26
particle crosses the origin.

1-14. A particle starts from rest at x = -2 m and moves v, m/s

A single-stage
along rocket is with
the x-axis launched vertically
the velocity from Plot the
history shown.
rest, and itscorresponding
thrust is programmed
accelerationto give
and thethe rocket
displacement 3
a constant histories
upward foracceleration of 6Find 2. If
the 2 seconds. m/sthe thet when
time fuel the
particle crosses the origin.

is exhausted 20 s after launch, calculate the maxi-
mum velocity vm and the subsequent maximum alti- 0 2.0
tude h reached by the rocket. 0 0.5 1.0 1.5
–1
t, s
An electric car is subjected to acceleration tests
along a straight and level test track. The resulting v-t Problem 2/29
data are closely modeled over the first 10 seconds by
the function v ! 24t " t2 $ 5!t, where t is the time 2/30 A retarding force is applied to a body moving in a
in seconds and v is the velocity in feet per second. straight line so that, during an interval of its mo-
Determine the displacement s as a function of time tion, its speed v decreases with increased position co-
over the interval 0 # t # 10 sec and specify its value ordinate s according to the relation v2 ! k/s, where k
at time t ! 10 sec. is a constant. If the body has a forward speed of
2 in./sec and its position coordinate is 9 in. at time
t ! 0, determine the speed v at t ! 3 sec.
1 KINEMATICS OF PARTICLE
1-15. [midterm 2015] A particle which moves in two-dimensional motion has coordinates given in inches by
x=2t2-8t+20 and y = 5 sin2t , where the time t is in seconds. Determine the magnitudes of the velocity v, the
acceleration a and the angle between these two vectors at time t = 4 sec. (7 marks)
 PROBLEMS : RECTANGULAR COORDINATE (X-Y)
1-16. If the x and y components of a particle's velocity are vx = (30t) m/s and vy = 6. m/s, determine the
equation of the path y = f(x). Given x = 0 and y = 0 when t=0 (3 marks)



!55
 2/211 Determine the vertical rise h of the load W during
5 seconds if the hoisting drum wraps cable around
1 KINEMATICS OF PARTICLE it at the constant rate of 320 mm/s.

1-17. Determine the vertical rise h of the load W during 5 seconds if the
hoisting drum wraps cable around it at the constant rate of 320 mm/s.

Problem 2/211

2/212 A truck equipped with a power winch on its front

end pulls itself up a steep incline with the cable and
pulley arrangement shown. If the cable is wound
up on the drum at the constant rate of 40 mm/s,
how long does it take for the truck to move 4 m up
the incline?

Student Name:
- - - - - - - - - - - - I.D. Number- - - - -Seat Number_ _
11. If end A of the rope moves downward with a speed of 5 m/s, determine the
speed
1-18. If end A of of
thecylinder B.downward
rope moves (3 marks)
with a speed of 5 m/s,
determine the speed of cylinder B.

Problem 2/212

12. The acceleration of the train during the interval of time from t = 2 sec to t = 4
2
sec is a =2t m/s , and at t = 2 sec its velocity is v =180 km/hr. What is the
train' s velocity at t = 4 sec, and what is its displacement from t = 2 sec to t = 4
sec. (4 marks)

1-17. h=400 mm
!56
 PROBLEMS : MOTION OF CONNECTED PARTICLES
1-19. A man at A is hoisting a safe S as shown in figure by
walking to the right with a constant velocity vA = 0.5 m/s.
Determine the velocity and acceleration of the safe when it



reaches the elevation of 10 m. The rope is 30 m long and
passes over a small pulley at D



!57
 the left with a constant speed vA ! 25 mm
Determine the corresponding velocity of slider
when sA ! 425 mm. The length of the cord
1050 mm, and the effects of the radius of the sm
1 KINEMATICS OF PARTICLE pulley A may be neglected.

1-20. The rod of the fixed hydraulic cylinder is moving to the left with a sA
constant speed vA = 25 mm/s. Determine the corresponding velocity of slider
B when sA = 425 mm. The length of the cord is 1050 mm, and the effects of C
the radius of the small pulley A may be neglected. 250 mm vA
*

A

Problem 2/224

1-16. vB = 62.9 mm/s up



!58
2/215 The pulley system of the previous problem is modi- 2/217 Determine an expression for the velocity vA of the
fied as shown with the addition of a fourth pulley cart A down the incline in terms of the upward
and a third cylinder C. Determine the relationship velocity
P vB of cylinder
ROBLEMS M
: OTION B. OF ONNECTED ARTICLES
C P
which governs the velocities of the three cylinders,
and state the number of degrees of freedom.
1-21. Determine
Express all an expression
velocities for the
as positive velocity vA of
down.
the cart A down the incline in terms of the upward x C
velocity vB of cylinder B.

*
h

C A
B
A

B
Problem 2/217

Problem 2/215 2/218 Under the action of force P, the constant accelera-
tion of block B is 6 ft/sec2 up the incline. For the in-
2/216 Neglect the diameters of the small pulleys and stant when the velocity of B is 3 ft/sec up the
establish the relationship between the velocity of A incline, determine the velocity of B relative to A,
and the velocity of B for a given value of y. the acceleration of B relative to A, and the absolute
velocity of point C of the cable.
b b
P

B
y
C

A 20°
B

Problem 2/218

Problem 2/216

1-13.



!59
 2/219 The small sliders A and B are connected by the 2/2
rigid slender rod. If the velocity of slider B is 2 m/s
to the right and is constant over a certain interval
of time, determine the speed of slider A when the
1 KINEMATICS OF PARTICLE system is in the position shown.

1-22. The small sliders A and B are connected by the rigid

slender rod. If the velocity of slider B is 2 m/s to the right and
is constant over a certain interval of time, determine the R
60°
speed of slider A when the system is in the position shown.*
A
2R
vB

Problem 2/219

2/220 The power winches on the industrial scaffold en-

able it to be raised or lowered. For rotation in the
senses indicated, the scaffold is being raised. If each
drum has a diameter of 200 mm and turns at the
rate of 40 rev/min. determine the upward velocity v 2/2
of the scaffold.

Problem 2/220

vB = 2.76 m/s


!60
 PROBLEMS : MOTION OF PROJECTILE
1-23. The chipping machine is designed to eject
wood chips at vo=8 m/s. If the tube is oriented at
30° from the horizontal, determine how high, h,
the chips strike the pile if at this instant they land
on the pile 1.25 m from the tube. What is the
maximum high from the ground?*
hmax

1-23. h = 0.92 m, hmax = 2.06 m

!61
1 KINEMATICS OF PARTICLE
1-24. A long jumper approaches his
takeoff board A with a horizontal velocity
of 10 m/s. Determine the vertical
component vy of the velocity of his center
of gravity at takeoff for him to make the
jump shown. What is the vertical rise h of
his center of gravity?*


1-24. vy0 = 3.43 m/s, h = 0.6 m



!62
 PROBLEMS : MOTION OF PROJECTILE
1-25. [midterm 2014] A ball is shot in the air at an angle of
90˚ from the slope at 20 m/s. Determine the range R. (7
mark.)



!63
 (! ! 0), calculate its velocity v if the center of the hits
ball clears the 36-in. net by 6 in. Also find the dis- from
tance s from the net to the point where the ball hits tal. C
1 KINEMATICS OF PARTICLE the court surface. Neglect air resistance and the of th
effect of ball spin.

1-26. ราฟาเอล นาดาล เซิร์ฟเทนนิสด้วยความเร็ว θ

210 km/h ทำมุม θ = 5˚ ถ้าเน็ตเทนนิสสูง 0.9 m A

อยากทราบว่า นาดาลสามารถเซิร์ฟผ่านเน็ตหรือไม่? v
และลูกเทนนิสจะลงใน service area หรือไม่? 2.20 m
8.5′
service area
*
 36″ m
0.9

6.50s m 39′ m
12.18

Problem 2/77

ผ่านเน็ต ไม่ลง service area



!64
 5 km locity of magnitude u and fall through the 70-mm-
diameter hole as shown. Calculate the permissible
range of u which will enable the balls to enter the
Problem 2/81
P
ROBLEMS
hole. Take the dashed positions M
: OTION P
OF ROJECTILE
to represent the lim-
iting conditions.
1-27.
2/82 A Ball bearings
projectile leave thewith
is launched horizontal
a speed trough
v0 ! 25 with
m /s a
120 mm
velocity of magnitude u and fall through the 70-mm-
from the floor of a 5-m-high tunnel as shown. Deter- 20 mm
diameter
mine hole as shown.
the maximum Calculate
horizontal range the permissible
R of the projec-
u
rangetileofand the corresponding
u which will enablelaunch balls!.to enter the
the angle
hole. Take the dashed positions to represent the
limiting conditions.
*

80 mm
v = 25 m/s
0
5m
θ
A

Problem 2/82 70 mm

2/83 A projectile is launched from point A with the initial Problem 2/85
conditions shown in the figure. Determine the slant
distance s which locates the point B of impact. Cal- 2/86 A horseshoe player releases the horseshoe at A with
culate the time of flight t. an initial speed v0 ! 36 ft/sec. Determine the range
for the launch angle ! for which the shoe will strike
the 14-in. vertical stake.
v0 = 120 m/s
B v0 = 36 ft/sec
s A θ 14″
A θ = 40° 20°
3 B

800 m
40′
Problem 2/83
Problem 2/86

0.744 < u < 1.135 m/s



!65
1 KINEMATICS OF PARTICLE
1-28. A projectile is launched from point A with
the initial conditions shown in the figure.
Determine the slant distance s which locates the
point B of impact. Calculate the time of flight t.*


t = 19.5 s, s = 1057 m


!66
 PROBLEMS : MOTION OF PROJECTILE
1-29. A long-range artillery rifle at A is aimed at an
angle of 45˚ with the horizontal, and its shell is just
able to clear the mountain peak at the top of the
trajectory. Determine the magnitude u of the muzzle
velocity, the height H of the mountain above sea
level, and the range R to the sea. 




!67
 PROBLEMS : NORMAL AND TANGENTIAL COORDINATE (n-t)
1-30. At the bottom A of the vertical inside loop, the
magnitude of the total acceleration of the airplane is 3g.
If the airspeed is 800 km/h and is increasing at the rate
of 20 km/h per second, calculate the radius of curvature
of the path at A.

1-31. รถยนต์ C เคลื่อนที่จากหยุดนิ่ง

รอบสนามแข่งซึ่งมีรัศมี 300 m ถ้า
ความเร็วของรถเพิ่มขึ้นคงที่ 7 m/s2
(ก)จงหาเวลาที่ทำให้ความเร่งของรถ
เป็น 8 m/s2. และ (ข) ความเร็วที่จุดนั้น
เป็นเท่าไหร่

1-30. ⍴ = 1709 m


!68
 PROBLEMS : NORMAL AND TANGENTIAL COORDINATE (n-t)
1-32. ปลอกเคลื่อนที่จาก A ถึง B ตามรางโค้ง บนระนาบ รัศมี 16 m ด้วย
ความเร็ว 𝑣 = 10𝑠 m/s เมื่อ 𝑠 เป็นระยะทางที่วัดตามทางโค้งจาก A หน่วย
เป็น m จงหา 𝑣̇ เมื่อปลอกเคลื่อนที่ถึงตำแหน่ง B และความเร่ง 𝑎⃗ พร้อมทั้ง
เขียนรูปแสดงทิศทางด้วย



!69
1 KINEMATICS OF PARTICLE
1-33. To anticipate the dip and hump in the road, the
driver of a car applies her brakes to produce a
uniform deceleration. Her speed is 100 km/h at the
bottom A of the dip and 50 km/h at the top C of the
hump, which is 120 m along the road from A. If the
passengers experience a total acceleration of 3 m/s2
at A and if the radius of curvature of the hump at C
is 150 m, calculate
a) the radius of curvature at A
b) the acceleration at the inflection point B,
c) the total acceleration at C.
*


⍴=432 m, a = at = -2.41 m/s2, a = 2.73 m/s2



!70
 PROBLEMS : NORMAL AND TANGENTIAL COORDINATE (n-t)
1-34. The car passes point A with a speed of
35 m/s and begins to decrease its speed at a
constant rate of -0.20 m/s2. Determine the
magnitude of the acceleration of the car when it
reaches point B, where sAB. = 352.5 m (8
marks)
3/2
⎡ ⎛ dy ⎞ 2 ⎤
⎢1+ ⎜ ⎟ ⎥
⎢ ⎝ dx ⎠ ⎥⎦
Given: ρ = ⎣
d2y
dx 2



!71
 Determine the magnitude of its acceleration when it is at
point s = 50 m, where r = 500 m.
250 m
1 KINEMATICS OF PARTICLE
1-35. [midterm 2016] The car travels up the y
hill with a speed of v = (0.15s) m/s, where s
is in meters, measured from A. Determine
50 m n
B
the magnitude of its acceleration, when it is
at point s =C 50 m, where ρ =1000 m. (3
rB ! 300 m v2
marks) Given ads = vdv, an =
s ! 50 m t
ρ A x
O
F12–29 F12–32



!72
 PROBLEMS : NORMAL AND TANGENTIAL COORDINATE (n-t)
1-36. A particle which moves with curvilinear motion has coordinates in meters which vary with time t in
seconds according to x = 2t2+3t-1 and y = 5t-2. Determine the acceleration in normal and tangential
coordinate at time t = 1 s. (Hint : Find the tangential coordinate from the velocity)

*


xC = 22.5 m, yC = 22.9 m


!73
 2 อัตราการเปลี่ยนแปลงความเร็วตามแนวเส้ นทางการเค
1 KINEMATICS OF PARTICLE
1-37. ยิงบอลออกไปด้วยความเร็วต้น 460 m/s ทำมุม 30˚
กับแนวราบ ที่เวลา t = 10 s จงหา
 y
t = 10 s
1) รัศมีความโค้งของเส้นทางการเคลื่อนที่ที่จุดนั้น

2) อัตราการเปลี่ยนแปลงความเร็วตามแนวเส้นทางการ
เคลื่อนที่ที่จุดนั้น
*

30o
x

ρ = 18912.5 m, at = -3.08 m/s2



!74
 Camshaft P1 and has reduced its orbital velocity of 28 300 km/h
sprocket to 15 450 km/h in the direction " ! 1.50!. For this
instant, calculate the radius of curvature ! of the
P2 PROBLEMS N
: ORMAL
path AND
and the T
rateANGENTIAL C OORDINATE
v̇ at which the (n -t)
speed is changing.

1-38. At a certain point

Drive belt in the reentry of the space shuttle into
tensioner the total acceleration of the shuttle
the earth’s atmosphere,
may be represented by two components. One component is
v 2
the gravitational acceleration g = 9.66 m/s at this altitude.
The second component equals 12.90 m/s2 due to
atmospheric resistance and is directed opposite to the
velocity. The shuttle is at an altitude of 48.2 km and has
reduced its orbital velocity of 28 300 km/h Intermediate
to 15 450 km/h
sprocket θ
Crankshaft
in the direction θ=1.50°. For this instant, calculate the radius
sprocket v
of curvature ⍴ of the path and the rate v! at which the speed
is changing.
Problem 2/119
*

2/120 A small particle P starts from point O with a negli- Problem 2/121
gible speed and increases its speed to a value
v ! !2gy, where y is the vertical drop from O. 2/122 The particle P starts from rest at point A at time
When x ! 50 ft, determine the n-component of ac- t ! 0 and changes its speed thereafter at a con-
celeration of the particle. (See Art. C/10 for the ra- stant rate of 2g as it follows the horizontal path
dius of curvature.) shown. Determine the magnitude and direction
of its total acceleration (a) just before point B,
O Horizontal (b) just after point B, and (c) as it passes point C.
x
P State your directions relative to the x-axis shown
v x 2 (CCW positive).
y= ( ––
20)
ft
Vertical A P B

3m
y
3.5 m
Problem 2/120
C

Problem 2/122

ρ=1907 km, = -12.65 m/s2



!75
 constant speed limited to that corresponding to a
lateral (normal) acceleration of 0.8g, determine the
times tA and tB for both cars to negotiate the turn
as delimited by the line C-C.
1 KINEMATICS OF PARTICLE
C
1-39. Race car A follows path a-a while race car B follows path b-b on a
the unbanked track. If each car has a constant speed limited to that b
corresponding to a lateral (normal) acceleration of 0.8g, determine the
88 m
time tA and tB for both cars to negotiate the turn as delimited by the line
C-C.* 
 72 m

b
B A
a
C

Problem 2/124

2/125 The mine skip is being hauled to the surface over

the curved track by the cable wound around the
30-in. drum, which turns at the constant clockwise
speed of 120 rev/min. The shape of the track is de-
signed so that y ! x2 /40, where x and y are in feet.
Calculate the magnitude of the total acceleration of
the skip as it reaches a level of 2 ft below the top.
Neglect the dimensions of the skip compared with
those of the path. Recall that the radius of curva-
ture is given by

!1 " "dx# $
dy 2 3/2

!!
d2y
dx2

30″

Problem 2/125

tA = 10.52 s, tB = 9.50 s


!76
 groove so that its position is r = (0.1t3) m, where t is
seconds. Determine the magnitudes of the velocity a
PROBLEMS
acceleration of the : POLARt =
ball when COORDINATE
1.5 s. (r-θ)

1-40. The platform is rotating about the vertical axis such that at
any instant its angular position is θ = 4t2/3 rad, where t is in
seconds. A ball rolls outward along the radial groove so that its
u, u
position is r = 0.1t3 m, where t is in seconds. Determine the
magnitudes of the velocity and acceleration of the ball when t =
1.5 s. 

u
r
Prob. F12–
F12–35. Peg P is driven by the fork link OA along t
curved path described by r = (2u) ft. At the insta
u = p>4 rad, the # angular velocity
$ and angular accelerati
of the link are u = 3 rad>s and u = 1 rad>s2. Determine t
magnitude of the peg’s acceleration at this instant.

P
r
u, u
u
O

Prob. F12–

!77
1 KINEMATICS OF PARTICLE
1-41.The position of a panicle is described by r =t3 +t2 +4t + 1 mm and θ = t3/2 rad, where t is in seconds.
Determine the magnitudes of the particle's acceleration and the particle's velocity when t = 2 sec. 

! vθ = rθ!, ar = r!! − rθ! 2 , aθ = rθ!! + 2r!θ!
Given: vr = r,



!78
 PROBLEMS : POLAR COORDINATE (r-θ)
1-42. [midterm 2014] A particle moves along a circular path of radius 300 mm. If its angular velocity is
θ! = 4t 2 rad/s, where t is in seconds, determine the magnitude of the panicle's acceleration and the particle's
velocity when t=20. (7 marks) Given: v = r,
r
! v = rθ!, a = r!! − rθ! 2 , a = rθ!! + 2r!θ!
θ r θ



!79
 #
the constant angular velocity u = 3 rad>s it drives the peg P
for a short distance along the spiral guide r = (0.4 u) m,
1 KINEMATICS OF PARTICLE where u is in radians. Determine the radial and transverse
components of the velocity and acceleration of P at the
instant u = p>3 rad.
1-43. กลไกดังรูป แกน OA หมุนรอบจุด O ซึ่งอยู่นิ่ง ทำให้
หมุด P เคลื่อนที่ไปในร้องเส้นโค้งซึ่ง r = 0.4θ โดยที่ r มี
หน่วย m และ θ หน่วยเป็น rad เมื่อพิจารณาการเคลื่อนที่ของ
หมุด P ขณะที่ θ = π/3 [rad] จะมีอัตราเร็วเชิงมุม θ! = 3
[rad/s] อัตราเร่งเชิงมุม θ!! = 8 [rad/s2]
a) จงเขียนรูปแสดงแกนของพิกัดโพลาสำหรับพิจารณาการ 0.5 m P
เคลื่อนที่ของหมุด P
b) จงหาส่วนประกอบของความเร็วและความเร่งของหมุด P r
ในแต่ละแกนของพิกัดโพลา · r ! 0.4u
u ! 3 rad/s

Prob. 12–167

*12–168. For a short time the bucket of the backhoe traces

the path of the cardioid r = 25(1 − cos u) ft. Determine
the  magnitudes of the velocity and acceleration of the
bucket when #u = 120° if the boom is rotating with an angular
velocity
$ of u = 2 rad>s and an angular acceleration of
u = 0.2 rad>s2 at the instant shown.

u ! 120"
r

Prob. 12–168



!80
 PROBLEMS : POLAR COORDINATE (r-θ)
1-44. The ladder of a fire truck is designed to be
extended at the constant rate 0.15 m/s and to be
elevated at the constant rate θ! = 2 deg/sec. As
the position θ = 50° and l = 400 mm is reached,
determine the magnitudes of the velocity v and the
acceleration a of the fireman at A.



!81
1 KINEMATICS OF PARTICLE
1-45. Starting from rest, the boy runs outward in the radial
direction from the center of the platform with a constant
acceleration of 0.5 m/s2. If the platform is rotating at a constant
rate θ! =0.2 rad/s, determine the radial and transverse
components of the velocity and acceleration of the boy when
t=3 sec. Neglect his size.
*

‑

vr = 1.50 m/s, vθ = 0.45 m/s, ar = 0.41 m/s2, aθ = 0.60 m/s2



!82
 PROBLEMS : POLAR COORDINATE (r-θ)
1-46. The piston of the hydraulic cylinder gives
pin A a constant velocity v = 1 m/s in the
direction shown for an interval of its motion. For
!
the instant when θ = 60˚ , determine r, r, θ!, θ!!
!!
where r = OA.
*


vr = -0.50 m/s, vθ = 5 m/s, = 4.325 m/s2, = 28.9 rad/s2

r!! θ!! 

!83
1 KINEMATICS OF PARTICLE
1-47. จรวดเคลื่อนที่เป็นเส้นตรงแนวดิ่งโดยมีความเร่ง ay = - g
- 0.01v2 ที่จุด P จรวดมีความเร็ว 15 m/s จงหา
r, θ , θ!, θ!! ขณะจรวดอยู่ที่จุด P
! !!
r, r,



!84
 PROBLEMS : POLAR COORDINATE (r-θ)
1-48. Write the vector expression for the acceleration a of the mass
center G of the simple pendulum in both n-t and x-y coordinates for
the instant when θ = 60 if θ! = 2 rad/sec and θ!! = 4.025 rad/sec2.
*


at = 0.2 m/s2, aθ = 2 m/s2, ay = -1.632 m/s2, ax = -1.173 m/s2



!85
 pole O and has the velocity v and acceleration a as
2/241 Car A negotiates a curve of 60-m radius at a con- indicated. Determine the instantaneous values of ṙ ,
stant speed of 50 km/h. When A passes the position r̈ , "˙, "¨, the n- and t-components of acceleration,
1 KINEMATICS
shown, PARTICLE
OFcar B is 30 m from the intersection and is and the radius of curvature !.
accelerating south toward the intersection at the
1-49. Atrate
the instant
of 1.5 m/s 2. Determine
depicted, assume that the particle
the acceleration whichP, which θ v = 30 m/s
A appears to have when observed by an occupant
moves on a curved path, is 80 m from the pole O and has theof r
velocity B
v at this
and instant.
acceleration a as indicated. Determine the 30°
a = 8 m /s2 30°
instantaneous values of r!, !!r, θ!, θ!! the n- and t-components of
acceleration, and
N the radius of curvature ︎ρ. 60° P

30° m
80

60
r=

m
B

θ
30 m O

A
Problem 2/243

Problem 2/241



!86
 PROBLEMS : POLAR COORDINATE (r-θ)
1-50. Link AB rotates through a limited range of the angle β, and its
end A causes the slotted link AC to rotate also. For the instant
represented where β = 60˚ and β! =0.6 rad/s constant, determine the
corresponding value of r! , r!! , θ! , and θ!! .
*


r! = 77.9 mm/s, !!r = −13.5 mm/s2

θ! = −0.3 rad/s, θ!! = 0


!87
1 KINEMATICS OF PARTICLE
1-51. The partial surface of the cam is that of a logarithmic spiral r =
(40e0.05θ) mm, where θ is in radians. If the cam rotates at a constant
angular velocity of θ! = 4 rad/s determine the magnitudes of the velocity
and acceleration of the point on the cam that contacts the follower rod
at the instant θ=30˚.* 


v = 164 mm/s, a = 659 mm/s2



!88
 PROBLEMS : POLAR COORDINATE (r-θ)
1-52. The smooth 2-kg cylinder C in figure has a pin P
through its center which passes through the slot in arm OA.
If the arm is force to rotate in the vertical plane at a
constant rate θ! = 0.5 rad/s, Determine the velocity and
acceleration of the cylinder C at the instant θ = 60˚
*


a = 0.153 m/s2


!89
 PROBLEMS : SPACE CURVILINEAR MOTION (r-θ-z)
1-53. A boy travels down a slide which is in the form if a helix. The
radius of the helix is R m., and the height between each level of the
slide is L m. The boy slides down the helix with a constant vertical
acceleration. Let z=0 (the vertical axis, z-axis) be at the top of the slide
and the z-axis is positive downwards

L
a) Given that the helix is described by the expression z = θ ,
2π
determine the expression for vertical velocity and acceleration.

b) Determine the expressions for magnitudes of velocity and
acceleration of the boy.

c) If the vertical acceleration of the boy is z!! =2 m/s2 , the radius of the
helix is 1.5 m and L=2 m. Determine the speed of the boy after he has
travelled a total distance of 10 m on the slide.*


L !! L2
a) z!! = θ , b) a = R 2θ! 4 + R 2θ!!2 + 2 θ!!2 , c) v = 13.88 m/s
2π 4π

!90
 gent to the path is g cos $ at this point. The effective
radius of the cylindrical helix is 5 m, and the helix
angle is $ ! 40!. Compute the magnitude of the ac-
PROBLEMS :ofSPACE
celeration CURVILINEAR MasOTION
the passengers (r-θ-z)position A.
they pass

1-54. An amusement ride called the “corkscrew” takes the

passengers through the upside-down curve of a horizontal
cylindrical helix. The velocity of the cars as they pass position
A is 15 m/s, and the component of their acceleration
measured along the tangent to the path is gcos︎γ at this point.
The effective radius of the cylindrical helix is 5 m, and the Ho A
riz
helix angle is γ
︎ =︎ 40˚︎. Compute the magnitude of the . Horiz.
acceleration of the passengers as they pass position A. 5m

Vert.
γ = 40°

Problem 2/167



!91
1 KINEMATICS OF PARTICLE
1-55. The automobile trees from a parking
deck down along a cylindrical spiral ramp at a
constant speed of v = 1.5 m/s. If the ramp
descends a distance of 12 m for every full
revolution, θ = 2π rad, determine the
magnitude of the car’s acceleration as it moves
along the ramp, r = 10 m. 



Hint: For part of the solution, note that the
tangent to the ramp at any point is at an angle
of ø = tan-1(12/[2π(10)]) = 10.81˚ from the
horizontal. Use this to determine the velocity
components vθ and vz, which in turn are used
to determine θ! and z! .
*


vr = 0, vθ = 1.473 m/s, vz = -0.2814 m/s, ar = -0.217 m/s2, aθ = az = 0, a = 0.217 m/s2



!92
 2/183 Car A rounds a curve of 150-m radius at a constant t
speed of 54 km/h. At the instant represented, car B t
is moving at 81 km/h but is slowing down at the
rate of 3 m/s2. Determine the velocity and accelera-
1 KINEMATICS OF PARTICLE tion of car A as observed from car B.

1-56. Car A is rounding a curve of 150-m radius at a x

constant speed of 54 km/h. Car B is deceleration in the
opposite direction of its motion at the rate of 3 m/s2.
! !
determine the velocity (vA/B ) and acceleration (aA/B )
A
which car A appears to have to an observer in car B if y
car B has reached a speed of 81 km/h for the position B
represented. * 150 m

Problem 2/183

2/184 For the instant represented, car A is rounding the 2/186 A

circular curve at a constant speed of 30 mi/hr, while s
car B is slowing down at the rate of 5 mi/hr per sec- r
ond. Determine the magnitude of the acceleration m
that car A appears to have to an observer in car B. r
m
p
i

500′

A
30°

B
y

Problem 2/184

vA/B = 15i - 22.5j m/s, aA/B = 4.5j m/s2

!93
1 KINEMATICS OF PARTICLE
1-57. จงหาความเร็วและความเร่งของเครื่องบิน B ที่สังเกต
จากนักบินบนเครื่อง A เมื่อเครื่อง A บินเป็นเส้นตรง และ
เครื่อง B บินโค้งด้วยรัศมี 400 km ดังรูป



!94
 PROBLEMS : RELATIVE MOTION
1-58. At the instant shown, cars A and B are travel with
speeds of 18 m/s and 12 m/s, respectively. Also at this
instant, A has decrease in speed of 2 m/s2, and B has an
increase in speed of 3 m/s2. Determine the velocity and
acceleration of B with respect to A.*


vB/A = 9.69 m/s θv = 21.7˚, aB/A = 5.32 m/s2, θa = 62.7˚



!95
1 KINEMATICS OF PARTICLE
1-59. เครื่องบินเล็ก A บินไปทิศเหนือด้วยความเร็ว 240 km/h และ
ปะทะกับลมตะวันตกพัดเร็ว 80 km/h (พัดไปทางตะวันออก) ขณะที่
เครื่องบิน B บินไปทิศตะวันตกด้วยความเร็ว 290 km/h จงหา
ก) ขนาดความเร็วเครื่องบิน A ที่นักบิน B เห็น
ข) ทิศทางความเร็วเครื่องบิน A ที่นักบิน B เห็น




!96
 *12–220. The man can row the boat in still water with a
speed of 5 m>s. If the river is flowing at 2 m>s, determine
the speed of the boat and the angle u he must direct the
25 m/s
A 45" PROBLEMS
boat so that it travels from : RELATIVE MOTION
A to B.
2
1.5 m/s
1-60. The man can row the boat in still water with a speed of 5 m/
s. If therriver
! 100ismflowing at 2 m/s, determine the speed of the boat
3 m/s2
and the angle θ he must 30"direct the boat so that it travels from A to B
B.* 
 2 m/s2 C
B 30 m/s
vw ! 2 m/s
5 m/s
15 m/s
u 50 m

25 m

Probs. 12–216/217 Prob. 12–220

θ = 84.4˚, vBoat = 5.56 m/s



!97
1 KINEMATICS OF PARTICLE
1-61. A batter hits the baseball A with an initial velocity of v0 = 30 m/s directly toward fielder B at an angle
go 30˚ to the horizontal; the initial position of the ball in 1 m above ground level. Fielder B requires 1/4 sec
to judge where the ball should be caught and begins moving to that position with constant speed. Because
of great experience, fielder B choose his running speed so that he arrives at the “catch
position”simultaneously with the baseball. The catch position is the field location at which the ball altitude is
2 m. Determine the velocity of the ball relative to the fielder at the instant the catch is made* 


vA/B = 21.72i - 14.33j m/s



!98
 PROBLEMS : RELATIVE MOTION
1-62. An elevator is being lowered at a constant rate of (vE) 2
m/s. A man in the elevator throws a handball upward with a
velocity of 18 m/s relative to the elevator when he is 15 m
above the ground. Determine

a) The time t and the position (xE) at which the man will be
able to catch the ball.

b) The velocity vB/E of the ball relative to the elevator when the
ball is caught.*

t = 3.67 s, xE = 7.66 m, vB/E = 18 m/s



!99
1 KINEMATICS OF PARTICLE
1-63. Car A is traveling at the constant speed of 60 km/h
as it rounds the circular curve of 300-m radius and at the
instant represented is at the position ︎θ = 45°. Car B is
traveling at the constant speed of 80 km/h and passes the
centre of the circle at this same instant. Car A is located
with respect to car B by polar coordinate r and θ with the
pole moving with B. For this instant determine vA/B and the
values of r! and θ! as measured by an observer in car B.*


vA/B = 34i + 11.8j m/s = 36 m/s, θ! = 0.108 rad/s, r! = -15.7 m/s



!100
 PROBLEMS : RELATIVE MOTION
1-64. ในน่านน้ำแห่งหนึ่ง เรือรบ A ลาดตระเวนรอบเกาะ O โดยเคลื่อนที่ทวนเข็มนาฬิการอบเกาะด้วยความเร็ว 72 กม/ชม
ห่างจากจุดศูนย์กลางพิกัด (0,0) ของเกาะเป็นระยะ 25 2 กม. ขณะ A อยู่ที่พิกัด (25,25) กม ตรวจเจอเรือสอดแนม B ซึ่ง
กำลังเคลื่อนที่ลงใต้ด้วยความเร็วคงที่ 108 กม/ชม. อยู่ที่พิกัด (80,25) กม. จงหาว่าเรดาร์ของ A จะเห็นว่า B เคลื่อนที่ด้วย
ความเร็ว r! และความเร่ง r!! เท่าใด




!101
1 KINEMATICS OF PARTICLE
1-65. [KMUTT ’57] Harry Potter in initially stationary and he starts
to accelerate to wards the Golden Snitch the moment it passes
over his head. Given that the Golden Snitch maintains a constant
velocity of 15 m/s in the horizontal direction and Harry Potter’s
acceleration is given by aPotter = ti + 0.2784 j Determine the
following

a) What is the Golden Snitch’s relative velocity with respect to
Harry Potter at t=10 seconds?

b) Will Harry Potter catch the Golden Snitch if the maintains his
course? If so, when will this happen?*

vS/P = - 6.08i - 2.784j m/s, t = 14.68 s



!102