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Kinematics of Particles Part 3

This document provides information about kinematics and dynamics of particles undergoing rectilinear and curvilinear motion. It defines key concepts such as position, velocity, acceleration, and their relationships. It also discusses determining the motion of particles using rectangular components. An example problem is presented on finding the horizontal distance and maximum elevation of a projectile fired from the edge of a cliff. The key steps are to consider the vertical and horizontal motions separately, apply the kinematic equations of motion in each direction, determine the time for the projectile to hit the ground, and use that time to find the horizontal distance.
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0% found this document useful (0 votes)
28 views28 pages

Kinematics of Particles Part 3

This document provides information about kinematics and dynamics of particles undergoing rectilinear and curvilinear motion. It defines key concepts such as position, velocity, acceleration, and their relationships. It also discusses determining the motion of particles using rectangular components. An example problem is presented on finding the horizontal distance and maximum elevation of a projectile fired from the edge of a cliff. The key steps are to consider the vertical and horizontal motions separately, apply the kinematic equations of motion in each direction, determine the time for the projectile to hit the ground, and use that time to find the horizontal distance.
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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Tenth Edition

CHAPTER VECTOR MECHANICS FOR ENGINEERS:

11 DYNAMICS
Ferdinand P. Beer
E. Russell Johnston, Jr.
Phillip J. Cornwell Kinematics of Particles
Lecture Notes:
Brian P. Self
California Polytechnic State University

© 2013 The McGraw-Hill Companies, Inc. All rights reserved.


Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Contents
Introduction Sample Problem 11.5
Rectilinear Motion: Position, Graphical Solution of Rectilinear-
Velocity & Acceleration Motion Problems
Determination of the Motion of a Other Graphical Methods
Particle
Curvilinear Motion: Position, Velocity
Sample Problem 11.2 & Acceleration
Sample Problem 11.3
Derivatives of Vector Functions
Uniform Rectilinear-Motion
Rectangular Components of Velocity
Uniformly Accelerated Rectilinear- and Acceleration
Motion
Motion Relative to a Frame in
Motion of Several Particles: Translation
Relative Motion
Tangential and Normal Components
Sample Problem 11.4
Radial and Transverse Components
Motion of Several Particles:
Dependent Motion Sample Problem 11.10
Sample Problem 11.12
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 2
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Curvilinear Motion: Position, Velocity & Acceleration

The softball and the car both undergo


curvilinear motion.

• A particle moving along a curve other than a


straight line is in curvilinear motion.
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 3
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Curvilinear Motion: Position, Velocity & Acceleration
• The position vector of a particle at time t is defined by a vector between
origin O of a fixed reference frame and the position occupied by particle.

• Consider a particle which occupies position P defined by r at time t

and P’ defined by r  at t + Dt,

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 4


Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Curvilinear Motion: Position, Velocity & Acceleration
Instantaneous velocity Instantaneous speed
(vector) (scalar)
Dr dr Ds ds
v  lim  v  lim 
Dt 0 Dt dt Dt  0 Dt dt

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 5


Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Curvilinear Motion: Position, Velocity & Acceleration
 
• Consider velocity v of a particle at time t and velocity v at t + Dt,
Dv dv
a  lim   instantaneous acceleration (vector)
Dt 0 Dt dt

• In general, the acceleration vector is not tangent


to the particle path and velocity vector.
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 6
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Rectangular Components of Velocity & Acceleration
• When position vector of particle P is given by its
rectangular components,
   
r  xi  y j  zk

• Velocity vector,
 dx  dy  dz    
v  i  j  k  xi  y j  zk
dt dt dt
  
 vx i  v y j  vz k

• Acceleration vector,
 d 2 x d 2 y  d 2 z    
a  2 i  2 j  2 k  xi  y j  zk
dt dt dt
  
 ax i  a y j  az k

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 7


Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Rectangular Components of Velocity & Acceleration
• Rectangular components particularly effective
when component accelerations can be integrated
independently, e.g., motion of a projectile,
a x  x  0 a y  y   g a z  z  0
with initial conditions,
x0  y 0  z 0  0 v x 0 , v y  , v z 0  0
0

Integrating twice yields


v x  v x 0  0  gt
vy  vy vz  0
x  v x 0 t y  v y  y  12 gt 2 z0
0

• Motion in horizontal direction is uniform.


• Motion in vertical direction is uniformly accelerated.

• Motion of projectile could be replaced by two


independent rectilinear motions.
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 8
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Sample Problem 11.7
SOLUTION:
• Consider the vertical and horizontal motion
separately (they are independent)
• Apply equations of motion in y-direction

• Apply equations of motion in x-direction

• Determine time t for projectile to hit the


A projectile is fired from the edge
ground, use this to find the horizontal
of a 150-m cliff with an initial
distance
velocity of 180 m/s at an angle of
30°with the horizontal. Neglecting • Maximum elevation occurs when vy=0
air resistance, find (a) the horizontal
distance from the gun to the point
where the projectile strikes the
ground, (b) the greatest elevation
above the ground reached by the
projectile.
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 9
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Sample Problem 11.7
SOLUTION:

Given: (v)o =180 m/s (y)o =150 m


(a)y = - 9.81 m/s2 (a)x = 0 m/s2

Vertical motion – uniformly accelerated:

Horizontal motion – uniformly accelerated:


Choose positive x to the right as shown

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 10


Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Sample Problem 11.7
SOLUTION:
Horizontal distance
Projectile strikes the ground at:
Substitute into equation (2) above

Solving for t, we take the positive root

Substitute t into equation (4)

Maximum elevation occurs when vy=0

Maximum elevation above the ground =


© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 11
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Concept Quiz
If you fire a projectile from 150
meters above the ground (see
Ex Problem 11.7), what launch
angle will give you the greatest
horizontal distance x?

a) A launch angle of 45
b) A launch angle less than 45
c) A launch angle greater than 45
d) It depends on the launch velocity

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 2 - 12


Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Group Problem Solving

SOLUTION:
A baseball pitching machine • Consider the vertical and horizontal motion
“throws” baseballs with a separately (they are independent)
horizontal velocity v0. If you
want the height h to be 42 in., • Apply equations of motion in y-direction
determine the value of v0.
• Apply equations of motion in x-direction

• Determine time t for projectile to fall to 42


inches
• Calculate v0=0
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 13
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Group Problem Solving
Given: x= 40 ft, yo = 5 ft,
yf= 42 in.
Find: vo

Analyze the motion in Analyze the motion in


the y-direction the x-direction
1 2
y f  y0  (0)t  gt x  0  (vx )0 t  v0t
2
1 2
3.5  5  gt 40 ft  (v0 )(0.305234 s)
2
1 v0  131.047 ft/s  89.4 mi/h
1.5 ft   (32.2 ft/s2 )t 2
2
t  0.305234 s

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 2 - 14


Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Motion Relative to a Frame in Translation
It is critical for a pilot to
A soccer player must consider know the relative motion
the relative motion of the ball of his aircraft with respect
and her teammates when to the aircraft carrier to
making a pass. make a safe landing.

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 2 - 15


Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Motion Relative to a Frame in Translation
• Designate one frame as the fixed frame of reference.
All other frames not rigidly attached to the fixed
reference frame are moving frames of reference.
• Position vectors for particles A and B with respect to
 
the fixed frame of reference Oxyz are rA and rB .

• Vector B A joining A and B defines the position of
r
B with respect to the moving frame Ax’y’z’ and
  
rB  rA  rB A
• Differentiating twice,
   
vB  v A  vB A vB A  velocity of B relative to A.
   
a B  a A  aB A a B A  acceleration of B relative
to A.
• Absolute motion of B can be obtained by combining
motion of A with relative motion of B with respect to
moving reference frame attached to A.
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 16
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Sample Problem 11.9
SOLUTION:

• Define inertial axes for the system

• Determine the position, speed, and


acceleration of car A at t = 5 s
• Determine the position, speed, and
acceleration of car B at t = 5 s
Automobile A is traveling east at the • Using vectors (Eqs 11.31, 11.33, and
constant speed of 36 km/h. As 11.34) or a graphical approach, determine
automobile A crosses the intersection the relative position, velocity, and
shown, automobile B starts from rest acceleration
35 m north of the intersection and
moves south with a constant
acceleration of 1.2 m/s2. Determine
the position, velocity, and
acceleration of B relative to A 5 s
after A crosses the intersection.
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 17
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Sample Problem 11.9
SOLUTION: • Define axes along the road

Given: vA=36 km/h, aA= 0, (xA)0 = 0


(vB)0= 0, aB= - 1.2 m/s2, (yA)0 = 35 m
Determine motion of Automobile A:

We have uniform motion for A so:

At t = 5 s

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 18


Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Sample Problem 11.9
SOLUTION:

Determine motion of Automobile B:

We have uniform acceleration for B so:

At t = 5 s

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 19


Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Sample Problem 11.9
SOLUTION:

We can solve the problems geometrically, and apply the arctangent relationship:

Or we can solve the problems using vectors to obtain equivalent results:


rB  rA  rB/ A v B  v A  v B/ A aB  a A  aB/ A
20 j  50i  rB/ A 6 j  10i  v B/ A 1.2 j  0i  a B/ A
rB/ A  20 j  50i (m) v B/ A  6 j  10i (m/s) a B/ A  1.2 j (m/s 2 )

Physically, a rider in car A would “see” car B travelling south and west.
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 20
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Tangential and Normal Components

If we have an idea of the path of a vehicle, it is often convenient


to analyze the motion using tangential and normal components
(sometimes called path coordinates).

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 2 - 21


Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Tangential and Normal Components
y
r= the instantaneous
radius of curvature

v  v et
en v= vt et dv v2
et a  e t  en
dt r

x
• The tangential direction (et) is tangent to the path of the
particle. This velocity vector of a particle is in this direction
• The normal direction (en) is perpendicular to et and points
towards the inside of the curve.
• The acceleration can have components in both the en and et directions
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 22
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Tangential and Normal Components
• To derive the acceleration vector in tangential
and normal components, define the motion of a
particle as shown in the figure.

 
• et and et are tangential unit vectors for the
particle path at P and P’. When drawn with
  
respect to the same origin, Det  et  et and
D is the angle between them.

Det  2 sin D 2 



Det sin D 2   
lim  lim en  en
D 0 D D 0 D 2

 det
en 
d

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 23


Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Tangential and Normal Components
 
• With the velocity vector expressed as v  vet
the particle acceleration may be written as
  
 dv dv  de dv  de d ds
a  et  v  et  v
dt dt dt dt d ds dt
but 
det  ds
 en r d  ds v
d dt
After substituting,
 dv  v 2  dv v2
a  et  en at  an 
dt r dt r
• The tangential component of acceleration
reflects change of speed and the normal
component reflects change of direction.
• The tangential component may be positive or
negative. Normal component always points
toward center of path curvature.
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 24
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Tangential and Normal Components
• Relations for tangential and normal acceleration
also apply for particle moving along a space curve.
 dv  v 2  dv v2
a  et  en at  an 
dt r dt r

• The plane containing tangential and normal unit


vectors is called the osculating plane.
• The normal to the osculating plane is found from
  
eb  et  en

en  principal normal

eb  binormal

• Acceleration has no component along the binormal.

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 25


Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Sample Problem 11.8
SOLUTION:

• Define your coordinate system

• Calculate the tangential velocity and


tangential acceleration
• Calculate the normal acceleration

A motorist is traveling on a curved • Determine overall acceleration magnitude


section of highway of radius 2500 ft after the brakes have been applied
at the speed of 60 mi/h. The motorist
suddenly applies the brakes, causing
the automobile to slow down at a
constant rate. Knowing that after 8 s
the speed has been reduced to 45
mi/h, determine the acceleration of
the automobile immediately after the
brakes have been applied.
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 26
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Sample Problem 11.8
SOLUTION: • Define your coordinate system
• Determine velocity and acceleration in
the tangential direction
et
en

• The deceleration constant, therefore

• Immediately after the brakes are applied,


the speed is still 88 ft/s

a  an2  at2  2.752  3.102

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 27


Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Tangential and Normal Components
In 2001, a race scheduled at the Texas Motor Speedway was
cancelled because the normal accelerations were too high and
caused some drivers to experience excessive g-loads (similar to
fighter pilots) and possibly pass out. What are some things that
could be done to solve this problem?

Some possibilities:

Reduce the allowed speed


Increase the turn radius
(difficult and costly)
Have the racers wear g-suits

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 2 - 28

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