Engineering Mechanics:
Dynamics in SI Units, 14e
Chapter 12
Kinematics of a Particle
Copyright © 2017 Pearson Education Gau Lih Book Co., Ltd.
Chapter Objectives
To introduce the concepts of position,
displacement, velocity, and acceleration
To study particle motion along a straight line and
represent this motion graphically
To investigate particle motion along a curved
path using different coordinate systems
To present an analysis of dependent motion of
two particles
To examine the principles of relative motion of
two particles using translating axes
12.1 Introduction
Mechanics – the state of rest or motion of bodies
subjected to the action of forces
Static – the equilibrium of a body that is either at rest
or moves with constant velocity
Dynamics – deals with accelerated motion of a body
1) Kinematics – geometric aspects of the motion
2) Kinetics – analysis of the forces causing the motion
12.2 Rectilinear Kinematics: Continuous Motion
Rectilinear Kinematics – specifying the particle’s
position, velocity, and acceleration at any instant
Position
1) Single coordinate axis, s
2) Origin, O
12.2 Rectilinear Kinematics: Continuous Motion
3) Algebraic Scalar s in meters
Fig. 12-1
Note : a. Magnitude of s = Dist. from O to the particle
b. Direction is defined by algebraic sign on s
positive = right of the origin
negative = left of the origin
12.2 Rectilinear Kinematics: Continuous Motion
Displacement
Change in its position
If the particle moves from one point to
another, the displacement is :
s s s
Fig. 12-1
When s is positive / negative,
particle’s finial position is right / left of its initial position
12.2 Rectilinear Kinematics: Continuous Motion
Velocity
s
Average velocity, vavg
t
Instantaneous velocity is defined as
v lim s / t
t 0
or v
ds
dt (12-1)
Fig. 12-1
12.2 Rectilinear Kinematics: Continuous Motion
Velocity
Magnitude of the velocity is the speed (m/s)
Average speed is the total distance traveled by a
particle, sT, divided by the elapsed time t .
v
sT
t
sp avg
The particle travels along the path of length sT in
time t
Average speed v
sp avg sT
t
Average velocity vavg s
t Fig. 12-1
12.2 Rectilinear Kinematics: Continuous Motion
Acceleration
v
Average acceleration is aavg
t
Fig. 12-1
Δv represents the difference in the velocity during
the time interval Δt, ie v v'v
Instantaneous acceleration is a lim t 0
v / t
2
d s
substituting Eq. 12-1 a
dv
or a
dt (12-2) dt 2
12.2 Rectilinear Kinematics: Continuous Motion
Acceleration
When particle is slowing down, its speed is decreasing
decelerating v v'v will be negative.
It will act to the left, in the opposite sense to v
If the velocity is constant, the acceleration is zero.
Relation involving the
displacement, velocity,
and acceleration along
the path
Fig. 12-1
a ds = v dv (12-3)
12.2 Rectilinear Kinematics: Continuous Motion
Constant acceleration , a = ac.
Three kinematic equations, ac = dv / dt, v = ds / dt,
and ac ds = v dv.
Velocity as a Function of Time
Integrate ac = dv / dt, assuming that initially v = v0
when t = 0.
v t v v0 ac t
v0
dv ac dt
0
Constant Accelerati on (12-4)
12.2 Rectilinear Kinematics: Continuous Motion
12.2 Rectilinear Kinematics: Continuous Motion
Position as a Function of Time
Integrate v = ds / dt = v0 + act, assuming that
initially s = s0 when t = 0.
1 2
s t s s0 v0t ac t
s0
ds 0
(v0 ac t ) dt 2
Constant Accelerati on (12-5)
Velocity as a Function of Position
Integrate v dv = ac ds, assuming that initially
v = v0 at s = s0
v s v 2 v02 2ac s s0
v0
v dv ac ds
s0 Constant Accelerati on (12-6)
12.2 Rectilinear Kinematics: Continuous Motion
12.2 Rectilinear Kinematics: Continuous Motion
PROBLEM 12-9
12.3 Rectilinear Kinematics: Erratic Motion
When a particle has erratic motion, a series of
functions will be required to specify the motion at
different intervals.
A graph is used to described the relationship with
any two of the variables: a, v, s, t
We use v = ds / dt, a = dv / dt or a ds = v dv
12.3 Rectilinear Kinematics: Erratic Motion
The s-t, v-t and a-t Graphs
To construct the v-t graph given
the s-t graph, v = ds / dt should be
used.
ds
v
dt
Slope of s-t graph = acceleration
By measuring the slope on the s-t
graph when t = t1, the velocity is v1,
the v-t graph can be constructed. Fig. 12-7
12.3 Rectilinear Kinematics: Erratic Motion
The s-t, v-t and a-t Graphs
When the particle’s v-t graph is
known, the a-t graph can be
determined using a = dv / dt
(a)
dv
a
dt
Slope of v-t graph = acceleration
Fig. 12-8 (b)
12.3 Rectilinear Kinematics: Erratic Motion
The s-t, v-t and a-t Graphs
When a–t graph is given, v–t can
be written as
v a dt
change in velocity = area under a-t graph
Fig. 12-9
12.3 Rectilinear Kinematics: Erratic Motion
The s-t, v-t and a-t Graphs
When v–t graph is given, s–t can
be written as
s v dt
displacement = area under v-t graph
Fig. 12-10
12.3 Rectilinear Kinematics: Erratic Motion
The v-s and a-s Graphs
If the a–s graph can be
constructed, then we have :
1
2
v
2
1 v
2
0 s0
s1
a ds
area under
a-s graph
Fig. 12-11
12.3 Rectilinear Kinematics: Erratic Motion
The v-s and a-s Graphs
When v–s graph is known, a at any
position s can be written as
dv
a v
ds
Acceleration = velocity times slope
of v-s graph
Fig. 12-12
PROBLEMS 12-35
12.4 General Curvilinear Motion
Curvilinear motion occurs when a particle moves
along a curved path
Position
measured from a fixed point O, by the position
vector r = r(t)
Fig. 12-16
12.4 General Curvilinear Motion
Displacement
During a small time interval Δt the particle moves a
distance Δs along the curve to a new position,
defined by r’ = r + Δr
The displacement Δr represents the change in the
particle’s position Δr = r’- r
Fig. 12-16
12.4 General Curvilinear Motion
Velocity
Average velocity of the particle is :
Fig. 12-16
r
v avg
t
Instantaneous velocity is determined by letting Δt 0,
dr
v
dt (12-7)
Approaches the arc length Δs as Δt 0, we have :
ds
v
dt (12-8)
12.4 General Curvilinear Motion
Acceleration
The average acceleration during the time interval Δt
is
v dv d 2
r
a avg a a 2
t dt (12-9) dt
a acts tangent to the hodograph and is not tangent to
the path of motion
Fig. 12-16
12.5 Curvilinear Motion: Rectangular Components
Position
Location is defined by the position vector
r = xi + yj + zk (12-10)
The magnitude of r is defined as : r x2 y2 z 2
The direction of r is specified by the unit vector
ur = r/r.
Fig. 12-17
12.5 Curvilinear Motion: Rectangular Components
Velocity
The first time derivative of r yields the velocity :
xi yj zk
dr d d d
v
dt dt dt dt
The derivative of the i component of r is :
d
xi dx i x di
dt dt dt
The final result :
dr
v vx i v y j vz k
dt (12-11)
Fig. 12-17
where
(12-12)
12.5 Curvilinear Motion: Rectangular Components
Velocity
The velocity has a magnitude that is found from :
v vx2 v y2 vz2
has a direction specified by the unit vector uv= v/v
and is always tangent to the path
12.5 Curvilinear Motion: Rectangular Components
Acceleration
We have dv
a axi a y j azk
dt (12-13)
where
Fig. 12-17
(12-14)
The acceleration has a magnitude :
a ax2 a y2 az2
12.5 Curvilinear Motion: Rectangular Components
12.5 Curvilinear Motion: Rectangular Components
PROBLEM 12-69
example_12
_10
(continued)
12.6 Motion of Projectile
Projectile launched at (x0, y0)
Air resistance is neglected
Only force is its weight downwards
ac = g = 9.81 m/s2
Fig. 12-20
12.6 Motion of Projectile
12.6 Motion of Projectile
Horizontal Motion
Since ax = 0,
v v0 ac t ; v x (v0 ) x
1
x x0 v0t ac t 2 ; x x0 (v0 ) x t
2
v 2 v02 2ac ( x x0 ); v x (v0 ) x
Horizontal component of velocity always remain
constant during the motion
12.6 Motion of Projectile
Vertical Motion
Positive y axis is upward, then ay = - g
v v0 ac t ; v y (v0 ) y gt
1 1
y y0 v0t ac t 2 ; y y0 (v0 ) y t gt 2
2 2
v 2 v02 2ac ( y y0 ); v y2 (v0 ) 2y 2 g ( y y0 )
12.6 Motion of Projectile
12.6 Motion of Projectile
12.6 Motion of Projectile
12.6 Motion of Projectile
PROBLEMS 12-86
12.7 Curvilinear Motion: Normal and Tangential Components
Path of motion is describe using n and t coordinate
axes which act normal and tangent to the path
At the instant considered have their origin located at
the particle
Planar Motion
Origin happens to coincide
with the location of the particle
Fig. 12-24
12.7 Curvilinear Motion: Normal and Tangential Components
Planar Motion
Curve is constructed from a series of differential arc
segments ds
The plane contains the n and t axis is referred to as
osculating plane and is fixed in the plane of motion
Fig. 12-24
12.7 Curvilinear Motion: Normal and Tangential Components
Velocity
Since the particle moves, s is a function of time
Particle’s velocity v has a direction that is always
tangent to the path
Magnitude is determined by taking the time
derivative of the path function s = s(t)
v vut (12-15)
where
(12-16)
Fig. 12-24
12.7 Curvilinear Motion: Normal and Tangential Components
Acceleration
Acceleration of the particle is the
time rate of change of the velocity
(12-17)
a can be written as
a at ut anu n Fig. 12-24
(12-18)
v2
Where or at ds v dv and an
(12-19) (12-20)
Magnitude of acceleration is : a at2 an2 (12-21)
12.7 Curvilinear Motion: Normal and Tangential Components
Two special cases of motion
If the particle moves along a straight line, then ρ ∞ and from
Eq. 12-20, an = 0. Thus a = at = and we can conclude that
the tangential component of acceleration represents the time
rate of change in the magnitude of the velocity.
If the particle moves along a curve with a constant speed, then
at = = 0 and a = an = v2 / ρ. Therefore, the normal component
of acceleration represents the time rate of change in the
direction of the velocity.
Since an always acts towards the center of curvature, this
component is sometimes referred to as the centripetal
acceleration.
12.7 Curvilinear Motion: Normal and Tangential Components
A particle moving along the curved path in Fig. 12-25
will have accelerations directed as shown.
Fig. 12-25
12.7 Curvilinear Motion: Normal and Tangential
Components
Three-Dimensional Motion.
Three unit vectors : u n , u t , u b
Three unit vectors are related to one another by
the vector cross product, e.g. ub ut u n
Fig. 12-26
12.7 Curvilinear Motion: Normal and Tangential Components
12.7 Curvilinear Motion: Normal and Tangential Components
12.7 Curvilinear Motion: Normal and Tangential Components
12.7 Curvilinear Motion: Normal and Tangential Components
12.7 Curvilinear Motion: Normal and Tangential Components
PROBLEMS 12-115
12.8 Curvilinear Motion: Cylindrical Components
Polar Coordinates
Location of the particle use both the radial
coordinate r and a traverse coordinate θ
which is counterclockwise angle
Angle measured in degrees or radians
where 1 rad = 180°/π
Position
At any instant, position defined
by the position vector
r rur (12-22)
Fig. 12-30
12.8 Curvilinear Motion: Cylindrical Components
Velocity
Instantaneous velocity v is obtained by the time
derivative of r
A change ∆θ will cause ur to become ur’ where
ur’ = ur + ∆ur
For small angles ∆θ, ∆ur = ∆θuθ
Fig. 12-30
(12-23)
12.8 Curvilinear Motion: Cylindrical Components
Velocity
We have v vr u r v u (12-24) where
(12-25)
Since vr and vθ are mutually perpendicular,
(12-26)
Direction of v is tangent to the path
Fig. 12-30
12.8 Curvilinear Motion: Cylindrical Components
Acceleration
Taking the time derivatives, we obtain :
For small angles, ∆uθ= - ∆θur
Thus,
(12-27)
Fig. 12-30
12.8 Curvilinear Motion: Cylindrical Components
Acceleration
We can write the acceleration in component form as
a ar u r a u (12-28) where
(12-29)
Since ar and aθ are always perpendicular
(12-30)
Acceleration will not
be tangent to the path
Fig. 12-30
12.8 Curvilinear Motion: Cylindrical Components
Cylindrical Coordinates
When the particle moves along a space, location is
specified by the three cylindrical coordinates r, θ, z
Position, velocity, acceleration of the particle is
written as
(12-31)
(12-32)
Fig. 12-31
12.8 Curvilinear Motion: Cylindrical Components
Time Derivatives
2 common problems:
1. If the polar coordinates are specified as r = r(t) and
θ = θ(t), time derivatives can be found directly.
2. If the time-parametric equations are not given, the
path r = f(θ) must be known and using the chain rule
of calculus can find the relation between the time
derivatives.
12.8 Curvilinear Motion: Cylindrical Components
12.8 Curvilinear Motion: Cylindrical Components
PROBLEM 12-163
12.9 Absolute Dependent Motion Analysis of Two Particles
Motion of one particle depend on the corresponding
motion of another particle
Movement of A downward along the inclined plane
will cause a movement of B up the other incline
If the total cord length is lT, the two position
coordinates are related by the equation
s A lCD sB lT
The negative sign indicates A
has a velocity downward
ds A dsB
0 or vB v A
dt dt
Fig. 12-36
12.9 Absolute Dependent Motion Analysis of Two Particles
Time differentiation of the velocities yields the relation
between accelerations : aB = - aA
A is specified by sA, and the position of the end of the
cord from which block B is suspended is defined by sB
Position coordinate can be
related by
2sB h s A l
Since l and h are constant
during the motion,
2vB vA , 2aB aA
Fig. 12-37
12.9 Absolute Dependent Motion Analysis of Two Particles
Defining the position of block B from the center of
the bottom pulley (a fixed point),
2(h sB ) h sA l
Time differentiation yields
2vB vA 2aB aA
Fig. 12-37
12.9 Absolute Dependent Motion Analysis of Two Particles
12.9 Absolute Dependent Motion Analysis of Two Particles
12.9 Absolute Dependent Motion Analysis of Two Particles
PROBLEM 12-195
12.10 Relative Motion Analysis of Two Particles Using Translating Axes
There are cases where the path of motion for a
particle is complicated
It may be easier to analyze the motion in parts by
using two or more frames of reference
Position
Absolute position of rA and rB
is measured from O of the fixed
x, y, z reference frame
rB rA rB / A (12-33)
Fig. 12-42
12.10 Relative Motion Analysis of Two Particles Using Translating Axes
Velocity
By taking the time derivatives, v B v A v B / A (12-34)
v B drB / dt and v A drA / dt refer to absolute
velocities
Relative velocity v B / A drB / A / dt is observed from
the translating frame
Acceleration
The time derivative yields : a B a A a B / A (12-35)
12.10 Relative Motion Analysis of Two Particles Using Translating Axes
12.10 Relative Motion Analysis of Two Particles Using Translating Axes
FUNDAMENTAL PROBLEMS
PROBLEMS 12-225
Home Work
PROBLEMS
12-42、12-91、12-118、12-172、12-203
