INTRODUCTION TO DYNAMIC

INTRODUCTION
Dynamic is the study of bodies in motion.
The planar motion of a body occurs when all the particles of
a rigid body move along paths which are equidistant from a
fixed plane. There are three types of motion.
1. Translation. This type of motion occurs when all points
on that object move the same distance. When the paths
of motion for any two points on the body are parallel
lines, the motion is called rectilinear translation. If the
paths of motion are along curved lines, the motion is
called curvilinear translation.
2. Rotation about a fixed axis. When a rigid body rotates
about a fixed axis, all the particles of the body, except
those which lie on the axis of rotation, move along
circular paths,
3. General plane motion. When a body is subjected to
general plane motion, it undergoes a combination of
translation and rotation
The general field of dynamics consists of two major
areas:
1. Kinematics
kinematics analyses are based on the relationships
between position, velocity, and acceleration vectors.
2. Kinetic
The field of kinetic is based on kinematics, and it
incorporates into the analyses the effects of forces
that cause the motion.
Position.

Kinematics
Distance and displacement.
Speed and Velocity.

Kinetic
Average velocity, and instantaneous velocity
Acceleration.
Average acceleration, and instantaneous acceleration
Force.
The kinematics of a particle
A
𝑟𝐴
• Position o

position refers to the location of an object in space,

relative to a reference point or frame of reference.
A position vector is defined as a vector that indicates
either the position or the location of any given point
with respect to any arbitrary reference point like the
origin.
𝑟Ԧ𝐴/𝑂 = 𝑟Ԧ𝐴 = 𝑥𝐴 − 𝑥𝑜 𝑖Ƹ + 𝑦𝐴 − 𝑦𝑜 𝑗Ƹ + 𝑧𝐴 − 𝑧𝑜 𝑘෠
𝑟Ԧ𝐴 = 𝑥𝐴 − 0 𝑖Ƹ + 𝑦𝐴 − 0 𝑗Ƹ + 𝑧𝐴 − 0 𝑘෠
𝑟Ԧ𝐴 = 𝑥𝐴 𝑖Ƹ + 𝑦𝐴 𝑗Ƹ + 𝑧𝐴 𝑘෠
 path of motion
• if the particle moves from one point to another
𝑟Ԧ𝐴′ = 𝑥𝐴′ − 𝑥𝑜 𝑖Ƹ + 𝑦𝐴′ − 𝑦𝑜 𝑗Ƹ + 𝑧𝐴′ − 𝑧𝑜 𝑘෠
𝑟Ԧ𝐴′ = 𝑥𝐴′ − 0 𝑖Ƹ + 𝑦𝐴′ − 0 𝑗Ƹ + 𝑧𝐴′ − 0 𝑘෠
𝑟Ԧ𝐴′ = 𝑥𝐴′ 𝑖Ƹ + 𝑦𝐴′ 𝑗Ƹ + 𝑧𝐴′ 𝑘෠

• Displacement: The displacement of the particle is defined as the change in its

position.
𝑟Ԧ𝐴′ /𝐴 = 𝑟Ԧ𝐴′ − 𝑟Ԧ𝐴 = 𝑥𝐴′ − 𝑥𝐴 𝑖Ƹ + 𝑦𝐴′ − 𝑦𝐴 𝑗Ƹ + 𝑧𝐴′ − 𝑧𝐴 𝑘෠
• The displacement is a vector quantity that has magnitude and direction
If the particle is at point (x, y, z) as shown in Figure, then its location is defined by
the position vector
𝑟Ԧ = 𝑥 𝑖Ƹ + 𝑦𝑗Ƹ + 𝑧𝑘෠
When the particle moves, the x, y, z components of r
will be functions of time; i.e., x = x(t), y = y(t), z = z(t),
so r = r(t).

At any instant the magnitude of r is defined as

𝑟 = 𝑥2 + 𝑦2 + 𝑧2
And the direction of r is specified by the unit vector
𝑟Ԧ 𝑥 𝑦 𝑧
𝑢𝑟 = = 𝑖Ƹ + 𝑗Ƹ + 𝑘෠
𝑟 𝑟 𝑟 𝑟
so that the direction cosines are

𝑥 𝑦 𝑧
cos 𝛼 = , cos 𝛽 = , cos 𝛾 =
𝑟 𝑟 𝑟

Hence
𝑢𝑟 = cos 𝛼 𝑖Ƹ + cos 𝛽 𝑗Ƹ + cos 𝛾 𝑘෠
Velocity: The first time derivative of r yields the velocity of the particle.
𝑑 𝑟Ԧ 𝑑 𝑑 𝑑
𝑣Ԧ = = 𝑥 𝑖Ƹ + 𝑦 𝑗Ƹ + 𝑧𝑘෠
𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡
Since the x, y, z reference frame is fixed, therefore the 𝑖Ƹ , 𝑗,Ƹ and 𝑘෠ not change with
time,
𝑑𝑥 𝑑𝑦 𝑑𝑧
𝑣Ԧ = 𝑖Ƹ + 𝑗Ƹ + 𝑘෠
𝑑𝑡 𝑑𝑡 𝑑𝑡
𝑣Ԧ = 𝑣𝑥 𝑖Ƹ + 𝑣𝑦 𝑗Ƹ + 𝑣𝑧 𝑘෠
The velocity has a magnitude that is found from

𝑣 = 𝑣𝑥 2 + 𝑣𝑦 2 + 𝑣𝑧 2

and a direction that is specified by the unit vector As discussed, this direction is
always tangent to the path, as shown in figure.
Acceleration : The first time derivative of the velocity.
𝑑 𝑣Ԧ 𝑑𝑣𝑥 𝑑𝑣𝑦 𝑑𝑣𝑧
𝑎Ԧ = = 𝑖Ƹ + 𝑗Ƹ + 𝑘෠
𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡
Or
𝑑2 𝑟Ԧ 𝑑2 𝑥 𝑑2 𝑦 𝑑2 𝑧
𝑎Ԧ = 2 = 2 𝑖Ƹ + 2 𝑗Ƹ + 2 𝑘෠
𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡

𝑎Ԧ = 𝑎𝑥 𝑖Ƹ + 𝑎𝑦 𝑗Ƹ + 𝑎𝑧 𝑘෠
The acceleration has a magnitude that is found from

𝑎 = 𝑎𝑥 2 + 𝑎𝑦 2 + 𝑎𝑧 2

and a direction that is specified by the unit vector As discussed before, it is not
tangent to the path, but rather, it is tangent to the hodograph.
Kinetics
• Newton’s second law of motion states that the magnitude of the acceleration of
a body is directly proportional to the magnitude of the resultant force and
inversely proportional to its mass.
• The direction of the acceleration is the same as the direction of the resultant
force.

෍ 𝐹Ԧ = 𝑚𝑎Ԧ

𝐹Ԧ = 𝐹𝑥 𝑖Ƹ + 𝐹𝑦 𝑗Ƹ + 𝐹𝑧 𝑘෠
𝑎Ԧ = 𝑎𝑥 𝑖Ƹ + 𝑎𝑦 𝑗Ƹ + 𝑎𝑧 𝑘෠
𝐹Ԧ = 𝐹𝑥 𝑖Ƹ + 𝐹𝑦 𝑗Ƹ + 𝐹𝑧 𝑘෠ = 𝑚𝑎𝑥 𝑖Ƹ + 𝑚𝑎𝑦 𝑗Ƹ + 𝑚𝑎𝑧 𝑘෠
𝐹𝑥 = 𝑚𝑎𝑥 ,𝐹𝑦 = 𝑚𝑎𝑦 , and 𝐹𝑧 = 𝑚𝑎𝑧
Notes:
• if the motion is along a straight line, it can be described using one dimension,
and known as rectilinear motion
• One-dimensional motion can be described using only one coordinate, and the
vector quantities can be represented as algebraic scalars. The direction of
motion can be described as either positive or negative, depending on the
reference point
• If an object moves along a curved path, the path of the object can be
described using two or three dimensions, and known as the curvilinear
motion
• If the motion in plane can be described using two dimensions
• Rectilinear Kinematics: The kinematics of a particle is characterized by
specifying, at any given instant, the particle’s position, velocity, and acceleration.
• Position: The straight-line path of a particle will
be defined using a single coordinate axis s

• Displacement: The displacement of the particle is

defined as the change in its position.

• In this case ∆s is positive since the particle’s final position is to the right of
its initial position. Likewise, if the final position were to the left of its initial
position, ∆s would be negative.
• The distance traveled is a positive scalar that represents the total length of
path over which the particle travels.
• Velocity: If the particle moves through a displacement ∆𝑠 during the time
interval t, the average velocity of the particle during this time interval is
∆𝑠
𝑣𝑎𝑣𝑔 =
∆𝑡
• The instantaneous velocity is a vector defined as
∆𝑠 𝑑𝑠
𝑣 = lim =
∆𝑡→0 ∆𝑡 𝑑𝑡
• The direction of the velocity is same as its direction of motion.
• The magnitude of the velocity is known as the speed, and it is generally
expressed in units of m/s or ft/s
• The average speed is always a positive scalar and is defined as the total
distance traveled by a particle, divided by the elapsed time t
• For example, the particle in the Figure travels along the
path of length 𝑠𝑇 in time t, so its average speed is
𝑠𝑇
𝑠𝑝𝑎𝑣𝑔 =
𝑡
but its average velocity
−∆𝑠
𝑣𝑎𝑣𝑔 =
𝑡
• Acceleration: is defined as the time rate of change of velocity, and is a vector
quantity. the average acceleration of the particle during the time interval t is
defined as
∆𝑣
𝑎𝑎𝑣𝑔 =
∆𝑡
• The instantaneous acceleration is a vector defined as
∆𝑣 𝑑𝑣 𝑑 2 𝑠
𝑎 = lim = = 2
∆𝑡→0 ∆𝑡 𝑑𝑡 𝑑𝑡
• The direction of acceleration can be either the same as or opposite to the
direction of velocity, depending on the situation.
1. if the particle is slowing down, the particle is said to be decelerating,
and the direction of its acceleration will be in the opposite direction of
velocity
2. If the particle is speeding up, it is said to be accelerating, and the
direction of its acceleration will be in the same direction as its velocity.

Note: a particle can have an acceleration even if its

velocity is zero. Acceleration is related to the
change in velocity, and if the velocity is changing,
then the particle is experiencing an acceleration,
regardless of its initial velocity.
• Uniform Rectilinear-Motion: Constant velocity
Uniform Rectilinear-Motion

𝑎=0
𝑣 = 𝑣𝑐
𝑑𝑠
𝑣 𝑡 = = 𝑣𝑐
𝑑𝑡
𝑠 𝑡 𝑡
න 𝑑𝑠 = න 𝑣𝑐 𝑑𝑡
𝑠 0 0
𝑠 𝑡 − 𝑠 0 = 𝑣𝑐 𝑡
• The equation of motion at a constant velocity
𝑎=0
𝑣 = 𝑣𝑐 1.1
𝑠 𝑡 = 𝑠 0 + 𝑣𝑐 𝑡
➢Uniformly Accelerated Rectilinear-Motion Constant Acceleration so force is
constant
𝐹 • The equation of motion at a constant acceleration
𝑎 = = 𝑎𝑜 𝑎 = 𝑎𝑜
𝑚 1.2
𝑑𝑣 𝑣 𝑡 = 𝑣 0 + 𝑎𝑜 𝑡
𝑎 = 𝑎𝑜 =
𝑑𝑡 1
𝑑𝑣 = 𝑎𝑜 𝑑𝑡 𝑠 𝑡 = 𝑠 0 + 𝑣 0 𝑡 + 𝑎𝑜 𝑡 2
𝑣 𝑡 𝑡 2
න 𝑑𝑣 = න 𝑎𝑜 𝑑𝑡
𝑣 0 0
𝑣 𝑡 − 𝑣 0 = 𝑎𝑜 𝑡
𝑣 𝑡 = 𝑣 0 + 𝑎𝑜 𝑡
𝑑𝑠
𝑣 𝑡 = = 𝑣 0 + 𝑎𝑜 𝑡
𝑑𝑡
𝑠 𝑡 𝑡
න 𝑑𝑠 = න 𝑣 0 + 𝑎𝑜 𝑡 𝑑𝑡
𝑠 0 0
1
𝑠 𝑡 − 𝑠 0 = 𝑣 0 𝑡 + 𝑎𝑜 𝑡 2
2
Force is a Function of Time
𝐹=𝑓 𝑡
𝑑𝑢
𝐹 = 𝑚𝑎 = 𝑚 = 𝑓(𝑡)
𝑢 𝑑𝑡
𝑡

𝑚 න 𝑑𝑢 = න 𝑓(𝑡)𝑑𝑡
𝑢𝑜 0
𝑡
1
𝑢(𝑡) = 𝑢(0) + න 𝑓(𝑡)𝑑𝑡
𝑚
0 𝑡
𝑑𝑥 1
𝑢(𝑡) = = 𝑢(0) + න 𝑓(𝑡)𝑑𝑡
𝑑𝑡 𝑚
0 𝑡
𝑡
1
𝑥 𝑡 − 𝑥(0) = න 𝑢(0) + න 𝑓(𝑡)𝑑𝑡
0 𝑚
0
• Velocity as a Function of Position:
Velocity as a Function of Position:

𝑣=𝑓 𝑠

𝑑𝑣 𝑑𝑣 𝑑𝑠 𝑑𝑣
𝑎= = =𝑣
𝑑𝑡 𝑑𝑠 𝑑𝑡 𝑑𝑠
𝑑𝑣 𝑑𝑓 𝑠 1.3
𝑎=𝑣 = 𝑓 𝑠
𝑑𝑠 𝑑𝑠

• If the acceleration is constant 𝑎 = 𝑎𝑐

𝑠 𝑣 𝑠=𝑠0
න 𝑎𝑑𝑠 = න 𝑣𝑑𝑣
𝑠0 𝑣 𝑠=𝑠0
1 2
𝑎𝑐 𝑠 − 𝑠0 = 𝑣 𝑠 − 𝑣 2 𝑠0
2
𝑣 2 𝑠 = 𝑣 2 𝑠0 + 2𝑎𝑐 𝑠 − 𝑠0 1.4
➢Force as a Function of Position
as a Function of Position

𝑑𝑢
𝐹 = 𝑚𝑎 = 𝑚 = 𝑓(𝑥)
𝑑𝑡
Employing the chain rule of differentiation
𝑑𝑢 𝑑𝑢 𝑑𝑥 𝑑𝑢
= = 𝑢
𝑑𝑡 𝑑𝑥 𝑑𝑡 𝑑𝑥
𝑑𝑢 𝑑𝑢
𝐹=𝑚 =𝑚 𝑢 = 𝑓(𝑥)
𝑑𝑡 𝑑𝑥
𝑢 𝑥

𝑚 න 𝑢𝑑𝑢 = න 𝑓(𝑥) 𝑑𝑥
𝑢𝑜 𝑥𝑜
Problem

Problem 2.1. The short distance runner illustrated in

Figure. The time it took for the runner to reach the first
10 m and each successive 10 m mark were recorded by
10 observers using stopwatches. The data collected
were then plotted to obtain the position versus time
graph It is suggested that the data may be represented
with the following function:
𝑥 = 0.46𝑡 7/3
Here, change of position x is measured in meters, and
time t is measured in seconds.
Determine the velocity and acceleration of the runner
as functions of time, and the instantaneous velocity and
acceleration of the runner 5 s after the start.
SOLUTION
Coordinate System. The position coordinate extends from
the fixed origin O to the runner, positive to the right.
Given
𝑥 = 0.46𝑡 7/3
Find 𝒗 = 𝑓 𝑡 , 𝒂 = 𝑓(𝑡) , 𝒗 = 𝑓 𝑡 = 2 , 𝒂 = 𝑓(𝑡 = 2)
𝑑𝑥
𝑣 𝑡 = = 1.07𝑡 4/3
𝑑𝑡
𝑑𝑣
𝑎 𝑡 = = 1.43𝑡 1/3
𝑑𝑡 4/3
𝑣 2 = 1.07 5 = 9.15𝑚/𝑠
𝑎 2 = 1.43 5 1/3 = 2.45𝑚/𝑠 2
Problem 2.2
• Problem 2.3 The speedometer reading of a car driven
Problem

on a straight highway is recorded for a total time

interval of 3 min. The data collected are represented
with a speed versus time diagram shown in the figure
The dotted curve in the figure represents the actual
measurements that are approximated by three
straight lines (solid lines in Fig. 7.8). According to the
information presented in the figure, the speed of the
car increases linearly from 0 to 72km/h between times
𝑡0 = 0 and 𝑡1 = 30s. Between times 𝑡1 = 30s and 𝑡2
= 120s, the speed of the car is constant at 72km/h.
Beginning at time 𝑡1 = 120s , the driver applies the
brakes, decreases the speed of the car linearly with
time, and brings the car to a stop in 60 s. Determine
expressions for the speed, displacement, and
acceleration of the car as functions of time. Calculate
the total distance traveled by the car in 3 min.
• Problem 2.4 Consider the skier illustrated in Figure
Problem

descending a straight slope. Assume that the skier is

moving down the slope at a constant acceleration of
2𝑚/𝑠 2 , and that the speed of the skier at position 0
is observed to be 10 m/s. Calculate the speed v1 of
the skier when the skier is at position 1, which is at a
distance l=100m from position 0 measured parallel
to the slope. Also, calculate the time t1 it took for
the skier to cover the distance between positions 0
and 1.
• Problem 2.5 One of the most common examples of
Problem

uniformly accelerated motion is that of an object

allowed to fall vertically downward, which is called
free fall. Free fall is a consequence of the effect of
gravitational acceleration on the mass of the object
If the possible effects of air resistance are ignored
(assuming that the motion occurs in vacuum), then
the object released from a height would move
downward with a constant acceleration equal to the
magnitude of the gravitational acceleration, which is
about 9.8 𝑚/𝑠 2 .As illustrated in Figure, consider a
person holding a ball at a height h = 1.5m above the
ground level. If the ball is released to descend, how
much time it would take for the ball to hit the
ground and what would be its impact velocity?
Motion of a Projectile

Horizontal Motion Vertical Motion

𝑎𝑥 = 0 𝑎𝑦 = −𝑔
𝑣𝑥 = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡 𝑑𝑣𝑦
𝑎𝑦 = −𝑔 =
𝑑𝑥 𝑑𝑡
𝑣𝑥 = = 𝑣𝑥 0 𝑑𝑣𝑦 = −𝑔𝑑𝑡
𝑑𝑡 𝑣𝑦 𝑡 𝑡
𝑥 𝑡 𝑡 න 𝑑𝑣𝑦 = න −𝑔𝑑𝑡
න 𝑑𝑥 = න 𝑣𝑥 0 𝑑𝑡 𝑣𝑦 0 0
𝑥 0 0 𝑣𝑦 𝑡 − 𝑣𝑦 0 = −𝑔𝑡
𝑥 𝑡 − 𝑥 0 = 𝑣𝑥 0 𝑡 𝑣𝑦 𝑡 = 𝑣𝑦 0 − 𝑔𝑡
𝑑𝑦
𝑣𝑦 𝑡 = = 𝑣𝑦 0 − 𝑔𝑡
𝑑𝑡
𝑦 𝑡 𝑡
න 𝑑𝑦 = න 𝑣𝑦 0 − 𝑔𝑡 𝑑𝑡
𝑦 0 0
1 2
𝑦 𝑡 − 𝑦 0 = 𝑣𝑦 0 𝑡 − 𝑔𝑡
2
• Example The ball is kicked from point A with the
initial velocity 𝑣𝐴 = 10 𝑚/𝑠 . Determine the
maximum height h it reaches, the range R, and the
speed when the ball strikes the ground.

Horizontal Motion Vertical Motion

𝑎𝑥 = 0 𝑎𝑦 = −𝑔
𝑣𝑥 = 𝑣𝑥 0 = 10𝑐𝑜𝑠 30 𝑣𝑦 𝑡 = 𝑣𝑦 0 − 𝑔𝑡
𝑥 𝑡 𝑡 𝑣𝑦 𝑡 = 10𝑠𝑖𝑛 30 − 𝑔𝑡
𝑦 𝑡 𝑡
න 𝑑𝑥 = න 𝑣𝑥 0 𝑑𝑡
න 𝑑𝑦 = න 𝑣𝑦 0 − 𝑔𝑡 𝑑𝑡
𝑥 0 0
𝑦 0 0
𝑥 𝑡 − 𝑥 0 = 10𝑐𝑜𝑠 30 𝑡 1 2
𝑦 𝑡 − 𝑦 0 = 10𝑠𝑖𝑛 30 𝑡 − 𝑔𝑡
𝑥 𝑡 = 10𝑐𝑜𝑠 30 𝑡 2
1
𝑦 𝑡 = 10𝑠𝑖𝑛 30 𝑡 − 𝑔𝑡 2
2
At maximum height 𝑣𝑦 = 0
𝑣𝑦 𝑡 = 10𝑠𝑖𝑛 30 − 𝑔𝑡 = 0
10𝑠𝑖𝑛 30
𝑡= 0.51 𝑠
9.81
the maximum height h is
1 2
ℎ = 𝑦 𝑡 = 0.51 = 10𝑠𝑖𝑛 30 𝑡 − 𝑔𝑡
2
1
ℎ = 10𝑠𝑖𝑛 30 ∗ 0.51 − 9.81 0.51 2
2
ℎ = 1.274𝑚
At the range R, 𝑦 𝑡 = 0
1 2
𝑦 𝑡 = 10𝑠𝑖𝑛 30 𝑡 − 𝑔𝑡 = 0
2
1
𝑡 10𝑠𝑖𝑛 30 − 𝑔𝑡 = 0
2
 1
𝑡 = 0, 𝑎𝑛𝑑 10𝑠𝑖𝑛 30 − 𝑔𝑡 = 0
2

20𝑠𝑖𝑛 30
𝑡= = 1.02𝑠
9.81
𝑅 = 𝑥 𝑡 = 1.02 = 10𝑐𝑜𝑠 30 ∗ 1.02 = 8.833𝑚
The speed when the ball strikes the ground is equal the magnitude of velocity
when the ball strikes the ground .
𝑣𝑥 𝑡 = 1.02 = 𝑣𝑥 0 = 10𝑐𝑜𝑠 30 = 8.66𝑚/𝑠
𝑣𝑦 𝑡 = 1.02 = 10𝑠𝑖𝑛 30 − 𝑔 ∗ 1.02 = −5𝑚/𝑠

𝑣 = 𝑣𝑥 2 + 𝑣𝑦 2 = 8.66 2 + −5 2 = 10𝑚/𝑠
Relative-Motion of Two Particles: Using Translating Axes
Position.
𝑟Ԧ𝐴 = 𝑥𝐴 𝑖Ƹ + 𝑦𝐴 𝑗Ƹ + 𝑧𝐴 𝑘෠
𝑟Ԧ𝐵 = 𝑥𝐵 𝑖Ƹ + 𝑦𝐵 𝑗Ƹ + 𝑧𝐵 𝑘෠
𝑟Ԧ𝐵/𝐴 = 𝑟Ԧ𝐵 − 𝑟Ԧ𝐴
= 𝑥𝐵 − 𝑥𝐴 𝑖Ƹ + 𝑦𝐵 − 𝑦𝐴 𝑗Ƹ + 𝑧𝐵 − 𝑧𝐴 𝑘෠
𝑟Ԧ𝐵 = 𝑟Ԧ𝐴 + 𝑟Ԧ𝐵/𝐴
Velocity. An equation that relates the velocities of the particles is determined
by taking the time derivative of the above equation
𝑣Ԧ𝐵 = 𝑣Ԧ𝐴 + 𝑣Ԧ𝐵/𝐴
Acceleration. The time derivative of the velocity equation yields a similar vector
relation between the absolute and relative accelerations of particles A and B.
𝑎Ԧ 𝐵 = 𝑎Ԧ𝐴 + 𝑎Ԧ 𝐵/𝐴
Example: At a given instant the football player at A throws a football C with a
velocity of 20 m/s in the direction shown. Determine the constant speed at
which the player at B must run so that he can catch the football at the same
elevation at which it was thrown. Also calculate the relative velocity and relative
acceleration of the football with respect to B at the instant the catch is made.
Player B is 15 m away from A when A starts to throw the football.
Solution:
Given
𝑣Ԧ𝑐 𝑡 = 0 = 20 cos 60 𝑖Ƹ + 20 sin 60 𝑗Ƹ
𝑣Ԧ𝐵 𝑡 = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡
𝑥𝑐 0 = 0 , 𝑎𝑛𝑑 𝑥𝐵 0 = 15𝑚
𝑦𝑐 0 = 𝑦𝑐 𝑡 = 0 B catches the football at the same elevation at which it was
thrown
Fine
𝑣Ԧ𝐵 𝑡 , 𝑣Ԧ𝑐/𝐵 𝑡 , and 𝑎Ԧ 𝑐/𝐵 𝑡
Ball c
Horizontal Motion Vertical Motion
𝑎𝑥 = 0 𝑎𝑦 = −𝑔
𝑣𝑦 𝑡 = 𝑣𝑦 0 − 𝑔𝑡
𝑣𝑥 (𝑡) = 𝑣𝑥 0 = 20𝑐𝑜𝑠 60
𝑥 𝑡 𝑡
𝑣𝑦 𝑡 = 20𝑠𝑖𝑛 60 − 𝑔𝑡
𝑦 𝑡 𝑡
න 𝑑𝑥 = න 𝑣𝑥 0 𝑑𝑡 න 𝑑𝑦 = න 𝑣𝑦 0 − 𝑔𝑡 𝑑𝑡
𝑥 0 0 𝑦 0 0
𝑥 𝑡 − 𝑥 0 = 20𝑐𝑜𝑠 60 𝑡 1 2
𝑦 𝑡 − 𝑦 0 = 20𝑠𝑖𝑛 60 𝑡 − 𝑔𝑡
𝑥 𝑡 = 20𝑐𝑜𝑠 60 𝑡 2
1 2
𝑦 𝑡 = 20𝑠𝑖𝑛 60 𝑡 − 𝑔𝑡
2
The equation of motion of the ball C

𝑎Ԧ 𝑐 𝑡 = −9.81𝑗Ƹ
𝑣Ԧ𝑐 𝑡 = 20 cos 60 𝑖Ƹ + 20 sin 60 − 9.81𝑡 𝑗Ƹ
1
𝑟Ԧ𝑐 𝑡 = 20 cos 60 𝑡 𝑖Ƹ + 20 sin 60 𝑡 − 9.81𝑡 2 𝑗Ƹ
2
𝑃𝑙𝑎yer B
𝑣𝑥 𝑡 = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡 = 𝑣𝐵
𝑎𝑥 = 0
𝑥 𝑡 𝑡
න 𝑑𝑥 = න 𝑣𝐵 𝑑𝑡
𝑥 0 0
𝑥 𝑡 − 𝑥 0 = 𝑣𝐵 𝑡
𝑥 𝑡 = 𝑥 0 + 𝑣𝐵 𝑡

The equation of motion of the player B

𝑎Ԧ 𝐵 𝑡 = 0
𝑣Ԧ𝐵 𝑡 = 𝑣𝐵 𝑖Ƹ
𝑟Ԧ𝐵 𝑡 = 15 + 𝑣𝐵 𝑡 𝑖Ƹ
𝑦𝑐 0 = 𝑦𝑐 𝑡 = 0 B catches the football at the same elevation at which it was
thrown
1
0 = 20 sin 60 𝑡 − 9.81𝑡 2
2
1
20 sin 60 − 9.81𝑡 𝑡 = 0
2
1
𝑡 = 0 and 20 sin 60 − 9.81𝑡 =0
2

2 ∗ 20 sin 60
𝑡= = 3.53 𝑠
9.81
When the Player B catches the ball C 𝑥𝐵 = 𝑥𝑐
15 + 𝑣𝐵 𝑡 = 20 cos 60 𝑡
20 cos 60 𝑡 − 15 20 cos 60 ∗ 3.53 − 15
𝑣𝐵 = = = 5.751 𝑚/𝑠
𝑡 3.53
𝑣Ԧ𝐵 𝑡 = 5.751𝑖Ƹ
Absolute Dependent Motion Analysis of Two Particles
• The location of the blocks are 𝑠𝑎 and 𝑠𝑏 , that are measured from
a fixed point O
• If the total cord length is 𝐿 𝑇
• the two position coordinates are related by the equation
𝑠𝑎 +𝑠𝑏 + 𝐿𝐶𝐷 = 𝐿 𝑇
• Here 𝐿𝐶𝐷 is the length of the cord passing over arc CD.
• The 𝐿𝐶𝐷 and 𝐿 𝑇 remain constant
• The derivative of this expression is
𝑑𝑠𝑎 𝑑𝑠𝑏
+ = 0 so 𝑣𝑎 = −𝑣𝑏
𝑑𝑡 𝑑𝑡
• The negative sign indicates that when block A has a velocity downward, it causes a
corresponding upward velocity of block B. i.e., B moves in the negative 𝑠𝑏 direction.
• Time differentiation of the velocities yields the relation between the accelerations
𝑎𝑎 = −𝑎𝑏
• The two position coordinates are related by the
equation
𝑠𝐵 − 𝐿1 + 𝑠𝐵 − 𝐿1 − 𝐿2 + ℎ + 𝑠𝑎 = 𝐿 𝑇

• The 𝐿1 , 𝐿2 , ℎ and 𝐿 𝑇 remain constant

2𝑠𝐵 + 𝑠𝑎 = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡

𝑑𝑠𝐵 𝑑𝑠𝑎
2 + = 0 so 𝑣𝑎 = −2𝑣𝐵
𝑑𝑡 𝑑𝑡

𝑑𝑣𝐵 𝑑𝑣𝑎
2 + = 0 so 𝑎𝑎 = −2𝑎𝐵
𝑑𝑡 𝑑𝑡
2𝑥𝐵 + 𝑥𝑎 = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡 2𝑥𝑎 + 2𝑥𝐵 + 𝑥𝑐 = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡
𝑣𝑎 = −2𝑣𝐵 2𝑣𝑎 +2𝑣𝐵 +𝑣𝑐 = 0
𝑎𝑎 = −2𝑎𝐵 2𝑎𝑎 + 2𝑎𝐵 + 2𝑎𝑐 = 0
Example: Determine the speed of block A in Figure if
block B has an upward speed of 6 ft/s.
𝑠𝐴 + 3𝑠𝐵 = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡

𝑑𝑠𝐴 𝑑𝑠𝐵
+ 3 = 0 so 𝑣𝐴 = −3𝑣𝐵
𝑑𝑡 𝑑𝑡

so that when 𝑣𝐵 = −6 𝑓𝑡/𝑠 (upward),

𝑣𝐴 = −3 ∗ −6 = 18 𝑓𝑡/𝑠 (downward)
Example: Determine the speed of A in Figure if B has an
upward speed of 6 ft/s.
Solution:
• The red colored segments of the cords in Figure do not
have to be considered in the analysis. Why? For the
remaining cord lengths, say 𝑙1 and 𝑙2 , we have
𝑠𝐴 + 2𝑠𝑐 = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡, and 𝑠𝐵 − 𝑠𝑐 + 𝑠𝐵 = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡

𝑣𝐴 = −2𝑣𝑐 , and 𝑣𝑐 =2𝑣𝐵

𝑣𝐴 = −4𝑣𝐵

so that when 𝑣𝐵 = −6 𝑓𝑡/𝑠 (upward),

𝑣𝐴 = −4 ∗ −6 = 24 𝑓𝑡/𝑠 (downward)
Example: Determine the speed of block B in Figure if the
end of the cord at A is pulled down with a speed of 2
m/s.
Solution:
• The red colored segments of the cords in Figure do not
have to be considered in the analysis. Why? For the
remaining cord lengths, say 𝑙1 and 𝑙2 , we have
𝑠𝑐 + 𝑠𝐵 = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡, and
𝑠𝐴 − 𝑠𝑐 + 𝑠𝐵 − 𝑠𝑐 + 𝑠𝐵 = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡

𝑣𝐵 = −𝑣𝑐 , and 𝑣𝐴 =−4𝑣𝐵

so that when 𝑣𝐴 = 2 𝑚/𝑠 (downward),

𝑣𝐵 = −0.25 ∗ 2 = −0.5 𝑚/𝑠 (upward)

 Assignment 3
Q.3.1. Determine the speed at which the basketball at A
must be thrown at the angle of 30 so that it makes it to
the basket at B.

Q.3.2. The water sprinkler, positioned at the base of a

hill, releases a stream of water with a velocity of 15 ft/s
as shown. Determine the point B(x, y) where the water
strikes the ground on the hill. Assume that the hill is
defined by the equation 𝑦 = 0.05𝑥 2 ft and neglect the
size of the sprinkler
Q.3.3. The particle travels along the path defined by the parabola 𝑦
= 0.5𝑥 2 . If the component of velocity along the x axis is 𝑣𝑥 = 5𝑡
ft/s, where t is in seconds, determine the particle’s distance from the
origin O and the magnitude of its acceleration when t = 1 s. When t
= 0, x = 0, y = 0.

Q.3.4. The ball at A is kicked such that 𝑣𝐴 = 30 ft/s.

If it strikes the ground at B having coordinates x = 15
ft, y = -9 ft, determine the speed at which it is kicked
and the speed at which it strikes the ground.
Q.3.5. The velocity of a particle is given by 𝑣 = 51.6𝑡 2 𝑖Ƹ + 4𝑡 3 𝑗Ƹ + 5𝑡 + 2 𝑘෠ m/s,
where t is in seconds. If the particle is at the origin when t = 0, determine the
magnitude of the particle’s acceleration when t = 2 s. Also, what is the x, y, z
coordinate position of the particle at this instant?

Q.3.6. Starting from rest, the cable can be wound onto the drum of the
motor at a rate of 𝑣𝐴 = 3𝑡 2 m/s, where t is in seconds. Determine the
time needed to lift the load 7 m.

Q.3.7. The cable at A is being drawn toward the motor at 𝑣𝐴 = 8 m/s.

Determine the velocity of the block.
Q.3.8. The girl at C stands near the edge of the pier and pulls in the rope
horizontally at a constant speed of 6 ft/s. Determine how fast the boat
approaches the pier at the instant the rope length AB is 50 ft.

Q.3.9. The boat can travel with a speed of 16 km/h in still water.
The point of destination is located along the dashed line. If the
water is moving at 4 km/h, determine the bearing angle u at which
the boat must travel to stay on course..
Curvilinear Motion: Normal and Tangential Components

Consider the particle moves in a plane along a fixed

curve, such that at a given instant it is at position s,
measured from point O
• The t axis is tangent to the curve at the point and is
positive in the direction of increasing s. We will
designate this positive direction with the unit vector 𝑒Ƹ𝑡
• The normal axis n is perpendicular to the t axis with its
positive sense directed toward the center of curvature
O’. We will be designated by the unit vector 𝑒Ƹ𝑛
• The plane which contains the n and t axes is referred
to as the embracing or osculating plane
• The binormal unit vector 𝑒Ƹ𝑏 is perpendicular to both 𝑒Ƹ𝑛 and 𝑒Ƹ𝑡
Curvilinear Motion: Normal and Tangential Components

Velocity

• The particle’s velocity has a direction that is always tangent to the path
𝑣Ԧ = 𝑣 𝑒Ƹ𝑡

• The magnitude of velocity is found from the time derivative of the path
function 𝑠 = 𝑓(𝑡).
𝑑𝑠
𝑣=
𝑑𝑡
 Acceleration.

• The acceleration of the particle has two components

𝑎Ԧ = 𝑎𝑛 𝑒Ƹ𝑛 + 𝑎𝑡 𝑒Ƹ𝑡

• The normal component of acceleration represents the time rate of change

in the direction of the velocity. This component is an always acts towards
the center of curvature
• The magnitude of this component is determined from
𝑣2
𝑎𝑛 =
𝜌
𝜌 : the radius of curvature
• The tangential component of acceleration represents the time rate of change
in the magnitude of the velocity. This component acts in the same direction
of velocity if the particle’s speed is increasing or in the opposite direction if
the speed is decreasing.
𝑑𝑣 𝑑𝑣 𝑑𝑠 𝑑𝑣
𝑎𝑡 = or 𝑎𝑡 = = 𝑣
𝑑𝑡 𝑑𝑠 𝑑𝑡 𝑑𝑠
• The magnitude of acceleration is
𝑎 = 𝑎𝑡 2 + 𝑎𝑛 2
• If the particle moves along a straight line, then 𝜌 = ∞ and from equation 𝑎𝑛
𝑣2 𝑑𝑣
= , the 𝑎𝑛 = 0. Thus a = 𝑎𝑡 =
𝜌 𝑑𝑡
𝑑𝑣
• If the particle moves along a curve with a constant speed, then 𝑎𝑡 = =0
𝑑𝑡
𝑣2
and 𝑎 = 𝑎𝑛 =
𝜌
• forces
Q.4.3. The ball is ejected horizontally from the tube with a speed
of 8 m/s. Find the equation of the path, y = f(x), and then find the
ball’s velocity and the normal and tangential components of
acceleration when t = 0.25 s.