School of Mechanical and Manufacturing Engineering

ENGG1300 Engineering Mechanics

Course Founder:
A/Prof. David C. Kellermann

Week 5, L1: Particle Kinematics and Relative

Motion
Lecturer & Convenor: INTRODUCTION TO DYNAMICS
Dr Boming Zhang
E: [email protected]. KINEMATICS OF PARTICLES
W: https://www.linkedin.com/in/boming-zhang-
143918126/ • Displacement, velocity and acceleration
ADVANCED CURVILINEAR MOTION
RELATIVE MOTION
Lecture Recording
 Let us know how we may improve for you ☺
Anonymous mid-term feedback forms:
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For the course: For Boming’s teaching:

https://forms.office.com/r/xSYXNmk0AZ https://forms.office.com/r/HcdS6DKZj1

Your opinions will be taken seriously and highly valued. They will both help me improve and
provide important references for our course upgrades in the future!
 Statics Lab Report Due 5pm This Saturday
Report writing template available on Teams. Please follow all the instructions on the Lab Hand-Out PDF.
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When you are ready, please Submit on Moodle – Submission Link Available Now!!

Late-penalty: as per the faculty’s policy, 5% by each calendar day applied to any late submission.

Ask in Statics Lab channel or General if you have any questions or unclarity.

Please go through the Consultation 1A recording that may help you a lot.

Consultation 1B: held today online right after the lecture (4~5pm). It will be recorded for everyone who’s
unable to attend to catch up.
 Block Test 2 at 5:15pm Thursday
Follow course outline and the Announcement on Teams posted last week!
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The timer nominally starts by 5:30pm. You need to arrive before 5:15pm, sit down and get ready.
Latecomers will NOT get any extension.

Difference with BT1: Test Duration: 5mins reading + 45mins writing. 3 Questions in total.

If anything makes you unable to attend the test on time, for your mark not to be strongly affected, you
need to arrange a Special Consideration on MyUNSW, as the course authority is not entitled to
internally make any manipulation. Special Consideration is assessed by the tertiary SC office and
approval is not guaranteed.

What to bring: your student ID, black pens, a calculator and blank unused A4 papers (optional).

There are two Different Venues according to your MyUNSW timetable.

Fill your zID bubbles and complete information on the cover page.

You can only open your booklet after the invigilators announce reading time starts.

You must stop writing and close your booklet when the exam time finishes.
School of Mechanical and Manufacturing Engineering Block Test 2 at 5:15pm Thursday

You can only open your booklet after the invigilators announce reading time starts. Zero Q1 mark will
apply for breaching this rule.

You must stop writing and close your booklet when the invigilators announce time is up. Zero Q2 mark
will apply for breaching this rule.

The seats on your left and right need to be empty. Front and back are okay to have other students. We
should try best to practice distancing, following the university’s guidelines on “exam condition”.

Announcement time during the 45mins for reading will be compensated.

 Lesson Learnt from Block Test 1
Question 1 definitely does not need as much time as Question 2. The first 5 minute reading time is for
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you to plan about how to spend time, if you aim at solving both questions, it would be certainly not a
great idea to spend 15 mins on each. I would spend 10mins on Q1 and 20mins on Q2 if I wanted to
finish both questions.
School of Mechanical and Manufacturing Engineering Lecture Agenda – Week 5

• Introduction to Dynamics.
• Definition of Particles.
• Curvilinear Motion (Kinematics Part II).
o Different Coordinate Systems.
o Circular Motion.
o Example Problems.
• Relative Motion (Kinetics Part I).
o 1D and 2D Relative Motions.
o Example Problems.
School of Mechanical and Manufacturing Engineering Lecture Agenda – Week 5

• Kinetics.
o Introduction to Kinetics.
o Static and Dynamic Friction.
o String, Ropes and Pulleys.
o Example Problems.

Optional Revision:
• Rectilinear Motion (Kinematics Part II).
o Position, Velocity and Acceleration.
o Instantaneous vs Average v and a.
o Example Problems.
 How I Tried Fixing the Past-Year Issues of Week 5 Content
In some of the past years, Week 5 core contents were not well introduced because too much time was
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taken by the revision topic of Physics and Calculus – 1D rectilinear motion. Also, students in the past
found this week too stuffed.

Adjustments:

PSS Questions 5.1~5.3 are optional revision-only questions

PSS Homework Questions 5.11~5.13 are optional revision-only questions. You only need to finish
Q5.14~5.17 in your homework.

We need to have a better focus on the new “Engineering Mechanics” contents establish a solid basis on
2D curvilinear motion and relative motion. Otherwise, Week 8 would be incredibly hard.
School of Mechanical and Manufacturing Engineering Introduction to Dynamics

Dynamics is concerned with the variations in motion of objects.

Only when: σ 𝐹 ≠ 0 and/or σ 𝑀 ≠ 0, i.e. the equilibrium condition does not apply.

Engineers use mathematical models to describe the dynamics of an object.

School of Mechanical and Manufacturing Engineering Applications of Dynamics
 Kinematics and Kinetics of Particles
Dynamics can be divided into 2 main areas, Kinematics and Kinetics.
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Kinematics only investigates the motion of an object without looking into its forces and moments.

Kinetics: is concerned with both the motion of an object and the forces (and moments) acting on the object.

Therefore, to work in kinetics, we need both kinematics (solved motion) and Newton’s 2nd law.
 Kinematics and Kinetics of Particles
The motion of an object includes translation and self-rotation.
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For particles, their motion only includes translation and is our scope of Week 5.

For rigid bodies, their motion can be a combination of both translation and “self-rotation”, which will
be discussed in Weeks 8~9.
 Definition of Particles
When the geometry (size and shape) of an object is either unimportant or negligible relative to its
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surrounding and trajectory, it can be modelled as a particle (or a ‘point mass’).

Whether an object can be treated as a particle depends on the problem we study.

School of Mechanical and Manufacturing Engineering 2D Curvilinear Motion

2D Curvilinear Motion describes the motion of a particle along a curved path that lies in a single
plane.
The position of the particle, measured from a fixed point O, is designated by the position vector
𝐫(𝑡) (a vector is written in boldface). The position vector is a function of time.

v
P P’ Δs
Path P
s Δr P
r’
r r r
O s O
Position Displacement s
O s
(a) Velocity
(b)
(c)
 2D Curvilinear Motion - Velocity
Δ𝐫
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The average velocity of the particle is defined as 𝐯𝑎𝑣𝑔 = Δ𝑡

The instantaneous velocity is determined from this equation by letting Δt → 0,

𝑑𝐫
𝐯= = 𝑟ሶ
𝑑𝑡
Magnitude of v is the speed.
 2D Curvilinear Motion
Acceleration
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If the particle has a velocity v at time t and a velocity v’ = v(t + Δt) at time t’ = t + Δt.

The increment of velocity is Δv = v(t + Δt) - v(t)

The average acceleration

Δ𝐯
𝐚𝑎𝑣𝑔 =
Δ𝑡

Instantaneous acceleration

𝑑𝐯 𝑑2𝐫
𝐚= = 𝑣ሶ = 2 = 𝑟ሷ
𝑑𝑡 𝑑𝑡
 Coordinate Systems for Curvilinear Motion
Each system has its advantages. When problem solving, it is best to select the most suitable
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coordinate system for the problem.

Different coordinate systems imply different decomposition schemes of the velocity and
acceleration vectors.

The 3 coordinate systems are:

1. Global rectangular coordinates (𝑥/𝑦)

2. Local (Normal and tangential) coordinates (𝑛/𝑡)

3. Polar (Cylindrical) coordinates (𝑟/𝜃) (Optional)

School of Mechanical and Manufacturing Engineering 1) Global Rectangular Coordinate System (x - y)

Position vector is defined by r = xi + yj

i, j are unit vectors

𝑑𝒓
𝒗 = 𝑑𝑡 = 𝑣𝑥 𝒊 + 𝑣𝑦 𝒋. 𝒗 is always tangent to the path.

𝑣𝑥 = 𝑥ሶ 𝑣𝑦 = 𝑦ሶ 𝑣𝑧 = 𝑧ሶ

𝑑𝐯
𝐚 = 𝑑𝑡 = 𝑎𝑥 𝑖Ԧ + 𝑎𝑦 𝑗Ԧ
𝑎𝑥 = 𝑣ሶ𝑥 = 𝑥ሷ
𝑎𝑦 = 𝑣ሶ𝑦 = 𝑦ሷ

Advantage:
Quantities in the x direction are independent of those in the
y direction, and vice versa.
School of Mechanical and Manufacturing Engineering 2) Local Coordinate System (n – t)
School of Mechanical and Manufacturing Engineering Local Coordinate System (n – t)

Normal–Tangential Coordinates

For the 𝑛 − 𝑡 coordinate system:

• 𝐞𝒏 is a unit vector in the normal direction;

• 𝐞𝒕 is a unit vector in the tangential direction

School of Mechanical and Manufacturing Engineering Local Coordinate System (n – t)

The tangential axis is defined to be in the direction tangential to the path, that is, in the direction
of velocity. The direction of this axis thus changes with time, and
𝒗 = 𝑣𝒆𝑡
where v is the speed and 𝐞𝑡 is a unit vector in the tangential direction.

The normal axis is perpendicular to the tangential axis and is towards the centre of curvature of
the path.

The direction of the normal axis also changes

with time. 𝐞𝒏 is a unit vector in the normal
direction.
 Local Coordinate System (n – t)
n/t coordinates are not normally used to define position, but are commonly used to define
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acceleration.

We know 𝒗 = 𝑣𝒆𝑡

Acceleration becomes
𝑑𝒗 𝑑 𝑣𝒆𝑡
𝒂= = ሶ 𝑡 + 𝑣𝒆ሶ 𝑡
= 𝑣𝒆
𝑑𝑡 𝑑𝑡
Since both 𝑣 and 𝒆𝑡 vary with time, it can be shown that

𝑣
𝒆ሶ 𝑡 = 𝒆
𝜌 𝑛
where  is the instantaneous radius of curvature.

Thus:

𝑣2
𝒂 = 𝑣𝒆
ሶ 𝑡 + 𝒆𝑛
𝜌
 Local Coordinate System (n – t)

𝑣2
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𝒂 = 𝑎𝑡 𝒆𝑡 + 𝑎𝑛 𝒆𝑛 = 𝑣𝒆
ሶ 𝑡 + 𝒆𝑛
𝜌
𝑎𝑡 = 𝑣ሶ is the acceleration in the tangential direction
𝑣2
𝑎𝑛 = is the acceleration in the normal direction.
𝜌

The magnitude of acceleration is

𝒂 =𝑎= 𝑎𝑛2 + 𝑎𝑡2

Note: 𝒂 =𝑎= 𝑎𝑥2 + 𝑎𝑦2 = 𝑎𝑛2 + 𝑎𝑡2

The acceleration does NOT change using a different coordinate system.

 Example 1: Global Coordinates of Curvilinear Motion

The motion of a particle is defined by

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𝑥 = 2𝑡 2 − 4𝑡 − 4
𝑦 = 𝑥2 + 3
Where x and y are in metres and t is in seconds.
Find |v| and |a| of the particle when t = 4.0 s.
 Example 2: Local Coordinates of Curvilinear Motion
A baseball player releases a ball with the initial conditions shown. Determine the radius of curvature
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of the trajectory (a) just after release and (b) at the highest point of the ball. For each case, determine
the time rate of change of the speed.
 Circular Motion

Circular motion is an important special case of plane curvilinear motion where the radius of
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curvature 𝝆 becomes a constant radius of the circle.

Circular motion is commonly associated with 𝑛/𝑡 coordinates. Circular motion is the motion of a
point moving around in a circular path, e.g. linkages, tip of a turbine blade.
 Circular Motion
For circular motion, radius r is constant for all θ.
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Coordinate System. Polar coordinates

Velocity and Acceleration. Since r is constant,
𝑟=𝑟 𝑟ሶ = 0 𝑟ሷ = 0
 Circular Motion

Velocity and Acceleration

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If we take the generalised formulation and reduce it to circular motion, do we get our classical
equation?

If 𝑟 is constant, then 𝑟ሶ = 0 𝑟ሷ = 0

𝑣𝑟 = 𝑟ሶ = 0

𝑣𝜃 = 𝑟𝜃ሶ

𝑎𝑟 = 𝑟ሷ − 𝑟𝜃ሶ 2 = −𝑟𝜃ሶ 2

𝑎𝜃 = 𝑟𝜃ሷ + 2𝑟ሶ 𝜃ሶ = 𝑟𝜃ሷ

 Circular Motion
If angular velocity 𝜃 is also constant (uniform circular motion) then 𝜃ሷ = 0
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𝑣𝑟 = 𝑟ሶ = 0
𝑣𝜃 = 𝑟𝜃ሶ

2
𝑣 𝜃
𝑎𝑟 = −𝑟𝜃ሶ 2 = −
𝑟
𝑎𝜃 = 0

Acceleration is towards the centre of the circle

 Worked Example Problem: Circular Motion
A car rounds a bend which has a radius of 200 m. At a particular instant, the car has a velocity of
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60 km/h. The speed of the car is increasing at a rate of 5 m/s2. Determine

i. the normal and tangential components of the acceleration of the car,

ii. the magnitude and direction of the resultant acceleration,

 Circular Motion Problem

i. Circum Acceleration
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𝑑|𝑣|
𝑎𝜃 = 𝑑𝑡
= 5 𝑚/𝑠 2 →

Radial acceleration
𝑣2 (16.67)2
𝑎𝑟 = 𝜌
= 200
= 1.39 𝑚/𝑠 2 ↓

ii. Magnitude:

𝑎 = 𝑎𝑟2 + 𝑎𝜃2 = 5.19 𝑚/𝑠 2

Direction:

at 𝑎𝑛
 tan 𝜃 =
𝑎𝑡
 𝜃 = 15.5°
an
School of Mechanical and Manufacturing Engineering 3) Polar Coordinates (r - ) (Optional)
School of Mechanical and Manufacturing Engineering

Particle Relative Motion

 Relative Motion
We have been describing particle motion using coordinates referred to fixed reference axes.
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The particle displacements, velocities and accelerations so far determined have been absolute.
 Applications
Fluid particles and a point on a turbine blade – the analysis of the relative velocities of fluids and
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mechanical systems are useful for the design of turbines, pumps, etc.
 Applications
Two parts of a mechanical linkage, eg. piston and crankshaft in a car engine – the analysis of the
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relative velocities and accelerations are useful for linkage design (see Kinematics of rigid bodies).
School of Mechanical and Manufacturing Engineering

Next Topic:

Particle Kinetics
School of Mechanical and Manufacturing Engineering

ENGG1300 Engineering Mechanics

Course Founder:
A/Prof. David C. Kellermann

Week 5, L2: Relative Motion and Particle Kinetics

KINETICS OF PARTICLES
Lecturer/Convenor: • Newton's second law
Dr Boming Zhang
E: [email protected].
• Curvilinear motion
W: https://www.linkedin.com/in/boming-zhang-
143918126/
Lecture Recording
School of Mechanical and Manufacturing Engineering Two-Dimensional Relative Motion

𝐫𝐵 = 𝐫𝐴 + 𝐫𝐵/𝐴 𝐫𝐴 = 𝐫𝐵 + 𝐫𝐴/𝐵

• 𝐫𝐴 is the position of particle 𝐴

• 𝐫𝐵 is the position of particle 𝐵
• 𝐫𝐵/𝐴 is the position of particle 𝐵 relative to particle 𝐴
• 𝐫𝐴/𝐵 is the position of particle 𝐴 relative to particle 𝐵
 Two-Dimensional Relative Motion

If 𝐫𝐵 − 𝐫𝐴 = 𝐫𝐵/𝐴 and 𝐫𝐴 − 𝐫𝐵 = 𝐫𝐴/𝐵

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then 𝐫𝐴/𝐵 = −𝐫𝐵/𝐴

Differentiating with respect to time:

𝐯𝐵 = 𝐯𝐴 + 𝐯𝐵/𝐴 → 𝐯𝐴/𝐵 = −𝐯𝐵/𝐴

𝐚𝐵 = 𝐚𝐴 + 𝐚𝐵/𝐴 → 𝐚𝐴/𝐵 = −𝐚𝐵/𝐴

In relative motion, it is often convenient to draw a velocity vector diagram.

 Example 3: Relative Circular Motion
For the instant shown below, car 𝐴 is rounding the circular curve at a constant speed of
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50 km/h, while car 𝐵 with an instantaneous speed of 60 km/h is slowing down at the rate of
2.22 m/s2.
Determine:
a) the velocity of car 𝐴 relative to car 𝐵,
b) the acceleration that car 𝐴 appears to have to an observer in car 𝐵.
 What Does Kinetics Enable?
If we know the motion of the particle, we can find the net force and moment.
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Likewise, if we can find the net force and moment, we can use it to find the motion.
 Simple Example: Motion of a Block
A block of mass m = 5 kg is acted on by a force of 20 N. Neglecting friction, find the acceleration
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of the block in each case.

School of Mechanical and Manufacturing Engineering Friction Force

Friction force is
acting here

Friction force is the resistance to relative motion due to compressed contact between solid
bodies.
 Friction Force: Magnitude and Direction

The direction is parallel to the two contacting surfaces

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The direction opposes the sliding or sliding tendency

2 different cases: static and dynamic friction

 Let’s Do a Little Experiment

• Consider a block of mass 𝑚 that is initially at rest on a horizontal

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plane

• Initially, the applied force 𝑃 = 0

• Upon increasing 𝑃 we can make some observations

School of Mechanical and Manufacturing Engineering Coefficient of Friction

• We call 𝜇𝑠 “The coefficient of static friction”

• We call 𝜇𝑘 “The coefficient of kinetic friction”

• Generally 𝜇𝑘 < 𝜇𝑠

• Coefficients of friction are particular to the pairs of

materials in contact (i.e. steel on steel, brass on steel,
plastic on wood etc.).
School of Mechanical and Manufacturing Engineering Static Friction Force

Static friction does not mean the objects in contact

are all stationary. It means there is no relative
motion between the objects at contact surface.

Static 𝐹𝑓 is a reaction force. We usually use force

equilibrium to find it.

DO NOT use 𝐹𝑓 = 𝜇𝑠 𝑁 to find the static friction force.

It is only the maximum possible value at impending slip.
 Dynamic Friction Force

When the block starts moving, the friction may not be opposite to v, but is opposite to the sliding
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tendency (imagine the scenario of motorbikes in circular motion).

As noted above, its magnitude is proportional to the magnitude of 𝑅, the reaction (normal) force

Let’s call the constant of proportionality 𝜇𝑘 , so that 𝐹 = 𝜇𝑘 𝑅

 Example 4: Friction
Consider a block of mass 𝑚 on a fixed inclined surface. The block has an external force 𝑃 applied to
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it. Assuming the friction coefficient between the block and the incline is µd = 0.3, find the
acceleration of the block.
 Example 4: Friction
Consider a block of mass 𝑚 on a fixed inclined surface. The block has an external force 𝑃 applied to
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it. Assuming the friction coefficient between the block and the incline is µd = 0.3, find the
acceleration of the block.
 Example 5
A 10 kg mass and a 5 kg mass are connected by a cable which runs over a massless pulley. The
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system is released. Determine:

(a) the acceleration of each mass,
(b) the tension in the cable.
 Example 6: Friction and Circular Motion (Method Only)
The mass 𝑚 (2.3 kg) has a velocity of 5.4 m/s. Mass 𝑀 = 5 kg.
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The coefficient of kinetic friction for the mass 𝑚 is 0.5.

The pulley is massless and frictionless.
The curved surface is circular with a radius 𝑅 = 0.9 m.
Find the acceleration of both masses.
School of Mechanical and Manufacturing Engineering Example 7: Additional Relative Motion Example
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Next Topic:

Particle Work and Energy