Chapter Two

Kinematics of
particles

Introduction
Kinematics: is the branch of dynamics which describes
the motion of bodies without reference to the
forces that either causes the motion or are
generated as a result of the motion.
Kinematics is often referred to as the geometry of

motion

Examples of kinematics problems that engage the

attention of engineers.
The design of cams, gears, linkages, and other

machine elements to control or produce certain

desired motions, and
The calculation of flight trajectory for aircraft,

rockets and spacecraft.

 If the particle is confined to a specified path, as with a bead

sliding along a fixed wire, its motion is said to be Constrained.

Example 1. - A small rock tied to the end of a string and whirled in a
circle undergoes constrained motion until the string breaks.

 If there are no physical guides, the motion is

said to be unconstrained.
Example 2 - Airplane, rocket

 The position of a particle P at any time t can be

described by specifying its:

- Rectangular coordinates; X,Y,Z
- Cylindrical coordinates; r,,z
- Spherical coordinates; R,,
- Also described by measurements along the tangent t
and normal n to the curve(path variable).

 The motion of particles(or rigid bodies) may be

described by using coordinates measured from

fixed reference axis (absolute motion analysis) or
by using coordinates measured from moving
reference axis (relative motion analysis).

Rectilinear motion
Is a motion in which a particle moves along a

straight line(one-dimensional motion).

Consider a particle P moving along a straight line.

Average velocity: for the time interval t, it is defined as the ratio

of the displacement s to the time interval t.
Vav =

s
t 2.1

As t becomes smaller and approaches zero in the limit, the

average velocity approaches the instantaneous velocity of the

particle.
s
ds
V lim Vav lim

S
t 0
t 0 t
dt
2.2

Average acceleration
For the time interval t, it is defined as the ratio of the change in
velocity v to the time interval t.

2.3
v

Instantaneous acceleration

a av

2.4(a)

v
dv
a lim

v
t 0 t
dt
v
dv
d ds
d 2s
a lim

2
t 0 t
2.4(b)
dt
dt dt
dt

 Note:-The acceleration is positive or negative

depending on whether the velocity increasing or

decreasing.
Considering equation 2.2 and 2.4(a) , we have
ds
dv
dt

v
a
vdv ads
dt

ds

d s

s d s s ds

General representation of Relationship

among s, v, a & t.

1. Graph of s vs. t

By constructing tangent to the curve at any time t, we

obtain the slope, which is the velocity v = ds/dt

2. Graph of v vs. t

The slope dv/dt of the v-t curve at any instant gives the

acceleration at that instant.

The area under the v-t curve during time dt is vdt which is the

displacement ds.

 The area under the v-t curve is the net

displacement of the particle during the

interval from
t
1 to t2.
s
t
2

s1

t1

ds vdt

s2 s2

(area under v-t curve )

3. Graph of a vs. t

The area under the a-t curve during time dt is the net change in velocity of
the particle
between tt1 and t2.
v
2

dv

v1

adt

t1

v2 - v1 = (area under a-t curve)

4. Graph of a vs. s

The net area under the curve b/n position coordinates s 1 and s2

is
v2

s2

v1

s1

vdv ads

1
2
2
(v2 v1 )(areas

under a-s curve)

2

5. Graph of v vs. s

tan

dv

ds CB
1
v

dv
CB

vdv CBds
ds
v

The graphical representations described are useful for: visualizing the relationships among the several motion quantities.
approximating results by graphical integration or differentiation when a

lack of knowledge of the mathematical relationship prevents its

expression as an explicit mathematical function .
experimental data and motions that involve discontinuous relationship

b/n variables.

Methods for determining the

velocity and displacement
functions

a) Constant acceleration, (a=const.)

- boundary conditions
at t=0 , s=s0 and v=v0
using integrating
a
v

dv
adt dv
dt
t

dv adt v v

vo

v v o at

at

 Using

vdv ads
v2

vo

so

vdv ads
2

v 2 vo
as so
a s so
vo
2
2
v 2 vo 2a(s s0 )
v

Using

ds
ds vdt
dt
s

ds

s0

(v

at ) dt

at 2
s so vo t
2
1
s so vo t
at 2
2

 These relations are necessarily restricted

to the special case where the acceleration

is constant.
The integration limits depend on the initial

and final conditions and for a given

problem may be different from those used
here.

 Typically, conditions of motion are specified by

the type of acceleration experienced by the

particle.

Determination of velocity and position

requires two successive integrations.

Three classes of motion may be defined for:
- acceleration given as a function of time, a = f(t)
- acceleration given as a function of position, a = f(x)
- acceleration given as a function of velocity, a = f(v)

b) Acceleration given as a function of time, a=f(t)

dv
a f t
dt
dx
v t
dt

dv f t dt
dx v t dt

v t

v0

dv f t dt

x t

x0

v t v0 f t dt
0

dx v t dt

x t x0 v t dt
0

c) Acceleration given as a function of position, a = f(x)

dx
dx
dv
dv
v
or dt
a
or a v
f x
dt
v
dt
dx
v dv f x dx

v dv

v0

x0

f x dx

1
2

v 2 12 v02

f x dx

x0

d) Acceleration
given as a function of velocity,
at = f(v)
v
dv
dv
dv
a f v
dt
dt

dt
f v
f v
v
0
0

v0

dv
t
f v

dv
v
a f v
dx
v

x x0

v0

v dv
f v

v dv
dx
f v

dx

x0

v0

v dv
f v

Example 1
Consider a particle moving in a straight line, and assuming

that its position is defined by the equation

s 6t 2 t 3

Where, t is express in seconds and s is in meters.

Determine the velocity and acceleration of the particles at

any time t

Example 2
The acceleration of a particle is given by ,

a 4t 30

where a is in meters per second

squared and t is in seconds. Determine the

velocity and displacement as function time. The
initial displacement at t=0 is so=-5m, and the
initial velocity is vo=30m/s.

Example 3

The position of a particle which moves along

a straight
line is defined by the relation
3
2
x t 6t 15t 40
,where x is
expressed in m and t in second.
Determine:
a)The time at which the velocity will be zero.
b)The position and distance traveled by the
particle at that time.
c)The acceleration of the particle at that time.
d)The distance traveled by the particle
between 4s and 6s.

Example 4
A particle moves in a straight line
with velocity shown in the figure.
Knowing that x=-12m at t=0

 Draw the a-t and x-t graphs, and

Determine:
a)The total distance traveled by the
particle when t=12s.
b)The two values of t for which the
particle passes the origin.
c)The max. value of the position
coordinate of the particle.
d)The value of t for which the particle is
at a distance of 15m from the origin.

Example 5
the rocket car starts from rest and
subjected to a constant acceleration of
a 6m/s 2 until t=15sec. The brakes are then
applied which causes a decelerated at a
rate shown in the figure until the car
stops. Determine the max. speed of the car
and the time when the car stops.

Example 6
A motorcycle patrolman starts from rest at A two seconds

after a car, speeding at the constant rate of 120km/h,

passes point A. if the patrolman accelerate at the rate of
6m/s2 until he reaches his maximum permissible speed of
150km/h, which he maintains, calculate the distance s from
point A to the point at which he overtakes the car.

Example 7

The preliminary design for a rapid transient system calls

for the train velocity to vary with time as shown in the

plot as the train runs the 3.2km between stations A and B.
The slopes of the cubic transition curves(which are of

form a+bt+ct2+dt3) are zero at the end points.

Determine the total run time t between the stations and

the maximum acceleration.

Plane curvilinear motion

Curvilinear motion of a particle

When a particle moves along a curve other
than a straight line, we say that the particle
is in curvilinear motion.

Plane curvilinear motion

The analysis of motion of a particle along a
curved path that lies on a single plane.

 Consider the continuous motion of a particle along a

plane curve.
- At time t, the particle is at position P, which is
located by the position vector r measured from some
convenient fixed origin O.

At time
, the particle is at P located by the
t t

position vector r r .
- The vector r joining p and p represents the
change in the position vector during the time
interval t (displacement) .

 The distance traveled by the particle as it

moves along the path from P to P is the scalar

length s measured along the path.
The displacement of the particle represents

the vector change of position and is clearly

independent of the choice of origin.

Note: there is a clear distinction between the

magnitude

of

the

derivative

derivative of the magnitude.

- The magnitude of the derivative.

dr
r v v speed
dt

- The derivative of the magnitude

d r
dt

dr

r
dt

and

the

 Let us draw both vectors v and v from the same

origin o. The vector v joining Q and Q
represents the change in the velocity of the
particle during the time interval t.

v=v+v

Note: The direction of the acceleration of a

particle in curvilinear motion is neither
tangent to the path nor normal to the
path.

 Suppose we take the set of velocity vectors and trace

out a continuous curve; such a curve is called a
hodograph.
The acceleration vector is tangent to the hodograph,
but this does not produce vectors tangent to the path
of the particle.

Rectangular co-ordinates (x-y-z)

This is particularly useful for describing
motions where the x,y and z-components of
acceleration are independently generated.

 When the position of a particle P is defined at

any instant by its rectangular coordinate x,y
and z, it is convenient to resolve the velocity v
and the acceleration a of the particle into
rectangular components.

 Resolving the position vector r of the particle

into rectangular components,

r=xi+yj+zk
Differentiating

dr
d
v

( xi yj zk)
dt
dt

v xi y j z k

 All of the following are equivalent:

dr
d
v

( xi yj zk)
dt
dt
dx dy dz

i
j
k
dt
dt
dt

i y
j z k
x
v x i v y j v z k

Since the speed is defined as the magnitude of the velocity, we have:

v x2 v y2 v z2

Similarly,

dv
d
a

(v x i v y j v z k)
dt
dt
dv x dv y dv z

i
j
k
dt
dt
dt

v x i v y j v z k

xi yj zk
The magnitude of the acceleration vector is:

a x2 a y2 a z2

 From the above equations that the scalar

components of the velocity and acceleration
are

vx x

ax x

vy y

ay y

vz z

az z

 The use of rectangular components to

describe the position, the velocity and the
acceleration of a particle is particularly
effective when the component ax of the
acceleration depends only upon t,x and/or vx,
similarly for ay and az.

 The motion of the particle in the x direction,

its motion in the y direction, and its motion in
the z direction can be considered separately.

Projectile motion
An important application of two dimensional
kinematic theory is the problem of projectile
motion.

Assumptions
Neglect the aerodynamic drag, the earth
curvature and rotation,
The altitude range is so small enough so
that the acceleration due to gravity can be
considered constant, therefore;

 Rectangular coordinates are useful for the

trajectory analysis.
In the case of the motion of a projectile, it
can be shown that the components of the
acceleration are

ax x 0

ay y g

az z 0

Boundary conditions
at

t=0 ; x=x ,y=y ; vx=vxo and vy=vy0

0

Position

x x0 v x 0 t
y y0 v y 0 t
Velocity

1
gt 2
2

z zo v z ot

vx x vx 0

v y y v y 0 gt

v z z v zo
vy

v yo 2 g ( y yo )

In all these expressions,

the subscript zero
denotes initial conditions

 But for two dimensional motion of the projectile,

x x0 v x 0 t
y y0 v y 0 t

1
gt 2
2

vx x vx 0

v y y v y 0 gt
vy

v yo 2 g ( y yo )

 If the projectile is fired from the origin O, we have

xo=yo=0 and the equation of motion reduced to
vx vx 0

x v x 0t
y v y 0 t

1
gt 2
2

v y v y 0 gt

Example
A projectile is fired from the edge of a 150m cliff with an initial
velocity of 180m/s at angle of 300 with the horizontal. Neglect

air resistance, find

a) the horizontal distance from gun to the point where the
projectile strikes the ground.
b) the greatest elevation above the ground reached by the
projectile.

Example
A projectile is launched from point A
with the initial conditions shown in
the figure. Determine the slant
distance s that locates the point B of
impact and calculate the time of
flight.

Example
The muzzle velocity of a long-range
rifle at A is u=400m/s. Determine the
two angles of elevation that will
permit the projectile to hit the
mountain target B.

Curvilinear motion
Normal and tangential coordinates

Normal and tangential coordinate

When a particle moves along a curved path, it
is sometimes convenient to describe its
motion using coordinates other than
Cartesian.
When the path of motion is known, normal (n)
and tangential (t) coordinates are often used.

 They are path variables, which are

measurements made along the tangent t and
normal n to the path of the particle.
The coordinates are considered to move along
the path with the particle.
In the n-t coordinate system, the origin is
located on the particle (the origin moves with
the particle).

 The t-axis is tangent to the path (curve) at

the instant considered, positive in the
direction of the particles motion.
The n-axis is perpendicular to the t-axis with
the positive direction toward the center of
curvature of the curve.

 The coordinate n and t will now be used to

describe the velocity v and acceleration a.
Similarly to the unit vectors i and
j introduced for rectangular
coordinate system, unit vectors
for t-n coordinate system can be
used.
For this purpose we introduce
unit vector
et in the t-direction
en in the n-direction.

 et - directed toward the direction of

motion.
en-directed toward the center of curvature
of the path.

 During the differential

increment of time dt, the
particle moves a differential
distance ds along the curve
from A to A.
With the radius of curvature
of the path at this position
designated by , we see that
ds = d

velocity

The magnitude of the velocity is:

ds
d
d
v v

dt
dt
dt

Since it is unnecessary to consider the

differential change in between A and A,

v vet et ........................(1)

Acceleration

The acceleration a of the particle was defined

dv d
by:
a

dt

dt

vet

Now differentiate the velocity by applying the

ordinary rule (chain rule) for the differentiation of
the product of a scalar and a vector.
dv d
det
dv
vet et v
a

dt dt
dt
dt

a v et v et

 Where the unit vector et now has a derivative

because its direction changes.
dv
det
. . . . . . . . . . . (1)
a
et v
dt

dt

det
To find the derivative of
consider the
dt

following figure
Using vector addition
et = et + et
Since the magnitude
| et |= | et | = 1

 The magnitude of et
| et |= 2 sin /2
Dividing both sides by

2
sin
et
2

et
As 0, is tangent to the path;i.e,
perpendicular to et .

 Taking the limit as 0

sin
et
2 1
lim
lim
0
0

The vector obtained in the limit is a unit vector

along the normal to the path of the particle.
lim

et
det

det
But
1.en
d
det
en
det d .en
d

Dividing both sides by dt

det
d
But d = ds/

.en
dt
dt
Then

det
det
1 ds
v

.en
en
dt
dt
dt

 Equation (1) becomes

det
dv
v2
dv
a v

et a
.en
.et
dt
dt

dt

We can write

a an en at et

2
v2
an

where,
and

a a

an2 at2

at v

Note:

an is always directed towards the center of curvature

of the path.

at is directed towards the positive t-direction of the

motion if the speed v is increasing and towards the
negative t-direction if the speed v is decreasing.

At the inflection point in the curve, the normal

2
v
acceleration,
goes to zero since becomes

infinity.

Special case of motion

Circular
motion
2

v
an
but =r and v r

an r 2

dv
d
d
at

dt
dt
dt

at r

a r et r en

 The particle moves along a path expressed as

y = f(x). The radius of curvature, , at any
point on the path can be calculated from

xy

dy 2
)
1 (
dx

d2y
dx 2

APPLICATIONS
Cars

traveling

clover-leaf

along

interchange

experience an acceleration
due to a change in speed as
well as due to a change in
direction of the velocity.

Example 1
Starting from rest, a motorboat
travels around a circular path of
r = 50 m at a speed that increases
with time, v = (0.2 t2) m/s.
Find the magnitudes of the boats

velocity and acceleration at the

instant t = 3 s.

Example 2
A jet plane travels along a vertical
parabolic path defined by the equation

y = 0.4x2. At point A, the jet has a

speed of 200 m/s, which is increasing at
the rate of 0.8 m/s2. Find the magnitude
of the planes acceleration when it is at
point A.

Example 3
A race traveling at a speed of 250km/h on the
straightway applies his brakes at point A and
reduce his speed at a uniform rate to 200km/h at
C in a distance of 300m.
Calculate the magnitude of the total acceleration
of the race car an instant after it passes point B.

Example 4
The motion of pin A in the fixed circular slot is
controlled by a guide B, which is being elevated
by its lead screw with a constant upward
velocity vo=2m/s for the interval of its motion.
Calculate both the normal and tangential
components of acceleration of pin A as it passes
the position for which
.

Curvilinear motion
Polar coordinate system (r- )

Polar coordinate(r- )
The

third

description

for

plane curvilinear

motion.
Where the particle is located by the radial

distance r from a fixed pole and by an angular

measurement to the radial line.

 Polar coordinates are particularly useful when a

motion is constrained through the control of a
radial distance and an angular position,
or when an unconstrained motion is observed by
measurements of a radial distance and an angular
position.

 An arbitrary fixed line,

such as the x-axis, is used
as a reference for the
measurement .
Unit vectors er and e are
established in the positive

and

respectively.

directions,

 The position vector

to the particle at A has a

r

magnitude equal to the radial distance r and a

direction specified by the unit vector er.
We express the location of the particle at A by
the vector

r r. e r

Velocity
The velocity is obtained by differentiating the vector r.

dr
dr.er
dr
der
v

er r
dt
dt
dt
dt

v r .er r. er
Where the unit vector er now has a derivative because
its direction changes.
We obtain the derivation in exactly the same way that
we derived for et.

der
To find the derivative of
consider the
dt

following figure
Using vector addition
er = er + er
e = e + e

Since the magnitude

|er| = |er| = |e|= |e| = 1

 The magnitude of er and e

| er|= |e| =2 sin /2
Dividing both sides by
e
er

er
As 0,

2 sin

is perpendicular to er .

Note: As 0,

1.

er
is directed towards the
positive e direction.

2.

e
is directed towards the
negative er direction.

Then,

er
e
lim
lim
lim
0
0
0

sin

2 1

 Therefore;
er
der
lim

1
0

e
de
lim

1
0

der
1.e e der d .e
d

de
1.er er de d .er
d

 Dividing both sides by dt, we have

der
d
der

e
.e
dt
dt
dt

de
de
d

er
.er
dt
dt
dt

Thereforedrthe

becomes;
velocity

der equation
v

dt

er r

dt

r .er r. e

 Where

vr r

and v r.
vr v

v
tan
vr

 The r-component of v is merely the rate at which

the vector r stretches.
The -component of v is due to the rotation of r.

Acceleration
Differentiating the expression for v to obtain
the acceleration a.

dv
d 2r
d

r
e

r

2
dt
dt
dt

dr

der
dr
d
de
a
er r

e r
e r
dt
dt
dt
dt
dt

But from the previous derivation

de
der
.e , and
.er
dt
dt

 Substituting the above and simplifying

a r er r e r e r e r er

a r r er r 2 r e

Where

ar r r

a r 2 r

a r a

a
tan
ar

 For motion in a circular path

Velocity

v r .er r. e
Where,

r because
0
r=constant

v r. e

Acceleration

rr 0
where,

a r er r e

Kinematics of particles
Relative motion

Relative motion
Relative motion analysis : is the motion analysis of
a

particle

using

moving

reference

system

coordinate in reference to fixed reference

system.

 In

this

portion

we

will

confine

our

attention to: moving reference systems that translate but

do not rotate.
The relative motion analysis is limited to plane
motion.

 Note: in this section we need

1. Inertial(fixed) frame of reference.
2.Translating(not rotating) frame of reference.

 Consider two particles A and B that may have

separate curvilinear motion in a given plane or in
parallel planes.

X,Y :

inertial frame of reference

X,y :

translating coordinate system

 Using vector addition:

position vector of particle B is

r B r A r B/ A
Where: rA, rB absolute position vectors

rB/A relative position vector of particle B (B relative to

A or B with respect to A)

 Differentiating the above position vector once we

obtain

the

velocities

and

twice

to

obtain

accelerations. Thus,
- Velocity

- Acceleration

dr B
d r A d r B/ A

dt
dt
dt

dv B
dv A d v B/ A

dt
dt
dt

v B v A v B/ A

a B a A a B/ A

 Note: In relative motion analysis, we employed the

following two methods,
1. Trigonometric(vector diagram) A sketch of the
vector triangle is made to reveal the trigonometry
2. Vector algebra using unit vector i and j, express
each of the vectors in vector form.

Example 1
A 350m long train travelling at a constant speed of
40m/s crosses over a road as shown below. If an
automobile A is traveling at 45m/s and is 400m from
the crossing at the instant the front of the train
reaches the crossing, determine
a) The relative velocity of the train with respect to the
automobile, and
b) The distance from the automobile to the end of the
last car of the train at the instant.

Example 2

For the instant represented, car A has a speed of

100km/h, which is increasing at the rate of 8km/h each
second. Simultaneously, car B also has a speed of
100km/h as it rounds the turn and is slowing down at
the rate of 8km/h each second. Determine the
acceleration that car B appear to have an observer in
car A.

Example 3
For the instant represented, car A has an acceleration in
the direction of its motion and car B has a speed of
72km/h which is increasing. If the acceleration of B as
observed from A is zero for this instant,
Determine the acceleration of A and the rate at which the

speed of B is changing.

Example 4
Airplane A is flying horizontally with a constant speed
of 200km/h and is towing the glider B, which is
gaining altitude. If the tow cable has a length r=60m
and

is increasing at the constant rate of 5 degrees

per second, determine the velocity and acceleration

of the glider for the instant when

=15

Constrained motion of connected

particles

Constrained motion(dependent motion)

Sometimes the position of a particle will depend
upon the position of another or of several particles.
If the particles are connected together by an
inextensible ropes, the resulting motion is called
constrained motion

 Considering the figure, cable AB is subdivided into three segments:

the length in contact with the
pulley, CD
the length CA
the length DB

It is assumed that, no matter how A and B move, the length in

contact with the pulley is constant.
We could write:

s A lCD s B l AB constant

 Differentiating with respect to time,

ds A dsB

0
dt
dt
vA vB 0
Differentiating the velocity equation

aA aB 0

Important points in this technique:

Each datum must be defined from a fixed position.
In many problems, there may be multiple lengths like lCD that dont
change as the system moves. Instead of giving each of these
lengths a separate label, we may just incorporate them into an
effective length:

 where its understood that

l = cable length less the length in contact with the pulley = lAB lCD.

s A s B l constant

 considering the fig, we could write:

s A h 2 s B l constant
where l is the length of the cable less
the red segments that remain
unchanged in length as A and B move.
Differentiating,

v A 2vB 0
a A 2aB 0

 we could also write the length of

the cable by taking another datum:

s A h 2( h s B ) l constant
Differentiating,

v A 2vB 0
a A 2aB 0

 Consider the fig.,

L x

r2
2

2 y r1 b

Since L, r2, r1 and b is

constant,
second

the
time

0 x 2 y
are:-0 x 2 y

first

and

derivatives

 Consider the
following figure
LA y A 2 y D const.
LB y B yC ( yC y D ) const.

 NB. Clearly, it is impossible for the

signs of all three terms to be positive
simultaneously.

Example 1
Cylinder B has a downward velocity of 0.6m/s and an
upward acceleration of 0.15m/s2.
Calculate the velocity and acceleration of block A.

Example 2
Collars A and B slides along the fixed rods are
connected by a cord length L. If collar A has a

velocity v x to the right, express the velocity

A

vB s

of B in terms of x, vA, and s.

Part III
Kinetics of particles

Kinetics of particles
It is the study of the relations existing between
the forces acting on body, the mass of the body,
and the motion of the body.
It

is

the

study

of

the

relation

between

unbalanced forces and the resulting motion.

 Newton s first law and third law are sufficient

for studying bodies at rest (statics) or bodies in
motion with no acceleration.

 When a body accelerates ( change in velocity

magnitude or direction) Newton s second law is
required to relate the motion of the body to the
forces acting on it.

Kinetics problems
Force-mass-acceleration method
Work and energy principles
Impulse and momentum method

Force, mass and acceleration

Newton s Second Law: If the resultant force
acting on a particle is not zero the particle will
have an acceleration proportional to the
magnitude of resultant and in the direction of
the resultant.

 The

basic

relation

between

force

and

acceleration is found in Newton's second law of

motion

and

experimental.

its

verification

is

entirely

 Consider a particle subjected to constant forces

F1 F2
F

...
const
a1 a2
a
We conclude that the constant is a measure of
some property of the particle that does not
change.

 This property is the inertia of the particle which

is its resistance to rate of change of velocity.
The mass m is used as a quantitative measure of
inertia, and therefore the experimental relation
becomes,
F=ma

 The

above

relation

provides

complete

formulation of Newton's second law; it expresses

not only that the magnitude F and a are
proportional but also that the vector F and a
have the same direction.

Types of dynamics problems

Acceleration is known from kinematics conditions
Determine the corresponding forces
Forces acting on the particle are specified
(Forces are constant or functions F( t, s, v, )
Determine the resulting motion

Equation of motion and solution of problems

When a particle of mass m acted upon by several
forces. The Newtons second law can be
expressed by the equation

F ma
To determine the acceleration we must use the
analysis used in kinematics, i.e
Rectilinear motion
Curvilinear motion

Rectilinear Motion
If we choose the x-direction, as the
direction of the rectilinear motion of
a particle of mass m, the
acceleration in the y and z direction
will be zero, i.e

F
F
F

ma x

0
0

 Generally,

F
F
F

ma x

ma y

maZ
Where the acceleration and resultant force are
given by
a axi a y j az k
a

ax a y az

F F i F j F k
F F ( F )
x

( Fz ) 2

Curvilinear motion
In applying Newton's second law, we shall make
use of the three coordinate descriptions of
acceleration in curvilinear motion.

Rectangular coordinates
F
F

max

ma y

Where a x x and a y y

Normal and tangential coordinate

F
F

Where

man

mat
2

v2
an
, at v

Polar coordinates
F ma
F ma
r

Where a r r
r

and an r 2 r

Examples

Example 1
Block A has a mass of 30kg and block B has a mass of
15kg. The coefficient of friction between all plane
surfaces of contact are 0.15 and k 0.10.
s
Knowing that =300 and that the magnitude of the
force P applied to block A is 250N, determine
a) The acceleration of block A ,and
b) The tension in the cord

Example 2
A small vehicle enters the top A of the circular path
with a horizontal velocity vo and gathers speed as it
moves down the path.
Determine an expression for the angle to the
position where the vehicle leaves the path and
becomes a projectile. Evaluate your expression for
vo=0. Neglect friction and treat the vehicle as a
particle

Exercise(problem 3/69)
The slotted arm revolves in the horizontal plane
about the fixed vertical axis through point O. the
2kg slider C is drawn toward O at the constant
rate of 50mm/s by pulling the cord S. at the
instant for which r=225mm, the arm has a
counterclocke wise angular velocity w=6rad/s and
is slowing down at the rate of 2rad/s2. For this
instant, determine the tension T in the cord and
the magnitude N of the force exerted on the slider
by the sides of the smooth radial slot. Indicate
which side, A or B of the slot contacts the slider.

Exercise (problem 3/43)

The sliders A and B are connected by a light rigid
bar and move with negligible friction in the slots,
both of which lie in a horizontal plane. For the
positions shown, the velocity of A is 0.4m/s to
the right. Determine the acceleration of each
slider and the force in the bar at this instant.

Exercise (problem 3/36)

Determine the accelerations of bodies A and B
and the tension in the cable due to the
application of the 250N force. Neglect all
friction and the masses of the pulleys.