Dynamics - Chapter 11

Ninth Edition
CHAPTER VECTOR MECHANICS FOR ENGINEERS:
11 STATICS
Ferdinand P. Beer
E. Russell Johnston, Jr.
Kinematics of Particles
Lecture Notes:
J. Walt Oler
Texas Tech University
2010 The McGraw-Hill Companies, Inc. All rights reserved.

Edition
Ninth
Vector Mechanics for Engineers: Statics
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
2010 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 2
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Ninth
Introduction
Dynamics includes:
- Kinematics: study of the geometry of motion. Kinematics is used to
relate displacement, velocity, acceleration, and time without reference to
the cause of motion.
- Kinetics: study of the relations existing between the forces acting on a
body, the mass of the body, and the motion of the body. Kinetics is used
to predict the motion caused by given forces or to determine the forces
required to produce a given motion.
Rectilinear motion: position, velocity, and acceleration of a particle as it

moves along a straight line.
Curvilinear motion: position, velocity, and acceleration of a particle as it

moves along a curved line in two or three dimensions.

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Rectilinear Motion: Position, Velocity & Acceleration
Particle moving along a straight line is said
to be in rectilinear motion.
Position coordinate of a particle is defined
by positive or negative distance of particle
from a fixed origin on the line.
The motion of a particle is known if the
position coordinate for particle is known for
every value of time t. Motion of the particle
may be expressed in the form of a function,
e.g.,
x 6t 2 t 3
or in the form of a graph x vs. t.

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Ninth
Consider particle which occupies position P
at time t and P at t+Dt,
Dx
Average velocity
Dt
Dx
Instantaneous velocity v lim
Dt 0 Dt
Instantaneous velocity may be positive or

negative. Magnitude of velocity is referred
to as particle speed.
From the definition of a derivative,
Dx dx
v lim
Dt 0 Dt dt
e.g., x 6t 2 t 3
dx
v 12t 3t 2
dt
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Consider particle with velocity v at time t and
v at t+Dt,
Dv
Instantaneous acceleration a lim
Dt 0 Dt
Instantaneous acceleration may be:

- positive: increasing positive velocity
or decreasing negative velocity
- negative: decreasing positive velocity
or increasing negative velocity.
From the definition of a derivative,
Dv dv d 2 x
a lim 2
Dt 0 Dt dt dt
e.g. v 12t 3t 2
dv
a 12 6t
dt
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Ninth
Consider particle with motion given by
x 6t 2 t 3
dx
v 12t 3t 2
dt
dv d 2 x
a 12 6t
dt dt 2
at t = 0, x = 0, v = 0, a = 12 m/s2
at t = 2 s, x = 16 m, v = vmax = 12 m/s, a = 0
at t = 4 s, x = xmax = 32 m, v = 0, a = -12 m/s2
at t = 6 s, x = 0, v = -36 m/s, a = - 24 m/s2

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Determination of the Motion of a Particle
Recall, motion of a particle is known if position is known for all time t.
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)

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Acceleration given as a function of time, a = f(t):
v t t t
dv
a f t dv f t dt dv f t dt vt v0 f t dt
dt v 0 0
0
x t t t
dx
vt dx vt dt dx vt dt xt x0 vt dt
dt x0 0 0
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 x x x
v dv f x dx v dv f x dx 1 v x 2
2
12 v02 f x dx
v0 x0 x0

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Ninth
Acceleration given as a function of velocity, a = f(v):
v t t
dv dv dv
a f v dt dt
dt f v v0 f v 0
v t
dv
t
v0 f v
x t v t
dv v dv v dv
v a f v dx dx
dx f v x0 v0 f v
v t
v dv
xt x0
v0 f v

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Sample Problem 11.2
SOLUTION:
Integrate twice to find v(t) and y(t).
Solve for t at which velocity equals

zero (time for maximum elevation)
and evaluate corresponding altitude.
Solve for t at which altitude equals

Ball tossed with 10 m/s vertical velocity zero (time for ground impact) and
from window 20 m above ground. evaluate corresponding velocity.
Determine:
velocity and elevation above ground at
time t,
highest elevation reached by ball and
corresponding time, and
time when ball will hit the ground and
corresponding velocity.
Edition
Ninth
Sample Problem 11.2
SOLUTION:
Integrate twice to find v(t) and y(t).
dv
a 9.81m s 2
dt
v t t
dv 9.81dt vt v0 9.81t
v0 0
m m
vt 10 9.81 2 t
s s
dy
v 10 9.81t
dt
y t t
dy 10 9.81t dt y t y0 10t 12 9.81t 2
y0 0
m m
yt 20 m 10 t 4.905 2 t 2
s s
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Ninth
Sample Problem 11.2
Solve for t at which velocity equals zero and evaluate
corresponding altitude.
m m
vt 10 9.81 2 t 0
s s
t 1.019s
Solve for t at which altitude velocity equals zero and

evaluate corresponding velocity.
m m
y t 20 m 10 t 4.905 2 t 2
s s
m m
y 20 m 10 1.019 s 4.905 2 1.019 s 2
s s
y 25.1m

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Ninth
Sample Problem 11.2
Solve for t at which altitude equals zero and
evaluate corresponding velocity.
m m
yt 20 m 10 t 4.905 2 t 2 0
s s
t 1.243s meaningless
t 3.28 s
m m
vt 10 9.81 2 t
s s
m m
v3.28 s 10 9.81 2 3.28 s
s s
m
v 22.2
s

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Ninth
Sample Problem 12.2 (Dynamics, 14th Edition, R.C. Hibbeler, Pearson)

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Uniform Rectilinear Motion
For particle in uniform rectilinear motion, the acceleration is zero and
the velocity is constant.
dx
v constant
dt
x t
dx v dt
x0 0
x x0 vt
x x0 vt

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Ninth
Uniformly Accelerated Rectilinear Motion
For particle in uniformly accelerated rectilinear motion, the acceleration of
the particle is constant.
v t
dv
a constant dv a dt v v0 at
dt v0 0
v v0 at
x t
dx
dt
v0 at dx v0 at dt x x0 v0t 12 at 2
x0 0
x x0 v0t 12 at 2
v 2 v02 ax x0
v x
dv
v a constant v dv a dx 1
2
dx v0 x0
v 2 v02 2a x x0
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Ninth
Motion of Several Particles: Relative Motion
For particles moving along the same line, time
should be recorded from the same starting
instant and displacements should be measured
from the same origin in the same direction.
xB A xB x A relative position of B
with respect to A
xB x A xB A
vB A vB v A relative velocity of B
with respect to A
vB v A vB A
a B A a B a A relative acceleration of B
with respect to A
aB a A aB A
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Ninth
Sample Problem 11.4
SOLUTION:
Substitute initial position and velocity
and constant acceleration of ball into
general equations for uniformly
accelerated rectilinear motion.
Substitute initial position and constant

velocity of elevator into equation for
uniform rectilinear motion.
Ball thrown vertically from 12 m level
in elevator shaft with initial velocity of Write equation for relative position of
18 m/s. At same instant, open-platform ball with respect to elevator and solve
elevator passes 5 m level moving for zero relative position, i.e., impact.
upward at 2 m/s.
Substitute impact time into equation
Determine (a) when and where ball hits for position of elevator and relative
elevator and (b) relative velocity of ball velocity of ball with respect to
and elevator at contact. elevator.
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Ninth
Sample Problem 11.4
SOLUTION:
Substitute initial position and velocity and constant
acceleration of ball into general equations for
uniformly accelerated rectilinear motion.
m m
v B v0 at 18 9.81 2 t
s s
m m
y B y0 v0t 12 at 2 12 m 18 t 4.905 2 t 2
s s
Substitute initial position and constant velocity of

elevator into equation for uniform rectilinear motion.
m
vE 2
s
m
y E y0 v E t 5 m 2 t
s

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Ninth
Sample Problem 11.4
Write equation for relative position of ball with respect to
elevator and solve for zero relative position, i.e., impact.
yB E
12 18t 4.905t 2 5 2t 0
t 0.39 s meaningless
t 3.65 s
Substitute impact time into equations for position of elevator

and relative velocity of ball with respect to elevator.
y E 5 23.65
y E 12.3 m
v B E 18 9.81t 2
16 9.813.65
m
vB E 19.81
s
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Ninth
Motion of Several Particles: Dependent Motion
Position of a particle may depend on position of one
or more other particles.
Position of block B depends on position of block A.
Since rope is of constant length, it follows that sum of
lengths of segments must be constant.
x A 2 x B constant (one degree of freedom)
Positions of three blocks are dependent.
2 x A 2 xB xC constant (two degrees of freedom)
For linearly related positions, similar relations hold

between velocities and accelerations.
dx A dx dx
2 2 B C 0 or 2v A 2v B vC 0
dt dt dt
dv dv dv
2 A 2 B C 0 or 2a A 2a B aC 0
dt dt dt
Edition
Ninth
Sample Problem 11.5
SOLUTION:
Define origin at upper horizontal surface
with positive displacement downward.
Collar A has uniformly accelerated
rectilinear motion. Solve for acceleration
and time t to reach L.
Pulley D has uniform rectilinear motion.
Pulley D is attached to a collar which Calculate change of position at time t.
is pulled down at 3 in./s. At t = 0,
collar A starts moving down from K Block B motion is dependent on motions
with constant acceleration and zero of collar A and pulley D. Write motion
initial velocity. Knowing that velocity relationship and solve for change of block
of collar A is 12 in./s as it passes L, B position at time t.
determine the change in elevation, Differentiate motion relation twice to
velocity, and acceleration of block B develop equations for velocity and
when block A is at L. acceleration of block B.
Edition
Ninth
Sample Problem 11.5
SOLUTION:
Define origin at upper horizontal surface with
positive displacement downward.
Collar A has uniformly accelerated rectilinear

motion. Solve for acceleration and time t to reach L.
v 2A v A 02 2a A x A x A 0
2
in. in.
12 2a A 8 in. aA 9
s s2
v A v A 0 a At
in. in.
12 9 2t t 1.333 s
s s

Edition
Ninth
Sample Problem 11.5
Pulley D has uniform rectilinear motion. Calculate
change of position at time t.
x D x D 0 v D t
in.
x D x D 0 3 1.333s 4 in.
s
Block B motion is dependent on motions of collar
A and pulley D. Write motion relationship and
solve for change of block B position at time t.
Total length of cable remains constant,
x A 2 x D x B x A 0 2 x D 0 x B 0
x A x A 0 2xD xD 0 xB xB 0 0
8 in. 24 in. x B x B 0 0
x B x B 0 16 in.
Edition
Ninth
Sample Problem 11.5
Differentiate motion relation twice to develop
equations for velocity and acceleration of block B.
x A 2 x D x B constant
v A 2v D v B 0
in.
in. in. vB 18
12 2 3 v B 0 s
s s
a A 2a D a B 0
in.
in.
9 2 aB 0
a B 9 2
s s

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Ninth
Curvilinear Motion: Position, Velocity & Acceleration
Particle moving along a curve other than a straight line
is in curvilinear motion.
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 particle which occupies position P defined

by r at time t and P defined by r at t + Dt,

Dr dr
v lim
Dt 0 Dt dt
instantaneous velocity (vector)
Ds ds
v lim
Dt 0 Dt dt
instantaneous speed (scalar)

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Curvilinear Motion: Position, Velocity & Acceleration

Consider velocity v of particle at time t and velocity

v at t + Dt,

Dv dv
a lim
Dt 0 Dt dt
instantaneous acceleration (vector)
In general, acceleration vector is not tangent to

particle path and velocity vector.

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Ninth
Derivatives of Vector Functions

Let Pu be a vector function of scalar variable u,

dP DP Pu Du Pu
lim lim
du Du 0 Du Du 0 Du
Derivative of vector sum,

d P Q dP dQ

du du du
Derivative of product of scalar and vector functions,

d f P df dP
P f
du du du
Derivative of scalar product and vector product,

d P Q dP dQ
Q P
du du du

d P Q dP dQ
Q P
du du du
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Ninth
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 xi y j zk
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 xi y j zk
dt dt dt

ax i a y j az k

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Ninth
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

vx vx 0 v y v y 0 gt vz 0
x vx 0 t y v y 0 t 12 gt 2 z0
Motion in horizontal direction is uniform.
Motion in vertical direction is uniformly accelerated.
Motion of projectile could be replaced by two

independent rectilinear motions.
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Ninth
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 Axyz and

rB rA rB A
Differentiating twice,

vB v A vB A vB A velocity of B relative to A.

a B a A a B 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.
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Ninth
Velocity vector of particle is tangent to path of
particle. In general, acceleration vector is not.
Wish to express acceleration vector in terms of
tangential and normal components.

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

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Ninth

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 d ds v
d dt
After substituting,
dv v 2 dv v2
a et en at an
dt dt
Tangential component of acceleration reflects
change of speed and normal component reflects
change of direction.
Tangential component may be positive or
negative. Normal component always points
toward center of path curvature.
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Ninth
Relations for tangential and normal acceleration
also apply for particle moving along space curve.
dv v 2 dv v2
a et en at an
dt dt
Plane containing tangential and normal unit

vectors is called the osculating plane.
Normal to the osculating plane is found from

eb et en

en principalnormal

eb binormal
Acceleration has no component along binormal.

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When particle position is given in polar coordinates,
it is convenient to express velocity and acceleration
with components parallel and perpendicular to OP.
The particle velocity vector is

d dr der dr d
v rer er r er r e
dt dt dt dt dt

r er r e
r re r

der de Similarly, the particle acceleration vector is
e er
d d d dr d
a er r e
dt dt dt
der de d d
r e d 2 r dr der dr d d 2 d de
dt d dt dt 2 er e r 2 e r
dt dt dt dt dt dt dt dt
de d d

de
er 2 er r 2r e
dt d dt dt r r
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Ninth
When particle position is given in cylindrical
coordinates, it is convenient to express the
velocity and acceleration
vectors using the unit

vectors eR , e , and k .
Position vector,

r R e R z k
Velocity vector,

dr
v R eR R e z k

dt
Acceleration vector,

dv
a
dt
R 2

R eR R 2 R e z k


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Ninth
SOLUTION:
Calculate tangential and normal
components of acceleration.
Determine acceleration magnitude and

direction with respect to tangent to
curve.
A motorist is traveling on curved
section of highway at 60 mph. The
motorist applies brakes causing a
constant deceleration rate.
Knowing that after 8 s the speed has
been reduced to 45 mph, determine
the acceleration of the automobile
immediately after the brakes are
applied.
Edition
Ninth
SOLUTION:
Calculate tangential and normal components of
acceleration.
Dv 66 88 ft s ft
at 2.75 2
Dt 8s s
v2 88 ft s 2 ft
an 3.10 2
2500 ft s
60 mph 88 ft/s
Determine acceleration magnitude and direction
45 mph 66 ft/s with respect to tangent to curve.
ft
a at an 2.75 3.10
2 2 2 2 a 4 . 14
s2
1 an 1 3.10
tan tan 48.4
at 2.75

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Ninth
SOLUTION:
Evaluate time t for = 30o.
Evaluate radial and angular positions,
and first and second derivatives at
time t.
Rotation of the arm about O is defined Calculate velocity and acceleration in
by = 0.15t2 where is in radians and t cylindrical coordinates.
in seconds. Collar B slides along the
arm such that r = 0.9 - 0.12t2 where r is Evaluate acceleration with respect to
in meters. arm.
After the arm has rotated through 30o,

determine (a) the total velocity of the
collar, (b) the total acceleration of the
collar, and (c) the relative acceleration
of the collar with respect to the arm.
Edition
Ninth
SOLUTION:
Evaluate time t for = 30o.
0.15t 2
30 0.524 rad t 1.869 s
Evaluate radial and angular positions, and first

and second derivatives at time t.
r 0.9 0.12 t 2 0.481 m
r 0.24 t 0.449 m s
r 0.24 m s 2
0.15 t 2 0.524 rad

0.30 t 0.561rad s
0.30 rad s 2

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Calculate velocity and acceleration.
vr r 0.449 m s
v r 0.481m 0.561rad s 0.270 m s
v
v vr2 v2 tan 1
vr
v 0.524 m s 31.0
ar r r 2
0.240 m s 2 0.481m 0.561rad s 2
0.391m s 2
a r 2r

0.481m 0.3 rad s 2 2 0.449 m s 0.561rad s
0.359 m s 2
a
a ar2 a2 tan 1
ar
a 0.531m s 42.6
Edition
Ninth
Evaluate acceleration with respect to arm.
Motion of collar with respect to arm is rectilinear
and defined by coordinate r.
a B OA r 0.240 m s 2

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Ninth Edition

CHAPTER VECTOR MECHANICS FOR ENGINEERS:

2010 The McGraw-Hill Companies, Inc. All rights reserved.

Rectilinear motion: position, velocity, and acceleration of a particle as it

Curvilinear motion: position, velocity, and acceleration of a particle as it

2010 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 3

2010 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 4

Instantaneous velocity may be positive or

Instantaneous acceleration may be:

at t = 4 s, x = xmax = 32 m, v = 0, a = -12 m/s2

at t = 6 s, x = 0, v = -36 m/s, a = - 24 m/s2

2010 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 7

2010 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 8

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

2010 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 9

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Solve for t at which velocity equals

Solve for t at which altitude equals

Solve for t at which altitude velocity equals zero and

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Substitute initial position and constant

Substitute initial position and constant velocity of

2010 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 28

Substitute impact time into equations for position of elevator

For linearly related positions, similar relations hold

Collar A has uniformly accelerated rectilinear

2010 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 32

2010 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 34

Position vector of a particle at time t is defined by a

Consider particle which occupies position P defined

2010 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 39

In general, acceleration vector is not tangent to

2010 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 40

2010 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 42

Integrating twice yields

Motion of projectile could be replaced by two

2010 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 45

Plane containing tangential and normal unit

Acceleration has no component along binormal.

2010 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 47

The particle velocity vector is

2010 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 49

Determine acceleration magnitude and

2010 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 51

After the arm has rotated through 30o,

Evaluate radial and angular positions, and first

0.15 t 2 0.524 rad

2010 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 53

2010 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 55