Chapter 3
Kinematics of Motion
In Two and Three Dimensions
Position and Velocity Vectors
in Three Dimensions
The position vector r
is given by :
r=xi + yj+ zk
If the particle changes
position with time ;
it is moving in
space.
Position and Velocity Vectors
in Three Dimensions
The average velocity
vector vav is given
by :
vav = r / t
vav = ( r2 – r1 ) / (t2 – t1 )
The instantaneous
velocity v is given by :
v = dr / dt
Position and Velocity Vectors
in Two Dimensions { Motion in a Plane }
In the x-y plane : the position vector is :
r=xi + yj
The instantaneous velocity vector v is :
v = dr/dt = (dx/dt) i + (dy/dt) j
v = vx i + vy j
The magnitude of v ( the speed v ) is :
v = [ vx2 + vy2 ]1/2
The velocity vector makes an angle with the
positive x-axis given by :
tan = vy / vx OR = tan-1 ( vy / vx )
Instantaneous acceleration
vector in two dimensions
The velocity vector v is :
v = vx i + vy j
The instantaneous acceleration a is :
a = dv/dt = (dvx/dt) i + (dvy/dt) j
a = ax i + a y j
The magnitude of a is :
a = [ ax2 + ay2 ]1/2
The acceleration vector makes an angle with
the positive x-axis given by :
tan = ay / ax OR = tan-1 ( ay / ax )
Kinematical Equations of Motion in two
dimensions with constant acceleration
v = vo + a t
r – r o = v o t + ½ a t2
We treat : v ; vo ; a ; r ; ro as vectors .
Example
The coordinates of a bird flying in the x-y plane is given as
functions of time as follows :
x(t) = 2.4 t ; y(t) = 3 – 1.2 t2
(a) Write the velocity vector of the bird as function of time .
(b) Calculate the magnitude and direction of the velocity of
the bird at t = 2.0 s .
(c) Write the acceleration vector of the bird as function of
time .
(d) Calculate the magnitude and direction of the
acceleration of the bird at t = 2.0 s .
SOLUTION
(a) r(t) = x(t) i + y(t) j = 2.4 t i + ( 3.0 – 1.2 t2 ) j m
v(t) = dr/dt = 2.4 i - 2.4 t j m/s
(b) At t = 2.0 s ;
v(2) = 2.4 i - 4.8 j m/s
v(2) = [ (2.4)2 + (4.8)2 ]1/2 = 5.37 m/s
tan = vy/vx = - 2 ; = -63.4o + 360o = 296.6o
the velocity vector lies in the fourth quadrant .
(c) v(t) = 2.4 i - 2.4 t j m/s
a(t) = dv/dt = - 2.4 j m/s2 ( constant acceleration )
(d) At t = 2.0 s ; a = 2.4 m/s2 in the negative y-direction .
Motion in A circle
{ Circular Motion }
One of the important motions in a plane is the circular motion ;
it is worth to study the kinematics of such motion because it is
a common motion in our life :
in amusement parks ; in atoms and in galaxies .
Circular Motion may be Uniform or Nonuniform .
Uniform Circular Motion :
means motion in a circle with constant speed ; the magnitude of
the velocity remains constant ; but its direction changes
continuously .
In Nonuniform Circular Motion : the magnitude and direction of
the velocity changes continuously with time .
Kinematics of
Uniform Circular Motion
The change in the direction of
the velocity produces an
acceleration
a = v/t
a will be in the same direction
of v .
When t approaches zero ;
a coincides with the radius
and is directed towards the
center of the circle and it is
called :
centripetal acceleration (ac)
or radial acceleration ( arad )
Kinematics of
Uniform Circular Motion
The magnitude of the
centripetal (radial)
acceleration is given
by :
ac = arad = v2/R
arad is always
perpendicular to v .
Kinematics of
Uniform Circular Motion
In uniform circular motion : If the period
( Time for one complete revolution ) is T ;
Then : tangential (linear) speed v is :
v=(2R)/T m/s
The angular speed = ( 2 ) / T rad/s
Therefore : v = R
The SI unit of is : rad/s ; A common unit of is :
revolution per minute ( rpm )
1 revolution = 2 rad.
Suppose : = 200 rpm
Then : = 200 x ( 2 / 60 ) = 20.93 rad/s
Kinematics of
Uniform Circular Motion
arad = v2 / R
v=R
Substituting for v2 :
arad = 2 R
=2/T
arad = (4 2 R) / T2
Example
In a carnival ride , the passengers travel at
constant speed in a circle of radius 5.0 m .
They make one complete circle in 4.0 s .
Calculate the following :
(a) The tangential speed v of the passenger .
(b) The angular speed of the passenger in
rad/s .
(c) The angular speed of the passenger in
revolution per minute (rpm) .
(d) The centripetal acceleration ac of the
passenger .
SOLUTION
(a) v = 2 R / T = ( 2 x 3.14 x 5.0 ) / 4
v = 7.85 m/s
(b) = 2 / T = 6.28 / 4 = 1.57 rad/s
(c) = 1.57 x ( 60 / 6.28 ) = 15 rpm
(d) arad = v2 / R = (7.85)2 / 5 = 12.34 m/s2
Projectile motion—Figure 3.15
– A projectile is any body given an initial velocity that then follows a path
determined by the effects of gravity and air resistance.
– Begin neglecting resistance.
The equations of motion under constant
acceleration
• Projectile motion sets
xo = 0 and yo = 0 then obtains the specific results shown below:
• x = (vocosαo)t
• y = (vosinαo)t 1/2gt2
• vx = vocosαo
• vy = vosinαo gt
