Rectilinear Translation Module 2 - Lesson 1-4

Module 2
Module Title : Rectilinear Translation
Course Title : ABE 215-ENGINEERING MECHANICS II (DYNAMICS)
Course Number : ABE 228
Course Description : Principles of dynamics; rectilinear translation; curvilinear translation; rotation;
and work and energy;
Total Learning Time: 12 hours
Pre-requisites : Engineering Mechanics I
1
Course Outcome : At the end of the semester, the students must be able to:

1. Describe the principles of dynamics and its importance in the field of engineering;
2. Explain the concepts of rectilinear and curvilinear translation, rotation, and work and energy;
3. Compute problems involving rectilinear and curvilinear translations at varying conditions;
4. Analyze and compute problems related to rotation, work, and energy; and
5. Apply the principles of dynamics in designing basic machine and building structures in actual field
situation.

Learning Outcomes : At the end of the lesson (Lesson 1), the students must be able to:

1. Define rectilinear translation and characteristics of translation.

2. Describe freely falling bodies,
3. Rectilinear Motion with Variable Acceleration and Dynamic Equilibrium in Translation.
4. Compute problems involving rectilinear translation.

Indicative Content

Lesson 1 - Rectilinear Motion with Constant Acceleration (Art. 10-2)

Lesson 2 - Freely Failing Bodies, Air Resistance Neglected (Art. 10-3)
Lesson 3 - Rectilinear Motion with Variable Acceleration (Art. 10-4)
Lesson 4 - Dynamic Equilibrium in Translation. Analysis as a Rigid Body (Art. 10-7)

Overview

Module 1-5 (Engineering Mechanics I) were devoted to statics; that is, the
analysis of bodies at rest. We now begin the study of dynamics (Engineering
Mechanics II), which is the part of mechanics that deals with the analysis of
bodies in motion.
Module 1 (Engineering Mechanics II) is about principles of dynamics and
this module (Module 2) is just about the rectilinear translation. Translation is
defined as the motion of a rigid body in which a straight line passing through
any two of its particles always remains parallel to its initial position. Translation
may be either rectilinear or curvilinear, depending upon whether the path
described by any particle is straight or curved. The motion of translating body
moving in a straight line is called rectilinear translation. In this module we shall
consider only rectilinear translation based on four lessons -1) Rectilinear Motion
with Constant Acceleration; 2) Freely Failing Bodies, Air Resistance Neglected;
3) Rectilinear Motion with Variable Acceleration; and 4) Dynamic Equilibrium in
Translation. Analysis as a Rigid Body.
The outstanding kinematic characteristic of the translation of a rigid body is the fact that all the

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 Rectilinear Translation Module 2 - Lesson 1-4

particles travel the same or parallel path. It follows that all the particles have the same values of
displacement, velocity and acceleration, and the motion may be completely described by the motion of any
particle of the body. The particle usually selected is the one at the center of gravity of the body. In other
words, a translating body may be considered as a particle concentrated at its center of gravity.

Module 2 - Rectilinear Translation

Lesson 1. Rectilinear Motion with Constant Acceleration

2
One of the most common cases of straight – line motion is that in which the acceleration is constant. This
condition arises when a body is acted upon by forces which remain constant in magnitude and direction,
such as freely falling body or a train acted upon by a constant draw-bar pull.

The equation may be derived from the differential equations of kinematics by starting with the
definition with the definition of acceleration in Eq. (9 – 2) written in the form

𝑑𝑣 = 𝑎 𝑑𝑡 (𝑎)

and proceeding to integrate between definite limits, thus


v
dv  a  dt
t
(𝑏)
vo 0

Note that a is placed outside in integral sign because it is assumed constant.

Let us examine the meaning of the limits. In relation to Fig. 10 – 2, Eq. (b) indicates that at some
initial position A from which time is to be measured, there is an
initial velocity vo, whereas at some position B reached after a
time interval t, the velocity will be v.

Integrating Eq. (b) and evaluating the limits gives.

vvv o
 at o
t

v  v o  at

Or

v = vo + at (𝑐)

Let us now consider the definition of velocity in Eq. (9 – 1) written in the form

ds = v dt (𝑑)

and again proceed to integrate between definite limits:

𝑠 𝑡 𝑡
∫0 𝑑𝑠 = ∫0 𝑣 𝑑𝑡 = ∫0 (𝑣0 + 𝑎𝑡)𝑑𝑡 (𝑒)

Note that the variable v must be replaced by its equivalent expressed in terms of t. In relation to Fig. 10 –
2, Eq. (e) indicates that at some initial position A from which time is to be measured, there is zero initial
displacement, whereas at some other position B reached after a time interval t, the displacement will be s.
Integrating Eq. (e) and evaluating the limits gives

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 Rectilinear Translation Module 2 - Lesson 1-4

sos 
 v o t  12 at 2 
t
o

or
s  v o t  12 at 2 (𝑓)
Finally, let us consider the remaining differential equation of kinematics Eq. (9 – 3) and again
proceed to integrate between definite limits.


v
v ds  a  ds
s
(𝑔)
vo 0

3
The limits are written as before, since referring to Fig. 10 – 2 it is obvious that at zero displacement the
corresponding velocity is vo, while at a displacement s it is v. Integrating and evaluating the limits, we
obtain

v
v2 
   as o
s

 2  vo
v 2  vo
2

 as
2

or

𝑣 2 = 𝑣0 2 + 2𝑎𝑠 (ℎ)

The three kinematic equations of motion with constant acceleration may be summarized as follows:

v  v o  at (10 – 1)

s  v o t  12 at 2 (10 – 2)

v 2  v o  2as
2
(10 – 3)

Signs. It is important to observe that these equations involve only the magnitude of vector quantities.
The direction of the vectors of displacement, velocity, and acceleration is indicated by the following sign
convention: The initial direction of motion represents the positive direction for displacement, velocity, and
acceleration. Hence a negative value of velocity obtained in applying the equations would mean that the
velocity is directed oppositely to the initial direction of motion. A negative value for displacement would
indicate that the position of the moving particle is to be measured back from the origin of displacement.
Finally, if a particle moving along a straight line returns to the starting position, the displacement s in the
above equation will be the vector drawn from the origin to the final position; that is, s will be determined as
zero, not the distance actually traversed by the particle. Pause here to read again the discussion on p. 3
module 1- lesson 2 concerning Fig. 9 – 1b.

1[Motion with uniform velocity is a special case of constant acceleration in which acceleration is zero. Putting 𝑎 =0 in the
equations above reduces them to s = vt.]

Lesson 2 - Freely Failing Bodies, Air Resistance Neglected

The acceleration of a body is directly proportional to the resultant force acting upon it. In the case of a freely
falling body, this resultant force is its own weight. The weight is a force that results from the attraction

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 Rectilinear Translation Module 2 - Lesson 1-4

between the mass of the body and the mass of the earth; it varies inversely as the square of the distance
separating the two centers of mass and is directly proportional to the product of the masses. Since the mass
of any body on the earth is insignificant compared with the mass of the earth, the gravitational force varies
only with the position of the body relative to the center of the earth’s mass. This variation in distance assumed
significance only when the body undergoes distinct changes in its position on the earth’s surfaces, such as
being shifted from the equator to one of the poles or being carried high above the earth in an airplane. For
most cases over a given earth surface, however, the gravitational force
and the gravitational acceleration may be assumed to be constant. For our
latitude, this acceleration is approximately 32.2 ft. per sec2 and is
represented by the symbol 𝑔. This value of 𝑔 will be used throughout this 4
module except as otherwise indicated.
In solving problems on falling bodies, a specified direction (up or
down) is assumed to represent positive displacement. Velocity and
acceleration are positive when directed along positive displacement; they
are negative when pointing in the opposite direction (Lesson 1). It should
be observed that a negative value of acceleration does not per se (Latin,
“by itself”) indicate a slowing down. We can only say that a body is
accelerating if its velocity is increasing with time, and it is decelerating if
its velocity is decreasing with time. This is equivalent to stating that a body
is speeding up if the directions of velocity and acceleration are the same,
and slowing down if velocity and acceleration are oppositely directed.

As an illustration, consider a stone thrown vertically into the air

from position 𝐴 in Fig. 10 – 3. Let the displacement be measured as
positive upward from 𝐴. After a certain time the stone will reach its
topmost position 𝐵 and then descend. Throughout the motion, the stone is subjected to a gravitational
acceleration which is directed downward and therefore considered negative, i.e., oppositely directed to + s.
During the travel from 𝐴 to 𝐵 , the velocity of the stone is positive, i.e., in the direction of positive
displacement; but thereafter the velocity is downward or negative.

During the travel from 𝐴 to 𝐵, 𝑣 and 𝑎 have opposite signs and the stone is slowing down, whereas
after the stone leaves 𝐵 , 𝑣 and 𝑎 have the same sign and direction, and the stone is speeding up.
Furthermore, during the time of travel from 𝐴 to 𝐶 , the stone is above the initial position and will have positive
displacement; but after passing 𝐶 it will have negative displacement measured from 𝐴 because it will be
below the initial position.

In any motion involving freely falling bodies, the general equations of motion for constant acceleration
developed in Lesson 1 may be applied by replacing 𝑎 by 𝑔. No restriction on the equations need be made
other than that velocity and acceleration are to be taken as positive in the direction of positive displacement.

Exercise/Drill

Example 1. As shown in Fig. 10 – 4, a stone is thrown vertically into the

air from a tower 100 ft. high at the same instant that a second stone is
thrown upward from the ground. The initial velocity of the first stone is 50
ft. per sec and that a second stone is thrown upward from the ground. The
initial velociy of the first stone is 50 ft. per sec and that of the second stone
is 75 ft. per sec. When and where will the stones be at the same height
from the ground?

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 Rectilinear Translation Module 2 - Lesson 1-4

Required: When and where will the stones be at the same height from the ground? ( 𝑡=? ; 𝑠1 & 𝑠2 =?)

Solution: The initial direction of motion for each stone is upward. Using the convention established in Lesson
1, we therefore take the upward direction as positive for 𝑠, 𝑣 , and 𝑎. Applying Eq. (10 – 2) and noting that
the acceleration is 𝑔 = 32.2 ft. per sec2 directed downward and therefore negative, we obtain

s  v t 
o
1
2
at 2  For stone 1: s1 = 50 t – 16.1 t2 (a)

For stone 2: s2 = 75 t – 16.1 t2 (b)

5

For Fig. 10 – 4, s2 – s1 = 100. Hence subtracting Eq. (a) from Eq. (b) gives

s1 – s2 = 100 = 25 t

t = 4 sec.

Substituting 𝑡 in Eqs. (a) and (b), we have

s1 = 50 × 4 – 16.1 × (4)2 = 200 – 257.6 s1 = -57.6 ft.

s2 = 75 × 4 – 16.1 × (4)2 = 300 – 257.6 s2 = 42.4 ft. Ans.

Hence the stones pass each other 57.6 ft.

below the top of the tower, or 42.4 ft. from the
ground. Note that althrough we assumed that they
would pass above the tower, the negative sign of
s1 indicates otherwise. Since the terms invovled in
the equations are vector quantities, an incorrect
assumption of direction results merely in a negative
sign.

Example 2. A stone is dropped from well shaft. Three seconds after the stone is dropped, the sound of the
stone hitting the bottom of the shaft is heard. Find the depth of the well. Sound velocity = 1120 ft/s

Given: Sound velocity = 1120 ft/s

Required: Depth of the well, s

Solution: Let 𝑡 = the time travelled by the stone for a distance 𝑠

𝑡1 = the time the sound of the stone is heard hitting the

bottom of the shaft

Stone Sound
1 𝑠1 = 𝑣𝑡1 = 1120𝑡1
𝑠 = 𝑣0 𝑡 + 𝑎𝑡 2 s =?
2
𝑓𝑡
𝑣0 = 0 𝑎 = 𝑔 = 32.2
𝑠2
1
𝑠= 𝑔𝑡 2 = 16.1𝑡 2
2
𝒕 + 𝑡1 = 3 𝑠𝑒𝑐 so then 𝑡1 = 3 − 𝑡
Also, 𝑠 = 𝑠1
1
𝑔𝑡 2 = 𝑣𝑡1 ; 16.1𝑡 2 = 1120𝑡1 ; 16.1𝑡 2 = 1120 (3 − 𝑡)
2

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 Rectilinear Translation Module 2 - Lesson 1-4

16.1𝑡 2 = 3360 − 1120 𝑡 ; 16.1𝑡 2 + 1120 𝑡 − 3360 = 0

− 𝑏 ± √𝑏2 −4𝑎𝑐
Using quadratic formula: 𝑡 = = 2.88𝑠
2𝑎

1
𝑡1 = 3 − 2.88 = 0.12𝑠 ; Depth of well, 𝑠 = 32.2 (2.88)2 = 16.1(2.88)2 = 𝟏𝟑𝟑. 𝟓𝟒 𝒇𝒕. 𝐴𝑛𝑠.
2

Example 3. Two rockets are launched at a fireworks performance. Rocket A is launched with an initial
velocity v0 and rocket B is launched 4 s later with the same initial velocity. The two rockets are timed to
explode simultaneously at a height of 73 m, as A is falling and B is rising. 6

Assuming a constant acceleration 𝑔 = 9.81 m/s2 determine (a) the initial

velocity v0, (b) the velocity of B relative to A at the time of the explosion.

Given: s =73m 𝑔 = 9.81 m/s2 𝑡𝐵 = 4 𝑠

Required: a) the initial velocity, v0

b) the velocity of B relative to A at the time of the explosion, vB
Solution:

Rocket A Rocket B
𝑠 = 0, 𝑣 = 𝑣0, 𝑡 = 0 𝑠 = 0, 𝑣 = 𝑣0, 𝑡 = 𝑡𝐵 = 4 𝑠
𝑣𝐴 = 𝑣0 − 𝑔𝑡 𝑣𝐵 = 𝑣0 − 𝑔(𝑡 − 𝑡𝐵 )
1 1
𝑠𝐴 = 𝑣0 𝑡 − 𝑔𝑡 2 𝑠𝐵 = 𝑣0 (𝑡 − 𝑡𝐵 ) − 𝑔 (𝑡 − 𝑡𝐵 )2
2
2
Explosion occurs at same height, 𝑠𝐴 = 𝑠𝐵 = 73 𝑚, at 𝑡 = 𝑡𝐸 (say)
𝑠𝐴 = 𝑠𝐵
1 1
𝑣0 𝑡𝐸 − 𝑔𝑡𝐸 2 = 𝑣0 (𝑡𝐸 − 𝑡𝐵 ) − 𝑔 (𝑡𝐸 − 𝑡𝐵 )2
2 2
1
= 𝑣0 𝑡𝐸 − 𝑣0 𝑡𝐵 − 𝑔(𝑡𝐸 2 − 2𝑡𝐸 𝑡𝐵 − 𝑡𝐵 2 )
2
1 1
= 𝑣0 𝑡𝐸 − 𝑣0 𝑡𝐵 − 𝑔𝑡𝐸 2 + 𝑔𝑡𝐸 𝑡𝐵 − 𝑔𝑡𝐵 2
2 2
𝑆𝑜𝑙𝑣𝑖𝑛𝑔 𝑓𝑜𝑟 𝑣0 ,

1 1 1
𝑣0 𝑡𝐸 − 𝑔𝑡𝐸 2 = 𝑣0 𝑡𝐸 − 𝑣0 𝑡𝐵 − 𝑔𝑡𝐸 2 + 𝑔𝑡𝐸 𝑡𝐵 − 𝑔𝑡𝐵 2
2 2 2
Combining like terms
1
0 = −𝑣0 𝑡𝐵 + 𝑔𝑡𝐸 𝑡𝐵 − 𝑔𝑡𝐵 2 transpose −𝑣0 𝑡𝐵 to the zero side
2
1
𝑣0 𝑡𝐵 = 𝑔𝑡𝐸 𝑡𝐵 − 𝑔𝑡𝐵 2 then divide both sides by 𝑡𝐵 to get
2

1
𝑣0 = 𝑔𝑡𝐸 − 𝑔𝑡𝐵
2

Substitute this 𝑣0 in 𝑠𝐴 at 𝑡 = 𝑡𝐸 to solve for 𝑡𝐸

1
𝑠𝐴 = 𝑣0 𝑡 − 𝑔𝑡 2
2
1 1
𝑠𝐴 = (𝑔𝑡𝐸 − 𝑔𝑡𝐵 ) 𝑡𝐸 − 𝑔𝑡𝐸 2 simplifying further
2 2

1 1 1 1 2𝑔−𝑔 1
𝑠𝐴 = 𝑔𝑡𝐸 2 − 𝑔𝑡𝐵 𝑡𝐸 − 𝑔𝑡𝐸 2 = 𝑔𝑡𝐸 2 − 𝑔𝑡𝐸 2 − 𝑔𝑡𝐵 𝑡𝐸 = 𝑡𝐸 2 ( ) − 𝑔𝑡𝐵 𝑡𝐸
2 2 2 2 2 2

𝑔 𝑔 𝑔
𝑠𝐴 = 𝑡𝐸 2 − 𝑡𝐵 𝑡𝐸 = 𝑡𝐸 (𝑡𝐸 − 𝑡𝐵 )
2 2 2
2𝑠𝐴 2𝑠𝐴
2𝑠𝐴 = 𝑔 𝑡𝐸 (𝑡𝐸 − 𝑡𝐵 ) ; = 𝑡𝐸 2 − 𝑡𝐸 𝑡𝐵 ; 𝑡𝐸 2 − 𝑡𝐸 𝑡𝐵 − =0
𝑔 𝑔

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 Rectilinear Translation Module 2 - Lesson 1-4

Solve for 𝑡𝐸 at 𝑡𝐵 = 4 𝑠, 𝑠𝐴 = 73 𝑚, 𝑔 = 9.81 m/s2

2𝑠𝐴 2(73)
𝑡𝐸 2 − 𝑡𝐸 𝑡𝐵 − =0 ; 𝑡𝐸 2 − 4𝑡𝐸 − =0 ; 𝑡𝐸 2 − 4𝑡𝐸 − 14.88 = 0 by QE
𝑔 9.81

𝑡𝐸 = 6.45 𝑠
1
𝒗𝟎 = (9.81)6.45 − (9.81)4 = 62.24 − 19.62 = 42.62 𝑚/𝑠 the initial velocity
2

𝑣𝐵 − 𝑣𝐴 = 𝑔 𝑡𝐵 = (9.81) (4)
7
𝑣𝐵/𝐴 = 39.24 𝑚/𝑠 The velocity of B relative to A at the time of the explosion

Lesson 3- Rectilinear Motion with Variable Acceleration

When bodies are acted upon by variable forces, they move with variable acceleration. To determine
the kinematic equations of motion in such cases, it is necessary to apply the given data to the differential
equations of kinematics (Module 1-Lesson 2). Since the acceleration may vary in many ways, no general
equations can be state d as was done in the cases of constant acceleration (Module 2-Lesson 1). At most we
can only indicate the procedure to be followed.

Basically we have three principal variables, 𝑠, 𝑣, and 𝑎, related by a common parameter 𝑡 as in the
following box.
s
v t
a
Each of these principal variables may be expressed in terms of the time, or they may be expressed in terms
of each other or even a combination of the others. Let us consider here the simpler combinations.

Case I: The displacement is given in terms of time; i.e., 𝑠 = 𝑓(𝑡), to find 𝑣 and 𝑎.

This is the simplest case and is easily solved by successibe differentiation of the displacement with respect

 ds   dv d 2 s 
to the time according to the fundamental definitions of velocity  v   and acceleration  a   .
 dt   dt dt 2 
As an example, let it be required to determine the velocity and acceleration of a body after 3 sec, if the
motion is defined by the relation 𝑠 = 5𝑡 + 4𝑡 3 , 𝑠 being in feet and 𝑡 in seconds.

Differentiating, we obtain the equations of velocity and acceleration

ds
v  5  12 t 2
dt
and
dv
a  24 t
dt
Hence at 𝑡 = 3 sec,

𝑣 = 5 + 12 × (3)2 = 113 ft. per sec

𝑎 = 24 × 3 = 72 ft. per sec2 Ans.

Case II: The acceleration is expressed in terms of the time; i.e., 𝑎 = 𝑓(𝑡), to find 𝑣 and 𝑠.

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 Rectilinear Translation Module 2 - Lesson 1-4

The general procedure is to start with Eq. (9 – 2) written in the form 𝑑𝑣 = 𝑎 𝑑𝑡 and integrate to find
the velocity in terms of the time.
We may now apply Eq. (9 – 1) written in the form 𝑑𝑠 = 𝑣 𝑑𝑡 and likewise integrate to determine the
displacement in terms of the time. 2 Eliminating the time between these two relations will give an equation
between velocity and displacement.
As an example of Case II, let it be required to determine the velocity and displacement of a body
after 2 sec, if the motion is define by the relation 𝑎 = 2 𝑡, 𝑎 being in feet per second2 and 𝑡 in seconds, and
if it is known that 𝑠 = 4 ft. and 𝑣 = 2 ft. per sec when 𝑡 = 1 sec.
Applying 𝑑𝑣 = 𝑎 𝑑𝑡 and integrating between the given limits we have 8
𝑣 𝑡 𝑡
∫ 𝑑𝑣 = ∫ 𝑎 𝑑𝑡 = ∫ 2𝑡 𝑑𝑡
2 1 1
whence

𝑣 − 2 = 𝑡2 − 1

or
𝑣 = 𝑡2 + 1
We now replace the variable 𝑣, just found in terms of the time, in the differential equation 𝑑𝑠 =
𝑣 𝑑𝑡 and again proceed to integrate between the given limits. This gives

𝑠 𝑡
𝑠 𝑡 𝑡3
∫4 𝑑𝑠 = ∫1 (𝑡 2 + 1)𝑑𝑡 𝑜𝑟 [𝑠]4 = ⌈ 3 + 𝑡⌉
1

Whence

𝑡3 1 𝑡3 8
𝑠−4 = + 𝑡 − - 1 or 𝑠 = +𝑡+ (𝑏)
3 3 3 3

Hence, if 𝑡 = 2 sec, substitution in (𝑎) and (𝑏) gives

𝑣 = 5 ft per sec and 𝑠 = 7. 33 ft 𝐴𝑛𝑠

[2 The special case of motion with constant acceleration is a variation of Case II. Exactly this procedure was followed in Lesson 1 (Art. 10- 2).]

Case III: The velocity is given terms of the time: i.e., 𝑣 = 𝑓(𝑡), to find 𝑎 and 𝑠.
This case is a combination of Cases I and II. Differentiating the given velocity-time relations
𝑑𝑣
determines the acceleration (𝑖. 𝑒. , 𝑎 = ) while integrating it determines the displacement(𝑖. 𝑒. , ∫ 𝑑𝑠 =
𝑑𝑡
∫ 𝑣 𝑑𝑡).
OTHER CASES: When the principal variables are not given as functions of the time, direct
differentiation or integration cannot be performed as above without preliminary treatment. There are two
main variations which follow:
Case IV: One of the principal variables is expressed in terms of an adjacent variable; i.e., 𝑎 = 𝑓(𝑣)
or 𝑣 = 𝑓 (𝑠).
𝑑𝑣 𝑑𝑠
The procedure here is to use either 𝑎 = or 𝑣 = to relate the given variables in terms of the
𝑑𝑡 𝑑𝑡
time and thereby reduce the problem to one of the three preceding cases. For example, if we are given 𝑎 =
𝑑𝑣
𝑓(𝑣), apply 𝑎 = = 𝑓(𝑣). Separating the variables gives
𝑑𝑡
𝑡 𝑣
𝑑𝑣
∫ 𝑑𝑡 = ∫
𝑡0 𝑣𝑜 𝑓(𝑣)
which is integrated to give 𝑣 in terms of the time 𝑡, which is Case III above.
Case V: The given variables are not adjacent: i.e., 𝑎 = 𝑓(𝑠).

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 Rectilinear Translation Module 2 - Lesson 1-4

In this case, we substitute the given relation in 𝑣 𝑑𝑣 = 𝑎 𝑑𝑠, separate the variables and integrate to
obtain one variable in terms of its adjacent variable. Thus we obtain Case IV and proceed as indicated therein.

Exercise/Drill

Example 4. A rope of length 𝐿 connects the wheel 𝐴 and the weight 𝐵 by passing over a pulley of negligible
size at 𝐶 as shown in Fig. 10-5. At the instant when 𝑥 = 9 𝑓𝑡, the center of the wheel 𝐴 has a velocity 𝑣𝐴 =
10 𝑓𝑡 per sec and an acceleration 𝑎𝐴 = 4 ft per sec2, both rightward. What is then the velocity and
9
acceleration of 𝐵?

Given: 𝑣𝐴 = 10 𝑓𝑡 per sec 𝑎𝐴 = 4 ft per sec2 𝑥 = 9 𝑓𝑡

Required: The velocity and acceleration of 𝐵? (𝑣𝐵 =? & 𝑎𝐵 = ?)

Solution: If we denote the variable distance 𝐴𝐶 by 𝑧, the vertical length

𝐶𝐵 = 𝐿 − 𝑧 and hence
ℎ =𝐿−𝑧+𝑦 (𝑎)
From the figure we also have
𝑧 2 = 𝑥 2 + ℎ2 (𝑏)
By eliminating 𝑧 from these relations, 𝑦 may be expressed directly in terms
of 𝑥 so that successive differentiation with respect to the time will relate the
velocity and acceleration of 𝐵 to that of 𝐴. However, a preferable method is to retain 𝑧 as a parameter and
proceed as follows:
𝑑𝑦
By differentiating Eq. (𝑎) with respect to the time and noting that = 𝑣𝐵 , we obtain
𝑑𝑡
𝑑𝑧 𝑑𝑦 𝑑𝑧
0= − + or 𝑣𝐵 = (𝑐)
𝑑𝑡 𝑑𝑡 𝑑𝑡
This result is not surprising if we note that the change in length of 𝑧 determines the rise (or fall) of 𝐵 .
We next differentiate of Eq. (𝑏) with respect to the time that gives
𝑑𝑧 𝑑𝑥
2𝑧 = 2𝑥 or 𝑧𝑣𝐵 = 𝑥𝑣𝐴 (𝑑)
𝑑𝑡 𝑑𝑡
Another differentiation of Eq. (𝑑) yields
𝑑𝑣𝐵 𝑑𝑧 𝑑𝑣𝐴 𝑑𝑥
𝑧 + 𝑣𝐵 =𝑥 + 𝑣𝐴
𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡
or
𝑧𝑎𝐵 + 𝑣𝐵 2 = 𝑥 𝑎𝐴 + 𝑣𝐴 2 (𝑒)

By substituting the given data in Eqs. (𝑑) and (𝑒) and noting that 𝑧 = 15 ft when 𝑥 = 9 ft, we
obtain
[From Eq. (𝑑)] 15 𝑣𝐵 = 9(10) 𝑣𝐵 = 6 ft per sec up Ans.
[From Eq. (𝑒)] 15 𝑎𝐵 + (6)2 = 9(4) + (10)2 𝑎𝐵 = 6.67 ft per 𝑠𝑒𝑐 up Ans.
2

Example 5. The car in Fig. 12–2 moves in a straight line such that for a short time its velocity is defined
𝑓𝑡
by 𝑣 = 3𝑡 2 + 2𝑡) , where 𝑡 is in seconds. Determine its position and acceleration when 𝑡 = 3 𝑠. When 𝑡 =
𝑠
0, 𝑠 = 0.
𝑓𝑡
Given: 𝑣 = 3𝑡 2 + 2𝑡) 𝑡 = 3𝑠
𝑠

Required: position and acceleration

Solution:

ABE 228- Engineering Mechanics II Course Facilitator: Engr. Catherine B. Arroyo, MA Ed.
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Cell No. 0906 441 4429
 Rectilinear Translation Module 2 - Lesson 1-4

Coordinate System. The position coordinate extends from the fixed origin O to the car, positive to the right.
𝑑𝑠
Position. Since the car’s position can be determined from 𝑣 = 𝑑𝑡
, since this equation relates 𝑣, 𝑠, and 𝑡.
Noting that 𝑠 = 0 when 𝑡 = 0, we have

10

𝑑𝑣
Acceleration. Since 𝑣 = 𝑓(𝑣), the acceleration is determined from 𝑎 = 𝑑𝑡
, since this equation relates 𝑎, 𝑣,
and 𝑡.

NOTE: The formulas for constant acceleration cannot be used to solve this problem, because the acceleration
is a function of time.

*The same result can be obtained by evaluating a constant of integration C rather than using definite limits on the integral.
For example, integrating 𝑑𝑠 = ( 3𝑡 2 + 2𝑡) 𝑑𝑡 yields 𝑠 = 𝑡 3 + 𝑡 2 + 𝐶. Using the condition that at 𝑡 = 0, 𝑠 = 0 then 𝐶 = 0.

Lesson 4 - Dynamic Equilibrium in Translation. Analysis as a Rigid Body

We now consider a group of problems in which it is necessary to relate the moment sum of the
applied forces on a translating body to the moment effect of their resultant. In the previous article, the
magnitude of the resultant force on a translating body was shown to be W a but we did not locate its
g
position. To do this, apply d’Alembert’s principle that the resultant of the applied forces acting on a body is
equivalent to the resultant of the effective forces acting on all particles composing the body. Thus in Fig. 10-
13, we select the origin of reference at the gravity

ABE 228- Engineering Mechanics II Course Facilitator: Engr. Catherine B. Arroyo, MA Ed.
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 Rectilinear Translation Module 2 - Lesson 1-4

center of the translating body and take the summation of moments about the reference axes of the effective
w
force on each particle. The effective force on a typical particle such as D is a where a the common
g
acceleration of all particles. Since the effective force on this particle is parallel to the 𝑋 axis (or line of motion),
it follows that the moment sum about the X axis of all such particles is M x = 0. The moment sums about
the 𝑌 and 𝑍 axes are also zero as we see from

w a a
M y =  a . z= 𝛴𝑤. z = . 𝑊 𝑧̅ = 0 11
g g g

w a a
M x =  a . y = 𝛴𝑤. y = . 𝑊 𝑦̅ = 0
g g g

since 𝑦̅ and 𝑧̅ must be zero because the reference axes pass through the center of gravity of the body.

Therefore since the moment sum of the effective force for all particles is zero, the moment of the
resultant effective force is also zero. Since this resultant is a force, its moment is zero only because the force
w
passes through the center of moments. We conclude that the resultant effective force a (equivalent to
g
the resultant of the applied forces) acts through the center of gravity in the direction of the acceleration.
We are now ready to discuss dynamic equilibrium. This is a method whereby a kinetics problem can
be reduced to an equivalent statics problem. We recall that in Module 3 (Mechanics 1), we originally defined
a body in equilibrium as one acted upon by a force system whose resultant is zero. We went on to describe
the physical meaning of static equilibrium as one in which a body is either at rest or is moving in a straight
line with constant velocity. In other words, we were talking about bodies that had zero acceleration. Applying
w
the general equation R = 𝑎̅ to them naturally gave a zero resultant force.
g
It is obvious that accelerating bodies cannot be in static equilibrium. But if we retain the definition of
equilibrium to include any case in which the resultant force is zero, a state of dynamic equilibrium can be
created for accelerated bodies. We merely add a dynamic reaction (i.e., inertia force) which balances the
resultant of the accelerating forces. This combination of the applied forces together with the inertia force has
a zero resultant; hence all the equations and methods of static equilibrium may be applied to this combination
of applied and inertia forces.
We have shown above that the resultant of the accelerating forces in rectilinear translation is
W
equivalent to a acting through the gravity center in the direction of the acceleration. Dynamic equilibrium
g
can therefore be created by adding an equilibrant which is equal, opposite, and collinear with this resultant.
W
In other words, the equilibrant is an inertia force having the magnitude a acting through the gravity
g
center but directed opposite to the acceleration of d’Alembert’s principle.
W
The student should remember that a free-body diagram which includes the inertia force a
g
(sometimes called the reversed effective force) as well as the real or applied forces represents a force system
whose resultant is zero. Since the condition of zero resultant governed the development of static equilibrium,
all the equations and methods of statics may be applied to such a free-body diagram even though the body

ABE 228- Engineering Mechanics II Course Facilitator: Engr. Catherine B. Arroyo, MA Ed.
2nd Semester, SY 2020-2021 E-mail add: cbarroyo@capsu.edu.ph
Cell No. 0906 441 4429
 Rectilinear Translation Module 2 - Lesson 1-4

it represents actually is accelerating. It is particularly advantageous to use dynamic equilibrium to eliminate

two unknown forces by taking a moment sum about their intersection.

Exercise/Drill

Example 6. The car shown in Fig. 10-14 is given a rightward acceleration of 8.05 ft per sec2. The sum of
the friction forces 𝐹1 and 𝐹2 under the wheels is 20 lb. find the values of 𝑅1 , 𝑅2 and 𝑃.
12
Given: Required: The values of 𝑅1 , 𝑅2 and 𝑃

W
Solution: Adding the inertia force a (𝑖. 𝑒. , 1000
32.2
𝑥 8.05 = 250 𝑙𝑏) acting through the center of gravity
g
opposite to the acceleration reduces the system of forces to a condition of dynamic equilibrium. Hence we
may apply M A = 0 which, by eliminating 𝑃 and 𝑅2 permits us to find 𝑅1 . Thus

M A  0 10 𝑅1 + 20 𝑥 2 – 1000 𝑥 5 − 250 𝑥 1 = 0 𝑅1 = 521 𝑙𝑏 𝐴𝑛𝑠.

Using this value of 𝑅1 in a vertical force summation, we obtain

Y  0 𝑅1 + 𝑅2 – 1000 = 0 𝑅2 = 479 𝑙𝑏 𝐴𝑛𝑠.

whereas from a horizontal force summation, we have

X  0 𝑃 – 20 – 250 = 0 𝑃 = 270 𝑙𝑏 𝐴𝑛𝑠.

Evaluation:

I. Answer the following problem sets:

PS #1. A stone is dropped down a well and 5 sec. later the sound of splash is heard. If the velocity of
sound is 1120 ft. per sec, what is the depth of the well? [1005/255] Ans. 353 ft

PS #2. During a test a rocket in Fig. 12-4 travels upward at 75 m/s, and when it is 40 m from the ground
its engine fails. Determine the maximum height 𝑠𝐵 reached by the rocket and its speed just before it hits the
ground. While in motion the rocket is subjected to a constant downward acceleration of 9.81 m/s2 due to
gravity. Neglect the effect of air resistance.

ABE 228- Engineering Mechanics II Course Facilitator: Engr. Catherine B. Arroyo, MA Ed.
2nd Semester, SY 2020-2021 E-mail add: cbarroyo@capsu.edu.ph
Cell No. 0906 441 4429
 Rectilinear Translation Module 2 - Lesson 1-4

PS #3. Two rockets in Fig. P11.45 are launched at a fireworks display. Rocket
A is launched with an initial velocity v0 = 100 m/s and rocket B is launched t1
seconds later with the same initial velocity. The two rockets are timed to explode
simultaneously at a height of 300 m as A is falling and B is rising. Assuming a
constant acceleration 𝑔 = 9.81 m/s2 , determine (a) the time t1, (b) the velocity
of B relative to A at the time of the explosion.
13

PS #4. The motion of a particle is given by the

𝑡3
equation s = 2 𝑡 4 − + 2 𝑡 2 where 𝑠 is in feet and 𝑡
6
in seconds. Compute the values of 𝑣 and 𝑎 when 𝑡 = 2 sec. [1019/259]

PS #5. The velocity of a particle moving along the X axis is defined by 𝑣 = 𝑥 2 −

4𝑥 2 + 6𝑥 where the v is in feet per second and x is in feet. Compute the value of
acceleration when x = 2 ft. [1024/260] Ans. A = 8 ft per sec 2

PS #6. The 240-lb body in Fig. P-1078 is supported by wheels at B which roll
freely without friction and by a skid at A under which the coefficient of friction is
1
0.40. Compute the value of P to cause an acceleration of g. [1078/284]
3
Ans. 𝑃 = 136.3 𝑙𝑏

II. Write a reflection in this module using the following questions:

a. What have I learned from this module?

_______________________________________________________________________
_______________________________________________________________________
_______________________________________________________________________
_____________________ .

b. How will these concepts influence my future work?

_______________________________________________________________________
_______________________________________________________________________
_______________________________________________________________________
_______________________________________________________________________
_____________________ .

ABE 228- Engineering Mechanics II Course Facilitator: Engr. Catherine B. Arroyo, MA Ed.
2nd Semester, SY 2020-2021 E-mail add: cbarroyo@capsu.edu.ph
Cell No. 0906 441 4429
 Rectilinear Translation Module 2 - Lesson 1-4

c. Answer the following completely:

1. After having (read, learned, understood, experienced, analysed…)

_______________________________________________________________________
_______________________________________________________________________
_______________________________________________________________________
2. As an individual, I therefore now…
_______________________________________________________________________ 14

_______________________________________________________________________
_______________________________________________________________________
_______________________________________________________________________
3. I have significantly (developed, improved, widened…) my skills/abilities in
_______________________________________________________________________
_______________________________________________________________________
_______________________________________________________________________
_____________________ .

Additional Reading

Beer, F. P. et al. 2019. VECTOR MECHANICS FOR ENGINEERS: STATICS AND DYNAMICS,
12th Edition. McGraw-Hill Education, 2 Penn Plaza, New York, NY. Chapt. 11 p. 650.

Hibbeler, R. C. 2016. Engineering Mechanics. STATICS and DYNAMICS. 14 th Edition. Pearson

Prentice Hall, New Jersey. Chapt. 12

Reference

Singer, F. L. (1970). ENGINEERING MECHANICS. 2nd Edition. A Harper International Edition.

Harper & Row, New York, Evanston & London: Printed in Japan. Chapt. X p. 250

ABE 228- Engineering Mechanics II Course Facilitator: Engr. Catherine B. Arroyo, MA Ed.
2nd Semester, SY 2020-2021 E-mail add: cbarroyo@capsu.edu.ph
Cell No. 0906 441 4429