Chapter 11.

Kinematics of Particles

Contents

Introduction
Rectilinear Motion: Position, Velocity & Acceleration
Determining the Motion of a Particle
Sample Problem 11.2
Sample Problem 11.3
Uniform Rectilinear-Motion
Uniformly Accelerated Rectilinear-Motion
Motion of Several Particles: Relative Motion
Sample Problem 11.5
Motion of Several Particles: Dependent Motion
Sample Problem 11.7
Graphical Solutions
Curvilinear Motion: Position, Velocity & Acceleration
Derivatives of Vector Functions
Rectangular Components of Velocity and Acceleration
Sample Problem 11.10
Motion Relative to a Frame in Translation
Sample Problem 11.14
Tangential and Normal Components
Sample Problem 11.16
Radial and Transverse Components
Sample Problem 11.18
Introduction

Kinematic relationships are used to help us determine the trajectory of a

snowboarder completing a jump, the orbital speed of a satellite, and accelerations
during acrobatic flying.
Dynamics includes:
Kinematics: study of the geometry of motion.
Relates displacement, velocity, acceleration, and time without reference to the cause of
motion.

Fdownforce

Fdrive Fdrag

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.
Particle kinetics includes :

• 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.
Rectilinear Motion: Position, Velocity & Acceleration

• Rectilinear motion: particle moving along a straight line

• Position coordinate: defined by positive or negative distance

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.

• 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.

• Consider particle which occupies position P at time
t and P’ at t+Dt,
∆x
Average velocity =
∆t
∆x
Instantaneous velocity = v = lim
∆t →0 ∆t
• Instantaneous velocity may be positive or negative.
Magnitude of velocity is referred to as particle speed.

• Consider particle with velocity v at time t and

v’ at t+Δt,
∆v
Instantaneous acceleration = a = lim
∆t →0 ∆t
•Instantaneous acceleration may be:
- positive: increasing positive velocity
or decreasing negative velocity

- negative: decreasing positive velocity

or increasing negative velocity.
Concept Quiz

What is true about the kinematics of a particle?

a) The velocity of a particle is always positive

b) The velocity of a particle is equal to the slope of the position-time graph
c) If the position of a particle is zero, then the velocity must zero
d) If the velocity of a particle is zero, then its acceleration must be zero

answer : (b)
 • From our example,
=
x 6t 2 − t 3
dx
=
v = 12t − 3t 2
dt 2
dv d x
a= = 2 = 12 − 6t
dt dt
• What are x, v, and a at t = 2 s ?
• - at t = 2 s, x = 16 m, v = v max = 12 m/s, a = 0

• Note that v max occurs when a=0, and that the slope of the velocity curve
is zero at this point.
• What are x, v, and a at t = 4 s ?
• - at t = 4 s, x = x max = 32 m, v = 0, a = -12 m/s2

Determining the Motion of a Particle

• We often determine accelerations from the forces applied (kinetics will be
 covered later)
• Generally have three classes of motion
- 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)

Can you think of a physical example of when force is a function of position?

When force is a function of velocity?

A Spring Drag

Acceleration as a function of time, position, or velocity

 If…. Kinematic relationship Integrate
v t

∫ dv = ∫ a ( t ) dt
dv
a = a (t ) = a (t )
dt v0 0

dx dv
=dt = and a v x

∫ v dv = ∫ a ( x ) dx
v dt
a = a ( x)
v dv = a ( x ) dx
v0 x0

v t
dv dv
dt
= a (v ) ∫
v0
a ( v ) ∫0
= dt

a = a (v)
x v
dv
v = a (v) ∫ dx = ∫
v dv
dx x0 v0
a (v)
Sample Problem 11.2
STRATEGY:
• Integrate twice to find v(t) and y(t).
• Solve for t when velocity equals zero (time for maximum
elevation) and evaluate corresponding altitude.
• Solve for t when altitude equals zero (time for ground impact)
and evaluate corresponding velocity.

Ball tossed with 10 m/s vertical velocity from window 20 m above ground. 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.
MODELING and ANALYSIS:
• Velocity and Elevation
Integrate twice to find v(t) and y(t).
dv
= a = −9.81 m s 2
dt
v (t ) t
∫ dv = − ∫ 9.81 dt v(t ) − v0 = −9.81t
v0 0
m  m
v(t ) = 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
y (t ) = 20 m + 10 t −  4.905 2 t 2
 s  s 

• Highest Elevation
Solve for t when velocity equals zero and evaluate corresponding altitude.
m  m
v(t ) = 10 −  9.81 2  t = 0
s  s 
t = 1.019 s
 Substitute t :

 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 = 25.1 m

• Ball Hits the Ground

Solve for t when altitude equals zero and evaluate corresponding velocity.

 m  m 2 t = −1.243 s (meaningless )
( )
y t = 20 m + 10 t −  4.905 2 t = 0 t = 3.28 s
 s  s 
 m  m
( t ) 10
v= −  9.81 2  t
s  s  m
m  m v = −22.2
v ( 3.28s
= ) 10 −  9.81 2  ( 3.28s ) s
s  s 
REFLECT and THINK:
When the acceleration is constant, the velocity
changes linearly, and the position is a quadratic function of time.
 Sample Problem 11.3

a = −kv .

A mountain bike shock mechanism used to provide shock absorption consists of a

piston that travels in an oil-filled cylinder. As the cylinder is given an initial velocity
v 0 , the piston moves and oil is forced through orifices in piston, causing piston
and cylinder to decelerate at rate proportional to their velocity.
Determine v(t ), x(t ), and v (x ).

STRATEGY:
Integrate a = dv/dt = -kv to find v (t ).
Integrate v (t ) = dx/dt to find x (t ).
Integrate a = v dv/dx = -kv to find v (x ).

MODELING and ANALYSIS:

a. Integrate a = dv/dt = -kv to find v(t).
dv dv
v
v (t )
t
a=
dt
=
−kv ∫v v =
− k ∫0 dt ln
v 0
=
−kt
0

v(t ) = v0 e − kt
b. Integrate v(t) = dx/dt to find x(t).
dx
v (=
t) = v0 e − kt
dt
t
 1 
x t

∫ dx
= v0 ∫ e − kt
dt x (=
t ) v0  − e − kt 
0 0  k 0
v
(
x(t ) = 0 1 − e − kt
k
)
c. Integrate a = v dv/dx = -kv to find v(x).
v x
dv
a = v = − kv dv = − k dx ∫ dv = −k ∫ dx
dx v0 0
v − v0 = − kx
v = v0 − kx
• Alternatively,

with
x(t ) =
v0
k
(
1 − e − kt )
v(t )
v(t ) = v0 e − kt or e − kt =
and v0
v0  v(t ) 
x(t ) = 1 − 
then k  v0 

v = v0 − kx
(checks)
Group Problem Solving
A bowling ball is dropped from a boat so that it strikes the
surface of a lake with a speed of 8 m/s. Assuming the ball
experiences a downward acceleration of a = 3 - 0.1v2
+y
when in the water, determine the velocity of the ball when it
strikes the bottom of the lake. (a and v expressed in m/s2
and m/s respectively)

Which integral should you choose?

v t v x

(a) ∫ dv = ∫ a ( t ) dt (c) ∫ v dv = ∫ a ( x ) dx
v0 0 v0 x0

v t
x v dv
(b) ∫ dx = ∫
v dv
a (v)
(d) ∫v a ( v ) = ∫0 dt
answer (b)
x0 v0 0
. RELATIVE MOTION
Uniform Rectilinear Motion

Once a safe speed of descent for a vertical landing is reached,

a Harrier jet pilot will adjust the vertical thrusters to equal
the weight of the aircraft. The plane then travels at a
constant velocity downward. If motion is in a straight line,
this is uniform rectilinear motion.
For a particle in uniform rectilinear motion, the acceleration is zero
and the velocity is constant.
Careful – these only apply to uniform rectilinear motion!

Uniformly Accelerated Rectilinear Motion

For a particle in uniformly accelerated rectilinear motion, the acceleration of the particle is
constant. You may recognize these constant acceleration equations from your physics courses.

v t
dv
dt
= a= constant ∫ dv= a ∫ dt
v0 0
v= v0 + at
x t
dx
dt
=v0 + at ∫ dx = ∫ ( v
x0 0
0 + at ) dt x = x0 + v0t + 12 at 2

v x
dv
v = a=
constant ∫ v dv =
a ∫ dx v02 2a ( x − x0 )
v 2 =+
dx v0 x0

Careful – these only apply to uniformly accelerated rectilinear motion!

Motion of Several Particles
We may be interested in the motion of several different particles, whose motion may be
independent or linked together.
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

aB = aB − a A =
A relative acceleration of B with respect to A
aB = a A + aB A
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 x B + 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
Sample Problem 11.5
Ball thrown vertically from 12 m level in elevator shaft with initial velocity of 18
m/s. At same instant, open-platform elevator passes 5 m level moving upward
at 2 m/s.
Determine (a) when and where ball hits elevator and (b) relative velocity of ball
and elevator at contact.

STRATEGY:
• 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.
• Write equation for relative position of ball with respect to elevator and solve for zero relative position,
i.e., impact.
• Substitute impact time into equation for position of elevator and relative velocity of ball with respect
to elevator.
 MODELING and ANALYSIS:
• 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 + v0 t + 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
 • 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 + 2(3.65)
y E = 12.3 m
vB E = (18 − 9.81t ) − 2
= 16 − 9.81(3.65) m
v B E = −19.81
s
REFLECT and THINK:
The key insight is that, when two particles collide, their
position coordinates must be equal. Also, although you
can use the basic kinematic relationships in this problem,
you may find it easier to use the equations relating a, v,
x, and t when the acceleration is constant or zero.
 Sample Problem 11.7
Pulley D is attached to a collar which is pulled down at 75 mm/s. At
t = 0, collar A starts moving down from K with constant acceleration
and zero initial velocity. Knowing that velocity of collar A is 300
mm/s as it passes L, determine the change in elevation, velocity, and
acceleration of block B when block A is at L.

STRATEGY
• 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. Calculate change of position at time t.
• 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.
• Differentiate motion relation twice to develop equations for velocity and acceleration of block B.
MODELING and ANALYSIS:
• 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. Calculate change of
position at time t.

• 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,

xB − ( xB )0 =
−400 mm.
 • Differentiate motion relation twice to develop equations for
velocity and acceleration of block B.

mm
vB = 450
s

mm
aB = −225 2
s

REFLECT and THINK:

In this case, the relationship we needed was not between position coordinates, but between
changes in position coordinates at two different times. The key step is to clearly define your
position vectors. This is a two degree-of-freedom system, because two coordinates are required
to completely describe it.
Graphical Solutions
Engineers often collect position, velocity, and acceleration data. Graphical solutions are often
useful in analyzing these data.

180

160

140 Acceleration data from a head impact

during a round of boxing.
Acceleration (g)

120

100

80

60

40

20

0
47.76 47.77 47.78 47.79 47.8 47.81
Time (s)
• Given the x-t curve, the v-t curve is equal to the x-t curve slope.
• Given the v-t curve, the a-t curve is equal to the v-t curve slope.
• Given the a-t curve, the change in velocity between t 1 and t 2 is equal to the area
under the a-t curve between t 1 and t 2 .

• Given the v-t curve, the change in position between t 1 and t 2 is equal to the area
under the v-t curve between t 1 and t 2 .
Curvilinear Motion:

The snowboarder and the train both undergo curvilinear motion.

• A particle moving along a curve other than a straight line is in curvilinear motion.
• The 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 a particle which occupies position P defined by r at time t and P’

defined by r ′ at t + Dt,
Instantaneous velocity Instantaneous speed
(vector) (scalar)
  ∆s ds
 ∆r dr = =
v lim
= =
v lim ∆t → 0 ∆t dt
∆t → 0 ∆t dt
  
• Consider velocity v of a particle at time t and velocity v′ at t + Dt,
 
 ∆v dv
=
a lim = = instantaneous acceleration (vector)
∆t → 0 ∆t dt

• In general, the acceleration vector is not tangent to the particle path and velocity vector.

11.4B
11.4C 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 = xi + y j + zk
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 = xi + y j + zk
dt dt dt
  
= ax i + a y j + az k
 • 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 )0 , (v z )0 = 0

Integrating twice yields

v x = (v x )0 ( )0 − gt
vy = vy vz = 0
x = (v x )0 t y = (v y ) y − 12 gt 2 z=0
0
•Motion in horizontal direction is uniform.
•Motion in vertical direction is uniformly accelerated.
• Motion of projectile could be replaced by two independent rectilinear motions.
11.4D Motion Relative to a Frame in Translation
It is critical for a pilot to know the relative motion of his helicopter with respect to the aircraft
carrier to make a safe landing.
 • 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

rB A joining A and B defines the position
• Vector
of B with respect to the moving frame Ax’y’z’ and
  
rB = rA + rB A
• Differentiating twice,
   
vB = v A + vB vB =
A A velocity of B relative to A.
   
a B = a A + aB aB =
A 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.
Sample Problem 11.10
A projectile is fired from the edge of a 150-m cliff
with an initial velocity of 180 m/s at an angle of
30°with the horizontal. Neglecting air resistance,
find (a) the horizontal distance from the gun to the
point where the projectile strikes the ground, (b)
the greatest elevation above the ground reached by
the projectile.
STRATEGY:
• Consider the vertical and horizontal motion separately (they are independent)
• Apply equations of motion in y-direction
• Apply equations of motion in x-direction
• Determine time t for projectile to hit the ground, use this to find the horizontal distance
• Maximum elevation occurs when v y =0
 MODELING and ANALYSIS:
Given: (v ) o =180 m/s (y) o =150 m
(a ) y = - 9.81 m/s2 (a ) x = 0 m/s2

Vertical motion – uniformly accelerated: g

(1)
(2)
(3)

Horizontal motion – zero acceleration:

Choose positive x to the right as shown

(4)
MODELING and ANALYSIS:
a. Horizontal distance
Projectile strikes the ground at:
Substitute into equation (1) above

Solving for t, we take the positive root

Substitute t into equation (4)

b. Maximum elevation occurs when v y = 0

Maximum elevation above the ground =

 REFLECT and THINK:
Because there is no air resistance, you can
treat the vertical and horizontal motions
separately and can immediately write down
the algebraic equations of motion. If you did
want to include air resistance, you must know
the acceleration as a function of speed (you
will see how to derive this in Chapter 12), and then you need to use the basic
kinematic relationships, separate variables, and integrate.
Concept Quiz
If you fire a projectile from 150 meters above
the ground (see Ex Problem 11.7), what launch
angle will give you the greatest horizontal
distance x?

a) A launch angle of 45°

b) A launch angle less than 45°
c) A launch angle greater than 45°
d) It depends on the launch velocity

answer: (b)
Sample Problem 11.14

Automobile A is traveling east at the constant speed of 36 km/h.

As automobile A crosses the intersection shown, automobile B
starts from rest 35 m north of the intersection and moves south
with a constant acceleration of 1.2 m/s2. Determine the
position, velocity, and acceleration of B relative to A 5 s after
A crosses the intersection.

STRATEGY:
• Define inertial axes for the system
• Determine the position, speed, and acceleration of car A at t = 5 s
• Determine the position, speed, and acceleration of car B at t = 5 s
• Using vectors (Eqs 11.30, 11.32, and 11.33) or a graphical approach, determine
the relative position, velocity, and acceleration
MODELING and ANALYSIS:
• Define axes along the road
Given: v A =36 km/h, a A = 0, (x A ) 0 = 0
(v B ) 0 = 0, a B = - 1.2 m/s2, (y A ) 0 = 35 m
Determine motion of Automobile A:

We have uniform motion for A so:

At t = 5 s
MODELING and ANALYSIS:
Determine motion of Automobile B:
We have uniform acceleration for B so:

At t = 5 s
We can solve the problems geometrically, and apply the arctangent relationship:

Or we can solve the problems using vectors to obtain equivalent results:

r=
B rA + rB/A v=
B v A + v B/A a=
B a A + a B/A
=
20 j 50i + rB/A −6 j = 10i + v B/A −1.2 j =0i + a B/A
= 20 j − 50i (m)
rB/A v B/A =−6 j − 10i (m/s) a B/A = −1.2 j (m/s 2 )
Physically, a rider in car A would “see” car B travelling south and west.
REFLECT and THINK:
Note that the relative position and velocity of B relative
to A change with time; the values given here are only
for the moment t =5 s.
 11.5 NON-RECTANGULAR COMPONENT
11.5A Tangential and Normal Components

If we have an idea of the path of a vehicle or object, it is often convenient to analyze

the motion using tangential and normal components (sometimes called path
coordinates).
y ρ= the instantaneous
radius of curvature
v = v et
dv v2
=a e t + en
dt ρ
en
et

• The tangential direction (e t ) is tangent to the path of the particle. This velocity vector of
a particle is in this direction
• The normal direction (e n ) is perpendicular to e t and points towards the inside of the curve.
• The acceleration can have components in both the e n and e t directions
 • To derive the acceleration vector in tangential and
normal components, define the motion of a particle
as shown in the figure.

 
• et and et′ are tangential unit vectors for the
particle path at P and P’. When drawn with
  
respect to the same origin, and ∆et = et′ − et
∆θ is the angle between them.

∆et = 2 sin (∆θ 2 )


∆et sin (∆θ 2 )  
lim = lim en = en
∆θ →0 ∆θ ∆θ →0 ∆θ 2

 det
en =
dθ
  
v =velocity
• With the vet vector expressed as
the particle acceleration may be written as
  
 dv dv  de dv  de dθ ds
a= = et + v = et + v
dt dt dt dt dθ ds dt
but

det  ds
= en ρ dθ = ds =v
dθ dt
After substituting,
 dv  v 2  dv v2
a = et + en at = an =
dt ρ dt ρ
• The tangential component of acceleration reflects change of speed
and the normal component reflects change of direction.
• The tangential component may be positive or negative. Normal
component always points toward center of path curvature.
 • Relations for tangential and normal acceleration
also apply for particle moving along a space curve.

 dv  v 2  dv v2
a = et + en at = an =
dt ρ dt ρ

• The plane containing tangential and normal unit

vectors is called the osculating plane.
• The normal to the osculating plane is found from
  
eb = et × en

en = principal normal

eb = binormal
• Acceleration has no component along the binormal.
Sample Problem 11.16
A motorist is traveling on a curved section of highway of radius
750 m at the speed of 90 km/h. The motorist suddenly applies the
brakes, causing the automobile to slow down at a constant rate.
Knowing that after 8 s the speed has been reduced to 72 km/h,
determine the acceleration of the automobile immediately after
the brakes have been applied.
STRATEGY:
• Define your coordinate system
• Calculate the tangential velocity and tangential acceleration
• Calculate the normal acceleration
• Determine overall acceleration magnitude after the brakes have been applied
 MODELING and ANALYSIS:
• Define your coordinate system
• Determine velocity and acceleration in the tangential
direction

• The deceleration constant, therefore

• Immediately after the brakes are applied, the speed is still 25 m/s

a= an2 + at2 = 0.6252 + 0.8332

REFLECT and THINK:
The tangential component of acceleration is opposite the
direction of motion, and the normal component of
acceleration points to the center of curvature, which is what
you would expect for slowing down on a curved path.
Attempting to do the problem in Cartesian coordinates is
quite difficult.
11.5B Radial and Transverse Components
The foot pedal on an elliptical machine rotates about
and extends from a central pivot point. This motion
can be analyzed using radial and transverse
components
Fire truck ladders can rotate as well as extend; the
motion of the end of the ladder can be analyzed
using radial and transverse components.
• The position of a particle P is expressed as a
distance r from the origin O to P – this
defines the radial direction e r. The transverse

direction eθ is perpendicular to e r
 
r = rer
• The particle velocity vector is
  
v r er + rθ eθ
=

• The particle acceleration vector is

  
( ) ( )
r − rθ 2 er + rθ + 2rθ eθ
a = 
 • We can derive the velocity and acceleration
relationships by recognizing that the unit vectors
change direction.
• The particle velocity vector is

 d  dr  der dr  dθ 
v = (r e r ) = e r + r = er + r eθ
dt dt dt dt dt
 
= r er + rθ eθ
 
r = rer
  Similarly, the particle acceleration vector is
der  deθ 
= eθ = −er
dθ dθ  d  dr  dθ  
a =  er + r eθ 
dt  dt dt 
   
der der dθ  dθ d 2 r  dr der dr dθ  d 2θ  dθ deθ
= = eθ = 2 er + + eθ + r 2 eθ + r
dt dθ dt dt dt dt dt dt dt dt
dt dt

deθ
=

deθ dθ  dθ
= −er ( )  
= r − rθ 2 er + (rθ + 2rθ )eθ
dt dθ dt dt
 • When particle position is given in cylindrical
coordinates, it is convenient to express the velocity and
acceleration vectors using the unit vectors
  
eR , eθ , and k .
• Position vector,
  
r = R e R +z k
• Velocity vector,
 
 dr    
v= = R eR + Rθ eθ + z k
dt
• Acceleration vector,

 dv
a=
dt
 (2   )  
= R − Rθ eR + (Rθ + 2 Rθ )eθ + z k

Sample Problem 11.18
Rotation of the arm about O is defined by q = 0.15t2 where q
is in radians and t in seconds. Collar B slides along the arm
such that r = 0.9 - 0.12t2 where r is in meters.
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.
STRATEGY:
• Evaluate time t for q = 30o.
• Evaluate radial and angular positions, and first and second derivatives at time t.
• Calculate velocity and acceleration in cylindrical coordinates.
• Evaluate acceleration with respect to arm.

MODELING and ANALYSIS

 • Evaluate time t for q = 30o.
θ = 0.15 t 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
θ = 0.15 t 2 = 0.524 rad
θ = 0.30 t = 0.561 rad s
θ = 0.30 rad s 2
• Calculate velocity and acceleration.
vr = r = −0.449 m s
vθ = rθ = (0.481m )(0.561rad s ) = 0.270 m s
v
v = vr2 + vθ2 β = tan −1 θ
vr

v = 0.524 m s β = 31.0°
ar = r − rθ 2
= −0.240 m s 2 − (0.481m )(0.561rad s )2
= −0.391m s 2
aθ = rθ + 2rθ
( )
= (0.481m ) 0.3 rad s 2 + 2(− 0.449 m s )(0.561rad s )
= −0.359 m s 2
a
a = ar2 + aθ2 γ = tan −1 θ
ar

a = 0.531m s γ = 42.6°
 • Evaluate acceleration with respect to arm.
Motion of collar with respect to arm is rectilinear and
defined by coordinate r.
aB OA = 
r = −0.240 m s 2

REFLECT and THINK:

You should consider polar coordinates for any
kind of rotational motion. They turn this problem into a
straightforward solution, whereas any other coordinate system
would make this problem much more difficult. One way to
make this problem harder would be to ask you to find the radius of curvature in addition to
the velocity and acceleration. To do this, you would have to find the normal component of the
acceleration; that is, the component of acceleration that is perpendicular to the tangential
direction defined by the velocity vector.