ESO209A

(23, 24 May)
Scalar and vector
Parallelogram law of vector addition

𝑣2 𝑣⃗

𝜃 𝛼

𝑣1

|𝑣| = √|𝑣|1 2 + |𝑣|2 2 + 2|𝑣|1 |𝑣|2 𝑐𝑜𝑠𝜃

|𝑣|2
𝛼 = 𝑡𝑎𝑛−1 { }
|𝑣|1

Vector operations: 𝑅⃗⃗

⃗⃗ = 𝑅⃗⃗
Triangle addition 𝑃⃗⃗ + 𝑄 𝑃⃗⃗ ⃗⃗
𝑄

⃗⃗ = 𝑄
Commutativity 𝑃⃗⃗ + 𝑄 ⃗⃗ + 𝑃⃗⃗

⃗⃗ + 𝑅⃗⃗ ) = (𝑃⃗⃗ + 𝑄
Associativity, 𝑃⃗⃗ + (𝑄 ⃗⃗) + 𝑅⃗⃗

Dot product/ Inner Product:

⃗⃗
𝑄

𝑃⃗⃗

⃗⃗ = |𝑃||𝑄|𝑐𝑜𝑠𝜃 = 𝑄
𝑃⃗⃗. 𝑄 ⃗⃗. 𝑃⃗⃗

⃗⃗
𝑃⃗⃗. 𝑄
= 𝑐𝑜𝑠𝜃
|𝑃||𝑄|
Distributive law:

⃗⃗ + 𝑅⃗⃗ ) = 𝑃⃗⃗. 𝑄
𝑃⃗⃗. (𝑄 ⃗⃗ + 𝑃⃗⃗. 𝑅⃗⃗

Cross-product:

⃗⃗ = 𝑅⃗⃗
𝑃⃗⃗ × 𝑄

⃗⃗ = |𝑃⃗⃗||𝑄
𝑃⃗⃗ × 𝑄 ⃗⃗|𝑠𝑖𝑛𝜃

𝑖 𝑗 𝑘
⃗⃗ = [ 𝑃𝑖
⃗𝑃⃗ × 𝑄 𝑃𝑗 𝑃𝑘 ]
𝑄𝑖 𝑄𝑗 𝑄𝑘

Rectilinear motion:

O s P ∆𝑠 P’

∆𝑡

∆𝑠
𝑣𝑎𝑣𝑔 =
∆𝑡

∆𝑠 𝑑𝑠
𝑣 = lim = = 𝑠̇
∆𝑡→0 ∆𝑡 𝑑𝑡

𝑣 = 𝑠̇

∆𝑣
𝑎𝑎𝑣𝑔 =
∆𝑡

∆𝑣 𝑑𝑣 𝑑2 𝑠
𝑎⃗ = lim = = 𝑣̇ = 2 = 𝑠̈
∆𝑡→0 ∆𝑡 𝑑𝑡 𝑑𝑡

𝑎 = 𝑠̈

∆𝑣
𝑎=𝑣
∆𝑡

𝑎∆𝑠 = 𝑣∆𝑣

𝑎𝑑𝑠 = 𝑣𝑑𝑣

𝑠2 − 𝑠1 = ∫ 𝑑𝑠 = ∫ 𝑣𝑑𝑡
 ∫ 𝑠𝑑𝑡 = ∫ 𝑑𝑣

𝑣2
∫ 𝑑𝑣 = 𝑎 ∫ 𝑑𝑡
𝑣1

𝑣 = 𝑣𝑜 + 𝑎𝑡

𝑣 2 = 𝑣𝑜 2 + 2𝑎(𝑠 − 𝑠𝑜 )

1
𝑠 = 𝑣𝑜 𝑡 + 𝑎𝑡 2
2

Plane Curvilinear motion 𝑣1

A A’

̅̅̅ = ̅̅̅̅̅
∆𝑟 ̅̅̅̅
𝑂𝐴′ − 𝑂𝐴

∆𝑟 ̅̅̅
𝑑𝑟
𝑉 = lim = = 𝑟̇ ̅
𝑛→∞ ∆𝑡 𝑑𝑡

𝑑𝑠
𝑣 = |𝑣| = = 𝑆̇
𝑑𝑡

∆𝑣 ∆𝑣
𝑎 = lim = = 𝑣̇ ̅ = 𝑟̈ ̅
𝑛→∞ ∆𝑡 ∆𝑡

𝑟̅ = 𝑥𝑖 + 𝑦𝑗

𝑣̅ = 𝑥̇ 𝑖 + 𝑦̇ 𝑗

𝑎̅ = 𝑥̈ 𝑖 + 𝑦̈ 𝑗

𝑑(𝑥𝑖)/𝑑𝑡

y A’ v’

A v

x
 𝑑𝑠 𝜌(𝑑𝛽)
𝑣= = = 𝜌𝛽̇
𝑑𝑡 𝑑𝑡

𝑉 = 𝑣𝑒𝑡

𝑑𝑉 𝑑(𝑣𝑒𝑡 )
𝑎= = = 𝑑(𝜌𝛽̇ 𝑣𝑒𝑡 )/𝑑𝑡
𝑑𝑡 𝑑𝑡

𝑑𝑒𝑡 = 𝑎𝑟𝑐(𝑒𝑡 )𝑑𝛽 = 𝑑𝛽

𝑑𝑒𝑡
= 𝑒𝐴
𝑑𝛽

𝑎 = 𝑣̇ 𝑒𝑡 + 𝑣𝑒̇ 𝑡

∆𝑒𝑡
lim = 𝑒𝑛
𝑛→∞ ∆𝛽

∆𝑒𝑡 ∆𝑡
lim × = 𝑒𝑛
𝑛→∞ ∆𝑡 ∆𝛽

𝑒𝑡̇ = 𝛽𝑒̇ 𝑛

Polar co-ordinates 𝜃 𝑒𝜃

𝑒𝑟 r

r
θ

𝑑𝑒𝑟 = 𝑒𝜃 𝑑𝜃 …………………….. (1)

𝑑𝑒𝜃 = 𝑒𝑟 𝑑𝜃 …………………….. (2)

𝑑𝑒𝑟
= 𝑒𝜃
𝑑𝜃

𝑑𝑒𝜃
= −𝑒𝑟
𝑑𝜃

𝑑𝑒𝑟
𝑒𝑟̇ = = 𝜃̇ 𝑒𝜃
𝑑𝑡
 𝑑𝑒𝜃
𝑒𝜃̇ = ̇ 𝑒𝑟
= −𝜃
𝑑𝑡

𝑑(𝑟𝑒𝑟 )
𝑣 = 𝑟̅ = = 𝑟̇ 𝑒𝑟 = 𝑟𝑑𝑒𝑟 /𝑑𝑡
𝑑𝑡

𝑣 = 𝑟̇ 𝑒𝑟 + 𝑟𝜃̇ 𝑒𝜃

𝑣 = √𝑟̇ 2 + (𝑟𝜃)̇2

𝑣 = √𝑣𝑟 2 + 𝑣𝜃 2

Acceleration:

𝑑(𝑟𝑒𝑟 )
𝑎 = 𝑣̇ = + 𝑑(𝑟𝜃̇ 𝑒𝜃 )/𝑑𝑡
𝑑𝑡

𝑎 = 𝑟̈ 𝑒𝑟 + 𝑟̇ 𝜃̇ 𝑒𝜃 + 𝑟̇ 𝜃̇ 𝑒𝜃 + 𝑟𝜃̈ 𝑒𝜃 − 𝑟𝜃̇ 2 𝑒𝑟

𝑎 = (𝑟̈ − 𝑟𝜃̇ 2 )𝑒𝑟 + (2𝑟̇ 𝜃̇ + 𝑟𝜃̈ )𝑒𝜃

Y 𝑎𝜃

A 𝑎𝑟

3-D space

𝑅̅ = 𝑥𝑖 + 𝑦𝑗 + 𝑧𝑘

𝑣̅ = 𝑥̇ 𝑖 + 𝑦̇ 𝑗 + 𝑧̇ 𝑘

𝑎̅ = 𝑥̈ 𝑖 + 𝑦̈ 𝑗 + 𝑧̈ 𝑘

Y R

Z
Cylindrical polar co-ordinates

𝑅 = 𝑟𝑒̂𝑟 + 𝑧𝑘̂

𝑣 = 𝑟̇ 𝑒̂𝑟 + 𝑟𝜃̇ 𝑒̂𝜃 + 𝑧̇ 𝑘̂

𝑎 = (𝑟̈ − 𝑟𝜃̇ 2 )𝑒𝑟 + (2𝑟̇ 𝜃̇ + 𝑟𝜃̈ )𝑒𝜃 + 𝑧̈ 𝑘

Spherical polar co-ordinates,

𝑉(𝑅, 𝜃, ∅) = 𝑣𝑅 𝑒𝑟 + 𝑣𝜃 𝑒𝜃 + 𝑣∅ 𝑒∅

𝑎 = 𝑎𝑅 𝑒𝑟 + 𝑎𝜃 𝑒𝜃 + 𝑎∅ 𝑒∅

𝑎𝑅 = 𝑅̈ − 𝑅∅̇2

𝑐𝑜𝑠∅ 𝑑
𝑎𝜃 = (𝑅 2 𝜃̇) − 2𝑅𝜃̇ ∅̇𝑠𝑖𝑛∅
𝑅 𝑑𝑡

1 𝑑
𝑎∅ = (𝑅 2 ∅̇) + 𝜃̇ 2 𝑅̇𝑠𝑖𝑛∅𝑐𝑜𝑠∅
𝑅 𝑑𝑡

Relative Motion:

Translating axis y

𝑟𝐴/𝐵 A

Y 𝑟𝐵 𝑟𝐴 x

𝑟𝐵

0 X (Inertial frame)

𝑟𝐴 = ⃗⃗⃗⃗
⃗⃗⃗⃗ 𝑟𝐵 + ⃗⃗⃗⃗⃗⃗⃗⃗
𝑟𝐴/𝐵

̇
𝑟⃗⃗⃗⃗ 𝑟𝐵̇ + ⃗⃗⃗⃗⃗⃗⃗⃗
̇
𝐴 = ⃗⃗⃗⃗ 𝑟𝐴/𝐵

̈
𝑟⃗⃗⃗⃗ 𝑟𝑩̈ + 𝑟⃗⃗⃗⃗⃗⃗⃗⃗
̈
𝐴 = ⃗⃗⃗⃗ 𝐴/𝐵
Q. 1:

Tutorial 1

25th May
1. For a certain interval of motion, the pin P is forced to move in the fixed parabolic slot by the
vertical slotted guide, which moves in the x-direction at the constant rate of 20 mm/s. All
measurements are in millimetres and seconds. Calculate the magnitudes of the velocity v and
acceleration a of pin P when x= 60mm.

Solution:
20𝑚𝑚
𝑥̇ = , 𝑥̈ = 0
𝑠
𝑥2 𝑥𝑥̇ 𝑥̇ 2 + 𝑥𝑥̈
𝑦= , 𝑦̇ = , 𝑦̈ =
160 80 80
̇
𝑥 2
̇ 2 = 𝑥 √1 + (
𝑣 = √𝑥̇ 2 + 𝑦̇ 2 = √𝑥̇ 2 + (𝑥𝑥/80) )
80
For x =60 mm

̇
60 2
√
𝑣 = 20 1 + ( ) = 25𝑚𝑚
80
𝑥̇ 2
𝑎 = 𝑦̈ =
80
20̇2 2
Since 𝑥̈ = 0 , 𝑎 = 𝑦̈ = = 5𝑚𝑚/𝑠
80
2. A projectile is ejected into an experimental fluid at time t = 0. The initial speed is 𝑣0 and the angle
to the horizontal is 𝜃. The drag on the projectile results in an acceleration term 𝑎𝐷 = −𝑘𝑣, where k
is a constant and 𝑣 is the velocity of the projectile. Determine the x- and y-components of both the
velocity and displacement as functions of time. What is the terminal velocity? Include the effects of
gravitational acceleration.

Solution:
𝑎 = −𝑘𝑣 − 𝑔𝑗

𝑎𝑥 𝑖 + 𝑎𝑦 𝑗 = −𝑘(𝑣𝑥 𝑖 + 𝑣𝑦 𝑗) − 𝑔𝑗
X:
𝑑𝑣𝑥
𝑎𝑥 = = −𝑘𝑣𝑥
𝑑𝑡
𝑣𝑥 𝑡
𝑑𝑣𝑥
∫ = − ∫ 𝑘𝑑𝑡
𝑣𝑥0 𝑣𝑥 0
𝑣𝑥 = 𝑜 𝑐𝑜𝑠𝜃)𝑒 −𝑘𝑡
(𝑣
𝑑𝑥
𝑣𝑥 = = 𝑣𝑥0 𝑒 −𝑘𝑡
𝑑𝑡
𝑥 𝑡
∫ 𝑑𝑥 = ∫ 𝑣𝑥0 𝑒 −𝑘𝑡 𝑑𝑡
0 0
𝑣𝑥0 𝑣𝑜 cos 𝜃
𝑥= [1 − 𝑒 −𝑘𝑡 ] = [𝑣𝑥0 𝑒 −𝑘𝑡 ]
𝑘 𝑘
Y:
𝑑𝑣𝑦
𝑎𝑥 = = −𝑘𝑣𝑦 − 𝑔
𝑑𝑡
𝑣𝑦 𝑑𝑣 𝑡
𝑦
∫ = − ∫ 𝑑𝑡
𝑣𝑦0 𝑘𝑣𝑦 + 𝑔 0
𝑔 𝑔
𝑣𝑦 = [𝑣𝑦0 + ] 𝑒 −𝑘𝑡 − 𝑔/𝑘 = [𝑣0 𝑠𝑖𝑛𝜃 + ] 𝑒 −𝑘𝑡 − 𝑔/𝑘
𝑘 𝑘

3. An aircraft takes off at A and climbs at a steady angle with slope of 1 to 2 in the vertical y-z plane at
a constant speed 𝑣 = 400 km/h. The aircraft is tracked by radar at o. For the position B, determine
the values of 𝑅̇ , 𝜃̇, 𝑎𝑛𝑑 𝜙̇.
 Solution:
1
𝛽 = tan−1 = 26.6𝑜
2
3
𝜙 = tan−1 = 31.0𝑜
5
𝑘𝑚
𝑣𝑅 = 400𝑠𝑖𝑛26.6𝑜 = 92.0 = 𝑅̇
ℎ
400
𝑣𝜃 = 𝑅𝜃̇𝑐𝑜𝑠𝜙 = 𝑐𝑜𝑠26.6𝑜 = 500𝜃̇
3.6
𝑟𝑎𝑑
𝜃̇ = 0.1988
𝑠
400 500
𝑣𝜙 = 𝑅𝜙̇ = 𝑠𝑖𝑛26.6𝑜 𝑐𝑜𝑠31𝑜 = 𝜙̇
3.6 𝑐𝑜𝑠31𝑜
𝑟𝑎𝑑
𝜙̇ = 0.0731
𝑠

4. A ball is thrown vertically upward from the 12-m level in an elevator shaft with an initial velocity of 18 m/s.
At the same instant an open-platform elevator passes the 5-m level, moving upward with a constant velocity
of 2 m/s. Determine (a) when and where the ball will hit the elevator, (b) the relative velocity of the ball with
respect to the elevator when the ball hits the elevator.

Solution:
Motion of Ball. Since the ball has a constant acceleration, its motion is uniformly accelerated. Placing the
origin O of the y axis at ground level and choosing its positive direction upward, we find that the initial
m m
position isyo = +12 m, the initial velocity is to𝑣𝑜 + 18 s , and the acceleration is a = −9.81 𝑠2
.Substituting these values in the equations for uniformly accelerated motion, we write

t=t
𝑚
𝑣𝑜 = 18 𝑠

t=0
𝑦𝐵
g
𝑦𝑜 = 12 𝑚

𝑣𝐵 = 𝑣𝑜 + 𝑎𝑡
𝑣𝐵 = 18 − 9.81𝑡
1
𝑦𝐵 = 𝑦𝑜 + 𝑣𝑜 𝑡 + 𝑎𝑡 2
2
𝑦𝐵 = 12 + 18𝑡 − 4.90𝑡 2

Motion of Elevator. Since the elevator has a constant velocity, its motion is uniform. Again placing the
origin O at the ground level and choosing the positive direction upward, we note that yo = +5 m and write
𝑚
𝑣𝐸 = +2
𝑠
𝑦𝐸 = 𝑦𝑜 + 𝑣𝐸 𝑡
𝑦𝐸 = 5 + 2𝑡
Ball Hits Elevator. We first note that the same time t and the same origin O were used in writing the
equations of motion of both the ball and the elevator. We see from the figure that when the ball hats the
elevator, 𝑦𝐸 = 𝑦𝐵
5 + 2𝑡 = 12 + 18𝑡 − 4.9𝑡 2
𝑡 = −0.39 𝑠 𝑎𝑛𝑑 𝑡 = 3.65 𝑠

Only the root t = 3.65 s corresponds to a time after the motion has begun.

Substituting this value, we have

𝑦𝐸 = 5 + 2(3.65) = 12.30 𝑚

Elevation from ground = 12.30 m

The relative velocity of the ball with respect to the elevator is
𝑣𝐵 = 𝑣𝐵 − 𝑣𝐸 = (18 − 9.81𝑡) − 2 = 16 − 9.81𝑡
𝐸
When the ball hits the elevator at time t = 3.65 s, we have
𝑚
𝑣𝐵 = 16 − 9.81(3.65) = −19.81
𝐸 𝑠
The negative sign means that the ball is observed from the elevator to be moving in the negative sense
(downward).
5. A volleyball player serves the ball with an initial velocity 𝑣0 of magnitude 13.40 m/s at an angle of
20° with the horizontal. Determine (a) if the ball will clear the top of the net, (b) how far from the
net the ball will land.
 6. The rotation of the 0.9 m arm OA about O is defined by the relation 𝑢 = 0.15𝑡 2 , where u is
expressed in radians and t in seconds. Collar B slides along the arm in such a way that its distance
from O is 𝑟 = 0.9 − 0.12𝑡 2 , where r is expressed in meters and t in seconds. After the arm OA has
rotated through 30°, determine (a) the total velocity of the collar, (b) the total acceleration of the
collar, (c) the relative acceleration of the collar with respect to the arm.

Solution:

𝑒𝜃 𝑒𝑟

O 𝜃

𝑣 = 𝑣𝑟 𝑒𝑟 + 𝑣𝜃 𝑒𝜃

𝑎 = 𝑎𝑟 𝑒𝑟 + 𝑎𝜃 𝑒𝜃

Time t at which 𝑈 = 30𝑜 = 0.524𝑟𝑎𝑑

𝑢 = 0.15𝑡 2 0.524 = 0.15𝑡 2 𝑡 = 1.869 𝑠

Equation of motion:

Substitute t = 1.869 s in the expression for r, u, and their first and second derivatives, we have

𝑟 = 0.9 − 0.12𝑡 2 = 0.481𝑚 𝑢 = 0.15𝑡 2 = 0.524 𝑟𝑎𝑑

𝑚 𝑟𝑎𝑑
𝑟̇ = −0.24𝑡 = −0.449 𝑢̇ = 0.3𝑡 = 0.561
𝑠 𝑠

𝑚 𝑟𝑎𝑑
𝑟̈ = −0.24 𝑢̈ = 0.3
𝑠2 𝑠2
a. Velocity of B: We obtain the values od 𝑣𝑟 and 𝑣𝐵 when t = 1.869 s.

𝑚
𝑣𝑟 = 𝑟̇ = −0.449
𝑠
 𝑚
𝑣𝐵 = 𝑟𝑢̇ = 0.481(0.561) = 0.27
𝑠

We obtain magnitude and direction of velocity

𝑚
𝑣 = 0.524 𝛽 = 31𝑜
𝑠
b. Acceleration of B: We obtain

𝑎𝑟 = 𝑟̅ − 𝑟𝑢̇ 2

𝑎𝑟 = −0.24 − 0.481(0.561)2 = −0.391 𝑚/𝑠 2

𝑎𝑢 = 𝑟𝑢̈ + 2𝑟𝑢̇

𝑚
𝑎𝑢 = 0.481(0.3) + 2(−0.449)(0.561) = −0.359
𝑠2
c. Acceleration of B with respect to Arm OA: We note that the motion of the collar with respect to the
arm is rectilinear and defined by the coordinate r, We write

𝑚
𝑎 𝐵 = 𝑟̈ = −0.24
𝑂𝐴 𝑠2

7. An industrial robot is being used to position a small part P. Calculate the magnitude of the
acceleration a of P for the instant when 𝛽 = 30° if 𝛽̇ = 10 deg/s and 𝛽̈ = 20 𝑑𝑒𝑔/𝑠 2 at this same
instant. The base of the robot is revolving at the constant rate 𝜔 = 40 deg/s. During the motion
arms AO and AP remain perpendicular.

Solution:
 A

b = 300 mm C =200 mmm

O 𝛽

r z

h 𝜔

40 𝑟𝑎𝑑
𝜃̇ = 𝜔 = 𝜋 = 0.698
180 𝑠

10 𝑟𝑎𝑑
𝛽̇ = 𝜔 = 𝜋 = 0.1745
180 𝑠

20 𝑟𝑎𝑑
𝛽̈ = 𝜋 = 0.349 2
180 𝑠

Use cylindrical coordinates

𝑟 = 𝑏𝑐𝑜𝑠𝛽 + 𝑐𝑠𝑖𝑛𝛽

𝑟̇ = (−𝑏𝑠𝑖𝑛𝛽 + 𝑐𝑐𝑜𝑠𝛽)𝛽̇

𝑟̈ = (−𝑏𝑐𝑜𝑠𝛽 − 𝑐𝑠𝑖𝑛𝛽)𝛽̇ 2 + (−𝑏𝑠𝑖𝑛𝛽 + 𝑐𝑐𝑜𝑠𝛽)𝛽̈

𝑧 = ℎ + (𝑏𝑠𝑖𝑛𝛽 − 𝑐𝑐𝑜𝑠𝛽)𝛽 2̇

𝑧̇ = (𝑏𝑐𝑜𝑠𝛽 + 𝑐𝑠𝑖𝑛𝛽)𝛽̇

𝑧̈ = (−𝑏𝑠𝑖𝑛𝛽 + 𝑐 𝑐𝑜𝑠𝛽)𝛽̇ 2 + (𝑏𝑐𝑜𝑠𝛽 + 𝑐𝑠𝑖𝑛𝛽)𝛽̈

For 𝛽 = 30𝑜

𝑚𝑚
𝑟̇ = (−300(0.5) + 200(0.866))(0.1745) = −4.05
𝑠

𝑟̈ = (−300(0.866) + 200(0.5))(0.1745)2 + (300(0.5) + 200(0.866)(0.349) = −2.86 𝑚𝑚/𝑠 2

𝑧̈ = (−300(0.5) + 200(0.866))(0.1745)2 + (300(0.866) + 200(0.5)(0.349) = 126.3 𝑚𝑚/𝑠 2

𝑚𝑚
𝑎𝑟 = 𝑟̈ − 𝑟𝜃̇ 2 = −2.860 − 359.8(0.698)2 = −178.23
𝑠2
 𝑚𝑚
𝑎𝜃 = 𝑟𝜃̈ + 2𝑟̇ 𝜃̇ = +2(4.049)(0.698) = 5.65
𝑠2
𝑚𝑚
𝑎𝑧 = 𝑧̈ = 126.30
𝑠2

𝑚𝑚
𝑎 = √𝑎𝑟2 + 𝑎𝜃2 + 𝑎𝑧2 = 219
𝑠2