Chapter 1 (12) - Kinematics of particles

Rectilinear Kinematics – Continuous Motion

Kinematics of particles – Erratic Motion
Curvilinear Motion – General and Rectangular components
Motion of Projectile
Curvilinear Motion – Normal and Tangential Components
Curvilinear motion – Cylindrical coordinates
Dependent motion
Relative motion
 INTRODUCTION &
RECTILINEAR KINEMATICS: CONTINUOUS MOTION
Today’s Objectives:
Students will be able to:
1. Find the kinematic quantities
In-Class Activities:
(position, displacement, velocity,
• Check Homework
and acceleration) of a particle
• Reading Quiz
traveling along a straight path.
• Applications
• Relations between s(t), v(t),
and a(t) for general
rectilinear motion.
• Relations between s(t), v(t),
and a(t) when acceleration is
constant.
• Concept Quiz
• Group Problem Solving
• Attention Quiz
 READING QUIZ

1. In dynamics, a particle is assumed to have _________.

A) both translation and rotational motions
B) only a mass
C) a mass but the size and shape cannot be neglected
D) no mass or size or shape, it is just a point

2. The average speed is defined as __________.

A) Δr/Δt B) Δs/Δt
C) sT/Δt D) None of the above.
APPLICATIONS

The motion of large objects,

such as rockets, airplanes, or
cars, can often be analyzed
as if they were particles.

Why?

If we measure the altitude

of this rocket as a function
of time, how can we
determine its velocity and
acceleration?
 APPLICATIONS
(continued)

A sports car travels along a straight road.

Can we treat the car as a particle?
If the car accelerates at a constant rate, how can we
determine its position and velocity at some instant?
 An Overview of Mechanics
Mechanics: The study of how bodies
react to forces acting on them.

Statics: The study of Dynamics:

bodies in equilibrium. 1. Kinematics – concerned with
the geometric aspects of motion
2. Kinetics - concerned with
the forces causing the motion
RECTILINEAR KINEMATICS: CONTINIOUS MOTION
(Section 12.2)
A particle travels along a straight-line path
defined by the coordinate axis s.

The position of the particle at any instant,

relative to the origin, O, is defined by the
position vector r, or the scalar s. Scalar s
can be positive or negative. Typical units
for r and s are meters (m) or feet (ft).

The displacement of the particle is

defined as its change in position.
Vector form: Δ r = r’ - r Scalar form: Δ s = s’ - s
The total distance traveled by the particle, sT, is a positive scalar
that represents the total length of the path over which the particle
travels.
 VELOCITY
Velocity is a measure of the rate of change in the position of a particle.
It is a vector quantity (it has both magnitude and direction). The
magnitude of the velocity is called speed, with units of m/s or ft/s.

The average velocity of a particle during a

time interval Δt is
vavg = Δr / Δt
The instantaneous velocity is the time-derivative of position.
v = dr / dt

Speed is the magnitude of velocity: v = ds / dt

Average speed is the total distance traveled divided by elapsed time:

(vsp)avg = sT / Δt
 ACCELERATION
Acceleration is the rate of change in the velocity of a particle. It is a
vector quantity. Typical units are m/s2 or ft/s2.

The instantaneous acceleration is the time

derivative of velocity.

Vector form: a = dv / dt

Scalar form: a = dv / dt = d2s / dt2

Acceleration can be positive (speed

increasing) or negative (speed decreasing).

As the book indicates, the derivative equations for velocity and

acceleration can be manipulated to get a ds = v dv
 SUMMARY OF KINEMATIC RELATIONS:
RECTILINEAR MOTION

• Differentiate position to get velocity and acceleration.

v = ds/dt ; a = dv/dt or a = v dv/ds

• Integrate acceleration for velocity and position.

Velocity: Position:
v t v s s t

∫ dv = ∫ a dt or ∫ v dv = ∫ a ds ∫ ds = ∫ v dt
vo o vo so so o

• Note that so and vo represent the initial position and

velocity of the particle at t = 0.
 CONSTANT ACCELERATION
The three kinematic equations can be integrated for the special case
when acceleration is constant (a = ac) to obtain very useful equations.
A common example of constant acceleration is gravity; i.e., a body
freely falling toward earth. In this case, ac = g = 9.81 m/s2 = 32.2 ft/s2
downward. These equations are:
v t

∫ dv = ∫ a c dt
vo o
yields v = vo + act

s t

∫ ds = ∫ v dt yields s = s o + v ot + (1/2) a c t 2
so o
v s

∫ v dv = ∫ ac ds yields v 2 = (vo )2 + 2ac(s - so)

vo so
 EXAMPLE

Given: A particle travels along a straight line to the right

with a velocity of v = ( 4 t – 3 t2 ) m/s where t is
in seconds. Also, s = 0 when t = 0.

Find: The position and acceleration of the particle

when t = 4 s.

Plan: Establish the positive coordinate, s, in the direction the

particle is traveling. Since the velocity is given as a
function of time, take a derivative of it to calculate the
acceleration. Conversely, integrate the velocity
function to calculate the position.
 EXAMPLE
Solution: (continued)
1) Take a derivative of the velocity to determine the acceleration.
a = dv / dt = d(4 t – 3 t2) / dt =4 – 6 t
=> a = – 20 m/s2 (or in the ← direction) when t = 4 s

2) Calculate the distance traveled in 4s by integrating the

velocity using so = 0: s t

v = ds / dt => ds = v dt => ∫ ds = ∫ (4 t – 3 t2) dt

=> s – so = 2 t2 – t3 so o

=> s – 0 = 2(4)2 – (4)3 => s = – 32 m ( or ←)

 CONCEPT QUIZ
3 m/s 5 m/s

t=2s t=7s
1. A particle moves along a horizontal path with its velocity
varying with time as shown. The average acceleration of the
particle is _________.
A) 0.4 m/s2 B) 0.4 m/s2
C) 1.6 m/s2 D) 1.6 m/s2
2. A particle has an initial velocity of 30 ft/s to the left. If it
then passes through the same location 5 seconds later with a
velocity of 50 ft/s to the right, the average velocity of the
particle during the 5 s time interval is _______.
A) 10 ft/s B) 40 ft/s
C) 16 m/s D) 0 ft/s
 GROUP PROBLEM SOLVING
Given:Ball A is released from rest
at a height of 40 ft at the
same time that ball B is
thrown upward, 5 ft from the
ground. The balls pass one
another at a height of 20 ft.

Find:The speed at which ball B was

thrown upward.

Plan: Both balls experience a constant downward acceleration

of 32.2 ft/s2 due to gravity. Apply the formulas for
constant acceleration, with ac = -32.2 ft/s2.
 GROUP PROBLEM SOLVING
Solution: (continued)

1) First consider ball A. With the origin defined at the ground,

ball A is released from rest ((vA)o = 0) at a height of 40 ft
((sA )o = 40 ft). Calculate the time required for ball A to drop to
20 ft (sA = 20 ft) using a position equation.

sA = (sA )o + (vA)o t + (1/2) ac t2

So,

20 ft = 40 ft + (0)(t) + (1/2)(-32.2)(t2) => t = 1.115 s

 GROUP PROBLEM SOLVING
Solution: (continued)

2) Now consider ball B. It is throw upward from a height of 5 ft

((sB)o = 5 ft). It must reach a height of 20 ft (sB = 20 ft) at the
same time ball A reaches this height (t = 1.115 s). Apply the
position equation again to ball B using t = 1.115s.

sB = (sB)o + (vB)ot + (1/2) ac t2

So,
20 ft = 5 + (vB)o(1.115) + (1/2)(-32.2)(1.115)2

=> (vB)o = 31.4 ft/s

 ATTENTION QUIZ
1. A particle has an initial velocity of 3 ft/s to the left at
s0 = 0 ft. Determine its position when t = 3 s if the
acceleration is 2 ft/s2 to the right.

A) 0.0 ft B) 6.0 ft
C) 18.0 ft D) 9.0 ft

2. A particle is moving with an initial velocity of v = 12 ft/s

and constant acceleration of 3.78 ft/s2 in the same direction
as the velocity. Determine the distance the particle has
traveled when the velocity reaches 30 ft/s.

A) 50 ft B) 100 ft
C) 150 ft D) 200 ft