MEC 420 – kinematics of particles

CHAPTER 1
KINEMATICS OF PARTICLES
 outlines
∎ 1.0 Intro to Kinematics of Particles, rectilinear and curvilinear motion
MEC 420 – kinematics of particles

o Kinematics of Particles
o Rectilinear and Curvilinear Motion
o Radius of curvature
∎ 1.1 Rectilinear Motion
o Kinematic Parameters
∎ 1.2 Constant Acceleration
o Linear system
o Rotational system
∎ 1.3 Curvilinear motion
o Rectangular Coordinates
o Normal and Tangential Coordinates
o Polar Coordinates
∎ 1.4 Relationship between rectangular, polar, normal-tangential coordinates
∎ 1.5 Relative Motion
∎ 1.6 Dependent Motion
 Overview of kinematics of particles

KINEMATICS OF
PARTICLES

Types of
motion Rectilinear curvilinear

Graphical
representations Rectangular polar Normal-
Methods of
/ Analytical representation representation tangential
analysis/ integrations/ representation
Description differentiations 𝑣𝑃 = 𝑥𝑖ሶ + 𝑦𝑗ሶ 𝑣𝑃 = 𝑟𝑒 ሶ 𝜃
ሶ 𝑟 + 𝑟𝜃𝑒
of motion ሶ 𝑡
𝑣𝑃 = ρ𝛽𝑒
𝑎𝑃 = 𝑥ሷ 𝑖 + 𝑦𝑗ሷ 𝑎𝑃 = 𝑟ሷ − 𝑟𝜃ሶ 2 𝑒𝑟 + (𝑟𝜃ሷ + 2𝑟ሶ 𝜃)𝑒
ሶ 𝜃
𝑣 𝑃2
𝑎𝑃 = 𝑒 + 𝜌𝛽ሷ 𝑒𝑡
𝜌 𝑛

Projectile
motion
𝑣 = 𝑢 + 𝑎𝑡
1
𝑠 =ut + 𝑎𝑡 2
2

𝑣 2 = 𝑢2 + 2𝑎𝑠
1.0 Introduction to
kinematics of
particles
 Kinematics of particles
MEC 420 – kinematics of particles

Kinematics: study of the geometry of motion including displacement, velocity and acceleration

Particles: A body of negligible dimensions but has a mass

 rectilinear and curvilinear motion
Rectilinear Motion: Motion occurs in a straight line.
MEC 420 – kinematics of particles

Curvilinear Motion: The motion of an object moving in a curved path.

Rectilinear Motion Curvilinear Motion Rectilinear Motion

𝑣1 𝑣2

𝜌3 𝑣6
𝑣 is a velocity
𝑣3
𝜌2 𝜌 is a radius of curvature
𝜌4
𝜌5 𝑣5

𝑣4

There is no radius of curvature for points 1 and 6 due rectilinear motion.

The radius of curvature, ρ is not the same in magnitude at points 2, 3, 4 and 5 (i.e. 𝜌2 ≠ 𝜌3 ≠ 𝜌4 ≠ 𝜌5 ).
 Finding a radius of curvature

𝑦
MEC 420 – kinematics of particles

𝑑𝑠 − A very small change arc length

𝜃 ρ
𝑑𝑥 − A very small change in 𝑥 − direction
𝑑𝑦 − A very small change in 𝑦 − direction
𝑑𝑠
𝑑𝑦
𝑑𝑠 𝑑𝑦
𝑑𝑥
𝜃
𝑥 𝑑𝑥

The Arc length: Derivates of tan 𝜃 w.r.t 𝑥:

Substitute eqn (iii) and(ii) into eqn (i):
(𝑖) 𝑑 𝑑 𝑑𝑦
𝑑𝑠 = 𝜌 ∙ 𝑑𝜃 (tan 𝜃) = ( )
𝑑𝑥 𝑑𝑥 𝑑𝑥
𝑑2 𝑦
2
Pythagorean Theorem: 𝑑𝑦 𝑑𝑥 2
𝑑𝑥 ∙ 1 + =𝜌∙ ∙ 𝑑𝑥
𝑑𝑠 2 = 𝑑𝑥 2 + 𝑑𝑦 2 𝑑𝜃 𝑑2 𝑦 𝑑𝑥 𝑑𝑦 2
1+( )
(1 + 𝑡𝑎𝑛2 𝜃) = 2 𝑑𝑥
Rearranging: 𝑑𝑥 𝑑𝑥
Rearranging
𝑑𝑦 2 𝑑𝜃 𝑑2 𝑦
2 (1 + ( ) ) =
𝑑𝑥 2 𝑑𝑦 2 𝑑𝑦 𝑑𝑥 𝑑𝑥 𝑑𝑥 2 3/2
𝑑𝑠 = + = 𝑑𝑥 1 + 𝑑𝑦
𝑑𝑥 2 𝑑𝑥 2 𝑑𝑥 1 + ( )2 2 3/2
(𝑖𝑖) Rearranging: 𝑑𝑥 1 + 𝑦′
𝑑2 𝑦 𝜌=
𝑑2 𝑦
=
The enlarged triangle: 𝑦 ′′
𝑑𝜃 = 𝑑𝑥 2 ∙ 𝑑𝑥 𝑑𝑥 2
𝑑𝑦 𝑑𝑦 2
tan 𝜃 = 1+( )
𝑑𝑥 𝑑𝑥 (𝑖𝑖𝑖)
MEC 420 – kinematics of particles Exercise: Find the radius of curvature of the parabola 𝑦 2 − 4𝑥 = 0 at (4,4).

𝑦
Given: 𝑦 2 − 4𝑥 = 0
∴ 𝑦 2 = 4𝑥

Differentiate w.r.t 𝑥:
2
2𝑦𝑦 ′ = 4 ∴ 𝑦′ =
𝑦
At (4,4):
2
𝑦′ = = 0.5
4

Differentiate twice w.r.t 𝑥:

′′
𝑦 0 − 2𝑦 ′ 2𝑦 ′
𝑦 = =− 2
𝑦2 𝑦
𝑥 At (4,4):
2 0.5
𝑦 ′′ = − = −0.0625
42
At (4,4), the radius of curvature :
2 3/2
1 + 𝑦′ 1 + 0.52 3/2
𝜌= = = 22.36
𝑦 ′′ (−0.0625)
1.1 Rectilinear
motion
 Kinematic parameters
MEC 420 – kinematics of particles

There are three kinematics parameters that are :

The instantaneous acceleration:

THE RATE OF CHANGE OF VELOCITY

∆𝑣 𝑑𝑣
𝑎 = lim = =𝑣ሶ
∆𝑡→𝑜 ∆𝑡 𝑑𝑡
O P Pʹ
𝑠 𝑑𝑠 or

Displacement of the particle: 𝑠 𝑑2𝑠

𝑎 = 2 = 𝑠ሷ
A POSITION OF A POINT REFERRED TO A POINT OF INTEREST (EITHER FIXED 𝑑𝑡
OR MOVING POINT/AXIS)
Using chain’s rule:
The instantaneous velocity: 𝑣 ∙ 𝑑𝑣 = 𝑎 ∙ 𝑑𝑠
THE RATE OF CHANGE OF DISPLACEMENT

∆𝑠 𝑑𝑠
𝑣 = lim =
∆𝑡→𝑜 ∆𝑡 𝑑𝑡
 Non-Constant acceleration
Exercise: The velocity of a particle which moves along the s-axis is given by 𝑣 = 2 + 5𝑡 3/2 , where t
is in seconds and v is in meters per second. Evaluate the displacement s, velocity v, and acceleration
𝑎 when t=4 s. The particle is at the origin s = 0 when t= 0.
MEC 420 – kinematics of particles

Ans: s = 72 m, v = 42 m/s, a = 15 m/s2

The displacement of the particle: The acceleration of the particle can be obtained by differentiating the velocity
equation with respect to time:
𝑠 = න 𝑑𝑠 = න 𝑣. 𝑑𝑡 𝑑𝑣 15 1/2
𝑎= = 𝑡
𝑑𝑡 2
4
15 1/2
𝑠 = න (2 + 5𝑡 3/2 )𝑑𝑡 When 𝑡 = 4 𝑠: 𝑎= . 4 = 15 m/s2
0 2

𝑠 = 2𝑡 + 2𝑡 5/2 + 𝐶

Using boundary condition, 𝑠 = 0 at 𝑡 = 0: The velocity when 𝑡 = 4 𝑠: 𝑣 = 2 + 5(4)3/2 = 42 m/s

𝐶=0

When 𝑡 = 4 𝑠:

𝑠 = 2 4 + 2(4)5/2 = 72 m
1.2 Constant
Acceleration
Constant acceleration case

Constant
acceleration

Linear system Rotational

system

1 1
𝑠 = 𝑢𝑡 + 𝑎𝑡 2 𝜃 = 𝜔0 𝑡 + 𝛼𝑡 2
2 2

𝑣 = 𝑢 + 𝑎𝑡 𝜔 = 𝜔0 + 𝛼𝑡

𝑣 2 = 𝑢2 + 2𝑎𝑠 𝜔2 = 𝜔0 2 + 2𝛼𝜃
 Constant acceleration analysis: Linear system
MEC 420 – kinematics of particles

Example: A particle is moving with a constant acceleration. The particle starts with a velocity, u.
Determine the general expression that may be derived from the given data.
V

1
𝑠 =ut + 𝑎𝑡 2 (2)
2

𝑢 From (1):
𝑣−𝑢
t 𝑡= (3)
𝑎
Mathematically, the straight-line function
Can be written as: Subst (3) into (2) gives:
v= 𝑢 + 𝑎𝑡 (1) 𝑣 2 = 𝑢2 + 2𝑎𝑠 (4)
Displacement of the particle:
d𝑠 = 𝑣 ∙ 𝑑𝑡 Eqns (1), (2) and (4) are applicable for
To get s: CONSTANT ACCELERATION ONLY
𝑡
𝑠 = න 𝑑𝑠 = න 𝑣 ∙ 𝑑𝑡 = න 𝑢 + 𝑎𝑡 ∙ 𝑑𝑡
0
 Constant acceleration case : rotational system
Y
MEC 420 – kinematics of particles

Where: ω = Angular Velocity

p ω𝑜 = Initial Angular Velocity
ρ
α = Angular Acceleration
θ O
X
𝜃 = Angular Displacement
𝜔 𝑎𝑛𝑑 𝛼

For rectilinear motion: For rotation:

𝑣 = 𝑢 + 𝑎𝑡 (1) 𝜔 = 𝜔𝑜 + 𝛼𝑡 (1)

1
𝑠 =ut + 𝑎𝑡 2 (2)
1
θ= 𝜔𝑜 t + 𝛼𝑡 2
2 2 (2)

𝑣 2 = 𝑢2 + 2𝑎𝑠 (3) 𝜔2 = 𝜔𝑜 2 + 2𝛼θ (3)

 Exercise: At a football tryout, a player runs a 36-m dash in 4.25 seconds. If he reaches his maximum
speed at the 14-m mark with a constant acceleration and then maintains that speed for the
remainder of the run, determine his acceleration over the first 14 meters, his maximum speed, and
MEC 420 – kinematics of particles

the time duration of the acceleration.

4.25𝑣𝑚𝑎𝑥 − 0.5𝑣𝑚𝑎𝑥 ∙ 𝑡1 = 36 (1)

Since the acceleration is constant, the three formulae can be applied. We

know that from time 0 to 𝑡, 𝑠 = 14 m, 𝑡 = 𝑡1 , 𝑢 = 0.:

1 1 28
𝑠 =ut + 𝑎𝑡 2 14 =0 + 𝑎𝑡12 𝑎= (2)
From the question, the motion can be clearly depicted by the 2 2 𝑡12
speed vs time graph:
v And: 𝑣 = 𝑢 + 𝑎𝑡 𝑣𝑚𝑎𝑥 = 𝑎𝑡1 (3)
28 28
Substitute eqn (2)into eqn (3): 𝑣𝑚𝑎𝑥 = ( 2 )𝑡1 =
𝑡1 𝑡1 (4)
vmax

Substitute eqn (4)into eqn (1):

28 28
4.25( ) −0.5( ) ∙ 𝑡1 = 36
𝑡1 𝑡1
t1 t =4.25 s time
Solving the equation above gives rise: 𝑡1 = 2.38 s
Total distance is 36 m, therefore the area under the
graph must represent total distance: Therefore: 𝑎 = 4.94 𝑚/𝑠2 𝑣𝑚𝑎𝑥 = 11.76 𝑚/𝑠
1
𝑥𝑣 ∙ 𝑡 + 𝑣𝑚𝑎𝑥 ∙ 4.25 − 𝑡1 = 36
2 𝑚𝑎𝑥 1
 Example
A car starts from rest with an acceleration of 6 m/s2 which decreases linearly with time to zero in 10 seconds, after which the car continues
at a constant speed. Determine the time, t required for the car to travel 400 m from the start.

There are two phases of acceleration. The first one is To achieve 400 m, 𝐴2 = 200 m:
𝑣 = න −0. 𝑡 + 6 𝑑𝑡
a non-constant acceleration that occur in 10 seconds
and the other one is the constant acceleration in that 𝑣 = −0.3𝑡 2 + 6𝑡 + 𝐶1 𝐴2 = 200 = 30(𝑡 − 10)
the 𝑎 = 0 m/s 2 . This can be represented in an m
At 𝑡 = 0 s, 𝑣 = 0 . ∴ 𝐶1 = 0 : ∴ 𝑡 = 6.67 s
acceleration vs time graph. s
𝑚 𝑣 10 = −0.3 10 2 + 6 10 = 30 m/s
𝑎( 2 )
𝑠 Therefore, to travel 400 m from the start, the time
𝑚 needed is 16.67 s.
𝑣( )
𝑠
6

30
t(𝑠)
𝐴1 𝐴1
10 t t(𝑠)
From the graph, for the first phase is a linear function. 10 t
Therefore,
Integrating the velocity function with respect to time:
𝑦 = 𝑚 𝑥 + 𝑐
𝑠 = න 𝑑𝑠 = න 𝑠 ∙ 𝑑𝑡 = න −0.3𝑡 2 + 6𝑡 ∙ 𝑑𝑡
𝑎 = −0.6 𝑡 + 6
Integrating the acceleration function with respect to 𝑠 = −0.1𝑡 3 + 3𝑡 2 + 𝐶2
time:
At 𝑡 = 0 s, 𝑠 = 0 m. ∴ 𝐶2 = 0 :
𝑑𝑣 = 𝑎 ∙ 𝑑𝑡 = −0.6 𝑡 + 6 𝑑𝑡
𝑠 = −0.1𝑡 3 + 3𝑡 2
𝑠 10 = −0.1 10 3 + 3 10 2 = 200 m = 𝐴1
𝑣 = න 𝑑𝑣 = න 𝑎 ∙ 𝑑𝑡
1.3 Curvilinear
Motion
 coordinate systems (2d)
MEC 420 – kinematics of particles

• The motion of particle P can be described by specifying its coordinates.

• The coordinates can be:

1) Rectangular coordinates (x – y )

2) Polar coordinates (r – θ )

3) Normal and Tangential coordinates (n-t)

 coordinate systems (2d) 1) Rectangular coordinates (x – y )

• Kinematics parameters are 𝑥, 𝑦, 𝑥,ሶ 𝑦,ሶ 𝑥,ሷ 𝑦.ሷ

MEC 420 – kinematics of particles

Y
Y

P 𝑣𝑥 P 𝑎𝑥

𝑎𝑃 𝑎𝑦
𝑟 𝑣𝑦 𝑟
𝑣𝑃
𝑦 𝑦
O 𝑥 X O 𝑥
X

𝑣𝑥 = 𝑥ሶ 𝑣𝑦 = 𝑦ሶ 𝑎𝑥 = 𝑥ሷ 𝑎𝑦 = 𝑦ሷ
In scalar form In scalar form
𝑣𝑃 = 𝑥ሶ 2 + 𝑦ሶ 2
𝑎𝑃 = 𝑥ሷ 2 + 𝑦ሷ 2

In vector form In vector form

𝑣𝑃 = 𝑥𝑖ሶ + 𝑦𝑗ሶ 𝑎𝑃 = 𝑥ሷ 𝑖 + 𝑦𝑗ሷ

 projectile motion
MEC 420 – kinematics of particles

A motion, after an initial release will fall/ lift depends upon the gravitational acceleration only
Y

𝑎𝑦 = −9.81 𝑚/𝑠 2
u
𝑎𝑥 = 0 𝑚/𝑠 2
θ
O X
𝑠𝑦 𝑠𝑥 is displacement from O to final point in x-
𝐼𝑛𝑖𝑡𝑖𝑎𝑙 point
direction.
𝑠𝑥 𝑠𝑦 is displacement from O to final point in y-
𝑓𝑖𝑛𝑎𝑙 point direction.

Since the motion involves constant acceleration, Equations for 𝑢𝑥 is initial velocity in x-direction.
constant acceleration motion can be applied. 𝑣𝑥 is final velocity in x-direction.
𝑣 = 𝑢 + 𝑎𝑡 𝑢𝑦 is initial velocity in y-direction.
1
𝑠 =ut + 𝑎𝑡 2 𝑣𝑦 is final velocity in y-direction.
2

𝑣 2 = 𝑢2 + 2𝑎𝑠 𝑡 is time taken the particle to reach at final point.

 Exercise: With what minimum horizontal velocity u can a boy throw a rock at A and have it just clear the
obstruction at B?
MEC 420 – kinematics of particles

O𝑢 𝑥
𝐼𝑛𝑖𝑡𝑖𝑎𝑙 point X

𝑠𝑦

𝑓𝑖𝑛𝑎𝑙 point

𝑠𝑥

Based on the given data, eqn (ii) will be used. Resolving the
Given/ known data: parameters into x and y- directions :
𝑢𝑦 = 0 𝑎𝑦 = +9.81 m/s 2 𝑠𝑦 = 10 m

𝑎𝑥 = 0 m/s 2 𝑠𝑥 = 40 m x- direction y- direction

0 0
For constant acceleration: 1 1
𝑠𝑥 = 𝑢𝑥 t + 𝑎𝑥 𝑡 2 𝑠𝑦 = 𝑢𝑦 t + 𝑎𝑦 𝑡 2
2 2
𝑣 = 𝑢 + 𝑎𝑡 (𝑖)
1 1
𝑠 =ut + 𝑎𝑡 2 (𝑖𝑖) 𝑢𝑥 = 28 m/s 10 = (9.81)𝑡 2
2
2
𝑣 2 = 𝑢 + 2𝑎𝑠
2
(𝑖𝑖𝑖) 𝑡 = 1.428 sec
 example
1) what do you understand by the projectile motion. Give one example for that kind of motion. (CO1)
2) The basketball player likes to release his foul shots at an angle θ = 500 to the horizontal as shown in the figure. What initial speed
MEC 420 – kinematics of particles

vo will cause the ball to pass through the center of the rim? (CO2)

𝑣𝑂 𝑓𝑖𝑛𝑎𝑙 point
𝜃 𝑆𝑦
𝐼𝑛𝑖𝑡𝑖𝑎𝑙 point 𝑋

𝑆𝑥

1) Projectile motion is a free-fall motion in which

a body/ particle will only experience a x- direction y- direction
gravitational acceleration.
0 1
Example: An object is thrown from a building
4= 𝑣𝑂 cos θ t
1
+ 𝑎𝑥 𝑡 2 𝑠𝑦 = 𝑢𝑦 t + 𝑎𝑦 𝑡 2
2 2
1
0.9 = 𝑣𝑂 sin 500 t + (−9.81)𝑡 2
2) Given/ known data: 4 6.22
2
𝑎𝑦 = −9.81 𝑚/𝑠 2 𝑠𝑦 = 0.9 m 𝑣𝑂 = =
𝑣𝑂 = ? cos 500𝑡 𝑡 6.22 1
0.9 = sin 500 t + (−9.81)𝑡 2
𝑡 2
𝑎𝑥 = 0 𝑚/𝑠 2 𝑠𝑥 = 4 m ∴ 𝑣𝑂 =
4
= 6.99 𝑚/𝑠
cos 500𝑡
𝑡 = 0.89 𝑠𝑒𝑐
 Example

Explain with the aid of diagrams the dynamics of a projectile motion in a plane as shown in Figure Q1 and state the assumptions for the dynamic analysis.

(a) At the instant shown in Figure Q1, a basketball player is trying to throw the ball into the basket at B. Given L = 6 m, hA = 2 m, hB = 4 m and tan  = 4/3, determine

(i) the velocity and elevation above ground at time t, (i.e., v(t) and s(t)) and,
(ii) the speed vA at which the ball must be thrown at A at the angle  so that it goes into the basket.
(b) Evaluate the effect of the shooting angle  on the initial velocity and justify the answer using the dynamic fundamental.

Given/ known data: 𝑣𝐴 = ? 𝑎𝑦 = −9.81 𝑚/𝑠 2

4
𝑠𝑦 = 2 m 𝑠𝑥 = 6 m 𝑡= 1.2232( ) − 0.40775
3
𝑎𝑥 = 0 𝑚/𝑠 2
𝑡 = 1.106 seconds
x- direction y- direction
From eqn (ii):
1
1
𝑠𝑦 = 𝑢𝑦 t + 𝑎𝑦 𝑡 2 𝑣𝐴 = 9.042 m/s
2
𝑠𝑥 = 𝑣𝐴 cos 𝛼 t + 𝑎𝑥 𝑡 2
2 1
𝑠𝑦 = 𝑣𝐴 sin 𝛼 t + (−9.81)𝑡 2 (b)
2 For this problem, there are three variables
6
𝑣𝐴 =
cos 𝛼(𝑡) (ii) 𝑠𝑦 = 𝑣𝐴 sin 𝛼 t − 4.905𝑡 2 (i) namely 𝑣𝐴 , shooting angle, 𝛼 and time 𝑡.

𝑣𝑦 = 𝑢𝑦 +𝑎𝑦 𝑡 When considering identical values for 𝑠𝑥 and

Solution 𝑠𝑦 , an elevation in the angle 𝛼 corresponds to
(a) (i) and (ii) 𝑣𝑦 = 𝑣𝐴 sin 𝛼 − 9.81𝑡 an increase in time (t), as supported by equation
𝑌 (iii). The escalating values of both α and t can
lead to unpredictable changes in the projectile's
Substitute eqn (ii) into (i) and putting the value of 𝑠𝑦 initial velocity (𝑣𝐴 ), as indicated by the analysis
6 of equation (ii). To better understand the impact
𝑣𝐴 )(sin 𝛼) t − 4.905𝑡 2
final point 2=( of the shooting angle α on the initial velocity, a
cos 𝛼 (𝑡)
𝛼 numerical analysis can be performed using tools
𝑆𝑦 = 2 m
Initial point 𝑋 tan 𝛼 = 0.3333 + 0.8175𝑡 2 such as Excel or programming languages,
providing a clearer insight..
𝑆𝑥 = 6 m 𝑡 = 1.2232 tan 𝛼 − 0.40775 (iii) 6
𝑣𝐴 =
cos 𝛼( 1.2232 tan 𝛼−0.40775)
Cont….Example

Explain with the aid of diagrams the dynamics of a projectile motion in a plane as shown in Figure Q1 and state the assumptions for the dynamic analysis.

(a) At the instant shown in Figure Q1, a basketball player is trying to throw the ball into the basket at B. Given L = 6 m, hA = 2 m, hB = 4 m and tan  = 4/3, determine

(i) the velocity and elevation above ground at time t, (i.e., v(t) and s(t)) and,
(ii) the speed vA at which the ball must be thrown at A at the angle  so that it goes into the basket.
(b) Evaluate the effect of the shooting angle  on the initial velocity and justify the answer using the dynamic fundamental.

Using Excel

vA Vs Angle α
60

50

40

For this problem, there are three variables

namely 𝑣𝐴 , shooting angle, 𝛼 and time 𝑡.
30
When considering identical values for 𝑠𝑥 and 𝑠𝑦 , an
elevation in the angle α corresponds to an increase in time
(t), as supported by equation (iii). The escalating values of 20
both 𝛼 and t can lead to unpredictable changes in the
projectile's initial velocity (𝑣𝐴 ), as indicated by the analysis
of equation (ii). To better understand the impact of the 10
shooting angle α on the initial velocity, a numerical analysis
can be performed using tools such as Excel or
programming languages, providing a clearer insight.. 0
19 21 23 25 27 29 31 33 35 37 39 41 43 45 47 49 51 53 55 57 59 61 63 65 67 69 71 73 75 77 79 81 83 85 87 89
6
𝑣𝐴 = Initial Velocity, VA
cos 𝛼( 1.2232 tan 𝛼−0.40775)
Cont….Example

Explain with the aid of diagrams the dynamics of a projectile motion in a plane as shown in Figure Q1 and state the assumptions for the dynamic analysis.

(a) At the instant shown in Figure Q1, a basketball player is trying to throw the ball into the basket at B. Given L = 6 m, hA = 2 m, hB = 4 m and tan  = 4/3, determine

(i) the velocity and elevation above ground at time t, (i.e., v(t) and s(t)) and,
(ii) the speed vA at which the ball must be thrown at A at the angle  so that it goes into the basket.
(b) Evaluate the effect of the shooting angle  on the initial velocity and justify the answer using the dynamic fundamental.

Using Matlab

For this problem, there are three variables

namely 𝑣𝐴 , shooting angle, 𝛼 and time 𝑡.

When considering identical values for 𝑠𝑥 and 𝑠𝑦 , an

elevation in the angle α corresponds to an increase in time
(t), as supported by equation (iii). The escalating values of
both 𝛼 and t can lead to unpredictable changes in the
projectile's initial velocity (𝑣𝐴 ), as indicated by the analysis
of equation (ii). To better understand the impact of the
shooting angle α on the initial velocity, a numerical analysis
can be performed using tools such as Excel or
programming languages, providing a clearer insight..
6
𝑣𝐴 =
cos 𝛼( 1.2232 tan 𝛼−0.40775)
 Example: rectangular coordinates
A car P is moving through a path as shown in the figure. At the instant shown, the velocity of the car is 30 m/s in the direction shown.
Determine the velocity in horizontal and vertical components relative to fixed points O and A.

𝑌 𝑣𝑃/𝑂 = 𝑋𝐼ሶ + 𝑌𝐽
ሶ
∴ 𝑥ሶ = −28.19 m/s
𝑣𝑃/𝑂 = 30 (cos 200 𝐼 − sin 200 𝐽)
∴ 𝑦ሶ = −10.26 m/s
𝑣𝑃/𝑂 = 28.19 𝐼 − 10.26 𝐽

𝑦 ∴ 𝑋ሶ = 28.19 m/s

∴ 𝑌ሶ = −10.26 m/s
200
𝑣𝑃
The velocity components relative to point A:
𝑂
𝑋 𝑥 𝐴 𝑦

The velocity components relative to point O:

𝐴
𝑥
𝑌 200
𝑣𝑃
𝑣𝑃/𝐴 = 𝑥𝑖ሶ + 𝑦𝑗ሶ
𝑣𝑃/𝑂 = 30 (−cos 200 𝑖 − sin 200 𝑗)

𝑂 𝑣𝑃/𝑂 = −28.19 𝑖 − 10.26 𝑗

200 𝑋
𝑣𝑃
 coordinate systems (2d) 2) Polar coordinates (r – θ )
• Kinematics parameters are 𝑟, 𝜃, 𝑟,ሶ 𝜃,ሶ 𝑟,ሷ 𝜃.ሷ
Y
MEC 420 – kinematics of particles

P P
𝑎𝑃
𝑟 𝑣𝑃 𝑟

O 𝜃 𝜃
X O
X

𝑣𝑟 = 𝑟ሶ 𝑣θ = 𝑟𝜃ሶ 𝑎𝑟 = 𝑟ሷ − 𝑟𝜃ሶ 2 𝑎θ = 𝑟𝜃ሷ + 2𝑟ሶ 𝜃ሶ

In scalar form In scalar form

𝑣𝑃 = ሶ 2
𝑟ሶ 2 + ( 𝑟𝜃) 𝑎𝑃 = (𝑟ሷ − 𝑟𝜃ሶ 2 )2 +(𝑟𝜃ሷ + 2𝑟ሶ 𝜃)
ሶ 2

In vector form In vector form

ሶ 𝜃 𝑎𝑃 = 𝑟ሷ − 𝑟𝜃ሶ 2 𝑒𝑟 + (𝑟𝜃ሷ + 2𝑟ሶ 𝜃)𝑒

ሶ 𝜃
𝑣𝑃 = 𝑟𝑒
ሶ 𝑟 + 𝑟𝜃𝑒

𝑒𝑟 and 𝑒𝜃 are unit vectors along radial and tangential respectively

Example: polar coordinates
A car P is moving through a path as shown in the figure. At the instant shown, the velocity of the car is 30 m/s in the direction shown. Determine the
velocity in radial and tangential directions. Also determine 𝜃.ሶ Given that at the instant represented, 𝑟 = 100 m and 𝜃 = 400 . Express the velocity in
vector form.

The velocity diagram of the particle: 𝑣𝜃 25.98

∴ 𝜃ሶ = = = 0.2598 rad/s
𝑟 100

𝑌 The velocity in vector form:

𝑌 𝑣𝑃 = 𝑟𝑒 ሶ 𝜃
ሶ 𝑟 + 𝑟𝜃𝑒
+𝑟
+𝑟 𝑣𝑃 = 15𝑒𝑟 + 25.98𝑒𝜃

200
200 𝑣𝑃
𝑟 𝑣𝜃
𝑟 𝑣𝑃 𝑣𝑟

+𝜃 𝑂 𝜃
𝑂 𝜃 𝑋
𝑋
Velocity Diagram

Radial Velocity:

𝑣𝑟 = 𝑟ሶ = 𝑣𝑃 sin 300 = 30 sin 300 = 15 m/s

Tangential Velocity:

𝑣𝜃 = 𝑟 𝜃ሶ = 𝑣𝑃 cos 300 = 30 cos 300 = 25.98 m/s

 Example: polar coordinates
Rotation of the radially slotted arm is governed by 𝜃 = 0.2𝑡 + 0.02𝑡 3 , where θ is in radians and 𝑡 is in seconds. Simultaneously, the
power screw in the arm engages the slider B and controls its distance from O according to 𝑟 = 0.2 + 0.04𝑡 2 ,where 𝑟 is in meters and 𝑡
is in seconds. Calculate the magnitudes of the velocity and acceleration of the slider for the instant when 𝑡 = 3 𝑠.
MEC 420 – kinematics of particles

𝜃 = 0.2𝑡 + 0.02𝑡 3 = 0.2(3) + 0.02(3)3 = 1.14 rad or 65.30

𝜃ሶ = 0.2 + 0.06𝑡 2 = 0.2 + 0.06(3)2 = 0.74 rad/s

𝜃ሷ = 0.12𝑡 = 0.12(3) = 0.36 rad/𝑠 2

Applying eqn (1) and (2):

𝑣𝑃 = (0.24)2 +(0.56(0.75) )2 = (0.24)2 +(0.414) )2 = 0.479 m/s
For this case, we can use the formula of velocity and acceleration 𝑣𝑟 𝑣𝜃
from polar coordinates :
𝑎𝑃 = (0.08 − 0.56(0.74)2 )2 +(0.56 0.36 + 2(0.24)(0.74))2
𝑣𝑃 = 𝑟ሶ 2 ሶ 2
+ ( 𝑟𝜃) (1)
𝑎𝑃 = (−0.227)2 +(0.557)2 = 0.601 m/s 2
𝑎𝑃 = (𝑟ሷ − 𝑟𝜃ሶ 2 )2 +(𝑟𝜃ሷ + 2𝑟ሶ 𝜃)
ሶ 2 (2)
𝑎𝑟 𝑎𝜃

From eqns (1) and (2), we need to find 𝑟, 𝑟,ሶ 𝑟,ሷ 𝜃, 𝜃ሶ 𝑎𝑛𝑑 𝜃ሷ when
𝑡 = 3 𝑠:

When 𝑡 = 3 𝑠:
𝑟 = 0.2 + 0.04𝑡 2 = 0.2 + 0.04(3)2 = 0.56 m

𝑟ሶ = 0.08𝑡 = 0.08 3 = 0.24 m/s

𝑟ሷ = 0.08 m/s 2
Velocity Diagram Acceleration Diagram
 coordinate systems (2d) 3) Normal and Tangential coordinates (n-t)

• Kinematics parameter are 𝛽, 𝛽,ሶ 𝛽.ሷ

MEC 420 – kinematics of particles

Y
Y

Centre of curvature

𝑎𝑛
𝛽 𝜌 𝑎𝑡
P P

𝑎𝑃
𝑣𝑃

O X O
X
𝑣
𝑎𝑡 = 𝜌𝛽ሷ
2
In scalar form 𝑎𝑛 = 𝜌𝛽ሶ 2 = 𝑃
𝜌
𝑣𝑝 = ρ𝛽ሶ In scalar form

𝑎𝑃 = (𝑎𝑛 )2 +(𝑎𝑡 )2 = (𝜌𝛽ሶ 2 )2 +(𝜌𝛽)

ሷ 2
In vector form
ሶ 𝑡
𝑣𝑃 = ρ𝛽𝑒 In vector form
𝑣𝑃2
𝑒𝑛 and 𝑒𝑡 are unit vectors along radial and tangential respectively 𝑎𝑃 = 𝑎𝑛 𝑒𝑛 + 𝑎𝑡 𝑒𝑡 = 𝑒 + 𝜌𝛽ሷ 𝑒𝑡
𝜌 𝑛
Example: normal & tangential coordinates
A car P is moving through a path as shown in the figure. At the instant shown, the velocity of the car is 30 m/s in the direction shown. Determine the
rate of change of angular displacement 𝛽 if at the instant represented the radius of curvature is 300 m.

The particle’s velocity:

𝑌
𝑣𝑃 = 𝜌𝛽ሶ
𝑒𝑛
30 = (300)𝛽ሶ

𝑌 ∴ 𝛽ሶ = 0.1 rad/s 𝑎𝑃
𝛽 If 𝛽ሶ is constant, determine the acceleration
of the particle and draw the acceleration
𝜌 diagram. 700
𝑂
𝑋
The normal acceleration: Acceleration Diagram
200 𝑎𝑛 = 𝜌𝛽ሶ 2 = 300(0.1)2 = 3 m/s 2
𝑣𝑃 Represent the acceleration in rectangular
𝑒𝑡 The tangential acceleration: coordinates.
𝑂
𝑋 𝑎𝑡 = 𝜌𝛽ሷ = 300 0 = 0 m/s 2 𝑎𝑃 = 𝑎𝑃 𝑢
𝑎𝑃 = 3(cos 700 𝑖 + sin 700 𝑗)
The acceleration of the particle P:
𝑎𝑃 = 𝑎𝑛 𝑒𝑛 + 𝑎𝑡 𝑒𝑡 𝑎𝑃 = 1.026𝑖 + 2.819𝑗

𝑎𝑃 = 3𝑒𝑛 + 0𝑒𝑡 ∴ 𝑥ሷ = 1.026 m/s 2

𝑎𝑃 = (𝑎𝑛 )2 +(𝑎𝑡 )2 = 3 m/s 2 ∴ 𝑦ሷ = 2.819 m/𝑠 2
 Example: normal and tangential coordinates
𝑟𝑒𝑣
If the compact disc is spinning at a constant angular rate 𝜃ሶ = 360 , determine the magnitudes of the accelerations of point A and B
MEC 420 – kinematics of particles

𝑚𝑖𝑛
at the instant shown.

Let 𝜃ሶ = 𝛽:ሶ

Since 𝛽ሶ = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡, 𝛽ሷ = 0, therefore Eqn (1) becomes 0, and:

𝑎= 𝑎𝑛2 + 𝑎𝑡2 = 𝑎𝑛

At point A:
𝑟𝑒𝑣 1 𝑚𝑖𝑛 2𝜋
𝑎𝐴 = 𝑎𝑛 = 𝜌𝛽ሶ 2 = 0.06 ( 360 𝑥 𝑥 ))2 = 85.27 m/s2
𝑚𝑖𝑛 60 𝑠𝑒𝑐 1 𝑟𝑒𝑣

At point B:
For this case, we can use the formula of velocity and acceleration
𝑟𝑒𝑣 1 𝑚𝑖𝑛 2𝜋
from normal and tangential coordinates : 𝑎𝐵 = 𝑎𝑛 = 𝜌𝛽ሶ 2 = 0.022 ( 360 𝑥 𝑥 ))2= 31.27 m/s2
𝑚𝑖𝑛 60 𝑠𝑒𝑐 1 𝑟𝑒𝑣

ሷ 𝑣ሶ
𝑎𝑡 = ρ𝛽= (1)
𝑣 2
𝑎𝑛 = 𝜌𝛽ሶ 2 = 𝑃
𝜌 (2)
 1.4 Relationship
between rectangular,
polar, normal-tangential
coordinates
Overview of analysis of kinematics of particles using coordinate systems

KINEMATICS OF
PARTICLES

Rectilinear curvilinear

Choices of
coordinate systems

Rectangular Normal-tangential
polar coordinates
coordinates coordinates
 Relationship between rectangular, polar and normal & tangential coordinates - velocity

Y Y
Y
MEC 420 – kinematics of particles

P
𝑣𝑥 P 𝛽 𝜌
P
𝑣𝑦 𝑟 𝑣𝑃
𝑟 𝑦 𝑣𝑃 𝑣𝑃
O 𝑥 O 𝜃 O
X X X
Rectangular coordinates Polar coordinates Normal & Tangential coordinates

• The absolute velocity of particle P will be the same in terms of

𝜌 magnitude and direction, irrespective of analyses done.
𝑣𝑥
P
𝑣𝑦 • These triangles can be solved by using trigonometry and the formulae
𝑣𝑃 of velocities.
O • Some questions combines x-y and r-θ coordinates, r-θ and n-t
X
coordinates, x-y and n-t coordinates.
Combinations of x-y, r-θ, n-t
 Relationship between rectangular, polar and normal & tangential coordinates - acceleration

Y Y Y
MEC 420 – kinematics of particles

𝑎𝑛
P 𝑎𝑥 P
𝑎𝑃 P 𝑎𝑡
𝑎𝑦
𝑟 𝑎𝑃 𝑟 𝑎𝑃
𝑦
O 𝑥 X O 𝜃 O
X X
Rectangular coordinates Polar coordinates Normal & Tangential coordinates
Y

𝑎𝑛 • The absolute acceleration of particle P will be the same in terms of

𝑎𝑡 𝑎𝑥 magnitude and direction, irrespective of analyses done.
P
𝑎𝑦
𝑎𝑃 • These triangles can be solved by using trigonometry and the formulae
of accelerations.

O • Some questions combines x-y and r-θ coordinates, r-θ and n-t
X coordinates, x-y and n-t coordinates.
Combinations of x-y, r-θ, n-t
Summary of kinematic parameters for each motion

Curvilinear
Motion Rectilinear
Rectangular Coordinates Polar Coordinates Normal &Tangential Coordinates

Displacement / Angular 𝑠 (m) 𝑥 𝑦 𝑟 𝜃 𝛽

Displacement (unit)
(m) (m) (m) (rad) (rad)

Velocity/ Angular Velocity (unit) 𝑑𝑥 𝑑𝑟 𝑑𝛽

𝑑𝑠 𝑣𝑥 = 𝑟ሶ = (m/s) 𝛽ሶ =
(rad/s)
𝑣= (m/s) 𝑑𝑡 𝑑𝑡 𝑑𝑡
𝑑𝑡 (m/s)
𝑑𝑦 𝑑𝜃 (rad/s)
𝑣𝑦 = 𝜃ሶ =
𝑑𝑡 𝑑𝑡

𝑑𝑣 𝑑2 𝑥 𝑑2 𝑟
𝑎𝑥 = 2 𝑟ሷ = 2 (m/𝑠 2 ) 𝑑2 𝛽 (rad/𝑠 2 )
Acceleration/ Angular 𝑎= (m/𝑠 2 ) 𝑑𝑡 𝑑𝑡 𝛽ሷ =
𝑑𝑡 (m/s2 ) 𝑑𝑡 2
Acceleration (unit)
𝑑2 𝑦 𝑑2 𝜃 (rad/𝑠 2 )
𝑎𝑦 = 2 𝜃ሷ =
𝑑𝑡 𝑑𝑡 2

Common velocity (m/s)

𝑣𝑃 = 𝑥ሶ 2 + 𝑦ሶ 2 = ሶ 2 = 𝜌𝛽ሶ
𝑟ሶ 2 + (𝑟𝜃)

Common Acceleration (m/s2 ) 𝑎𝑃 = 𝑥ሷ 2 + 𝑦ሷ 2 = (𝑟ሷ − 𝑟𝜃ሶ 2 )2 +(𝑟𝜃ሷ + 2𝑟ሶ 𝜃)

ሶ 2= (𝜌𝛽ሶ 2 )2 +(𝜌𝛽)
ሷ 2
 Example: polar and rectangular coordinates Y

A particle P is moving to the right with a constant velocity 10 m/s. At the

instant when θ = 300 , determine using: P 𝑣𝑃 = 10 𝑚/𝑠 constant
MEC 420 – kinematics of particles

a) Graphical approach
i) the velocity and acceleration in rectangular coordinates
(𝑥,ሶ 𝑦,ሶ 𝑥,ሷ 𝑦),
ሷ 𝑟 𝑦 = 10 𝑚 contant
ii) the kinematics parameters of polar coordinates (𝑟,ሶ 𝜃,ሶ 𝑟,ሷ 𝜃),
ሷ
b) Differentiation of physical equations, the 𝑟,ሶ 𝜃,ሶ 𝑟,ሷ 𝜃.ሷ O
𝜃
X
𝑥

a) Graphical approach By inspection, 𝑥ሶ = 𝑣𝑃 = 10 𝑚/𝑠 𝑥ሷ = 0 (Because 𝑥ሶ is constant)

𝑦ሶ = 0 𝑦ሷ = 0
Steps to draw the velocity/ acceleration diagram:
𝑣𝑟
1) Draw the geometry of the mechanism/ problem
Using trigonometry,
𝑣𝜃
2) Draw a line of velocity/ acceleration of known 𝑣𝑟 = 𝑟ሶ = 𝑣𝑃 cos 300 = 10 cos 300 = 8.66 m/s
𝑣𝑟 𝑣𝜃
magnitude and direction. Name the velocity/ P 300
𝑣𝜃 = 𝑟𝜃ሶ = 𝑣𝑃 sin 300 = 10 sin 300 = 5 m/s
acceleration.
𝑣𝑃 5 5
3) Draw a line of velocity/ acceleration of unknown 𝑣𝑟 ∴ 𝜃ሶ = = = 0.25 rad/s (CW)
𝑟 20
magnitude and direction ( Two possibilities of 𝑣𝜃
𝑦
directions).
𝑥
4) Complete the triangle/ polygon of velocity and
O 𝑒𝑟
acceleration diagrams based on the known velocity/ Velocity diagram
acceleration.
𝜃
𝑒𝑟 = cos 𝜃 𝑖 + sin 𝜃 𝑗
5) Complete the angle(s) in the triangle/ polygon.
𝑒𝜃 = sin 𝜃 𝑖 − cos 𝜃 𝑗 𝑒𝜃
 Example: polar and rectangular coordinates Y

A particle P is moving to the right with a constant velocity 10 m/s. At the

instant when θ = 300 , determine using: P 𝑣𝑃 = 10 𝑚/𝑠 constant
MEC 420 – kinematics of particles

a) Graphical approach
i) the velocity and acceleration in rectangular coordinates
(𝑥,ሶ 𝑦,ሶ 𝑥,ሷ 𝑦),
ሷ 𝑟 𝑦 = 10 𝑚 contant
ii) the kinematics parameters of polar coordinates (𝑟,ሶ 𝜃,ሶ 𝑟,ሷ 𝜃),
ሷ
b) Differentiation of physical equations, the 𝑟,ሶ 𝜃,ሶ 𝑟,ሷ 𝜃.ሷ O
𝜃
X
𝑥

a) Graphical approach
𝑎𝜃 𝑎𝑟
Steps to draw the velocity/ acceleration diagram:

1) Draw the geometry of the mechanism/ problem

𝑎𝑟 𝑎𝜃
2) Draw a line of velocity/ acceleration of known
O
magnitude and direction. Name the velocity/
acceleration. Acceleration diagram
3) Draw a line of velocity/ acceleration of unknown
magnitude and direction ( Two possibilities of
Since 𝑎𝑃 = 0, 𝑎𝑟 and 𝑎𝜃 will be 0. Therefore:
directions).
𝑎𝑟 = 𝑟ሷ − 20 0.25 2 =0 ∴ 𝑟ሷ = 20 0.25 2 = 1.25 m/s2 (Extending)
4) Complete the triangle/ polygon of velocity and
acceleration diagrams based on the known velocity/ 𝑎θ = 𝑟𝜃ሷ + 2𝑟ሶ 𝜃ሶ = 0 2 8.66 0.25
acceleration. ∴ 𝜃ሷ = − = − 0.2165 rad/s2 (CCW)
20

5) Complete the angle(s) in the triangle/ polygon.

 Example: polar and rectangular coordinates
A particle P is moving to the right with a constant velocity 10 m/s. At the instant when θ = 300 , determine using:
a) Graphical approach
MEC 420 – kinematics of particles

i) the velocity and acceleration in rectangular coordinates (𝑥,ሶ 𝑦,ሶ 𝑥,ሷ 𝑦),
ሷ
ii) the kinematics parameters of polar coordinates (𝑟,ሶ 𝜃,ሶ 𝑟,ሷ 𝜃),
ሷ

b) Differentiation of physical equations, the 𝑟,ሶ 𝜃,ሶ 𝑟,ሷ 𝜃.ሷ

Differentiate eqn (iii) w.r.t time,
Y 𝑥𝑥ሶ 𝑟 cos 𝜃(𝑣𝑃 )
2𝑟𝑟ሶ = 2𝑥𝑥ሶ ∴ 𝑟ሶ = = = cos 300 10 = 8.66 m/s
𝑟 𝑟

Further differentiate the above eqn:

P 𝑣𝑃 = 10 𝑚/𝑠 constant 𝑟ሶ 2 + 𝑟𝑟ሷ = 𝑥ሶ 2 + 𝑥 𝑥ሷ ∴ 𝑟ሷ =
𝑥ሶ 2 −𝑟ሶ 2
=
(10)2 −(8.66)2
= 1.25 m/s2(Extending)
𝑟 20

Differentiate eqn (i) w.r.t time,

𝑟 𝑦 = 10 𝑚 contant 𝑟ሶ tan 𝜃 8.66 tan 300
𝑦ሶ = 𝑟ሶ sin 𝜃 + 𝑟 cos 𝜃 𝜃ሶ ∴ 𝜃ሶ = − =− = −0.25 rad/s (CW)
𝑟 20
𝜃
X
𝑥
Rearranging and further differentiate the above eqn w.r.t time,
b) Differentiation of Physical Equations ሶ = 𝑟ሶ cos 𝜃 𝜃ሶ − 𝑟 sin 𝜃𝜃ሶ 2 + 𝑟 𝑐𝑜𝑠 𝜃𝜃ሷ
−(𝑟ሷ sin 𝜃 + 𝑟ሶ cos 𝜃𝜃)

𝑦 = 𝑟 sin 𝜃 (i) 𝑟𝑠𝑖𝑛 𝜃𝜃ሶ 2 − 𝑟ሶ cos 𝜃 𝜃ሶ − (𝑟ሷ sin 𝜃 + 𝑟ሶ cos 𝜃 𝜃)

ሶ
𝜃ሷ =
𝑟 𝑐𝑜𝑠 𝜃
𝑥 = 𝑟 cos 𝜃 (ii) 20 𝑠𝑖𝑛 300 −0.25 2 − 8.66 cos 300 (−0.25) − (1.25 sin 300 + 8.66 cos 300 (−0.25))
𝜃ሷ =
𝑟2 = 𝑥2 + 𝑦2 (iii) 20 cos 300
𝜃ሷ = 0.2165 rad/s2 (CCW)
 Assignment 1, q1: polar and rectangular coordinates Y

Q1: A particle P is moving in linear motion to the right with a velocity 10 m/s and
accelerating with 2 m/s2. At the instant when θ = 300 , determine using: P 𝑣𝑃 = 10 𝑚/𝑠
MEC 420 – kinematics of particles

a) Graphical approach 𝑎𝑃 = 2 m/s2

i) the velocity and acceleration in rectangular coordinates (𝑥,ሶ 𝑦,ሶ 𝑥,ሷ 𝑦),
ሷ
ii) the kinematics parameters of polar coordinates (𝑟,ሶ 𝜃,ሶ 𝑟,ሷ 𝜃),
ሷ 𝑟 𝑦 = 10 𝑚 contant
b) Differentiation of physical equations, the 𝑟,ሶ 𝜃,ሶ 𝑟,ሷ 𝜃.ሷ
O
𝜃
X
𝑥
 Assignment 1, q2: polar and rectangular coordinates Y
Q2: A particle P is moving in linear motion to the right with a velocity 10 m/s and
slowing down with 2 m/s2. At the instant when θ = 300 , determine using: 𝑎𝑃 = 2 m/s2 𝑣𝑃 = 10 𝑚/𝑠
MEC 420 – kinematics of particles

a) Graphical approach P
i) the velocity and acceleration in rectangular coordinates (𝑥,ሶ 𝑦,ሶ 𝑥,ሷ 𝑦),
ሷ
ሶ ሷ
ii) the kinematics parameters of polar coordinates (𝑟,ሶ 𝜃, 𝑟,ሷ 𝜃), 𝑟 𝑦 = 10 𝑚 contant
b) Differentiation of physical equations, the 𝑟,ሶ 𝜃,ሶ 𝑟,ሷ 𝜃.ሷ
O
𝜃
X
𝑥
 Example: polar and rectangular coordinates- differentiation method
The rocket is fired vertically and tracked by the radar station as shown in the figure. When θ
m
reaches 60o, other corresponding measurements give the value r = 9000 m, 𝑟ሷ = 21 2 and 𝜃ሶ =
s
MEC 420 – kinematics of particles

rad
0.02 . Calculate the magnitudes of the velocity and acceleration of the rocket at this
s
position.
r

𝑚 𝑟𝑎𝑑
y Given: 𝑟 = 9000𝑚, 𝑟ሷ = 21 , 𝜃ሶ = 0.02 ,𝜃 = 60𝑜
θ 𝑠2 𝑠

Determine: 𝑣𝑃 = 𝑦ሶ = ሶ 2
𝑟ሶ 2 + ( 𝑟𝜃) (i)

𝑎𝑃 = 𝑦ሷ = (𝑟ሷ − 𝑟𝜃ሶ 2 )2 +(𝑟𝜃ሷ + 2𝑟ሶ 𝜃)

ሶ 2 (ii)

Physical equations: 𝑥 = 𝑟 cos 𝜃, 𝑦 = 𝑟 sin 𝜃 And 𝑟2 = 𝑥2 + 𝑦2

0
Differentiate x = r cos θ w.r.t time: 𝑥ሶ = 𝑟ሶ cos 𝜃 − 𝑟𝑠𝑖𝑛 𝜃𝜃,ሶ ∴ 𝑟ሶ = 𝑟𝜃ሶ tan 𝜃 = 311.8 m/s
 ሶ r 𝜃ሶ tan θ w.r.t time:
Differentiate 𝑟= 𝑟ሷ = 𝑟ሶ 𝜃ሶ tan 𝜃 + 𝑟𝜃ሷ 𝑡𝑎𝑛𝜃 + 𝑟𝜃ሶ 2 𝑠𝑒𝑐 2 𝜃
ሶ tan 𝜃 −𝑟𝜃ሶ 2 𝑠𝑒𝑐 2 𝜃
𝑟ሷ −𝑟ሶ 𝜃
∴ θሷ =
𝑟 tan 𝜃
MEC 420 – kinematics of particles

θሷ = −2.69 𝑥 10−4 rad /s2 (Decelerating)

From (i) and (ii) : 𝑣𝑃 = 𝑦ሶ = 311.82 + ( 9000 𝑥0.02)2 = 360 m/s

𝑎𝑃 = 𝑦ሷ = (21 − 9000 𝑥 0.022 )2 +(9000 𝑥 −2.69 𝑥 10−4 + (2𝑥 311.8 𝑥 0.02 ))2

𝑎𝑃 = 𝑦ሷ = 20.09 m/s2
 Example: polar and rectangular coordinates – graphical method
The rocket is fired vertically and tracked by the radar station as shown in the figure. When θ
m
reaches 60o, other corresponding measurements give the value r = 9000 m, 𝑟ሷ = 21 2 and 𝜃ሶ =
s
MEC 420 – kinematics of particles

rad
0.02 . Calculate the magnitudes of the velocity and acceleration of the rocket at this
s
position.
r

𝑚 𝑟𝑎𝑑
y Given: 𝑟 = 9000𝑚, 𝑟ሷ = 21 , 𝜃ሶ = 0.02 ,𝜃 = 60𝑜
θ 𝑠2 𝑠

𝑣𝜃
𝑎𝜃 𝑎𝑟 = 𝑟ሷ − 𝑟𝜃ሶ 2 = 21 − 9000 0.02 2 = 17.4 m/s 2
𝑣𝑃 𝑎𝑃
𝑣𝜃 = 𝑟𝜃ሶ = 9000 0.02 = 180 m/s 𝑎𝜃 = 𝑎𝑟 tan 𝜃 = 17.4 tan 300 = 10.05 m/s 2
𝑣𝑟 300
300 𝑣𝜃 180 𝑎𝑟
𝑣𝑟 = 𝑟ሶ = = = 311.77 m/s 𝑎𝑃 = 𝑎𝑟2 + 𝑎𝜃2 = 17.42 + 10.052 = 20.09 m/s 2
tan 𝜃 tan 300

𝑣𝑃 = 𝑣𝑟2 + 𝑣𝜃2 = 311.772 + 1802

𝑣𝑃 = 360 m/s
Velocity diagram Acceleration diagram
 Y
Example: normal and tangential + polar coordinates (graphical method) B

Q: At the instant shown, the slotted arm AB is rotating counterclockwise with a constant P
MEC 420 – kinematics of particles

angular velocity of 20 rad/s causing the slider P to move along the semi-circle guide rail
AC of 80 cm radius. At the instant when θ = 450,
(a) determine the velocity and acceleration of slider P, (CO2/C4/7)
(b) if the angular velocity of the slotted arm AB is increased, evaluate the relative 80 cm
velocity of the slider with respect to the rotating slotted arm and the velocity P.
A 𝜃
Justify your answer with the aid of the analysis in 1(a) X
(CO3/C6/3) 80 cm O

(a) Velocity Diagram 𝑣𝑟 𝑣𝜃 𝑣𝑟

Steps to draw the velocity diagram: 𝑣𝑃 𝜃
𝑣𝑃 𝑣𝑃
1) Draw the geometry of the mechanism
𝜃
𝑟 𝑣𝑟
2) Draw a line of velocity of known magnitude and 𝜌
direction. Name the velocity.
𝜃
3) Draw a line of velocity of unknown magnitude and 𝜌
velocity diagram
direction ( Two possibilities of directions).
Tangential velocity P relative to A (polar coordinates):
𝑣𝜃 = 𝑟𝜃ሶ = 1.131 20 = 22.62 m/s
4) Complete the triangle/ polygon of velocity
Using trigonometry:
diagram based on the known velocity. 𝑣𝜃 22.62
𝑣𝑃 = = = 31.99 m/s
cos 𝜃 cos 450

5) Complete the angle(s) in the triangle/ polygon. 𝑣𝑟 = 𝑟ሶ = 𝑣𝑃 sin 𝜃 = 31.99 sin 450 = 22.62 m/s (Decreasing its length – Refer to velocity diagram)
 Y
B
Example: normal and tangential + polar coordinates (graphical method)
Q: At the instant shown, the slotted arm AB is rotating counterclockwise with a constant P
angular velocity of 20 rad/s causing the slider P to move along the semi-circle guide rail
MEC 420 – kinematics of particles

AC of 80 cm radius. At the instant when θ = 450,

(a) determine the velocity and acceleration of slider P, (CO2/C4/7)
(b) if the angular velocity of the slotted arm AB is increased, evaluate the relative 80 cm
velocity of the slider with respect to the rotating slotted arm and the velocity P.
Justify your answer with the aid of the analysis in 1(a) A 𝜃
X
(CO3/C6/3) 80 cm O

𝑎𝜃
𝑎𝑟
Acceleration Diagram 𝑎𝑡 = 𝜌𝛽ሷ 2𝜃ሶ = 𝛽ሶ
Steps to draw the acceleration diagram: 𝑣 2
𝑎𝑛 = 𝜌𝛽ሶ 2 = 𝑃 = 𝑎𝑃
𝑎𝑟 𝜌
𝑎𝑟 𝜃 𝜌
1) Draw the geometry of the mechanism
𝑟
𝑎𝜃 𝑎𝑃 𝑎𝜃
2) Draw a line of acceleration of known magnitude and 𝜃
direction. Name the acceleration. 𝜌
Acceleration diagram
3) Draw a line of acceleration of unknown magnitude and
direction ( Two possibilities of directions). Normal acceleration P relative to A (normal & tangential coordinates):
𝑣 𝑃2 31.992
𝑎𝑛 =𝑎𝑃 = 𝜌𝛽ሶ 2 = = = 1280 m/s2
𝜌 0.8

4) Complete the triangle/ polygon of acceleration Using trigonometry:

diagram based on the known acceleration. 𝑎𝑟 = 𝑎𝑃 cos 450 = 1280 cos 450 = = 905.1 m/s2 = 𝑎𝜃

5) Complete the angle(s) in the triangle/ polygon. (b) When 𝜽ሶ increase, 𝒓ሶ will also increase, thereby increasing the velocity of P.
 Y
Example: normal and tangential + polar coordinates (differentiation method) B

Q: At the instant shown, the slotted arm AB is rotating counterclockwise with a constant P
MEC 420 – kinematics of particles

angular velocity of 20 rad/s causing the slider P to move along the semi-circle guide rail
AC of 80 cm radius. At the instant when θ = 450,
(a) determine the velocity and acceleration of slider P, (CO2/C4/7)
(b) if the angular velocity of the slotted arm AB is increased, evaluate the relative
80
velocity of the slider with respect to the rotating slotted arm and the velocity P.
cm
Justify your answer with the aid of the analysis in 1(a) 𝜃
(CO3/C6/3) A X
80 O
cm
𝜃ሷ = 0 rad/s2 𝜌 = 0.8 m
Given: 𝜃ሶ = 20 rad/s
(a)
Time derivates of eqn (iv):
𝑣𝑃 = ሶ 2
𝑟ሶ 2 + ( 𝑟𝜃) (i)
𝑟 𝜃 𝑟ሷ = −2𝜌(cos 𝜃𝜃ሶ 2 + sin 𝜃 𝜃)
ሷ
𝜌 𝑟ሷ = −2(0.8)(cos 450(20)2 +0) = −452.55 m/s2 (Accelerating – same ‘-’ sign with 𝑟)ሶ
𝜃 𝑎𝑃 = (𝑟ሷ − 𝑟𝜃ሶ 2 )2 +(𝑟𝜃ሷ + 2𝑟ሶ 𝜃)
ሶ 2
(ii)
𝜌
From eqn (ii):
Physical equation:
𝜌2 = 𝜌2 + 𝑟 2 − 2𝜌𝑟 cos 𝜃 ∴ 𝑟 = 2𝜌 cos 𝜃 (iii)
𝑎𝑃 = (−452.55 − (1.131)(20)2 )2 +( 1.131 0 + 2(−22.63)(20))2
Time derivates of eqn (iii): 𝑟 = 2(0.8) cos 450 = 1.131 m
𝑎𝑃 = 1280 m/s2
𝑟ሶ = −2𝜌 sin 𝜃 𝜃ሶ (iv)
0
𝑟ሶ = −2 0.8 sin 45 20 = −22.63 m/s (Shortening)
(b) When 𝜽ሶ increase, 𝒓ሶ will also increase, thereby increasing the
From eqn (i): velocity of P.

𝑣𝑃 = (−22.63)2 +( 1.131(20))2 = 32 m/s

 Y
Example: normal and tangential + polar coordinates (Vector Method) B

Q: At the instant shown, the slotted arm AB is rotating counterclockwise with a constant P
MEC 420 – kinematics of particles

angular velocity of 20 rad/s causing the slider P to move along the semi-circle guide rail
AC of 80 cm radius. At the instant when θ = 450,
(a) determine the velocity and acceleration of slider P, (CO2/C4/7)
(b) if the angular velocity of the slotted arm AB is increased, evaluate the relative 80 cm
velocity of the slider with respect to the rotating slotted arm. Justify your answer
A 𝜃
with the aid of the analysis in 1(a) (CO3/C6/3) X
80 cm O

(a) Given: 𝑣𝐴/𝑃 = 𝑟ሶ (0.7071𝑖 + 0.7071𝑗) +(20𝑘 ∧ (0.8𝑖 + 0.8𝑗))

𝜃ሶ = 𝜔𝑂𝑃 = 20 rad/s 𝜃ሷ = 𝛼𝑂𝑃 = 0 rad/s2 𝑟 = 1.131 m
𝑣𝐴/𝑃 = (0.7071𝑟ሶ − 16)𝑖+ (0.7071𝑟ሶ + 16)𝑗
𝑖
Position vector: P
𝑘 + 𝑗
𝑠𝑃/𝐴 = 𝑠𝑂/𝐴 + 𝑠𝑃/𝑂 𝑆𝑃/𝐴
𝑆𝑃/𝑂
Link OP
Differentiating twice gives rise: 𝑅𝑃/𝑂 = 𝑅𝑢 = 0.8𝑗 ω𝑂𝑃 =𝜔𝑂𝑃 𝑘 (Assume in positive z-direction)
𝑣𝑃/𝐴 = 𝑣𝑃/𝑂 (i) A
𝑆𝑂/𝐴 O 𝑣𝑃/𝑂 = 𝑅ሶ 𝑂𝑃 𝑢+( ω𝑂𝑃 ∧ 𝑅𝑃/𝑂 )= 𝜔𝑂𝑃 𝑘 ∧ 0.8𝑗 = −0.8𝜔𝑂𝑃 𝑖
𝑎𝑃/𝐴 = 𝑎𝑃/𝑂 (ii)

Velocity Analysis Applying eqn (i):

(0.7071𝑟ሶ − 16)𝑖+ (0.7071𝑟ሶ + 16)𝑗 = −0.8𝜔𝑂𝑃 𝑖
Link AP
Equating the terms:
𝑅𝑃/𝐴 = 𝑅𝑢 = 1.131 (cos 450 𝑖 + sin 450𝑗) = 1.131(0.7071𝑖 + 0.7071𝑗)
𝑗: 0.7071𝑟ሶ + 16 = 0 ∴ 𝑟ሶ = −22.63 m/s (Decreasing its length)
𝑅𝑃/𝐴 = 0.8𝑖 + 0.8𝑗
ω𝐴𝑃 =20𝑘 (In positive z-direction @CCW) 𝛼𝐴𝑃 = 0 𝑖: 0.7071(−22.63) − 16 = −0.8𝜔𝑂𝑃 ∴ 𝜔𝑂𝑃 = 40 rad/s (CCW)
𝑣𝐴/𝑃 = 𝑅ሶ 𝐴𝑃 𝑢 +( ω𝐴𝑃 ∧ 𝑅𝑃/𝐴 ) 𝑣𝑃/𝑂 = −0.8 40 𝑖 = −32 𝑖 m/s
 Y
Cont…ExamplE: normal and tangEntial + polar coordinatEs (VEctor B
Method)
P
Q: At the instant shown, the slotted arm AB is rotating counterclockwise with a constant
MEC 420 – kinematics of particles

angular velocity of 20 rad/s causing the slider P to move along the semi-circle guide rail
AC of 80 cm radius. At the instant when θ = 450,
(a) determine the velocity and acceleration of slider P, (CO2/C4/7)
(b) if the angular velocity of the slotted arm AB is increased, evaluate the relative 80 cm
velocity of the slider with respect to the rotating slotted arm. Justify your answer 𝜃
A X
with the aid of the analysis in 1(a) (CO3/C6/3) 80 cm O

Acceleration Analysis
𝑎𝑃/𝑂 = 𝑅ሷ 𝑂𝑃 𝑢 + 2 𝜔𝑂𝑃 ∧ (𝑅ሶ 𝑂𝑃 𝑢 )+ 𝛼𝑂𝑃 ∧ 𝑅𝑃/𝑂 + 𝜔𝑂𝑃 ∧ (𝜔𝑂𝑃 ∧ 𝑅𝑃/𝑂 )
Link AP
𝑎𝑃/𝑂 = 𝛼𝑂𝑃 𝑘 ∧ 0.8𝑗+[40𝑘 ∧ (40𝑘 ∧ 0.8𝑗)] = −0.8 𝛼𝑂𝑃 𝑖 − 1280𝑗
𝑅𝑃/𝐴 = 0.8𝑖 + 0.8𝑗 ω𝐴𝑃 =20𝑘 𝛼𝐴𝑃 = 0
𝑅ሶ 𝐴𝑃 = 𝑟ሶ = −22.63 m/s
Applying eqn (ii):
𝑎𝑃/𝐴 = 𝑅ሷ 𝐴𝑃 𝑢 + 2 𝜔𝐴𝑃 ∧ (𝑅ሶ 𝐴𝑃 𝑢 )+ 𝛼𝐴𝑃 ∧ 𝑅𝑃/𝐴 + 𝜔𝐴𝑃 ∧ (𝜔𝐴𝑃 ∧ 𝑅𝑃/𝐴 )
(0.7071𝑟ሷ + 320) 𝑖 + (0.7071𝑟ሷ − 960) 𝑗 = −0.8 𝛼𝑂𝑃 𝑖 − 1280𝑗
𝑎𝑃/𝐴 = 𝑟ሷ (0.7071𝑖 + 0.7071𝑗)+ 2 (20𝑘) ∧ (−22.63 0.7071𝑖 + 0.7071𝑗 )+
+20𝑘 ∧ (20𝑘 ∧ (0.8𝑖 + 0.8𝑗))
Equating the terms:
𝑗: 0.7071𝑟ሷ − 960 = −1280 ∴ 𝑟ሷ = −452.55 m/s2 (Accelerating –
𝑎𝑃/𝐴 = (0.7071𝑟ሷ + 320) 𝑖 + (0.7071𝑟ሷ − 960) 𝑗
same ‘-’ sign with 𝑟ሶ )
𝑖: 0.7071(−452.55) + 320 = −0.8 𝛼𝑂𝑃 ∴ 𝛼𝑂𝑃 = 0 rad/s2)
Link OP 𝑎𝑃/𝑂 = −0.8 0 𝑖 − 1280𝑗 = −1280 𝑗 m/s2
𝑅𝑃/𝑂 = 𝑅𝑢 = 0.8𝑗 𝜔𝑂𝑃 = 40𝑘
(b) When 𝜽ሶ increase, 𝒓ሶ will also increase, thereby increasing the velocity of P.
𝛼𝑂𝑃 =𝛼𝑂𝑃 𝑘 (Assume in positive z-direction)
 example Y
B
At the instant shown, the slotted arm AB is rotating clockwise causing the slider P to
move along the horizontal bar CD. At the instant shown, when h is 8 cm and 𝜃 = C P D
3
𝑡𝑎𝑛−1 , the slotted arm AB rotates in clockwise direction with a constant angular
MEC 420 – kinematics of particles

4
velocity of 2 rad/s.
(a) determine the velocity and acceleration of slider P h
𝜃
(b) if the angular velocity of arm AB is increase, evaluate the velocity of slider P at the
A X
instant represented.

(a) Velocity Diagram

𝑣𝑟
Steps to draw the velocity diagram:

1) Draw the geometry of the mechanism P 𝑣𝑃

𝑣𝑃 𝑣𝑃
𝜃
𝑣𝑟
2) Draw a line of velocity of known magnitude and 𝑣𝑟 𝑣𝜃
direction. Name the velocity.
(900 − 𝜃)
3) Draw a line of velocity of unknown magnitude A
and direction ( Two possibilities of directions). velocity diagram

Tangential velocity P relative to A (polar coordinates):

4) Complete the triangle/ polygon of velocity 𝑣𝜃 = 𝑟𝜃ሶ = 10 2 = 20 m/s
diagram based on the known velocity.
Using trigonometry:
𝑣𝜃 20
𝑣𝑃 = = = 25 m/s 3
5) Complete the angle(s) in the triangle/ cos 𝜃 4/5 𝑣𝑟 = 𝑟ሶ = 𝑣𝑃 sin 𝜃 = 25( ) = 15 m/s
5
polygon.
 example Y
B
At the instant shown, the slotted arm AB is rotating clockwise causing the slider P to
move along the horizontal bar CD. At the instant shown, when h is 8 cm and 𝜃 = C P D
3
𝑡𝑎𝑛−1 , the slotted arm AB rotates in clockwise direction with a constant angular
MEC 420 – kinematics of particles

4
velocity of 5 rad/s.
(a) determine the velocity and acceleration of slider P h
𝜃
(b) if the angular velocity of arm AB is increase, evaluate the velocity of slider P at the
A X
instant represented.

Acceleration Diagram 𝑎𝑟 𝑎θ = 𝑟𝜃ሷ + 2𝑟ሶ 𝜃ሶ

Steps to draw the acceleration diagram: 𝑎θ = 2 15 2 = 60 m/s2
P 𝑎𝑃
1) Draw the geometry of the mechanism 𝑎𝑃 𝑎𝑃
𝜃 𝑎𝑟 = 𝑟ሷ − 𝑟𝜃ሶ 2

𝑎𝑟 𝑎𝑟
2) Draw a line of acceleration of known magnitude and 𝑎𝜃
direction. Name the acceleration. (900 − 𝜃)
A
3) Draw a line of acceleration of unknown Acceleration diagram
magnitude and direction ( Two possibilities of
directions). Using trigonometry:
𝑎𝜃 60 3
4) Complete the triangle/ polygon of acceleration 𝑎𝑃 = = = 75 m/s2 𝑎𝑟 = 𝑟ሷ − 𝑟𝜃ሶ 2 = 𝑎𝑃 sin 𝜃 = 75( ) = 45 m/s
cos 𝜃 4/5 5
diagram based on the known acceleration.

5) Complete the angle(s) in the triangle/ polygon. (b) When 𝜽ሶ increase, 𝒓ሶ will also increase, thereby increasing the velocity of P.
 Y
Example: normal and tangential + polar coordinates (graphical method) B
Q: At the instant shown, the slotted arm AB is rotating counterclockwise with an
angular velocity of 20 rad/s and angular acceleration of 300 rad/s2 (CCW) causing the P
MEC 420 – kinematics of particles

slider P to move along the semi-circle guide rail AC of 80 cm radius. At the instant when
θ = 450,
(a) determine the velocity and acceleration of slider P, (CO2/C4/7)
(b) if the angular velocity of the slotted arm AB is increased, evaluate the relative 80 cm
velocity of the slider with respect to the rotating slotted arm and the velocity P.
A 𝜃
Justify your answer with the aid of the analysis in 1(a) X
(CO3/C6/3) 80 cm O

(a) Velocity Diagram 𝑣𝑟 𝑣𝜃 𝑣𝑟

Steps to draw the velocity diagram: 𝑣𝑃 𝜃
𝑣𝑃 𝑣𝑃
1) Draw the geometry of the mechanism
𝜃
𝑟 𝑣𝑟
2) Draw a line of velocity of known magnitude and 𝜌
direction. Name the velocity.
𝜃 O
3) Draw a line of velocity of unknown magnitude and A 𝜌
velocity diagram
direction ( Two possibilities of directions).
Tangential velocity P relative to A (polar coordinates):
𝑣𝜃 = 𝑟𝜃ሶ = 1.131 20 = 22.62 m/s
4) Complete the triangle/ polygon of velocity
Using trigonometry:
diagram based on the known velocity. 𝑣𝜃 22.62
𝑣𝑃 = = = 31.99 m/s
cos 𝜃 cos 450

5) Complete the angle(s) in the triangle/ polygon. 𝑣𝑟 = 𝑟ሶ = 𝑣𝑃 sin 𝜃 = 31.99 sin 450 = 22.62 m/s (Decreasing its length – Refer to velocity diagram)
 Y
Cont..Example: normal and tangential + polar coordinates (graphical method) B
Q: At the instant shown, the slotted arm AB is rotating counterclockwise with an
angular velocity of 20 rad/s and angular acceleration of 300 rad/s2 (CCW) causing the P
slider P to move along the semi-circle guide rail AC of 80 cm radius. At the instant when
MEC 420 – kinematics of particles

θ = 450,
(a) determine the velocity and acceleration of slider P, (CO2/C4/7)
(b) if the angular velocity of the slotted arm AB is increased, evaluate the relative 80 cm
velocity of the slider with respect to the rotating slotted arm and the velocity P.
Justify your answer with the aid of the analysis in 1(a) A 𝜃
X
(CO3/C6/3) 80 cm O

Acceleration Diagram
Steps to draw the acceleration diagram:
1) Draw the geometry of the mechanism

2) Tabulate the accelerations in polar and n-t

coordinates. Polar coordinates Acceleration n -t coordinates Acceleration
𝑎θ = 𝑟𝜃ሷ + 2𝑟ሶ 𝜃ሶ
2
𝑣 2 31.99
𝑎𝑛 = 𝜌𝛽ሶ 2 = 𝑃 = = 1280 m/s2
𝜌 0.8
𝑎θ = (1.131)(300) + 2(−22.62)(20)
𝑎θ = −565.5 m/s2
(KNOWN Mag &Dir)
𝜃
(KNOWN Mag &Dir)
𝑟 𝜌 𝑎𝑟 = 𝑟ሷ − 𝑟𝜃ሶ 2 𝑎𝑡 = 𝜌𝛽ሷ = 0.8𝛽ሷ
𝜃 𝑎𝑟 = 𝑟ሷ − 1.131(20)2
O
A 𝜌
Acceleration diagram (UNKNOWN Mag &Dir) (UNKNOWN Mag &Dir)
 Cont..Example: normal and tangential + polar coordinates (graphical method)
Q: At the instant shown, the slotted arm AB is rotating counterclockwise with an 3) Draw known accelerations and name
angular velocity of 20 rad/s and angular acceleration of 300 rad/s2 (CCW) causing the
those accelerations.
slider P to move along the semi-circle guide rail AC of 80 cm radius. At the instant when
MEC 420 – kinematics of particles

θ = 450, 4) Draw lines of accelerations of

(a) determine the velocity and acceleration of slider P, (CO2/C4/7) unknown magnitudes and directions
(b) if the angular velocity of the slotted arm AB is increased, evaluate the relative ( Two possibilities of directions).
velocity of the slider with respect to the rotating slotted arm and the velocity P.
Justify your answer with the aid of the analysis in 1(a)
(CO3/C6/3)

Polar coordinates Acceleration n -t coordinates Acceleration

𝑎θ = 𝑟𝜃ሷ + 2𝑟ሶ 𝜃ሶ 𝑎𝑟
2
𝑣 2 31.99
𝑎𝑛 = 𝜌𝛽ሶ 2 = 𝑃 = = 1280 m/s2
𝜌 0.8
𝑎θ = (1.131)(300) + 2(−22.62)(20)
𝑎θ = −565.5 m/s2 𝑎𝑡 𝑎𝑡
(KNOWN Mag &Dir)
(KNOWN Mag &Dir) 𝑎𝑟 𝜃 𝑎𝜃
𝑟 𝜌
𝑎𝑟 = 𝑟ሷ − 𝑟𝜃ሶ 2 𝑎𝑡 = 𝜌𝛽ሷ = 0.8𝛽ሷ
𝑎𝑟 = 𝑟ሷ − 1.131(20)2 𝜃 O
A 𝜌
(UNKNOWN Mag &Dir) (UNKNOWN Mag &Dir) Acceleration diagram

𝑎𝑛
 Cont..Example: normal and tangential + polar coordinates (graphical method)
Q: At the instant shown, the slotted arm AB is rotating counterclockwise with an
angular velocity of 20 rad/s and angular acceleration of 300 rad/s2 (CCW) causing the 5) Complete the triangle/ polygon of
slider P to move along the semi-circle guide rail AC of 80 cm radius. At the instant when acceleration diagrams based on the
MEC 420 – kinematics of particles

θ = 450, known acceleration(s).

(a) determine the velocity and acceleration of slider P, (CO2/C4/7)
(b) if the angular velocity of the slotted arm AB is increased, evaluate the relative 6) Complete the angle(s) in the triangle/ polygon.
velocity of the slider with respect to the rotating slotted arm and the velocity P.
Justify your answer with the aid of the analysis in 1(a)
(CO3/C6/3)

𝑎𝑟 Distance in vertical direction:

𝜃 𝑎𝑛 = 𝑎𝜃 sin 𝜃 + 𝑎𝑟 sin 𝜃
𝛼 𝑎𝜃
𝑎𝑡 1280 = 565.5 sin 450 + 𝑎𝑟 sin 450
𝑎𝑡
𝑎𝑛 𝑎𝑟 = 1244.69 m/s2
𝑎𝑟 𝜃 𝑎𝑃
𝑎𝜃 But: 𝑎𝑟 = 𝑟ሷ − 1.131 20 2 = −1244.69
𝑟 𝜌 𝑎𝑟
NOTE that 𝑎𝑟 is in the direction entering point A (In theory note),
𝜃 therefore ‘-’sign must be put in front of 𝑎𝑟 :
O 𝜃
A 𝜌 P ∴ 𝑟ሷ = −792.29 m/s2
Acceleration diagram 𝑎𝑡
𝑎𝑃 = (𝑎𝑟 )2 +(𝑎𝜃 )2 = (1244.69)2 +(565.5)2 = 1367.13 m/s2
𝑎𝑛
𝑎𝑟 1244.69
𝛼 = tan−1 = tan−1 = 65.570
𝑎𝜃 565.5
𝑎𝑛 = 1280 m/s2
𝑎𝑃 = 1367.13 m/s2
𝑎θ = −565.5 m/s2 65.570
(b) When 𝜽ሶ increase, 𝒓ሶ will also increase, thereby increasing the velocity of P.
 Y
Example: normal and tangential + polar coordinates (differentiation method) B

Q: At the instant shown, the slotted arm AB is rotating counterclockwise with an angular
P
MEC 420 – kinematics of particles

velocity of 20 rad/s and angular acceleration of 300 rad/s2 (CCW) causing the slider P to
move along the semi-circle guide rail AC of 80 cm radius. At the instant when θ = 450,
(a) determine the velocity and acceleration of slider P, (CO2/C4/7)
(b) if the angular velocity of the slotted arm AB is increased, evaluate the relative
velocity of the slider with respect to the rotating slotted arm and the velocity P. 80
Justify your answer with the aid of the analysis in 1(a) cm
𝜃
(CO3/C6/3) A X
80 O
cm
Given: 𝜃ሶ = 20 rad/s 𝜃ሷ = 300 rad/s2 𝜌 = 0.8 m
(a)
Time derivates of eqn (iv):
𝑣𝑃 = ሶ 2
𝑟ሶ 2 + ( 𝑟𝜃) (i)
𝑟 𝜃 𝑟ሷ = −2𝜌(cos 𝜃𝜃ሶ 2 + sin 𝜃 𝜃)
ሷ
𝜌 𝑟ሷ = −2(0.8)(cos 450(20)2 + sin 450 (300)) = −791.96 m/s2
𝜃 𝑎𝑃 = (𝑟ሷ − 𝑟𝜃ሶ 2 )2 +(𝑟𝜃ሷ + 2𝑟ሶ 𝜃)
ሶ 2
(ii) (Accelerating – same ‘-’ sign with 𝑟)ሶ
𝜌
From eqn (ii):
Physical equation:
𝜌2 = 𝜌2 + 𝑟 2 − 2𝜌𝑟 cos 𝜃 ∴ 𝑟 = 2𝜌 cos 𝜃 (iii)
𝑎𝑃 = (−791.96 − (1.131)(20)2 )2 +( 1.131 300 + 2(−22.63)(20))2
Time derivates of eqn (iii): 𝑟 = 2(0.8) cos 450 = 1.131 m
𝑎𝑃 = 1367 m/s2
𝑟ሶ = −2𝜌 sin 𝜃 𝜃ሶ (iv)
0
𝑟ሶ = −2 0.8 sin 45 20 = −22.63 m/s (Shortening)
(b) When 𝜽ሶ increase, 𝒓ሶ will also increase, thereby increasing the
From eqn (i): velocity of P.

𝑣𝑃 = (−22.63)2 +( 1.131(20))2 = 32 m/s

MEC 420 – kinematics of particles Example Y

θ β A
O X

0.3

𝛽ሶ
Dimensions in m

rad
Pin P moves in a circle 0f 0.09 m radius as crank AP revolves at the constant rate 𝛽ሶ = 60 . The slotted
s
link rotates about point O as the rod attached to P moves in and out of the slot. For the position β = 300,
determine 𝑟ሶ , 𝑟ሷ , 𝜃ሶ and 𝜃ሷ .
Use a) Graphical approach (Draw the velocity and acceleration diagrams)
b) Differentiation of physical equations
c) Vector Method (Will be covered in chapter 3)
 (𝜃 + 𝛽)

Example (a) Graphical Method

𝑣𝜃
𝑣𝑃 𝑣𝜃
Y 𝑣𝑟
MEC 420 – kinematics of particles

0
𝛽 = 30
𝑣𝑟
𝜌 = 0.09 m p
p 𝑣𝑟
𝛽ሶ = 60 r/s (𝜃 + 𝛽)

θ β O θ β
O A A
X
0.3
𝑣𝜃
𝛽ሶ 𝑟 = 0.2266 m velocity diagram
Dimensions in m
𝜃 = 11.50
Velocity P relative to A (n-t coordinates):

Steps to draw the velocity/ acceleration diagram: 𝑣𝑃 = 𝜌𝛽ሶ = 0.09 60 = 5.4 m/s

1) Draw the geometry of the mechanism Using trigonometry:

𝑣𝑟 = 𝑟ሶ = 𝑣𝑃 sin 𝜃 + 𝛽 = 5.4 sin 11.50 + 300 = 3.58 m/s (Extending)
2) Draw a line of velocity/ acceleration of known
magnitude and direction. Name the velocity/ acceleration. 𝑣𝜃 = 𝑟𝜃ሶ = 𝑣𝑃 cos 𝜃 + 𝛽 = 5.4 cos 11.50 + 300 = 4.044 m/s

4.044
𝑒𝜃
3) Draw a line of velocity/ acceleration of unknown ∴ 𝜃ሶ = = 17.85 rad/s (CCW)
magnitude and direction ( Two possibilities of 0.2266
𝑒𝑟
directions). In vector form: (900 − 𝜃)
θ
𝑣𝑃 = 𝑣𝑟 𝑒𝑟 + 𝑣𝜃 𝑒𝜃
4) Complete the triangle/ polygon of velocity and
acceleration diagrams based on the known velocity/ 𝑣𝑃 = 3.58 cos 11.50𝑖 + sin 11.50𝑗 + 4.044(− cos 78.50𝑖 + sin 78.50𝑗)
acceleration. 𝑣𝑃 = 3.58 0.98𝑖 + 0.2𝑗 + 4.044(−0.2𝑖+ 0.98 𝑗)
5) Complete the angle(s) in the triangle/ polygon. 𝑣𝑃 = 2.7𝑖 + 4.8𝑗
 Cont…Example (a) Graphical Method 𝑎𝜃

𝑎𝑟

Y
𝑎𝑟
MEC 420 – kinematics of particles

𝛽 = 300
𝜌 = 0.09 m 𝑎𝑟 (𝜃 + 𝛽)
𝑎𝜃
p
p 𝑎𝑃 = 𝑎𝑛
𝛽ሶ = 60 r/s θ β
O A
O θ β A
X 𝑎𝜃
0.3
Acceleration diagram
𝛽ሶ 𝑟 = 0.2266 m
Dimensions in m
𝜃 = 11.50 𝑣 2
Acceleration P relative to A (n-t coordinates): 𝑎𝑛 = 𝜌𝛽ሶ 2 = 𝑃 𝑎𝑡 = 𝜌𝛽ሷ
𝜌

Steps to draw the velocity/ acceleration diagram: 𝑎𝑛 = 𝑎𝑃 = 𝜌𝛽ሶ 2 = 0.09 60 2 = 324 m/s2

1) Draw the geometry of the mechanism Using trigonometry:

𝑎𝑟 = 𝑟ሷ − 𝑟𝜃ሶ 2 = 𝑎𝑃 cos 𝜃 + 𝛽 = 324 cos 11.50 + 300 = 242.66 m/s2
2) Draw a line of velocity/ acceleration of known
𝑟ሷ − 𝑟𝜃ሶ 2 = 242.66 ∴ 𝑟ሷ = 242.66 + 0.2266 17.85 2 =314.86 m/s2 (Accelerating)
magnitude and direction. Name the velocity/ acceleration.
𝑎𝜃 = 𝑟𝜃ሷ + 2𝑟ሶ 𝜃ሶ = 𝑎𝑃 sin( 𝜃 + 𝛽) = 324 sin 11.50 + 300 = 214.69 m/s2 (Decelerating)
3) Draw a line of velocity/ acceleration of unknown
magnitude and direction ( Two possibilities of NOTE THAT, 𝑎𝜃 is opposite direction to that of 𝑣𝜃 , therefore 𝑎𝜃 is decreasing and ‘’ – sign’’
directions). must be put in front of 𝑎𝜃 :

4) Complete the triangle/ polygon of velocity and 𝑟𝜃ሷ + 2𝑟ሶ 𝜃ሶ = −214.69

acceleration diagrams based on the known velocity/ −214.69−2(3.58)17.85
∴ 𝜃ሷ = = −1511.46 rad/s2 (CW-Decelerating)
acceleration. 0.2266

5) Complete the angle(s) in the triangle/ polygon.

 Example (b) Differentiations of physical equations 𝜌𝑙 sin 𝛽 𝛽ሶ (0.09)(0.3) sin 300 (60)
∴ 𝑟ሶ = = = 3.57 m/s (Extending)
𝑟 0.2266

Y Further differentiating w.r.t time the eqn (i):

MEC 420 – kinematics of particles

𝛽 = 300
𝜌 = 0.09 m 𝑟𝑟ሷ + 𝑟ሶ 2 = 𝜌𝑙 (𝑐𝑜𝑠 𝛽 𝛽ሶ 2 + sin 𝛽 𝛽)
ሷ
p
𝛽ሶ = 60 r/s 𝜌𝑙𝑐𝑜𝑠 𝛽 𝛽ሶ 2 −𝑟ሶ 2 (0.09)(0.3)𝑐𝑜𝑠 300 (60)2 −(3.57)2
∴ 𝑟ሷ = = = 315.24 𝑚/𝑠2 (Accelerating)
𝑟 0.2266
O θ β A
X
0.3 Using sinus Law: 𝑟 sin 𝜃 = 𝜌 sin 𝛽
𝛽ሶ
Dimensions in m Differentiating w.r.t time: 𝑟ሶ sin 𝜃 + 𝑟 cos 𝜃𝜃ሶ = 𝜌 cos 𝛽𝛽ሶ (ii)

𝜌 cos 𝛽 𝛽−𝑟ሶ sin 𝜃 ሶ

∴ 𝜃ሶ = = 17.86 rad/s (CCW)
𝑟𝑐𝑜𝑠 𝜃
Derive the equations from the triangle below:
Differentiating eqn (ii):
𝑟 = 0.2266 m
𝜃 = 11.50 𝑟ሷ sin 𝜃 + 𝑟ሶ cos 𝜃𝜃ሶ + 𝑟ሶ cos 𝜃𝜃ሶ + (−𝑟 sin 𝜃𝜃ሶ 2 ) + 𝑟 cos 𝜃𝜃ሷ = 𝜌 cos 𝛽 𝛽ሷ − 𝜌 sin 𝛽 𝛽ሶ 2
𝑟 𝜌
𝑟 𝑠𝑖𝑛𝜃𝜃ሶ 2 − 𝜌 sin 𝛽𝛽ሶ 2 − 2𝑟ሶ cos 𝜃𝜃ሶ − 𝑟ሷ sin 𝜃
θ β ∴ 𝜃ሷ =
𝑙 𝑟 cos 𝜃

Cosines law: Putting in values will yield:

𝑟2 = 𝜌2 + 𝑙2 − 2𝜌𝑙 𝑐𝑜𝑠 𝛽
𝜃ሷ = −1510.13 rad/s ( CW @ Decelerating)
Differentiating w.r.t time:
2𝑟𝑟ሶ = 0 + 0 + 2𝜌𝑙 sin 𝛽 𝛽ሶ
𝑟𝑟ሶ = 𝜌𝑙 sin 𝛽 𝛽ሶ (i)
 Example (c) Vector Method 𝑣𝐴/𝑃 =4.68𝑗 + 2.7𝑖

𝑎𝑃/𝐴 = 𝑅ሷ 𝐴𝑃 𝑢 + 2 𝜔𝐴𝑃 ∧ (𝑅ሶ 𝐴𝑃 𝑢 )+ 𝛼𝐴𝑃 ∧ 𝑅𝑃/𝐴 + 𝜔𝐴𝑃 ∧ (𝜔𝐴𝑃 ∧ 𝑅𝑃/𝐴 )

Y
MEC 420 – kinematics of particles

𝛽 = 300 𝑎𝑃/𝐴 = −60 𝑘 ∧ (−60 𝑘 ∧ (−0.078𝑖 + 0.045𝑗))= 280.8 𝑖 − 162 𝑗

𝜌 = 0.09 m
p
𝛽ሶ = 60 r/s Link OP
O θ β A 𝑅𝑃/𝑂 = 0.2266 (cos 11.50 𝑖 + sin 11.50𝑗) = 0.2266(0.98𝑖 + 0.199𝑗)
X
0.3
𝑅𝑃/𝑂 = 0.222𝑖 + 0.045𝑗 𝑢 = 0.98𝑖 + 0.199𝑗
𝛽ሶ
Dimensions in m Let ሶ
𝜔𝑂𝑃 = 𝜃𝑘 and ሷ
𝛼𝑂𝑃 = 𝜃𝑘

𝑅ሶ 𝑂𝑃 = 𝑟ሶ and 𝑅ሷ 𝑂𝑃 = 𝑟ሷ

Position vector: 𝑟 = 0.2266 m

𝑣𝑃/𝑂 = 𝑅ሶ 𝑂𝑃 𝑢 +( ω𝑂𝑃 ∧ 𝑅𝑃/𝑂 )
𝑠𝑃/𝑂 = 𝑠𝐴/𝑂 + 𝑠𝑃/𝐴 𝜃 = 11.50
ሶ ∧ (0.222𝑖 + 0.045𝑗)
𝑣𝑃/𝑂 = 𝑟ሶ 0.98𝑖 + 0.199𝑗 + 𝜃𝑘
Differentiating twice gives rise:
𝑣𝑃/𝑂 = 𝑣𝑃/𝐴 (i) 𝑖 𝑣𝑃/𝑂 = 0.98 𝑟ሶ − 0.045𝜃ሶ 𝑖 + 0.199 𝑟ሶ + 0.222𝜃ሶ 𝑗
𝑎𝑃/𝑂 = 𝑎𝑃/𝐴 (ii) 𝑘 + 𝑗 Applying eqn (i) and equating the terms:
Link AP 𝑖: 0.98 𝑟ሶ − 0.045𝜃ሶ = 2.7 (iii)
𝑅𝑃/𝐴 = 𝑅𝑢 = 0.09 (− cos 300 𝑖 + sin 300𝑗) = −0.078𝑖 + 0.045𝑗 𝑗: 0.199 𝑟ሶ + 0.222 𝜃ሶ = 4.68 (iv)
ω𝐴𝑃 =−𝛽𝑘ሶ = −60 𝑘 (In negative z-direction)
𝛼𝐴𝑃 = 0 Solving eqn (iii) and eqn (iv) simultaneously yields:
𝑣𝐴/𝑃 = 𝑅ሶ 𝐴𝑃 𝑢 +( ω𝐴𝑃 ∧ 𝑅𝑃/𝐴 ) 𝜃ሶ = 17.87 rad/s (CCW) 𝑟ሶ = 3.57 m/s (Extending)
𝑣𝐴/𝑃 =−60 𝑘 ∧ (−0.078𝑖 + 0.045𝑗)
 Cont….Example (c) Vector Method Solving eqn (v) and eqn (vi) simultaneously yields:

𝜃ሷ = −1511.3 rad/s2 (CW- Decelerating)

Y
MEC 420 – kinematics of particles

𝛽 = 300
𝜌 = 0.09 m 𝑟ሷ = 309.11 m/s2 (Accelerating)
p
𝛽ሶ = 60 r/s

O θ β A
X
0.3

𝛽ሶ 𝑟 = 0.2266 m
Dimensions in m
𝜃 = 11.50

The acceleration of point P relative to O:

𝑎𝑃/𝑂 = 𝑅ሷ 𝑂𝑃 𝑢 + 2 𝜔𝑂𝑃 ∧ (𝑅ሶ 𝑂𝑃 𝑢 )+ 𝛼𝑂𝑃 ∧ 𝑅𝑃/𝑂 + 𝜔𝑂𝑃 ∧ (𝜔𝑂𝑃 ∧ 𝑅𝑃/𝑂 )

𝑎𝑃/𝑂 = 𝑟ሷ (0.98𝑖 + 0.199𝑗 )+ 2 (17.87𝑘) ∧ (3.57 0.98𝑖 + 0.199𝑗 )+

𝜃𝑘ሷ ∧ (0.222𝑖 + 0.045𝑗) +17.87𝑘 ∧ (17.87𝑘 ∧ (0.222𝑖 + 0.045𝑗))

𝑎𝑃/𝑂 = 0.98𝑟ሷ − 0.045𝜃ሷ − 96.32 𝑖 − 0.199𝑟ሷ + 0.222𝜃ሷ + 110.72 𝑗

Applying eqn (ii) and equating the terms:

𝑖: 0.98 𝑟ሷ − 0.045𝜃ሷ − 96.32 = 280.8 (v)

𝑗: 0.199𝑟ሷ + 0.222𝜃ሷ + 110.72 = −162 (vi)
 Example
The rotation of the arm OA is driven by the motion of the vertical slotted guide B along the horizontal shaft as shown in Figure. Knowing that the velocity of the guide B is v =
20 cm/s constant to the right when x = 75 mm, determine at this instant:
i) the angular velocity of the arm OA, and
ii) the angular acceleration of the arm OA
iii) the velocity, 𝑦ሶ and acceleration 𝑦.ሷ
Evaluate the velocity of the pin A relative to the slotted guide B.

Velocity Diagram
Acceleration Diagram
𝑥, 𝑥,ሶ 𝑥ሷ
A 𝑥 75 mm Tabulate the acceleration in a table:

𝑦, 𝑦,ሶ 𝑦ሷ
130 mm n-t coordinate Rectangular coordinate
𝑥ሶ 150 mm
𝜃
𝜃 𝑣𝑃2
𝑦 𝑎𝑛 = 𝑥ሷ = 0 cm/s2
𝜌 𝑦ሶ 𝜌
𝜃 23.12
𝑣𝑃 𝑎𝑛 = = 35.574 cm/s2
This is the combination rectangular coordinates and normal & 15
O 𝑥
polar coordinates. Looking from A, rectangular coordinate and
(Known mag. And Dir)
looking from O, normal & tangential coordinate:
𝑥ሶ = 𝑣𝑡 cos 𝜃
𝑥, 𝑥,ሶ 𝑥ሷ 𝑥ሶ 20 𝑎𝑡 = 𝜌𝜃ሷ = 15 𝜃ሷ 𝑦ሷ =? cm/s2
A 𝑥
∴ 𝑣𝑃 = = = 23.1 cm/s
cos 𝜃 cos 300
𝑦, 𝑦,ሶ 𝑦ሷ 𝑣 23.1
But: 𝜃ሶ = 𝑃 = = 1.54 rad/s (CW)
𝜌 15 (Unknown mag. And Dir) (Unknown mag. And Dir)

𝑦 𝜌
𝜃

O 𝑥
 Example… Cont
The rotation of the arm OA is driven by the motion of the vertical slotted guide B along the horizontal shaft as shown in Figure. Knowing that the velocity of the guide B is v =
20 cm/s constant to the right when x = 75 mm, determine at this instant:
i) the angular velocity of the arm OA, and
ii) the angular acceleration of the arm OA
iii) the velocity, 𝑦ሶ and acceleration 𝑦.ሷ
Evaluate the velocity of the pin A relative to the slotted guide B.

Acceleration Diagram
𝑎𝑡 = 𝑎𝑛 tan 𝜃
𝑎𝑡 = 35.574 tan 300 = 20.54 cm/s2

𝑎 20.54
∴ 𝜃ሷ = 𝑡 = = 1.37 rad/s2 (CW)
𝜌 15
𝜃
𝑎𝑛 The relative velocity of the slotted guide B refers to 𝑦.ሶ From
the velocity diagram:
𝜃
n-t coordinate Rectangular coordinate 𝑦ሶ = 𝑣𝑡 sin 𝜃 = 23.1 sin 300 = 11.55 cm/s
𝑦ሷ
𝑣𝑃2 O
𝑎𝑛 = 𝑥ሷ = 0 cm/s2
𝜌
23.12 𝑦ሷ = 𝑎𝑃 = 𝑎𝑛2 + 𝑎𝑡2 = 35.5742 + 20.542 = 41.08 cm/s2
𝑎𝑛 = = 35.574 cm/s2 𝑎𝑡
15
(Known mag. And Dir)
𝜃
𝑎𝑡 = 𝜌𝜃ሷ = 15 𝜃ሷ 𝑦ሷ =? cm/s2

(Unknown mag. And Dir) (Unknown mag. And Dir)

 Example
At the instant shown in Figure, the slotted arm AB is rotating counterclockwise with a constant angular velocity of 30 rad/s causing the slider P to move along the semi-
circle guide rail AC of 80 cm radius. At the instant when θ = 300, determine the velocity and acceleration of slider P.
if the angular velocity of the slotted arm AB is increased, evaluate the relative velocity of the slider with respect to the rotating slotted arm. Justify your answer with the
aid of the analysis in (a) and (b).

Y 𝑣𝑟
B
𝑣𝜃
𝑣𝑃
P 𝜃

𝜃
𝑟
80 cm 𝜌
𝜃
A X 𝜃
80 cm O A 𝜌 O
velocity diagram

Using trigonometry

Given: 𝜃ሶ = 30 rad/s 𝜃ሷ = 0 rad/s 2 𝑣𝜃 = 𝑣𝑃 cos 𝜃

𝑣𝜃 41.58 𝑣𝑃
Cosines law: 𝑟 2 = 2𝜌(1 − cos(1800 − 2𝜃)) ∴ 𝑣𝑃 = = = 48.01 m/s
∴ 𝑟 = 138.6 cm cos 𝜃 cos 300 300

Tangential velocity P relative to A (polar coordinates): 𝑣𝑟 = 𝑟ሶ = 𝑣𝑃 sin 𝜃 = 48.01 sin 300 = 24 m/s (𝑟ሶ = −24 m/s)

𝑣𝜃 = 𝑟𝜃ሶ = 1.386 30 = 41.58 m/s

 Example… Cont

At the instant shown in Figure, the slotted arm AB is rotating counterclockwise with a constant angular velocity of 30 rad/s causing the slider P to move along the semi-
circle guide rail AC of 80 cm radius. At the instant when θ = 300, determine the velocity and acceleration of slider P
if the angular velocity of the slotted arm AB is increased, evaluate the relative velocity of the slider with respect to the rotating slotted arm. Justify your answer with the
aid of the analysis in (a) and (b).

Y Tabulate the acceleration components in a table

B
Polar coordinates ( From point A) n-t coordinates ( From point O)
P
𝑎θ = 𝑟𝜃ሷ + 2𝑟ሶ 𝜃ሶ
2
𝑣 2 48.01
𝑎𝑛 = 𝜌𝛽ሶ 2 = 𝑃 = = 2881.2 m/s2
𝜌 0.8
𝑎θ = (1.386)(0) + 2(−24)(30)
𝑎θ = −1440 m/s2
80 cm O
𝜃 (KNOWN Mag &Dir) A (KNOWN Mag &Dir)
A X
80 cm O 𝑎𝑟 = 𝑟ሷ − 𝑟𝜃ሶ 2 𝑎𝑡 = 𝜌𝛽ሷ = 0 since 𝜃ሷ = 0 rad/s 2
𝑎𝑟 = 𝑟ሷ − 1.386(20)2
A
(UNKNOWN Mag &Dir)

𝑎𝑃 = 𝑎𝑛 = 2881.2 m/s2
600
𝜃 𝑎𝜃 Using trigonometry
𝛾
𝑟
𝑎𝑃 = 𝑎𝑛 𝜃
𝑎𝑟 𝑎𝑟 = 𝑎𝑃2 − 𝑎𝜃2 = 2881.22 − −1440 2 = 2495.54 m/s 2
P
𝜃
A 𝜌 O Note that 𝑎𝑟 is in the same direction as 𝑣𝑟 :
𝑎𝑟 = +2495.54 = 𝑟ሷ − 𝑟𝜃ሶ 2 = 𝑟ሷ − 1.386(30)2 ∴ 𝑟ሷ = 3742.94 m/s 2
Acceleration diagram
 Example
The low-flying aircraft P is traveling at a speed of v = 540 km.hr-1 and accelerating at 100,000 km.hr-2 in the holding circle of radius 2 km as shown in Figure. For the
instant shown, determine
(i) the radial and transverse velocities of the aircraft,
(ii) the radial and transverse acceleration of the aircraft,
(iii) the angular velocity, 𝜃,ሶ
(iv) the angular acceleration, 𝜃,ሷ
(v) the velocity in x-direction, and,
(vi) the acceleration in x-direction.
Evaluate the radial velocity of the aircraft at the same position but it travels in counter direction.

9
𝑃
−1
𝜃 = 𝑡𝑎𝑛 = 36.870
12
𝑣𝑟 = 𝑣𝑃 sin 𝜃 = 540 sin 36.870 = 324 km/hr 𝑦ሷ 𝑎𝑡
𝑎𝑃
𝑎𝜃
𝑣𝜃 = 𝑣𝑃 cos 𝜃 = 540 cos 36.870 = 432 km/hr

(ii) 𝑎𝑟 and 𝑎𝜃 𝛾

n-t coordinates ( From point C)

𝑦 𝐶 𝑎𝑛 𝜃
𝑎𝑟
2
𝑣 2 540
𝑎𝑛 = 𝜌𝛽ሶ 2 = 𝑃 = 2 = 145800 km/hr2
𝜌
𝑟 𝑥ሷ
Solution
(a) C
𝜃
(i) 𝑣𝑟 and 𝑣𝜃 (KNOWN Mag &Dir) 𝑥
𝑂
Acceleration Diagram
𝜃 𝑣𝜃 𝑎𝑡 = 1000 000 km/hr 2
𝑣𝑃

𝑣𝑟 (KNOWN Mag &Dir) P

Velocity Diagram
 The low-flying aircraft P is traveling at a speed of v = 540 km.hr-1 and accelerating at 100,000 km.hr-2 in the holding circle of radius 2 km as shown in Figure. For the
instant shown, determine
(i) the radial and transverse velocities of the aircraft,
(ii) the radial and transverse acceleration of the aircraft,
(iii) the angular velocity, 𝜃,ሶ
(iv) the angular acceleration, 𝜃,ሷ
(v) the velocity in x-direction, and,
(vi) the acceleration in x-direction.
Evaluate the radial velocity of the aircraft at the same position but it travels in counter direction.
)

𝑃 (ii) 𝑎𝑟 and 𝑎𝜃

𝑎𝑟 = 𝑎𝑃 cos 𝜃 + 𝛾 = 176798.3 cos 71.350 = 56537.67 km/hr2

𝑦ሷ 𝑎𝑃 𝑎𝑡
𝑎𝜃 𝑎𝜃 = 𝑎𝑃 sin 𝜃 + 𝛾 = 176798.3 sin 71.350 = 167514.6 km/hr2

𝛾 (iii) 𝜃ሶ
𝑦 𝑎𝑛 𝑣𝜃 432
𝐶 𝜃 𝜃ሶ = = = 28.8 rad/hr
𝑎𝑟 𝑟 15

9 𝑥ሷ (iv) 𝜃ሷ
𝜃 = tan−1
12
= 36.90 𝑟 𝑎𝜃 = 𝑟𝜃ሷ + 2𝑟ሶ 𝜃ሶ = 167514.6
167514.8 − 2(324)(28.8)
𝜃 𝜃ሷ = = 9923.5 rad/hr 2
𝑥 15
𝑂
Acceleration Diagram (v) 𝑥ሶ = 0 m/s

𝑎𝑃 = 𝑎𝑛2 + 𝑎𝑡2 = 1458002 + 1000002 = 176798.3 km/hr2 (vi) 𝑥ሷ = 𝑎𝑛 = 145800 km/hr2

100000
𝛾 = tan−1 = 34.450
145800
1.5 Relative
motion
Relative motion and absolute motion
Relative motion: is a comparison of motion (displacement, velocity, acceleration) between two moving points (or moving
coordinates, axes).
Absolute motion: is a motion (displacement, velocity, acceleration) of a point relative to a fixed point/ axis.

Let A and B are two moving points:

Relative motion

Rectilinear curvilinear

𝑠𝐵/𝐴 = 𝑠𝐵 − 𝑠𝐴

𝑣𝐵/𝐴 = 𝑣𝐵 − 𝑣𝐴 Parallelogram law of Vector

𝑎𝐵/𝐴 = 𝑎𝐵 − 𝑎𝐴
 Y
Exercise At the instant shown, the velocity
of train is 20 m/s. At the same time,
𝒚𝑩
A boy is running with a velocity 5 m/s
MEC 420 – kinematics of particles

𝒚𝑻 relative to the train

B
𝒙𝑩 𝑣𝐵
Find 𝑣𝐵, 𝑣𝑇 , 𝑣𝐵/𝑇 , 𝑣𝑇/𝐵
𝑣𝑇 𝒙𝑻 T X
O

𝐵 𝑇 𝑣𝑇/𝐵 = - 5 𝑖 m/s

𝐵 𝑣𝐵/𝑇 𝑇 𝑣𝐵/𝑇 = + 5 𝑖 m/s

𝑇 𝑣𝑇 𝑂 𝑣𝑇/𝑂 = + 20 𝑖 m/s

𝐵 𝑣𝐵/𝑂 𝑂
𝑣𝐵/𝑂 = 𝑣𝑇/𝑂 + 𝑣𝐵/𝑇 =20 m/s + 5 m/s = + 25 𝑖 m/s
 Exercise: For the instant represented in the figure, the racing car A is rounding the circular curve at a speed of
45 m/s and is accelerating at 3 m/s2 after coming off a pit stop, while car B is moving at 67.5 m/s but is slowing
down at the rate of 4.8 m/s2.
MEC 420 – kinematics of particles

Given: 𝑎𝐵 = 4.8 𝑚/𝑠2

𝑣𝐵 = 67.5 𝑚/𝑠
𝑏 𝑏" 𝑌
𝐵
𝐵 𝑎
𝑣𝐴 = 45 𝑚/𝑠
𝐴

𝑋
𝑎𝐴𝑡 =3 𝑚/𝑠2 Selected coordinate
𝐴

Determine: i) 𝑣𝐵/𝐴 = 𝑣𝐵 - 𝑣𝐴
𝑎𝐵/𝐴 = 𝑎𝐵 − 𝑎𝐴
ii) 𝑎𝐵/𝐴 = 𝑎𝐵 - 𝑎𝐴
45 2
But 𝑎𝐵 = - 4.8 𝑖 and 𝑎𝐴 = 𝑎𝐴𝑛 + 𝑎𝐴𝑡 = 𝑖 + 3𝑗 = 13.5𝑖 + 3𝑗
150
𝑣𝐵/𝐴 = 67.5𝑖 - 45𝑗 𝑚/𝑠
∴ 𝑎𝐵/𝐴 = − 18.3 𝑖 - 3𝑗 𝑚/𝑠2
𝑣𝐵 = 67.5 𝑚/𝑠
𝑏 𝑂
18.3 𝑚/𝑠2
𝑣𝐴 = 45 𝑚/𝑠

β 3
α α= 𝑡𝑎𝑛−1

3 𝑚/𝑠2
67.5 18.3
𝛽 = 𝑡𝑎𝑛−1
45

𝑎
1.6 Constrained/
Dependent Motion
 dependent motion (One-Degree of Freedom/ Single DOF)

Steps:
MEC 420 – kinematics of particles

1) Establish the coordinates from the datum to the masses or pulleys

Datum according to the lengths of the rope

2) Derive the equations based on the diagram

Length of rope 1

𝑦𝐵 + 𝑦𝐶 + 𝑦𝐶 − 𝑦𝐷 + 𝐶𝑜𝑛𝑠𝑡𝑎𝑛𝑡1 = 𝐿1
Length of rope 2

2𝑦𝐷 + 𝑦𝐴 + 𝐶𝑜𝑛𝑠𝑡𝑎𝑛𝑡2 = 𝐿2

3) Differentiate twice to get the velocity and acceleration equations

𝑦ሶ 𝐵 + 2𝑦ሶ 𝐶 - 𝑦ሶ 𝐷 = 0 2𝑦ሶ 𝐷 + 𝑦ሶ𝐴 = 0

𝑦ሷ 𝐵 + 2𝑦ሷ 𝐶 - 𝑦ሷ 𝐷 = 0 2𝑦ሷ 𝐷 + 𝑦ሷ𝐴 = 0

 dependent motion (One-Degree of Freedom/ Single DOF)
At a certain instant, the velocity of cylinder B is 1.2 m/s down and its acceleration is 2 m/s2 up. Determine the corresponding velocity
MEC 420 – kinematics of particles

and acceleration of block A.

Datum Length of rope

𝑦𝐴
2𝑦𝐴 + 3𝑦𝐵 + 𝐶𝑜𝑛𝑠𝑡𝑎𝑛𝑡 = 𝐿

Datum Differentiate the equation twice w.r.t time:

𝑦𝐵 2𝑦ሶ𝐴 + 3𝑦ሶ 𝐵 = 0
2𝑦ሷ𝐴 + 3𝑦ሷ 𝐵 = 0

Therefore:
𝑚
𝑣𝐴 = 1.5 𝑣𝐵 = 1.8 ( up)
Steps: 𝑠
1) Establish the coordinates from the datum to the masses or pulleys 𝑚
according to the lengths of the rope (It can be more than one) 𝑎𝐴 = 1.5 𝑎𝐵 = 3.0 2 (acceleration is decreasing)
𝑠
2) Derive the equations based on the diagram
3) Differentiate twice to get the velocity and acceleration equations
 𝑣𝐴 3.464
∴ 𝑣𝐴 = 3.464 cm/s 𝑣𝐵 = = = 1.155 cm/s
3 3

(a) (iv) Before solving the problem, one needs

to establish the reference axis:

𝑣𝐵/𝐴 = 𝑣𝐵 − 𝑣𝐴

𝑣𝐵/𝐴 = 1.155𝑗 − (−3.464𝑖)

𝑣𝐵/𝐴 = 1.155𝑗 + 3.464𝑖

Solution (a) (ii)

(a) (i)
Condition 2:
Condition 1: To find 𝑎𝐴 𝑢𝐴 = 0 𝑠𝐴 = 10 cm 𝑎𝐴 = 0.6 cm/s 2
𝑢𝐴 = 𝑢𝐵 = 0 𝑠𝐴 = 30 cm 𝑣𝐴 = 6 cm/s Analysis from dependent motion:
𝑎𝐴 0.6
For constant acceleration case: 𝑎𝐵 = = = 0.2 cm/s2
3 3
𝑣𝐴2 = 𝑢𝐴2 + 2𝑎𝐴 𝑠𝐴
(a) (iii) For constant acceleration case:
62 = 0 + 2𝑎𝐴 (30) 𝑣𝐴2 = 𝑢𝐴2 + 2𝑎𝐴 𝑠𝐴
∴ 𝑎𝐴 = 0.6 cm/s 2 𝑣𝐴2 = 0 + 2(0.6)(10)
 Example
Body A is released from rest in the position shown and moves downward causing body B to lift off the support at C as in Figure Q4. If motion is controlled such that the
magnitude 𝑎𝐵/𝐴 = 2.4 m/s 2 is held constant, determine the amount of time it takes body B to travel 5 m up the incline and the corresponding speed of body A at the end
of that time of period. The angle 𝜃 = 550 .

If the acceleration of body B is increased, evaluate the speed of body B.

Since the external force is depending upon the gravitational

force, therefore this is constant acceleration case. For constant
acceleration case, the three formulae derived before can be
applied:

𝑣𝐵2 = 𝑢𝐵2 + 2𝑎𝐵 𝑠𝐵 (iii)

𝑣𝐵2 = 0 + 2(3.6)(5)

∴ 𝑣𝐵 = 6 m/s

𝑣𝐵 = 𝑢𝐵 + 𝑎𝐵 𝑡

Given: 𝑎𝐵/𝐴 = 𝑎𝐵 − 𝑎𝐴 = 2.4 𝑚/𝑠 2 6= 0 + (3.6)𝑡

(i)
𝑠𝐵 = 5 m ∴ 𝑡 = 1.667 s

Analysis from dependent motion: Speed of block A:

𝑣𝐵
𝑣𝐵 = 3𝑣𝐴 𝑣𝐴 = = 2 m/s
3
𝑎𝐵 = 3𝑎𝐴 (ii)

Solving Eqn (i) and (ii) will give: From Eqn (iii), if 𝑎𝐵 increased, 𝑣𝐵 will also increase
𝑎𝐴 = 1.2 m/s2
𝑎𝐵 = 3.6 m/s2
 Assignment
The rotation of the arm OA is driven by the motion of the vertical slotted guide B along the
horizontal shaft as shown in Figure Q1(b). Knowing that the velocity of the guide B is v = 20
cm/s to the right and decreasing at the rate of a = 8 cm/s2 when x = 75 mm, determine at this
MEC 420 – kinematics of particles

instant:

i)the angular velocity of the arm OA, and

ii) the angular acceleration of the arm OA

Evaluate the velocity of the pin A relative to the slotted guide B.
 Assignment
The rotational motion of the link OA is constrained by a guide B which can slide along the
vertical shaft as shown in Figure. From the rest position when 𝜃 = 200, guide B moves upward
with a constant acceleration until it reaches a speed of 175 mm/s when the link OA is horizontal.
MEC 420 – kinematics of particles

Given the length of link OA = 250 mm. When the link OA has rotated 300 from its rest position,
determine :

i) the normal and tangential acceleration of pin A,

ii) the rectangular component of acceleration of pin A.

Summary of chapter 1

kinematics 𝑠, 𝐷𝑖𝑠𝑝𝑙𝑎𝑐𝑒𝑚𝑒𝑛𝑡

𝑣, 𝑉𝑒𝑙𝑜𝑐𝑖𝑡𝑦

𝑎, 𝐴𝑐𝑐𝑒𝑙𝑒𝑟𝑎𝑡𝑖𝑜𝑛