Engineering

Mechanics 2
For Preparatory Year
(Level Zero) Students
Part 1
Dynamics (Notes)
Prepared by:
Prof. Maher Abou Al-Sood
Assoct. Prof. Fawzy Abou-Talib
Assoct. Prof. Magda El-Fakharany
 Chapter

1
RECTILINEAR MOTION OF ONE PARTICLE

1.1 INTRODUCTION

We will begin our study of dynamics by discussing the kinematics of a

particle that moves along a rectilinear or straight line path. Recall that
a particle has a mass but negligible size and shape. Therefore we must
limit applications to those objects that have dimensions that are of no
consequence in the analysis of motion. In most problems, one is
interested in bodies of finite size, such as rockets, projectiles, or
vehicles. Such objects may be considered as particles, provided motion
of the body is characterized by motion of its mass center and any
rotation of the body is neglected.

1.2 RECTILINEAR KINEMATICS

The kinematics of a particle is characterized by specifying, at any given

instant, the particle's position, velocity, and acceleration.

1.1.1 Position (s)

Chapter 1: Rectlinear Motion of One Particle

The straight-line path of a particle will be defined using a single

coordinate axis s, Fig. 1.1 The origin o on the path is a fixed point, and
from this point the position vector r is used to specify the location of the
particle P at any given instant. Notice that r is always along the s axis,
and so its direction never changes. What will change in its magnitude
and its sense or arrowhead direction? For analytical work it is
therefore convenient to represent r by an algebraic scalar s
representing the position coordinate of the particle, see Fig. 1.1.

The magnitude of s (and r) is the distance from o to P, usually

measured in meters (m), and the sense (or arrowhead direction of r) is
defined by the algebraic sign on s. although the choice is arbitrary in
this case s is positive since the coordinate axis is positive to the right of
the origin. Likewise, it is negative if the particle is located to the left of
o.

Fig. 1.1 Position

1.1.2 Displacement (s)

[2]
Chapter 1: Rectlinear Motion of One Particle

The displacement of the particle is defined as the change in its

position. For example,e particleoves from P to P', Fig 1.2, the
displacement is r = r'- r. Using algebraic scalars to represent r, we
also have
s = s'- s

Here s is positive since the particle's final position is to the right of its
initial position, i.e., s' > s. Likewise, if the final position were to the left
of its initial position, s will be negative.
Note, s = 0 if s' = s (Means that the particle change its direction and
come back to the initial position)

Fig. 1.2 Displacment

Since the displacement of a particle is a vector quantity, it should be

distinguished from the distance the particle travels.

1.1.3 Distance (D)

[3]
Chapter 1: Rectlinear Motion of One Particle

The distance traveled is a positive scalar which represents the total

length of path over which the particle travels.
D=s
The distance is equal to the magnitude of the displacement if the
particle notchange its direction. If the particle changes its of motion
one time then the distance equal

D=s1+s2
If the particle changes its of motion two times its direction then the
distance is:

D=s1+s2+s3

A very important question appears!!!!!!!!!!

When will the particle changes its direction?
Answer. Because of the particle moves in a straight line, to change its
direction it must stop. This means that its speed is zero.

1.1.4 Velocity

If the particle moves through a displacement r from P to P during

the time interval t Fig. 1.3, the average velocity of the particle during
this time interval is

[4]
Chapter 1: Rectlinear Motion of One Particle

∆𝑟
Vavg =
∆𝑡

If we take smaller and smaller values of r, the magnitude of r

becomes smaller and smaller. Consequently, the instantaneous velocity
is defined as

∆𝑟 𝑑𝑟
𝑉 = lim Or V =
∆𝑡→0 ∆𝑡 𝑑𝑡

Representing V as an algebraic scalar, Fig. 1.3, we can also write

𝑑𝑆
𝑉= 1.1
𝑑𝑡

Since t or dt is always positive, the sign used to define the sense of the
velocity is the same as that of s or ds. For example, if the particle is
moving to right, Fig. 1.3, the velocity is positive; whereas if it is moving
to the left, the velocity is negative. (This is emphasized here by the
arrow written at the left of Eq.1).

Fig 1.3 Velocity

The magnitude of the velocity is known as the speed and it is generally

expressed in units of m/s.

[5]
Chapter 1: Rectlinear Motion of One Particle

Occasionally, the term "average speed" is used.The average speed is

always a positive scalar and is defined as the total distance traveled by
the particle ST divided by the elapsed time t; i.e., Vsp = average
𝑆𝑇
speed =
∆𝑡

1.1.5 Acceleration

Provided the velocity of the particle is known at the two points p and p'
the average acceleration of the particle during the interval t is
defined as

∆𝑉
aavg=
∆𝑡

Here v represents the difference in the velocity during the time

interval t, i.e., v = v'-v, Fig. 1.4

[6]
Chapter 1: Rectlinear Motion of One Particle

Fig 1.4 Acceleration

Study questions

Ql. Could the displacement equal zero? If yes when?

Q2. Could the average velocity equal zero? If yes when?

Q3. When could the average speed equal zero? If no why no?

The instantaneous acceleration at time t is found by taking smaller and

smaller values of t and corresponding smaller and smaller values of
∆𝑣
V, so that a= lim Or using algebraic scalars,
∆𝑡→0 ∆𝑡

𝑑𝑉 𝑑𝑣 𝑑𝑠 𝑑𝑣 𝑑𝑠 𝑑𝑣
a= or a= = = v
𝑑𝑡 𝑑𝑡 𝑑𝑠 𝑑𝑠 𝑑𝑡 𝑑𝑠
𝑑𝑉
a=v 1.2
𝑑𝑠

Substituting Eq. 1.1 into this result, we can also write

[7]
Chapter 1: Rectlinear Motion of One Particle

𝑑2 𝑠
𝑎= 2
𝑑𝑡

Both the average and instantaneous acceleration can be either positive

or negative. In particular, when the particle is slowing down, or its
speed is decreasing, it is said to be decelerating. In this case, V' in Fig.
1.5 is less than v, and so v = v' - v will be negative.

Fig 1.5 Deceleration

Consequently, a will also be negative, and therefore it will act to the

left, in the opposite sense to v. also, note that when the velocity is
constant, the acceleration is zero since v = v’ - v = 0. Units commonly
used to express the magnitude of acceleration are m/s1.

Example 1.1

The position of a particle on a straight line is given by S = t3-9t2+15t m

where t is in seconds, Determine the position, instantaneous velocity,
average velocity, instantaneous acceleration, and average acceleration

[8]
Chapter 1: Rectlinear Motion of One Particle

of the particle when t=6 sec and the total distance it travels during the
6-sec time interval. Also, plot the path

Solution

The position

s|t=6 = (6)3-9(6)2+15(6) = -18 st=6=-18 m

The instantaneous velocity

𝑑𝑠
V=
𝑑𝑡

𝑑𝑠
v= = 3𝑡 2 − 18 𝑡 + 15
𝑑𝑡
v|t=6=15 m/s
v|t=6 = 15 m/s

The instantaneous acceleration

𝑑𝑣
a=
𝑑𝑡

𝑑𝑣
a= = 6𝑡 − 18
𝑑𝑡

a|t=6 = 18 m/s2
a|t=6 = 18 m/s2
The average velocity

∆𝑠 𝑠 𝑡=6 −𝑠 𝑡=0
vavg = = = -3
∆𝑡 6−0

[9]
Chapter 1: Rectlinear Motion of One Particle

The average acceleration

∆𝑣 𝑣|𝑡=6 − 𝑣|𝑡=0 aavg = 0

aavg = = =0
∆𝑡 6−0

To determine the total distance traveled in time interval 6 sec

we must ask this question, when will the velocity equal zero? Put v =0

3t2- 18t + 15 = 0 dividing by 3

t2-6 t + 5 = 0  (t-1)(t-5)=0
the velocity is zero at t = 1 and t = 5 sec

the particle changes it's direction of motion two times in the time
interval (6 sec) so
ST =|Δs1| + |Δs2| + |Δs3|
ST = | st=1 - st=0 | + | st=5 - st=1| + | st=6 - st=5 |

ST= |7-0| + |-25-7| + |-18-(-25)| = 46 m ST = 46 m

To draw the path
The position and velocity are calculated at the initial time, the time
when the velocity equal zero, and the end of time interval

Time t 0 1 5 6
Position 0 7 -25 -18
Velocity
s 15 0 0 15
v

[10]
Chapter 1: Rectlinear Motion of One Particle

Fig 2-6.The path

We can notice that

▪ Initially (at t=0 sec) the position of the particle at the point 0
(s=0) the velocity v=+15 (it means, the particle at this moment
moves with a 15 m/s and directed to the right.

▪ At ( t=l sec ) the position of the particle ( s = 7 ) far from the

fixed point by 7m to the right. Also, the velocity v=0 means that
the particle stopped and will change its direction. Note,
through this interval the acceleration is deceleration (speed
decreasing) with negative sign (opposite to the velocity).

• At t=5 the position of the particle (s=-25) far from the fixed
point o by 25m to the left. The velocity is zero (v =0) means
that the particle stopped and will change its direction.
Note, through this interval the acceleration occurs (speed
increasing) and then deceleration occurs (speed decreasing).

▪ At t=6 the position of the particle (s=-18) far from the fixed
point o by 18m to the left. The velocity is (v =+15) the particle

[11]
Chapter 1: Rectlinear Motion of One Particle

at this moment moves with a speed 15 m/s and directed to the

right. Through the interval between t=5 and t=6 the particle
accelerate (acceleration with positive sign as the velocity).
The total distance traveled is the length of the path between the
time interval t = 0 and t = 6
DT= 7+ 7+ 25 + 7 = 46 m

Determination of the motion of a particle

From all the previous we can show that

Eq. 1 Eq. 2 Eq. 3

𝑑𝑠 𝑑𝑣 𝑑𝑣
v= a= a= v
𝑑𝑡 𝑑𝑡 𝑑𝑠

relation relation relation

between
between s,t between v,t
v,s and a
and v and a

Fig 1.7 kinematics equations

In general, the acceleration of the particle may be

expressed as a function of one or more of the variables
x, v, and t.

1.3 FOUR COMMON CLASSES OF MOTIN.

[12]
Chapter 1: Rectlinear Motion of One Particle

1.3.1 The acceleration is given as a constant (a = const.= aC)

When the acceleration is constant, each of the three kinematic above

equations may be integrated to obtain formulas that relate ac, v, s, and
t.
1.3.1.1 Velocity as a function of time.

Integrate relation Eq. 2, assuming initially v=vo when t=0, also a=ac

𝑣 𝑡
∫ 𝑑𝑣 = 𝑎𝑐 ∫ 𝑑𝑡
𝑣𝑜 𝑜

𝑣 = 𝑣𝑜 + 𝑎𝑐 𝑡 1.4

1.3.1.2 Position as a function of time.

Integrate relation Eq. 1 using Eq. 1.4, assuming initially

s = so when t=0.

𝑠 𝑡
∫ 𝑑𝑠 = ∫ (𝑣𝑜 + 𝑎𝑐 )𝑑𝑡
𝑠𝑜 𝑜

1
𝑠 = 𝑠𝑜 + 𝑣𝑜 𝑡 + 𝑎𝑐 𝑡 2 1.5
2

1.3.1.3 Velocity as a function of position.

Either solve for t Eq. 1.4 and substitute into Eq. 1.5, or integrate
relation no. 3 in Fig. 1.8, assuming that initially v= v0 at s = 𝑠𝑜 .

[13]
Chapter 1: Rectlinear Motion of One Particle

𝑑𝑣
ac = v
𝑑𝑠

𝑣 𝑠
∫ 𝑣𝑑𝑣 = ∫ 𝑎𝑐 𝑑𝑡
𝑣𝑜 𝑠𝑜

𝑣 2 = 𝑣𝑜2 + 2 𝑎𝑐 (𝑠 − 𝑠𝑜 ) 1.6

This equation is not independent of Eqs. 1.4-1.5 since it can be

obtained by eliminating t between these equations.

The magnitudes and signs of s0, vo and ac used in the above three
equations are determined from the chosen origin and positive
direction of the s axis. Also, it is important to remember that these
equations are useful only when the acceleration is constant and when
t=0, s = s0 and v = v0.

A common example of constant acceleration motion occurs when a

body falls freely toward the earth. If air resistance is neglected and the
distance of fall is short, then the downward acceleration of the body
when it is close to the earth is constant and approximately

9.81m/s2

From the above we conclude the following important points

Generally:

❖ If the required is relation between the position s and the time t

then use relation no. 1 in Fig. 1.8.

[14]
Chapter 1: Rectlinear Motion of One Particle

❖ .If the required is relation between the velocity v and the time t.
then use relation no. 2 in Fig, 1.8

❖ If the required is relation between the velocity v and the position

s then use relation no.3 in Fig. 1.8

Example 1.2

A bicyclist starts from rest and after traveling along a straight path a
distance of 20 m reaches a speed of 36 km/h. Determine his
acceleration if it is constant. Also, find the time of travel.

Solution

Data: vo = 0 at 𝑣𝑠𝑜 =0

v= 36(5/18)=10m/s at s=20 m a= constant.

Required:

1- The acceleration a at v=10 m/s.

1. The time t at v=10 m/s.

Answer

𝑣 2 = 𝑣𝑜2 + 2 𝑎𝑐 (𝑠 − 𝑠𝑜 )

2
(10) = 0 + 2ac ( 20 – 0 ) ⇒ ac= 1.5m/s Ans.

𝑣 = 𝑣𝑜 + 𝑎𝑐 𝑡

[15]
Chapter 1: Rectlinear Motion of One Particle

10 = 0 + ( 1.5 ) t ⇒ t=4 s Ans.

Another method

From the given data relation between the velocity and the position
then we can use equation no, 3 in Fig, 1.8

𝑑𝑣
a= v
𝑑𝑠

𝑠 𝑣
∫𝑠 𝑎𝑐 𝑑𝑠 = ∫𝑜 𝑣𝑑𝑡
𝑜

1 𝑣 1
𝑠
|𝑎𝑐 |𝑠=0 = | 𝑣2| ⇒ 𝑣 2 = 𝑎𝑐 s
2 𝑣=0 2

𝑣= 10 m/s at s = 20 ½(10)2 = ac (20)

ac = 1.5 m/s2
The second required, is the time at the velocity, then use the equation
no. 2 in Fig. 1.8,

𝑑𝑣
a=
𝑑𝑡

𝑣 𝑡
∫𝑣 𝑑𝑣 = ∫𝑜 1.5 𝑑𝑡 ⇒ |𝑣|𝑣𝑣=0 = |1.5|𝑡0
𝑜

v=1.5 t ⇒ t=10/1.5 t=4s Ans.

Note, this method always applied in all cases of acceleration

except constant acceleration.

[16]
Chapter 1: Rectlinear Motion of One Particle

Example 1.3

During a test a rocket is traveling upward at 75 m/s and when it is 40

m from the ground its engine fails.

Determine the maximum height reached by

the rocket and its speed just before it hits
the ground. While in motion the rocket is
subject to a constant downward acceleration

of 9.81 m/s2 due to gravity.Neglect the

effect of air esistance.

Solution

Data:

v0 = 75 m/s  at s0=40 and t=0 a = 9.81 m/s2

Required

1. Maximum height ( s at 𝑣 = 0 ).

1. The velocity v at the ground

Answer

The origin o for the position coordinate s is taken at ground level with
positive Upward Fig. 1. 9. Since the rocket is traveling upward 𝑣0 =

𝑣a = +75m/s when t=0. At the maximum height s = sB the velocity 𝑣B =

[17]
Chapter 1: Rectlinear Motion of One Particle

0. For the entire motion, the acceleration is ac = -9.81 m/s2 (negative

since it acts in the opposite sense to positive velocity or positive
displacement). Since ac is constant the rocket's position may be related
to its velocity at the two points A and B on the path , by using Eq. 1.6,
namely,

𝑣 2 = 𝑣𝑜2 + 2 𝑎𝑐 (𝑠 − 𝑠𝑜 ) (+)

Substitution in this equation

𝑣 2 = 𝑣𝑜2 + 2 𝑎𝑐 (𝑠 − 𝑠𝑜 )

0 = ( 75 )2 + 2 ( -9.81 ) ( sB - 40)

SB= 327 m Ans.

To obtain the velocity of the rocket just before it hits the ground, we
can apply Eq. 2, 6 between points B and C, Fig. 1.9

𝑣𝑐2 = 𝑣𝐵2 + 2 𝑎𝑐 (𝑠𝑐 − 𝑠𝐵 )

𝑣𝑐2 = 0 + 2 (−9.81 ) (0 − 327)

vc = - 80.1 m/s = 80.1 m/s ↓ Ans.

Note: it should be realized that the rocket is subjected to a deceleration

from A to B of 9.81-m/s2, and then from B to C it is accelerated at this
rate. Furthermore, even though the rocket momentarily comes to rest
at B (vB =0) the acceleration at B is 9.81 m/s2 downward.

[18]
Chapter 1: Rectlinear Motion of One Particle

23.2 The acceleration is a given function of t ( a = f(t) )

The acceleration is a given function of time t then we can use the

equation no, 2, only, in Fig. 1.8. and this equation gives relation
between the velocity and the time.

𝑑𝑣 𝑑𝑣
a= f(t)= dv= f(t) dt
𝑑𝑡 𝑑𝑡

𝑣 𝑡 𝑡
∫𝑣 𝑑𝑣 = ∫𝑜 𝑓(𝑡)𝑑𝑡 𝑣 − 𝑣𝑜 = ∫𝑜 𝑓(𝑡)𝑑𝑡
𝑜

𝑡
𝑣 = 𝑣𝑜 + ∫𝑜 𝑓(𝑡)𝑑𝑡 = 𝑔(𝑡) 1.7

Now the velocity is a function of the time t (𝑣=g(t)) then we can obtain
the position s as a function of the time t using the equation no. 1 in Fig.
1.8

𝑑𝑠 𝑠 𝑡
𝑣= , ∫𝑠 𝑑𝑠 = ∫𝑜 𝑔(𝑡)𝑑𝑡
𝑑𝑡 𝑜

𝑡
, 𝑠-𝑠𝑜 = ∫𝑜 𝑔(𝑡)𝑑𝑡 = ℎ(𝑡) 2-8

If the acceleration is a function of time then by integration w.r.t. time

we obtain the change in the velocity. By integrating the velocity with
time we obtain the change in position.

Example 1.4

[19]
Chapter 1: Rectlinear Motion of One Particle

The acceleration of a particle along a straight line is defined by a = 2t-9

m/s2, where t is in seconds. At t = 0, s = l m and v = 10 m/s. When t =
9s, determine (a) the particle's position, (b) the total distance traveled,
and (c) the velocity.

Solution
Data:
a = 2t-9 m/s2 𝑡𝑜 = 0, 𝑠𝑜 = 1m, 𝑣𝑜 =10m/s
Required:
1. The position S at t = 9 s,
1. The total distance traveled Dt at t = 9s,
3. The velocity v at t = 9 s.
Answer

From the data the acceleration is a function of time then use the
equation 1.7

𝑡
𝑣 = 𝑣𝑜 + ∫𝑜 𝑓(𝑡)𝑑𝑡 = 𝑔(𝑡)

𝑡 𝑡
𝑣 = 10 + ∫𝑜 𝑔(𝑡)𝑑𝑡 = ∫𝑜 (2𝑡 − 9) dt

𝑣 = 10 + |𝑡 2 − 9𝑡|𝑡0

𝑣 = 𝑡 2 − 9𝑡 + 10

At t = 9 s
/
𝑚 𝑠
𝑣 = 10 𝑚/𝑠

[20]
Chapter 1: Rectlinear Motion of One Particle

To obtain the position use equation 1.8

𝑡 𝑡
𝑠-𝑠𝑜 = ∫𝑜 𝑔(𝑡)𝑑𝑡 = ℎ(𝑡), 𝑠 = 1 + ∫𝑜 (𝑡 2 − 9𝑡 + 10 )𝑑𝑡

s= -30.5 m Ans

1.3.3 The acceleration is a given function of s [a=f(s)].

The acceleration is a given function of the position s then we can use
equation no.3 only in Fig.1.8

𝑑𝑣 𝑣 𝑠 𝑣2 𝑣2O 𝑠
a= v ∫𝑣𝑜 𝑣𝑑𝑣 = ∫𝑠𝑜 𝑓(𝑠)𝑑𝑠 −- = ∫𝑠𝑜 𝑓(𝑠)𝑑𝑠
𝑑𝑠 2 2
𝑣2 𝑣2O 𝑠
= + ∫𝑠𝑜 𝑓(𝑠)𝑑𝑠
2 2

Which yields the velocity is terms of the position s. With this result we
can use the first equation in Fig. 1.8 to obtain a relation between the
position s and the time t

𝑑𝑠 𝑑𝑠
v= , dt =
𝑑𝑡 𝑣(𝑠)

Both members may be integrated to obtain the desired

relation between s and t. However, in most cases this last integration
cannot be performed analytically and one must resort to a numerical
method of integration

Example 1.5

[21]
Chapter 1: Rectlinear Motion of One Particle

A particle travels in a straight line with accelerated motion such that a

=-ks, where s is the position and k is a proportionality constant which
is to be determined, For s = 2m the velocity is 4rn/s, and for s = 3.5m
the velocity is l0 m/s What is the position s when the velocity v = 0 ?

Solution

Data:

A= -ks At s0=2m v0=4m/s

At s = 3.5 m v = 10m/s

Required:

1 . The constant k.
1. The position s at the velocity v = 0 .

Solution

Beginning with the equation no, 3 in Fig. 1. 8

𝑑𝑣
a= v
𝑑𝑠

𝑣 𝑡
∫ 𝑑𝑣 = ∫ 𝑓(𝑠)𝑑𝑠
𝑣𝑜 𝑜

𝑣2 42 𝑠
= + ∫𝑠 −𝑘𝑠𝑑𝑠
2 2 𝑜

𝑣2 𝑠2
= 8-k( - 2)
2 2

[22]
Chapter 1: Rectlinear Motion of One Particle

To calculate the constant k

At S = 3.5m 𝑣 = 10 m/s

102 3.52
= 8-k( -2) k=-10.1818 =-10s2
2 2

To calculate the position s at the velocity 𝑣 =0

𝑆2
0 = 8+10.1818( -2) S = 1.56 m
2

1.3.4 The acceleration is a given function of 𝒗 [ a = f(𝒗) ]

The acceleration is a function of the velocity 𝑣 thus we can use the

equation no. 2 or 3 in Fig. 1.8.

Using equation no.2 in Fig. 1.8 we obtain:

𝑑𝑣 𝑑𝑣
a= dt=
𝑑𝑡 𝑓(𝑣)

By integration will yield a relation between v and t. Using Eq. no.3 in

Fig. 1.8 we obtain

𝑑𝑣 𝑣
a= v ds = dv
𝑑𝑠 𝑓(𝑣)

By integration will yield a relation between v and s. Either of these

relations may be used in conjunction with equation no. 1 in Fig.2,8 to
obtain the relation between x and t which characterizes the motion of
the particle.

[23]
Chapter 1: Rectlinear Motion of One Particle

Example 1.6

A small projectile is fired vertically downward into a fluid medium with

an initial velocity of 60 m/s, Due to the resistance of the fluid the

projectile experiences a deceleration equal to a = -0.4 𝑣3m/s2, where 𝑣

is in m/s.Determine the projectile's velocity and position 4 s after it
is fired.

Solution
Data:

a = -0.4𝑣 3 m/s2
𝑣 o= 60 m/s at s0= 0 m and t0= 0

Required:
The velocity v and position s at time t = 4 s

Answer
Since the motion is downward, the position coordinate is positive
downward, with origin located at o,

[24]
Chapter 1: Rectlinear Motion of One Particle

Fig. 1.10.

Here a = f(𝑣) and so we can determine the velocity as a function of time

𝑑𝑣
using the equation no. 2 in Fig 1.8, a=
𝑑𝑡

Since this equation relates 𝑣, a, and t. (Why not use 𝑣 = 𝑣 0 +

act ?) Separating the variables and integrating, with v0=60m/s when t =
0, yields: (note the positive direction downward (+ ))
𝑑𝑣 𝑑𝑣
a= -4v3 =
𝑑𝑡 𝑑𝑡
𝑣 𝑡
∫ 𝑑𝑣 = ∫ 𝑑𝑡
𝑣𝑜 𝑜
𝑡 𝑣 𝑑𝑣
∫𝑜 𝑑𝑡 = ∫60 −0.4𝑣3 𝑑𝑣

𝑣
1 𝑣 −2
𝑡 − 0 = (− ) ]
0.4 −2 60

1
𝑣 −2 = + 0.8𝑡
602

Here the positive root is taken, since the projectile moving downward.
When t=4 s 𝑣 =0.559 m/s↓
Knowing that 𝑣 = f(t), we can obtain projectile, s Position from the
𝑑𝑠
equation no. 1 in Fig. 1.8 𝑣 =
𝑑𝑡

since this equation relates s, v, and t. Using the initial condition s = 0,

when t = 0, we have

[25]
Chapter 1: Rectlinear Motion of One Particle
1
𝑑𝑠 𝑑𝑠 1 −2
𝑣= =( 2 + 0.8𝑡)
𝑑𝑡 𝑑𝑡 60

s t 1 1
2 1 1
−2
∫ ds = ∫ ( 2 + 0.8𝑡) dt s= [( + 0.8𝑡)−2 ]to
602
o o 60 0.8

when t=4 s S = 4.43 m

1.4 GRAPHICAL SOLUTION OF RECTILINEAR MOTION
(Erratic Motion)

When a particle's motion during a time period is erratic, it may

be difficult to obtain a continuous mathematical function to
describe its position, velocity, or acceleration. Instead, the motion may
be described graphically using a series of curves that can be generated
experimentally from computer output. If the resulting graph
describes the relationship between any two of the variables, a, 𝑣, s, t. a
graph describing the relationship between the other variables can be
established by using the kinematic equations 𝑣 =ds/dt , a=d𝑣 /dt , a=𝑣
d𝑣 /ds
Several situations occur frequently

1.4.1 Given the s-t graph, construct the 𝐯 - t graph.

If the position of a particle can be determined experimentally during a
time period t, the s - t graph for the particle can be plotted in Fig.
1.11a. To determine the particle's velocity as a function of time, i.e.,

[26]
Chapter 1: Rectlinear Motion of One Particle

the v - t graph, we must use v=ds/dt since this equation relates v ,s,
and t , therefore , the velocity at nay instant is determined by
measuring the slope of the s – t graph, i.e.,

𝑑𝑠
=𝑣 slope of s-t graph = velocity
𝑑𝑡

Fig. 1.11 s-t and v-t graphs

For example, measurement of the slops 𝑣𝑜 , 𝑣1 , 𝑣2 , 𝑣3 at the

intermediate points (0 ,0), (𝑡1 , 𝑠1 ) , (𝑡2 , s2 ) , (𝑡3 , 𝑠3 ) on the s- t graph,
Fig 1.11a , gives the corresponding points on the 𝑣-t graph shown in
Fig. 1.11b.
It may also be possible to establish the 𝑣 –t graph mathematically,
provided the segments of the s –t graph can be expressed in the form of
equations s = f(t). Corresponding equations describing the segments of

[27]
Chapter 1: Rectlinear Motion of One Particle

𝑑𝑠
the v-t graph are then determined by time differentiation, since =
𝑑𝑡

1.4.2 Given the 𝒗-t graph, Construct a - t graph.

When the particle's 𝑣-t graph is known, as in Fig. 2,12a, the

acceleration as a function of time, i.e., the a - t graph, can be determined
using 𝑣 = ds/dt (why?) Hence, the acceleration at any instant is
determined by measuring the slop of the v -t graph, i.e.,

𝑑𝑣
= a slope of 𝑣-t graph = acceleration
𝑑𝑡

Fig. 1.12 v-t and a-t graphs

For example, measurement of the slopes a0, al, a2, a3 at the intermediate
points (0 , 𝑣0 ), (𝑡1 , 𝑣1 ) , (𝑡2 , 𝑣2 ) ) , (𝑡3 , 𝑣3 ) , at the intermediate
points (0 ,0), on the 𝑣-t graph, Fig, 1.12b

[28]
Chapter 1: Rectlinear Motion of One Particle

Any segments of the a - t graph can also be determined mathematically,

provided the equations of the corresponding segments of the 𝑣 - t
graph are known, 𝑣 = g(t). This is done by simply taking the time
𝑑𝑣
derivative of =-g(t), since =𝑎
𝑑𝑡

Since differentiations reduces a polynomial of degree n to that degree

of n - 1, then if the s - t graph is parabolic (a second degree curve),
the v - t graph will be a slopping line (a first- degree curve), and the a - t
graph will be a constant or horizontal line (a zero- degree curve).

Example 1.7

A bicycle moves along a

straight road such that its
position is described by the
graph shown in the shown
Fig. Construct the v - t and a -
t graphs for 0 ≤ t ≤ 30s

Solution
To construct v - t graph

𝑑𝑠
Since =𝑣 , the v - t graph can be determined by differentiating
𝑑𝑡

the equations defining the s - t graph, Fig. 1.13a. We have

Through interval 0 ≤ t ≤ 10s;

[29]
Chapter 1: Rectlinear Motion of One Particle

𝑑𝑠
S = 0.3 t2 v= = 0.6t
𝑑𝑡

𝑑𝑠
Through interval 0 ≤ t ≤ 30 s; S= 6t-30 v= = 6 . The results are
𝑑𝑡

plotted in Fig.1.13b. We can also obtain specific values of v by

measuring the slope of the s - t graph at a given instant. For example, at
t = 20 s, the slope of the s - t graph is determined from the straight line
∆𝑠 150−30
from 10 s to 30 s, i.e t=20 s v= = = 6 m/s
∆𝑡 30−10

To construct a - t graph,
𝑑𝑣
Since a = , the a - t graph can be determined by
𝑑𝑡

differentiating the equations defining the lines of the 𝑣 - t graph. This

yield
Through interval 0 ≤ t ≤ 10s;
𝑑𝑣
𝑣 = 0.6t a= =0.6
𝑑𝑡

Through interval 10 ≤ t ≤ 30s

𝑑𝑣
𝑣=6 a= =0
𝑑𝑡

The results are plotted in Fig. 1.13c. Show that a = 0.6m/s2 when t = 5 s
by measuring the slope of the 𝑣-t graph

[30]
Chapter 1: Rectlinear Motion of One Particle

Fig. 1.13 v-t and a-t graphs

1.4.3 Given the a - t graph, Construct the v - t graph.

If the a - t graph is given, Fig. 1.14a, the v-t graph may be constructed
using a=dv/dt , written in integrated form as
𝑡

∆𝑣 = ∫ 𝑎𝑑𝑡
𝑡𝑜

Change in velocity = area under a-t graph

Hence, to construct the 𝑣-t graph, we begin by the first knowing the
particle's initial velocity 𝑣0 ) and then added to this small increments of
area (𝑣) determined from the a- t graph. In this manner, successive
points, 𝑣1 =𝑣o +𝑣, etc, for the 𝑣- t graph are determined, Fig. 1.14b.
Notice that an algebraic addition of the area increments is necessary,
since areas lying above the t axis correspond to an increase in v
("positive" area), whereas those lying below the axis indicated a
decrease in v ("negative" area).

[31]
Chapter 1: Rectlinear Motion of One Particle

Fig. 1.14
If segments of the a - t graph can be described by a series of equations,
then each of these equations may be integrated to yield equations
describing the corresponding segments of the v-t graph. Hence, if the (a
- t) graph is linear (a first - degree curve), integration will yield a. (v - t)
graph that is parabolic (a second - degree curve), etc

1.4.3 Given the 𝒗 - t graph, Construct the s - t graph

When the v -t graph is given, Fig.

2,15a, it is possible to determine the
s - t graph using 𝑣 =
𝑑𝑠
written in integrated form
𝑑𝑡
𝑡
∆𝑠 = ∫𝑡𝑜 𝑣𝑑𝑡
Displacement = area under 𝑣 –t
graph Fig. 1.15
In the same manner as stated above,
we begin by knowing the particle's
initial position s0 and add
(algebraically) to this small area
increments S determined from the
𝑣 –t graph , Fig. 1.15b.

[32]
Chapter 1: Rectlinear Motion of One Particle

If it is possible to describe
segments of the 𝑣 - t graph by a
series of equations, then each of
these equations may be integrated
Fig. 1.15
to yield equations that describe
corresponding segments of the s - t
graph.

Example 1.7

The test car in Fig, 1.16a starts from rest and travels along a straight
track such that it accelerates at a constant rate for 10 s and then
decelerate at a constant rate. Draw the v - t and s - t graphs and
determine the time t' needed to stop the car. How far has the car
traveled?

Fig. 1.16

[33]
Chapter 1: Rectlinear Motion of One Particle

Solution
To construct 𝑣 - t, and S - t graphs
Since the area above and under a - t curve can be calculated directly
from the graph then
𝑣10 - 𝑣0 = A1 = (10) (10- 0) , 𝑣10 = 100
𝑣t' - 𝑣10 = A2 = (-2) (t'-10)

0-100=(-2)(t'-10) . t'=60 Ans.

Also, the line joining between the two points (10, 100)
and (t',0) on v - t curve is straight line (first degree) because the
acceleration is constant.
Through the time interval 0 ≤ t ≤ 10;
s = area under (𝒗-t) curve
S10 - S0 = area of triangle through this interval =1/2(10)(100) = 500

𝑠10 -0 = ½(10)(100)-500  S10 = 500m

the line joining between the two points (0, 0) and (10,500) on s- t
curve is parabolic (2nd degree) because of the velocity curve is
straight line (1st degree).
Through the time interval 10 ≤ t ≤ t's;
Also, st, - s10 = area of triangle = ½(60 -10)(100) = 2500

St-500= 2500  st=3000m Ans

Another Method
𝑑𝑠
To construct 𝑣- t, graph 𝑣 =
𝑑𝑡

[34]
Chapter 1: Rectlinear Motion of One Particle

𝑑𝑣
Since a = , the 𝑣 - t graph is determined by integrating the
𝑑𝑡
straight line segments of the a - t graph. Using the initial condition v = 0
when t = 0, we have
𝑣 𝑡
0 ≤ t ≤ 10s; a=10 , ∫0 𝑑𝑣 = ∫0 10𝑑𝑡 , 𝑣=10t
When t = 10 s, 𝑣 = 10(10) - 100 m/s. Using this as the initial condition
for the next time period, we have
𝑣 𝑡
10 ≤ t ≤t 's ; a = -2 , ∫100 𝑑𝑣=∫10 −2𝑑𝑡
𝑣=-2t+120
when t = t' we require 𝑣=0. this yields Fig. 1.16b,
t' = 60 s Ans
To construct s - t, graph
𝑑𝑠
since 𝑣 = integrating the equations of the 𝑣 – t graph yields the
𝑑𝑡

corresponding equations of the s - t graph. Using the initial condition s

= 0 when t = 0, we have
𝑠 𝑡
10 ≤ t ≤10s; v=10t , ∫0 𝑑𝑠=∫0 10𝑡𝑑𝑡 , S=5t2
when t =10 s, s=5(10)2-500m. Using this initial condition, 10 ≤ t
≤60s; 𝑣=-2t+120
𝑠 𝑡
∫500 𝑑𝑠=∫10(−2𝑡 + 120)𝑑𝑡 ,

S - 500=-t2+120t-[-(10)2+120(10)]

S = - t2+ 120t - 600

when t' = 60s, the position is S = - (06)2 + 120 (60) – 600

= 3000m , S = 3000m Ans

[35]
Chapter 1: Rectlinear Motion of One Particle

[36]
 Chapter

2
CURVILINEAR MOTION OF ONE PARTICLE

2.1 GENERAL CURVILINEAR MOTION

Curvilinear motion occurs when the particle moves along a curved
path. Since this path is often described in three dimensions, vector
analysis will be used to formulate the particle's position, velocity,
and acceleration. In this section the aspects of curvilinear motion are
discussed, and in subsequent sections three types of coordinate
systems often used to analyze this motion will be introduced.
Position
Consider a particle located at point P on a space curve defined by the
path function s, Fig. 2.1a. The position of the particle, measured from
a fixed point O. will be designated by the position vector r= r(t). This
vector is a function of time since, in general, both its magnitude and
direction changes as the particle moves along the curve.
2.1.1 DISPLACEMENT

Suppose that during a small time interval t the particle moves a

distance s along the curve to a new position P',
Chapter 2: Cureliner Motion of One Particle

P’
P

Fig. 2.1

is defined by r'= r + r, as shown in Fig. 2.1b. The displacement r

represents the change in the particle’s position and is determined by
vector subtraction; i.e., r = r’-r. During the time t, the average
velocity of the particle is defined as
∆𝑟
𝑣avg =
∆𝑡

2.1.2 THE INSTANTANEOUS VELOCITY

Instantinous velocity is determined from this equation by letting

t0, and consequently the direction of r approaches the tangent
to the curve at point P.

𝑑𝑟 𝑑𝑟
Hence. 𝑣= lim or 𝑣=
∆𝑡→0 𝑑𝑡 𝑑𝑡

Since dr will be tangent to the curve at P, direction of v is also

tangent to the curve, Fig-2-lc. The magnitude of v, which is called the
speed , may obtained by noting that the magnitude of the
displacement r is the length of the straight line segment from P to

[38]
Chapter 2: Cureliner Motion of One Particle

P', Fig. 2.1b. Realizing that this length, r, approaches the arc
lengths as t0, we have
𝑟 𝑠 𝑑𝑠
V= lim = lim or 𝑣=
∆𝑡→0 𝑡 ∆𝑡→0 𝑡 𝑑𝑡

Thus the speed can be obtained by differentiating the path function S

with respect to time.

Fig. 2.1 (Cont.)

2.1.3 ACCELERATION
If the particle has a velocity v at time t and a velocity v'=v +
v at t + t, Fig. 2-1d, then the average cceleration of the particle
during the time interval t is
∆𝑣
aavg =
∆𝑡

where v = v'-v. To study this time rate of change, the two

velocity vectors in Fig. 2.1d are plotted in Fig. 2.1e such that their
tails are located at fixed point O' and their arrowheads touch points

[39]
Chapter 2: Cureliner Motion of One Particle

on the curve. This curve is called hodograph, and when constructed,

it describes the locus of points for the arrowhead of the velocity
vector in the same manner as the path s describes locus of points for
the arrowhead of the vector, Fig. 2.la.
To obtain the instantaneous acceleration, let t→ 0 0 in the above
equation. In the limit v will approach the tangent to the hodograph,
and so
𝑣 𝑑𝑣
a= lim or a=
∆𝑡→0 𝑡 𝑑𝑡

𝑑2 𝑟
we can also write a =
𝑑𝑡 2

Fig. 2.1 (Cont.)

By definition of the derivative, a acts tangent to hodograph, Fig. 2.1f

If, and therefore, in general, a is not tangent to the path of motion,
Fig.2.1g. To clarify point, realize that and consequently a must

[40]
Chapter 2: Cureliner Motion of One Particle

account for the change made in both the magnitude direction of the
velocity v as the particle moves from p to p', Fig.2.1d. Just a
magnitude change (or decrease) the length" of v, and this in itself
would allow a to remain tangent to the path.
However, in order for the particle to follow the path the directional
change always "swings" the velocity vector toward the "inside" or
"concave side" of the path, and therefore a cannot remain tangent
to the path.
In summary, v is always tangent to the path and a is always
tangent to the hodograph.

2.2 CURVILINEAR MOTION: RECTANGULAR COMPONENTS

Occasionally the motion of a particle can best be described along a
path that is represented using a fixed x, y, z frame of reference.

[41]
Chapter 2: Cureliner Motion of One Particle

Fig 2.2 Position or a curvilinear motion

2.2.1 POSITION

If at a given instant the particle P is at point (x, y, z) on the curved

path s, Fig. 2.2a, its location is then defined by the position vector
r = xi + yj + zk

Because of the particle motion and the shape of the path, the x, y, z,
components of r are generally all functions of time; i.e., x = x(t), y =
y(t), z = z(t) and is called (parametric equations) so that r = r(t).
In accordance with the discussion in Appendix C, the magnitude of r
is always positive and defined by
r = √𝑥 2 + 𝑦 2 + 𝑧 2

the direction of r is specified by the components of the unit vector ur

= r/r’
2.2.2 VELOCITY

The first time derivative of r yields the velocity v of the particle.

Hence,
𝑑𝑟
𝑣= = 𝑣𝑥 𝑖 + 𝑣𝑦 𝑗 + 𝑣𝑧 𝑘 where vx= 𝑥̇ , vy = 𝑦̇ , vz = 𝑧̇
𝑑𝑡

The "dot" notation 𝑥̇ , 𝑦̇, 𝑧̇ represents the first time derivatives of the
parametric equations x = x(t), y= y(t), z = z(t), respectively.
The velocity has a magnitude defined as a value of

[42]
Chapter 2: Cureliner Motion of One Particle

Speed=v=√𝑣𝑥 2 + 𝑣𝑦 2 + 𝑣𝑧 2

and the direction that is specified by the components of the unit

𝑣
vector uv = This direction is always tangent to the path, as
𝑣̇

shown in Fig.2.2b.
∆s 𝑥 𝑑𝑦
Average speed 𝑣 = & ∆s = arc length = ∫𝑥𝑜 √1 + ( )2 𝑑𝑥
∆𝑡 𝑑𝑥

Where as the relation between x and y is called the equation of the

path y - f(x).
2.2.3 ACCELERATION

The acceleration of the particle is obtained by taking the first time

derivative of the equation
𝑑𝑟
𝑣= = 𝑣𝑥 𝑖 + 𝑣𝑦 𝑗 + 𝑣𝑧 𝑘
𝑑𝑡

Fig 2.3 Velocity and acceleration of a curvilinear motion

[43]
Chapter 2: Cureliner Motion of One Particle

Or second time deravitive of the equation r = xi + yj + zk. Using dots

to represent the derivative of the components, we have
a= axi+ayj+azk Where 𝑎𝑥 = 𝑣̇𝑥 = 𝑥̈ , 𝑎𝑦 = 𝑣̇𝑦 = 𝑦̈ 𝑎𝑧

= 𝑣̇𝑧 = 𝑧̈
Here ax, ay , az represent, respectively, the first time derivatives of the
functions
vx=vx(t), vy=vy(t), vz=vz(t), or the second time derivatives of the
functions x=x(t), y=y(t), z=z(t)
The acceleration has a magnitude defined by the positive value of

a = √𝑎𝑥 2 + 𝑎𝑦 2 + 𝑎𝑧 2

and a direction specified by the components of the unit vector ua =

a/a Since a represents the time' rate of change in velocity, in
general a will not be tangent to the path, Fig. 2.2c

Important Point

❖ Curvilinear motion can cause changes in both the magnitude

and direction of the position, velocity and acceleration vectors
❖ The velocity vector is always directed tangent to the path
❖ In general, the acceleration vector in not tangent to the path,
but rather, it is tangent to the hodograph.
❖ If the motion is described using rectangular coordinates, then
the components along each of the axes do not change direction,
only their magnitude and sense (algebraic sign) will change.

[44]
Chapter 2: Cureliner Motion of One Particle

❖ By considering the component motions, the direction of

motion the particle's automatically taken into account

Example 2.1

The motion of a particle is defined by the equations

2
x(t) = 2(t+1)2 , y(t) = 2 , then
(𝑡+1)
(a) Write the position vector in this case.
(b) Find the equation of the path.
(c) Calculate the displacement after 0.5 s.
(d) Calculate the velocity and the acceleration at t=0,t=0.5 s.
(e) Calculate the average velocity, acceleration, and speed during
0.5 s time interval.

Solution

2
a) The position vector 𝑟(𝑡) = 2(𝑡 + 1)2 i + j
(𝑡+1)2

b) The equation of the path

(t+1)2 =
𝑥(𝑡) 4
 y(t)=  xy=4
2 𝑥(𝑡)

c) The displacement after 0.5 s.

r(0) = 2i+2j, r(0.5) = 4.5 i+0.888 j

r = r(0.5)-r(0) => r = 2.5i-l.112j Ans.

d) The velocity and the acceleration at t=0, t=0.5 s

r(t)=2(t+1)2 i+
2
j
(t+1)2

[45]
Chapter 2: Cureliner Motion of One Particle

𝑑𝑟
v= =2(t+1)2 i – 4(t+1)-3 j
𝑑𝑡
𝑑𝑣
a= =4i+12(t+1)-4j
𝑑𝑡

at t=0 𝑣= 4i-4j  𝑣𝑥 =4 , 𝑣𝑦 = -4

𝑣= ⌊𝑣⌋ = √42 + (−4)2 = 5.656 m/s

α=tan-1
𝑣𝑦
= 45o
𝑣𝑥

a=4i+12j ax=4, ay=12

a=√42 + 122 = 12.96 m/s2

𝑎𝑦
β=tan−1 ⌊ ⌋= 71.56o in the first quarter
𝑎𝑥

at t=0.5 s
𝑣=61-1.185j  𝑣𝑥 =6, 𝑣𝑦 = -1.185

𝑣=⌊𝑣⌋=√62 + (−1.185)2 = 6.1159 m/s

α=tan-1
𝑣𝑦
=11.17o in the fourth quarter
𝑣𝑥

e) Average velocity, acceleration and speed during 0.5s time

interval

The average velocity during 0.5 s

𝑟 2.5𝑖−1.112𝑗
𝑣ave= = = 5i-2.224j
𝑡 0.5−0

−2.224
vave = 5.472 m/s , α =tan-1 = 22.979
5

The average acceleration during 0.5 s

[46]
Chapter 2: Cureliner Motion of One Particle

𝑣 2𝑖+2.815𝑗
aave = = = 4i + 5.63j
𝑡 0.5−0

5.63
aave = 6.9 m/s2 β=tan−1 ⌊ ⌋ = 54.6o
5

the average speed during 0.5 s

𝑠
`average speed = ,
𝑡

𝑥 𝑑𝑦
𝑠 = arc length =∫𝑥𝑜 √1 + ( )2 𝑑𝑥
𝑑𝑥

𝑠
𝑣𝑎𝑣𝑒 = , at t = 0 → x = 2 at t=0.5 → x = 4.5
𝑡

4.5 4
∆s = ∫2 √1 + ( 2 )2 𝑑𝑥
𝑥

𝑠 2.776
𝑣𝑎𝑣𝑒 = = = 5.552 m/s Ans.
𝑡 0.5

Example 2.2

At any instant the horizontal position of

the weather balloon in the figure show
is defined by x = (8t) ft, where t is in
seconds. If the equation of the path is y
= x2/10, determine the magnitude and
direction of the velocity and the
acceleration when t = 2 s.

Solution
Velocity
The velocity component in the x direction is

[47]
Chapter 2: Cureliner Motion of One Particle

𝑑
𝑣𝑥 = 𝑥̇ = (8𝑡) = 8 ft/s
𝑑𝑡
To find the relationship between the velocity components we will
use the chain rule of calculus.

𝑑 𝑥2 2𝑥̇ 𝑥 2(16)(8) ft
𝑣𝑦 = 𝑦̇ = ( )= = = 25.6 ↑
𝑑𝑡 10 10 10 s

When t = 2 s, the magnitude of velocity is therefore:

𝑣 = √82 + 25.62 = 26.8 𝑓𝑡/𝑠

The direction is tangent to the path, Fig., where

25.6
𝜃𝑣 = tan−1 = 72.6𝑜
8

Acceleration
The relationship between the acceleration components is
determined using the chain rule.we have
𝑑
𝑎𝑥 = 𝑣̇𝑥 = (8) = 0
𝑑𝑡

𝑑 2𝑥𝑥̇ 2𝑥̇ 𝑥̇ 2𝑥(𝑥̈ )

𝑎𝑦 = 𝑣𝑦̇ = ( )= +
𝑑𝑡 10 10 10

2(8)2 2(16)(0) 𝑓𝑡
= + = 12.8 ↑
10 10 𝑠2

Thus

𝑎 = √02 + 12.82 = 12.8 𝑓𝑡/𝑠 2

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Chapter 2: Cureliner Motion of One Particle

The direction of a, as shown in Fig., is

−1
12.8
𝜃𝑎 = tan = 90𝑜
0

Example 2.3

For a short time, the path of the plane in Fig.a is described by y =

(0.00lx2) m. If the plane is rising with a constant velocity of 10 m/s,
determine the magnitudes of the velocity and acceleration of the
plane when it is at y = 100 m. Velocity

[49]
Chapter 2: Cureliner Motion of One Particle

Solution

Using the chain rule to find the relationship between the velocity
components, we have

𝑑
𝑣𝑦 = 𝑦̇ = (0.001 𝑥 2 ) = (0.002𝑥 )𝑥̇ = 0.002𝑥𝑣𝑥
𝑑𝑡

Thus 10 m/s = 0.002(316.2 m)( 𝑣𝑥 )

𝑣𝑥 = 15.81 m/s

The magnitude of the velocity is therefore

𝑣 = √𝑣𝑥 2 + 𝑣𝑦 2 = √15.82 + 102 = 18.7 𝑚/𝑠

Continue solving to calculate the magnitude of acceleration.

[50]
Chapter 2: Cureliner Motion of One Particle

2.3 MOTION OF PROJECTILE

As an application of curvilinear motion in rectangular components,

the free-flight motion of a projectile is often studied in terms of its
rectangular components, since the projectile's acceleration always
acts in the vertical direction. To illustrate the kinetic analysis,
consider a projectile launched at point (x0,t0), as shown Fig. 2.3, The
path is defined in the x-y plane such that the initial velocity (launch
velocity) is 𝑣𝑜 , having components 𝑣𝑜𝑥 =(𝑣𝑜 )x and 𝑣𝑜𝑦 = (𝑣𝑜 )y. The
angle of launch is the angle between the launch speed an-x-axis and
named  . When air resistance is only force acting on the projectile is
its weight, which causes the projectile to have a constant downward
acceleration of approximately a = g = 9.81m/s2.

Fig. 2.3 Projectile trajectory

[51]
Chapter 2: Cureliner Motion of One Particle

2.2.1 HORIZONTAL MOTION

Since 𝑎𝑥 = 0, application of the constant acceleration equations (2.4-
2.6) in the previous chapter, yields
+𝑣𝑒
→ 𝑣 = 𝑣𝑜 + 𝑎𝑐 𝑡 𝑣𝑥 = 𝑣𝑜𝑥
+𝑣𝑒 1
→ 𝑥 = 𝑥𝑜 + 𝑣𝑜 𝑡 + 𝑎𝑐 𝑡 2 , 𝑥 = 𝑥𝑜 + 𝑣𝑜 𝑡
2
+𝑣𝑒
→ 𝑣 2 = 𝑣𝑜 2 + 2𝑎𝑐 (𝑥 − 𝑥𝑜 ), 𝑣 2 𝑥 = 𝑣 2 𝑜𝑥 , 𝑣𝑥 = 𝑣𝑜𝑥
The first and last equations indicate that the horizontal component of
velocity always remains constant during the motion.

2.2.2 VERTICAL MOTION

Since the positive y axis is directed upward, then 𝑎𝑦 = -g. Applying

Eqs. 2.4-2.6, we get

+𝑣𝑒 ↑ 𝑣 = 𝑣𝑜 + 𝑎𝑐 𝑡 𝑣𝑦 = 𝑣𝑜𝑦 − 𝑔𝑡
1 1
+𝑣𝑒 ↑ 𝑦 = 𝑦𝑜 + 𝑣𝑜 𝑡 + 𝑎𝑐 𝑡 2 , 𝑦 = 𝑦𝑜 + 𝑣𝑜𝑦 𝑡 − 𝑔𝑡 2
2 2

+𝑣𝑒 ↑ 𝑣 2 = 𝑣𝑜 2 + 2𝑎𝑐 (𝑦 − 𝑦𝑜 ), 𝑣 2 𝑦 = 𝑣 2 𝑜𝑦 − 2𝑔(𝑦 − 𝑦𝑜 )

Recall that the last equation can be formulated on the basis of

eliminating the time t between the first two equations, and therefore
only two of the above three equations are independent of one
another.

Very Important Notations

[52]
Chapter 2: Cureliner Motion of One Particle

To simplify the previous equations and the solution of the motion of

the projectile problem we can do the following:
❖ Take the axes of motion always at the launch point because
xo =0, and yo ==0 at this point. Recall the horizontal and
vertical motopn equations

(a) Horizontal Motion

▪ 𝑎𝑥 = 0 (1)
▪ 𝑣𝑥 = 𝑣𝑜𝑥 = 𝑣𝑜 cos 𝛼 (2)
▪ x= 𝑣𝑜𝑥 𝑡 = 𝑣𝑜 (cos 𝛼) 𝑡 (3)
(b) Vertical Motion
▪ 𝑎𝑦 = −𝑔 (4)
▪ 𝑣𝑦 = 𝑣𝑜 sin 𝛼 − 𝑔𝑡 (5)
1
▪ 𝑦 = 𝑣𝑜 (sin 𝛼 )𝑡 − 𝑔𝑡 2 (6)
2

2.2.3 THE EQUATION OF THE PATH

To find the equation of the path eliminating time t

between x and y (Eqs. 3, 6) we obtain the relation
𝑥
between x and y, where 𝑡 = (Eq. 3) and substituting this
𝑣𝑜 𝑐𝑜𝑠𝛼

value of t into Eq. 6 and the following equation is obtained

𝑥
y = x (tan𝛼 ) − ½ g ( )2 (7)
𝑣𝑜 𝑐𝑜𝑠𝛼

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Chapter 2: Cureliner Motion of One Particle

❖ To obtain the maximum height of the from a horizontal plane

and occurs when vertical velocity is zero 𝑣𝑦 =0
From equation (5)
𝑣𝑦 = 𝑣𝑜 sin 𝛼 − 𝑔𝑡
0 = 𝑣𝑜 sin 𝛼 − 𝑔𝑡
𝑣𝑜 𝑠𝑖𝑛 𝛼
𝑡=
𝑔

Substituting into equation (6)

𝑣𝑜 𝑠𝑖𝑛 𝛼 𝑣𝑜 𝑠𝑖𝑛 𝛼
𝑦𝑚𝑎𝑥 = 𝑣𝑜 (sinα) ( ) − ½ 𝑔( )2
𝑔 𝑔
𝑣𝑜 𝑠𝑖𝑛 𝛼 𝑣𝑜 𝑠𝑖𝑛 𝛼
𝑦𝑚𝑎𝑥 = 𝑔( )2 − ½ 𝑔( )2
𝑔 𝑔

𝑣𝑜 2 𝑠𝑖𝑛2 𝛼
𝑦𝑚𝑎𝑥 = ( )
2𝑔

❖ Horizontal distance at maximum hight (xymax) is obtained by

𝑑𝑦
=0
𝑑𝑥

From Eq.(7)
𝑥
y = x (tan𝛼 ) − ½ g ( )2
𝑣𝑜 𝑐𝑜𝑠𝛼
𝑑𝑦 𝑥
= (tan𝑎 ) – 𝑔 ( )= 0
𝑑𝑥 (𝑣𝑜 𝑐𝑜𝑠 𝛼)2

𝑣𝑜2 𝑠𝑖𝑛 𝛼 𝑐𝑜𝑠 𝛼

𝑥
𝑔

If yu substite in Eq.7 you will obtain the same result of ymax

obtained before.

[54]
Chapter 2: Cureliner Motion of One Particle

Example 2.4

The chipping machine is

designed to eject wood chips
at v0 = 7.5m/s as shown in
Fig. If the tube is oriented at
30° from the horizontal,
determine how height, h, the
chips strike the pile if they
land on the pile 6 rn from the
tube.

Solution
Data:
𝑣𝑜 =7.5 m/s α=30ْ
Required:
The height h
Answer
At point A x = 6, y = 2.l - h
Using the equation of the path
𝑥
𝑦 = 𝑥 (𝑡𝑎𝑛𝑎 ) − ½ 𝑔 ( )2
𝑣𝑜 𝑐𝑜𝑠𝛼
6
−(2.1 − ℎ) = 6 (𝑡𝑎𝑛30 ) − ½ 9.81 ( )2
7.5𝑐𝑜𝑠30

h=1.38m Ans.
Another solution
Calculate time of flight to reach from point O to point A from
equation (3)

[55]
Chapter 2: Cureliner Motion of One Particle
𝑥
𝑥 = 𝑣𝑜 (𝑐𝑜𝑠 𝛼 )𝑡 ⇒ 𝑡=
𝑣𝑜 𝑐𝑜𝑠𝛼
6
t= = 0.9231s
7.5 𝑐𝑜𝑠30

substituting this value into equation (6)

𝑦 = 𝑣𝑜 (𝑠𝑖𝑛 𝑎 )𝑡 − ½ 𝑔 𝑡 2
−(2.1ℎ) = 7.5 (𝑠𝑖𝑛 30 )(0.923) − ½ 9.81 (0.923 )2
ℎ = 1.38𝑏 𝑚 Ans.

Example 2.5

The track for racing event was

designed so that riders jump off the
slope at 30°, from a height of 1 m.
During a race it was observed that
the rider shown in the figure
remained in air for 1.5 s. Determine
the speed at which he was traveling off the slope, the horizontal
distance he travels before striking the ground, and the maximum
height he attains. Also calculate its velocity when he travels before
strikes the ground. Neglect the size of the bike and rider
Solution
Data:
α = 30o
Time of flight t=l.5 s from A to B.
Required:
𝑣𝑜 , R, h, and 𝑣 at point B
Answer

[56]
Chapter 2: Cureliner Motion of One Particle

As shown in the figure, the origin of the coordinates is established at

A. Since the time of flight and the vertical distance between
the ends of the path are known, we can determine 𝑣𝑜

At point B, 𝑦 = -1, then using equation (6)

𝑦 = 𝑣𝑜 (𝑠𝑖𝑛 𝑎 )𝑡 − ½ 𝑔 𝑡 2
−1 = 𝑣𝑜 (𝑠𝑖𝑛 30 )(1.5) − ½ (9.81)(1.5)2
𝑣𝑜 = 𝑣𝐴 =12.38 m/s Ans.
The range R can now be determined.
From equation (3)
𝑥 = 𝑣𝑜 (𝑐𝑜𝑠 𝑎 )𝑡
R = (12.2.8)(cos 30)(1.5)  R=17.4m
Ans.
In order to find the maximum height h put 𝑣 𝑦 = 0
𝑣 𝑦 = 𝑣𝑜 (𝑠𝑖𝑛 𝑎 ) − 𝑔𝑡
0 = (12.38) (sin 30) - 9.81 tc => tc = 0.681957 s

Using equation (6) knowing that, y = h - 1 at point C

h -l = (12.38)(sin 30) (0.681957) - ½ 9.81

(0.681957)2
[h = 2.28m] Ans.
Show that the bike will strike the ground at B with a velocity having
two components
𝑣𝑥 = 𝑣𝑜𝑥 = 𝑣𝑜 (𝑐𝑜𝑠 𝑎 )

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Chapter 2: Cureliner Motion of One Particle

𝑣𝑥 = 2.38 (𝑐𝑜𝑠 30 ) = 11.6 m/s

𝑣𝑦 = 𝑣𝑜 (𝑠𝑖𝑛 𝑎 ) − 𝑔𝑡
𝑣𝑦 = 12.38 (𝑠𝑖𝑛 30 ) − 9.81(1.5) = 8.2 m/s ↓

𝑣 = √𝑣𝑥 2 + 𝑣𝑦 2 𝑣𝐵 = 14.1m/s Ans.

8.02
=tan-1( ) in the fourth quarter.
11.6

Example 2.6

A man at A wishes to throw two darts

at the target at B so that they arrive at
the same time. If each dart is thrown
with a speed of 10 m/s, determine the
angles c and D at which they should
be thrown and the times between
each throw. Note that the first dart
must be thrown at (c>D), then the
second dart is thrown at D. ( y=0 . x=
5)

Solution
Data:
𝑣𝑂 =10m/s ,
At B x =5, y =0
Required:
c and D
Answer

[58]
Chapter 2: Cureliner Motion of One Particle

As shown in the figure, the origin of the coordinates is established at

A.
At B x = 5, y = 0
From the equation of the path
𝑥
𝑦 = 𝑥 (𝑡𝑎𝑛𝑎 ) − ½ 𝑔 ( )2
𝑣𝑜 𝑐𝑜𝑠𝛼
5
0 = 5 (𝑡𝑎𝑛𝑎 ) − ½ 9.81 ( )2
10𝑐𝑜𝑠𝛼

0 = 5 (𝑡𝑎𝑛𝑎 ) − ½ (9.81)(0.25) 𝑠𝑒𝑐 2 𝛼

0 = 5 (𝑡𝑎𝑛𝑎 ) − ½ (9.81)(0.25)(1 + 𝑡𝑎𝑛2 𝛼)
𝑡𝑎𝑛2 𝛼 − 4.07747 𝑡𝑎𝑛 𝛼 + 1 = 0
−𝑏±√𝑏2 −4𝑎𝑐
𝑡𝑎𝑛 𝛼 =
2𝑎

where 𝑎 = 1 , 𝑏 = -4.077 , 𝑐 = 1
𝑎c = 75.3 and 𝑎D = 14.7 Ans.

𝑥 = 𝑣𝑜 (𝑐𝑜𝑠 𝑎 )𝑡 5= 10 cos αc tc
,
𝑥 = 𝑣𝑜 (𝑐𝑜𝑠 𝑎 )𝑡 5= 10 cos αD tD
,
∆t = tc- tD = 1.45s Ans.

2.4 CURVILINEAR MOTION-NORMAL AND TANGENTIAL

COMPONENTS

When the path along which a particle is moving is known, it is often

convenient to describe the motion using n and t coordinates which
act normal and tangent to the path, respectively, and at the instant
considered have their origin located at the particle.

[59]
Chapter 2: Cureliner Motion of One Particle

In this method of describing curvilinear motion, we specify the

position of a point by a coordinate measured along its path and
express the velocity and acceleration in terns of their components
tangential and normal (perpendicular) to the path. Normal and
tangential components are particularly useful when a point moves
along a circular path. Furthermore, they give us unique insight into
the character of the velocity and acceleration in curvilinear motion.

We will discuss motion in a planar path because of its conceptual

simplicity.

[60]
Chapter 2: Cureliner Motion of One Particle

Fig 3-4 (a, b, c) position, radius of curvature, and velocity of

curvilinear motion

Consider the particle P shown in Fig. 2.4a, which is moving in a plane

along a fixed curve, such that at a given instant it is at position s,
measured from point O. We will now consider a coordinate system
that has its origin at a fixed point on the curve, and at the instant
considered this origin happens to coincide with the location of the
particle. The t axis is tangent to the curve at P and is positive in the
positive direction of increasings. We will designate this positive
direction with the unit vector ut. A unique choice for the normal
axis can be made by noting that geometrically the curve is
constructed from a series of differential arc segments ds, Fig. 2.4b.
Each segment ds is formed from the arc of an associated circle having
a radius of curvature ρ (rho) and center of curvature O'. The normal
axis n is perpendicular to the t axis and is directed from P toward the
center of curvature O', Fig. 2.4a. This positive direction, which is
always on the concave side of the curve, will be designated by the
unit vector un.
Note, if the path is expressed as y=f(x) , the radius of of curvature p at
any point on the path is determined from the equation
3 3
𝑑𝑦 2
( 1+( ) ) 2 ( 𝑥̇ 2 + 𝑦̇ 2 )2
𝑑𝑥
𝜌= 𝑑2 𝑦
or 𝜌=
[ 2] 𝑥 𝑦̈̇ − 𝑥 𝑦̇̈
𝑑𝑥

[61]
Chapter 2: Cureliner Motion of One Particle

The derivation of this result is given in any standard calculus text.

2.4.1 VELOCITY

Since the particle is moving, s is a function time. The particle's

velocity V has a direction that is always tangent to the path, Fig. 2.4c,
and a magnitude that is determined by taking the time derivative of
𝑑𝑠
the path function. S=s(t), i.e., v= . Hence the velocity v= v ut
𝑑𝑡
𝑑𝑠
Where, the speed v = = 𝑠̇
𝑑𝑡

Fig 3-4 (d, e, f)) Normar and tangentioal velocity and acceleration

[62]
Chapter 2: Cureliner Motion of One Particle

2.4.2 ACCELERATION

The acceleration of the particle is the time rate of change of the

𝑑𝐯 𝑑
velocity. Thus 𝐚 = = 𝐯̇ = (𝑣 𝐮𝑡 ) = 𝑣̇ 𝐮𝑡 +𝑣𝐮̇ 𝑡 . In order to
𝑑𝑡 𝑡

determine the time derivative𝑢𝑡̇ , note that as the particle moves

along the arced s in time dt , 𝑢𝑡 preserve its magnitude of unity;
however, its direction changes, and becomes 𝑢𝑡̇ , Fig 2.4d. As shown
in Fig 2.4e we require u't=ut+dut. Here dut stretches between the

arrowheads of ut and u't which lie on an infinitesimal arce of radius

ut=1. Hence, dut , has magnitude of dut=(l)d, and its direction is

defined by un. Consequently, d ut = d un, and therefore the time

derivative becomes 𝑢𝑡̇ =𝜃̇ 𝑢𝑛 . Since ds =  d, Fig. 2.4d, then 𝜃̇ = 𝑠̇ /

𝑠̇ 𝑣
, and therefore, 𝑢𝑡̇ = 𝜃̇ un= 𝑢𝑛 = 𝑢𝑛
𝜌 𝜌
𝑑𝑣
substituting into equation , 𝑎 = 𝑣̇ = = 𝑣̇ 𝑢𝑡 +𝑣𝑢̇ 𝑡
𝑑𝑡

a can be written as the sum of its two components

𝑑𝑣 𝑣2
𝑎= 𝑢𝑡 + 𝑢𝑛 𝑎 = at 𝑢𝑡 + 𝑎𝑛 𝑢𝑛
𝑑𝑡 𝜌

Where 𝑎t= 𝑣̇ =dv/dt or 𝑎 t ds = v dv

𝑣2
And 𝑎𝑛 =
𝜌

These two mutually perpendicular components are shown in Fig.

2.4f, in which case the magnitude of acceleration is the positive value
of 𝑎 = √𝑎𝑡 2 + 𝑎𝑛 2

[63]
Chapter 2: Cureliner Motion of One Particle

❖ To summarize these concepts, consider the following four

special cases of motion
1) If the particle moves along a straight line, then P ∞ and
𝑣2
from the equation 𝑎 = 𝑎𝑛 = we can get 𝑎𝑛 =0. Thus
𝜌

𝑎=at=𝑣̇ and we can conclude that the tangential

component of acceleration represents the time rate of
change in the magnitude of the velocity
2) If the particle moves along a curve with a constant speed,
𝑣2
then 𝑎t= 𝑣̇ = 0, and 𝑎 = 𝑎𝑛 = Therefore, the normal
𝜌

components of acceleration represents the time rate of

change in the direction of the velocity. Since 𝑎𝑛 always acts
towards the center of curvature, this component is
sometimes referred to as the centripetal acceleration.
3) If the particle moves in a curved path, the acceleration
equal zero if each of the normal and tangential components
of acceleration equal zero. at = 𝑎𝑛 = 0 and this occurs if
the particle moves with constant speed and passes through
an inflection point
4) The two types of coordinates (rectangular, tangential and
normal) are related as the following:
𝑑𝑠
The speed 𝑣 = = = 𝑠̇, also 𝑣 = √𝑣𝑥 2 + 𝑣𝑦 2
𝑑𝑡

The tangential component of acceleration

[64]
Chapter 2: Cureliner Motion of One Particle

𝑑𝑣 𝑑 ̇ + 𝑦𝑦̈̇
𝑥 𝑥̈
𝑎 t = 𝑣̇ = = (√𝑥̇ 2 + 𝑦̇ 2 =
𝑑𝑡 𝑑𝑡 √𝑥̇ 2 +𝑦̇ 2

The total accelersation

𝑎 = √𝑎𝑡 2 + 𝑎𝑛 2 = √𝑎𝑥 2 + 𝑎𝑦 2

As a result of these interpretations, a particle moving along the

curved path in Fig. 2.5 will have acceleration directed as shown.

Fig 3-5 Acceleration of a particle moving on a curved path

The fact that the normal component of the acceleration depends upon
the radius of curvature of the path followed by the particle is taken
into account in the design of structures or mechanisms as widely
different as airplane wings, railroad tracks, and cams,

In order to avoid sudden changes in the acceleration of the air

particles flowing past a wing, wing profiles are designed without, any

[65]
Chapter 2: Cureliner Motion of One Particle

sudden change in curvature. Similar care is take a in esigning

railroad curves to avoid sudden, changes in the acceleration of the
cars (which would be hard on the equipment and unpleasant for the
passengers).

A straight section of track, for instance, is never directly followed by

a circular section. Special transitions sections are used, to help pass
smoothly from the infant radius of curvature of the straight section
to the finite radius other circular track.
Likewise, in the design of high speed cams, abrupt ( ‫ )مفااىء‬changes in
acceleration are avoided by using transition curves which produce a
continuous change in acceleration.

Example 2.7

When the skier reaches point A y=1/20x2

along the parabolic path in the
figure, he has speed of 6 m/s which
is increasing at 2 m/s2, Determine
the direction of his velocity and the
direction and magnitude of his
acceleration at this instant. Neglect
the size of the skier in the
calculation.

Solution

[66]
Chapter 2: Cureliner Motion of One Particle

Data: v = 6m /s, 𝑎 t=2 m/s2, The equation

of the path, 𝑦 =1/20 x2

Required The angle , 𝑎 magnitude and direction.
Answer Although the path has been expressed in terms of its x
and y coordinates, we can still establish the origin of the n, t axes at
the fixed point A on the path and determine the components of v and
a along these axes.
By definition, the velocity is always directed tangent to the path.
1 𝑑𝑦 1
Since y = = x2 , = x
20 𝑑𝑥 10
𝑑𝑦 1
Then , = x |x=10 = 1 . Hhence at A, v makes an Angle
𝑑𝑥 10

=tan-11= 45° with the .x-axis. Therefore, vA = 6 m/s

The acceleration is determined from two components (tangential
and normal). However, it is first necessary to determine the radius of
𝑑2 𝑦 1
curvature of the path at A(10 , 5 ) since = , then
𝑑𝑥 2 10

𝑑𝑦 3 1 3
( 1 + ( )2 ) 2 ( 1 + ( 𝑥)2 ) 2
𝜌= 𝑑𝑥 = 10
𝑑2 𝑦 1
[ 2] [ ]
𝑑𝑥 10

At x = 10 , 𝜌 = 28.28 𝑚 the acceleration becomes

𝑣2
𝑎 = 𝑎𝑡 𝑢𝑡 + 𝑎𝑛 𝑢𝑛 = 𝑎𝑡 𝑢𝑡 + 𝑢
𝜌 𝑛
62
=2𝑢𝑡 + 𝑢𝑛 =2𝑢𝑡 + 1.273𝑢𝑛
28.28

[67]
Chapter 2: Cureliner Motion of One Particle

As shown in the figure

2
𝑎 = √22 + 1.2732 = 2.37 m/s2 , =tan-1 =57.5
1.273

Thus 57.5-45 = 12.5 so that a=2.37m/s2 Ans.

Example 2.8

A race car C travels around the horizontal circular trace that has a
radius of 90 m , see the figure. If the car increases its speed at
constant rate of 2.1 m/s2, starting from rest, determine the time
needed for it to reach an acceleration of 2.4m/s2. What is its speed
this at this instant?

Solution
Data:

ρ = 90m, 𝑎t=2.1m/s2 , v0=0

The total acceleration 𝑎 = 2.4 m/s2 at time t.

[68]
Chapter 2: Cureliner Motion of One Particle

Required:
The time t at 𝑎 = 2.4 m/s2, and the speed v at this time t.
Answer
Take the t axis in the direction of motion and the positive n axis is
directed toward the center of the circle.
The magnitude of acceleration can be related to its components using
√𝑎𝑡 2 + 𝑎𝑛 2 here 𝑎 t=2.1m/s2
𝑑𝑣
𝑎t = 𝑣̇ = and at= constant, then , 𝑣 = 𝑣o+(𝑎t)c t
𝑑𝑡

v = 0 + 2.1 t , v = 2.1 t

=0.049t2m/s2
𝑣2 (2.5 𝑡)2
thus 𝑎n= =
𝜌 𝜌90

the time needed for the acceleration to reach 2.4 m/s2is

therefore 𝑎 = √𝑎𝑡 2 + 𝑎𝑛 2 , 2.4 = √(2.4)2 + (0.049𝑡 2 )2
Solving for the positive value of t yields t = 4.87s
The speed at time t = 4.87s is v= 2.1t = 2.1(4.87) = 10.2 m/s

Example 2.9

The boxes are in the travel along the industrial conveyor. If a box
from rest at A and increases its speed such that at=(0.2t)m/s2 ,
where t is in seconds, determine the magnitude of its acceleration
when it arrives at point B.

[69]
Chapter 2: Cureliner Motion of One Particle

Solution

Data:

v0 = vA =0 at = (0.2t) m/s2 ,

Required
The total acceleration at point B (aB)

[70]
Chapter 2: Cureliner Motion of One Particle

Answer
The position of the box at any instant is defined from the feed point A
using the position or path coordinate s. the acceleration is to be
determined at B, so the origin of the n, t, axes ,s at this point.
At B the total acceleration is a= √𝑎𝑡 2 + 𝑎𝑛 2
𝑣2 𝑣2
at = (0.2t) m/s2 an= =
𝜌 2

so it is first necessary to formulate the velocity v so that they may be

evaluated at B. Since v0 = vA = 0, when t =0, then
𝑑𝑣 𝑑𝑣
𝑎 t = 𝑣̇ = ⇒ 0.2t =
𝑑𝑡 𝑑𝑡

𝑣=0.1t2
𝑣 𝑡
∫0 𝑑𝑣 = ∫0 0.2 𝑑𝑡 ⇒
The time needed for the box to reach point B can be determined, by
realizing that the position of B is sB = 3+2(2)/4 = 6.142 m

,and since sA =0 when t =0 we have

𝑑𝑠 6.142 𝑡
v= = 0.1t2 , ∫0 𝑑𝑠 = ∫0 𝐵 0.1𝑡 2 𝑑𝑡 , ⇒ tB = 5.690 s
𝑑𝑡

At B

Substituting in at = (0.2t)m/s2, v = 0.1t2, and 𝑎𝑛 =

𝑣2
V2
𝜌
2
𝑎t = (0.2t) m/s2 = 0.2 (5.69) m/s2 = 1.138 m/s2

v = 0.1t2 = 0.1(5.69)2 = 2.238m/s

= 5.242m/s2
𝑣2 (2.238)2
𝑎𝑛 = =
𝜌 2

the magnitude of aB is therefore,

[71]
Chapter 2: Cureliner Motion of One Particle

a= √𝑎𝑡 2 + 𝑎𝑛 2 = √(1.138)2 + (5.242)2 = 5.36 m/s2

2.5 CURVILINEAR MOTION-CYLINDRICAL COMPONENTS

In some engineering problems it is often convenient to express the
path of motion in terms of cylindrical coordinates, r, , z. If motion is
restricted to the plane, the polar coordinates r and  are used.

2.5.1 POLAR COORDINATES

We can specify the shown in Fig. 2.6a, using both the radial
coordinate r, which extends outward from the origin O to the
particle, and a transverse coordinate , which is the counter clockwise
angle between a fixed reference line and the r axis. The angle is
generally measured in degrees or radians, where l rad = 180°/. The
positive direction of the r and  coordinates are defined by the unit
vectors ur and u , respectively. Here ur of the radial direction +r

extends from point P along increasing r, when  is held fixed, and  is

increased . Note that these directions are perpendicular to one
another, Position
2.5.1.1 Position
At any instant the position of the particle . Fig. 2.6, is defined by the
position vector; r=r ur

[72]
Chapter 2: Cureliner Motion of One Particle

Fig. 2.6 Position of a particle

2.5.1.1 Velocity
The instantaneous velocity v is obtained by taking the time
derivative of r. Using a dot to represent time differentiation, we have
v= 𝑟̇ = 𝑟̇ ur+ r𝑢̇ r

To evaluate 𝑢̇ r; notice that 𝑢̇ r changes only its direction with respect

to time, since by definition the magnitude of this vector is always one

unit. Hence, during the time t , a change r will not cause a
change in the direction of ur, however, a change  will cause ur to

become 𝑢̇ r , where 𝑢̇ r = ur+ur the time change in ur is then ur.

For small angels  this vector has magnitude ur ≈ 1() and

acts in the u direction. Therefore, ur = u and so

[73]
Chapter 2: Cureliner Motion of One Particle

Fig. 2-7 Velocity components in r and  direction

∆𝑢 ∆𝜃
𝑢𝑟 = lim ( 𝑟 ) = ( lim ) 𝑢𝜃 , 𝑢 = 𝜃̇ u
∆𝑡
∆𝑡 →0 ∆𝑡→0 ∆𝑡

substituting into the above equation for v, the velocity

can be .written in component form as

v= vrur+vu where vr= 𝑟̇ , v= r 𝜃̇

These components are shown graphically in Fig, 2.6c. The radial

component vr is a measure of the rate of increase or decrease in the

length of the radial coordinate, i.e. , 𝑟̇ whereas the transverse

component v can be interpreted as the rate of motion along the

circumference of a circle having a radius r. in particular, the term

𝜃̇ =d/dt is called the angular velocity, since it indicates the time rate
of change of the angle . Common units used for this measurement
are rad/s.
Since vr and u are mutually perpendicular, the magnitude of

velocity or speed is simply the positive value of

[74]
Chapter 2: Cureliner Motion of One Particle

v= √𝑣𝑟 2 + 𝑣𝜃 2 = √( 𝑟̇ )2 + (𝑟𝜃̇ )2

and the direction of v is, of course ,tangent to the path at p, Fig.8.

Fig. 2-8 Velocity component in r and  direction

2.5.1.2 Acceleration

Taking the time derivatives of equation v= vrur+v 𝑢̇  using the

equations vr = 𝑟̇ , and v= 𝑟𝜃̇ we obtain the particle's instantaneous

acceleration
a= 𝑣̇ =𝑟̈ ur+ 𝑟̇ 𝑢̇ r + 𝑟̇ 𝜃̇ u+ r ̈ u+ r 𝜃̇ 𝑢̇ 

To evaluate the term involving 𝑢̇ , it is necessary only to find the

change made in the direction of u its magnitude is always unity.

[75]
Chapter 2: Cureliner Motion of One Particle

During the t a change r will not cause a change in the direction of

u ; although, a change  will cause u to become 𝑢̇  where 𝑢̇  =

u+u (see Fig 9). The time change in u is then u . For small

angels  this vector has magnitude u≈1() and acts in the -

ur. direction ; i.e., u = - θur

∆𝑢 ∆𝜃
Thus 𝑢̇  = lim ( 𝜃 ) = ( lim ) 𝑢𝑟 ,
∆𝑡 →0 ∆𝑡 ∆𝑡→0 ∆𝑡

𝑢̇  = - 𝜃 ̇ ur

Substituting into the above equation for a, we can be write the

acceleration in component form as

a= arur+au where ar=𝑟̈ - r𝜃̇ 2 , a= r ̈ +2 𝑟̇ 𝜃̇

𝑑 2𝜃 𝑑 𝑑𝜃
The term ̈ = = ( ) is called the angular acceleration since
𝑑𝑡 2 𝑑𝑡 𝑑𝑡

it measures the change made in the angular velocity during an

instant of time. Units for this measurement are rad/s2. Since ar, and

a are always perpendicular, the magnitude of acceleration is simply

the positive value of

2
a= √𝑎𝑟 2 + 𝑎𝜃 2 = √( 𝑟̈ − r𝜃̇ 2 ) + ( r ̈ + 2 𝑟̇ 𝜃̇ )2

The direction is determined from the vector addition of components.

In genera!, a will not be tangent to the path, The three types of
coordinates (rectangular components , tangential and normal
components ) are related as the following :

[76]
Chapter 2: Cureliner Motion of One Particle

The speed v=√𝑣𝑥 2 + 𝑣𝑦 2 = √𝑣𝑟 2 + 𝑣𝜃 2 = √ (𝑟̇ )2 + (r𝜃̇ )2

Fig. 2.9 Acceleration components in polar coordinates

The total acceleration

a= √𝑎𝑡 2 + 𝑎𝑛 2 = √𝑎𝑥 2 + 𝑎𝑦 2 = √𝑎𝑟 2 + 𝑎𝜃 2

2.5.2 CYLINDRICAL COORDINATES.

If the particle P moves along a space curve as shown in Fig. 10, then
its location may be specified by the three cylindrical coordinates,
r,,z. The z coordinate is identical to that used for rectangular
coordinates, Since the unit vector defining its direction, nz is

[77]
Chapter 2: Cureliner Motion of One Particle

constant, the time derivatives of this vector are zero,and therefore

the position, velocity, and acceleration
of the particle can be written in terms of Cylindrical Coordinates as
following: rp= r ur + z uz

v = 𝑟̇ ur + r 𝜃̇ uө+𝑧̇ uz

a=( 𝑟̈ − r𝜃̇ 2 ) ur + ( r ̈ + 2 𝑟̇ 𝜃̇ )uө+𝑧̈ uz

Fig. 2.10 Cylinderical coordinates

[78]
Chapter 2: Cureliner Motion of One Particle

2.5.2.1 Time Derivatives

The equations of require that we obtain the derivatives𝑟̇ , 𝑟̈ , 𝜃̇ and
̈ in order to evaluate the r and  components of v and a .Two types
of problems generally occurs:
1. if the coordinates are specified as time parametric equations, r
= r(t) and  = (t), then the time derivatives can be found
directly. For example, consider r =4t2  = (8t3+6)

𝑟̇ =8t 𝜃̇ =24t2
𝑟̈ =8 ̈ = 48t
2. If the time-parametric equations are not given, then it will be
necessary to specify the path r = f() and find the
relationship between the time derivatives using the chain
rule of calculus.
Consider the following examples,

r = 5 𝜃2 , 𝑟̇ =10 𝜃 𝜃̇ ,
𝑟̈ = 10[(𝜃̇ ) 𝜃̇ + 𝜃̇ (̈ )] = 10 𝜃̇ 2+10 𝜃̇ ̈

Or r2 = 6 𝜃 3 2r 𝑟̇ =18 𝜃 2 𝜃̇

2[( 𝑟̇ ) 𝑟̇ +r(𝑟̈ )]=18[(2  𝜃̇ ) 𝜃̇ + 2(̈ )]

𝑟̇ 2 + r 𝑟̈ = 9(2  𝜃̇ 2+ 𝜃 2 ̈ )
If two of the four time derivatives 𝑟̇ , 𝑟̈ , 𝜃̇ and ̈ are known, then the
other can be obtained from the equations for first and second time
derivatives of r = f(𝜃).

[79]
Chapter 2: Cureliner Motion of One Particle

In some problems, however, two of these time derivatives may not

be known; instead the magnitude of the particle's velocity or
acceleration may be specified. If this is the case, equations

v2=(𝑟̇ )2+(r 𝜃̇ )2

And a2=( 𝑟̈ − r𝜃̇ 2 ) + (

2
r ̈ + 2 𝑟̇ 𝜃̇ )2 necessary relationships
involving 𝑟̇ , 𝑟̈ , 𝜃̇ and ̈

Example 2.10

The amusement park ride shown consists of a chair that is rotating in

horizontal circular path of radius r such that such that the arm OB
has an angular velocity  and angular acceleration̈ .
Determine the radial and transverse components of velocity and
acceleration of the passenger. Neglect his size in the calculations.

Solution
Data:
r = constant.

[80]
Chapter 2: Cureliner Motion of One Particle

Required:
vr, vθ , ar, and a

Answer:
Since the angular motion of the arm is reported, polar coordinates
are chosen for the solution. Here  is not related to r, since the radius
is constant for all 0. To obtain the vr, vθ, ar, and a

Vr = 𝑟̇ v =r 𝜃̇

ar= 𝑟̈ - r 𝜃̇ 2 a=r ̈ +2 = 𝑟̇ 𝜃̇

To evaluate these quantities it is first necessary to specify the first

and the second time derivatives for r and  ( 𝑟̇ , 𝑟̈ , 𝜃̇ and ̈ ).
r = constant 𝑟̇ =0 𝑟̈ =0
vr = 𝑟̇ = 0 Ans.

v = 𝑟 𝜃̇ Ans.

ar== 𝑟̈ - r 𝜃̇ 2 = - r 𝜃̇ 2 Ans.

a= r ̈ +2 𝑟̇ 𝜃̇ = r ̈ Ans.

These results are shown in the figure (b). Also shown are the n, t
axes, which in this special case of circular motion happen to be
collinear with the r and  axes, respectively. in particular note that
v= v = 𝑟 𝜃̇ also.

𝑣2 ( 𝑟 𝜃̇ )2
ar = a n = = = 𝑟 𝜃̇ 2
𝜌 𝑟

[81]
Chapter 2: Cureliner Motion of One Particle

𝑑𝑣 𝑑( 𝑟 𝜃̇ ) 𝑑𝑟 𝑑 𝜃̇
a= at= = = ( 𝜃̇ ) + 𝑟 = 0 + r ̈
𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡

Example 2.11

The rod OA in the figure (a) is rotating in the horizontal plane such
that = (t3). At the same time, the collar B is sliding outward along OA
so that r = (100t2) mm. if in both cases t is in seconds, determine the
velocity and acceleration of the collar when t=1 s

(b)

[82]
Chapter 2: Cureliner Motion of One Particle

(c)
Solution
Data:
r = (100t2) mm =(t3) rad
Required:
vr, v ,ar and aθ at t=1 s ,  and 

Answer:
To evaluate these quantities it is first necessary to specify the first
and the second time derivatives for r and ( 𝑟̇ , 𝑟̈ , 𝜃̇ and ̈ ) . At t = 1 s
r = 100t 2 t =1s = 100mm  = t3 t =1 s
= 1rad = 57.3

r = 200t t =1 s
= 200mm/s  = 3t 2 t =1 s
= 3 rad/s
r = 200 t =1s = 200mm/s2  = 6t t =1 s
= 6 rad / s2

v= √ (𝑟̇ )2 + (r𝜃̇ )2 = √ (200 )2 + (300)2 = 361 𝑚𝑚/𝑠

=tan-1 (300/200)= 56.3 δ+57.3=113.6with x - axis

[83]
Chapter 2: Cureliner Motion of One Particle

As shown in figure (c) , ar= 𝑟̈ - r 𝜃̇ 2 = 200-100(3)2= 700 mm/s2

a= r ̈ +2 𝑟̇ 𝜃̇ = 100(6) +2(200)(3) = 1800 mm/s2

the magnitude of the acceleration

a= √𝑎𝑟 2 + 𝑎𝜃 2 = √7002 + 18002 = 1930 mm/s2
=tan-1(1800/700) = 68.7 (180-)+57.3=169 with x-axis

Example 2.12
The searchlight in the figure below casts a spot of light along the face
of a wall is located 100 m from the searchlight. Determine the
magnitudes of the acceleration at which the spot appear to travel
across the wall at the instant = 45°.The searchlight is rotating at a
constant rate of 𝜃̇ = 4 rad/s.

[84]
Chapter 2: Cureliner Motion of One Particle

Solution
Data:
= 4 rad / s =constant
Required:
vr,v, ar , and a at  = 45°

Answer:
Polar coordinates will be used to solve this problem since the
angular rate of the searchlight is given. To find the necessary time
derivatives it is first necessary to relate r to . From the figure (a)
and (b) this relation is
100
𝑟= = 100 𝑠𝑒𝑐 𝜃
𝑐𝑜𝑠 𝜃
Using the chain rule of calculus, noting that d(sec)=sec tan d ,
and d(tan)=sec2 d, we have
𝑟̇ =100(sectan)̇

𝑟̈ =100(sec tan)̇ (tan)̇ +100 sec (sec2) ̇ (̇ )

+100sectan (̈ )
=100(sec tan2 (̇ )2 +100sec 3  (̇ )2 +100(sectan) ̈
Since ̇ = 4 rad/ s= constant, then ̈ = 0, and the above
equations, when = 45° , become
r=100sec45° =141.4 , 𝑟̇ = 400(sec45° tan45°) = 565.7
𝑟̈ =100(sec45° tan2 45°+sec3 45°)16+100(sec45° tan45°)0=6788.2

[85]
Chapter 2: Cureliner Motion of One Particle

v = r u r + r u
= {565.7u r + 565.7u }m/s
v = 800 m/s

a = (r − r 2 )u r + (r + 2r)u

= {4525.5u r + 4525.5u }m/s2
a = 6400 m/s2

Example 2.13

Due to the rotation of the forked rod, the ball A in the figure (a)
below travels around the slotted path, a portion of which is in the
shape of a cardioids, r = 0.15 (1-cos) m where  is in radians. If the
balls velocity is v =1. 2 m/s and its acceleration is a=9m/s2 at the
instant =18° determine the angular velocity ̇ and acceleration ̈ of
the fork

[86]
 Chapter 2: Cureliner Motion of One Particle

Solution
Data:
r= 0-15(1- cos)  v=1.2 m /s

a = 9 m/s2 at the instant  =180°,

Required:
The angular velocity ̇ and angular acceleration ̈
Answer:
This path is most unusual, and mathematically it is best expressed
using polar coordinates, as done here, rather than rectangular
coordinates. Also , ̇ and ̈ must be determined so r,  coordinates
are an odious choice.
Determining the time derivatives rule of calculus yields,

r = 0.15(1 − cos )
r = 0.15(sin  )
r = 0.15(cos )() + 0.15(sin  )
Evaluating these results at θ = 180°

r = 0.3m r = 0 r = −0.15 2

Since v = 1.2 m/s

v = (r ) + (r )
2 2
a = (r − r2 )2 + (r + 2r )2
 = 4rad/s  = 18rad/s 2

Since v = 1.2 m/s

[87]
Chapter 2: Cureliner Motion of One Particle

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[88]
 Chapter

3
MOTION OF PARTICLES

In some types of problems the motion of particle will depend on

corresponding motion of another particle. This dependency
commonly occurs if the particles are interconnected inextensible
cords which are wrapped around pulleys. For example, movement of
block A downward along the inclined plane in Fig. 3.1 will cause a
corresponding movement of block B up the ether incline. We can
show this mathematically by first specifying the location of the
blocks using position coordinates 𝑆𝐴 and 𝑆𝐵 . Note that each of the
coordinate axes is:
❖ Referenced from a point O) or datum line.
❖ Measured along each inclined in plane in the direction of
motion of block A and block B.
❖ Has a positive sense from C to A and D to B.

If the total cords length is it? the position coordinates are related by
the equation
𝑆𝐴 + 𝑙𝐶𝐷 + SB = 𝑙𝑡
Here 𝑙𝐶𝐷 is the length of the cord passing over arc CD.
Chapter 3 Motion of Particles

Taking the time derivative of this expression, realizing

that 𝑙𝐶𝐷 and 𝑙𝑡 remain constant, while 𝑆𝐴 and 𝑆𝐵 measure the

𝑑𝑠𝐴 𝑑𝑠𝐵
lengths of the changing segments of the cord, we have: + =0
𝑑𝑡 𝑑𝑡

OR 𝑣𝐴 = - 𝑣𝐵

Fig 3-1 connected two particles

The negative sign indicates that when block A has a velocity

downward, i.e., in the direction of positive 𝑆𝐴 . It causes a
corresponding upward velocity of block B; i.e., B moves in the
negative 𝑆𝐵 direction.

In a similar manner, time differentiation of the velocities yields the

relation between the accelerations, i.e aA = - aB. A more complicated
example involving dependent motion of two blocks is shown in
Fig.3.2 (a). In this case, the position of block A is specified by sA, and

the position of the end of the cord from which block B is suspended is
defined by 𝑆𝐵 . Here we have chosen coordinate axes which are:
1) referenced from a fixed points or fixed datums,
[89]
Chapter 3 Motion of Particles

2) measured in the direction of motion of each block,

3) positive to the right (𝑆𝐴 ) and positive downward (𝑆𝐵 )

Fig 3-2a Motion of two blocks Fig 3-2b Motion of two blocks

During the motion, the segments of the cord on the pulleys remain
constant, If I represents the total length of cord minus these
segments, then the position coordinates can be related by the
equation

2𝑆𝐵 +h+ 𝑆𝐴 = l

Since l and h are constant during the motion, the two time
derivatives yield

2𝑣𝐵 = -𝑣𝐴
2𝑎𝐵 = -𝑎𝐴

[90]
Chapter 3 Motion of Particles

Hence, when B moves downward (+𝑆𝐵 ), A moves to the left (-𝑆𝐴 ) with
two times the motion, This example can also be center of the bottom
pulley a (fixed point) Fig.4.2b in this case 2 (h- 𝑆𝐵 ) + h + 𝑆𝐴 = l
Time differentiation yields
2vB = vA

2aB = aA

Here the signs are the same, why?

3.1 PROCEDURES FOR ANALYSIS

The above method of relating the dependent j motion of one

particle to that of another can be performed using algebraic scalars
or position coordinates provided each particle moves along
rectilinear path. When this is the case, only the magnitudes of the
velocity and acceleration of the particle will change, not their line of
direction.

3.1.1 THE FOLLOWING PROCEDURE IS REQUIRED

❖ Establish position coordinates which have the origin located at

a fixed point or datum.I
❖ The coordinates are directed along the path of motion and
extended to a point having the same motion as each of the
particles
❖ It is necessary that the origin be the same for each coordinates;
however, it is important that each coordinate axis selected be

[91]
Chapter 3 Motion of Particles

directed along the path of motion of the particle.

❖ Using geometry or trigonometry, relate the coordinates to the
total length of the cord, or to that portion f cord, i, which
excludes the segments wrapped over pulleys.
❖ If a problem involves a system of two or more cords wrapped
around pulleys, then the position of a point one cord must be
related to the position of a point on another cord using the
above procedure. Separate equations are written for a fixed
length of each cord of the system and the positions of the two
particles are then related by these equations.

❖ Time Derivatives

❖ Two successive time derivatives of the position-coordinate

equations yield the required velocity and acceleration
equations which relate the motions of the particles.
❖ The signs of the terms in these equations will be consistent with
those that specify the positive negative sense of the position
coordinates.

[92]
Chapter 3 Motion of Particles

Example 3.1

Determine the speed of block A in the

figure if the block B has an upward
speed of 2 m/s.
Solution
Data:
𝑣𝐵 =-2m/s(upward)
Required
vA

Answer
There is one cord in this system having segments which are changing
length. Position coordinates 𝑆𝐴 and 𝑆𝐵 will be used since each is
measured from a fixed point (C or D) and extends along each block's
path of motion. In particular, sB is directed to point E since motion of

B and E is the same.

The segments of the cord on the pulleys remain at a constant length
and do not have to be considered as the blocks move. The remaining
length of cord, l, is also constant and is related to the changing
position coordinates 𝑆𝐴 and 𝑆𝐵 by the equation:
𝑆𝐴 + 3𝑆𝐵 = 𝑙
Taking the time derivative yields
𝑣𝐴 + 3𝑣𝐵 = 0
so that when
[93]
Chapter 3 Motion of Particles

𝑣𝐵 =-2 m/s (upward),

𝑣𝐴 = 6 mls ( downward)

Example 3.2

Determine the speed of block A in the figure if block B as an upward

speed of 2 m/s.

Solution
Data:
𝑣𝐵 = 2 m/s
Required:
vA

Answer
As shown in the figure, the positions of
blocks A and B are defined using
coordinates 𝑆𝐴 𝑎𝑛𝑑 𝑆𝐵 . Since the
system has two cords which change
length, it will be necessary to
use a third coordinate, 𝑆𝐶 in order to
relate 𝑆𝐴 to𝑆𝐵 . In other words, the
length of the cords can be expressed in.
terms of 𝑆𝐴 and𝑆𝐶 .

[94]
Chapter 3 Motion of Particles

The bold segments of the cords in the fig do not have to be

considered in the analysis. Why? For remaining cord lengths, say 𝑙1 ,
𝑙2 , we have
𝑆𝐴 +2𝑆𝐶 =l,
𝑆𝐵 + (𝑆𝐵 - 𝑆𝐶 ) = 𝑙2

so that when
𝑣𝐵 =-2m/s (upward)
𝑣𝐴 = 8 mls ( downward)

Example 3.3

Determine the speed with which block B rises in the figure if the end
of the cord at A is pulled down with speed of 2m/s.

Solution
Data:
𝑣𝐴 = 2 𝑚/𝑠 
Required:
𝑣𝐵
Answer
The position of point A is defined by
𝑆𝐴 and position of block B is specified
by 𝑆𝐵 since point of E on the pulley
will have the same
[95]
Chapter 3 Motion of Particles

motion as the block. Both coordinates are measured from an

horizontal datum passing through the fixed pin at pulley D. Since the
system consists of two cords, the coordinate and 𝑆𝐴 and 𝑆𝐵 cannot be
related directly. Instead, by establishing a third position coordinate,
𝑆𝐵 , and 𝑆𝐶 and the length of one of the cords in terms of 𝑆𝐵 and 𝑆𝐶 ,
and the length of the other cord in terms 𝑆𝐴 , 𝑆𝐵 and 𝑆𝐶 .

Excluding the bold segments of the cords in the figure, the

remaining constant cord lengths l1 and l2 (along with the block and
link dimensions) can be expressed as
(𝑆𝐴 - 𝑆𝐶 ) +(𝑆𝐵 - 𝑆𝐶 ) + 𝑆𝐵 = 𝑙2
Eliminating 𝑆𝐶 yields
𝑆𝐴 + 4𝑆𝐵 = 𝑙2 + 2𝑙1

As required, this equation relates the position 𝑆𝐵 of the block B to the

position 𝑆𝐴 of point A . The time derivative gives

𝑣𝐴 + 4𝑣𝐵 = 0

So that when
𝑣𝐴 = 2m/s(downwards )]
Then
𝑣𝐵 =-0.5m/s=0.5m/s (downwards ) Ans.

3.2. RELATIVE –MOTION (USING TRANSLATING AXES)

Through the previous chapters the absolute motion of a particle

has been determined using a single fixed reference frame for
[96]
Chapter 3 Motion of Particles

measurement. there are many cases, however, where the path of

motion for a particle is complicated, so that it may be feasible to
analyze the motion in parts by using two or more particle located at
the tip of an airplane propeller while the plane is in flight, is more
easily described if one observes first the motion of the airplane from
a circular motion of the particle measured from a reference attached
to the airplane. Any types of the coordinates-rectangular, cylindrical,
etc.- may be chosen to describe these two different motions.
In this section only translating frames of reference will be considered
for the analysis.

3.2.1 POSITION
Consider particles A and B, which move along the arbitrary paths aa
and bb, respectively, as shown in Fig.4.3a. The absolute position of
each particle, 𝑟𝐴 and𝑟𝐵 , is measured from the common origin O of the
fixed x, y, z, reference frame.

[97]
Chapter 3 Motion of Particles

Fig. 3.3a Motion of two particles A and B through two different

pathes

The origin of a second frame of reference x', y', z' is attached to and
moves with particle A. the axes of this frame are only permitted to
translate relative to the fixed frame. The relative position of "B with
respect to A" is designated by a relative position vector 𝑟𝐵/𝐴 .
Using vector addition, the three vectors shown in Fig. 4.3a can be
related by the equation 𝑟𝐵 = 𝑟𝐴 + 𝑟𝐵/𝐴

3.2.2 VELOCITY

An equation that relates the velocities of particles can be determined

by taking the time derivative of the last equation i.e.,
𝑣𝐵 = 𝑣𝐴 + 𝑣𝐵/𝐴
Here
𝑑𝑟𝐵 𝑑𝑟𝐴
𝑣𝐵 = and 𝑣𝐴 =
𝑑𝑡 𝑑𝑡

Refer to absolute velocities, since they are observed from the

𝑑𝑟𝐵/𝐴
fixed fram; whereas the relative velocity 𝑣𝐵/𝐴 = is observed
𝑑𝑡

from the translating frame. It is important to note that since the x', y'.
z' axes translate, the components of 𝑣𝐵/𝐴 will not change direction
and therefore the time derivative of this vector's components will
only have to account for the change in the vectors magnitude.
Equation 𝑣𝐵 = 𝑣𝐴 + 𝑣𝐵/𝐴 therefore states that the velocity of B is equal
to the velocity of A plus (vectorically) the relative velocity of “B with
[98]
Chapter 3 Motion of Particles

respect to A", as measured by the translating observer fixed in the x',

y’, z’ reference, Fig.4.3b,

Fig. 3.3b Relative velocity of two particles A and B

3.2.3 ACCELERATION

The time derivative of equation 𝑣𝐵 =𝑣𝐴 +𝑣𝐵/𝐴 yields a similar vector

relationship between the absolute and relative accelerations of
particles A and B.

[99]
Chapter 3 Motion of Particles

𝑎𝐵 = 𝑎𝐴 + 𝑎𝐵/𝐴 here 𝑎𝐵/𝐴 is the acceleration of B as seen by the

observe located at A and translating with the x', y' , z' reference
frame. The vector addition is shown in Fig. 4.3c.

3.3 PROCEDURE FOR ANALYSIS

❖ When applying the relative-position equation 𝑟𝐵 = 𝑟𝐴 +

𝑟𝐵/𝐴 it is first fo the locations of the fixed x',y', z' axes. Usually,
the origin A of is located at a point a position, 𝑟𝐴 , Fig.4.3a.

❖ A graphical representation of the vector additional 𝑟𝐵 = 𝑟𝐴 +

𝑟𝐵/𝐴 can be shown, and both the known a unknown quantities
labeled on this sketch. Since vector addition forms a triangle ,
there car be at/ most two unknowns, represented by the
magnitudes and /or directions of the vector quantities.

❖ These unknowns be for either graphically, using

trigonometry (law of sines, law of cosines), or by solving
each of the 𝑟𝐵 , 𝑟𝐴 and 𝑟𝐵/𝐴 , into rectangular or Cartesian
components , thereby generating a set of scalar equation.

❖ The relative-motion equations 𝑣𝐵 = 𝑣𝐴 + 𝑣𝐵/𝐴 and 𝑎𝐵 = 𝑎𝐴 +

𝑎𝐵/𝐴 are applied in the same manner as explained above, except
in this case the origin O of the fixed x., y, z axes does not have to
be specified. Fig. 4.3b and Fig. 4.3c.

[100]
Chapter 3 Motion of Particles

Example 3.4

A train traveling at a constant speed

of 60 mph crosses over a road as
shown in the figure. If automobile A
traveling at 45 mph along the road,
determine the magnitude arid
direction of the relative velocity of
the train with respect to the
automobile

Solution

First Method
The relative velocity 𝑣𝐵/𝐴 is measured from

[101]
Chapter 3 Motion of Particles

the translating x' y' axes to attached to automobile, shown in the Fig.
(a). It is determined from 𝑣𝑇 = 𝑣𝐴 + 𝑣𝑇/𝐴 Since 𝑣𝑇 and vA are known

in both magnitude and direction, the unknowns become the x and y

components of 𝑣𝑇/𝐴 Using the x, v axes in Fig(a) and a Cartesian
vector analysis, we have 𝑣𝑇 = 𝑣𝐴 + 𝑣𝑇/𝐴
90i = (67.5cos45 i + 67.5 sin45 j + )𝑣𝑇/𝐴
𝑣𝑇/𝐴 = (42.3 i - 47.7sin45 j) km/h Ans
The magnitude of 𝑣𝑇/𝐴 is thus

𝑣𝑇/𝐴 = √(42.3)2 + (-47.7)2 = 63.8 km/h

From the direction of each component, Fig. 4,3b, the direction of

𝑣𝑇/𝐴 defined from the x-axis is

( 𝑣𝑇/𝐴 )𝑦 47.7
tan 𝜃 = = 𝛉 = 48.4o
( 𝑣𝑇/𝐴 )𝑥 42.3

Note that the vector addition .shown in Fig.*

Indicates the correct sense for 𝑣𝑇/𝐴 .This figure anticipates the
answer and can be used to check it

Second Method

The unknown of components of 𝑣𝑇/𝐴 can determined by applying a

scalar analysis. We will assume these components act in the positive
x and y directions. Thus, 𝑣𝑇 = 𝑣𝐴 + 𝑣𝑇/𝐴 . Resolve each
vector into its x and y components yields, () 90 = 67.5cos45 + (
𝑣𝑇/𝐴 )x + 0
[102]
Chapter 3 Motion of Particles

(+) 0 = 67.5cos45 + 0 + ( 𝑣𝑇/𝐴 )y

Solving, we obtain the previous results,

( 𝑣𝑇/𝐴 )x = 42.3 km/h , ( 𝑣𝑇/𝐴 )x = - 47.7 km/h

( 𝑣𝑇/𝐴 )𝑦 47.7
tan 𝜃 = = 𝛉 = 48.4 o
( 𝑣𝑇/𝐴 )𝑥 42.3

Example 3.5

Plan A in the figure is flying along

a straight line path, whereas
plane B is flying along a circular
path having a radius of curvature
of ρB = 400 km. Determine the

velocity and the acceleration of B

as measured by the pilot of A

Solution

[103]
Chapter 3 Motion of Particles

Data:
ρB = 400 km., all velocities and accelerations are shown

on figure.
Required:
𝑣𝐵/𝐴 , 𝑎𝐵/𝐴
Answer:
The x, y axes are located at an arbitrary fixed p< Since the motion
relative to plane A is to be determined, translating frame of reference
x’, y' is attached to it see the figure (a). Applying the relative-velocity
equation in scalar form since the velocity vectors of both planes are
parallel at the instant shown, we have
(+) 𝑣𝐵 = 𝑣𝐴 + 𝑣𝐵/𝐴
600 = 700 + 𝑣𝐵/𝐴 = -100km/h = 100 km/h
The vector addition is shown in Fig (b). Plane B has both tangential
and normal
componentsof acceleration, since it is flying along a curved path. The
magnitude of the normal acceleration
is:
2
𝑣𝐵 6002
( 𝑎𝐵 )𝑛 = = = 900 km/ h
𝜌 400

Applying the relative-acceleration equation, we have

𝑎𝐵 = 𝑎𝐴 + 𝑎𝐵/𝐴 ,
900 i - 100 j = 50 j + 𝑎𝐵/𝐴
Thus
[104]
Chapter 3 Motion of Particles

𝑎𝐵/𝐴 = 900i -150j km/h2

From Fig. (c), the magnitude and direction of 𝑎𝐵/𝐴 are

𝑎𝐵/𝐴 =912 km/h2 ,
150
tan 𝜃 = , 𝛉 = 9.46 o
900

Notice that the solution to this problem is possible using a translating

frame of reference, since the pilot in plane A is "translating ".
Observation of plane A with respect to the pilot of plane B, however,
must be obtained using a rotating set of axes attached to plane B.
(This assumes, of course, that the pilot of B is fixed in the rotating
frame, so he does not turn his to follow the motion of A).

Example 3.6

At the instant shown in the figure

cars A and B are traveling with
speeds of 18 m/s and 12 m/s,
respectively. Also at instant, A has a
decrease in speed of 2 m/s2, and B
an increase in speed of 3 m/s2.
Determine the velocity and
acceleration of B with respect to A.

Solution

[105]
Chapter 3 Motion of Particles

Data:
𝑣𝐴 =18m/s, 𝑣𝐵 =12m/s
𝑎𝐴 = 2 m/s2 decreasing, = total acceleration of the car
(because it travels in a straight path)
𝑎𝐵 =3 m/s2 (increasing) = tangential component
acceleration (because it travels in a curved path)
Required:
𝑣𝐵 , 𝑎𝐵/𝐴
Answer:

The fixed x, y axes are established at point on ground and the

translating x', y' axes are attached to car A, see the figure. Why?The
relative velocity is determined from 𝑣𝐵 = 𝑣𝐴 + 𝑣𝐵/𝐴 What are the two
unknowns? Using a Cartesian vector analysis, we have
𝑣𝐵 = 𝑣𝐴 + 𝑣𝐵/𝐴
-12j= (-18cos60i-18sin60j}+ 𝑣𝐵/𝐴
𝑣𝐵/𝐴 =(9i-i-3.585j m/s Ans.

𝑣𝐵/𝐴 = √( 42.3 )2 + ( 3.588 )2 = 9.69m/s

From the direction of each component, i.e. Fig. (b), the direction of
𝑣𝐵/𝐴 defined from the x-axis is
( 𝑣𝐵/𝐴 )𝑦 3.588
tan 𝜃 = = 𝛉 = 21.74 o
( 𝑣𝐵/𝐴 )𝑥 9

Car B has both tangential and normal components of acceleration.

Why? The magnitude of the normal component is

[106]
Chapter 3 Motion of Particles
2
𝑣𝐵 12 2
( 𝑎𝐵 )𝑛 = = = 1.44 m/s2
𝜌 100

Applying the equation for relative-acceleration, yield\

𝑎𝐵 = 𝑎𝐴 + 𝑎𝐵/𝐴 , -1.44j-3j = 2cos60i + 2sin60 j + 𝑎𝐵/𝐴

𝑎𝐵/𝐴 = ( -2.44 i - 4.732 j ) m/s2

From Fig. (c), the magnitude and direction of 𝑎𝐵/𝐴 . Therefore
𝑎𝐵/𝐴 =5.32m/s2 Ans.
( 𝑣𝐵/𝐴 )𝑦 4.732
tan 𝜃 = = 𝛉 = 62.7 o
( 𝑣𝐵/𝐴 )𝑥 92.44

It is possible to obtain the relative acceleration of 𝑎𝐵/𝐴 using the

method referred to the comment made at the end of example 4.5,

3.4 CHAPTER REVIEW

3.4.1 ABSOLUTE MOTION OF TWO PARTICLES

The dependent motion of blocks the suspended from pulleys and

cables can be by the -geometry of the system, This is d first
establishing position coordinates, me a fixed to-each block so that
directed the line of the Using geometry and/or coordinates are
related to the cable length in order formulate a position coordinate
equation gives a relationship between the velocities of the blocks and
a second time derivative gives the relationship between their
accelerations.

[107]
Chapter 3 Motion of Particles

3.4.2 RELATIVE MOTION ANALYSIS USING TRANSLATING AXES.

If two particles A and B undergo independent motions, then these

motions can be related to their relative motion. Using a translating
set of axes attached to one of the particles (A), the velocity and
acceleration equations become
vB = vA + vB/A
aB = aA + aB/A

For planar motion, each of these equations produces two scalar

equations, one in the x, and the other in thei y direction. For solution,
the vectors can be expressed in Cartesian form or x and y scalar
components can be directly.

[108]
 Chapter

4
NEWTON’S SECOND LAW

The first and third laws were used extensively developing the
concepts of statics. Although these laws are also considered in
dynamics, Newton's second law of motion forms the basis for most of
this study, sine this law relates the accelerated motion of a particle t
the forces that act on it.

Measurements of force and acceleration can be recorded in a

laboratory so that in accordance with the second law, if a known
unbalanced force F is applied to a particle, the acceleration a of the
particle may be measured.

4.1 NEWTON'S SECOND LAW OF MOTION

It states that a particle acted upon by an unbalanced force F

experiences acceleration a has the same direction as the force and a
magnitude that is directly proportional to the force.

Another way to state it is the unbalanced force acting on the

particle is proportional to the time rate of change of the particle's
linear momentum.
Chapter 4: Newton’s Second Law

4.1.1 THE EQUATION OF MOTION

When more than one force acts on a particle, the resultant force is
determined by a vector summation of all the forces, i.e., FR=ΣF. For

this more general case, the equation of motion may be written as

ΣF=ma

To illustrate application of this equation, consider the particle P

shown in Fig. 4.l, which has a mass m and is subjected to the action
of two forces, F1 and F1.

Fig. 4.1 Schematic of second law equation

We can graphically account for the magnitude and direction of each

forceacting on the particle by drawing the particles free-body-
diagram. Since the resultant of these forces produces the vector m a,
its magnitude and direction can be represented graphically on the
kinetic diagram, shown in Fig. 4.1c. (Recall the free-body diagram
considers the particle to be free of its surroundings and shows all the
forces acting on the particle. The kinetic diagram pertains the
particle's motion as caused by the forces), equal sign written

[109]
Chapter 4: Newton’s Second Law

between the diagrams symbolize the graphical equivalency between

the free-body diagram and the kinetic diagram; i.e., ΣF = ma. In
particular, note that if FR=ΣF = 0, then the acceleration is zero, so that
the particle will either remain at rest or moving along straight line
path with constant velocity. Such are the conditions of static
equilibrium, Newton's first law of motion.

4.1.2. SI SYSTEM OF UNITS

In the SI system the mass of the

body is specified in kilograms, and
the weight must be calculated using
the equation of motion, F =ma.
Hence, if a body has a m (kg) and is
located at a point where the
acceleration due to the gravity is g
(m/s2), then the weight is expressed
Fig 4-2 Units of second law
in Newtons as W=mg (N), Fig 4.2
equation
In particular, if the body is located at the "standard
location", the acceleration due to gravity is g= 9.80665 m/s2. For
calculations, the value g = 9.31 m/s2 will be used, so thatW=mg (N) ,
and (g=9.81m/s2)

Therefore, a body mass 1 kg has a weight of 9.81 N; 2-kg body weighs

19.62 N; and so on.

[110]
Chapter 4: Newton’s Second Law

4.1.3 EQUATIONS OF MOTION: RECTANGULAR COORDINATES

when a particle is moving relative to an inertial x, y, z frame of

reference, the forces acting on the particle, as well as its
acceleration, may be expressed in terms of their i, j, k
components, Fig 4.3. Applying the equation of motion, we have:

Fig 5-3 Rectangular coordinates

ΣF = m a
ΣFxi+ ΣFyj+ ΣFzk=m(axi+ayj+azk)

For this equation to satisfied, the respective,i,j,k components on the

left side must equal the corresponding components on the right side.
Consequently, we may write the following three scalar equations:

ΣFx= max , ΣFy= max ,ΣFz= max

In particular, if the particle is constrained to move only in the x-y

plane, then the first two of these equations are used to specify the
motion

[111]
Chapter 4: Newton’s Second Law

4.1. 4 PROCEDURE FOR ANALYSIS

The equations of motion are used to solve problems which require a

relationship between the forces acting on a particle and the
accelerated motion they cause

A. Free body diagram

▪ Select the inertial coordinates system. Most often rectangular or

x, y, z coordinates are chosen analyze problems for which the
particle has rectilinear motion.
▪ Once the coordinates are established, draw the particle's free
body diagram. Drawing this diagram is very important since it
provides a graphical representation that accounts for all the
forces (ΣF) which act on the particle, and thereby makes it
possible to resolve these forces into their x, y, z components.
▪ The direction and sense of the particle's acceleration a should
also be established, If the senses of its components are
unknown, for mathematical convenience they are in the same
direction as the positive inertial Coordinate axes.

▪ The acceleration may be represented as the ma vector on the

kinetic diagram.
▪ Identify the unknowns in the problem

B. Equations of Motion
▪ if the forces can be resolved directly from the free body

[112]
Chapter 4: Newton’s Second Law

diagram, apply the equations of motion their scalar component

form,
▪ If the geometry of the problem appears complicated, which
often occurs in three dimensions, Cartesian vector analysis can
be used for the solution.

C. Friction

▪ If a moving particle contacts a rough surface, it may be

necessary to use the frictional equation, which relates the
coefficient of kinetic friction uk to the magnitudes of the

frictional and normal forces Fƒ and N acting at the surfaces of

contact i.e., Fƒ= ukN. Remember that Fƒ always acts on the free-

body diagram such that it opposes the motion of the particle

relative to the surface of contacts. If the particle is on the verge
of relative motion then the coefficient of static friction should
be used.

D. Spring

▪ If the particle is connected to an elastic spring having negligible

mass, the spring force FS can be related to the deformation of
the spring by the equation Fs=Ks. Here k is the spring's stiffness

measured as a force per unit length, and s is the stretch or

[113]
Chapter 4: Newton’s Second Law

compression defined as the difference between the deformed

length l and the unreformed length ιo, i.e., s = ι- ιo

E. Kinematics

▪ If the velocity or position of the particle is to be found, it will

be necessary to apply the proper kinematic equations once the
particle's acceleration is determined from ΣFx= ma
𝑑𝑣 𝑑𝑠
▪ If acceleration is function of time, use 𝑎 = and 𝑣 = which
𝑑𝑡 𝑑𝑡

when integrated, yield the particle's velocity and position.

𝑑𝑣
▪ If acceleration is function of position, integrate 𝑎 = 𝑣 to
𝑑𝑠

obtain the velocity as a function of position.

▪ If acceleration is constant, use 𝑣 = 𝑣𝑜 + 𝑎𝑐 𝑡 𝑠=
1
𝑠𝑜 + 𝑣𝑜 𝑡 + 𝑎𝑐 𝑡 2 , 𝑣 2 = 𝑣𝑜2 + 2𝑎𝑐 ( 𝑠 − 𝑠𝑜 ), to determine the
2

velocity or position of the particle.

▪ If the problem involves the dependent motion of several

particles, use the method outlined in chapter 4 to relate
their
▪ In all cases, make sure the positive inertial coordinate
directions for writing the kinematic equations are the same
as those used for writing the equations of motion;
otherwise, simultaneous solution of the equation will result in
errors.

[114]
Chapter 4: Newton’s Second Law

▪ If the solution for an unknown vector component yields a

negative scalar, it indicates that the component acts in the
direction opposite to which was assumed.

Example 4.1
An airplane has a mass of 30 ton (30 T) and its engines develop a
total thrust of 50 KN during the take-off. If the drag force FD exerted
on the plane has a magnitude FD = 2.5𝑣 2 where v is expressed in m/s
and FD in Newton, and if the airplane becomes airborne at a speed of
270 km/h, determine
(a) The length of the runway required for the plane to take off.
(b) The time required to take off
Solution
Data:
m=30 ton=3000kg,
Thrust force =FT=50000 N
Drag force =FD= 2.5𝑣 2 N
𝑣𝑜 = 0,
vf= 270 km/h= 2705/18 = 75m/s
Required:
a) L required to plane to reach vf =75m/s from rest vo =0

b) Time t to take off.

Answer:

[115]
Chapter 4: Newton’s Second Law

Using the equations of motion, we can relate the airplane

acceleration to the force causing the motion. The length and time -
can be determined using kinematics.
ΣFx=max

Thrust - Drag = max

FT – FD= max 50000 - 2.5𝑣 2 =30000ax

The acceleration is a function of the velocity v.

a. The required is L

𝑑𝑣
𝑎=𝑣 ,
𝑑𝑠

𝑑𝑣
50000 - 2.5𝑣 2 =30000 𝑣
𝑑𝑠

𝑠 𝑣
3000𝑣
∫ 𝑑𝑠 = ∫ 𝑑𝑣
0 0 5000 − 2.5𝑣 2

−3000
S= ln (5000 − 2.5𝑣 2 )
2(2.5)

at vf = 75m /s  L=1981.45 m Ans.

b. To calculate the time required to take off ,

𝑑𝑣
𝑎=
𝑑𝑡
𝑑𝑣
50000 - 2.5𝑣 2 = 3000 ,
𝑑𝑡

𝑡 𝑣 3000𝑣
∫0 𝑑𝑡 = ∫0 5000−2.5𝑣 2
𝑑𝑣

[116]
Chapter 4: Newton’s Second Law

141.421 + 𝑣
t = 42.42ln ( =)
141.421 − 𝑣

for v =75m/s t = 50.11 s

Example 4.2

The 50-kg crate shown in the figure (a)

rests on the horizontal plane for which
the coefficient of kinetic friction is
µk,=0.3. If the crate is subjected to a

400- N towing force as shown,

determine the velocity of the crate in 3 s
starting from rest.

Solution
Data:
m = 50-kg , 𝑣𝑜 = 0, µk = 0.3 , P = 400 N

Required:
The velocity 𝑣 at t = 3 s.
Answer:

[117]
Chapter 4: Newton’s Second Law

Using the equations of motion, we can relate the crate's acceleration

to the force causing the motion. The crate's velocity can be
determined using kinematics.
The weight of the crate is W = mg =50 kg (9.81 m/s2) 490.5 N, the
frictional force has a magnitude Fƒ = µk NC and acts to the left, since it

opposes the direction of motion of the crate. The acceleration a is

assumed to act horizontally, in the positive x direction. There are two
unknowns, namely NC and a.

(We can also use the alternative procedure of drawing the crate's
free-body diagrams, prior to applying the equations of motion.).Using
the data shown on the free-body diagram,
we have,
ΣFx=max

400 cos 30 − 0.3𝑁𝑐 = 50 𝑎

ΣFy=may ,

𝑁𝑐 − 490.5 + 400 sin 30 = 0

[118]
Chapter 4: Newton’s Second Law

Solving the last equation for NC, substituting the result into equation
of (x-direction), and soiving for a yields
NC= 290.5 N , a = 4.19 m/s2

Note that the acceleration is constant, since the applied force

P is constant. Since the initial velocity is zero, the velocity of the crate
in 3 s is

𝑣 = 𝑣𝑜 + 𝑎𝑐 𝑡
𝑣 = 0 + 4.19(3)= 14.6 m/s Ans.

Example 4.3

A 10-kg projectile is fired vertically upward

from the ground, with an initial velocity of
50 m/s, Fig. a. Determine the maximum
height to which it travel if:
(a) Atmospheric resistance is neglected.
(b) Atmospheric resistance is measured
as FD=(0.01𝑣 2 )N, where 𝑣 is the
speed at any instant, measured in
m/s.

Solution
Data:
m =10 kg , 𝑣𝑜 = 50m/s at zo=0
𝑣 = 0 at z =h, FD = (0.01𝑣 2 ) N
Required:
Maximum height h in both cases

[119]
Chapter 4: Newton’s Second Law

Answer:
In both cases the known force on the projectile can he related to its
acceleration the equation of motion. Kinematics be used to relate the
projectile's acceleration to its position.

Part (a)
The projectile’s weight is W= mg = l0(9.81) = 98.1 N. We will assume
the unknown acceleration a acts upward in the positive z direction
ΣFz=maz (+) , -98.1 = 10a , a = -98.1 m/s2
The result indicates that the projectile, like every object having free-
flight motion near the earth's surface, is subjected to a constant
downward acceleration of 9.8 1 m/s2.
Initially,
𝑣𝑜 = 50m/s at zo=0, and

𝑣 = 0 at z=h.
Since the acceleration is constant, then
𝑣 2 = 𝑣𝑜2 + 2𝑎𝑐 ( 𝑧 − 𝑧𝑜 )
0=(50)2+2(-9.81)(h-0)
h=127 m Ans.

[120]
Chapter 4: Newton’s Second Law

Part (b)
Since the force FD =(0.01v2) N tends to retard the upward
motion of the projectile, it acts downward .
ΣFz=maz (+) , -0.01v2-9.81=10a
a= -0.01 v2-9.81 m/s2
Here the acceleration is not constant since FD depends
on the velocity. Since a = f( v), we can relate a to the position using

a=v dv/dz  (-0.01v2-9.81) d z = vdv

Separating the variables and integrating, realizing that initially ,
𝑣𝑜 = 50m/s at 𝑧𝑜 =0, and
𝑣 = 0 at z = h. we have
ℎ 𝑜
𝑣
∫ 𝑑𝑧 = − ∫ 2
𝑑𝑣 = 500ln [𝑣 2 + 9810]050
𝑜 50 0.001𝑣

h=114 m Ans
The answer indicates a lower elevation than that obtained in
part (a) due to atmospheric resistance,

Example 4.4
A smooth 2-kg collar C, shown in the Fig.
a, is attached to a spring having a stiffness
k = 3 N/m and an unstretched length of
0.75m. If the collar is released from rest at
A, determine its acceleration and the
normal force of the rod on the collar at
the instant y =1 m

[121]
Chapter 4: Newton’s Second Law

Data:
m =2 kg, k = 3 N/m. (for the spring), lo = AB = 0.75 m,
l = BC √ 12 + 0.752 = 1.25 𝑚
s = l - l o= 1.25 - 0.75 = 0.5 m

Required:

a and NC

Answer
The free body diagram of the collar when it is local at the arbitrary
position y is shown in Fig, b.
Note the weight is w = 2(9.81) =19.62 N,
Furthermore, the collar is assumed to be
accelerating so that "a" acts downward in
the positive y direction. There are four
unknowns, namely, a, FS, and NC.
∑ 𝐹𝑋 = 𝑚 𝑎𝑥 , -Nc +Fs cos =0
(1)
∑ 𝐹𝑦 = 𝑚 𝑎𝑦 , 19.62 - Fs sine  = 2a
(2)
From equation (2) it is seen that the acceleration depends on the
magnitude and direction of the spring force. Solution for NC and a is
possible once Fs, and  are known.

[122]
Chapter 4: Newton’s Second Law

The magnitude of the spring force FS= KS

FS= KS=3(0.5)= 1.5 N , tan=y/0.75 ,  = 53.1˚
Substituting these results into equations (1) and (2) we obtain
NC=0.900 N And

a = 9.21 m/s2 Ans.

Example 4.5

The 100-kg block A shown in Fig, a, is released

from rest. If the masses of the pulleys and the
cord are neglected, determine the speed of the
20-kg block B in 2 s

Solution
Data:
mA = 100 kg, (𝑣𝑜 )A = 0
mB = 20 kg, (𝑣𝑜 )B = 0
Required:
𝑣𝐵 =? at time t = 2s
Answer

[123]
Chapter 4: Newton’s Second Law

Since the mass of pulleys is eglected, then for pulley C, ma = 0 and

we can apply ΣFy =0 as shown in Fig, b.The free-body diagrams for

blocks A and B are shown in Fig. c, and Fig. d. respectively. One can
see that for A to remain static requires T =490.5 N, whereas for B to
remain static requires T = 196,2 N, Hence A will move down while B
moves up. Here we will assume both blocks accelerate downward, in
the direction of +sA and +sB.

The three unknowns are T, 𝑎𝐴 and aB

For block A Fig. c,
∑ 𝐹𝑦 = 𝑚𝐴 𝑎𝑦
981-2T=100aA (1)
For block B Figd,
∑ 𝐹𝑦 = 𝑚𝑏 𝑎𝑦
196.21 – T = 20 aA (2)
The necessary third equation is obtained by relating aA to aB using a
dependent motion analysis. Using the technique developed in
chapter 4, the coordinates sA and sB measure the positions of A and

B from t datum. Fig, a, It is seen that

2sB + sB = l

where l is constant the vertical length of cord. Differentiating twice

with respect to time yields,
2 aA = - a B (3)

[124]
Chapter 4: Newton’s Second Law

Note
In writing equation (1) to (3), the positive direction was always
assumed downward. It is very important to be consistent in
this assumption since we are seeking a simultaneous solution
of equations
The solution yields,
T = 327,0 N ,
aA = 3.27 m/s2
aB =-6.54 m/ s2
Hence when block A accelerates downward, block B accelerates
upward. Since aB is constant, the velocity of block B in 2 s is thus,
𝑣 = 𝑣𝑜 + 𝑎𝐵 𝑡 (+)
𝑣 = 0 + (−6.54)(2) ,
𝑣𝐵 = -13.1 m/s Ans.
The negative sign indicates that block B is moving, Upward

4.1.4 EQUATIONS OF MOTION: NORMAL AND TANGINTIAL

COORDINATES

When a particle moves over a curved path which is known, the

equation of motion for the particle may be written in the tangential,
normal, and binormal directions. We have
ΣF=ma
ΣFtut+ ΣFnun +ΣFbub = m atut + manun

[125]
Chapter 4: Newton’s Second Law

Here ΣFt , ΣFn , ΣFb represent the sums of all the force components

acting on the particle in the tangential, normal, and binormal

directions, respectively as shown in Fig 4.4. Note that there is no
motion, of the particle in the binormal direction, since the particle is
constrained to move along the path. The above equation is satisfied
provided
ΣFT= mat

ΣFn= man

ΣFb =0

𝑑𝑣
Recall that 𝑎𝑡 = , represents the time rate of
𝑑𝑡

change in the magnitude of velocity.

Fig. 4-4 Inertial coordinate system

[126]
Chapter 4: Newton’s Second Law

Consequently, if ΣFt acts in the direction of motion, the particle's

speed will increase whereas if it is acts in the opposite direction, the

𝑣2
particle will slow down. Likewise 𝑎𝑛 = represents the time rate of
𝜌

change of change in the velocity's direction. Since this vector is

always acts in the positive n direction, i.e., toward the path's center
of curvature, then ΣFn, which causes an, also acts in this direction.

For example, when the particle is constrained to travel In a circular

path with a constant speed, there is a normal force exerted on the
particle by the constraint in order to change the direction of the
particle's velocity (𝑎𝑛 ). Since this force is always directed toward the
center of the path, it is often referred to as the centripetal force.
PROCEDURES FOR ANALYSIS
When a problem involves the motion of a particle along a known
curved path, normal and tangential coordinates should be considered
for the analysis since the acceleration components can be readily
formulated. The method for applying the equation of motion, which
relate the forces to the acceleration, has been outlined in the
procedure given in part (I), specifically, for t, n, b coordinates may be
stated as follows.
Free Body Diagram
▪ Establish the inertial, n, b coordinate system at the particle
and draw the particle's free-body diagram.

[127]
Chapter 4: Newton’s Second Law

▪ The particle's normal acceleration an always acts in the positive

t direction.
▪ Identify the unknowns in the problem.
Equations of Motion
▪ Apply the equations of motion in their scalar component form.
As mentioned above.
Kinematics
▪ formulate the tangential and normal components of
𝑑𝑣 𝑑𝑣 𝑣2
acceleration; i.e., 𝑎𝑡 = or 𝑎𝑡 = 𝑣 and 𝑎𝑛 =
𝑑𝑡 𝑑𝑠 𝜌

▪ If the path is defined as y = f(x), the radius of curvature at the

point where the particle located can be obtained from
𝑑𝑦 2 3⁄2
{1+( ) }
𝑑𝑥
𝜌=
𝑑𝑦2
[ 2]
𝑑𝑥
Example 4.6
Design of the sky jump requires
knowing the type of forces that will
be exerted on the skier and his
approximate trajectory. If in this
case the jump can be approximated
by parabola shown in the Figure
shown, determine the normal on
the 600-N skier the instant he
arrives at the end of the jump, point
A, where his velocity is 9 m/s. Also,

[128]
Chapter 4: Newton’s Second Law

what is his acceleration at this

point?
Solution
Data:
Weight of the skier W=600 N ,
Mass of the skier m =600/9.81,
At point A the velocity v = 9 m/s
Equation of the path y = 1/(60) x2- 15

Required:
The normal force NA
The acceleration aA
Answer:
The free-body diagram for the skier when he is at A is shown in Fig.
b, Since the path is curved, there are two components of acceleration,
𝑎𝑛 and𝑎𝑡 . Since 𝑎𝑛 can be calculated, the unknown are 𝑎𝐴 and NA.
600 92
ΣFn = m an , NA - 600 = ( )
900 𝜌

600
ΣFt= m at ,0 = 𝑎𝑡
99.8100

The radius of curvature ρ for the path must be determined at

point A(0,-15). Here

𝑑𝑦 2
y = 1/60x2 – 15
𝑑𝑦 1 1
, = x , ( ) =
𝑑𝑥 30 𝑑𝑥 30

[129]
Chapter 4: Newton’s Second Law

so that at x=0
𝑑𝑦 2 3⁄2 3
{1+( ) } { 1 + (0)2 } ⁄2
𝑑𝑥
𝜌= = 30 𝑚
𝑑𝑦2 1
[ ]
[ 2] 30
𝑑𝑥
Substituting into Eq. (I) and solving for NA , we have

NA =765 N Ans.

From Eq. (2),

at = 0, Thus

an=(v2/ρ) = (92/30) = 2.7 m/s)

aA = 𝑎𝑛 =2.7 m/s2 Ans.

Show that when the skier is in mid-air his acceleration is 9.81m/s2

Example 4.7

The 3-kg disk D is attached to the end of the cord as shown in the
Figure below. The other end of the cord is attached to a ball-and-
socket joint located at the center of a platform. If the platform is
rotating rapidly, and the disk is placed on it and released from rest as
shown, determine the time it takes for the disk to reach a speed great
enough to break the cord. The maximum tension the cord can sustain
is 100 N, and the coefficient of kinetic friction between the disk and
the platform is µk= 0.1

[130]
Chapter 4: Newton’s Second Law

Solution

Data:
m = 3 kg
Weight= W = 3(9.81)= 290.43 N
Radius of curvature ρ = 1 m
𝑇𝑚𝑎𝑥 = 100 N
µ𝐾 =0.1
Required:
Time t at velocity is maximum (t at𝑉𝑐𝑟 )
Answer:
The frictional force has a magnitude
Fƒ =µ𝐾 𝑁𝐷 = 0.1 𝑁𝐷
and a sense of direction that opposes the relative motion of the disk
with respect to the platform. It is this force that the disk a tangential
component of

[131]
Chapter 4: Newton’s Second Law

acceleration u to increase, thereby T to increase until it 100 N. The

weight of the disk is W=29.43 N. since an can be related to v, the
unknown are ND, at and v.
v2
ΣFn= m an , T=3( ) (1)
1

ΣFt = m at
0.1 ND = 3 at (2)
ΣFD = 0
ND - 29.43 =0 (3)
Setting T = 100 N, Eq, (1) can be solved for the critical speed vcr of the
disk needed to break the cord. Solving all the equations, we obtain
ND = 29.43 N ,
𝑎𝑡 = 0.981 m/s2
vcr = 5.77 m/s
Since at is constant, the time needed to break the cord is
𝑣𝑐𝑟 = 𝑣𝑜 + 𝑎𝑡 𝑡 , 5.77 = 0 + (0.981) t ,
t=5.89 Ans.
4.1.5 EQUATIONS OF MOTION: CYLINDERICAL COORDINATES

When all the forces acting on

a particle are resolved into
cylindrical components, i.e.,
along the unit-vector
directions ur,u,uz Fig. 4.5,

[132]
Chapter 4: Newton’s Second Law

the equation of motion may

be expressed as ΣF = ma

ΣFrur+ Σ 𝐹𝜃 𝑈𝜃 + Σ𝐹𝑍 𝑈𝑍 = m 𝑎𝑟 𝑈𝑟 + m𝑎𝜃 𝑈𝜃 + m 𝑎𝑧 𝑈𝑧

To satisfy this equation, the respective ur,u,uz components on

the left side must equal the corresponding components on the

right side.
Consequently, we may write the following three scalar equations of
motion:
ΣFr=mar

ΣF=ma

ΣFz=maz

If the particle is constrained to move only in the r,θ plane, then only
the first two of (1) are to specify the motion.

ΣFr=m ( 𝑟̈ - r 𝜃̇ 2)

ΣF=m ( r ̈ +2 𝑟̇ 𝜃̇ )

ΣFz=m𝑧̈

The sum of the forces in the radial direction equals the

product of the and the radial component of the acceleration, and the

[133]
Chapter 4: Newton’s Second Law

sum of the forces in the direction equals the product of the and the
transverse component of the acceleration. Since the object's
perpendicular to the in which the motion takes place is zero, the
of the forces perpendicular to the plane is zero.

PROCEDURES FOR ANALYSIS

Cylindrical or polar coordinates are a suitable choice for the

analysis of a problem for which data regarding the angular motion of
the radial line rare ! Given, or in cases where the path can be
conveniently expressed in terms of coordinates. Once these
coordinates have been established, the equations of motion be in
order to relate the forces acting on the particle to its acceleration
components. The method for doing this has been outlined in the
procedure for analysis given in Sec. (1). The following is a summary
of this procedure.

Free Body Diagram

▪ Identify the unknowns in the problem

▪ Establish the inertial r,, z inertial coordinate system and draw
▪ The particle's free-body diagram.
▪ Assume that 𝑎𝑟 ,𝑎𝜃 ,𝑎𝑧 act in the positive direction of r, , if

they are known.

Equation of Motion

[134]
Chapter 4: Newton’s Second Law

Apply the equations of motion in their component form. As

mentioned above, Eq. (1) and (2).

Kinematics
▪ Use the methods in the previous chapter to determine r and the
̇ 𝜃 ̈ , 𝑧̈ , and then evaluate the
time derivatives 𝑟̇ , 𝑟̈ , 𝜃,
acceleration components.
▪ If any of the acceleration components is computed as a negative
quantity, it indicates that it acts in its negative coordinate
direction. When taking the time derivatives of r = ƒ(), it is very
important to use the chain rule of calculus.

Example 4.8

The robot is programmed

so that the 0.4-kg part A
describes the path r= l-
0.5cos2t m, =0.5-
0.2sin2t rad, determine
the polar components of
force exerted on A by the
robot’s jaws at t=2s.

Solution
Data:

[135]
Chapter 4: Newton’s Second Law

m= 0,4 kg
r=1-0.5cos2t m
 = 0.5-0.2sin2t rad
Required:
ΣFr , and ΣF

Answer:
ΣFr=m ( 𝑟̈ - r 𝜃̇ 2)

ΣF=m ( r ̈ +2 𝑟̇ 𝜃̇ )

We know that to calculate ΣFr , and ΣF must the 𝑟̇ . 𝑟̈ , 𝜃̇ , 𝜃̈ , 𝑧̈ , be

known, so
r = 1 - 0.5cos2t m at t = 2s r = 0.5 m

𝑟̇ = sin2t m/s at t=2s 𝑟̇ = 0

𝑟̈ =22cos2t m/s2 at t =2s 𝑟̈ =22 m/s2

=0.5cos2t rad at t=2s =0 rad

𝜃̇ =-0.4cos2t rad/s at t=2s 𝜃̇ =0.4 rad/s

𝜃̈ =0.82sin2t rad /s2 at t=2s 𝜃̈ =0

ΣFr=m ( 𝑟̈ - r 𝜃̇ 2) = 0.4[22-0.5(-0.4)2]=0.7682

ΣFr=0.7682 N Ans.

ΣF=m ( r ̈ +2 𝑟̇ 𝜃̇ ) = 0.4[(0.5)(0)+2((0)(-0.4)]=0

[136]
Chapter 4: Newton’s Second Law

∑ 𝐹𝜃 = 0 Ans.

Example 4.9

The smooth bar in the figure rotates

in the horizontal plane with constant
angular velocity ωo. The outstretched
length of the linear spring is r0. The
collar A has a mass m and released at
r = ro with no radial velocity.
(a) Determine the radial velocity of the collar as a function of r.
(b) Determine the horizontal force exerted on the collar by the bar
as a function of r.

Solution
Data:
Rotates in the horizontal plane. (Weight is negligible)
𝜃̇ = ωo= constant . 𝜃̈ = 0 ,

𝑟̇ o = vor = 0 , The mass of collar A is m

Required:
r = vr = ƒ(r) =?

Horizontal force N
Answer:

[137]
Chapter 4: Newton’s Second Law

1. The only force on the collar in the radial direction is the spring
force,, which we can express in polar coordinates in terms of r. By
integrating relation no. 1 in Eq. (2), we can determine the radial
velocity 𝑟̇ = vr as function of r.
𝑑𝑟
2. Once 𝑟̇ = vr = is known in terms of r, we can use relation no. 2
𝑑𝑡

in Eq.

To determine the transverse e force exerted on the collar by the bar.

The spring exerts a radial force k(r-ro) in the y negative r direction as

shown in Fig.a. Since the bar is smooth; it exerts no radial force on A,

but may exert a transverse force N. Fig. b shows the radial and
transverse components of the acceleration. Newton's second law
in the radial direction is
ΣFr=mar

ΣFr=m ( 𝑟̈ - r 𝜃̇ 2)
𝑑𝑟̇
-K ( r - ro ) = m ( - - r (ωo ) 2)
𝑑𝑡
𝑑𝑣𝑟
or -K ( r - ro ) = m ( - - r (ωo ) 2)
𝑑𝑡

We solve this equation for the time derived of 𝑣𝑟

𝑑𝑣𝑟 𝑘
- = r (ωo ) 2 - ( 𝑟 − 𝑟𝑜 )
𝑑𝑡 𝑚

Applying the chain rule,

[138]
Chapter 4: Newton’s Second Law

𝑑𝑣𝑟 𝑑𝑣𝑟 𝑑𝑟 𝑑𝑣𝑟

= = 𝑣𝑟
𝑑𝑡 𝑑r 𝑑𝑡 𝑑r

we obtain ,

𝑘 𝑘
𝑣𝑟 𝑑𝑣𝑟 = { ( (ωo ) 2 - ) r + ) ro } dr
𝑚 𝑚

Finally, integrating
𝑣𝑟 𝑟
𝑘 𝑘
∫ 𝑣𝑟 𝑑𝑣𝑟 = ∫ { ( (ωo )2 − ) r + ) ro } dr
𝑣𝑜𝑟 𝑟𝑜 𝑚 𝑚

Yields the radial velocity as a function of r

𝑘 2𝑘
𝑣𝑟 = √{ ( 2(ωo )2 −
𝑚
) (r 2 − ro2 ) + 𝑚
) ro (r − ro )}

To determine the force N, we use Newton's second law in the

transverse direction

∑ 𝐹𝜃 =m ( r ̈ +2 𝑟̇ 𝜃̇ )
N= m ( 0 + 2𝑣𝑟 𝜔𝑜 ) = 2𝑚𝜔𝑜 𝑣𝑟

Substituting our expression for 𝑣𝑟 as a function of r, we obtain the

transverse force exerted by the bar function of r.

𝑘 2𝑘
𝑁 = 2𝑚𝜔𝑜 √{ ( (ωo )2 −
𝑚
) (r 2 − ro2 ) +
𝑚
) ro (r − ro )}

Example 4.10

[139]
Chapter 4: Newton’s Second Law

The smooth 0.5-kg double-collar

in the shown Figure can freely
slide on arm AB and the circular
guide rod. If the arm rotates with
a constant angular velocity of 𝜃̇ =
3 rad/s, determine the force the
arm exerts on the collar at the
instant 𝜃 = 45 °. Motion is in the
horizontal plane.

Solution
Free-Body Diagram

Fig. b shows that the the normal reaction Nc of the circular guide rod
and the force F of arm AB act on the collar in the plane of motio. Note
that F acts perpendicular to the axis of arm AB, that is, in the
direction of the  axis, while Nc acts perpendicular to the tangent of
the circular path at θ = 45°. The four unknowns are Nc , F, 𝑎𝑟 𝑎𝜃 .

[140]
Chapter 4: Newton’s Second Law

Equations of Motion

∑ 𝐹𝑟 = m𝑎𝑟 ;

- 𝑁𝐶 cos 45° = (0.5 kg) 𝑎𝑟

F - Nc sin 45° = (0.5 kg) 𝑎𝜃

Kinematics

Using the chain rule, the first and second time derivatives of r
when θ = 45O, 𝜃̇ = 3 rad/s, 𝜃̈ = 0, are

We have

r = 0.8 cos r = 0.8 cos45° = 0.5657 m

𝑟̇ = -0.8 sin θ 𝜃̇ = -0.8 sin 45°(3) = -1.6971 m/s

𝑟̈ = -0.8[ sin θ 𝜃̈ +cos θ 𝜃̇ 2 ]

= -0.8[sin 45°(0) +cos 45°(32)] = -4.091 m/s2

𝑎𝑟 = 𝑟̈ - r𝜃̇ 2 =-4.091 m/s2 - (0.5657 m)(3 rad/s)2 = -10.18

m/s2

𝑎𝜃 = r 𝜃̈ + 2𝑟̇ 𝜃̇ = (0.5657 m)(0) + 2( -1.6971 m/s)(3 rad/s)

= -10.18 m/s2

Substite these results into Eqs (1) and (2) and solving, we get

[141]
Chapter 4: Newton’s Second Law

Nc = 7.20 N

F=0

Example 4.11
The smooth 2-kg cylinder C in Fig. 13-20a has a pin P through its
center which passes through the slot in arm OA . If the arm is forced
to rotate in the vertical plane at a constant rate 𝜃̇ = 0.5 rad/s,
determine the force that the arm exerts on the peg at the instant θ=
60°.
Solution

Why is it a good idea to use polar coordinates to solve this problem?

Free-Body Diagram

The free-body diagram for the cylinder is shown in Fig. 13-20b.

The force on the peg, F p, acts perpendicular to the slot in the arm.

[142]
Chapter 4: Newton’s Second Law

As usual, ar and ao are assumed to act in the directions of positive

r and θ, respectively. Identify the four unknowns.

Equations of Motion

Using the data in Fig. 13-20b, we have

∑ 𝐹𝑟 = m𝑎𝑟 19.62 sin θ - NC sin θ= 2 𝑎𝑟

∑ 𝐹θ = m𝑎θ 19.62 cos θ +FP- NC cos θ= 2 𝑎θ

Kinematics. From Fig. a, r can be related to θ by the

0.4
𝑟= = 0.4𝑐𝑠𝑐𝜃
𝑠𝑖𝑛 𝜃

Since d(csc θ) = -(csc θcot θ) dθ and d(cot θ) = -(csc2 θ) dθ, then r

and the necessary time derivatives become

𝜃̇ = 0.5 r = 0.4 csc θ

𝜃̈ = 0 𝑟̇ = -0.4( csc θ cot θ) 𝜃̇ = -0.2( csc θ cot θ)

𝑟̈ = -0.2( -csc θ cot θ) (𝜃̇ ) cot θ - 0.2 csc θ ( -csc2 θ) 𝜃̇

= 0.1 csc θ ( cot2 θ + csc2 θ)

Evaluating these formulas at θ = 60°, we get

𝜃̇ = 0.5 r = 0.462

𝜃̈ = 0 𝑟̇ = -0.133

[143]
Chapter 4: Newton’s Second Law

𝑟̈ = 0.192

̈ 2̇ = 0.192 − 0.462(0,5)2 = 0.077

𝑎𝑟 = 𝑟 − 𝑟𝜃

𝑎θ = 𝑟 𝜃̈ + 2 𝑟̇ 𝜃̇ 2 = 0 + 2(0.133)(5) = −0.133

Substituting these results into Eqs 1 and 2 with θ = 60° and solving
yields Nc = 19.5 N and Fp = -0.356 N

The negative sign indicates that F p acts opposite to the direction

shown in Fig.

[144]
 Chapter

5
WORK AND ENERGY

In mechanics a force F does work on a particle only when the particle

undergoes a displacement in the direction of the force. For example,
consider the force F acting on the particle in Fig. 5.1. If the particle
moves along the path S from position r to a new position r', the
displacement is then dr = r'-r.

Fig. 5.1 Work in general form

The magnitude of dr is representedby ds, the differential segment
along the path. If the angle between the tails of dr and F is e, Fig. 5.1,
then the work dU which is done by F is a scalar quantity, defined by
Chapter 6: Work and Energy

dU=F ds cos 
By definition of the dot product this be written as
dU = F. dr
This result may be interpreted in one of two ways: either as the
product of F and the component of displacement in the direction of
the force, i.e., ds cos , or as the product of ds and the component of
force and the direction of displacement i.e., F cos  .Note that if
0<90˚ the force component and the have the same sense so that
the work is positive; whereas if 90<180°, these vectors have an
opposite sense, and therefore the work is negative. Also, dU=0 if the
force is perpendicular to displacement, since cos90 = 0, or if the force
is applied at a fixed point, in which case the displacement is zero.

The basic unit for work in the SI system is called a joule (J). This
unit combines the units of force displacement. Specifically, 1 joule of
work is done when a force of 1 Newton moves 1its line of action ( 1 J
= 1 N . m ). The moment of a force this same of combination of units
(N. m); however, the concepts of moment and work are in no way
related. A moment is a vector quantity, whereas work is a scalar.

5.1 WORK OF A VARIABLE FORCE

If the panicle undergoes a finite displacement along its path
from r1 to r2 or s1 to s2, Fig. 5.2a, the work determined by
integration, If F is expressed as a function of position, is defined as:

[145]
Chapter 6: Work and Energy

F=F(s)
we have

∫ ∫ (1)

The working component of the force, F cos  , is plotted versus s, Fig.

5.2b, the integral in this equation can be interpreted as the area
under the curve from position s1 to s2

Fig 5.2 Work of a variable force

5.2 WORK OF CONSTANT FORCE MOVING ALONG

STRAIGHT LINE
If the force Fc has a constant magnitude and acts as constant
angle  from its straight-line path, Fig. 5.3a, then the component of
Fc in the direction of displacement is Fc cos .

[146]
Chapter 6: Work and Energy

Fig 5.3 Work of a constant force moving along constant line

The work done by Fc when the particle is displaced from s1 to s2 is

determined from Eq.(l), in which case

U1-2=Fc cos  ∫

U1-2=Fc cos  (s2-s1)

Here the work of FC represents the area of the rectangle in Fig 5.3 b

5.3 WORK OF A WEIGHT

Consider a which moves
up along the path s shown in
Fig. 5.4 from s1 to position s2
at an intermediate point, the
displacement
Dr = dx i + dy j + dz k Fig 5.4 Work of a weight

Since W= -Wj, applying Eq. (1) yields

[147]
Chapter 6: Work and Energy

U1-2= ∫ ∫ ( )( )

U1-2= ∫ ( )

U1-2= -WΔy

The work done is equal to the magnitude of the Particle's, weight

times its vertical displacement. In the case shown in Fig. 5.4 the work
is negative, since W is downward and Δy is Upward. Note, however
that if the particle is displaced downward (-Δy,), the work of the W is
positive. Why?

5.3 WORK OF A SPRING FORCE

The magnitude of force developed in a linear elastic spring when the

spring is displaced a distance S from its unstretched position is
FS=Ks, where k is .the spring stiffness. If the spring is elongated or
compressed from a position s, to a further position s2, Fig. 5.5.a, the
work done on the spring by FS positive, since in each case the force
and displacement are in the same direction. We require

∫ = ∫

k = k

This equation represents the trapezoidal area under the line FS=Ks ,

[148]
Chapter 6: Work and Energy

Fig. 5.5 Work of a spring force

If the particle (or body) is attached to a spring then the force FS

exerted on the particle is opposite to that exerted on the spring.
Consequently the force will do negative work on the particle when
the particle is moving so as to further elongate (or compress) the
spring. Hence, the above equation becomes

( k - k ) (4)

When this equation is used, a mistake in sign can be eliminated if one

simply notes the direction of the spring force acting on the particle-if
both are in the same direction, positive work results; if they are
opposite to one another, the work is negative
Example 5.1
The 10-kg block showed in the Fig. a rests on the smooth incline. If
the spring is originally stretched by 0.5 m, determine the work by all
forces acting on the block. when a horizontal force P=400 N pushes
the block up the plane s = 2 m.

[149]
Chapter 6: Work and Energy

Solution

Data:
S1 =0.5 m
S2=2.5 m
P=400 N
W=10(9.81)=98.1 N
K=30 N/m
Required:
Work done of all forces
Answer:
First the free body diagram of the block is drawn in order to account
for all the forces that act on the block, Fig. (b).
1. Horizontal Force P.
Since this force is constant, the work is detained using equation
(2). The result can be calculated as the force times the
component of displacement in the direction of the force;

[150]
Chapter 6: Work and Energy

U1-2 = Fc{(s2-s1) cos  }

UP = 400{(2)(cos30)}=692.8 J

or the displacement times the component of force in the direction

of displacement, i.e.,
UP= {400 (cos30)}(2) = 692.8 J

2. Spring Force p
In the initial position in the spring is stretched s1=0.5 m, and in
the final position it is stretched s2=2.5 m.
We require the work to be negative since the force and
displacement are in opposite directions.
The work of Fs is thus

( k - k )

( (30) ( 2.5 ) 2 - (30) (0.5) 2 ) = - 90 j

3. Weight W
Since the work acts in the opposite direction to its vertical
displacement, the work is negative; i.e.,
U1-2= -WΔy

UW = - 98.1(2sin30) = 98.1 J

Note that it is also possible to consider the component of weight in

the direction of displacement; i.e. ,

[151]
Chapter 6: Work and Energy

UW = - (8.1sin30) = -98.1 J

4. Normal Force NB

This force does no work since it is always perpendicular to the

displacement.
5. Total Work
The total work of all the forces when the block is displaced 2 m
is thus
UT= 692.8 – 90 - 98.1 = 505 J

5.4 PRINCIPLES OF WORK AND ENERGY

Consider a particle P in Fig.5.6 which at the instant considered is

located in the path as measured from an inertial coordinate system. If
the particle has a mass m and is subjected to a system of external
forces represented by the resultant FR=ΣF, then

Fig 5.6 Principle of work energy in normal and tangential coodinates

[152]
Chapter 6: Work and Energy

The equation of motion for the particle in the tangential direction

is ΣFt=mat. Applying the kinetic equation and integrating

both sides, assuming initially that the particle has a position s =s1 and
speed v = v1, and later at s=s2, v = v2, yields

∑∫ ds=∫

∑∫ ds = m - m (5)

From Fig 5.6,

∑ ∑

Since work is defined from Eq , the final result may be written as

∑ ( k - k ) (6)

This equation represents the principle of work and energy for the
particle. The term on the left is the sum of the work done by the
forces acting on the particle as the particle moves from point 1 to
point 2. The two terms on the side, which are of the form T =
½mv2, define the particle's final and initial kinetic energy,
respectively. These terms are always positive scalars. Furthermore,
Eq. (6) must be dimensionally homogenous so t he kinetic energy
has the same units as work, e. joules (J).
When Eq. (6) is applied, it is often symbolized in form

[153]
Chapter 6: Work and Energy

T1 + ΣU1-2 = T2 ( 7)

The Principle of work and energy which states that

The principle initial kinetic energy plus the work done by all
the forces acting on the particle equal the particle final kinetic
energy.

As noted from the derivative, the principle of work and energy

presents an integrated form of ΣFt=mat Obtained by using the

kinematic equation as a result, this principle will provide a

convenient substittion for ΣFt=mat , whrn solving those types of

kenetic problems which involve force, velocity , and displacement,

since these variables are involved in the terms of Eq. (7). For
example, if a particle initial speed is known and the work of all the
forces acting on the particle can be determined, then Eq. (7) provided
a direct means of obtaining the final speed v 2 of the particle after it
undergoes a specified displacement. If instead v 2 is determined by
means of the equation of motion, a two step process is necessary; i.e.,

apply ΣFt=mat to obtain at , then integrated to obtain v2.

Note that the principle of the work and energy can't be used, for
example, to determine forces directed normal to the path of motion,
since these forces do not work the particle. Instead ΣFn=man must be

[154]
Chapter 6: Work and Energy

applied. For curved paths, however, the magnitude of the normal

forces is a function of speed. Hence, it may be easier to obtain this
speed using the principle of work and energy, and then substitute

this quantity into the equation of motion ΣF n=m to obtain the

normal force.

PROCEDURES FOR ANALYSIS

The principle of Work and Energy is used to solve kinetic problems

that involve velocity, force, and displacement, since these terms are
involved in the equation. For application it is suggested that the
following procedure be used.

Work (Free Body Diagram)

 Establish the inertial coordinate system and draw the free

body diagram of the particle in order to account for all the
forces that do work on the particle as it moves along its path.

Principle of work and energy,

 Apply the principle of work and energy T1+ΣU1-2 = T2

 The kinetic energy at the initial and final points is always

positive , since it involves the speed squared (T=1/2mv2)
 A force does work when it moves through displacement in the
direction of the force.
 Work, is positive when the force component is in the same

[155]
Chapter 6: Work and Energy

directionas its displacement, otherwise it is negative. The

forces' that are functions of displacement must integrate to
obtain the work. Graphically, the
work is equal to the area under the force displacement curve.
 The work of a weight is the product of the weight magnitude
and the vertical displacement UW=WY and it is positive when
the weight moves downwards.
 The work of spring is of the form US=½ks1/2 where K is the
spring stiffness and s is the stretch or compression of the
spring.

Example 5.2

The 3500-Ib automobile shown in the figure (a) is traveling down the
10° inclined road at a speed of 20 ft/s. If the driver jams on the
brakes, causing his wheels to lock, determine how far s his tires skid
on the road. The coefficient of kinetic between the wheels and the
road is µk=0.5
Solution
Data:
W=3500 Ib
Vo=20 ft/s =0 µk=0.5
Required:
The length S required to stop

Answer:

[156]
Chapter 6: Work and Energy

This problem can be solved using the principle of work, energy since
it involves force, velocity, and displacement As shown in the, figure
(b), the normal force NA does no work since it never undergoes
displacement along its line of action. The weight 3500 -Ib, is
displaced S sin 10 and does positive work. Why? The frictional
force FA does both external and internal work when it is thought to
undergo a displacement S. This work is negative since it is in the
opposite direction to displacement.
Applying the equation of equilibrium normal to the road, we have
(+) ΣFn=0
NA - 3500 cos10o = 0

NA = 3445.8 Ib
Thus FA= 0.5(3445.8) = 1723.4 Ib

Principle of work and energy

+ ∑

[157]
Chapter 6: Work and Energy

( )( ) ( ) )

Solving for S yields S=19. 5 ft Ans

Another Solution
If this problem is solving by using the equation of motion (Newton's
second law) two steps are involved. First, from the free-body
diagram, the equation of motion is applied along the incline. This
yields
(+) ΣFs = m as
3500 sin10o – 1723.4 Ib= (3500/32.2) a
a = - 10. 3 ft/s2
Then, using the integrated form (kinematics), since a is constant, we
have

(+) 2= o
2 + a (s-s )
c o

(0)2 = (20)2 + 2 (-10. 3) ( S – S0 )

S=19.5 ft Ans.

[158]
Chapter 6: Work and Energy

Example 5.3

For s short time the crane in the Figure (a) lifts the 2.5-Mg beam with
a force of P= (28+3s2) kN. Determine the spead of the beam when it
has risen s = 3 m, starting from rest,
Solution
Data:
m= 2.5 Mg - 2500 kg
F=(28+3s2) kN
So=0, s=3 m , o=0

Required:

= ? m/s at s=3 m

Answer:
We can solve this problem using the pricnciple of work and energy
since it involves force, velocity, and displacement. As shown in the
free-body diagram, figure (b), the towing force F does positive work,
which must be determined by integration since this force is a
variable . Also, the weight is constant and will do negative work since
the displacement is upwards.
Principle of work and energy

+ ∑

0+∫ ( )(103 )ds - (2500) (9.81) ( s ) = 1250 v2

[159]
Chapter 6: Work and Energy

=√ = 5.47 m/s

Example 5.4
The platform P, shown in Fig. a, has negligible mass and is tied down
so that the 0.4-m-Iong cords keep a 1-m-Iong spring compressed 0.6
m when nothing is on the platform. If a 2-kg block is placed on the
platform and released from rest after the platform is pushed down
0.1 m, Fig. b, determine the maximum height h the block rises in the
air, measured from the ground.
Solution

Work (Free-Body Diagram). Since the block is released from rest and
later reaches its maximum height, the initial and final velocities are
zero. The free-body diagram of the block when it is still in contact
with the platform is shown in Fig. c. Note that the weight does
negative work and the spring force does positive work. Why? In
particular, the initial compression in the spring is Sl = 0.6 m + 0.1 m =
0.7 m. Due to the cords, the spring's final compression is S2 = 0.6 m (

[160]
Chapter 6: Work and Energy

after the block leaves the platform) . The bottom of the block rises fr
om a height of ( 0.4 m - 0.1 m) = 0.3 m to a final height h.
Principle of Work and Energy.

+∑
m * ( (K) (K) ) + m)

Note that here Sl = 0.7 m > S2 = 0.6 m and so the work of the spring as
determined from Eq. will indeed be positive once the calculation is
made. Thus,

0 + {- [ (200 N/m)(0.6 m)2 - (200 N/m)(0.7 m)2 ] – (

19.62 N)[h - ( 0.3 m)]} = 0

Solving yields

h = 0.963 m Ans.

Example 5.5

The 40 kg boy which is shown in Fig. a slides down the smooth water
slide. If he starts from rest at A, determine his speed when he reaches
B and the normal reaction the slide exerts on the boy at this position.
Solution
Work (Free-Body Diagram). As shown on the free-body diagram
illustrated in Fig. b there are two forces acting on the boy as he goes
down the slide. Note that the normal force does no work.

[161]
Chapter 6: Work and Energy

Principle of Work and Energy

∑ +∑ ∑

0+ (40 (9.81)N)(7.5 m) = (40 kg)

VB = 12.13 m/s = 12.1 m/s Ans.

Equation of Motion
Referring to the free-body diagram of the boy when he is at B, Fig. c,
the normal reaction NB can now be obtained by applying the
equation of motion along the n axis. Here the radius of curvature of
the path is

* ( ) +
) , ( ) -
⌉
, -
[ ]

Thus,

[162]
Chapter 6: Work and Energy

( )
∑ ( ) ( )

Ans.

Example 5.6

Blocks A and B shown in Fig. a have masses of 10 kg and 100 kg,

respectively. Determine the distance B travels when it is released
from rest to the point where its speed becomes 2 m/s.

Solution

This problem may be solved by considering the blocks separately

and applying the principle of work and energy to each block.
However, the work of the (unknown) cable tension can be eliminated
from the analysis by considering blocks A and B together as a single
system.

[163]
Chapter 6: Work and Energy

Work (Free-Body Diagram)

As shown on the free-body diagram of the system, Fig. b, the cable
force T and reactions R1 and R2 do no work, since these forces
represent the reactions at the supports and consequently they do not
move while the blocks are displaced. The weights both do positive
work if we assume both move downward, in the positive sense of
direction of SA and SB'

∑ +∑ ∑

{ ( ) ( ) } * +

{ ( ) ( ) }

* + * + { ( ) ( ) }

Principle of Work and Energ

Realizing the blocks are released from rest, we have Kinematics.
Using the methods of kinematics discussed in Sec. 12.9, it may be
seen from Fig. a that the total length I of all the vertical segments of
cable may be expressed in terms of the position coordinates SA and
SB as
SA + 4SB = l
Hence, a change in position yields the displacement equation
SA + 4 SB = 0

[164]
Chapter 6: Work and Energy

SA = -4 SB
Here we see that a downward displacement of one block produces an
upward displacement of the other block. Note that SA and SA must
have the same sign convention in both Eqs. 1 and 2. Taking the time
derivative yields
VA = -4VB = -4( 2 m/s) = -8 m/s
Retaining the negative sign in Eq. 2 and substituting into Eq. 1 yields

SB = 0.883 m

5.5 Power and Efficiency

5.5.1Power

Power is defined as the amount of work performed per unit of time.

Hence, the power generated by a machine or engine that performs an
amount of work
dU within the time interval dt is

(9)

Provided the work dU is expressed by du=F.dr , then it is also

possible to write

= =F

P=F. (10)

[165]
Chapter 6: Work and Energy

Hence, power is a scalar, where in the formulation v represents the

velocity of the point which is acted upon by the force F.
The basic unit of power used in the SI system is the watt (W). This
unit is defined as

1W=1J/s=1N.m/s

The term "power" provides a useful basis for determining the type of
motor or machine which is required to do a certain amount of work
in a given time. For example, two pumps may each be able to empty a
reservoir if given enough time; however, the pump having the larger
power will complete the job sooner.

5.5.2 Efficiency

The mechanical efficiency of a mechanic is defined as the ratio of the

output of useful power produced by the machine to the input of
power supplied to the machine. Hence,

If energy applied to the machine occurs during the same time

interval at which it is removed, then the efficiency may also be
expressed in terms of the ratio of output energy to input energy.

[166]
Chapter 6: Work and Energy

Since machines consists of a series of moving parts , frictional forces

will always be developed within the machine, and as a result, extra
energy or power is needed to overcome these forces. Consequently
the efficiency of a machine is always less than 1

PROCEDURES FOR ANALYSIS

The power supplied to a body can be computed using the following
procedure.
 First determine the external force F acting on the body which
causes motion. This force is usually developed by a machine
or engine placed either within or external to the body.

 If the body is accelerating, it may be necessary to draw its

free-body diagram and apply the equation of motion (ΣF =ma)
to determine F.

 Once F and the velocity v of the point where F is applied

have been found, the power is determined by multiplying the
force magnitude by the component of velocity acting in the
direction of F, (i.e., P = F. = F cos ).

 In some problems the power may be found by calculating the

work done by F per unit time.

or

[167]
Chapter 6: Work and Energy

Example 5.7

The sports car in the Figure (a) has a mass 2 Mg and is traveling at a
speed of 25 m/s, when the brakes to all the wheels are applied. If the
coefficient of kinetic friction is k=0.35, determine the power
developed by the friction force when the car skids. Then find the
car's speed slid 10 m.
Solution
Data:
m = 2 Mg = 2000 kg o =25 m/s µk =0.35

Required:
Power P and speed at s = 10 m.-,
Answer:
The normal force NC and frictional force FC represent the
resultant forces of all four wheels. Applying the equation of
equilibrium in the y direction to determine NC we have
(+) ΣFy=0 NC = 19.62 kN
The kinetic frictional force is therefore
FC = 0.35)19.62 = 5.867 kN
The velocity of the car can be determined when s = 10 m by applying
the principle of work and energy. Why?
T1+ΣU1-2= T2 ½(2000 (25)2- 6867(10) = ½(2000) v2

= 2 3.59 m /s

[168]
Chapter 6: Work and Energy

The power of the frictional force at this instant therefore

P=Fc. =6867(25) =172 kW

[169]
 Chapter

6
IMPULSE AND MOMENTUM

6.1 INTRODUCTION

In this chapter, we will integrate the equation of motion with respect

to time and thereby obtain the principile of impulses and
momentum. It will then be shown that the resulting equation will be
useful for solving problems involving force, velocity, and time.
The equation of motion for a participle of mass m can be written as:
𝑑𝑣
ΣF= m a =m (1)
𝑑𝑡

Where a and 𝑣 are both measured from an interial frame of

reference. Rearranging the terms and integrating between the limits
𝑣 = 𝑣1 at t = t1 and 𝑣 = 𝑣2 at t= t2 , we have
𝑡 𝑣
∑ ∫𝑡 2 𝐹𝑑𝑡 = ∫𝑣 2 𝑚𝑑𝑣
1 1

or
𝑡
∑ ∫𝑡 2 𝐹𝑑𝑡 = 𝑚𝑣2 − 𝑚𝑣1 (2)
1
Chapter 6: Impulse and Momentum

This equation is to as the principle linear impulses and momentum.

From the derivation it is simply a time integration of the equation of
motion. it provides a direct means of obtaining the particle's initial
velocity is known and the force acting on the particle are either
constant or can be expressed as functions of time. By comparison, if
𝑣2 was determined using the equation of motion two-step process
would be necessary, i.e., apply ΣF = ma to obtain a, then integrate a =
𝑑𝑣
to obtain 𝑣2 .
𝑑𝑡

6.2 LINEAR MOMENTUM

Each of two vectors of the form L= m𝑣 in Eq.(2) is referred to as the

particle linear momentum. Since m is a positive scalar, the linear
momentum vector has the same direction as 𝑣. and its magnitude mv
has unit of mass-velocity, e.g., kg. m/s.

6.3 LINEAR IMPULSE

The integral I=∫Fdt in Eq. (2) is referred to as the linear impulse. This
term is a vector quantity which measures the effect of a force during
the time the force acts. Since time is a positive scalar, the impulse
acts in the same direction as the force, and its magnitude has unit of
force-time, e.g., N.s, If the force is expressed as a function of time, the
impulse may be determined by direct evaluation of the integral.In

[171]
Chapter 6: Impulse and Momentum

𝑡
particular, the magnitude of the impulse I = ∫𝑡 2 𝐹 𝑑𝑡 can be be
1

represented experimentally by the area under the curve of force

versus time (i.i. Fig. 6.1). When the force is constant in both
𝑡
magnitude and direction, the resulting impulse becomes I = ∫𝑡 2 𝐹 𝑑𝑡=
1

Fc(t2-t1) , which represents the rectangular area shown in Fig. 6.2

Fig 7-1 Variable force versus tine Fig,. 6.2 Constant force versus time

6.4 PRINCIPLE OF LINEAR IMPULSE AND LINEAR

MOMENTUM
For problem solving, Eq. (2) will be written in the form

[172]
Chapter 6: Impulse and Momentum

𝑡
m𝑣1 + Σ ∫𝑡 2 𝐹 𝑑𝑡 = m𝑣1 (3)
1

This equation states “The initial momentum of the particle at t1

plus the sum of all the impulse applied to the particle from t1 to
t2 is equivalent to the final momentum of the particle at t2”.
These three terms are illustrated graphically on the impulse and
momentum diagrams shown in Fig.6.3.

The two momentum diagrams are simply outlined shapes of the

particle which indicate the direction and the magnitude of the
particle's initial and final momentum, m𝑣1 . and m𝑣2 ,
respectively, Fig. 6.3. Like the free-body diagram, the impulse
diagram is an outlined shape of the particle showing all the impulses
that act on the particle when it is located a-some intermediate point
along its -path. In general, whenever the magnitude or direction of a
force varies with time, the impulse is represented on the impulse
𝑡
diagram as ∫𝑡 2 𝐹 𝑑𝑡. If the force is constant, the impulse applied to
1

the particle is FC(t2-t1) and acts in the same direction as FC.

[173]
Chapter 6: Impulse and Momentum

Fig.6.3 Graphically representation of Eq. (3)

6.5 SCALAR EQUATION

If each of the vectors in Eq. (3) is resolved into its x, y, z components,

we can write symbolically the following three scalar equations:
𝑡
𝑚(𝑣𝑥 )1 + Σ ∫𝑡 2 𝐹𝑥 𝑑𝑡 = 𝑚(𝑣𝑥 )2
1

𝑡
𝑚(𝑣𝑦 )1 + Σ ∫𝑡 2 𝐹𝑦 𝑑𝑡 = 𝑚(𝑣𝑦 )2 (4)
1

𝑡
𝑚(𝑣𝑧 )1 + Σ ∫𝑡 2 𝐹𝑧 𝑑𝑡 = 𝑚(𝑣𝑧 )2
1

These equations represent the principle of linear impulse and

momentum for the particle in the x, y, z, directions, respectively.

PROCEDURE FOR ANALYSIS

The principle of linear impulse and momentum used to solve kinetic

problems that involve, fore time and velocity, since these terms are
involved i the formulation. For application it is suggested the; the
following procedure be used.

Free Body Diagram

▪ Establish the x, y, z, inertia! frame of reference and draw the

[174]
Chapter 6: Impulse and Momentum

particle's free body diagram in order to account for all the forces
that produce impulses on the particle.
▪ The direction and the sense of the particle's initial and final
velocities should be established.
▪ If a vector is known, assume that the sense of its components in
the direction of the positive inertial coordinate(s).
▪ As an alternative procedures, draw the impulse and momentum
diagram for the particle as discussed in reference to Fig. 6.3.

Principle of Impulse and Momentum

▪ In accordance with the established coordinate system apply the

principle of linear impulse and momentum,
𝑡
𝑚(𝑣 )1 + Σ ∫𝑡 2 𝐹 𝑑𝑡 = 𝑚(𝑣 )2
1

in the x-y plane, the two scalar component equations can be

formulated by either resolving the vector components of F from the
free-body diagram, or by using the data on the impulse and
momentum diagrams.

▪ Realize that every force acting on the particle's free-body

diagram will create an impulse, even though some of theses
forces will do no work,
▪ Forces that are functions of time be integrated to obtain the

[175]
Chapter 6: Impulse and Momentum

impulse. Graphically, the impulse is equal to the under the curve.

▪ If the problem involves the dependent motion ofseveral particles,
the method outlined in chapter 4 to relate their velocities,
sure the positive coordinate directions for writing these
kinematic equations are the as those used for writing the
equations of impulse and momentum.

Example 6.1

A 100-kg stone is originally at rest on the smooth horizontal surface.

If a towing force of 200 N, acting at an angle of 45˚, is applied to the
stone for 10 s, determine the final velocity and the normal force
which the surface exerts on the stone during the time interval.

Solution
Data:
m=100 kg, W= 100(9.81)=981 N, vo = 0

Towing force T = 2500 N with an angle 45 , Δt = 10 s

Required:
The final velocity v at t = 10s, The normal force NC
Answer:
This problem can be solved using the principle of impulse and
momentum since it involves force, velocity, and time. Since all the

[176]
Chapter 6: Impulse and Momentum

forces acting are constant, the impulses. are simply the product of
the force magnitude and the time interval 10s.
I = FC (t2-t1)
Resolving the vectors along the x,y axes and applying Eqs. 4 yields
𝑡
𝑚(𝑣𝑥 )1 + Σ ∫𝑡 2 𝐹𝑥 𝑑𝑡 = 𝑚(𝑣𝑥 )2
1

0 + 200 (cos 45 )( 10 ) = 100 𝑣2

𝑣2 = 14.1 m/s Ans.
𝑡
𝑚(𝑣𝑦 )1 + Σ ∫𝑡 2 𝐹𝑦 𝑑𝑡 = 𝑚(𝑣𝑦 )2
1

0 + NC ( 10 ) – 981 (1 0 ) + 200 ( sin 45 )( 10 ) = 0

NC = 840 N Ans.

Since no motion occurs in the y direction, direct application of the

equilibrium equation ∑Fy = 0 gives the same result for NC.

Example 6.2

A 250-N crate, shown in the figure, is

acted upon by a force having a variable
magnitude P = (100t) N, where t is in
seconds. Determine the crate's velocity
2 s after P has been applied. The initial
velocity is 𝑣1 = 1m/s down the plane
and the coefficient of kinetic friction
between the crate and the plane is µk =
0.3 and θ=30o.

[177]
Chapter 6: Impulse and Momentum

Solution
Data:
W=250N, P=(100t) N , 𝑣1 = 1m/s. µk = 0.3
Required:

The final velocity, at t = 2 s

Answer:
Since the magnitude of force P =(100t) varies with time , the impulse
it creates must be determined by integration over 2-s time interval.
The weight, normal force, and frictional force (which acts opposite to
the direction of motion) are all constant, so that the impulse created
by each of these force is simply the magnitude of the force times 2 s.
applying Eqs. 4 in the x-direction, we have
𝑡
𝑚(𝑣𝑥 )1 + Σ ∫𝑡 2 𝐹𝑥 𝑑𝑡 = 𝑚(𝑣𝑥 )2
1

2
(250)/(9.81) (1) + ∫0 100𝑡 𝑑𝑡 -
0.3NC(2)+250(sin30)(2)=250/9.81𝑣2
25.5+20-0.6NC+250=25.5𝑣2

Equation of equilibrium can be applied in the y direction.

(+) ΣFy=0

NC - 250 cos30 = 0

[178]
Chapter 6: Impulse and Momentum

Solving

NC = 250cos30 = 216.5 N , 𝑣2 = 1306 m/s

Note: we can also solve this problem using the equation of motion

ΣFx = max , ⇒100t- 0.3(216.5)+250sin30=250/9.81a

a =3.924 t + 2.356

using kinematics

𝑣 2
∫1 𝑑𝑣 = ∫0 (3.924 𝑡 + 2.356 ) 𝑑𝑡

𝑣2 =13.6 m/a Ans.

By comparison, application of the principle of i and momentum

𝑑𝑣
eliminates the need for kinematics (a= ) and thereby yields an
𝑑𝑡

easies method for solution.

Example 6.3

Blocks A and B in Figure A have a mass of 3 kg

and 5 kg, respectively. If the system is released
form rest, determine the velocity of block B in
6 s. Neglect the mass of the pulleys and cord

Figure A

[179]
Chapter 6: Impulse and Momentum

Solution
Data:
mA=3kg, mB =5kg

(𝑣o)A= (𝑣o)B =0

Required:

mB=? At t=6 s
Figure B
Answer:

See Figure (b). Since the weight of each block is constant, the cord
tensions will also be constant. Furthermore, since the mass of pulley
D is neglected, the cord tension TA= 2TB. Note that the blocks are
both assumed to be traveling downward in the positive
coordinate directions, sA and sB.
Block A

𝑡
(+↓) 𝑚(𝑣𝐴 )1 + Σ ∫𝑡 2 𝐹𝑦 𝑑𝑡 = 𝑚(𝑣𝐴 )2
1

0 - 2TB (6) + 3 (9.81) (6) = 3 (𝑣A)2 5 (I)

𝑡
(+↓) 𝑚(𝑣𝐵 )1 + Σ ∫𝑡 2 𝐹𝑦 𝑑𝑡 = 𝑚(𝑣𝐵 )2
1

0 + 5(9.81) (6) – TB (6) =5 (𝑣B)2 (II)

[180]
Chapter 6: Impulse and Momentum

Since the blocks are subjected to dependent motion, the velocity of A

may be related to that of B by using the kinematic analysis discussed
in chapter 4. An horizontal datum is established through the fixed
at c, Figure (a), and the position coordinates, sA andsB, are related to
the constant total length L of the vertical segments of the cord by the
equation 2 sA + sB= L

Taking the time derivative yields

2vA=- vB (III)

As indicated by the negative sign, when B moves downward A moves

upward. Substituting this result into Eq. 1 and solving Eqs. 1 and 2
yields

TB=19.2 N

(vB)2 = 35.8 m/s

Note, Realize that the positive (downward) direction for vA and vB is

consistent in figure and (b) and in Eqs. 13. why is this important?

[181]