MECA 211 – Engineering Mechanics

İstanbul Bilgi University

Mechatronics Engineering Department

Instructor: Eren TOSYALI

Chapter #: 12 Lecture
KINEMATICS AND KINETICS OF A PARTICLE

Slides may include material from:

• Hibbeler, R. C. Engineering Mechanics: Dynamics. 14th Edition. Prentice Hall, 2016.
 INTRODUCTION TO DYNAMICS

Engineering Mechanics
Principles that govern the
behavior of rigid objects

Statics Dynamics
Analysis of bodies / Analysis of
objects at rest bodies/objects in motion

Forces Moments Kinematics Kinetics

Linear Angular Geometry of Relationship
Equilibrium Equilibrium motion between force
(disregarding the and motion
forces)

MECA 211 - Engineering Mechanics 2

 INTRODUCTION &
RECTILINEAR KINEMATICS: CONTINUOUS MOTION
Today’s Objectives: In-Class Activities:
Students will be able to: • Applications
1. Find the kinematic quantities • Relations between s(t), v(t),
(position, displacement, velocity, and a(t) for general rectilinear
and acceleration) of a particle motion.
traveling along a straight path. • Relations between s(t), v(t),
and a(t) when acceleration is
constant.
• Group Problem Solving
APPLICATIONS

The motion of large objects,

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

Why?

If we measure the altitude

of this rocket as a function
of time, how can we
determine its velocity and
acceleration?
 SOME DEFINITIONS

• Particle: An ideal situation where mass of the object is assumed

to be concentrated in one single point regardless of its geometry

• Rigid Body: An idealization of a solid object where deformations

are totally neglected

• Frame of Reference: A coordinate system that is suitable for

specifying positions of points

• Trajectory: Path followed by an object (usually particle)

5
 RECTILINEAR KINEMATICS:
CONTINIOUS MOTION (Section 12.2)

A particle travels along a straight-line path

defined by the coordinate axis s.

The position of the particle at any instant,

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

The displacement of the particle is

defined as its change in position.
Vector form:  r = r’ - r Scalar form:  s = s’ - s
The total distance traveled by the particle, sT, is a positive scalar
that represents the total length of the path over which the particle
travels.
 VELOCITY
Velocity is a measure of the rate of change in the position of a particle.
It is a vector quantity (it has both magnitude and direction). The
magnitude of the velocity is called speed, with units of m/s or ft/s.
The average velocity of a particle during a
time interval t is
vavg = r / t
The instantaneous velocity is the time-derivative of position.
v = dr / dt

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

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

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

The instantaneous acceleration is the time

derivative of velocity.

Vector form: a = dv / dt

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

Acceleration can be positive (speed

increasing) or negative (speed decreasing).
 SUMMARY OF KINEMATIC RELATIONS:
RECTILINEAR MOTION

• Differentiate position to get velocity and acceleration.

ds ds
v dt 
dt v ds dv
 ads vdv
dv dv v a
a dt 
dt a
• Integrate acceleration for velocity and position.
Velocity: Position:
v t v s s t

òdv =òa dt or òv dv =òa ds òds =òv dt

vo o vo so so o

• Note that so and vo represent the initial position and

velocity of the particle at t = 0.
 CONSTANT ACCELERATION

The three kinematic equations can be integrated for the special case
when acceleration is constant (a = ac) to obtain very useful equations.
A common example of constant acceleration is gravity; i.e., a body
freely falling toward earth. In this case, ac = g = 9.81 m/s2 = 32.2 ft/s2
downward. These equations are:
v t
dv
a
dt dv adt
v0 0
v  v0 at v(t ) v0  at

s t t
ds at 2
v
dt   ds  v(t )dt 
s  s0  (v0  at )dt
0
s (t ) s0  v0t 
2
s0 0
v s
v 2 v02
ads vdv vdv  ads
v0 s0

2 2
as  as0 v 2 v02  2a ( s  s0 )
 SUMMARY OF RELATIONSHIPS

Basics Rectilinear Motion Constant Acceleration

t
dv
a  v
dt 
v(t ) v0  a (t )dt
0
v(t ) v0  at

t t 
ds  a (t )dt  dt at 2
v  s
dt
s (t ) s0  v0t 
 
0 0


s (t ) s0  v0t 
2

s
ads vdv v( s ) 2 v02  2 a ( s )ds

s0
v 2 v02  2a ( s  s0 )

11
MECA 211 - Engineering Mechanics 11
 EXAMPLE

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

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

Find: The position and acceleration of the particle

when t = 4 s.

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

particle is traveling. Since the velocity is given as a
function of time, take a derivative of it to calculate the
acceleration. Conversely, integrate the velocity
function to calculate the position.
 EXAMPLE (continued)

Solution:
1) Take a derivative of the velocity to determine the acceleration.
a = dv / dt = d(4 t – 3 t2) / dt = 4 – 6 t
 a = – 20 m/s2 (or in the  direction) when t = 4 s

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

velocity using so = 0: s t

v = ds / dt  ds = v dt òds =ò (4 t – 3 t2) dt
 s – so = 2 t 2 – t 3 so o

 s – 0 = 2(4)2 – (4)3  s = – 32 m (or )

 GROUP PROBLEM SOLVING

Given:A sandbag is dropped from a balloon ascending

vertically at a constant speed of 6 m/s.
The bag is released with the same upward velocity of
6 m/s at t = 0 s and hits the ground when t = 8 s.

Find: The speed of the bag as it hits the ground and the altitude
of the balloon at this instant.

Plan: The sandbag is experiencing a constant downward

acceleration of 9.81 m/s2 due to gravity. Apply the
formulas for constant acceleration, with ac = - 9.81 m/s2.
 RECTILINEAR KINEMATICS: ERRATIC MOTION

Today’s Objectives: In-Class Activities:

Students will be able to: Applications
1. Determine position,
s-t, v-t, a-t, v-s, and a-s diagrams
velocity, and acceleration of
a particle using graphs. Group Problem Solving
APPLICATIONS

In many experiments, a
velocity versus position (v-s)
or velocity versus time (v-t)
profile is obtained.

If we have a v-s graph for the

tank truck, how can we
determine its acceleration at
position s = 1500 feet?
If we know the v-t plot, how
can we determine the distance
the car traveled during the
time interval 0 < t < 30 s or
15 < t < 25 s?
S-T GRAPH

Plots of position versus time can

be used to find velocity versus
time curves. Finding the slope of
the line tangent to the motion
curve at any point is the velocity at
that point (or v = ds/dt).

Therefore, the v-t graph can be

constructed by finding the slope at
various points along the s-t graph.
V-T GRAPH
Plots of velocity versus time can be
used to find acceleration versus time
curves. Finding the slope of the line
tangent to the velocity curve at any
point is the acceleration at that point
(or a = dv/dt).
Therefore, the acceleration versus time
(or a-t) graph can be constructed by
finding the slope at various points
along the v-t graph.

Also, the distance moved

(displacement) of the particle is the
area under the v-t graph during time t.
A-T GRAPH

Given the acceleration versus

time or a-t curve, the change in
velocity (v) during a time
period is the area under the a-t
curve.

So we can construct a v-t graph

from an a-t graph if we know the
initial velocity of the particle.
A-S GRAPH

A more complex case is presented by

the acceleration versus position or a-s
graph. The area under the a-s curve
represents the change in velocity
(recall ò a ds = ò v dv ).
s2
½ (v1² – vo²) = ò a ds = area under the
s1
a-s graph
This equation can be solved for v1,
allowing you to solve for the velocity
at a point. By doing this repeatedly,
you can create a plot of velocity
versus distance.
 EXAMPLE
Given: The v-t graph for a dragster moving along a straight road.
Find: The a-t graph and s-t graph over the time interval shown.

What is your plan of attack for the problem?

 EXAMPLE (continued)

Solution: The a-t graph can be constructed by finding the slope

of the v-t graph at key points. What are those?

when 0 < t < 5 s; a0-5 = dv/dt = d(30t)/dt = 30 m/s2

when 5 < t < 15 s; a5-15 = dv/dt = d(-15t+225)/dt = -15 m/s2

a(m/s2)
a-t graph

30
5 15 t(s)
-15
 EXAMPLE (continued)

Now integrate the v - t graph to build the s – t graph.

when 0 < t < 5 s; s = ò v dt = [15 t2 t] = 15 t2 m

0

when 5 < t < 15 s; s  15 (52) = ò v dt = [(-15) (1/2) t 2 + 225 t]

t
5

s = - 7.5 t 2 + 225 t  562.5 m

s(m) s-t graph
1125

-7.5 t2 + 225 t  562.5

375
15t2 t(s)
5 15
 GROUP PROBLEM SOLVING I

Given: The v-t graph shown.

Find: The a-t graph, average

speed, and distance
traveled for the 0 - 80 s
interval.

Plan: Find slopes of the v-t curve and draw the a-t graph.
Find the area under the curve. It is the distance traveled.
Finally, calculate average speed (using basic definitions!).
 GROUP PROBLEM SOLVING II

Given: The v-t graph shown.

Find: The a-t graph and

distance traveled for
the 0 - 15 s interval.

Plan: Find slopes of the v-t curve and draw the a-t graph.
Find the area under the curve. It is the distance traveled.
 CURVILINEAR MOTION:
GENERAL & RECTANGULAR COMPONENTS
Today’s Objectives: In-Class Activities:
Students will be able to: • Applications
1. Describe the motion of a • General Curvilinear Motion
particle traveling along a
curved path. • Rectangular Components of
2. Relate kinematic quantities Kinematic Vectors
in terms of the rectangular • Group Problem Solving
components of the vectors.
APPLICATIONS

The path of motion of a plane can

be tracked with radar and its x, y,
and z-coordinates (relative to a
point on earth) recorded as a
function of time.
How can we determine the velocity
or acceleration of the plane at any
instant?
 GENERAL CURVILINEAR MOTION
(Section 12.4)
A particle moving along a curved path undergoes curvilinear motion.
Since the motion is often three-dimensional, vectors are usually used
to describe the motion.

A particle moves along a curve

defined by the path function, s.

The position of the particle at any instant is designated by the vector

r = r(t). Both the magnitude and direction of r may vary with time.

If the particle moves a distance Ds along the

curve during time interval Dt, the
displacement is determined by vector
subtraction: Dr = r’ - r
 VELOCITY

Velocity represents the rate of change in the position of a

particle.
The average velocity of the particle
during the time increment Dt is
vavg = Dr/Dt .
The instantaneous velocity is the
time-derivative of position
v = dr/dt .
The velocity vector, v, is always
tangent to the path of motion.
The magnitude of v is called the speed. Since the arc length Ds
approaches the magnitude of Dr as t→0, the speed can be
obtained by differentiating the path function (v = ds/dt). Note
that this is not a vector!
 ACCELERATION

Acceleration represents the rate of change in the

velocity of a particle.

If a particle’s velocity changes from v to v’ over a

time increment Dt, the average acceleration during
that increment is:
aavg = Dv/Dt = (v - v’)/Dt
The instantaneous acceleration is the time-
derivative of velocity:
a = dv/dt = d2r/dt2

A plot of the locus of points defined by the arrowhead

of the velocity vector is called a hodograph. The
acceleration vector is tangent to the hodograph, but
not, in general, tangent to the path function.
 CURVILINEAR MOTION:
RECTANGULAR COMPONENTS (Section 12.5)
It is often convenient to describe the motion of a particle in
terms of its x, y, z or rectangular components, relative to a fixed
frame of reference.
The position of the particle can be
defined at any instant by the
position vector
r=xi+yj+zk .
The x, y, z-components may all be
functions of time, i.e.,
x = x(t), y = y(t), and z = z(t) .

The magnitude of the position vector is: r = (x2 + y2 + z2)0.5

The direction of r is defined by the unit vector: ur = (1/r)r
 RECTANGULAR COMPONENTS: VELOCITY

The velocity vector is the time derivative of the position vector:

v = dr/dt = d(x i)/dt + d(y j)/dt + d(z k)/dt
Since the unit vectors i, j, k are constant in magnitude and
direction, this equation reduces to v = vx i + vy j + vz k
• • •
where vx = x = dx/dt, vy = y = dy/dt, vz = z = dz/dt

The magnitude of the velocity

vector is
v = [(vx)2 + (vy)2 + (vz)2]0.5

The direction of v is tangent

to the path of motion.
 RECTANGULAR COMPONENTS: ACCELERATION
The acceleration vector is the time derivative of the velocity
vector (second derivative of the position vector).
a = dv/dt = d2r/dt2 = ax i + ay j + az k
• •• • ••
where ax = vx = x = dvx /dt, ay = vy = y = dvy /dt,
• ••
az = vz = z = dvz /dt
The magnitude of the acceleration vector is
a=

The direction of a is usually

not tangent to the path of the
particle.
 EXAMPLE

Given:The box slides down the slope described by the

equation y = (0.05x2) m, where x is in meters.
vx = -3 m/s, ax = -1.5 m/s2 at x = 5 m.

Find: The y components of the velocity and the acceleration

of the box at at x = 5 m.

Plan: Note that the particle’s velocity can be found by taking

the first time derivative of the path’s equation. And the
acceleration can be found by taking the second time
derivative of the path’s equation.

Take a derivative of the position to find the component

of the velocity and the acceleration.
 EXAMPLE (continued)

Solution:
Find the y-component of velocity by taking a time
derivative of the position y = (0.05x2)

 y = 2 (0.05) x x = 0.1 x x

Find the acceleration component by taking a time

derivative of the velocity 
y
   
 y = 0.1 x x + 0.1 x x

Substituting the x-component of the acceleration, velocity

at x=5 into 
y and
y.
 EXAMPLE (continued)

 
Since x = vx = -3 m/s, x = ax = -1.5 m/s2 at x = 5 m

y = 0.1 x x = 0.1 (5) (-3) = -1.5 m/s



y = 0.1 
  xx + 0.1 xx
= 0.1 (-3)2 + 0.1 (5) (-1.5)
= 0.9 – 0.75
= 0.15 m/s2

At x = 5 m
vy = – 1.5 m/s = 1.5 m/s 
ay = 0.15 m/s2 
 GROUP PROBLEM SOLVING

Given: The particle travels along the path y = 0.5 x2.

When t = 0, x = y = z = 0.

Find: The particle’s distance and the magnitude of its

acceleration when t = 1 s, if vx = (5 t) ft/s, where t is in
seconds.
Plan: 1) Determine x and ax by integrating and
differentiating vx, respectively, using the initial
conditions.
2) Find the y-component of velocity &
acceleration by taking a time derivative of the path.
3) Determine the magnitude of the acceleration
& position.
 MOTION OF A PROJECTILE

Today’s Objectives: In-Class Activities:

Students will be able to: • Applications
1. Analyze the free-flight • Kinematic Equations for
motion of a projectile. Projectile Motion
• Group Problem Solving
 APPLICATIONS

A good kicker instinctively knows at what angle, q, and initial

velocity, vA, he must kick the ball to make a field goal.
For a given kick “strength”, at what angle should the ball be
kicked to get the maximum distance?
 MOTION OF A PROJECTILE (Section 12.6)

Projectile motion can be treated as two rectilinear

motions, one in the horizontal direction experiencing
zero acceleration and the other in the vertical
direction experiencing constant acceleration (i.e.,
from gravity).
MOTION OF A PROJECTILE (Section 12.6)

For illustration, consider the two balls on

the left. The red ball falls from rest,
whereas the yellow ball is given a
horizontal velocity. Each picture in this
sequence is taken after the same time
interval. Notice both balls are subjected to
the same downward acceleration since
they remain at the same elevation at any
instant. Also, note that the horizontal
distance between successive photos of the
yellow ball is constant since the velocity in
the horizontal direction is constant.
 KINEMATICS OF PARTICLES

Projectile Motion
• Assumption: No air drag exists
• System accelerates with -g in y-axis

v(t ) v0  at at 2 v 2 v02  2a ( s  s0 )

s (t ) s0  v0t 
2

X-Axis Y-Axis
v x (t ) v x 0 v y (t ) v y 0  gt

x(t )  x0  v x0t gt 2
y (t )  y0  v y 0t 
2
v 2y v 2y 0  2 g ( y  y0 )

42
KINEMATIC EQUATIONS: VERTICAL MOTION

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

Application of the constant acceleration equations yields:

vy = voy – g t

y = yo + (voy) t – ½ g t2

vy2 = voy2 – 2 g (y – yo)

For any given problem, only two of these three equations

can be used. Why?
KINEMATIC EQUATIONS: HORIZONTAL MOTION

Since ax = 0, the velocity in the horizontal direction remains

constant (vx = vox) and the position in the x direction can be
determined by:
x = xo + (vox) t
Why is ax equal to zero (what assumption must be made if
the movement is through the air)?
 EXAMPLE I

Given: vA and θ
Find: Horizontal distance it
travels and vC.
Plan: Apply the kinematic
relations in x- and y-
directions.
Solution: Using vAx = 10 cos 30 and vAy = 10 sin 30

We can write vx = 10 cos 30

vy = 10 sin 30 – (9.81) t
x = (10 cos 30) t
y = (10 sin 30) t – ½ (9.81) t2
Since y = 0 at C
0 = (10 sin 30) t – ½ (9.81) t2  t = 0, 1.019 s
 EXAMPLE I (continued)

Only the time of 1.019 s makes sense!

Velocity components at C are;

vCx = 10 cos 30
= 8.66 m/s 

vCy = 10 sin 30 – (9.81) (1.019)

= -5 m/s = 5 m/s 

=10 m/s
Horizontal distance the ball travels is;
x = (10 cos 30) t
x = (10 cos 30) 1.019 = 8.83 m
 EXAMPLE II

Given: Projectile is fired with vA=150 m/s

at point A.

Find: The horizontal distance it travels

(R) and the time in the air.

Plan: How will you proceed?

 GROUP PROBLEM SOLVING I

y Given: A skier leaves the ski

x jump ramp at qA = 25o
and hits the slope at B.

Find: The skier’s initial speed vA.

Plan:
 CURVILINEAR MOTION:
NORMAL AND TANGENTIAL COMPONENTS
Today’s Objectives: In-Class Activities:
Students will be able to: • Applications
1. Determine the normal and • Normal and Tangential
tangential components of Components of Velocity
velocity and acceleration of a and Acceleration
particle traveling along a • Special Cases of Motion
curved path. • Group Problem Solving
 APPLICATIONS

As the boy swings upward with a

velocity v, his motion can be
analyzed using n–t coordinates.
y
As he rises, the magnitude of his
x velocity is changing, and thus his
acceleration is also changing.

How can we determine his velocity and acceleration at the

bottom of the arc?
Can we use different coordinates, such as x-y coordinates,
to describe his motion? Which coordinate system would
be easier to use to describe his motion? Why?
APPLICATIONS (continued)

A roller coaster travels down a

hill for which the path can be
approximated by a function
y = f(x).

The roller coaster starts from rest

and increases its speed at a
constant rate.
How can we determine its velocity
and acceleration at the bottom?
Why would we want to know
these values?
 NORMAL AND TANGENTIAL COMPONENTS
(Section 12.7)
When a particle moves along a curved path, it is sometimes convenient
to describe its motion using coordinates other than Cartesian. When the
path of motion is known, normal (n) and tangential (t) coordinates are
often used.

In the n-t coordinate system, the

origin is located on the particle
(thus the origin and coordinate
system move with the particle).

The t-axis is tangent to the path (curve) at the instant considered,

positive in the direction of the particle’s motion.
The n-axis is perpendicular to the t-axis with the positive direction
toward the center of curvature of the curve.
 NORMAL AND TANGENTIAL COMPONENTS
(continued)
The positive n and t directions are
defined by the unit vectors un and ut,
respectively.

The center of curvature, O’, always

lies on the concave side of the curve.
The radius of curvature, r, is defined
as the perpendicular distance from
the curve to the center of curvature at
that point.

The position of the particle at any

instant is defined by the distance, s, along the curve from a
fixed reference point.
 VELOCITY IN THE n-t COORDINATE SYSTEM

The velocity vector is always

tangent to the path of motion
(t-direction).

The magnitude is determined by taking the time derivative of

the path function, s(t).
.
v = v ut where v = s = ds/dt

Here v defines the magnitude of the velocity (speed) and

ut defines the direction of the velocity vector.
ACCELERATION IN THE n-t COORDINATE SYSTEM
Acceleration is the time rate of change
. of velocity:
.
a = dv/dt = d(vut)/dt = vut + vut
.
Here v represents the change in
.
the magnitude of velocity and ut
represents the rate of change in
the direction of ut.

After mathematical manipulation,

the acceleration vector can be
expressed as:
.
a = v ut + (v2/r) un = at ut + an un.
 ACCELERATION IN THE n-t COORDINATE SYSTEM
(continued)
So, there are two components to the
acceleration vector:
a = at ut + an un

• The tangential component is tangent to the curve and in the

direction of increasing or decreasing velocity.
.
at = v or at ds = v dv
• The normal or centripetal component is always directed
toward the center of curvature of the curve. an = v2/r
• The magnitude of the acceleration vector is
a=
 SPECIAL CASES OF MOTION
There are some special cases of motion to consider.
1) The particle moves along a straight line.
.
r  => an = v2/r = 0 => a = at = v
The tangential component represents the time rate of change in
the magnitude of the velocity.
2) The particle moves along a curve at constant speed.
.
at = v = 0 => a = an = v2/r
The normal component represents the time rate of change in the
direction of the velocity.
 SPECIAL CASES OF MOTION (continued)
3) The tangential component of acceleration is constant, at = (at)c.
In this case,
s = so + vo t + (1/2) (at)c t2
v = vo + (at)c t
v2 = (vo)2 + 2 (at)c (s – so)
As before, so and vo are the initial position and velocity of the
particle at t = 0. How are these equations related to projectile
motion equations? Why?
4) The particle moves along a path expressed as y = f(x).
The radius of curvature, r, at any point on the path can be
calculated from
1 +
r = ________________ ]
[ (dy/dx) 2 3/2

d2y/dx2
 THREE-DIMENSIONAL MOTION
If a particle moves along a space curve,
the n-t axes are defined as before. At
any point, the t-axis is tangent to the
path and the n-axis points toward the
center of curvature. The plane
containing the n-t axes is called the
osculating plane.

A third axis can be defined, called the binomial axis, b. The

binomial unit vector, ub, is directed perpendicular to the osculating
plane, and its sense is defined by the cross product ub = ut × un.

There is no motion, thus no velocity or acceleration, in the

binomial direction.
 EXAMPLE I
Given: A car travels along the road
with a speed of v = (2s) m/s,
where s is in meters.
r = 50 m
Find: The magnitudes of the car’s
acceleration at s = 10 m.
Plan:

1) Calculate the velocity when s = 10 m using

v(s).
2) Calculate the tangential and normal
components of acceleration and then the magnitude
of the acceleration vector.
 EXAMPLE I (continued)
Solution:
1) The velocity vector is v = v ut , where the magnitude is
given by v = (2s) m/s.
When s = 10 m: v = 20 m/s
.
2) The acceleration vector is a = atut + anun = vut + (v2/r)un
Tangential component:
.
Since at = v = dv/dt = (dv/ds) (ds/dt) = v (dv/ds)
where v = 2s  at = d(2s)/ds (v)= 2 v
At s = 10 m: at = 40 m/s2
Normal component: an = v2/r
When s = 10 m: an = (20)2 / (50) = 8 m/s2
The magnitude of the acceleration is
a == = 40.8 m/s2
 EXAMPLE II

Given: A boat travels around a

circular path, r = 40 m, at a
speed that increases with
time, v = (0.0625 t2) m/s.
Find: The magnitudes of the boat’s
velocity and acceleration at
the instant t = 10 s.
Plan:
The boat starts from rest (v = 0 when t = 0).
1) Calculate the velocity at t = 10 s using v(t).
2) Calculate the tangential and normal
components of acceleration and then the magnitude
of the acceleration vector.
 GROUP PROBLEM SOLVING I
Given: The train engine at E has a
at speed of 20 m/s and an
acceleration of 14 m/s2 acting
in the direction shown.
an Find: The rate of increase in the
train’s speed and the radius of
curvature  of the path.
Plan:
1. Determine the tangential and normal components of
the acceleration.
2. Calculate from the tangential component of the
acceleration.
3. Calculate  from the normal component of the
acceleration.
 CURVILINEAR MOTION: CYLINDRICAL
COMPONENTS
Today’s Objectives: In-Class Activities:
Students will be able to: • Applications
1. Determine velocity and
acceleration components • Velocity Components
using cylindrical • Acceleration Components
coordinates.
• Group Problem Solving
 APPLICATIONS (continued)

The cylindrical coordinate

system can be used to describe
the motion of the girl on the
slide.

Here the radial coordinate is

constant, the transverse
coordinate increases
with time as the girl rotates
about the vertical axis, and her
altitude, z, decreases with
time.
How can you find her acceleration components?
 CYLINDRICAL COMPONENTS
(Section 12.8)

We can express the location of P in polar coordinates as r = r ur.

Note that the radial direction, r, extends outward from the fixed
origin, O, and the transverse coordinate, q, is measured counter-
clockwise (CCW) from the horizontal.
 DERIVATIVE OF A VECTOR

de r  e r de
de r de
de r d
 e
dt dt
e r e
e   e r

• Derivative of a rotating unit vector is the vector orthogonal to

this univ vector scaled by the rotation rate

67
VELOCITY in POLAR COORDINATES)
The instantaneous velocity is defined as:
v = dr/dt = d(rur)/dt
. dur
v = rur + r
dt
Using the chain rule:
dur/dt = (dur/dq)(dq/dt) .
We can prove that. dur/d. q = uθ so dur/dt = quθ
Therefore: v = rur + rquθ
.
Thus, the velocity vector has two components:
. r,
called the radial component, and rq called the
transverse component. The speed of the particle at
any given instant is the sum of the squares of both
components or
.
v= (r q )2 + .( r )2
 ACCELERATION (POLAR COORDINATES)
The instantaneous acceleration is defined as:
. .
a = dv/dt = (d/dt)(rur + rquθ)
After manipulation, the acceleration can be
expressed as
.. . .. . .
a = (r – rq )ur + (rq + 2rq )uθ
2

.. .
The term (r – rq 2) is the radial acceleration
or ar .
.. ..
The term (rq + 2rq ) is the transverse
acceleration or aq .
.. . 22 .. . .
The magnitude of acceleration is a = (r – rq ) + (rq + 2rq ) 2
 CYLINDRICAL COORDINATES

If the particle P moves along a space

curve, its position can be written as

rP = rur + zuz

Taking time derivatives and using

the chain rule:
. . .
Velocity: vP = rur + rquθ + zuz
.. . 2 .. . . ..
Acceleration: aP = (r – rq )ur + (rq + 2rq )uθ + zuz
 EXAMPLE

Given: The platform is rotating such

that, at any instant, its angular
position is  = (4t3/2) rad, where
t is in seconds.
A ball rolls outward so that its
position is r = (0.1t3) m.
Find: The magnitude of velocity and acceleration of the
ball when t = 1.5 s.

Plan: Use a polar coordinate system and related

kinematic equations.
 EXAMPLE (continued)

Solution:
, ,
4 t3/2, 6 , 3
At t=1.5 s,
r 0.3375 m, 0.675 m/s, 0.9 m/s2
7.348 rad, 7.348 rad/s, 2.449 rad/s2

Substitute into the equation

. for velocity
.
v = r ur + rq uθ = 0.675 ur + 0.3375 (7.348) uθ
= 0.675 ur + 2.480 uθ

v = (0.675)2 + (2.480)2 = 2.57 m/s

 EXAMPLE (continued)

Substitute in the equation for acceleration:

.. . .. . .
a = (r – rq )ur + (rq + 2rq)uθ
2

a = [0.9 – 0.3375(7.348)2] ur
+ [0.3375(2.449) + 2(0.675)(7.348)] uθ

a = – 17.33 ur + 10.75 uθ m/s2

a = (– 17.33)2 + (10.75)2 = 20.4 m/s2

GROUP PROBLEM SOLVING

Given: The arm of the robot is

extending at a constant rate
= 1.5 ft/s when r = 3 ft,
z = (4t2) ft, and  = (1.5 t) rad,
where t is in seconds.
Find: The velocity and acceleration
of the grip A when t = 3 s.
Plan: Use cylindrical coordinates.
 ABSOLUTE DEPENDENT MOTION ANALYSIS
OF TWO PARTICLES
Today’s Objectives: In-Class Activities:
Students will be able to: • Applications
1. Relate positions, velocities, and • Define Dependent Motion
accelerations of particles • Develop Position,
undergoing dependent motion. Velocity, and Acceleration
Relationships
• Group Problem Solving
 APPLICATIONS
The cable and pulley system shown
can be used to modify the speed of
the mine car, A, relative to the speed
of the motor, M.
It is important to establish the
relationships between the various
motions in order to determine the
power requirements for the motor
and the tension in the cable.

For instance, if the speed of the cable (P) is known because we

know the motor characteristics, how can we determine the
speed of the mine car? Will the slope of the track have any
impact on the answer?
 DEPENDENT MOTION (Section 12.9)
In many kinematics problems, the motion of one object will
depend on the motion of another object.

The blocks in this figure are

connected by an inextensible cord
wrapped around a pulley.
If block A moves downward along
the inclined plane, block B will
move up the other incline.

The motion of each block can be related mathematically by

defining position coordinates, sA and sB. Each coordinate axis is
defined from a fixed point or datum line, measured positive along
each plane in the direction of motion of each block.
 DEPENDENT MOTION (continued)

In this example, position

coordinates sA and sB can be
defined from fixed datum
lines extending from the
center of the pulley along each
incline to blocks A and B.

If the cord has a fixed length, the position coordinates sA

and sB are related mathematically by the equation
sA + lCD + sB = lT

Here lT is the total cord length and lCD is the length of cord
passing over the arc CD on the pulley.
 DEPENDENT MOTION (continued)

The velocities of blocks A and B

can be related by differentiating
the position equation. Note that
lCD and lT remain constant, so
dlCD/dt = dlT/dt = 0

dsA/dt + dsB/dt = 0  vB = -vA

The negative sign indicates that as A moves down the incline
(positive sA direction), B moves up the incline (negative sB
direction).
Accelerations can be found by differentiating the velocity
expression. Prove to yourself that aB = -aA .
 DEPENDENT MOTION EXAMPLE

Consider a more complicated

example. Position coordinates (sA
and sB) are defined from fixed
datum lines, measured along the
direction of motion of each block.
Note that sB is only defined to the
center of the pulley above block
B, since this block moves with the
pulley. Also, h is a constant.

The red-colored segments of the cord remain constant in length

during motion of the blocks.
 DEPENDENT MOTION EXAMPLE (continued)
The position coordinates are related by
the equation
2sB + h + sA = lT
Where lT is the total cord length minus
the lengths of the red segments.
Since lT and h remain constant
during the motion, the velocities
and accelerations can be related by
two successive time derivatives:
2vB = -vA and 2aB = -aA

When block B moves downward (+sB), block A moves to the left

(-sA). Remember to be consistent with your sign convention!
 DEPENDENT MOTION: PROCEDURES
These procedures can be used to relate the dependent motion of
particles moving along rectilinear paths (only the magnitudes of
velocity and acceleration change, not their line of direction).
1. Define position coordinates from fixed datum lines,
along the path of each particle. Different datum lines can
be used for each particle.
2. Relate the position coordinates to the cord length.
Segments of cord that do not change in length during the
motion may be left out.
3. If a system contains more than one cord, relate the
position of a point on one cord to a point on another
cord. Separate equations are written for each cord.
4. Differentiate the position coordinate equation(s) to relate
velocities and accelerations. Keep track of signs!
 EXAMPLE

Given: In the figure on the left, the cord

at A is pulled down with a speed
of 3 m/s.
Find: The speed of block D.

Plan: There is only one cord involved in

the motion, so only one
position/length equation is required.
Define position coordinates for block
D and cable lengths that change,
write the position relation and then
differentiate it to find the relationship
between the two velocities.
 EXAMPLE (continued)
Solution:
1) A datum line can be drawn through the upper, fixed pulleys.
Two coordinates must be defined: one for block D (sD) and
one for the changing cable length (sA).
Datum • sA can be defined to the point A.
• sD can be defined to the center
sA sD of the pulley above D.
• All coordinates are defined as
positive down and along the
direction of motion of each
point/object.
 EXAMPLE (continued)

Datum 2) Write position/length equations for

the cord. Define lT as the length of
sA the cord, minus any segments of
sD constant length.
sA + 3sD = lT

3) Differentiate to find the velocity

relationship:
vA + 3vD = 0

Since the cord at A is pulled down with a speed of 3 m/s,

3 + 3vD = 0  vD = -1 m/s = 1 m/s 
GROUP PROBLEM SOLVING I
Given: In the figure on the left,
the cord at A is pulled
down with a speed of 2
m/s.
Find: The speed of block B.

Plan: There are two cords involved

in the motion in this example.
There will be two position
equations (one for each cord).
Write these two equations,
combine them, and then
differentiate them.
RELATIVE-MOTION ANALYSIS OF TWO PARTICLES
USING TRANSLATING AXES
Today’s Objectives: In-Class Activities:
Students will be able to: • Applications
1. Understand translating
• Relative Position, Velocity
frames of reference.
2. Use translating frames of and Acceleration
reference to analyze relative • Vector & Graphical Methods
motion. • Group Problem Solving
 APPLICATIONS

When fighter jets take off or

land on an aircraft carrier,
the velocity of the carrier
becomes an issue.

If the aircraft carrier is underway with a forward velocity of 50

km/hr and plane A takes off at a horizontal air speed of 200
km/hr (measured by someone on the water), how do we find the
velocity of the plane relative to the carrier?
How would you find the same thing for airplane B?
How does the wind impact this sort of situation?
RELATIVE POSITION (Section 12.10)
The absolute positions of two
particles A and B with respect to
the fixed x, y, z-reference frame are
given by rA and rB. The position of
B relative to A is represented by
rB/A = rB – rA

Therefore, if rB = (10 i + 2 j ) m
and rA = (4 i + 5 j ) m,
then rB/A = rB – rA = (6 i – 3 j ) m.
 RELATIVE VELOCITY
To determine the relative velocity of B
with respect to A, the time derivative
of the relative position equation is
taken.
vB/A = vB – vA
or
vB = vA + vB/A

In these equations, vB and vA are called absolute velocities

and vB/A is the relative velocity of B with respect to A.

Note that vB/A = - vA/B .

 RELATIVE ACCELERATION

The time derivative of the relative

velocity equation yields a similar
vector relationship between the
absolute and relative accelerations
of particles A and B.

These derivatives yield: aB/A = aB – aA

or
aB = aA + aB/A
 SOLVING PROBLEMS

Since the relative motion equations are vector equations,

problems involving them may be solved in one of two ways.
For instance, the velocity vectors in vB = vA + vB/A could be
written as two dimensional (2-D) Cartesian vectors and the
resulting 2-D scalar component equations solved for up to
two unknowns.
Alternatively, vector problems can be solved “graphically” by
use of trigonometry. This approach usually makes use of the
law of sines or the law of cosines.

Could a CAD system be used to solve these types of problems?

 LAWS OF SINES AND COSINES

C Since vector addition or subtraction

b forms a triangle, sine and cosine laws can
a be applied to solve for relative or
absolute velocities and accelerations. As
A
B a review, their formulations are provided
c
below.
Law of Sines: a b c
= =
sin A sin B sin C

Law of Cosines: a 2 = b 2 + c 2 - 2 bc cos A

2 2 2
b = a + c - 2 ac cos B
2 2 2
c = a + b - 2 ab cos C
 EXAMPLE

Given: Two aircraft as shown.

vA = 650 km/h
vB = 800 km/h

Find: vB/A

1) Vector Method:Plan:
Write vectors vA and vB in
Cartesian form, then determine vB – vA

2) Graphical Method: Draw vectors vA and vB

from a common point. Apply the laws of sines and
cosines to determine vB/A.
 EXAMPLE (continued)

Solution:
1) Vector Method

vA = (650 i ) km/h
vB = –800 cos 60 i – 800 sin 60 j
= ( –400 i – 692.8 j) km/h

vB/A = vB – vA = (–1050 i – 692.8 j) km/h

vB /A = (-1050)2 +(-692.8)2 = 1258

km/h
692.8
 = tan-1( ) = 33.4 q
1050
 EXAMPLE (continued)
2) Graphical Method:
Note that the vector that measures the tip of B relative to A is vB/A.
650 km/h vA

h
m/
120

0k
80
vB/A
vB
Law of Cosines:
(vB/A)2 = (800) 2 + (650) 2 − (800) (650) cos 120
vB/A = 1258 km/h
Law of Sines:
vB/A vA
= or  = 33.4
sin(120 ) sin q
 GROUP PROBLEM SOLVING
Given: Car A moves in a straight line
while Car B moves along a
curve having a radius of
curvature of 200 m.
vA = 40 m/s
vB = 30 m/s
aA = 4 m/s2
aB = -3 m/s2
Find: vB/A
aB/A
Plan: Write the velocity and acceleration vectors for
Cars A and B. Determine vB/A and aB/A by using
vector relationships.