Chapter 1 Part1

1
EME1076
Applied Dynamics

Trimester 2, 2014/15
2
Topic 1 (Chapter 12):
Kinematics of a particle
Part I
EME1076 Applied Dynamics

Trimester2, 2014/15
This lecture note is taken and modified from Engineering Mechanics-Dynamics, R.C.Hibbeler, Prentice Hall which
copyright belongs to Pearson Education South Asia Pte Ltd.
3
Chapter Objectives
To introduce the concepts of position, displacement,
velocity, and acceleration.
To study particle motion along a straight line and
represent this motion graphically.
To investigate particle motion along a curved path
using different coordinate systems.
To present an analysis of dependent motion of two
particles.
To examine the principles of relative motion of two
particles using translating axes.
4
Chapter Outline
1.1 Introduction
1.2 Rectilinear Kinematics : Continuous Motion
1.3 Rectilinear Kinematics : Erratic Motion
1.4 General Curvilinear Motion
1.5 Curvilinear Motion : Rectangular Components
1.6 Motion of a Projectile
1.7 Curvilinear Motion : Normal and Tangential Components
1.8 Curvilinear Motion : Cylindrical Components
1.9 Absolute Dependent Motion Analysis of Two Particles
1.10 Relative Motion Analysis of Two Particles Using
Translating Axes
5
1.1 Introduction
Mechanics the state of rest or motion of
bodies subjected to the action of forces
Static equilibrium of a body that is either at
rest or moves with constant velocity
Dynamics deals with accelerated motion of a
body
1) Kinematics treats with geometric aspects of
the motion
2) Kinetics analysis of the forces causing the
motion
6
1.2 Rectilinear Kinematics: Continuous Motion

Rectilinear straight-line path

Kinematics characterized by specifying, at any
given instant(t), the particles position(s),
velocity(v), and acceleration(a).

7
Position

1) Single coordinate axis, s
2) Origin, O is the fixed point on the path
3) Magnitude of s = distance from O to P
4) The sense of direction is defined by algebraic sign
on s :
=> +ve = right of origin, -ve = left of origin
8
Displacement change in its position, vector quantity
If particle moves from P to P ,
displacement :

is +ve if particles position is right of its initial
position
is -ve if particles position is left of its initial
position
**total distance travel is a +ve scalar, s
T
=total
length of path over which the particle travels.

s s s
'
= A
s A
s A
9
Velocity
Average velocity :

Instantaneous velocity is defined as :

t
s
v
avg
A
A
=
( ) t s v
t
ins
A A =
A
/ lim
0
dt
ds
v
ins
=
10
Representing as an algebraic scalar,

Velocity is +ve = particle moving to the right
Velocity is ve = Particle moving to the left
Magnitude of velocity is the speed (m/s)
ins
v
dt
ds
v =
|
.
|
\
|
+
11
Average speed is defined as total distance
traveled by a particle, s
T
, divided by the
elapsed time .

The particle travels along the path of length
s
T
in time

=>

t A
( )
t
s
v
T
avg
sp
A
=
t A
( )
t
s
v
T
avg
sp
A
=
12
Acceleration velocity of particle is known at
points P and P during time interval t, average
acceleration is

v represents difference in the velocity during the
time interval t, ie
t
v
a
avg
A
A
=
v v v = A '
t
v
a
avg
A
A
=
13
Instantaneous acceleration at time t is found by
taking smaller and smaller values of t and
corresponding smaller and smaller values of v,
( ) t v a
t
A A =
A
/ lim
0
|
.
|
\
|
+
|
.
|
\
|
+
2
2
dt
s d
a
dt
dv
a
=
=
14
Particle is slowing down, its speed is decreasing
=> decelerating => will be negative

Consequently, a will also be negative, therefore it
will act to the left, in the opposite sense to v

If velocity is constant,
acceleration is zero
v v v = A '
15
Velocity as a Function of Time

Integrate a
c
= dv/dt,
assuming that initially v = v
0
when t = 0.

} }
=
t
c
v
v
dt a dv
0
0
t a v v
c
+ =
0
|
.
|
\
|
+
Constant Acceleration
16
Position as a Function of Time
Integrate v = ds/dt = v
0
+ a
c
t, assuming that
initially s = s
0
when t = 0
( )
2
0 0
0
0
2
1
0
t a t v s s
dt t a v ds
c
t
c
s
s
+ + =
+ =
} }
|
.
|
\
|
+
17
Velocity as a Function of Position
Integrate v dv = a
c
ds, assuming that initially v =
v
0
at s = s
0
( )
0
2
0
2
2
0 0
s s a v v
ds a vdv
c
s
s
c
v
v
+ =
=
} }
|
.
|
\
|
+
v= ds/dt
dt=ds/v
a=dv/dt
a=dv/(ds/v)
a ds= vdv
18
The car moves in a straight line such that for a
short time its velocity is defined by :
v = (0.9t
2
+ 0.6t) m/s where t is in sec.
Given when t = 0, s = 0. Determine it position
and acceleration when t = 3s.
EXAMPLE 12.1
19
Solution:
Coordinate System. The position coordinate
extends from the fixed origin O to the car,
positive to the right.
Position. Since v = f(t), the cars position can be
determined from v = ds/dt, since this equation
relates v, s and t. Noting that s = 0 when t = 0, we
have
( ) t t
dt
ds
v 6 . 0 9 . 0
2
+ = =
|
.
|
\
|
+
EXAMPLE 12.1
20
( )
( )
2 3
0
2 3
0
0
2
0
3 . 0 3 . 0
3 . 0 3 . 0
6 . 0 9 . 0
t t s
t t s
dt t t ds
t s
t s
+ =
+ =
+ =
} }
When t = 3s,
s = 10.8m
EXAMPLE 12.1
21
Acceleration.
Knowing v = f(t), the acceleration is determined by
a = dv/dt, since this equation relates a, v and t.
|
.
|
\
|
+
( )
6 . 0 8 . 1
6 . 0 9 . 0
2
+ =
+ = =
t
t t
dt
d
dt
dv
a
When t = 3s,
a = 6m/s
2

( )
EXAMPLE 12.1
22
A small projectile is forced downward into a fluid medium
with an initial velocity of 60m/s.
Due to the resistance of the fluid the projectile experiences
a deceleration equal to a =(-0.4v
3
)m/s
2
, where v is in
m/s.
Determine the projectiles velocity and position 4s after it is
fired.
EXAMPLE 12.2
23
Solution:
Coordinate System. Since the motion is downward,
the position coordinate is downwards positive,
with the origin located at O.

Velocity. Here a = f(v), velocity is a function of
time using a = dv/dt, since this equation relates
v, a and t.
3
4 . 0 v
dt
dv
a = =
( ) + +
EXAMPLE 12.2
24
( )
( )
s m t v
t
v
dt
v
dt
v
dv
t
v
t v
s m
/ 8 . 0
60
1
60
1 1
8 . 0
1
1
2
1
4 . 0
1
4 . 0
2 / 1
2
2 2
0
60
2
0 / 60
3
+ =
=
(
=
|
.
|
\
|

=
}
} }
When t = 4s,
v = 0.559 m/s
EXAMPLE 12.2
( ) + +
3
4 . 0 v
dt
dv
=
25
Position. Since v = f(t), the projectiles position can
be determined from v = ds/dt, since this equation
relates v, s and t. Noting that s = 0 when t = 0, we
have
( )
2 / 1
2
8 . 0
60
1

|
|
.
|
\
|
+ = = t
dt
ds
v
( )
( )
t
t s
t s
dt t ds
0
2 / 1
2
0
2 / 1
2
0
8 . 0
60
1
8 . 0
2
8 . 0
60
1
|
|
.
|
\
|
+
|
.
|
\
|
=
|
|
.
|
\
|
+ =
} }

EXAMPLE 12.2
26
When t = 4s,
s = 4.43m
( )
m t s
|
|
.
|
\
|
+ =
60
1
8 . 0
60
1
4 . 0
1
2 / 1
2
EXAMPLE 12.2
( ) + +
** Homework : try to use : a ds= vdv to find s.
27
A rocket travel upward at 75
m/s. When it is 40 m from
the ground, the engine fails.
Determine max height s
B

reached by the rocket and
its speed just before it hits
the ground.
EXAMPLE 12.3
28
Solution:
Coordinate System. Origin O for the position
coordinate at ground level with positive upward.

Maximum Height. Rocket traveling upward, v
A
=
+75m/s when t = 0. s = s
B
when v
B
= 0 at max ht. For
entire motion, acceleration a
C
= -9.81m/s
2
(negative
since it act opposite sense to positive velocity or
positive displacement)

EXAMPLE 12.3
29
) ( 2
2 2
A B C A B
s s a v v + =
s
B
= 327 m
Velocity.
2 2
2 ( )
80.1 / 80.1 /
C B C C B
C
v v a s s
v m s m s
= +
= = +
The negative root was chosen since the rocket is
moving downward
EXAMPLE 12.3
30
A particle moves along a horizontal path with a velocity
of v = (3t
2
6t) m/s. if it is initially located at the origin O,
determine the distance traveled in 3.5s and the particles
average velocity and speed during the time interval.
EXAMPLE 12.5
31
Solution:
Coordinate System. Assuming positive motion to
the right, measured from the origin, O

Distance traveled. Since v = f(t), the position as a
function of time may be found integrating v = ds/dt
with t = 0, s = 0.
EXAMPLE 12.5
32
( )
( )m t t s
tdt dt t ds
dt t t
vdt ds
s t t
2 3
0 0 0
2
2
3
6 3
6 3
=
=
=
=
} } }
|
.
|
\
|
+
0 t < 2 s
-> -ve velocity -> the particle is moving to the left,
t > 2s
-> +ve velocity -> the particle is moving to the right
m s
s t
125 . 6
5 . 3
=
=
m s
s t
0 . 4
2
=
=
0
0
=
= t
s
EXAMPLE 12.5
33
The distance traveled in 3.5s is
s
T
= 4.0 + 4.0 + 6.125 = 14.125m
Velocity. The displacement from t = 0 to t = 3.5s is s
= 6.125 0 = 6.125m
And so the average velocity is
=
=
A
A
= s m
t
s
v
avg
/ 75 . 1
0 5 . 3
125 . 6
Average speed, ( ) s m
t
s
v
T
avg
sp
/ 04 . 4
0 5 . 3
125 . 14
=
=
A
=
EXAMPLE 12.5
34
1.3 Rectilinear Kinematics: Erratic Motion
When particles motion is erratic, it is best described
graphically using a series of curves that can be generated
experimentally from computer output.
a graph can be established describing the relationship with
any two of the variables, a, v, s, t
using the kinematics equations
a = dv/dt,
v = ds/dt,
a ds = v dv
35
Given the s-t Graph, construct the v-t Graph
The s-t graph can be plotted if the position of the
particle can be determined experimentally during a
period of time t.
To determine the particles velocity as a function of
time, the v-t Graph, use v = ds/dt
Velocity as any instant is determined by
measuring the slope of the s-t graph
36
v
dt
ds
=
Slope of s-t graph =
velocity
37
Given the v-t Graph, construct the a-t Graph
When the particles v-t graph is known, the
acceleration as a function of time, the a-t graph can
be determined using a = dv/dt
Acceleration as any instant is determined by
measuring the slope of the v-t graph
38
a
dt
dv
=
Slope of v-t graph =
acceleration
39
Since differentiation reduces a polynomial of
degree n to that of degree n-1, then if the s-t graph
is parabolic (2
nd
degree curve), the v-t graph will be
sloping line (1
st
degree curve), and the a-t graph
will be a constant or horizontal line (zero degree
curve)
40
EXAMPLE 12.6
A bicycle moves along a
straight road such that it
position is described by
the graph as shown.
Construct the v-t and a-t
graphs for 0 t 30s.
41
Solution:
v-t Graph. The v-t graph can be determined by
differentiating the eqns defining the s-t graph

6 30 6 ; 30 10
6 . 0 3 . 0 ; 10 0
2
= = = s s
= = = s s
dt
ds
v t s s t s
t
dt
ds
v t s s t
The results are plotted.
EXAMPLE 12.6
42
We obtain specify values of v by measuring the
slope of the s-t graph at a given time instant.
s m
t
s
v / 6
10 30
30 150
=
=
A
A
=
a-t Graph. The a-t graph can be determined by
differentiating the eqns defining the lines of the
v-t graph.
EXAMPLE 12.6
43
0 6 ; 30 10
6 . 0 6 . 0 ; 10 0
= = = s <
= = = s s
dt
dv
a v s t
dt
dv
a t v s t
The results are plotted.
EXAMPLE 12.6
44
Given the a-t Graph, construct the v-t Graph
When the a-t graph is known, the v-t graph may
be constructed using a = dv/dt
}
= A dt a v
Change in
velocity
Area under
a-t graph
=
45
Knowing particles initial velocity
v
0
, and add to this small increments
of area (v)
Successive points v
1
= v
0
+ v, for
the v-t graph
Each eqn for each segment of the
a-t graph may be integrated to yield
eqns for corresponding segments
of the v-t graph
46
Given the v-t Graph, construct the s-t Graph
When the v-t graph is known, the s-t graph may
be constructed using v = ds/dt
}
= A dt v s
Displacement
Area under
v-t graph
=
47
knowing the initial position s
0
,
and add to this area increments
s determined from v-t graph.
describe each of there
segments of the v-t graph by a
series of eqns, each of these
eqns may be integrated to yield
eqns that describe
corresponding segments of the
s-t graph
48
EXAMPLE 12.7
A test car starts from rest
and travels along a
straight track such that it
accelerates at a constant
rate for 10 s and then
decelerates 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?
49
Solution:
v-t Graph. The v-t graph can be determined by
integrating the straight-line segments of the a-t
graph. Using initial condition v = 0 when t = 0,

t v dt dv a s t
t v
10 , 10 ; 10 10 0
0 0
= = = s s
} }
When t = 10s, v = 100m/s, using this as initial
condition for the next time period, we have
120 2 , 2 ; 2 ; 10
10 100
+ = = =
'
s s
} }
t v dt dv a t t s
t v
EXAMPLE 12.7
50
When t = t we require v = 0. This yield t = 60 s
s-t Graph. Integrating the eqns of the v-t graph
yields the corresponding eqns of the s-t graph.
Using the initial conditions s = 0 when t = 0,
2
0 0
5 , 10 ; 10 ; 10 0 t s dt t ds t v s t
t s
= = = s s
} }
120 2 , 2 ; 2 ; 10
10 100
+ = = =
'
s s
} }
t v dt dv a t t s
t v
EXAMPLE 12.7
51
When t = 60s, the position is s = 3000m
When t = 10s, s = 500m. Using this initial condition,
( )
600 120
120 2 ; 120 2 ; 60 10
2
10 500
+ =
+ = + = s s
} }
t t s
dt t ds t v s t s
t s
EXAMPLE 12.7
52
Given the a-s Graph, construct the v-s Graph
v-s graph can be determined by using v dv = a ds,
integrating this eqn between the limit v = v
0
at s =
s
0
and v = v
1
at s = s
1
( )
}
=
1
0
2
0
2
1
2
1
s
s
ds a v v
Area under
a-s graph
53
determine the eqns which define the segments of
the a-s graph
corresponding eqns defining the segments of the
v-s graph can be obtained from integration, using
vdv = a ds
54
Given the v-s Graph, construct the a-s Graph
v-s graph is known, the acceleration a at any
position s can be determined using a ds = v dv

|
.
|
\
|
=
ds
dv
v a
Acceleration = velocity times slope of v-s graph
55
At any point (s,v), the slope dv/ds of the v-s graph
is measured
Since v and dv/ds are known, the value of a can
be calculated
56
EXAMPLE 12.8
The v-s graph describing the motion of a motorcycle
is shown in Fig 12-15a. Construct the a-s graph of
the motion and determine the time needed for the
motorcycle to reach the position s = 120 m.
57
Solution:
a-s Graph. Since the eqns for the segments of the
v-s graph are given, a-s graph can be determined
using a ds = v dv.

0
; 15 ; 120 60
6 . 0 04 . 0
3 2 . 0 ; 60 0
= =
= s <
+ = =
+ = s s
ds
dv
v a
v m s m
s
ds
dv
v a
s v m s
EXAMPLE 12.8
58
0
0 60 m; 0.2 3; ;
0.2 3
0.2 3
5ln(0.2 3) 5ln3
t s
o
ds ds ds
s v s v dt
dt v
ds
dt
s
t s
s s = + = = =
+
=
+
= +
} }
At s = 60 m, t = 8.05 s
Time. The time can be obtained using v-s
graph and v = ds/dt. For the first segment of
motion, s = 0 at t = 0,
EXAMPLE 12.8
59
For second segment of motion,
05 . 4
15
15
15
; 15 ; 120 60
60 05 . 8
+ =
=
= = = s <
} }
s
t
ds
dt
ds
v
ds
dt v m s
s t
At s = 120 m, t = 12.0 s
EXAMPLE 12.8
60
Curvilinear motion occurs when the particle
moves along a curved path
Position. The position of the particle,
measured from a fixed point O, is designated by
the position vector r = r(t).
61
Displacement. Suppose during a small time interval
t the particle moves a distance s along the curve
to a new position P`, defined by r` = r + r. The
displacement r represents the change in the
particles position.
62
Velocity. During the time t, the average velocity
of the particle is defined as :
t
avg
A
A
=
r
v
The instantaneous 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. Hence,
dt
d
ins
r
v =
Direction of v
ins
is tangent to the curve
63
Magnitude of v
ins
is the speed, which is obtained
by realizing the ength of the straight line segment
r approaches the arc length s as t 0.
Hence,
dt
ds
v =
64
Acceleration. If the particle has a velocity v at time t
and a velocity v` = v + v at time t` = t + t.
The average acceleration during the time interval
t is :
t
avg
A
A
=
v
a
2
2
dt
d
dt
d r v
a = =
65
a acts tangent to the hodograph, therefore it is
not tangent to the path
66
1.5 Curvilinear Motion: Rectangular Components
Position. Position vector is defined by
r = xi + yj + zk
The magnitude of r is always positive and defined
as :
2 2 2
z y x r + + =
The direction of r is
specified by the
components of the unit
vector u
r
= r/r
67
Velocity.
z v y v x v
k v j v i v
dt
dr
v
z y x
z y x

= = =
+ + = =
where
The velocity has a magnitude
defined as the positive value of
2 2 2
z y x
v v v v + + =
and a direction that is specified by the components
of the unit vector u
v
=v/v and is always tangent to
the path.
68
Acceleration.
z v a
y v a
x v a
k a j a i a
dt
dv
a
z z
y y
x x
z y x

= =
= =
= =
+ + = =
The acceleration has a magnitude defined as the
positive value of :
2 2 2
z y x
a a a a + + =
where
69
The acceleration has a direction specified by
the components of the unit vector u
a
= a/a.
Since a represents the time rate of change in
velocity, a will not be tangent to the path.
70
EXAMPLE 12.9
At any instant the horizontal
position of the weather balloon
is defined by x = (9t) m, where
t is in second. If the equation
of the path is y = x
2
/30,
determine the distance of the
balloon from the station at A,
the magnitude and direction of
the both the velocity and
acceleration when t = 2 s.
71
Solution:
Position. When t = 2 s, x = 9(2) m = 18 m and
y = (18)
2
/30 = 10.8 m
The straight-line distance from A to B is

( ) ( ) 21 8 . 10 18
2 2
= + = r m
Velocity.

( )
( ) s m x
dt
d
y v
s m t
dt
d
x v
y
x
/ 8 . 10 30 /
/ 9 9
2
= = =
= = =
EXAMPLE 12.9
72
When t = 2 s, the magnitude of velocity is
( ) ( ) s m v / 1 . 14 8 . 10 9
2 2
= + =
The direction is tangent to the path, where
2 . 50 tan
1
= =

x
y
v
v
v
u
Acceleration.

2
/ 4 . 5
0
s m v a
v a
y y
x x
= =
= =
EXAMPLE 12.9
73
( ) ( )
2
2 2
/ 4 . 5 4 . 5 0 s m a = + =
The direction of a is

= = 90
0
4 . 5
tan
1
a
u
EXAMPLE 12.9
74
The motion of box B is defined
by the position vector r =
{0.5sin(2t)i + 0.5cos(2t)j
0.2tk} m, where t is in seconds
and the arguments for sine and
cosine are in radians ( rad =
180). Determine the location
of box when t = 0.75 s and the
magnitude of its velocity and
acceleration at this instant.
EXAMPLE 12.10
75
Solution:
Position. Evaluating r when t = 0.75 s yields

m k j rad i rad r
s t
} ) 75 . 0 ( 2 . 0 ) 5 . 1 cos( 5 . 0 ) 5 . 1 sin( 5 . 0 {
75 . 0
+ =
=
m k j i } 150 . 0 0354 . 0 499 . 0 {

+ =
The distance of the box from the origin is
m r 522 . 0 ) 150 . 0 ( ) 0354 . 0 ( ) 499 . 0 (
2 2 2
= + + =
EXAMPLE 12.10
76
The direction of r is obtained from the
components of the unit vector,
107
1 . 86
2 . 17 ) 955 . 0 ( cos
287 . 0 0678 . 0 955 . 0
522 . 0
150 . 0
522 . 0
0352 . 0
522 . 0
499 . 0
1
=
=
= =
+ =
+ = =
|
o
k j i
k j i
r
r
u
r
EXAMPLE 12.10
77
Velocity.
s m k j t i t
dt
r d
v / } 2 . 0 ) 2 sin( 1 ) 2 cos( 1 {

= =
Hence at t = 0.75 s, the magnitude of velocity, is
s m v v v v
z y x
/ 02 . 1
2 2 2
= + + =
Acceleration. The acceleration is not tangent to
the path.
2
/ } ) 2 cos( 2 ) 2 sin( 2 { s m j t i t
dt
v d
a

= =
At t = 0.75 s, a = 2 m/s
2
EXAMPLE 12.10
78
the free-flight motion of a projectile is often
studied in terms of rectangular components
consider a projectile launched at (x
0
, y
0
), with
initial velocity v
o
having components (v
o
)
x
, (v
o
)
y
path defined in the x-y plane
air resistance neglected
only force acting on the projectile is its weight,
resulting in constant downwards acceleration,
a
c
= g = 9.81 m/s
2
79
80
Horizontal Motion Since a
x
= 0,

); ( 2
;
2
1
;
0
2
0
2
2
0 0
0
s s a v v
t a t v x x
t a v v
c
c
c
+ =
+ + =
+ =
|
.
|
\
|
+
|
.
|
\
|
+
|
.
|
\
|
+
x x
x
x x
v v
t v x x
v v
) (
) (
) (
0
0 0
0
=
+ =
=
Horizontal component of velocity, (v
o
)
x
remain
constant during the motion
81
Vertical. Positive y axis is directed upward,
then a
y
= - g
); ( 2
;
2
1
;
0
2
0
2
2
0 0
0
y y a v v
t a t v y y
t a v v
c
c
c
+ =
+ + =
+ =
( ) | +
( ) | +
( ) | +
) ( 2 ) ( ) (
2
1
) (
) (
0
2
0
2
2
0 0
0
y y g v v
gt t v y y
gt v v
y y
y
y y
=
+ =
=
82
Problems involving the motion of a projectile
have at most three unknowns since only three
independent equations can be written :
- one in the horizontal direction
- two in the vertical direction
Velocity in the horizontal and vertical direction
are used to obtain the resultant velocity
Resultant velocity is always tangent to the path

83
EXAMPLE 12.11
A sack slides off the
ramp with a horizontal
velocity of 12 m/s. If the
height of the ramp is 6 m
from the floor, determine
the time needed for the
sack to strike the floor
and the range R where
the sacks begin to pile
up.
84
Coordinate System. Origin of the coordinates is
established at the beginning of the path, point A.
Initial velocity of a sack has components (v
A
)
x
= 12
m/s and (v
A
)
y
= 0

Acceleration between point A and B a
y
= -9.81 m/s
2

Since (v
B
)
x
= (v
A
)
x
= 12 m/s, the three unknown are
(v
B
)
y
, R and the time of flight t
AB

EXAMPLE 12.11
85
Vertical Motion. Vertical distance from A to B is
known
s t
t a t v y y
AB
AB c AB y
11 . 1
2
1
) (
2
0 0
=
+ + =
The above calculations also indicate that if a sack
is released from rest at A, it would take the same
amount of time to strike the floor at C
EXAMPLE 12.11
Horizontal Motion.
m R
t v x x
AB x
3 . 13
) (
0 0
=
+ =
86
The chipping machine is designed to eject wood at
chips v
O
= 7.5 m/s. If the tube is oriented at 30
from the horizontal, determine how high, h, the
chips strike the pile if they land on the pile 6 m
from the tube.
EXAMPLE 12.12
87
Coordinate System. Three unknown h, time of
flight, t
OA
and the vertical component of velocity
(v
B
)
y.
Taking origin at O, for initial velocity of a chip,

(v
A
)
x
= (v
O
)
x
= 6.5 m/s and a
y
= -9.81 m/s
2

| = =
= =
s m v
s m v
y O
x O
/ 75 . 3 ) 30 sin 5 . 7 ( ) (
/ 5 . 6 ) 30 cos 5 . 7 ( ) (
EXAMPLE 12.12
88
Horizontal Motion.
s t
t v x x
OA
OA x A
9231 . 0
) (
0 0
=
+ =
Vertical Motion.
Relating t
OA
to initial and final elevation of the chips,
( ) | +
m h
t a t v y h y
OA c OA y O A
38 . 1
2
1
) ( 1 . 2
2
0
=
+ + = =
EXAMPLE 12.12
89
The track for this racing event
was designed so that the
riders jump off the slope at
30, from a height of 1m.
During the race, it was
observed that the rider
remained in mid 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. Neglect the size of the bike and rider.
EXAMPLE 12.13 (self-study)
90
Coordinate System. Origin is established at point A.
Three unknown are initial speed v
A
, range R and
the vertical component of velocity v
B
.
Vertical Motion. Since time of flight and the vertical
distance between the ends of the paths are known,
s m v
t a t v s s
A
AB C AB y A y A y B
/ 4 . 13
2
1
) ( ) ( ) (
2
=
+ + =
91
Horizontal Motion

For maximum height h, we consider path AC
Three unknown are time of flight, t
AC
, horizontal
distance from A to C and the height h
At maximum height (v
C
)
y
= 0
m
R
t v s s
AB A x A x B
4 . 17
) 5 . 1 ( 30 cos 38 . 13 0
) ( ) ( ) (
=
+ =
+ =

92
Since v
A
known, determine h using the following
equations

Show that the bike will strike the ground at B with
velocity having components of
+ = =
=
+ =
+ =
s m v s m v
m h
h
s s a v v
y B x B
y A y C c A c
y y
/ 02 . 8 ) ( , / 6 . 11 ) (
28 . 3
] 0 ) 1 )[( 81 . 9 ( 2 ) 30 sin 38 . 13 ( ) 0 (
] ) ( ) [( 2 ) ( ) (
2 2
2 2

93
When the path of motion of a particle is
known, describe the path using n and t
coordinates which act normal and tangent to
the path

Planar Motion
Consider particle P 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
1.7 Curvilinear Motion :
Normal and Tangential Components
94
Consider a coordinate
system that has origin at a
fixed point on the curve, and
at the instant, considered
this origin happen to coincide
with the location of the
particle
t axis is tangent to the curve at P and is positive in
the direction of increasing s
95
Designate this positive position direction with unit
vector u
t
For normal axis, note that geometrically, the curve
is constructed from series differential arc
segments
Each segment ds is
formed from the arc of an
associated circle having
a radius of curvature
(rho) and center of
curvature O
96
Normal axis n is perpendicular to the t axis and
is directed from P towards the center of
curvature O
Positive direction is always on the concave
side of the curve, designed by u
n
Plane containing both the n and t axes is
known as the oscillating plane and is fixed on
the plane of motion
97
Velocity.
Since the particle is moving, s is a function of time
Particles velocity v has direction that is always
tangent to the path and a magnitude that is
determined by taking the time derivative of the
path function s = s(t)
s v
u v v
t

=
=
where
98
Acceleration
Acceleration of the particle is the time rate of
change of velocity
t t
u v u v v a

+ = =
99
As the particle moves along the arc ds in time dt, u
t

preserves its magnitude of unity
When particle changes direction, it becomes u
t

u
t
= u
t
+ du
t
du
t
stretches between the arrowhead of u
t
and u
t
, which
lie on an infinitesimal arc of radius u
t
= 1
n n n t
u
v
u
s
u u

u = = =
u u d d u du
t t
) 1 ( = =
n t
u d u d

u =
100
=
= =
+ =
2
or
v
a
vdv ds a v a
u a u a a
n
t t
n n t t

Magnitude of acceleration is the positive value
of
2 2
n t
a a a + =
where
and
101
Consider two special cases of motion
If the particle moves along a straight line, then and
a
n
= 0. Thus , we can conclude that the
tangential component of acceleration represents the time
rate of change in the magnitude of velocity.

If the particle moves along the curve with a
constant speed, then and
v a a
t
= =
0 = = v a
t

/
2
v a a
n
= =
2
v
a v a
u a u a a
n t
n n t t
= =
+ =
or

102
Normal component of acceleration represents the time
rate of change in the direction of the velocity. Since a
n

always acts towards the center of curvature, this component
is sometimes referred to as the centripetal acceleration
As a result, a particle moving along the curved path will
have accelerations directed as shown
103
Three Dimensional Motion (space motion)
If the particle is moving along a space curve, at a
given instant, t axis is uniquely specified however,
an infinite number of straight lines can be
constructed normal to tangent axis.
104
For planar motion,
- choose positive n axis directed from P towards
paths center of curvature O
-The above axis also referred as principle normal
to curve
- u
t
and u
n
are always perpendicular to one
another and lies in the osculating plane
105
For spatial motion,
a third unit vector u
b
, defines a binormal axis b
which is perpendicular to u
t
and u
n

Three unit vectors are related by vector cross
product
u
b
= u
t
x u
n

where u
n
is always on the concave side
106
EXAMPLE 12.14
When the skier reaches the
point A along the parabolic
path, he has a speed of 6m/s
which is increasing at 2m/s
2
.
Determine the direction of his
velocity and the direction and
magnitude of this
acceleration at this instant.
Neglect the size of the skier
in the calculation.
107
Coordinate System. 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.
Velocity. The velocity is directed tangent to the
path.
2
10
1
, 1
20
x
dy
y x
dx
=
= =
v make an angle of = tan
-1
(1) = 45 with the x
axis
s m v
A
/ 6 =
EXAMPLE 12.14
108
Acceleration. Determined from
n t
u v u v a

) / (
2
+ =
m
dx y d
dx dy
28 . 28
/
] ) / ( 1 [
2 2
2 / 3 2
=
+
=
The acceleration becomes
2
2
/ } 273 . 1 2 { s m u u
u
v
u v a
n t
n t A

+ =
+ =
EXAMPLE 12.14
109
( ) ( )
5 . 57
327 . 1
2
tan
/ 37 . 2 237 . 1 2
1
2 2 2
= =
= + =
|
s m a
Thus, 57.5 45 = 12.5
a = 2.37 m/s
2
EXAMPLE 12.14
110
Race car C travels round the horizontal circular
track that has a radius of 90 m. If the car
increases its speed at a constant rate of 2.1 m/s
2
,
starting from rest, determine the time needed for it
to reach an acceleration of 2.4 m/s
2
. What is its
speed at this instant?
EXAMPLE 12.15
111
Coordinate System. The origin of the n and t axes
is coincident with the car at the instant. The t axis
is in the direction of the motion, and the positive n
axis is directed toward the center of the circle.
Acceleration. The magnitude of acceleration can
be related to its components using
2 2
n t
a a a + =
t
t a v v
c t
1 . 2
) (
0
=
+ =
EXAMPLE 12.15
112
2 2
2
/ 049 . 0 s m t
v
a
n
= =
Thus,
The time needed for the acceleration to reach
2.4m/s
2
is
2 2
n t
a a a + =
Solving for t = 4.87 s
Velocity. The speed at time t = 4.87 s is
s m t v / 2 . 10 1 . 2 = =
EXAMPLE 12.15
113
The boxes travels alone
the industrial conveyor. If
a box starts from rest at A
and increases its speed
such that a
t
= (0.2t) m/s
2
,
determine the magnitude
of its acceleration when it
arrives at point B.
EXAMPLE 12.16
114
Coordinate System. The position of the box at any
instant is defined by s, from the fixed point A. The
acceleration is to be determined at B, so the origin
of the n, t axes is at this point.
Acceleration. Since v
A
= 0 when t = 0
2
0 0
1 . 0
2 . 0
2 . 0
t v
dt t dv
t v a
t v
t
=
=
= =
} }
(1)
(2)
EXAMPLE 12.16
115
The time needed for the box to reach point B can
be determined by realizing that the position of B is
s
B
= 3 + 2(2)/4 = 6.142 m, since s
A
= 0 when t = 0
s t
dt t ds
t
dt
ds
v
B
t
B
690 . 5
1 . 0
1 . 0
0
2
142 . 6
0
2
=
=
= =
} }
EXAMPLE 12.16
116
Substituting into eqn (1) and (2),
s m v
s m v a
B
B t B
/ 238 . 3 ) 69 . 5 ( 1 . 0
/ 138 . 1 ) 690 . 5 ( 2 . 0 ) (
2
2
= =
= = =
At B,
B
= 2 m,
2
2
/ 242 . 5 ) ( s m
v
a
B
B
n B
= =
2
2 2
/ 36 . 5
) 242 . 5 ( ) 138 . 1 (
s m
a
B
=
+ =
EXAMPLE 12.16

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EXAMPLE 12.13 (self-study)

EXAMPLE 12.13 (self-study)

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