Professional Documents
Culture Documents
ch2 PDF
ch2 PDF
2: Kinematics of Particles
2.0 Outline
Introduction
Rectilinear Motion
Plane Curvilinear Motion
Rectangular Coordinates (x-y)
Normal and Tangential Coordinates (n-t)
Polar Coordinates (r-θ)
Relative Motion (Translating Axes)
2.0 Outline
Ch. 2: Kinematics of Particles
2.1 Introduction
Kinematics is the study of the motion of bodies with no
consideration to the forces that accompany the motion.
It is an absolute prerequisite to kinetics, which is the
study of the relationships between the motion and the
corresponding forces that cause the motion or are
generated as a result of the motion.
2.1 Introduction
Ch. 2: Kinematics of Particles
Position of P
rectangular coordinates x, y, z
cylindrical coordinates r, θ, z
spherical coordinates R, θ, Φ
Motion of P
absolute motion analysis
relative motion analysis
Absolute motion analysis: coordinates measured from
fixed reference axes, e.g. motion of the piston described
by the frame fixed to the ground
Relative motion analysis: coordinates measured from
moving reference axes, e.g. motion of the piston described
by the frame attached to the car
2.1 Introduction
Ch. 2: Kinematics of Particles
2.2 Rectilinear Motion: motion along a straight line
If change in the position coordinate during Δt is
the displacement Δs ( ± ) , v av = Δs/Δt
ds
(1) __ instantaneous velocity, v = lim Δs/Δt =
Δt → 0
=s
dt
velocity = time rate of change of the position coord., s
If change in the velocity during Δt is Δv, a av = Δv/Δt
dv d 2s
( 2 ) __ instantaneous acceleration, a = Δlim
t →0
Δv/Δt = =v= 2 =s
dt dt
( 3) __ vdv = ads
∫ ds = ∫ vdt, s
s1 t1
2 − s1 = area under v-t curve
v2 t2
∫ dv = ∫ adt, v
v1 t1
2 − v1 = area under a-t curve
v2 s2
∫ vdv = ∫ ads, ( v 2
2 − v1 ) / 2 = area under a-s curve
2
v1 s1
graphic/numerical
vs. algebraic approach
at the beginning, t = 0, s = s o , v = v o
v t
at time t, ∫ dv = a ∫ dt
vo 0
→ v = v o + at
v s
∫ = ∫ → = o + 2a ( s − s o )
2 2
vdv a ds v v
vo so
s t t
∫ ∫
ds = vdt = (
∫ ov + at ) dt → s = s o + v o t + at 2
/2
so 0 0
∫ dv = ∫ f ( t ) dt
vo 0
→ v = v o + ∫ f ( t ) dt
0
s t t t t
or s = f ( t ) with i.c. t o = 0, s o , v o
∫ vdv = ∫ f ( s ) ds → v 2
= v o + 2 ∫ f ( s ) ds → v = g ( s )
2
vo so so
s
ds inv
[ v = ds/dt ] t=∫ → s = h (t)
so
g (s)
@ tu
3m lower ball: 3 = gt l2 / 2, t l = 0.782 s
upper ball: t u = t l − 0.5 = 0.282 s
s u = 3 − h = gt 2u / 2 → h = 2.61 m
@ tl
∫ ds = ∫
sC 0
vdt, 3 − s C = t/60
sC 4/3600
∫ ds = ∫
sB 0
vdt = area under v-t curve,
1
s C − s B = × 4 / 3600 × (100 + 60 ) = 4 / 45
2
t = 65.5 sec, s = s B = 1.819 km
2.2 Rectilinear Motion
Ch. 2: Kinematics of Particles
P. 2/24 The 350-mm spring is compressed to a 200-mm length, where
it is released from rest and accelerates the sliding block A.
The acceleration has an initial value of 130 m/s2 and then
decreases linearly with the x-movement of the block, reaching
zero when the spring regains its original 350-mm length.
Calculate the time t for the block to go a) 75 mm and b) 150mm.
130
solution of the unforced harmonic equation
a=− x = −866.7x
0.15 x = Asinω t + Bcosω t, ω = 866.7 = 29.44 rad/s
i.c.: t = 0, x = −0.15 m, x = 0 m/s → B = −0.15, A = 0
∴ x = −0.15cos 29.44t
[ v = dx/dt ] ∫0 dx = ∫0 o
v e dt, x =
vo
k
(
− kt
1 − e − kt
)
v x
vdv
[ vdv = ads] ∫v −kv = ∫0 ds, v = vo − kx
o
∫ ( −0.25 / π ) dt = ∫
0 0.25
dv/v, Δt = 8.71 sec
0 − 402
= − × 0.5 ×1000 − × ( x − 0.5 ) × (1000 + 1000 + 4000 ( x − 0.5 ) )
1 1
2 2 2
x = 0.831 m
Δr dr
instantaneous velocity, v = lim = =r
Δt →0 Δt dt
v includes the effect of change both in magnitude and direction of r
as Δt → 0, direction of Δr approaches that of the tangent to the path
∴ average velocity → velocity, v av → v
∴ v is always a vector tangent to the path
dP
= P = Px i + Py j + Pz k
dt
d ( Pu )
= Pu + Pu
dt
d ( PiQ )
= PiQ + P iQ
dt
d (P × Q)
= P×Q + P×Q
dt
∫ Vdτ = i ∫ V ( x, y, z ) dτ + j∫ V ( x, y, z ) dτ + k ∫ V ( x, y, z ) dτ
x y z
a = a 2x + a 2y
a x = 0 and a y = −g
v 2y = ( v y ) − 2g ( y − y o )
2
ay = g
m eb
1 eE
x = utcosθ y = utsinθ − × t 2
2 m
s
at ( s, 0 ) : s = utcosθ , t = and substitue into y-equation
ucosθ
⎛ s ⎞ 2b
0 = stanθ ⎜1 − tan θ ⎟ , s = 0,
⎝ 2b ⎠ tanθ
(2)
(1)
∫ ( vo cos θ ) e
− kt
dt = ∫ dx, x =
k
(1 − e − kt )
0 0
dv y
a y = −kv y − g =
dt
vy
⎛ g⎞
t
1 g dy
∫
vo sin θ
−kv y − g
dv y = ∫ dt, v y = ⎜ v o sin θ + ⎟ e − kt − =
0 ⎝ k⎠ k dt
⎧⎛ g ⎞ − kt g ⎫
y
1⎛ g⎞
t
⎟( ) g
∫0 ⎩⎨⎜⎝ o θ ∫ θ − kt
v sin + ⎟ e − ⎬ dt = dy, y = ⎜ o
v sin + 1 − e − t
k⎠ k⎭ 0
k⎝ k⎠ k
terminal velocity: ( v x ) t = 0, ( v y ) = −
g
∞ t∞ k
( 2xu )
2 2
− 4gx 2 ( 2yu 2 + gx 2 ) = 0
u 2 gx 2
y= −
2g 2u 2
∴ point ( x, y ) on the envelope must obey this relation → envelope equation
ρ
a t = v = s = ρβ + ρβ
vdv = a t ds
v = v x i + v y j = ve t
a = a x i + a y j = a n en + a t et
a n = change in direction of v
dv nvdβ
an = = = vβ = ρβ 2
dt dt
component a n always directed toward the center of curvature
a t = change in magnitude of v
dv t dv
at = = =v=s
dt dt
component a t will be in + t direction if speed v is increasing
component a t will be in − t direction if speed v is decreasing
t
At the apex:
( 30 cos 30 )
2
v2
v = 30cos30 m/s an = g = = , ρ = 68.8 m
ρ ρ
a=g
v = a t = 0 m/s 2
n
θ
∴ y = rω sin θ , y = rω 2 cos θ
n (b) θ = 0, θ = α
v=0 t
for pin P: v = 0, a n = 0, a t = rα
θ guide C must have its velocity and acceleration, y and y,
n
a = at = rα t transmitted by those of pin P along y direction
∴ y = 0, y = rα sin θ
θ
⎢ρ = ⎥
⎢ y'' ⎥
⎣ ⎦
At peak, ρ = ρ min = ( 80 × 10 / 36 ) / ( 0.7g ) = 71.9 m
2
∫ ds = ∫ ( dx ) + ( dy ) = ∫ 1 + ( y') dx
2 2 2
t = 0 → 1, s = 0 → 2, x = 0 → x
x
2 = ∫ 1 + 9xdx, x = 0.913 mm y = 1.746 mm
0
r = rer
from the figure, de r = eθ dθ and deθ = −e r dθ
∴ er = θ eθ and eθ = −θ e r
v = r = rer + re r = re r + rθ eθ
v r = r due to the stretch of r
vθ = rθ due to the rotation of r
v = v 2r + vθ2
( ) ( ) ( )
a = v = ( rer + re r ) + rθ eθ + rθ eθ + rθ eθ = r − rθ 2 e r + rθ + 2rθ eθ
a r = r − rθ 2
aθ = rθ + 2rθ =
1d 2
r dt
( )
r θ , 2rθ combines two effects
a = a 2r + aθ2
Note: a r ≠ v r and aθ ≠ vθ , i.e. we must also account for the
change in direction of both v r and vθ , which are rθ along eθ
and − rθ 2 along e r , respectively
2.6 Polar Coordinates (r-θ)
Ch. 2: Kinematics of Particles
P. 2/138 The rocket is fired vertically and tracked by
the radar shown. When θreaches 60°,
other corresponding measurements give the
values r = 9 km, r = 21 m/s2, and θ = 0.02 rad/s.
Calculate the magnitudes of the velocity and
acceleration of the rocket at this position.
θ = ω, θ = 0
a r = r − rθ 2 = −roω 2 − ( 4π 2 n 2 + ω 2 ) b o sin 2π nt
aθ = rθ + 2rθ = 4π nω b o cos 2π nt
ar max
= roω 2 + ( 4π 2 n 2 + ω 2 ) bo aθ max
= 4π nω b o
2rr = 2Ratcosα + a 2 t 3 , r =
at ( 2Rcos α + at 2
)
a2 4
2 R + Rat cos α + t
2 2
y xy − yx
tan θ = , θ sec 2θ =
x x2
1 r2
sec θ =
2
=
cos 2 θ x 2
xy − yx Ratsinα
θ= =
r 2
a2 4
R + Rat cos α + t
2 2
⎢⎣ v =
dt ⎥⎦ ∫ ds = ∫
0 0
vdt, s = 1.2 + 0.4π
0.4π
block P moves up the quarter for = π / 3 = 60°
1.2
at this position, x = R + Rcos30 = 2.239 m y = R − Rsin30 = 0.6
r = x 2 + y 2 = 2.318 m θ = tan −1 ( y/x ) = 15°
v r = vcos45 = r = 0.424 m/s
vθ = vsin45 = rθ , θ = 0.183 rad/s
v2 0.62
at = v = 0 an = = = 0.3 = a
ρ 1.2
a r = −0.3cos 45 = r − rθ 2 , r = −0.134 m/s 2
aθ = 0.3sin 45 = rθ + 2rθ , θ = 0.0245 rad/s 2
θ =K θ =0
β = 2θ β = 2K β = 0
motion of pin P is the circular path with radius b
v = ρβ = 2bK = constant
a n = v 2 / ρ = 4bK 2 a t = v = 0, a = 4bK 2 = constant
t v
60°
θ a
n
⎢⎣ω =
dt ⎥⎦ ∫ dθ = ∫ θ dt,
0 0
t = 0.125 s
β 0.125
∫ dβ = ∫
0 0
β dt, β = 0.3927 rad = 22.5°
θ = 0 and β = 0
r = 0.1 − 0.075cos ( 30 + 22.5 ) = 54.3 mm
( )
r = c θ + β sin (θ + β ) = 0.436
r = c (θ + β ) cos (θ + β ) = 2.453
2
For the relative motion using the pure translating coordinate system
rA/B = −rB/A v A/B = − v B/A a A/B = −a B/A