CHAPTER-12

KINEMATICS OF A PARTICLE
 KINEMATICS OF A PARTICLE
• Rectilinear Kinematics: Continuous Motion

• Rectilinear Kinematics: Erratic Motion

• General Curvilinear Motion

• Curvilinear Motion: Rectangular Components

• Motion of a projectile

• Curvilinear Motion: Normal & Tangential Components

• Curvilinear Motion: Cylindrical Components

• Absolute Dependent Motion Analysis of Two Particles

• Relative Motion Analysis of Two Particles

 Relative Motion Analysis of Two Particles Using
Translating Axes

• Uptil now, absolute motion of a particle has been

determined using a single fixed reference frame for
measurement

• However, when the path of motion for a particle is

complicated, sometimes it is feasible to analyze the
motion in parts by using two or more frames of
reference.

• At this instant, only translating frames of reference will

be considered for analysis.
Relative Motion Analysis of Two Particles Using
Translating Axes
Position:
• Consider particles A and B which move along the
arbitrary paths aa and bb respectively.
• The absolute position of each particle rA and rB is
measured from the common origin O of the fixed x,
y, z reference frame.
• The origin of a second frame of reference x’, y’, z’is
attached to and moves with particle A.
• The relative position of “B with respect to A” is
designated by a relative position vector rB/A, such
that:
rB = rA + rB/A
Velocity:
• An equation that relates the velocities of the
particles can be determined by taking the time
derivative of above equation:
vB = vA + vB/A
Acceleration:
• The time derivative of velocity equation yields a
similar vector relationship between the absolute and
relative accelerations of particles.
aB = aA + aB/A
Absolute Dependent Motion Analysis of Two Particles
&
Relative Motion Analysis of Two Particles Using
Translating Axes

Examples:
12.21, 12.22, 12.23, 12.24,
12.25, 12.26, 12.27
Fundamental Problems:
F12-39, F12-42
Practice Problems:
12.202, 12.207,
12.217, 12.222, 12.223, 12.225, 12.228
 Example 12-25
A train traveling at a
constant speed of 60
mi/h, crosses over a road
as shown. If the
automobile A is
traveling at 45 mi/h
along the road,
determine the magnitude
and direction of the
relative velocity of the
train with respect to the
automobile.
Solution of Example 12-25
 Example 12-26
Plane A 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
acceleration of B as
measured by the pilot
of A.
Solution of Example 12-26
Solution of Example 12-26
 Example 12-27
At the instant shown cars A
and B are traveling at
speeds of 18 m/s and 12
m/s respectively. Also at
this instant, A has a
decrease in speed of 2 m/s2
and B has an increase in
speed of 3 m/s2. Determine
the velocity and
acceleration of B with
respect to A.
Solution of Example 12-27
Problem 12-217
Car B is traveling along the
curved road with a speed
of 15 m/s while decreasing
its speed at 2 m/s2. At this
same instant car C is
traveling along the straight
road with a speed of 30
m/s while decelerating at 3
m/s2. Determine the
velocity and acceleration
of car B relative to car C.
Solution of Problem 12-217
 CHAPTER-13
KINETICS OF A PARTICLE:
Force & Acceleration
 KINETICS OF A PARTICLE:
FORCE & ACCELERATION

• Newton’s Second Law of Motion

• Equation of Motion

• Equation of Motion: Rectangular Components

• Equation of Motion: Normal & Tangential Components

• Equation of Motion: Cylindrical Components

NEWTON’S LAWS OF MOTION

FIRST LAW:
A particle originally at rest, or moving in a straight line with a constant velocity,
will remain in this state provided the particle is not subjected to an unbalanced
force

SECOND LAW:
A particle acted upon by an unbalanced force F experiences an acceleration a
that has the same direction as the force and a magnitude that is directly
proportional to the force.

THIRD LAW:
The mutual forces of action and reaction between two particles are equal,
opposite and collinear.
NEWTON’S LAWS OF MOTION

• The first and third laws are extensively used during statics
• However, Newton’s second law of motion forms the basis for most of the
dynamics concepts, since this law relates the accelerated motion of the particle
to the forces that act on it.
• If the mass of the particle is ‘m’, Newton’s second law of motion may be
written in mathematical form as:
F = ma
• This equation is referred to as the equation of motion
Newton’s Law of Gravitational Attraction:
• Newton’s law of Gravitational Attraction may be expressed mathematically as:
F = [G m1 m2]/r2
where F = Force of attraction between two particles
G = Universal constant of gravitation, 66.73x10-12 m3/kg.s2
m1 m2 = mass of each of the two particles
r = distance between the centers of the two particles
EQUATION OF MOTION

• The equation of motion is:

F = ma
• Consider a particle P which has a mass m and is subjected to the action of two
forces F1 and F2
• We can graphically account for the magnitude and direction of each force acting
on the particle by drawing the particle’s free body diagram
• Since the resultant of these forces produces the vector ma, its magnitude and
direction can be represented graphically on the kinetic diagram
 EQUATION OF MOTION FOR A SYSTEM OF PARTICLES

• The equation of motion for a system of particles can be

written as:

ΣF = maG
• i.e. the sum of the external forces acting on the system of
particles is equal to the total mass of the particles times the
acceleration of its center of mass G.
 EQUATION 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, and k components as:
∑F=ma

∑ Fx i + ∑ Fy j + ∑ Fz k = m( ax i + ay j + az k)

• For this equation to be satisfied, the respective i, j and k components on the left
side must be equal to the corresponding components on the right side.
EQUATION OF MOTION: Rectangular Coordinates

Examples:
13.1, 13.2, 13.3, 13.4,13.5
Fundamental Problems:
F13.1, F13.5
Practice Problems:
13.10, 13.14, 13.16, 13.27, 13.33
EXAMPLE 13-1
The 50kg crate shown rests on a horizontal plane for which the
coefficient of kinetic friction is 0.3 If the crate is subjected to a
400N towing force as shown, determine the velocity of the crate
in 3s starting from rest.
Solution of Example 13-1
EXAMPLE 13-4
A smooth 2 kg collar shown is attached to a spring having a stiffness k = 3N/m
and an unstretched length of 0.75 m. 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 = 1m.
Solution of Example 13-4
 PROBLEM 13-16
The man pushes on the 60lb crate with a force F. The force is always directed
down at 30º from the horizontal as shown, and its magnitude is increased until the
crate begins to slide. Determine the crate’s initial acceleration if the static
coefficient of friction is 0.6 and kinetic coefficient of friction is 0.3
Solution of Problem 13-16
PROBLEM 13-27
Determine the required mass of block A so that when it is released from
rest it moves the 5kg block B 0.75m up along the smooth incline plane in
t=2s. Neglect the mass of the pulleys and the cords.
Solution of Problem 13-27