INTRODUCTION &

RECTILINEAR KINEMATICS: CONTINUOUS MOTION

1

Topic Objectives:R206
Students will be able to:
1. Find the kinematic quantities (position, displacement,
velocity, and acceleration) of a particle traveling along a
straight path.
 APPLICATIONS
2
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?
 APPLICATIONS (continued)
3

A sports car travels along a straight road.

Can we treat the car as a particle?

If the car accelerates at a constant rate, how can we

determine its position and velocity at some instant?
 An Overview of Mechanics
4
Mechanics: The study of how bodies
react to forces acting on them.

Dynamics:
Statics: The study of
1. Kinematics – concerned with
bodies in equilibrium.
the geometric aspects of motion
2. Kinetics – concerned with the
forces causing the motion
 RECTILINEAR KINEMATICS: CONTINIOUS MOTION
5

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
6 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
7
Acceleration is the rate of change in the velocity of a particle.
It is a vector quantity. Typical units are m/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).

As the text indicates, the derivative equations for velocity and

acceleration can be manipulated to get a ds = v dv
 SUMMARY OF KINEMATIC RELATIONS:
8 RECTILINEAR MOTION

• Differentiate position to get velocity and acceleration.

v = ds/dt ; a = dv/dt or a = v dv/ds

• Integrate acceleration for velocity and position.

Velocity: Position:
v t v s s t

 dv =  a dt or  v dv =  a ds  ds =  v 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
9
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 downward. These equations are:

v t

 dv =  a
vo o
c dt yields v = vo + act
s t

 ds =  v dt yields s = s o + v ot + (1/2) a c t 2
so o
v s

 v dv =  ac ds yields v 2 = (vo )2 + 2ac(s - so)

vo so
 EXAMPLE 1
10

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 1(continued)
11
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 
 s – so = 2 t 2 – t 3 so
 o

ds = (4 t – 3 t2) dt

 s – 0 = 2(4)2 – (4)3  s = – 32 m ( or )
 EXAMPLE 2
12
Given: A particle is moving along a straight line such that
its velocity is defined as v = (-4s2) m/s, where s is
in meters.

Find: The velocity and acceleration as functions of time if

s = 2 m when t = 0.

Plan: Since the velocity is given as a function of distance, use

the equation v=ds/dt.
1) Express the distance in terms of time.
2) Take a derivative of it to calculate the velocity and
acceleration.
 EXAMPLE 2 (continued)
13 Solution:
1) Since v = ( 4s2)

Determine the distance by integrating using s0 = 2.

Notice that s = 2 m when t = 0.

 EXAMPLE 2 (continued)
14

2) Take a derivative of distance to calculate the velocity

and acceleration.

 m/s
15
16 RECTILINEAR KINEMATICS: ERRATIC MOTION

Topic Objectives:
Students will be able to:
1. Determine position, velocity, and acceleration of a
particle using graphs.
 APPLICATIONS
17
In many experiments, a
velocity versus position (v-s)
profile is obtained.

If we have a v-s graph for the

tank truck, how can we
determine its acceleration at
position s = 1500 m?
 APPLICATIONS (continued)
18
The velocity of a car is
recorded from an experiment.
The car starts from rest and
travels along a straight track.

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?
 ERRATIC MOTION
19

Graphing provides a good way

to handle complex motions that
would be difficult to describe with
formulas.
Graphs also provide a visual
description of motion and
reinforce the calculus concepts
of differentiation and integration
as used in dynamics.

The approach builds on the facts that slope and differentiation

are linked and that integration can be thought of as finding
the area under a curve.
 S-T GRAPH
20
Plots of position vs. time can be
used to find velocity vs. 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
21
Plots of velocity vs. time can be used to
find acceleration vs. 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 vs. 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
22
Given the acceleration vs. 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
23
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  a ds =  v dv ).

s2
½ (v1² – vo²) =  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.
 V-S GRAPH
24
Another complex case is presented
by the velocity vs. distance or v-s
graph. By reading the velocity v at
a point on the curve and
multiplying it by the slope of the
curve (dv/ds) at this same point,
we can obtain the acceleration at
that point. Recall the formula

a = v (dv/ds).

Thus, we can obtain an a-s plot

from the v-s curve.
 EXAMPLE 3
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Given: The s-t graph for a sports car moving along a straight road.

Find: The v-t graph and a-t graph over the time interval shown.

What is your plan of attack for the problem?

 EXAMPLE 3 (continued)
26
Solution: The v-t graph can be constructed by finding the
slope of the s-t graph at key points. What are those?

when 0 < t < 5 s; v0-5 = ds/dt = d(3t2)/dt = 6 t m/s

when 5 < t < 10 s; v5-10 = ds/dt = d(30t75)/dt = 30 m/s

v-t graph
v(m/s)

30
t(s)
5 10
 EXAMPLE 3 (continued)
27
Similarly, the a-t graph can be constructed by finding the
slope at various points along the v-t graph. Using the results of
the first part where the velocity was found:
when 0 < t < 5 s; a0-5 = dv/dt = d(6t)/dt = 6 m/s2

when 5 < t < 10 s; a5-10 = dv/dt = d(30)/dt = 0 m/s2

a-t graph a(m/s2)

6
t(s)
5 10
 EXAMPLE 4
28

Given: The v-t graph shown.

Find: The a-t graph, average

speed, and distance
traveled for the 0 - 50 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!).
 EXAMPLE 4 (continued)
29
Solution:
Find the a–t graph:
For 0 ≤ t ≤ 30 a = dv/dt = (12 – 0)/(30 – 0) = 12/30 = 0.4 m/s²

For 30 ≤ t ≤ 50 a = dv/dt = (12 – 12)/(50 – 30) = 0/20 = 0 m/s²

a-t graph
a(m/s²)

0.4

0 t(s)
30 50
 EXAMPLE 4 (continued)
30 Now find the distance traveled: For 0 ≤ t ≤ 30;
𝑑𝑣
 v dt =  0.4t dt = 0.4t /2 = [0.4(30)
𝑎= = 0.4
s0-30 = 2 2 ]/2 – 0 = 180 m 𝑑𝑡
𝑑𝑣 = 0.4 𝑑𝑡

s30-50 = v dt 𝑑𝑣 = 0.4 𝑑𝑡

=  12 dt = 12t = 12 (50 – 30)

𝑣 = 0.4𝑡

= 240 m For 30 ≤ t ≤ 50;

𝑣 = 12
s0-50 = 180 + 240 = 420 m
v = 12
vavg(0-50) = total distance / time
= 420 / 50
= 8.4 m/s
 EXAMPLE 5
31

Given: The v-t graph shown.

Find: The a-t graph, average

speed, and distance
traveled for the 0 - 48 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!).
 EXAMPLE 5 (continued)
32
Solution:
Find the a–t graph:
For 0 ≤ t ≤ 30 a = dv/dt = 0.2 m/s²

For 30 ≤ t ≤ 48 a = dv/dt = -0.333 m/s²

a-t graph
a(m/s²)

0.2
30 48 t(s)

-0.33
 EXAMPLE 5 (continued)
33
Now find the distance traveled:

s0-30 =  v dt = (1/5)(1/2) (30) = 90 m

2

=  v dt = [(-1/3) (1/2) (t – 48) ]

48
s30-48 2
30

= (-1/3) (1/2)(48 – 48)2 – (-1/3) (1/2)(30 – 48)2

= 54 m

s0-48 = 90 + 54 = 144 m

vavg(0-48) = total distance / time

= 144 / 48
= 3 m/s
34
 CURVILINEAR MOTION:
35 GENERAL & RECTANGULAR COMPONENTS

Topic Objectives:
Students will be able to:
1. Describe the motion of a particle traveling along a curved path.
2. Relate kinematic quantities in terms of the rectangular components
of the vectors.
 APPLICATIONS
36
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?
 APPLICATIONS
37 (continued)

A roller coaster car travels down a

fixed, helical path at a constant
speed.

How can we determine its

position or acceleration at any
instant?

If you are designing the track, why is it important to be able to

predict the acceleration of the car?
 GENERAL CURVILINEAR MOTION
38
A particle moving along a curved path undergoes curvilinear motion. Since
the motion is often three-dimensional, vectors are 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 s along the

curve during time interval t, the displacement is
determined by vector subtraction:  r = r’ - r
 VELOCITY
39 Velocity represents the rate of change in the position of a
particle.

The average velocity of the particle

during the time increment t is
vavg = r/t .
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 s

approaches the magnitude of r as t→0, the speed can be obtained
by differentiating the path function (v = ds/dt). Note that this is not a
vector!
 ACCELERATION
40
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 t, the average acceleration during
that increment is:
aavg = v/t = (v - v’)/t
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
41
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
42 The velocity vector is the time derivative of the position vector:

v = dr/dt = d(xi)/dt + d(yj)/dt + d(zk)/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
43
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 = 𝑥 = 𝑣𝑥 = dvx /dt, ay = 𝑦 = 𝑣𝑦 = dvy /dt,
az = 𝑧 = 𝑣𝑧 = dvz /dt

The magnitude of the acceleration vector is

a = [(ax)2 + (ay)2 + (az)2 ]0.5

The direction of a is usually

not tangent to the path of the
particle.
 EXAMPLE 6
44
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 x = 5 m.

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

the first time derivative of the path’s equation. And the
acceleration can be related 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 6 (continued)
45 Solution:
Find the y-component of velocity by taking a
time derivative of the position y = (0.05x2)

𝑦 = 2 0.05 𝑥𝑥 = 0.1𝑥𝑥

Find the acceleration component by taking a

time derivative of the velocity y;

Let 𝑢 = 0.1𝑥 ; 𝑣 = 𝑥

𝑦 = 𝑢𝑣 + 𝑣𝑢 = 0.1𝑥 2 + 0.1𝑥𝑥
 EXAMPLE 6 (continued)
46
Since 𝑥 = 5 m ; 𝑥 = 𝑣𝑥 = −3 m/s ; 𝑥 = 𝑣𝑥 = 𝑎𝑥 = −1.5 m/s 2

Substitute;
𝑦 = 0.1 5 −3 = −1.5 m/s

𝑦 = 0.1 −32 + 0.1 5 −1.5 = 0.15 m/s 2

At x = 5 m
vy = – 1.5 m/s = 1.5 m/s 
ay = 0.15 m/s2 
 EXAMPLE 7
47
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) m/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.
 EXAMPLE 7 (continued)
48 Solution:
1) x-components:
At t = 1 s;
𝑥 = 𝑣𝑥 = 5 𝑡 = 𝟓 𝐦𝐬 −𝟏
1
1 2
5𝑡
𝑣𝑥 = 5𝑡 ; 𝑥= = 𝟐. 𝟓 𝐦
0 2
0

𝑎𝑥 = 𝑣𝑥 = 𝑥 = 𝟓 𝐦𝐬 −𝟐

2) y-components:
At t = 1 s;
𝑦 = 0.5𝑥 2 = 0.5 2.5 2 = 𝟑. 𝟏𝟐𝟓 𝐦
𝑦 = 2 0.5 𝑥 𝑥 = 2.5 5 = 𝟏𝟐. 𝟓 𝐦𝐬 −𝟏
𝑎𝑦 = 𝑣𝑦 = 𝑦 = 𝑥 2 + 𝑥 𝑥 = 52 + 2.5 5 = 35 + 12.5 = 𝟑𝟕. 𝟓 𝐦𝐬 −𝟐
 EXAMPLE 7 (continued)
49
3) The position vector and the acceleration vector are

Position vector: r = [ x i + y j ] m
where x= 2.5 m, y= 3.125 m
Magnitude: r = (2.52 + 3.1252)0.5 = 4.00 m

Acceleration vector: a = [ ax i + ay j] m/s2

where ax = 5 m/s2, ay = 37.5 m/s2
Magnitude: a = (52 + 37.52)0.5 = 37.8 m/s2
50