Chapter 1: Kinematics of a Particle

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1.  Introduction
2.  Rectilinear Kinematics: Continuous Motion
3.  Rectilinear Kinematics: Erratic Motion
4.  General Curvilinear Motion
5.  Curvilinear Motion: Rectangular Components
6.  Motion of a Projectile
7.  Curvilinear Motion: Normal and Tangential Components
8.  Absolute Dependent Motion Analysis of Two Particles
9.  Relative Motion Analysis of Two Particles Using
Translating Axes

MCHE 213 – Dynamics Fall 2016 - 2017 Dr. Amine Abou Moughlbay
 1.3 - Rectilinear Kinematics:
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Erratic Motion
§  Erratic or changing motion: position, velocity,
and acceleration cannot be described by a
single continuous function along the entire path.

§  Motion is described graphically using a set of

curves at different intervals.

§  A graph is used to described the relationship

with any 2 of the variables: a, v, s, t

§  We use a = dv/dt, v = ds/dt and a ds = v dv

MCHE 213 – Dynamics Fall 2016 - 2017 Dr. Amine Abou Moughlbay
1.3 - Rec)linear Kinema)cs: Erra)c Mo)on

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s-t, v-t and a-t Graphs
§  s-t graph can be plotted
when position of the particle
can be determined
experimentally during a
period of time t.
§  To find the particle’s velocity
as a function of time, we use:
ds
υ=
dt
§  Velocity as any instant is
found by measuring the
slope of the s-t graph
MCHE 213 – Dynamics Fall 2016 - 2017 Dr. Amine Abou Moughlbay
1.3 - Rec)linear Kinema)cs: Erra)c Mo)on

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s-t, v-t and a-t Graphs
§  When the particle’s v-t graph
is known, the acceleration as
a function of time, the a-t
graph can be determined
using:
dυ
a=
dt

§  Acceleration as any instant is

determined by measuring the
slope of the v-t graph
MCHE 213 – Dynamics Fall 2016 - 2017 Dr. Amine Abou Moughlbay
1.3 - Rec)linear Kinema)cs: Erra)c Mo)on

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s-t, v-t and a-t Graphs
Note:
§  Since differentiation reduces a polynomial of
degree n to that of degree n – 1, then if the s-t
graph is parabolic (a second-degree curve), the
v-t graph will be a sloping line (a first-degree
curve), and the a-t graph will be a constant or a
horizontal line (a zero-degree curve).

MCHE 213 – Dynamics Fall 2016 - 2017 Dr. Amine Abou Moughlbay
1.3 - Rec)linear Kinema)cs: Erra)c Mo)on

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s-t, v-t and a-t Graphs
§  When a–t graph is given, v–t can
be written as
Δυ = ∫ a dt
Change in velocity = area under a-t graph

Ø  Begin with the particle's initial velocity v0

Ø  Add to this small increments of area (Δv)
determined from the a-t graph (v1 = v0 +
Δv)
Ø  Areas lying above the t axis correspond
to an increase in v ("positive" area)
Ø  Areas lying below the t axis indicate a
decrease in v ("negative" area)
MCHE 213 – Dynamics Fall 2016 - 2017 Dr. Amine Abou Moughlbay
1.3 - Rec)linear Kinema)cs: Erra)c Mo)on

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s-t, v-t and a-t Graphs
§  When v–t graph is given, s–t can
be written as
Δs = ∫ υ dt
Displacement = area under v-t graph

Ø  Begin with the particle's initial position

s0

Ø  Add (algebraically) to this small area

increments Δs determined from the v-t
graph (s1 = s0 + Δs).

MCHE 213 – Dynamics Fall 2016 - 2017 Dr. Amine Abou Moughlbay
1.3 - Rec)linear Kinema)cs: Erra)c Mo)on

51
s-t, v-t and a-t Graphs
Notes:
§  If segments of the a-t graph are described by a
series of equations, then each of these equations
can be integrated to yield equations describing
the corresponding segments of the v-t graph.

§  s-t graph is obtained by integrating the equations

which describe the segments of the v-t graph.

§  If a-t graph is linear (a first-degree curve),

integration will yield a v-t graph that is parabolic
(a second-degree curve) and an s-t graph that is
cubic (third degree curve).
MCHE 213 – Dynamics Fall 2016 - 2017 Dr. Amine Abou Moughlbay
1.3 - Rec)linear Kinema)cs: Erra)c Mo)on

52
v-s and a-s Graphs
§  a–s graph can be constructed
with s
1 2 1

2
(
υ1 − υ02 = ) ∫ a ds
s0 à
area under a-s graph

Ø  If the red area is determined, and the

initial velocity v0 at s0 = 0 is known, then
s1

υ1 = 2 ∫ a ds + υ02
s0

Ø  Successive points on the v-s graph can

be constructed in this manner.
MCHE 213 – Dynamics Fall 2016 - 2017 Dr. Amine Abou Moughlbay
1.3 - Rec)linear Kinema)cs: Erra)c Mo)on

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v-s and a-s Graphs
§  When v–s graph is known, a at any
s can be written as
dυ
a= υ
ds
acceleration = velocity * slope of v-s graph

MCHE 213 – Dynamics Fall 2016 - 2017 Dr. Amine Abou Moughlbay
1.3 - Rec)linear Kinema)cs: Erra)c Mo)on

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Example 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.

MCHE 213 – Dynamics Fall 2016 - 2017 Dr. Amine Abou Moughlbay
1.3 - Rec)linear Kinema)cs: Erra)c Mo)on

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Solution Example 6
v-t Graph
By differentiating the equations defining the s-t
graph, we have
2 ds
0 ≤ t ≤10s; s = 0.3t υ= = 0.6t
dt
ds
10s ≤ t ≤ 30s; s = 6t − 30 υ= =6
dt

By measuring the slope of the s-t graph at a given

time instant,
Δs 150 − 30
t = 20s; v= = = 6m / s
Δt 30 − 10
MCHE 213 – Dynamics Fall 2016 - 2017 Dr. Amine Abou Moughlbay
1.3 - Rec)linear Kinema)cs: Erra)c Mo)on

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Solution Example 6
a-t Graph
By differentiating the equations defining the lines of
the v-t graph:
dυ
0 ≤ t ≤10s; υ = 0.6t a = = 0.6
dt
dυ
10 < t ≤ 30s; υ = 6 a= =0
dt

Note that a = 0.6 m/s2 when t = 5 s by measuring the slope of

the v-t graph.

MCHE 213 – Dynamics Fall 2016 - 2017 Dr. Amine Abou Moughlbay
1.3 - Rec)linear Kinema)cs: Erra)c Mo)on

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Example 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

§  Determine the time t’

needed to stop the car.

§  How far has the car

traveled?

MCHE 213 – Dynamics Fall 2016 - 2017 Dr. Amine Abou Moughlbay
1.3 - Rec)linear Kinema)cs: Erra)c Mo)on

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Solution Example 7
v-t Graph
Using initial condition v = 0 when t = 0,
υ t
0 ≤ t ≤10s a =10; ∫ dυ = ∫ 10dt, υ =10t
0 0

When t = 10s, v = 100m/s,

10s ≤ t ≤ tʹ; a = −2;
υ t
∫ dυ = ∫ − 2dt
100 10

υ = −2t +120
When t = t’, v = 0
à t’ = 60 s
MCHE 213 – Dynamics Fall 2016 - 2017 Dr. Amine Abou Moughlbay
1.3 - Rec)linear Kinema)cs: Erra)c Mo)on

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Solution Example 7
s-t Graph
Using initial conditions s = 0 when t = 0,
s t
0 ≤ t ≤10s; υ =10t; ∫ ds = ∫ 10t dt, s = 5t 2
0 0

When t = 10s, s = 500m,

10s ≤ t ≤ 60s; υ = −2t +120
s t
∫ 500
ds = ∫ (−2t +120) dt
10

s = −t 2 +120t − 600
When t’ = 60s, s = 3000m

MCHE 213 – Dynamics Fall 2016 - 2017 Dr. Amine Abou Moughlbay
1.3 - Rec)linear Kinema)cs: Erra)c Mo)on

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Example 8
The v-s graph describing
the motion of a motorcycle
as shown.

Construct the a-s graph of

the motion and determine
the time needed for the
motorcycle to reach the
position s = 120 m.

MCHE 213 – Dynamics Fall 2016 - 2017 Dr. Amine Abou Moughlbay
1.3 - Rec)linear Kinema)cs: Erra)c Mo)on

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Solution Example 8
a-s Graph
a-s graph can be determined using a ds = v dv,
0 ≤ s ≤ 60m; υ = 0.2s + 3
dυ
a=υ = 0.04s + 0.6
ds

60m < s ≤120m; υ =15;

dυ
a=υ =0
ds

MCHE 213 – Dynamics Fall 2016 - 2017 Dr. Amine Abou Moughlbay
1.3 - Rec)linear Kinema)cs: Erra)c Mo)on

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Solution Example 8
Time
When s = 0 at t = 0,
ds ds
0 ≤ s ≤ 60m; υ = 0.2s + 3; dt = =
υ 0.2 + 3
t s ds
∫ o dt = ∫ 0 0.2s + 3 ⇒ t = 5ln(0.2s + 3)− 5ln 3
At s = 60 m, t = 8.05 s
For the second segment of motion
ds ds
60 < s ≤120m; υ =15; dt = =
υ 15
t s ds s
∫ 8.05 dt = ∫ 60 15 ⇒ t = 15 + 4.05
At s =120 m, t =12.05 s
MCHE 213 – Dynamics Fall 2016 - 2017 Dr. Amine Abou Moughlbay