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CONTENTS
1. Position and displacement.
Lecture 1 2. Average and instantaneous velocity.
KINEMATICS 3. Average and instantaneous acceleration.
4. Tangential and radial acceleration.
5. Projectile motion.
6. Circular motion.
7. Relative velocity and acceleration

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Kinematics 1. Position Vector

◼ Kinematics is the branch of classical mechanics which
z
z

describes the motion of points (alternatively "particles"),
bodies (objects), and systems of bodies without
  M (x,y,z)
r is a vector that goes from
the origin of the
consideration of the masses of those objects nor the k r coordinate system to the
forces that may have caused the motion.  particle M.
r  O  y
◼ A particle is a point-like object, that is, an object that has i j y
   
r = OM = xi + yj + zk
mass but is of infinitesimal size. x
◼ Motion of an object represents a continuous change in x
the object’s position. path
◼ To describe the motion of an object we need to know its
position, velocity, acceleration and trajectory When the object moves, the position of the particle changes with
times => the vector position is a function of time.
   
r ( t ) = OM( t ) = x ( t ) i + y( t ) j + z( t )k
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2. Displacement
During a time interval t the particles moves from M1 to M2. The
change in position (the displacement) during the time interval t is

  
 r = OM( t + t ) − OM( t ) = r ( t + t ) − r ( t )

r
Point path
+ points from initial to mass
final position 
M1 r
+ If particle goes foth, then  M2
back to its initial position, r (t)
 
then
r = 0 Posistion r ( t + t )
vector at t Posistion
+ But the distance travelled O
vector at t+t
s 0
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What is the distance and the displacement of the race car drivers in the Indy 500?

The skier covers a distance of

(180 m + 140 m + 100 m) = 420 m
and has a displacement of 140 m, rightward.

The displacement of the cars is somewhere near 0 miles since they virtually finish
where they started. Yet the successful cars have covered a distance of 500 miles.

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3. Average velocity  4. Instantaneous velocity

◼ The average  r
v ave = ◼ The instantaneous velocity at time t:
velocity
t The instantaneous velocity is defined as the limit of the average velocity as t approaches
 
zero:
 r dr
◼ It differs from the s v = lim =
v= t − 0 t dt
average speed:
t
◼ It is the derivative of position vector r(t)
◼ Compare them path with respect to time t.
when the particle
M1 
v ave s 
makes a closed ◼ v is tangential to the path and points to

path?  r
M2 the direction of motion.


vave = 0
r (t)

r ( t + t )
◼ Instantaneous speed: v =|| v ||
v 0 O
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path path
M1  s
M1  s
v ave v ave
 M2  M2
 r  r
r (t) At every point along the r (t) At every point along the
 path, the instantaneous  path, the instantaneous
r ( t + t ) r ( t + t )
velocity vector is tangential velocity vector is tangential
O to the path at that point. O to the path at that point.
   
 r v path  r v path
vave = Average
M1  vave = Average
M1 
t t
M2 M2
velocity dr  velocity dr 
r (t + dt) r (t + dt)
 
When t->0, M2 is closed to M1, and r (t) When t->0, M2 is closed to M1, and r (t)
displacement is tangential to the path and displacement is tangential to the path and
so is the velocity vector so is the velocity vector
  O   O
 r dr It is the derivative of  r dr
Instantaneous velocity v = lim = position vector r(t)
Instantaneous velocity v = lim =
t − 0 t dt t − 0 t dt
with respect to time t.11 12

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5. Acceleration In Cartesian Coordinate system

   
The average acceleration of a particle is defined as the change in its instantaneous     v = vx i + v y j + vzk
velocity vector divided by the time interval t during which that change occurs
   r = x i + y j + zk 
 v v(t + t ) − v(t )   dv dvx  dv y  dvz 
 d r dx  dy  dz  a= = i+ j+
◼ Average acceleration a ave = = v= = i+ j+ k dt dt dt dt
k
in time interval t: t t 
dt dt
 
dt

dt    
a = a x i + a y j + a zk
The instantaneous acceleration is defined as the limiting value of the ratio v/t v = vx i + vy j + vzk
as t approaches zero:  
 v dv 
 dvx d 2 x
◼ The instantaneous a = lim = dx
v x = dt ;
a x = = 2;
t − 0 t dt  dt dt
acceleration at time t:  
v( t )   dy   dv y d 2 y
 v = v y = a = a y = = 2
 v( t + t )  dt  dt dt
◼ Acceleration is the v
  dz  dvz d 2 z
derivative of velocity r (t) v z = dt  z
a = =
  dt dt 2
vector with respect to z 
r ( t + t )
time. v = v 2x + v 2y + v 2z a = a 2x + a 2y + a 2z
y
x 13 14

7. Tangential Acceleration Tangential acceleration

& Normal Acceleration
   dv  v 2  Centripetal acceleration
a = a + an = + n

Tangential unit vector :
a has two components: dt R - direction: tangential to the path at point M.
 tangential unit vector - sense: the sense of the motion
at is tangential to the path n: normal unit vector - magnitude: 1 
R: curvature radius M
and reflects the variation
M
in speed. at
v
path n 

an points to the inside of the

path and describes the R
an a
 nomal unit vector :
n

variation in velocity
direction.
n - direction: normal to the path at point M.
-sense: to the inside of the curve
- magnitude: 1
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   
v = v
 dv d( v) dv 
 
d
d =  .d = 1.d Tangential Acceleration
a= = = +v ds
dt dt dt dt d =
R
& Normal Acceleration

d  
Find d =  .d =
ds    dv  v 2 
 2 dt R a = a + an = + n
 = 1  a has two components: dt R
 d d ds v
2. = 0 = =
dt Rdt R  tangential unit vector
 dt    
(t) d  d d  d d  v  at is tangential to the path n: normal unit vector
⊥  = = n = n= n
d dt  dt  dt and reflects the variation R: curvature radius
d = ( t + dt ) − ( t ) dt dt R
(t+dt) in speed. at
v
d
2
d  dv  v   
a =  + n = a + an an points to the inside of the an a
 dt R
(t+dt) M v curve and describes the R
M variation in velocity
path n  direction.

v
n 17 18

at
v Motion with Constant Acceleration

an a = const 
a  v( t ) t
dv      
R = a =  dv =  adt = v( t ) = at + v i
dt 
vi  0
an  r (t)
dr   t    1  
= v( t ) =  d r =  (at + v i )dt = r ( t ) = at 2 + v i t + ri
dt 
ri 0
2
at
v
 
Accelerated Motion Decelerated Motion a = const
  a = const
vf = vi + at  
vf = at + vi
dv   dv    1 2     
 0, a   v  0, a   v 1
rf = at + vi t + ri rf = ri + vi t + at 2
dt dt 2 2

   dv  v 2 
a = a + an = + n
dt R 19 20

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Motion with Constant Acceleration

Linear motion
v    dv  v 2 
path a = a + an = + n
 dt R
a = const
v xf = v xi + a x t  v 
2
an = n = 0
v yf = v yi + a y t R
  
1 
a = const a = const R=  a = a
x f = x i + vix t + a x t 2    
2 v f = v i + at v f = at + v i curvature radius
1    1  1 2  
yf = yi + viy t + a y t 2 rf = ri + v i t + at 2 rf = at + v i t + ri
2 2 2

Calculate the velocity and speed of the particle at t=5 21 22

Circular Motion with constant speed

v uniform circular motion
   dv  v 2 
an a = a + an = + n
dt R
v dv 
an v = const , = 0 = a  = 0
dt
O  
R a = an
v2
an =
R

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Circular Motion
ar is large when the radius of curvature is small

ar is small when r is large

+
+

Accelerated Motion
Decelerated Motion

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This figure represents the total acceleration of a particle moving clockwise in a

circle of radius 2.50 m at a certain instant of time. At this instant, find (a) the radial
Circular Motion The angular velocity  (rad/s)

acceleration, (b) the speed of the particle, and (c) its tangential acceleration.

The angular acceleration  (rad/s2)

 > 0 : Accelerated Motion

 < 0 : Decelerated Motion
 = 0 :  =const uniform circular motion
 = const: circular motion with constant acceleration

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The tangential velocity is the cross product of the angular

velocity and the position vector

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Two particles are placed at different radii on a rotating disk with a

constant angular velocity. As the disk rotates, the tangential speed
8. Projectile motion
increases linearly with the radius from the axis of rotation
◼ Throw a ball with the
initial velocity vo, making
with the horizontal axis
an angle 
◼ Assume
+ gravitational acceleration Find:
g is constant 1) Velocity vector, position vector
and trajectory of the ball
+ air resistance is
2) The height of the highest point
neglected:
3) The flight time
4) The horizontal range of the motion
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Projectile Motion
1) Velocity vector, position vector and trajectory of the ball
 
a=g Trajectory
   initial position : x o = 0; y o = 0
v = gt + v o
 a = 0
 1 2  
r = gt + v o t + ro a = a x = −g
2  y
 v = v cos  (1)
v = v x = −ogt + v sin  ( 2)
 y o
  x = v o t cos  (3)

r = 1
 y = − gt 2 + v o t sin  ( 4)
  a = 0  2
a = const a = a x = −g x
v xf = v xi + a x t  y (3) t= (6)
 v = v cos  (1) v o cos 
v yf = v yi + a y t v = v x = −ogt + v sin  (2) 2
1  y o 1  x 
x f = x i + vix t + a x t 2 = y = − g  + x tan  = Parabola
2  x = vo t cos  + x o (3) 2  v o cos  
r = 1
 y = − 2 gt + vo t sin  + yo (4)
2
1
yf = yi + viy t + a y t 2
2 33 34

When does the ball reach the highest point ?

vo sin  A stone is thrown from the top of a building upward at an angle of 30.0° to the horizontal
the y - component of velocity is zero : v y = 0 at time t = with an initial speed of 20.0 m/s, as shown in the following Figure. If the height of the
g building is 45.0 m,
The height H of the highest point : (A) how long does it take the stone to reach the ground?
v sin  1 v 2 sin 2  v sin  1 vo2 sin 2  (B) What is the speed of the stone just before it strikes the ground?
H = y( t = o )=− g o 2 + vo sin  o =
g 2 g g 2 g
The horizontal range L :
1 x2 Flight Time :
y = 0 = − g 2 + x tan  = 0 1
2 v o cos 2  y = − gt 2 + vo t sin  =0
2v sin  cos 
2 2
x = 0; x = o L 2v sin 
g t = 0,  = o
g

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Projectile motion refers to the motion of

an object projected into the air at an Relative velocity Let’s have two reference
angle. z’  frames O and O’, RF O’
A few examples V moves with velocity V relative
- a soccer ball is kicked, a baseball is
z
M  to RF O.
thrown.
r'
- fireworks  Position Vector of point mass
O’ y’
- water fountains r M:
O y
x’

x OM = OO ' + O' M
dOM dOO ' dO' M
or
= +
    dt  dt  dt
v M / O = v M / O' + vO' / O v M / O = vO' / O + v M / O'

Velocity of point mass M relative to RF O =

velocity of M relative to RF O’+ velocity of RF
O’ relative to RF O
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Relative Acceleration
Let’s have two reference frames O
z’  and O’, RF O’ moves translationally
with velocity V and acceleration A
V relative to RF O.
z

A Velocity Vector of point mass M:
  
 / O = v M/ O' + vO'/ O
x’ O’ y’ vM
dv M / O dv M / O' dvO'/ O
O y
= +
 dt  dt  dt
a M / O =a M / O' + a O'/ O
x  
a = a '+ A

Acceleration of point mass M relative to RF O = Acceleration of M

relative to RF O’+ Acceleration of RF O’ relative to RF O

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After flying for 15 min in a wind blowing 42 km/h at an angle of 20°

south of east, an airplane pilot is over a town that is 55 km due north
of the starting point. What is the speed of the airplane relative to the
air?

A light plane attains an airspeed of 500 km/h. The pilot sets out for a
destination 800 km due north but discovers that the plane must be
headed 20.0° east of due north to fly there directly. The plane arrives
in 2.00 h. What were the (a) magnitude and (b) direction of the wind
velocity?

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