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LECTURE 102
EMD610S
Kinematics of Particles: Rectilinear Motion Kinematics of Particles
Prof Samuel John

Faculty of Engineering
Office G01, Tel: 207 2548
Email: sjohn@nust.na

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Introduction Particle motion

• Kinematics • A particle is a body whose physical dimensions are so
• Motion of bodies without reference to the forces that cause it or the small compared with the radius of curvature of its path.
forces it generates during its motion
• Geometry of motion
• Engineering Applications of kinematics include:
• Cams
• Gears • The dimensions of a pane travelling from Windhoek to
• Linkages Oshakati are insignificant compared to its flight path. In
• Used in the calculations of flight trajectories for aircraft, spacecraft and
this case the plane is estimated as a particle or a point.
rocket.

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Particle motion - Coordinates

• Consider the particle P moving • A particle in space can be
along some random path in described based on some
space. chosen coordinates
• The motion of a particle can be • Particle P in the figure can be
either constrained or described by:
• Rectangular coordinates 𝑥, 𝑦, 𝑧;
unconstrained.
• Cylindrical coordinates 𝑟, 𝜃, 𝑧;
• Spherical coordinates R, 𝜃, 𝜙.
A piece of rock tight to a string and
swung in circles will be constrained • The motion of P can be
until the string snaps then the described by measurements
particle will break into along the tangent (t) and normal
unconstrained motion. (n) to the curve. (these are the
path variables)

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Coordinates Rectilinear motion

• The motion of particles (or rigid bodies) can be described
with respect to:
• a fixed reference coordinate - absolute motion analysis • Consider a particle moving in a
• a moving reference coordinate – relative motion analysis Fixe straight line
d-re • Position 𝑃 @ time 𝑡 with reference to 𝑂
fere
nce its distance is 𝑠
poin
t • At time 𝑡 + Δ𝑡, P moved to 𝑠 + Δ𝑠
• The motion of a particle could be a plane motion (single • Change in position coordinates during
plane or 2D) or motion in 3D. time Δ𝑡 is the displacement Δ𝑠 of the
particles
• The value of 𝑠 will be negative if P
moves in opposite direction

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Velocity and acceleration Velocity and acceleration

Average velocity of P will be
If we eliminate 𝑑𝑡 from (2.1) and (2.2)
Δ𝑠 we have:
𝑣!" = The velocity is negative or
Δ𝑡
#' positive depending on if 𝑠 is 𝑠𝑑𝑣
̇ = 𝑠𝑑𝑠
̈
𝑣 = lim #$
#$→& positive or negative
𝑣𝑑𝑣 = 𝑎𝑑𝑠 Or …2.3

!" (2.3) gives a differential equation relating displacement, velocity and

𝑣 = !# = 𝑠̇ …(2.1) acceleration.
(instantaneous velocity)
The instantaneous acceleration of the Equations 2.1, 2.2 and 2.3 are the differential equations for the rectilinear
particle will be: motion of a particle.
The acceleration is positive or
Δ𝑣 negative depending on if 𝑣 is 1. Problems in rectilinear motion are solved by the integration of these
𝑎 = lim positive or negative differential equations.
$#→& Δ𝑡
Or
2. The sign of the position coordinate, 𝑠, the velocity, 𝑣, and the acceleration,
!' !( "
𝑎 = !# = 𝑣̇ or 𝑎 = !#( = 𝑠̈ …(2,2) 𝑎, must be carefully considered when solving problems.

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Graphical interpretations Graphical interpretations

𝑑𝑠
𝑣= = 𝑠̇
𝑑𝑡

𝑑𝑣 @ A
𝑎= = 𝑠̈ ∫@ ) 𝑑𝑣 = ∫A ) 𝑎𝑑𝑡
𝑑𝑡 ( (
𝑣𝑑𝑡 From 2.1:
𝑣𝑑𝑡 = 𝑑𝑠 Or
' $
∴ ∫' ( 𝑑𝑠 = ∫$ ( 𝑣𝑑𝑡 or 𝑠* − 𝑠+ =
) )
𝑣B − 𝑣C = 𝑎𝑟𝑒𝑎 𝑢𝑛𝑑𝑒𝑟 𝑡ℎ𝑒 𝑎 − 𝑡 𝑐𝑢𝑟𝑣𝑒
(𝑎𝑟𝑒𝑎 𝑢𝑛𝑑𝑒𝑟 𝑡ℎ𝑒 𝑐𝑢𝑟𝑣𝑒 𝑣 − 𝑡)
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𝑎𝑑𝑠 = 𝑣𝑑𝑡 from (2.3) Analytical integration

"( '(
D 𝑣𝑑𝑣 = D 𝑎𝑑𝑠
") ') If we know the position coordinate, 𝑠, ∀𝑡 then we can find 𝑣,
* and 𝑎 by mathematical or graphical differentiation with
𝑣++ − 𝑣*+ = 𝑎𝑟𝑒𝑎 𝑢𝑛𝑑𝑒𝑟 𝑡ℎ𝑒 𝑎 − 𝑠 𝑐𝑢𝑟𝑣𝑒
+ respect to 𝑡.
slope of the curve

𝐶𝐵 𝑑𝑣
=
𝑣 𝑑𝑠 When the position coordinate 𝑠, is not known we integrate the acceleration
successively to get 𝑣, 𝑠
𝑑𝑣
𝐶𝐵 = 𝑣 =𝑎
𝑑𝑠

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Constant acceleration Acceleration given as a function of time

When 𝑎 is constant, equations (2.2) and (2.3) can be integrated directly 𝑎 = 𝑓(𝑡)
" $
D 𝑑𝑣 = 𝑎 D 𝑑𝑡 OR. 𝑣 = 𝑣& + 𝑎𝑡
", & Using equation (2.2) 𝑎 = 𝑑𝑣⁄𝑑𝑡 substituting 𝑎 = 𝑓(𝑡) yields

A @
" ' 𝑑𝑣
D 𝑣𝑑𝑣 = 𝑎 D 𝑑𝑠 𝑂𝑅 𝑣 + = 𝑣&+ + 2𝑎(𝑠 − 𝑠& ) 𝑓(𝑡) = ⇒ 7 𝑓 𝑡 𝑑𝑡 = 7 𝑑𝑣
", ', 𝑑𝑡 O @*
If we substitute the integrated expressions for 𝑣 into equation A A
(2.1) and integrate it with respect to 𝑡 we will get: 𝑣 − 𝑣O = 7 𝑓𝑡 ∴ 𝑣 = 𝑣O + 7 𝑓𝑡
O O
' $ Using equation (2.1) 𝑑𝑠 = 𝑣𝑑𝑡 to find position coordinates
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D 𝑑𝑠 = D 𝑣& + 𝑎𝑡 𝑑𝑡 𝑂𝑅 𝑠 = 𝑠& + 𝑣& 𝑡 + 𝑎𝑡 +
', & 2 P A A
7 𝑑𝑠 = 7 𝑣𝑑𝑡 𝑂𝑅 𝑠 = 𝑠O + 7 𝑣𝑑𝑡
P* O O
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Acceleration given as a function of Acceleration given as a function of

velocity displacement
𝑎 = 𝑓(𝑣) 𝑎 = 𝑓(𝑠)

Substitute 𝑎 = 𝑓(𝑣) into (2.2) 𝑎 = 𝑑𝑣⁄𝑑𝑡 Substituting 𝑎 = 𝑓(𝑠)into equation (2.3) 𝑣𝑑𝑣 = 𝑎𝑑𝑠

A @ @ P P
𝑑𝑣 𝑑𝑣 7 𝑣𝑑𝑣 = 7 𝑓(𝑠)𝑑𝑠 . 𝑂𝑅 𝑣 B = 𝑣OB + 2 7 𝑓 𝑠 𝑑𝑠
𝑓 𝑣 = . ⇒. 𝑡 = 7 𝑑𝑡 = 7
𝑑𝑡 O @* 𝑓(𝑣) @* P* P*

𝑣 = 𝑔(𝑠) function of 𝑠 Substitute 𝑑𝑠⁄𝑑𝑡 for 𝑣

Separate the variables
P 𝑑𝑠 A P 𝑑𝑠
Another approach: Substitute 𝑎 = 𝑓(𝑣) into (2.3) 𝑣𝑑𝑣 = 𝑓 𝑣 𝑑𝑠 7 = 7 𝑑𝑡 𝑂𝑅 𝑡 = 7
@ 𝑣𝑑𝑣 P A 𝑣𝑑𝑣 P* 𝑔(𝑠) O P* 𝑔(𝑠)
7 = 7 𝑑𝑠 𝑂𝑅 𝑠 = 𝑠O + 7
@* 𝑓(𝑣) P* O 𝑓(𝑣)
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End of Lecture 102

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