Sec12.1-10 Saba

Engineering Dynamics
MECH 221
Dr. Nicolas M. Saba
University of Balamand
Department of Mechanical
Engineering
nmsaba@fty.balamand.edu.lb
|1
Chapter 12 - Outline
1. Introduction
2. Rectilinear Kinematics: Continuous Motion
3. Rectilinear Kinematics: Erratic Motion
Mech221: Engineering Dynamics
4. General Curvilinear Motion

5. Curvilinear Motion: Rectangular Components
6. Motion of a Projectile
7. Curvilinear Motion: Normal and Tangential Components
8. Curvilinear Motion: Cylindrical Components
9. Absolute Dependent Motion Analysis of Two Particles
10. Relative Motion Analysis of Two Particles Using Translating
Axes
|2
Section 12.1 - Introduction
 Mechanics - the state of rest of motion of bodies subjected

to the action of forces
 Static – equilibrium of a body that is either at rest or moves
with constant velocity

 Dynamics – deals with accelerated motion of a body
1) Kinematics – geometric aspects of a motion
2) Kinetics – analysis of the forces causing the motion
|3 Source: Engineering Mechanics - Dynamics, by R.C. Hibbeler, 12th edition

Section 12.2 - Rectilinear Kinematics:
Continuous Motion
 Rectilinear Kinematics – specifying the particle’s position,

velocity, and acceleration at any instant
 Position
1) Single coordinate axis, s
2) Origin, O
3) Position vector r – specific location of particle P at any
instant
4) Algebraic Scalar s in meters
Note : - Magnitude of s = Dist. from O to P

- Direction is defined by algebraic sign on s
=> +ve = right of origin, -ve = left of origin

Continuous Motion
Displacement
 Change in its position, vector quantity
 If particle moves from P to P’,
r  r  r
s  s  s
When Δs is +ve / -ve, particle’s position

is right / left of its initial position

Continuous Motion
Velocity
r
 Average velocity, vavg 
t
 Instantaneous velocity is defined as
vins  lim r / t 

t 0
dr
 vins 
dt

Continuous Motion
Velocity
 Representing vins as an algebraic scalar
ds
v
dt
+ve = particle moving to the right

–ve = Particle moving to the left
Magnitude of velocity is the speed (m/s)

Continuous Motion
Velocity
 Average speed is total distance traveled by a particle, sT,
divided by the elapsed time t .
v  
sT
t
sp avg
 The particle travels along the path of length sT in time

=>
v  
sT
t
sp avg
s
vavg 
t
Continuous Motion
Acceleration
v
 Average acceleration is aavg 
t
 Δv represents difference in the velocity during the time

interval Δt, i.e. v  v'v
 Instantaneous acceleration is a  lim v / t 

t 0
d 2s dv
 Thus we have a  and a
dt 2 dt

Continuous Motion
Acceleration
 When particle is slowing down, its speed is decreasing =>
decelerating => v  v'v will be negative.
 It will act to the left, in the opposite sense to v
 If velocity is constant,
acceleration is zero.

Continuous Motion
Velocity as a Function of Time

 Integrate ac = dv/dt, assuming that initially v = v0 when t = 0.
v t 
v0 dv  0 ac dt  v  v0  act   Constant Acceleration
Velocity as a Function of Position

 Integrate v dv = ac ds, assuming that initially v = v0 at s = s0

ac ds  v  v  2ac s  s0 
v s
 vdv    
2 2
Constant Acceleration
0
v0 s0
 

Continuous Motion
PROCEDURE FOR ANALYSIS

1) Coordinate System
 Establish a position coordinate s along the path

 The particle’s position, velocity, and acceleration, can be
represented as s, v and a respectively and their direction
 The positive sense can be indicated by an arrow

Continuous Motion

2) Kinematic Equation
 When relationship is known between any two of the four

variables a, v, s and t, third variable can be obtained
 When integration is performed, the constant of integration
need to be known
 Three kinematics equations can only be applied to
situation where the acceleration of the particle is constant

Example 12.1
The car moves in a straight line such that for a short time its
velocity is defined by v = (0.9t2 + 0.6t) m/s where t is in sec.
Determine it position and acceleration when t = 3s. When t = 0,
s = 0.

Example 12.1
Solution
Coordinate System
Positive is to the right.
Position
When s = 0 when t = 0, we have
 0.9t 2  0.6t 
   ds

 
v
dt
   
s t s t
 ds   0.9t  0.6t dt  s  0.3t  0.3t  0.3t 3  0.3t 2

2 3 2
0 0 0 0
When t = 3s, s = 10.8m

Example 12.1
Solution
Acceleration
Knowing v = f(t), the acceleration is determined from a = dv/dt,
since this equation relates a, v and t.
a   0.9t  0.6t   1.8t  0.6

dv d 2
dt dt
When t = 3s, a = 6m/s2

Example 12.2
A small projectile is forced downward into a fluid medium with

an initial velocity of 60m/s. Due to the resistance of the fluid the
projectile experiences a deceleration equal to a = (-0.4v3)m/s2,
where v is in m/s2. Determine the projectile’s velocity and

position 4s after it is fired.

Example 12.2
Solution
Coordinate System
Since the motion is downward, the position coordinate is
downwards positive, with the origin located at O.
Velocity
Here a = f(v), velocity is a function of time using a = dv/dt,
since this equation relates v, a and t.
dv
a  0.4v 3  
dt

Example 12.2
Solution
Velocity
v dv t
60m / s  0.4v3  0 dt
1  1 1 v
  2  t 0
 0.4   2  v 60
1 1 1 
 2 2
t
0.8  v 60  
1 /-21\2
 1  
v    0.8t  m / s
 60
2
 
When t = 4s, v = 0.559 m/s  

Example 12.2
Solution
Position
Since v = f(t), projectile’s position can be determined from v =
ds/dt. When s = 0 and t = 0, we have
1/ 2 1/ 2
ds  1  s  1 t 
v     0.8t    ds     0.8t  dt
dt  602

0 0 
 60
2

 1/ 2
1 
+1/2
1  1 
s   0.8t   m
0.4  602
 60 
 
When t = 4s, s = 4.43m  

Example 12.2
A rocket travel upward at 75m/s. When it is 40m from the

ground, the engine fails. Determine max height sB reached by
the rocket and its speed just before it hits the ground.

Example 12.3
Solution
Coordinate System
Origin O with positive upward.
Maximum Height
We have:
t = 0 vA = +75m/s, s = sB  vB = 0, aC = -9.81m/s2
v  v  2aC (sB  s A )  sB  327 m

2
B
2
A

Example 12.3
Solution
Velocity
The negative root was chosen since the rocket is moving
downward.
vC2  vB2  2aC ( sC  sB )

vC2  80.1 m / s  80.1 m / s 

Example 12.4
A metallic particle travels downward through a fluid that

extends from plate A and plate B under the influence of
magnetic field. If particle is released from rest at midpoint C, s
= 100 mm, and acceleration, a = (4s) m/s2, where s in meters,
determine velocity when it reaches plate B and time need to

travel from C to B.

Example 12.4
Solution
Coordinate System
S is taken positive downward from plate A.
Velocity
Since a = f(s), we have v = 0 at s = 100mm = 0.1m
   
1
v s 1 2v 4 2S
v dv  a ds   v dv   4s ds  v  s  v  2 s  0.01 2
2
0 0.1 2 0 2 0.1
At s = 200mm = 0.2m, vB  0.346 m / s  346 mm / s 

Example 12.4
Solution
Time
ds  v dt

 2 s  0.01
2

0.5
dt
s ds t
 s
0.1 2
 0.01 
0.5
  2 dt
0

ln s  0.01  s
2
  2t
s
0.1
t
ln  s 2
 0.01  s  2.33  2t   
At s = 200mm = 0.2m, t = 0.658s

Example 12.5
A particle moves along a horizontal path with a velocity of v =

(3t2 – 6t) m/s. if it is initially located at the origin O, determine
the distance traveled in 3.5s and the particle’s average velocity
and speed during the time interval.

Example 12.5
Solution
Coordinate System
Assuming positive motion to the right from O.
Distance Traveled
Since v = f(t), the position as a function of time is

ds  vdt 3t 2  6t dt 
 ds  3 t dt  6 tdt  s  t 
s t t   
2 3
 3t m 2 
 
0 0 0

Example 12.5
Solution
Distance Traveled
For 0 ≤ t < 2 s  -ve velocity, particle move to left.
For t > 2s  +ve velocity, particle move to right.

Thus,
s 0 s  4.0m s  6.125m
t 0 t 2 s t 3.5 s
The distance traveled in 3.5s is

sT = 4.0 + 4.0 + 6.125 = 14.125m

Example 12.5
Solution
Velocity
From t = 0 to 3.5s, Δs = 6.125 – 0 = 6.125m
And so the average velocity is
s 6.125
aavg    1.75m / s 
t 3.5  0
Average speed is v  
sT 14.125
  4.04m / s
t 3.5  0
sp avg

Section 12.3 - Rectilinear Kinematics: Erratic Motion
 When particle’s motion is erratic, it is described graphically

using a series of curves
 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

The 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 v

= ds/dt
 Velocity as any instant is found by measuring the slope of
the s-t graph
ds
v
dt
Slope of s-t graph = velocity


 When the particle’s v-t graph is known, the acceleration as
a function of time, the a-t graph can be determined using a
= dv/dt
 Acceleration as any instant is determined by measuring the
slope of the v-t graph
dv
a
dt
Slope of v-t graph = acceleration


 When a–t graph is given, v–t can
be written as
v   adt
Change in velocity = area under a-t graph
 When v–t graph is given, s–t can

be written as
s   vdt
Displacement = area under v-t graph

The v-s and a-s Graphs

 a–s graph can be constructed with
v 
s1
1
2
2
1  v   ads
2
0
s0
area under a-s graph
 When v–s graph is known, a at any s

can be written as
 dv 
a  v 
 ds 
Acceleration = velocity * slope of v-s graph

Example 12.6
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.

Example 12.6
Solution
v-t Graph
By differentiating the equations that defining the s-t graph, we
have
ds
0  t  10s; s  0.3t 2 v  0.6t
dt
ds
10s  t  30s; s  6t  30 v 6
dt
By measuring the slope of the s-t graph at a given time instant,

s 150  30
t  20s; v   6m / s
t 30  10
Example 12.6
Solution
a-t Graph
By differentiating the equations defining the lines of the v-t
graph,
dv
0  t  10s; v  0.6t a   0.6
dt
dv
10  t  30s; v  6 a 0
dt

Example 12.7
A test car starts from rest and travels along a straight track
such that it accelerates at a constant rate for 10s and then
decelerates at a constant rate. Draw the v-t and s-t graphs and
determine the time t’ needed to stop the car. How far has the
car traveled?

Example 12.7
Solution
v-t Graph
Using initial condition v = 0 when t = 0,
v t
0  t  10s a  10;  0
dv   10 dt , v  10t
0
When t = 10s, v = 100m/s,
v t
10s  t  t ; a  2; 
100
dv    2 dt , v  2t  120
10
When t = t’, v = 0  t’ = 60 s

Example 12.7
Solution
s-t Graph
Using initial conditions s = 0 when t = 0,
s t
0  t  10s; v  10t; 0
ds   10t dt , s  5t 2
0
When t = 10s, s = 500m,
 ds    2t  120dt
s t
10s  t  60s; v  2t  120;
500 10
s  t 2  120t  600
When t’ = 60s, s = 3000m

Example 12.8
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

Example 12.8
Solution
a-s Graph
a-s graph can be determined using a ds = v dv,
0  s  60m; v  0.2s  3
dv
a  v  0.04s  0.6
ds
60m  s  120m; v  15;
dv
av 0
ds

Example 12.8
Solution
Time
When s = 0 at t = 0,
ds ds
0  s  60m; v  0.2s  3; dt  
v 0.2  3
t ds s
o dt  
0 0.2 s  3
 t  5 ln(0.2s  3)  5 ln 3
At s  60 m, t  8.05 s
For second segment of Motion

ds ds
60  s  120m; v  15; dt  
v 15
t ds s s
8.05 dt  
60 15
 t 
15
 4.05
At s  120 m, t  12.05 s
Section 12.4 - General Curvilinear Motion
Curvilinear motion
 occurs when the particle moves along a curved path
Position
 measured from a fixed point O, by the position vector r =
r(t)

Displacement
 For a particle travel a distance Δs along the curve to a
new position P`, within a small time interval Δt, it is
defined by r’ = r + Δr
 The displacement Δr represents the change in the

particle’s position

Velocity
 Average velocity of the particle is defined as
r
vavg 
t
 Instantaneous velocity is found from letting Δt0,
dr
vins 
dt

Acceleration
 The average acceleration during the time interval Δt is
v dv d 2 r
aavg  a  2
t dt dt
 a acts tangent to the hodograph and is not tangent to the
path

Section 12.5 - Curvilinear Motion: Rectangular
Components
Position
 Position vector is defined by r = xi + yj + zk
 At any instant the magnitude of r is always positive and
defined as
r  x2  y 2  z 2
 The direction of r is specified by the components of the

unit vector ur = r/r

Components
Velocity
 We have
dr   
v  vx i  v y j  vz k
dt
where vx  x , v y  y , vz  z
 The velocity has a magnitude defined as the positive

value of
v  vx2  v y2  vz2
 Unit vector uv=v/v and is always tangent to the path

Components
Acceleration
 We have
dv   
a  ax i  a y j  az k
dt
where a x  vx  x , a y  v y  y , a z  vz  z
 The acceleration has a magnitude defined as the positive

value of
a  ax2  a y2  az2

Components

Coordinate System
 Rectangular coordinate system can be expressed in terms

of its x, y and z components
Kinematic Quantities
 Rectilinear motion is found using v = ds/dt, a = dv/dt or
a ds = v dv
 Magnitudes of vectors are found from Pythagorean
theorem

Example 12.9
At any instant the horizontal position of the weather balloon is

defined by x = (9t) m, where t is in second. If the equation of the
path is y = x2/30, determine the distance of the balloon from the
station at A, the magnitude and direction of the both the velocity
and acceleration when t = 2 s.

Example 12.9
Solution
Position
When t = 2  x = 9(2)= 18 m, y = (18)2/30 = 10.8 m The
straight-line distance from A to B is,
r 182  10.82  21 m
Velocity
We have
vx  x  9t   9m / s 
d
dt
v y  y 
d 2
dt
 
x / 30  2 xx / 30  2(18)(9) / 30  10.8m / s 

Example 12.9
Solution
Velocity
When t = 2 s, the magnitude of velocity is
v 92  10.82  14.1m / s
vy
The direction is tangent to the path is  v  tan 1
 50.2
vx
Acceleration
We have ax  vx  0 and a y  v y  5.4m / s  thus,
2
a  02  5.42  5.4m / s 2

5.4
 a  tan 1  90
0 Source: Engineering Mechanics - Dynamics, by R.C. Hibbeler, 12th edition
|55
Example 12.10
For a short time, the path of the plane in the figure is described
by y = (0.001x2)m. If the plane is rising with a constant velocity
of 10m/s, determine the magnitudes of the velocity and
acceleration of the plane when it is at y = 100 m.

Example 12.10
Solution
When y = 100m x = 316.2m
y = vyt; When vy = 10m/s  t = 10s
Velocity
Using the chain rule,
v y  y 
d
dt
 
0.001x 2  0.002 xv x
10  0.002316.2vx  vx  15.81 m/s
The magnitude is v  vx2  v y2  18.7 m/s

Example 12.10
Solution
Acceleration
Using the chain rule,
a  v y  0.002 xvx  0.002 xvx  0.002 vx2  xa x  

When x = 316.2 m, vx = 15.81 m/s,
v y  a y  0 (rising with ct. velocity)
 
0  0.002[ 15.812  316.2ax ]  ax  0.791 m/s 2
Magnitude of the plane’s acceleration is

a  ax2  a y2  0.791 m/s 2

1. Introduction

Axes
|59
Section 12.6 - Motion of Projectile
 Projectile’s acceleration always act vertically

 Projectile launched at (x0, y0) and path is defined in the x-y
plane; v0 initial velocity
 Air resistance is neglected

 Only force acting on the projectile is its
weight downwards
 => ac = g = 9.81 m/s2

Horizontal Motion
 Since ax = 0,
v x  (v0 ) x
  
v  v0  ac t ;

 
1 2 x  x0  (v0 ) x t
  

  x  x0  v0t  ac t ;
2
   v x  (v0 ) x

  v 2  v02  2ac ( s  s0 );
 Horizontal component of velocity remain constant during

the motion

Vertical Motion
 Positive y axis is upward, thus ay = - g
  v  v0  ac t; v y  (v0 ) y  gt
1 2 1 2
  y  y0  v0t  act ; y  y0  (v0 ) y t  gt
2 2
  v 2  v02  2ac ( y  y0 ); v y  (v0 ) 2y  2 g ( y  y0 )
2


Coordinate System
 Establish the fixed x, y axes

 Sketch the trajectory of the particle
 Specify 3 unknowns and data between any two points on
the path
 Acceleration of gravity always acts downwards
 Express the particle initial and final velocities in the x, y
components
 Positive and negative position, velocity and acceleration
components always act in accordance with their associated
coordinate directions

Kinematics Equations
 Decision should be made as to which 3 equations to be

applied between the two points on the path for the most
direct solution
Horizontal motion
 x = x0 + (v0)x t
Vertical motion
1 2
v y  (v0 ) y  ac t ; y  y0  (v0 ) y t  act ; v y2  (v0 )2y  2ac ( y  y0 )
2
Example 12.11
A sack slides off the ramp with a horizontal velocity of 12 m/s. If

the height of the ramp is 6 m from the floor, determine the time
needed for the sack to strike the floor and the range R where
the sacks begin to pile up.

Example 12.11
Solution
Coordinate System
Origin at point A.
Initial velocity is (vA)x = 12 m/s and (vA)y = 0m/s
Acceleration between A and B is ay = -9.81 m/s2.
Since (vB)x = (vA)x = 12 m/s, the 3 unknown are (vB)y, R and tAB

Example 12.11
Solution
Vertical motion
Vertical distance from A to B is known,
  1 2
yB  y A  (v A ) y t AB  act AB  t AB  1.11s
2
yB = -6 m
Horizontal motion
  
   x  x A  (v A ) x t AB
 
R  0  121.11
R  13.3m
Example 12.12
The chipping machine is designed to eject wood at chips v0 =

7.5 m/s. If the tube is oriented at 30° from the horizontal,
determine how high, h, the chips strike the pile if they land on
the pile 6 m from the tube.

Example 12.12
Solution
Coordinate System
3 unknown h, tOA and (vA)y.

Taking origin at O, for initial velocity of a chip,
(vO ) x  (7.5 cos 30 )  6.5m / s 

(vO ) y  (7.5 sin 30 )  3.75m / s 
Also,
(vA)x = (v0)x = 6.5 m/s and ay = -9.81 m/s2

Example 12.12
Solution
Horizontal motion
x A  x0  (v0 ) x tOA
 tOA  0.9231s
Vertical motion
Relating tOA to initial and final elevation of the chips,
1 2
y A  h  2.1  yO  (v0 ) y tOA  actOA
2
h  1.38m
Example 12.13
The track for this racing event was designed so that the riders
jump off the slope at 30°, from a height of 1m. During the race,
it was observed that the rider remained in mid air for 1.5s.
Determine the speed at which he was traveling off the slope,
the horizontal distance he travels before striking the ground,

and the maximum height he attains. Neglect the size of the bike
and rider.

Example 12.13
Solution
Coordinate System
Origin is at point A.
3 unknown are vA, R and vB.
Vertical Motion
Since time of flight and the vertical distance between the ends
of the paths are known,
  1
yB  y A  (v A ) y t AB  aC t AB
2
2
 v A  13.4m / s
Note (vA)y= vAsin30 and TAB = 1.5s

Example 12.13
Solution
Horizontal motion
The range R can be determined as
xB  x A  (v A ) x t AB
  
   R  0  13.38 cos 30 (1.5)  17.4m

 
We can determine h directly without considering tAC
(vc ) 2y  (v A ) 2y  2ac [ yC  y A ]
(0) 2  (13.38 sin 30 ) 2  2(9.81)[(h  1)  0]  h  3.28m

1. Introduction

Axes
|74
Section 12.7 - Normal and Tangential Components
 When path is known, then this path of motion of a particle

can be described using n and t coordinates which act
normal and tangent to the path
 At the instant considered have their origin located at the

particle
Planar Motion
 At the instant considered origin
happens to coincide with the location
of the particle

Planar Motion
 The t axis is tangent to the curve at P. The positive direction
is designated by the unit vector ut
 Curve can be constructed from a series of differential arc

segments ds

Planar Motion
 The normal axis n is perpendicular to the t axis and is
directed from P toward the centre of curvature Ó. This
positive direction is designated by the unit vector un

 Plane contains n and t axes is referred to as osculating
plane and is fixed in the plane of motion.

Velocity
 Since particle is moving, s is a function of time
 Particle’s velocity v has direction that is always tangent to

the path
 Magnitude is determined by taking the time derivative of the
path function s = s(t)
 With v = ds/dt
 
v  vut where v  s

Acceleration
 Acceleration of the particle is the time rate of
change of velocity
   
a  v  vut  vut
 a can be written as
  
a  at ut  anun
v2
where at  v or at ds  vdv and an 

 Magnitude is a  at2  an2

Special case 1 - Tangential Acceleration

 Rectilinear motion along a straight line ρ ->∞

an = 0
at  v and at ds  vdv
Ps: time rate of change in the magnitude of velocity
1
 If at is constant, s  s0  v0t  (at ) c t 2
2
v  v0  (at ) c t
v 2  v02  2(at ) c ( s  s0 )

Special case 2 - Normal Acceleration

 Particle moves along a curve with a constant

.
speed, then at = v =0
v2
a  an 

Ps: time rate of change in the direction of velocity
 If the path is expressed as y = f(x), the radius of

curvature ρ at any point on the path is determined
from the equation


Coordinate System
 When path of the particle is known, establish a set of n and

t coordinates with a fixed origin
 Positive tangent axis acts in the direction of the motion
 n and t axes are used for studying the velocity and
acceleration of the particle


Velocity
 Particle’s velocity is always tangent to the path

 Magnitude of the velocity is found from the derivative of the
path function
v  s
Tangential Acceleration
 For rectilinear motion,
 If at is constant, at  v and at ds  vdv
1
s  s0  v0t  (ac ) c t 2
2
v  v0  (ac ) c t
v 2  v02  2(ac ) c ( s  s0 )

Normal Acceleration
 For magnitude of the normal component,
v2
an 

 For magnitude of the normal component,
[1  (dy / dx)2 ]3 / 2

d 2 y / dx2

Example 12.14
When the skier reaches the point A along the parabolic path, he
has a speed of 6m/s which is increasing at 2m/s2. Determine
the direction of his velocity and the direction and magnitude of
this acceleration at this instant. Neglect the size of the skier in
the calculation.

Example 12.14
Solution
Coordinate System
Establish n, t axes at the fixed point A.

Determine the components of v and a.
Velocity
The velocity is always directed tangent to the path where
1 2 dy
y x , 1
20 dx x 10
v makes an angle of θ = tan-1 1 = 45° with the x axis
v A  6m / s
Example 12.14
Solution
Acceleration
2
d y 1 , the radius of curvature is
Since
2

dx 10
[1  (dy / dx)2 ]3 / 2
 2 2
 28.28m
d y / dx
The acceleration becomes

2
 v
a A  vut  un

 
 {2ut  1.273un }m / s 2
Example 12.14
Solution
Acceleration
The magnitude and angle is
a 22  1.237 2  2.37m / s 2

2
  tan1
 57.5
1.237
Thus, 57.5° – 45 ° = 12.5 °

a = 2.37 m/s2

Example 12.15
Race car C travels round the horizontal circular track that has a
radius of 90 m. If the car increases its speed at a constant rate
of 2.1 m/s2, starting from rest, determine the time needed for it
to reach an acceleration of 2.4 m/s2. What is its speed at this
instant?

Example 12.15
Solution
Coordinate System
The origin of the n and t axes is coincident with the car at the
instant.
Acceleration
The magnitude of acceleration can be related t0 its
components using a  at2  an2 , thus at  2.1 m/s
The velocity is v  v0  (at )c t  2.1t
We have
v2
an   0.049t 2m / s 2

Example 12.15
Solution
Acceleration
The time needed for the acceleration to reach 2.4m/s2 is
a  at2  an2
2.4   2.4    0.049t 

2 2
 t  4.87 s
2
The speed at time t = 4.87s is
v  2.1t  10.2m / s

Example 12.16
The boxes travels alone the industrial conveyor. If a box starts

from rest at A and increases its speed such that at = (0.2t) m/s2,
determine the magnitude of its acceleration when it arrives at
point B.

Example 12.16
Solution
Coordinate System
The position of the box at any instant is defined by s, from the

fixed point A.
Acceleration
Since vA when t = 0
at  v  0.2t 1
 2
v t
0
dv   0.2t dt  v  0.1t 2
0

Example 12.16
Solution
Acceleration
Position of B is sB = 3 + 2π(2)/4 = 6.142 m

Since sA = 0 when t = 0,
ds
v  0.1t 2
dt
6.142 tB
0
ds   0.1t 2 dt
0
t B  5.69s

Example 12.16
Solution
Acceleration
Substituting into eqn (1) and (2),
(aB )t  vB  0.2(5.690)  1.138m / s 2

vB  0.1(5.69)2  3.238m / s
At B, ρB = 2 m,
vB2
( aB ) n   5.242m / s 2
B
aB  (1.138)2  (5.242)2  5.36m / s 2

Section 12.8 - Cylindrical Components
Some engineering problems involve angular position and radial

distance. For these cases, it is often convenient to express the
path of motion in terms of cylindrical coordinates, r, θ, z.
Polar Coordinates
 Specification of the location of P using both the radial
coordinate r and a transverse coordinate θ which is
counterclockwise angle between a fixed reference line and
the r axis
 Angle measured in degrees or radians
where 1 rad = 180°/π
 The positive directions of r and θ coordinates are defined by
the unit vectors ur and uθ.
Position
 At any instant, position is defined by position vector
 
r  rur

Velocity
 Instantaneous velocity v is obtained by the time derivative of
r
  

v  r  rur  rur
 A change ∆θ will cause ur to become ur´ where ur´ = ur + ∆ur
 For small angles ∆θ,

 ur    
ur  lim   lim u
t 0 t  t 0 t 
 
ur  u

Velocity
 We have v  vr ur  v u  vr  r  v  r
 Since vr and vθ are mutually perpendicular,
v r 2  r 2
 Direction of v is tangent to the path at P
.
 θ is called angular velocity

Acceleration
 Taking the time derivatives, we have
a  v  rur  rur  ru  ru  ru

 For small angles, ∆uθ= - ∆θur

 We write the acceleration in component form as
a  ar ur  a u , ar  r  r 2 , a  r  2r
 Since ar and aθ are always perpendicular
a  
r  r2  r  2r 
2 2
 Acceleration is not tangent to the path

Cylindrical Coordinates
 When P moves along a space, location is specified by the
three cylindrical coordinates r, θ, z
 Position, velocity, acceleration of the particle is written as

  
rp  rur  zu z
   
v  rur  ru  zu z
  2     
a  (r  r )ur  (r  2r )u  zu z

Time Derivatives
2 common problems:
a. When coordinates are specified as r = r(t) and θ = θ(t),

time derivative can be formed directly
b. When time parametric equations are not given, need to

specify r = f(θ) and relationship between the time
derivatives using the chain rule of calculus
Ex. r = 5θ2
. .
r = 10θθ
..
r=…

Procedure for analysis

Coordinate System
 Polar coordinate solve angular
motion of radial coordinate r

 Origin at a fixed point and the radial
line r is directed to the particle
 Transverse coordinate θ is
measured from a fixed
reference line to radial line


Velocity and Acceleration
 r and the 4 time derivatives can be used to obtain the
radial and transverse components of v and a

 Use chain rule of calculus to find the time derivatives
of r = f(θ)

Example 12.17
The amusement park consists of a chair that is rotating in a

horizontal circular path of radius r such that the arm OB has an
angular velocity and angular acceleration. Determine the radial
and transverse components of velocity and acceleration of the
passenger.

Example 12.17
Solution
Coordinate System
θ is not related to r, since radius is constant for all θ

Since r is constant, r r , r 0 , r 0
Thus vr  r  0
v  r
ar  r  r 2  r 2
a  r  2r  r

Example 12.18
The rob OA is rotating in the horizontal plane such that θ = (t3)

rad. At the same time, the collar B is sliding outwards along OA
so that r = (100t2)mm. If in both cases, t is in seconds,
determine the velocity and acceleration of the collar when t =
1s.

Example 12.17
Solution
Coordinate System
Since time-parametric equations of the particle is given, it is

not necessary to relate r to θ.

We have
r  100t 2 t 1s  100 mm   t 3

t 1 s
 1rad  57.3
r  200t t 1 s
 200mm / s   3t 2 t 1 s
 3rad / s
r  200 t 1 s
 200mm / s 2   6t t 1 s
 6 rad / s 2

Example 12.17
Solution
As shown in the figure,

  
v  rur  ru
 
 {200ur  300u }mm / s
The magnitude of v is
v  2002  3002  361mm / s

1 300  
  tan    56.3
 200 
  57.3  114
Example 12.17
Solution
As shown in the figure,

  
a  (r  r 2 )ur  (r  2r)u
 
 {700ur  1800u }mm / s 2
The magnitude of a is
a  7002  18002  1930mm / s 2

1 1800  
  tan    68.7
 700 
(180   )  57.3  169
Section 12.9 - Absolute Dependent Motion Analysis
of Two Particles
 Motion of one particle depend on the corresponding motion
of another particle
 Movement of A downward will cause a movement of B up
the other incline

 If total cord length is lT, the position coordinate is
s A  lCD  sB  lT Note: lCD and lT are constant
 For velocity, negative sign indicates A has a velocity

downward
dsA dsB
 0 or vB  vA
dt dt

of Two Particles
 Time differentiation of the velocities yields the relation
between accelerations: aB = - aA
 More complicated example; A is specified by sA, and the
position of the end of the cord from which block B is

suspended is defined by sB
 Position coordinate is
2s B  h  s A  l
 Since l and h are constant

during the motion,
2vB  vA , 2aB  aA

of Two Particles
Position-Coordinate Equation
 Establish position coordinates with
origin located at a fixed point or

datum
 Coordinates are along the
path of motion
 Each coordinate axis is directed
along the path of motion

of Two Particles
Time Derivatives
 2 time derivatives of the position-coordinates equations
required for velocity and acceleration equations

 The signs will be consistent with those that specify the
positive and negative sense of the position coordinates

Example 12.22
Determine the speed of block A if block B has an upward speed

of 2m/s.

Example 12.22
Solution
Position Coordinate System
Positions of A and B are defined using sA and sB. For the

remaining cord length,
s A  2sC  l1 sB  ( sB  sC )  l2
Eliminating sC yields s A  4sB  2l2  l1

Time Derivative
The time derivative gives v A  4vB  0
so that vB = -2m/s↑ and v A  8m / s  8m / s 

Section 12.10 - Relative Motion Analysis of Two
Particles Using Translating Axes
 There are cases where the path of the motion for a particle
is complicated
 Feasible to analyze the motions in parts by using two or
more frames of reference
Position
 Absolute position rA and rB
is measured from O of fixed
x, y, z reference frame
 Origin of a second frame of
reference x’, y’, z’ is attached
to and moves with particle A
  
rB  rA  rB / A Note: B with respect to A
Section 12.10 - Relative Motion Analysis of Two
Particles Using Translating Axes
Velocity
  
 By time derivatives, vB  v A  vB / A
   
vB  drB / dt and v A  drA / dt refer to absolute

velocities, as they are observed from the fixed frame
 
 Relative velocity vB / A  drB / A / dt is observed
from the translating frame
Acceleration
  
 The time derivative also yields aB  a A  aB / A

of Two Particles
 When applying the relative position equations,
necessary to specify the location of the fixed x, y, z, and
translating x’, y’, z’ axes

 As vector addition forms a triangle, there can be at most
two unknowns (magnitude and/or directions of the vector
quantities)
 Unknowns can be solved by graphically, trigonometry or
resolving into Rectangular or Cartesian components

Thank you for your attention
Dr. Nicolas M. Saba

|120

Sec12.1-10 Saba

Uploaded by

Document Information

Original Description:

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Sec12.1-10 Saba

Uploaded by

Copyright:

Available Formats

Engineering Dynamics

4. General Curvilinear Motion

 Mechanics - the state of rest of motion of bodies subjected

with constant velocity

|3 Source: Engineering Mechanics - Dynamics, by R.C. Hibbeler, 12th edition

 Rectilinear Kinematics – specifying the particle’s position,

Note : - Magnitude of s = Dist. from O to P

|4 Source: Engineering Mechanics - Dynamics, by R.C. Hibbeler, 12th edition

 If particle moves from P to P’,

When Δs is +ve / -ve, particle’s position

|5 Source: Engineering Mechanics - Dynamics, by R.C. Hibbeler, 12th edition

 Instantaneous velocity is defined as

vins  lim r / t 

|6 Source: Engineering Mechanics - Dynamics, by R.C. Hibbeler, 12th edition

+ve = particle moving to the right

|7 Source: Engineering Mechanics - Dynamics, by R.C. Hibbeler, 12th edition

divided by the elapsed time t .

 The particle travels along the path of length sT in time

 Δv represents difference in the velocity during the time

 Instantaneous acceleration is a  lim v / t 

|9 Source: Engineering Mechanics - Dynamics, by R.C. Hibbeler, 12th edition

decelerating => v  v'v will be negative.

 It will act to the left, in the opposite sense to v

|10 Source: Engineering Mechanics - Dynamics, by R.C. Hibbeler, 12th edition

Velocity as a Function of Time

Velocity as a Function of Position

|11 Source: Engineering Mechanics - Dynamics, by R.C. Hibbeler, 12th edition

PROCEDURE FOR ANALYSIS

 Establish a position coordinate s along the path

|12 Source: Engineering Mechanics - Dynamics, by R.C. Hibbeler, 12th edition

PROCEDURE FOR ANALYSIS

 When relationship is known between any two of the four

|13 Source: Engineering Mechanics - Dynamics, by R.C. Hibbeler, 12th edition

|14 Source: Engineering Mechanics - Dynamics, by R.C. Hibbeler, 12th edition

 ds   0.9t  0.6t dt  s  0.3t  0.3t  0.3t 3  0.3t 2

When t = 3s, s = 10.8m

|15 Source: Engineering Mechanics - Dynamics, by R.C. Hibbeler, 12th edition

since this equation relates a, v and t.

a   0.9t  0.6t   1.8t  0.6

|16 Source: Engineering Mechanics - Dynamics, by R.C. Hibbeler, 12th edition

A small projectile is forced downward into a fluid medium with

where v is in m/s2. Determine the projectile’s velocity and

|17 Source: Engineering Mechanics - Dynamics, by R.C. Hibbeler, 12th edition

downwards positive, with the origin located at O.

|18 Source: Engineering Mechanics - Dynamics, by R.C. Hibbeler, 12th edition

When t = 4s, v = 0.559 m/s  

ds/dt. When s = 0 and t = 0, we have

When t = 4s, s = 4.43m  

|20 Source: Engineering Mechanics - Dynamics, by R.C. Hibbeler, 12th edition

A rocket travel upward at 75m/s. When it is 40m from the

|21 Source: Engineering Mechanics - Dynamics, by R.C. Hibbeler, 12th edition

v  v  2aC (sB  s A )  sB  327 m

|22 Source: Engineering Mechanics - Dynamics, by R.C. Hibbeler, 12th edition

vC2  vB2  2aC ( sC  sB )

|23 Source: Engineering Mechanics - Dynamics, by R.C. Hibbeler, 12th edition

A metallic particle travels downward through a fluid that

determine velocity when it reaches plate B and time need to

|24 Source: Engineering Mechanics - Dynamics, by R.C. Hibbeler, 12th edition

At s = 200mm = 0.2m, vB  0.346 m / s  346 mm / s 

|25 Source: Engineering Mechanics - Dynamics, by R.C. Hibbeler, 12th edition

At s = 200mm = 0.2m, t = 0.658s

|26 Source: Engineering Mechanics - Dynamics, by R.C. Hibbeler, 12th edition