SKAA 1213 ‐ Engineering Mechanics

TOPIC 8

KINEMATIC OF PARTICLES

Lecturers:
Rosli Anang
Dr. Mohd Yunus Ishak
Dr. Tan Cher Siang
 Outline
• Introduction
• Rectilinear Motion
• C ili
Curvilinear Motion
i
• Problems
 Introduction
• General Terms & Definition:
• Mechanic Static – equilibrium of a body that is at rest, or the
body moves with constant velocity

• Mechanic Dynamics – deals with accelerated motion of a

b d
body
– 1) Kinematics – analysis of geometric aspects of a motion
– 2) Kinetics – analysis of the forces that cause the motion
 Introduction
• Dynamic: Kinematic of Particles
• Rectilinear Motion
– A particle moves in a straight line and does not rotate about its centre
of mass.

• Circular Motion (Curvilinear Motion)

– A particle moves along a path of a perfect circle.

• General Plane Motion (Curvilinear Motion)

– A particle moves in a plane, which may follow a path that is neither
straight nor circular
circular.
 Rectilinear Motion
• Rectilinear Kinematics – specifying
p y g the p particle’s position,
p ,
velocity, and acceleration at any instant (time factor)

Factor Symbol Unit Remarks

Time t seconds (s) Data may be given in minutes or
hours (h)
Position s meter (m) Data may be given in millimeter
(mm), kilometer (km)
Velocity v m/s Another common unit is
kilometer per hour (km/h)
Acceleration a m/s2
 Rectilinear Motion
• Position:
– Single coordinate axis, s
– Magnitude of s = distance from origin (O) to current
position (P)
– Direction: +ve = right of origin; ‐ve = left of origin

t0 t1 t2 Time

s
O Position
s1 s
s2
Displacement
 Rectilinear Motion
• Displacement:
– Change in the particle’s position, vector quantity
– If particle moves from S1 to S2:
s  s2  s1
– When s is +ve / ‐ve, particle’s position is right / left of its
initial position
t0 t1 t2 Time

s
O Position
s1 s
s2
Displacement
 Rectilinear Motion
• Velocity:
– The speed of the changes of positions.
– Average velocity:
s
v  s  s2  s1 t  t2  t1
t
– Instantaneous velocity:
vins  lim s / t 
Velocity, v

t
t 0 s
O
ds s
v 
s1

dt s2
t1 t2
 Rectilinear Motion
• Acceleration:
– The speed of the changes of velocities.
– Average acceleration:
v
a  v  v2  v1 t  t2  t1
t
– Instantaneous acceleration:
a  limv / t 
t
t 0 Acceleration a
Acceleration,

dv d 2 s
a  2 O
s

dt dt v1 v2
 Rectilinear Motion
• Magnitude and directions
Factor +ve value ‐ve value Zero value
Position s
Position, Direction to right Direction to left ‐
Velocity, v Direction to right Direction to left Particle stop moving
Acceleration, a Velocity Velocity Constant velocity
increased decreased
 Rectilinear Motion
• Position, velocity and acceleration as a function of
time (t):
ds dv
v a Differential
dt dt
s (t )  v (t )  a (t )
s (t )  v (t )  a (t )
s   vdt v   adt Integration
 Rectilinear Motion
• Function of position, velocity and acceleration
without time (t) factor:
ds ds
v  dt 
dt v ds dv
  vdv  ads
dv dv v a
a  dt 
dt a
 Rectilinear Motion
• Constant acceleration
acceleration, ac:
v t 
v0 dv  0 ac dt  v  v0  act 
s t 1 2 
s0 ds  0 v dt  s  s0  v0t  2 act 

 v  2ac s  s0 
v s
 vdv  a ds  v  
2 2
c 0
v0 s0
 
 Rectilinear Motion
• Summary of Equations:
ds dv d 2s
v a a 2 vdv ads
dt dt dt
– When acceleration is constant:
v  v0  act
1 2
s  so  vot  act
2
v2  v02  2ac s  s0 
 Rectilinear Motion
• A vehicle 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 second.
• When t = 0, s = 0.
• Determine it p position (s) and acceleration (a) when t
= 3s.
 Rectilinear Motion
• Solution:
Position
When s = 0 when t = 0, we have:
 0.9t 2  0.6t 
   ds
  v

  dt

 ds   0.9t   
s t s t
2
 0.6t dt s  0.3t  0.3t
3 2
0 0 0 0

Wh t = 3s:
When 3
 0.3t 3  0.3t 2

s  0.3t 3  0.3t 2  0.3(3) 3  0.3(3) 2

 10.8m
 Rectilinear Motion
• Solution:
Acceleration
Knowing v is a function of time (t), the acceleration can be
determined from a = dv/dt

a 
dv
dt
d

 0.9t 2  0.6t
dt

1.8t  0.6

When t = 3s: a 1.8t  0.6 1.8(3)  0.6

 6m/ s2
 Rectilinear Motion
B vB = 0
A ball is thrown upward at
75m/s from the top of a 40 m vA = 75m/s
tall building. Determine:
A

a) Maximum height sB reached

byy the ball. sB

b) The speed of the ball just sA = 40m

before it hits the ground.

ground C

vC s O
 Rectilinear Motion
• Solution:
Information gathering:
Take origin at “O” and upward direction is positive.
Acceleration is constant and due to gravity: aC = ‐9.81m/s2
The ball will reach maximum height at B:
s = sB  vB = 0 (ball stops moving at maximum height)

FFrom the
th question
ti we have:
h
t=0  vA = +75m/s, sA = +40m
 Rectilinear Motion
• Solution:
At Point B:

v2  v02  2ac s  s0  vB2  v A2  2aC ( s B  s A )

0 2  752  2(9.81)( s B  40)
5625 - 19.62s B  784.8  0
5625  784.8
 sB   327 m
19.62
 Rectilinear Motion
• Solution:
At Point C:
v2  v02  2ac s  s0  vC2  vB2  2aC ( sC  s B )
vC2  0  2(9.81)(0  327)

vc  6415.74
 vc  80.1 m / s  80.1 m / s ()
 Rectilinear Motion
• Erratic Motion:
– When a particle moves in erratic motion, it can be
best described graphically by a series of curves
curves.
– A graph is used to describe the relationship with
any 2 of the factors: a, v, s, t
– Recall kinematic equations:
ds dv
v a s   vdt
d v   adt
d
dt dt
 Rectilinear Motion
• Erratic Motion:
– The s‐t, v‐t and a‐t Graphs
– When given the s‐ts t graph,
graph we can construct the v‐t
vt
graph and a‐t graph, and vice versa:
•
•
Slope of ss‐tt graph = v;
Slope of v‐t graph = a;  v
ds
dt
a
dv
dt
•
•
Area under a‐t graph = v
Area under v‐t graph = s  s   vdt
d v   adt
d
 Rectilinear Motion
• Erratic Motion:
– The s‐t, v‐t and a‐t Graphs
– General behavior of graph:
• Incline slope  positive
• Stagnant slope  “0”
0
• Decline slope  negative

• Positive area  increase slope

• Negative area  decrease slope
 Rectilinear Motion
• Erratic Motion:
– Take an example of a bicycle moves along a
straight road in the motion with such that it
position is described by:
• s1 = 0.02t3 from time t = 0s to t = 10s;
• s2 = 0.2t2 + 2t ‐ 20 from time t = 10s to t = 20s;
• s3 = 10t ‐ 100 from time t = 20s to t = 30s;
 Rectilinear Motion
• Erratic Motion:
– With the given information, a s‐t graph can be
constructed:
 Rectilinear Motion
• Erratic Motion:
– By using function v = ds/dt and a = dv/dt:
ds
0  t  10; s  0.02t v 
3
 0.06t 2 a  0.12t
dt
ds
10  t  20; s  0.2t  2t  20 v 
2
 0.4t  2 a  0.4
dt
ds
20  t  30; s  10t  100 v   10 a0
dt
 Rectilinear Motion
• Erratic Motion:
– The v‐t graph of the bicycle motion:
 Rectilinear Motion
• Erratic Motion:
– The a‐t graph of the bicycle motion:
 Rectilinear Motion
• Erratic Motion:
– Comparison between s‐t, v‐t and a‐t graphs:
 Curvilinear Motion
• Introduction:
– Curvilinear occurs when a particle is moving along
a curved path.
path
– Position is measured from a fixed point O, by the
position vector r = r(t)
s
r
Displacement, rr’
s

Position, r
O

Path, s
 Curvilinear Motion
• Introduction:
– Displacement Δr represents the change in the
particle’ss position.
particle position

r '  r  r s
r
Displacement, r’
s

Position r
Position,
O

Path, s
 Curvilinear Motion
• Introduction:
r
– Average velocity is defined as: vavg 
t

– Instantaneous velocity is found when Δt0:

Velocity, v
dr
v s
dt

O
 Curvilinear Motion
• Introduction:
– The average and instantaneous acceleration are:
v dv d 2 r
aavg  a  2
t dt dt

– a acts tangent to the hodograph and is not

tangent to the path, s

a
Acceleration
Path, s
 Curvilinear Motion
• Projectile Motion
– Projectile launched at (x0, y0) and path is defined
in the xx‐yy plane where yy‐axis
axis is the vertical axis.
axis
– Air resistance is neglected
– The only force exists is the weight downwards
– Projectile’s acceleration always act vertically
• Constant acceleration: ac = g = 9 81 m/s2
9.81
• ax = 0; ay = ‐g = ‐9.81 m/s2
 Curvilinear Motion
• Projectile Motion
– Horizontal motion:
– Since ax = 0,
0
  

 
v  v0  ac t ; v x  (v0 ) x
1 2 x  x0  (v0 ) x t
  

 
x  x0  v0t  ac t ;
2
v x  (v0 ) x
  

 
v  v0  2ac ( s  s0 );
2 2
 Curvilinear Motion
• Projectile Motion
– Vertical motion:
– Positive y axis is upward,
upward we take ay = ‐ g
  v  v0  ac t ; v y  (v0 ) y  gt
1 2 1 2
  y  y0  v0t  ac t ; y  y0  (v0 ) y t  gt
2 2
  v 2
 v0  2ac ( y  y0 );
2
v y2  (v0 ) 2y  2 g ( y  y0 )
 Curvilinear Motion
• Projectile Motion
– A cyclist jumps off the 25o slope track at 5m height, and
with the speed 20 m/s. Calculate the time (t) that the
cyclist is flying in the air, and the distance (D) from point A
when he landed on the ground.
y

v = 20 m/s B

25o h
x
A 5m
C

D
 Curvilinear Motion
• Projectile Motion
– Solution:
• Vertical motion:
v y  v sin   (20) sin 25  8.45m / s
1 2
y  y0  (v0 ) y t  gt
2
1
0  5  8.45t  (9.81)t 2
2
4.905t  8.45t  5  0
2
 Curvilinear Motion
• Projectile Motion
– Solution:
• Using mathematical solution (take positive answer):
4.905t 2  8.45t  5  0

 b  b  4ac
2
 ( 8.45)  8.45 2
 4(4.905)(5)
t 
2a 2(4.905)
t  2.19s
 Curvilinear Motion
• Projectile Motion
– Solution:
• Horizontal motion:

v x  v cos   (20) cos 25  18.13m / s

xC  x A  (v Ax )t
D  xC  0  (18.13)(2.19)  39.7 m
 Curvilinear Motion
• Planar Circular Motion:
– Normal & Tangential Components O
s
• When a particle moves in planar
circular motion, the path of motion O’
n
can be described using n and t un
coordinates,
di which
hi h act normall and
d ut

tangent to the path. t

 Curvilinear Motion
• Planar Circular Motion:
– Normal & Tangential Components
• Velocity: Particle
Particle’ss velocity v has
direction that is always tangent to
the path

v  v  ut
ds
v  s
dt
 Curvilinear Motion
• Planar Circular Motion:
– Normal & Tangential Components
• Acceleration: the time rate of
change of velocity
   
a  v  vut  vut
  
a  at ut  anun
v2
where at  v or at ds  vdv and an 
R

• Magnitude: a  at2  an2

 Curvilinear Motion
• Planar Circular Motion:
– Starting from rest, a motor travels around a circular path
of R = 30 m at a speed that increases with time: v = 0.25t2
m/s. Find the magnitudes of the boat’s velocity and
acceleration at the time t = 3 s.

s
R = 30m
v = 0.25t2
O’
 Curvilinear Motion
• Planar Circular Motion:
– Solution:
• 1) Calculate the velocity at t = 3s
• The magnitude is given by: v = 0.25t2 m/s.

• At t = 3s: v = 0.25t2 = 0.25(3)2= 2.25 m/s

 Curvilinear Motion
• Planar Circular Motion:
– Solution:
• 2) Calculate the tangential and normal components of
acceleration and then the magnitude of the
acceleration vector.
• Tangential Component:

at  v 
d
d
dt
 
0.25t 2  0.5t
• At t = 3s: at = 0.5(3) = 1.5 ms‐2
 Curvilinear Motion
• Planar Circular Motion:
– Solution:
• 2) Normal Component:

an 
v 2

0.25t 
2 2

 30

• At t = 3s: an 
v2


0.25(3) 2 
2

 0.169m / s 2
 30
 Curvilinear Motion
• Planar Circular Motion:
– Solution:
• acceleration vector is:
v2
a  at ut  anun  v  ut   un


• Magnitude of acceleration:

a  at2  an2  1.52  0.169 2  1.509m / s 2

 Curvilinear Motion
• Angular motion
– Angular motion equation:
v  v0  ac t ;   0  t ;
1 2 1 2
y  y0  v0t  ac t ;    0 t  t ;
2 2
v 2  v02  2ac ( y  y0 ));  2  02  2 ;
 Problem P1
• A position of a particle is given by s = 12 + 6t2 ‐ t3,
where s is distance in meter and t is time in second.
Determine:
a) velocity of the particle when the particle is at 17 m.
b) maximum velocity of the particle.
c) acceleration of the particle when it stops momentary.
d) position of the particle when the velocity is maximum,
and
e) travelling distance by the particle in 3 seconds.
 Problem P2
• A particle travels along a straight line with a velocity
v = (12 – 3t2) m/s, where t is in seconds. When t = 1s,
the particle is located 10 m to the left of the origin.
a) Determine the acceleration when t = 4s.
b) Calculate the displacement from t = 0 s to t = 10 s.
c) Analyze and the distance the particle travels during this
time period.
d) Sketch the movement of the particle
particle.
 Problem P3
• A ball is thrown upward from the ground.
ground The
initial velocity is 15 m/s. Calculate:
– The height and its velocity after 2 seconds.
seconds
– The maximum height that the ball reached.
 Problem P4
• The vv‐tt graph of a car while traveling along a road is
shown in following Figure. Draw the s‐t and a‐t
graphs for the motion.
 Problem P5
• A projectile launched from point A with an initial
velocity of 150 m/s at an angle of  to the horizontal
axis. The projectile passes over the peak of a hill
(point B) at a vertical height of 70 m above point A,
and fall to the ground at point C which is 20 m
vertically
ti ll b below
l pointi t A.
A When
Wh passingi point
i t B the
th
vertical component of the projectiles’ velocity is
upwards.
upwards
 Problem P5 (cont.)
g , .
a)) Determine the angle,
b) The velocity of the projectile when passing point B.
c) The horizontal distance, s.
 Problem 6
• A car races around a horizontal circular track with a
radius of 80 m. Starting from rest, the car increases
its speed at a constant rate of 2 m/s2. Find the time
(t) needed for it to reach an acceleration of 3 m/s2.
What is its speed at this instant?
The End