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A Strong Partner for Sustainable Development

Module
in

ES105B

DYNAMICS OF RIGID BODIES

College of Engineering and Technology

BS in Mechanical Engineering
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Module No. 2

Curvilinear Motion of Particles

2nd Semester, AY 2020-2021

Engr. Sarah Jane O. Regenio

Engr. Reycielo B. Denzon

Instructor

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Table of Contents

Contents Page

Cover Page i
Title Page ii
Table of Contents iii
Instruction to Users iv
Introduction v
Chapter: 1
Title of the Chapter 1
Overview 1
Learning Outcomes 1
Time Allotment 1
Pre-Test 2
Introduction 4
Discussions 4
Exercises 22
Post-test 23

References 26
Students Information 27

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INSTRUCTION TO THE USER

This module would provide you an educational experience while independently

accomplishing the task at your own pace or time. It aims as well to ensure that learning
is unhampered by health and other challenges. It covers the topic about various
mechanical properties of engineering materials in lieu of the determination of design
factor and design stresses. It includes the analyses of simple, variable and combined
stresses applied to different mechanical elements such as shafts, mechanical springs.

Reminders in using this module:

1. Keep this material neat and intact.

2. Answer the pretest first to measure what you know and what to be
learned about the topic discussed in this module.
3. Accomplish the activities and exercises as aids and reinforcement for
better understanding of the lessons.
4. Answer the post-test to evaluate your learning.
5. Do not take pictures in any parts of this module nor post it to social
media platforms.
6. Value this module for your own learning by heartily and honestly
answering and doing the exercises and activities. Time and effort were
spent in the preparation in order that learning will still continue amidst
this Covid-19 pandemic.
7. Observe health protocols: wear mask, sanitize and maintain physical
distancing.

Hi! I’m Blue Bee, your WPU Mascot.

Welcome to Western Philippines

University!
Shape your dreams with quality learning
experience.

STAY SAFE AND HEALTHY!

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INTRODUCTION

Dynamics of Rigid Bodies deals with the analysis of bodies in motion. In this
course, you will learn the kinetics and kinematics of a particle, the rectilinear motion
of a particle will be analyzed; that is, the position, velocity, and acceleration of a
particle will be determined at every instant as it moves along a straight line and curved
lines, kinetics and kinematics of rigid bodies, work energy method and impulse and
momentum.

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Chapter 2
CURVILINEAR MOTION OF PARTICLES

Overview:
Special cases often dominate our study of physics, and circular motion is
certainly no exception. We see circular motion in many instances in the world; a
bicycle rider on a circular track, a ball spun around by a string, and the rotation of a
spinning wheel are just a few examples. Various planetary models described the
motion of planets in circles before any understanding of gravitation. The motion of the
moon around the earth is nearly circular. The motions of the planets around the sun
are nearly circular. Our sun moves in nearly a circular orbit about the center of our
galaxy, 50,000 light years from a massive black hole at the center of the galaxy.
We shall describe the kinematics of circular motion, the position, velocity,
and acceleration, as a special case of two-dimensional motion. We will see that unlike
linear motion, where velocity and acceleration are directed along the line of motion, in
circular motion the direction of velocity is always tangent to the circle. This means that
as the object moves in a circle, the direction of the velocity is always changing. When
we examine this motion, we shall see that the direction of change of the velocity is
towards the center of the circle. This means that there is a non-zero component of the
acceleration directed radially inward, which is called the centripetal acceleration. If
our object is increasing its speed or slowing down, there is also a non-zero tangential
acceleration in the direction of motion. But when the object is moving at a constant
speed in a circle then only the centripetal acceleration is non-zero.

Learning Outcomes:
After completing this chapter, you can:
 Solve Problems involving projectile motion
 Solve problems using the concept of acceleration

Time Allotment:

 3 weeks

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Pre-Test:
Direction: Answer the following problems and write your answer on the space provided
before the number. Use additional separate sheet for your solutions.
_______1.Two model rockets are fired simultaneously from a ledge and follow the
trajectories shown. Neglecting air resistance, which of the rockets will hit the ground
first?
a. A.
b. B.
c. They hit at the same time.
d. The answer depends on h.

_______2. Ball A is thrown straight up. Which of the following statements about the
ball are true at the highest point in its path?
a. The velocity and acceleration are both zero.
b. The velocity is zero, but the acceleration is not zero.
c. The velocity is not zero, but the acceleration is zero.
d. Neither the velocity nor the acceleration is zero.

_______3. Ball A is thrown straight up with an initial speed 𝑣0 and reaches a

maximum elevation h before falling back down. When A reaches its maximum
elevation, a second ball is thrown straight upward with the same initial speed 𝑣0 . At
what height, y, will the balls cross paths?

a. 𝑦 = ℎ
b. 𝑦 > ℎ/2
c. 𝑦 = ℎ/2
d. 𝑦 < ℎ/2
e. 𝑦 = 0

_______4. Two cars are approaching an intersection at constant speeds as shown.

What velocity will car B appear to have to an observer in car A?

a. →
b.
c.
d.
e.

_______5. The Ferris wheel is rotating with a constant angular

velocity v. What is the direction of the acceleration of point A?
a.→ b. ↑ c. ↓ d. ←
e. The acceleration is zero

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_______6. A race car travels around the track shown at a constant speed. At which
point will the race car have the largest acceleration?
a. A.
b. B.
c. C.
d. D.
e. The acceleration will be zero at all the points.

_______7. A child walks across merry-go-round A with a

constant speed u relative to A. The merry-go-round undergoes
fixed-axis rotation about its center with a constant angular
velocity v counter clockwise. When the child is at the center of A,
as shown, what is the direction of his acceleration when viewed
from above?
a.→ b. ← c. ↑ d. ↓ e. The acceleration is zero

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Introduction
Curvilinear motion occurs when a particle moves along a curved path. Since this
path is often described in three dimensions, vector analysis will be used to formulate
the particle’s position, velocity, and acceleration. In this section the general aspects of
curvilinear motion are discussed, and in subsequent sections we will consider three
types of coordinate systems often used to analyze this motion.
Discussion
POSITION, VELOCITY AND ACCELERATION
When a particle moves along a curve
other than a straight line, we say that the particle
is in curvilinear motion. To define the position P
occupied by the particle at a given time t, we
select a fixed reference system, such as the x, y, z
axes shown in Fig. 2.1a, and draw the vector r
joining the origin O and point P. Since the vector
r is characterized by its magnitude r and its
direction with respect to the reference axes, it
completely defines the position of the particle
with respect to those axes; the vector r is referred
to as the position vector of the particle at time t.
Consider now the vector r’ defining
the position P’ occupied by the same particle at a
later time t + Δt. The vector Δr joining P and P’
represents the change in the position vector
during the time interval Δt since, as we can easily
check from Fig. 2.1a, the vector r’ is obtained by
adding the vectors r and Δr according to the
triangle rule. We note that Δr represents a
change in direction as well as a change in
magnitude of the position vector r. The average
velocity of the particle over the time interval Δt
is defined as the quotient of Δr and Δt. Since Δr
is a vector and Δt is a scalar, the quotient Δr/Δt
is a vector attached at P, of the same direction as
Δr and of magnitude equal to the magnitude of
Δr divided by Δt (Fig. 2.1b).

Fig. 2.1
The instantaneous velocity of the particle at time t is obtained by choosing
shorter and shorter time intervals Δt and, correspondingly, shorter and shorter vector
increments Δr. The instantaneous velocity is thus represented by the vector
∆𝒓
(Eq. 2.1) v= 𝐥𝐢𝐦
∆𝒕𝒚 𝟎 ∆𝒕

As Δt and Δr become shorter, the points P and P’ get closer; the vector v
obtained in the limit must therefore be tangent to the path of the particle (Fig. 2.1c).

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Since the position vector r depends upon the time t, we can refer to it as a
vector function of the scalar variable t and denote it by r(t). Extending the concept of
derivative of a scalar function introduced in elementary calculus, we will refer to the
limit of the quotient Δr/Δt as the derivative of the vector function r(t). We write

(Eq. 2.2)

The magnitude v of the vector v is called the speed of the particle. It can be
obtained by substituting for the vector Δr in formula (2.1) the magnitude of this vector
represented by the straight-line segment PP’. But the length of the segment PP’
approaches the length Δs of the arc PP’ as Δt decreases (Fig. 2.1a), and we can write

(Eq. 2.3)

The speed v can thus be obtained by differentiating with respect to t the length s of the
arc described by the particle.

Consider the velocity v of the particle at time t and its velocity v’ at a later time t + Δt
(Fig. 2.2a). Let us draw both vectors v and v’ from the same origin O’ (Fig. 2.2b). The
vector Δv joining Q and Q’ represents the change in the velocity of the particle during
the time interval Δt, since the vector v’ can be obtained by adding the vectors v and
Δv. We should note that Δv represents a change in the direction of the velocity as well
as a change in speed. The average acceleration of the particle over the time interval
Δt is defined as the quotient of Δv and Δt. Since Δv is a vector and Δt a scalar, the
quotient Δv/Δt is a vector of the same direction as Δv.

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The speed v can thus be obtained by differentiating with

respect to t the length s of the arc described by the
particle.

Consider the velocity v of the particle at time t and its

velocity v’ at a later time t + Δt (Fig. 2.2a). Let us draw
both vectors v and v’ from the same origin O’ (Fig. 2.2b).
The vector Δv joining Q and Q’ represents the change in
the velocity of the particle during the time interval Δt,
since the vector v’ can be obtained by adding the vectors
v and Δv. We should note that Δv represents a change
in the direction of the velocity as well as a change in
speed. The average acceleration of the particle over the
time interval Δt is defined as the quotient of Δv and Δt.
Since Δv is a vector and Δt a scalar, the quotient Δv/Δt
is a vector of the same direction as Δv.

The instantaneous acceleration of the particle at time t

is obtained by choosing smaller and smaller values for
Δt and Δv. The instantaneous acceleration is thus
represented by the vector

(Eq. 2.4)

(Fig. 2.2)

Noting that the velocity v is a vector function v(t) of the time t, we can refer to the
limit of the quotient Δv/Δt as the derivative of v with respect to t. We write

(Eq. 2.5)

We observe that the acceleration a is tangent to the curve described by the tip
Q of the vector v when the latter is drawn from a fixed origin O’ (Fig. 2.2c) and that, in
general, the acceleration is not tangent to the path of the particle (Fig. 2.2d). The curve
described by the tip of v and shown in Fig. 2.2c is called the Fig. 2.2 hodograph of the
motion.

DERIVATIVES OF VECTOR FUNCTIONS

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We saw in the preceding section that the velocity v of a particle in curvilinear

motion can be represented by the derivative of the vector function r(t)
characterizing the position of the particle. Similarly, the acceleration a of the
particle can be represented by the derivative of the
vector function v(t). In this section, we will give a
formal definition of the derivative of a vector function
and establish a few rules governing the differentiation
of sums and products of vector functions.
Let P(u) be a vector function of the scalar variable u.
By that we mean that the scalar u completely defines
the magnitude and direction of the vector P. If the
vector P is drawn from a fixed origin O and the scalar
u is allowed to vary, the tip of P will describe a given
curve in space. Consider the vectors P corresponding,
respectively, to the values u and u + Δu of the scalar
variable (Fig. 2.3a). Let ΔP be the vector joining the
tips of the two given vectors; we write

ΔP = P (u + Δu) - P(u)
Dividing through by Δu and letting Δu approach zero,
we define the derivative of the vector function P(u):

Fig. 2.3

(Eq. 2.6)

As Δu approaches zero, the line of action of ΔP becomes tangent to the curve of

Fig. 2.3a. Thus, the derivative dP/du of the vector function P(u) is tangent to the
curve described by the tip of P(u) (Fig. 2.3b).
The standard rules for the differentiation of the sums and products of scalar
functions can be extended to vector functions. Consider first the sum of two vector
functions P(u) and Q(u) of the same scalar variable u. According to the definition
given in (Eq. 2.5), the derivative of the vector P + Q is

or since the limit of a sum is equal to the sum of the limits of its terms,

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(Eq. 2.7)

The product of a scalar function f(u) and a vector function P(u) of the same scalar
variable u will now be considered. The derivative of the vector fP is

or recalling the properties of the limits of sums and products,

(Eq. 2.8)

The derivatives of the scalar product and the vector product of two vector
functions P(u) and Q(u) can be obtained in a similar way. We have

(Eq. 2.9)

The properties established above can be used to determine the rectangular

components of the derivative of a vector function P(u). Resolving P into
components along fixed rectangular axes x, y, z, we write

P= Pxi + Pyj +Pzk (Eq. 2.10)

where Px, Py, Pz are the rectangular scalar components of the vector P, and i, j, k
the unit vectors corresponding, respectively, to the x, y, and z axes. By (Eq. 2.7),
the derivative of P is equal to the sum of the derivatives of the terms in the right-
hand member. Since each of these terms is the product of a scalar and a vector
function, we should use (Eq. 2.8). But the unit vectors i, j, k have a constant
magnitude (equal to 1) and fixed directions. Their derivatives are

(Eq. 2.11)
Noting that the coefficients of the
unit vectors are, by definition, the

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scalar components of the vector dP/du, we conclude that the rectangular scalar
components of the derivative dP/du of the vector function P(u) are obtained by
differentiating the corresponding scalar components of P.

Rate of Change of a Vector

When the vector P is a function of the time t, its derivative dP/dt represents
the rate of change of P with respect to the frame Oxyz. Resolving P into rectangular
components, we have, by (Eq. 2.11),

or, using dots to indicate differentiation with respect to t,

(Eq. 2.11′)

The rate of change of a vector as observed from a moving frame of reference

is, in general, different from its rate of change as observed from a fixed frame of
reference. However, if the moving frame O′x′y′z′ is in translation, i.e., if its axes
remain parallel to the corresponding axes of the fixed frame Oxyz (Fig. 2.4), the
same unit vectors i, j, k are used in both frames, and at any given instant the vector
P has the same components Px, Py, Pz in both frames. It follows from (Eq. 2. 11′)
that the rate of change P ˙ is the same with respect to the frames Oxyz and O′x′y′z′.
We state, therefore: The rate of change of a vector is the same with respect to a
fixed frame and with respect to a frame in translation. This property will greatly
simplify our work, since we will be concerned mainly with frames in translation.

Fig. 2.4

RECTANGULAR COMPONENTS OF VELOCITY AND ACCELERATION

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When the position of a particle P is defined at any instant by its rectangular

coordinates x, y, and z, it is convenient to resolve the velocity v and the acceleration a
of the particle into rectangular components (Fig. 2.5).
Resolving the position vector r of the particle into
rectangular components, we write

(Eq. 2.12)

(Eq. 2.13)

(Eq. 2.14)

Fig. 2.5

(Eq. 2.13)
and (Eq. 2.14)

(Eq. 2.15)
(Eq. 2.16)

A positive value for vx indicates that the vector component vx is directed to the right,
and a negative value indicates that it is directed to the left. The sense of each of the
other vector components can be determined in a similar way from the sign of the
corresponding scalar component.
The use of rectangular components to describe the position, the velocity, and
the acceleration of a particle is particularly effective when the component ax of the
acceleration depends only upon t, x, and/or vx, and when, similarly, ay depends only
upon t, y, and/or vy, and az upon t, z, and/or vz. Equations (2.16) can then be integrated
independently, and so can Eqs. (2.15). In other words, the motion of the particle in the

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x direction, its motion in the y direction, and its motion in the z direction can be
considered separately.
In the case of the motion of a projectile, that the components of the acceleration are

if the resistance of the air is neglected. Denoting by x0, y0, and z0 the coordinates of a
gun, and by (vx)0, (vy)0, and (vz)0 the components of the initial velocity v0 of the
projectile (a bullet), we integrate twice in t and obtain

If the projectile is fired in the xy plane from the origin O, we have x0 = y0 = z0 = 0 and
(vz)0 = 0, and the equations of motion reduce to

These equations show that the

projectile remains in the xy plane, that
its motion in the horizontal direction is
uniform, and that its motion in the
vertical direction is uniformly
accelerated. The motion of a projectile
can thus be replaced by two independent
rectilinear motions, which are easily
visualized if we assume that the
projectile is fired vertically with an
initial velocity (vy)0 from a platform
moving with a constant horizontal
velocity (vx)0 (Fig. 2.6). The coordinate x
of the projectile is equal at any instant to
the distance traveled by the platform,
and its coordinate y can be computed as
if the projectile were moving along a
vertical line. Fig. 2.6

It can be observed that the equations defining the coordinates x and y of a projectile
at any instant are the parametric equations of a parabola. Thus, the trajectory of a
projectile is parabolic. This result, however, ceases to be valid when the resistance of
the air or the variation with altitude of the acceleration of gravity is taken into account.

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EXAMPLE 1: A projectile is fired from the edge of a

150-m cliff with an initial velocity of 180 m/s at an angle
of 30° with the horizontal. Neglecting air resistance, find

(a) the horizontal distance from the gun to the point

where the projectile strikes the ground,
(b) the greatest elevation above the ground reached
by the projectile.

SOLUTION:
The vertical and the horizontal motion will be considered separately.

Vertical Motion. Uniformly Accelerated Motion. Choosing the positive sense

of the y axis upward and placing the origin O at the gun, we have

180𝑚
(𝑣𝑦 ) = ( ) 𝑠𝑖𝑛30° = +90𝑚/𝑠
𝑜 𝑠

𝑎 = −9.81 𝑚/𝑠 2

Substituting into the equations of uniformly accelerated

motion, we have

Horizontal Motion. Uniform Motion. Choosing the

positive sense of the x axis to the right, we have
𝑚
(𝑣𝑥 )0 − 5 (180 ) 𝑐𝑜𝑠 30° = +155.9 𝑚/𝑠
𝑠

Substituting into the equation of uniform motion, we

obtain

a. Horizontal Distance. When the projectile strikes the ground, we have

𝑦 = −150 𝑚

Carrying this value into Eq. (2) for the vertical motion, we write

−150 = 90𝑡 − 4.90𝑡 2 𝑡 2 − 18.37𝑡2 − 30.6 = 0 𝑡 = 19.91 𝑠

Carrying t = 19.91 s into Eq. (4) for the horizontal motion, we obtain

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𝑥 = 155.9(19.91) 𝒙 = 𝟑𝟏𝟎𝟎 𝒎 //𝒂𝒏𝒔.

b. Greatest Elevation. When the projectile reaches its greatest elevation,

we have 𝑣𝑦 = 0; carrying this value into Eq. (3) for the vertical motion, we write

0 = 8100 − 19.62𝑦 𝒚 = 𝟒𝟏𝟑 𝒎

Greatest elevation above ground = 150 𝑚 + 413 𝑚 = 𝟓𝟔𝟑 𝒎//𝒂𝒏𝒔.

EXAMPLE 2. A projectile is fired with an initial

velocity of 800 ft/s at a target B located 2000 ft
above the gun A and at a horizontal distance of
12,000 ft. Neglecting air resistance, determine the
value of the firing angle a.

SOLUTION: The horizontal and the vertical motion will be considered separately.

Horizontal Motion. Placing the origin of the

coordinate axes at the gun, we have

(𝑣𝑥 )0 = 800 𝑐𝑜𝑠 𝑎

Substituting into the equation of uniform horizontal motion, we obtain

𝑥 = (𝑣𝑥 )0 𝑡 𝑥 = (800 𝑐𝑜𝑠 𝑎)𝑡

The time required for the projectile to move through a horizontal distance of 12,000 ft
is obtained by setting x equal to 12,000 ft.

12,000 = (800 𝑐𝑜𝑠 𝑎)𝑡

12,000 15
𝑡= =
800𝑐𝑜𝑠𝑎 𝑐𝑜𝑠𝑎

Vertical Motion

(𝑣𝑦 ) = 800 𝑠𝑖𝑛 𝑎 𝑎 = 232.2 𝑓𝑡/𝑠 2

0

Substituting into the equation of uniformly accelerated

vertical motion, we obtain

1
𝑦 = (𝑣𝑦 )0 𝑡 + 𝑎𝑡 2 𝑦 = (800 𝑠𝑖𝑛 𝑎)𝑡 − 16.1𝑡 2
2

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Projectile Hits Target. When x 5 12,000 ft, we must have y 5 2000 ft. Substituting
for y and setting t equal to the value found above, we write

15 15 2
2000 = 800𝑠𝑖𝑛𝑎 − 16.1 ( )
cos 𝑎 𝑐𝑜𝑠𝑎
1
Since 𝑐𝑜𝑠2 𝑎 = 𝑠𝑒𝑐2 𝑎 = 1 + tan2 𝑎 , we have

2000 = 800(15)𝑡𝑎𝑛 𝑎 − 16.1(152 )(1 + tan2 𝑎 )

3622 tan2 𝑎 − 12,000 𝑡𝑎𝑛 𝑎 + 5622 = 0

Solving this quadratic equation for tan a, we have

𝑡𝑎𝑛 𝑎 = 0.565 𝑎𝑛𝑑 𝑡𝑎𝑛 𝑎 = 2.75

𝒂 = 𝟐𝟗. 𝟓° 𝒂𝒏𝒅 𝒂 = 𝟕𝟎. 𝟎°//𝒂𝒏𝒔.

The target will be hit if either of these two firing angles is used (see figure).

MOTION RELATIVE TO A FRAME IN TRANSLATION

Galilean transformation equations relate the position and velocity of
a particle as measured by observers in relative motion.

Different observers make different

measurements. (a) Observer A is located at the origin,
and Observer B is at a position of 25. Both observers
measure the position of a particle at P. (b) If both
observers see themselves at the origin of their own
coordinate system, they disagree on the value of the
position of the particle at P.

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A particle located at P is described by two observers, one in the fixed frame

of reference SA and the other in the frame SB, which moves to the right with a constant
velocity⃗⃗⃗⃗⃗⃗⃗⃗
𝑣𝐵𝐴 . The vector ⃗⃗⃗⃗⃗
𝑟𝑃𝐴 is the particle’s position vector relative to SA, and ⃗⃗⃗⃗⃗⃗
𝑟𝑃𝐵 is its
position vector relative to SB.
Vectors ⃗⃗⃗⃗⃗
𝑟𝑃𝐴 and ⃗⃗⃗⃗⃗⃗
𝑟𝑃𝐵 are related to each other through the expression
⃗⃗⃗⃗⃗⃗
𝒓𝑷𝑨 = ⃗⃗⃗⃗⃗⃗⃗
𝒓𝑷𝑩 + ⃗⃗⃗⃗⃗⃗⃗⃗
𝒗𝑩𝑨 𝒕

Galilean Velocity Transformation

⃗⃗⃗⃗⃗⃗⃗
𝒖𝑷𝑨 = ⃗⃗⃗⃗⃗⃗⃗
𝒖𝑷𝑩 + ⃗⃗⃗⃗⃗⃗⃗⃗
𝒗𝑩𝑨

For two objects moving in parallel

Case 1: Two objects (A and B) moving independently
• When they are travelling in the opposite direction:

𝒗𝒓𝒆𝒍𝒂𝒕𝒊𝒗𝒆 = 𝒗𝑨 + 𝒗𝑩
• When they are travelling in the same direction:
𝒗𝒓𝒆𝒍𝒂𝒕𝒊𝒗𝒆 = 𝒗𝑨 − 𝒗𝑩
Case 2. One moving object riding on another moving object
Ex. Airplane affected by wind
Boat by current
• When they are travelling in the opposite direction:
𝒗𝒓𝒆𝒍𝒂𝒕𝒊𝒗𝒆 = 𝒗𝑨 − 𝒗𝑩

• When they are travelling in the same direction:

𝒗𝒓𝒆𝒍𝒂𝒕𝒊𝒗𝒆 = 𝒗𝑨 + 𝒗𝑩

EXAMPLE: A boat’s speed in still water is 𝑣𝐵𝑊 = 1.85 𝑚/𝑠. If the boat is to travel
directly across a river whose current has speed 𝑣𝑊𝑆 = 1.20 𝑚/𝑠, at what upstream
angle must the boat head?

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Solution:
Figure shows the velocity of the boat relative to the shore, pointing directly
across the river.
Note that 𝑣𝐵𝑆 = 𝑣𝐵𝑊 + 𝑣𝑊𝑆
Vector 𝑣𝐵𝑊 points upstream at an angle 𝜃 shown. From the diagram,
𝑣𝑊𝑆 1.20 𝑚/𝑠
sin 𝜃 = = = 0.6486
𝑣𝐵𝑊 1.85 𝑚/𝑠
Thus,
𝜃 = 40.4°
the boat must head upstream at a 40.4° angle

The same boat (𝑣𝐵𝑊 = 1.85 𝑚/𝑠) now heads directly across the river whose
current is still 1.20 m/s.
a) What is the velocity (magnitude and direction) of the boat relative to the
shore?
b) If the river is 110 m wide, how long will it take to cross and how far
downstream will the boat then?
c) The boat now heads directly across the river and is pulled downstream by the
current. The boat’s velocity with respect to the shore, 𝑣𝐵𝑆 , is the sum of its
velocity with respect to the water, 𝑣𝐵𝑊 , plus the velocity of the water with
respect to the shore, 𝑣𝑊𝑆 :
d) 𝑣𝐵𝑆 = 𝑣𝐵𝑊 + 𝑣𝑊𝑆

SOLUTION:
(a)Since 𝒗
⃗ 𝑩𝑾 is perpendicular to 𝒗
⃗ 𝑾𝑺 , solve for 𝒗𝑩𝑺 using the theorem
of Pythagoras.

𝑣𝐵𝑆 = √𝑣𝐵𝑊 2 + 𝑣𝑊𝑆 2

= √(1.85 𝑚/𝑠)2 + (1.20 𝑚/𝑠)2 = 2.21 𝑚/𝑠

To obtain the angle,
𝑣𝑊𝑆 (1.20 𝑚/𝑠)
tan 𝜃 = = = 0.6486
𝑣𝐵𝑊 (1.85 𝑚/𝑠)

𝜃 = tan−1 (0.6486) = 33.0°

(b) The travel time for the boat is determined by the time it takes to cross
the river.

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Given the river’s width 𝐷 = 110 𝑚, use the velocity component in the
direction of 𝐷.
𝐷
𝑣𝐵𝑊 =
𝑡
Solving for 𝑡,
110 𝑚
𝑡= = 60 𝑠
1.85 𝑚/𝑠

The boat will have been carried downstream, a distance

𝒅 = 𝒗𝑾𝑺 𝒕 = (𝟏. 𝟐𝟎 𝒎/𝒔)(𝟔𝟎 𝒔) = 𝟕𝟐 𝒎

EXAMPLE: Automobile A is traveling east at the constant

speed of 36 km/h. As automobile A crosses the intersection
shown, automobile B starts from rest 35 m north of the
intersection and moves south with a constant acceleration of
1.2 m/s2. Determine the position, velocity, and acceleration
of B relative to A 5 s after A crosses the intersection.

SOLUTION: We choose x and y axes with origin at the

intersection of the two streets and with positive senses directed respectively east and
north.

Motion of Automobile A. First the speed is expressed in

m/s:

36𝑘𝑚 1000𝑚 1ℎ
𝑣𝐴 = ( )( )( ) = 10𝑚/𝑠
ℎ 1𝑘𝑚 3600𝑠

Noting that the motion of A is uniform, we write, for any time t,

𝑎𝐴 = 0
𝑣𝐴 = +10𝑚/𝑠
𝑥𝐴 = (𝑥𝐴 )0 + 𝑣𝐴 𝑡 = 0 + 10𝑡

For t = 5 s, we have

Motion of Automobile B. We note that the motion of B is uniformly accelerated

and write

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For t = 5 s, we have

Motion of B Relative to A. We draw the triangle

corresponding to the vector equation 𝑟𝐵 = 𝑟𝐴 + 𝑟𝐵/𝐴 and
obtain the magnitude and direction of the position vector
of B relative to A.

Proceeding in a similar fashion, we find the velocity and acceleration of B relative to

A.

UNIFORM CIRCULAR MOTION

If the car is moving on this path with constant speed v, we call it uniform
circular motion. Because it occurs so often, this type of motion is recognized as an
analysis model called the particle in uniform circular motion.

(a) A car moving along a circular path at constant speed experiences uniform circular motion.
(b) As a particle moves along a portion of a circular path from point A to point B, itsvelocity vector changes from 𝑣𝑖 to 𝑣𝑓 .

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 19

(c) The construction for determining the direction of the change in velocity ∆𝑣 which is toward the center of the circle for small
∆𝑟.

Centripetal Acceleration
An acceleration of this nature is called a centripetal acceleration
(centripetal means center-seeking).
𝒗𝟐
𝒂𝒄 =
𝒓
Where:
𝑎𝑐 = 𝑐𝑒𝑛𝑡𝑟𝑖𝑝𝑒𝑡𝑎𝑙 𝑎𝑐𝑐𝑒𝑙𝑒𝑟𝑎𝑡𝑖𝑜𝑛
𝑣 = 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦
𝑟 = 𝑟𝑎𝑑𝑖𝑢𝑠 𝑜𝑓 𝑡ℎ𝑒 𝑐𝑖𝑟𝑐𝑢𝑙𝑎𝑟 𝑝𝑎𝑡ℎ

Period of Circular Motion

𝟐𝝅𝒓
𝑻=
𝒗

Where period T, which is defined as the time interval required for one
complete revolution of the particle.
𝑣 = 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦
𝑟 = 𝑟𝑎𝑑𝑖𝑢𝑠 𝑜𝑓 𝑡ℎ𝑒 𝑐𝑖𝑟𝑐𝑢𝑙𝑎𝑟 𝑝𝑎𝑡ℎ

Example: The Centripetal Acceleration of the Earth

What is the centripetal acceleration of the Earth as it moves in its orbit
around the Sun? radius of the Earth’s orbit around the Sun=1.496 x10^11 m.

2𝜋𝑟 2
𝑣 (2 ) 4𝜋 2 𝑟
𝑎𝑐 = = 𝑇 = 2
𝑟 𝑟 𝑇

2
4𝜋 2 (1.496𝑥1011 𝑚) 1 𝑦𝑟
𝑎𝑐 = ( )
(1 𝑦𝑟)2 3.156𝑥107 𝑠

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 20

𝒂𝒄 = 𝟓. 𝟗𝟑𝒙𝟏𝟎−𝟑 𝒎/𝒔𝟐

TANGENTIAL AND RADIAL ACCELERATION

 The motion of a particle along an arbitrary curved path lying in the xy plane. If the velocity vector 𝑣 (always tangent to
the path) changes in direction and magnitude, the components of the acceleration 𝑎 are a tangential component at and
a radial component ar .

The total acceleration vector 𝑎 can be written as the vector sum of the
component vectors:
⃗ = 𝒂𝒓 + 𝒂𝒕
𝒂

The tangential acceleration component causes a change in the speed v of

the particle. This component is parallel to the instantaneous velocity, and its
magnitude is given by

𝒅𝒗
𝒂𝒕 = | |
𝒅𝒕

The radial acceleration component arises from a change in direction of the

velocity vector and is given by
𝒗𝟐
𝒂𝒓 = −𝒂𝒄 = −
𝒓

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 21

For Uniform Circular Motion:

If velocity is constant;
• 𝑎𝑡 = 0
• Acceleration is completely radial
If the direction of the velocity vector does not change;
• Radial Acceleration is zero BUT
• 𝑎𝑡 MAY NOT be equal to zero

EXAMPLE: A car leaves a stop sign and exhibits a constant acceleration of

0.300 m/s2 parallel to the roadway. The car passes over a rise in the roadway such
that the top of the rise is shaped like a circle of radius 500 m. At the moment the car
is at the top of the rise, its velocity vector is horizontal and has a magnitude of 6.00
m/s. What are the magnitude and direction of the total acceleration vector for the
car at this instant?

SOLUTION:
Evaluate the radial acceleration:
𝒗𝟐
𝒂𝒓 = −
𝒓
( 𝟔) 𝟐
𝒂𝒓 = − = −𝟎. 𝟎𝟕𝟐𝒎/𝒔𝟐
𝟓𝟎𝟎
Find the magnitude of 𝒂
⃗ :

⃗ = √𝒂𝒓 𝟐 + 𝒂𝒕 𝟐
𝒂

⃗⃗⃗ = √−0.0722 + 0.32

𝑎

⃗⃗⃗ = 𝟎. 𝟑𝟎𝟗 𝒎/𝒔𝟐

𝒂

Find the angle θ between 𝑎

⃗⃗⃗ and the horizontal:
𝑎𝑟
𝜃 = tan−1
𝑎𝑡

−0.072
𝜃 = tan−1
0.3

𝜽 = −𝟏𝟑. 𝟓°

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A. EXERCISES
Direction: Answer the following problem as directed. Write your answer in a sheet of yellow
GENERAL INSTRUCTION: Show your computations. NO SOLUTION, NO POINTS. After
solving, take a picture/scan your module, convert to PDF and upload to
https://docs.google.com/forms/d/e/1FAIpQLSec06XpYitT7YgEuUQbGTVVgHRudarNGNh
UIKmY3i9T1_3xUA/viewform
*Note: If camera resolution is low, take a picture of the Solution Paper by parts for a clearer
image upload.
**Note: This format can also be done handwritten. paper. Provide another sheet if necessary.
**Watch the lecture below before answering the exercise problems.
https://www.youtube.com/watch?v=_psIWtPBHzA

1. A baseball is thrown from a horizontal plane following parabolic path

with an initial velocity of 100 m/s at an angle of 30 degrees above the
horizontal. How far from the throwing point will the ball attains its
original level?
a)882.8 meters c)883.9 meters
b)288.8 meters d)888.8 meters

2. A bomber is flying at 300 mph horizontally at an altitude of 2000 ft. Its

target is a ship sailing at 15 mph travelling in the same direction and in
the same vertical plane as the bomber. How far behind the ship hold the
bomber release its bomb to score a direct heat?
a)1419 m c)1430 m
b)1420 m d)1440 m

3. A man can row at 8.5 mi/hr in still water. If velocity of stream is 1.5
mi/hr, at what angle with the river bank must the boat be steered to
travel the shortest distance in crossing river?

a) 39.79 degrees c) 79.84 degrees

b) 88.96 degrees d) 99.9 degrees

4. In the previous problem, what is the velocity of the boat with respect to
the river bank in mi/hr?

a) 8.37 c)7.98
b) 4.85 d)6.77

WPU-QSF-ACAD-82A Rev. 00 (09.15.20)

 23

B. POST-TEST
Direction: Answer the following problem as directed. Write your answer in a sheet
of yellow
GENERAL INSTRUCTION: Show your computations. NO SOLUTION, NO POINTS.
After solving, take a picture/scan your module, convert to PDF and upload to
https://docs.google.com/forms/d/e/1FAIpQLSec06XpYitT7YgEuUQbGTVVgHRuda
rNGNhUIKmY3i9T1_3xUA/viewform
*Note: If camera resolution is low, take a picture of the Solution Paper by parts for a
clearer image upload.
**Note: This format can also be done handwritten. paper. Provide another sheet if
necessary.
1. From a building which is 60 meters height, a ball was thrown horizontally with
kinetics energy of 45 Joules. If the ball weighs 300 grams, compute for the ball’s
kinetic energy when it touches the ground. Give your answer in Joules. (𝐾𝐸 =
1
𝑚𝑉12 )
2

a)141. 98 Joules c)367.98 Joules

b)221.58 Joules d)644.50 Joules

2. A plane dropped a bomb at an elevation of 1000 meters from the ground

intended to hit a target whose elevation is 200 meters from the ground. If the
plane was flying at a velocity of 300 km/hr, at what distance from the target
must the bomb be dropped to it the target?

a)1,879.00 m c)5,473.22 m
b)1,064.25 m d)1,644.50 m

3. A tug can stream 27 kph is at point A. It wishes to intercept steamer as soon as

possible that is due east at a point B and making 21 kph in a direction of 𝑁23°𝑊.
Find the direction that the tug must take and the time will it take if B is 3.26
km. from A.

a. time=0.12 hr; direction is 𝑁44°13′38′′𝐸

b. time=0.12 hr; direction 𝑁44°13′38′′𝑊
c. time=0.18 hr; direction is 𝑁24°13′38′′𝐸
d. time=0.22 hr; direction is 𝑁34°13′38′′𝐸

4. Race car A is traveling on a straight portion of the

track while race car B is traveling on a circular
portion of the track. At the instant shown, the speed
of A is increasing at the rate of 10 𝑚/𝑠 2 , and the
speed of B is decreasing at the rate of 6 𝑚/𝑠 2 . For
the position shown, determine
(a) the velocity of B relative to A,

WPU-QSF-ACAD-82A Rev. 00 (09.15.20)

 24

a)1,760 ft c)1,470 ft
b)1,670ft d)1,640 ft
(b) the acceleration of B relative to A.

a)27.8 mi/h c)24.7 mi/h

b)26.8 mi/h d)28.6 mi/h

5. The angular difference between the initial and final position of an object
is known as

a) Angular velocity c)Angular acceleration

b) Angular displacement d) none of the option

6. The component of angular acceleration tangential to the circular path is

known as

a) Angular velocity c) Radial acceleration

b) Angular displacement d) tangential component

7. The rate of change of angular velocity with respect to time gives

a) Angular velocity c) Angular acceleration

b) Angular displacement d) none of the option
8. In a uniform circular motion, the acceleration of the object is along the
radius, directed towards the center is called

a) Angular velocity c) Radial acceleration

b) Angular displacement d) none of the option

9. Which of the following is measured using tachometer?

a) speed of rotation c) angular momentum

b) gravitational pull d) velocity

10. What happens when a particle revolves on a circular path with uniform
speed?

a) velocity is constant c) constant angular velocity

b) no work is done d) no force is acting

11. Which of the following is constant when a motorcyclist is riding with

constant speed on a circular track

a) constant force c) constant angular velocity

b) constant acceleration d) constant velocity

12. Path taken by a projectile is known as

WPU-QSF-ACAD-82A Rev. 00 (09.15.20)

 25

a) Particle motion c) Projectile motion

b) Parabolic motion d) none of the option

14. Any object thrown into space upon which the only acting force is
gravity is known as

a) gravitational object c) free object

b) Projectile d) none of the option

15. Example of projectile is

a) walking c) A baseball batted or thrown

b) butterfly flying d) fish in pond

15. The path followed by a projectile is known as a

a) Parabola c) tangent
b) hyperbola d) trajectory

16. When a particle moves along a straight path, then the particle has
a) tangential acceleration only
b) centripetal acceleration only
c) both tangential and centripetal acceleration
d) None of the mentioned

17. Relative velocity is dependent on

a) Velocity of the particle only
b) Velocity of the medium only
c) Velocity of the particle as well as the velocity of the medium
d) None of the options

18. Relative Speed of a with respect to b is given by

a) a+b
b) a-b
c) a/b
d) a*b
19. Relative velocity helps to
a) Predict the rest condition of the body only
b) Predict the moving condition of the body only
c) Differentiating if the object is at rest or moving
d) None of the options

20. Relative velocity is a

a) Vector quantity
b) Scalar quantity
c) Dimensionless quantity
d) None of the options

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REFERENCES

Beer and Johnston. Vector Mechanics for Engineers: Dynamics, 10th SI ed. McGraw-Hill,
2003
https://www.lehman.edu/faculty/anchordoqui/chapter06.pdf
https://www.pearsonhighered.com/content/dam/region-na/us/higher-ed/en/products-
services/hibbeler-14e-info/pdf/sample-chapter--ch12.pdf

WPU-QSF-ACAD-82A Rev. 00 (09.15.20)

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WPU-QSF-ACAD-82A Rev. 00 (09.15.20)