Rectilinear kinematics: Continuous motion

- The kinematics of a particle is characterised by specifying (at a given instant) the particle’s
position, velocity and acceleration

1. Position:
- The straight line path of a particle
- Right = positive; Left = negative

2. Displacement:
- Change in position

3. Velocity:
- Measure of rate of change of position of particle
- Speed = Magnitude of velocity

4. Acceleration:
- Rate of change in velocity of particle

Differentiate Differentiate

Displacement Velocity Acceleration

Integrate Integrate

Special equations for CONSTANT acceleration:

Erratic motion (Graphs):

General curvilinear motion:

- Particles moving along curved path

- Generally occurs in 3D, thus vector analysis will be used
- Equations are the same as for normal motion, now it is just being applied in 3 dimensions

Rectangular components of curvilinear motion:

Equations for position:

𝒓 = {𝑥𝒊 + 𝑦𝒋 + 𝑧𝒌} 𝑚

|𝑟| = √𝑥 2 + 𝑦 2 + 𝑧 2
𝒓
𝒖𝒓 = |𝑟|

Equations for velocity:

𝒗 = {𝑣𝑥𝒊 + 𝑣𝑦𝒋 + 𝑣𝑧𝒌} 𝑚/𝑠

|𝑣| = √𝑣𝑥 2 + 𝑣𝑦 2 + 𝑣𝑧 2
Projectile motion:

- Motion in 2 directions: Horizontal = Zero acceleration

Vertical = Constant acceleration

1. Horizontal motion (right is +)

2. Vertical motion (up is +)

Normal and tangential components

- Used to describe motion of particle along curved path

- T-axis = Tangent to the curve
- N-axis = Perpendicular to t-axis
- Radius of curvature = The perpendicular distance from the curve to centre of curvature at
that point

1. Velocity
- Always tangent to path of motion
- Only has component in t direction

2. Acceleration
- Time rate of change of velocity
- Components in t and n directions
  If particle moves in STRAIGHT LINE:

 If particle moves at CONSTANT SPEED:

 If 𝑎𝑡 is CONSTANT:

 If particle moves along path expressed by y=f(x):

Cylindrical components:

- Cylindrical coordinate system is used when particle travels along 3D curve

Radial component (r):

- Extends outward from fixed origin

Transverse component (𝜃):

- Measured counter clockwise from horizontal

1. Velocity (POLAR COORDINATES):

- Consists of 2 components: Radial component (𝑟̇ )
Transverse component (𝑟𝜃̇ )

2. Acceleration (POLAR COORDINATES):

- Consists of 2 components: Radial acceleration
Transverse acceleration
  Cylindrical co-ordinates (3D):

Absolute dependent motion:

- Occurs when motion of one particle depends on that of another.

- Usually connected by inextensible cords.

Procedure: 1. Pick datum lines and define position coordinates along the path of each
particle
2. Relate position coordinates to cord length (NB: Leave out segments of cord
that do not change in length during the motion)
3. If system has more than one cord, relate position of point on one cord to point
on other cord. (NB: Write separate equations for each cord)
4. Differentiate position coordinates to obtain velocity and acceleration

(Part CD is omitted since it does

not change.)

(Parts in red are omitted.)

Relative motion:

- Use translating axis to determine position of particle relative to fixed position/ relative to
another particle

The position of B relative to A is defined by:

 Relative motion:

The position of B relative to A is defined by:

 Relative velocity:

 Relative acceleration: