Engineering

Dynamics

Chapter 11 : Kinematics of
Particles

Introduction
Mechanics ()

Introduction

Mechanics 2
1. Statics
2. Dynamics

Introduction

Statics ()

Introduction

Dynamics ()

Introduction

Dynamics 2
1. Kinematics
2. Kinetics

Introduction

Kinematics ()

Introduction

Kinetics ()

Introduction

1. Particle
2. Rigid Body

Introduction

Particle ()

Introduction

Rigid Body ()

Motion of Particles

Motion of Particles
1. Rectilinear Motion (
)
2. Curvilinear Motion (
)

Rectilinear Motion of
Particles
Position

Velocity

Average velocity

x
t

x
Instantaneous velocity v lim
t 0 t

Rectilinear Motion of
Particles
Acceleration

v
Average acceleration
t

v
t 0 t

Instantaneous acceleration a lim

Rectilinear Motion of
Particles

Consider particle with motion given by

x 6t 2 t 3
v

dx
12t 3t 2
dt

dv d 2 x
a

12 6t
dt dt 2
at t = 0,

x = 0, v = 0, a = 12 m/s2

at t = 2 s,

x = 16 m, v = vmax = 12 m/s, a = 0

at t = 4 s,

x = xmax = 32 m, v = 0, a = -12 m/s2

at t = 6 s,

x = 0, v = -36 m/s, a = 24 m/s2

Determination of the Motion of

a Particles
Typically, conditions of motion are specified by the type of acceleration
experienced by the particle. Determination of velocity and position requires
two successive integrations.
Three classes of motion may be defined for:
- acceleration given as a function of time, a = f(t)
- acceleration given as a function of position, a = f(x)
- acceleration given as a function of velocity, a = f(v)

Determination of the Motion of

a Particles
Acceleration given as a function of time, a = f(t):
v t
t
dv
a f t
dv f t dt
dv f t dt

dt
v
0
dx
v t
dt

x t

dx v t dt

v t v0 f t dt
0

dx v t dt

x0

x t x0 v t dt
0

Acceleration given as a function of position, a = f(x):

v

dx
dx
or dt
dt
v

v dv f x dx

a
v x

dv
dv
or a v f x
dt
dx
x

v dv f x dx

v0

x0

1 v x 2
2

12 v02

f x dx

x0

Determination of the Motion of

a Particles
Acceleration given as a function of velocity, a = f(v):
dv
a f v
dt
v t

v0

dv
dt
f v

v t

v0

t
dv
dt
f v 0

dv
t
f v

dv
v a f v
dx
x t x0

v t

v0

v dv
f v

v dv
dx
f v

x t

v t

x0

v0

dx

v dv
f v

Sample 11.2
Ball tossed with 10 m/s vertical velocity
from window 20 m above ground.
Determine:
velocity and elevation above ground at
time t,
highest elevation reached by ball and
corresponding time, and
time when ball will hit the ground and
corresponding velocity.

Sample 11.2
SOLUTION:
Integrate twice to find v(t) and y(t).
dv
a 9.81 m s 2
dt
v t
t
v t v0 9.81t
dv 9.81 dt
v0

m
m

v t 10 9.81 2 t

dy
v 10 9.81t
dt
y t
t
dy 10 9.81t dt
y0

y t y0 10t 12 9.81t 2

m
m

y t 20 m 10 t 4.905 2 t 2
s

Sample 11.2
Solve for t at which velocity equals zero and evaluate
corresponding altitude.
v t 10

m
m
9.81 2 t 0
s
s

t 1.019 s

m
m 2

y t 20 m 10 t 4.905 2 t
s

s
m
m

y 20 m 10 1.019 s 4.905 2 1.019 s 2

s

y 25.1 m

Sample 11.2
Solve for t at which altitude equals zero and
evaluate corresponding velocity.
m
m

y t 20 m 10 t 4.905 2 t 2 0
s

s
t 1.243 s meaningless
t 3.28 s
m
m
v t 10 9.81 2 t
s
s
v 3.28 s 10

m
m
9.81 2 3.28 s
s
s
v 22.2

m
s

Sample 11.3
Brake mechanism used to reduce gun
recoil consists of piston attached to barrel
moving in fixed cylinder filled with oil.
As barrel recoils with initial velocity v0,
piston moves and oil is forced through
orifices in piston, causing piston and
cylinder to decelerate at rate proportional
to their velocity; that is a = -kv
Determine v(t), x(t), and v(x).

Sample 11.3
SOLUTION:
Integrate a = dv/dt = -kv to find v(t).
v t
t
dv
dv
v t
a
kv

k
dt
ln
kt

dt
v0
v v
0
0

v t v0 e kt
Integrate v(t) = dx/dt to find x(t).
dx
v t
v0 e kt
dt
x t
t
1 kt
kt

dx

v
e
dt
x
t

0
0 e

k
0
0
x t

t
0

v0
1 e kt
k

Sample 11.3
Integrate a = v dv/dx = -kv to find v(x).
dv
a v kv
dx

v0

dv k dx

v v0 kx

dv k dx
v v0 kx

Alternatively,
with x t

v0
1 e kt
k

and

v t v0 e

then

x t

kt

or e

v0
v t
1

k
v0

kt

v t

v0
v v0 kx

Uniform Rectilinear Motion

For particle in uniform rectilinear motion, the acceleration is zero and
the velocity is constant.
dx
v constant
dt
x

x0

dx v dt

x x0 vt
x x0 vt

Uniformly Accelerated
Rectilinear Motion

For particle in uniformly accelerated rectilinear motion, the acceleration of

the particle is constant.
dv
a constant
dt

v0

dv a dt

v v0 at

v v0 at
dx
v0 at
dt

x0

dx v0 at dt

x x0 v0t 12 at 2

x x0 v0t 12 at 2
dv
v a constant
dx
v 2 v02 2a x x0

v0

x0

v dv a dx

1
2

v 2 v02 a x x0

Motion of Several Particles:

Relative Motion

For particles moving along the same line, time

should be recorded from the same starting
instant and displacements should be measured
from the same origin in the same direction.
x B x A relative position of B
with respect to A
xB x A xB A
xB

v B v A relative velocity of B
with respect to A
vB v A vB A
vB

a B a A relative acceleration of B
with respect to A
aB a A aB A
aB

Sample 11.4
Ball thrown vertically from 12 m level
in elevator shaft with initial velocity of
18 m/s. At same instant, open-platform
elevator passes 5 m level moving
upward at 2 m/s.
Determine (a) when and where ball hits
elevator and (b) relative velocity of ball
and elevator at contact.

Sample 11.4

SOLUTION:
Substitute initial position and velocity and constant
acceleration of ball into general equations for
uniformly accelerated rectilinear motion.
v B v0 at 18
yB

m
m
9.81 2 t
s
s

y0 v0 t 12 at 2

m
m 2

12 m 18 t 4.905 2 t
s

Substitute initial position and constant velocity of

elevator into equation for uniform rectilinear
motion. m
vE 2
s
m
y E y0 v E t 5 m 2 t
s

Sample 11.4
Write equation for relative position of ball with respect to
elevator and solve for zero relative position, i.e., impact.
yB

12 18t 4.905t 2 5 2t 0
t 0.39 s meaningless
t 3.65 s

Substitute impact time into equations for position of

elevator and relative velocity of ball with respect to elevator.
y E 5 2 3.65
vB

y E 12.3 m

18 9.81t 2
16 9.81 3.65
vB

19.81

m
s

Motion of Several Particles:

Dependent Motion

Position of a particle may depend on position of one

or more other particles.
Position of block B depends on position of block A.
Since rope is of constant length, it follows that sum of
lengths of segments must be constant.
x A 2 x B constant (one degree of freedom)
Positions of three blocks are dependent.
2 x A 2 x B xC constant (two degrees of freedom)
For linearly related positions, similar relations hold
between velocities and accelerations.
dx
dx A
dx
2 B C 0 or 2v A 2v B vC 0
dt
dt
dt
dv A
dv B dvC
2
2

0 or 2a A 2a B aC 0
dt
dt
dt
2

Sample 11.5
Pulley D is attached to a collar which
is pulled down at 3 cm/s. At t = 0,
collar A starts moving down from K
with constant acceleration and zero
initial velocity. Knowing that
velocity of collar A is 12 cm/s as it
passes L, determine the change in
elevation, velocity, and acceleration
of block B when block A is at L.

Sample 11.5
SOLUTION:
Define origin at upper horizontal surface with
positive displacement downward.
Collar A has uniformly accelerated rectilinear
motion. Solve for acceleration and time t to reach L.
v 2A v A 02 2a A x A x A 0

cm
12

2a A 8 cm

aA 9

v A v A 0 a At
12

cm
cm
9 2 t
s
s

t 1.333 s

cm
s2

Sample 11.5
Pulley D has uniform rectilinear motion. Calculate
change of position at time t.
xD xD 0 vDt
cm
x D x D 0 3 1.333 s 4 cm
s

Block B motion is dependent on motions of collar

A and pulley D. Write motion relationship and
solve for change of block B position at time t.
x A 2 x D x B x A 0 2 x D 0 x B 0

x A x A 0 2 xD xD 0 x B x B 0 0
8 cm 2 4 cm x B x B 0 0
xB xB 0 16 cm

xB xB 0 16 cm

Sample 11.5
Differentiate motion relation twice to develop
equations for velocity and acceleration of block B.
x A 2 x D x B constant
v A 2v D v B 0

12

cm
cm
2 3 v B 0
s
s

cm
s
cm
vB 18

s
vB 18

a A 2a D a B 0

cm

vB 0

cm
s2
cm
aB 9 2
s
a B 9

 11.1-11.6

Motion
1. Rectilinear Motion
2. Curvilinear Motion
- Rectilinear Components
- Tangential & Normal Components
- Radial & Transverse Components

Curvilinear Motion: Position,

Velocity & Acceleration

Particle moving along a curve other than a straight line

is in curvilinear motion.
Position vector of a particle at time t is defined by a
vector between origin O of a fixed reference frame and
the position occupied by particle.
Consider particle which occupies position P

r by
defined
at t +
r by at time t and P defined

t,
r dr
v lim

dt
t 0 t
instantaneous velocity (vector)
s ds

dt
t 0 t

v lim

instantaneous speed (scalar)

Curvilinear Motion: Position,

Velocity & Acceleration

Consider velocity v of particle at time t and velocity

v
at t + t,

v dv

a lim

dt
t 0 t
instantaneous acceleration (vector)
In general, acceleration vector is not tangent to
particle path and velocity vector.

Derivatives of Vector Functions

Let P u , Q u be a vector function of scalar variable u,

Let f u be a scalar function of scalar variable u

dP
P
P u u P u
lim
lim
du u 0 u u 0
u

Derivative of vector sum,

d P Q dP dQ

du
du du
Derivative of product of scalar and vector functions,

d f P df
dP

P f
du
du
du
Derivative of scalar product and vector product,

d P Q dP
dQ

Q P
du
du
du

d P Q dP
dQ

Q P
du
du
du

Rectangular Components of
Velocity & Acceleration

When position vector of particle P is given by its

rectangular components,

r xi y j zk

Velocity vector,
dx dy dz
v i j k x i y j z k
dt
dt
dt

vx i v y j vz k
Acceleration vector,
d 2 x d 2 y d 2 z
a 2 i 2 j 2 k xi y j zk
dt
dt
dt

ax i a y j az k

Rectangular Components of
Velocity &
Acceleration
Rectangular components particularly effective
when component accelerations can be integrated
independently, e.g., motion of a projectile,
a x x 0
a y y g
a z z 0
with initial conditions,
vx 0 , v y , vz 0 0
x0 y 0 z 0 0

Integrating twice yields

vx vx 0
x vx 0 t

0 gt
y v y y 12 gt 2
0

vy vy

vz 0
z0

Motion in horizontal direction is uniform.

Motion in vertical direction is uniformly accelerated.
Motion of projectile could be replaced by two
independent rectilinear motions.

Motion Relative to a Frame in

Translation
Designate one frame as the fixed frame of reference.
All other frames not rigidly attached to the fixed
reference frame are moving frames of reference.
Position vectors for particles A and B with respect to

the fixed frame of reference Oxyz are rA and rB .

r
Vector B A joining A and B defines the position of
B with respect to the moving frame Axyz and

rB rA rB A
Differentiating twice,

vB v A vB A vB

a B a A aB

aB

A
A

velocity of B relative to A.
acceleration of B relative
to A.

Absolute motion of B can be obtained by combining

motion of A with relative motion of B with respect to
moving reference frame attached to A.

Tangential and Normal

Components

Velocity vector of particle is tangent to path of

particle. In general, acceleration vector is not.
Wish to express acceleration vector in terms of
tangential and normal components.

et and et are tangential unit vectors for the

particle path at P and P. When drawn with

respect to the same origin, et et et and
is the angle between them.
et 2 sin 2

et
sin 2
lim
lim
en en
0
0 2

det
en
d

Tangential and Normal

Components

With the velocity vector expressed as

the particle acceleration may be written as

de dv
de d ds
dv dv
a
et v
et v
dt dt
dt dt
d ds dt
but
det
ds
en
d ds
v
d
dt
After substituting,
dv v 2
a et en
dt

dv
at
dt

v2
an

Tangential component of acceleration reflects

change of speed and normal component reflects
change of direction.
Tangential component may be positive or
negative. Normal component always points
toward center of path curvature.

Tangential and Normal

Components

Relations for tangential and normal acceleration

also apply for particle moving along space curve.
dv v 2
a et en
dt

dv
at
dt

v2
an

Plane containing tangential and normal unit

vectors is called the osculating plane.
Normal to the osculating plane is found from

eb et en

en principal normal

eb binormal
Acceleration has no component along binormal.

Radial and Transverse

Components
When particle position is given in polar coordinates,
it is convenient to express velocity and acceleration
with components parallel and perpendicular to OP.

r re r

de
der

e
er
d
d

der der d d

e
dt
d dt
dt

de de d
d

er
dt
d dt
dt

The particle velocity vector is

d
e
d
dr
dr
d

v re r e r r r e r r
e
dt
dt
dt
dt
dt

r er r e
Similarly, the particle acceleration vector is
d
d dr
a
er r
e
dt dt
dt

d 2 r dr der dr d
d 2
d de
2 er

e r 2 e r
dt dt dt dt
dt dt
dt
dt

r r 2 er r 2r e

Radial and Transverse

Components
When particle position is given in cylindrical
coordinates, it is convenient to express the
velocity and acceleration
vectors using the unit

vectors eR , e , and k .
Position vector,

r R e R z k
Velocity vector,

dr

v
R e R R e z k
dt
Acceleration vector,

dv

a
R R e R R 2 R e z k
dt

Sample 11.10
SOLUTION:

Calculate tangential and normal

components of acceleration.
Determine acceleration magnitude and
direction with respect to tangent to
curve.
A motorist is traveling on curved
section of highway at 88 m/s. The
motorist applies brakes causing a
constant deceleration rate.
Knowing that after 8 s the speed has
been reduced to 66 m/s, determine
the acceleration of the automobile
immediately after the brakes are
applied.

Sample 11.10
SOLUTION:
Calculate tangential and normal components of
acceleration.
v 66 88 m s
m
at

2.75 2
t
8s
s
v 2 88 m s 2
m
an

3.10 2

2500 m
s
Determine acceleration magnitude and direction
with respect to tangent to curve.
m
2
2
2
2
a

4
.
14
a at an 2.75 3.10
s2

tan 1

an
3.10
tan 1
at
2.75

48.4

Sample 11.12
The rotation of the 0.9 m arm OA about O is
defined by the relation 0.15t2 where is
expressed in radians and t in seconds. Collar B
slides along the arm in such a way that its
distance from O is r = 0.9-0.12t2, where r is
expressed in meters and t in seconds. After the
arm OA has rotated through 30o , determine
(a) the total velocity of the collar,
(b) the total acceleration of the collar,
(c) the relative acceleration of the collar with
respect to the arm

Sample 11.12

SOLUTION:
Evaluate time t for = 30o.

0.15 t 2
30 0.524 rad

t 1.869 s

Evaluate radial and angular positions, and first

and second derivatives at time t.
r 0.9 0.12 t 2 0.481 m
r 0.24 t 0.449 m s
r 0.24 m s 2

0.15 t 2 0.524 rad

0.30 t 0.561 rad s
0.30 rad s 2

Sample 11.12

Calculate velocity and acceleration.

vr r 0.449 m s
v r 0.481m 0.561rad s 0.270 m s
v
tan 1
vr

v vr2 v2

v 0.524 m s

31.0

ar r r 2
0.240 m s 2 0.481m 0.561rad s 2
0.391m s 2
a r 2r

0.481m 0.3 rad s 2 2 0.449 m s 0.561rad s

0.359 m s 2
a ar2 a2

a
tan 1
ar
a 0.531m s

42.6

Sample 11.12
Evaluate acceleration with respect to arm.
Motion of collar with respect to arm is rectilinear
and defined by coordinate r.
a B OA r 0.240 m s 2

 11.9-11.14

Quiz 1
s = 0

t = 8
t = 12 s

Quiz 2
(a-s)
300 m


(v-s)

Quiz 3

Block C 0.6 m/s

(a) Block A
(b) Block D