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1 0-Kinamatic
1 0-Kinamatic
Kinematics of Particles
11.1 INTRODUCTION TO
DYNAMICS
v
a
t
The units of acceleration would be m/s2, ft/s2, etc.
The instantaneous acceleration is
v dv d dx d x 2
a lim 2
t 0 t dt dt dt dt
Notice If v is a function of x, then
dv dv dx dv
a v
dt dx dt dx
One more derivative
da
Jerk
dt
Consider the function x(m)
Plotted
32
x t 6t
3 2 16
0 t(s)
2 4 6
v(m/s)
12
0 t(s)
2 4 6
-12
v 3t 12t
-24
2 -36
a(m/s2)
12
2 4 6 t(s)
0
a 6 t 12
-12
-24
11.3 DETERMINATION OF THE
MOTION OF A PARTICLE
dt
0
dx v f ( t )dt
0
t
dt
0
dx v f ( t )dt
0
t
dx v0 dt f ( t )dt dt
0
t t
x x0 v0 t f ( t )dt dt
0 0
t
t
x x0 v0 t f ( t )dt dt
0 0
dv
2. a f ( x ) v
dx
vdv adx f ( x )dx
x
(v v )
1 2 2
2 0 f ( x)dx
xo
dx
with v then get x x(t )
dt
dv dv
3. a f ( v ) v
dt dx
v t
dv
v f ( v ) 0
dt t
0
x v
vdv
or
dx
x0
v0
f(v)
Both can lead to
x x( t )
11.4 UNIFORM RECTILINEAR
MOTION
v constant
a 0
dx
v
dt
x x0 vdt vt
x x0 vt
11.5 UNIFORMLY ACCELERATED
RECTILINEAR MOTION
a constant
v v0 at
x xo v0 t 2 at
1 2
dv
Also v a
dx
v v 2 a( x x0 )
2 2
0
11.6 MOTION OF SEVERAL
PARTICLES
xB A xB x A
The relative velocity of B with respect to A
vB A vB v A
The relative acceleration of B with respect to A
aB aB a A
A
Let’s look at some dependent motions.
G
C D
xA
A xB
E F
x A 2 xB cons tan t
System has one degree of
freedom since only one
v A 2v B 0
coordinate can be chosen a A 2 aB 0
independently.
xC
xA
C xB
v
a
y
P’ v t
r P
r x
z
y
a lim v dv
t 0 t dt v
'
v
x
v
a
y
z
P’ v t
Note that the acceleration is not
r P necessarily along the direction of
the velocity.
r x
z
11.10 DERIVATIVES OF VECTOR
FUNCTIONS
dP lim P lim P( u u ) P( u )
u 0
du u 0 u u
d ( P Q ) dP dQ
du du du
d ( fP ) df d P
P f
du du du
d ( P Q ) dP dQ
Q P
du du du
d ( P Q ) dP dQ
Q P
du du du
dP dPx î dPy ˆj dPz k̂
du du du du
Rate of Change of a Vector
P Px î Py ˆj Pz k̂
v z k̂
y
yˆj v
P x
z
r
xî x
zk̂
z
y
a
a y ˆj
x
a x î
a z k̂
z
Velocity Components in Projectile Motion
a x x 0
vx x vxo
x vxot
az z 0 a y y g
vz z vzo 0 v y y v yo gt
z 0 y v yot gt 1
2
2
11.12 MOTION RELATIVE TO A
FRAME IN TRANSLATION
y’ B
y
rB / A
rB
x’
A
rA
z’
O
rB rA rB / A
x
z
rB rA rB / A
rB rA rB / A
vB v A vB / A
vB v A vB / A
aB a A aB / A
aB a A aB / A
rB rA rB / A
11.13 TANGENTIAL AND NORMAL
COMPONENTS
Velocity is tangent to the path of a particle.
Acceleration is not necessarily in the same
direction.
It is often convenient to express the
acceleration in terms of components tangent
and normal to the path of the particle.
Plane Motion of a Particle
êt'
y ê t
ên
P’ êt v vêt
ên'
P
O x
êt
'
êt
êt
sin 2
ên lim ên
0
2
dêt
ên
d
dêt
ên
d
v vêt
dv dv dêt
a êt v
dt dt dt
dv dêt
a êt v
dt dt
êt'
y
s
P’ êt
s s ds
lim
P 0 d
O x
dv v2
a êt ên
dt
2
dv v
a êt ên
dt
a at êt an ên
2
dv v
at an
dt
êt'
y
ên
P’ êt
ên'
P
O x
Plane Motion
ê
y
êr
P
r
x
ê ê êr êr
ê êr
dêr dê
ê êr
d d
dêr dêr d
ê
dt d dt
dê dê d
êr
dt d dt
dr d
v ( rêr ) rêr rêr
dt dt
v rêr r ê vr êr v ê
vr r v r
ê
y
êr
r
x
dêr
î sin ˆj cos ê
d
dê
î cos ˆj sin êr
d
v rêr r ê
a rêr r êr r ê rê r ê
a rêr r ê r ê r ê r êr
2
a ( r r 2 )êr ( r 2 r ) ê
dvr dv
Note ar a
dt dt
Extension to the Motion of a Particle in Space:
Cylindrical Coordinates
r Rêr zk̂
v RêR R ê zk̂
a ( R R )êR ( R 2 R )ê zk̂
2