Motion of a Point

Position, Velocity, and Acceleration

• Average Velocity

 r
v 
t
• Instantaneous
Velocity

 dr 
v r
dt
 Acceleration
• Average Acceleration

 v
a 
t

• Instantaneous
Acceleration
 2
 dv d r 
a  2 r
dt dt
Uniform Rectilinear Motion

v  v0
x  x0  v0t
s  s0  v0t
Uniformly Accelerated Rectilinear
Motion

v  v0  a  t
1
x  x0  v0  t  a  t 2

2
v  v0  2a ( x  x0 )
2 2
Other Equations
Acceleration

dv
av
dx
Acceleration as a function of
velocity
dv
 a (v )
dt
dv
 dt
a (v )
v t
dv
v a(v)  t dt
0 0
 dv dv dx dv
a (v )    v
dt dx dt dx
dv
v  a (v )
ds
vdv
 ds
a (v )
v s
vdv
v a(v) s
 ds
0 0
Acceleration as a function of
Position
dv
 a(s)
dt
dv dv ds dv
  v
dt ds dt ds
dv
v  a(s)
ds
vdv  a ( s)ds
v s

 vdv   a(s)ds
v0 so
The last integral yields velocity as a function of
position.

ds
v( s) 
dt
s t
ds
s v(s) t
 dt
0 0
 Erratic Motion
• Motion described by a piecewise function.
• Graph of s, v, a, and t.

• Motion Sensor
 Position vs. Time
• Slope is velocity
• Second derivative is acceleration
 Velocity vs. Time
• Slope is acceleration
• Area is displacement
 Acceleration vs. Time
• Area is change in velocity.
Acceleration vs. Position

s1


1 2 2
2

v1  v0   ads
s0
Velocity vs. Position

 dv 
a  v 
 ds 
Curvilinear Motion of Particles
Position Vector, Velocity, and
Acceleration

 dr 
v r
dt

 dv  
a v r
dt
Derivatives of Vector Functions
• Summation Rule

• Product Rule
– Dot Product
– Cross Product
 Rectangular Components of
Velocity and Acceleration
• Basically a summation rule.
 Angular Motion

d 
 
dt
d
    
dt
 Tangential and Normal
Components
• Coordinate system
 Unit vector

deˆt
eˆn 
d
 ds
v  eˆt  veˆt
dt
 
 dv dv deˆt
a  eˆt  v
dt dt dt
dv deˆt d ds
 eˆt  v
dt d ds dt
2
dv v
 eˆt  eˆn
dt 
eˆt  cos iˆ  sin ˆj
eˆn   sin iˆ  cos ˆj

3
  dy  2  2

1    
  dx  
y  y ( x)   
d2y
2
dx
At a given instant in an airplane race, airplane A is flying horizontally in a
straight line, and its speed is being increased at a rate of 6 m/s2. Airplane B is
flying at the same altitude as airplane A and, as it rounds a pylon, is following a
circular path of 2000-m radius. Knowing that at the given instant the speed of B
is being decreased at the rate of 2 m/s2 determine, for the positions shown, (a)
the velocity of B relative to A, (b) the acceleration of B relative to A.
A car travels at 100 km/h on a straight road of increasing grade whose vertical profile can
be approximated by the equation shown. When the car’s horizontal coordinate is x = 400
m, what are the tangential and normal components of the car’s acceleration?
Polar and Cylindrical – Radial
and Transverse


v  reˆr  reˆ


   
a  r  r 2 eˆr  r  2r eˆ
The three-dimensional motion of a particle is defined by the
cylindrical coordinates

A Ct
r ,   Bt , and z 
t 1 t 1
Determine the magnitudes of the velocity and acceleration when
(a) t = 0 and (b) t = infinity
 Dependent Motion
• Measure positions with respect to a fixed
point.
• There will generally be a physical
constraint, often a rope or cable.
At the instant shown, slider block B is moving to the right with a constant
acceleration, and its speed is 6 in./s. Knowing that after slider block A has
moved 10 in. to the right its velocity is 2.4 in./s, determine the accelerations of
A and B.
Slider block B starts from rest and moves to the right with a constant
acceleration of 1 ft/s/s. Determine the relative acceleration of portion C of the
cable with respect to slider block A.
 Relative Motion
• Notation – the position of B relative to A


rB
A
Racing cars A and B are traveling on circular portions of a race track. At the
instant shown, the speed of A is decreasing at the rate of 8 m/s2 and the speed
of B is increasing at the rate of 3 m/s2 . For the positions shown, determine

a) the velocity of B relative to A

b) the acceleration of B relative to A.