Ch.12 Kinematics of A Particle

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Engineering Mechanics Dynamics
12.01
Kinematics of a Particle
Engineering Mechanics Statics
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12. Kinematics of a Particle
Chapter Objectives To introduce the concepts of position, displacement, velocity, and acceleration To study particle motion along a straight line and represent this motion graphically To investigate particle motion along a curved path using different coordinate systems To present an analysis of dependent motion of two particles. To examine the principles of relative motion of two particles using translating axes
HCM City Univ. of Technology, Faculty of Mechanical Engineering
Nguyen Tan Tien
Nguyen Tan Tien
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1. Introduction - Mechanics: the study how body react to the forces acting on them - Branches of mechanics
1. Introduction - Brief history of dynamics Major contributors include Galileo Galilei (15641642): pendulums, falling bodies Sir Isaac Newton (16421727): laws of motion, law of universal gravitation Others include: Kepler, Huygens, Euler, Lagrange, Laplace, DAlembert and many others
Dynamics is concerned with the accelerated motion of bodies Kinematics: analysis only the geometric aspects of the motion Kinetics: analysis of the forces causing the motion
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
Galileo Galilei
Sir Isaac Newton
Leonard Euler
Joseph Louis Lagrange

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2. Rectilinear Kinematics: Continuous Motion - Assumptions The object is negligible size and shape (particle) The mass is not considered in the calculations Rotation of the object is neglected - Rectilinear kinematics Kinematics of an object moving in a straight line The kinematics of a particle is characterized by specifying, at any given instant, the particles position, velocity, and acceleration
2. Rectilinear Kinematics: Continuous Motion - Position
Consider a particle in rectilinear motion from a fixed origin in the direction For a given instant, is the position coordinate of the particle The magnitude of is the distance from the origin Note that the position coordinate would be negative if the particle traveled in the opposite direction according to our frame of reference Position is has a magnitude (distance from origin) and is based on a specific direction. It is therefore a vector quantity
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2. Rectilinear Kinematics: Continuous Motion - Displacement
2. Rectilinear Kinematics: Continuous Motion - Velocity
Displacement is defined as the change in position = Displacement is also a vector quantity characterized by a magnitude and a direction Note that distance on the other hand is a scalar quantity representing the length from an origin - Distance Total length of the path over which object travelled (scalar) Distance displacement! Distance is path-dependent
Average velocity = Instantaneous velocity = lim

0
(/) =
: displacement, : time interval,
(/)
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2. Rectilinear Kinematics: Continuous Motion - Speed
2. Rectilinear Kinematics: Continuous Motion - Acceleration
Speed: the magnitude of velocity Average speed : traveled distance, ( ) = (/) : elapsed time,
Average acceleration :velocity, / (/ 2 ) : time interval, Instantaneous acceleration 2 = lim = = (/ 2 ) 0 2 An important differential relation involving the displacement, velocity, and acceleration along the path = =
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2. Rectilinear Kinematics: Continuous Motion - Constant acceleration = = Velocity as a function of time =

=
0 0
= 0 +
Position as a function of time = =

0 0
1 0 + = 0 + 0 + 2 2
Velocity as a function of position =

0
=
0
2 2 = 0 + 2 ( 0 )
2. Rectilinear Kinematics: Continuous Motion - Example 12.1 The car moves in a straight line such that for a short time its velocity is defined by = 3 2 + 2 (/) . Determine its position and acceleration when = 0 Solution Coordinate system Position = = 32 + 2 = 32 + 2 = 3 + 2 () 0 0 Acceleration = = 3 2 + 2 = 6 + 2(/ 2 ) At = 3, (3) = 33 + 32 = 36 (3) = 6 3 + 2 = 20/ 2
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2. Rectilinear Kinematics: Continuous Motion - Example 12.2 A small projectile is fired vertically downward into a fluid medium with an initial velocity of 60/ and a deceleration of = 0.4 3 (/ 2 ). Determine the projectiles velocity and position 4 after it is fired Solution Coordinate system Velocity 60 = = 0.4 3 = = 3 2880 + 1 60 0.4 0 Position 60 1 60 1 = = = 0.4 2880 + 1 60 0 0 2880 + 1 At = 4, 4 = 0.559/ , 4 = 4.43
2. Rectilinear Kinematics: Continuous Motion - Example 12.3 During a test a rocket travels upward at 75/ and when it is 40 from the ground its engine fails. Determine the maximum height reached by the rocket and its speed just before it hits the ground. While in motion the rocket is subjected to a constant downward acceleration of 9.81/ 2 due to gravity. Neglect the effect of air resistance Solution Coordinate system Position 2 2 = + 2 2 2 0 752 = + = + 40 = 327 2 2 9.81
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2. Rectilinear Kinematics: Continuous Motion Coordinate system Position 2 2 = + 2 2 2 0 752 = + = + 40 = 327 2 2 9.81 Velocity 2 2 = + 2 =
2 + 2
= 0 + 2(9.81)(0 327) = 80.1/ = 80.1/
2. Rectilinear Kinematics: Continuous Motion - Example 12.4 A metallic particle is subjected to the influence of a magnetic field as it travels downward through a fluid that extends from plate to plate . If the particle is released from rest at the midpoint , = 100 and the acceleration is = 4 (/ 2 ), determine the velocity of the particle when it reaches plate , = 200, and the time it takes to travel from to Solution Coordinate system
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2. Rectilinear Kinematics: Continuous Motion Velocity =

4
0.1
= 2 2 0.01(/) Time = = 2 2 0.01 = 2 2 0.01 0.1 0 = 0.5 ln 2 0.01 + + 1.152 At = 200 = 0.2, = 0.346/ = 0.658
2. Rectilinear Kinematics: Continuous Motion - Example 12.5 A particle moves along a horizontal path with a velocity of = 3 2 6 (/) . If it is initially located at the origin , determine the distance traveled in 3.5, and the particles average velocity and Solution average speed during the time interval Coordinate system Distance traveled = = 3 2 6

=
0
32 6 = 3 32
Note: 0 < < 2 < 0, > 2 > 0 Distance traveled in 3.5 = 4 + 4 + 6.125 = 14.125
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2. Rectilinear Kinematics: Continuous Motion Distance traveled = 3 32 Distance traveled in 3.5 = 4 + 4 + 6.125 = 14.125 Velocity Displacement from = 0 to = 3.5 =
=3.5
Fundamental Problems - F12.1 Initially, the car travels along a straight road with a speed of 35/. If the brakes are applied and the speed of the car is reduced to 10/ in 15 determine the constant deceleration of the car
=0
= 6.125 0 = 6.125
The average velocity 6.125 = = = 1.75/ 3.5 0 The average speed 14.125 ( ) = = = 4.04/ 3.5 0
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
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Fundamental Problems - F12.2 A ball is thrown vertically upward with a speed of 15/ . Determine the time of flight when it returns to its original position
Fundamental Problems - F12.3 A particle travels along a straight line with a velocity of = 4 3 2 . Determine the position of the particle when = 4. = 0 when = 0
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Fundamental Problems - F12.4 A particle travels along a straight line with a speed = 0.5 3 8 . Determine the acceleration of the particle when = 2
Fundamental Problems - F12.5 The position of the particle is given by = 22 8 + 6. Determine the time when the velocity of the particle is zero, and the total distance traveled by the particle when = 3
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Fundamental Problems - F12.6 A particle travels along a straight line with an acceleration of = 10 0.2(/ 2 ). Determine the velocity of the particle when if = 5/ at = 0
Fundamental Problems - F12.7 A particle moves along a straight line such that its acceleration is = 4 2 2(/ 2 ). When = 0, the particle is located 2 to the left of the origin, and when = 2, it is 20 to the left of the origin. Determine the position of the particle when = 4
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Fundamental Problems - F12.8 A particle travels along a straight line with a velocity of = 20 0.05 2 (/) . Determine the acceleration of the particle at = 15
3. Rectilinear Kinematics: Erratic Motion - The graph Plots of can be used to find the curves by finding the slope of the line tangent to the motion curve at any point () () = slope of graph = velocity
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3. Rectilinear Kinematics: Erratic Motion - The graph Plots of can be used to find the curves by finding the slope of the line tangent to the velocity curve at any point () () = slope of graph = acceleration
3. Rectilinear Kinematics: Erratic Motion - The graph The graph can be constructed from an graph if the initial velocity of the particle is given
1
=
0
change in velocity = area under graph
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3. Rectilinear Kinematics: Erratic Motion - The graph The graph can be constructed from an graph if the initial position of the particle is given
1
=
0
3. Rectilinear Kinematics: Erratic Motion - The graph Acceleration at one point can be obtained by reading the velocity at this point on the curve and multiplying it by the slope of the curve (/) at this same point = acceleration = velocity slope of graph
displacement = area under graph
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3. Rectilinear Kinematics: Erratic Motion - The graph The area under the acceleration versus position curve represents the change in velocity 1 2 2 0 = 2 1
1 2 1
3. Rectilinear Kinematics: Erratic Motion - Example 12.6 A bicycle moves along a straight road such that its position is described by the graph. Construct the and graphs for 0 30
2 2 1 0 = area under graph
Solution graph 0 < 10:
= 2 () = = 2(/) 10 30: = 20 100() = = 20(/)

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3. Rectilinear Kinematics: Erratic Motion graph 0 < 10: = 2 () = = 2(/) 10 30: = 20 100() = = 20(/) graph 0 < 10: = = 2(/) = = 2(/ 2 ) 10 30: = 20 () = = 0(/)
3. Rectilinear Kinematics: Erratic Motion - Example 12.7 The car starts from rest and travels along a straight track such that it accelerates at 10/ 2 for 10, and then decelerates at 2/ 2 . Draw the and graphs and determine the time needed to stop the car. How far has the car traveled? Solution graph 0 < 10: = 10(/ 2 )
10
=
0
=
0
= 10
= 10: = 10 10 = 100/ 10 < : = 2(/ 2 )

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3. Rectilinear Kinematics: Erratic Motion graph 0 10: = 10(/ 2 )
3. Rectilinear Kinematics: Erratic Motion graph 0 10: = 10(/)

= =
0
0 10 0
10
= 10
= 10: = 10 10 = 100(/) 10 : = 2(/ 2 )

= = 10: = 5 102 = 500() 10 60: = 2 + 120(/)

0 5 2 ()
=
500
(2 +120)
10
=
100
2
10
= :
= 2 + 120(/) = 0 = 60()
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= 60:
= 2 + 120 600() = 60 2 +120 60 600 = 3000()

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3. Rectilinear Kinematics: Erratic Motion - Example 12.8 Given the graph describing the motion of a motorcycle. Construct the graph of the motion and determine the time needed for the motorcycle to reach the position = 400 Solution graph 0 200: = 0.2 + 10(/) = = (0.2 + 10) 0.2 = 0.04 + 1 200 400: = 50(/) = = 50 0 = 0(/)
3. Rectilinear Kinematics: Erratic Motion Time 0 200: = 0.2 + 10(/) = = = 0.2 + 10 0 0 0.2 + 10 = 5 0.2 + 10 510() = 200 = 8.05() 200 400: = 50(/) = = = 50 8.05 200 50 = + 4.05 50 = 400 = 12.0()
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Fundamental Problems - F12.9 The particle travels along a straight track such that its position is described by the graph. Construct the graph for the same time interval
Fundamental Problems - F12.10 A van travels along a straight road with a velocity described by the graph. Construct the and graphs during the same period. Take = 0 when = 0
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Fundamental Problems - F12.11 A bicycle travels along a straight road where its velocity is described by the graph. Construct the graph for the same time interval
Fundamental Problems - F12.12 The sports car travels along a straight road such that its position is described by the graph. Construct the and graphs for the time interval 0 10
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Fundamental Problems - F12.13 The dragster starts from rest and has an acceleration described by the graph. Construct the graph for the time interval 0 , where is the time for the car to come to rest
Fundamental Problems - F12.14 The dragster starts from rest and has a velocity described by the graph. Construct the graph during the time interval 0 15. Also, determine the total distance traveled during this time interval
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4. General Curvilinear Motion - Curvilinear motion: particle moves along a curved path - Position particle located at a point on a space curve defined by the path function () position measured from a fixed point determined by position vector = () - Displacement the change in the particles position = + determined by vector subtraction =
4. General Curvilinear Motion - Velocity
average velocity = instantaneous velocity (/) 0: , approaches the tangent to the curve path the direction of is also tangent to the curve path = lim
0
(/) =
: displacement, : time interval,
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4. General Curvilinear Motion - Speed
speed: magnitude of 0: (/) speed can be obtained by differentiating the path function with respect to time = lim
0
= lim
4. General Curvilinear Motion - Acceleration average acceleration = = (/ 2 ) instantaneous acceleration = lim = (/ 2 ) 0 2 = = = (/ 2 ) 2 - Hodograph: the locus of points for the arrowhead of the velocity vector in the same manner as the path describes the locus of points for the arrowhead of the position vector - The direction of is also tangent to the hodograph
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4. General Curvilinear Motion - Note Acceleration acts tangential to the hodograph, but generally not tangential to the path of motion Velocity is always tangential to the path of motion, whereas acceleration is always tangential to the hodograph
5. Curvilinear Motion: Rectangular Components - The motion of a particle can best be described along a path that can be expressed in terms of its , , coordinates - Position position vector = + + magnitude of = || = unit vector = 2 + 2 + 2
+ + = || 2 + 2 + 2
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5. Curvilinear Motion: Rectangular Components - Velocity derivative of with respect to time velocity vector = = + + = , = , = magnitude of = || = unit vector = 2 + 2 + 2
5. Curvilinear Motion: Rectangular Components - Acceleration derivative of with respect to time acceleration vector 2 = = = + + 2 = = , = = , = = magnitude of = || = unit vector = 2 + 2 + 2
+ + = || 2 + 2 + 2
+ + = || 2 + 2 + 2
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5. Curvilinear Motion: Rectangular Components - Example 12.9 The horizontal position of the weather balloon is defined by = 8 (). If the equation of the path is = 2 /10, determine the velocity and the acceleration when = 2 Solution Velocity = = 8 = 8/ 2 2 2 = = = = 16 8 = 25.6/ 10 10 10 =
2 2 + =
5. Curvilinear Motion: Rectangular Components Acceleration = = = 8 = 0/ 2 2 = = = = + 10 10 2 = (8 8 + 16 0) = 12.8/ 2 10 =

2 2 + =
02 + 12.82 = 12.8/
82 + 25.62 = 26.8/
= 1
12.8 = 1 = 900 0
= 1
25.6 = 1 = 72.60 8
Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
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5. Curvilinear Motion: Rectangular Components - Example 12.10 For a short time, the path of the plane is described by = 0.001 2 () . If the plane is rising with a constant velocity of 10/, determine the magnitudes of the velocity and acceleration of the plane when it is at = 100 Solution = 100 = 1000 = 3.162 = 10/ = / = 100/10 = 10 Velocity 0.001 2 = 0.002 = 500 / = 500 10/3.162 = 15.81/ = = The magnitude of the velocity =
2 2 + =
5. Curvilinear Motion: Rectangular Components = 100 = 1000 = 3.162 = 10/ = / = 100/10 = 10 = = 0.002 Acceleration 2 + ) 0.002 = 0.002 + = 0.002( with = 316.2, = 15.81/, = = 0 = 0.791/ 2 The magnitude of the acceleration = = =
2 2 + =
(0.791)2 +02 = 0.791/ 2
15.812 + 102 = 18.7/

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6. Motion of a Projectile
- What is a Projectile? An object projected into the air at an angle, and once projected continues in motion by its own inertia and is influenced only by the downward force of gravity
6. Motion of a Projectile - Example: release the balls and each picture in this sequence is taken after the same time interval Red ball: falls from rest Yellow ball: released with given horizontal velocity Both balls accelerate downward at the same rate, and so they remain at the same elevation at any instant The horizontal distance between successive photos of the yellow ball is constant since the velocity in the horizontal direction remains constant
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6. Motion of a Projectile - History Niccolo Tartaglia (1500 1557), realized that projectiles actually follow a curved path Yet no one knew what that path was
6. Motion of a Projectile Analysis
Galileo (1564 1642) accurately described projectile motion by showing it could be analyzed by separately considering the horizontal and vertical components of motion Galileo concluded that the path of any projectile is a parabola
- Consider a projectile launched at (0 , 0 ) with an initial velocity 0 [ 0 , 0 ], constant downward acceleration = = 9.81/2 - Horizontal motion = = 0 (+) = 0 + (+) = 0 + 0 + 1 2 2 = (0 ) = 0 + (0 )
2 (+) 2 = 0 + 2 ( 0 ) = (0 ) The horizontal component of velocity always remains constant

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6. Motion of a Projectile
- Vertical motion = = (+) = 0 + = (0 ) (+) = 0 + 0 + 1 2 2 (+) 2 =

2 0
6. Motion of a Projectile - Example 12.11 A sack slides off the ramp with a horizontal velocity of ( ) = 12/. If the height of the ramp is 6 from the floor, determine the time needed for the sack to strike the floor and the range where sacks begin to pile up Solution Coordinate system Horizontal motion (+) = + ( ) + 1 2 2 = 2 = 2 6 = 1.11 9.81
= 0 + (0 ) 1 2 2
2 = ( )2 2( ) 0 0
+ 2 ( 0 )
The exponent of the time term confirms the parabolic shape of the trajectory
Vertical motion (+) = + ( ) = = 0 + 12 1.11 = 13.3

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6. Motion of a Projectile - Example 12.12 The chipping machine is designed to eject wood chips at 0 = 25/. If the tube is oriented at 300 from the horizontal, determine how high, , the chips strike the pile if at this instant they land on the pile 20 from the tube Solution Coordinate system (0 ) = 25300 = 21.65/ (0 ) = 25300 = 12.50/ ( ) = (0 ) = 21.65/ = 32.2/ 2
6. Motion of a Projectile (0 ) = 21.65/ (0 ) = 12.50/ ( ) = 21.65/ = 32.2/ 2 Horizontal motion (+) = 0 + (0 ) = 0 + (0 ) 20 = = = 0.9238 (0 ) 21.65 Vertical motion (+) = + (0 ) + 1 2 2
2 4 = 0 + 12.5 0.9238 + 1 2(32.2)(0.9238) = 1.81
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6. Motion of a Projectile - Example 12.13 The track for this racing event was designed so that riders jump off the slope at 300 , from a height of 1. During a race it was observed that the rider remained in mid air for 1.5. Determine the speed at which he was traveling off the ramp, the horizontal distance he travels before striking the ground, and the maximum height he attains. Neglect the size of the bike and rider Solution Coordinate system Vertical motion (+) = + ( ) + 1 2 2
2 1 = 0 + 300 1.5 + 1 2(9.81)(1.5) = 13.38/ = 13.4/
6. Motion of a Projectile Coordinate system Vertical motion (+) = + ( ) + 1 2 2

2 1 = 0 + 300 1.5 + 1 2(9.81)(1.5) = 13.38/ = 13.4/
Horizontal motion (+) = + ( ) = 0 + 13.38300 = 17.4/ 2 ( )2 = ( ) +2 ( ) 0 = (13.38300 )2 +2 (9.81) [( 1) 0] = 3.28

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Fundamental Problems - F12.15 If the and components of a particle's velocity are = 32(/) and = 8(/), determine the equation of the path = (). = 0 and = 0 when = 0
Fundamental Problems - F12.16 A particle is traveling along the straight path. If its position along the axis is = 8(), determine its speed when = 2
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Fundamental Problems - F12.17 A particle is constrained to travel along the path. If = 4 4 (), determine the magnitude of the particle's velocity and acceleration when = 0.5
Fundamental Problems - F12.18 A particle travels along a straight-line path = 0.5. If the component of the particle's velocity is = 2 2 (/), determine the magnitude of the particle's velocity and acceleration when = 4
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Fundamental Problems - F12.19 A particle is traveling along the parabolic path = 0.25 2 . If = 2 2 () , determine the magnitude of the particle's velocity and acceleration when = 2
Fundamental Problems - F12.20 The position of a box sliding down the spiral can be described by = 2 sin 2 + 2 cos 2 2 () . Determine the velocity and acceleration of the box when = 2
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Fundamental Problems - F12.21 The ball is kicked from point with the initial velocity = 10/. Determine the maximum height it reaches
Fundamental Problems - F12.22 The ball is kicked from point with the initial velocity = 10/. Determine the range , and the speed when the ball strikes the ground
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Fundamental Problems - F12.23 Determine the speed at which the basketball at must be thrown at the angle of 300 so that it makes it to the basket at
Fundamental Problems - F12.24 Water is sprayed at an angle of 900 from the slope at 20/. Determine the range
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Fundamental Problems - F12.25 A ball is thrown from . If it is required to clear the wall at , determine the minimum magnitude of its initial velocity
Fundamental Problems - F12.26 A projectile is fired with an initial velocity of = 150/ off the roof of the building. Determine the range where it strikes the ground at
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7. Curvilinear Motion: Normal and Tangential Components - Using for a particle moving along a known curvilinear path - The position of the particle at the instant is took as the origin - The coordinate axes: tangential (), and normal () to the path - Position Normal-Tangential Coordinate
7. Curvilinear Motion: Normal and Tangential Components - Velocity Direction: always tangential to the path Magnitude = = = =
If = (), =
1+
3 2
2 2
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7. Curvilinear Motion: Normal and Tangential Components - Acceleration The time rate of change of the velocity = = / = + Redraw the velocity unit vectors at the infinitesimal scale = + = = = = = The property of an arc = = = + = + 2
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7. Curvilinear Motion: Normal and Tangential Components Acceleration = Tangential Acceleration + Normal Acceleration 2 = + = + = or = 2 = Magnitude of acceleration =
2 2 +
Normal acceleration Centripetal acceleration
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7. Curvilinear Motion: Normal and Tangential Components - Special cases of motion
7. Curvilinear Motion: Normal and Tangential Components - Three dimensional motion : tangent axis : principal normal axis : binormal axis (, ): osculating plane (mt tip) = Note: is always on the concave side of the curve
The particle moves along a straight line : = 0, = = The particle moves along a curve with a constant speed = : = = 0, = = 2 /
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7. Curvilinear Motion: Normal and Tangential Components - Example 12.14 When the skier reaches point along the parabolic path, he has a speed of 6/ which is increasing at 2/ 2 . Determine the direction of his velocity and the direction and magnitude of his acceleration at this instant Solution Coordinate system Velocity 1 2 1 2 = = 2 = 10 20 10 = 10 = 1 = 1 1 = 450 Therefore = 6/ 2250
7. Curvilinear Motion: Normal and Tangential Components Acceleration 2 3 3 2 2 = 1 + = 1+ 2 10

=10
1 10
= 28.18
2 62 = + = 2 + 28.28 = 2 + 1.273 (/ 2 ) 22 + 1.2732 = 2.37/ 2 2 = 1 = 57.50 1.273 Therefore = 2.37/ 2 192.50 =

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7. Curvilinear Motion: Normal and Tangential Components - Example 12.15
7. Curvilinear Motion: Normal and Tangential Components
A race car travels around the horizontal circular track that has a radius of 300 . If the car increases its speed at a constant rate of 7/ 2 , starting from rest, determine the time needed for it to reach an acceleration of 8/ 2 . What is its speed at this instant? Solution Coordinate system
Acceleration = 0 + ( ) = 0 + 7(/) 2 (7)2 = = = 0.163 2 (/ 2 ) 300 = = 7(/ 2 ) Velocity = 7 = 7 4.87 = 34.1(/)

2 2 +
82 72 = 4.87() 0.163
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7. Curvilinear Motion: Normal and Tangential Components - Example 12.16 The boxes travel along the industrial conveyor. If a box starts from rest at and increases its speed such that = 0.2(/ 2 ) , determine the magnitude of its acceleration when it arrives at point Solution Coordinate system Acceleration

7. Curvilinear Motion: Normal and Tangential Components Acceleration

= = 0.2 = = 0.12
=
0 6.142 0 0
0.2 = 0.1 2
0
0.12 = 0.59
= = 0.2
0
=
0
0.2
0
= 0.1 2 =
6.142 = 0.12 = 0 = 0.59
0.12
( ) = = 0.2 0.59 = 1.138/2 = 0.1 5.692 = 3.238/ At , = 2 2 3.238 ( ) = = = 5.242/ 2 2 The magnitude of = 1.1382 + 5.2422 = 5.36/2
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Fundamental Problems - F12.27 The boat is traveling along the circular path with a speed of = 0.0625 2 (/). Determine the magnitude of its acceleration when = 10
Fundamental Problems - F12.28 The car is traveling along the road with a speed of = 300/(/). Determine the magnitude of its acceleration when = 3 if = 0 at = 0
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Fundamental Problems - F12.29 If the car decelerates uniformly along the curved road from 25/ at to 15/ at , determine the acceleration of the car at
Fundamental Problems - F12.30 When = 10, the crate has a speed of 20/ which is increasing at 6/ 2 . Determine the direction of the crate's velocity and the magnitude of the crate's acceleration at this instant
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Fundamental Problems - F12.31 If the motorcycle has a deceleration of = 0.001(/ 2 ) and its speed at position is 25/ , determine the magnitude of its acceleration when it passes point
Fundamental Problems - F12.32 The car travels up the hill with a speed of = 0.2(/), measured from . Determine the magnitude of its acceleration when it is at point = 50, where = 500
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8. Curvilinear Motion: Cylindrical Components - In some cases the motion of a particle is constrained on a path amenable to analysis using cylindrical coordinates - If the motion is restricted to a plane, then we can use polar coordinates
8. Curvilinear Motion: Cylindrical Components - Polar Coordinates A particle is located by + a radial coordinate , which extends from an origin + an angle measured counterclockwise form a fixed reference line to the axis of , : unit vectors in the directions of increasing and - Position At any instant, the position vector of the particle =
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8. Curvilinear Motion: Cylindrical Components - Velocity The instantaneous velocity = = + During the time interval a change will not cause a chance in the direction of : = + a change will cause to become = = = = lim 0
8. Curvilinear Motion: Cylindrical Components = + = + = = + = : radial component, a measure of the rate of increase or decrease in the length of the radial coordinate, = : transverse component, the rate of motion along the circumference of a circle having a radius Magnitude of velocity =
2 2 + =
()2 +()2
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8. Curvilinear Motion: Cylindrical Components - Acceleration = = + / = + + + + During the time interval a change will not cause a chance in the direction of a change will cause to become : = + = = = = lim 0
8. Curvilinear Motion: Cylindrical Components = + + + + = 2 = +( + 2) = = + = 2 : radial component of acceleration = + 2: transverse component of acceleration Magnitude of acceleration = ( 2 )2 +( + 2)2
Nguyen Tan Tien
Nguyen Tan Tien
12.105
12.106
8. Curvilinear Motion: Cylindrical Components - Cylindrical Coordinates If the particle moves along a space curve, then its location may be specified by the three cylindrical coordinates ,, = + = + + = ( 2 ) + ( + 2) +
8. Curvilinear Motion: Cylindrical Components = + = + + = ( 2 ) + ( + 2) + Time derivative The above equations require ,,,. Two types of problems generally occur + Given the time parametric equations: = (), = () the time derivatives can be found directly + Given the path: = () using the chain rule of calculus to find the relation between and and between and
Nguyen Tan Tien
Nguyen Tan Tien
12.107
12.108
8. Curvilinear Motion: Cylindrical Components - Example 12.17 The amusement park ride consists of a chair that is rotating in a horizontal circular path of radius such that the arm has an angular velocity and angular acceleration . Determine the radial and transverse components of velocity and acceleration of the passenger Solution Coordinate system: polar coordinate (, ) = = = 0, = 0 Acceleration Velocity = 2 = 2 = = 0 = + 2 = =
8. Curvilinear Motion: Cylindrical Components - Example 12.18 The rod rotates in the horizontal plane such that = 3 (). At the same time, the collar is sliding outward along so that = 100 2 () . Determine the velocity and acceleration of the collar when = 1 Solution Coordinate system: polar coordinate (, ) Time derivative of and at = 1 = 100 2 = 200 = 200 = 3 1 = 100 1 = 1 = 3 2 1 = 200 1 = 3 = 6 1 = 200 1 = 6
Nguyen Tan Tien
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12.109
12.110
8. Curvilinear Motion: Cylindrical Components Velocity = + = 200 + 300 = 2002 + 3002 = 361/
300 200
= 1
= 56.30, + 57.30 = 1140
Acceleration = ( 2 ) + ( + 2) = 200 100 32 +(100 6 + 2 200 3)(/) = 700 + 1800 (/ 2 ) = (1800 7002 + 18002 = 1930/ 2 ) + 57.30 = 1690
Nguyen Tan Tien
= 1
1800 700
= 68.70
8. Curvilinear Motion: Cylindrical Components - Example 12.19 The searchlight casts a spot of light along the face of a wall that is located 100 from the searchlight. Determine the magnitudes of the velocity and acceleration at which the spot appears to travel across the wall at the instant = 450. The searchlight rotates at a constant rate of = 4/ Solution Coordinate system: polar coordinate (, ) = 100/ = 100 Time derivative of and = = 2 = 100 = 100 = 10022 + 10032 + 100 = 450 = 4/ = 0
12.111
12.112
8. Curvilinear Motion: Cylindrical Components At = 450 , = 100450 = 141.4 = 400450 450 = 564.7 = 1600 450 2 450 + 3 450 = 6788.2 Velocity = + = 565.7 + 565.7 = 565.72 + 565.72 = 800/ Acceleration = 2 + + 2 = 4525.5 + 4525.5 = 4525.52 + 4525.52 = 6400/ 2
8. Curvilinear Motion: Cylindrical Components - Example 12.20 Due to the rotation of the forked rod, the ball travels around the slotted path, a portion of which is in the shape of a cardioid, = 0.5(1 ). If the balls velocity is 4/ and its acceleration is 30/ 2 at the instant = 1800 , determine the angular velocity and angular acceleration of the fork Solution Coordinate system: polar coordinate (, ) Time derivative of and = 0.5 1 = 0.5 = 0.5 2 + 0.5 At = 1800 : = 1, = 0, = 0.5 2
Nguyen Tan Tien
12.113
12.114
8. Curvilinear Motion: Cylindrical Components = ()2 +()2 2 2 42 02 = = 4/ 1
Fundamental Problems - F12.33 The car has a speed of 55/. Determine the angular velocity of the radial line at this instant
( 2 )2 +( + 2)2 2 2
2
2
2
302 0.5 42 1 42 = 1 = 18/ 2
204
Nguyen Tan Tien
Nguyen Tan Tien
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12.115
12.116
Fundamental Problems - F12.34 The platform is rotating about the vertical axis such that at any instant its angular position is = 4 3 . A ball rolls outward along the radial groove so that its position is = 0.1 3 . Determine the magnitudes of the velocity and acceleration of the ball when = 1.5
Fundamental Problems - F12.35 Peg is driven by the fork link along the curved path described by = 2() . At the instant = /4 , the angular velocity and angular acceleration of the link are = 3/ and = 1/ 2 . Determine the magnitude of the pegs acceleration at this instant
Nguyen Tan Tien
Nguyen Tan Tien
12.117
12.118
Fundamental Problems - F12.36 Peg is driven by the forked link along the path described by = . When = /4, the link has an angular velocity and angular acceleration of = 2/ and = 4/ 2 . Determine the radial and transverse components of the pegs acceleration at this instant
Fundamental Problems - F12.37 The collars are pin-connected at and are free to move along rod and the curved guide having the shape of a cardioid, = 0.2 1 + . At = 300 , the angular velocity of is = 3/. Determine the magnitudes of the velocity of the collars at this point
Nguyen Tan Tien
Nguyen Tan Tien
12.119
12.120
Fundamental Problems - F12.38 At the instant = 450 , the athlete is running with a constant speed of 2/ . Determine the angular velocity at which the camera must turn in order to follow the motion
9. Absolute Dependent Motion Analysis of Two Particles In some cases the motion of one particle depends on the motion of another Consider two objects physically interconnected by inextensible chords of a pulley system. Choose the coordinate system + measured from a fixed point ( ) or fixed datum line + measured along each inclined plane in the direction of motion of each block + has a positive sense from , The total cord length = + + = + = + = 0 = + = + = 0 =
Nguyen Tan Tien
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12.121
12.122
9. Absolute Dependent Motion Analysis of Two Particles Another example = + + + 2 = : total length of curved cords + = + 2 = 0 = 2 +2 = + 2 = 0 = 2
9. Absolute Dependent Motion Analysis of Two Particles By choosing the different coordinate = + + + 2 = : total length of curved cords + = + 2 = 0 = 2 +2 = + 2 = 0 = 2
Nguyen Tan Tien
Nguyen Tan Tien
12.123
12.124
9. Absolute Dependent Motion Analysis of Two Particles - Example 12.21 Determine the speed of block if block has an upward speed of 6/ Solution Position coordinate equation + 3 + = Time derivative + 3 = 0 = 3 = 6/ = 6/
9. Absolute Dependent Motion Analysis of Two Particles - Example 12.22 Determine the speed of block if block has an upward speed of 6/ Solution Position coordinate equations + 2 + 1 = 1 + ( ) + 2 = 2 Time derivatives + 2 = 0 2 = 0 = 4 = 4 6/ = 24/
Nguyen Tan Tien
Nguyen Tan Tien
12.125
12.126
9. Absolute Dependent Motion Analysis of Two Particles - Example 12.23 Determine the speed of block if the end of the cord at is pulled down with a speed of 2/ Solution Position coordinate equations + + 1 = 1 + + + 2 = 2 Time derivatives + = 0 + 2 2 = 0 = /4 = 2 /4 = 0.5/
9. Absolute Dependent Motion Analysis of Two Particles - Example 12.24 A man at is hoisting a safe by walking to the right with a constant velocity = 0.5/ . Determine the velocity and acceleration of the safe when it reaches the elevation of 10. The rope is 30 long and passes over a small pulley at Solution Position coordinate equation + + = 152 + 2 + 15 = 30 225 + 2 15 Time derivatives 1 2 = = = 2 225 + 2 225 + 2 =
Nguyen Tan Tien
Nguyen Tan Tien
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12.127
12.128
9. Absolute Dependent Motion Analysis of Two Particles = 225 + 2 At = 10 = 20 with = 0.5/ 20 = 0.5 = 0.4/ 225 + 202 2 = 2 (/) (/) = + 225 + 2 (225 + 2 )3 / + 225 + 2 At = 20, = 0.5/ 225 0.5 = = 0.00360/ 2 = 3.6/ 2 (225 + 202 )3
10. Relative Motion of Two Particles Using Translating Axes In some cases it is easier to analyze the motion using two or ` more frames of reference Analysis translating frames of reference to change our point of view of the object(s) in motion - Position Consider particles and , which move along the arbitrary paths Fixed reference frame: , , , Second reference frame: , , , Relation = + / , : absolute position vectors / : relative position vector
12.129
12.130
10. Relative Motion of Two Particles Using Translating Axes - Velocity = + / = + / , :absolute velocity / : relative velocity - Acceleration = + / = + / , :absolute acceleration / : relative acceleration
10. Relative Motion of Two Particles Using Translating Axes - Example 12.25 A train travels at a constant speed of 60/ crosses over a road. If the automobile is traveling at 45/ along the road, determine the magnitude and direction of the velocity of the train relative to the automobile Solution Vector analysis = + / 60 = 45450 + 45450 + / / = 28.2 31.8(/) / = The direction of / = 28.2
/ / 2
+ 31.8
= 42.5 (/)
31.8 = = 48.50 28.2

Nguyen Tan Tien
Nguyen Tan Tien
12.131
12.132
10. Relative Motion of Two Particles Using Translating Axes Scalar analysis = + / = + / + / = 450 +
/
+ /
60/ 45/ ? ? Resolving each vector into its and components (+): 60 = 45450 + / +0 (+ ):
/ /
0 = 45450 + 0 + / = 28.2/ = 28.2/ = 31.8/ = 31.8/ 28.2

2
/ =
+ 31.8
= 42.5 (/)
Nguyen Tan Tien
10. Relative Motion of Two Particles Using Translating Axes - Example 12.26 Plane is flying along a straight-line path, here as plane is flying along a circular path having a radius of curvature of = 400 . Determine the velocity and acceleration of as measured by the pilot of Solution Velocity = + / 600/ 700/ ? (+): = + / / = = 600 700 = 100/ = 100/
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12.134
10. Relative Motion of Two Particles Using Translating Axes Acceleration 2 6002 = = = 900/2 400 Relative acceleration equation + = + / ? 900 100 50 ? 900 100 = 50 + / / = 900 150 The magnitude and direction of / 9002 + (150)2 = 912/2 150 = 1 = 9.460 900 / =
10. Relative Motion of Two Particles Using Translating Axes - Example 12.27 At the instant, cars and are traveling with speeds of 18/ and 12/ respectively. Also at this instant, has a decrease in speed of 2/ 2 and has an increase in speed of 3/ 2 . Determine the velocity and acceleration of with respect to Solution Relative velocity equation = + / 2400 ? 12/ 18/ ? 12 = (18600 18600) + / / = 9 + 3.588 / = 92 + 3.5882 = 9.69/, = 1 (3.588/9) = 21.60
12.135
12.136
10. Relative Motion of Two Particles Using Translating Axes - Acceleration 2 122 = = = 1.440/ 2 100 Relative acceleration equation = + / 600 ? 3/ 2 2/ 2 ? 0 1.44 3 = 260 4.732 + / / = 2.440 4.732(/ 2 ) The magnitude and direction of / 2.4402 + 4.7322 = 5.32/ 2 4.732 = 1 = 62.70 2.440 / =
Fundamental Problems - F12.39 Determine the speed of block if end of the rope is pulled down with a speed of = 3/
Nguyen Tan Tien
12.137
12.138
Fundamental Problems - F12.40 Determine the speed of block if end of the rope is pulled down with a speed of 6/
Fundamental Problems - F12.41 Determine the speed of block if end of the rope is pulled down with a speed of 1.5/
Nguyen Tan Tien
Nguyen Tan Tien
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12.139
12.140
Fundamental Problems - F12.42 Determine the speed of block if end of the rope is pulled down with a speed of = 3/
Fundamental Problems - F12.43 Determine the speed of car if point on the cable has a speed of 4/ when the motor winds the cable in
Nguyen Tan Tien
Nguyen Tan Tien
12.141
12.142
Fundamental Problems - F12.44 Determine the speed of cylinder if cylinder moves downward with a speed of = 4/
Fundamental Problems - F12.45 Car is traveling with a constant speed of 80/ due north, while car is traveling with a constant speed of 100/ due east. Determine the velocity of car relative to car
Nguyen Tan Tien
Nguyen Tan Tien
12.143
12.144
Fundamental Problems - F12.46 Two planes and are traveling with the constant velocities shown. Determine the magnitude and direction of the velocity of plane relative to plane
Fundamental Problems - F12.47 The boats and travel with constant speeds of = 15/ and = 10/ when they leave the pier at at the same time. Determine the distance between them when = 4
Nguyen Tan Tien
Nguyen Tan Tien
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12.145
Fundamental Problems - F12.48 At the instant shown, cars and are traveling at the speeds shown. If is accelerating at 1200/2 while maintains a constant speed, determine the velocity and acceleration of with respect to
Nguyen Tan Tien
25

Ch.12 Kinematics of A Particle

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5/26/2013

Engineering Mechanics Dynamics

Engineering Mechanics Statics

12. Kinematics of a Particle

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

Engineering Mechanics Statics

Engineering Mechanics Statics

Sir Isaac Newton

Joseph Louis Lagrange

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Engineering Mechanics Statics

Engineering Mechanics Statics

2. Rectilinear Kinematics: Continuous Motion - Position

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

Engineering Mechanics Statics

Engineering Mechanics Statics

2. Rectilinear Kinematics: Continuous Motion - Displacement

2. Rectilinear Kinematics: Continuous Motion - Velocity

Average velocity = Instantaneous velocity = lim

: displacement, : time interval,

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

Engineering Mechanics Statics

Engineering Mechanics Statics

2. Rectilinear Kinematics: Continuous Motion - Speed

2. Rectilinear Kinematics: Continuous Motion - Acceleration

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

Engineering Mechanics Statics

Engineering Mechanics Statics

2. Rectilinear Kinematics: Continuous Motion - Constant acceleration = = Velocity as a function of time =

Position as a function of time = =

Velocity as a function of position =

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

Engineering Mechanics Statics

Engineering Mechanics Statics

Engineering Mechanics Statics

Engineering Mechanics Statics

= 0 + 2(9.81)(0 327) = 80.1/ = 80.1/

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

Engineering Mechanics Statics

Engineering Mechanics Statics

2. Rectilinear Kinematics: Continuous Motion Velocity =

Engineering Mechanics Statics

Engineering Mechanics Statics

Engineering Mechanics Statics

Engineering Mechanics Statics

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien