2007 Pearson Education South Asia Pte Ltd

Absolute Dependent Motion Analysis of

Two Particles
Motion of one particle will depend on the
corresponding motion of another particle
Dependency occurs when particles are
interconnected by the inextensible cords which are
wrapped around pulleys
For example, the movement of block A downward
along the inclined plane will cause a corresponding
movement of block B up the other incline
Specify the locations of the blocks using position
coordinate s
A
and s
B
2007 Pearson Education South Asia Pte Ltd
Note each of the coordinate axes is (1)
referenced from a fixed point (O) or fixed datum
line, (2) measured along each inclined plane in the
direction of motion of block A and block B and (3)
has a positive sense from C to A and D to B
If total cord length is lT, the position coordinate
are related by the equation
T B CD A
l s l s = + +
Absolute Dependent Motion Analysis of
Two Particles
2007 Pearson Education South Asia Pte Ltd
Here l
CD
is the length passing over arc CD
Taking time derivative of this expression, realizing
that l
CD
and l
T
remain constant, while s
A
and s
B

measure the lengths of the changing segments of
the cord
A B
B A
v v
dt
ds
dt
ds
= = + 0
or
The negative sign indicates that when block A has
a velocity downward in the direction of position s
A
, it
causes a corresponding upward velocity of block B;
B moving in the negative s
B
direction
Absolute Dependent Motion Analysis of
Two Particles
2007 Pearson Education South Asia Pte Ltd
Time differentiation of the velocities yields the
relation between accelerations
a
B
= - a
A
For example involving
dependent motion of two blocks
Position of block A is specified
by s
A
, and the position of the end
of the cord which block B is
suspended is defined by s
B
Absolute Dependent Motion Analysis of
Two Particles
2007 Pearson Education South Asia Pte Ltd
Choose coordinate axes which are (1) referenced
from fixed points and datums, (2) measured in the
direction of motion of each block, (3) positive to the
right (s
A
) and positive downward (s
B
)
During the motion, the red colored segments of
the cord remain constant
If l represents the total length of the cord minus
these segments, then the position coordinates can
be related by

l s h s
A B
= + + 2
Absolute Dependent Motion Analysis of
Two Particles
2007 Pearson Education South Asia Pte Ltd
Since l and h are constant during the motion, the
two time derivatives yields
A B A B
a a v v = = 2 2
When B moves downward
(+s
B
), A moves to left (-s
A
) with
two times the motion
This example can also be
worked by defining the position
of block B from the center of the
bottom pulley ( a fixed point)
Absolute Dependent Motion Analysis of
Two Particles
2007 Pearson Education South Asia Pte Ltd
A B A B
A B
a a v v
l s h s h
= =
= + +
2 2
) ( 2
- Time differentiation yields
Absolute Dependent Motion Analysis of
Two Particles
2007 Pearson Education South Asia Pte Ltd
PROCEDURE FOR ANALYSIS
Position-Coordinate Equation
Establish position coordinates which have their
origin located at a fixed point or datum
The coordinates are directed along the path of
motion and extend to a point having the same
motion as each of the particles
It is not necessary that the origin be the same for
each of the coordinates; however, it is important
that each coordinate axis selected be directed
along the path of motion of the particle
Absolute Dependent Motion Analysis of
Two Particles
2007 Pearson Education South Asia Pte Ltd
Using geometry or trigonometry, relate the
coordinates to the total length of the cord, l
T
, or to
that portion of cord, l, which excludes the segments
that do not change length as the particles move
such as arc segments wrapped over pulleys
For problem involving a system of two or more
cords wrapped over pulleys, then the position of a
point on one cord must be related to the position of
a point on another cord using the above procedure
Separate equations must be written for a fixed
length of each cord of the system.
Absolute Dependent Motion Analysis of
Two Particles
2007 Pearson Education South Asia Pte Ltd
Time Derivatives
Two successive time derivatives of the position-
coordinates equations yield the required velocity
and acceleration equations which relate motions of
the particles
The signs of the terms in these equations will be
consistent with those that specify the positive and
negative sense of the position coordinates
Absolute Dependent Motion Analysis of
Two Particles
2007 Pearson Education South Asia Pte Ltd
EXAMPLE 12.21
Determine the speed of block A if block B has an
upward speed of 2 m/s.
2007 Pearson Education South Asia Pte Ltd
Position Coordinate System. There is one cord in
this system having segments which are changing
length. Position coordinates s
A
and s
B
will be used
since each is measured from a fixed point (C or D)
and extends along each blocks path of motion. In
particular, s
B
is directed to point E since motion of
B and E is the same. The red colored segments of
the cords remain at a constant length and do not
have to be considered as the block move.
EXAMPLE 12.21
2007 Pearson Education South Asia Pte Ltd
The remaining length of the cord, l, is also
considered and is related to the changing position
coordinates s
A
and s
B
by the equation
l s s
B A
= + 3
Time Derivative. Taking the time derivative
yields
0 3 = +
B A
v v
so that when v
B
= -2m/s (upward)
v
A
= 6m/s
EXAMPLE 12.21
2007 Pearson Education South Asia Pte Ltd
Determine the speed of block A if block B has an
upward speed of 2m/s.
EXAMPLE 12.22
2007 Pearson Education South Asia Pte Ltd
Position Coordinate Equation. Positions of A
and B are defined using coordinates s
A
and s
B
.
Since the system has two cords which change
length, it is necessary to use a third coordinate s
C

in order to relate s
A
to s
B
. Length of the cords can
be expressed in terms of s
A
and s
C
, and the length
of the other cord can be expressed in terms of s
B

and s
C
. The red colored segments are not
considered in this analysis.
EXAMPLE 12.22
2007 Pearson Education South Asia Pte Ltd
For the remaining cord length,
2 1
) ( 2 l s s s l s s
C B B C A
= + = +
Eliminating sC yields,
1 2
2 4 l l s s
B A
+ = +
Time Derivative. The time derivative gives
0 4 = +
B A
v v
so that v
B
= -2m/s (upward)
+ = + = s m s m v
B
/ 8 / 8
EXAMPLE 12.22
2007 Pearson Education South Asia Pte Ltd
Determine the speed with which block B rises if the
end of the cord at A is pulled down with a speed of
2m/s.
EXAMPLE 12.23
2007 Pearson Education South Asia Pte Ltd
Position-Coordinate Equation. The position of
A is defined by s
A
, and the position of block B is
specified by s
B
since point E on the pulley will have
the same motion as the block. Both coordinates are
measured from a horizontal datum passing through
the fixed pin at pulley D. Since the system consists
of two cords, the coordinates s
A
and s
B
cannot be
related directly. By establishing a third position
coordinate, s
C
, and the length of the other cord in
terms of s
A
, s
B
and s
C
.

EXAMPLE 12.23
2007 Pearson Education South Asia Pte Ltd
Excluding the red colored segments of the cords,
the remaining constant cord lengths l
1
and l
2
(along
the hook and link dimensions) can be expressed as
1 2
2 4 l l s s
B C
+ = +
( ) ( )
2
1
l s s s s s
l s s
B C B C A
B C
= + +
= +
Eliminating s
C
yields
EXAMPLE 12.23
2007 Pearson Education South Asia Pte Ltd
Time Derivative. The time derivative give

| = =
= +
s m s m v
v v
B
B A
/ 5 . 0 / 5 . 0
0 4
when v
A
= 2m/s (downward)
EXAMPLE 12.23
2007 Pearson Education South Asia Pte Ltd
A man at A is hoisting a
safe S by walking to the
right with a constant velocity
v
A
= 0.5m/s. Determine the
velocity and acceleration of
the safe when it reaches the
elevation at E. The rope is
30m long and passes over
a small pulley at D.
EXAMPLE 12.24
2007 Pearson Education South Asia Pte Ltd
Position Coordinate System. Rope segment
DA changes both direction and magnitude.
However, the ends of the rope, which define the
position of S and A, are specified by means of the x
and y coordinates measured from a fixed point and
directed along the paths of motion of the ends of
the rope. The x and y coordinates may be related
since the rope has a fixed length l = 30m, which at
all times is equal to the length of the segment DA
plus CD.
EXAMPLE 12.24
View Free Body Diagram
2007 Pearson Education South Asia Pte Ltd
Using Pythagorean Theorem and the equation for lCD
to get the relationship between y and x:
( ) ( ) ) 2 . ( 15 ) 1 . ( 15
2
2
eq y l eq x l
CD DA
= + =
( ) ( )
15 225
15 15 30
) 3 . (
2
2
2
+ =
+ + =
+ =
x y
y x
eq l l l
CD DA
(eq.4)
EXAMPLE 12.24
2007 Pearson Education South Asia Pte Ltd
Time Derivative. Taking time derivative,
using the chain rule where, v
S
= dy/dt and v
A
=
dx/dt
A
S
v
x
x
dt
dx
x
x
dt
dy
v
2
2
225
225
2
2
1
+
=
(

+
= =
At y = 10 m, x = 20 m, v
A
= 0.5 m/s, v
S
=
400mm/s
(2)
EXAMPLE 12.24
2007 Pearson Education South Asia Pte Ltd
The acceleration is determined by taking the time
derivative of eqn (2),
( )
2 / 3
2
2
2
2
2 / 3 2 2
2
225
225
225
1
225
1
) 225 (
) / (
x
v
dt
dv
x
x
v
dt
dx
x
xv
x
dt dx x
dt
y d
a
A A
A A S
+
=
(

+
+
|
.
|

\
|
(

+
+
(

= =
At x = 20 m, with v
A
= 0.5 m/s,
| =
2
/ 6 . 3 s mm a
S
EXAMPLE 12.24
2007 Pearson Education South Asia Pte Ltd
Relative Motion Analysis of Two Particles
Using Translating Axes
There are many cases where the path of the
motion for a particle is complicated, so that it may
be feasible to analyze the motions in parts by using
two or more frames of reference
For example, motion of an particle located at the
tip of an airplane propeller while the plane is in
flight, is more easily described if one observes first
the motion of the airplane from a fixed reference
and then superimposes (vectorially) the circular
motion of the particle measured from a reference
attached to the airplane
2007 Pearson Education South Asia Pte Ltd
Position.
Consider particle A and B,
which moves along the
arbitrary paths aa and bb,
respectively
The absolute position of
each particle r
A
and r
B
, is
measured from the common
origin O of the fixed x, y, z
reference frame
Relative Motion Analysis of Two Particles
Using Translating Axes
2007 Pearson Education South Asia Pte Ltd
Origin of the second frame of reference x, y and
z is attached to and moves with particle A
Axes of this frame only permitted to translate
relative to fixed frame
Relative position of B with respect to A is
designated by a relative-position vector r
B/A
Using vector addition
A B A B
r r r
/

+ =
Relative Motion Analysis of Two Particles
Using Translating Axes
2007 Pearson Education South Asia Pte Ltd
Velocity.
By time derivatives,



Here refer to absolute
velocities, since they are observed from the fixed
frame
Relative velocity is observed from
the translating frame
A B A B
v v v
/

+ =
dt r d v and dt r d v
A A B B
/ /

= =
dt r d v
A B A B
/
/ /

=
Relative Motion Analysis of Two Particles
Using Translating Axes
2007 Pearson Education South Asia Pte Ltd
Since the x, y and z axes translate,
the components of r
B/A
will not change
direction and therefore time derivative
o this vector components will only
have to account for the change in the
vector magnitude
Velocity of B is equal to the velocity
of A plus (vectorially) the relative
velocity of B relative to A as
measured by the translating observer
fixed in the x, y and z reference
Relative Motion Analysis of Two Particles
Using Translating Axes
2007 Pearson Education South Asia Pte Ltd
Acceleration.
The time derivative yields a similar relationship
between the absolute and relative accelerations of
the particles A and B


Here a
B/A
is the acceleration of B as seen by the
observer located at A and translating with the x, y
and z reference frame
A B A B
a a a
/

+ =
Relative Motion Analysis of Two Particles
Using Translating Axes
2007 Pearson Education South Asia Pte Ltd
PROCEDURE FOR ANALYSIS
When applying the relative position equations, r
B

= r
A
+ r
B/A
, it is necessary to specify the location of
the fixed x, y , z and translating x, y and z
Usually, the origin A of the translating axes is
located at a point having a known position r
A
A graphical representation of the vector addition
can be shown, and both the known and unknown
quantities labeled on this sketch
Relative Motion Analysis of Two Particles
Using Translating Axes
2007 Pearson Education South Asia Pte Ltd
Since vector addition forms a triangle, there can
be at most two unknowns, represented by the
magnitudes and/or directions of the vector
quantities
These unknown can be solved for either
graphically, using trigonometry, or resolving each of
the three vectors r
A
, r
B
and r
B/A
into rectangular or
Cartesian components, thereby generating a set of
scalar equations
Relative Motion Analysis of Two Particles
Using Translating Axes
2007 Pearson Education South Asia Pte Ltd
The relative motion equations v
B
= v
A
+ v
B/A
and
a
B
= a
A
+ a
B/A
are applied in the same manner as
explained above, except in this case, origin O of
the fixed axes x, y, z axes does not have to be
specified
Relative Motion Analysis of Two Particles
Using Translating Axes
2007 Pearson Education South Asia Pte Ltd
A train, traveling at a constant speed of 90km/h,
crosses over a road. If automobile A is traveling t
67.5km/h along the road, determine the magnitude
and direction of relative velocity of the train with
respect to the automobile
EXAMPLE 12.25
2007 Pearson Education South Asia Pte Ltd
Vector Analysis. The relative velocity is
measured from the translating x, y axes attached
to the automobile. Since v
T
and v
A
are known in
both magnitude and direction, the unknowns
become the x and y components of v
T/A
. Using the
x, y axes and a Cartesian vector analysis,
h km j i v
v j i i
v v v
A T
A T
A T A T
/ )
~
7 . 47
~
3 . 42 {
)
~
45 sin 5 . 67
~
45 cos 5 . 67 (
~
90
/
/
/
=
+ + =
+ =

EXAMPLE 12.25
2007 Pearson Education South Asia Pte Ltd
The magnitude of v
T/A
is
h km v
A T
/ 8 . 63 ) 7 . 47 3 . 42 (
2 2
/
= + =
The direction of v
T/A
defined from the x axis is
( )
( )

40 . 48
3 . 42
7 . 47
tan
/
/
=
= =
u
u
x
A T
y
A T
v
v
EXAMPLE 12.25
2007 Pearson Education South Asia Pte Ltd
Plane A is flying along a straight-line path, while
plane B is flying along a circular path having a
radius of curvature of
B
= 400 km. Determine the
velocity and acceleration of B as measured by the
pilot of A.
EXAMPLE 12.26
2007 Pearson Education South Asia Pte Ltd
Velocity. The x, y axes are located at an
arbitrary fixed point. Since the motion relative to
plane A is to be determined, the translating frame
of reference x. y is attached to it. Applying the
relative-velocity equation in scalar form since the
velocity vectors of both plane are parallel at the
instant shown,
+ = =
+ =
+ =
h km h km v
v
v v v
A B
A B
A B A B
/ 100 / 100
700 600
/
/
/
) ( | +
EXAMPLE 12.26
2007 Pearson Education South Asia Pte Ltd
Acceleration. Plane B has both tangential
and normal components of acceleration, since it is
flying along a curved path. Magnitude of normal
acceleration,
( )
2
2
/ 900 h km
v
a
B
n
B
= =

Applying the relative-acceleration equation,

{ }
2
/
/
/
/
~
150
~
900
~
50
~
100
~
900
h km j i a
a j j i
a a a
A B
A B
A B A B
=
+ =
+ =
EXAMPLE 12.26
2007 Pearson Education South Asia Pte Ltd
From the figure shown, the magnitude and direction
of
A B
a
/

46 . 9
900
150
tan / 912
1 2
/
= = =

u h km a
A B
EXAMPLE 12.26
2007 Pearson Education South Asia Pte Ltd
At the instant, car A and B
are traveling with the speed
of 18 m/s and 12 m/s
respectively. Also at this
instant, A has a decrease in
speed of 2 m/s
2
, and B has
an increase in speed of 3
m/s
2
. Determine the velocity
and acceleration of B with
respect to A.
EXAMPLE 12.27
2007 Pearson Education South Asia Pte Ltd
Velocity. The fixed x, y axes are established at a
point on the ground and the translating x, y axes
are attached to car A. Using Cartesian vector
analysis,
( )
{ }
s m v
s m j i v
v j i j
v v v
A B
A B
A B
A B A B
/ 69 . 9 588 . 3 9
/
~
588 . 3
~
9
~
60 sin 18
~
60 cos 18
~
12
2 2
/
/
/
/
= + =
+ =
+ =
+ =

Thus,
EXAMPLE 12.27
View Free Body Diagram
2007 Pearson Education South Asia Pte Ltd
Its direction is
( )
( )

7 . 21
9
588 . 3
tan
/
/
=
= =
u
u
x
A B
y
A B
v
v
Acceleration. The magnitude of the normal
component is
( )
2
2
/ 440 . 1 s m
v
a
B
n
B
= =

EXAMPLE 12.27
2007 Pearson Education South Asia Pte Ltd
Applying the equation for relative acceleration
yields
( ) ( )
{ }
2
/
/
/
/
~
732 . 4
~
440 . 2
~
60 sin 2
~
60 cos 2
~
3
~
440 . 1
s m j i a
a j i j i
a a a
A B
A B
A B A B
=
+ + =
+ =

Magnitude and direction is

7 . 62
/ 32 . 5
2
/
=
=
|
s m a
A B
EXAMPLE 12.27