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Kinematics of Particle
, ,
, ,
, ,
,
( )
Velocity, ( )
Instantaneous velocity
= lim = = =
0
Acceleration, =
Instantaneous acceleration
=
2
= lim = = = 2 = = =
0
Dynamics: S.-H. Shin 5
2.2 Rectilinear Motion
=
2 2
= 2 1 =
1 1
=
2 2
= 2 1 =
1 1
=
1
2 = 2 2 2 1 2
1 1 2
Position, Acceleration,
Velocity, = lim
=
= = lim = = =
0 0
Speed, v = , a scalar Note:
Dynamics: S.-H. Shin 8
2.3 Plane Curvilinear Motion
Visualization of motion
Velocity vector tangent to the path corresponding to each position vector
Acceleration vector tangent to the path corresponding to each velocity
vector
= +
= = +
= = = +
= 0 =
= 0 =
0
1 2
= 0 + 0 = 0 +
0 2
2
2 = 2 0
0 Ex. 2.6
Dynamics: S.-H. Shin 11
2.5 Normal and Tangent Coordinates
= =
=
= =
+ =
+
= =
2
=
+
Dynamics: S.-H. Shin 13
2.5 Normal and Tangent Coordinates
Circular motion = = .
Velocity and acceleration
= =
2
= + =
+
Special case: = .
2
+ = 2 =
=
= =
=
+ = +
+ +
+
= + = 2 + + 2
= + 1 2
=
Dynamics: S.-H. Shin 17
2.6 Polar Coordinate
Geometric interpretation = = +
magnitude change of = 2 + + 2
direction change of
direction change of
Magnitude change of
= =
+
Circular motion = . , = .
= =
+
= 2 + + 2
= 2
= = = +
+
Cylindrical coordinates ( )
= +
+
= =
+
= = = 2 + + 2 +
= =
+ cos +
= =
= 2 2 cos2
cos
+ 2 2 sin
1
+ 2 + 2 sin cos
Ex. 2.12
Dynamics: S.-H. Shin 21
2.8 Relative Motion (Translating Axes)
Displacement
= +
: position vector of A as measured
relative to the frame x-y
Velocity
= + = +
Acceleration
, :
= + = +
, :
+ 2 + 4 = 0 + 2 + 4 = 0
+ 2 + 4 = 0 + 2 + 4 = 0