Vector Mechanics for Engineers: Dynamics

VECTOR MECHANICS FOR ENGINEERS: DYNAMICS

CHAPTER 7
KINEMATICS OF
PARTICLES

VECTOR MECHANICS FOR ENGINEERS: DYNAMICS

Vector Mechanics for Engineers: Dynamics
Contents
Introduction
Rectilinear Motion: Position,
Velocity & Acceleration
Determination of the Motion of a
Particle
Sample Problem 7.1
Uniform Rectilinear-Motion
Uniformly Accelerated Rectilinear-
Motion
Motion of Several Particles: Relative
Motion
Sample Problem 7.2
Motion of Several Particles:
Dependent Motion
Sample Problem 7.3

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Vector Mechanics for Engineers: Dynamics
Introduction
• Dynamics includes:
- Kinematics: study of the geometry of motion. Kinematics is used to
relate displacement, velocity, acceleration, and time without reference to
the cause of motion.
- Kinetics: study of the relations existing between the forces acting on a
body, the mass of the body, and the motion of the body. Kinetics is used
to predict the motion caused by given forces or to determine the forces
required to produce a given motion.

• Rectilinear motion: position, velocity, and acceleration of a particle as it

moves along a straight line.

• Curvilinear motion: position, velocity, and acceleration of a particle as it

moves along a curved line in two or three dimensions.

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Vector Mechanics for Engineers: Dynamics
Rectilinear Motion: Position, Velocity & Acceleration
• Particle moving along a straight line is said
to be in rectilinear motion.
• Position coordinate of a particle is defined
by positive or negative distance of particle
from a fixed origin on the line.
• Position coordinate corresponding to P is x =
+5 m; Position coordinate corresponding to P’
is x = -2 m
• The motion of a particle is known if the
position coordinate for particle is known for
every value of time t. Motion of the particle
may be expressed in the form of a function,
e.g.,
x  6t 2  t 3
or in the form of a graph x vs. t.

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Vector Mechanics for Engineers: Dynamics
Rectilinear Motion: Position, Velocity & Acceleration
• Consider particle which occupies position P
at time t and P’ at t+Dt,
Dx
Average velocity 
Dt
Dx
Instantaneous velocity  v  lim
Dt 0 Dt

• Instantaneous velocity may be positive or

negative. Magnitude of velocity is referred
to as particle speed.
• From the definition of a derivative,
Dx dx
v  lim 
Dt 0 Dt dt
e.g., x  6t 2  t 3
dx
v  12t  3t 2
dt
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Vector Mechanics for Engineers: Dynamics

• From the definition of a derivative,

Dv dv d 2 x
a  lim   2
Dt 0 Dt dt dt
e.g. v  12t  3t 2
dv
a  12  6t
dt

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Vector Mechanics for Engineers: Dynamics
Rectilinear Motion: Position, Velocity & Acceleration
• Consider particle with velocity v at time t and v’ at
t+Dt,
Dv
Instantaneous acceleration  a  lim
(a) Dt 0 Dt
• Instantaneous acceleration may be:
- Positive value: indicates that the velocity
increases.
This may mean that:
(b)
• Particle is moving faster in the positive
direction (Fig. a)
• Particle is moving more slowly in the
(c) negative direction (Fig. b)
- Negative value: indicates that the velocity
decreases
This may mean that:
(d) • Particle is moving more slowly in the
positive direction (Fig. c)
• Particle is moving faster in the negative
direction (Fig. d)
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Vector Mechanics for Engineers: Dynamics
Rectilinear Motion: Position, Velocity & Acceleration
• Consider particle with motion given by
x  6t 2  t 3
dx
v  12t  3t 2
dt
dv d 2 x
a   12  6t
dt dt 2

• at t = 0, x = 0, v = 0, a = 12 m/s2

• at t = 2 s, x = 16 m, v = vmax = 12 m/s, a = 0

• at t = 4 s, x = xmax = 32 m, v = 0, a = -12 m/s2

• at t = 6 s, x = 0, v = -36 m/s, a = 24 m/s2

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Vector Mechanics for Engineers: Dynamics
Determination of the Motion of a Particle
• Recall, motion of a particle is known if position is known for all time t.
• Typically, conditions of motion are specified by the type of acceleration
experienced by the particle. Determination of velocity and position requires
two successive integrations.
• Three classes of motion may be defined for:
- acceleration given as a function of time, a = f(t)
- acceleration given as a function of position, a = f(x)
- acceleration given as a function of velocity, a = f(v)

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Vector Mechanics for Engineers: Dynamics
Acceleration as a function of time, position, or velocity
If…. Kinematic relationship Integrate
v t

 dv   a t  dt
dv
a  a t   a (t )
dt v0 0

dx dv
dt  and a  v x

 v dv   a  x  dx
v dt
a  a  x
v dv  a  x  dx
v0 x0

v t
dv dv
dt
 a (v ) v a  v   0 dt
a  a v
0

x v
dv
 a v v dv
v
dx x dx  v a  v 
0 0

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Vector Mechanics for Engineers: Dynamics
Sample Problem 7.1

A ball is tossed with a velocity of 10 m/s

directed vertically upward from a window
located 20 m above the ground. Knowing that
the acceleration of the ball is constant and
equal to 9.81 m/s2 downward, determine:
a) velocity and elevation above ground at
time t,
b) highest elevation reached by ball and
corresponding time, and
c) time when ball will hit the ground and
corresponding velocity.

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Vector Mechanics for Engineers: Dynamics
Sample Problem 7.1
SOLUTION:
a)velocity and elevation above ground at time t
• Integrate twice to find v(t) and y(t).
dv
 a  9.81 m s 2
dt
v t  t

 dv   9.81 dt vt   v0  9.81t

v0 0
m  m
v0  10m / s vt   10   9.81 2  t
s  s 
dy
 v  10  9.81t
dt
y t  t

 dy   10  9.81t dt

y0 0
y t   y0  10t  12 9.81t 2
 m  m
y0  20m yt   20 m  10 t   4.905 2 t 2
 s  s 
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Vector Mechanics for Engineers: Dynamics
Sample Problem 7.1
b)Highest elevation reached by ball and corresponding
time
• When the ball reaches its highest elevation, we have
v = 0. Thus
m  m t  1.019s
vt   10   9.81 2  t  0
s  s 

• Carrying t =1.019 s, Thus

 m  m
y t   20 m  10 t   4.905 2 t 2
 s  s 
 m  m
y  20 m  10 1.019 s    4.905 2 1.019 s 2
 s  s 
y  25.1m

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Vector Mechanics for Engineers: Dynamics
Sample Problem 7.1
c) time when ball will hit the ground and corresponding
velocity
• When the ball hits ground, we have y = 0. Thus
 m  m
yt   20 m  10 t   4.905 2 t 2  0
 s  s 
t  1.243s meaningless 
t  3.28 s

m  m
vt   10   9.81 2  t
s  s 
m  m
v3.28 s   10   9.81 2  3.28 s 
s  s 

m
v  22.2
s
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Vector Mechanics for Engineers: Dynamics
Uniform Rectilinear Motion
For particle in uniform rectilinear motion, the acceleration is zero and
the velocity is constant.

dx
 v  constant
dt
x t
 dx  v  dt
x0 0
x  x0  vt
x  x0  vt

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Vector Mechanics for Engineers: Dynamics
Uniformly Accelerated Rectilinear Motion
For particle in uniformly accelerated rectilinear motion, the acceleration of
the particle is constant.
v t
dv
 a  constant  dv  a  dt v  v0  at
dt v0 0
v  v0  at

x t
dx
dt
 v0  at  dx   v0  at dt x  x0  v0t  12 at 2
x0 0

x  x0  v0t  12 at 2

v 2  v02   ax  x0 
v x
dv
v  a  constant  v dv  a  dx 1
2
dx v0 x0

v 2  v02  2a x  x0 
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Vector Mechanics for Engineers: Dynamics
Motion of Several Particles: Relative Motion
• For particles moving along the same line, time
should be recorded from the same starting
instant and displacements should be measured
from the same origin in the same direction.

xB A  xB  x A  relative position of B
with respect to A
xB  x A  xB A

vB A  vB  v A  relative velocity of B
with respect to A
vB  v A  vB A

a B A  a B  a A  relative acceleration of B
with respect to A
aB  a A  aB A
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Vector Mechanics for Engineers: Dynamics
Sample Problem 7.2

A ball is thrown vertically upward from

12 m level in elevator shaft with initial
velocity of 18 m/s. At the same instant,
open-platform elevator passes 5 m level
moving upward at constant velocity = 2
m/s. Determine:
(a) when and where ball hits elevator
(b) The relative velocity of ball with
respect to the elevator when the ball
hits the elevator

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Vector Mechanics for Engineers: Dynamics
Sample Problem 7.2
SOLUTION:
• Motion of the ball. Substitute initial position and
velocity and constant acceleration of ball into
general equations for uniformly accelerated
rectilinear motion.
m  m
v B  v0  at  18   9.81 2 t
s  s 
 m  m
y B  y0  v0t  12 at 2  12 m  18 t   4.905 2 t 2
 s  s 
• Motion of elevator. Substitute initial position and
constant velocity of elevator into equation for
uniform rectilinear motion.
m
vE  2
s
 m
y E  y0  v E t  5 m   2 t
 s
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Vector Mechanics for Engineers: Dynamics
Sample Problem 7.2
• Ball hits elevator. When the ball hits the elevator, yE = yB
5  2t  12  18t  4.905t 2
t  0.39 s meaningless 
t  3.65 s

• Substitute impact time into equations for position of elevator

and relative velocity of ball with respect to elevator.
y E  5  23.65
y E  12.3 m

vB E  vB  vE
 18  9.81t   2
 16  9.813.65 m
vB E  19.81
s
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Vector Mechanics for Engineers: Dynamics
Motion of Several Particles: Dependent Motion
• Position of a particle may depend on position of one
or more other particles.
• Position of block B depends on position of block A.
Since rope is of constant length, it follows that sum of
lengths of segments must be constant.
x A  2 x B  constant (one degree of freedom)
• Positions of three blocks are dependent.
2 x A  2 xB  xC  constant (two degrees of freedom)

• For linearly related positions, similar relations hold

between velocities and accelerations.
dx A dx dx
2  2 B  C  0 or 2v A  2v B  vC  0
dt dt dt
dv dv dv
2 A  2 B  C  0 or 2a A  2a B  aC  0
dt dt dt
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Vector Mechanics for Engineers: Dynamics
Sample Problem 7.3

Pulley D is attached to a collar which

is pulled downward at 3 in./s. At t =
0, collar A starts moving downward
from K with constant acceleration and
zero initial velocity. Knowing that
velocity of collar A is 12 in./s as it
passes L, determine the change in
elevation, velocity, and acceleration of
block B when block A is at L.

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Vector Mechanics for Engineers: Dynamics
Sample Problem 7.3
SOLUTION:
Motion of Collar A
• When t = 0, collar A is at the position K and
(vA)0=0. Since vA =12 in./s and xA-(xA)0 = 8 in. when
the collar passes through L, we write

v 2A  v A 02  2a A x A   x A 0 
2
 in.  in.
12   2a A 8 in. aA  9
 s  s2
• The time at which the collar A reaches point L
is obtain by writing
v A  v A 0  a At
in. in.
12 9 2t t  1.333 s
s s

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Vector Mechanics for Engineers: Dynamics
Sample Problem 7.3
Motion of Pulley D
• Pulley D has uniform rectilinear motion.
xD   xD 0  vD t   xD 0  3t
when collar A reaches L, at t  1.333s,
 in. 
xD   xD 0   3 1.333 s   4 in.
 s 
Motion of Block B
• Block B motion is dependent on motions of collar
A and pulley D.
Total length of cable remains constant,
x A  2 x D  x B   x A 0  2 x D 0   x B 0

x A   x A 0  2xD   xD 0  xB   xB 0   0
8 in.  24 in.  x B   x B 0   0
x B   x B 0  16 in.
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Vector Mechanics for Engineers: Dynamics
Sample Problem 7.3
• Differentiate motion relation twice to develop
equations for velocity and acceleration of block B.
x A  2 x D  x B  constant

v A  2v D  v B  0

 in.   in.  vB  18

in.
12   2 3   v B  0
 s   s  s

a A  2a D  a B  0

 in.  in.
a B  9 2
 9 2   vB  0
 s  s

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Vector Mechanics for Engineers: Dynamics

THANK YOU

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