Kinematics of

Particles
Lecture II
Subjects Covered in
Kinematics of Particles
Rectilinear motion
Curvilinear motion
Rectangular coords
n-t coords
Polar coords
Relative motion
Constrained motion

Introduction
Kinematics: Branch of dynamics that describes the motion
of bodies without reference to the forces which either cause
the motion or are generated as a result of the motion.
Applications: The design of cams, gears, linkages, and
other machines elements to control or produce certain
desired motion, and the calculation of flight trajectories for
aircraft, rockets, etc.
Particle: As mentioned, a particle is a body whose physical
dimensions are so small compared with the radius of
curvature of its path, e.g. an aircraft and its flight path.
Studying the Motion: Studying the motion of a body
includes studying its displacement from one location to
another, its velocity, and its acceleration.


Introduction (Cont.)
Choice of Coordinates: The
position of a particle P at any time t
can be described by specifying its
rectangular coordinates (x, y, z), its
cylindrical coordinates (r, u, z), or its
spherical coordinates (R, u, ). The
motion of P can also be described by
measurements along the tangent (t)
and normal (n) to a curved path.
These two are path variables since
they move with the particle on the
path. The motion of a body described
by fixed reference axes known as
absolute motion, while the motion
described by a moving reference
axes known as relative motion.
Rectilinear Motion
Studying the motion of a particle moving
in a straight line (1-D)

s
As
O P P
t t+At
-S +S
Displacement
Rectilinear Motion - Velocity
Average velocity (v
av
):


Instantaneous velocity (v): as At approaches
zero in the limit, which is or

s
dt
ds
v

= =
t
s
v
t
A
A
=
A
lim
0
t
s
v
A
A
=
av
Note: the velocity is
positive or negative
depending on the
displacement
(1)
Rectilinear Motion Acceleration
Average acceleration (a
av
):


Instantaneous acceleration (a): as At
approaches zero in the limit, which is
or

v
dt
dv
a

= =
t
v
a
t
A
A
=
A
lim
0
t
v
a
A
A
=
av
Note: the acceleration is
positive or negative
depending whether the
velocity is increasing or
decreasing
s
dt
s d
a

= =
2
2
or
(2)

s
As
O P P
t t+At
-S +S
v1 v2
, Av
Rectilinear Motion Acceleration
(Cont.)
Velocity & acceleration: are vector quantities, as we will see
in the study of curvilinear motion; however, since in rectilinear
motion, the particle is moving in straight line path, the sense of
direction is described by plus or minus sign.

To obtain differential equation relating displacement,
velocity, and acceleration: dt has to be eliminated from
equation (2) (using Chain rule)




Equations (1), (2), and (3): known as the differential
equations for the rectilinear motion.
ds a dv v =
or
ds s s d s

=
(3)
=
dt
ds
ds
dv
a
v
Rectilinear Motion Graphical
Interpretation
The net displacement of a particle during interval At:




The net change in velocity of a particle during interval
At:




When the acceleration is a function of the position
coordinates S:

} }
=
2
1
2
1

t
t
s
s
dt v ds
curve under area
1 2
t v s s = or
} }
=
2
1
2
1

t
t
v
v
dt a dv
curve under area
1 2
t a v v = or
} }
=
2
1
2
1

s
s
v
v
ds a dv v ( ) curve under area
2
1
2
1
2
2
s a v v =
or
Rectilinear Motion Problems
Classifications
Rectilinear Motion
(Problems Classifications)
Given s(t)
Required v(t) and/or a(t)

Given a Given v
a (t)
Required v(t) and/or s(t)
a (v)
Required v(t) or v(s) and/or s(t)
a (s)
Required v(s) and/or s(t)
a = constant

v (t)
Required s(t) and/or a(t)

v = constant
Rectilinear Motion Problems
Classifications (Cont.)
1) Determining the velocity, v(t), and the
acceleration , a(t), of a particle for a
given position coordinate , s(t): the
successive differentiation of s(t) will give
the velocity and the acceleration of the
particle, i.e.




( ) s
dt
ds
t v

= = ( ) v
dt
dv
t a

= =
Rectilinear Motion Problems
Classifications (Cont.)
2) Determining the velocity, v(t), and the position , s(t), of a
particle for a given acceleration , a = f(t): The nature of the forces
acting on the body specifies its acceleration. For simplicity, s = s
o
, v =
v
o
, and t = 0 at the beginning of the interval. From Eq. (2).




and hence,





If desired, the displacement, s, can be obtained by a direct solution of a
second order differential equation







} }
=
t v
v
dt t f dv
o
0
) (
( )
}
+ =
t
o
dt t f v v
0

} }
=
t s
s
vdt ds
o
0
}
+ =
t
o
vdt s s
0

) (t f a s = =


0 ) ( = t f s

v is a function of t
Rectilinear Motion Problems
Classifications (Cont.)
3) Determining the velocity, v(s), v(t), and the position , s(t),
of a particle for a given acceleration , a = f(v): from Eq. (2).





and hence, we have to solve for v as a function of t to get the position, s,
as a function of t from Eq. (1).

from Eq. (3).











} }
=
t v
v
dt
v f
dv
o
0
) (
}
=
v
v
o
v f
dv
t
) (

t is a function of v
} }
=
s
s
v
v
o o
ds
v f
dv v
) (

}
+ =
v
v
o
o
v f
dv v
s s
) (

s is a function of v
Rectilinear Motion Problems
Classifications (Cont.)
4) Determining the velocity, v(s), and the position , s(t), of a
particle for a given acceleration , a = f(s): from Eq. (3).




and hence, we have to solve for t from Eq. (1).




Rearrange to get s as function of t


} }
=
s
s
v
v
o o
ds s f dv v ) (
v is a function of s
i.e. v = g(s)
} }
=
t s
s
dt
s g
ds
o
0
) (
}
=
s
s
o
s g
ds
t
) (

t is a function of s
}
+ =
s
s
o
o
ds s f v v ) ( 2
2
2
Rectilinear Motion Special
Cases
1) Constant acceleration, a = constant, (Uniformly Accelerated
Rectilinear Motion):






, the position, s, then can be derived as follows:










} }
=
t v
v
dt a dv
o
0
at v v
o
+ =

} }
=
s
s
v
v
o o
ds a dv v
( )
o o
s s a v v + = 2
2
2
v is a function of t
v is a function
of s
( )
} }
+ =
t
o
s
s
dt at v ds
o
0
2
2
1
at t v s s
o o
+ + =
dt ds v =

From Eq. (2)

From Eq. (3)
t v v s ) (
2
1
0
+ =
Rectilinear Motion Special
Cases
2) Constant velocity, v = constant, (Uniform Rectilinear Motion):
The acceleration (a) = zero













} }
=
t s
s
dt v ds
o
0
vt s s
o
+ =
s is a function of t

From Eq. (1)

Exercises
Exercise # 1
The position of a particle which moves along a straight line is defined by the relation,
s = t
3
- 6t
2
- 15t + 40, where s is expressed in meters and t in seconds. Determine (a)
the time at which the velocity will be zero, (b) the position and distance traveled by
the particle at that time, (c) the acceleration of the particle at that time, (d) the
distance traveled by the particle from t = 4 s to t = 6 s.
Exercise # 2
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/s
2

downward, determine (a) the velocity v and elevation y of the ball above the ground at any time t,
(b) the highest elevation reached by the ball and the corresponding value of t, (c) the time when
the ball will hit the ground and the corresponding velocity. Draw the v-t and y-t curves.
Exercise # 3
o
+s
Exercise # 4
Exercise # 5