Engineering Mechanics:

Dynamics in SI Units, 12e

Chapter 12
Kinematics of a Particle
Copyright © 2010 Pearson Education South Asia Pte Ltd
Chapter Objectives

Concepts of position, displacement, velocity,
and acceleration

Study particle motion along a straight line

Investigate particle motion along a curved path

Analysis of dependent motion of two particles

Principles of relative motion of two particles
using translating axes

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Chapter Outline
1. Introduction
2. Rectilinear Kinematics: Continuous Motion
3. General Curvilinear Motion
4. Curvilinear Motion: Rectangular Components
5. Motion of a Projectile
6. Curvilinear Motion: Normal and Tangential
Components
7. Curvilinear Motion: Cylindrical Components
8. Absolute Dependent Motion Analysis of Two
Particles
9. Relative Motion Analysis of Two Particles Using
Translating Axes
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12. 1 Introduction
WHAT IS MECHANICS??
• Study of what happens to a “thing” (the technical name is
“body”) when FORCES are applied to it.
• Either the body or the forces could be large or small.

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 12. 1 Introduction

BRANCHES OF MECHANICS
Mechanics

Rigid bodies Deformable bodies Fluids

Statics Dynamics Mechanics Compressible Incompressible

of Materials fluids fluids

Hydraulics
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12.1 Introduction

Mechanics – the state of rest or motion of bodies
subjected to the action of forces

Static – equilibrium of a body that is either at rest
or moves with constant velocity

Dynamics – deals with accelerated motion of a
body
1) Kinematics – geometric aspects of a motion
2) Kinetics – analysis of the forces causing the
motion

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12.2 Rectilinear Kinematics: Continuous Motion

Rectilinear Kinematics – specifying the particle’s

position, velocity, and acceleration at any instant

Position
1) Single coordinate axis, s
2) Origin, O
3) Position vector r – specific location of particle
P at any instant
r P
O s

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12.2 Rectilinear Kinematics: Continuous Motion

4) Algebraic Scalar s in meters

P

Note : - Magnitude of s = Distance from O to P

- Direction is defined by algebraic sign on s
=> +ve = right of origin, -ve = left of origin

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12.2 Rectilinear Kinematics: Continuous Motion

Displacement

Change in its position, vector quantity

If particle moves from P to P’,

∆r = r ′ − r
∆s = s′ − s

When ∆s is +ve / -ve, particle’s position

is right / left of its initial position

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12.2 Rectilinear Kinematics: Continuous Motion

Velocity
∆r

Average velocity, vavg =
∆t

Instantaneous velocity is defined as

vins = lim (∆r / ∆t )
∆t →0

dr
⇒ vins =
dt

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12.2 Rectilinear Kinematics: Continuous Motion

Velocity

Average speed is total distance traveled by a
particle, sT, divided by the elapsed time ∆t .

(vsp )avg = sT
∆t

The particle travels along the path of length sT in
time ∆t
=> (vsp ) = sT
avg
∆t
∆s
vavg =−
∆t
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12.2 Rectilinear Kinematics: Continuous Motion

Acceleration
∆v

Average acceleration is aavg =
∆t

∆v represents difference in the velocity during

the time interval ∆t, ie ∆v = v'−v

Instantaneous acceleration is a = ∆lim

t →0
(∆v / ∆t )

d 2s dv

Thus we have a = 2 and a =
dt dt

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12.2 Rectilinear Kinematics: Continuous Motion

Acceleration

As the book indicates, the derivative equations for velocity

and acceleration can be manipulated to get
a ds = v dv

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12.2 Rectilinear Kinematics: Continuous Motion

Acceleration

When particle is slowing down, its speed is
decreasing => decelerating => ∆v = v'−v will be
negative.

It will act to the left, in the opposite sense to v

If velocity is constant,
acceleration is zero.

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 SUMMARY OF KINEMATIC RELATIONS:
RECTILINEAR MOTION

• Differentiate position to get velocity and acceleration.

v = ds/dt ; a = dv/dt or a = v dv/ds

• Integrate acceleration for velocity and position.

Velocity: Position:
v t v s s t

∫ dv = ∫ a dt or ∫ v dv = ∫ a ds ∫ ds = ∫ v dt
vo o vo so so o

• Note that so and vo represent the initial position and

velocity of the particle at t = 0.

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 CONSTANT ACCELERATION
The three kinematic equations can be integrated for the special case
when acceleration is constant (a = ac) to obtain very useful equations.
A common example of constant acceleration is gravity; i.e., a body
freely falling toward earth. In this case, ac = g = 9.81 m/s2
downward. These equations are:

v t

∫ dv = ∫ a dt
vo o
c yields v = vo + act
s t

∫ ds = ∫ v dt
so o
yields s = s o + v ot + (1/2)a ct 2
v s

∫ v dv = ∫ ac ds
vo so
yields v2 = (vo )2 + 2ac(s - so)

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12.2 Rectilinear Kinematics: Continuous Motion

PROCEDURE FOR ANALYSIS

1) Coordinate System

Establish a position coordinate s along the path

The particle’s position, velocity, and acceleration,
can be represented as s, v and a respectively
and their direction

The positive sense can be indicated by an arrow

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12.2 Rectilinear Kinematics: Continuous Motion

PROCEDURE FOR ANALYSIS

2) Kinematic Equation

When relationship is known between any two of
the four variables a, v, s and t, third variable can
be obtained

When integration is performed, the constant of
integration need to be known

Three kinematics equations in red box can only
be applied to situation where the acceleration of
the particle is constant

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Example 12.1

The car moves in a straight line such that for a short

time its velocity is defined by v = (0.9t2 + 0.6t) m/s
where t is in sec. Determine its position and
acceleration when t = 3s. When t = 0, s = 0.

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Example 12.1

Solution
Coordinate System
Positive is to the right.

Position
When s = 0 when t = 0, we have
 + 
→
 
v=
ds
dt
(
= 0.9t 2 + 0.6t )
( ) ( )
s t s t

∫ ds = ∫ 0.9t + 0.6t dt ⇒ s = 0.3t + 0.3t = 0.3t 3 + 0.3t 2

2 3 2
0 0 0 0

When t = 3s, s = 10.8m

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Example 12.1

Solution
Acceleration
Knowing v = f(t), the acceleration is determined
from a = dv/dt, since this equation relates a, v
and t.
dv d
(
a = = 0.9t + 0.6t =1.8t + 0.6
dt dt
2
)
When t = 3s, a = 6m/s2

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Example 12.2

A small projectile is forced downward into a fluid

medium with an initial velocity of 60m/s. Due to the
resistance of the fluid the projectile experiences a
deceleration equal to a = (-0.4v3)m/s2, where v is in
m/s. Determine the projectile’s velocity and position
4s after it is fired.

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Example 12.2

Solution
Coordinate System
Since the motion is downward, the position
coordinate is downwards positive, with the origin
located at O.

Velocity
Here a = f(v), velocity is a function of time using a =
dv/dt, since this equation relates v, a and t.
dv
a= = −0.4v 3 (+ ↓)
dt
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Example 12.2

Solution
Velocity v dv t
∫60m / s − 0.4v3 = ∫0 dt
1  1 1 v
  2 =t −0
− 0.4  − 2  v 60
1 1 1 
 2− 2
=t
0.8  v (60) 
 1  
1/ 2

v =  + 0.8t  m / s
 (60 )
2
 

When t = 4s, v = 0.559 m/s (+ ↓)

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Example 12.2

Solution
Position
Since v = f(t), projectile’s position can be determined
from v = ds/dt. When s = 0 and t = 0, we have
−1 / 2 −1 / 2
ds  1  s  1
t 
v= 
= + 0.8t  ⇒ ∫ ds = ∫ 
 + 0.8t  dt
dt  (60)2

0 0 (
 60 )
2


1  1 
1/ 2
1 
s=  + 0.8t  − m
0.4  (60)2
 60 
 
When t = 4s, s = 4.43m (+ ↓)

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Example 12.3

A rocket travel upward at 75m/s. When it is 40m

from the ground, the engine fails. Determine max
height sB reached by the rocket and its speed just
before it hits the ground.

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Example 12.3

Solution
Coordinate System
Origin O with positive upward.

Maximum Height
We have:
t = 0 vA = +75m/s, s = sB  vB = 0, aC = -9.81m/s2

v = v + 2aC ( sB − s A ) ⇒ sB = 327 m
2
B
2
A

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Example 12.3

Solution
Velocity
The negative root was chosen since the rocket is
moving downward.
vC2 = vB2 + 2aC ( sC − s B )
vC = −80.1 m / s = 80.1 m / s ↓

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Example 12.4

A metallic particle travels downward through a fluid

that extends from plate A and plate B under the
influence of magnetic field. If particle is released
from rest at midpoint C, s = 100 mm, and
acceleration, a = (4s) m/s2, where s in meters,
determine velocity when it reaches plate B and time
need to travel from C to B.

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Example 12.4

Solution
Coordinate System
s is taken positive downward from plate A.

Velocity
Since a = f(s), we have v = 0 at s = 100mm = 0.1m

( ) (+ ↓)
1
v s 1 2v 4 2S
v dv = a ds ⇒ ∫ v dv = ∫ 4s ds ⇒ v = s ⇒ v = 2 s − 0.01 2
2
0 0.1 2 0 2 0.1

At s = 200mm = 0.2m, vB = 0.346 m / s = 346 mm / s ↓

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Example 12.4

Solution
Time ds = v dt
(
= 2 s − 0.01
2
)
0.5
dt
s ds t
∫ (s
0.1 2
− 0.01 )
0.5
= ∫ 2 dt
0

(
ln s − 0.01 + s
2
) = 2t
s

0.1
t

ln ( s 2
− 0.01 + s )+ 2.33 = 2t ( + ↓)

At s = 200mm = 0.2m, t = 0.658s

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Example 12.5

A particle moves along a horizontal path with

velocity given as v = (3t2 – 6t) m/s. If it is initially
located at the origin O, determine the distance
traveled in 3.5s and the particle’s average velocity
and speed during the time interval.

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Example 12.5

Solution
Coordinate System
Assuming positive motion to the right from O

Distance traveled
Since v = f(t), the position as a function of time is
(
ds = vdt = 3t 2 − 6t dt )
∫ ds = 3∫ t dt − 6∫ tdt ⇒ s = (t )
s t t  + 
2 3
− 3t m
2  →
 
0 0 0

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Example 12.5

Solution
Distance traveled
For 0 ≤ t < 2 s  -ve velocity, particle move to left.
For t > 2s  +ve velocity, particle move to right.
Thus,
s =0 s = −4.0m s = 6.125m
t =0 t =2 s t =3.5 s

The distance traveled in 3.5s is

sT = 4.0 + 4.0 + 6.125 = 14.125m

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Example 12.5

Solution
Velocity
From t = 0 to 3.5s, ∆s = 6.125 – 0 = 6.125m
And so the average velocity is
∆s 6.125
vavg = = = 1.75m / s →
∆t 3.5 − 0

Average speed is (v )
sp avg =
sT 14.125
= = 4.04m / s
∆t 3.5 − 0

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