STUDY GUIDE

MEC02- DYNAMICS OF RIGID BODIES

MODULE 2
KINEMATICS OF PARTICLES: RECTILINEAR MOTION OF PARTICLES

INTRODUCTION
Kinematics is the branch of dynamics which describes the motion of
bodies without reference to the forces which either cause the motion
or are generated as a result of the motion. Kinematics is often
described as the “geometry of motion.” Some engineering applications
of kinematics include the design of cams, gears, linkages, and other
machine elements to control or produce certain desired motions, and
the calculation of flight trajectories for aircraft, rockets, and
spacecraft. A thorough working knowledge of kinematics is a
prerequisite to kinetics, which is the study of the relationships
between motion and the corresponding forces which cause or accompany
the motion.

LEARNING OBJECTIVES
At the end of the module, the students should be able to:
1. Understand the position, velocity and acceleration of a particle.
2. Determine the motion of particles
3. Perform calculation of uniform and uniformly accelerated
rectilinear motion (one dimension)
4. Perform calculation of motion of several particles
5. Use the graphical solution of calculating the motion of
particles.

LEARNING ACTIVITY 2.1

For this Module; Introduction to Dynamics by Beer et al, pages 603 - 605
– 8, the author described the position, velocity and acceleration of a
particle with graphical representation.

2.1 POSITION, VELOCITY, AND ACCELERATION OF APARTICLE

A particle moving along a straight line is said to be in rectilinear
motion. At any given instant t, the particle will occupy a certain
position on the straight line. To define the position P of the particle,
we choose a fixed origin O on the straight line and a positive direction
along the line. We measure the distance x from O to P and record it with a
plus or minus sign, according to whether P is reached from O by moving
along the line in the positive or the negative direction. The distance x,
with the appropriate sign, completely defines the position of the
particle; it is called the position coordinate of the particle considered.
For example, the position coordinate corresponding to P in the figure is x
= +5m; the coordinate corresponding to P’ is x’ = -2m.

Fig 2.1
When the position coordinate x of a particle is known for every value of
time t, we say that the motion of the particle is known. The “timetable”
of the motion can be given in the form of an equation in x and t, such as
x = 6t2 – t3, or in the form of an a graph of x versus t as shown in the
Fig. 2.2 the units most often used to measure the position coordinate x
are the meters (m) and millimetres (mm) in SI system of units. Time t is
usually measured in seconds (s)

Fig 2.2

Consider the position P occupied by the particle at time t and the

corresponding coordinate x in the Figure 2.3. Consider also the position
P’occupied by the particle at a later time t + ∆t; the position coordinate
of P’ can obtained by adding to the coordinate x of P the small
displacement ∆x, which will be positive or negative according to whether
P’ is to the right or to the left of P. the average velocity of the
particle over the time interval ∆t is defined as the quotient of the
displacement ∆x and the time interval ∆t:

∆𝑥
Average velocity =
∆𝑡

When SI units are used, ∆x is expressed in meters and ∆t in seconds; the

average velocity will thus be expressed in meters per seconds (m/s)

Fig 2.3

The instantaneous velocity of the particle at the instant t is obtained

from the average velocity by choosing shorter and shorter time interval ∆t
and displacement ∆x:

∆𝑥
Instantaneous velocity = lim∆𝑡⟶0 ∆𝑡

The instantaneous velocity will also be expressed in m/s. observing that

the limit of the quotient is equal, by defintion, the derivative of x with
respect to t;

𝑑𝑥
𝑣= (2.1)
𝑑𝑡

the velocity v is represented by an algebraic number which be positive or

negative. A positive value of v indicates that x increases, such that the
particle moves in the positive direction; a negative value of v indicates
that x decreases, such that the particle moves in the negative direction.
The magnitude of v is known as the speed of the particle.
 Fig 2.4

consider the velocity v of the particle at time t and also its velocity v
+ ∆v at a later time t + ∆t. the average acceleration of the particle over
the time interval ∆t is defined as the quotient of ∆v and ∆t;

∆𝑣
average acceleration = ∆𝑡

When SI units are used, ∆v is expressed in m/s and ∆t in seconds; the

average acceleration will thus be expressed in (m/s2)

Fig 2.5

The instantaneous acceleration a of the particle at the instant t is

obtained from the average acceleration by choosing smaller and smaller
values for ∆t and ∆v;

∆𝑣
Instantaneous acceleration = a = lim∆𝑡⟶0 ∆𝑡

The instantaneous acceleration will also be expressed in m/s2. The limit

of the quotient, which is by definition the derivative of v with respect
to t, measures the rate of change of the velocity.

𝑑𝑣
a = 𝑑𝑡
(2.2)

𝑑𝑥
or substituting for v of v = 𝑑𝑡

𝑑2 𝑥
a = (2.3)
𝑑𝑡 2

The acceleration a is represented by an algebraic number which can be

positive or negative. A positive value of a indicates that the velocity
increases. This may mean that the particle is moving faster in the
positive direction (Fig. 11.5a) or that it is moving more slowly in the
negative direction (Fig.11.5b); in both cases ∆v is positive. A negative
value of a indicates that the velocity decreases; either the particle is
moving more slowly in the positive direction (Fig. 11.5c) or it is moving
faster in the negative direction (fig. 11.5d).
 Fig 2.6
The term deceleration is sometimes used to refer to a when the speed of
the particle decreases; the particle is then moving more slowly. Another
expression for the acceleration can be obtain by eliminating the
differential dt.

𝑑𝑣
𝑎 = 𝑣 𝑑𝑥 (2.4)

From the above concepts and principles, study the following examples.

SAMPLE PROLEM 2.1

Consider a particle moving in a straight line, and assume that its
position is defined by the equation
𝑥 = 6𝑡 2 − 𝑡 3
Turn your attention to page 607 – 608 of the same textbook and read
thoroughly…

2.2 DETERMINATION OF THE MOTION OF A PARTICLE

Let us consider the common classes of motion:

1. 𝑎 = 𝑓(𝑡). The acceleration is given function of 𝑡. Solving

𝑑𝑣
𝑎=
𝑑𝑡
𝑑𝑣 = 𝑎 𝑑𝑡
𝑑𝑣 = 𝑓(𝑡)𝑑𝑡

∫ 𝑑𝑣 = ∫ 𝑓 (𝑡)𝑑𝑡

In order to uniquely define the motion of the particle, it is

necessary to specify the initial conditions of the motion, i.e.,
the value 𝑣0 of the velocity and the value 𝑥0 of the position
coordinate at 𝑡 =0. Replacing the indefinite integrals by definite
integrals with lower limits corresponding to the initial conditions
𝑡 =0 and 𝑣 = 𝑣0 and upper limits corresponding to 𝑡 = 𝑡 and 𝑣 = 𝑣, we
write
𝑣 𝑡
∫ 𝑑𝑣 = ∫ 𝑓(𝑡)𝑑𝑡
𝑣0 0

𝑡
𝑣 − 𝑣0 = ∫ 𝑓𝑡) 𝑑𝑡
0

Which yields 𝑣 in terms of 𝑡.

Equation
 𝑑𝑥
𝑣=
𝑑𝑡
Can now be solve for 𝑑𝑥

𝑑𝑥 = 𝑣 𝑑𝑡

and the expression just obtained substituted for 𝑣. Both members are
then integrated, the left-hand member with respect to 𝑥 = 𝑥0 to 𝑥 = 𝑥,
and the right-hand member with respect to 𝑡 = 0 to 𝑡 = 𝑡. The position
coordinate 𝑥 is thus obtain in terms of 𝑡; the motion is completely
determined.

2. 𝑎 = 𝑓(𝑥). The acceleration is a given function of 𝑥. Rearranging

𝑑𝑣
𝑎=𝑣
𝑑𝑥

𝑣 𝑑𝑣 = 𝑎 𝑑𝑥
𝑣 𝑑𝑣 = 𝑓(𝑥)𝑑𝑥

Since each member contains only one variable, integrating the

equation and denoting again by 𝑣0 and 𝑥0 , respectively. The initial
values of the velocity and of the position coordinate, we obtain
𝑣 𝑥
∫ 𝑣 𝑑𝑣 = ∫ 𝑓(𝑥)𝑑𝑥
𝑣0 𝑥0

𝑥
1 2 1 2
𝑣 − 𝑣0 = ∫ 𝑓(𝑥)𝑑𝑥
2 2 𝑥0
Which yields 𝑣 in terms of 𝑥.

Now solve equation

𝑑𝑥
𝑣=
𝑑𝑡
𝑑𝑥
𝑑𝑡 =
𝑣

and substitute for 𝑣 the expression just obtained. Both members can
then be integrated to obtain the desired relation between 𝑥 and 𝑡.

3. 𝑎 = 𝑓(𝑣). The Acceleration is a given function of 𝑣.we can now

substitute 𝑓(𝑣) for 𝑎 in either of the following:
𝑑𝑣
𝑎 = 𝑑𝑡

𝑑𝑣 𝑑𝑣
thus 𝑓(𝑣) = 𝑑𝑡
𝑓(𝑣) = 𝑣 𝑑𝑥

𝑑𝑣
or 𝑎 = 𝑣 𝑑𝑥

𝑑𝑣 𝑣𝑑𝑣
thus 𝑑𝑡 = 𝑓(𝑣) 𝑑𝑥 = 𝑓(𝑣)

Integration of the first equation will yield a relation

between 𝑣 and 𝑡; integration of the secont equation wil yield
a relation between 𝑣 and 𝑥.
Now consider and study the following sample problems.

SAMPLE PROBLEM 2.2

The position of a particle which is moves along a straight lin is defined
by the relation 𝑥 = 𝑡 3 − 6𝑡 2 − 15𝑡 + 40, where 𝑥 is expressed in feet 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 the at time, (c)
the acceleration of the particle at that time, (d) the distance traveled
by the particle from 𝑡 = 4𝑠 to 𝑡 = 6𝑠.

SOLUTION:

SAMPLE PROBLEM 2.3

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 9.81m/s2 downward,
determine (a) the velocity 𝑣 and elevation 𝑦 of the ball above the
fround 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.

SOLUTION:

SAMPLE PROBLEM 2.4

The brake mechanism used to reduce recoil in certain types of guns
consists essentially of a piston attached to the barrel and moving in a
fixed cylinder filled with oil. As the barrel recoils with an initial
velocity 𝑣0 , the piston moves and oil is forced through orifices in the
piston, causing the piston and the barrel to decelerate at a rate
proportional to their velocity; that is, 𝑎 = −𝑘𝑣. Express (a) 𝑣 in terms
of 𝑡, (b) 𝑥 in terms of 𝑡, (c) 𝑣 in terms of 𝑥. Draw the corresponding
motion curves.
SOLUTION:

SOLVING PROBLEMS ON YOUR OWN:

EXERCISES NO. 2.1
Answer the following problems in the prescribed template format.

1. The motion of the particle is defined by the relation a = 4t, where a

is in m/s2 and t is in seconds. It is know S = 1m, and V = 2m/s when
t = 1 second.
a. Determine the velocity when t = 1 sec
b. Determine the distance when t = 1 sec
c. Determine the relation between V and S.

𝑡3
2. The motion of the particle is given by the equation S = 2t4 - 6
+ 2t2
where S is in meter and t is in seconds. Compute;
a. Distance when t = 2 sec
b. Velocity when t = 2 sec
 c. Acceleration when t = 2 sec

3. The position of a particle which moves along a straight line is

defined by the relation x = t3 – 6t2 -15t + 40, where x 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 = 4s to t =
6s.

4. The motion of a particle is defined by the relation x = 4t4 – 6t3 + 2t

-1, where x and t are expressed in meters and seconds, respectively.
Determine the position, the velocity, and the acceleration of the
particle when t = 2s.

5. The acceleration of a particle is defined by the relation a = A –

6t2, where A is a constant. At t = 0, the particle starts at x = 8m
with v =0. Knowing that at t= 1s, v = 30m/s, determine (a) the times
at which the velocity is zero, (b) the total distance traveled by the
particle when t = 5s.

6. The motion of a particle is defined by the relation;

x = t2 – (t – 3)3 where x and t are expressed in meters and seconds,
respectively. Determine (a) when the acceleration is zero, (b) the
position and velocity of the particle at that time. (Answers: (a) t
= 3.33s, (b) 11.07m, V = 6.33m/s)

7. Based on observation, the jogger can be approximated by the relation

v = 12(1 – 0.025x)0.3, where v and x are expressed in km/h and
kilometers, respectively. Knowing that x = 0 at t = 0, determine (a)
the distance the jogger has run when t = 1h, (b) the jogger’s
acceleration in m/s2 at t = 0, (c) the time required for the jogger
to run 6km.

8. Parachute jumpers land with an average vertical velocity of 5m/s.

With what height of ordinary jump does this compare?

9. A workman drops a wrench from the roof of a tall building 90m above
the street and at the same instant shouts a warning to men below. If
sound travels 342m/s, how long after the warning is heard below does
the wrench strike?

10. A stone is dropped in still air from the deck of high bridge. The
sound of splash reaches the deck 3s later. If sound travels 342m/s in
still air, how high is the deck above the water?

11. A ball is thrown vertically upward with an initial velocity of 3m/s

from the window of a tall building. The ball strikes the sidewalk at
the ground level 4s later. Determine the velocity with which the ball
hits the ground. Determine the height of the window above the ground
level.

12. The stone is thrown vertically upward from the ground with a
velocity of 15m/s. one second later another stone is thrown
vertically upward with a velocity of 30m/s. how far above the ground
will the stone be at the same level?

13. A ball is dropped down a well and 5s later the sound of the splash
is heard. If the velocity of the sound is 330m/s, what is the depth
of the well?

14. The uniform rate of 4 drops per second, waters is dripping from a
faucet. Assuming acceleration of each drop to be 9.81m/s2 and no air
 resistance, find the distance between two successive drops in mm if
the upper drop has been in motion for 3/8 seconds. (Note: time
interval between the first drop and the second drop is ¼ second)

15. A stone is thrown vertically upward from the ground with a velocity
of 90m/s. how long must one wait before dropping a second stone from
the tip of a tower 180m high if the two stones are to pass each other
60m from the top of the tower?

16. The rocket fired vertically burns it fuel for 20s. At burnout
(instant at which the rocket runs out of fuel) the rocket has an
upward velocity of 700km/h and has reached an altitude of 6.4km.
Determine the maximum altitude reached by the rocket and the total
time of free flight (burnout to ground). Neglect air resistance.

LEARNING ACTIVILTY 2.2

Now, pay attention to the next topics. Read pages 616- 619 of the
textbook. Study and try to follow the derivation and be familiar with
those formulas.

2.3 UNIFORM/UNIFORMLY ACCELERATED RECTINLINEAR MOTION.

Uniform rectilinear motion is a type of straight-line motion which
is frequently encountered in practical applications. In this motion,
the acceleration 𝑎 of the particle is zero for every value of 𝑡. The
velocity 𝑣 is therefore constant, and Equation (2.1) becomes

𝑑𝑥
= 𝑣 = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡
𝑑𝑡

The position coordinate 𝑥 is obtained by integrating this equation.

Denoting by 𝑥0 the initial value of 𝑥, …
𝑥 𝑡
∫ 𝑑𝑥 = 𝑣 ∫ 𝑑𝑡
𝑥0 0

𝑥 − 𝑥0 = 𝑣𝑡

𝑥 = 𝑥0 + 𝑣𝑡 (2.5)

This equation cqn be used only if the velocity ov th partcile

is known to be constant.

Uniformly accelerated rectilinear motion is another common type

of motion. In this motion, the acceleration 𝑎 of a particle is
constant, and Equation (2.2) becomes…

𝑑𝑣
= 𝑎 = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡
𝑑𝑡

The velocity 𝑣 of the particle is obtained by integrating this

equation:
𝑣 𝑡
∫ 𝑑𝑣 = 𝑎 ∫ 𝑑𝑡
𝑣0 0

𝑣 − 𝑣0 = 𝑎𝑡

𝑣 = 𝑣0 + 𝑎𝑡 (2.6)
 Where 𝑣0 is the initial velocity. Substituting for 𝑣 in equation
(2.1), we write…

𝑑𝑥
= 𝑣0 + 𝑎𝑡
𝑑𝑡

Denotinh by 𝑥0 the initial value of 𝑥 and integrating, we have

𝑥 𝑡
∫ 𝑑𝑥 = ∫ (𝑣0 + 𝑎𝑡)𝑑𝑡
𝑥0 0

1 2
𝑥 − 𝑥0 = 𝑣0 𝑡 + 𝑎𝑡
2
1
𝑥 = 𝑥0 + 𝑣0 𝑡 + 2
𝑎𝑡 2 (2.7)

We can also use Eq (2.4) and write

𝑑𝑣
𝑣 = 𝑎 = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡
𝑑𝑥

𝑣 𝑑𝑣 = 𝑎 𝑑𝑥

Integrating both sides, we obtain

𝑣 𝑥
∫ 𝑣 𝑑𝑣 = 𝑎 ∫ 𝑑𝑥
𝑣0 𝑥0

1 2
(𝑣 − 𝑣02 ) = 𝑎(𝑥 − 𝑥0 )
2

𝑣 2 = 𝑣02 + 2𝑎(𝑥 − 𝑥0 ) (2.8)

The three equations provide useful relations among position

coordinate, velocity, and time in the case of a uniformly
accelerated motion, as soon as appropriate values have been
substituted for 𝑎, 𝑣0 , and 𝑥0 . The origin 𝑂 of the 𝑥 axis should
first be defined and a positive direction chosen along the axis;
this direction will be used to determined the signs of 𝑎, 𝑣0 , and 𝑥0 .
Equation (2.6) relates 𝑣 and 𝑡 and should be used when the value of 𝑣
corresponding to a given valud of 𝑡 is desired, or inversely.
Equation (2.7) relates 𝑥 and 𝑡; Equation (2.8) relates 𝑣 and 𝑥. An
impostant application of uniformly accelerated motion is the motion
of a freely falling body. The acceleraation of a freely falling body
is usually denoted by 𝑔 = 9.81𝑚/𝑠 2 or 𝑔 = 32.2 𝑓𝑡/𝑠 2 .
It is important to keep in mind that the three equations can be used
only when the acceleration of the particle is known to be constant.

2.4 MOTION OF SEVERAL PARTICLES

When several particles move independently along the same line
independent equations of motion can be written for each particle.
Whenever possible, time should be recorded from the same initial
instant for all particles, and displacements should be measured from
the same origin and in the same direction. In other words, a single
clock and a single measureing tape should be used.

RELATIVE MOTION OF TWO PARTICLES. Consider two particles A and B

moving along the same straight line (shown in the Figure 2.7). If
the position coordinated 𝑥𝐴 and 𝑥𝐵 are measured from the same origin,
the difference 𝑥𝐵 − 𝑥𝐴 defines the relative position coordinate of B
with repect to A and is denoted by 𝑥𝐵/𝐴 .we write

Fig.2.7

𝑥𝐵/𝐴 = 𝑥𝐵 − 𝑥𝐴 or 𝑥𝐵 = 𝑥𝐴 + 𝑥𝐵/𝐴 (2.9)

Regardless of the positions of A and B with respect to the origin, a

positive sign for 𝑥𝐵/𝐴 means that B is to the right of A, and a
negative sign menas that B is to the left of A.

The rateof change of 𝑥𝐵/𝐴 is known as the relative velocity of

B with respect to A and is denoted by 𝑣𝐵/𝐴 ,. We write

𝑣𝐵/𝐴 = 𝑣𝐵 − 𝑣𝐴 or 𝑣𝐵 = 𝑣𝐴 + 𝑣𝐵/𝐴 (2.10)

A positive sign for 𝑣𝐵/𝐴 means that B is observed from A to move in

the positive direction; a negative sign means that it is observed to
move in the negative direction.

The rate of change of 𝑣𝐵/𝐴 as the the relative acceleration of B with

respect to A and is denoted by 𝑎𝐵/𝐴 . Differenting (2.10)we obtain

𝑎𝐵/𝐴 = 𝑎𝐵 − 𝑣𝑎𝐴 or 𝑎𝐵 = 𝑎𝐴 + 𝑎𝐵/𝐴 (2.11)

RELATIVE MOTIONS. Sometimes, the position of a particle will depend

upon the position of another particle or of several other particles.
The motions are then said to be dependent. For example, the position
of block B in Fig. 2.8 depends upon the position of block A.

Since the rope ACDEFG is of constant length,

and since the lengths of the portions of rope
CD and EF wrapped around the pulleys remain
constant, it follows that the sum of the
lengths of the segments AC, DE, and FG is
constant. Observing that the length of the
segment AD differs from 𝑥𝐴 only by a constant
and that, similarly, the lengths of the
segments DE and FG differ from 𝑥𝐵 only by a
constant, we write

𝑥𝐴 + 2𝑥𝐵 = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡

Fig. 2.8
Since only of the two coordinates 𝑥𝐴 and 𝑥𝐵 can be chosen
arbitrarily. We say that the system shoen in Fig. 2.9 has one degree
of freedom. From the relation between the position coordinates 𝑥𝐴 and
𝑥𝐵 , it follows that if 𝑥𝐴 is given an increment ∆𝑥𝐴 , that is, if block
A is lowered by an amount ∆𝑥𝐴 , the coordinate 𝑥𝐵 will receive an
1
increment ∆𝑥𝐵 = − 2 ∆𝑥𝐴 . In other words, block B will rise by half the
same amount; this can easily be checked directly form Fig. 2.9
 In the case of three blocks, observe that
the length of the rope which passes over
the pulleys is constant, and thus the
following relation must be satisfied by
the position coordinates of the three
blocks:

2𝑥𝐴 + 2𝑥𝐵 + 𝑥𝐶 = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡

Since two of the coordinates can be
chosen arbitrarily, we say that the
system shown in fig. 2.17 has two degrees
of freedom.

When the relation existing between the

Fig. 2.9 position coordinates of several particles
Is linear, a similar relation holds between the velocities and between
the accelerations of the particles. In the case of the blocks of Fig.
2.9, for instance, we differentiate twice the equation obtained and write

𝑑𝑥𝐴 𝑑𝑥𝐵 𝑑𝑥𝐶

2 +2 + =0 or 2𝑣𝐴 + 2𝑣𝐵 + 𝑣𝐶 = 0
𝑑𝑡 𝑑𝑡 𝑑𝑡

𝑑𝑣𝐴 𝑑𝑣𝐵 𝑑𝑣𝐶

2 +2 + =0 or 2𝑎𝐴 + 2𝑎𝐵 + 𝑣𝐶 = 0
𝑑𝑡 𝑑𝑡 𝑑𝑡

SAMPLE PROBLEM 2.5

A ball is thrown vertically upward from the 12-m level in an elevator
shaft with an initial velocity of 18 m/s. At the same instant an open-
platform elevator passes the 5-m level, moving upward with a constant
velocity of 2 m/s. Determine (a) when and where the ball will hit the
elevator, (b) the relative velocity of the ball with respect to the
elevator when the ball hits the elevator.

SOLUTION:
SAMPLE PROBLEM 2.5
Collar A and block B are connected by a cable
passing over three pulleys C, D, and E as
shown. Pulleys C and E are fixed, while D is
attached to a collar which is pulled downward
with a constant velocity of 3 in./s. At t 5 0,
collar A starts moving downward from position K
with a constant acceleration and no initial
velocity. Knowing that the velocity of collar A
is 12 in./s as it passes through point L,
determine the change in elevation, the
velocity, and the acceleration of block B when
collar A passes through L.

SOLUTION

SOLVING PROBLEMS ON YOUR OWN:

EXERCISES NO. 2.2

1. A car being tested passes point A with an initial velocity of

48km/hr, and reaches point B, 233 meters distant in 10 seconds. (a)
 what must be its constant acceleration? (b) what is the final
velocity?

2. Car A is moving at 6m/s and accelerating at 1.5m/s2 to overtake car B

which is 115.2 m ahead. If car B is moving at 18m/s and decelerating
at the rate odf 0.9m/s2. How soon will A pass B?

3. In a 25 storey office building, the elevator starting from rest at

the first floor is accelerated at 0.8m/s2 for 5seconds, then
continues at constant velocity for 10seconds more and is stopped in
3seconds with constant deceleration. If floor are 4meter apart, at
what floor does the elevator stop?

4. A truck travels from point M northward for 30minutes, then eastward

for 1 hour then shifted N30°W. if the constant speed is 40kph, how far
directly from M in km will it be after 2 hours?

5. Automobile A starts from O and accelerates at the constant rate of

0.75m/s2. A short time later it is passed by bus B which is traveling
in the opposite direction at a constant speed of 6m/s. knowing that
bus B passes point O 20 seconds after automobile A started from there,
determine when and where the vehicles passed each other.

6. Automobiles A and B are traveling in adjacent highway lanes and at t =

0 have the positions and speeds shown. Knowing that automobile A has a
constant acceleration of 0.6m/s2 and that B has a constant
deceleration of 0.4m/s2, determine (a) when and where A overtake B,
(b) the speed of each automobile at that time.

7.
In the pulley configuration shown,
cylinder A has a downward velocity of 0.3
m /s. Determine the velocity of B. Solve
in two ways.
8.
At a certain instant, the velocity
of cylinder B is 1.2 m /s down and
its acceleration is 2 m/s2 up.
Determine the corresponding velocity
and acceleration of block A.

9. The elevator shown in the figure moves downward with a constant

velocity of 15 ft/s. Determine (a) the velocity of the cable C, (b)
the velocity of the counterweight W, (c) the relative velocity of the
cable C with respect to the elevator, (d) the relative velocity of the
counterweight W with respect to the elevator.

10. Car A is parked along the northbound lane of a highway, and car B is
traveling in the southbound lane at a constant speed of 60 mi/h. At t
= 0, A starts and accelerates at a constant rate aA, while at t = 5 s,
B begins to slow down with a constant deceleration of magnitude aA/6.
Knowing that when the cars pass each other x = 294 ft and vA = vB,
determine (a) the acceleration aA, (b) when the vehicles pass each
other, (c) the distance d between the vehicles at t = 0.

11. Determine the speed of block A in the figure shown if block B has an
upward speed of 6ft/s.
12. Determine the speed of block A in the figure shown if block B has an
upward speed of 6ft/s.

13. Determine the speed with which block B rises in the figure shown if
the end of the cord at A is pulled down with a speed of 2m/s.

14. A man at A hoisting a safe S as shown in the figure by walking to

the right with a constant velocity vA = 0.5m/s. Determine the velocity
and acceleration of the safe when it reaches the window elevation at
E. the rope is 30m long and passes over a small pulley at D.

15. If block A is moving downward at 6ft/s while block C is moving at

18ft/s, determine the relative velocity of block B with respect to C.
 16. Collar A and block B are connected by a cable passing over three
pulley C, D, and E as shown. Pulley C and E are fixed, while D is
attached to a collar which is pulled downward with a constant velocity
of 75mm/s. At t = 0, collar A starts moving downward from position K
with a constant acceleration and no initial velocity. Knowing that the
velocity of collar A is 300mm/s as it passes through point l,
determine the change in elevation, the velocity, and the acceleration
of block B when collar A passes through L.

17. In the position shown, collar B moves to the left with a constant
velocity of 300mm/s. Determine (a) the velocity of collar A, (b) the
velocity of portion C of the cable, (c) the relative velocity of
portion C of the cable with respect to collar B.

LEARNING ACTIVITY 2.3

Now, pay attention to the next topics. Read pages 630-- 631 of the
textbook. Study and try to follow the explaination of how graph can be
another method of solving rectilinear motion problems.
2.5 GRAPHICAL SOLUTION OF RECTILINEAR-MOTION PROBLEMS
The following formulas have a geometrical significance.

𝑑𝑥 𝑑𝑣
𝑣= and 𝑎=
𝑑𝑡 𝑑𝑡

The first formula expresses that the velocity at any instant is equal
to the slope of the 𝑥 − 𝑡 curve at the same instant (Fig. 2.10). the
second formula expresses that the acceleration is equal of the slope
of the 𝑣 − 𝑡 curve. These two properties can be used to determine
graphically the 𝑣 − 𝑡 and 𝑎 − 𝑡 curves of a motion when the 𝑥 − 𝑡 curve
is known.
Integrating the above formulas;

𝑡 𝑡
𝑥2 − 𝑥1 = ∫𝑡 2 𝑣 𝑑𝑡 and 𝑣2 − 𝑣1 = ∫𝑡 2 𝑎 𝑑𝑡 (2.12)
1 1

Fig 2.10
The first formula expresses that the area measured under the 𝑣 − 𝑡
f
curve form 𝑡1 to 𝑡2 is equal to the change in 𝑥 during the time
interval (Figure 2. 11).

Similarly, the second formula expresses that

the area measured under the 𝑎 − 𝑡 curve from 𝑡1
to 𝑡2 is equal to the change in 𝑣 during the
time interval. These two properties can be
used to determine graphically the 𝑥 − 𝑡 curve
motion when its 𝑣 − 𝑡 curve or its 𝑎 − 𝑡 curve
is known.
fig
Graphic solutions are particularly useful
when the motion considered is defined from
experimental data and when 𝑥, 𝑣, and 𝑎 are not
analytical functions of 𝑡. They can also be
used to advantage when the motion consists of
distinct parts and when its analysis requires
writing a different equation for each of its
parts. When using a graphical solution,
however, one should be careful to note that
(1) the area under the 𝑣 − 𝑡 curve measures the
change in 𝑥, not 𝑥 itself, and similarly, that
the area under tha 𝑎 − 𝑡 curve measures the
change in 𝑣 (2) an area above the 𝑡 axis
corresponds to an increase in 𝑥 or 𝑣, while an
Fig 2.11 area located below the 𝑡axis mesures a
decrease in 𝑥 or 𝑣.
f
It will be useful to remember in drawing motion curves that if the
velocity is constant, it will be represented by a horizontal straight
line; the position coordinate 𝑥 will then be a linear function of 𝑡and
will be represented by an oblique straight line. If the acceleration is
constant and different from zero, it will be represented by a horizontal
straight line; 𝑣 will then be a linear function of 𝑡, represented by an
oblique straight line, and 𝑥 will be expressed as a secnd-degree
polynomial in 𝑡, represented by a parabola. If the acceleration is a
linear function of 𝑡, the velocity and the position coordinate will be
equal, respectively, to second-degree and third-degree polynomials; 𝑎
will then be represented by an oblique straight line, 𝑣 by a parabola,
and 𝑥 by a cubic. In general, if the acceleration is a polynomial of
degree 𝑛 in 𝑡, the velocity will be a polynomial of degree 𝑛 + 1 and the
position coordinate a polynomial of degree 𝑛 + 2 these polynomials are
represented by motion curves of a corresponding degree.

2.6 OTHER GRAPHICAL METHODS

The relation among acceleration, velocity and displacement are

generally expressed in the form of algebraic equations, from the
solution of which desired results are then obtained. Corresponding
results may be obtained by means of so-called motion diagrams,
constructed in accordance with the two laws.
First law of motion diagrams:

Fig 2.12 Slopes of Curves Fig 2.13 Lines having Different

slopes or Changes in Slopes
f
f
 Table 2.1 Areas under Curves

Fig 2.14 Construction of Motion Diagrams

f
SAMPLE PROBLEM 2.6
A subway car leaves station A; it gains
speed at the rate of 4 ft/s2 for 6 s and
then at the rate of 6 ft/s2 until it has
reached the speed of 48 ft/s. The car
maintains the same speed until it approaches
station B; brakes are then applied, giving
the car a constant deceleration and bringing
it to a stop in 6 s. The total running time
from A to B is 40 s. Draw the a−t, v−t, and
x−t curves, and determine the distance
SOLUTION between stations A and B.

SOLVING PROBLEMS ON YOUR OWN:

EXERCISES NO. 2.3

1. In a 25 storey office building, the elevator starting from rest at the

first floor is accelerated at 0.8m/s2 for 5seconds, then continues at
constant velocity for 10seconds more and is stopped in 3seconds with
constant deceleration. If floor are 4meter apart, at what floor does
the elevator stop? Use motion diagrams.
2. In Figure 14.9 is shwon the acceleration diagram of an automobile
which starts from rest and is given a uniformly increasing
acceleration reaching 2.4m/s2 in 6s. the brakes are then suddenly
applied, and the car is brought to a stop in 8s with a uniform
deceleration of -0.9m/s2. Complete the acceleration, velocity and
displacement diagrams, and compute the values of all pricipal
ordinates.

3. If the car in the preceeding problem has an initial velocity at A of

7.2m/s, how much longer than 8s is required to stop it with the given
deceleration, and what total distance is travelled between A and C?
answer: 8s longer; 173m

4. The diagram shown in Figure 14.10 indicates the acceleration given a

car during a time period of 29s. the car starts from rest at A snd
stops at D. Draw complete acceleration, velocity and displacement
diagrams. Conmpute and indicate the values of all principa ordinates.
Answers: VB = 9m/s; VC = 21.6m/s; SD = 310m

5. A switch engine accelerates 0.6m/s2 from rest until reaching a

velocity of 24km/hr, at which speed it continues until it is 168m from
its starting point. It is then brought to a stop in 5.5s with a
constant deceleration. Draw complete a, v , and s diagrams, and
determine the total time t elapsed and the distance s travelled.

6. An automobile can accelerate or decelerate at 9.8km/hr. if it starts

from rest, what is the shortest time that it can travel 1km if it is
to come to rest at the end of the kilometre run? Draw motion diagrams.
Answer: t = 40s

7. A particle moves in a straight line with the velocity shown in the

figure. Knowing that x = - 540m at t = 0, (a) construct the a-t curves
for 0 < t < 50s, and determine (b) the total distance traveled by the
particle when t = 50s, (c) the two times at which x = 0.

8. A particle moves in a straight line with the acceleration shown in the

figure. Knowing that it starts from the origin with v0 = 218 ft/s, (a)
plot the v–t and x–t curves for 0 < t < 20 s, (b) determine its
velocity, its position, and the total distance traveled when t = 12 s.
 9. For the particle and motion of Problem 8, plot the v–t and x–t curves
for 0 < t < 20 s and determine (a) the maximum value of the velocity
of the particle, (b) the maximum value of its position coordinate.

10. A car and a truck are both traveling at the constant speed of 35
mi/h; the car is 40 ft behind the truck. The driver of the car wants
to pass the truck, i.e., he wishes to place his car at B, 40 ft in
front of the truck, and then resume the speed of 35 mi/h. The maximum
acceleration of the car is 5 ft/s2 and the maximum deceleration
obtained by applying the brakes is 20 ft/s2 . What is the shortest
time in which the driver of the car can complete the passing operation
if he does not at any time exceed a speed of 50 mi/h? Draw the v–t
curve.

SUMMARY

POSITION COORDINATE OF A PARTICLE IN RECTILINEAR MOTION

Rectilinear motion of a particle is the motion of a particle along a
straight line. To define the position P of the particle on that line,
we chose a fixed origin O and a positive direction shown in the
figure. The distance 𝑥 from O to P, with the appropriate sign,
completely defines the position of the particle on the line and is
called the position coordinate of the particle.

VELOCITY AND ACCELERATION IN RECTILINEAR MOTION

The velocity 𝑣 of the particle was shown to be equal to time derivative
of the position coordinate 𝑥 .

𝑑𝑥
𝑣 = 𝑑𝑡 (2.1)
And the acceleration 𝑎 was obtained by differentiating with respect to
𝑡.

𝑑𝑣
𝑎= (2.2)
𝑑𝑡
Or

𝑑2 𝑥
𝑎= (2.3)
𝑑𝑡 2
It can also be expressed as;
𝑑𝑣
𝑎 = 𝑣 𝑑𝑡 (2.4)

DETERMINATION OF THE VELOCITY AND ACCELERATION BY INTEGRATION

In most problems, the conditions of motion of a particle are defined
by the type of acceleration that the particle possesses and by the
initial conditions. The velocity and position of the particle can then
be obtained by integrating two of the equations (2.1) to (2.4). Which
of these equations should be selected depends upon the type of
acceleration involved.

UNIFORM/UNIFORMLY ACCELERATED RECTILINEAR MOTION

Two types of motion are frequently encountered: the uniform recti- 683 linear motion [Sec. 11.4], in
which the velocity v of the particle is constant and

𝑥 = 𝑥0 + 𝑣𝑡 (2.5)

And the uniformly accelerated rectilinear motion, in which the

acceleration 𝑎 of the particle is constant;

𝑣 = 𝑣0 + 𝑎𝑡 (2.6)
𝑎𝑡 2
𝑥= 𝑥0 + 𝑣0 𝑡 + (2.7)
2

𝑣 2 = v02 + 2𝑎(𝑥 − 𝑥0 ) (2.8)

RELATIVE MOTION OF TWO PARTICLES

When two particles A and B move along the same straight line, we may
wish to consider the relative motion of B with respect to A.

Denoting 𝑥𝐵/𝐴 the relative position of B with respect to A is;

𝑥𝐵 = 𝑥𝐴 + 𝑥𝐵/𝐴 (2.9)

Differentiating Equation (2.9) twice with respect to 𝑡, we obtaine

successively;

𝑣𝐵 = 𝑣𝐴 + 𝑣𝐵/𝐴 (2.10)

𝑎𝐵 = 𝑎𝐴 + 𝑎𝐵/𝐴 (2.11)

Where 𝑣𝐵/𝐴 and 𝑎𝐵/𝐴 represent respectively, the relative velocity and
the relative acceleration of B with respect to A.

BLOCKS CONNECTED WITH INEXTENSIBLE CORDS

When several blocks are connected by inextensible cords, it is
possible to write a linear relation between their position
coordinates. Similar relations can then be written between their
velocities and between their accelerations and can be used to analyze
their motion
GRAPHICAL SOLUTIONS
It is sometimes convenient to use a graphical solution for problems
involving the rectilinear motion of a particle [Secs. 11.7 and 11.8].
The graphical solution most commonly used involves the x−t, v−t, and
a−t curves [Sec. 11.7; Sample Prob. 11.6]. It was shown that, at any
given time t,

𝑣 = slope of 𝑥 − 𝑡 curve
𝑎 = slope of 𝑣 − 𝑡 curve

while, over any given time interval from 𝑡1 to 𝑡2 ,

𝑣2 − 𝑣1 = area under 𝑎 − 𝑡 curve
𝑥2 − 𝑥1 = area under 𝑣 − 𝑡 curve

REFERENCES
Vector Mechanics for engineers: Dynamics, 8th Edition in SI Units by
Ferdinand P. Beer, E. Russel Johnston, Jr & William E. Calusen,McGraw
Hill 2007

Engineering Mechanics: Dynamics Vol 2, 8th Edition by J.L. Merian, L.G.

Kraige & J.N. Bolton, Wiley 2015

Engineering Mechanics: Dynamics 3rd/SI Edition by Andrew Pytel & Jaan

Kiusalaas, Cengage 2010

Engineering Mechanics Statics and Dynamics 8th/International Edition by

R.C. Hibbeler, Prentice Hall International, Inc., 1999

Applied Engineering Mechanics, Metrics Edition by Alfred Jensenm Harry

H. Chendweth & David N. Watkins, McGraw Hill Sedney, 1974