DYNAMICS

CHAPTER 1
KINEMATIC OF PARTICLE

DR MOHAMAD SHUKRI ZAKARIA

 An
AnOverview of Mechanics
Overview of Mechanics

Mechanics: The study of how bodies react to forces

acting on them.

Dynamics:
Statics: The study of bodies in
1. Kinematics – concerned with the
equilibrium.
geometric aspects of motion
2. Kinetics – concerned with the forces
causing the motion
 RECTILINEAR KINEMATICS: CONTINUOUS MOTION

A particle travels along a straight-line path defined

by the coordinate axis s.
The position of the particle at any instant, relative to
the origin, O, is defined by the position vector r, or
the scalar s. Scalar s can be positive or negative.
Typical units for r and s are meters (m) or feet (ft).

The displacement of the particle is defined as its

change in position.

Vector form: D r = r’ - r Scalar form: D s = s’ - s

The total distance traveled by the particle, sT, is a positive scalar that represents the
total length of the path over which the particle travels.
 VELOCITY

Velocity is the rate of change in the position. It is a vector quantity (it has both
magnitude and direction). The magnitude of the velocity is called speed, with units of
m/s or ft/s.

The average velocity of a particle during a time interval

Dt is
vavg = Dr / Dt
The instantaneous velocity is the time-derivative
of position. v = dr / dt

Speed is the magnitude of velocity:

v = ds / dt

Average speed is the total distance traveled divided by elapsed time: (vsp)avg = sT / Dt
 ACCELERATION

Acceleration is the rate of change in the velocity of a particle. It is a vector quantity.

Typical units are m/s2.

The instantaneous acceleration is the time

derivative of velocity.

Vector form: a = dv / dt

Scalar form: a = dv / dt = d2s / dt2

Acceleration can be positive (speed increasing) or

negative (speed decreasing).

As the text indicates, the derivative equations for velocity and acceleration can be
manipulated to get a ds = v dv
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

ò dv = ò a dt or ò v dv = ò a ds ò ds = ò 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.
CONSTANT ACCELERATION
 EXAMPLE 1.1

A bus starts from rest with a constant acceleration of 1m/s2 . Determine the
time required for it to attain a speed of 25 m/s and the distance traveled
[ans: 25s, 312.5 m]
 EXAMPLE 1.2

A particle travels along a straight line to the right with a velocity of v = ( 4 t – 3 t2 ) m/s
where t is in seconds. Also, s = 0 when t = 0. Find the position and acceleration of the
particle when t = 4 s.
 EXAMPLE 1.2
(continued)
Solution:
1) Take a derivative of the velocity to determine the acceleration.
a = dv / dt = d(4 t – 3 t2) / dt = 4 – 6 t
Þ a = – 20 m/s2 (or in the ¬ direction) when t = 4 s

2) Calculate the distance traveled in 4s by integrating the velocity using so = 0:

v = ds / dt Þ ds = v dt Þ
Þ s – so = 2 t2 – t3 s
Þ s – 0 = 2(4) – (4) Þ s = – 32 m ( or ¬)
2 3
 EXAMPLE 1.2

A particle is moving along a straight line such that its velocity is defined as
v = (-4s2) m/s, where s is in meters. Find the velocity and acceleration as
functions of time if s = 2 m when t = 0.
 EXAMPLE 1.2
Solution:
1) Since v = (- 4s2)

Determine the distance by integrating using s0 = 2.

Notice that s = 2 m when t = 0.

 EXAMPLE 1.2

2) Take a derivative of distance to calculate the velocity and acceleration.

Þ m/s
 ERRATIC MOTION

Erratic motion is a type of motion in which

the motion's parameter is not continuous.
These parameters are speed, acceleration etc.
In erratic motion the discontinuous function
show jumps or sharp bends. The real-life
example is a car being driven on a road.

Graphing provides a good way to handle

complex motions that would be difficult to
describe with formulas.

The approach builds on the facts that slope and differentiation are linked and that
integration can be thought of as finding the area under a curve.
 ERRATIC MOTION

There are 5 types of graphs usually given. And you will be asked to
find/construct other type of graphs or extract information that contain in the
graphs
S-T GRAPH
V-T GRAPH (1)
V-T GRAPH (2)
A-T GRAPH
A-S
A-SGRAPH
GRAPH

The area under the a-s curve represents

the change in velocity
(recall ò a ds = ò v dv ).

s2
½ (v1² – vo²) = ò a ds = area under the
s1
a-s graph
By doing this repeatedly, you can
create a plot of velocity versus
distance.
V-S GRAPH

By reading the velocity v at a point on the

curve and multiplying it by the slope of the
curve (dv/ds) at this same point, we can
obtain the acceleration at that point. Recall
the formula

a = v (dv/ds).

Thus, we can obtain an a-s plot from the v-s

curve.
 EXAMPLE 1.3
EXAMPLE (S-T Graph)
Given: The s-t graph for a sports car moving along a straight road.
Find: The v-t graph and a-t graph over the time interval shown.
 EXAMPLE 1.3
EXAMPLE (continued)
Solution:The v-t graph can be constructed by finding the slope of the s-t graph at key
points. What are those?

when 0 < t < 5 s; v0-5 = ds/dt = d(3t2)/dt = 6 t m/s

when 5 < t < 10 s; v5-10 = ds/dt = d(30t-75)/dt = 30 m/s

v(m/s)

30
t(s)
5 10
 EXAMPLE
EXAMPLE 1.3
(continued)
Similarly, the a-t graph can be constructed by finding the slope at various points
along the v-t graph. Using the results of the first part where the velocity was found:
when 0 < t < 5 s; a0-5 = dv/dt = d(6t)/dt = 6 m/s2

when 5 < t < 10 s; a5-10 = dv/dt = d(30)/dt = 0 m/s2

a(m/s2)

6
t(s)
5 10
 EXAMPLE 1.4
EXAMPLE (V-T Graph)

Given: The v-t graph shown.

Find: The a-t graph,

average speed, and
distance traveled for
the 0 - 50 s interval.
 EXAMPLE 1.4

Solution:
Find the a–t graph:
For 0 ≤ t ≤ 30 a = dv/dt = 0.4 m/s²

For 30 ≤ t ≤ 50 a = dv/dt = 0 m/s²

a-t graph
a(m/s²)

0.4

0 t(s)
30 50
 EXAMPLE 1.4

Now find the distance traveled:

Ds0-30 = ò v dt = ò 0.4 t dt = 0.4 (1/2) (30)2 = 180 m

Ds30-50 = ò v dt
= ò 12 dt = 12 (50 – 30)
= 240 m
v = 12
s0-90 = 180 + 240 = 420 m

vavg(0-90) = total distance / time

= 420 / 50
= 8.4 m/s
 EXAMPLE 1.5

The motion of a jet plane just after landing on a runway is described by the a–t
graph. Determine the time t when the jet plane stops. Construct the v–t and s–t
graphs for the motion. Here s = 0, and v = 150 m/s when t = 0.

-5

-10
 EXAMPLE 1.5 (Solution)

Solution
EXAMPLE 1.5 (Solution)
EXAMPLE 1.5 (Solution)
EXAMPLE 1.6
EXAMPLE 1.6
EXAMPLE 1.6
 EXAMPLE 1.7a

A bicycle travels along a straight road where its velocity is described

by the v-s graph. Construct the a-s graph for the same interval.
 EXAMPLE 1.7a

Solution:
 EXAMPLE 1.7b

The sports car travels along a straight road such that its acceleration is
described by the graph. Construct the v-s graph for the same interval and
specify the velocity of the car when s = 10 m and s = 15 m.
 EXAMPLE 1.7b

Solution:
 EXAMPLE 1.8

The velocity of a car is plotted as shown in Figure. Determine:

i) The total distance the car moves until it stops.
ii) Construct the a–t graph.
 EXERCISE 12.42

The snowmobile moves along a straight course according to the v–t graph.
Construct the s–t and a–t graphs for the same 50-s time interval.When t=0,
s=0.
 EXERCISE 12.49

The v–s graph for a go-cart traveling on a straight road is shown.

Determine the acceleration of the go-cart at s = 50 m and s = 150
m. Draw the a–s graph.
 MOTION OF A PROJECTILE

Projectile motion can be treated as two rectilinear motions, one in the horizontal
direction experiencing zero acceleration and the other in the vertical direction
experiencing constant acceleration (i.e., from gravity).

If the red ball falls from rest, whereas the

yellow ball is given a horizontal velocity.

WHAT IS YOUR OBSERVATION??

 KINEMATIC EQUATIONS

HORIZONTAL MOTION VERTICAL MOTION

Since ax = 0, the velocity in the Since the positive y-axis is directed upward,
horizontal direction remains constant ay = – g. Application of the constant
(vx = vox) and the position in the x acceleration equations yields:
direction can be determined by: vy = voy – g t
x = xo + (vox) t y = yo + (voy) t – ½ g t2
vy2 = voy2 – 2 g (y – yo)
EXAMPLE
Given: vA and θ
Find: Horizontal distance it travels and
vC .
 EXAMPLE
Given: vA and θ
Find: Horizontal distance it travels and
vC .

Solution: Using vAx = 10 cos 30 and vAy = 10 sin 30 Velocity components at C are;
vCx = 10 cos 30
We can write vx = 10 cos 30 = 8.66 m/s ®
vy = 10 sin 30 – (9.81) t
x = (10 cos 30) t vCy = 10 sin 30 – (9.81) (1.019)
y = (10 sin 30) t – ½ (9.81) t2 = -5 m/s = 5 m/s ¯

Since y = 0 at C
0 = (10 sin 30) t – ½ (9.81) t2 Þ t = 0, 1.019 s

Horizontal distance the ball travels is;

x = (10 cos 30) t
x = (10 cos 30) 1.019 = 8.83 m
 EXAMPLE

Given: Projectile is fired with vA=150 m/s at point A.

Find: The horizontal distance it travels (R) and the
time in the air.
 EXAMPLE
Solution:
1) Place the coordinate system at point A.
Then, write the equation for horizontal motion
+ ® xB = xA + vAx tAB
where xB = R, xA = 0, vAx = 150 (4/5) m/s

Range, R, will be R = 120 tAB

2) Now write a vertical motion equation. Use the distance equation.

+­ yB = yA + vAy tAB – 0.5 g tAB2
where yB = – 150, yA = 0, and vAy = 150(3/5) m/s
We get the following equation: –150 = 90 tAB + 0.5 (– 9.81) tAB2

Solving for tAB first, tAB = 19.89 s.

Then, R = 120 tAB = 120 (19.89) = 2387 m
EXAMPLE

Given: A skier leaves the ski jump

ramp at θA = 25o and hits the
slope at B.
Find: The skier’s initial speed vA.
 EXAMPLE

Solution:
Motion in x-direction:
Using xB = xA + vox(tAB) => (4/5)100 = 0 + vA (cos 25°) tAB

80 88.27
tAB= =
vA (cos 25°) vA

Motion in y-direction:
Using yB = yA + voy(tAB) – ½ g(tAB)2

88.27
– 64 = 0 + vA(sin 25°) { } – ½ (9.81) { 88.27}2
vA vA

vA = 19.42 m/s
 EXAMPLE

Given: The golf ball is struck with a

velocity of 24 m/s as shown.
y Find: Distance d to where it will land.

x
 EXAMPLE

Solution:
Motion in x-direction:
Using xB = xA + vox(tAB)
Þ d cos10 = 0 + 24 (cos 55) tAB y
tAB = 0.07154 d x

Motion in y-direction:
Using yB = yA + voy(tAB) – ½ g(tAB)2
Þ d sin10 = 0 + 24(sin 55)(0.07154 d) – ½ (9.81) (0.07154 d)2
Þ 0 = 1.2328 d – 0.025104 d2

d = 0, 49.1 m
 EXERCISE 12.94

The boy at A attempts to throw a ball over the roof of a barn such that it is launched at
an angle . Determine the minimum speed at which he must throw the ball so that it
reaches its maximum height at C. Also, find the distance d where the boy must stand so
that he can make the throw.
 EXERCISE 12.106

The balloon A is ascending at the rate vA = 12 km/h and is being carried horizontally
by the wind at vw = 20 km/h. If a ballast bag is dropped from the balloon at the instant
h = 50 m, determine the time needed for it to strike the ground. Assume that the bag
was released from the balloon with the same velocity as the balloon. Also, with what
speed does the bag strike the ground?
 EXERCISE 12.95

Measurements of a shot recorded on a videotape during a basketball game are

shown. The ball passed through the hoop even though it barely cleared the hands
of the player B who attempted to block it. Neglecting the size of the ball, determine
the magnitude vA of its initial velocity and the height h of the ball when it passes
over player B.
 MIDTERM QUESTION 2-2021/2022

A launcher is used to shoot a ball from point A to land exactly at the input of a container
at point B as shown in Figure.
i. What is the velocity required by the launcher to shoot the ball?
ii. What is the resultant velocity of the ball at point B?
 NORMAL AND TANGENTIAL COMPONENTS

When a particle moves along a curved path, it is sometimes convenient to describe its
motion using coordinates other than Cartesian. When the path of motion is known,
normal (n) and tangential (t) coordinates are often used.

• The t-axis is tangent to the path (curve)

at the instant considered, positive in the
direction of the particle’s motion.
• The n-axis is perpendicular to the t-axis
with the positive direction toward the
center of curvature of the curve.

The center of curvature, O, always lies on the

concave side of the curve.
The radius of curvature, ρ, is defined as the
perpendicular distance from the curve to the center
of curvature at that point.
 VELOCITY and ACCELERATION IN THE n-t COORDINATE SYSTEM

The velocity vector is always tangent to

the path of motion (t-direction).

Acceleration is the time rate of change of

velocity, has both normal (n) and tangent
(t) direction define as:
!" "!
𝑎𝑡 = ; 𝑎𝑛 =
!# $

The tangential component is tangent to the

curve and in the direction of increasing or
decreasing velocity.

The normal or centripetal component is always directed

toward the center of curvature of the curve.

The magnitude of the acceleration

𝒂 = 𝑎𝑡 2 + 𝑎𝑛 2
 SPECIAL CASES OF MOTION

There are some special cases of motion to consider.

1) The particle moves along a straight line. .
ρ ¥ => an = v2/r = 0 => a = at = dv/dt
2) The particle moves along a curve at constant speed.
at = dv/dt = 0 => a = an = v2/ρ
3) The tangential component of acceleration is constant, at = (at)c.
In this case,

4) If the path is expressed as y = f(x), the radius of curvature ρ at any point on the
path is determined from the equation
 EXAMPLE
EXAMPLE II
A boat travels around a circular path, ρ = 40 m, at a
speed that increases with time, v = (0.0625 t2) m/s.
Find the magnitudes of the boat’s velocity and
acceleration at the instant t = 10 s.
Solution:

1) The velocity the magnitude is given by v = (0.0625t2) m/s.

At t = 10s:
v = 0.0625 t2 = 0.0625 (10)2 = 6.25 m/s

2) The acceleration vector is a = at + an = dv/dt + (v2/r).

Tangential component: at = dv/dt = d(.0625 t2 )/dt = 0.125 t m

At t = 10s: at = 0.125t = 0.125(10) = 1.25 m/s2

Normal component: an = v2/r m/s2

At t = 10s: an = (6.25)2 / (40) = 0.9766 m/s2

The magnitude of the acceleration is

a = [(at)2 + (an)2]0.5 = [(1.25)2 + (0.9766)2]0.5 = 1.59 m/s2
 EXAMPLE
GROUP PROBLEM SOLVING

The train engine at E has a speed of 20 m/s and an

acceleration of 14 m/s2 acting in the direction shown. Find
The rate of increase in the train’s speed and the radius of
curvature r of the path.
Solution:
1) Acceleration

Tangential component :
at =14 cos(75) = 3.623 m/s2

Normal component :
an = 14 sin(75) = 13.52 m/s2

3) The normal component of acceleration is

an = v2/r Þ 13.52 = 202 / r
r = 29.6 m
 EXAMPLE

A car travels along the road with a speed of v = (2s) m/s,

where s is in meters. Find the magnitudes of the car’s
acceleration at s = 10 m.
Solution:
1) The velocity magnitude is given by v = (2s) m/s.
When s = 10 m: v = 20 m/s

2) The acceleration vector is a = at + an = dv/dt + (v2/r)

Tangential component:
Since at = dv/dt = (dv/ds) (ds/dt) = v (dv/ds)
where v = 2s Þ at = d(2s)/ds (v)= 2 v
At s = 10 m: at = 40 m/s2

Normal component: an = v2/r

When s = 10 m: an = (20)2 / (50) = 8 m/s2

The magnitude of the acceleration is

a = [(at)2 + (an)2]0.5 = [(40)2 + (8)2]0.5 = 40.8 m/s2
EXAMPLE
EXAMPLE - SOLUTION
MIDTERM SEM 1 20212022
 DEPENDENT MOTION

In many kinematics problems, the motion of one object will depend on the motion of
another object.

The blocks in this figure are connected by an

inextensible cord wrapped around a pulley.
If block A moves downward along the inclined
plane, block B will move up the other incline.

The motion of each block can be related mathematically by defining position

coordinates, sA and sB. Each coordinate axis is defined from a fixed point or datum
line, measured positive along each plane in the direction of motion of each block.
 DEPENDENT MOTION

In this example, position coordinates sA

and sB can be defined from fixed datum
lines extending from the center of the
pulley along each incline to blocks A and
B.

If the cord has a fixed length, the position coordinates sA and sB are related
mathematically by the equation
sA + lCD + sB = lT

Here lT is the total cord length and lCD is the length of cord passing over the arc CD
on the pulley.
 DEPENDENT MOTION

The velocities of blocks A and B can be related

by differentiating the position equation. Note
that lCD and lT remain constant, so dlCD/dt =
dlT/dt = 0

dsA/dt + dsB/dt = 0 Þ vB = -vA

The negative sign indicates that as A moves down the incline (positive sA direction), B
moves up the incline (negative sB direction).

Accelerations can be found by differentiating the velocity expression. i.e, aB = -aA .

 DEPENDENT MOTION
DEPENDENT MOTION EXAMPLE
Consider a more complicated example.
Position coordinates (sA and sB) are defined
from fixed datum lines.
Note that sB is only defined to the center of
the pulley above block B (not until block B),
since this block moves with the pulley. Also,
h is a constant.
The red colored segments of the cord remain
constant in length during motion of the blocks.
 DEPENDENT MOTION

The position coordinates are related by the equation

2sB + h + sA = lT
Where lT is the total cord length minus the lengths of
the red segments.

Since lT and h remain constant during the motion,

the velocities and accelerations can be related by
two successive time derivatives:
2vB = -vA and 2aB = -aA

When block B moves downward (+sB), block A moves to the left (-sA). Remember to be
consistent with your sign convention!
 DEPENDENT MOTION
DEPENDENT MOTION EXAMPLE (continued)

This example can also be worked by defining the

position coordinate for B (sB) from the bottom
pulley instead of the top pulley.

The position, velocity, and acceleration

relations then become
2(h – sB) + h + sA = lT
and 2vB = vA 2aB = aA

We can see that the results are the same, even if the sign
conventions are different than the previous formulation.
 EXAMPLE
EXAMPLE
Given: In the figure on the left, the cord at A is pulled down
with a speed of 2 m/s.
Find: The speed of block B.
 EXAMPLE - SOLUTION
Solution:
1) Define the position coordinates from a fixed datum line. Three coordinates must
be defined: one for point A (sA), one for block B (sB), and one for block C (sC).

• Define the datum line through the top pulley (which

has a fixed position).
• sA can be defined to the point A.
• sB can be defined to the center of the pulley above B.
• sC is defined to the center of pulley C.
• All coordinates are defined as positive down and
along the direction of motion of each point/object.
 EXAMPLE - SOLUTION

2) Write position/length equations for each cord.

Define l1 as the length of the first cord, minus
any segments of constant length. Define l2 in
a similar manner for the second cord:
Cord 1: sA + 2sC = l1
Cord 2: sB + (sB – sC) = l2

3) Eliminating sC between the two equations,

we get
sA + 4sB = l1 + 2l2

4) Relate velocities by differentiating this expression. Note that l1 and l2 are constant
lengths.
vA + 4vB = 0 Þ vB = – 0.25vA = – 0.25(2) = – 0.5 m/s
The velocity of block B is 0.5 m/s up (negative sB direction).
 EXAMPLE
GROUP PROBLEM SOLVING II
Given: In this pulley system, block A is moving
downward with a speed of 4 m/s while block
C is moving up at 2 m/s.
Find: The speed of block B.
 EXAMPLE - SOLUTION
Solution:
1) A datum line can be drawn through the upper, fixed, pulleys and position coordinates
defined from this line to each block (or the pulley above the block).

2) Defining sA, sB, and sC as shown, the position

relation can be written:
sA + 2sB + sC = l

3) Differentiate to relate velocities:

vA + 2vB + vC = 0
Þ 4 + 2vB + (-2) =0
Þ vB = -1 m/s

The velocity of block B is 1 m/s up (negative sB direction).

 EXAMPLE

Given: In the figure on the left, the cord

at A is pulled down with a speed
of 3 m/s.
Find: The speed of block D.

Plan: There is only one cord involved in

the motion, so only one
position/length equation is required.
Define position coordinates for block
D and cable lengths that change,
write the position relation and then
differentiate it to find the relationship
between the two velocities.
 EXAMPLE - SOLUTION

Solution:
1) A datum line can be drawn through the upper, fixed pulleys.
Two coordinates must be defined: one for block D (sD) and
one for the changing cable length (sA).

Datum • sA can be defined to the point A.

• sD can be defined to the center
sA sD of the pulley above D.
• All coordinates are defined as
positive down and along the
direction of motion of each
point/object.
 EXAMPLE - SOLUTION

Datum 2) Write position/length equations for

the cord. Define lT as the length of
the cord, minus any segments of
sA sD constant length.
sA + 3sD = lT

3) Differentiate to find the velocity

relationship:
vA + 3vD = 0

Since the cord at A is pulled down with a speed of 3 m/s,

3 + 3vD = 0 Þ vD = -1 m/s = 1 m/s ­
 Attendance Submission

Determine the speed of block B.

A) 1 m/s B) 2 m/s

C) 4 m/s D) None of the above.

 END OF CHAPTER 1

KINEMATIC OF PARTICLE