MODULE 1: KINEMATICS OF A PARTICLE

The learning objectives:

At the end of this lesson, the learner will be able to:

• Introduce the concepts of position, displacement, velocity, and acceleration.

• Study particle motion along a straight line and represent this motion graphically.
• Investigate particle motion along a curved path using different coordinate systems.
• Present an analysis of the dependent motion of two particles.
• Examine the principles of relative motion of two particles using translating axes.

COURSE MATERIAL:
INTRODUCTION
Mechanics is that branch of the physical sciences concerned with the behavior of bodies
subjected to the action of forces. The subject of mechanics is divided into two parts:

• Statics - the study of objects in equilibrium (objects either at rest or moving with a constant
velocity).
• Dynamics - the study of objects with accelerated motion.
The subject of dynamics is often divided into two parts:

• Kinematics - treats only the geometric aspects of the motion.

• Kinetics - analysis of forces causing the motion.
In this module, we study the kinematics of a particle – recall that a particle has a mass but
negligible size and shape. Therefore, we limit discussion to those objects that have dimensions
that are of no consequence in the analysis of the motion. Such objects may be considered as
particles, provided the motion of the body is characterized by the motion of its mass center and
any rotation of the body is neglected.
RECTILINEAR KINEMATICS: CONTINUOUS MOTION
Rectilinear Kinematics refers to straight-line motion. The kinematics of a particle are characterized
by specifying, at any given instant, the particle’s position, velocity, and acceleration.
Position: The position of the particle is represented by an algebraic scalar 𝑠 (the position
coordinate).
Displacement: The displacement of the particle is a vector ∆𝐬 defined as the change in the
particle’s position vector 𝐬.

Velocity: The velocity of the particle is a vector.

∆𝐬
• The average velocity is the displacement divided by time i.e., 𝑣𝑎𝑣𝑒 = ∆𝑡 .
𝑑𝐬
• The instantaneous velocity is 𝐯 = 𝑑𝑡.
𝑑𝑠
• Speed refers to the magnitude of the velocity and is written as 𝑣 = |𝐯| = 𝑑𝑡.
• Average speed is the total distance divided by the total time (different from average
velocity which is displacement divided by time).

𝑑𝐯
Acceleration: The acceleration of the particle is a vector 𝐚 = 𝑑𝑡 . Its magnitude is written as 𝑎 =
𝑑𝑣 𝑑2 𝑠
𝑑𝑡
= 𝑑𝑡 2 .

• In rectilinear kinematics, the acceleration is negative when the particle is slowing down or
decelerating.
 • A particle can have acceleration and yet have zero velocity.
𝑑𝑣 𝑑𝑠
• The relationship 𝑎 𝑑𝑠 = 𝑣 𝑑𝑣 is derived from 𝑎 = 𝑑𝑡
and 𝑣 = 𝑑𝑡 by eliminating 𝑑𝑡.

CONSTANT ACCELERATION
Let 𝑎 = 𝑎𝑐 = constant. Assume that 𝑣 = 𝑣0 and 𝑠 = 𝑠0 at time 𝑡 = 0. Then
Speed as a function of time:
𝑑𝑣
𝑎=
𝑑𝑡
𝑑𝑣 = 𝑎 𝑑𝑡
𝑣 𝑡
∫ 𝑑𝑣 = 𝑎𝑐 ∫ 𝑑𝑡
𝑣0 0
𝑣 − 𝑣0 = 𝑎𝑐 𝑡
𝑣 = 𝑣0 + 𝑎𝑐 𝑡 → (1.1)
Position as a function of time:
𝑑𝑠
𝑣=
𝑑𝑡
𝑑𝑠 = 𝑣 𝑑𝑡
𝑑𝑠 = (𝑣0 + 𝑎𝑐 𝑡)𝑑𝑡
𝑠 𝑡
∫ 𝑑𝑠 = ∫ (𝑣0 + 𝑎𝑐 𝑡)𝑑𝑡
𝑠0 0
1
𝑠 − 𝑠0 = 𝑣0 𝑡 + 𝑎𝑐 𝑡 2
2
1
𝑠 = 𝑠0 + 𝑣0 𝑡 + 𝑎𝑐 𝑡 2 → (1.2)
2
Speed as a function of position:
𝑎 𝑑𝑠 = 𝑣𝑑𝑣
𝑠 𝑣
𝑎𝑐 ∫ 𝑑𝑠 = ∫ 𝑣 𝑑𝑣
𝑠0 𝑣0
2𝑎𝑐 (𝑠 − 𝑠0 ) = 𝑣 − 𝑣02 2

𝑣 2 = 𝑣02 + 2𝑎𝑐 (𝑠 − 𝑠0 ) → (1.3)

PROBLEM 1: A train starts from rest at a station and travels with a constant acceleration of 1
m/s2. Determine the velocity of the train when 𝑡 = 30 𝑠 and the distance traveled during this time.
PROBLEM 2: A particle travels along a straight line with a velocity 𝑣 = (12 − 3𝑡 2 ) 𝑚⁄𝑠, where t
is in seconds. When 𝑡 = 1 𝑠, the particle is located 10 m to the left of the origin. Determine the
acceleration when 𝑡 = 4 𝑠, the displacement from 𝑡 = 0 to 𝑡 = 10 𝑠, and the distance the particle
travels during this time period.
PROBLEM 3: A particle moving along a straight line is subjected to a deceleration 𝑎 =
(−2𝑣 3 ) 𝑚⁄𝑠 2 , where 𝑣 is in m/s. If it has a velocity 𝑣 = 8 𝑚⁄𝑠 and a position 𝑠 = 10 𝑚 when 𝑡 = 0,
determine its velocity and position when 𝑡 = 4 𝑠.
PROBLEM 4: As a body is projected to a high altitude above the earth’s surface, the variation of
the acceleration of gravity with respect to altitude 𝑦 must be taken into account. Neglecting air
resistance, this acceleration is determined from the formula 𝑎 = −𝑔0 [𝑅2 ⁄(𝑅 + 𝑦)2 ], where 𝑔0 is
the constant gravitational acceleration at sea level, 𝑅 is the radius of the earth, and the positive
direction is measured upward. If 𝑔0 = 9.81 𝑚⁄𝑠 2 and 𝑅 = 6356 𝑘𝑚, determine the minimum initial
velocity (escape velocity) at which a projectile should be shot vertically from the earth’s surface
so that it does not fall back to the earth.
PROBLEM 5: A ball is thrown with an upward velocity of 5 𝑚/𝑠 from the top of a 10-m high
building. One second later another ball is thrown vertically from the ground with a velocity of
10 𝑚⁄𝑠. Determine the height from the ground where the two balls pass each other.
RECTILINEAR KINEMATICS: ERRATIC MOTION
When a particle’s motion during a time period is erratic, it may be difficult to obtain a continuous
function to describe its position, velocity or acceleration. Instead, the motion may best be
described graphically using a series of curves that can be generated experimentally by computer.
There are several frequently occurring situations:
Given s−t Graph, Construct v−t Graph: If the
position of a particle can be plotted over time
(s−t graph), the particle’s velocity as a function
of time (v−t graph) can be obtained by
measuring the slope of the s−t graph.
𝑑𝑠
=𝑣
𝑑𝑡
𝑠𝑙𝑜𝑝𝑒 𝑜𝑓 𝑠 − 𝑡 𝑔𝑟𝑎𝑝ℎ = 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦

Given v−t Graph, Construct a−t Graph:

When the particle’s v−t graph is known, the
particle’s acceleration as a function of time (a−t
graph) can be obtained by measuring the slope
of the v−t graph.
𝑑𝑣
=𝑎
𝑑𝑡
𝑠𝑙𝑜𝑝𝑒 𝑜𝑓 𝑣 − 𝑡 𝑔𝑟𝑎𝑝ℎ = 𝑎𝑐𝑐𝑒𝑙𝑒𝑟𝑎𝑡𝑖𝑜𝑛

Given a−t Graph, Construct v−t Graph:

When the particle’s a−t graph is given, the v−t
graph may be constructed by:

∆𝑣 = ∫ 𝑎 𝑑𝑡
𝑐ℎ𝑎𝑛𝑔𝑒 𝑖𝑛 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦
= 𝑎𝑟𝑒𝑎 𝑢𝑛𝑑𝑒𝑟 𝑎 − 𝑡 𝑔𝑟𝑎𝑝ℎ

Given v−t Graph, Construct s−t Graph:

When the particle’s v−t graph is given, the s−t
graph may be constructed by:

∆𝑠 = ∫ 𝑣 𝑑𝑡
𝑑𝑖𝑠𝑝𝑙𝑎𝑐𝑒𝑚𝑒𝑛𝑡 = 𝑎𝑟𝑒𝑎 𝑢𝑛𝑑𝑒𝑟 𝑣 − 𝑡 𝑔𝑟𝑎𝑝ℎ
Given a−s Graph, Construct v−s Graph:
When the particle’s a−s graph can be
constructed, the v−s graph may be obtained:
𝑠1
1 2
(𝑣1 − 𝑣02 ) = ∫ 𝑎 𝑑𝑠
2 𝑠0
1 2
(𝑣 − 𝑣02 ) = 𝑎𝑟𝑒𝑎 𝑢𝑛𝑑𝑒𝑟 𝑎 − 𝑠 𝑔𝑟𝑎𝑝ℎ
2 1
Given v−s Graph, Construct a−s Graph:
When the particle’s v−s graph is known the
acceleration at any position 𝑠 can be obtained:
𝑑𝑣
𝑎=𝑣
𝑑𝑠
𝑎𝑐𝑐𝑒𝑙𝑒𝑟𝑎𝑡𝑖𝑜𝑛 = 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦 × 𝑠𝑙𝑜𝑝𝑒 𝑜𝑓 𝑣 − 𝑠 𝑔𝑟𝑎𝑝ℎ
PROBLEM 6: A particle travels along a curve defined by the equation 𝑠 = (𝑡 3 − 3𝑡 2 + 2𝑡) 𝑚,
where t is in seconds. Draw the s-t, v-t and a-t graphs for the particle for 0 ≤ 𝑡 ≤ 3 𝑠.
PROBLEM 7: A motorcyclist at A is traveling at 60 ft/s when he wishes to pass the truck T which
is traveling at a constant speed of 60 ft/s. To do so the motorcyclist accelerates at 6 ft/s2 until
reaching a maximum speed of 85 ft/s. If he then maintains this speed, determine the time needed
for him to reach a point located 100 ft in front of the truck. Draw the v-t and s-t graphs for the
motorcycle during this time.
PROBLEM 8: The v-t graph of a car while traveling along a road is shown. Draw the s-t and a-t
graphs for the motion.
PROBLEM 9: The acceleration of the speed boat starting
from rest is described by the graph. Construct the v-s
graph.
PROBLEM 10: The boat travels in a straight line with the acceleration described by the a-s graph.
If it starts from rest, construct the v-s graph and determine the boat’s maximum speed. What
distance 𝑠′ does it travel before it stops?
GENERAL CURVILINEAR MOTION
Curvilinear motion occurs when the particle moves along a curved path.

• Position. The position of the particle is described by the position vector 𝐫(𝑡). This vector
is a function of time since both its magnitude and direction change as the particle moves
along its path (described by the path function 𝑠(𝑡)).

𝑑𝐫
• Velocity. The velocity of the particle is described by the vector 𝐯(𝑡) = .
𝑑𝑡

Speed. The speed v is the magnitude of 𝐯 and can be obtained by differentiating the path
𝑑𝑠
function 𝑠(𝑡) with respect to time i.e., 𝑣 = 𝑑𝑡.
𝑑𝐯 𝑑2 𝐫
• Acceleration. The acceleration of the particle is described by the vector 𝐚 = 𝑑𝑡 = 𝑑𝑡 2.

IMPORTANT NOTES

• Curvilinear motion can cause changes in both the magnitude and direction of the position,
velocity and acceleration vectors.
• The velocity vector is always directed tangent to the path.
• In general, the acceleration vector is not tangent to the path, but rather, it is tangent to the
hodograph.
CURVILINEAR MOTION: RECTANGULAR COMPONENTS
Using a fixed xyz-frame of reference:

• Position:
𝐫(𝑡) = 𝑥(𝑡)𝐢 + 𝑦(𝑡)𝐣 + 𝑧(𝑡)𝐤
Magnitude:
𝑟 = √𝑥 2 + 𝑦 2 + 𝑧 2
Direction:
𝐫
𝐮r =
𝑟

• Velocity:
𝑑𝐫 𝑑 𝑑 𝑑
𝐯(𝑡) = = [𝑥(𝑡)𝐢] + [𝑦(𝑡)𝐣] + [𝑧(𝑡)𝐤]
𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡
𝑑 𝑑 𝑑
𝐯(𝑡) = [𝑥(𝑡)]𝐢 + [𝑦(𝑡)]𝐣 + [𝑧(𝑡)]𝐤
𝑑𝑡 𝑑𝑡 𝑑𝑡
𝐯(𝑡) = 𝑣𝑥 𝐢 + 𝑣𝑦 𝐣 + 𝑣𝑧 𝐤
Magnitude:
𝑣 = √𝑣𝑥2 + 𝑣𝑦2 + 𝑣𝑧2
Direction:
𝐯
𝐮𝑣 =
𝑣
Velocity is always tangent to the path of motion.

• Acceleration:
𝐚(𝑡) = 𝑎𝑥 𝐢 + 𝑎𝑦 𝐣 + 𝑎𝑧 𝐤
where
𝑑 𝑑2 𝑥 𝑑 𝑑2 𝑦 𝑑 𝑑2 𝑧
𝑎𝑥 = (𝑣𝑥 ) = 2 , 𝑎𝑦 = (𝑣𝑦 ) = 2 , 𝑎𝑧 = (𝑣𝑧 ) = 2
𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡
Magnitude:
𝑎 = √𝑎𝑥2 + 𝑎𝑦2 + 𝑎𝑧2
Direction:
𝐚
𝐮𝑎 =
𝑎
PROBLEM 11: The position of a particle is 𝐫 = {(3𝑡 3 − 2𝑡)𝐢 − (4𝑡 1⁄2 + 𝑡)𝐣 + (3𝑡 2 − 2)𝐤} 𝑚, where
𝑡 is in seconds. Determine the magnitude of the particle’s velocity and acceleration when 𝑡 = 2 𝑠.
PROBLEM 12: The roller coaster car travels down the helical path at constant speed such that
the parametric equations that define its position are 𝑥 = 𝑐 sin(𝑘𝑡), 𝑦 = 𝑐 cos(𝑘𝑡), 𝑧 = ℎ − 𝑏𝑡, where
c, h, and b are constants. Determine the magnitudes of its velocity and acceleration.
PROBLEM 13: Pegs A and B are restricted to move in the elliptical slots due to the motion of the
slotted link. If the link moves with a constant speed of 10 m/s, determine the magnitude of the
velocity and acceleration of peg A when x = 1 m.
MOTION OF A PROJECTILE
The free-flight motion of a projectile is often studied in terms of its rectangular components, since
the projectile’s acceleration always acts in the vertical direction.

PROCEDURE FOR SOLVING PROBLEMS

• Coordinate System
o Establish the fixed 𝑥, 𝑦 coordinate axes and sketch the trajectory of the particle.
Between any two points on the path specify the problem data and the three
unknowns. In all cases the acceleration of gravity acts downward. The particle’s
initial and final velocities should be represented in terms of their 𝑥 and 𝑦
components.
o Remember that positive and negative position, velocity and acceleration
components always act in accordance with their associated coordinate directions.
• Kinematic Equations
o Depending upon the known data and what is to be determined, a choice should be
made as to which three of the following four equations should be applied between
the two points on the path to obtain the most direct solution to the problem.
• Horizontal Motion
o The velocity in the horizontal or 𝑥 direction is constant i.e., 𝑣𝑥 = 𝑣0𝑥 and
𝑥 = 𝑥0 + 𝑣0𝑥 𝑡
• Vertical motion
o In the vertical or 𝑦 direction only two of the following three equations can be used
for solution:
𝑣𝑦 = 𝑣0𝑦 − 𝑎𝑐 𝑡
1
𝑦 = 𝑦0 + 𝑣0𝑦 𝑡 + 𝑎𝑐 𝑡 2
2
2
𝑣𝑦2 = 𝑣0𝑦 + 2𝑎𝑐 (𝑦 − 𝑦0 )
o For example, if the particle’s final velocity 𝑣𝑦 is not needed, then the first and third
of these equations (for 𝑦) will not be useful.
PROBLEM 14: The skateboard rider leaves the ramp at A with an initial velocity 𝑣𝐴 at a 30° angle.
If he strikes the ground at B, determine 𝑣𝐴 and the time of flight.
PROBLEM 15: The pitching machine is adjusted so that the baseball is launched with a speed of
𝑣𝐴 = 30 𝑚⁄𝑠. If the ball strikes the ground at B, determine the two possible angles at which it was
launched.
PROBLEM 16: A boy throws a ball at O in the air with a speed 𝑣0 at an angle 𝜃1 . If he then throws
another ball with the same speed 𝑣0 at an angle 𝜃2 < 𝜃1 , determine the time between the throws
so that the balls collide in midair at B.
PROBLEM 17: It is observed that the skier leaves the ramp A at an angle 𝜃𝐴 = 25° with the
horizontal. If he strikes the ground at B, determine his initial speed 𝑣𝐴 and the time of flight 𝑡𝐴𝐵 .
PROBLEM 18: The boy at A attempts to throw a ball over the roof of a barn with an initial speed
of 𝑣𝐴 = 15 𝑚⁄𝑠. Determine the angle 𝜃𝐴 at which the ball must be thrown so that it reaches its
maximum height at C. Also, find the distance 𝑑 where the boy should stand to make the throw.
CURVILINEAR MOTION: NORMAL AND TANGENTIAL COMPONENTS
IMPORTANT POINTS
Coordinate System

• Provided the path of the particle is known, we establish a set of 𝑛 and 𝑡 coordinates having
a fixed origin which is coincident with the particle at the instant considered.
• The positive tangent axis always acts in the direction of motion and the positive normal
axis is directed towards the path’s center of curvature.
• The 𝑛 and 𝑡 axes are particularly advantageous for
studying the velocity and acceleration of the particle,
because the velocity 𝐯 and the acceleration 𝐚 are
expressed by the equations
𝐯 = 𝑣𝐮𝑡
where
𝑑𝑠
𝑣=
𝑑𝑡
and
𝐚 = 𝑎𝑡 𝐮𝑡 + 𝑎𝑛 𝐮𝑛
where
𝑑𝑣
𝑎𝑡 = ; 𝑎 𝑑𝑠 = 𝑣 𝑑𝑣
𝑑𝑡 𝑡
and
𝑣2
𝑎𝑛 =
𝜌

Velocity

• The particle’s velocity is always tangent to the path.

• The magnitude of velocity (speed) is found from the time
𝑑𝑠
derivative of the path function 𝑣 = 𝑑𝑡.

Tangential Acceleration

• The tangential component of acceleration is the result of the time rate of change in the
magnitude of velocity. This component acts in the positive 𝑠−direction if the particle’s
speed is increasing or in the opposite direction if the speed is decreasing.
• The relations between 𝑎𝑡 , 𝑣 and 𝑠 are the same as for rectilinear motion
𝑑𝑣
𝑎𝑡 = ; 𝑎 𝑑𝑠 = 𝑣 𝑑𝑣
𝑑𝑡 𝑡
• If 𝑎𝑡 is constant, 𝑎𝑡 = (𝑎𝑡 )𝑐 , the above equations, when integrated, yield
1
𝑠 = 𝑠0 + 𝑣0 𝑡 + (𝑎𝑡 )𝑐 𝑡 2
2
𝑣 = 𝑣0 + (𝑎𝑡 )𝑐 𝑡
𝑣2 = 𝑣02 + 2(𝑎𝑡 )𝑐 (𝑠 − 𝑠0 )
Normal Acceleration

• The normal component of acceleration is the result of the time rate of change in the
direction of the particle’s velocity. This component is always directed toward the center of
curvature of the path i.e., along the positive 𝑛 axis.
𝑣2
• The magnitude of this component is determined from 𝑎𝑛 = 𝜌
.
• 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
[1 + (𝑑𝑦⁄𝑑𝑥 )2 ]3⁄2
𝜌=
𝑑2 𝑦
| 2|
𝑑𝑥
PROBLEM 19: At a given instant, a car travels along a circular curved road with a speed of 20
m/s while decreasing its speed at the rate of 3 m/s2. If the magnitude of the car’s acceleration is
5 m/s2, determine the radius of curvature of the road.
PROBLEM 20: Starting from rest the motorboat travels
around the circular path, = 50 𝑚 , at a speed 𝑣 =
(0.8𝑡) 𝑚⁄𝑠, where 𝑡 is in seconds. Determine the
magnitudes of the boat’s velocity and acceleration when
it has traveled 20 m.
PROBLEM 21: The train passes point B with a
speed of 20 m/s which is decreasing at 𝑎𝑡 =
−0.5 𝑚⁄𝑠 2 . Determine the magnitude of acceleration
of the train at this point.
PROBLEM 22: A racing car travels at a
constant speed of 240 kph around the elliptical
racetrack. Determine the acceleration
experienced by the driver (a) at A, and (b) at
B.
CURVILINEAR MOTION: CYLINDRICAL COMPONENTS
In some problems it is often convenient to express the path of motion in terms of cylindrical
coordinates 𝑟, 𝜃, 𝑧. If motion is restricted to the plane, polar coordinates 𝑟 and 𝜃 are used.
IMPORTANT POINTS
Coordinate System

• Polar coordinates are particularly suitable for solving problems for which data regarding
the angular motion of the radial coordinate r is given to describe the particle’s motion.
• To use polar coordinates, the origin is established at a fixed point, and the radial line 𝑟 is
directed to the particle.
• The transverse coordinate 𝜃 is measured counterclockwise from a fixed reference line to
the radial line.
Position, Velocity and Acceleration

• The position of the particle is defined by the position vector 𝐫 = 𝑟𝐮𝑟 .

• The velocity and acceleration of the particle are given, respectively, by

𝐯 = 𝑣𝑟 𝐮𝑟 + 𝑣𝜃 𝐮𝜃
𝐚 = 𝑎𝑟 𝐮𝑟 + 𝑎𝜃 𝐮𝜃

𝑑𝑟 𝑑 2 𝑟 𝑑𝜃 𝑑2 𝜃
• Once 𝑟 and the four time derivatives , , , and have been evaluated at the instant
𝑑𝑡 𝑑𝑡 2 𝑑𝑡 𝑑𝑡 2
considered, their values can be substituted into the following equations to obtain the radial
and transverse components of 𝐯 and 𝐚.
𝑑𝑟 𝑑𝜃
𝑣𝑟 = ; 𝑣𝜃 = 𝑟
𝑑𝑡 𝑑𝑡
2
𝑑 𝑟 𝑑𝜃 2 𝑑2 𝜃 𝑑𝑟 𝑑𝜃
𝑎𝑟 = 2 − 𝑟 ( ) ; 𝑎𝜃 = 𝑟 2 + 2 ( ) ( )
𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡
• If it is necessary to take the time derivatives of 𝑟 = 𝑓(𝜃), it is very important to use the
chain rule.
• Motion in three-dimensions requires a simple extension of
the above formula to
Position:
𝐫 = 𝑟𝐮𝑟 + 𝑧𝐮𝑧

Velocity:
𝑑𝑟 𝑑𝜃 𝑑𝑧
𝐯= 𝐮𝑟 + (𝑟 ) 𝐮𝜃 + 𝐮𝑧
𝑑𝑡 𝑑𝑡 𝑑𝑡
Acceleration:
𝑑2 𝑟 𝑑𝜃 2 𝑑2 𝜃 𝑑𝑟 𝑑𝜃 𝑑2 𝑧
𝐚 = [ 2 − 𝑟 ( ) ] 𝐮𝑟 + [𝑟 2 + 2 ( ) ( )] 𝐮𝜃 + 2 𝐮𝑧
𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡
PROBLEM 23: The position of a particle is described by 𝑟 = (𝑡 3 + 4𝑡 − 4) 𝑚 and 𝜃 = (𝑡 3⁄2 ) 𝑟𝑎𝑑,
where 𝑡 is in seconds. Determine the magnitudes of the particle’s velocity and acceleration at the
instant 𝑡 = 2 𝑠.
PROBLEM 24: The motion of peg P is constrained by the lemniscate curved slot in OB and by
𝑑𝜃
the slotted arm OA. If OA rotates counterclockwise with an angular velocity of = (3𝑡 3⁄2 ) 𝑟𝑎𝑑⁄𝑠,
𝑑𝑡
where 𝑡 is in seconds, determine the magnitudes of the velocity and acceleration of peg P at 𝜃 =
30°. When 𝑡 = 0, 𝜃 = 0°.
PROBLEM 25: The automobile travels from a parking deck down along a cylindrical spiral ramp
at a constant speed of 𝑣 = 1.5 𝑚⁄𝑠. If the ramp descends a distance of 12 m for every full
revolution, 𝜃 = 2𝜋 𝑟𝑎𝑑, determine the magnitude of the car’s acceleration as it moves along the
ramp, 𝑟 = 10 𝑚. Hint: For part of the solution, note that the tangent to the ramp at any point is at
an angle of 𝜙 = tan−1 [12⁄2𝜋(10)] = 10.81° from the horizontal. Use this to determine the velocity
𝑑𝜃 𝑑𝑧
components 𝑣𝜃 and 𝑣𝑧 , which in turn are used to determine 𝑑𝑡
and 𝑑𝑡 .
ABSOLUTE DEPENDENT MOTION ANALYSIS OF TWO PARTICLES
In some problems, the motion of one particle will depend on the corresponding motion of another
particle. This dependency commonly occurs if the particles are interconnected by inextensible
cords which are wrapped around pulleys. When each particle moves along a rectilinear path,
magnitudes of the velocity and acceleration of the particles will change, not their line of direction.
The following procedure can be used:
PROCEDURE FOR SOLVING PROBLEMS

• Position-Coordinate Equation
o Establish position coordinates which have their origin located at a fixed point or
datum.
o The coordinates are directed along the path of motion and extend to a point having
the same motion as each of the particles.
o It is not necessary that the origin be the same for each of the coordinates; however,
it is important that each coordinate axis selected be directed along the path of
motion of the particle.
o Using geometry or trigonometry, relate the coordinates to the total length of the
cord, 𝑙 𝑇 or to that portion of cord, 𝑙, which excludes the segments that do not
change length as the particles move – such as arc segments wrapped over pulleys.
o If a problem involves a system of two or more cords wrapped around pulleys, then
the position of a point on one cord must be related to the position of a point on
another cord. Separate equations are written for a fixed length of each cord of the
system and the positions of the two particles are then related by these equations.
• Time Derivatives
o Two successive time derivatives of the position-coordinate equations yield the
required velocity and acceleration equations which relate the motions of the
particles.
o The signs of the terms in these equations will be consistent with those that specify
the positive and negative sense of the position coordinates.
PROBLEM 26: If the end of the cable at A is pulled down with a speed of 2
m/s, determine the speed at which block E rises.
PROBLEM 27: The man pulls the boy up to the tree limb C
by walking backward at a constant speed of 1.5 m/s.
Determine the speed at which the boy is being lifted at the
instant 𝑥𝐴 = 4 𝑚. Neglect the size of the limb. When 𝑥𝐴 = 0,
𝑦𝐵 = 8 𝑚, so that A and B are coincident, i.e., the rope is 16
m long.
RELATIVE-MOTION OF TWO PARTICLES USING TRANSLATING AXES
When the path of motion for a particle is complicated, it may be feasible to analyze the motion in
parts by using two or more frames of reference.
PROCEDURE FOR SOLVING PROBLEMS

• When applying the relative-position equation, 𝐫𝐵 = 𝐫𝐴 + 𝐫𝐵⁄𝐴 , it is first necessary to specify

the locations of the fixed 𝑥, 𝑦, 𝑧 and translating 𝑥′, 𝑦′, 𝑧′ axes.
• Usually, the origin A of the translating axes is located at a point having a known position
𝑟𝐴 .

• A graphical representation of the vector addition 𝐫𝐵 = 𝐫𝐴 + 𝐫𝐵⁄𝐴 can be shown, and both
the known and unknown quantities labeled on this sketch.
• Since vector addition forms a triangle, there can be at most two unknowns, represented
by the magnitudes and/or directions of the vector quantities.
• These unknowns can be solved for either graphically, using trigonometry (sine, cosine
law), or by resolving each of the three vectors 𝐫𝐵 , 𝐫𝐴 and 𝐫𝐵⁄𝐴 into rectangular or Cartesian
components, thereby generating a set of scalar equations.
• The relative-motion equations 𝐯𝐵 = 𝐯𝐴 + 𝐯𝐵⁄𝐴 and 𝐚𝐵 = 𝐚𝐴 + 𝐚𝐵⁄𝐴 are applied in the same
manner as mentioned above except that in this case the origin O of the fixed 𝑥, 𝑦, 𝑧 axes
does not have to be specified.
PROBLEM 28: At the instant shown, car A travels
along the straight portion of the road with a speed of
25 m/s. At this same instant car B travels along the
circular portion of the road with a speed of 15 m/s.
Determine the velocity of car B relative to car A.
PROBLEM 29: At the instant shown, cars A and B travel
at speeds of 30 mph and 20 mph, respectively. If A is
increasing its speed at 400 mi/hr2 whereas the speed of 1333.33
B is decreasing at 800 mi/hr2, determine the velocity and
acceleration of B with respect to A.
PROBLEM 30: A man walks at 5 in the direction of a wind. If
raindrops fall vertically at 7 in still air, determine the direction in
which the drops appear to fall with respect to the man. Assume
the horizontal speed of the raindrops is equal to that of the wind.