2

Kinematics of a particle in plane motion

2.1 Displacement, velocity and If e, is a unit vector tangential to the path, then
acceleration of a particle as At+ 0 , Ar+ h e ,
A particle may be defined as a material object
whose dimensions are of no consequence to the
problem under consideration. For the purpose of
describing the kinematics of such an object, the
SO v = limA,o
:( )
-e, =
:et
(2.2)

The tem &Idt is the rate of change of distance

motion may be taken as being that Of a along the path and is a scalar quantity usually
representative point. called speed.
Displacement of a particle Acceleration of a particle
If a particle occupies position A at time tl and at a The acceleration of a particle is defined (see
later time t2 it occupies a position B, then the Fig. 2.2) as
displacement is the vector 3 as shown in
Fig. 2.1. In vector notation, Av dv d2r
a = limAr+,,(--) =-=- (2.3)
dt dt2

Figure 2.1

rB = r A + A r
or Ar=rg-rA (2.1) Figure 2.2
The direction of a is not obvious and will not be
Here the symbol A signifies a finite difference. tangential to the path unless the path is straight.
If the time difference At = t2 - tl is small, then
limA,o 1 Arl = ds, an element of the path. Having defined velocity and acceleration in a
quite general way, the components of these
Velocity of a particle quantities for a particle confined to move in a
The average velocity of a particle during the time plane can now be formulated.
interval At is defined to be It is useful to consider the ways in which a
Ar vector quantity may change with time, as this
Vaverage
-_
- will help in understanding the full meaning of
At acceleration.
This is a vector quantity in the direction of Ar. Since velocity is defined by both magnitude and
The instantaneous velocity is defined as direction, a variation in either quantity will

:
constitute a change in the velocity vector.

):(
v = limA,+o - - -
-
If the velocity remains in a fixed direction, then
the acceleration has a magnitude equal to the rate
 2.2 Cartesian co-ordinates 9

of change of speed and is directed in the same The acceleration is equally easy to derive. Since
direction as the velocity, though not necessarily in
the same sense. v =i i + y j
then
v + A v = (i Ai ) i + + (y + Ay )j
giving
A v = Aii + Ayj.
Av Ai Ay
Figure 2.3 a = limA,o ( E )= limA,o ( ti +t j)

If the speed remains constant, then the d? dy

a=-i+- (2.6)
acceleration is due solely to the change in dt dtj
direction of the velocity. For this case we can see
that the vector diagram (Fig. 2.3) is an isosceles =i i + y j
triangle. In the limit, for small changes in time, and l a l = d(n2
+j2) (2.7)
and hence small changes in direction, the change
in velocity is normal to the velocity vector. Let us consider two simple cases and describe
the motion in Cartesian co-ordinates.
2.2 Cartesian co-ordinates
See Fig. 2.4. i) Motion in a straight line with constant
acceleration
Choosing the x-axis to coincide with the path of
motion, we have
x=Q
Intregration with respect to time gives
J i d t = J(dv/dt) dt = v = Jadt = at + C1 (2.8)
where C1is a constant depending on v when t = 0.
Integrating again,
Figure 2.4
JVdt=J(dx/dt)dt=x= J(at+CI)dt
Ar = (x2 - XI) i + ( ~ - Y2 I )j =~ut2+C1t+C2 (2.9)
= h i + Ayj
where C2 is another constant depending on the
Ar = - 1A+ -xJ *.
- Ay value of x at t = 0.
At At At
ii) Motion with constant speed along a
v = limk+o(z)
Ar = zdxi + dy
z j (2.4) circularpath
For the circular path shown in Fig. 2.6,
From Fig. 2.5 it is clear that x2+y2 =R2 (2.10)
Ivl = d ( i 2 + y 2 )
(2.5)
where differentiation with respect to time is
denoted by the use of a dot over the variable, Le.
drldx = i.

Figure 2.5 Figure 2.6

10 Kinematics of a particle in plane motion

Differentiating twice with respect to time gives

2xx+2yy = 0
and 2 x i + 2 i 2 + 2 y y + 2 y 2 = 0
Since 2i2+ 2y2 = 2v2,
x x + y y = -v2 (2.11)
We see that, when y = 0 and x = R , Figure 2.8
x = -v2/R
also, when x = 0 and y = R,
y = -v2/R
or, in general (Fig. 2.7), the component of
acceleration resolved along the radius is
v
a, = f c o s a + y s i n a Figure 2.9
= Xx/R + y y / R
2.3 Path co-ordinates
The displacement Ar over a time interval At is
shown in Fig. 2.8, where AYis the elemental path
length. Referring to Fig. 2.9, the direction of the
path has changed by an angle A0 and the speed
has increased by Av. Noting that the magnitude of
v ( t + A t ) is (v+Av), the change in velocity
resolved along the original normal is
Figure 2.7 fv + Av ) sin AO
Using equation 2.11 we see that hence the acceleration in this direction is
a, = -v2/R
a, = limA,o ((v::))sinAO
Resolving tangentially to the path,
at =ycosa-Rsina For small AO, sinAO+AO; thus
= YXIR- XylR
vAO AvAO de
Differentiating x 2 + y 2
time, we have
= v2 with respect to a, = limAt-,o( +zr) = v-dt

and is directed towards the centre of curvature,

2ix + 2yy =0
i.e. in the direction of e,.
hence If p is the radius of curvature, then
ds = pdO
y/x = -x/y
hence
and from the differentiation of equation 2.10 we
have ds - de
_
PIX = -xly
dt -'dt
therefore
giving
1 ds v 2
y/x = -x/y = y/x a =v--=- (2.12)
n Pdt P
Thus we see that a, = 0.
The change in velocity resolved tangentially to
This analysis should be contrasted with the the path is
more direct approach in terms of path and polar
co-ordinates shown later in this chapter. (V + AV)CosAO - v
 2.4 Polar co-ordinates 11

hence the acceleration along the path is

limAt-+O
((V + AV);ps A 8-v
) = z = a, (2.13)
dv (2) (3
= - e,+r - e, = ie,+rbee

Resolving the components of Av along the e,

(2.17)

Summarising, we have and ee directions (Fig. 2.11) gives

ds
v = vet =-e, (2.14a)
dt
dv d8
a = -e,+v-en (2.14b)
dt dt
d2s v2
=-e +-en (2.14~)
dt2 t p
We will now reconsider the previous simple
cases.
Figure 2.1 1
i) Straight-line motion with constant A i = [(i+ Ai)cosAO- (r Ar) +
acceleration x (b+A8)sinA8-i]er
a = ae, (e, fixed in direction)
+ + +
+ [ i Ai) sinA8 (r Ar)
or d2sldt2= a (2.15) +
x (6 Ab) cos A 8 - rb] ee
The so1ution is the Same as before, with x For small angles, sinA8+ A,g and C O S A ~ +1; thus
replaced by s .

ii) Motion in a circle at constant speed

a = (v2/p)en (v and p are constant) (2.16)
a = lim*,o
Ai
( E )= (z-
di .de
r e Z ) e,

2.4 Polar co-ordinates

Polar co-ordinates are a special case of cylindrical
co-ordinates with z = 0, or of spherical co-
+ (
de
dt
de
i-+r-+-O
dt
a = (i:-rb2)e,+(r8+2ib)ee
dr.
dt 1
ee

(2.18)
ordinates with 4 = 0. An alternative approach to deriving equations
2.17 and 2.18 is to proceed as follows.

Figure 2.1
Figure 2.10 Consider the orthogonal unit vectors e, and ee
which are rotating at an angular rate o = 8 as
Referring to Fig. 2.10, it can be seen that shown in Fig. 2.12. The derivative with respect to
Ar = [(r + Ar) cosA8- r ] e, time of e, is
+ (r + Ar) sinA8ee
hence the velocity is given by e r = limii-0 (Aer
E)
Ar where Aer is the change in e, which occurs in the
z, = limAr-0 (E) time interval At. During this interval e, and ee
 12 Kinematics of a particle in plane motion

r = constant for all time

v = roe,
Because r and ZJare constant, e is constant; so
a = -rO2e, = - ( v 2 d / r ) e , (2.22)
We may also consider another simple example,
that of a fly walking at a constant speed along a
radial spoke of a wheel rotating at a constant
Figure 2.13 speed. In this case
a = [-ri1~]e,+2ii1e~
have rotated through the angle AB, as shown in
Fig. 2.13, so that they become the new unit so we see that there is a constant component of
vectors e’, and e r e . The difference between e’, acceleration, 2ib, at right angles to the spoke,
and e, is b e , = e’, - e , . The magnitude of Ae, for independent of r. This component is often called
small AB is 1xAO since the magnitude of e, is the Coriolis component, after the French
unity, by definition. For vanishingly small AB, the engineer Gustav-Gaspard Coriolis.
vector Ae, has the direction of eo,
hence 2.5 Relative motion
Aer ABe, . In this section we shall adopt the following
e, = limm,A&o (I) = limA,o ( T= )Bee notation:
(2.19) rB/A = position of B relative to A
Similarly it can be shown that iB/A = velocity of B relative to A, etc.
eo = -Be, (2.20) From Fig. 2.14,
The velocity v is the derivative with respect to rB/O = rAI0 -k rBlA (2.23)
time of the position vector r = re,. From the chain
rule for differentiation we obtain Differentiation with respect to time gives
d iBl0 = +AI0 + iB/A (2.24)
v = i. = - (re,) = ie, + re,
dt and FBlo= FAIo + ;B/A (2.25)
+
= fer roee
from equation 2.19, which is the result previously
obtained in equation (2.17).
The acceleration a can also be found from the
chain rule, thus
d
dt
+
a = C = - (ie, roe,) Figure 2.14

= re, + ie, + ihe, + ree, + rhe,

[The notation i B and FB may be used in place of
Substituting from equations ( 2 . 1 9 ) and (2.20) we fBl0 and fBlo for velocity and acceleration relative
arrive at the result given in equation (2.18). (The to the reference axes.l
differentiation of rotating vectors is dealt with Consider now the case of a wheel radius r ,
more fully in Chapter 11). centre A, moving so that A has rectilinear motion
As before we consider the two simple cases. in the x-direction and the wheel is rotating at
angular speed w = h (Fig. 2.15). The path traced
i) Motion in a straight line out by a point B on the rim of the wheel is
8 =0 for all time complex, but the velocity and acceleration of B
a = re, (2.21) may be easily obtained by use of equations 2.24
and 2.25.
ii) Motion in a circle at constant speed Referring to Fig. 2.15,
 2.7 Graphical methods 13

Figure 2.15
Figure 2.16
iB/o =ii+ (roeo)
=ii-i+(-rwsinei+rwcosej) (2.26) of change of speed. This quantity is also the
component of acceleration tangential to the path,
Similarly, but it is not the total acceleration.
= xi
FB/~ + (-rw2e, + r k o) We may write
= xi - rw2 (cos ~i + sin ej) dv ds dv dv
at -- - = - - = 2)-
+ rh(-sin Bi+ cos ej) dt dt ds ds
= (a - rw'cos e - rhsin e) i Hence we have
+ (-rw2sinO+rhcos8)j (2.27)
dv d2s dv
A special case of the above problem is that a--=-- (2.28)
of rolling without slip. This implies that when ' - dt dt2 - 'd,i
8 = 3 ~ 1 2islo
, = 0. Since Most problems in one-dimensional kinematics
iB/o = (i+rw)i+Oj= 0
involve converting data given in one set of
variables to other data. As an example: given the
then X = -rw way in which a component of acceleration varies
Also, with displacement, determine the variation of
speed with time. In such problems the sketching
~ B l=
o (x+rh)i+(rw2)j of appropriate graphs is a useful aid to the
but solution.
x = -rh
therefore 2.7 Graphical methods

rw2j
F B , ~= Speed-time graph (Fig. 2.17)
Note that differentiating i B / o (e = 3 ~ 1 2 )does not
give &/()(e = 3 ~ 1 2 ) :8 must be included as a
variable of the differentiation.

2.6 One-dimensional motion

The description 'one-dimensional' is not to be Figure 2.17
taken as synonymous with 'linear', for, although
linear motion is one-dimensional, not all one-
dimensional motion is linear.
We have one-dimensional motion in path
dt
d dt i")
Slope of graph = - - = at (2.29)

co-ordinates if we consider only displacement

along the path; in polar co-ordinates we can
consider only variations in angle, regarding the
Area under graph =
I:
= s2-s1
(:)dt
(2.30)
radius as constant. Let us consider a problem in
path co-ordinates, Fig. 2.16, the location of P Hence, slope = rate of change of speed
being determined by s measured along the path and area = change of distance
from some origin 0. (This path could, of course,
be a straight line.) If a, is constant, then the graph is a straight line
Speed is defined as v = dsldt, and dvldt = rate and
14 Kinematics of a particle in plane motion

area = i(v1+v2)(t2-tl) = s 2 - s 1 (2.31)

and slope = a,

Distance-time graph (Fig. 2.18)

Figure 2.21

The advantages of sketching the graphs are many

- even for cases of constant acceleration (see
Figure 2.18 examples 2.2 and 2.3).

ds
Slope = - = v (2.32) Discussion examples
dt
Example 2.1
Rate-of-change-of-speed-time graph A point P moves along a path and its acceleration
(Fig. 2.19) component tangential to the path has a constant
magnitude ato. The distance moved along the
path is s. At time t = 0, s = 0 and v = vo. Show
that (3 v = vo+atot, (b) s = vot+Ba,ot2, (c)
+
v2 = vo 2atos and (d) s = +(v + vo)t.
Solution
Figure 2.19 a) Since a, = dv/dt,
dv = a,o dt
dv
Area =
t2

It,
-dt = v2 - v1
dt
If a, is constant, then
(2.33)
I
and ' dv
Q
[
= utO I dt
0
since atois constant.

Therefore v - vo = atot
area = at(t2-tl) = v2-vl (2.34)
or v = vo + a,ot (9
Rate-of-change-of-speed-displacement graph
Fig. 2.20). Here we make use of equation b) Since v = ds/dt,
f2.28).
[ids = I:vdt= [r(vo+a,ot)df
0

s = vot + ta,ot 2 (ii)

c) From (i), t = (v - vo)/ato and substituting for t
in (ii) gives
Figure 2.20
. -
v2 = 0; + 2atos (iii)
d) Also from (i), ato = (v - vo)/t and substituting
Area =
I,,
s2
v-dv ds = i v 2 - ;vl2
ds
If a, is constant, then
(2.35) for ato in (ii) gives
s = B(vo+v)t (iv)
[As these equations for constant acceleration are
Ut(S2-S1) = 4 0 22 -Bv12 (2.36) often introduced before the case of variable
acceleration has been discussed, it is a common
Inverse-speed-distance graph (Fig. 2.21) mistake to try to apply them to problems dealing

A~~~= 1:; d 1:; 2

h= ds = t2 - tl (2.37)
with variable acceleration. For such problems,
however, the methods of section 2.7 should
always be used (cf. example 2.3).]
Example 2.2 Given that the initial forward speed is 3.0 m/s
The variation with time of the tangential and the acceleration varies smoothly with
acceleration a, of a vehicle is given in Fig. 2.22. At distance, find for s = 40 m (a) the speed and (b)
time t = 0 the speed is zero. Determine the speed the time taken.
when t = t 3 .
Solution
a) We are given a, in terms of s and require to
find v, therefore we must use an expression
relating these three parameters. The constant-
acceleration formulae are of course not relevant
here. The basic definition a, = dvldt cannot be
used directly and we must use the alternative
L2 ‘3
Figure 2.22 form a, = v(dv/ds), equation 2.28, which relates
the three required parameters. Integration gives
Solution Each portion of the graph represents
constant acceleration and so we can use the
appropriate formula (equation 2.34), a, (t2 - t l ) =
1: vdv = I::u,ds
v2- v l , for each portion, using the final speed of
one part as the initial speed of the next. or 4(v22- v12) is equal to the area under the graph
of a, versus s between s = s1and s = s2,Fig. 2.23.
Time 0 to tl : Letting s1 = 0 and s2 = 40 m, the area is found
v1-vug = a1 (tl - t o ) , 01 = Ultl to be 32.0 (m/s)’. This area can be determined by
counting the squares under the graph, by the
Time tl to t 2 : trapezium rule, by Simpson’s rule, etc., depend-
v2-v1 = a;!(t2-t1), v2 = a2(t2-t1)+01 ing on the order of accuracy required. (The
trapezium rule and Simpson’s rule are given in
= a2(2-t1)+a1t1 Appendix 3 .)
Time t2 to t 3 :
v3-v2= as(t3-t2), v3 = a3(t3-t2)+02
03 = a3(t3 -t 2 ) + @ ( t 2 - tl ) + Ultl
Alternatively we can dispense with the con-
stant-acceleration formulae and obtain the same
result more rapidly by noting that the speed
change is equal to the area under the graph of
tangential acceleration versus time (see equation v

2.33), so that the speed at t = t 3 can be written Figure 2.23

down immediately.

Example 2.3 Thus ;(vm2 - 3 2 ) = 32,

An accelerometer mounted in a vehicle measures
the magnitude of the tangential acceleration a,. v40 = d[2(32) + 3’1 = 8.54 m/s
At the same time the distance travelled, s, is
recorded with the following results (see b) Given a, as a function of s, time cannot be
section 3.3): found directly. We can, however, make use of the
relationship v = ds/dt in the form dt = (l1v)ds
a,/(m s-’) s/m a,/(m sp2) s/m provided we can first establish the relationship
1.2 0 -1.3 25 between v and s. To find values of v at various
2.1 5 -0.8 30 values of s, we can use repeated applications of
2.6 10 0.1 35 the method of (a) above.
2.1 15 0.9 40 It is useful to set out the calculations in tabular
0.4 20 form:
 16 Kinematics of a particle in plane motion

v/(m s-')
s/m area/(m2 s - ~ ) = [2(area + 2)02)]1'2

0-5 8.4 5.08

0-10 20.2 7.03
CL15 32.6 8.61
0-20 39.4 9.37
0-25 36.8 9.09
0-30 31.2 8.45 Figure 2.25
0-35 29.0 8.91 The magnitude of a is d [ S . 2 + ( v 2 / p ) 2and
]
0-40 32.0 8.54 substitution of the numerical values gives
Since t2 - tl = (l/v) ds, the area under the graph 3.0 = d[2'+ (52/p)2]
of l/v versus s will give the required time.
Corresponding values are given below and are and p = 11.18m
plotted in Fig. 2.24.
Example 2.5
See Fig. 2.26. The centre C of the wheel of radius
0.5m has a constant velocity of 2.5m/s to the
right. The angular velocity of the wheel is
constant and equal to 6 r a d s clockwise. Point P is
at the bottom of the wheel and is in contact with a
horizontal surface. Points Q and R are as shown
in the figure.
-
I Y . y r v

Figure 2.24 drn

(l/v)/ s/m (l/v)/ s/m
(s m-') (s m-')
0.333 0 0.110 25
0.197 5 0.118 30
0.142 10 0.122 35
0.116 15 0.117 40 Figure 2.26
0.107 20 Determine (a) whether or not the wheel is
The time taken is found to be approximately slipping on the surface, (b) the velocities and
5.6 s. accelerations of the points P and Q and (c) the
velocity and acceleration of the point R.
Example 2.4 Solution Usually the simplest way of dealing
At a particular instant, a point on a mechanism with the motion of a point on a wheel which is
has a speed of 5.0 m/s and a tangential rotating and translating is to determine the
acceleration of magnitude 2.0 m/s2. If the motion of the wheel centre and add on the motion
magnitude of the total acceleration is 3.0m/s2, of the point relative to the centre. So for an
what is the radius of curvature of the path being arbitrary point A and centre C we can make use
traced out by the point at this instant? of
Solution Choice of co-ordinates is not difficult vA = vc + z)Mc (see equation (2.24)
for this problem since radius of curvature is and aA = ac + aA/c (see equation 2.25)
featured only in path co-ordinates. In these
co-ordinates the total acceleration a (see a) If the wheel is not slipping then the velocity
Fig. 2.25) is given by of point P must be the same as the velocity of the
+
a = atet anen
surface, namely zero.
From equation 2.17, the velocity of P relative
= S.et + ( v 2 / p )e, (see equations 2.14) to C is given by
 vplc = i-e, + r6ee aQ = aC + aQ/C
where r is the length of the line CP and I3 is the but vc is constant, and so ac = 0. Therefore
angle of the line CP measured from some datum
UQ = - 18j m/s2
in the plane of the motion. Since r has a constant
value (0.5 m) then i- = 0 and vplc has no c) See Fig. 2.27(c). For the radial line CR,
component in the direction of CP. The angular
e, = sin 30"i + cos 307 = 4 i + t d 3 j
velocity of the line CP is 4 in the anticlockwise
direction (since I3 is defined as positive in this and
sense); thus & = -6 rads, and [see Fig. 2.27(a)]
ee = -cos 30"i +sin 307 = - 4 d 3 i G +
VR/C = r$ee = O S ( -6)( - 4 d 3 i + G )
= (2.6i- 1.5j) m/s

and
vR= vc+vwc= 2.5i+2.6i- l . 5 j
= (5.1i- 1.5j) m / s
The same result can be obtained from a velocity
vector diagram, Fig. 2.28. Here vc and vR/care
drawn to some appropriate scale in the correct
directions and are added graphically to give V R .

..

Figure 2.27 Figure 2.28

For the acceleration of R relative to C we have
vplc = veee = roee = 0 . 5 ( - 6 ) i = -3i m/s
uwc = -rb2e, = - O S ( -6)2(4i + t d 3 j )
The velocity of C is v = 2 . 5 m/s and the total
velocity of P is = (9i+ 15.6j) m/s2
VP = vc + vP/c
which is the total acceleration of R, since ac = 0.
= 2.5- 3i = - 0 . 5 m / s Example 2.6
The wheel is therefore slipping. At the instant under consideration, the trolley T,
Fig. 2.29, has a velocity of 4 m/s to the right and is
b) See Fig- 2-27(b)- For the radial line CQ we decelerating at 2 m/s2. The telescopic arm AB has
have e, =j and e, = - i . The velocity OfQ relative a length of 1.5 m which is increasing at a constant
to C is rate of 2 d s . At the same time, the arm has an
vQ/C = &ee = ( - 3 ) ( - i ) = 3i m/s anticlockwise angular velocity of 3 rads and a
clockwise angular acceleration of 0.5 rads'.
so that
VQ = VC + vQ/C = 2.5i + 3i = 5 . 5 m / ~
From equation 2.18, the acceleration of Q
relative to C is given by
uQIC + + 2i-6)e,
= ( Y - rh2)e, (re
= (-0.5)(-6)'er
= - 18j m/s2

The total acceleration of Q is Figure 2.29

18 Kinematics of a particle in plane motion

= -18.54i+5.96jm/s2
and the magnitude of the acceleration of B is
laBl = [(-18.54)2+ (5.96)2]1/2= 19.47 m/s2
A graphical solution is again appropriate,
and somewhat quicker. For the velocity vector
diagram we first draw, to scale, vA, the velocity of
Figure 2.30 A, 4 m / s to the right (Fig. 2.31). The velocity of B
relative to A, Z ) B / ~ ,having the components i. = 2
Determine for B (a) the velocity and speed, and re = 1.5(3) = 4.5 in the appropiate direc-
and (b) the acceleration and its magnitude. Give tions, is then added to vA and the resultant is %,
the vector quantities in terms of the unit vectors i which can be scaled from the figure.
and j.
Solution Polar co-ordinates are again required,
and we must first write down the expressions for
e, and ee in terms of i and j (see Fig. 2.30).
+
e, = cos 20"i sin 203
ee = -sin 20"i cos 203 +
From equation 2.17,
Z)BIA=i.e,+rke wherer= 1 . 5 a n d i . = 2 Figure 2.31
thus %/A = 2(0.940i+ 0.3421') For the acceleration vector diagram of Fig. 2.32
+1.5(3)(-0.3423+ 0.940j) we first draw a line to scale to represent the
= O.341i+4.91jm/s2
acceleration of A, a A . This is 2 m/s to the left.
The acceleration of B relative to A, aB/A, is then
From equation 2.24, added to aA. The components of aB/A are
?-re2 = 0- 1.5(3)2 = -13.5 m/s2 in the e, direc-
% = VA +%/A tion and r8+2i.h= 1.5(-0.5)+2(2)3 = 11.25
thus m / s 2 in the eo direction. The acceleration of B,
% = 4i + (0.34i+ 4.01j) aB, can be scaled from the figure.
= (4.34i+4.91.) m/s2
The speed of B is the magnitude of VB :
I % I = d(4.342+ 4.912)
= 6.55 m/s
The acceleration of B relative to A is, from
equation 2.18,
QB,A = (i'- re2)e, + (re+ 2i.b) e,
Figure 2.32
and i: = 0 since i. is constant.
aB/A = -1.5(3)2(0.940i+0.342j) Example 2.7
+ [(1.5)(-0.5) +2(2)3] A racing car B is being filmed from a camera
x (-0.3423'+ 0.940j) mounted on car A which is travelling along a
straight road at a constant speed of 72 km/h. The
= -16.54i+5.96jm/s2 racing car is moving at a constant speed of 144
From equation 2.25 km/h along the circular track, centre 0,which has
a radius of 200m. At the instant depicted in
a~ = a~ + ~ B I A Fig. 2.33, A, B and 0 are co-linear.
= -2i+(-16.54i+5.96j) Determine the angular velocity and the angular
 Problems 19

4d
aB = Oeo+-e, = &,
200
Since car A is travelling at a constant speed
along a straight road,
aA = 0
The acceleration of B relative to A is
Figure 2.33
aB/A = as- aA = &r (iii)
acceleration of the camera so that the image of B Also, from equation 2.18,
remains centrally positioned in the viewfinder.
aB/A + (re+ 2ib)e0
= ( i - rb2)er (iv)
Comparing equations (iii) and (iv) we see that
Solution In order to find the required angular
velocity and angular acceleration, we shall first 0 = re+2fh = 65.588+2(10)(-0.346)
need to determine the velocity and acceleration of hence the angular acceleration of the camera is
B relative to A in the given polar co-ordinates and
then make use of equations 2.17 and 2.18. 8 = 20(0.346)/65.58 = 0.106 rads'
The velocity of B is perpendicular to the line
AB, so that Problems
2.1 The position of a point, in metres, is given by
% = l M ( E ) ( - e o ) = -Neo m / s r = (6t-5t2)i+ ( 7 + 8 t 3 ) j , where t is the time in
seconds. Determine the position, velocity and the
The velocity of A is acceleration of the point when t = 3 s.
2.2 The acceleration of a point P moving in a plane is
vA = 7 2 ( E ) i = 20i m / s + +
given by a = 3t2i (4t 5 ) j d s 2 , where t is the time in
seconds. When t = 2, the position and velocity are
Resolving the unit vector i into the e, and e8 +
respectively (12i 26.3333') m and (1Oi + 213') d s .
Determine the position and velocity at t = 1.
directions we have
2.3 A point A is following a curved path and at a
vA = 20(-cos30"e8 - sin30"e,) particular instant the radius of curvature of the path is
= (-10e,- 17.32e8)m / s 16m. The speed of the point A is 8 d s and its
component of acceleration tangential to the path is
The velocity of B relative to A is 3 d s 2 . Determine the magnitude of the total accelera-
= %-vA = 10e,-22.68eo tion.
%/A (9
Also, from equation 2.17, 2.4 A point P is following a circular path of radius 5 m
at a constant speed of 10 d s . When the point reaches
%lA = fer + roeo (ii) the position shown in Fig. 2.34, determine its velocity
and acceleration.
Comparing equations (i) and (ii) and noting
from Fig. 2.33 that
r = (230/cos30")- 200 = 65.58 m
we find
i =1 0 d s
Figure 2.34
and the angular velocity of the camera is
2.5 A ship A is steaming due north at 5 knots and
h = -22.5fU65.58 = -0.346 rads another ship B is steaming north-west at 10 knots. Find
The acceleration of B is most conveniently the velocity of B relative to that of A. (1knot = 1
found from path co-ordinates (equations 2.14) nautical milem = 6082.66 ft/h = 0.515 d s . )
and is 2.6 A telescopic arm AB pivots about A in a vertical
20 Kinematics of a particle in plane motion

plane and is extending at a constant rate of 1 d s , the 2.10 A point moves along a curved path and the
angular velocity of the arm remaining constant at forward speed v is recorded every second as given in
5 r a d s anticlockwise, Fig. 2.35. When the arm is at 30" the table below.
to the horizontal, the length of the arm is 0.5m.
Determine the velocity and acceleration of B. tls 0 1 2 3 4 5 6
vlms-' 4.0 3.8 3.6 3.2 2.4 1.5 0.4
It can be assumed that the speed vanes smoothly with
time.
(a) Estimate the magnitude of the tangential
acceleration at time t = 3 s and the distance travelled
between t = 0 and t = 6 s.
(b) If, at t = 3 s , the magnitude of the total
Figure 2.35 acceleration is 1.0 d s 2 , estimate the magnitude of the
acceleration normal to the path and also the radius of
2.7 Repeat problem 2.6 assuming that the velocity of curvature of the path.
+
point A is (7i + 2j) d s and its acceleration is (4i 6j)
2'11 The forward (tangential) acce1eration at Of the
d s 2 . Also determine for this c a e the speed of B and
the magnitude of its acceleration. motion of a point is recorded at each metre of distance
travelled, and the results are as follows.
2.8 For the mechanism shown in Fig. 2.36, determine
the velocity of C relative to B and the velocity of C. dm 0 1 2 3 4
a,/ms-* 2.0 2.1 2.5 2.9 3.5
At s = 4 m, the forward speed is 4.6 d s .
Estimate
(a) the speed at s = 0 m,and
(b) the time taken to travel from s = 0 to s = 4 m.

Further problems involving variable acceleration are

given in Chapter3, problems 3.3, 3.4, 3.6, 3.12, 3.14,
Figure 2.36 3.15, 3.17, 3.18 and 3.19.

2.9 A point P moves along a straight line such that its

acceleration is given by a = (sS2 + 3s + 2) d s 2 , where s
is the distance moved in metres. When s = 0 its speed is
zero. Find its speed when s = 4 m.