Lecture Engineering DYNAMICS

2 Kinematics of Particles:
Rectilinear Motion
Course information
Textbooks:

1. Engineering Mechanics (7th Ed.) by J. L. Meriam & L. G. Kraige, Wiley

Reference Books:

1. Engineering Mechanics dynamics by R. C. Hibbeler, Pearson

2. Mechanics for Engineers, Dynamics, by F. P. Beer & E. R. Johnston, McGraw Hill
3. Engineering Mechanics: Statics & Dynamics by I. H. Shames, Prentice Hall

CLOs Descriptions PLOs

Understand and apply basic concepts of kinematics of particles Engineering
CLO
associated with rectilinear, plane curvilinear and constrained Knowledge
1 motion.
CLO Understand and apply basic concepts of kinetics of particles using Engineering
Newton's second law of motion, work and energy, impulse and Knowledge
2 momentum.
CLO Apply the plane kinematics and plane kinetics principles to rigid Engineering
3 bodies. Knowledge

Assignments and quizzes 30%

Midterm 30%
Final 40%
Introduction
Engineering Dynamics is used to help us determine the
relationship between Forces and corresponding Motions. The
motion path of a golf ball, the orbital speed of a satellite, and
the accelerations during acrobatic flying.
Introduction
• Dynamics includes:
Kinematics: study of the geometry of motion.
Relates displacement, velocity, acceleration, and time without reference
to the cause of motion.
Fthrust

Fdrag

Flift

Kinetics: study of the relations existing between the forces acting on

a body, the mass of the body, and the motion of the body. Kinetics is
used to predict the motion caused by given forces or to determine the
forces required to produce a given motion.
Introduction
• Particle kinematics includes:

• Rectilinear motion: position, velocity, and acceleration of a

particle as it moves along a straight line.

• Curvilinear motion: position, velocity, and acceleration of a

particle as it moves along a curved line in two or three
dimensions.
Rectilinear Motion: Position, Velocity & Acceleration
• Rectilinear motion: particle moving
along a straight line
• Position coordinate: defined by
positive or negative distance from a
fixed origin on the line.

• The motion of a particle is known if

the position coordinate for particle is
known for every value of time t.
• May be expressed in the form of a
function, e.g., 2 3
x  6t  t
or in the form of a graph x vs. t.
Rectilinear Motion: Position, Velocity & Acceleration
• Consider particle which occupies position
P at time t and P’ at t+Dt,
x
Average velocity 
t
x
Instantaneous velocity  v  lim
t 0 t
• Instantaneous velocity may be positive or
negative. Magnitude of velocity is referred
to as particle speed.
• From the definition of a derivative,
x dx
v  lim 
t 0 t dt
e.g., x  6t 2  t 3
dx
v  12t  3t 2
dt
Rectilinear Motion: Position, Velocity & Acceleration
• Consider particle with velocity v at time t
and v’ at t+Dt,
v
Instantaneous acceleration  a  lim
t 0 t
• Instantaneous acceleration may be:
- positive: increasing positive velocity
or decreasing negative velocity
- negative: decreasing positive velocity
or increasing negative velocity.
• From the definition of a derivative,
v dv d 2 x
a  lim   2
t 0 t dt dt
e.g. v  12t  3t 2
dv
a  12  6t
dt
Rectilinear Motion: Position, Velocity & Acceleration

• From our example,

x  6t 2  t 3
dx
v  12t  3t 2
dt
dv d 2 x
a   12  6t
dt dt 2
• What are x, v, and a at t = 2 s ?
- at t = 2 s, x = 16 m, v = vmax = 12 m/s, a = 0

• Note that vmax occurs when a=0, and that the

slope of the velocity curve is zero at this point.
• What are x, v, and a at t = 4 s ?

- at t = 4 s, x = xmax = 32 m, v = 0, a = -12 m/s2

Uniformly Accelerated Rectilinear Motion

If forces applied to a body

are constant (and in a
constant direction), then
you have uniformly
accelerated rectilinear
motion.

Another example is free-

fall when drag is negligible
Uniformly Accelerated Rectilinear Motion
For a particle in uniformly accelerated rectilinear motion, the
acceleration of the particle is constant. You may recognize these
constant acceleration equations from your physics courses.
v t
dv
dt
 a  constant  dv  a  dt
v0 0
v  v0  at

x t
dx
dt
 v0  at  dx   v0  at  dt
x0 0
x  x0  v0t  12 at 2

v x
dv
v  a  constant  v dv  a  dx v 2  v02  2a  x  x0 
dx v0 x0

Careful – these only apply to uniformly

accelerated rectilinear motion!
Determination of the Motion of a Particle

• We often determine accelerations from the forces applied

(kinetics will be covered later)
• Generally have four classes of motion

- acceleration given as a constant, a = constant

- acceleration given as a function of time, a = f(t)
- acceleration given as a function of position, a = f(x)
- acceleration given as a function of velocity, a = f(v)
Acceleration as a function of time, position, or velocity

If…. Kinematic relationship Integrate

v t
dv
a  a t 
dt
 a (t )  dv   a t  dt
v0 0

dx dv
dt  and a  v x
v dt
a  a x  v dv   a  x  dx
v0 x0
v dv  a  x  dx

v t
dv dv
dt
 a (v ) v a v   0 dt
a  a v 
0

x v
v dv
𝑣𝑑𝑣 =𝑎 ( 𝑣 ) 𝑑𝑥 x dx  v a v 
0 0
Sample Problem 11.2
SOLUTION:
• Integrate twice to find v(t) and y(t).

• Solve for t when velocity equals zero

(time for maximum elevation) and
evaluate corresponding altitude.
• Solve for t when altitude equals zero
Ball tossed with 10 m/s vertical velocity (time for ground impact) and evaluate
from window 20 m above ground. corresponding velocity.
Determine:
• velocity and elevation above ground at
time t,
• highest elevation reached by ball and
corresponding time, and
• time when ball will hit the ground and
corresponding velocity.
Sample Problem 11.2
SOLUTION:
• Integrate twice to find v(t) and y(t).

dv
 a  9.81m s 2
dt
v t  t
 dv    9.81dt vt   v0  9.81t
v0 0

m  m
vt   10   9.81 2  t
s  s 
dy
 v  10  9.81t
dt
y t  t
 dy   10  9.81t dt y t   y0  10t  12 9.81t 2
y0 0

 m  m
y t   20 m  10 t   4.905 2 t 2
 s  s 
Sample Problem 11.2
• Solve for t when velocity equals zero and evaluate
corresponding altitude.
m  m
vt   10   9.81 2  t  0
s  s 
t  1.019 s

• Solve for t when altitude equals zero and evaluate

corresponding velocity.
 m  m
y t   20 m  10 t   4.905 2 t 2
 s  s 
 m  m
y  20 m  10 1.019 s    4.905 2 1.019 s 2
 s  s 
y  25.1 m
Sample Problem 11.2
• Solve for t when altitude equals zero and evaluate
corresponding velocity.
 m  m
y t   20 m  10 t   4.905 2 t 2  0
 s  s 
t  1.243s meaningless 
t  3.28 s

m  m
vt   10   9.81 2  t
s  s 
m  m
v3.28 s   10   9.81 2  3.28 s 
s  s 

m
v  22.2
s
Sample Problem 11.3
SOLUTION:

a   kv • Integrate a = dv/dt = -kv to find v(t).

• Integrate v(t) = dx/dt to find x(t).

• Integrate a = v dv/dx = -kv to find
v(x).
Brake mechanism used to reduce gun
recoil consists of piston attached to barrel
moving in fixed cylinder filled with oil.
As barrel recoils with initial velocity v0,
piston moves and oil is forced through
orifices in piston, causing piston and
cylinder to decelerate at rate proportional
to their velocity.
Determine v(t), x(t), and v(x).
Sample Problem 11.3
SOLUTION:
• Integrate a = dv/dt = -kv to find v(t).

dv
v
dv
t
v t 
a
dt
  kv v v  k 0 dt ln
v0
  kt
0

vt   v0 e  kt

• Integrate v(t) = dx/dt to find x(t).

dx
v t    v0 e  kt
dt
x t t
 1 
 dx  v0  dt
e  kt
x t   v0   e  kt 
0 0  k 0

xt  
v0
k

1  e  kt 
Sample Problem 11.3
• Integrate a = v dv/dx = -kv to find v(x).
v x
dv
a  v   kv dv   k dx  dv  k  dx
dx v0 0
v  v0   kx
v  v0  kx

• Alternatively,

with xt  
v0
k

1  e  kt 
vt 
and vt   v0 e  kt or e  kt 
v0
v0  vt 
then xt   1  
k  v0 
v  v0  kx
Group Problem Solving
A bowling ball is dropped from a boat so that it
strikes the surface of a lake with a speed of 15 ft/s.
+y Assuming the ball experiences a downward
acceleration of a =10 - 0.01v2 when in the water,
determine the velocity of the ball when it strikes the
bottom of the lake.

Which integral should you choose?

v t v x
(a)  dv   a t  dt
v0 0
(c)  v dv   a  x  dx
v0 x0

v t
x v
v dv dv
(b) x dx  v a v  (d) v a v   0 dt
0
0 0
Concept Question

When will the bowling ball start slowing down?

A bowling ball is dropped from a boat so that it

strikes the surface of a lake with a speed of 15 ft/s.
+y Assuming the ball experiences a downward
acceleration of a =10 - 0.01v2 when in the water,
determine the velocity of the ball when it strikes the
bottom of the lake.

The velocity would have to be high

enough for the 0.01 v2 term to be bigger
than 10
Group Problem Solving
SOLUTION:
• Determine the proper kinematic
relationship to apply (is acceleration
a function of time, velocity, or
position?
• Determine the total distance the car
The car starts from rest and accelerates travels in one-half lap
according to the relationship
• Integrate to determine the velocity
a  3  0.001v 2
after one-half lap

It travels around a circular track that has

a radius of 200 meters. Calculate the
velocity of the car after it has travelled
halfway around the track. What is the
car’s maximum possible speed?
Group Problem Solving

Given: a  3  0.001v 2 Find: v after ½ lap

vo = 0, r = 200 m Maximum speed
Choose the proper kinematic relationship
Acceleration is a function of velocity, and
we also can determine distance. Time is not
involved in the problem, so we choose:

dv x v
v dv
v  a v  x dx  v a v 
dx
0 0 m
2 00
Determine total distance travelled
x   r  3.14(200)  628.32 m
Group Problem Solving

Determine the full integral, including limits

x v
v dv 628.32 v
v
x dx  v a v   dx  
3  0.001v 2
dv
0 0 0 0

Evaluate the interval and solve for v

1 2 v
628.32   ln 3  0.001v 
0.002 0

628.32( 0.002)  ln 3  0.001v 2   ln 3  0.001(0) 

ln 3  0.001v 2   1.2566  1.0986=  0.15802

Take the exponential of each side 3  0.001v 2  e 0.15802

Group Problem Solving

Solve for v 3  0.001v 2  e 0.15802

3  e 0.15802
v 
2
 2146.2 v  46.3268 m/s
0.001

How do you determine the maximum speed the car can reach?
Velocity is a maximum when a  3  0.001v 2
acceleration is zero

This occurs when 0.001v 2  3

vmax  3
0.001 vmax  54.772 m/s
Uniform Rectilinear Motion
During free-fall, a parachutist
For a particle in uniform
reaches terminal velocity when
rectilinear motion, the
her weight equals the drag
acceleration is zero and
force. If motion is in a straight
the velocity is constant.
line, this is uniform rectilinear
motion. dx
 v  constant
dt
x t
 dx  v  dt
x0 0
x  x0  vt
x  x0  vt

Careful – these only apply to

uniform rectilinear motion!
Motion of Several Particles
We may be interested in the motion of several different particles,
whose motion may be independent or linked together.
Motion of Several Particles: Relative Motion
• For particles moving along the same line, time
should be recorded from the same starting
instant and displacements should be measured
from the same origin in the same direction.

xB  x B  x A  relative position of B
A
with respect to A
xB  x A  xB A

vB  v B  v A  relative velocity of B
A
with respect to A
vB  v A  vB A

aB  a B  a A  relative acceleration of B
A
with respect to A
aB  a A  aB A
Sample Problem 11.4
SOLUTION:
• Substitute initial position and velocity
and constant acceleration of ball into
general equations for uniformly
accelerated rectilinear motion.

• Substitute initial position and constant

velocity of elevator into equation for
uniform rectilinear motion.
Ball thrown vertically from 12 m level
• Write equation for relative position of
in elevator shaft with initial velocity of
18 m/s. At same instant, open-platform ball with respect to elevator and solve
elevator passes 5 m level moving for zero relative position, i.e., impact.
upward at 2 m/s. • Substitute impact time into equation
Determine (a) when and where ball hits for position of elevator and relative
elevator and (b) relative velocity of ball velocity of ball with respect to
and elevator at contact. elevator.
Sample Problem 11.4
SOLUTION:
• Substitute initial position and velocity and constant
acceleration of ball into general equations for
uniformly accelerated rectilinear motion.
m  m
v B  v0  at  18   9.81 2 t
s  s 
 m  m
y B  y0  v0t  12 at 2  12 m  18 t   4.905 2 t 2
 s  s 

• Substitute initial position and constant velocity of

elevator into equation for uniform rectilinear
motion. m
vE  2
s
 m
y E  y0  v E t  5 m   2 t
 s
Sample Problem 11.4
• Write equation for relative position of ball with respect to
elevator and solve for zero relative position, i.e., impact.

yB E  
 12  18t  4.905t 2  5  2t   0
t  0.39 s meaningless 
t  3.65 s

• Substitute impact time into equations for position of

elevator and relative velocity of ball with respect to elevator.
y E  5  23.65
y E  12.3 m

vB E  18  9.81t   2
 16  9.813.65
m
vB E  19.81
s
Motion of Several Particles: Dependent Motion
• Position of a particle may depend on position of one
or more other particles.
• Position of block B depends on position of block A.
Since rope is of constant length, it follows that sum of
lengths of segments must be constant.
x A  2 x B  constant (one degree of freedom)
• Positions of three blocks are dependent.
2 x A  2 x B  xC  constant (two degrees of freedom)

• For linearly related positions, similar relations hold

between velocities and accelerations.
dx A dx dx
2  2 B  C  0 or 2v A  2v B  vC  0
dt dt dt
dv dv dv
2 A  2 B  C  0 or 2a A  2a B  aC  0
dt dt dt
Sample Problem 11.5
SOLUTION:
• Define origin at upper horizontal surface
with positive displacement downward.
• Collar A has uniformly accelerated
rectilinear motion. Solve for acceleration
and time t to reach L.
• Pulley D has uniform rectilinear motion.
Pulley D is attached to a collar which Calculate change of position at time t.
is pulled down at 3 in./s. At t = 0,
collar A starts moving down from K • Block B motion is dependent on motions
with constant acceleration and zero of collar A and pulley D. Write motion
initial velocity. Knowing that relationship and solve for change of block
velocity of collar A is 12 in./s as it B position at time t.
passes L, determine the change in • Differentiate motion relation twice to
elevation, velocity, and acceleration develop equations for velocity and
of block B when block A is at L. acceleration of block B.
Sample Problem 11.5
SOLUTION:
• Define origin at upper horizontal surface with
positive displacement downward.

• Collar A has uniformly accelerated rectilinear

motion. Solve for acceleration and time t to reach L.

v 2A  v A 02  2a A x A  x A 0 
2
 in. in.
12   2a A 8 in. aA  9
 s  s2

v A  v A 0  a At
in. in.
12 9 2t t  1.333 s
s s
Sample Problem 11.5
• Pulley D has uniform rectilinear motion. Calculate
change of position at time t.
x D  x D 0  v D t
 in.
x D  x D 0   3 1.333s   4 in.
 s 
• Block B motion is dependent on motions of collar
A and pulley D. Write motion relationship and
solve for change of block B position at time t.
Total length of cable remains constant,
x A  2 x D  x B  x A 0  2x D 0  x B 0

x A  x A 0  2x D  x D 0  x B  x B 0   0
8 in.  24 in.  x B  x B 0   0
x B  x B 0  16 in.
Sample Problem 11.5
• Differentiate motion relation twice to develop
equations for velocity and acceleration of block B.
x A  2 x D  x B  constant

v A  2v D  v B  0

 in.  in. in.

12   2 3   v B  0 v B  18
 s   s  s

a A  2a D  a B  0

 in. in.
 9 2   vB  0 a B  9
 s  s2
Group Problem Solving
Slider block A moves to the left with a
constant velocity of 6 m/s. Determine
the velocity of block B.

Solution steps

• Sketch your system and choose

coordinate system
• Write out constraint equation
• Differentiate the constraint equation
to get velocity
Group Problem Solving
Given: vA= 6 m/s left Find: vB
xA This length is constant no
matter how the blocks move

Sketch your system and choose coordinates

yB
Define your constraint equation(s)
x A  3 yB  constants  L

Differentiate the constraint equation to

get velocity

6 m/s + 3vB  0
v B  2 m/s 

Note that as xA gets bigger, yB gets smaller.

Graphical Solution of Rectilinear-Motion Problems

Engineers often collect position, velocity, and acceleration

data. Graphical solutions are often useful in analyzing
these data.
180

160

140 Acceleration data

120 from a head impact
Acceleration (g)

100 during a round of

80 boxing.
60

40

20

0
47.76 47.77 47.78 47.79 47.8 47.81
Time (s)
Graphical Solution of Rectilinear-Motion Problems

• Given the x-t curve, the v-t curve is

equal to the x-t curve slope.
• Given the v-t curve, the a-t curve is
equal to the v-t curve slope.
Graphical Solution of Rectilinear-Motion Problems

• Given the a-t curve, the change in velocity between t1 and t2 is

equal to the area under the a-t curve between t1 and t2.

• Given the v-t curve, the change in position between t1 and t2 is

equal to the area under the v-t curve between t1 and t2.
Other Graphical Methods
• Moment-area method to determine particle position
at time t directly from the a-t curve:
x1  x0  area under v  t curve
v1
 v0t1   t1  t dv
v0

using dv = a dt ,
v1
x1  x0  v0t1   t1  t  a dt
v0
v1
 t1  t  a dt  first moment of area under a-t curve
v0 with respect to t = t1 line.

x1  x0  v0t1  area under a-t curvet1  t 

t  abscissa of centroid C
Other Graphical Methods

• Method to determine particle acceleration from v-x curve:

dv
av
dx
 AB tan 
 BC  subnormal to v-x curve
Curvilinear Motion: Position, Velocity & Acceleration

The softball and the car both undergo

curvilinear motion.

• A particle moving along a curve other than a

straight line is in curvilinear motion.
Curvilinear Motion: Position, Velocity & Acceleration

• The position vector of a particle at time t is defined by a vector between

origin O of a fixed reference frame and the position occupied by particle.

• Consider a particle which occupies position P defined by r at time t


and P’ defined by r  at t + Dt,
Curvilinear Motion: Position, Velocity & Acceleration
Instantaneous velocity Instantaneous speed
(vector) (scalar)

 r dr s ds
v  lim  v  lim 
t 0 t dt t  0 t dt
Curvilinear Motion: Position, Velocity & Acceleration

• Consider velocity v of a particle at time t and velocity v at t + Dt,

 v dv
a  lim   instantaneous acceleration (vector)
t 0 t dt

• In general, the acceleration vector is not tangent

to the particle path and velocity vector.
Derivatives of Vector Functions

• Let Pu  be a vector function of scalar variable u,
   
dP P Pu  u   Pu 
 lim  lim
du u 0 u u 0 u
• Derivative of vector sum,
  
d P  Q  dP dQ
 Delete or put in
  “bonus” slides
du du du
• Derivative of product of scalar and vector functions,
 
d  f P  df  dP
 P f
du du du
• Derivative of scalar product and vector product,
   
d P  Q  dP   dQ
 Q  P 
du du du
   
d P  Q  dP   dQ
 Q  P
du du du
Rectangular Components of Velocity & Acceleration
• When position vector of particle P is given by its
rectangular components,
   
r  xi  y j  zk

• Velocity vector,
 dx  dy  dz    
v  i  j  k  x i  y j  z k
dt dt dt
  
 vx i  v y j  vz k

• Acceleration vector,
 d 2 x d 2 y  d 2 z    
a  2 i  2 j  2 k  xi  y j  zk
dt dt dt
  
 ax i  a y j  az k
Rectangular Components of Velocity & Acceleration
• Rectangular components particularly effective
when component accelerations can be integrated
independently, e.g., motion of a projectile,
a x  x  0 a y  y   g a z  z  0
with initial conditions,
x0  y 0  z 0  0 v x 0 , v y  , v z 0  0
0

Integrating twice yields

v x  v x 0 v y  v y   gt vz  0
0
x  v x 0 t y  v y  y  12 gt 2 z0
0

• Motion in horizontal direction is uniform.

• Motion in vertical direction is uniformly accelerated.

• Motion of projectile could be replaced by two

independent rectilinear motions.
Sample Problem 11.7
SOLUTION:
• Consider the vertical and horizontal
motion separately (they are independent)
• Apply equations of motion in y-direction

• Apply equations of motion in x-direction

• Determine time t for projectile to hit the

A projectile is fired from the edge
ground, use this to find the horizontal
of a 150-m cliff with an initial
distance
velocity of 180 m/s at an angle of
30°with the horizontal. Neglecting • Maximum elevation occurs when v =0
y
air resistance, find (a) the
horizontal distance from the gun to
the point where the projectile
strikes the ground, (b) the greatest
elevation above the ground reached
by the projectile.
Sample Problem 11.7
SOLUTION:

Given: (v)o =180 m/s (y)o =150 m

(a)y = - 9.81 m/s2 (a)x = 0 m/s2

Vertical motion – uniformly accelerated:

Horizontal motion – uniformly accelerated:

Choose positive x to the right as shown
Sample Problem 11.7
SOLUTION:
Horizontal distance
Projectile strikes the ground at:
Substitute into equation (1) above

Solving for t, we take the positive root

Substitute t into equation (4)

Maximum elevation occurs when vy=0

Maximum elevation above the ground =

Concept Quiz
If you fire a projectile from 150
meters above the ground (see
Ex Problem 11.7), what launch
angle will give you the greatest
horizontal distance x?

a) A launch angle of 45
b) A launch angle less than 45
c) A launch angle greater than 45
d) It depends on the launch velocity
Group Problem Solving

SOLUTION:
A baseball pitching machine • Consider the vertical and horizontal
“throws” baseballs with a motion separately (they are independent)
horizontal velocity v0. If you
• Apply equations of motion in y-direction
want the height h to be 42 in.,
determine the value of v0.
• Apply equations of motion in x-direction

• Determine time t for projectile to fall to

42 inches
• Calculate v0=0
Group Problem Solving
Given: x= 40 ft, yo = 5 ft,
yf= 42 in.
Find: vo

Analyze the motion in Analyze the motion in

the y-direction the x-direction
1 2
y f  y0  (0)t  gt x  0  (vx )0 t  v0 t
2
1 2 40 ft  (v0 )(0.305234 s)
3.5  5  gt
2
1 v0  131.047 ft/s  89.4 mi/h
1.5 ft   (32.2 ft/s 2 )t 2
2
t  0.305234 s
Motion Relative to a Frame in Translation
It is critical for a pilot to
A soccer player must consider know the relative motion
the relative motion of the ball of his aircraft with
and her teammates when respect to the aircraft
making a pass. carrier to make a safe
landing.
Motion Relative to a Frame in Translation
• Designate one frame as the fixed frame of reference.
All other frames not rigidly attached to the fixed
reference frame are moving frames of reference.
• Position vectors for particles A and B with respect to
 
the fixed frame of reference Oxyz are rA and rB .

• Vector rB A joining A and B defines the position
of B with respect to the moving frame Ax’y’z’ and
  
rB  rA  rB A
• Differentiating twice,
   
vB  v A  vB A vB A  velocity of B relative to A.
   
a B  a A  aB A a B A  acceleration of B relative
to A.
• Absolute motion of B can be obtained by combining
motion of A with relative motion of B with respect to
moving reference frame attached to A.
Sample Problem 11.9
SOLUTION:
• Define inertial axes for the system

• Determine the position, speed, and

acceleration of car A at t = 5 s
• Determine the position, speed, and
acceleration of car B at t = 5 s
Automobile A is traveling east at the • Using vectors (Eqs 11.31, 11.33, and
constant speed of 36 km/h. As 11.34) or a graphical approach, determine
automobile A crosses the the relative position, velocity, and
intersection shown, automobile B acceleration
starts from rest 35 m north of the
intersection and moves south with a
constant acceleration of 1.2 m/s2.
Determine the position, velocity, and
acceleration of B relative to A 5 s
after A crosses the intersection.
Sample Problem 11.9
SOLUTION: • Define axes along the road

Given: vA=36 km/h, aA= 0, (xA)0 = 0

(vB)0= 0, aB= - 1.2 m/s2, (yA)0 = 35 m
Determine motion of Automobile A:

We have uniform motion for A so:

At t = 5 s
Sample Problem 11.9
SOLUTION:

Determine motion of Automobile B:

We have uniform acceleration for B so:

At t = 5 s
Sample Problem 11.9
SOLUTION:

We can solve the problems geometrically, and apply the arctangent relationship:

Or we can solve the problems using vectors to obtain equivalent results:

rB  rA  rB/ A v B  v A  v B/ A a B  a A  a B/ A
20 j  50i  rB/ A 6 j  10i  v B/ A 1.2 j  0i  a B/ A
rB/ A  20 j  50i (m) v B/ A  6 j  10i (m/s) a B/ A  1.2 j (m/s 2 )

Physically, a rider in car A would “see” car B travelling south and west.
Concept Quiz
If you are sitting in train
B looking out the window,
it which direction does it
appear that train A is
moving?

a) 25o
c)

b) 25o d)
Tangential and Normal Components

If we have an idea of the path of a vehicle, it is often convenient

to analyze the motion using tangential and normal components
(sometimes called path coordinates).
Tangential and Normal Components
y
r= the instantaneous
radius of curvature

v  v et
en v= vt et dv v2
et a  et  en
dt 

x
• The tangential direction (et) is tangent to the path of the
particle. This velocity vector of a particle is in this direction
• The normal direction (en) is perpendicular to et and points
towards the inside of the curve.
• The acceleration can have components in both the en and et directions
Tangential and Normal Components
• To derive the acceleration vector in tangential
and normal components, define the motion of a
particle as shown in the figure.

• et and et are tangential unit vectors for the

particle path at P and P’. When drawn with
  
respect to the same origin, et  et  et and
 is the angle between them.

et  2 sin 2 

et sin 2   
lim  lim e n  en
 0   0  2

 det
en 
d
Tangential and Normal Components
• With the velocity vector expressed as v  vet
the particle acceleration may be written as
  
 dv dv  de dv  de d ds
a  et  v  et  v
dt dt dt dt d ds dt
but 
det  ds
 en  d  ds v
d dt
After substituting,
 dv  v 2  dv v2
a  et  en at  an 
dt  dt 
• The tangential component of acceleration
reflects change of speed and the normal
component reflects change of direction.
• The tangential component may be positive or
negative. Normal component always points
toward center of path curvature.
Tangential and Normal Components
• Relations for tangential and normal acceleration
also apply for particle moving along a space curve.
 dv  v 2  dv v2
a  et  en at  an 
dt  dt 
• The plane containing tangential and normal unit
vectors is called the osculating plane.
• The normal to the osculating plane is found from
  
eb  et  en

en  principal normal

eb  binormal

• Acceleration has no component along the binormal.

Sample Problem 11.8
SOLUTION:
• Define your coordinate system

• Calculate the tangential velocity and

tangential acceleration
• Calculate the normal acceleration

A motorist is traveling on a curved • Determine overall acceleration magnitude

section of highway of radius 2500 ft after the brakes have been applied
at the speed of 60 mi/h. The motorist
suddenly applies the brakes, causing
the automobile to slow down at a
constant rate. Knowing that after 8 s
the speed has been reduced to 45
mi/h, determine the acceleration of
the automobile immediately after the
brakes have been applied.
Sample Problem 11.8
SOLUTION: • Define your coordinate system
• Determine velocity and acceleration in
the tangential direction
et
en

• The deceleration constant, therefore

• Immediately after the brakes are

applied, the speed is still 88 ft/s

a  an2  at2  2.752  3.10 2

Tangential and Normal Components
In 2001, a race scheduled at the Texas Motor Speedway was
cancelled because the normal accelerations were too high and
caused some drivers to experience excessive g-loads (similar to
fighter pilots) and possibly pass out. What are some things that
could be done to solve this problem?

Some possibilities:

Reduce the allowed speed

Increase the turn radius
(difficult and costly)
Have the racers wear g-suits
Group Problem Solving
SOLUTION:
• Define your coordinate system
• Calculate the tangential velocity and
tangential acceleration

• Calculate the normal acceleration

• Determine overall acceleration

The tangential acceleration of the magnitude
centrifuge cab is given by
at  0.5 t (m/s 2 )
where t is in seconds and at is in
m/s2. If the centrifuge starts from
fest, determine the total acceleration
magnitude of the cab after 10
seconds.
Group Problem Solving
Define your coordinate system
In the side view, the tangential
direction points into the “page”
en
Determine the tangential velocity
at  0.5 t
t
2 t
vt   0.5 t dt  0.25t  0.25t 2 Top View
0 0

vt  0.25 10   25 m/s

2

et m
Determine the normal acceleration en 8

 t  252
2
v
an   2
 78.125 m/s
r 8
Determine the total acceleration magnitude
amag  an2  at2  78.1252 + (0.5)(10) 
2
amag  78.285 m/s 2
Group Problem Solving

Notice that the normal

acceleration is much higher than
the tangential acceleration.
What would happen if, for a
given tangential velocity and
acceleration, the arm radius was
doubled?
a) The accelerations would remain the same
b) The an would increase and the at would decrease
c) The an and at would both increase
d) The an would decrease and the at would increase
Radial and Transverse Components
By knowing the distance to the aircraft and the
angle of the radar, air traffic controllers can
track aircraft.

Fire truck ladders can rotate as well as extend;

the motion of the end of the ladder can be
analyzed using radial and transverse
components.
Radial and Transverse Components
• The position of a particle P is
expressed as a distance r from the
origin O to P – this defines the
radial direction er. The transverse
direction eq is perpendicular to er
 
r  re r
• The particle velocity vector is

v  r er  r e
• The particle acceleration vector is



r  r
a   2
 
er  r  2r e 
Radial and Transverse Components
• We can derive the velocity and acceleration
relationships by recognizing that the unit vectors
change direction.

• The particle velocity vector is


 d  dr  der dr  d 
v  rer   er  r  er  r e
dt dt dt dt dt
 
 r er  r e
 
r  re r
  • Similarly, the particle acceleration vector is
der  de 
 e   er  d  dr  d  
d d a   er  r e 
dt  dt dt 
   
der der d  d d 2 r  dr der dr d  d 2  d de
  e  2 er   e  r 2 e  r
dt d dt dt dt dt dt dt dt dt dt dt
 
de de d

 d
  er    
 r  r 2 er  r  2r e
dt d dt dt
Concept Quiz

If you are travelling in a perfect

circle, what is always true about
radial/transverse coordinates and
normal/tangential coordinates?

a) The er direction is identical to the en direction.

b) The eq direction is perpendicular to the en direction.
c) The eq direction is parallel to the er direction.
Radial and Transverse Components
• When particle position is given in cylindrical
coordinates, it is convenient to express the
velocity and acceleration
 vectors using the unit
 
vectors e R , e , and k .

• Position vector,
  
r  R e R z k

• Velocity vector,
 
 dr    
v  R e R  R e  z k
dt

• Acceleration vector,

 dv
a
dt
 R  2
    
  R e R  R  2 R  e  z k
Sample Problem 11.12
SOLUTION:
• Evaluate time t for q = 30o.

• Evaluate radial and angular positions,

and first and second derivatives at
time t.
Rotation of the arm about O is defined • Calculate velocity and acceleration in
by q = 0.15t2 where q is in radians and t cylindrical coordinates.
in seconds. Collar B slides along the
arm such that r = 0.9 - 0.12t2 where r is • Evaluate acceleration with respect to
in meters. arm.

After the arm has rotated through 30o,

determine (a) the total velocity of the
collar, (b) the total acceleration of the
collar, and (c) the relative acceleration
of the collar with respect to the arm.
Sample Problem 11.12
SOLUTION:
• Evaluate time t for q = 30o.
  0.15t 2
 30  0.524 rad t  1.869 s

• Evaluate radial and angular positions, and first

and second derivatives at time t.
r  0.9  0.12 t 2  0.481 m
r  0.24 t  0.449 m s
r  0.24 m s 2

  0.15 t 2  0.524 rad

  0.30 t  0.561rad s
  0.30 rad s 2
Sample Problem 11.12
• Calculate velocity and acceleration.
vr  r  0.449 m s
v  r  0.481m 0.561rad s   0.270 m s
v
v  vr2  v2   tan 1 
vr
v  0.524 m s   31.0
ar  r  r 2
 0.240 m s 2  0.481m 0.561rad s 2
 0.391m s 2
a  r  2r
 
 0.481m  0.3 rad s 2  2 0.449 m s 0.561rad s 
 0.359 m s 2
a
a  ar2  a2   tan 1 
ar
a  0.531m s   42.6
Sample Problem 11.12
• Evaluate acceleration with respect to arm.
Motion of collar with respect to arm is rectilinear
and defined by coordinate r.

a B OA  r  0.240 m s 2
Group Problem Solving
SOLUTION:
• Define your coordinate system

• Calculate the angular velocity after

three revolutions
• Calculate the radial and transverse
accelerations
The angular acceleration of the • Determine overall acceleration
centrifuge arm varies according to magnitude

  0.05 (rad/s 2 )

where q is measured in radians. If the

centrifuge starts from rest, determine the
acceleration magnitude after the gondola
has travelled two full rotations.
Group Problem Solving
Define your coordinate system
In the side view, the transverse er
direction points into the “page”
Determine the angular velocity
  0.05 (rad/s 2 )
Acceleration is a function 
d   d Top View
of position, so use:
er

Evaluate the integral eq m

(2)(2 ) 
8

 0.05 d   d
0 0

2 2(2 )

0.05  2
  0.05 2(2 ) 
 2
 2

2 0
2 0
Group Problem Solving
Determine the angular velocity
 2  0.05 2(2 ) 
2
er
  2.8099 rad/s

Determine the angular acceleration

  0.05 = 0.05(2)(2 )  0.6283 rad/s 2
Find the radial and transverse accelerations

 
r  r
a   2
 
er  r  2r e
2 
  0  (8)(2.8099)  er   (8)(0.6283)  0  e

 63.166 er  5.0265 e (m/s 2 )
Magnitude:
amag  ar2  a2  (63.166 ) 2 + 5.0265
2
amag  63.365 m/s 2
Group Problem Solving
r
What would happen if you
designed the centrifuge so
that the arm could extend
from 6 to 10 meters?

You could now have additional acceleration terms. This might

give you more control over how quickly the acceleration of the
gondola changes (this is known as the G-onset rate).



a     
r  r er  r  2r e
2
