Kinematics of Particles

ENGR 221
April 2, 2003
Lecture Goals
Newtons Laws
Position, Velocity and Acceleration
Rectilinear Motion
Relative Motion along a Line

Dynamics
Up until now we have cover the concept of statics,
where the rigid body is in equilibrium and the sum
of the forces and moments are zero. When a body
is in motion these equations are no longer zero and
the study of the results are known as dynamics.
Newtons Laws
A particle at rest will remain at rest. A particle
originally moving with a constant velocity will
continue to move with a constant velocity along a
straight line unless the particle is acted on by an
unbalanced force.
Law 1
Newtons Laws
When a particle is acted on by an unbalanced force, the
particle will be accelerated in the direction of the force.
The magnitude of acceleration will be proportional to
the force and inversely proportional to the mass of the
particle.
Law 2
F
a
m
=
Newtons Laws
For every action there is an equal and opposite
reaction. The forces of action and reaction between
contacting bodies are equal in magnitude opposite in
direction and collinear.
Law 3
Definition
Understand the definitions:
inertia - the property of matter that causes
resistance to a change in motion
particle - is an object whose size and shape can
be ignored when studying its motion.
rigid body - is a collection of particles that remain
at fixed distance from each other at all
times and under all conditions of
loading.
Definitions
Introduction:
kinematics - study of objects move
kinetics - study of the relationship between the
motion and the forces that cause the
motion.
Definition- Motion
Rectilinear motion - all of the y and z components of
displacement, velocity and acceleration are zero for all
time.
Plane curvilinear motion - a particle is not moving in
rectilinear motion but a coordinate system can be found
such that z-components of position, velocity and
acceleration are zero.
General curvilinear motion - no system of coordinates
can be found that at least one component of the position,
velocity, and acceleration are zero for all time.
Displacement
Given a path of particle relative to a
coordinate system, O
( ) ( ) ( )
P/O
r x t i y t j z t k = + +
Displacement
Given a path of particle relative to a
coordinate system, O
( ) ( ) ( )
P/O'
r x t i y t j z t k
' ' '
= + +
Displacement
One can rewrite the equations to
describe the motion
P/O O/O P/O
Relationship Relative
between the Location
two coordinate
systems
r r r
' '
= +
Displacement
The displacement is defined as the
change in the location



The change of location is independent of
coordinate systems.
( )
( )
Q/O P/O
Q/O O'/O P/O O'/O
Q/O P/O
r r r
r r r r
r r
o
' '
' '
=
= + +
=
Velocity
The velocity is defined as the
change in the location with respect
to time
( )
( ) ( ) ( )
( ) ( ) ( )
P/O
P P/O
x y z
d r
r
v r
t dt
x t i y t j z t k
v t i v t j v t k
o
o
= = =
= + +
= + +
Acceleration
The acceleration is defined as the
change in the location with respect
to time
( )
( ) ( ) ( )
( ) ( ) ( )
( ) ( ) ( )
2
P/O
P
P P P/O
2
x y z
x y z
d r
dv
a v r
dt dt
a t i a t j a t k
v t i v t j v t k
x t i y t j z t k
= = = =
= + +
= + +
= + +
Rectilinear Motion
In rectilinear motion, the y and z components
(displacement, velocity and acceleration) are zero.
P/O
P x
P x
r x
v v
a a
o o =
=
=
Rectilinear Motion
Given x(t) find the velocity and acceleration
( )
( )
2
2
t
t
dx
v
dt
dv d x
a
dt dt
=
= =
Rectilinear Motion
Given v(t) find x(t)
( ) ( )
( )
1 1
0 0
x t
x t
dx
v t dx v t dt
dt
x dx v t dt o
= =
= =
} }
Rectilinear Motion
Given a(t) find v(t)
( ) ( )
( )
1 1
0 0
v t
v t
dv
a t dv a t dt
dt
v dv a t dt o
= =
= =
} }
Rectilinear Motion
Given a(x) find v(x) using the chain rule we can
( ) ( )
( ) ( )
1 1 1
0 0 0
v x x
2 2
1 0
v x x
1
2
dv dv dx dv
a x v vdv a x dx
dt dx dt dx
vdv a x dx v v a x dx
= = = =
(
= =
} } }
Example Problem I
Consider a particle moving in a straight line, and assume that its
position is defined by the equation,
x = 6t
2
t
3

where x is expressed in meters and t in seconds. Determine the
velocity and acceleration and plot the results.
Example Problem I
Compute the velocity of the particle



Find out where the velocity is equal to zero.


So a local maximum or minimum occur at 0 and 4
seconds.
( )
2 3
2
6
12 3
dx d
v t t
dt dt
v t t
= =
=
( )
2
12 3 0 12 3 0
0 s. & 4 s.
v t t t t
t t
= = =
= =
Example Problem I
Compute the acceleration of the particle



Find out where the acceleration is equal to zero.


So a local maximum or minimum for the velocity occur
at 2 seconds.
( )
2
12 3
12 6
dv d
a t t
dt dt
a t
= =
=
12 6 0
2 s.
a t
t
= =
=
Example Problem I
Compare the values
( )
( )
0 s 0 m
4 s 32 m
x
x
=
=
( )
2 s 12 m/s v =
Class Problem I
The position of a particle which moves along a
straight line is defined by the relationship,
x = t
3
6t
2
15t + 40
where x is expressed in feet and seconds.
Determine the time at which the velocity will
be zero (b) the position and distance traveled
by the particle at that time (c) the acceleration
of the particle at that time, the distance traveled
by the particle from t = 4s and t = 6s.
Example
Problem II
The brake mechanism used to reduce recoil
in certain types of guns consists essentially
of a piston which is attached to the barrel
and may move in a fixed cylinder filled with
oil. As the barrel recoils with an initial
velocity v
0
, the piston moves and oil is
forced through orifices in the piston, causing
the piston and the barrel to decelerate at a
rate proportional to their velocity, a = kv .
Express(a) v in terms of t and (b) x in terms
of t and (c) v in terms of x
Example
Problem II
Determine the velocity in terms of t.
0
v t
v 0
0
0
ln
kt
dv dv
a kv kdt
dt v
dv
k dt
v
v
kt v v e
v

= = =
=
| |
= =
|
\ .
} }
Example
Problem II
Determine the x in terms of t.
0 0
x t
0
0 0
0 0
0
1
kt kt
kt
t
kt kt
dx
v v e dx v e dt
dt
dx v e dt
v v
x e e
k k

= = =
=
( (
= =

} }
Example
Problem II
Determine the v in terms of x.
0
v x
v 0
0
dv dx dv
a kv v kv
dx dt dx
dv k dx
v v kx
= = =
=
=
} }
Relative Motion
One can use the relative motion or constraints to
find the actual velocity of the particle relative to
another particle.
B A B/A
x x x = +
B A B/A
B A B/A
x x x
v v v
= +
= +
Relative Motion
One can use the relative motion or constraints to
find the actual velocity of the particle relative to
another particle.
B A B/A
B A B/A
B A B/A
x x x
v v v
a a a
= +
= +
= +
Dependent Relative Motion
The members are dependent on one another and a
constraint condition is applicable.
1 2
1 2 1 2
1 2 1 2
constant
0
0
L ms ns
n
L ms ns s s
m
n
L ms ns s s
m
= + =
| |
= + = =
|
\ .
| |
= + = =
|
\ .
Example III
Problem
A ball is thrown vertically upward from the 40-ft level
in an elevator shaft, with an initial velocity of 50 ft/s.
At the same instant an open platform elevator passes
the 10 ft. level, moving upward with a constant velocity
of 5 ft/s. Determine (a) when and where the ball will
hit the elevator,(b) the relative velocity of the ball with
respect to the elevator when the ball hits the elevator.
Example III
Problem
Calculate the movement of the ball.
( )
( )
B 0
2
B
2
B 0 0
2 2
B
50 ft/s 32.2 ft/s
2
40 ft 50 ft/s 16.1 ft/s
v v at
v t
t
y y v t a
y t t
= +
=
= + +
= +
Example III
Problem
Calculate the movement of the elevator.
( )
E 0
E
E 0 E
E
5.0 ft/s
10 ft 5.0 ft/s
v v at
v
y y v t
y t
= +
=
= +
= +
Example III
Problem
Determine when the ball and
the elevator are at the same
location.
( ) ( )
( )
E B
2 2
10 ft 5.0 ft/s 40 ft 50 ft/s 16.1 ft/s
0.56 sec. and 3.35 sec.
y y
t t t
t t
=
+ = +
= =
Example III
Problem
Determine the location
( )( )
E
10 ft 5.0 ft/s 3.35 sec.
26.7 ft
y = +
=
Example III
Problem
Determine the relative velocity
of the elevator and the ball.
( )
B E B/E
2
B
2
E
B/E B E
50 ft/s 32.2 ft/s
50 ft/s 32.2 ft/s 3.35 s 57.9 ft/s
5.0 ft/s
57.9 ft/s 5.0 ft/s
62.9 ft/s
v v v
v t
v
v v v
= +
=
= =
=
= =
=
Example IV
Problem
Two blocks A and B are connected by
a cord passing over three pulleys C, D
and E. Pulleys C and E are fixed,
while D is pulled downward with a
constant velocity of 1.5 m/s. At t = 0
block A starts moving downward from
the position K with a constant
acceleration and no initial velocity.
Knowing the velocity of the block A is
6 m/s as it passes through point L,
determine the change in elevation, the
velocity and the acceleration of block
B when A passes through L.
Example IV Problem
( )
( )
( )
( )
2 2
0 1
1 0
2
2
2
0
2 2
6 m/s
4 m 0 m 0 4.5 m/s
2
6 m/s 0 4.5 m/s
1.333 s.
dv dv dx dv
a v
dt dx dt dx
v v
a x x
a a
v v at t
t
= = =
=
= =
= + = +
=
Find the acceleration and time
of block A
Example IV Problem
( )( )
0 D
0 1.5 m/s 1.333 s
2.0 m
x x v t = +
= +
=
Determine the deflection of pulley D in order to find
deflection in B.
Example IV Problem
Look at the entire cord and
we find that the length is a
constant.

So that
A D B
2 constant x x x + + =
( ) ( ) ( )
( ) ( ) ( )
A D B A D B
0 0 0
A A D D B B
0 0 0
2 2
2 0
x x x x x x
x x x x x x
+ + = + +
( ( (
+ + =

Example IV
Problem
The change in B will be

( ) ( ) ( )
( )
A A D D B B
0 0 0
B
B
2 0
4 m 2 2 m 0
8 m or 8 m
x x x x x x
x
x
( ( (
+ + =

+ + A =
A = |
Example
IV Problem
The change in Bs velocity
will be

A D B A D B
2 0 2 0 x x x v v v + + = + + =
( )
A D B B
B
2 0 6 m/s 2 1.5 m/s 0
9 m/s or 9 m/s
v v v v
v
+ + = + + =
= |
Example
IV Problem
The change in Bs acceleration
will be

A D B A D B
2 0 2 0 x x x a a a + + = + + =
( )
2
A D B B
2 2
B
2 0 4.5 m/s 2 0 m/s 0
4.5 m/s or 4.5 m/s
a a a v
v
+ + = + + =
= |
Class Problem III
Two blocks A and B are connected by a
cord passing over two pulleys C and D
and E and F. At t = 0 block A starts
moving downward from the position with
a constant acceleration of 0.4 m/s
2
and no
initial velocity. What the velocity of the
block A after it has gone 5 m down,
determine the change in elevation, the
velocity and the acceleration of block B
when A at that instant.
Homework (Due 4/9/03)
Problems:
13-1, 13-3, 13-4, 13-9, 13-25, 13-52, 13-70,
13-74