Kinematics of Particles

Eighth Edition
CHAPTER
11
VECTOR MECHANICS FOR ENGINEERS:
DYNAMICS
Ferdinand P. Beer
E. Russell Johnston, Jr.
Kinematics of Particles
Lecture Notes:
J. Walt Oler
Texas Tech University
2007 The McGraw-Hill Companies, Inc. All rights reserved.
Eighth
Edition
Vector Mechanics for Engineers: Dynamics

Contents
Introduction
Rectilinear Motion: Position, Velocity
& Acceleration
Determination of the Motion of a
Particle
Sample Problem 11.2
Sample Problem 11.3
Uniform Rectilinear-Motion
Uniformly Accelerated RectilinearMotion
Motion of Several Particles: Relative
Motion
Sample Problem 11.4
Motion of Several Particles: Dependent
Motion
Sample Problem 11.5

Graphical Solution of Rectilinear-Motion
Problems
Other Graphical Methods
Curvilinear Motion: Position, Velocity &
Acceleration
Derivatives of Vector Functions
Rectangular Components of Velocity and
Acceleration
Motion Relative to a Frame in Translation
Tangential and Normal Components
Radial and Transverse Components
Sample Problem 11.10
11 - 2
Eighth
Edition

Introduction
Dynamics includes:
- Kinematics: study of the geometry of motion. Kinematics is used to relate
displacement, velocity, acceleration, and time without reference to the cause of
motion.
- 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.
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.
11 - 3
Eighth
Edition

Rectilinear Motion: Position, Velocity & Acceleration
Particle moving along a straight line is said to
be in rectilinear motion.
Position coordinate of a particle is defined by
positive or negative distance of particle 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. Motion of the particle may be
expressed in the form of a function, e.g.,
x = 6t 2 t 3
or in the form of a graph x vs. t.
11 - 4
Eighth
Edition

Consider particle which occupies position P at
time t and P at t+t,
x
Average velocity =
t
x
=
v
=
lim
Instantaneous velocity
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
=
dt
t 0 t
e.g.,
x = 6t 2 t 3
v=
dx
= 12 t 3t 2
dt
11 - 5
Eighth
Edition

Consider particle with velocity v at time t and v
at t+t,
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
=
= 2
a = lim
dt
t 0 t
dt
e.g.
v = 12 t 3t 2
a=
dv
= 12 6t
dt
11 - 6
Eighth
Edition

Consider particle with motion given by
x = 6t 2 t 3
dx
v=
= 12 t 3t 2
dt
dv d 2 x
a=
= 2 = 12 6t
dt
dt
at t = 0,
x = 0, v = 0, a = 12 m/s2
at t = 2 s,
x = 16 m, v = vmax = 12 m/s, a = 0
at t = 4 s,
x = xmax = 32 m, v = 0, a = -12 m/s2
at t = 6 s,
x = 0, v = -36 m/s, a = 24 m/s2
11 - 7
Eighth
Edition

Determination of the Motion of a Particle
Recall, motion of a particle is known if position is known for all time t.
Typically, conditions of motion are specified by the type of acceleration
experienced by the particle. Determination of velocity and position requires two
successive integrations.
Three classes of motion may be defined for:
- 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)
11 - 8
Eighth
Edition

Acceleration given as a function of time, a = f(t):
v (t )
t
dv
= a = f (t )
dv = f (t ) dt
dv = f (t ) dt
dt
v
0
v (t ) v 0 = f (t ) dt
0
dx
= v (t )
dt
dx = v (t ) dt
x (t )
x0
dx = v (t ) dt
x (t ) x 0 = v (t ) dt
0
Acceleration given as a function of position, a = f(x):
v=
dx
dx
or dt =
dt
v
v dv = f ( x )dx
a=
v(x )
dv
dv
or a = v
= f (x )
dx
dt
x
v dv = f ( x )dx
v0
x0
1 v(x )
2
1 v2
2 0
= f ( x )dx
x0
11 - 9
Eighth
Edition

Acceleration given as a function of velocity, a = f(v):
dv
= a = f (v )
dt
dv
= dt
f (v )
v (t )
t
dv
f (v ) = dt
v
0
0
v (t )
dv
f (v ) = t
v
0
dv
v = a = f (v )
dx
v (t )
x(t ) x0 =
v0
v dv
dx =
f (v )
x (t )
v (t )
v dv
dx = f (v )
x
v
v dv
f (v )
11 - 10
Eighth
Edition

Sample Problem 11.2
SOLUTION:
Integrate twice to find v(t) and y(t).
Solve for t at which velocity equals zero
(time for maximum elevation) and
evaluate corresponding altitude.
Ball tossed with 10 m/s vertical velocity
from window 20 m above ground.
Solve for t at which altitude equals zero

(time for ground impact) and evaluate
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
11 - 11
Eighth
Edition

Sample Problem 11.2
SOLUTION:
Integrate twice to find v(t) and y(t).
dv
= a = 9 .81 m s 2
dt
v (t )
t
v (t ) v 0 = 9 .81t
dv = 9.81 dt
0
v0
m
m
v (t ) = 10 9.81 2 t
s
s
dy
= v = 10 9.81 t
dt
y (t )
t
dy = (10 9.81 t )dt
y0
y (t ) y 0 = 10 t 12 9 .81 t 2
m
m
y (t ) = 20 m + 10 t 4.905 2 t 2
s
s
11 - 12
Eighth
Edition

Sample Problem 11.2
Solve for t at which velocity equals zero and evaluate
corresponding altitude.
v (t ) = 10
m
m
9.81 2 t = 0
s
s
t = 1 .019 s
Solve for t at which altitude equals zero and evaluate

m 2
m
y (t ) = 20 m + 10 t 4 .905 2 t
s
s
m
m
y = 20 m + 10 (1.019 s ) 4.905 2 (1.019 s )2
s
s
y = 25 .1 m
11 - 13
Eighth
Edition

Sample Problem 11.2
Solve for t at which altitude equals zero and evaluate
m 2
m
y (t ) = 20 m + 10 t 4 .905 2 t = 0
s
s
t = 1.243 s (meaningles s )
t = 3 .28 s
v (t ) = 10
m
m
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
11 - 14
Eighth
Edition

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).
11 - 15
Eighth
Edition

Sample Problem 11.3
SOLUTION:
Integrate a = dv/dt = -kv to find v(t).
v (t )
t
dv
dv
a=
= kv
= k dt
dt
v v
0
0
v (t )
ln
= kt
v0
v (t ) = v 0 e kt
Integrate v(t) = dx/dt to find x(t).

dx
= v 0 e kt
v (t ) =
dt
t
x (t )
t
1
kt
x (t ) = v 0 e kt
dx = v 0 e dt
k
0
0
0
x (t ) =
v0
1 e kt
k
11 - 16
Eighth
Edition

Sample Problem 11.3
Integrate a = v dv/dx = -kv to find v(x).
v
dv
a=v
= kv
dx
dv = k dx
dv = k dx
v0
v v 0 = kx
v = v 0 kx
Alternatively,
with
v0
1 e kt
x (t ) =
k
and
v (t ) = v 0 e kt or e kt =
then
v v (t )
x (t ) = 0 1
k
v0
v (t )
v0
v = v 0 kx
11 - 17
Eighth
Edition

Uniform Rectilinear Motion
For particle in uniform rectilinear motion, the acceleration is zero and the
velocity is constant.
dx
= v = constant
dt
x
dx = v dt
x0
x x0 = vt
x = x0 + vt
11 - 18
Eighth
Edition

Uniformly Accelerated Rectilinear Motion
For particle in uniformly accelerated rectilinear motion, the acceleration of the
particle is constant.
v
dv
= a = constant
dt
dv = a dt
v v0 = at
v0
v = v0 + at
dx
= v0 + at
dt
x0
dx = (v0 + at )dt
x x0 = v0 t + 12 at 2
x = x0 + v0t + 12 at 2
dv
v = a = constant
dx
v dv = a dx
v0
x0
1
2
(v 2 v02 ) = a(x x0 )
v 2 = v02 + 2a( x x0 )
11 - 19
Eighth
Edition

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.
x B A = x B x A = relative position of B with

respect to A
xB = x A + xB A
v B A = v B v A = relative velocity of B with

respect to A
vB = v A + vB A
a B A = a B a A = relative acceleration of B
with respect to A
aB = a A + aB A
11 - 20
Eighth
Edition

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 in
elevator shaft with initial velocity of 18
m/s. At same instant, open-platform
elevator passes 5 m level moving upward
at 2 m/s.
Determine (a) when and where ball hits
elevator and (b) relative velocity of ball
and elevator at contact.
Write equation for relative position of

ball with respect to elevator and solve
for zero relative position, i.e., impact.
Substitute impact time into equation for
position of elevator and relative velocity
of ball with respect to elevator.
11 - 21
Eighth
Edition

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 = v 0 + at = 18 9.81 2 t
s
s
m
m
y B = y 0 + v 0 t + 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 = y 0 + v E t = 5 m + 2 t
s
11 - 22
Eighth
Edition

Sample Problem 11.4
Write equation for relative position of ball with respect to
elevator and solve for zero relative position, i.e., impact.
y B E = 12 + 18t 4.905 t 2 (5 + 2t ) = 0
t = 0 .39 s (meaningles s )
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
= (18 9.81t ) 2
= 16 9.81(3.65 )
vB
= 19 .81
m
s
11 - 23
Eighth
Edition

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
dx A
dx
+2 B + C =0
dt
dt
dt
dv
dv
dv
2 A +2 B + C =0
dt
dt
dt
or
2 v A + 2v B + vC = 0
or
2 a A + 2 a B + aC = 0
11 - 24
Eighth
Edition

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 is
Calculate change of position at time t.
pulled down at 3 in./s. At t = 0, collar A
Block B motion is dependent on motions of
starts moving down from K with
collar A and pulley D. Write motion
constant acceleration and zero initial
relationship and solve for change of block B
velocity. Knowing that velocity of
position at time t.
collar A is 12 in./s as it passes L,
determine the change in elevation,
Differentiate motion relation twice to develop
velocity, and acceleration of block B
equations for velocity and acceleration of
when block A is at L.
block B.
11 - 25
Eighth
Edition

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 + 2 a A [x A ( x A )0 ]
2
in.
12 = 2 a A (8 in. )
s
in.
aA = 9 2
s
v A = (v A )0 + a At
12
in.
in.
=9 2t
s
s
t = 1.333 s
11 - 26
Eighth
Edition

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 .333 s ) = 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.
11 - 27
Eighth
Edition

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.
12 + 2 3 + v B = 0
s
v B = 18
in.
s
a A + 2a D + a B = 0
in.
9 2 + vB = 0
s
in.
a B = 9 2
s
11 - 28
Eighth
Edition

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.
11 - 29
Eighth
Edition

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.
11 - 30
Eighth
Edition

Moment-area method to determine particle position at
time t directly from the a-t curve:
x1 x 0 = area under v t curve
v1
= v 0 t1 + (t1 t )dv
v0
using dv = a dt ,
v1
x1 x 0 = v 0 t1 + (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 = x 0 + v 0 t1 + (area under a-t curve )(t1 t )

t = abscissa of centroid C
11 - 31
Eighth
Edition

Method to determine particle acceleration from

v-x curve:
dv
a=v
dx
= AB tan
= BC = subnormal to v-x curve
11 - 32
Eighth
Edition

Curvilinear Motion: Position, Velocity & Acceleration
Particle moving along a curve other than a straight line is in
curvilinear motion.
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 particle which occupies position P defined by

at time
t
and
P
defined
by
at
t
+
r
t,
r

r dr

v = lim
=
dt
t 0 t
= instantaneous velocity (vector)

s ds
v = lim
=
dt
t 0 t
= instantaneous speed (scalar)
11 - 33
Eighth
Edition

Curvilinear Motion: Position, Velocity & Acceleration
Consider velocity

v at t + t,

v

=
a = lim
t 0 t

vof particle at time t and velocity

dv
dt
= instantaneous acceleration (vector)

In general, acceleration vector is not tangent to
particle path and velocity vector.
11 - 34
Eighth
Edition

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
=
+
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 ) d P dQ
=
Q + P
du
du
du

d (P Q ) d P
dQ
=
Q + P
du
du
du
11 - 35
Eighth
Edition

Rectangular Components of Velocity & Acceleration
When position vector of particle P is given by its
rectangular components,

r = x i + y j + zk
Velocity vector,

dx dy dz
v= i +
j + k = x i + y j + zk
dt
dt
dt

= vx i + v y j + vz k
Acceleration vector,

d 2x d 2 y d 2z
a = 2 i + 2 j + 2 k = xi + y j + zk
dt
dt
dt

= ax i + a y j + azk
11 - 36
Eighth
Edition

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 )0 , (v z )0 = 0
Integrating twice yields
v x = (v x )0
x = (v x )0 t
( )0 gt
y = (v y ) y 12 gt 2
0
vy = vy
vz = 0
z=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.
11 - 37
Eighth
Edition

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

rA and rB .
fixed frame of reference Oxyz are

r
Vector B A joining A and B defines the position of B
with respect to the moving frame Axyz and

rB = rA + rB A
Differentiating twice,

v B = v A + v B A v B A = velocity of B relative to A.

a B = a A + a B A aB 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.
11 - 38
Eighth
Edition

Velocity vector of particle is tangent to path of
particle. In general, acceleration vector is not.
Wish to express acceleration vector in terms of
tangential and normal components.

et and et are tangential unit vectors for the particle
path at P and P. When drawn with respect to the

same origin,
et = et eand
t
is the angle between them.
et = 2 sin ( 2 )

et
sin ( 2 )

lim
= lim
en = en
0
0 2

d
e

en = t
d
11 - 39
Eighth
Edition


With the velocity vector expressed as v = vet
the particle acceleration may be written as

d
v
dv
d
e
dv
d
e
d ds

a=
=
et + v
=
et + v
dt dt
dt dt
d ds dt
but
d et
ds
= en
d = ds
=v
d
dt
After substituting,
dv
v2
dv v 2
a=
et +
en
at =
an =
dt
dt
Tangential component of acceleration reflects

change of speed and normal component reflects
change of direction.
Tangential component may be positive or
negative. Normal component always points
toward center of path curvature.
11 - 40
Eighth
Edition

Relations for tangential and normal acceleration also
apply for particle moving along space curve.
dv v 2
a=
et +
en
dt
dv
at =
dt
an =
v2
Plane containing tangential and normal unit vectors

is called the osculating plane.
Normal to the osculating plane is found from

eb = et e n

e n = principal normal

eb = binormal
Acceleration has no component along binormal.
11 - 41
Eighth
Edition

When particle position is given in polar coordinates, it
is convenient to express velocity and acceleration with
components parallel and perpendicular to OP.

r = rer

der
= e
d
The particle velocity vector is

de r dr
dr
d
d
=
e
v = (re r ) =
er + r
er + r
dt
dt
dt
dt
dt

= r e r + r e

de

= er
d

der der d d
=
= e
dt
d dt
dt

de de d
d
=
= er
dt
d dt
dt
Similarly, the particle acceleration vector is

d
d dr
a = er + r
e
dt dt
dt

2
2
d
e
d r
dr de r dr d
d
d
= 2 er +
+
e + r 2 e + r
dt dt
dt dt
dt dt
dt
dt

= r r 2 e r + (r + 2 r )e
11 - 42
Eighth
Edition

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

2

a=
= R R e R + (R + 2 R )e + z k
dt
11 - 43
Eighth
Edition

SOLUTION:
Calculate tangential and normal
components of acceleration.
Determine acceleration magnitude and
direction with respect to tangent to curve.
A motorist is traveling on curved
section of highway at 60 mph. The
motorist applies brakes causing a
constant deceleration rate.
Knowing that after 8 s the speed has
been reduced to 45 mph, determine the
acceleration of the automobile
immediately after the brakes are
applied.
11 - 44
Eighth
Edition

SOLUTION:
Calculate tangential and normal components of
acceleration.
ft
v (66 88 ) ft s
at =
= 2 .75 2
=
t
8s
s
an =
60 mph = 88 ft/s
45 mph = 66 ft/s
v2
(88 ft s )2
ft
=
= 3.10 2
2500 ft
Determine acceleration magnitude and direction with

respect to tangent to curve.
ft
2
2
2
2
a
=
4
.
14
a = a t + a n = ( 2.75 ) + 3.10
s2
= tan
an
3.10
= tan 1
at
2 .75
= 48 .4
11 - 45
Eighth
Edition

SOLUTION:
Evaluate time t for = 30o.
Evaluate radial and angular positions,
and first and second derivatives at time t.
Rotation of the arm about O is defined by
= 0.15t2 where is in radians and t in
seconds. Collar B slides along the arm
such that r = 0.9 - 0.12t2 where r is in
meters.
Calculate velocity and acceleration in

cylindrical coordinates.
Evaluate acceleration with respect to
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.
11 - 46
Eighth
Edition

SOLUTION:
Evaluate time t for = 30o.
= 0.15 t 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 .561 rad s
= 0.30 rad s 2
11 - 47
Eighth
Edition

Calculate velocity and acceleration.
vr = r = 0 .449 m s
v = r = (0.481 m )(0 .561 rad s ) = 0 .270 m s
v=
vr2
= tan
+ v
1 v
vr
v = 0.524 m s
= 31 .0
ar = r r 2
= 0 .240 m s 2 (0 .481 m )(0 .561 rad s )2
= 0 .391 m s 2
a = r + 2 r
= (0 .481 m ) 0 .3 rad s 2 + 2( 0.449 m s )(0 .561 rad s )

= 0 .359 m s 2
a=
a r2 + a2
a
= tan 1
ar
a = 0 .531 m s
= 42 .6
11 - 48
Eighth
Edition

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
11 - 49

Kinematics of Particles

Uploaded by

Document Information

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Kinematics of Particles

Uploaded by

Copyright:

Available Formats

Eighth Edition

VECTOR MECHANICS FOR ENGINEERS:

2007 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

Sample Problem 11.5

Vector Mechanics for Engineers: Dynamics

2007 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

2007 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

2007 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

2007 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

x = xmax = 32 m, v = 0, a = -12 m/s2

x = 0, v = -36 m/s, a = 24 m/s2

2007 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

2007 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

Acceleration given as a function of position, a = f(x):

2007 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

2007 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

Solve for t at which altitude equals zero

Vector Mechanics for Engineers: Dynamics

Vector Mechanics for Engineers: Dynamics

Solve for t at which altitude equals zero and evaluate

Vector Mechanics for Engineers: Dynamics

2007 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

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

Brake mechanism used to reduce gun recoil

2007 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

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

Vector Mechanics for Engineers: Dynamics

2007 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

2007 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

Vector Mechanics for Engineers: Dynamics

x B A = x B x A = relative position of B with

v B A = v B v A = relative velocity of B with

Vector Mechanics for Engineers: Dynamics

Write equation for relative position of

Vector Mechanics for Engineers: Dynamics

Vector Mechanics for Engineers: Dynamics

2007 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

x A + 2 x B = constant (one degree of freedom)

2 x A + 2 x B + xC = constant (two degrees of freedom)

2007 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

Vector Mechanics for Engineers: Dynamics

2007 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

Vector Mechanics for Engineers: Dynamics

2007 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

Given the x-t curve, the v-t curve is equal to the

2007 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics