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[Review] An Overview of Mechanics

Mechanics: the study of how bodies react

to forces acting on them

Statics: the study of Dynamics:

bodies in equilibrium 1). Kinematics -- concerned with
the geometric aspects of motion
2). Kinetics -- concerned with the
forces causing the motion

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Chapter 12. Kinematics of a Particle

Objectives:
9 To introduce the concepts of position, displacement, velocity, and
acceleration.
9 To study particle motion along a straight line and represent this motion
graphically.
9 To investigate particle motion along a curved path using different
coordinate systems.
9 To present an analysis of dependent motion of two particles.
9 To examine the principles of relative motion of two particles using
translating axes.

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12-1. Introduction
Application:
The motion of large objects, such as rockets,
airplanes, or cars, can often be analyzed as if
they were particles.

Problem: If we measure the altitude of this

rocket as a function of time, how
can we determine its velocity and
acceleration?

Fig.12-1

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12-2. Rectilinear Kinematics: Continuous Motion

• Motion along a straight path.

Fig.12-2
Kinematics – specifying at any instant, the particle’s position, velocity,
and acceleration

Note: - Magnitude of s = Distance from O to P

Fig.12-3(a) - The sense (arrowhead dir of r) is defined
9 Position: by algebraic sign on s
1) Single coordinate axis, s => +ve = right of origin, -ve = left of origin
2) Origin, O
3) Position vector r – specific location of particle P at any instant
4) Algebraic scalar s in meters (m) or feet (ft)
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9 Displacement: change in its position.

If particle moves from P to P’

=> Δr = r ′ − r Δs = s′ − s
Vector form Scalar form
Δs is +ve if particle’s position is right
of its initial position; while is -ve if
particle’s position is left of its initial
position.
Fig.12-3(b)

Difference between displacement and distance:

Displacement: a vector quantity.

The total distance traveled by the particle, sT, is a positive scalar that
represents the total length of the path over which the particle travels.

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9 Velocity: a measure of the rate of change in the position of a particle.

It is a vector quantity (it has both magnitude and direction). The
magnitude of the velocity is called speed, with units of m/s or ft/s
Δr
• Average velocity, vavg =
Δt
• Instantaneous velocity is defined as
dr
v = lim (Δr / Δt ) ⇒v =
Δt →0 dt Fig.12-3(c)

• Representing v as an algebraic scalar,

⎛ + ⎞ ds
⎜→ ⎟ v= (12-1)
⎝ ⎠ dt
Velocity is +ve = particle moving to the right; and –ve = particle moving
to the left.

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• Average speed is defined as total distance traveled by a particle, sT ,

divided by the elapsed time Δt .

(v )
sp avg =
sT
Δt
For example, the particle travels along the path of length sT in time Δt

=> (vsp ) = sT Average speed

avg
Δt
Δs
vavg =− Average velocity
Δt

Fig.12-3(d)

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9Acceleration: the rate of change in the velocity of a particle. It is a

vector quantity. Typical units are m/s2 or ft/s2.

• If the velocity of particle is known at points P and P’ during time interval

Δt, the average acceleration is
Δv
a avg =
Δt
where Δv represents difference in the
velocity during the time interval Δt, i.e.,

Δv = v'− v
• The instantaneous acceleration is the time
derivative of velocity.
Vector form: a = dv/dt
Scalar form: a = dv/dt = d2s/dt2 (12-2) Fig.12-3
•Acceleration canDepartment
be positive (speed increasing)
of Mechanical or negative
and Automation (speed decreasing).
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¾ Velocity as a Function of Time

Integrate ac = dv/dt, assuming that initially v = v0 when t = 0.
v
∫ dv = ∫ a dt
t
c
v = v0 + act ⎛ + ⎞
⎜→⎟
⎝ ⎠ (12-3)
v0 0
Constant Acceleration
¾ Position as a Function of Time
Integrate v = ds/dt = v0 + act, assuming that initially s = s0 when t = 0
1 2
∫ ds = ∫ (v + a t) dt
s t ⎛ + ⎞
0 c ⇒ s = s0 + v0t + act ⎜ →⎟
⎝ ⎠ (12-4)
s0 0 2
Constant Acceleration
¾ Velocity as a Function of Position
Integrate v dv = ac ds, assuming that initially v = v0 at s = s0

⇒ v = v + 2ac (s − s0 )
v s
∫ vdv= ∫ a ds
2 2 ⎛ + ⎞
⎜ →⎟ (12-5)
c 0 ⎝ ⎠
v0 s0
Constant Acceleration
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Procedure for Analysis

1). Coordinate System
9 Establish a position coordinate s along the path and specify its fixed
origin and positive direction.

9 The particle’s position, velocity, and acceleration, can be represented as

s, v and a respectively and their sense is then determined from their
algebraic signs.

9 The positive sense for each scalar can be indicated by an arrow shown
alongside each kinematics equation as it is applied

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2) Kinematic Equation
9 If a relationship is known between any two of the four variables a, v, s
and t, then a third variable can be obtained by using one of the three the
kinematic equations (Eqs.(12.3~5))

9 When integration is performed, it is important that position and velocity

be known at a given instant in order to evaluate either the constant of
integration (if an indefinite integral is used), or the limits of integration
(if a definite integral is used)

9 Remember that the three kinematics equations (12.3-5) can only be

applied to situation where the acceleration of the particle is constant.

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Example 1 The car moves in a straight line such that for a short time its
velocity is defined by v=(0.9t2+0.6t) m/s where t is in sec.
Determine it position and acceleration when t=3s. When t=0,
s = 0.
Solution:

Coordinate System: Fig.12-4

The position coordinate extends from the fixed origin O to the car,
positive to the right.
Position:
Since v = f(t), the car’s position can be determined from v=ds/dt,
since this equation relates v, s and t. Noting that s = 0 when t = 0,
we have
⎛ + ⎞
⎜ →⎟
⎝ ⎠
v=
ds
dt
(
= 0.9t 2 + 0.6t )
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∫0
s t
(
ds = ∫ 0.9t 2 + 0.6t dt
0
)
( )
s t
s = 0.3t + 0.3t 3 2
0 0

s = 0.3t 3 + 0.3t 2
∴ When t = 3s, s = 10.8m
Acceleration:
Knowing v=f(t), the acceleration is determined from a = dv/dt, since this
equation relates a, v and t.

a=
dv d
(
= 0.9t 2 + 0.6t
dt dt
) ⎛+⎞
⎜→⎟
⎝ ⎠
=1.8t + 0.6

∴ When t = 3s, a = 6 m/s2 (→)

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Example 2 A particle moves along a horizontal path with a velocity of
v=(3t2–6t)m/s. If it is initially located at the origin O, determine
the distance traveled in 3.5s and the particle’s average velocity
and speed during the time interval.
Solution:
Coordinate System.
Assuming positive motion to the right,
measured from the origin, O Fig.12-5(a)
Distance traveled.
Since v = f(t), the position as a function of time may be found integrating
v=ds/dt with t = 0, s = 0.
⎛ + ⎞
⎜→⎟
⎝ ⎠
(
ds = vdt = 3t 2 − 6t dt )
∫0
s t t
(
ds = 3∫ t dt − 6 ∫ tdt ⇒ s = t 3 − 3t 2 m
0
2
0
)
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0 ≤ t < 2 s → -ve velocity → the particle

is moving to the left;
t > 2a → +ve velocity → the particle is
moving to the right

s =0 s = −4.0m s = 6.125m Fig.12-5(b)

t =2 s t =3.5 s
t =0

The distance traveled in 3.5s is sT = 4.0 + 4.0 + 6.125 ≈ 14.1m

Velocity.
The displacement from t = 0 to t=3.5s is Δs=6.125 –0=6.125m, and so
the average velocity is
Δs 6.125
vavg = = = 1.75m / s →
Δt 3.5 − 0
Average speed, vsp avg = ( )
sT 14.125
= = 4.04m / s
Δt 3.5 − 0
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