Faculty of Engineering

Aerospace Engineering

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DYNAMICS
Dr. Hikmet BAL
Lecture-1 Kinematics of Particle
1
 Why Dynamics?

Understanding Motion and Forces

Design and Control

Real-World Applications
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Foundation for Advanced Topics

Problem-Solving Skills
 Ch12.1-2 INTRODUCTION &
RECTILINEARKINEMATICS: CONTINUOUS
MOTION

Objectives:
Students will be able to:
1. Find the kinematic quantities
(position, displacement, velocity,
and acceleration) of a particle
traveling along a straight path.
APPLICATIONS

The motion of large objects,

such as rockets, airplanes, or
cars, can often be analyzed
as if they were particles.

Why?

If we measure the altitude

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

Mechanics: The study of how bodies

react to the 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
 RECTILINEAR KINEMATICS:
CONTINIOUS MOTION (Section 12.2)

The displacement of the particle is

defined as its change in position.

Vector form:  r = r’ - r

Scalar form:  s = s’ - s

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.
VELOCITY

The average velocity of a particle

during a time interval t is
vavg = r / t

The instantaneous velocity is the

time-derivative of position.
v = dr / dt

Speed is the magnitude of velocity:

v = ds / dt

Average speed is the total distance

traveled divided by elapsed time:
(vsp)avg = sT / t
 ACCELERATION

The instantaneous acceleration is the

time derivative of velocity.

Vector form: a = dv / dt

Scalar form: a = dv / dt = d2s / dt2

Acceleration can be positive (speed

increasing) or negative (speed
decreasing).

As the text shows, the derivative equations for velocity and acceleration can be manipulated to get
a ds = v dv
 SUMMARY OF KINEMATIC RELATIONS:
RECTILINEAR MOTION

• Differentiate position to get velocity and acceleration.

v = ds/dt ; a = dv/dt or a = v dv/ds

• Integrate acceleration for velocity and position.

Velocity: Position:
v t v s s t

 dv =  a dt or  v dv =  a ds  ds =  v dt
vo o vo so so o

• Note that so and vo represent the initial position and

velocity of the particle at t = 0.
 CONSTANT ACCELERATION
A common example of constant acceleration is gravity; i.e., a body
freely falling toward earth. In this case, ac = g = 9.81 m/s2 downward.
These equations are:

v t

 dv =  a
vo o
c dt yields v = vo + act

s t

 ds =  v dt yields s = s o + v ot + (1/2) a c t 2
so o
v s

 v dv =  ac ds yields v 2 = (vo )2 + 2ac(s - so)

vo so
 EXAMPLE

Given: A particle travels along a straight line to the right

with a velocity of v = ( 4 t – 3 t2 ) m/s where t is
in seconds. Also, s = 0 when t = 0.

Find: The position and acceleration of the particle

when t = 4 s.
 EXAMPLE (continued)

Solution:
1) Take a derivative of the velocity to determine the acceleration.
a = dv / dt = d(4 t – 3 t2) / dt = 4 – 6 t
 a = – 20 m/s2 (or in the  direction) when t = 4 s

2) Calculate the distance traveled in 4s by integrating the

velocity using so = 0: s t

v = ds / dt  ds = v dt   ds =  (4 t – 3 t2) dt
 s – so = 2 t 2 – t 3 so o

 s – 0 = 2(4)2 – (4)3  s = – 32 m (or )

 GROUP PROBLEM SOLVING

Given:A sandbag is dropped from a balloon ascending

vertically at a constant speed of 6 m/s.
The bag is released with the same upward velocity of
6 m/s at t = 0 s and hits the ground when t = 8 s.

Find: The speed of the bag as it hits the ground and the altitude
of the balloon at this instant.
 GROUP PROBLEM SOLVING (continued)
Solution:
The bag is released when t = 0 s and hits the ground when
t = 8 s.
Calculate the distance using a position equation.

+ sbag = (sbag )o + (vbag)o t + (1/2) ac t2

sbag = 0 + (-6) (8) + 0.5 (9.81) (8)2 = 265.9 m

During t = 8 s, the balloon rises

+ sballoon = (vballoon) t = 6 (8) = 48 m
Therefore, altitude is of the balloon is (sbag + sballoon).
Altitude = 265.9 + 48 = 313.9 = 314 m.
 GROUP PROBLEM SOLVING (continued)

Calculate the velocity when t = 8 s, by applying a velocity

equation.

+ vbag = (vbag )o + ac t
vbag = -6 + (9.81) 8 = 72.5 m/s 
 Ch12.3 RECTILINEAR KINEMATICS:
ERRATIC MOTION
Objectives:
Students will be able to: Related Activities:
1. Determine position, s-t, v-t, a-t, v-s, and a-s diagrams
velocity, and acceleration of
a particle using graphs.
 ERRATIC MOTION (Section 12.3)

The approach builds on the facts that slope and differentiation

are linked and that integration can be thought of as finding the
area under a curve.
 S-T GRAPH

Finding the slope of the line

tangent to the motion curve at any
point is the velocity at that point .

(v = ds/dt)

Therefore, the v-t graph

can be constructed by
finding the slope at various
points along the s-t graph.
 V-T GRAPH

Finding the slope of the line tangent to

the velocity curve at any point is the
acceleration at that point (or a = dv/dt).

Also, displacement is the area under

the v-t graph during time t.

Therefore, the acceleration versus time

(or a-t) graph can be constructed by
finding the slope at various points
along the v-t graph.
A-T GRAPH

We can construct a v-t graph

from an a-t graph if we know the
initial velocity of the particle.
A-S GRAPH

The area under the a-s curve represents

the change in velocity
(recall  a ds =  v dv ).

s2
½ (v1² – vo²) =  a ds = area under the
s1
a-s graph
By doing this repeatedly, you can
create a plot of velocity versus
distance.
V-S GRAPH

By reading the velocity v at a

point on the curve and multiplying
it by the slope of the curve (dv/ds)
at this same point, we can obtain
the acceleration at that point.
Recall the formula

a = v (dv/ds).

Thus, we can obtain an a-s plot

from the v-s curve.
 EXAMPLE

Given: The v-t graph for a dragster moving along a straight road.
Find: The a-t graph and s-t graph over the time interval shown.
 EXAMPLE (continued)

Solution: The a-t graph can be constructed by finding the slope

of the v-t graph at key points. What are those?

when 0 < t < 5 s; v0-5 = ds/dt = d(30t)/dt = 30 m/s2

when 5 < t < 15 s; v5-15 = ds/dt = d(-15t+225)/dt = -15 m/s2

a(m/s2)
a-t graph

30
5 15
t(s)
-15
 EXAMPLE (continued)

Now integrate the v - t graph to build the s – t graph.

when 0 < t < 5 s; s =  v dt = [15 t2 ] t = 15 t2 m

0

when 5 < t <1 5 s; s  15 (52) =  v dt = [(-15) (1/2) t 2 + 225 t]

t
5
s = - 7.5 t 2 + 225 t + 375 m
s(m) s-t graph
1125

-7.5 t2 + 225 t  562.5

375
15t2 t(s)
5 15
GROUP PROBLEM SOLVING I

Given: The v-t graph shown.

Find: The a-t graph, average

speed, and distance
traveled for the 0 - 80 s
interval.
 GROUP PROBLEM SOLVING I (continued)

Solution:
Find the a–t graph.
For 0 ≤ t ≤ 40 a = dv/dt = 0 m/s²

For 40 ≤ t ≤ 80 a = dv/dt = -10 / 40 = -0.25 m/s²

a-t graph
a(m/s²)

40 80
0
-0.25 t(s)
 GROUP PROBLEM SOLVING I (continued)
Now find the distance traveled:

s0-40 =  v dt =  10 dt = 10 (40) = 400 m

s40-80 =  v dt
=  (10  0.25 t) dt
2 80
= [ 10 t -0.25 (1/2) t ]40 = 200 m

s0-90 = 400 + 200 = 600 m

vavg(0-90) = total distance / time v = 10

= 600 / 80
= 7.5 m/s
GROUP PROBLEM SOLVING II

Given: The v-t graph shown.

Find: The a-t graph and

distance traveled for
the 0 - 15 s interval.
 GROUP PROBLEM SOLVING II (continued)

Solution:
Find the a–t graph:
For 0 ≤ t ≤ 4 a = dv/dt = 1.25 m/s²
For 4 ≤ t ≤ 10 a = dv/dt = 0 m/s²
For 10 ≤ t ≤ 15 a = dv/dt = -1 m/s²

a(m/s²) a-t graph

1.25
4 10 15 t(s)
-1
 GROUP PROBLEM SOLVING II (continued)

Now find the distance traveled:

s0-4 =  v dt = [ (1.25) (1/2) 2 4

t ]0 = 10 m

s4-10 =  v dt = [ 5 t ] 4 = 30 m
10

s10-15 =  v dt = [ - (1/2)
15
t2 + 15 t]10 = 12.5 m

s0-15= 10 + 30 + 12.5 = 52.5 m

 12.4-5 CURVILINEAR MOTION:
GENERAL & RECTANGULAR COMPONENTS

Objectives:
Students will be able to:
1. Describe the motion of a
particle traveling along a
curved path.
2. Relate kinematic quantities
in terms of the rectangular
components of the vectors.
APPLICATIONS

The path of motion of a plane can

be tracked with radar and its x, y,
and z-coordinates (relative to a
point on earth) recorded as a
function of time.
How can we determine the velocity
or acceleration of the plane at any
instant?
 GENERAL CURVILINEAR MOTION
(Section 12.4)

A particle moves along a curve

defined by the path function, s.

The position of the particle at any instant is designated by the vector

r = r(t). Both the magnitude and direction of r may vary with time.

the displacement is determined by vector

subtraction: r = r’ - r
 VELOCITY

Average velocity during t is

vavg = r/t .

Instantaneous velocity is
v = dr/dt .

The velocity vector, v, is always

tangent to the path of motion.

The magnitude of v is called the speed. Since the speed can be

obtained by differentiating the path function (v = ds/dt). Note
that this is not a vector!
 ACCELERATION

Average acceleration during that increment t is:

aavg = v/t = (v - v’)/t

Instantaneous acceleration is the time-derivative of
velocity:
a = dv/dt = d2r/dt2

A plot of the locus of points defined by the

arrowhead of the velocity vector is called a
hodograph.
 CURVILINEAR MOTION:
RECTANGULAR COMPONENTS (Section 12.5)

It is often convenient to describe the motion of a particle in

terms of its x, y, z or rectangular components, relative to a fixed
frame of reference.
At any instant, the position vector
r=xi+yj+zk .

The x, y, z-components may all be

functions of time, i.e.,
x = x(t), y = y(t), and z = z(t) .

The magnitude of the position vector is: r = (x2 + y2 + z2)0.5

The direction of r is defined by the unit vector: ur = (1/r)r
 RECTANGULAR COMPONENTS: VELOCITY

v = dr/dt = d(x i)/dt + d(y j)/dt + d(z k)/dt

Since the unit vectors i, j, k are constant in magnitude and

direction, this equation reduces to v = vx i + vy j + vz k
• • •
where vx = x = dx/dt, vy = y = dy/dt, vz = z = dz/dt

The magnitude is
v = [(vx)2 + (vy)2 + (vz)2]0.5

The direction of v is
tangent to the path of
motion.
 RECTANGULAR COMPONENTS: ACCELERATION

a = dv/dt = d2r/dt2 = ax i + ay j + az k
• •• • ••
where ax = vx = x = dvx /dt, ay = vy = y = dvy /dt,
az = v• z = z•• = dvz /dt

The magnitude of the acceleration vector is

a=

The direction of a is usually

not tangent to the path of the
particle.
 EXAMPLE

Given:The box slides down the slope described by the

equation y = (0.05x2) m, where x is in meters.
vx = -3 m/s, ax = -1.5 m/s2 at x = 5 m.

Find: The y components of the velocity and the acceleration

of the box at at x = 5 m.
 EXAMPLE (continued)

Solution:
Find the y-component of velocity by taking a time
derivative of the position y = (0.05x2)
 
 y = 2 (0.05) x x = 0.1 x x
Find the acceleration component by taking a time
derivative of the velocity y
 = 0.1 x x + 0.1 x x
y


Substituting the x-component of the acceleration, velocity

at x=5 into y and y.

 EXAMPLE (continued)

 
Since x = vx = -3 m/s, x = ax = -1.5 m/s2 at x = 5 m

 = 0.1 x x = 0.1 (5) (-3) = -1.5 m/s

y


 y = 0.1 x x + 0.1 x x

= 0.1 (-3)2 + 0.1 (5) (-1.5)
= 0.9 – 0.75
= 0.15 m/s2

At x = 5 m
vy = – 1.5 m/s = 1.5 m/s 
ay = 0.15 m/s2 
 GROUP PROBLEM SOLVING

Given: The particle travels along the path y = 0.5 x2.

When t = 0, x = y = z = 0.

Find: The particle’s distance and the magnitude of its

acceleration when t = 1 s, if vx = (5 t) m/s, where t is in
seconds.
 GROUP PROBLEM SOLVING (continued)

Solution:
1) x-components:
•
Velocity known as: vx = x = (5 t ) m/s  5 m/s at t=1s
t
Position:  
vxdt = (5t) dt  x = 2.5 t2  2.5 m at t=1s
0
••
Acceleration: ax = x = d/dt (5 t)  5 m/s2 at t=1s
2) y-components:
Position known as : y = 0.5 x2  3.125 m at t=1s
• • •
Velocity: y = 0.5 (2) x x = x x  12.5 m/s at t=1s
•• • • ••
Acceleration: ay = y = x x + x x  37.5 m/s2 at t=1s
 GROUP PROBLEM SOLVING (continued)

3) The position vector and the acceleration vector are

Position vector: r = [ x i + y j ] m
where x= 2.5 m, y= 3.125 m
Magnitude: r = 2.52 + 3.1252 = 4.00 m

Acceleration vector: a = [ ax i + ay j] m/s2

where ax = 5 m/s2, ay = 37.5 m/s2
Magnitude: a = 52 + 37.52 = 37.8 m/s2
Ch12.6 MOTION OF A PROJECTILE

Objectives:
Students will be able to:
1. Analyze the free-flight
motion of a projectile.
MOTION OF A PROJECTILE (Section 12.6)

For illustration, consider the two

balls on the left. The red ball falls
from rest, whereas the yellow ball is
given a horizontal velocity. Each
picture in this sequence is taken
after the same time interval. Notice
both balls are subjected to the same
downward acceleration since they
remain at the same elevation at any
instant. Also, note that the
horizontal distance between
successive photos of the yellow ball
is constant since the velocity in the
horizontal direction is constant.
KINEMATIC EQUATIONS: HORIZONTAL MOTION

Since ax = 0, constant (vx = vox) constant and the position in the

x direction:
x = xo + (vox) t

Why is ax equal to zero (what assumption must be made if the

movement is through the air)?
 KINEMATIC EQUATIONS: VERTICAL MOTION

Since the positive y-axis is directed upward, ay = – g.

Application of the constant acceleration equations yields:

vy = voy – g t

y = yo + (voy) t – ½ g t2
vy2 = voy2 – 2 g (y – yo)

For any given problem, only two of these three equations

can be used. Why?
 EXAMPLE I
Given: vA and θ
Find: Horizontal distance it
travels and vC.
Plan: Apply the kinematic
relations in x- and y-
directions.
Solution: Using vAx = 10 cos 30 and vAy = 10 sin 30
We can write vx = 10 cos 30
vy = 10 sin 30 – (9.81) t
x = (10 cos 30) t
y = (10 sin 30) t – ½ (9.81) t2
Since y = 0 at C
0 = (10 sin 30) t – ½ (9.81) t2  t = 0, 1.019 s
 EXAMPLE I (continued)

Only the time of 1.019 s makes sense!

Velocity components at C are;

vCx = 10 cos 30
= 8.66 m/s 

vCy = 10 sin 30 – (9.81) (1.019)

= -5 m/s = 5 m/s 

=10 m/s
Horizontal distance the ball travels is;
x = (10 cos 30) t
x = (10 cos 30) 1.019 = 8.83 m
 EXAMPLE II

Given: Projectile is fired with vA=150 m/s

at point A.

Find: The horizontal distance it travels

(R) and the time in the air.
 EXAMPLE II (continued)
Solution:
1) Place the coordinate system at point A.
Then, write the equation for horizontal motion.
+  xB = xA + vAx tAB
where xB = R, xA = 0, vAx = 150 (4/5) m/s

Range, R, will be R = 120 tAB

2) Now write a vertical motion equation. Use the distance equation.

+ yB = yA + vAy tAB – 0.5 g tAB2
where yB = – 150, yA = 0, and vAy = 150(3/5) m/s
We get the following equation: –150 = 90 tAB + 0.5 (– 9.81) tAB2

Solving for tAB first, tAB = 19.89 s.

Then, R = 120 tAB = 120 (19.89) = 2387 m
 GROUP PROBLEM SOLVING I

y Given: A skier leaves the ski

x jump ramp at qA = 25o
and hits the slope at B.

Find: The skier’s initial speed vA.

 GROUP PROBLEM SOLVING I (continued)

Solution:
Motion in x-direction:
Using xB = xA + vox(tAB)  (4/5)100 = 0 + vA (cos 25) tAB

tAB= 80 88.27
=
vA (cos 25) vA
Motion in y-direction:
Using yB = yA + voy(tAB) – ½ g(tAB)2
88.27 88.27 2
– 64 = 0 + vA(sin 25) { } – ½ (9.81) { }
vA vA
vA = 19.42 m/s
tAB= (88.27 / 19.42) = 4.54 s
 GROUP PROBLEM SOLVING II

Given: The golf ball is struck

with a velocity of 24
m/s as shown.
y Find: Distance d to where it
x will land.
 GROUP PROBLEM SOLVING II (continued)

Solution:
Motion in x-direction:
Using xB = xA + vox(tAB)
y
 d cos10 = 0 + 24 (cos 55) tAB
x
tAB = 0.07154 d
Motion in y-direction:
Using yB = yA + voy(tAB) – ½ g(tAB)2
 d sin10 = 0 + 24(sin 55)(0.07154 d) – ½ (9.81) (0.07154 d)2
 0 = 1.2328 d – 0.025104 d2
d = 0, 49.1 m Only the non-zero answer is meaningful.
 Ch12.7 CURVILINEAR MOTION:
NORMAL AND TANGENTIAL COMPONENTS
Objectives:
Students will be able to:
1. Determine the normal
and tangential
components of velocity
and acceleration of a
particle traveling along a
curved path.
 NORMAL AND TANGENTIAL COMPONENTS
(Section 12.7)
When the path of motion is known, normal (n) and tangential (t)
coordinates are often used.

In the n-t coordinate system,

the origin is located on the
particle (thus the origin and
coordinate system move with
the particle).
NORMAL AND TANGENTIAL COMPONENTS
(continued)

The unit vectors are un and ut, respectively.

The center of curvature, O’,

always lies on the concave side
of the curve.

The radius of curvature, r, is

perpendicular from the O’ to
that point.
 VELOCITY IN THE n-t COORDINATE SYSTEM

The velocity vector is always

tangent to the path of motion
(t-direction).

The magnitude is determined by taking the time derivative of

the path function, s(t). .
v = v ut where v = s = ds/dt
Here
v : magnitude of the velocity
ut : the direction of the velocity vector.
ACCELERATION IN THE n-t COORDINATE SYSTEM

Acceleration is
. .
a = dv/dt = d(vut)/dt = vut + vut

ut represents the rate of change in the

direction of ut.

Therefore, acceleration vector :

.
a = v ut + (v2/r) un = at ut + an un.
ACCELERATION IN THE n-t COORDINATE SYSTEM
(continued)
So, there are two components to the
acceleration vector:
a = at ut + an un

• The tangential component is tangent to the curve and in the

direction of increasing or decreasing velocity.
.
at = v or at ds = v dv
• The normal or centripetal component is always directed
toward the center of curvature of the curve. an = v2/r
• The magnitude of the acceleration vector is
a=
 SPECIAL CASES OF MOTION

There are some special cases of motion to consider.

1) The particle moves along a straight line.
.
r  => an = v /r = 0 => a = at = v
2

The tangential component represents the time rate of change in

the magnitude of the velocity.
2) The particle moves along a curve at constant speed.
.
at = v = 0 => a = an = v2/r
The normal component represents the time rate of change in the
direction of the velocity.
 SPECIAL CASES OF MOTION (continued)

3) The tangential component of acceleration is constant, at = (at)c.

In this case,
s = so + vo t + (1/2) (at)c t2
v = vo + (at)c t
v2 = (vo)2 + 2 (at)c (s – so)

4) The particle moves along a path expressed as y = f(x).

The radius of curvature, r, at any point on the path can be
calculated from
[ 1 + (dy/dx)2 ]3/2
r = ________________
d2y/dx2
 THREE-DIMENSIONAL MOTION

The plane containing the n-t axes is

called the osculating plane.

A third axis can be defined, called the binomial axis, b. The

binomial unit vector, ub, is directed perpendicular to the osculating
plane, and its sense is defined by the cross product ub = ut × un.
EXAMPLE I

Given: A car travels along the road

with a speed of v = (2s) m/s,
where s is in meters.
r = 50 m
Find: The magnitudes of the car’s
acceleration at s = 10 m.
 EXAMPLE I (continued)
Solution:
1) The velocity vector is v = v ut , where the magnitude is
given by v = (2s) m/s.
When s = 10 m: v = 20 m/s
.
2) The acceleration vector is a = atut + anun = vut + (v2/r)un
Tangential component:
.
Since at = v = dv/dt = (dv/ds) (ds/dt) = v (dv/ds)
where v = 2s  at = d(2s)/ds (v)= 2 v
At s = 10 m: at = 40 m/s2
Normal component: an = v2/r
When s = 10 m: an = (20)2 / (50) = 8 m/s2
The magnitude of the acceleration is
a= = 402 + 82 = 40.8 m/s2
EXAMPLE II

Given: A boat travels around a

circular path, r = 40 m, at a
speed that increases with
time, v = (0.0625 t2) m/s.
Find: The magnitudes of the boat’s
velocity and acceleration at
the instant t = 10 s.

Note: The boat starts from rest (v =

0 when t = 0).
 EXAMPLE II (continued)
Solution:
1) The velocity vector is v = v ut , where the magnitude is
given by v = (0.0625t2) m/s. At t = 10s:
v = 0.0625 t2 = 0.0625 (10)2 = 6.25 m/s
.
2) The acceleration vector is a = atut + anun = vut + (v2/r)un.
.
Tangential component: at = v = d(.0625 t2 )/dt = 0.125 t m/s2
At t = 10s: at = 0.125t = 0.125(10) = 1.25 m/s2

Normal component: an = v2/r m/s2

At t = 10s: an = (6.25)2 / (40) = 0.9766 m/s2
The magnitude of the acceleration is
a= = 1.252 + 0.97662 = 1.59 m/s2
 GROUP PROBLEM SOLVING I

Given: The train engine at E has a

at speed of 20 m/s and an
acceleration of 14 m/s2 acting
in the direction shown.
an Find: The rate of increase in the
train’s speed and the radius of
curvature r of the path.
 GROUP PROBLEM SOLVING I (continued)
Solution:
1) Acceleration

Tangential component :
at =14 cos(75) = 3.623 m/s2

Normal component :
an = 14 sin(75) = 13.52 m/s2
2) The tangential component of acceleration is the rate of
increase of the train’s speed, so
at = = 3.62 m/s2.
3) The normal component of acceleration is
an = v2/r  13.52 = 202 / r
r = 29.6 m
 GROUP PROBLEM SOLVING II

Given: Starting from rest, a bicyclist travels around a

horizontal circular path, r = 10 m, at a speed of
v = (0.09 t2 + 0.1 t) m/s.
Find: The magnitudes of her velocity and acceleration when
she has traveled 3 m.

Note: The bicyclist starts from rest (v = 0 when t = 0).

 GROUP PROBLEM SOLVING II (continued)
Solution:
1) The velocity vector is v = (0.09 t2 + 0.1 t) m/s, where t is in
seconds. Integrate the velocity and find the position s(t).
Position:  
v dt = (0.09 t2 + 0.1 t) dt
s (t) = 0.03 t3 + 0.05 t2
2) Calculate the time, t when s = 3 m.
3 = 0.03 t3 + 0.05 t2
Solving for t, t = 4.147 s

The velocity at t = 4.147 s is,

v = 0.09 (4.147 ) 2 + 0.1 (4.147 ) = 1.96 m/s
 GROUP PROBLEM SOLVING II (continued)
.
3) The acceleration vector is a = atut + anun = vut + (v2/r)un.
Tangential component:
.
at = v = d(0.09 t2 + 0.1 t) / dt = (0.18 t + 0.1) m/s2
At t = 4.147 s : at = 0.18 (4.147) + 0.1 = 0.8465 m/s2
Normal component:
an = v2/r m/s2
At t = 4.147 s : an = (1.96)2 / (10) = 0.3852 m/s2
The magnitude of the acceleration is
a= = 0.84652 + 0.38522 = 0.930 m/s2
 Ch12.8 CURVILINEAR MOTION:
CYLINDRICAL COMPONENTS
Objectives:
Students will be able to:
1. Determine velocity and acceleration components using
cylindrical coordinates.
 CYLINDRICAL COMPONENTS
(Section 12.8)

Position of P in polar coordinates as r = r ur.

Radial direction, r, it can be extends to outward.

Transverse coordinate, q, is measured (CCW) from the horizontal.
VELOCITY in POLAR COORDINATES)
The instantaneous velocity is defined as:
v = dr/dt = d(rur)/dt
. du r
v = rur + r
dt

Using the chain rule: dur/dt = (dur/dq)(dq/dt)

.
dur/dq = uθ so dur/dt = quθ
. .
Therefore: v = rur + rquθ
Thus,
.
r, called the radial component,
.
rq called the transverse component.
. 2 . 2
v = (r q ) + ( r )
 ACCELERATION (POLAR COORDINATES)
The instantaneous acceleration is defined as:
. .
a = dv/dt = (d/dt)(rur + rquθ)

the acceleration can be expressed as

.. . .. . .
a = (r – rq 2)ur + (rq + 2rq )uθ
.. .
The term (r – rq 2) is the radial acceleration
or ar .
.. ..
The term (rq + 2rq ) is the transverse
acceleration or aq .
.. .2 2 .. . .
The magnitude of acceleration is a = (r – rq ) + (rq + 2rq ) 2
 CYLINDRICAL COORDINATES

If the particle P moves along a space

curve, its position can be written as

rP = rur + zuz

Taking time derivatives and using

the chain rule:

. . .
Velocity: vP = rur + rquθ + zuz
.. . 2 .. . . ..
Acceleration: aP = (r – rq )ur + (rq + 2rq )uθ + zuz
 EXAMPLE

Given: The platform is rotating such

that, at any instant, its angular
position is q = (4t3/2) rad, where
t is in seconds.
A ball rolls outward so that its
position is r = (0.1t3) m.
Find: The magnitude of velocity and acceleration of the
ball when t = 1.5 s.
 EXAMPLE (continued)

Solution:
, ,
4 t3/2, 6 t1/2, 3 t−1/2
At t=1.5 s,
r 0.3375 m, 0.675 m/s, 0.9 m/s2
7.348 rad, 7.348 rad/s, 2.449 rad/s2

Substitute into the equation

. for velocity
.
v = r ur + rq uθ = 0.675 ur + 0.3375 (7.348) uθ
= 0.675 ur + 2.480 uθ

v = (0.675)2 + (2.480)2 = 2.57 m/s

 EXAMPLE (continued)

Substitute in the equation for acceleration:

.. . .. . .
a = (r – rq )ur + (rq + 2rq)uθ
2

a = [0.9 – 0.3375(7.348)2] ur
+ [0.3375(2.449) + 2(0.675)(7.348)] uθ

a = – 17.33 ur + 10.75 uθ m/s2

a = (– 17.33)2 + (10.75)2 = 20.4 m/s2

GROUP PROBLEM SOLVING

Given: The arm of the robot is

extending at a constant rate
= 1.5 m/s when r = 3 m,
z = (4t2) m, and q = (0.5 t) rad,
where t is in seconds.
Find: The velocity and acceleration
of the grip A when t = 3 s.
 GROUP PROBLEM SOLVING (continued)

Solution:
When t = 3 s, r = 3 m and the arm is extending at a constant
rate = 1.5 m/s. Thus m/s2
1.5 t 4.5 rad, 1.5 rad/s, 0 rad/s2
z 4 t2 36 m, 8 t 24 m/s, 8 m/s2

Substitute in the equation

. for velocity
. .
v = r ur + rq uθ + z ur
= 1.5 ur + 3 (1.5) uθ + 24 uz
= 1.5 ur + 4.5 uθ + 24 uz

Magnitude v = (1.5)2 + (4.5)2 + (24)2 = 24.5 m/s

 GROUP PROBLEM SOLVING (continued)

Acceleration equation in cylindrical coordinates

.. . .. . . ..
a = (r – rq )ur + (rq + 2rq)uθ + zuz
2

= {0 – 3 (1.5)2}ur +{3 (0) + 2 (1.5) 1.5 } uθ + 8 uz

a = [6.75 ur + 4.5 uθ + 8 uz] m/s2

a = (6.75)2 + (4.5)2 + (8)2 = 11.4 m/s2

ABSOLUTE DEPENDENT MOTION ANALYSIS
OF TWO PARTICLES

Objectives:
Students will be able to:
1. Relate positions, velocities, and
accelerations of particles
undergoing dependent motion.
DEPENDENT MOTION (Section 12.9)

The blocks in this figure are

connected by an inextensible cord
wrapped around a pulley.
If block A moves downward along
the inclined plane, block B will
move up the other incline.
 DEPENDENT MOTION (continued)

If the cord has a fixed length, the position coordinates sA

and sB are related mathematically by the equation
sA + lCD + sB = lT

Here lT is the total cord length and lCD is the length of cord
passing over the arc CD on the pulley.
 DEPENDENT MOTION (continued)

The velocities of blocks A and B

can be related by differentiating
the position equation. Note that
lCD and lT remain constant, so
dlCD/dt = dlT/dt = 0

dsA/dt + dsB/dt = 0  vB = -vA

Accelerations can be found by differentiating the velocity

expression. Prove to yourself that aB = -aA .
 DEPENDENT MOTION EXAMPLE

The red-colored segments of the cord remain constant in length

during motion of the blocks.
DEPENDENT MOTION EXAMPLE (continued)

The position coordinates are related by

the equation
2sB + h + sA = lT
Where lT is the total cord length minus
the lengths of the red segments.

2vB = -vA and 2aB = -aA

DEPENDENT MOTION EXAMPLE (continued)

The position, velocity, and

acceleration relations then become
2(h – sB) + h + sA = lT
and 2vB = vA 2aB = aA
 EXAMPLE

Given: In the figure on the left, the cord

at A is pulled down with a speed
of 3 m/s.
Find: The speed of block D.
 EXAMPLE (continued)
Solution:
1) A datum line can be drawn through the upper, fixed pulleys.
Two coordinates must be defined: one for block D (sD) and
one for the changing cable length (sA).

Datum • sA can be defined to the point A.

• sD can be defined to the center
sA sD of the pulley above D.
• All coordinates are defined as
positive down and along the
direction of motion of each
point/object.
 EXAMPLE (continued)

Datum 2) Write position/length equations for

the cord. Define lT as the length of
the cord, minus any segments of
sA sD constant length.
sA + 3sD = lT

3) Differentiate to find the velocity

relationship:
vA + 3vD = 0

Since the cord at A is pulled down with a speed of 3 m/s,

3 + 3vD = 0  vD = -1 m/s = 1 m/s 
GROUP PROBLEM SOLVING I

Given: In the figure on the left,

the cord at A is pulled
down with a speed of 2
m/s.
Find: The speed of block B.

Note: There are two cords involved

in the motion in this example.
There will be two position
equations (one for each cord).
Write these two equations,
combine them, and then
differentiate them.
 GROUP PROBLEM SOLVING I (continued)

Solution:
1) Define the position coordinates from a fixed datum line. Three
coordinates must be defined: one for point A (sA), one for block B
(sB), and one for block C (sC).

• Define the datum line.

• sA can be defined to the point A.
• sB can be defined to the center of the
pulley above B.
• sC is defined to the center of pulley C.

All coordinates are defined as positive

down and along the direction of motion
of each point/object.
 GROUP PROBLEM SOLVING I (continued)

2) Write position/length equations for

each cord. Define l1 as the length of
the first cord, minus any segments of
constant length. Define l2 in a similar
manner for the second cord:
Cord 1: sA + 2sC = l1
Cord 2: sB + (sB – sC) = l2
3) Eliminating sC between the two
equations, we get
sA + 4sB = l1 + 2l2
4) Relate velocities by differentiating this expression. Note that l1 and l2
are constant lengths.
vA + 4vB = 0  vB = – 0.25vA = – 0.25(2) = – 0.5 m/s
The velocity of block B is 0.5 m/s up (negative sB direction).
GROUP PROBLEM SOLVING II

Given:In this pulley system, block A is

moving downward with a speed
of 6 m/s while block C is
moving down at 18 m/s.
Find: The speed of block B.
 GROUP PROBLEM SOLVING II (continued)
Solution:
1) A datum line can be drawn through the upper, fixed, pulleys
(or the pulley above the block).

2) Defining sA, sB, and sC as shown,

Datum the position relation can be written:
sA + 2sB + 2 sC = lT
sA sC
sB 3) Differentiate to relate velocities:
vA + 2vB + 2 vC = 0
6 + 2vB + 2(18) =0
vB = - 21 m/s = 21 m/s 
The velocity of block B is 21 m/s up.
 Ch12.10 RELATIVE-MOTION ANALYSIS OF
TWO PARTICLES USING TRANSLATING AXES

Objectives:
Students will be able to:
1. Understand translating
frames of reference.
2. Use translating frames of
reference to analyze relative
motion.
RELATIVE POSITION (Section 12.10)

rB/A = rB – rA

Therefore, if rB = (10 i + 2 j ) m
and rA = (4 i + 5 j ) m,
then rB/A = rB – rA = (6 i – 3 j ) m.
 RELATIVE VELOCITY

vB/A = vB – vA
or
vB = vA + vB/A

In these equations, vB and vA are called absolute velocities

and vB/A is the relative velocity of B with respect to A.

Note that vB/A = - vA/B .

 RELATIVE ACCELERATION

The time derivative of the relative

velocity equation yields a similar
vector relationship between the
absolute and relative accelerations
of particles A and B.

These derivatives yield: aB/A = aB – aA

or
aB = aA + aB/A
 SOLVING PROBLEMS

Since the relative motion equations are vector equations,

problems involving them may be solved in one of two ways.
For instance, the velocity vectors in vB = vA + vB/A could be
written as two dimensional (2-D) Cartesian vectors and the
resulting 2-D scalar component equations solved for up to
two unknowns.
Alternatively, vector problems can be solved “graphically” by
use of trigonometry. This approach usually makes use of the
law of sines or the law of cosines.
 LAWS OF SINES AND COSINES

C
a b

A
B c

Law of Sines: a b c
= =
sin A sin B sin C

Law of Cosines: a 2 = b 2 + c 2  2 bc cos A

2 2 2
b = a + c  2 ac cos B
2 2 2
c = a + b  2 ab cos C
 EXAMPLE

Given: Two aircraft as shown.

vA = 650 km/h
vB = 800 km/h

Find: vB/A

Plan:
1) Vector Method: Write vectors vA and vB in Cartesian
form, then determine vB – vA
2) Graphical Method: Draw vectors vA and vB from a
common point. Apply the laws of sines and cosines to
determine vB/A.
 EXAMPLE (continued)

Solution:
1) Vector Method

vA = (650 i ) km/h
vB = –800 cos 60 i – 800 sin 60 j
= ( –400 i – 692.8 j) km/h

vB/A = vB – vA = (–1050 i – 692.8 j) km/h

vB /A = (1050)2 +(692.8)2 = 1258 km/h

692.8
q= tan-1( ) = 33.4 q
1050
 EXAMPLE (continued)
2) Graphical Method:
Note that the vector that measures the tip of B relative to A is vB/A.
650 km/h vA
120

vB/A
vB
Law of Cosines:
(vB/A)2 = (800) 2 + (650) 2 − (800) (650) cos 120
vB/A = 1258 km/h
Law of Sines:
vB/A vA
= or q = 33.4
sin(120 ) sin q
GROUP PROBLEM SOLVING

Given: Car A moves in a straight line

while Car B moves along a
curve having a radius of
curvature of 200 m.
vA = 40 m/s
vB = 30 m/s
aA = 4 m/s2
aB = -3 m/s2
Find: vB/A
aB/A
 GROUP PROBLEM SOLVING (continued)
Solution: y

The velocity of B is:

vB = -30 sin(30) i + 30 cos(30) j
= (-15 i + 25.98 j) m/s
The velocity of A is: x
vA = 40 j (m/s)

The relative velocity of B with respect to A is (vB/A):

vB/A = vB – vA = (-15 i + 25.98 j) – (40 j) = (-15 i – 14.02 j) m/s

or vB/A = (-15)2 + (-14.02)2 = 20.5 m/s

14.02
q = tan-1( ) = 43.1° q
15
 GROUP PROBLEM SOLVING (continued)

Since car B is traveling along a curve, the acceleration of B is:

aB = (at)B + (an)B = [-(-3) sin(30) i + (-3) cos(30) j]
302 302
+ [- ( ) cos(30) i - ( ) sin(30) j ]
200 200
y
aB = ( -2.397 i – 4.848 j ) m/s2

The acceleration of A is: aA = (4 j ) m/s2

x
The relative acceleration of B with respect to A is:
aB/A = aB – aA = ( -2.397 i – 8.848 j ) m/s2
aB/A = (-2.397)2 + (-8.848)2 = 9.17 m/s2
b = tan-1(8.848 / 2.397) = 74.8° b
Refs:

• Dynamics, Fourteenth Edition in SI Units,

R.C.Hibbeler, Pearson, Prentice Hall

• Engineering Mechanics Dynamics, Meriam&Kraige

156