Chapter Description

of the Motion

Cause

of Particles
of the Motion

Observations: 1-D Kinematics

Lecture
• Goal: Description of motion

1 – How far?

– How fast?
Questions
to be answered:

– How long does it take?

Kinematics – When (i.e. meeting time and place)?

– Where is an object going to be at a certain time…

 Observations: 1-D Kinematics What Is a Good
Description of Motion?
• Questions to be ignored: Why is the object moving in • What is a good description of motion?
a certain way?
It has to give enough information to an observer
who wasn’t present when the motion happened
• Ways of describing motion: to be able to reproduce it as accurately as

• Pictorial • Mathematical possible.

• Verbal • Graphical ….
• So let us try it!

Could we rely on this Picture to describe a Motion ? 1-D motion means that an object is moving along a
straight line
What information do we need to collect to describe
What information is missing ??
motion?
 Everything You Need to Know to Describing 1-D Motion
Describe Motion!
An object started at 1m to the right from the origin, moved to
• If you know the position of an object at any given the right for 2 sec to x = 4m, then turned around and moved to
the left for 2 sec to x = – 1m.
time, you have a complete description of its motion!
t, x, m
• The question is:
sec
Hi-Tech answers
How are we 0.0 1.0
• Motion detectors, sonic ranger, … 1.0 3.0
going to record These are different
2.0 4.0
descriptions –
object’s position Low-Tech answers 3.0 2.0
4.0 -1.0 representations – of
at any time? • Bean bags, markers, a clock,… … … the same motion.

The Language of Kinematics Types of Motions

• Coordinate system: axis, origin, positive direction, scale • Rectilinear motion: position, velocity, and acceleration of
(units). a particle as it moves along a straight line.
• Position: the coordinate of the object (x).
• Displacement: Change in position x = xf – xi (can be
positive, zero or negative!).
• Distance: Distance covered during motion (always
positive!)
• Clock reading: (t).
• Curvilinear motion: position, velocity, and acceleration of a
• Elapsed time: Change in clock reading t = tf – ti. particle as it moves along a curved line in two or three
dimensions.
 Lecture
Position / Velocity / Acceleration

2
+5 m
The motion of a particle along a
straight line is called rectilinear
motion.

Rectilinear Motion -2 m
To define the position P of the
particle on that line, we choose a

of Particles
fixed origin O and a positive direction

The distance x from O to P, with the appropriate sign, completely

defines the position of the particle on the line and is called the
position coordinate of the particle.

Example – the motion of the trolling When the position coordinate x of a particle is known for every
is rectilinear value of time t, we say that the motion of the particle is known

𝑣 0

Positive velocity means particle moves in the positive direction

𝑣 0

Negative velocity means particle moves in the negative direction

 Instantaneous & Average Velocity Average Speed & Average Velocity
How fast is the object moving?
Average speed:
∆𝑥⃗
𝑣 𝑣
∆𝑡

Magnitude

The velocity v of the particle is equal to the time derivative of

Average velocity:
the position coordinate x,
∆𝑥⃗
𝑣⃗
∆𝑡

Magnitude &
direction

Instantaneous & Average Acceleration Instantaneous & Average Acceleration

Average acceleration: Instantaneous acceleration:
∆𝑣⃗ 𝑑𝑣⃗ 𝑑 𝑥⃗
𝑎⃗ 𝑎⃗
∆𝑡 𝑑𝑡 𝑑𝑡

Units of acceleration are:

m/s m
[a ]   2
s s
 Accelerate Decelerate

1) increasing positive velocity 1) decreasing positive velocity

: Accelerating forward : Braking while advancing

2) decreasing negative velocity 2) increasing negative velocity To speed up a & v have to have the same sign
: Braking while backing : Accelerating backward
(point in the same direction)!
Decelerate Accelerate

dv dx
dv dx dv dx dv dv Physical Model of 1-D Motion
aa    v
dt dx
dt dx dt dt dx dx
=1 • The slope of the x(t) graph represents velocity
Straight Path motion is characterized by :
• The slope of v(t) graph represents acceleration
x, v, and a
• The area under v(t) graph represents displacement
(change in position)
• The area under a(t) graph represents change in
velocity
• One doesn’t need to memorize that: the units will
help you figure our what is what!
 Physical Model of 1-D Motion Position Velocity Integration Acceleration
Integration
[m] [ m/s ] [ m/s2 ]
Kinematics direct Position: Clock Reading:
observables [x], meters [ t ], seconds
𝒙 𝒕 𝒗 𝒕 𝒅𝒕 𝒗 𝒕 𝒂 𝒕 𝒅𝒕 𝒂 𝒕

Slopes - Derivative
Area under the graph - integrals

Kinematics
1st order Change in position: Change in clock
derivative: [x], meters reading: [t], seconds
Rate of
change of  x  m
position Velocity, [v], m/s  t   s Position Velocity Acceleration
  Derivative Derivative
[m] [ m/s ] [ m/s2 ]

Kinematics
Change in velocity: Change in clock reading:
2nd order
[ v ], m/s [ t ], seconds
𝒅𝒙 𝒕 𝒅𝒗 𝒕
derivative: 𝒙 𝒕 𝒗 𝒕 𝒂 𝒕
Rate of 𝒅𝒕 𝒅𝒕
change of  v  m
Acceleration, [a], m/s2   t   s 2
velocity

Note that particle moves in a

straight line not along the curve Rules for finding the derivative (1)

x  6t 2  t 3

dx
v  12 t  3t 2
dt

dv
a  12  6t
dt
 .

Rules for finding the derivative (2) Rules for finding the derivative (3)

Sum rule:

Product rule: Chain rule: If f(x) = h(g(x)),

Quotient rule: Example

f(x) = (x2 + 1)3

Example Problem 1.1 Solution 1.1

• The motion of a particle is represented by the

equation : ds
s = 20t + 4t2 - 3t3 v  20  8t  9 t 2
• What is the particle’s velocity at t=0? dt
(A) 20 m/s v ( 0 )  20
(B) 25 m/s
Answer is (A)
(C) 30 m/s
(D) 32 m/s
 Problem 1.2 Solution 1.2
• The motion of a particle is represented by the
ds
equation v  20  8t  9t 2
s = 20t + 4t2 - 3t3 dt
• What is the acceleration of the particle at t=0? a  8  18 t
(A) 2 m/s2
(B) 3 m/s2
a (0)  8
(C) 5 m/s2
Answer is (D)
(D) 8 m/s2

Problem 1.3 Solution 1.3

• The motion of a particle is represented by the ds

v  20  8t  9t 2
equation dt
s = 20t + 4t2 - 3t3 v ' (t )  8  18 t  0
• What is the maximum speed reached by the 8
t  0 .444 s
particle? 18
v max  v ( 0 .444 )  20  8 * 0 .444  9 0 .444 
2
(A) 21.8 m/s
(B) 27.9 m/s v max  21 .8 m / s
(C) 34.6 m/s Answer is (A)
(D) 48.0 m/s
 x(m)

x  t 3  6t 2  15 t  40
Sample Problem 11.1
dx
v  3t 2  12 t  15
t(s)
dt
• The position of a particle which moves along a straight line
dv
is defined by the relation a  6t  12
x = t3 - 6t2 - 15t + 40, dt
v ( m/s )
where x is expressed in meters and t in seconds.
• Determine (a) When v = 0

(a) the time at which the velocity will be zero, t(s)

(b) the position and distance traveled by the particle at that 3t 2  12 t  15  0

time,
(c) the acceleration of the particle at that time, t   1,
a ( m/s2 )
(d) the distance traveled by the particle from t=4 s to 6 s. t5
t(s)

(b) Position and distance when v=0 (b) distance traveled from t=4 s to t=6 s

xt  5  t 3  6t 2  15 t  40 xt  4  t 3  6t 2  15 t  40
 5 3  6 * 5 2  15 * 5  40  4 3  6 * 4 2  15 * 4  40
  60 m
  52 m
xt  0  40
xt  5   60 m
Distance traveled is 100 m
xt  5  xt  4   60  (  52 )   8 m
(c) acceleration when v=0
The total distance
xt  6  t 3  6t 2  15 t  40 traveled 18 m
a  6t  12  6 3  6 * 6 2  15 * 6  40
 6 * 5  12   50 m
 18 m / s 2 xt  6  xt  5   50  (  60 )  10 m
 Sample Problem 11.3
dv
a    kv
dt
• The brake mechanism used to reduce recoil in certain
dv
types of guns consists essentially of a piston attached   kdt
to the barrel and moving in a fixed cylinder filled with v
oil. v t
dv
• As the barrel recoils with an initial velocity v0, the
piston moves and oil is forced through orifices in the

v0
v
  k  dt
0
piston, causing the piston and the barrel to decelerate
v
at a rate proportional to their velocity, that is a = - kv. ln   kt
v0
• Express (a) v in terms of t, (b) x in terms of t, (c) v in
terms of x. Draw the corresponding motion curves v  v 0 e  kt

dx  vdt  v 0 e  kt dt v in terms of x
x t
dv
 dx   v0 e dt
 kt Other Method
a   kv  v
dx
0 0
dv   kdx x 
v 0  kt
e 1 
v

x   0 e  kt  1  v x
v
k
k  dv   k  dx
v0 0
v0
 e  kt

 v 
v  v 0   kx x
k

v 0  kt v
e 1  0
k
  1  
v0 

v  v 0  kx
 Uniformly Accelerated Rectilinear Motion
Accelerated
Motion
____________ _

Uniform Motion

Uniformly Accelerated Rectilinear Motion Uniformly Accelerated Rectilinear Motion

𝟐 𝟐
𝟎 𝟎
 Uniformly Accelerated Rectilinear Motion Sample Problem 11.2
• A ball is tossed with a velocity of 10 m/s directed
vertically upward from a window located 20m above
the ground. V0=+10m/s

• Knowing that the acceleration of the ball is constant

and equal to 9.81 m/s2 downward, determine:
Time dependent 𝟎 (a) the velocity v and elevation y of the ball above the
ground at any time t,
(b) the highest elevation reached by the ball and the
𝟏 𝟐 corresponding value of t, y0=+20m
𝟐 𝟎 𝟎 (c) the time when the ball will hit the ground and the
corresponding velocity.
• Draw the v-t and y-t curves

Time independent 𝟐 𝟐
𝟎 𝟎

dv  adt   9 .81dt
v t

 dv    9.81dt
v 0 10 0

v  10   9 .81t
V0=+10m/s
v   9 .81t  10
dy  vdt   9 .81t  10 dt
y t

y0=+20m  dy    9.81t  10 dt

y 0  20 0

y  20  10 t  4 .905 t 2
y  20  10 t  4 .905 t 2
Highest elevation y
Free Fall
v  0   9 .81t  10
t  1 .019 s • Motion with constant
y t 1.019  20  10 * 1 .019  4 .905 * 1 .019 2 downward acceleration:
y max  25 .1m g = 9.8m/s2 towards the
center of the Earth
Ball Hits the Ground y • Velocity is changing by
y  20  10 t  4 .905 t 2  0 9.8m/s every second
t   1 .243 , t  3 .28 • The air resistance is
v  10 - 9.81t  10 - 9.81 * 3.28 negligible
 -22.2m/s

Uniform Rectilinear Motion Feather vs Ball

Simply substitute a=0

𝒙 𝒕 then you will get the
same result, as
𝒙𝟎 𝟎
v = v0 = constant
𝟎

𝟎
 Uniform Rectilinear Motion Problem 11.30

A stone is thrown vertically upward from a point on a

bridge located 40 m above the water. Knowing that it
strikes the water 4 s after release, determine:
( a ) The speed with which the stone was thrown,
( b ) The speed with which the stone strikes the water.
𝟎

Problem 11.31
V0 = 54 km/h
V0 = 54 km/h
A
240 m B
A @ B
24 s

A motorist is traveling at 54 km/h when she observes

that a traffic light 240 m ahead of her turns red. The
traffic light is timed to stay red for 24 s. If the motorist V0 = 54 km/h

wishes to pass the light without stopping just as it turns A

B
green again. Determine:
( a )The required uniform deceleration of the car,
( b ) The speed of the car as it passes the light.
 Problem 11.34
V0 = 27 km/h
a = 0.75 m/s2
B A

150 m

A bus is accelerated at the rate of 0.75 m/s2 as it

travels from A to B. Knowing that the speed of the bus
was v0 = 27 km/h as it passed A, determine:
( a ) The time required for the bus to reach B,
( b ) The corresponding speed as it passes B.

Problem 11.36 Problem 11.45

Bus
Automobile
Two rockets are launched at a fireworks
display. Rocket A is launched with an
initial velocity v0 = 100 m/s and rocket B
O is launched t1 seconds later with the
x same initial velocity. The two rockets are
timed to explode simultaneously at a
Automobile A starts from rest at O and accelerates at the height of 300 m as A is falling and B is
constant rate of 0.75 m/s2. A short time later it is passed by bus rising. Assuming a constant acceleration
B which is traveling in the opposite direction at a constant g = 9.81 m/s2 , determine time t1.
speed of 6 m/s. Knowing that bus B passes point O, 20 s after
automobile A started from there, determine when and where the
vehicles passed each other.
 Section 6 :
Motion of Several Particles; Relative position,

Motion of
velocity and accelerations

Several
Particles

Principle of Velocity Addition

Relative Motion
(a) (b) Velocity of an object is a relative thing.
Different observers will record
different velocity!

The velocity of the passenger relative to the train (Vpt) is:

( a ) +1.2 m/s ( b ) –1.2 m/s

What is the velocity of the passenger relatively to the ground (Vpg)? Vpg= 16.2 m/s Vpg= 13.8 m/s
 Dependent Motions Dependent Motions
h
h1
L = ab + bc + cd = constant
b c
XB = (XA-h)+ bc + (XB-h) = const.
XA = XA + XB - 2h + bc = const.
d

B 𝑨 𝑩
a
𝑨 𝑩
A
h2
Linear Relation
One degree of
freedom problem

Dependent Motions Dependent Motions

𝑪 𝑬

YE 𝑪 𝑬
YC
𝑨 𝑩 𝑪
???
YW
and
𝑨 𝑩 𝑪
E
𝑨 𝑩 𝑪 𝑾 𝑬

W 𝑾 𝑬

C
Dependent Motions Dependent Motions
YA
???
𝑩 𝑨
YB 𝑳 𝒀𝒄 𝒀𝑨 𝒀𝑩 𝒀𝑨 𝟐 𝒀𝒄 𝒀𝑩 𝑪𝒐𝒏𝒔𝒕
A
𝑩 𝑨

B 𝑳 𝟐𝒀𝑨 𝒀𝑩 𝟑𝒀𝑪 𝑪𝒐𝒏𝒔𝒕

XA XB
???
YC

𝑨 𝑩 𝑪

A B

Uniformly accelerated motion

Sample Problem 11.4 problem

• A ball is thrown vertically upward from the Motion of Ball

12-m level in an elevator shaft with an initial
velocity of 18 m/s y 0   12 m
• At the same instant an open-platform v 0   18 m / s
elevator passes the 5-m level, moving a   9 .81m / s 2
upward with a constant velocity of 2 m/s v B  v 0  at  18  9 .81t
• Determine (a) when and where the ball will
1 2
hit the elevator, (b) the relative velocity of y B  y 0  v0t  at  12  18 t  4 .905 t 2
2
the ball with respect to the elevator when
the ball hits the elevator
 Motion of Elevator
Sample Problem 11.5
vE  2 m / s
y E  y 0  v E t  5  2t • Collar A and block B are connected by a cable
passing over three pulleys C, D, and E as shown

• Pulleys C and E are fixed, while D

yB  yE Ball Hits Elevator is attached to a collar which is
pulled downward with a constant
12  18 t  4 .905 t 2  5  2t velocity of 75 mm/s
t   0 .39 , t  3.65 s
y E  5  2t  5  2 * 3 .65  12 .30 m • At t = 0, collar A starts moving
downward from position K with a
v B / E  v B  v E  (18  9 .81t )  2
constant acceleration and no
v B / E  16  9 .81t  16  9 .81 * 3 .65   19 .81m / s initial velocity

Knowing that the velocity

200 mm

of collar A is 300 mm/s as

it passes through point L, 𝒗𝑨 𝟑𝟎𝟎 𝒎𝒎/𝒔

determine the change in

200 mm elevation, the velocity,
and the acceleration of
block B when collar A
passes through L
𝒗𝑫 𝟕𝟓 𝒎𝒎/𝒔
 x A  2 x D  x B   x A 0  2  x D 0   x B 0
2
vA  vA    2a
2
x A  x A 0 
x A   x A 0  200 mm
0 A

300 2  0  2  a A  200 Motion of Collar A Motion of Block B

x D   x D 0  100 mm
a A  225 mm / s 2
200  2  100  x B   x B 0  0
v A  v A 0  a A t
x B   x B 0  400 mm
300  0  225 t t = 1.333 s
v A  2v D  v B  0
300  2  75  v B  0
aD  0
Motion of Pulley D v B   450 mm / s  450 mm / s  up
v D  75 mm / s
a A  2aD  aB  0
x D   x D 0  v D t
225  2  0  a B  0
x D   x D 0  v D t  75  1 .333  100 mm
a B   225 mm / s 2  225 mm / s 2  up
 Sample Problem 11.47

The elevator E shown in the figure

moves downward with a constant
velocity of 4 m/s.
Determine:
(a) the velocity of the cable C,
(b) the velocity of the counterweight W,
(c) the relative velocity of the cable C
with respect to the elevator,
(d) the relative velocity of the
counterweight W with respect to the
elevator.

xC+2xE=const
Sample Problem 11.50
xE+xW=const
xW
Block B starts from rest and
xC Differentiating
moves downward with a constant
vC+2vE=0 acceleration.
vE+vW=0 Knowing that after slider block A
has moved 400 mm its velocity is
a) vC=-8m/s
4 m / s, determine:
b) vW=-4m/s
c) vC/E=vC-vE=-8-4=-12m/s a) the accelerations of A and B,
d) vW/E=vW-vE=-4-4=-8m/s b) the velocity and the change in
position of B after 2 s.
 Lecture Section 7 : Graphical Solution

3 Sometimes it is convenient to use a graphical solution for problems involving

rectilinear motion of a particle. The graphical solution most commonly involves
x - t, v - t , and a - t curves.

𝒙 𝒗 𝒂

𝒅𝒙 𝒅𝒗
𝒗 𝒂
𝒅𝒕 𝒅𝒕
𝒙 𝒗 𝒂

𝒕𝟏 𝒕 𝒕𝟏 𝒕 𝒕𝟏 𝒕

dx v = slope of (x – t) curve dv
v a
dt a = slope of (v – t) curve dt

acceleration dV velocity dX
a V
dt dt
Area Area
dV  a dt dX  V dt
t1 t2 time t1 t2 time
2 2 2 2

 dV   adt  dX   Vdt
velocity position

V2 V2 1 1 X2 X2 1 1
t2 t2

V2  V1   a dt t2 X 2  X 1   V dt t2

V 2  V1   a dt X 2  X 1   V dt
t1 t1
V1 V1 X1 X1
t1 t1
t1 t2 time t1 t2 time
Sample
Problem A (m/s2) 0 < t < 6, the area is the change in v; (6s)(1 m/s2) = 6 m/s
11.6
2.0 At t2, the velocity is 12 m/s
1.5
(t2-6)*(1.5 m/s2) = (12-6) m/s
A subway car leaves station A; it gains speed at the rate of 1.0
t2 = 10 s
1 m/s2 for 6 s and then at the rate of 1.5 m/s2 until it has 0.5
reached the speed of 12 m/s.
0.0
 The car maintains the same speed until it approaches -0.5
station B; brakes are then applied, giving the car a
constant deceleration and bringing it to a stop in 6 s. -1.0 (40s-34s)(a4) = (0-12) m/s
-1.5
 The total running time from A to B is 40 s. Draw the a4 = -2 m/s2
curves a-t, v-t, and x-t and determine the distance -2.0
between station A and B

v (m/s)
12

𝑥 𝑚
6

0
378 m
𝒙 𝒎

378
???m
 v ( m/s ) Problem a ( m/s2 ) Problem
6

0.5
2
24 30 40
t (s) 5 min
0 10 18 t(s)
0 t1
-6

A car starts from rest with an acceleration of 0.5 m/s2, which

A particle moves in a straight line with the velocity shown in the figure. remains constant until its velocity reaches 36 km/h. Thereafter,
Knowing that x = -16 m at t = 0, the car maintains this velocity.
1. draw the a-t and x-t curves for 0 < t < 40 s
2. determine : a) Draw the a-t, v-t and x-t graphs
a) the maximum value of the position coordinate of the particle, b) Determine the distance traveled by the car during first 5
b) the values of t for which the particle is at a distance 36 m from the origin. minutes of motion.

Lecture
Parabolic Trajectory
4
Curvilinear Two coordinates

Motion of
Particles
 Observations Summary Observations Summary
Free Body Diagram

Fx = 0
𝜽

𝟎
Fy = - W = - mg
𝟎
𝑂

Observations Observations Summary

Summary
Direction Force Acceleration Type of Motion

x Uniform

y Accelerated

Velocity Displacement
x 𝑉 𝑉 𝑐𝑜𝑠𝜃 𝑋 𝑡 𝑉 𝑐𝑜𝑠𝜃 𝑡 𝑋

y 𝑉 𝑔𝑡 𝑉 𝑠𝑖𝑛𝜃 𝑌 𝑡 𝑔𝑡 𝑉 𝑠𝑖𝑛𝜃 𝑡 𝑌
 General Description of a Projectile Motion Projectile Motion - Clarifications

• Range: is the horizontal distance a projectile travels till it comes to

its initial height (the initial and final heights are the same!)

• Max height: ymax of the highest point of the projectile

• Landing site: is the horizontal distance a horizontally launched

projectile travels before landing

Range, ymax
Landing
ymax
site

Range (R) & max height (ymax) of a Testing Experiments:

projectile above its launch site maximum range

 v02
 x : x  x0  v0 x t  R  sin 2 
   v02  g
 1 2  R  sin 2   R    45 0
 y : y  y 0  v 0 y t  gt   g  max
2  
 y  v0 sin 
2 2
v x  v 0 x cos(  )  const 
   max 2g COMMENT:

v y  v 0 y sin(  )  gt  According to our model,

(neglecting air resistance) if the
launch speed is kept const the max
Range should be at a 450 angle. We
can test it!
 Sample Problem 11.7 Solution of Sample Problem 11.7
A projectile is fired from the edge of a 150-m cliff with an
initial velocity of 180 m/s at an angle of 300 with the
horizontal • Neglecting air resistance,
find:
a) the horizontal distance from
the gun to the point where the
projectile strikes the ground,
b) the highest elevation above
the ground reached by the
projectile

Sample Problem 11.8

( v x ) 0  180 m / s  cos 30 0  155 .9 m / s

x  ( v x ) 0 t  155 .9t
y  90 t  4 .90 t 2   150 When hit the
t  19 .91 s bottom
x  155 .9 * 19 .91  3100 m
2 A projectile is fired with an initial velocity of 240m/s at a target
v y  0  8100  19 .62 y At the greatest B located 600 m above the gun A and at a horizontal distance
y  413 m elevation of 3600 m. Neglecting air resistance, determine the value of
y max  413 m  150 m  563 m the firing angle 
 a = -9.81 m/s2

v0 = 240 m/s

v0 = 240 m/s 600 m

Vertical Motion
(vx)0 = 240 cos 
( v y ) 0  240 sin  (vy)0 = 240 sin 

3600 m 1 2 1
y  (v y ) 0 t  at  ( 240 sin  ) t  (9 .81) t 2
2 2
( v x ) 0  240 cos 
Horizontal Motion x  ( v x ) 0 t  240 cos  t 15
Projectile Hits Target
t
3600  240 cos  t cos  When x=3600m, we must have y=600m

3600 15  15   15 
2
t  y  240 sin     4 .905  
240 cos  cos   cos    cos  

Problem 11.97
0
69.6
An airplane used to drop
0
29.9
water on brushfires is flying
2 horizontally in a straight line
 15   15 
y  240 sin     4 .905   at 315 km/h at an altitude of
 cos    cos  
600  340 (15 ) tan   4 .905 (15 2 )(1  tan 2  ) 80 m.
1104 tan 2   3600 tan   1704  0
tan   0 .575 and 2.69 Determine the distance d at which the pilot should
  29.9 , 69.6
0 0
release the water so that it will hit the fire at B.
 Lecture Section 12 :

5
Motion Relative to a Frame
in Translation

Absolute motion of B can be obtained by

combining the motion of A and the
relative motion of B with respect to the
moving frame attached to A

RELATIVE POSITION RELATIVE VELOCITY

𝑽𝑩/𝑨
The absolute position of two
particles A and B with respect to To determine the relative velocity of B with
𝑽𝑩
the fixed x, y, z reference frame respect to A, the time derivative of the
are given by rA and rB. relative position equation is taken.
𝑽𝑨
The position of B relative to A is
represented by
or

In these equations, vB and vA are called absolute velocities

Therefore, if and vB/A is the relative velocity of B with respect to A.
and
Note that
then /
 RELATIVE ACCELERATION Sample Problem 11.9

𝒂𝑩/𝑨 The time derivative of the relative

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

or

36 km/h = 10 m/s

Solution of Sample Problem 11.9

Automobile A is traveling east at the constant

speed of 36 km/h. As automobile A crosses the aA  0
intersection shown, automobile B starts from rest v A  10 m / s
35 m north of the intersection and moves south x A  ( x A ) 0  v A t  0  10 t
when t  5
with a constant acceleration of 1.2 m/s2.
x A  50 m
v B  ( v B ) 0  a B t  0  1 .2t
Determine the position, velocity, and y B  ( y B ) 0  (v B ) 0 t 
1 2
at  35  0  0 .6t 2
acceleration of B relative to A, 5 seconds after A 2
crosses the intersection when t  5
v B  6 m / s
y B  35  0 .6 * 5 2  20 m
 EXAMPLE

A
  
rB  rA  rB / A 35O B
VA = 600 km/h
rB / A  53 .9 m   21.8 0

  
vB  v A  vB / A
Given: vA = 600 km/hr VB = 700 km/h
v B / A  11 .66 m / s   3 1 .0 0 vB = 700 km/hr
Find: vB/A
a B / A  1 .2 m / s 2

Plan: Write vectors vA and vB in Cartesian form, then

determine vB – vA

Solution:
  
v A  600 cos 35 i  600 sin 35 j A
 
 491 .5 i  344 .1 j  km / h VA = 600 km/h
35O B


v B   700 i  km / h
 VB = 700 km/h

    
v B / A  v B  v A  (  1191 .5 i  344 .1 j ) km / h
vB / A  (1191 .5) 2  (344 .1) 2  1240 .2 km / h

where
344 .1
  tan 1 ( )  16 .1O
1191 .5
 Lecture Section 14:

6
Radial and Transverse Components
𝜽

Radial & Tangential 𝑟

𝑃 𝑃
𝒓

Transverse & Normal 𝑂

𝜃
𝑂
𝜃

Components
Section 14: Section 14:
Radial and Transverse Components Radial and Transverse Components
𝒆𝒓 𝐜𝐨𝐬 𝜽 ⃗ 𝐬𝐢𝐧 𝜽 ⃗ 𝒆𝜽 𝐬𝐢𝐧 𝜽 ⃗ 𝐜𝐨𝐬 𝜽 ⃗

𝑑𝑒⃗ 𝑑 𝑑
cos 𝜃 𝚤⃗ sin 𝜃 𝚥⃗
𝑑𝜃 𝑑𝜃 𝑑𝜃
𝒓
⃗
cos 𝜃 𝚤⃗ sin 𝜃 𝚥⃗ sin 𝜃 𝚤⃗ cos 𝜃 𝚥⃗

𝑑𝑒⃗ 𝑑 𝑑
sin 𝜃 𝚤⃗ cos 𝜃 𝚥⃗
𝑑𝜃 𝑑𝜃 𝑑𝜃
𝜽
⃗
sin 𝜃 𝚤⃗ cos 𝜃 𝚥⃗ cos 𝜃 𝚤⃗ sin 𝜃 𝚥⃗

Section 14:
Section 14:
Radial and Transverse Components
Radial and Transverse Components
𝜽

𝒓
𝜽

𝝅
𝟐
 When moving along a circle of center O,
with constant rotational speed, r = constant Radial Tangential
& &
Transverse Normal
𝜽
𝒕
R=Const

𝒓
𝑃 𝒏 𝑃

𝜃 𝜃
𝑂 𝑂
 Tangential and Normal
Components

Sample Problem 11.10 • A motorist is traveling on a curved section of

highway of radius 750 m at the speed of 100 km/h.
The motorist suddenly applies the brakes, causing
VA = 100 km/h the automobile to slow down at a constant rate

Applied Brake
8 s later
• Knowing that after 8 s the speed has been reduced
to 75 km/h, determine the acceleration of the
V=75 km/h 100 km/h = 27.77m/s
automobile immediately after the brakes have been
applied
75 km/h = 20.83 m/s
750 m
 Solution of Sample Problem 11.10 Sample Problem 11.11

at = 0.875 m/s2  v 20 .8  27 .8 From problem 11.7

a t average     0 .875 m
s2
dt 8

an = 1.030 m/s2

Determine the minimum radius of curvature of the trajectory

described by the projectile considered in Sample Problem 11.7

 dv  v 2 
a et  en
dt 
v2 v2
an  , 
 an

Minimum velocity or At the peak, v is minimum and

maximum acceleration acceleration is maximum
gives minimum radius
v  v x  155 .9 m / s , v y  0
v2 155 .9 2
   2480 m
an 9 .81
 Sample Problem 11.12

Solution of Sample Problem 11.12

• The rotation of the 0.9-m arm OA about  is defined by the

relation = 0.15 t2, where  is expressed in radians and t
in seconds

• Collar B is sliding along the arm in such a way that its

distance from O is r = 0.9 - 0.12 t2, where r is expressed
in meters and t in seconds

• After the arm OA has rotated through 300, determine:

a) the total velocity of the collar,
b) the total acceleration of the collar,
 Sample Problem Auto A:
11.128

A VA = 75 km/h V A  75 km / h  20 .833 m / s
Automobile A is traveling along a a A  1 .5 m / s 2
straight highway, while B is
moving along a circular exit ramp B
of 150-m radius. The speed of A is Auto B:
being increased at the rate of 1.5 30 o

m/s2 and the speed of B is being

VB = 40 km/h V B  40 km / h  11 .111 m / s 30o
decreased at the rate of 0.9 m/s2. 2
VB 11 .111 2
R = 150 m a B n    0 .823 m / s 2
R 150
For the position shown, determine ( a ) the velocity of A relative a B t  0 .9 m / s 2
60o

to B, ( b ) the acceleration of A relative to B.

30o
 V A  75 km / h
VELOCITIES
aB  0 .9 2  0 .823 2  1 .2196 m / s 2 30o 

VA/ B
V B  40 km / h
 = 47.6 o (aB)t
 = 90o – 30o – 47.6o = 12.4o
V A  VB  V A / B


aB  Law of Cosines : VA/B2 = 752 + 402 - 2*40*75*cos30o

30o
VA/B = 45.04 km/h
(aB)n
a B  1 .2196 m / s 2
sin  sin 30 0  = 26.36o
12.4 o Law of Sines : 
40 45 .04