Scribd
Upload
11 views

Lecture 2-Kinematics of Particles

Uploaded by

atharvapatil518
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
11 views

Lecture 2-Kinematics of Particles

Uploaded by

atharvapatil518
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 13

Theory of Machines-II (ME2L005)

Lecture 2 : Kinematics of Particles


Dr. Soham Roychowdhury
School of Mechanical Sciences
Indian Institute of Technology Bhubaneswar
Rectilinear Motion:
A particle is moving along a straight path on which its location is
measured by distance s from a reference point O at any time t.
Point Time Distance from reference point
𝑃 𝑡 𝑠
𝑃′ 𝑡 + ∆𝑡 𝑠 + ∆𝑠

∆𝑠
Average velocity during the interval ∆𝑡 = 𝑣𝑎𝑣 =
∆𝑡

∆𝑠 𝑑𝑠
Instantaneous velocity of the particle 𝑣 = lim = =𝐬
∆𝑡→0 ∆𝑡 𝑑𝑡
Rectilinear Motion:
∆𝑣
Average acceleration during the interval ∆𝑡 = 𝑎𝑎𝑣 =
∆𝑡

∆𝑣 𝑑𝑣 𝑑2 𝑠
Instantaneous acceleration 𝑎 = lim = =𝐯=𝐬=
∆𝑡→0 ∆𝑡 𝑑𝑡 𝑑𝑡 2

The instantaneous velocity and accelerations can also be related as


𝑣 𝑑𝑣 = 𝑎 𝑑𝑠
Curvilinear Motion:
A particle is moving along a curved planar path on which its location is
measured by position vector r from a reference point O at any time t.

Point Time Distance from point O


𝐴 𝑡 𝑟
𝐴′ 𝑡 + ∆𝑡 𝑟 + ∆𝑟

∆𝑟 is the displacement of the particle during time ∆𝑡 , and it is


independent of the choice of origin.
Curvilinear Motion:
Instantaneous velocity of the particle (tangent to the path)
∆𝑟 𝑑𝑟
𝑣 = lim = =𝐫
∆𝑡→0 ∆𝑡 𝑑𝑡
Instantaneous acceleration of the particle
∆𝑣 𝑑𝑣
𝑎 = lim = =𝐯
∆𝑡→0 ∆𝑡 𝑑𝑡

The instantaneous accelerations 𝑎 includes the effects of both the change in


magnitude of 𝐯 and the change of direction of 𝐯.

Direction of 𝐚 is neither tangent to the path nor normal to it.


Rectangular Cartesian Coordinates:
In case of planar motion of a particle,

Position vector = 𝐫 = 𝑥𝐢 + 𝑦𝐣

Velocity vector = 𝐯 = 𝑥𝐢 + 𝑦𝐣 = 𝑣𝑥 𝐢 + 𝑣𝑦 𝐣

Acceleration vector = 𝐚 = 𝑥𝐢 + 𝑦𝐣 = 𝑎𝑥 𝐢 + 𝑎𝑦 𝐣

𝑣𝑦 𝑑𝑦
Direction of 𝐯 is calculated by tan 𝜃 = =
𝑣𝑥 𝑑𝑥
Path Coordinates (normal and tangential):
Unit vector normal to the path is 𝐞𝑛 and unit vector tangent to the path is 𝐞𝑡 .

As a particle is moving along a path from 𝑨 to 𝑨′, with radius of curvature


of the path at this position denoted by 𝜌, we have 𝑑𝑠 = 𝜌 𝑑𝛽.
𝑑𝑠 𝑑𝛽
Magnitude of velocity is 𝑣 = = 𝜌 = 𝜌𝛽
𝑑𝑡 𝑑𝑡

Velocity vector = 𝐯 = 𝑣𝐞𝑡 = 𝜌𝛽𝐞𝑡


Path Coordinates (normal and tangential):
𝑑𝐯 𝑑 𝑣𝐞𝑡
Acceleration vector = 𝐚 = = = 𝑣 𝐞𝑡 + 𝑣𝐞𝑡
𝑑𝑡 𝑑𝑡

Magnitude of vector 𝑑𝐞𝑡 = length of arc 𝐞𝑡 𝑑𝛽 = 𝑑𝛽

Direction of vector 𝑑𝐞𝑡 is along 𝐞𝑛

Thus, 𝑑𝐞𝑡 = 𝑑𝛽 𝐞𝑛 ⇒ 𝐞𝑡 = 𝛽𝐞𝑛


𝑣2
𝐚 = 𝑣 𝛽𝐞𝑛 + 𝑣𝐞𝑡 = 𝐞𝑛 + 𝑣𝐞𝑡
𝜌
𝐚 = 𝜌𝛽 2 𝐞𝑛 + 𝑣𝐞𝑡 = 𝑎𝑛 𝐞𝑛 + 𝑎𝑡 𝐞𝑡
Polar Coordinates:
Position vector = 𝐫 = 𝑟𝐞𝑟

𝑑𝐞𝑟 = 𝑑𝜃 𝐞𝜃 and 𝑑𝐞𝜃 = −𝑑𝜃 𝐞𝑟

Thus, 𝐞𝑟 = 𝜃𝐞𝜃 and 𝐞𝜃 = −𝜃𝐞𝑟

Velocity vector = 𝐯 = 𝐫 = 𝑟𝐞𝑟 + 𝑟𝐞𝑟

= 𝑟𝐞𝑟 + 𝑟𝜃𝐞𝜃

= 𝑣𝑟 𝐞𝑟 + 𝑣𝜃 𝐞𝜃
Polar Coordinates:
Velocity vector = 𝐯 = 𝑟𝐞𝑟 + 𝑟𝜃𝐞𝜃

Acceleration vector 𝐚 = 𝐯 = 𝑟𝐞𝑟 + 𝑟𝐞𝑟 + 𝑟𝜃𝐞𝜃 + 𝑟𝜃𝐞𝜃 + 𝑟𝜃 𝐞𝜃

𝐚 = 𝑟𝐞𝑟 + 𝑟𝜃𝐞𝜃 + 𝑟𝜃𝐞𝜃 + 𝑟𝜃𝐞𝜃 − 𝑟𝜃 2 𝐞𝑟

= 𝑟 − 𝑟𝜃 2 𝐞𝑟 + 𝑟𝜃 + 2𝑟𝜃 𝐞𝜃 𝐞𝑟 = 𝜃𝐞𝜃

= 𝑎 𝑟 𝐞𝑟 + 𝑎 𝜃 𝐞𝜃 𝐞𝜃 = −𝜃𝐞𝑟
Relative Motion (Translating Axes):
A and B are two moving particles

X-Y: Fixed axes

x-y: Translating axes (non-rotating) attached to


particle B

Absolute position of A is 𝐫𝐴 = 𝐫𝐵 + 𝐫𝐴/𝐵

Absolute position of B is 𝐫𝐵

A/B means A relative to B


Relative Motion (Translating Axes):
Absolute position of A is 𝐫𝐴 = 𝐫𝐵 + 𝐫𝐴/𝐵

Absolute velocity of A is 𝐫𝐴 = 𝐫𝐵 + 𝐫𝐴/𝐵

⇒ 𝐯𝐴 = 𝐯𝐵 + 𝐯𝐴/𝐵 ⇒ 𝐯𝐴 𝑋𝑌 = 𝐯𝐵 𝑋𝑌 + 𝐯𝐴 𝑥𝑦

Absolute acceleration of A is 𝐫𝐴 = 𝐫𝐵 + 𝐫𝐴/𝐵

⇒ 𝐚𝐴 = 𝐚𝐵 + 𝐚𝐴/𝐵 ⇒ 𝐚𝐴 𝑋𝑌 = 𝐚𝐵 𝑋𝑌 + 𝐚𝐴 𝑥𝑦

Time derivative of a vector is same for all reference 𝑑 𝑑


=
axes that are translating relative to each other. 𝑑𝑡 𝑋𝑌
𝑑𝑡 𝑥𝑦
References:
• Kraige L.G., and Meriam J.L., Engineering Mechanics - Dynamics, Wiley
• Beer F.P., and Johnston Jr. E.R., Vector Mechanics for Engineers: Dynamics, McGraw-Hill, Inc
• Hibbeler R.C., Engineering Mechanics - Dynamics, New Jersey: Pearson Prentice Hall
• Shames I. H., Engineering Mechanics- Statics and Dynamics, Prentice Hall of India
• Norton R.L., Design of Machinery, McGraw-Hill
• Shigley J.E., and Uicker J.J., Theory of Machines and Mechanisms, McGraw Hill, Inc
• Ghosh A., and Malik A.K., Theory of Mechanisms and Machines, East-West Press
• Wilson C.E., and Sandler J.P., Kinematics and Dynamics of Machinery, Pearson Education
• Waldron K. J., and Kinzel G. L., Kinematic, Dynamics, and Design of Machinery, Wiley
• NPTEL Course on Dynamics of Machines, Prof. A. Ghosh
• Respective sources from internet for different figures

You might also like