DEPARTMENT OF BASIC SCIENCES AND ENGINEERING (F. Y. B. TECH.

), PICT, PUNE

F007: MECHANICS FOR ROBOTICS

MODULE-II: PARTICLE DYNAMICS
CHAPTER 5 Rectilinear Motion of a Particle
CHAPTER 6 Curvilinear Motion of a Particle: Rectangular
Components
CHAPTER 7 Curvilinear Motion of a Particle: Normal and
Tangential Components
CHAPTER 8 Curvilinear Motion of a Particle: Projectile Motion
CHAPTER 9 Application of Newton’s Second Law / D’Alembert’s
Principle

CHAPTER 5: RECTILINEAR MOTION OF A PARTICLE

5.1 Introduction
• Dynamics is the branch of Engineering Mechanics which deals with the study
of behaviour of bodies when they are in motion.
• Here, we are going to study the motion of particles. Particle is smallest part of
the body or in other words it is infinitesimally small part of the body. In
engineering a body can be considered as a particle if the dimensions of the body
are so small that the size does not influence its response to the forces acting on
it.
• In any situation, when the applied forces have no tendency to rotate the body on
which they act, the body may be considered as a particle. Forces acting on the
particle are concurrent, the point through which they pass being the point
representing the “particle”.
5.2 Motion of a Particle
• A particle is said to have motion if the particle is changing its position for every
instant of time. If we know the position of particle for every instant of time, then
we can say that the motion of the particle is known.
• The timetable of the motion of a particle can be given in the form of an equation,
x = 2t2– 3t
Where, x = Position of the particle and
T = Time interval.

5.3 Types of Motion of a Particle in 2-Dimensional Plane

• A particle undergoes two types of motion in a plane.
(i) Rectilinear translation
(ii) Curvilinear translation

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If the particle changes its position along a straight line then it is known as “Rectilinear
translation” and if it changes along a curved path, then it is known as “curvilinear
translation”.

Rectilinear translation Curvilinear translation

5.4 Kinematics and Kinetics
Dynamics is subdivided into two parts.
(i) Kinematics and
(ii) Kinetics

(i) Kinematics:
• Kinematics is the branch of dynamics which deals with the study of
behaviour of bodies in motion but without considering the forces causing
motion.
• Here we are interested in how the body is moving and not why it is
moving.
• Kinematics deals with the motion parameters like displacement, velocity,
acceleration, time etc.
(ii) Kinetics:
• Kinetics is the branch of dynamics which deals with the study of
behaviour of bodies in motion by considering the forces causing the
motion.
• Here we study how and why the body is moving.
• Kinetics deals with the motion parameters like displacement, velocity,
acceleration, time and also the forces which are responsible for the motion
of the body.

5.5 Basic Concepts

i) Position of a Particle:
At any given instant ‘t’, the particle will occupy a certain position with respect to fixed
point ‘O’ known as origin.

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The distance x, with the appropriate sign, completely defines the position of the particle;
it is called “position co-ordinate” of the particle considered.
Referring to the above figure, the position co-ordinate corresponding to ‘P’ is x = +4m and
corresponding to ‘Q’ is x = – 3m
ii) Displacement:
• It is the change in position of the particle.
Displacement is defined as the shortest distance between the initial and final
position of the particle.
• It is a vector quantity having magnitude and direction.
• The direction may be positive or negative depending on the position of the
particle.
• S. I. Unit: Meter (m) or millimetre (mm)
• Displacement is denoted by ‘x.
iii) Distance Travelled:
• It is the total path covered by the particle in a given time interval.
• It is a scalar quantity having only magnitude. As it is not having direction,
distance is always positive.
• It is represented by |x|.
Illustrative example 1:

Let the particle starts from the origin ‘O’ moving along the x-axis towards right and finally
occupies position A as shown in figure.
The position of the particle, x = + 12 m (w.r.t. ‘O’)
Displacement, x = OA = + 12 m
Distance, |x| = |OA| = 12 m
Illustrative example 2:

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Let the particle starts from the origin ‘O’ moving along the x-axis towards right occupying
position at A and reversing its path along the same line occupying final position at ‘B’ as
shown in figure.
Position of particle at ‘A’, x = + 12 m (w.r.t. ‘O’)
Position of particle at ‘B’, x = + 8 m (w.r.t. ‘O’)
Displacement, x = OB = OA – AB = +12 – 4 = + 8 m
(Shortest distance between initial ‘O’ and final ‘B’ positions)
Distance, |x| = Total path covered between ‘O’ and ‘B’
= |OA| + |AB| = |+12| + |–4| = 12 + 4 = 16 m
Illustrative example 3:

Let initial position of particle be “O” and final position be ‘C’, as shown in figure.
Position of particle at A, x = +12 m
at B, x = 0
at C, x = –4 m
Displacement, x = – 4 m
Distance, |x| =Total path covered between initial position ‘O’ and
final position ‘C’ = |OA| + |AB| + |BC|
= |+12| + |–12| + |–4|
= 12 + 12 + 4 = 28 m
Illustrative example 4:
Let the particle be projected from the top of the tower ‘A’ vertically upwards, at reaches
the highest point at ‘B’ and starts falling striking the ground surface at ‘C’ as shown in
figure. Assume that the particle is going up and coming down along the same path.

Motion of Displacement Distance

particle
A→B + 20m 20m
B→C – 50m 50m
A→C – 30m 20 + 50 = 70m

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 DEPARTMENT OF BASIC SCIENCES AND ENGINEERING (F. Y. B. TECH.), PICT, PUNE

iv) Velocity:
Velocity is the rate of change of displacement of the particle or change in position of the
particle with respect to time.
• Velocity is a vector quantity.
• It may be positive or negative depending on the displacement.
• It is denoted by ‘v’.
Displacement dx
Velocity, v = =  dt 
Time  
• S.I. Unit: m/s
v) Speed:
Speed is the rate of change of distance travelled by the particle.
Total distance travelled
Speed = Total time taken
• Speed is a scalar quantity.
• It is having only magnitude and always positive.
• Speed is the magnitude of velocity.
• Speed = |v|
vi) Acceleration:
Acceleration is the rate of change of velocity of the particle w.r.t. time.
• Acceleration is denoted by ‘a’
Velocity dv
• Acceleration, a = Time =  dt 
 
dv
a =  dt 
 

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 DEPARTMENT OF BASIC SCIENCES AND ENGINEERING (F. Y. B. TECH.), PICT, PUNE

• S. I. unit: m/s2
• It is a vector quantity having magnitude and direction.
• Acceleration is expressed as
dv d dx dx
a= =   (∵ v =
dt dt  dt  dt )
d2 x
a=
dt2
dv dv dx
a = dt = dx  dt (Using chain rule)
dv
= dx v
 
dv
 a = v 
dx

vii) Retardation:
• It is negative acceleration.
• Also known as deceleration.
• It always acts in the opposite direction of velocity.

Note: If the velocity of the particle increases with respect to time, then the particle is
said to have acceleration and if the velocity decreases w.r.t. time, then it is said
to have retardation or deceleration or negative acceleration.
viii) Jerk
Jerk is the rate of change of acceleration w.r.t. time.
• Jerk is denoted by ‘j’
Acceleration da
• Jerk, j= =  dt 
Time  
• S. I. unit: m/s2/s or m/s3
• Jerk will cause discomfort to the passengers in vehicles and in elevators.
5.6 Rectilinear Motion
If a particle is moving along a straight line or in a straight path, then that particle is said
to have “rectilinear motion”.
• As the particle is moving along a straight line, the displacement, velocity and
acceleration are directed in one direction only. Hence these problems are also
known as one dimensional (1-D) problems.
• As all quantities are directed along one line, the directional (vector) aspects can
be eliminated.
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 DEPARTMENT OF BASIC SCIENCES AND ENGINEERING (F. Y. B. TECH.), PICT, PUNE

5.7 Velocity and Acceleration from Position of the Particle

Consider a particle moving along a straight line and assume that its position is defined by
the expression
x= 9t2– 4t3+ 3 … (1)
Where, ‘x’ is expressed in meters and ‘t’ in seconds.
Velocity of the particle can be obtained by differentiating the above expression w.r.t. ‘t’.
dx d
v = dt = dt (9t2–4t3+3)

v = 18t – 12t2 … (2)

Acceleration of the particle can be obtained by again differentiating w.r.t. ‘t’.
dv d
a = dt = dt (18t – 12t2)
a = 18 – 24t … (3)
5.8 Motion with Variable Acceleration
In some cases, the particle moves with variable acceleration. The acceleration of the
particle may vary with respect to time ‘t’, velocity ‘v’ and position ‘x’. Hence there are
three cases of variable acceleration.
(i) a = f(t) Acceleration is a function of time
(ii) a = f(v) Acceleration is a function of velocity
(iii)a = f(x) Acceleration is a function of position

(i) a = f(t): Acceleration is a given function of time:

a = f(t) … (1)
dv
dt = f(t)
dv = f(t) dt
Integrating on both sides,
 dv =  f(t)dt
v =  f(t)dt
This gives the velocity as a function of time.
v = f(t) … (2)
dx
dt = f(t)
dx = f(t)  dt
Again, integrating on both sides,
 dx =  f(t)  dt
x =  f(t)  dt
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 DEPARTMENT OF BASIC SCIENCES AND ENGINEERING (F. Y. B. TECH.), PICT, PUNE

This gives the position as a function of time.

x = f(t) … (3)
Using expressions (1), (2) and (3) we can find the acceleration,
velocity and position of the particle at any given time ‘t’.
(ii) a = f(v): Acceleration is a given function of velocity
a = f(v)
dv
dt = f(v)
dv
= dt
f(v)
Integrating we get, relation between ‘v’ and ‘t’.
Also, a = f(v)
dv
vdx = f(v)
v
dv = dx
f( v )
Integrating we get, relation between ‘v’ and ‘x’.
(iii) a = f(x): Acceleration is a given function of position
a = f(x)
dv
vdx = f(x)
vdv = f(x)dx
Integrating we get, relation between ‘v’ and ‘x’.
5.9 Motion with Uniform or Constant Acceleration: (Uniformly Accelerated
Motion)
Here, the particle moves with uniform or constant acceleration.
Acceleration, a = Constant
Let, u =Initial velocity (i.e., at t = 0)
v =Final velocity (i.e., at t = t)
t = Time interval
x = Displacement
a = Constant/ uniform acceleration
dv
a = dt
dv = adt
Integrating on both sides,
 dv = a dt (a = Constant)
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 DEPARTMENT OF BASIC SCIENCES AND ENGINEERING (F. Y. B. TECH.), PICT, PUNE

At t = 0, v = u
t = t, v = v
v t
 dv = a  dt
u 0
[v] vu = a[t] 0t
v – u = a (t – 0)
v – u = at
v = u + at … (1)
v = u + at
dx
dt = u + at
dx = (u + at) dt
Integrating on both sides,
 dx =  (u + at) dt
At t = 0, x = 0
t = t, x = x
x t
 dx =  (u + at) dt
0 0
x  at2 t

[x] 0 = ut + 2
 0
1
x = ut + at2 … (2)
2
dv
a = vdx
vdv = adx
Integrating on both sides
 v  dv = a dx (a = Constant)
At x = 0, v = u
x = x, v = v
v x
 vdv = a dx
u 0
v2v x
  = a[x]
 2 u 0

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v2 u2
2 – 2 = ax
v2 – u2 = 2 ax
v2= u2 + 2ax … (3)
These three equations v = u + at
1
x= ut + at2
2
v2=u2+ 2ax
are known as “equations of kinematics”.
Note: It is important to keep in mind that the above equations can be used only when
the acceleration of the particle is known to be constant.

5.10 Displacement of the Particle in tth second:

• Consider a particle moving with constant acceleration ‘a’.
• Displacement of the particle in ‘t’ seconds given by
1 2
xt= ut + 2 at
• Displacement of the particle in ( t – 1) seconds is given by,
1
x(t – 1) = u(t – 1) + 2 a (t – 1)2

• Displacement in tthsecond, xth = xt – xt – 1

1  1 
xth = ut + 2 at2 – u(t – 1) + 2 a (t – 1)2
 
1  1 
= ut + 2 at2– ut – u + 2a (t2 + 1 – 2t)
 
1  1 1 
= ut + 2 at2– ut – u + 2at2 + 2a – at
 
1
= u – 2 a + at
a
xth =u + (2t – 1)
2
5.11 Uniform Motion:
If the particle is moving with constant velocity, then that particle is said to have uniform
motion.
In this motion, the acceleration of the particle is zero.
v = Constant
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 DEPARTMENT OF BASIC SCIENCES AND ENGINEERING (F. Y. B. TECH.), PICT, PUNE

dx
v = dt
dx = vdt
Integrating on both sides,
 dx = v dt
At t = 0, x = 0
t = t, x = x
x t
 dx = v  dt
0 0
x = vt
This equation can be used only if the velocity of the particle is known to be constant.

5.12 Motion under Gravity:

When a particle is projected vertically up in the air, then it moves along a vertical straight
line and is under the action of gravitational acceleration known as rectilinear motion
under gravity.
• As gravitational acceleration (g) is constant, this type of motion can be
considered as a particular case of motion with constant / uniform acceleration.
• The quantities directed upwards are considered positive and downwards
negative. As ‘g’ always acts vertically downwards irrespective of the particle
moving upwards or downwards, it is always considered as negative. (a = –g)
• The equations of kinematics can be modified as under:
(i) v = u + at → v = u – gt
1 1
(ii) x = ut + 2 at2 → y = ut – 2 gt2

(iii) v2 = u2 + 2ax → v2 = u2 – 2gy

Where, y =vertical displacement
a=–g
Illustrative examples for sign conventions:

v = + ve (upwards) v = + ve (upwards)
y = + ve (upwards) y = + ve (upwards)
a = – g (downwards) a = – g (downwards)

Particle projected upwards (A → B) Particle projected downwards (B → A)

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SOLVED EXAMPLES
Type 1: Finding ‘x’, ‘v’ and ‘a’ from equation of motion.
Type 2: a = f(t) Acceleration as a function of time.
Type 3: a = f(v) Acceleration as a function of velocity.
Type 4: a = f(x) Acceleration as a function of position.
Type 5: Motion with constant or uniform acceleration.
Type 6: Motion under gravity.

Type 1: Finding ‘x’, ‘v’ and ‘a’ from equation of motion of particle
Ex. 5.1: A particle, starting from rest, moves along a straight line, whose equation of
motion is given by x = t3 – 2t2 + 5, where ‘x’ is in meters and ‘t’ in seconds. Find the
position, velocity and acceleration of the particle after 7 seconds.
Soln.:
Given x = t3 – 2t2 + 5 … (1)
Differentiating w.r.t. ‘t’ the above equation,
dx 2
dt = v = 3t – 4t … (2)
Again, differentiating the above equation w.r.t. ‘t’
dv
dt = a = 6t – 4 … (3)
To find position, velocity and acceleration of the particle in 7 seconds,
Put t = 7 in Eqn (1), (2) and (3) respectively.
Position, x = (7)3– 2(7)2 + 5
x = 250 m … Ans.
Velocity, v = 3(7)2 – 4(7)
v = 119 m/s … Ans.
Acceleration, a = 6(7) – 4
a = 38 m/s2 … Ans.
Ex. 5.2: A car moves in a straight road whose equation of motion is given by x = 12t +
3t2 – 2t3, where ‘x’ is in meters and ‘t’ is in seconds.
Determine
a) Velocity and acceleration at start
b) Acceleration, when the velocity is zero.
c) Displacement in 3 seconds.
d) Distance travelled in 3 seconds.

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Soln.:
Given x = 12t + 3t2 – 2t3… (1)
Differentiating w.r.t. ‘t’
dx 2
dt = v = 12 + 6t – 6t … (2)
Again differentiating w.r.t. ‘t’
dv
dt = a = 6 – 12t … (3)
To determine,
(a)Velocity at start,
put t = 0 in Eqn (2),
v = 12 + 6(0) – 6(0)2
v = 12 m/s …Ans.
Acceleration at start, put t = 0 in Eqn (3)
a = 6 – 12(0)
a = 6 m/s2 …Ans.
(b) Acceleration when the velocity is zero:
Put v = 0 in Eqn (2)
0 = 12 + 6t – 6t2
t2 – t – 2 = 0
t = 2 or –1
t = 2 seconds.
Put t = 2 in Eqn (3)
a = 6 – 12(2)
a = – 18 m/s2 …Ans.
(c) Displacement in 3 seconds:
Put t = 3 in Eqn (1),
x =12 (3) + 3(3)2 – 2(3)3
x= 9 m … Ans.
(d) Distance travelled in 3 seconds:
First, we should find out when the velocity is zero between 0 to 3 seconds. From (b) we
found that velocity is zero at = 2s which means that the car reverses its path when t = 2s.
Then total distance travelled from 0 to 3 seconds is the distance travelled from 0 to 2
seconds + Distance travelled from 2 to 3 seconds.

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 DEPARTMENT OF BASIC SCIENCES AND ENGINEERING (F. Y. B. TECH.), PICT, PUNE

Total distance  Change in  Change in 

 travelled  = displacement  +  displacement 
     
0 to 3s  from 0 to 2s  from 2 to 3s 
   

x0 x2 x3
=|x2 – x0 | + |x3 – x2|
From Eqn (1), x = 12t + 3t2 – 2t3
At t = 0, x0 = 12(0) + 3(0)2 – 2(0)3 = 0
At t = 2s, x2 = 12(2) + 3(2)2 – 2(2)3 = 20 m
At t = 3s, x3 = 12(3) + 3(3)2 – 2(3)3 = 9 m
 Total distance travelled from 0 to 3 seconds
= |20 – 0| + |9 – 20| = 20 + 11 = 31 m ... Ans.
Alternate method:
Let us trace the position of car at different time intervals from 0 to 3 seconds using x = 12t
– 3t2 – 2t3

Distance travelled in forward direction = 20 m

Distance travelled in reverse direction = 20 – 9 = 11 m
Total distance travelled in 3 seconds = 20 + 11 = 31 m … Ans.
Ex. 5.3: The motion of a particle moving along a straight line is defined by the relation
x = 18t + 3t2 – 2t3, where ‘x’ is in meters and ‘t’ is in seconds.
Find
a) the time, when the particle reaches its maximum velocity
b) maximum velocity of the particle
Soln.:
Given x = 18t + 3t2 – 2t3… (1)
Differentiating w.r.t. time
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 DEPARTMENT OF BASIC SCIENCES AND ENGINEERING (F. Y. B. TECH.), PICT, PUNE

dx 2
dt = v = 18 + 6t – 6t … (2)
Again differentiating w.r.t. time
dv
dt = a = 6 – 12t … (3)
To find:
(a) Time, when the particle reaches its maximum velocity:
When the particle reaches its maximum velocity, it remains constant. i.e. the acceleration is
zero.
dv
 dt = a = 6 – 12t = 0
t = 0.5 s … Ans.
(b) Maximum velocity of the particle:
Putting t =0.5s in Equation (2)
vmax = 18 + 6(0.5) – 6(0.5)2
vmax = 19.5 m/s … Ans.
Ex. 5.4: The position of a particle which moves in a straight path is defined by the
equation x = t3 – 6t2–15t + 36, where ‘x’ is in meters and ‘t’ in seconds.
Determine
a) The time when the velocity is zero
b) The position and distance travelled by the particle at that time,
c)The acceleration of the particle at that time
d)The distance travelled by the particle fromt = 4s to t = 7s
Soln.:
Given x = t3– 6t2– 15t + 36… (1)
Differentiating w.r.t. time ‘t’
dx 2
dt = v = 3t – 12t – 15… (2)
Again differentiating w.r.t. ‘t’
dv
dt = a = 6t – 12 … (3)
To determine:
(a) The time when v = 0
Put v = 0 in Eqn (2),
0 = 3t2– 12t – 15
t = – 1 or 5

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 DEPARTMENT OF BASIC SCIENCES AND ENGINEERING (F. Y. B. TECH.), PICT, PUNE

 t=5s … Ans.
(b) Position and distance travelled by the particle when t = 5s i.e., v = 0
For position, put t = 5s in Eqn (1),
x5 = (5)3– 6(5)2– 15(5) + 36
x5 = – 64 m … Ans.
For distance travelled, we see that the velocity, v  0 from t = 0 to t = 5s, which means
particle is moving in one direction only.
 Distance travelled from t = 0 to t = 5s = x0 x5 = |x5 – x0|
x5 = – 64 m
From Eqn (1), x0 = (0)3– 6(0)2 – 15(0) + 36 = +36 m
 Distance travelled = |–64 – 36| = 100 m… Ans.
(c) Acceleration when v = 0 i.e., when t = 5s
Put t = 5s in Eqn (3)
a =6(5) – 12 = 18 m/s2
a = 18 m/s2 … Ans.
(d) Distance travelled from t = 4s to t = 7s
We found that v = 0 at t = 5s, which means that the particle moves in one direction from t
= 4s to t = 5s and then it reverses its path (before reversing the path its velocity becomes
zero) and moves in the opposite direction from t = 5s to t = 7s.
 Total distance   Distance travelled   Distance travelled 
 travelled from  =  from t = 4 s  +  from t = 5s 
     
 t = 4 s to t = 7s   to t = 5s   to t = 7s 

x4 x5 x7 = |x5 – x4| + |x7 – x5|

From Eqn (1), x4 = (4)3 – 6(4)2 – 15 (4) + 36 = – 56 m
x5 = – 64 m
x7 = (7)3 – 6(7)2 – 15(7) + 36 =–20m
Total distance travelled from t = 4s to t = 7s
= |–64 – (–56) | + |–20 – (–64) |
= |–64 + 56| + |–20 + 64|
= 8 + 44 = 52 m… Ans.
3 2
Ex. 5.5: The motion of a particle is defined by the relation x = t – (t – 2)3, where ‘x’
4
and ‘t’ are expressed in meters and seconds respectively.
Calculate
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a) the two positions at which the velocity is zero.

b) the total distance travelled by the particle from t = 0 to t = 4s.
Soln.:
3
Given: x = 4 t2 – (t – 2)3… (1)
Differentiating w.r.t. ‘t’
dx 3
= v = 2   t – 3(t – 2)2(1)
dt 4
3
v = 2 t – 3(t – 2)2 … (2)
To calculate:
a)Two positions when v = 0
Put v = 0 in Eqn (2),
3 2
0= 2 t – 3(t – 2)
1.5t – 3(t2 + 4 – 4t) = 0
1.5t – 3t2 – 12 + 12t = 0
3t2 – 13.5t + 12 = 0
Solving for ‘t’
t = 1.22 s or 3.28 s i.e., velocity of the particle becomes zero two times.
Now put t = 1.22s in Eqn (1),
3
x = 4 (1.22)2 – (1.22 – 2)3
x1.22 = 1.59 m… Ans.
Put t = 3.28s in Eqn (1),
3
x = 4 (3.28)2 – (3.28 – 2)3
x3.28 = 5.97 m… Ans.
 The two positions at which velocity is zero are x1.22 = 1.59 m and x3.28 = 5.97 m.
(b) Total distance travelled from t = 0 to t = 4s
We observed that the particles velocity is zero at t = 1.22s and t = 3.28s.
Total distance  Distance travelled  Distance travelled 
 travelled from  = from t = 0 to  + from t = 1.22 s 
 t = 0 to 4s
  
 1.22 s  
  to 3.28s 

Distance travelled 
+ from t = 3.28s 
 to 4 s
 

x0 x1.22 x3.28 x4
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= |x1.22 – x0| + |x3.28 – x1.22| + |x4 – x3.28|

Using Eqn (1),
3
when t = 0, x0 = 4 (0)2 – (0 – 2)3
x0 = +8 m
when t = 1.22 s, x1.22 = 1.59 m
when t = 3.28 s,x3.28 = 5.97 m
3
when t = 4s, x4 = 4 (4)2 – (4 – 2)3 = 4 m
Total distance travelled from t = 0 to 4 s
=|1.59 – 8| + |5.97 – 0.642| + |4 – 5.97| = 6.41 + 5.328 + 1.97 = 12.76 m …Ans.
Ex. 5.6: The motion of a particle is defined by x = t3 – 6t2 + 9t + 5, where ‘x’ expressed
in meter and ‘t’ in seconds. Determine the time at which velocity becomes zero. Also
determine velocity and acceleration at t = 5s.
Soln.:
Given x = t3 – 6t2 + 9t + 5 … (1)
Differentiating w.r.t. ‘t’
dx 2
dt = v = 3t – 12t + 9 … (2)
Again differentiating w.r.t. ‘t’
dv
dt = a = 6t – 12… (3)
To determine
(i) Time at which velocity becomes zero
Put v = 0 in Eqn (2)
0 = 3t2 – 12t + 9
t =1s or 3s… Ans.
(ii) Velocity and acceleration at t = 5s
Put t = 5 in Eqn (2)
v = 3(5)2 – 12(5) + 9
v =24 m/s … Ans.
Put t = 5 in Eqn (3)
a = 6(5) – 12
a =18 m/s2… Ans.

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Type 2: a = f (t) Acceleration as a function of time

Ex. 5.7: The motion of a particle is given by a = t3– 3t2 + 4 where, ‘a’ is the acceleration
in m/s2 and ‘t’ is the time in seconds. The velocity of the particle at t = 1s is 6.25 m/s and
the position is 8.5 m. Calculate the displacement and velocity at t = 2 seconds.
Soln.:
Given a = t3– 3t2 + 4 … (1)
dv 3 2  dv
∵ a = 
dt = t – 3t + 4  dt 
dv = (t3– 3t2 + 4) dt
Integrating on both sides,
 dv =  (t3– 3t2 + 4) dt… (2)
t4 3t3
v = 4 – 3 + 4t + c1
Where, ‘c1’ is the first constant of integration.
Using initial condition, i.e., when t = 1s, v = 6.25 m/s
(1)4
6.25 = 4 – (1)3+ 4 (1) + c1
c1 = 3
Velocity of the particle is given by,
t4
v = 4 – t3+ 4t + 3… (3)

dx t4 3+ 4t + 3 ∵ v = dx
= – t
dt 4  dt 
t4 
dx =  4 – t3+ 4t + 3 dt
 
Integrating on both sides
t4 
 dx =   4 – t3+ 4t + 3 dt … (4)
 
t5 (t)4 4t2
x = 20 – 4 + 2 + 3t + c2
where, c2 is the second constant of integration.
Given, when t = 1s, x = 8.5 m
(1)5 (1)4
 8.5 = 20 – 4 + 2 (1)2 + 3(1) + c2

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c2 = 3.7
 Position of the particle is given by,
t5 t4
x = 20 – 4 + 2t2 + 3t + 3.7 … (5)

Now, putting t = 2s in Eqn (5),

(2)5 (2)4
Displacement, x = 20 – 4 + 2 (2)2 + 3(2) + 3.7 = 15.3 m … Ans.

Putting t = 2s in Eqn (3),

(2)4
Velocity, v = 4 – (2)3+ 4 (2) + 3 = 7 m/s … Ans.

Alternate method: Using definite integral

Given: when t = 1s, v = 6.25 m/s
To find ‘v’ when t = 2s, v =?
Using Eqn (2),
v 2
 dv =  (t3 – 3t2 + 4) dt
6.25 1
Integrating and using the limits,
v t4 3t3 2
[v]6.25 =  4 – 3 + 4t 1
 
(2)4  (1)4 
v – 6.25 = 4 – (2) + 4(2) – 4 – (1) + 4(1) 
 3   3
   
v – 6.25 = 4 – 3.25
v =7 m/s … Ans.
Similarly, when t = 1s, x = 8.5 m
when t = 2s, x =?
Using Eqn (4),
x 24 
t
 dx =   – t3 + 4t + 3 dt
4 
8.5 1
Integrating and using the limits,
 5 4 2 
x =  t – t + 4t + 3t2
[x]8.5
20 4 2 1
(2)5 (2)4 
x – 8.5 =  20 – 4 + 2(2)2 + 3(2)
 

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(1)5 (1)4 
–  20 – 4 + 2(1)2 + 3(1)
 
x – 8.5 = 11.6 – 4.8
x =15.3 m … Ans.
Ex. 5.8: The acceleration ‘a’ of a particle is directly proportional to the time ‘t’. The
velocity of the particle is 420 mm/s at t = 0. Knowing that when t = 1s, the velocity and
position of the particle are 390 mm/s and x = 600 mm, determine the velocity, position
and total distance travelled in 6s.
Soln.:
Given Acceleration of the particle is directly proportional to the time.
at
a = kt … (1)
where, ‘k’ is the proportionality constant
dv  dv
= kt ∵ a = 
dt  dt 
dv = (kt) dt
Integrating on both sides and using the limits,
At t = 0, v = 420 mm/s and t = 1s, v = 390 mm/s
390 1
 dv =  (kt) dt
420 0
t21
[v]390 = k  
420  2 0
(1)2 
390 – 420 = k  2 – 0
 
1
– 30 = k 2
 
k = – 60
From Eqn (1), acceleration of the particle is given by
a = – 60  t … (2)
dv  dv
= – 60  t ∵ a = 
dt  dt 
dv = – 60 t  dt
Integrating on both sides,
 dv = – 60  t  dt
t2
v = – 60  2 + c1… (3)

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where, c1 is the 1st constant of integration. We can find c1 using the condition, at t = 0, v
= 420 mm/s
(0)2
420 = – 60 2 + c1

 c1 = 420
From Eqn (3), velocity of the particle is given by,
v = – 30t2+ 420 … (4)
dx
= – 30 t2+ 420∵ v = dx
dt  dt 
dx = (– 30t2+ 420) dt
Integrating on both sides,
 dx =  (–30t2 + 420) dt
–30t3
x = 3 + 420t + c2 … (5)

Where, c2 is the 2ndconstant of integration. We can find c2, using the condition at t = 1s,
x = 600 mm.
600 = – 10 (1)3 + 420 (1) + c2
 c2 = + 190
 From Eqn (5), the position or displacement of the particle is given by,
x = –10t3+ 420t + 190 … (6)
To determine
1. Velocity in 6s
Put t = 6 in Eqn (4),
v = – 30(6)2 + 420
v = – 660 mm/s… Ans.
2. Position in 6s
Put t = 6 in Eqn (6),
x = –10(6)3 + 420(6) + 190
x = – 2160 + 2710
x6 = 550 mm … Ans.
3. Distance travelled in 6s
First, we find out whether the velocity is zero between 0 to 6s.
Put v = 0 in Eqn (4),
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0 = –30 t2 + 420
t = 3.74 s … Ans.
That means, when t = 3.74s, the particle is reversing its path.
To find the total distance travelled in 6s, we must add the displacement of the particle from
0 to 3.74s and the displacement of the particle from 3.74s to 6s.
 Total distance travelled from t = 0 to 6s
x0 x3.74 x6
= |x3.74– x0| + |x6 – x3.74|
From Eqn (6),
When t = 0, x0 = –10(0)3 + 420(0) + 190
= + 190 mm
When t = 3.74s,x3.74= –10(3.74)3 + 420(3.74) + 190
= – 523.14 + 1570.8 + 190
= 1237.66 mm
When t = 6s, x6 = 550 mm(already found above)
 Total distance travelled from t = 0 to 6s
=|1237.66 – 190| + |550 – 1237.66| = 1047.66 + 687.66
=1735.32 mm or 1.735 m … Ans.
Alternate Method

Distance in forward direction, x1 = 1047.66 mm.

Distance in the reverse direction, x2 = 687.66 mm.
Total distance travelled= x1+ x2 = 1047.66 + 687.66 = 1735.32 mm … Ans.

Ex. 5.9: The acceleration of a particle is defined by the relation, a = kt 2. Knowing that
v = – 8 m/s when t = 0 and that v = 8 m/s when t = 1s,
Determine
(i) The constant k
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(ii) Write the equations of motion

Also, x = 0 when t = 2s.
Soln.:
(i) Given The acceleration of the particle is given by,
a = kt2 …(1)
dv
= kt2 ∵ a = dv
dt  dt 
dv = kt2dt
Integrating on both sides and using the limits,
when t = 0, v = – 8 m/s and when t = 1s, v = 8 m/s.
8 1
 dv = k  t2 dt
–8 0
t31
[v] –8 = k  3 
8
 0
(1)3 
8 – (–8) = k 3 – 0

 
 Constant, k = 48
 From Eqn (1), the acceleration of the particle is given by,
a = 8 t2 … (2)
(ii) To write equation of motion
From Eqn (2), a = 48t2
dv
= 48t2 ∵ a = dv
dt  dt 
dv = 48t2dt
Integrating an both sides,
 dv = 48  t2 dt
t3
v = 48 3 + c1 … (3)

Where, c1 is the 1st constant of integration. We can find c1using the condition, t = 0, v =
–8 m/s
(0)3
– 8 = 48 3 + c1
 c1 = – 8
From Eqn (3), velocity of the particle is given by,

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v = 16t3 – 8 … (4)
dx
= 16t3 – 8∵ v = dx
dt  dt 
dx = (16t3 – 8) dt
Integrating on both sides,
 dx =  (16t3 – 8) dt
16t4
x = 4 – 8t + c2… (5)

Where, c2 is the 2nd constant of integration.

We can find c2 using the given condition, when t = 2s, x = 0.
Putting t = 2 and x = 0 in Eqn (5),
0 = 4(2)4– 8(2) + c2
 c2 = – 48
From Eqn (5), the position of the particle is given by,
x = 4t4 – 8t– 48 … (6)
 The equations of motion are
a= 48 t2 … (2) … Ans.
v= 16t3 – 8 … (4) … Ans.
x= 4t4 – 8t – 48 … (6) …Ans.
Ex. 5.10: The acceleration of a particle as it moves along a straight line is given by a =
(2t – 1) m/s2, where ‘t’ is in seconds. If s = 1m and v = 2m/s when t = 0, determine the
particle velocity and position when t = 6s.
Soln.:
Given
Acceleration of the particle, a = (2t – 1) m/s2 … (1)
dv  dv
= (2t – 1) ∵ a = 
dt  dt 
dv = (2t – 1) dt
Integrating on both sides
dv = (2t – 1) dt
2t2
v = 2 – t + c1= t2 – t + c1… (1.a)
where, ‘c1’ is the first constant of integration.
To find c1 we can use the given condition, v = 2m/s when t = 0
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Put v = 2m/s and t = 0 in Eqn (1.a)

2 = (0)2 – (0) + c1
c1 = 2
 Velocity of the particle is given by
v = t2 – t + 2… (2)
ds
= t 2 – t + 2 ∵ v = ds
dt  dt 
ds = (t2 – t + 2) dt
Integrating on both sides.
ds = (t2 – t + 2) dt
t3 t2
S = 3 – 2 + 2t + c2 … (2.a)
Where ‘c2’ is the second constant of integration.
We can find c2 using the given condition, S = 1 m when t = 0
Put s = 1 and t = 0 in Eqn (2.a)
(0)3 (0)2
1 = 3 – 2 + 2(0) + c2
c2 = 1
 The position of the particle is given by,
t3 t2
s = 3 – 2 + 2t + 1… (3)
To determine particle velocity and position when t = 6s,
Put t = 6 in Eqn (2)
v = (6)2 – (6) + 2
v = 32 m/s… Ans.
Put t = 6 in Eqn (3)
(6)3 (6)2
s = 3 – 2 + 2(6) + 1
s = 67 m … Ans.

Ex. 5.11: A particle moves along a straight line with an acceleration a = (4t3 – 2t), where
‘a’ is in m/s2 and ‘t’ in s. When t = 0, the particle is at 2 m to the left of origin and when
t = 2s the particle is at 20 m to the left of origin. Determine the position of particle at t =
4s.
Soln.:
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Given Acceleration of the particle,

a = 4t3 – 2t … (1)
dv
= 4t3 – 2t∵ a = dv
dt  dt 
dv = (4t3 – 2t) dt
Integrating on both sides,
dv =  (4t3 – 2t) dt
4t4 2t2
v = 4 – 2 +c1
Where, ‘c1’ is the first constant of integration.
 v = t4 – t2 + c1… (2)
dx
= t 4 – t2 + c1∵ v = dx
dt  dt 
dx = (t4 – t2 + c1) dt
Again, integrating on both sides,
dx =  (t4 – t2 + c1) dt
t5 t3
x = 5 – 3 + c1t + c2 … (3)
Where, ‘c2’ is second constant of integration. We can find c1 and c2 using the condition
given
i.e., when t =0, x = – 2m and
whent = 2s, x = – 20 m (–ve sign indicates, the particle is on the left side of origin).
Putting t = 0 and x = – 2 in Eqn (3)
(0)5 (0)3
– 2 = 5 – 3 + c1 (0) + c2

c2 = – 2
Putting t = 2, x = – 20 and C2 = – 2 in Eqn (3)
(2)5 (2)3
– 20 = 5 – 3 + c1(2) + (– 2)
c1 = – 10.865
Eqn (3) gives the position of the particle,
(t)5 t3
x = 5 – 3 – 10.865 t – 2 … (4)

To determine the position of the particle at t = 4s, put t = 4 in Eqn (4)

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(4)5 (4)3
 x = 5 – 3 – 10.865 (4) – 2
x = 204.8 – 21.33 – 43.46 – 2
 x =138.01 m… Ans.

Ex. 5.12: A particle moves along a straight line with an acceleration. a = (4t2 – 2) where
‘a’ is in m/s2 and ‘t’ is in s. When t = 0, the particle is at 2m to the left of origin and
when t = 2s the particle is at 20 m to the left of origin. Determine the position of particle
at t = 4s.
Soln.:
Given
Acceleration of the particle,
a = 4t2 – 2 … (1)
dv
= 4t2 – 2∵ v = dv
dt  dt 
dv = (4t2 – 2) dt
Integrating on both sides,
dv =  (4t2 – 2) dt
4t3
v = 3 – 2t +c1… (2)

Where, ‘c1’ is the 1st constant of integration.

dx 4t3  dx
= – 2t +c1∵ v = 
dt 3  dt 
4t3 
dx = 3 – 2t +c1 dt

 
Integrating on both sides,
4t3 
dx =  3 – 2t +c1 dt

 
4t4 2t2
x = 12 – 2 + c1t + c2 … (3)

Where, ‘c2’ is 2nd constant of integration.

We can find c1 and c2 using the given initial conditions.
i.e. when t =0, x = – 2m and
when t =2s, x = – 20 m (Particle is to the left of the origin  – ve)
Put t = 0, x = – 2 in Eqn (3)
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4(0)4 2(0)2
– 2 = 12 – 2 + c1 (0) + c2

c2 = – 2
Put t =2, x = – 20 in Eqn (3)
4(2)4 2(2)2
– 20 = 12 – 2 + c1(2) + (– 2)
– 20 = 5.33 – 4 + 2 c1 – 2
c1 =– 9.665
 From Eqn (3), the position of the particle is given by,
t4
x = 3 – t2 – 9.665 t – 2 … (4)

To determine, the position of the particle at t = 4s, put t = 4s, put t = 4 in Eqn (4)
(4)4
 x = 3 – (4)2 – 9.665 (4) – 2

 x =28.67 m… Ans.

Ex. 5.13: The acceleration of particle in rectilinear motion is given by a = (3t 2 + 2).
Initial velocity and displacements are 2 m/s and 3m respectively. Find position, velocity
and acceleration of the particle at t = 2s.
Soln.:
a = 3t2 + 2 … (1) Given
dv = (3t2 + 2) dt
Integrating
 dv =  (3t2 + 2) dt
3t3
v = 3 + 2t + c1
At t = 0, v = 2 m/s
c1 = 2
 v = t3 + 2t + 2 … (2)
dx = (t3 + 2t + 2) dt
Integrating,
 dx =  (t3 + 2t + 2) dt
t4 2t2
x = 4 + 2 + 2t + C2
At t = 0, x = 3m
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 C2 = 3
t4
 x = 4 + t2 + 2t + 3 … (3)
At t = 2s
(3) → x =15 m
(2) → v =14 m/s
(1) → a =14 m/s2 …Ans.
Ex. 5.14: A sphere is fired into a medium with an initial velocity of 27 m/s. If it
experiences a deceleration a = (– 6t) m/s2, where ‘t’ is in seconds, determine distance
travelled before it stops.
Soln.:
Given
Acceleration of the sphere,
a = – 6t … (1)
dv  dv
= – 6t ∵ a = 
dt  dt 
dv = – 6t. dt
Integrating on both sides
dv = – 6 t. dt
t2 
v = – 6 2 + c1

 
where, ‘c1’ is the first constant of integration.
Using the condition, when t = 0, v = 27 m/s
02 
27 = – 6 2 + c1
 
27 = – 6 (c1)
c1 =– 4.5
 Velocity of the sphere is given by
t2 
v = –6 2 – 4.5 … (2)
 
dx t2  dx
= – 6  – 4.5 ∵ v = 
dt 2  dt 
t2 
dx = – 6  2 – 4.5 dt
 
Again, integrating and using the condition, when t = 0, x = 0.
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t2 
dx = – 6  2 – 4.5 dt
 
t3 
x = – 6 6 – 4.5 t + c2
 … (3)
 
When t = 0, x = 0
 c2 = 0
Putting the values of c1 and c2 in Eqn (3),
 Position or displacement of sphere is given by,
x = – t3 + 27t… (4)
To find, distance travelled before the sphere stops, first we find out the time ‘t’ when v =
0.
Put v = 0 in Eqn (2)
0 = – 3t2 + 27
 t = 3s
Now, put t = 3s in Eqn (3)
x = – (3)3 + 27 (3)
Distance travelled at 0 to 3s.
x0 x3
 x =54 m = |x3– x0| = |54 – 0|… Ans.

Type 3: a = f(v) Acceleration as function of velocity

Ex. 5.15: The acceleration of a particle is defined by the relation a = – 0.4 v, where ‘a’
is expressed in mm/s2and ‘v’ in mm/s. If v = 30 mm/s at t = 0, determine the distance the
particle will travel before coming to rest.
Soln.:
Given
Acceleration
a = – 0.4 v … (1)
dv  dv
v.dx = – 0.4 v ∵ a = v. 
 dx
dv = – 0.4 dx
Integrating and using the limits,
When t = 0, v = 30 mm/s and x = 0
To find, x =? when v = 0

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0 x
 dv = – 0.4 dx
30 0
[v] 0 = – 0.4 x x
30
[ ]0
0 – 30 = – 0.4 x
x = 75 mm … Ans.
Ex. 5.16: A particle travels in a straight line such that for a short time t = 2s to 6s, its
4
motion is described by v = m/s, where ‘a’ is in m/s2. If v = 6 m/s when t = 2s, determine
a
the particle acceleration when t = 3s.
Soln.:
Given:
4
v= a
4
 a=v … (1)
dv 4  dv
= ∵ a = 
dt v  dt 
v.dv = 4.dt
Integrating and using the limits,
When t = 2s, v = 6 m/s
When, t = 3s, v = ?
v 3
 v. dv = 4. dt
6 2
v2v
  = 4 [t] 3
 2 6 2

v2 62
2 – 2 = 4 (3 – 2)
v2
2 – 18 = 4
v = 6.63 m/s
 When t = 3s, velocity of the particle is 6.63 m/s.
To find acceleration when t = 3s,
Put v = 6.63 m/s in Eqn (1)
4
a = 6.63 = 0.603 m/s2 … Ans.
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Type 4 : a = f(x) Acceleration as a function of position.

Ex. 5.17: A particle oscillates with an acceleration given by a = 20 – 160x, where ‘a’ is
in m/s2 and ‘x’ is in m respectively. The particles velocity is 0.2 m/s when x = 0.4m.
Determine:
(a)The maximum velocity of the particle
(b)The two positions at which the velocity of the particle is zero.

Soln.:
Given:
a = 20 – 160 x… (1)
dv  dv
v dx = 20 – 160 x∵ a = v  dx
 
v.dv = (20 – 160x) dx
Integrating on both sides
v.dv = (20 – 160 x) dx
v2 x2
2 = 20x – 160 2 + c1 … (2)
Where, c1 is the constant of integration. We can find c1 using the given condition, v = 0.2
m/s when x = 0.4m
Putting v = 0.2 m/s and x = 0.4m in Eqn (2)
(0.2)2 (0.4)2
2 = 20(0.4) – 160 2 + c1
c1 = 4.82
From Eqn (2), the velocity of the particle is given by,

v2 x2
2 = 20x – 160 2 + 4.82

 v2 = 40x – 160 x2 + 9.64 … (3)

To determine
(a) The maximum velocity of the particle, differentiating the above Eqn (3) and equating
to zero.
40 – 320x = 0
 x = 0.125m

i.e. when the position of the particle is x = 0.125 m, the velocity of the particle is maximum.
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Putting x = 0.125 m in Eqn (3)

v2 = 40 (0.125) – 160 (0.125)2 + 9.64
max

 vmax =3.484 m/s… Ans.

(b) The two positions of the particle at which the velocity of the particle is zero.

Put v = 0 in Eqn (3)

0=40x – 160x2 + 9.64
160x2 – 40x – 9.64=0
Solving for ‘x’

40  (40)2 + 4  160  9.64 40  88.14

x = 2(160) = 320

= 0.40 m or – 0.15 m … Ans.

Velocity is zero at 0.4 m right side from origin or 0.15m left side of origin.
Ex. 5.18: A cyclist starts with an initial speed of 5 kmph and his speed at any instant is
 1 
proportional to   where, ‘x’ is the distance travelled by the cyclist in km. Find
 x + 25
the time taken by the cyclist to cover 15 km. Also find the distance that he covers in 2
hrs from the start.
Soln.:
Given:
 1 
v   x + 25
 
 1 
v = k  x + 25 … (1)
 
Where, ‘k’ is the proportionality constant.
To find k, it is given that, at t = 0, v = 5 kmph and x = 0 as he starts.
 1 
 5 = k  x + 25
 
 k = 125
The velocity of the cyclist is given by,
 1 
v = 125  x + 25 … (2)
 
dx 125  dx
= ∵ v = 
dt x + 25  dt 
(x + 25) dx = 125.dt… (3)
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To find time taken by the cyclist to cover 15 km, integrating the above equation and using
the limits,
When t = 0, x = 0
t =? x = 15 km
15 t
 (x + 25) dx = 125  dt
0 0
x2 15
 + 25 x = 125 (t – 0)
2 0
(15)2 
 + 25(15)  –0 = 125 t
 2 
 t = 3.9 hrs … Ans.
To find distance covered in 2 hrs from rest.
From Eqn (3),
(x + 25) dx = 125 dt
Integrating and using the limits,
when t = 0, x = 0
when t = 2 hrs, x = ?
x t
 (x + 25)dx = 125  dt
0 0
x2 x 2
 + 25x = 125 [t]
2 0 0

x2
2 + 25x = 125 (2 – 0)
 x2 + 50x – 500 = 0
Solving for ‘x’,
– 50 502 + 4  1  500
x=
21
– 50  67.08
x= 2
 x =8.54 km… Ans.
Ex. 5.19: The acceleration of point ‘A’ is defined by the relation a = 600 x (1 + kx 2),
where ‘a’ and ‘x’ are expressed in m/s2 and meters respectively and k is constant
knowing that the velocity of ‘A’ is 7.5 m/s when x = 0 and 15 m/s when x = 0.45m,
determine the value of ‘k’.

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Soln.:
Given
Acceleration, a = 600x (1 + kx2)
dv  dv
v dx = 600 x + k  600 x3∵ a = v  dx
 
v  dv = (600 x + k  600x3) dx
Integrating and using the limits,
when x = 0, v = 7.5 m/s and
when x = 0.45 m, v = 15 m/s
15 0.45
 v.dv =  (600x + k  600x3) dx
7.5 0
v2 15  x2 x40.45
  
= 600 2 + k  600  4
 2 7.5   0
(15)2 (7.5)2
2 – 2 = [300 (0.45) + k  150 (0.45) ] – 0
2 4

84.375 = 60.75 + 6.15 k

k =3.84 … Ans.
Ex. 5.20: A 10 kg particle is moving along a straight line in a viscous medium where
–2
acceleration ‘a’ is given by a = , where ‘a’ is in m/s2 and ‘x’ is in meters. The particle
x 2
is at x = 1m when time t = 1 second and has a velocity of
2 m/s. Calculate the velocity ‘v’ and position ‘x’ of the particle at t = 4 seconds. Also
calculate the resistance offered by medium at this time.
Soln.:
Given
Acceleration of the particle,
2
a=– 2 … (1)
x
dv 2  dv
v.dx = – 2 ∵ a = v  dx
x  
–2 dx
v.dv = 2
x
v.dv = –2 x–2· dx
Integrating on both sides,
v.dv =  –2.x–2· dx
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v2 – 2.x– 2+1
2 = – 2+1 + c1
Where, c1 is the first constant of integration
v2 – 2x– 1
2 = – 1 + c1
v2 2
2 = x + c1
We can find c1 using the given condition i.e. At x = 1m, v = 2 m/s
(2)2 2
 2 = 1 + c1

c1 = 0
Velocity of the particle is given by,
v2 2
2 =x +0
4
v2 = x
2
v= … (2)
x
dx 2  dx
= ∵ v = 
dt x  dt 
x.dx = 2 · dt
Again, integrating on both sides
 x · dx = 2dt
1
x2 + 1
= 2t + c2
1 
 + 1
2 
2 3/2
3·x = 2t + c2
where, c2 is the second constant of integration, which can be found by using the condition,
when x = 1m, t = 1s
2 3/2
3 (1) = 2 (1) + c2

c2 = – 1.33
 Position of the particle is given by,

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2 3/2
3 x = 2t – 1.33… (3)
To calculate ‘v’ and ‘x’ when t = 4s,
Put t = 4s in Eqn (3)
2 3/2
3 x = 2(4) – 1.33
 Position, x = 4.64 m… Ans.
Now put x = 4.64 m in Eqn (2)
2
v =
4.64
 Velocity, v = 0.928 m/s … Ans.
2
Resistance offered by the medium, R = ma = 10 
4.642
=0.929 N… Ans.
Ex. 5.21: A jet plane starts from rest at x = 0 and is subjected to the acceleration shown
in Fig. P. 13.5.20. Determine the speed of the plane when it has travelled 60 m.

Soln.: Here, acceleration is a function of ‘x’.

The Eqn of straight line, y = mx + c
y =a
y2 – y1 0 – 22.5
Slope, m = x – x = 150 – 0 = – 0.15
2 1

c = 22.5 (intercept on y – axis)

 acceleration is defined as function x,
 a = – 0.15x + 22.5 … (1)
dv  dv
v dx = – 0.15x + 22.5 ∵ a = v  dx v  dv = (– 0.15x + 22.5) dx
 
Integrating on both sides and using the limits,
At x = 0, v = 0
At x = 60 m, v = ?

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v 60
 v  dv =  (– 0.15x + 22.5) dx
0 0
v2 v  x2 60
  = –0.15 + 22.5x
 2 0  2 0
v2  (60)2 
 
2 – 0 = – 0.15 2 + 22.5 (60) – 0
v2
2 = 1080
v =46.47 m/s
 Speed of jet plane when it has travelled 60 m is
v =46.47 m/s… Ans.

Type 5: Motion with constant or uniform acceleration.

Ex. 5.22: A bicyclist starts from rest and after travelling along a straight path 20m
reaches a speed of 30 kmph. Determine the constant acceleration and how long does it
take to reach the speed of 30 km/h.
Soln.:
Given
Initial velocity,
u = 0 ( Starts from rest)
Distance covered,
x = 20m
Final velocity,
30  5
u = 30 kmph = 18 = 8.33 m/s
To find Constant acceleration,
a =?
and time, t=? to reach a speed of 30km/h i.e. 8.33 m/s
Using the equation,
v2 = u2 + 2ax
8.332 = 0 + 2  a  20
Acceleration, a = 1.73 m/s2 …Ans.
Using the equation,
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v = u + at
8.33 = 0 + 1.73  t
time, t = 4.815 s …Ans.
Ex. 5.23: A particle starts with an initial velocity of 2.5 m/s and uniformly accelerates at
the rate of 0.5 m/s2. Determine the displacement in 2s, time required to attain the velocity
of 7.5 m/s and the distance travelled when it attain a velocity of 7.5 m/s.
Soln.:
Given
Initial velocity, u = 2.5 m/s
Uniform, acceleration, a = 0.5 m/s2
To determine
(i) Displacement, x = ? in t = 2s
(ii) Time requiredt = ? to attain v = 7.5 m/s
(iii) Distance travelled x =? when it attains u = 7.5 m/s
1
(i) Using x = ut + 2 at2
1
x = (2.5) (2) + 2 (0.5) (2)2
 Displacement x = 6m … Ans.
(ii) Using v = u + at
7.5 = 2.5 + (0.5) t
 Time, t = 10s … Ans.
(iii) Using v2 = u2 +2ax
(7.5)2 = (2.5)2 + 2(0.5) (x)
 Distance, x = 50m … Ans.
Ex. 5.24: Car ‘A’ Is travelling at the constant speed vA. It approaches car ‘B’ which is
travelling in the same direction at the constant speed of 72 km/h. The driver of car B
notices car A when it is still 60m behind him and then accelerates at the constant rate
of 0.75 m/s2 to avoid being overtaken by car A. Knowing that the closest that ‘A’ comes
to B is 6m, determine the speed vA of car A.

Soln.:
Let us draw the schematic diagram
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Let A and B be the initial positions of cars A and B when ‘B’ notices car A, 60 m behind
him.
At this instant, Velocity of car A = vA which remains constant
72  5
Velocity of car B = 72 kmph = 18 = 20 m/s
After time ‘t’, they came closest by 6m at A and B.
At this instant,
Velocity of car A = vA (remains constant)
Velocity of car B = Velocity of car A
( They came closest and after this instant, distance between them will increase u, v B
vA)
Note that,
Before they came closest, vA  vB
When they came closest, vA = vB
After they came closest, vA  vB
Consider motion of car A from A→ A’
Velocity = vA (constant)
Displacement, x = (60 + S) m
Time = t
For constant or uniform velocity, Displacement = velocity  time
x= v · t
 60 + S = vA· t … (1)
Now, consider motion of car B from B → B’
Initial velocity, u = 20m/s
Final velocity, v = vA ( velocity is same when they came closest)
Acceleration, a = 0.75 m/s2 (constant)
Displacement, x = (S +6) m
Time of travel, =t
1
Using equation, x = ut + 2 at2

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1
S + 6 = 20 t + 2  0.75  t2… (2)
Also, v = u + at
vA = 20 + 0.75 t … (3)
From Eqn (1) 60 + S = (20 + 0.75 t)
60 + S = 20t + 0.75t2
 S = 20t + 0.75t2 – 60… (4)
Putting ‘S’ in Eqn (2)
1
20 t + 0.75 t2 –60 +6 = 20t + 2  0.75t2

0.75t2 – 54 = 0.375t2
0.375t2 = 54
t = 12s
 The cars came closest by 6m after t = 12s.
To find velocity or speed of car A,
Put t= 12s in Eqn (3)
vA = 20 + 0.75 (12)
vA= 29 m/s… Ans.

Ex. 5.25: Trees A, B and C are planted alongside a straight road, at 50 m interval. A car
travelling with uniform retardation passes tree A, takes 7 seconds to reach B, and takes
further 8 seconds to reach C. Calculate the velocities of the car at A, B and C. Also find
the distance the car will travel from C before coming to rest.
Soln.:
Schematic diagram is as follows

Let vA, vB and vc be the velocities of the car at A, B and C

‘S’ be the distance travelled by the car from ‘C’ before coming to rest at ‘D’.
Note that the car is having uniform retardation ‘a’ throughout it travel from A To D
Consider motion of car from A → B
Initial velocity, u = vA
Final velocity, v = vB
Displacement, x = 50m
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Time of travel, = 7s
Using equation,
1
x = ut + 2 at2
1
50= vA (7) + 2 a (7)2 … (1)
Considering motion of car from A → C
u = vA
x =50 +50 = 100 m
t =7 + 8 = 15s
Again, using equation,
1
x =ut + 2 at2
1
100 = vA (15) + 2 a (15)2 …(2)

Solving Eqn (1) and (2) a = – 0.12 m/s2

 The car is moving with constant retardation 0.12 m/s2
Using Eqn (1)
1
50 = vA (7) + 2 (– 0.12) 72
 vA = 7.56 m/s
 Velocity of car at A, vA = 7.56 m/s … Ans.
Considering motion of car from A→B and using v = u + at
v = 7.56 – 0.12  7 = 6.72 m/s
 Velocity of car at B, vB = 6.72 m/s… Ans.
Considering motion of car from B→C and using v = u + at
vC =6.72 – 0.12(8) = 5.76 m/s
 Velocity of car at C, vC = 5.76 m/s… Ans.
Considering motion of car from C→D and using
v2 = u2 + 2 ax
0 =(5.76)2 – 2  0.12  S
S =138.24 m
 The distance that the car travels before coming to rest from C, S = 138.24m… Ans.

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Ex. 5.26: Two cars moving in the same direction are 150m apart, car A being ahead of
car B. After this instant, velocity of A is 3 m/s and constant acceleration is 1.2 m/s 2,
while the velocity of B is 30 m/s and its uniform retardation is 0.6m/s2. How many times
do the cars cross each other? Find when and where they cross, with respect to the given
position of A.
Soln.:
Schematic diagram is as follows

Let the cars cross each other at i.e., a distance ‘S’ m from A at point ‘C’. Initially cars are
150 m apart. After certain time they at point ‘C’ i.e. point of crossing, which means that
the time taken by both the cars to reach point c from their initial positions is same.
Considering motion of car from ‘B’ from B → C
u = 30 m/s
a = – 0.6 m/s2
t =t
x = (150 + S)
Using equation,
1
x = ut + 2 at2
1
150 + S = 30t – 2  0.6  t2

150 + S = 30t – 0.3 t2 … (1)

Consider motion of car from A → C
u = 3m/s
a = 1.2 m/s2
x =S
t =t
Again, using the equation,
1
x = ut + 2 at2
1
S = 3t + 2  1.2  t2

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 S = 3t + 0.6t2… (2)
Putting ‘s’ in Eqn (1)
150 + 3t + 0.6t2= 30t – 0.3t2
0.9t2 – 27t + 150 = 0
t = 7.36s or 22.64s
 Cars do cross each other 2 times. i.e., (i) When t = 7.36s car B crosses car A
Using Eqn (2) S = 3 (7.36) + 0.6 (7.36)2 = 54.58m … Ans.
(ii) When t =22.64s, Car A crosses car B
Again, using the Eqn (2)
S = 3(22.64) + 0.6(22.64)2
= 375.46m… Ans.
Type 6: Motion under gravity
Ex. 5.27: A baseball is thrown down from a 15m tower with an initial velocity of 5 m/s.
Determine the velocity with which it hits the ground and determine the time of travel.
Soln.:
Given initial velocity, u = – 5 m/s ( thrown down words)
Vertical displacement, y = – 15 m/s2
(Height of tower = 15m but download displacement.)
To find velocity with which it hits the ground, i.e. final velocity, v =? and time of travel,
t =?
Here, the ball is falling under gravity.
 a = – g = – 9.81 m/s2
Using equations of motion
v2 = u2 +2ay
v2 = (– 5)2 + 2(– 9.81) (– 15)
v2 = 319.3
 v = 17.87 m/s … Ans.
Also, v =u + at
– 17.87= –5 –9.81 (t)
9.81 t = 12.87
t =1.31s …Ans.

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Ex. 5.28: A stone is dropped from the top of a tower 50m high. At the same time, another
stone is thrown vertically upwards from the foot of the tower with a velocity of 25 m/s.
When and where the two stones cross each other?
Soln.:

Note that both the stones are under gravity.

Let the first stone drop from the top of tower ‘A’ and the second stone is thrown from the
foot of the tower ‘B’ at the same time.
After time ‘t’ let the two stones cross each other at point ‘C’ at a height ‘h’ from the foot
of the tower.
 The time taken by each stone to reach point ‘C’ is the same.
Considering motion of 1st stone from A → C
initial velocity, u = 0 (just dropped)
acceleration, a = – g = – 9.81 m/s2( under gravity)
displacement y = – (50 – h) (∵ downward displacement)
time of travel = t
1
Using equation of motion y = ut + 2 at2
1
– (50 – h) = 0 (t) – 2 (9.81) t2 … (1)

Considering motion of 2nd stone from B → C

Initial velocity, u = + 25m/s (thrown upwards)
acceleration, a =– g = – 9.81 m/s2 (under gravity)
displacement, y = h
time interval= t
1
Again, using equation of motion, y = ut + 2 at2
1
h = 25(t) – 2 (9.81) (t)2

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h = 25t – 4.905t2 … (2)

Putting ‘h’ in Eqn (1)
– 50 + 25t – 4.905 t2 = – 4.905t2
t = 2s …Ans.
Putting t = 2 in Eqn (1)
– 50 + h = – 4.905 (2)2
h = 30.38m … Ans.
The two stones cross each other after 2 seconds at a height of 30.38m from the foot of
the tower.

………□□□□□□□□□□

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CHAPTER 6: CURVILINEAR MOTION OF A PARTICLE

(RECTANGULAR COMPONENTS)
6.1 Introduction
When a particle moving along a curved path, the particle is said to have “Curvilinear
motion”.

When a particle is moving in a curved path, at any instant of time, its velocity is directed
in the tangential direction of the path of the particle. But the acceleration of the particle
will have some other direction. It won’t be in the direction of velocity.
Note: If acceleration is also in the direction of velocity, then the motion would become
rectilinear.
We can analyze the curvilinear motion of particle by resolving velocity and acceleration
of the particle into their components in the following forms:
a) Rectangular components (Cartesian co-ordinates)
b) Normal and tangential components (Path variables)

(a) Rectangular components:

x and y are rectangular or cartesian coordinates.

vx and vy = Rectangular components of velocity
ax and ay = Rectangular components of acceleration

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(b) Normal and Tangential components:

vt and vn = Tangential and Normal components of velocity

at and an = Tangential and Normal components of acceleration

6.2 Rectangular Components

When a particle is moving in a curved path, the velocity of the particle is directed in
tangential direction and the acceleration in some other direction. The components of
velocity and acceleration along x and y direction are known as rectangular components of
velocity and acceleration of a particle.

6.3 Motion of Particle in Plane

Consider a particle moving along the path shown in figure. At an instant let the particle be
occupy the position ‘P’ defined by the position or rectangular co-ordinates x and y.

The position vector of the particle, –r = xi + yj ... (1)

Differentiating w.r.t. ‘t’

dr– dx dy

=   i +   j ... (2)
dt  dt   dt 

 Velocity vector of the particle is given by, –v = vx i + vy j ... (3)

Note that
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 –
dr  –
 dt  = Rate of change of position of particle = v
 
dx
  = Rate of change of displacement in x-direction = vx
 dt 
dy
  = Rate of change of displacement in y-direction = vy
 dt 
vx and vy are the rectangular components of velocity of the particle.
 Magnitude of velocity, i.e. speed, v = v2x +v2y
vy
Direction of velocity,  = tan–1v  w.r.t. x-direction
 x
–v = v i + v j ... (4)
x y
Again differentiating w.r.t. ‘t’

dv– dvx dvy

=  i+ j
dt  dt   dt 

 Accelerator vector of the particle is given by,

–a = a i + a j ... (5)
x y

dv–
Here, dt = Rate of change of velocity of the particle = –a
dvx
dt = Rate of change of velocity in x-direction = ax
dvy
dt = Rate of change of velocity in y-direction = ay
 ax and ay are known as rectangular components of acceleration.

 Magnitude of acceleration, a = a2x + a2y

ay
Direction of acceleration,  = tan–1a  w.r.t.x–direction.
 x

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SOLVED EXAMPLES
Ex. 6.1: The x and y co-ordinates of a particle moving along a curved path are given by
x = 4t and y = 2t2. Determine the equation of path of the particle.
Soln.:
Given
x = 4t ... (1)
and y = 2t2 ... (2)
x
t = 4
 
Putting ‘t’ in Eqn (2)
x2
y = 2 4
 
x2
y = 2 16
 
x2
y =8 or x2 = 8y …Ans.

Ex. 6.2: The motion of particles A and B is defined by their position vectors –r A= (2t2
+4t – 6) i + (3t2 + 6t + 1) j m and –r B= (t2 +2t + 2) i + (11 t + 3) j m where 't' is in seconds.
Determine when and where the particles collide.
Soln.:

Let the particles be move in the paths shown in figure. Let ‘C’ be the point where the two
particles will collide.
At the point of collision ‘C’, both the particles will have the same position C (x, y).
 Equating the position vectors of particles A and B at the time of collision
–r = –r
A B
(2t2 + 4t – 6) i + (3t2+ 6t + 1) j = (t2 + 2t + 2) i + (11 t + 3) j
Equating corresponding i and j coefficients
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2t2 + 4t – 6 = t2 + 2t + 2 (i coefficients)
t2 + 2t – 8 = 0
t2 + 4t – 2t – 8 = 0
t (t + 4) – 2 (t + 4) = 0
 t= 2sec
Also, 3t2 + 6t + 1 = 11 t + 3 (j coefficients)
3t2– 5t – 2 = 0
5  52 + 4  3  2
t=
23
57
= 6 = 2 sec.
 When t = 2s, the particles will collide each other …Ans.
To find where the particles will collide,
Put t = 2 s in
–r = (2t2 + 4t – 6) i + (3t2+ 6t + 1) j
A
= (2  22 + 4  2 – 6) i + (3  22 + 6  2 + 1)j
–r = 10 i + 25 j
A

OR

–r = (t2 + 2t + 2) i + (11t + 3) j
B
–r = {(2)2+ 2(2) + 2} i + {11 (2) + 3} j
B
= 10 i + 25 j
 The particles will collide at C (10, 25) m ...Ans.

Ex. 6.3: The motion of a particle in x-y plane is defined by x = t2 + 8t + 4 and y = t3 +

3t2 + 8t + 4 where x, y are in metres and time t in seconds. Find the resultant velocity
and resultant acceleration of the particle at time t = 0 and t = 2 seconds.
Soln.:
Given
x= t2 + 8t + 4 … (1)
Differentiating w.r.t. ‘t’
dx
dt = vx = 2t + 8 … (2)
Again differentiating w.r.t. ‘t’.
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dvx
dt = ax = 2 … (3)

Similarly, y = t3 + 3t2 + 8t + 4… (4)

Differentiating w.r.t. ‘t’
dy 2
dt = vy = 3t + 6t + 8 … (5)
Again differentiating w.r.t. ‘t’
dvy
dt = ay = 6t + 6… (6)
At t = 0
From Eqn (2), vx = 2(0) + 8 = 8 m/s
FromEqn (3), ax = 2 m/s2
From Eqn (5), vy = 3(0)2 + 6(0) + 8 = 8 m/s
From Eqn (6) ay = 6(0) + 6 = 6 m/s2
 Resultant velocity,
v= v2
x + v2y = 82 + 82 = 11.31 m/s …Ans.
vy 8
Direction  = tan–1v  = tan–18 = 45w.r.t. x axis …Ans.
 x  
Resultant acceleration,
a = a2 x + a2
y
= 22 + 62
 a = 6.32 m/s2…Ans.
6
 = tan–12 = 71.56 w.r.t x-axis…Ans.
 
At t = 2s
FromEqn (2), vx = 2(2) + 8 = 12 m/s
FromEqn (3), ax = 2 m/s2
FromEqn (5), vy = 3(2)2 + 6(2) + 8 = 32 m/s
From Eqn (6) ay = 6(2) + 6 = 18 m/s2
Resultant velocity,
v= v2
x + v2y = 122 + 322

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 v= 34.176 m/s …Ans.

Resultant acceleration,
a= a2
x + a2y = 22 + 182
 a= 18.11 m/s2 …Ans.
ay 18
Direction  =tan–1a  = tan–1 2  = 83.66 w.r.t. x axis …Ans.
 x  

Ex. 6.4: A particle moves along the path r =(8t2) i + (t3 + 5) j } m, where t is in seconds.
Determine magnitudes of particle velocity and acceleration when t = 3s.
Soln.:
Given Position vector at the particle,
–r = (8t2) i + (t3 + 5) j … (1)
dr– – 2
 –
 – dr 
dt = v = (16 t) i + (3t ) j … (2) ∵v = dt 
 

dv– –  –
 – dr 
dt = a = (16) i + (6t) j …(3) ∵a = dt 
 
At t = 3 sec,

From Eqn (2), –v = (16  3) i + (3  32) j

–
v = 48 i + 27 j
Magnitude of velocity,

v = 482 + 272 = 55.07 m/s …Ans.

From as, –a = (16) i + (6  3) j

–a = 16 i + 18 j

Magnitude of acceleration,

a= 162 + 182 = 24.08 m/s2 …Ans.

Ex. 6.5: The position of particles A and B is described by the vectors –r A= {4.5 t i + 13.51
(2 – t) j} m and –r B = {4.5 (t2 – 2t + 2) i + (4.5 t – 9) j} m respectively, where ‘t’ is in
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seconds. Determine the point where the particles collide and their speeds before
collision. How long does it take before the collision occur.
Soln.:
Given The position vectors of the particles A and B.
–r = 4.5 t i + 13.51 (2 – t) j … (1)
A
and –r B = 4.5 (t2 – 2t + 2) i + (4.5 t – 9) j… (2)
The above equations will give the position of particles at any time ‘t’ seconds.
At the time of collision, both the particles will have the same position is –r A = –r B.

 For the collision to occur, –r A = –r B

4.5 t i + 13.51 (2 – t) j = 4.5 (t2 – 2t + 2) i + (4.5 t – 9) j
Equating corresponding i and j coefficients
4.5 t = 4.5 (t2 – 2t + 2) (i coefficients)
 t = 1 sec or 2 sec.
13.51 (2 – t) = 4.5 t – 9 (j coefficients)
27.02 – 13.51 t =4.5 t – 9
 t = 2 sec.
Which means that when t = 1 sec. Only x-coordinates of particles A and B will coincide.
Whereas when t = 2 sec. the x and y coordinates of both the particles A and B will coincide.
 Collision takes place when t = 2 sec....Ans.
To determine the point where the collision takes place,
Put t = 2 sec. in Eqn (1),
r̄ A = 4.5 (2) i + 13.51 (2 – 2) j
r̄ A = 9i + 0 j

OR

Eqn (2),r̄ B =4.5 (22 – 2  2 + 2) I + (4.5  2 – 9) j

 r̄ B = 9i + 0j
 Collision takes place at the point (9, 0) m ...Ans.
To determine the speeds before collision,
r̄ A = 4.5 t i + 13.51 (2 – t) j … (1)
Differentiating w.r.t. ‘t’
 – 
dr A –
  = vA = 4.5 i + 13.51 (– 1) j
 dt 
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 –v = 4.5 i – 13.51 j… (2)

A
Speed of particle A before collision is v A = 4.52 + 13.512 = 14.24 m/s …Ans.
–r = 4.5 (t2 – 2t + 2) i + (4.5 t – 9) j … (3)
B
Differentiating w.r.t. ‘t’
 – 
dr B
dt = v̄B = 4.5 (2t – 2) i + (4.5 – 0) j
 
 
 v̄B = 4.5 (2t – 2) i + 4.5 j … (4)
When t = 2s,
v̄B = 4.5 (2  2 – 2) i + 4.5 j
 v̄B = 9 i + 4.5 j … (5)
Speed of particle B before collision is vB = 92 + 4.52 = 10.06 m/s …Ans.
Ex. 6.6: A particle is projected with an initial velocity of 100 m/s making an angle 30 
with the horizontal as shown in figure. The components of acceleration are constant at
ax = – 4 m/s2 and ay = – 20 m/s2. Find the horizontal distance covered until the particle
reaches a point 40 m below its original level.

Soln.:
Given
Initial velocity, u = 100 m/s at 30w.r.t. x-axis
 At t = 0, ux = u cos 30 = 100 cos 30 = 86.6 m/s
uy = u sin 30 = 100 sin 30 = 50 m/s

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Let ‘x’ be the horizontal distance covered when the particle reaches 40 m below x-axis is,
point A. In x-direction, ux = 86.6 m/s
(From O → A) ax = – 4 m/s2 (ax is constant)
1
Using Equation, x = u x  t + 2 ax  t 2
1
x = 86.6 t + 2 (– 4) t2

x = 86.6 t – 2t2 … (1)

To find ‘t’
Let us consider motion of particle in y-direction
Uy = 50 m/s
ay = – 20 m/s2 (Constant)
Vertical distance, y = – 40 m (∵ downwards)
1
Using equation, y = uy t + 2 ay t2
1
– 40 = 50 (t) + 2 (– 20) t2
Solving for ‘t’, t = 5.7 sec
To find horizontal distance, put t = 5.7s in Eqn (1)
x = 86.6 (5.7) – 2 (5.7)2 = 428.64 m…Ans.
Ex. 6.7: The motion of particle is defined by the equation x = 2 cos t and y = 1 – 4 cos
2 t where x and y are in meters and ‘t’ is in seconds. Sketch the path of the particle on
the x-y plane and locate its position at t = 1.5s. Calculate the velocity and acceleration
of the particle at that instant and show them on the sketch.
Soln.: Given
x = 2 cos  t … (1)
y = 1 – 4 cos 2 t… (2)
x
From Eqn (1), cos t = 2
1–y
From Eqn (2), cos 2t = 4

cos 2t = 2 cos2 (t) – 1 (∵ cos 2 = 2 cos2 – 1)

1–y 2
4 = 2 cos (t) – 1
1–y x2
= 2   –1
4 2

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5 – y = 2x2

OR

y = 5 –2x2 …Equation of path of the particle

When t = 1.5 s,
x = 2 cos ( 1.5) = 0
y =1 – 4 cos (2 1.5) = 5
 The position of particle when t = 1.5 s is (0, 5) …Ans.
x = 2 cos  t … (1)
Differentiating w.r.t. ‘t’
dx
dt = vx = – 2 sin t  = – 2 sin  t … (2)
Again differentiating w.r.t., ‘t’
dvx
dt = ax = – 2 cos (t)  = – 2 cos t … (3)
2

Also, y = 1 – 4 cos 2t… (4)

Differentiating w.r.t. ‘t’
dy
dt = vy = 4 sin 2t  2 = 8 sin 2t … (5)
Again differentiating w.r.t. ‘t’
dvy
dt = ay = 8 cos 2t  2 = 16  cos 2t … (6)
2

At t = 1.5 s,
From Eqn (2), vx = – 2  sin ( 1.5) = 2

From Eqn (5), vy = 8 sin (2 1.5) = 0

 v= x + vy2 = vx = 2 m/s →
v2

From Eqn (3), ax = – 2 2 cos ( 1.5) = 0

From Eqn (6), ay = 162 cos (2 1.5) = – 16 2

 a = a2x + a2
y = ay = 162
Let us trace the path of the particle,
y = 5 – 2x2

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x y
0 5
1 3
2 –3
–1 3
–2 –3

………□□□□□□□□□□

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CHAPTER 7: CURVILINEAR MOTION OF A PARTICLE

(NORMAL AND TANGENTIAL COMPONENTS)

7.1 Introduction
When a particle is moving along a curved path, the velocity of the particle is always
directed in tangential direction. The direction perpendicular to tangential direction is
known as normal direction.

When the path of the particle is known it is convenient to describe the motion along tangent
and normal to the path. By resolving acceleration into two perpendicular components in
tangential and normal direction, we get tangential and normal components of acceleration.

7.2 Motion of Particle in Plane

Consider a particle moving along the path shown in the figure. At any instant, let the
position of the particle be ‘P’. At P, the velocity of the particle is directed in tangential
direction. The direction perpendicular to tangential direction is normal direction.
Let ‘et’ be the unit vector in tangential direction and ‘en’ be the unit vector in normal
direction.
‘’ is the angle made by ‘et’ w.r.t. x - axis and ‘en’ w.r.t. y-axis.
Unit vector −
e t in rectangular components can be written as
−
e t = et cos  i + et sin  j
 −
e t = cos  i + sin  j… (1) (∵ magnitude of et = 1)
d−e t
= – sin  i + cos  j … (2)
d
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Similarly, unit vector −

e n in rectangular components can be written as,
−e = – e sin  i + e cos  j (but en = 1)
n n n
 −e = – sin  i + cos  j… (3)
n
d−e t
From Eqn (2) and (3), = −e n … (4)
d
(A) Velocity vector (−
v):
Velocity always acts in tangential direction and − e t is the unit vector in tangential
direction.
 Velocity vector can be written as, −v = v. −
et … (5)
In general, velocity vector in tangential and normal directions can be written as − v=
vt . −
e t + vn. −
en
 Tangential component of velocity, vt = v and Normal component of velocity, vn =
0
(B) Acceleration vector (−
a):
Velocity vector is given by, −
v = v. −
e t (From Eqn (5))
Differentiating w.r.t. ‘t’
d− 
d−
v dv−  e t
 
dt =  dt  e t + v.  dt  … (6)
Let the particle traverse a distance ds along the curve in time ‘dt’ during which it
undergoes angular displacement d Refer figure.

 =Radius of curvature of the path of the particle

Length of the arc, ds = .d
d 1
 ds =


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d−e t d−e t d ds
dt = d . ds . dt
d−e t
but = −e n (From Eqn (4))
d
d 1
ds = 
ds
 dt = v (Change in displacement along the curve
w.r.t. time)
d−e t 1
 dt = −e n. .v

d−v dv− v
From Eqn (6), =   e t + v. .−
e
dt  dt   n
d−
v dv− v2 d−
 v −

 dt = dt e t +  −e n
   dt = a 
    
 Acceleration vector can be written as
dv− v2
 a = dt e t +  −e n… (7)
−  
  
In general acceleration vector in tangential and normal direction can be written as,
−
a = at −
e t + an −
en
dv
 Tangential component of acceleration, at =  dt  and
 
v2
Normal component of acceleration, an=  

 Resultant acceleration, a = a 2t + a2n
an
Direction of acceleration,  =tan–1  a  w.r.t. tangential direction.
 t

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Important points:
(i) The tangential component of acceleration,
dv
at = dt reflects a change in the speed of the particle

v2
(ii) The normal component of acceleration, an = reflects a change in the

direction of motion of the particle.
dv
(iii) If the particle is moving with constant speed, then at = dt = 0 (∵ v =
constant)
(iv) As velocity always acts in tangential direction, its component in normal
direction (vn) is zero.
(v) When the particle is moving along a curve defined by, y = f(x), the radius
of curvature at a point is given by,
 dy23/2
1 +   
 dx 
=
d2y
 
dx2
 

SOLVED EXAMPLES
Ex. 7.1: A particle moves in a circular path of radius 0.4 m. Calculate magnitude of
acceleration ‘a’ of the particle if its speed is 0.6 m/s but it is increasing at the rate of 1.2
m/s each second.
Soln.:
Given
Radius of curvature of the path,  = 0.4m.
Initial velocity, v = 0.6 m/s
Speed is increasing at the rate of 1.2 m/s each second. i.e., at = 1.2 m/s2.
(at = tangential component of acceleration)
v2
Normal component of acceleration, an =

0.62
 an = 0.4 = 0.9 m/s2

 Resultant acceleration, a = a 2t + a2n = (1.2)2 + (0.9)2 = 1.5 m/s2 … Ans.

Ex. 7.2: A car is moving with a speed of 25 m/s on a circular path of radius 600 m. Its
speed is increasing at the rate of 2 m/s2. Find the resultant acceleration of the car.
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Soln.:
Given
Speed of the car, v = 25 m/s
Radius of curvature of the path,  = 600 m
Speed is increasing at the rate of 2 m/s2
 at = rate of change of speed = 2 m/s2
v2
 an = normal component of acceleration =

252
 an = 600 = 1.042 m/s2

 Resultant acceleration, a = a 2t + a2n = 22 + 1.0422 = 2.25 m/s2 … Ans.

Ex. 7.3: At the instant t = 0, a locomotive starts to move with uniformly accelerated speed
along a circular curve of radius r = 600 m and acquires by the end of the first 60 sec. of
motion a speed equal to 24 kmph. Find tangential and normal acceleration at the instant
t = 30 sec.
Soln.:
Given
Initial velocity, u = 0 (∵ starts to move)
Radius of curvature,  = 600 m
after time, t = 60s
24 5
velocity, v = 24 kmph = 18 = 6.67 m/s

Using Eqn, v = u + at · t (∵ Uniformly accelerated motion)

6.67 = 0 + at  60
 at = 0.11 m/s2
At the instant, t = 30s
v = 0 + 0.11  30 = 3.3 m/s
 Tangential acceleration, at = 0.11 m/s2 … Ans.
v2 3.32
Normal acceleration, an = = 600 = 0.018 m/s2 … Ans.

Ex. 7.4: A particle is traversing a curved path of radius of curvature 300 m with a speed
of 108 kmph and a tangential acceleration of 4 m/s2. Determine the total acceleration
of the particle.
Soln.:
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Given Radius of curvature of the path,  = 300 m

108  5
Velocity of the particle, v = 108 kmph = 18 = 30 m/s

Tangential acceleration, at = 4 m/s2

v2 302
Normal component of acceleration, ‘an’ is given by, an = = 300 = 3 m/s2

 Total acceleration, a = a 2t + a2
n= 42 + 32 = 5 m/s … Ans.
Ex. 7.5: A train enters a curved horizontal track with a speed of 105 kmph and slows
down to 45 kmph in 10 s with constant acceleration. An accelerometer mounted inside
the train records an acceleration of 3 m/s2 when the train is 6s into the curve. Calculate
the radius of curvature of the track at that instant.
Soln.:

Considering the motion of train from A → C

5
Initial velocity, u = 105 kmph = 105  18 = 29.17 m/s
5
Final velocity, v = 45 kmph = 45  18 = 12.5 m/s
time, t = 10s
As acceleration i.e., rate of change of speed is constant,
Using Eqn, v = u + at · t
12.5 = 29.17 + at  10
 at = – 1.667 m/s2
When the train is 6 seconds into the curve, its velocity is,
v = u + at · t = 29.17 – 1.667  6 = 19.168 m/s
When t = 6s, total acceleration, a = 3 m/s2 (Accelerometer shows total acceleration)
We know that a2 = a 2t + a2
n
32 = 1.6672+ a2
n (at = – 1.667 m/s2 constant)
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an = 2.49 m/s2
v2
But an =

19.1682
2.49 =

 Radius of curvature of the track at t = 6s is  = 147.55 m … Ans.
Ex. 7.6: A particle starts from rest and moves along a curved path with its distance
travelled from rest defined by the relation, s = (t4 – 2t2 + 5) m where ‘t’ is in seconds. If
radius of curvature of the path is 30 m, determine the total acceleration of the particle
at t = 2s.
Soln.:
Distance traveled by the particle along the curve is given by
s = t4 – 2t2 + 5 … (1)
Differentiating w.r.t. ‘t’
ds 3
dt = v = 4t – 4t… (2)
Again differentiating w.r.t. ‘t’
dv 2
dt = at = 12t – 4… (3)
At t = 2s.
From Eqn (2), v = 4(2)3 – 4(2) = 24 m/s
From Eqn (3), at = 12(2)2 – 4 = 44 m/s2
v2 242
Normal component of acceleration an = = 30 = 19.2 m/s2

 Total acceleration
a = a2t + a2
n = 442 + 19.22 = 48 m/s2 … Ans.

Ex. 7.7: The position vector of a particle is given by –r = (4t2)i + (10t)j m where, t is in
seconds. Determine the normal and tangential components of acceleration and radius
of curvature of the path of the particle at t = 2s.
Soln.:
Given
Position vector of the particle, –r = (4t2) i + (10t) j … (1)
Differentiating w.r.t. ‘t’
d–r –
dt = v = (8t) i + (10)j … (2)
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Again differentiating w.r.t. ‘t’

d–v –
dt = a = (8) i + 0j… (3)
At t = 2s,
v– = (8  2) i + (10)j
v– = 16 i + 10j
Magnitude of velocity, v = 162 + 102 = 18.87 m/s
10
Direction of velocity,  = tan–1 16 = 32  w.r.t. x–axis
 
–a = 8i

 Magnitude of acceleration, a = 8 m/s2 →

Resolving acceleration ‘a’ into two perpendicular components, one in the direction of
velocity i.e., ‘at’ and other perpendicular to it i.e., ‘an’
 at = a cos  = 8 cos 32  = 6.784 m/s2 … Ans.
an = a sin  = 8 sin 32  = 4.239 m/s2 … Ans.
v2 18.872
But an =  4.239 =
 
 Radius of curvature of the path,  = 84 m … Ans.
Ex. 7.8: An automobile enters a curved road in the form of a quarter circle and of length
360 m, at a speed of 24 kmph and then leaves the curve at 48 kmph. If the car is travelling
with a constant acceleration along the curve, determine the resultant acceleration at
both ends of the curve.
Soln.:
Considering motion of car from A → B,
24  5
Initial velocity, u = 24 kmph = 18 = 6.67 m/s
48  5
Final velocity, v = 48 kmph = 18 = 13.33 m/s
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The car is travelling with uniform acceleration along the curve.

 at = constant
Distance, S = 360 m
 Using Eqn, v2 = u2 + 2at · S
13.332 = 6.672 + 2  at  360
 at = 0.185 m/s2
At point A, when it enters the curve, v = 6.67 m/s
at = 0.185 m/s2
Radius of curvature, = 
Length of quarter circle is given 360 m.
2
 4 = 360 (Circumference of the circle = 2R = 2)
  = 229.18 m
v2 6.672
 an = = 229.18 = 0.194 m/s2

Resultant acceleration at A,
aA = a 2t + a2n = 0.1852 + 0.1942 = 0.268 m/s2 … Ans.
At point B, when it leaves the curve, at = 0.185 m/s2
v2 13.332
an = = 229.18 = 0.775 m/s2

 Resultant acceleration, aB = a 2t + a2n = 0.1852 + 0.7752 = 0.797 m/s2… Ans.
Ex. 7.9: The automobile is originally at rest at S = 0. It then starts to increase its speed
v according to the equation v. = (0.015 t2) m/s2. Determine the magnitude of its
acceleration when t = 18s. S, v and t are in m, m/s and s respectively.

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Soln.:
Initially from point O to A, car is moving along a straight road, i.e., in rectilinear motion.
Speed of car is increasing according to the equation,
v. = (0.015 t2) m/s2
dv
 a = 0.015 t2 … (1) (∵v. = dt = a)
a = Rate of increase of speed
dv 2  dv
∵ a = 
dt = 0.015 t  dt 
dv = 0.015 t2 dt
Integrating on both sides
 dv = 0.015  t2 · dt
t3 
v = 0.015 3 + c1

 
Where, c1 is the constant of integration
Given at t = 0 v = 0 (∵ Initially at rest)
 c1 = 0
t3
 Velocity of the car, v = 0.015 3

v = 0.005 t3 … (2)
ds 3  ds
∵ v = 
dt = 0.005 t  dt 
ds = 0.005 t3dt
Again, integrating on both sides,
ds = 0.005  t3dt
When t = 0, s = 0
When t = 18s, s =?
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s 18
 ds = 0.005  t3 dt
0 0
t4 18
[s]0s = 0.005  4 
0
 s = 131.22 m
When t = 18s, the distance travelled by the car is 131.22 m. That means the car is in portion
AB.
 Car will have circular motion, and it will have tangential and normal components of
acceleration.
Tangential component, at = 0.015 t2 From Eqn (1)
v2
Normal component, an = ( = radius of curvature = 72 m)

When t = 18s; at=0.015 (18)2 = 4.86 m/s2
From Eqn (2), velocity of the car, v = 0.005 (18)3 = 29.16 m/s
v2 29.162
an = = 72 = 11.81 m/s2

 Magnitude of total acceleration of the car after 18 seconds is
a= a 2t + a2
n= (4.86)2 + (11.81)2 = 12.77 m/s … Ans.

Ex. 7.10: An outdoor track is 126 m in diameter. A runner increases her speed at a
constant rate from 4.2 m/s to 7.2 m/s over a distance of 28.5 m. Determine the total
acceleration of the runner 2s after she begins to increase her speed.
Soln.:
 = 126 m, u = 4.2 m/s, v = 7.2 m/s and s = 28.5 m.
v2 = u2 + 2 at · s
 7.22 = 4.22 + 2 at (28.5)
 at = 0.6 m/s2
After 2 seconds, v = u + at · t = 4.2 + 0.6(2) = 5.4 m/s
v2 5.42
an = = 126 = 0.463 m/s2

2 2
Total acceleration, a = at + an = 0.62 + 0.4632 = 0.757 m/s2 …Ans.
………□□□□□□□□□□
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CHAPTER 8: CURVILINEAR MOTION OF A PARTICLE

(PROJECTILE MOTION)

8.1 Introduction
If a particle is projected vertically upwards with an initial velocity, then it will move along
vertical line and the particle will have rectilinear motion under gravity.
If the same particle is projected with an initial velocity at some angle with horizontal, then
the particle will not move along the line in the direction of velocity because it is subjected
to a gravitational pull at every instant of time, due to which it follows a curved path
known as “Projectile motion”.

• Projectile motion is a particular case of curvilinear motion. It is the motion of

particle along a curve in vertical plane under gravity.
• In projectile motion, particle undergoes two types of displacement i.e. horizontal
and vertical. Hence projectile motion can be considered as the combination of two
types of motion:
(i) Horizontal motion which can be considered as uniform motion. (neglecting
wind resistance on the particle as it is very small)
(ii) Vertical motion under gravity.
These two motions are not separate and should be considered simultaneously. The path
traced by the projectile is known as “Trajectory.”

8.2 Equation of Trajectory

The path traced by the particle is known as “Trajectory”.
It is a parabolic curve in vertical plane.

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Let a particle is projected from point A with an initial velocity ‘u’ at an angle  with respect
to horizontal. At an instant, let P be the position of particle whose coordinates are x and y
with respect to point A.
Consider horizontal motion of particle from A → P
Horizontal motion of particle is considered as uniform motion
Horizontal component of initial velocity, ux = u cos 
Horizontal displacement = x
Time interval = t
Acceleration, a = 0 (∵ uniform motion)
Horizontal displacement = Horizontal velocity  Time
x = ux t
 x = u cos  t
x
t = …. (1)
u cos 
Consider vertical motion of particle from A → P
The vertical motion of particle is under gravity.
Vertical component of initial velocity, uy = u sin 
Vertical displacement = y
Time interval = t
Acceleration, a = – g (∵ under gravity)
1
Using equation, y = uy t + 2at2
1
y = u sin  t – 2gt2

Putting t from Eqn (1), we get

 x  1  x2 

y = u sin   – 2 g 2 2 
 u cos   u cos 

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gx2
y = x tan  – 2 known as equation of path of the projectile or
2u cos2
trajectory.
It is in the form of y = C1x + C2x2 which is the equation of parabola. Therefore,
projectile follows a parabolic path.

8.3 Projectile on Horizontal Plane

Let ‘A’ be the point of projection and ‘B’ the target point. A and B are on the same
horizontal plane. Let ‘C’ be the highest point reached by the projectile.
Let, ‘u’ = Initial velocity of the projectile
 = Angle of projection of projectile with
respect to horizontal
t = Time of flight from ‘A’ to ‘B’
R = Range on horizontal plane.
H = Maximum vertical range
Consider vertical motion of projectile from A → B
Vertical component of initial velocity, uy = u sin 
Time interval = t
Acceleration, a = – g (∵under gravity)
Vertical displacement, y = 0 (∵ A and B are on the same horizontal plane)
1
Using equation, y = uy t + 2at2

1
0 = u sin  t – 2gt2

2u sin 
 t= Time of flight
g
Consider horizontal motion from A → B
Horizontal component of initial velocity, ux = u cos 

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2u sin 
Time interval, t = g
Acceleration, a = 0 (∵ uniform motion)
Horizontal displacement, x = R
Horizontal displacement = Horizontal velocity  Time
x = ux t
2u sin 
R = u cos  g

2u2 sin  cos 

R = g (2 sin  cos  = sin 2)

u2 sin 2
R = g Horizontal range

To find maximum horizontal range:

u2 sin 2
Range on horizontal plane is given by R= g
For a given initial velocity, u is constant. Therefore, R depends on 
d
For range R to be maximum, (sin 2) = 0
d
 cos 2 = 0
2 = 90
 = 45
 For maximum horizontal range, angle of projection,  = 45
u2
 Rmax = g sin 90

u2
 Rmax = g

Note: Sin 2 = sin (180 – 2)

2 = 180 – 2
 = (90 – )

 For a given velocity, there are two values of α for the same horizontal range. However,
times of flight and maximum vertical range are different.

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To find maximum vertical range:

At the maximum height i.e., at point ‘C’, the vertical component of velocity is zero.
Consider vertical motion from A → C
Initial velocity, uy = u sin 
Acceleration, a = –g (∵ under gravity)
Vertical displacement, y = H
Final velocity, vy = 0
Using equation, vy2 = uy2 + 2ay
0 = u2 sin2 – 2gH
u2 sin2
 H= Max vertical range
2g

8.4 Projectile on an Inclined Plane

Let ‘A’ be the point of projection and ‘B’ the target point. Points A and B are located
on an inclined plane which makes an angle of  with respect to horizontal.
Let u = Initial velocity of the projectile
 = Angle of projection of projectile with
respect to horizontal
t = Time of flight from ‘A’ to ‘B’
R = Range on inclined plane.
 = Angle of inclined plane with respect to horizontal.
Consider horizontal motion of projectile from A →B.
Horizontal component of initial velocity, ux = u cos 
Time interval = t
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Acceleration, a = 0
Horizontal displacement, x = R cos 
Horizontal displacement = Horizontal velocity  Time
x = ux t
R cos  = u cos   t
R cos 
t= Time of flight
u cos 
Consider vertical motion from A →B.
Vertical component of initial velocity,
uy = u sin 
R cos 
Time interval, t=
u cos 
Acceleration a = –g (∵ under gravity)
Vertical displacement, y = R sin 
1
Using Eqn, y = uy t + 2 at2
 R cos   1  R cos  
R sin  = u sin   – g 
 u cos  2  u cos 
sin  cos  1 R cos2
sin  = – 2g 2
cos  u cos2
g R cos2 sin  cos 
 = – sin 
2u2 cos2 cos 
sin  cos  – cos  sin  sin (–)
=
cos  cos 
2u2 cos2 sin( – )
R =
g cos2 cos 
2u2 sin ( – ) cos 
R = Range on inclined plane
g cos2
To find maximum range:
For a given initial velocity u, angle of inclination  and acceleration due to gravity g
are constants.
d
 For ‘R’ to be maximum; [sin ( – )cos ] = 0
d
cos ( – )cos  + sin ( – ) (– sin ) = 0
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sin sin ( – ) = cos  cos ( – )

tan  = cot ( – )
 +  –  = 90
2 –  = 90
2 = 90 + 

 = 45 +
2

 R is maximum when angle of projection,  = 45 + 2

2u2      
 Rmax = sin 45 + –   cos 45 + 
gcos2   2   2

2u2     
= sin 45 –   cos 45 + 
gcos2  2  2

u2     
= 2 sin 45 –   cos 45 + 
gcos2  2  2

u2
= (sin 90 – sin )
gcos2
Note: sin (A + B) + sin (A – B) = 2 sin A cos B → Formula

u2 u2(1 sin ) u2(1 sin )

Rmax = (1 – sin ) = =
gcos2 g(1 – sin2) g(1 – sin ) (1 + sin )

u2
 Rmax =
g(1 + sin )

u2
For horizontal plane,  = 0  Rmax = g

Note: If slope of the plane is downwards, ‘’ is to be taken as negative.

For example,

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SOLVED EXAMPLES
Type 1: Projectile on Horizontal Plane
Ex. 8.1: A cricket ball shot by a batsman from a height of 2.0 m at an angle of 30 with
the horizontal with a velocity of 20 m/s is caught by a fielder at a height of 0.8 m from
the ground. Determine the distance between the batsman and fielder.
Soln.:

Let ‘x’ be the distance between the two players.

Considering motion of ball from A →B.
Initial velocity, u =20 m/s.
Angle of projection,  = 30
Horizontal displacement = x
Vertical displacement, y= – (2 – 0.8) = –1.2 m (∵ downward displacement)
Using projectile Eqn,
gx2
y = x tan  – 2
2u cos2
9.81x2
–1.2 = x tan 30 –
2(20)2 cos2 30
–1.2 = 0.577x – 0.0163x2
 x2 – 35.39x – 73.62 = 0
Solving for x, x = 37.36 m
 Distance between the batsman and the fielder, x = 37.36 m … Ans.
Ex. 8.2: If a particle is projected inside a horizontal tunnel of 6 m high with a velocity
of 70 m/s, find the angle of projection and the greatest possible range.
Soln.:

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To get maximum possible range, the particle should be projected with an angle ,
such that the particle just touches the roof of the tunnel.
When the particle is just touching the roof u’, at point ‘C’, i.e. vertical component of
velocity i.e. zero.
Considering vertical motion of projectile from A →C.
Vertical component of initial velocity, uy = 70 sin 
Vertical component of final velocity, vy =0
Vertical displacement, y =6 m
Acceleration, a = –g (under gravity)
Using Eqn, vy2 = uy2 + 2gy
0 =702 sin2 – 2  9.81  6
 sin  = 0.155
 = 8.92
 Angle of projection,  = 8.92 …Ans.
u2 702
Greatest possible range, R = g sin 2 = 9.81 sin (2  8.92) = 153.02 m…Ans.

Ex. 8.3: A projectile is fired with a velocity of 70 m/s at an elevation of 60 . Find its
velocity and direction after 4 seconds of firing.
Soln.:
When t = 0, initial velocity, u =70 m/s
Angle of elevation,  =60
Considering horizontal motion of projectile,
at t = 4s, vx = u cos = 70 cos 60 = 35 m/s (ux = vx = remains constant)
Considering vertical motion of projectile,
Using equation,
vy = uy + at
vy = u sin – gt (uy = u sin  and a = –g)
= 70 sin 60 – 9.81  4= 21.38 m/s
 Magnitude of velocity, v = vx2 + vy2= 352 + 21.382 = 41.01 m/s …Ans.
vy 21.38
Direction of velocity,  = tan v  =tan–1 35  = 31.42w.r.t. x-axis
–1 …Ans.
 x  

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Ex. 8.4: A ball is thrown upwards with a velocity of 60 m/s at an angle of 55 with the
horizontal. What will be its velocity and direction at a height of 40 m from the point of
projection?
Soln.:

Let ‘A’ be the point of projection and ‘B’ is the point where the height of ball is 40 m
above the point of projection.
Considering horizontal motion of ball from A →B.
At point ‘B’, vx = ux = 60 cos 55 = 34.41 m/s
Considering vertical motion of ball from A →B.
Using equation,
vy2 = uy2 + 2ay
uy = u sin  = 60 sin 55 = 49.15 m/s
a = –g (under gravity)
y = 40 m
 vy2 = 49.152 – 2  9.81  40
 vy = 40.38 m/s
2 2
 Velocity, v = vx + vy = 34.412 + 40.382 = 53.05 m/s …Ans.
vy 40.38
Direction,  = tan v =tan–134.41 = 49.56w.r.t. x-axis …Ans.
–1
 x  

Ex. 8.5: Calculate the minimum possible magnitude ‘u’ of the muzzle velocity which a
projectile to be fired from point A to reach the target B on the same horizontal plane 12
km away. Refer figure.
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u2
Soln.: Range on horizontal plane is given by, R = g sin 2
Where, u = initial velocity
 = angle of projection
Rg
 u2 = … (1)
sin 2
Here, R = 12 km and g = 9.81 m/s2 which are constants.
 u is minimum if denominator sin 2 is maximum.
 Maximum possible value of sin 2 is 1.
 sin 2 = 1
2 = 90
 = 45
 For a given range, initial velocity ‘u’ is minimum, if angle of projection,  = 45
2 12  103 9.81
From Eqn (1), umin =
sin 90
 umin = 343.103 m/s…Ans.
 Minimum possible magnitude of the muzzle velocity, u = 343.103 m/s.
Ex. 18.6 The equations of motion of a projectile are given b, x = (24t) m and 2y = (78t
– 6t2) m. Determine
(i) The initial velocity
(ii) The angle of projection
(iii) Range on horizontal plane.
Soln.: Given
x = 24t … (1)
Differentiating wrt ‘t’
dx
dt = Vx = 24 … (2)
Also, 2y = 78t – 6t2… (3)
Differentiating w.r.t. ‘t’
dy
2 dt  = 78 – 12t
 

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 2vy = 78 – 12t… (4)

To determine
(i) Initial velocity (u)
Put t = 0 in
Eqn (2) vx = 24 m/s
Eqn (4) 2vy = 78 – 12(0)
 vy = 39 m/s

 Initial velocity, u = vx2 + vy2= 242 + 392 = 45.79 m/s …Ans.

(ii) Angle of projection ()
vy 39
Direction of velocity,  = tan v  = tan–124 = 58.39w.r.t. x-axis
–1 …Ans.
 x  
(iii) Range on horizontal plane (R)
u2 45.792
R = g sin 2= 9.81 sin (2  58.79) = 190.81 m …Ans.

Ex. 8.7: An aircraft moving horizontally at a speed of 720 kmph at a height of 1000 m
towards a target on the ground, releases a bomb which hits target. Find
(a)time required for the bomb to reach target on the ground.
(b)the horizontal distance of the aircraft from the target when it released bomb.
Soln.:

Let ‘A’ be the point where plane releases the bomb. ‘B’ is the target point.
As the plane is moving horizontally, at the point of release of bomb is, at A, velocity
of bomb is also horizontal because of inertia of motion.
Considering vertical motion of bomb from A →B.
Vertical component of initial velocity, uy = 0 (∵ velocity is horizontal)
Vertical displacement, y = – 1000 m (Downward displacement)
Acceleration, a =– g (vertical motion is under gravity)
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 DEPARTMENT OF BASIC SCIENCES AND ENGINEERING (F. Y. B. TECH.), PICT, PUNE

1
Using Eqn, y = ut + 2at2
1
–1000 = 0 – 2 9.81  t2
 t = 14.278 s
 Time required for the bomb to reach target on the ground, t = 14.278 s …Ans.
Considering horizontal motion of bomb from A → B,
Horizontal motion is uniform motion. Hence, a = 0
Horizontal displacement = Horizontal component of velocity  time
X = 20  14.278 = 285.56 m
 Horizontal distance of the plane from the target when it released bomb,
x = 285.56 m…Ans.
Ex. 8.8: The horizontal distance of a target to be hit by a projectile is 8000 m. A bomb
leaves a cannon with a velocity of 550 m/s. What must be the angle of elevation of the
cannon if it has to clear a hill 700 m high, which is midway between the gun and the
target?
Soln.:

Considering motion of bomb from A →B.

Initial velocity of bomb, u =550 m/s
Angle of projection, =?
Range on horizontal plane, R=8000m.

n u2
Using Eq , R = g sin2

5502
8000 = 9.81 sin2
sin 2 = 0.259
2 = 15.036
 = 7.52
For a given initial velocity and range, there are two angles of projection.
(i)  = 7.52
(ii) 90 –  = 90 – 7.52 = 82.48

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 DEPARTMENT OF BASIC SCIENCES AND ENGINEERING (F. Y. B. TECH.), PICT, PUNE

u2sin2
Maximum vertical range, H = 2g .

5502sin27.52
If  = 7.52, H = = 264.07m < 700m
2  9.81
5502sin282.48
If  = 82.48, H = = 15153.87m > 700m
2  9.81
 To clear a hill of height 700m, the angle of elevation of the cannon should be  =
82.48… Ans.
Ex. 8.9: A plane flying horizontally at 500 kmph releases a bomb at an elevation of
1200m above the ground. Write vector expressions for velocity and position of the bomb
at any time ‘t’ second after release. Also find the time when the bomb will strike the
ground. Use point of release as origin.
Soln.:
Let ‘A’ be the point of release and ‘B’ is the target point. After its release, the bomb
follows the projectile path.

At any time ‘t’ seconds, the bomb is subjected to an acceleration due to gravity.
 Acceleration vector, – a =– g j … (1) (x – component of ‘a’ is zero)
–
d 
 – d –
dt = – g j ∵ a = dt 
 

d– = (– g j) dt
Integrating on both sides
–
 d =  (– g j) dt
– = c i + (– gt + c )j … (2)
 1 2
Where c1 and are c2 the constants of integration.
–= i+ j
At t = 0, the velocity vector of the bomb is,  x y
5
But x = 500 kmph = 500  18 = 138.89 m/s

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 DEPARTMENT OF BASIC SCIENCES AND ENGINEERING (F. Y. B. TECH.), PICT, PUNE

When bomb is released, the velocity of bomb will have the velocity of plane itself. As
the plane is flying horizontally the vertical component of velocity of bomb is zero.
 At t = 0,  – =138.89i + 0j … (3)
Putting t = 0 in equation (2) and equating with (3)
138.89i + 0j = c1i + c2j
Equating corresponding i and j coefficients.
c1 = 138.89 and c2 = 0
– = 138.89j + (– g t)j … Ans.
 velocity vector of the bomb at any time ‘t’ is given by, 
d–r  – d–
 r 
dt = 138.89i + (– g t) j  ∵  = dt 
 
–gt2 
–
d r = (138.89t + c1) i + 2 + c2 j Where c1 and c2 are constants of integration

 
At t = 0, the position of bomb is (0, 0). Given that the point of release as origin.
 At t = 0, –r = 0i + 0j
– g(0)2 
 0i + 0j = (138.89 (0) + c1) i +  + c2 j
 2 
Equating corresponding i and j coefficients; c1 = 0 and c2=0
 Position vector of the bomb at any time ‘t’ is given by,
 2
–r = (138.89 t) i + –gt  j … Ans.
 2 

When bomb strikes the ground, –r = xi + (– 1200) j

–gt2
 x = 138.89t and 2 = – 1200
 t = 15.64 s … Ans.
x = 138.89  15.64 = 2172.41 m … Ans.
 The bomb will strike the ground when t = 15.64 at a horizontal distance of 2172.41
m after it is released from the plane.
Ex. 8.10: A projectile is fired with an initial velocity of 240 m/s at a target ‘B’ located
600m above the gun and at a horizontal distance of 3600m. Neglecting air resistance
determine the value of the firing angle .
Soln.:
Initial velocity, u = 240 m/s.
Angle of elevation,  =?

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 DEPARTMENT OF BASIC SCIENCES AND ENGINEERING (F. Y. B. TECH.), PICT, PUNE

Horizontal displacement, x = 3600 m.

Vertical displacement, y = 600 m
gx2
Using projectile equation y = x tan –
2u2cos2
9.81 (3600)2
600 = 3600 tan –
2 (240)2 cos2
 1
600 = 3600 tan  – 1103.625 sec2  = sec 2
cos2 

600 = 3600 tan  – 1103.625 (1 + tan2) (sec2 = 1 + tan2)

600 = 3600 tan  – 1103.625 – 1103.625 tan2 
 1103.625 tan2 – 3600 tan + 1703.625 = 0
tan2 – 3.26 tan  + 1.54 = 0
Solving for tan , tan = 2.683 or 0.5735
 = 69.57 or 29.83
Value of the firing angle is  =69.57 or 29.83 … Ans.
Ex. 8.11: A Projectile is launched with a speed of V0 = 25 m/s at an angle of  = 30
with horizontal as shown in figure. Determine the maximum distance travelled by
projectile along horizontal and vertical direction.

Soln.:
u = initial velocity = 0 = 25 m/s
 = angle of projection =  = 30
u2 252
Range, R = g sin 2 = 9.81 sin 60 = 55.17m
For projectile on horizontal plane,
 Maximum distance travelled by the projectile in horizontal direction, R = 55.17 m
… Ans.
u2sin2 252sin230
Maximum vertical range is given by, H = 2g = =7.96 m
2  9.81
 Maximum distance travelled by the projectile in vertical direction, H = 7.96 m
… Ans.
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Ex. 8.12: A jet of water, discharged from a nozzle hits a screen 6m away at a height of
4m above the center of the nozzle. When the screen is moved 4m further away, the jet
hits it again at the same point. Assuming the curve described by the jet to be parabolic,
find the angle at which the jet is projected.
Soln.:

The jet of water will have projectile motion as it follows parabolic path.
Let ‘u’ be the initial velocity of the jet and ‘’ be the angle of projection.
Considering motion of jet from A →C,
x = 6m and y = 4m
gx2
Using projectile equation, y = x tan  – 2 2
2u cos 
9.81 (6)2
4 = 6 tan  –
2u2cos2
176.58
4 = 6 tan  – 2 2 … (1)
u cos 
Considering motion of jet from A → C'
x = 6 + 4 = 10m
y = 4m
Again, using projectile equation.
9.81 (10)2
4 = 10tan  – 2
2u cos2
490.5
4 = 10tan  – 2 2 … (2)
u cos 
Solving Eqn (1) and Eqn (2)
176.58 490.5
6 tan  – 2 2 = 10 tan  – 2 2
u cos  u cos 
313.92
= 4 tan 
u2cos2

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 DEPARTMENT OF BASIC SCIENCES AND ENGINEERING (F. Y. B. TECH.), PICT, PUNE

1  4 
=   tan 
u2cos2 313.92
putting in Eqn (2)
 4 
4 = 10 tan  – 490.5313.92 tan 
 
4 = 10tan  – 6.25 tan 
 3.756 tan = 4
tan  = 1.065
 =46.85
 Angle of elevation of jet,  = 46.85… Ans.

Ex. 8.13: A shot is fired at 50 elevation with velocity 100 m/s. Determine the horizontal
range, vertical range and radii of curvature at the starting point and at the highest point.
Soln.:
Given Initial velocity, u = 100 m/s. Angle of elevation,  = 50. Let ‘C’ be the
highest point reacted by the projectile.

u2 1002
Horizontal range is given by R = g sin 2 = 9.81 sin (100) = 1003.88 m …Ans.

u2sin2 1002 sin 250

Vertical range is given by H = 2g = 2  9.81 = 299.09 m …Ans.

To determine radii of curvature

At point A is, starting point, resolving ‘a’ into components along and perpendicular
directions of velocity,

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an = a cos  = g cos =9.81 cos 50

u2
but an =
A

1002
 9.81cos50 =
A
 Radius of curvature at point A, A = 1585.85m … Ans.
At the highest point C, an = a = g.
2
but an =
c
At the highest point,  = x = 100 cos 50 (∵y is zero)
(100cos50)2 (100cos50)2
g =  c = 9.81
c
 Radius of curvature at the highest point C, c = 421.18 m… Ans.
Note: ‘’ is minimum at the highest point.
Ex. 8.14: A model rocket is launched form point. A with an initial velocity 0 = 86 m/s.
If the rocket lands 104 m, from A, determine
(a)the angle  that 0forms with vertical,
(b)the maximum height reached by the rocket,
(c)the duration of the flight. Refer figure.

Soln.:
Point of projection ‘A’ and target point ‘B’ are on the same horizontal plane.
Let ‘’ be the angle of projection

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u2
(i) Range on horizontal plane is given by, R = g sin2

862
 104 = 9.81 sin2
 sin2 = 0.138
2 = 7.928
 =3.964
For a given initial velocity ‘u’ and range ‘R’, there will be two angles of projection.
(i)  = 3.964 and
(ii) 90 –  = 83.036

 To reach maximum height at ‘C’, the angle of elevation should be,  = 86.036.
 The angle ‘’ with vertical =90 – 
 = 90 – 86.036= 3.964 … Ans.
(ii) To find maximum height reached by the rocket,
u2sin2 862sin286.036
maximum vertical range, H = 2g = = 375.16m … Ans.
2  9.81
2usin 2 (86) sin86.036
(iii)Duration or time of flight is given by t = g = 9.81 = 17.49 sec.
… Ans.
Ex. 8.15: The tennis player serves the ball from height ‘H’ with an initial velocity of 40
m/s at an angle of 4 with the horizontal as shown in figure. Knowing that the ball clears
the 0.941 m net height by 152 mm, determine
(a) the height ‘H’
(b) the distance from the net ‘d’ where the ball will strike the floor.

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 DEPARTMENT OF BASIC SCIENCES AND ENGINEERING (F. Y. B. TECH.), PICT, PUNE

Soln.:

Considering motion of ball from A → C.

Initial velocity, u = 40 m/s
Angle of projection,  = – 4(below horizontal)
Horizontal displacement, x = 12.2 m
Vertical displacement, y = – (H – 0.914 – 0.152) = – (H – 1.066) (downward
displacement)
gx2
Using projectile equation, y = x tan –
2u2 cos2
9.81(12.2)2
– (H – 1.066) = 12.2 tan (–4) –
2 (40)2 (cos2 (–4))
–H + 1.066 = –0.853 – 0.4585
H = 2.3775 m…Ans.
To find distance d,
Consider vertical motion of ball from A →B
Vertical component of initial velocity, uy = – u sin  = –40 sin 4
= – 2.79 m/s (downwards)
Vertical displacement, y = –H = –2.3775 m (downward displacement)
Acceleration, a = –g (under gravity)
1
Using equation, y = ut + 2at2
1
– 2.3775 = –2.79  t – 2 9.81  t2

 4.905 t2 + 2.79t – 2.3775 = 0

Solving for t, t = = 0.467 s
Now, considering horizontal motion of ball from A →B
Horizontal motion is uniform motion. Hence, a = 0
Horizontal component of velocity, ux = u cos  =40 cos 4 = 39.9 m/s
Horizontal displacement, x = (12.2 + d)
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 DEPARTMENT OF BASIC SCIENCES AND ENGINEERING (F. Y. B. TECH.), PICT, PUNE

 Horizontal displacement, = ux t

(12.2 + d) = 39.9  0.467
 d= 6.433 m …Ans.
Ex. 8.16: Measurements of a shot recorded on a videotape during a basketball are shown
in figure. The ball passed through the loop C after just clearing the hands of player B
who tried to block it. Neglecting the size of the ball, determine the magnitude V A of its
initial velocity and the height h of the ball when it passes over player B.

Soln.: Considering motion of ball from A →C

Initial velocity, u = vA
Angle of projection,  =30
Horizontal displacement, x=7.5 + 1.5 = 9 m
Vertical displacement, y =3 – 2 = 1 m
gx2
Using projectile equation, y = x tan  –
2u2 cos2
9.81  92
1 =9 tan 30 –
2vA2 cos2 30
529.74
1= 5.196 –
vA2
529.74
= 5.196 – 1 = 4.196
vA2

 vA2 = 126.25
vA = 11.236 m/s…Ans.
 Magnitude of initial velocity, vA = 11.236 m/s

Now, considering motion of ball from A →B

Initial velocity, u = vA = 11.236 m/s
Angle of projection,  = 30
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 DEPARTMENT OF BASIC SCIENCES AND ENGINEERING (F. Y. B. TECH.), PICT, PUNE

Horizontal displacement, x = 7.5 m

Vertical displacement, y = (h – 2) m
gx2
Again, using projectile equation, y = x tan  –
2u2 cos2
9.81  7.52
h – 2 = 7.5 tan 30 –
2  11.2362 cos2 30
h – 2 = 4.33 – 2.91
 h = 3.42 m …Ans.
The height ‘h’ of the ball when it passes player B is, h = 3.42 m
Type 2: Projectile on Inclined Plane
Ex. 8.17: A ball is projected from point A with a velocity Va= 10 m/s which is
perpendicular to the incline as shown in figure. Determine the range ‘R’ when ‘’ =
30. Solve from fundamentals. If any formula is used for the direct solution; derive the
same.

Soln.: From fundamentals

Considering horizontal motion of ball from A →B

Horizontal component of initial velocity, ux = 10 cos 60 = 5 m/s.
Acceleration, a = 0 (∵ uniform motion)
Horizontal displacement, x = R cos 30 = 0.866 R
Displacement= Velocity  time

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 DEPARTMENT OF BASIC SCIENCES AND ENGINEERING (F. Y. B. TECH.), PICT, PUNE

 0.866 R =5  t
 time of travel, t = 0.1732R … (1)
Now, considering vertical motion of ball from A →B
Vertical component of initial velocity, uy = 10 sin 60 = 8.66 m/s
Acceleration, a = –g (∵ under gravity)
Time of travel, t = 0.1732 R … from (1)
Vertical displacement, y = – R sin 30 = – 0.5 R (∵ downward displacement)
1
Using Eqn, y = ut + 2 at2
1
–0.5 R = 8.66(0.1732R) – 2 9.81  (0.1732R)2

–0.5 R = 1.5 R – 0.147 R2

 0.147 R2 = 1.5R + 0.5 R
0.147 R2 = 2 R
 Range, R = 13.605 m …Ans.
OR
We can use direct formula for range on inclined plane,
2u2
R= sin( – )  cos 
g cos2
Here, u = 10 m/s
 = 60
 = –30(∵ sloping downwards)
2  102
R =  sin (60 + 30)  cos 60 = 27.183  sin 90 cos 60
9.81  cos2(–30)
= 13.6 m …Ans.
Ex. 8.18: A projectile is fired with speed 150 m/s from a gun elevated at angle 60 with
plane AB as shown in figure. Determine the point where it strikes the plane AB whose
equation is y = 0.176x.

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 DEPARTMENT OF BASIC SCIENCES AND ENGINEERING (F. Y. B. TECH.), PICT, PUNE

Soln.:

It is a projectile on an inclined plane.

Considering motion of projectile from A →B
Initial velocity, u = 150 m/s
Angle of projection,  =50w.r.t. horizontal
Angle of inclination of plane,  = –10 (Slopping downwards)
Let ‘R’ be the range on inclined plane AB.
Using projectile equation for range on inclined plane,
2u2 2 (150)2
R = sin ( – )  cos  = sin (50 + 10)  cos (50)
g cos2 9.81  cos2 (–10)
= 4729.78 sin 60 cos 50 = 2632.93 m …Ans.
 x = R cos  = 2632.93 cos 10 = 2592.92 m (→)
y = R sin  = 2632.93 sin 10 = 457.20 m ()
 The point where the projectile strikes the plane AB w.r.t. A is (2592.92, –
457.20) …Ans.

Ex. 8.19: A building 12m high is situated at the top of a sloping ground which makes an
angle of 25 with the horizontal and which slopes downwards from the foot of the
building. A projectile is fired from the top of this building with a velocity of 60 m/sec at
an angle of projection of 40. Find when and where it will strike the ground.
Soln.:

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 DEPARTMENT OF BASIC SCIENCES AND ENGINEERING (F. Y. B. TECH.), PICT, PUNE

Considering motion of projectile from A →B

Initial velocity, u = 60m/s.
Angle of projection,  = 40
Horizontal displacement, x =R cos 25
Vertical displacement, y =– (12 + R sin 25) (∵ downwards)
Using projectile Eqn,
gx2
y = x tan  –
2u2cos2
9.81  R2 cos225
– (12 + R sin 25) = Rcos25tan40 –
2  602 cos240
8.0578R2
– (12 + 0.423R) = 0.76R – 4225.13

– 12 – 0.423R = 0.76R – 1.907  10– 3 R2

 1.907 R2 – 1183R – 12000 = 0
Solving for R, R = 630.33 m … Ans.
Considering horizontal motion of projectile, from A →B
Horizontal component of initial velocity, ux = u cos  = 60 cos 40 = 45.96 m/s
Horizontal displacement, x=R cos 25 = 630.33 cos 25 = 571.27 m
Horizontal motion is uniform motion. (a = 0)
 Displacement = velocity  time.
571.27 = 45.96  t
 t = 12.43 s … Ans.
 The projectile will strike the slopping ground at a distance R = 630.33 m from the
foot of the building when, t = 12.43 s.
Ex. 8.20: A hand ball player throws a ball from ‘A’ horizontally with a velocity ‘u’ m/s.
Determine the range of values of velocity for which the ball will strike the corner region
BCD as shown in figure.

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 DEPARTMENT OF BASIC SCIENCES AND ENGINEERING (F. Y. B. TECH.), PICT, PUNE

Soln.:
Step 1: Considering motion of ball from (A) → (B)
u =?
 = 0 (∵ velocity is horizontal)
x = 14.7 m
y =– 1 m (∵ downward displacement)

Using projectile equation

gx2
y = x tank  – 2
2u cos2
9.81(14.7)2
– 1 = 14.7 tan (0) – 2
2u cos2 ()
1059.92
–1=0–
u2
 u = 32.56 m/s
Step2: Considering motion of ball form (A) → (D)
u =?
 = 0 (∵ Velocity is horizontal)
x = 15 m
y = – 0.7 m (∵ downward displacement)
Using projectile equation
gx2
y = x tan  – 2
2u cos2
9.81(15)2
– 0.7 = 15 tan (0) – 2
2u cos2 (0)
1103.625
– 0.7 = –
u2
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 DEPARTMENT OF BASIC SCIENCES AND ENGINEERING (F. Y. B. TECH.), PICT, PUNE

 u = 39.70 m/s
 Range of values of velocity for which the ball will strike the corner region BCD are:
32.56  u 39.70 m/s …Ans.
Ex. 8.21: A ball is thrown by a player from 5 m above ground level, clears the 25 m high
wall placed 100 m ahead of player. If the angle of projection of the ball is 60°, determine
the velocity of projection of the ball.
Soln.: Step 1: Diagram

Step 2: Considering motion of ball from A → B

g x2
y = x tan  –
2u2 cos2
9.81  1002
20 = 100 tan 60 –
2u2 cos2 600
u =35.785 m/s…Ans.
Ex. 18.22: A golfer hits the golf ball from point A with an initial velocity of 50 m/s at an
angle of 25° with the horizontal shown in figure. Determine the horizontal distance AB
and maximum height it attain.

Soln :
Step 1: Horizontal distance, AB
u2 502
Using, R = g sin 2 = 9.81 sin 50

 R =195.22 m…Ans.
Step 2: Maximum height

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u2 sin2 502 sin2 25

Using, H = 2g =
2  9.81
 H =22.76 m…Ans.
Ex. 8.23; A projectile fired from the edge of a 150 m high cliff with an initial velocity of
180 m/s at an angle of elevation of 30 with the horizontal. Neglecting air resistance
find
i)The greatest elevation above the ground reached by the projectile
ii)Horizontal distance from the gun to the point, where the projectile strikes the ground.

Soln.:

Considering vertical motion of projectile from A → C

2 = u2 + 2ay
0 = (180 sin 30)2 – 2 (9.81) h
h = 412.84 m
From the ground, Hmax = 150 + h
Hmax = 562.84 m…Ans.
Considering motion of projectile from A → B,
gx2
y = x tan  – 2
2u cos2 
9.81R2
– 150 = R tan 30 –
2(180)2 cos2 30
– 150 = 0.577 R – 0.0002 R2
0.0002 R2 – 0.577 R – 150 = 0
Solving this equation for R
R =3125 m… Ans.

………□□□□□□□□□□
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CHAPTER 9: APPLICATION OF NEWTON’S SECOND LAW OF MOTION /

D’ALEMBERT’S PRINCIPLE
9.1 Momentum
Momentum is defined as “the quantity of motion” possessed by the body.
Momentum = Mass  Velocity = mv
S.I. unit: kgm/s

9.2 Static Equilibrium

If a force system is acting on the body and the resultant of the system is zero, then the body
is completely at rest with respect to inertial frame of reference and the body is said to be
in static equilibrium.
Equilibrium of a body when it is at rest is known as “Static equilibrium”.
When the body is in static equilibrium its velocity (v) and acceleration (a) are zero.
9.3 Dynamic Equilibrium

This is the equilibrium of a body when it is in motion. When the body is in dynamic
equilibrium,
v  0 (but it is constant)
a =0
Illustration
Consider a body moving in a straight path with constant velocity. As the velocity is
constant, its acceleration is zero. (a = dv/dt = 0)

Body is moving with constant velocity

But as per Newton’s second law of motion, the unbalanced external force i.e. resultant
force, F = ma
F = ma = 0 (since, a = 0)
When the resultant force is zero, the body is said to be in equilibrium. But it is moving
with velocity ‘v’. Hence this is the condition of “dynamic equilibrium”.
9.4 Newton’s Second Law of Motion
It states that the rate of change of momentum is directly proportional to the force.
d
dt (mv)  F
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dv
m  dt  = K.F
 
Where, K is the proportionality constant
 dv
Ma = K.F a = dt 
 
The force required for a body of mass, m = 1 kg to move with an acceleration, a = 1 m/s2
is F = 1N
 K =1
Hence F =ma

9.5 D’ Alembert’s Principle

D’ Alembert’s principle states that “any moving body can be brought in dynamic
equilibrium by imposing an imaginary force whose magnitude = ma in the direction
opposite to the direction of acceleration.”
Illustration
Let a body of mass ‘m’ is acted up on by a system of forces as shown in figure. F be the
resultant of the force system. As per Newton’s seconds law of motion, the body moves
with acceleration ‘a’ in the direction of resultant.

On this body if an imaginary force of magnitude ‘ma’ is applied in the opposite direction
of acceleration ‘a’, then the resultant of the system = F – ma = ma – ma = 0 (as per
Newton’s second law, F = ma)
As the resultant of the force system acting on the body after applying imaginary force ma
is zero, the body said to be in equilibrium, but it is moving which is the case of dynamic
equilibrium.
OR
As per Newton’s second law of motion,
F = ma
F – ma = 0
F + (– ma) = 0

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If ‘– ma’ is considered as force, the net resultant of the system is zero. So, the system can
be considered in dynamic equilibrium and equations of equilibrium can be applied.
9.6 D’ Alembert’s Force
(i) This force is imposed on the given system of forces acting on the body to create
an imaginary situation of dynamic equilibrium.
(ii) Magnitude of this forces is ma
(iii) Direction of D’ Alembert’s force is opposite to the direction of acceleration
(not in the direction opposite to the motion of the body)
(iv) This force is also called inertia force.
(v) If a body is moving along the curved path, two of D’Alembert’s forces are
required to be applied to bring the body in dynamic equilibrium.

 = Radius of curvature of the path of the particle

dv
If body moves with constant velocity, then at = dt = 0 (∵ v = constant)

v2
If body starts from rest, v = o then, an = = 0


SOLVED EXAMPLES

Type 1: Based on Linear Motion

Ex. 9.1: An 80 kg block rests on a rough horizontal plane as shown in figure. Find the
magnitude of the force ‘P’ required to give an acceleration of 2.5 m/s2 to the right. Take
coefficient of kinetic friction as 0.25.

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Soln.:
Given Mass of the block, m = 80 kg
Acceleration of the block, a = 2.5 m/s2
Coefficient of kinetic friction, k = 0.25
To find: Magnitude of force ‘p’ =?
Free body diagram (FBD) of the block.

As the block is moving towards right with an acceleration,

a = 2.5 m/s2, to bring the block in dynamic equilibrium, apply D’ Alembert’s force (ma)
in the opposite direction of acceleration.
Writing equations of equilibrium
Fy = 0
– P sin 30 – mg + NR = 0
 NR = P sin 30 + mg = 0.5 P + (80  9.81) = (0.5 P + 784.8)
Fx = 0
P cos 30 – ma – k NR = 0
 P cos 30 – 80  2.5 – 0.25 [0.5 P + 784.8] = 0
0.866 P – 200 – 0.125 P – 196.2 = 0
 0.741 P = 396.2
 P = 534.68 N …Ans.
Ex. 9.2: The 10 kg block is subjected to the force shown in figure. Determine its velocity
when t = 2s if v = 0 when t = 0

Soln.:
Let the block be moving with an acceleration ‘a’ in the direction of force applied.

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To bring the block in dynamic equilibrium, apply D’ Alembert’s force ‘ma’ in the
opposite direction of ‘a’.
FBD of the block

For dynamic equilibrium,

Fx = 0
F – ma = 0
F = ma
20t = 10a (∵ F = 20 t)
 a = 2t
dv
dt = 2t
dv = 2t  dt
Integrating and using the limits,
When t = 0, v = 0
When t = 2s, v = ?
v 2
 dv =  2t  dt
0 0
t22
[v]v0 = 2  2 
 0
22
v–0 =22
 
v = 4 m/s
 Velocity of the block when t = 2s is v = 4 m/s …Ans.
Ex. 9.3: The system shown in figure is initially at rest. Neglecting axle friction and mass
of pulley, determine the acceleration of block ‘A’.

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Soln.:As there is no friction, the tension in the string remains same on both sides.
 T = 1000 N
Let the block move downwards with an acceleration ‘a’. To bring the block in dynamic
equilibrium, apply D’ Alembert’s force (ma) in the opposite direction of ‘a’.
FBD of the block ‘A’
T = 1000 N

a
mg

ma

For dynamic equilibrium

Fy = 0
T – mg + ma = 0
1000 – 200  9.81 + 200  a = 0
 a =4.81 m/s2
 Acceleration of block A, a = 4.81 m/s2 …Ans.
Ex. 9.4: A man of mass 100 kg stands on a spring weighing scale in a lift. When the lift
carries him upwards with a uniform acceleration ‘a’, the reading on the weighing scale
is found to be 1181 N. Determine the acceleration ‘a’ of the lift.
Soln.:
FBD of man

m = 100 kg
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a = acceleration of man (same as that of lift) 

ma = D’ Alembert’s force
NR = Normal reaction from the weighing scale = 1181 N
For dynamic equilibrium
 Fy = 0
– ma – mg + NR = 0
 NR = ma + mg
1181= 100  a + 100  9.81
 a = 2 m/s2
Acceleration of lift, a = 2 m/s2 …Ans.
Ex. 9.5: The conveyor belt is designed to transport packages of various weights shown
in figure. Each 10 kg package has a coefficient of kinetic friction k = 0.15. If the speed
of the conveyor belt is 5 m/s and then it suddenly stops, determine the distance the
package will slide on the belt before coming to rest.

Soln.:
When the conveyor belt stops, let the block sides to the left with an acceleration ‘a’.
To bring the block in dynamic equilibrium, apply D’ Alembert’s force (ma) in the opposite
direction of ‘a’.
FBD of the block

For dynamic equilibrium.

 Fy = 0
– mg + NR = 0
 NR = mg = 10  9.81 = 98.1 N
 Fx = 0
ma + k NR = 0

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10 a + 0.15  98.1 = 0
 a = – 1.4715 m/s2 (Block is having retardation)
For block
Initial velocity, u = 5 m/s (Same as that at conveyor belt)
Final velocity, v = 0 (Velocity before coming to rest)
Acceleration, a = – 1.4715 m/s2
Using Eqn; v2 = u2 + 2ax
0 = (5)2 + 2 (– 1.4715) x
 x = 8.497 ≅ 8.5 m
 The distance the block will slide on the belt before coming to rest, x = 8.5 m ...Ans.
Ex. 9.6: A 50 kg crate shown in the figure rests on a horizontal plane for which the
coefficient of kinetic friction is k = 0.3. If the crate does not tip over when it is subjected
to a 400 N towing force as shown, determine the velocity of the crate in 5s starting from
rest.

Soln.:
Let the crate be move with acceleration ‘a’ on a horizontal plane. To bring the crate in
dynamic equilibrium, apply D’ Alembert’s force (ma) in the opposite direction of ‘a’.
FBD of the crate

For dynamic equilibrium

Fy = 0
NR – mg= 0
 NR = mg = 50  9.81 = 490.5 N
Fx = 0
– ma – k NR + 400 cos 30 = 0
 ma = – k NR + 400 cos 30
50  a = – 0.3 (490.5) + 400 cos 30

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 a =3.985 m/s2
 Acceleration of the crate, a = 3.985 m/s2.
For crate
Initial velocity, u = 0, (∵ at rest)
Time, t = 5s
acceleration, a = 3.985 m/s2
Final velocity, v=?
Using equation, v = u + at = 0 + 3.985  5 = 19.925 m/s
 Velocity of the crate in 5 seconds starting form rest, v = 19.925 m/s …Ans.
Ex. 9.7: Block B rests on smooth surface. If the coefficient of static and kinetic friction
between A and B are S= 0.4 and k = 0.3 respectively, determine the acceleration of
each block if block ‘A’ is pushed with a force F
(a) 30 N (b) 250 N

Soln.:
FBD of block ‘A’
Let ‘P’ be the minimum force required to move the block ‘A’ on block ‘B’.
For limiting equilibrium,

Fy = 0
NB = 100 N
Fx = 0
P – S NB = 0
 P = S NB = 0.4 (100) = 40 N
Case 1: When F = 30 N
As F = 30 N < P 40 N,
Block ‘A’ will not move on ‘B’ and both the blocks will move together.
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FBD of A and B together

(100 + 150)  250 

m = = 9.81 kg
9.81  
a = acceleration of blocks
ma = D’ Alembert’s force
No friction between block B and the surface.
For dynamic equilibrium
Fx = 0
30 – ma = 0
 250 
30 – 9.81 a = 0
 
 a =1.177 m/s2 …Ans.
Case 2: When F = 250 N
Block A moves on block B.
FBD of block ‘A’:

mg = 100 N
 100 
m = 9.81 = 10.19 kg
 
aA = Acceleration of block ‘A’
maA = D’ Alembert’s force
NB = Normal reaction from B
k = 0.3

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For dynamic equilibrium

Fy = 0
– mg + NB = 0
 NB = mg = 100 N
Fx = 0
250 – k NB – maA = 0
250 – 0.3 (100) – 10.19 aA = 0
 aA= 21.59 m/s2 …Ans.
FBD of block ‘B’:

For dynamic equilibrium

 Fx = 0
+ k NA – maB= 0
 150 
m = 9.81 = 15.29 kg
 
 + 0.3  100 – 15.29 aB = 0
 aB = 1.962 m/s2 …Ans.
Ex. 18.7.8: The 50 kg crate moves along the floor with an initial speed of 7 m/s at x = 0.
The coefficient of kinematic friction is 0.40. Calculate time required for the crate to
come to rest and corresponding distance ‘x’ travelled.

Soln.:
Let the create be moving with an acceleration ‘a’.

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FBD of the crate:

m = 50 kg
k = 0.40
ma = D’ Alembert’s force
For dynamic equilibrium
 Fy = 0
NR – mg = 0
 NR = mg = 50  9.81 = 490.5 N
 Fx = 0
– ma –  NR = 0
– 50  a – 0.40(490.5) = 0
 a = – 3.924 m/s2
 Crate is having retardation of a = 3.924 m/s2
For the crate
Initial velocity, u = 7 m/s
Final velocity, v= 0 (comes to rest)
Acceleration, a= – 3.924 m/s2
Using, v = u + at
0 = 7 – 3.924  t
 t = 1.78s
Using, v2 = a2 + 2ax
0 = 72 – 2  3.924  x
 x = 6.24 m
 Time required for the crate to come out to rest, t = 1.78s …Ans.
and the corresponding distance travelled, x = 6.24 m …Ans.
Ex. 9.9: A crate having a mass of 60 kg fall horizontally off the back of a truck which is
travelling at 80 km/h. Determine the coefficient of kinetic friction between the road and
the crate if the crate slides 45m on the ground with no tumbling along the road before
coming to rest. Assume that the initial velocity of the crate along the road is 80 km/h.
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Soln.:
For the crate
80  5
Initial velocity, u =80 kmph = 18 = 22.22 m/s
Final velocity, v = 0 (∵ coming to rest)
Distance travelled, x = 45m
Using the equation v2 = u2 + 2ax
0 =(22.22)2 + 2a  45
 a = – 5.48 m/s2 Crate is having retardation.
FBD of the crate

m = 60 kg
ma = D’ Alembert’s force (in the opposite direction of a)
a = acceleration of crate (in the opposite direction of motion)
For dynamic equilibrium
 Fy = 0
NR – mg = 0
NR = mg = 60  9.81 = 588.6 N
 Fx = 0
– ma + k NR = 0
– 60 (5.48) + k (588.6) = 0  k = 0.558
 Coefficient of kinetic friction between the crate and the road, k = 0.558 …Ans.

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Ex. 9.10: An 80 kg block rests on a rough horizontal plane as shown in figure. Find the
magnitude of the force ‘P’ required to give an acceleration of 2 m/s 2 to the right. Take
coefficient of kinetic friction as 0.20.

Soln.:
Step 1: FBD of the block
W = 80  9.81 = 784.8 N
m = 80 kg
k = 0.2
NR = Normal reaction
a= 2 m/s2

Step 2: Dynamic equilibrium

For dynamic equilibrium, apply D’Alembert’s force ‘ma’ in the opposite direction of
acceleration.
Step 3: Equilibrium equations
For dynamic equilibrium
Fy = 0
– P sin 30 – W + NR = 0
 NR = P sin 30 + W = 0.5P + 784.8 … (1)
Fx = 0
P cos 30 – ma – k NR = 0
0.866P – 80(2) – 0.2 (0.5P + 784.8) = 0
0.866P – 160 – 0.1P – 156.96 = 0
0.766P = 316.96
 P = 413.78 N… Ans.
Ex. 9.11: The conveyor belt is designed to transport packages of various weights. Each
10 kg package has a coefficient of kinetic friction k = 0.15. If the speed of the conveyor
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is 5 m/s and then it suddenly stops, determine the distance the package will slide on the
belt before coming to rest. Refer figure.

Soln.:
Step 1: FBD of package

Step 2: Newton’s second law of motion

 Fx = ma
kNR = – ma
0.15  m  9.81 = – ma
 a = –1.4715 m/s2
Step 3: Using equation
v2 = u2 + 2ax
0 =52 – 2  1.4715  x
 x = 8.49 m …Ans.
Ex. 9.12: Block A has a weight of 40 N and block B has a weight of 30 N. They rest on
a surface for which the coefficient of kinetic friction is k = 0.2. If the spring has a
stiffness of k = 300 N/m, and is compressed 0.05 m, determine the acceleration of each
block just after they are released.

Soln.:
Step 1: Spring force
F = kx = 300 x 0.05 = 15 N
Step 2: FBD of block ‘A’

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Newton’s second law,

 Fx = maA
 40 
–15 + 0.2  40 = 9.81 aA
 
 aA = –1.716 m/s2
aA = 1.716 m/s2 …Ans.
Step 3: FBD of block ‘B’

Newton’s second law,  Fx = maB

 30 
15 – 0.2  30 = 9.81 aB
 
aB =2.943 m/s2 → …Ans.

Type 2: Based on Curvilinear Motion

Ex. 9.13: If the 10 kg ball has velocity of 3 m/s when it is at the position ‘A’ as shown in
Fig. P. 18.7.14(a) along the vertical path, determine tension in the cord and the
tangential component of acceleration of ball at this position.

Soln.:
Step 1: FBD of ball at the position shown

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Let, T = Tension in the cord

at = Tangential component of acceleration
an = Normal component of acceleration
m = 10 kg
v = 3 m/s
Step 2: Dynamic equilibrium
To bring the ball in dynamic equilibrium; applying D’Alembert’s forces ma t and man in
the opposite direction of at and an.
Step 3: Equilibrium equations
For dynamic equilibrium
Taking x and y axes in tangential and normal directions
 Fx = 0
mat – mg cos 30 = 0
 at = g cos 30 = 9.8 cos 30 = 8.5 m/s2 … Ans.
 Fy = 0
T – mg sin 30 – man= 0
mv2 ∵ v = 3 m/s
T = mg sin 30 +  
  =2m 
10  32
=10  9.81 sin 30 + 2 = 94.05 N … Ans.

Ex. 19.14: A bob of 1m pendulum describes an arc of a circle in vertical plane. When
the angle of the cord is 30 with the vertical, the tension in the cord is two-times the
weight of the bob. Find the velocity and acceleration of the bob in this position.
Soln.:
Step 1: Position of bob

Step 2: FBD of bob

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Let T =Tension in the cord = 2 mg

mg =Weight of the bob
at and an =Tangential and normal components of acceleration
of bob.
Step 3: Dynamic equilibrium
To bring the bob in dynamic equilibrium, apply D’Alembert’s forces mat and man in the
opposite direction of at and an.
Step 4: Equilibrium equations
Taking x and y axes in the tangential and normal directions.
For dynamic equilibrium
 Fx = 0
– mat + mg sin 30 = 0
 at = g sin 30 = 9.81 sin 30 = 4.905 m/s2
 Fy = 0
T – man – mg cos 30 = 0
2mg – man – mg cos 30 = 0 (∵ T = 2 mg)
 an =2g – g cos 30 = 2  9.81 – 9.81 cos 30= 11.12 m/s2
Step 5: Velocity and acceleration of the bob
v2
We know that an =

v2
11.12 = 1
 v = 3.33 m/s ... Ans.
at = 4.905 m/s2
an = 11.12 m/s2
2 2
 a= at + a n = 4.9052 + 11.122 = 12.15 m/s2 … Ans.

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Ex. 9.15: The small ball of mass m and its supporting wire becomes a simple pendulum
when the horizontal cord is served. Determine the ratio of the tension T in the supporting
wire immediately after the cord is cut to that in the wire before the cord is cut.

Soln.:
Step 1: Before the cord is cut
The ball is in static equilibrium. LetT1 be the tension in the wire and T be the tension in
the cord.
Step 2: FBD of ball

Step 3: Equilibrium equations

For static equilibrium
 Fy = 0
T1 cos  – mg = 0
T1 cos  = mg
mg
 T1 = … (1)
cos 
Step 4: Immediately after the cord is cut
Ball is in motion.
Tension in the cord, T = 0
Tension in the wire = T2
Ball will have tangential and normal components of acceleration as it tends to move in a
circular path.
But immediately the cord is cut, the velocity of ball, v = 0
v2
 an = =0

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Step 5: Dynamic equilibrium

To bring the ball in dynamic equilibrium, applying D’Alembert’s force mat in the opposite
direction of at.
Step 6: FBD of ball

Step 7: Equilibrium equations

For dynamic equilibrium, taking x-axis in tangential and y-axis in normal directions :
 Fy = 0
T2 – mg cos  = 0
 T2 = mg cos  … (2)
T2
Step 8: Ratio  

T
 1
T2 mg cos 
T1 =  mg  = cos 
2 … Ans.
 
cos 

Ex. 9.16: The bob of a 2m pendulum describes an arc of a circle in a vertical plane. If
the tension in the cord is 2.5 times the weight of the bob for the position shown in
figure, find velocity and acceleration of the bob in that position.

Soln.:
Step 1: FBD of the bob
T = 2.5 mg
at and an = tangential and normal components of acceleration

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Step 2: Dynamic equilibrium

To bring the bob in dynamic equilibrium, applying D’Alembert’s forces ma t and man
opposite to at and an.
Step 3: Equilibrium equations
For dynamic equilibrium, taking x and y axes in tangential and normal directions
 Fx = 0
mat – mg sin 30 = 0
at = g sin 30 = 9.81 sin 30 = 4.905 m/s2 … Ans.
 Fy = 0
T – mg cos 30 – man = 0
T = mg cos 30 + man
 2.5 mg = mg cos 30 + man [∵ T = 2.5 mg]
 2.5 g = g cos 30 + an
an = 2.5  9.81 – 9.81 cos 30
an = 16.03 m/s2
Step 4: Velocity (v) and Acceleration (a)
v2
We know that an =

v2
16.03 = 2 (∵  = 2m)
 v = 5.66 m/s… Ans.
2 2
Acceleration, a = at + an = 4.9052 + 16.032 = 16.76 m/s2 … Ans.

Ex. 9.17: A motor cyclist is moving in a spherical cage of 3.6 m radius in a circus show.
The mass of the motorcycle and the rider together is 240 kg. What shall be the minimum
speed with which the motor cyclist can pass through the highest point without losing the

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contact inside the cage? If he is moving with 36 kmph, what force is transmitted to the
cage?
Soln.:
Step 1: Given

Step 2: FBD of motor cyclist at the highest point

Step 3: Equilibrium equation

For dynamic equilibrium.
 Fy = 0
Man – NR – mg = 0
mv2
= NR + mg

(For ‘v’ to be minimum, NR = 0 which means that the motorcycle tends to lose contact
with the cage)
mv2
 = mg

v2 = g ·  = 9.81  3.6
 vmin = 5.94 m/s … Ans.
5
Step 4: If v = 36 kmph = 36  18 = 10 m/s,

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mv2
= NR + mg

mv2 240  102
 NR = – mg = – 240  9.81 = 4312.27 N … Ans.
 3.6
Ex. 9.18: A 70 kg pilot flies in a small plane which moves in a vertical loop of 150 m
radius as shown. Knowing that the pilot experiences weightlessness at A and has
apparent weight 2800 N at B, find the speed of plane at A and B.

Soln.:
Step 1: FBD of pilot at ‘A’

NA = Normal reaction from seat of plane

m = 70 kg
Pilot experiences weightlessness Apparent weight = 0.
 NA = 0
Let vA = Speed of plane at A
Step 2: Equilibrium equations
After applying D’Alembert’s forces mat and man
 Fy = 0
man – mg – NA = 0
2
mvA
= mg + NA (NA = 0)


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2
vA
=g

vA = g ·  = 9.81  150
vA = 38.36 m/s… Ans.
Note: Weight of pilot (mg) is balanced by the D’Alembert’s force man.  Pilot
experiences weightlessness.
Step 3: FBD of pilot at ‘B’

Let vB = Speed of plane at B

NB = Normal reaction from seat of plane
Step 4: Equilibrium equations
After applying D’Alembert’s forces, mat and man
 Fy = 0
NB – mg – man = 0
2
mvA
 NB = mg +

Given that the apparent weight of pilot i.e.,
NB = 2800 N
2
70  vB
2800 = 70  9.81 + 150
 vB = 67.29 m/s… Ans.

Ex. 9.19: A cylindrical bowl of 500 mm radius rotates about its vertical axis. Find
minimum angular speed in r.p.m. so that a small block placed on the wall of cylinder
does not fall. Assume  = 0.30 between the block and bowl.

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Soln.:
Step 1: When angular speed,  is minimum it remains constant.
  = constant
V=r·
 v = constant (∵ r = constant)
dv
Hence, at= dt = 0
Step 2: FBD of block:

NR= Normal reaction from wall of the cylinder

Step 3: Equilibrium equations
After applying D’Alembert’s force man,
 Fx = 0
– NR + man = 0
mv2
 NR = man = … (1)

 Fy = 0
s NR – mg = 0
s NR = mg
mv2
0.3  = mg
  

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0.3 v2
 0.5 = 9.81 (∵  = r = 0.5m)
 v = 4.04 m/s.
v
Angular speed,  = r (∵ v = r)
4.04
  = 0.5 = 8.087 rad/s

N = revolutions per minute (r.p.m)

2N
 = 60

2N
8.087 = 60

 N = 77.225 r.p.m … Ans.

Ex. 9.20: A man has a mass of 80 kg and sits 3m from the centre of the rotating platform.
Due to the rotation his speed is increased from rest by 0.4 m/s2. If the coefficient of static
friction between his clothes and the platform is s = 0.3, determine the time required to
cause him to slip. Refer figure.

Soln.:
Step 1: FBD of man

NR = Normal reaction from the platform

Because of rotation, the man tends to slip outwards.  Friction force will act inwards.
Step 2: Dynamic equilibrium
To bring the man in dynamic equilibrium; apply D’Alembert’s forces ma t and man in the
opposite direction of at and an.
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Step 3: Equilibrium equations

Referring FBD
 Fy = 0
NR – mg = 0
 NR = mg = 80  9.81 = 784.8 N
 Fx = 0
man – s NR = 0
v2 v2
80  3 = 0.3  784.8(an = and  = 3m)

 v = 2.97 m/s
Step 4: Time required to cause him to slip
For man, u = 0 (∵ starts from rest)
v = 2.97 m/s (Speed when he is about to slip)
Given a = 0.4 m/s2 (Speed is increased by 0.4 m/s2)
Using Eqn, v = u + at
2.97 = 0 + 0.4  t
 t = 7.425 s… Ans.
Ex. 9.21: If the crest of the hill has a radius curvature, r = 60 m, determine the maximum
constant speed at which the car can travel over it without leaving the surface of the road.
The car has a weight of 17.5 kN. Refer figure.

Soln.:
Step 1: Given W = 17.5 kN
W = mg
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17.5  103
 Mass, m = 9.81 = 1783.89 kg
Speed of the car = v
Radius of curvature at the crest,  = 60 m
Step 2: FBD of car at crest

NR =Normal reaction from the road surface

at and an =Tangential and normal components of acceleration
dv
at =  dt  = 0 (∵ v = constant)
 
Step 3: Dynamic equilibrium
Apply D’Alembert’s forces man in the opposite direction of an to bring the car in dynamic
equilibrium.
Step 4: Equilibrium equations
 Fy = 0
man + NR = mg
mv2
= mg – NR

For maximum ‘v’,NR = 0
The car tends to lose contact with the road surface.
mv2
= mg

v = g. = 9.81  60 = 24.26 m/s … Ans.
Ex. 9.22: The pendulum bob has a mass m, length 1 m and is released from rest as
shown in figure when  = 0°. Determine the tension in the cord as function of the angle
of descent . Neglect the size of bob.

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Soln.:
Step 1: Diagram

h
sin  = 1 h = sin 

Step 2: Using work – energy principle

From A → B
KEB– KEA =UA → B = UG
1 2
2 mv – 0 = mg sin 
v2 = 2g sin 
Step 3: Newton’s second law

 Fy = man
T – mg sin  = man
v2
T – mg sin  = m

m  2g sin 
T = mg sin  + 1
 T =mg sin …Ans.

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Ex. 9.23: The man has a mass of 80 kg and sits 3 m from the center of the rotating
platform. If the coefficient of static friction between the clothes and the platform is
s = 0.3 and tangential component of acceleration is 0.4 m/s2, determine the time
required to cause him to slip.
Soln.:
Step 1: FBD of man

Step 2: Newton’s second law

 Fx = man
SNR = man
v2
0.3 mg = m  3
 v =2.97 m/s…Ans.
Step 3: Using equation,
v = u + at  t
2.97 = 0 + 0.4 t
t =7.425 s …Ans.
Ex. 9.24: The bottle rests at a distance of 1 m from the center of the horizontal platform
as shown in figure. If the coefficient of static fraction between the bottle and the
platform is s = 0.3 determine the maximum speed that the bottle can attain before
slipping. Assume the angular motion of the platform is slowly increasing.

Soln.:
FBD of bottle

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 Fy = 0
NR = mg … (1)
Using Newton’s second law of motion in horizontal direction,
 Fx = man
0.3 NR = man
v2
0.3 mg = m

v2 = 0.3 (9.81) (1)
 v = 1.715 m/s…Ans.

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