Dr Magdalene Andrew Munot

Dept of Mechanical and Manufacturing Engineering,

Faculty of Engineering, UNIMAS

KNJ1023 Dynamics

Chapter 12-Kinematics of a
Particle
Dynamics, Fourteenth Edition in SI Units Copyright ©2017 by Pearson Education, Ltd.
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Dynamics, Fourteenth Edition in SI Units Copyright ©2017 by Pearson Education, Ltd.
R.C. Hibbeler All rights reserved.
 12.1 Introduction

12.1 Introduction
12.2 Rectilinear Kinematics: Continuous Motion
12.3 Rectilinear Kinematics: Erratic Motion – self study
12.4 General Curvilinear Motion
12.6 Motion of a Projectile
12.7 Curvilinear Motion: Normal and Tangential Components
12.9 Absolute Dependent Motion Analysis of Two Particles
12.10 Relative-Motion of Two Particles Using Translating Axes

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 12.1 Introduction

Mechanics: The study of how bodies

react to the forces acting on them.

Statics: The study of Dynamics:

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

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 12.1 Introduction

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

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 APPLICATIONS OF DYNAMICS

Activity 1: Eleap (Padlet)

Taking one of your hobbies as an example, explain how this

hobby is related to Dynamics. Take a photo of yourself
engaging in this hobby (your face must be clearly shown). Do
not take any photo from the internet.

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 12.2 RECTILINEAR KINEMATICS:
CONTINIOUS MOTION

A particle travels along a straight-line path

defined by the coordinate axis s.

The position of the particle at any instant,

relative to the origin, O, is defined by the
position vector r, or the scalar s. Scalar s
can be positive or negative. Typical units
for r and s are meters (m).

The displacement of the particle is

defined as its change in position.
Vector form:  r = r’ - r Scalar form:  s = s’ - s
The total distance traveled by the particle, sT, is a positive scalar
that represents the total length of the path over which the particle
travels.
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 VELOCITY

Velocity is a measure of the rate of change in the position of a particle.

It is a vector quantity (it has both magnitude and direction). The
magnitude of the velocity is called speed, with units of m/s.
The average velocity of a particle during a
time interval t is
vavg = r / t
The instantaneous velocity is the time-derivative of position.
v = dr / dt

Speed is the magnitude of velocity: v = ds / dt

Average speed is the total distance traveled divided by elapsed time:

(vsp)avg = sT / t
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 ACCELERATION

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

vector quantity. Typical units are m/s2.

The instantaneous acceleration is the time

derivative of velocity.

Vector form: a = dv / dt

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

Acceleration can be positive (speed

increasing) or negative (speed decreasing).

As the text shows, the derivative equations for velocity and

acceleration can be manipulated to get a ds = v dv

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 SUMMARY OF KINEMATIC RELATIONS:
RECTILINEAR MOTION

• Differentiate position to get velocity and acceleration.

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

• Integrate acceleration for velocity and position.

Velocity: Position:
v t v s s t

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

• Note that so and vo represent the initial position and

velocity of the particle at t = 0.

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 CONSTANT ACCELERATION
The three kinematic equations can be integrated for the special case
when acceleration is constant (a = ac) to obtain very useful equations.
A common example of constant acceleration is gravity; i.e., a body
freely falling toward earth. In this case, ac = g = 9.81 m/s2 downward.
These equations are:
v t

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

s t

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

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

vo so

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 EXAMPLE 1

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

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

Find: The position and acceleration of the particle

when t = 4 s.

Plan: Establish the positive coordinate, s, in the direction the

particle is traveling. Since the velocity is given as a
function of time, take a derivative of it to calculate the
acceleration. Conversely, integrate the velocity
function to calculate the position.

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 EXAMPLE (continued)

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

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

velocity using so = 0: s t

v = ds / dt  ds = v dt   ds =  (4 t – 3 t2) dt
 s – so = 2 t2 – t3 so o

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

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 EXAMPLE 2

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 EXAMPLE 2

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 EXAMPLE 2

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 EXAMPLE 3 – self study

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 EXAMPLE 3

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 EXAMPLE 3

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 EXERCISE - 12.2

Answers :
Q1: 12.30 = 15.8 m/s downward
Q2: 12.14 = 28.4 km
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 12.3 Self Study

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 12.3 RECTILINEAR KINEMATICS: ERRATIC
MOTION

Today’s Objectives:
Students will be able to:
1. Determine position, velocity, and acceleration of a particle using
graphs.

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 APPLICATIONS

In many experiments, a
velocity versus position (v-s)
profile is obtained.

If we have a v-s graph for the

tank truck, how can we
determine its acceleration at
position s = 1500 m?

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 APPLICATIONS (continued)

The velocity of a car is

recorded from a experiment.
The car starts from rest and
travels along a straight track.

If we know the v-t plot, how

can we determine the distance
the car traveled during the
time interval 0 < t < 30 s or
15 < t < 25 s?

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 ERRATIC MOTION (Section 12.3)

Graphing provides a good way to

handle complex motions that
would be difficult to describe
with formulas.
Graphs also provide a visual
description of motion and
reinforce the calculus concepts of
differentiation and integration as
used in dynamics.
The approach builds on the facts that slope and differentiation
are linked and that integration can be thought of as finding the
area under a curve.
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 S-T GRAPH

Plots of position versus time can

be used to find velocity versus
time curves. Finding the slope of
the line tangent to the motion curve
at any point is the velocity at that
point (or v = ds/dt).

Therefore, the v-t graph can be

constructed by finding the slope at
various points along the s-t graph.

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 V-T GRAPH

Plots of velocity versus time can be

used to find acceleration versus time
curves. Finding the slope of the line
tangent to the velocity curve at any
point is the acceleration at that point
(or a = dv/dt).
Therefore, the acceleration versus time
(or a-t) graph can be constructed by
finding the slope at various points
along the v-t graph.

Also, the distance moved

(displacement) of the particle is the
area under the v-t graph during time t.
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 A-T GRAPH

Given the acceleration versus

time or a-t curve, the change in
velocity (v) during a time
period is the area under the a-t
curve.

So we can construct a v-t graph

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

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 A-S GRAPH

A more complex case is presented by

the acceleration versus position or a-s
graph. The area under the a-s curve
represents the change in velocity
(recall  a ds =  v dv ).
s2
½ (v1² – vo²) =  a ds = area under the
s1
a-s graph
This equation can be solved for v1,
allowing you to solve for the velocity
at a point. By doing this repeatedly,
you can create a plot of velocity
versus distance.
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 V-S GRAPH

Another complex case is presented

by the velocity versus distance or
v-s graph. By reading the velocity v
at a point on the curve and
multiplying it by the slope of the
curve (dv/ds) at this same point,
we can obtain the acceleration at
that point. Recall the formula

a = v (dv/ds).

Thus, we can obtain an a-s plot

from the v-s curve.

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 EXAMPLE 1

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

What is your plan of attack for the problem?

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 EXAMPLE 1 (continued)

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

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

when 0 < t < 5 s; a0-5 = dv/dt = d(30t)/dt = 30 m/s2

when 5 < t < 15 s; a5-15 = dv/dt = d(-15t+225)/dt = -15 m/s2

a(m/s2)
a-t graph

30
5 15 t(s)
-15

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 EXAMPLE 1 (continued)

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

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

0

=  v dt = [(-15) (1/2) t
t
when 5 < t < 15 s; s − 15 (52) 2+ 225 t]
5
s = - 7.5 t 2 + 225 t − 562.5 m
s(m) s-t graph
1125

-7.5 t2 + 225 t − 562.5

375
15t2 t(s)
5 15
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 EXAMPLE 2

Given: The v-t graph shown.

Find: The a-t graph, average

speed, and distance
traveled for the 0 - 80 s
interval.

Plan: Find slopes of the v-t curve and draw the a-t graph.
Find the area under the curve. It is the distance traveled.
Finally, calculate average speed (using basic definitions!).

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 EXAMPLE 2 (continued)

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

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

a-t graph
a(m/s²)

40 80
0
-0.25 t(s)

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 EXAMPLE 2 (continued)
Now find the distance traveled:

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

s40-80 =  v dt
=  (20 − 0.25 t) dt
2 80
= [ 20 t -0.25 (1/2) t ]40 = 200 m

s0-80 = 400 + 200 = 600 m

v = 10
vavg(0-90) = total distance / time
= 600 / 80
= 7.5 m/s
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 EXAMPLE 3

Given: The v-t graph shown.

Find: The a-t graph and

distance traveled for
the 0 - 15 s interval.

Plan: Find slopes of the v-t curve and draw the a-t graph.
Find the area under the curve. It is the distance traveled.

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 Example 3
Solution:
Find the a–t graph:
For 0 ≤ t ≤ 4 a = dv/dt = 1.25 m/s²
For 4 ≤ t ≤ 10 a = dv/dt = 0 m/s²
For 10 ≤ t ≤ 15 a = dv/dt = -1 m/s²

a(m/s²) a-t graph

1.25
4 10 15 t(s)
-1

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 Example 3
Now find the distance traveled:

s0-4 =  v dt = [ (1.25) (1/2) 2 4

t ]0 = 10 m

s4-10 =  v dt = [ 5 t ] 4 = 30 m
10

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

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

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 Example 4

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 Example 4

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 Example 4

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 Example 5

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 Example 5

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 Example 5

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