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Chapter 7 - Kinematics of Particles

The document discusses kinematics of particles in rectilinear and curvilinear motion. It defines key concepts like position, velocity, acceleration and how they relate for particles moving in straight lines or curves. Equations for determining velocity and position based on known acceleration as a function of time, position or velocity are provided. An example problem is also included to demonstrate solving for velocity, position and time given an object's initial velocity and constant downward acceleration due to gravity.

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0% found this document useful (0 votes)
116 views

Chapter 7 - Kinematics of Particles

The document discusses kinematics of particles in rectilinear and curvilinear motion. It defines key concepts like position, velocity, acceleration and how they relate for particles moving in straight lines or curves. Equations for determining velocity and position based on known acceleration as a function of time, position or velocity are provided. An example problem is also included to demonstrate solving for velocity, position and time given an object's initial velocity and constant downward acceleration due to gravity.

Uploaded by

rushdi
Copyright
© © All Rights Reserved
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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Vector Mechanics for Engineers: Dynamics

VECTOR MECHANICS FOR ENGINEERS: DYNAMICS

CHAPTER 7
KINEMATICS OF
PARTICLES

VECTOR MECHANICS FOR ENGINEERS: DYNAMICS


Vector Mechanics for Engineers: Dynamics
Contents
Introduction
Rectilinear Motion: Position,
Velocity & Acceleration
Determination of the Motion of a
Particle
Sample Problem 7.1
Uniform Rectilinear-Motion
Uniformly Accelerated Rectilinear-
Motion
Motion of Several Particles: Relative
Motion
Sample Problem 7.2
Motion of Several Particles:
Dependent Motion
Sample Problem 7.3

11 - 2
Vector Mechanics for Engineers: Dynamics
Introduction
• Dynamics includes:
- Kinematics: study of the geometry of motion. Kinematics is used to
relate displacement, velocity, acceleration, and time without reference to
the cause of motion.
- Kinetics: study of the relations existing between the forces acting on a
body, the mass of the body, and the motion of the body. Kinetics is used
to predict the motion caused by given forces or to determine the forces
required to produce a given motion.

• Rectilinear motion: position, velocity, and acceleration of a particle as it


moves along a straight line.

• Curvilinear motion: position, velocity, and acceleration of a particle as it


moves along a curved line in two or three dimensions.

11 - 3
Vector Mechanics for Engineers: Dynamics
Rectilinear Motion: Position, Velocity & Acceleration
• Particle moving along a straight line is said
to be in rectilinear motion.
• Position coordinate of a particle is defined
by positive or negative distance of particle
from a fixed origin on the line.
• Position coordinate corresponding to P is x =
+5 m; Position coordinate corresponding to P’
is x = -2 m
• The motion of a particle is known if the
position coordinate for particle is known for
every value of time t. Motion of the particle
may be expressed in the form of a function,
e.g.,
x  6t 2  t 3
or in the form of a graph x vs. t.

11 - 4
Vector Mechanics for Engineers: Dynamics
Rectilinear Motion: Position, Velocity & Acceleration
• Consider particle which occupies position P
at time t and P’ at t+Dt,
Dx
Average velocity 
Dt
Dx
Instantaneous velocity  v  lim
Dt 0 Dt

• Instantaneous velocity may be positive or


negative. Magnitude of velocity is referred
to as particle speed.
• From the definition of a derivative,
Dx dx
v  lim 
Dt 0 Dt dt
e.g., x  6t 2  t 3
dx
v  12t  3t 2
dt
11 - 5
Vector Mechanics for Engineers: Dynamics

• From the definition of a derivative,


Dv dv d 2 x
a  lim   2
Dt 0 Dt dt dt
e.g. v  12t  3t 2
dv
a  12  6t
dt

11 - 6
Vector Mechanics for Engineers: Dynamics
Rectilinear Motion: Position, Velocity & Acceleration
• Consider particle with velocity v at time t and v’ at
t+Dt,
Dv
Instantaneous acceleration  a  lim
(a) Dt 0 Dt
• Instantaneous acceleration may be:
- Positive value: indicates that the velocity
increases.
This may mean that:
(b)
• Particle is moving faster in the positive
direction (Fig. a)
• Particle is moving more slowly in the
(c) negative direction (Fig. b)
- Negative value: indicates that the velocity
decreases
This may mean that:
(d) • Particle is moving more slowly in the
positive direction (Fig. c)
• Particle is moving faster in the negative
direction (Fig. d)
11 - 7
Vector Mechanics for Engineers: Dynamics
Rectilinear Motion: Position, Velocity & Acceleration
• Consider particle with motion given by
x  6t 2  t 3
dx
v  12t  3t 2
dt
dv d 2 x
a   12  6t
dt dt 2

• at t = 0, x = 0, v = 0, a = 12 m/s2

• at t = 2 s, x = 16 m, v = vmax = 12 m/s, a = 0

• at t = 4 s, x = xmax = 32 m, v = 0, a = -12 m/s2

• at t = 6 s, x = 0, v = -36 m/s, a = 24 m/s2

11 - 8
Vector Mechanics for Engineers: Dynamics
Determination of the Motion of a Particle
• Recall, motion of a particle is known if position is known for all time t.
• Typically, conditions of motion are specified by the type of acceleration
experienced by the particle. Determination of velocity and position requires
two successive integrations.
• Three classes of motion may be defined for:
- acceleration given as a function of time, a = f(t)
- acceleration given as a function of position, a = f(x)
- acceleration given as a function of velocity, a = f(v)

11 - 9
Vector Mechanics for Engineers: Dynamics
Acceleration as a function of time, position, or velocity
If…. Kinematic relationship Integrate
v t

 dv   a t  dt
dv
a  a t   a (t )
dt v0 0

dx dv
dt  and a  v x

 v dv   a  x  dx
v dt
a  a  x
v dv  a  x  dx
v0 x0

v t
dv dv
dt
 a (v ) v a  v   0 dt
a  a v
0

x v
dv
 a v v dv
v
dx x dx  v a  v 
0 0

11 - 10
Vector Mechanics for Engineers: Dynamics
Sample Problem 7.1

A ball is tossed with a velocity of 10 m/s


directed vertically upward from a window
located 20 m above the ground. Knowing that
the acceleration of the ball is constant and
equal to 9.81 m/s2 downward, determine:
a) velocity and elevation above ground at
time t,
b) highest elevation reached by ball and
corresponding time, and
c) time when ball will hit the ground and
corresponding velocity.

11 - 11
Vector Mechanics for Engineers: Dynamics
Sample Problem 7.1
SOLUTION:
a)velocity and elevation above ground at time t
• Integrate twice to find v(t) and y(t).
dv
 a  9.81 m s 2
dt
v t  t

 dv   9.81 dt vt   v0  9.81t


v0 0
m  m
v0  10m / s vt   10   9.81 2  t
s  s 
dy
 v  10  9.81t
dt
y t  t

 dy   10  9.81t dt


y0 0
y t   y0  10t  12 9.81t 2
 m  m
y0  20m yt   20 m  10 t   4.905 2 t 2
 s  s 
11 - 12
Vector Mechanics for Engineers: Dynamics
Sample Problem 7.1
b)Highest elevation reached by ball and corresponding
time
• When the ball reaches its highest elevation, we have
v = 0. Thus
m  m t  1.019s
vt   10   9.81 2  t  0
s  s 

• Carrying t =1.019 s, Thus


 m  m
y t   20 m  10 t   4.905 2 t 2
 s  s 
 m  m
y  20 m  10 1.019 s    4.905 2 1.019 s 2
 s  s 
y  25.1m

11 - 13
Vector Mechanics for Engineers: Dynamics
Sample Problem 7.1
c) time when ball will hit the ground and corresponding
velocity
• When the ball hits ground, we have y = 0. Thus
 m  m
yt   20 m  10 t   4.905 2 t 2  0
 s  s 
t  1.243s meaningless 
t  3.28 s

m  m
vt   10   9.81 2  t
s  s 
m  m
v3.28 s   10   9.81 2  3.28 s 
s  s 

m
v  22.2
s
11 - 14
Vector Mechanics for Engineers: Dynamics
Uniform Rectilinear Motion
For particle in uniform rectilinear motion, the acceleration is zero and
the velocity is constant.

dx
 v  constant
dt
x t
 dx  v  dt
x0 0
x  x0  vt
x  x0  vt

11 - 15
Vector Mechanics for Engineers: Dynamics
Uniformly Accelerated Rectilinear Motion
For particle in uniformly accelerated rectilinear motion, the acceleration of
the particle is constant.
v t
dv
 a  constant  dv  a  dt v  v0  at
dt v0 0
v  v0  at

x t
dx
dt
 v0  at  dx   v0  at dt x  x0  v0t  12 at 2
x0 0

x  x0  v0t  12 at 2

v 2  v02   ax  x0 
v x
dv
v  a  constant  v dv  a  dx 1
2
dx v0 x0

v 2  v02  2a x  x0 
11 - 16
Vector Mechanics for Engineers: Dynamics
Motion of Several Particles: Relative Motion
• For particles moving along the same line, time
should be recorded from the same starting
instant and displacements should be measured
from the same origin in the same direction.

xB A  xB  x A  relative position of B
with respect to A
xB  x A  xB A

vB A  vB  v A  relative velocity of B
with respect to A
vB  v A  vB A

a B A  a B  a A  relative acceleration of B
with respect to A
aB  a A  aB A
11 - 17
Vector Mechanics for Engineers: Dynamics
Sample Problem 7.2

A ball is thrown vertically upward from


12 m level in elevator shaft with initial
velocity of 18 m/s. At the same instant,
open-platform elevator passes 5 m level
moving upward at constant velocity = 2
m/s. Determine:
(a) when and where ball hits elevator
(b) The relative velocity of ball with
respect to the elevator when the ball
hits the elevator

11 - 18
Vector Mechanics for Engineers: Dynamics
Sample Problem 7.2
SOLUTION:
• Motion of the ball. Substitute initial position and
velocity and constant acceleration of ball into
general equations for uniformly accelerated
rectilinear motion.
m  m
v B  v0  at  18   9.81 2 t
s  s 
 m  m
y B  y0  v0t  12 at 2  12 m  18 t   4.905 2 t 2
 s  s 
• Motion of elevator. Substitute initial position and
constant velocity of elevator into equation for
uniform rectilinear motion.
m
vE  2
s
 m
y E  y0  v E t  5 m   2 t
 s
11 - 19
Vector Mechanics for Engineers: Dynamics
Sample Problem 7.2
• Ball hits elevator. When the ball hits the elevator, yE = yB
5  2t  12  18t  4.905t 2
t  0.39 s meaningless 
t  3.65 s

• Substitute impact time into equations for position of elevator


and relative velocity of ball with respect to elevator.
y E  5  23.65
y E  12.3 m

vB E  vB  vE
 18  9.81t   2
 16  9.813.65 m
vB E  19.81
s
11 - 20
Vector Mechanics for Engineers: Dynamics
Motion of Several Particles: Dependent Motion
• Position of a particle may depend on position of one
or more other particles.
• Position of block B depends on position of block A.
Since rope is of constant length, it follows that sum of
lengths of segments must be constant.
x A  2 x B  constant (one degree of freedom)
• Positions of three blocks are dependent.
2 x A  2 xB  xC  constant (two degrees of freedom)

• For linearly related positions, similar relations hold


between velocities and accelerations.
dx A dx dx
2  2 B  C  0 or 2v A  2v B  vC  0
dt dt dt
dv dv dv
2 A  2 B  C  0 or 2a A  2a B  aC  0
dt dt dt
11 - 21
Vector Mechanics for Engineers: Dynamics
Sample Problem 7.3

Pulley D is attached to a collar which


is pulled downward at 3 in./s. At t =
0, collar A starts moving downward
from K with constant acceleration and
zero initial velocity. Knowing that
velocity of collar A is 12 in./s as it
passes L, determine the change in
elevation, velocity, and acceleration of
block B when block A is at L.

11 - 22
Vector Mechanics for Engineers: Dynamics
Sample Problem 7.3
SOLUTION:
Motion of Collar A
• When t = 0, collar A is at the position K and
(vA)0=0. Since vA =12 in./s and xA-(xA)0 = 8 in. when
the collar passes through L, we write

v 2A  v A 02  2a A x A   x A 0 
2
 in.  in.
12   2a A 8 in. aA  9
 s  s2
• The time at which the collar A reaches point L
is obtain by writing
v A  v A 0  a At
in. in.
12 9 2t t  1.333 s
s s

11 - 23
Vector Mechanics for Engineers: Dynamics
Sample Problem 7.3
Motion of Pulley D
• Pulley D has uniform rectilinear motion.
xD   xD 0  vD t   xD 0  3t
when collar A reaches L, at t  1.333s,
 in. 
xD   xD 0   3 1.333 s   4 in.
 s 
Motion of Block B
• Block B motion is dependent on motions of collar
A and pulley D.
Total length of cable remains constant,
x A  2 x D  x B   x A 0  2 x D 0   x B 0

x A   x A 0  2xD   xD 0  xB   xB 0   0
8 in.  24 in.  x B   x B 0   0
x B   x B 0  16 in.
11 - 24
Vector Mechanics for Engineers: Dynamics
Sample Problem 7.3
• Differentiate motion relation twice to develop
equations for velocity and acceleration of block B.
x A  2 x D  x B  constant

v A  2v D  v B  0

 in.   in.  vB  18


in.
12   2 3   v B  0
 s   s  s

a A  2a D  a B  0

 in.  in.
a B  9 2
 9 2   vB  0
 s  s

11 - 25
Vector Mechanics for Engineers: Dynamics

THANK YOU

11 - 26

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