Chapter 7 - Kinematics of Particles
Chapter 7 - Kinematics of Particles
CHAPTER 7
KINEMATICS OF
PARTICLES
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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.
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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.
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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
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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)
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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
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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)
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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
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Vector Mechanics for Engineers: Dynamics
Sample Problem 7.1
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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
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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
yt 20 m 10 t 4.905 2 t 2 0
s s
t 1.243s meaningless
t 3.28 s
m m
vt 10 9.81 2 t
s s
m m
v3.28 s 10 9.81 2 3.28 s
s s
m
v 22.2
s
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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
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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 ax x0
v x
dv
v a constant v dv a dx 1
2
dx v0 x0
v 2 v02 2a x x0
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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
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Vector Mechanics for Engineers: Dynamics
Sample Problem 7.2
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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
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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
vB E vB vE
18 9.81t 2
16 9.813.65 m
vB E 19.81
s
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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)
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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
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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 2xD xD 0 xB xB 0 0
8 in. 24 in. x B x B 0 0
x B x B 0 16 in.
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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
a A 2a D a B 0
in. in.
a B 9 2
9 2 vB 0
s s
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Vector Mechanics for Engineers: Dynamics
THANK YOU
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