Dynamics

Chapter 12
Kinematics of a Particle
 Chapter Outline
1. Introduction
2. Rectilinear Kinematics: Continuous Motion
3. Rectilinear Kinematics: Erratic Motion
4. General Curvilinear Motion
5. Curvilinear Motion: Rectangular Components
6. Motion of a Projectile
7. Curvilinear Motion: Normal and Tangential
Components
8. Curvilinear Motion: Cylindrical Components
9. Absolute Dependent Motion Analysis of Two
Particles
10. Relative Motion Analysis of Two Particles Using
Translating Axes

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 12.9 Absolute Dependent Motion Analysis
of Two Particles
• Motion of one particle will depend on the
corresponding motion of another particle
• Dependency occur when particles are
interconnected by the inextensible cords which
are wrapped around pulleys
• For example, the movement of block A
downward along the inclined plane will cause a
corresponding movement of block B up the other
incline
• Specify the locations of the blocks using position
coordinate sA and sB
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 Absolute Dependent Motion Analysis of
Two Particles

• Note each of the coordinate axes is (1)

referenced from a fixed point (O) or fixed datum
line, (2) measured along each inclined plane in
the direction of motion of block A and block B and
(3) has a positive sense from C to A and D to B
• If total cord length is lT, the position coordinate
are related by the equation
s A  lCD  sB  lT

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 Absolute Dependent Motion Analysis of
Two Particles

• Here lCD is the length passing over arc CD

• Taking time derivative of this expression,
realizing that lCD and lT remain constant, while sA
and sB measure the lengths of the changing
segments of dsthe cord
ds
A B 0
or vB  v A
dt dt
• The negative sign indicates that when block A
has a velocity downward in the direction of
position sA, it causes a corresponding upward
velocity of block B; B moving in the negative sB
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 Absolute Dependent Motion Analysis of
Two Particles

• Time differentiation of the velocities yields the

relation between accelerations
aB = - aA
• For example involving
dependent motion of two blocks
• Position of block A is specified
by sA, and the position of the
end of the cord which block B is
suspended is defined by sB

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 Absolute Dependent Motion Analysis of
Two Particles

• Chose coordinate axes which are (1) referenced

from fixed points and datums, (2) measured in the
direction of motion of each block, (3) positive to
the right (sA) and positive downward (sB)
• During the motion, the red colored segments of
the cord remain constant
• If l represents the total length of the cord minus
these segments, then the position coordinates
can be related by
2sB  h  s A  l

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 Absolute Dependent Motion Analysis of
Two Particles

Since l and h are constant during the motion, the

two time derivatives yields
2v B   v A 2aB   a A
• When B moves downward
(+sB), A moves to left (-sA) with
two times the motion
• This example can also be
worked by defining the position
of block B from the center of
the bottom pulley ( a fixed
point)
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 Absolute Dependent Motion Analysis of
Two Particles

2(h  sB )  h  s A  l
 Time differentiation yields
2vB  v A 2aB  a A

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 Absolute Dependent Motion Analysis of
Two Particles

PROCEDURE FOR ANALYSIS

Position-Coordinate Equation
• Establish position coordinates which have their
origin located at a fixed point or datum
• The coordinates are directed along the path of
motion and extend to a point having the same
motion as each of the particles
• It is not necessary that the origin be the same for
each of the coordinates; however, it is important
that each coordinate axis selected be directed
along the path of motion of the particle
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 Absolute Dependent Motion Analysis of
Two Particles

• Using geometry or trigonometry, relate the

coordinates to the total length of the cod, lT, or to
that portion of cord, l, which excludes the
segments that do not change length as the
particle move – such as arc segments wrapped
over pulleys
• For problem involving a system of two or more
cords wrapped over pulleys, then the position of a
point on one cord must be related to the position
of a point on another cord using the above
procedure
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 EXAMPLE 12.21

Determine the speed of block A if block B has an

upward speed of 6 m/s.

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 EXAMPLE 12.21

Position Coordinate System. There is one cord in

this system having segments which are changing
length. Position coordinates sA and sB will be used
since each is measured from a fixed point (C or D)
and extends along each block’s path of motion. In
particular, sB is directed to point E since motion of B
and E is the same. The red colored segments of
the cords remain at a constant length and do not
have to be considered as the block move.

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 EXAMPLE 12.21

The remaining length of the cord, l, is also

considered and is related to the changing position
coordinates sA and sB by the equation
s A  3s B  l
Time Derivative. Taking the time derivative
yields
v A  3vB  0

so that when vB = -6m/s (upward)

vA = 18m/s ↓
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 EXAMPLE 12.22

Determine the speed of block A if block B has an

upward speed of 6m/s.

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 EXAMPLE 12.22

Position Coordinate Equation. Positions of A and

B are defined using coordinates sA and sB.
Since the system has two cords which change
length, it is necessary to use a third coordinate sC
in order to relate sA to sB. Length of the cords can
be expressed in terms of sA and sC, and the length
of the other cord can be expressed in terms of sB
and sC. The red colored segments are not
considered in this analysis.

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 EXAMPLE 12.22

For the remaining cord length,

s A  2sC  l1 sB  ( sB  sC )  l2
Eliminating sC yields,
s A  4 sB  2l2  l1
Time Derivative. The time derivative gives
v A  4v B  0
so that vB = -6m/s (upward)

vB  24m / s  24m/s 
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 EXAMPLE 12.23

Determine the speed with which block B rises if the

end of the cord at A is pulled down with a speed of
2m/s.

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 EXAMPLE 12.23

Position-Coordinate Equation. The position of A is

defined by sA, and the position of block B is
specified by sB since point E on the pulley will have
the same motion as the block. Both coordinates are
measured from a horizontal datum passing through
the fixed pin at pulley D. Since the system consists
of two cords, the coordinates sA and sB cannot be
related directly. By establishing a third position
coordinate, sC, and the length of the other cord in
terms of sA, sB and sC.
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 EXAMPLE 12.23

Excluding the red colored segments of the cords,

the remaining constant cord lengths l1 and l2 (along
the hook and link dimensions) can be expressed as
sC  sB  l1
 s A  sC    sB  sC   sB  l2
Eliminating sC yields
s A  4sB  l2  2l1

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 EXAMPLE 12.23

Time Derivative. The time derivative give

v A  4v B  0
when vA = 2m/s (downward)
vB  0.5m/s  0.5m/s 

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 EXAMPLE 12.24

A man at A s hoisting a safe

S by walking to the right
with a constant velocity vA =
0.5m/s. Determine the
velocity and acceleration of
the safe when it reaches the
elevation at E. The rope is
30m long and passes over
a small pulley at D.

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 EXAMPLE 12.24

Position Coordinate System. Rope segment DA

changes both direction and magnitude. However,
the ends of the rope, which define the position of S
and A, are specified by means of the x and y
coordinates measured from a fixed point and
directed along the paths of motion of the ends of
the rope. The x and y coordinates may be related
since the rope has a fixed length l = 30m, which at
all times is equal to the length of the segment DA
plus CD.

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 EXAMPLE 12.24

Using Pythagorean Theorem,

I DA  15 2  x 2 I CD  15  y 
l  lDA  lCD
30  15 2  x 2  15  y 
y  225  x 2  15 (1)

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 EXAMPLE 12.24

Time Derivative. Taking time derivative, using

the chain rule where, vS = dy/dt and vA = dx/dt

dy  1 2x  dx
vS  
dt  2 225  x 2  dt
x
 v (2)
2 A
225  x

At y = 10 m, x = 20 m, vA = 0.5 m/s, vS =
400mm/s ↑
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 EXAMPLE 12.24

The acceleration is determined by taking the time

derivative of eqn (2),
d 2 y   x(dx / dt )   1  dx 
aS  2   xv 
2 3/ 2  A     vA
 2  dt 
dt  ( 225 x )   225  x 
 1  dv A 225v 2A
  x 
 225  x 2  dt 225  x 2 3/ 2
 
At x = 20 m, with vA = 0.5 m/s,
aS  3.6mm/s 2

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 12.10 Relative Motion Analysis of Two
Particles Using Translating Axes
• There are many cases where the path of the
motion for a particle is complicated, so that it may
be feasible to analyze the motions in parts by
using two or more frames of reference.
• For example, motion of an particle located at the
tip of an airplane propeller while the plane is in
flight, is more easily described if one observes
first the motion of the airplane from a fixed
reference and then superimposes (vectorially) the
circular motion of the particle measured from a
reference attached to the airplane
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 Relative Motion Analysis of Two Particles
Using Translating Axes

Position.
• Consider particle A and B,
which moves along the
arbitrary paths aa and bb,
respectively
• The absolute position of
each particle rA and rB, is
measured from the
common origin O of the
fixed x, y, z reference
frame
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 Relative Motion Analysis of Two Particles
Using Translating Axes

• Origin of the second frame of reference x’, y’ and

z’ is attached to and moves with particle A
• Axes of this frame only permitted to translate
relative to fixed frame
• Relative position of “B with respect to A” is
designated by a relative-position vector rB/A
• Using vector addition
rB  rA  rB / A

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 Relative Motion Analysis of Two Particles
Using Translating Axes

Velocity.
• By time derivatives,

vB  v A  vB/ A

• Here v B  drB / dt and

referv Ato absolute
drA / dt velocities,
since they are observed from the fixed frame
• Relative velocity is observed from the
translating frame v B / A  drB / A / dt

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 Relative Motion Analysis of Two Particles
Using Translating Axes

• Since the x’, y’ and z’ axes translate,

the components of rB/A will not
change direction and therefore time
derivative o this vector components
will only have to account for the
change in the vector magnitude
• Velocity of B is equal to the velocity
of A plus (vectorially) the relative
velocity of “B relative to A” as
measured by the translating observer
fixed in the x’, y’ and z’ reference
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 Relative Motion Analysis of Two Particles
Using Translating Axes

Acceleration.
• The time derivative yields a similar relationship
between the absolute and relative accelerations
of the particles A and B
aB  a A  aB/ A
• Here aB/A is the acceleration of B as seen by the
observer located at A and translating with the x’,
y’ and z’ reference frame

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 Relative Motion Analysis of Two Particles
Using Translating Axes

PROCEDURE FOR ANALYSIS

• When applying the relative position equations,
rB = rA + rB/A, it is necessary to specify the location
of the fixed x, y , z and translating x’, y’ and z’
• Usually, the origin A of the translating axes is
located at a point having a known position rA
• A graphical representation of the vector addition
can be shown, and both the known and unknown
quantities labeled on this sketch

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 Relative Motion Analysis of Two Particles
Using Translating Axes

• Since vector addition forms a triangle, there can

be at most two unknowns, represented by the
magnitudes and/or directions of the vector
quantities
• These unknown can be solved for either
graphically, using trigonometry, or resolving each
of the three vectors rA, rB and rB/A into rectangular
or Cartesian components, thereby generating a
set of scalar equations

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 Relative Motion Analysis of Two Particles
Using Translating Axes

• The relative motion equations vB = vA + vB/A and

aB = aA + aB/A are applied in the same manner as
explained above, except in this case, origin O of
the fixed axes x, y, z axes does not have to be
specified

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 EXAMPLE 12.25 第 13

A train, traveling at a constant speed of 90km/h,

crosses over a road. If automobile A is traveling t
67.5km/h along the road, determine the magnitude
and direction of relative velocity of the train with
respect to the automobile.

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 EXAMPLE 12.25

Vector Analysis. The relative velocity is

measured from the translating x’, y’ axes attached
to the automobile. Since vT and vA are known in
both magnitude and direction, the unknowns
become the x and y components of vT/A. Using the
x, y axes and a Cartesian vector analysis,
vT  v A  vT / A
90i  (67.5 cos 45 i  67.5 sin 45 j)  vT / A
vT / A  {42.3i  47.7 j) km / h

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 EXAMPLE 12.25

The magnitude of vT/A is

vT / A  ( 42.3  47.7 )  63.8km / h

2 2

The direction of vT/A defined from the x axis is

 vT / A  y 47.7
tan  
 vT / A  x 42.3
  48.40

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 EXAMPLE 12.26

Plane A is flying along a straight-line path, while

plane B is flying along a circular path having a
radius of curvature of ρB = 400 km. Determine the
velocity and acceleration of B as measured by the
pilot of A.

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 EXAMPLE 12.26

Velocity. The x, y axes are located at an arbitrary

fixed point. Since the motion relative to plane A is
to be determined, the translating frame of reference
x’. y’ is attached to it. Applying the relative-velocity
equation in scalar form since the velocity vectors of
both plane are parallel at the instant shown,

(  ) vB  v A  vB / A
600  700  vB / A
vB / A  100km / h  100km / h 

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 EXAMPLE 12.26

Acceleration. Plane B has both tangential and

normal components of acceleration, since it is
flying along a curved path. Magnitude of normal
acceleration,
vB2
 aB  n   900km / h 2

Applying the relative-acceleration equation,
aB  aA  aB/A
  
900 i  100 j  50 j  a B / A
 


a B / A  900 i  150 j km / h 2
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 EXAMPLE 12.26

From the figure shown, the magnitude and direction

of aB / A
1 150
aB / A  912km/h2
  tan  9.46

900

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 EXAMPLE 12.27

At the instant, car A and B

are traveling with the speed
of 18 m/s and 12 m/s
respectively. Also at this
instant, A has a decrease in
speed of 2 m/s2, and B has
an increase in speed of 3
m/s2. Determine the velocity
and acceleration of B with
respect to A.

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 EXAMPLE 12.27

Velocity. The fixed x, y axes are established at a

point on the ground and the translating x’, y’ axes
are attached to car A. Using Cartesian vector
analysis,
vB  v A  vB/ A
 
 12 j   18 cos 60 i  18 sin 60 j  v B / A
v B / A   9i  3.588j m / s

Thus, vB / A  9 2  3.5882  9.69m / s

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 EXAMPLE 12.27

Its direction is
 vB / A  y 3.588
tan  
 vB / A  x 9
  21.7

Acceleration. The magnitude of the normal

component is 2
vB
 aB  n   1.440m / s 2


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 EXAMPLE 12.27

Applying the equation for relative acceleration

yields
aB  a A  aB/ A
  1.440i  3 j   2 cos 60 i  2 sin 60 j  a B / A
a B / A    2.440i  4.732 j m / s 2

Magnitude and direction is

a B / A  5.32m / s 2
  62.7 
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