Dynamics and Vibrations

1. Kinematics of Particles

Mohammad I. Kilani
 Kinematics vs. Kinetics

 Kinematics treats only the geometric aspects of the x(t) =  x(t) = 

motion. Relations between motion parameters such as
v(t) = ? x =?
displacement, distance, velocity, acceleration, angle, max
a(t) = ? v =?
angular velocity, and angular acceleration are analyzed
max
using kinematic relationships. a =?
max
 Kinetics is the analysis of the forces causing the motion.

F(t) = 

x(t) = ?

v (t) = ?

a(t) = ?
Kinematics vs. Kinetics
System of Particles under External Force
 Particles vs. Rigid Bodies

 A particle has a mass but negligible size and shape. It has

dimensions that are of no consequence in the analysis of

the motion.

 In most problems, we will be interested in bodies of finite

size, such as rockets, projectiles, or vehicles. Each of these

objects can be considered as a particle, as long as the

motion is characterized by the motion of its mass center

and any rotation of the body is not of interest or can be

neglected.
 Rectilinear Motion: Rectilinear Motion

 We will begin our study of dynamics by discussing

the kinematics of a particle that moves along a

straight line. This motion is referred to as rectilinear

motion. Recall that a particle has a mass but

negligible size and shape.

 Therefore we must limit application to those objects

that have dimensions that are of no consequence in

the analysis of the motion.

 Rectilinear Motion: Rectilinear Kinematics

 In most problems, we will be interested in bodies of

finite size, such as rockets, projectiles, or vehicles. Each

of these objects can be considered as a particle, as

long as the motion is characterized by the motion of its

mass center and any rotation of the body is neglected.

 The kinematics of a particle is characterized by

specifying, at any given instant, the particle's position,

velocity, and acceleration.

 Rectilinear Kinematics: Position

 The straight-line path of a particle will be defined using

a single coordinate axis s. The origin O on the path is a

fixed point, and from this point the position coordinate

s is used to specify the location of the particle at any

given instant.

 The magnitude of s is the distance from O to the

particle, usually measured in meters (m) or feet (ft), and

the sense of direction is defined by the algebraic sign

on s.
 Rectilinear Kinematics: Position

 Although the choice is arbitrary, in this case s is positive

since the coordinate axis is positive to the right of the

origin. Likewise, it is negative if the particle is located to

the left of O.

 The position is a vector quantity since it has both

magnitude and direction. Here, however, it is represented

by the algebraic scalar s since the direction always

remains along the coordinate axis.

 Rectilinear Kinematics: Displacement

 The displacement of the particle is defined as the

change in its position. For example, if the particle

moves from one point s to another s’ the

displacement is:

 In this case Δs is positive since the particle's final

s s  s
position is to the right of its initial position, i.e., s’ >

s. Likewise, if the final position were to the left of its

initial position, Δs would be negative.

s s  s
 Rectilinear Kinematics: Displacement

 The displacement of a particle is also

a vector quantity, and it should be

distinguished from the distance the

particle travels.

 Specifically, the distance traveled is a

positive scalar that represents the

total length of path over which the

particle travels.

s s  s
 Rectilinear Motion: Velocity

 If the particle moves through a displacement Δs during the time

interval Δt, the average velocity of the particle during this time

interval is:

Δs
v 
 If we take smalleravgand smaller values of Δt, the magnitude of Δs
Δt
becomes smaller and smaller. Consequently, the instantaneous

velocity is defined as:

s s  s

Δs ds
v  lim 
Δt  0 Δt dt
 Rectilinear Motion: Velocity

 Since Δt or dt is always positive, the sign used to

define the sense of the velocity is the same as that

of Δs or ds. For example, if the particle is moving to

the right, the velocity is positive; whereas if it is

moving to the left, the velocity is negative.

 The magnitude of the velocity is known as the speed,

and it is generally expressed in units of m/s or ft/s.

s s  s

Δs Δs ds
vavg  v  lim 
Δt  0 Δt dt
Δt
 Rectilinear Motion: Average Speed

 Occasionally, the term "average speed" is used. The

average speed is always a positive scalar and is

defined as the total distance traveled by a particle,

S , divided by the elapsed time Δt; i.e.,

T

sT
v sp avg 
Δt
 Rectilinear Motion: Acceleration

 Provided the velocity of the particle is known at two points, the average acceleration

of the particle during the time interval Δt is defined as:

Δv
aavg the difference in the velocity during the time interval Δt, i.e., Δv =
 Here Δv represents Δt
v’ – v.

 The instantaneous acceleration at time t is a vector that is found by taking smaller

and smaller values of Δt and corresponding smaller and smaller values of Δv, so that

Δv dv d 2 s
a  lim   2
Δt  0 Δt dt dt
 Rectilinear Motion: Acceleration

 The average and instantaneous acceleration can be either positive or

negative. In particular, when the particle is slowing down, or its speed is

decreasing, the particle is said to be decelerating. In this case, v' in the

figure is less than v, and so Δv = v’ – v will be negative. Consequently, a

will also be negative, and therefore it will act to the left, in the opposite

sense to v.

 Also, note that when the velocity is constant, the acceleration is zero

since Δv = v’ – v = 0. Units commonly used to express the magnitude of

acceleration are m/s2 or ft/s2

 Rectilinear Motion: Acceleration

 An important differential relation involving the displacement, velocity,

and acceleration along the path may be obtained by eliminating the

time differential dt between the equations

ds
to obtain dv
v  and a 
dt dt

 Note that the above equation is not independent of the previous two

ads vdv
equations.
Differential Rectilinear Kinematic Equations

ds
v
dt
dv
a
dt
vdv ads
 Integral Forms of Rectilinear Kinematic Equations

s t t
v ds dt , ds vdt , ds vdt , s so  vdt
so 0 0
v t t
a dv dt , dv adt , dv adt , v vo  adt
vo 0 0
v s s
vdv ads, vdv ads, v 2 vo2  2 ads
vo so so
Rectilinear Motion: Constant Acceleration

t
v vo  adt , v vo  at
0
t
1 2
s so  vdt , s so  vot  at
0
2
s
v 2 vo2  2 ads, v 2 vo2  2as  so 
so
 Example: (Example 12.2)

 A small projectile is fired vertically downward into a fluid medium

with an initial velocity of 60 m/s. Due to the drag resistance of the

fluid the projectile experiences a deceleration of a = (-0.4v3)

m/s2, where v is in m/s. Determine the projectile's velocity and

position 4 s after it is fired.

v ds dt
a dv dt
ads vdv
 Example: (Example 12.2)

 A small projectile is fired vertically downward into a fluid medium with an initial velocity

of 60 m/s. Due to the drag resistance of the fluid the projectile experiences a

deceleration of a = (-0.4v3) m/s2, where v is in m/s. Determine the projectile's velocity

and position 4 s after it is fired.

dv
a  0.4v 3
dt
t v
dv 1 dv
0 .4 v 3  0.4 v
dt  , dt  3
v
0 o
v ds dt
v  1 1  1 1 
t 1.25v  2 1.25 2  2  1.25 2  2  a dv dt
 v vo   v 60 
vo

 1/ 2 ads vdv
 1 
v  0.8t  2 
 60 
 Example: (Example 12.2)

 A small projectile is fired vertically downward into a fluid medium with an initial velocity

of 60 m/s. Due to the drag resistance of the fluid the projectile experiences a

deceleration of a = (-0.4v3) m/s2, where v is in m/s. Determine the projectile's velocity

and position 4 s after it is fired.

dv
a  0.4v 3
dt
t v
dv 1 dv
0 .4 v 3  0.4 v
dt  , dt  3
v
0 o
v ds dt
v  1 1  1 1 
t 1.25v  2 1.25 2  2  1.25 2  2  a dv dt
 v vo   v 60 
vo

 1/ 2 ads vdv
 1 
v  0.8t  2 
 60 
 Example:

x
 The force acting on the mass attached to the spring is given by Hooke’s law F

= -kx, where k is the spring stiffness and x is the displacement from the

equilibrium position. If the spring is released from rest at x = x , derive an m

o
expression for x(t) and v(t). k

v ds dt
a dv dt
ads vdv
 Example:

x
 The force acting on the mass attached to the spring is given by Hooke’s law F

= -kx, where k is the spring stiffness and x is the displacement from the

equilibrium position. If the spring is released from rest at x = x , derive an m

o k
expression for x(t) and v(t).

a F m  kx m v dx dt , dt dx v
x v dx dx
k dt  
adx vdv,  xdx  vdv 
vo2  k x o2  x 2  k x o2  x 2
xo
m vo t x x
dx x
x v k dt   , k t sin 1

 k x2 v2 x o2  x 2 xo

0 xo
, xo

m 2 2  x 
xo vo k t sin  1   
1 2 1 2 1 2 1 2  xo  2
kx  v  kxo  vo  x 
2 2 2 2 sin  1     k t
 xo  2

v  vo2  k x o2  x 2   
x  xo sin   k t   xo cos k t
2 
Example: (Example 12.2)
 Curvilinear Motion

 Curvilinear motion occurs when a particle moves

along a curved path. Since this path is often

described in three dimensions, vector analysis is used

to formulate the particle's position, velocity, and

acceleration.

 We will first discuss general aspects of curvilinear

motion, and in subsequent sections we will consider

three types of coordinate systems often used to

analyze this motion.

 Curvilinear Motion: Position

 Consider a particle located at a point on a

space curve defined by the path function

s(t). The position of the particle, measured

from a fixed point O, will be designated by

the position vector r = r(t).

 Notice that both the magnitude and

direction of this vector will change as the

particle moves along the curve.

 Curvilinear Motion: Displacement

 Suppose that during a small time interval Δt the particle

moves a distance Δs along the curve to a new position,

defined by r’ = r + Δr. The displacement Δr represents the

change in the particle's position and is determined by vector

subtraction; i.e., Δr = r’ - r.

 As Δt → 0 and the vector Δr → dr , its direction becomes

tangent to the path of motion and in the direction of

motion, and its magnitude becomes equal to ds since the

length of the straight line segment Δr in approaches the arc

length Δs as Δt → 0.
 Curvilinear Motion: Velocity

 During the time Δt, the average velocity of the particle is:

r
 The
v avg 
instantaneous velocity is determined by letting Δt → 0
t

 Since the direction of dr is tangent to the curve, the direction of v is also

r dr
v  lim 
tangent to the curve. Also, since the magnitude of dr is equal to ds, the
t  0 t dt
magnitude of v which is called the speed is:

dr dr ds
v v   
dt dt dt
 Curvilinear Motion: Acceleration

 If the particle has a velocity v at time t and a velocity v' = v + Δv at t + Δt, then the average

acceleration of the particle during the time interval Δt is:

v
a avg 
where Δv = 
v' t- v. To study this time rate of change, the two velocity vectors in the figure

above are plotted in in the figure below such that their tails are located at the fixed point O'

and their arrowheads touch points on curve. This curve is called a hodograph, and when

constructed, it describes the locus of points for the arrowhead of the velocity vector in the

same manner as the path s describes the locus of points for the arrowhead of the position

vector in the figure above.

 Curvilinear Motion: Acceleration

 To obtain the instantaneous acceleration, let Δt → 0 in the above

equation. In the limit Δv will approach the tangent to the

hodograph, and so

v dv d 2r
a  lim   2
 t  0 t dt dt
When a particle follows a curved path, the directional change

always "swings" the velocity vector toward the "inside" or "concave

side" of the path, and therefore a cannot remain tangent to the

path. In summary, v is always tangent to the path and a always

points towards the inside of the path.

 Curvilinear Motion: Rectangular Components: Position

 Many times, the motion of a particle can

best be described along a path that can

be expressed in terms of its x, y, and z

coordinates.

 If the particle is at point (x, y, z) on the

curved s shown, then its location is

defined by the position vector:

r  xi  yj  zk
 Curvilinear Motion: Rectangular Components: Position

 When the particle moves, the x, y, z components of

r will be functions of time; i.e., x = x(t), y = y(t), z =

z(t), so that r = r(t).

 At any instant the magnitude of r is defined by:

 The direction of r is specified by the unit vector

r r  x 2  y 2  z 2

r r
ur  
r r
 Curvilinear Motion: Rectangular Components: Velocity

 The first time derivative of r yields the velocity of the particle. Hence

dr d
v  xi  yj  zk 
dt dt
d d d
v  xi  yj zk 
dt dt dt
 Since dxvelocitydyvector vdz
the can be written in terms of its Cartesian
v  i  j k
dt as: dt
components dt

we obtain

v v x i  v y j  v z k

v x dx dt  x
v y dy dt  y
v z dz dt  z
 Curvilinear Motion: Rectangular Components: Velocity

 The velocity has a magnitude that is found from

v  v  v x2  v y2  v z2
 The direction is specified by the unit vector.

 v v
As discussed before, this direction is always tangent to the

path. uv  
v v
 Curvilinear Motion: Rectangular Components: Acceleration

 The acceleration of the particle is obtained by taking the first time derivative of

the velocity vector as follows:

dv d d d
a  v x i  v y j  v z k
dt dt dt dt
dv
a  v x i vector
v y j a can
v z kbe written in terms of its Cartesian
 Since thedtacceleration
components as:

we obtain

a a x i  a y j  a z k

a x dv x dt x
v y dv y dt  y
v z dv z dt z
 Curvilinear Motion: Rectangular Components: Acceleration

 The acceleration has a magnitude that is found from

a a  a x2  a y2  a z2
 The direction is specified by the unit vector.

 a a
As discussed before, this direction always points towards the inside

u 
of the path. 
a If the path is a straight line, the vector is along the
path. a a
 Curvilinear Motion: Rectangular Components:
Motion of a Projectile

 The free-flight motion of a projectile is often studied in

terms of its rectangular components. To illustrate the

kinematic analysis, consider a projectile launched at

point (x , y ) with an initial velocity vo having

o o
components (v ) and (v ) .
ox oy

 When air resistance is neglected, the only force acting

on the projectile is its weight, which causes the

projectile to have a constant downward acceleration of

approximately a = g = 9.81 m/s2

c
 Curvilinear Motion: Rectangular Components:
Motion of a Projectile: Horizontal Motion

 Since a = 0, application of the constant acceleration

x
equations, yields

vv vo x  a x t vo x
1
s so  vot  at 2 so  vo x t
2
v 2 vo2  2as  so  vo x
2
 The 1st and last equations indicate that the horizontal

component of the velocity remains constant during

motion.
 Curvilinear Motion: Rectangular Components:
Motion of a Projectile: Vertical Motion

 Since the positive y-axis is directed upwards, a = -g. Applying the

y
constant acceleration relationships, we obtain

v vo  at vo y  gt
1
s so  vot  at 2 so  vo x t
2

2
vThe  v 2
 2 a s  s
o last equations indicate
1st and
   v  2
o that the horizontal
o x component of

the velocity remains constant during motion.

Curvilinear Motion: Example (Problem 12-71)
Curvilinear Motion: Example (Problem 12-71)
Curvilinear Motion: Example (Problem 12-71)
Curvilinear Motion: Example (Problem 12-76)
Curvilinear Motion: Example (Problem 12-76)
Curvilinear Motion: Example (Problem 12-76)
 Curvilinear Motion: Polar Coordinates

 We can specify the location of a particle using a

radial coordinate r, which extends outward from

the fixed origin O to the particle. The positive

direction of r is defined by the unit vectors u in the

r
direction of increasing distance between the

particle and the origin.

 The position of the particle is thus given by the

position vector.

r ru r
 Curvilinear Motion: Polar Coordinates

 The instantaneous velocity v is obtained by taking the time

derivative of r. Using a dot to represent the time derivative, we

have:

d dr d
v ru r   u r  r u r 
 The second
dt term on the right
dthand side is the
dtderivative of a unit
vector u which makes an angle θ counterclockwise from a fixed
r
reference line. The magnitude of this vector is always equal to

unity, but its direction can change as the particle moves. An

expression for derivative of such a unit will be derived in the

following slide.
 Curvilinear Motion: Polar Coordinates:
Derivative of a Unit Vector which can Change Direction

 An expression for the derivative of the unit vector u making an angle θ counterclockwise
r
from a fixed reference line can be found by writing the vector in terms of its Cartesian

components and performing the derivation as follows:

d
u r   d cosi  sin j
dt dt
 Noting that cos (θ + π/2) = -sin θ and sin (θ + π/2) = cos θ , The expression above may be
d
uas:r   d  sin i  cosj
written
dt dt
d
u r  u
where u is a unit vector perpendicular to u in the direction of increasing θ.
dt
θ r
d
d
u r   cos   2i  sin    2j u u   u r
dt dt
 Curvilinear Motion: Polar Coordinates

 The instantaneous velocity v is thus:

d
v ru r   dr u r  r d u r 
dt dt dt
v ru r  ru
 The velocity vector can be written in terms of its components in the r-

and in the θ- directions as:

 The r- and θ- components of the velocity vector are therefore:

v vr u r  v u

vr r
v r
 Curvilinear Motion: Polar Coordinates

 The r- and θ- components of the velocity vector are shown

graphically in the Figure. The radial component v is a measure

r
of the rate of increase or decrease in the length of the radial

coordinate r; whereas the transverse component v can be

θ
interpreted as the rate of motion along the circumference of a

circle having a radius r.

 In particular, the term dθ/dt is called the angular velocity,

since it indicates the time rate of change of the angle θ. vr r

Common units used for this measurement are rad/s.
v r
 Curvilinear Motion: Polar Coordinates

 Since v and v are mutually perpendicular, the magnitude of

r θ
velocity or speed is simply the positive value of


v  v  v  
r 2
 r  2 2
  2
r of v is,as always, tangent to the path of motion.
The direction

vr r
v r
 Curvilinear Motion: Polar Coordinates

 The particle’s instantaneous acceleration may be found in polar coordinates by taking the time derivatives of the previous expression of

the velocity vector

dv d
a
dt dt

 ru r  ru 
d d
a ru r  r u r  ru  ru  r u 
dt dt
a ru r  ru  ru  ru   ru r


  
a  r  r 2 u  2r  r u  
r in terms of its polar coordinate
We can write the acceleration components

a ar u r  a u
a r  r 2
r

a 2r  r
 Curvilinear Motion: Polar Coordinates

 The term = d2θ/dt2 is called the angular acceleration since it measures

the change made in the angular velocity during an instant of time. The

units for this measurement are rad/s2.

 Since a and a are mutually perpendicular, the magnitude of acceleration

r θ
or speed is simply the positive value of:

 The direction of the acceleration vector is determined from its two

components. In general, a will not be tangent to the path.

  
a  ar2  a2  r  r 2  2r  r
2 2

 Curvilinear Motion: Polar Coordinates
Example (Problem 12-166)

 The slotted arm OA rotate counterclockwise about O with a constant

angular velocity. The motion of pin B is constrained such that it moves

on the fixed circular surface and along the slot in OA. Determine the

magnitudes of the velocity and acceleration of pin B as a function of

θ.
 Curvilinear Motion: Polar Coordinates
Example (Problem 12-166)

 The slotted arm OA rotate counterclockwise about O with a constant

angular velocity. The motion of pin B is constrained such that it moves

on the fixed circular surface and along the slot in OA. Determine the

magnitudes of the velocity and acceleration of pin B as a function of

θ.
 Curvilinear Motion: Polar Coordinates
Example (Problem 12-166)

 The slotted arm OA rotate counterclockwise about O with a constant

angular velocity. The motion of pin B is constrained such that it moves

on the fixed circular surface and along the slot in OA. Determine the

magnitudes of the velocity and acceleration of pin B as a function of

θ.
 Curvilinear Motion: Normal – Tangential Coordinates

 When the path along which a particle travels is known, it is often convenient to

describe the motion using n and t coordinate axes which act normal and tangent to

the path, respectively, and at the instant considered have their origin located at the

particle.

 Consider the particle shown, which moves in a plane along a fixed curve, such that at

a given instant it is at position s, measured from point O. We will now consider a

coordinate system that has its origin at a fixed point on the curve, and at the instant

considered this origin happens to coincide with the location of the particle. The

coordinate system consists of the unit vector u , which is taken tangent to the path,
t
and the unit vector u , which is normal to the path in the direction of the path’s
n
curvature.
 Curvilinear Motion: Normal – Tangential Coordinates

 Since the velocity vector v is tangent to the path, and since its

magnitude is equal to ds/dt as shown previously, the velocity of

the particle can be written as:

 The acceleration vector a can be found by taking the derivative of

v vu t s u t
the velocity vector as

dv d
a  s u t 
dt dt
d
a su t  s u t 
dt
a su t  s u n
 Curvilinear Motion: Normal – Tangential Coordinates

 The acceleration vector a may be written in terms of its n- and t- components as:

a at uthet 
 Comparing anwith
above u n the previous expression for a, and noting that ds = ρdθ
where ρ is the radius of curvature for the path, ds/dt = ρdθ/dt , and the following

relations are obtained:

a su t  s u n
a at uthe
 Eliminating t  an u n
time t from the relations for v and a result in this relationship
t

at s v , an s   2 v 2 

at ds vdv
 Curvilinear Motion: Normal – Tangential Coordinates

 Eliminating the time t from the following two relations for the tangential

component of v and a
t

v ds dt
at dv dt
result in the following differential relation

at ds vdv
 Curvilinear Motion: Summary

Cartesian Coordinates Polar Coordinates

Normal – Tangential Coordinates

r  xi  yj r ru r
v v x i  v y j v vr u r  v u v vu t
a a x i  a y j a ar u r  a u a at u r  anu n

v x dx dt  x vr r vt v s

a x dv x dt x ar r  r 2 at v s
a x dx v x dv x at ds vdv

v y dy dt  y v r vn 0
a x dv y dt  y a 2r  r an s   2 v 2 
a y dy v y dv y
Curvilinear Motion: Example 12.14
Curvilinear Motion: Example 12.14
Curvilinear Motion: Example 12.14
Curvilinear Motion: Example 12.14
 Curvilinear Motion: Normal – Tangential Coordinates
Example (Problem 12-120)

 The car travels along the circular path such that its speed is increased by a =
t
(0.5et) m/s2, where t is in seconds. Determine the magnitudes of its velocity and

acceleration after the car has traveled s = 18 m starting from rest. Neglect the

size of the car

 Curvilinear Motion: Normal – Tangential Coordinates
Example (Problem 12-120)

 The car travels along the circular path such that its speed is increased by a =
t
(0.5et) m/s2, where t is in seconds. Determine the magnitudes of its velocity and

acceleration after the car has traveled s = 18 m starting from rest. Neglect the

size of the car

Solving for t by trial and error:

 Curvilinear Motion: Normal – Tangential Coordinates
Example (Problem 12-126)

 When the car reaches point A, it has a speed of 25 m/s.

If the brakes are applied, its speed is reduced by a =

t
(0.001s - 1 ) m/s2. Determine the magnitude of

acceleration of the car just before it reaches point C.

 Curvilinear Motion: Normal – Tangential Coordinates
Example (Problem 12-126)

 When the car reaches point A, it has a speed of 25 m/s.

If the brakes are applied, its speed is reduced by a =

t
(0.001s - 1 ) m/s2. Determine the magnitude of

acceleration of the car just before it reaches point C.

 Velocity

 Acceleration

When the car is at point C,

v s

vdv ads
vo 0
 
sC 200  250  330.9 m. Thus,
s
6
v v  2 0.001s  1ds
2 2
o vc  625  0.001330.9   2330.9  8.526 m/s
2

 0.001s 2 s at C v 0.001330.9 1  0.6691 m/s2

v 2 252  2  s  vC2
8.5262
 2 0 an C   0.2908 m/s 2
 250
v  625  0.001s 2  2 s
a  at C  an C   0.6691  0.2908 0.73m/s 2
2 2 2 2
 Motion Analysis of Connected Particles

 In some types of problems the motion

of one particle will depend on the

corresponding motion of another

particle.

 This dependency commonly occurs if

the particles, here represented by

blocks, are interconnected by

inextensible cords which are wrapped

around pulleys.
 Motion Analysis of Connected Particles

 The movement of block A downward along the inclined plane will

cause a corresponding movement of block B up the other incline.

We can show this mathematically by first specifying the location

of the blocks using position coordinates S and S . Note that

A B
each of the coordinate axes is (1) measured from a fixed point (O)

or fixed datum line, (2) measured along each inclined plane in

the direction of motion of each block, and (3) has a positive

sense from C to A and D to B.

 If the total cord length is I , the two position coordinates are

T
related by the equations shown
S A  lCD  S B lT
S A  S B c
S A  S B 0, vB  v A
SA  SB 0, aB  a A
 Motion Analysis of Connected Particles

 A more complicated example is shown. In this case, the position of block A

is specified by S , and the position of the end of the cord from which block
A
B is suspended is defined by S . As above, we have chosen position
B
coordinates which (1) have their origin at fixed points or datums, (2) are

measured in the direction of motion of each block, and (3) are positive to

the right for S and positive downward for S .

A B

 During the motion, the length of the red colored segments of the cord

remain constant. If I represents the total length of cord minus these

segments, then the position coordinates can be related by the equations

shown.

S A  h  2S B lT
S A  2S B c
1
S A  2S B 0, vB  v A
2
1
SA  SB 0, aB  a A
2
 Example (Example 12.21)

 Determine the speed of block A in if block B has an

upward speed of 6 ft/s.

 Example (Example 12.21)

 Determine the speed of block A in if block B has an

upward speed of 6 ft/s.

S A  3S B lT
S A  3S B c
S A  3S B 0, v A  3vB  3  6 18 ft/s
v A 18 ft/s downwards