Lecture

Lecture #2 – October # 13
30, 2012

Chapter 5 : Kinematics of a Particle

RECTILINEAR KINEMATICS: ERRATIC MOTION

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

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ME 2211 : Engineering Mechanics I
 Lecture #2 – October 30, 2012

• When a particle has erratic or changing motion then its

position, velocity and acceleration cannot be described by
a single continuous mathematical function along the entire
path.

• Instead a series of function will be required to specify the

motion at different intervals.

• For this reason, it is convenient to represent the motion as

a graph.

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 Lecture #2 – October 30, 2012

APPLICATION

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 feet?

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 Lecture #2 – October 30, 2012

ERRATIC MOTION

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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 Lecture #2 – October 30, 2012

S-T GRAPH

Plots of position vs. time can be

used to find velocity vs. 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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 Lecture #2 – October 30, 2012

V-T GRAPH
Plots of velocity vs. time can be used to
find acceleration vs. 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 vs. 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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 Lecture #2 – October 30, 2012

A-T GRAPH

Given the acceleration vs. 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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 Lecture #2 – October 30, 2012

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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 Lecture #2 – October 30, 2012

V-S GRAPH
Another complex case is presented
by the velocity vs. 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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 Lecture #2 – October 30, 2012

QUESTIONS

1. The slope of a v-t graph at any instant represents instantaneous

A) velocity. B) acceleration.
C) position. D) jerk.

Note that jerk is the rate of change of acceleration; it is the third

derivative of position with respect to time.

2. Displacement of a particle in a given time interval equals the

area under the ___ graph during that time.

A) a-t B) a-s
C) v-t D) s-t

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 Lecture #2 – October 30, 2012

EXAMPLE
Given: The s-t graph for a sports car moving along a straight road.

Find: The v-t graph and a-t graph over the time interval shown.

What is your plan of attack for the problem?

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 Lecture #2 – October 30, 2012

EXAMPLE (continued)
Solution: The v-t graph can be constructed by finding the slope
of the s-t graph at key points. What are those?

when 0 < t < 5 s; v0-5 = ds/dt = d(3t2)/dt = 6 t m/s

when 5 < t < 10 s; v5-10 = ds/dt = d(30t−75)/dt = 30 m/s

v(m/s)
v-t graph
30
t(s)
5 10

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 Lecture #2 – October 30, 2012

EXAMPLE (continued)
Similarly, the a-t graph can be constructed by finding the slope at various
points along the v-t graph.

when 0 < t < 5 s; a0-5 = dv/dt = d(6t)/dt = 6 m/s2

when 5 < t < 10 s; a5-10 = dv/dt = d(30)/dt = 0 m/s2

a-t graph
a(m/s2)

6
t(s)
5 10

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 Lecture #2 – October 30, 2012

QUESTIONS

1. If a particle starts from rest and

accelerates according to the graph
shown, the particle’s velocity at
t = 20 s is

A) 200 m/s B) 100 m/s

C) 0 D) 20 m/s

2. The particle in Problem 1 stops moving at t = _______.

A) 10 s B) 20 s
C) 30 s D) 40 s
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 Lecture #2 – October 30, 2012

PROBLEM SOLVING

Given: The v-t graph shown.

Find: The a-t graph, average

speed, and distance
traveled for the 0 - 90 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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 Lecture #2 – October 30, 2012

PROBLEM SOLVING
(continued)
Solution:
Find the a–t graph:
For 0 ≤ t ≤ 30 a = dv/dt = 1.0 m/s²

For 30 ≤ t ≤ 90 a = dv/dt = -0.5 m/s²

a(m/s²) a-t graph

1
30 90 t(s)
-0.5

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 Lecture #2 – October 30, 2012

PROBLEM SOLVING (continued)

Now find the distance traveled:

s0-30 =  v dt = (1/2) (30)2 = 450 m

s30-90 =  v dt
= (1/2) (-0.5)(90)2 + 45(90) – (1/2) (-0.5)(30)2 – 45(30)
= 900 m

s0-90 = 450 + 900 = 1350 m

vavg(0-90) = total distance / time

= 1350 / 90
= 15 m/s 17
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 Lecture #2 – October 30, 2012

QUESTIONS
1. If a car has the velocity curve shown, determine the time t
necessary for the car to travel 100 meters. v
A) 8 s B) 4 s 75

C) 10 s D) 6 s
t
6s
2. Select the correct a-t graph for the velocity curve shown.
a a
v
t t
A) B)
a a
t
C) t D) t

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 CURVILINEAR MOTION:
GENERAL & RECTANGULAR COMPONENTS

Objectives:
Students will be able to:
1. Describe the motion of a
particle traveling along a
curved path.
2. Relate kinematic quantities
in terms of the rectangular
components of the vectors.

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 Hodograph

The two velocity vectors are plotted in the figure

above such that their tails are located at the fixed point
0' and their arrowheads touch points on a curve. This
curve is called a hodograph.

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APPLICATIONS

The path of motion of a plane can

be tracked with radar and its x, y,
and z coordinates (relative to a
point on earth) recorded as a
function of time.

How can we determine the velocity

or acceleration of the plane at any
instant?

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 APPLICATIONS
(continued)

A roller coaster car travels down

a fixed, helical path at a constant
speed.

How can we determine its

position or acceleration at any
instant?

If you are designing the track, why is it important to be

able to predict the acceleration of the car?
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 GENERAL CURVILINEAR MOTION

A particle moving along a curved path undergoes curvilinear motion.

Since the motion is often three-dimensional, vectors are used to
describe the motion.

A particle moves along a curve

defined by the path function, s.

The position of the particle at any instant is designated by the vector

r = r(t). Both the magnitude and direction of r may vary with time.

If the particle moves a distance s along the

curve during time interval t, the
displacement is determined by vector
subtraction:  r = r’ - r
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 VELOCITY
Velocity represents the rate of change in the position of a
particle.
The average velocity of the particle
during the time increment t is
vavg = r/t .
The instantaneous velocity is the
time-derivative of position
v = dr/dt .
The velocity vector, v, is always
tangent to the path of motion.
The magnitude of v is called the speed. Since the arc length s
approaches the magnitude of r as t→0, the speed can be
obtained by differentiating the path function (v = ds/dt). Note
that this is not a vector!
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 ACCELERATION
Acceleration represents the rate of change in the
velocity of a particle.

If a particle’s velocity changes from v to v’ over a

time increment t, the average acceleration during
that increment is:
aavg = v/t = (v’ - v)/t
The instantaneous acceleration is the time-
derivative of velocity:
a = dv/dt = d2r/dt2

A plot of the locus of points defined by the arrowhead

of the velocity vector is called a hodograph. The
acceleration vector is tangent to the hodograph, but
not, in general, tangent to the path function.
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CURVILINEAR MOTION: RECTANGULAR COMPONENTS

It is often convenient to describe the motion of a particle in

terms of its x, y, z or rectangular components, relative to a fixed
frame of reference.
The position of the particle can be
defined at any instant by the
position vector
r=xi+yj+zk .
The x, y, z components may all be
functions of time, i.e.,
x = x(t), y = y(t), and z = z(t) .

The magnitude of the position vector is: r = (x2 + y2 + z2)0.5

The direction of r is defined by the unit vector: ur = (1/r)r
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 RECTANGULAR COMPONENTS: VELOCITY
The velocity vector is the time derivative of the position vector:
v = dr/dt = d(xi)/dt + d(yj)/dt + d(zk)/dt
Since the unit vectors i, j, k are constant in magnitude and
direction, this equation reduces to v = vx i + vy j + vz k
• • •
where vx = x = dx/dt, vy = y = dy/dt, vz = z = dz/dt

The magnitude of the velocity

vector is
v = [(vx)2 + (vy)2 + (vz)2]0.5

The direction of v is tangent

to the path of motion.
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 RECTANGULAR COMPONENTS: ACCELERATION

The acceleration vector is the time derivative of the

velocity vector (second derivative of the position vector):
a = dv/dt = d2r/dt2 = ax i + ay j + az k
•
•• •• •
v
where ax = x = x v
= dvx /dt, ay = y = y = dvy /dt,
az = v• z = z•• = dvz /dt
The magnitude of the acceleration vector is
a = [(ax)2 + (ay)2 + (az)2 ]0.5

The direction of a is usually

not tangent to the path of the
particle.

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 QUESTIONS
1. In curvilinear motion, the direction of the instantaneous
velocity is always
A) tangent to the hodograph.
B) perpendicular to the hodograph.
C) tangent to the path.
D) perpendicular to the path.

2. In curvilinear motion, the direction of the instantaneous

acceleration is always
A) tangent to the hodograph.
B) perpendicular to the hodograph.
C) tangent to the path.
D) perpendicular to the path.
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 EXAMPLE

Given: The motion of two particles (A and B) is described by

the position vectors
rA = [3t i + 9t(2 – t) j] m and
rB = [3(t2 –2t +2) i + 3(t – 2) j] m.

Find: The point at which the particles collide and their

speeds just before the collision.

Plan: 1) The particles will collide when their position

vectors are equal, or rA = rB .
2) Their speeds can be determined by differentiating
the position vectors.
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 EXAMPLE (continued)
Solution:
1) The point of collision requires that rA = rB,
so xA = xB and yA = yB .
Set the x-components equal: 3t = 3(t2 – 2t + 2)
Simplifying: t2 – 3t + 2 = 0
Solving: t = {3  [32 – 4(1)(2)]0.5}/2(1)
=> t = 2 or 1 s
Set the y-components equal: 9t(2 – t) = 3(t – 2)
Simplifying: 3t2 – 5t – 2 = 0
Solving: t = {5  [52 – 4(3)(–2)]0.5}/2(3)
=> t = 2 or – 1/3 s
So, the particles collide when t = 2 s (only common
time). Substituting this value into rA or rB yields
xA = xB = 6 m and yA = yB = 0
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 EXAMPLE (continued)
2) Differentiate rA and rB to get the velocity vectors.

• •
vA = drA/dt = .xA i + yA j = [ 3 i + (18 – 18t) j ] m/s
At t = 2 s: vA = [ 3i – 18 j ] m/s

vB = drB/dt = xB i + yB j = [ (6t – 6) i + 3 j ] m/s

•
At t = 2 s: vB = [ 6 i + 3 j ] m/s

Speed is the magnitude of the velocity vector.

vA = (32 + 182)0.5 = 18.2 m/s
vB = (62 + 32) 0.5 = 6.71 m/s

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 QUESTIONS

1. If the position of a particle is defined by

r = [(1.5t2 + 1) i + (4t – 1) j ] (m), its speed at t = 1 s is
A) 2 m/s B) 3 m/s
C) 5 m/s D) 7 m/s

2. The path of a particle is defined by y = 0.5x2. If the

component of its velocity along the x-axis at x = 2 m is
vx = 1 m/s, its velocity component along the y-axis at this
position is
A) 0.25 m/s B) 0.5 m/s
C) 1 m/s D) 2 m/s

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 PROBLEM SOLVING

Given: The velocity of the particle is

v = [ 16 t2 i + 4 t3 j + (5 t + 2) k] m/s.
When t = 0, x = y = z = 0.
Find: The particle’s coordinate position and the magnitude of
its acceleration when t = 2 s.
Plan:
Note that velocity vector is given as a function of time.
1) Determine the position and acceleration by
integrating and differentiating v, respectively, using
the initial conditions.
2) Determine the magnitude of the acceleration vector
using t = 2 s.

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 PROBLEM SOLVING (continued)
Solution:
1) x-components: •
Velocity known as: vx = x = dx/dt = (16 t2 ) m/s
x t
Position:  dx =  (16 t ) dt  x = (16/3)t
0
2 3 = 42.7 m at t = 2 s
0
•• •
Acceleration: ax = x = vx = d/dt (16 t2) = 32 t = 64 m/s2

2) y-components:
•
Velocity known as: vy = y = dy/dt = (4 t3 ) m/s
y t
Position: 
0

dy = (4 t3) dt  y = t4 = (16) m at t = 2 s
0
•• •
Acceleration: ay = y = vy = d/dt (4 t3) = 12 t2 = 48 m/s2
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 PROBLEM SOLVING (continued)
3) z-components:
•
Velocity is known as: vz = z = dz/dt = (5 t + 2) m/s
z t
Position:  dz =  (5 t + 2) dt  z = (5/2) t
0
2 + 2t = 14 m at t=2s
0
•• •
Acceleration: az = z = vz = d/dt (5 t + 2) = 5 m/s2

4) The position vector and magnitude of the acceleration vector

are written using the component information found above.
Position vector: r = [ 42.7 i + 16 j + 14 k] m.
Acceleration vector: a = [ 64 i + 48 j + 5 k] m/s2
Magnitude: a = (642 + 482 +52)0.5 = 80.2 m/s2
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 QUESTIONS
1. If a particle has moved from A to B along the circular path in
4s, what is the average velocity of the particle ?
A) 2.5 i m/s y

B) 2.5 i +1.25j m/s R=5m x

C) 1.25  i m/s A B
D) 1.25  j m/s

2. The position of a particle is given as r = (4t2 i - 2 j) m.

Determine the particle’s acceleration.
A) (4 i +8 j ) m/s2 B) (8 i -16 j ) m/s2
C) (8 i) m/s2 D) (8 j ) m/s2
End of Lecture
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