Engineering Mechanics:
Dynamics in SI Units, 12e
Chapter 12
Kinematics of a Particle
Copyright © 2010 Pearson Education South Asia Pte Ltd
12.4 General Curvilinear Motion
Curvilinear motion
occurs when the particle moves along a curved
path
Position
measured from a fixed point O, by the position
vector r = r(t)
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12.4 General Curvilinear Motion
Displacement
For a particle travel a distance ∆s along the
curve to a new position P’, within a small time
interval ∆t, it is defined by r’ = r + ∆r
The displacement ∆r represents the change in
the particle’s position
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12.4 General Curvilinear Motion
Velocity
Average velocity of the particle is defined as
∆r
vavg =
∆t
Instantaneous velocity is found from letting
∆t0,
dr
vins =
dt
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12.4 General Curvilinear Motion
Acceleration
The average acceleration during the time interval
∆t is ∆v dv d 2 r
aavg = a= =
∆t dt dt 2
a acts tangent to the hodograph and is not
tangent to the path
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12.5 Curvilinear Motion: Rectangular Components
Position
Position vector is defined by r = xi + yj + zk
The magnitude of r is always positive and
defined as
r = x2 + y2 + z 2
The direction of r is specified by the components
of the unit vector ur = r/r
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12.5 Curvilinear Motion: Rectangular Components
Velocity
We have
dr
v= = vx i + v y j + vz k
dt
where v x = x , v y = y , vz = z
The velocity has a magnitude defined as the
positive value of
v = vx2 + v y2 + v z2
Unit vector uv = v/v and is always tangent to the
path
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12.5 Curvilinear Motion: Rectangular Components
Acceleration
We have
dv
a= = ax i + a y j + az k
dt
where a x = vx = x , a y = v y = y , a z = vz = z
The acceleration has a magnitude defined as the
positive value of
a = a x2 + a y2 + a z2
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12.5 Curvilinear Motion: Rectangular Components
PROCEDURE FOR ANALYSIS
Coordinate System
Rectangular coordinate system can be
expressed in terms of its x, y and z components
Kinematic Quantities
Rectilinear motion is found using
v = ds/dt, a = dv/dt or a ds = v ds
Magnitudes of vectors are found from
Pythagorean theorem
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Example 12.9
At any instant the horizontal position of the weather
balloon is defined by x = (9t) m, where t is in second.
If the equation of the path is y = x2/30, determine the
distance of the balloon from the station at A, the
magnitude and direction of the both the velocity and
acceleration when t = 2 s.
Copyright © 2010 Pearson Education South Asia Pte Ltd
Example 12.9
Solution
Position
When t = 2 x = 9(2)= 18 m, y = (18)2/30 = 10.8m
The straight-line distance from A to B is
r= (18)2 + (10.8)2 = 21 m
Velocity
We have d
v x = x = (9t ) = 9m / s →
dt
v y = y =
d 2
dt
( )
x / 30 = 10.8m / s ↑
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Example 12.9
Solution
Velocity
When t = 2 s, the magnitude of velocity is
v= (9)2 + (10.8)2 = 14.1m / s
−1
vy
The x is tangent to the path is θ v = tan = 50.2
vx
Acceleration
We have ax = vx = 0 and a y = v y = 5.4m / s 2 ↑ thus,
∵a = (0)2 + (5.4)2 = 5.4m / s 2
5.4
θ a = tan −1 = 90°
0
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Example 12.10
For a short time, the path of the plane in the figure is
described by y = (0.001x2)m. If the plane is rising
with a constant velocity of 10m/s , determine the
magnitudes of the velocity and acceleration of the
plane when it is at y = 100 m
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Example 12.10
Solution
When y = 100m x = 316.2m
When vy = 10m/s t = 10s
Velocity
Using the chain rule,
d
v y = y =
dt
( )
0.001x 2 = 0.002 xvx
10 = 0.002(316.2)v x ⇒ vx = 15.81 m/s
The magnitude is v = vx2 + v y2 = 18.7 m/s
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Example 12.10
Solution
Acceleration
Using the chain rule,
(
a = v y = 0.002 xv x + 0.002 xvx = 0.002 v x2 + xa x )
When x = 316.2m, vx = 15.81m/s,
v y = a y = 0
( )
0 = 0.002 15.812 + 316.2a x ⇒ a x = −0.791 m/s 2
Magnitude of the plane’s acceleration is
a = a x2 + a y2 = 0.791 m/s 2
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12.6 Motion of Projectile
Projectile’s acceleration always act vertically
Projectile launched at (x0, y0) and path is defined
in the x-y plane
Air resistance is neglected
Only force is its
weight downwards
ac = g = 9.81 m/s2
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12.6 Motion of Projectile
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12.6 Motion of Projectile
Horizontal Motion
Since ax = 0,
+
→
v = v0 + ac t ; v x = (v0 ) x
+
→
1 2
x = s0 + v0t + act ;
x = x0 + (v0 ) x t
2
+
v x = (v0 ) x
→
v 2 = v02 + 2ac ( s − s0 );
Horizontal component of velocity remain
constant during the motion
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12.6 Motion of Projectile
Vertical Motion
Positive y axis is upward, thus ay = - g
(+ ↑) v = v0 + act ; v y = (v0 ) y − gt
1 2 1 2
(+ ↑) s = s0 + v0t + ac t ; y = y0 + (v0 ) y t − gt
2 2
(+ ↑) v 2 = v02 + 2ac ( s − s0 ); 2
v y = (v0 ) 2y − 2 g ( y − y0 )
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12.6 Motion of Projectile
PROCEDURE FOR ANALYSIS
Coordinate System
Establish the fixed x, y, z axes
Sketch the trajectory of the particle
Specify 3 unknowns and data between any two points on
the path
Acceleration of gravity always acts downwards
Express the particle initial and final velocities in the x, y
components
Positive and negative position, velocity and acceleration
components always act in accordance with their
associated coordinate directions
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12.6 Motion of Projectile
PROCEDURE FOR ANALYSIS
Kinematics Equations
Decide on the equations to be applied between
the two points on the path for the most direct
solution
Horizontal motion
x = xo + (vo)x t ; vx = (vo)x
Vertical motion
1 2
v y = (v0 ) y − gt ; y = y0 + (v0 ) y t − gt ; v y2 = (v0 ) 2y − 2 g ( y − y0 )
2
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Example 12.11
A sack slides off the ramp with a horizontal velocity
of 12 m/s. If the height of the ramp is 6 m from the
floor, determine the time needed for the sack to
strike the floor and the range R where the sacks
begin to pile up.
Copyright © 2010 Pearson Education South Asia Pte Ltd
Example 12.11
Solution
Coordinate System
Origin at point A.
Initial velocity is (vA)x = 12 m/s and (vA)y = 0m/s
Acceleration between A and B is ay = -9.81 m/s2.
Since (vB)x = (vA)x = 12 m/s, the 3 unknown are
(vB)y, R and tAB
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Example 12.11
Solution
Vertical Motion
Vertical distance from A to B is known,
(+ ↑) 1 2
y B = y A + (v A ) y t AB + ac t AB
2
⇒ t AB = 1.11s
Horizontal Motion
+
→ x = x A + (v A ) x t AB
R = 0 + 12(11.1)
R = 13.3m
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Example 12.12
The chipping machine is designed to eject wood at
chips vO = 7.5 m/s. If the tube is oriented at 30°from
the horizontal, determine how high, h, the chips
strike the pile if they land on the pile 6 m from the
tube.
Copyright © 2010 Pearson Education South Asia Pte Ltd
Example 12.12
Solution
Coordinate System
3 unknown h, tOA and (vA)y.
Taking origin at O, for initial velocity of a chip,
(vO ) x = (7.5 cos 30 ) = 6.5m / s →
(vO ) y = (7.5 sin 30 ) = 3.75m / s ↑
Also,
(vA)x = (vO)x = 6.5 m/s and ay = -9.81 m/s2
Copyright © 2010 Pearson Education South Asia Pte Ltd
Example 12.12
Solution
Horizontal Motion
x A = x0 + (v0 ) x tOA
⇒ tOA = 0.9231s
Vertical Motion
Relating tOA to initial and final elevation of the chips,
1 2
y A = h − 2.1 = yO + (v0 ) y tOA + ac tOA
2
h = 1.38m
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Example 12.13
The track for this racing event was designed so that
the riders jump off the slope at 30°, from a height of
1m. During the race, it was observed that the rider
remained in mid air for 1.5 s. Determine the speed at
which he was traveling off the slope, the horizontal
distance he travels before striking the ground, and
the maximum height he attains. Neglect the size of
the bike and rider.
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Example 12.13
Solution
Coordinate System
Origin is at point A.
3 unknown are vA, R and vB.
Vertical Motion
Since time of flight and the vertical distance between
the ends of the paths are known,
(↑ + ) 1
y B = y A + (v A ) y t AB + aC t AB
2
2
⇒ v A = 13.4m / s
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Example 12.13
Solution
Horizontal Motion
The range R can be determined as
xB = x A + (v A ) x t AB
+
→ R = 0 + 13.38 cos 30 (1.5) = 17.4m
We can determine h directly without considering tAC
(vc )2y = (vA )2y + 2ac [ yC − yA ]
(0)2 = (13.38sin30 )2 + 2(−9.81)[(h −1) − 0] ⇒ h = 3.28m
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