Ambo University Hachalu Hundesa Campus

School of Mechanical and Industrial Engineering

Department of Mechanical Engineering
LECTURE NOTE
ON
Engineering Mechanics II: Dynamics
Topic: Kinematics of Particles (Chapter 2)
Part - I
Prepared by- Mechanical Department

May, 2022
Ambo , Ethiopia
 Kinematics of Particles Mechanical Engineering Department

CHAPTER TWO
KINEMATICS OF PARTICLES
2.1 INTRODUCTION
Kinematics: - is the branch of dynamics which describes the motion of bodies without reference
to the forces which either cause the motion or are generated as a result of the motion.
- is often described as the "geometry of motion."
Particle Motion
If the particle is confined to a specified path, as with a bead sliding along a fixed wire, its motion
is said to be constrained. If there are no physical guides, the motion is said to be unconstrained.

Figure 2/1
Choice of Coordinates
The position of particle P at any time t can be described by specifying its rectangular coordinates
x, y, z, its cylindrical coordinates r,𝜃, z, or its spherical coordinates R,𝜃, ∅ . The motion of P can
also be described by measurements along the tangent t and normal n to the curve. The direction of
n lies in the local plane of the curve. These last two measurements are called path variables.
The motion of particles (or rigid bodies) can be described by using coordinates measured from
fixed reference axes (absolute-motion analysis) or by using coordinates measured from moving
reference axes (relative motion analysis).

1
Engineering Mechanics II: Dynamics
 Kinematics of Particles Mechanical Engineering Department

2
Engineering Mechanics II: Dynamics
 Kinematics of Particles Mechanical Engineering Department

2.1. RECTILINEAR MOTION

Figure 2/2

Consider a particle P moving along a straight line, Fig. 2/2. The position of P at any instant of time
t can be specified by its distance s measured from some convenient reference point 0 fixed on the
line. At time
t + ∆t the particle has moved to P' and its coordinate becomes s+∆s. The change in the position
coordinate during the interval ∆t is called the displacement ∆s of the particle. The displacement
would be negative if the particle moved in the negative s-direction.
Velocity and Acceleration
The average velocity of the particle during the interval ∆t is the displacement divided by the time
interval or 𝑣𝑎𝑣=∆s⁄∆𝑡 . As ∆t becomes smaller and approaches zero in the limit, the average velocity
∆s
approaches the instantaneous velocity of the particle, which is 𝑣 = lim or
∆𝑡→0 ∆𝑡
𝑑𝑠
𝑣 = 𝑑𝑡 = 𝑠̇ ………………………………………………………2.1

Thus, the velocity is the time rate of change of the position coordinate s.
The velocity is positive or negative depending on whether the corresponding displacement is
positive or negative.
The average acceleration of the particle during the interval ∆t is the change in its velocity divided
by the time interval or 𝑎𝑎𝑣=∆v⁄∆𝑡 . As ∆t becomes smaller and approaches zero in the limit, the
average acceleration approaches the instantaneous acceleration of the particle, which is 𝑎 =
∆v
lim
∆𝑡→0 ∆𝑡
𝑑𝑣 𝑑2 𝑠
𝑎= = 𝑣̇ = 𝑑𝑡 2 = 𝑠̈ ……………………………………………..2.2
𝑑𝑡

The acceleration is positive or negative depending on whether the velocity is increasing or

decreasing.

3
Engineering Mechanics II: Dynamics
 Kinematics of Particles Mechanical Engineering Department

𝑑𝑣 𝑑𝑣
𝑎= , 𝑎𝑑𝑡 = 𝑑𝑣, 𝑑𝑡 = 𝑠𝑖𝑚𝑖𝑙𝑎𝑟𝑙𝑙𝑦
𝑑𝑡 𝑎
𝑑𝑠 𝑑𝑠
𝑣= , 𝑣𝑑𝑡 = 𝑑𝑠, 𝑑𝑡 = 𝑡ℎ𝑒𝑛 𝑏𝑦 𝑒𝑙𝑙𝑖𝑚𝑖𝑛𝑎𝑡𝑖𝑛𝑔 𝑑𝑡
𝑑𝑡 𝑣
𝑑𝑠 𝑑𝑣
=
𝑣 𝑎
𝑣𝑑𝑣 = 𝑎𝑑𝑠 ……………………………………..…………….2.3
Equations 2.1, 2.2, and 2.3 are the differential equations for the rectilinear motion of a particle.
Problems in rectilinear motion involving finite changes in the motion variables are solved by
integration of these basic differential relations.
Graphical Interpretations
a) S-t curve

 By constructing the tangent to the curve at any time t, we obtain the slope, which is the
velocity v= ds/dt.
b) v-t curve

 The slope dv/dt of the v-t curve at any instant gives the acceleration at that instant

4
Engineering Mechanics II: Dynamics
 Kinematics of Particles Mechanical Engineering Department

 The area under the v-t curve during time dt is vdt, which from Eq. 2.1 is the displacement
ds. Consequently, the net displacement of the particle during the interval from t1 to t2 is
the corresponding area under the curve, which is
𝑠
1 𝑡
1
∫𝑠 𝑑𝑠 = ∫𝑡 𝑣𝑑𝑡 Or s1-s2= (Area under v-t curve)
2 2

c) a-t curve

 The area under the a-t curve during time dt is adt, which, from the first of Eqs. 2/2, is dv.
 Thus, the net change in velocity between tl and t2 is the corresponding area under the
curve, which is
1 𝑣 1 𝑡
∫𝑣 𝑑𝑣 = ∫𝑡 𝑎𝑑𝑡 or v1-v2=(Area under v-t curve )
2 2

d) a-s curve

 When the acceleration a is plotted as a function of the position coordinate s, the area
under the curve during a displacement ds is a ds, which, from Eq. 2/3, is vdv = d(v2/2).
Thus, the net area under the curve between position coordinates S1 and S2 is
𝑣 𝑠 1
1 1
∫𝑣 𝑣𝑑𝑣 = ∫𝑠 𝑎𝑑𝑠 𝑜𝑟 (𝑣2 2 − 𝑣1 2 ) = (Area under a − s curve )
2 2 2

e) v-s curve

5
Engineering Mechanics II: Dynamics
 Kinematics of Particles Mechanical Engineering Department

When the velocity v is plotted as a function of the position coordinate s, the slope of the curve at
any point A is dv/ds. By constructing the normal AB to the curve at this point, we see from the
similar triangles that CB/v = dv/ds. Thus, from Eq. 2/3, CB = v(dv/ds) = a, the acceleration. It is
necessary that the velocity and position coordinate axes have the same numerical scales so that
the acceleration read on the position coordinate scale in meters (or feet), say, will represent the
actual acceleration in meters (or feet) per second squared.
Analytical Integration
(a) Constant Acceleration.
When a is constant, the first of Eqs. 2.2 and 2.3 can be integrated directly s = so, v = vo,
and t = 0 designated at the beginning of the interval, then for a time interval t the
integrated equations become
For Eqs. 2.2
𝑣 𝑡
∫ 𝑑𝑣 = 𝑎 ∫ 𝑑𝑡 𝑜𝑟 𝑣 = 𝑣𝑜 + 𝑎𝑡
𝑣𝑜 0

Substitution of the integrated expression for v into Eq. 2/1 and integration with respect to t give
𝑠 𝑡
1
∫ 𝑑𝑠 = ∫ (𝑣𝑜 + 𝑎𝑡)𝑑𝑡 𝑜𝑟 𝑠 = 𝑠𝑜 + 𝑣𝑜 𝑡 + 𝑎𝑡 2
𝑠𝑜 0 2
For Eqs. 2.3
𝑣 𝑠
∫ 𝑣𝑑𝑣 = 𝑎 ∫ 𝑑𝑠 𝑜𝑟 𝑣 2 = 𝑣𝑜 2 + 2𝑎(𝑠 − 𝑠𝑜 )
𝑣𝑜 𝑠𝑜 𝑜

(b) Acceleration Given as a Function of Time, a = f(t).

6
Engineering Mechanics II: Dynamics
 Kinematics of Particles Mechanical Engineering Department

𝑣 𝑡 𝑡
Eqn 2.2 Becomes ∫𝑣 𝑑𝑣 = ∫0 𝑓(𝑡)𝑑𝑡 𝑜𝑟 𝑣 = 𝑣𝑜 + ∫0 𝑓(𝑡)𝑑𝑡
𝑜

𝑠 𝑡 𝑡
Eqn 2.2. Becomes ∫𝑠 𝑑𝑠 = ∫0 𝑣𝑑𝑡 𝑜𝑟 𝑠 = 𝑠𝑜 + ∫0 𝑣𝑑𝑡
𝑜

(c) Acceleration Given as a Function of Velocity, a = f (v).

dv
Eqn 2.2 becomes f(v) = dt
t
dv
t = ∫ dt =
0 f(v)
 This result gives t as a function of v. Then it would be necessary to solve for v as a
function of t so that Eq. 2/1 can be integrated to obtain the position coordinate s as a
function of t.
Eqn 2.2 becomes v dv = f(v) ds. Separating variables
𝑣 𝑣𝑑𝑣 𝑠 𝑣 𝑣𝑑𝑣
∫𝑣 = ∫𝑠 𝑑𝑠 or 𝑠 = 𝑠𝑜 + ∫𝑣
𝑜 𝑓(𝑣) 𝑜 𝑜 𝑓(𝑣)

(d) Acceleration Given as a Function of Displacement, a = f (s).

𝑣 𝑠 𝑠
2 2
∫ 𝑣𝑑𝑣 = ∫ 𝑓(𝑠)𝑑𝑠 𝑜𝑟 𝑣 = 𝑣𝑜 − 2 ∫ 𝑓(𝑠)𝑑𝑠
𝑣𝑜 𝑠𝑜 𝑠𝑜

Next we solve for v to give v = g(s), a function of s. Now we can substitute ds/dt for v,
separate variables, and integrate in the form
𝑠 𝑑𝑠 𝑡 𝑠 𝑑𝑠
∫𝑠 = ∫0 𝑑𝑡 or t=∫𝑠
𝑜 𝑔(𝑠) 𝑜 𝑔(𝑠)

Examples
1. A girl rolls a ball up an incline and allows it to return to her. For the angle ɵ and ball
involved, the acceleration of the ball along the incline is constant at 0.25g, directed
down the incline. If the ball is released with a speed of 4 m/s, determine the distance s
it moves up the incline before reversing its direction and the total time t required for
the ball to return to the child's hand.

7
Engineering Mechanics II: Dynamics
 Kinematics of Particles Mechanical Engineering Department

Given

a=-0.25g,Vo=4m/s, V=0

Solution 𝑣 2 = 𝑣𝑜 2 + 2𝑎(𝑠 − 𝑠𝑜 ) 𝑏𝑢𝑡 𝑣 = 0 , 𝑠𝑜 = 0

𝑣𝑜 2
𝑠=−
2𝑎

42
𝑠= = 3.26𝑚
2(0.25)(9.81)

∆𝑣 𝑣−𝑣𝑜 0−4
For the upward motion of the ball 𝑎= 𝑡1 = = −0.25(9.81) = 1.63𝑠
𝑡 𝑎

For the downward motion of the ball 𝑣𝑜 = 0, 𝑎 = 0.25𝑔, 𝑠 = 3.26𝑚

𝑚
𝑠𝑜 𝑣 2 = 𝑣𝑜 2 + 2𝑎𝑠 = 2𝑎𝑠 = 2(0.25 ∗ 9.81)(0.25)(3.26) = 4
𝑠

𝑣 − 𝑣𝑜 4−0
𝑡2 = = = 1.63𝑠
𝑎 0.25 ∗ 9.81

𝑡𝑡𝑜𝑡𝑎𝑙 = 𝑡1 + 𝑡2 = 3.26𝑠

2. Small steel balls fall from rest through the opening at A at the steady rate of two per
second. Find the vertical separation h of two consecutive balls when the lower one
has dropped 3 meters. Neglect air resistance.

8
Engineering Mechanics II: Dynamics
 Kinematics of Particles Mechanical Engineering Department

Given

h1=3m, g=9.81, t2=t1-0.5

Solution

1
For the first ball h1 = vo t + 2 gt 2

1 2
h1 = gt
2 1

2h1 2(3)
t1 = √ =√ = 0.7821s
g 9.81

For the second ball t 2 = t1 − 0.5

t 2 = 0.2821s

1 2
h2 = gt = 0.39m
2 2

9
Engineering Mechanics II: Dynamics
 Kinematics of Particles Mechanical Engineering Department

h = h1 − h2 = 3 − 0.39

h = 2.61m

3. The car is traveling at a constant speed Va = 100 km/h on the level portion of the road.
When the 6-percent (tan ɵ = 6/100) incline is encountered, the driver does not change
the throttle setting and consequently the car decelerates at the constant rate g sin ɵ.
Determine the speed of the car (a) 10 seconds after passing point A and (b) when s =
100 m.

Solution

km 1000
v0 = 100 = m/s = 27.778m/s
hr 3.6

6
𝜃 = tan−1 ( ) = 3.43°
100

𝑎 = −𝑔𝑠𝑖𝑛𝜃 = −9.81 sin(3.43) = −0.5875𝑚/𝑠 2

Solution

a) t=10s, v=?

𝑣 = 𝑣𝑜 − 𝑎𝑡

= 27.778 − 9.81(𝑠𝑖𝑛𝜃)(10)

= 21.9 𝑚/𝑠

10
Engineering Mechanics II: Dynamics
 Kinematics of Particles Mechanical Engineering Department

b) s=100m, v=?
𝑣 2 = 𝑣𝑜 2 + 2𝑎𝑠

𝑣 = √(27.778)2 − 2(0.5875)(100) = 25.6𝑚/𝑠

4. On its takeoff roll, the airplane starts from rest and accelerates according to a
= ao-kv2, where ao is the constant acceleration resulting from the engine thrust and -
kv2 is the acceleration due to aerodynamic drag. If ao = 2 m/s2, k = 0.00004 m-1 and v
is in meters per second, determine the design length of runway required for the airplane
to reach the takeoff speed of 250 km/h if the drag term is (a) excluded and (b) included.

Given
vo=0, 𝑎 = 𝑎𝑜 − 𝑘𝑣 2 = 2 − 0.00004𝑣 2

v=250km/hr= 250/3.6 m/s =69.444m/s

Solution
a) −𝑘𝑣 2 is excluded
𝑣 2 = 𝑣𝑜 2 + 2𝑎𝑠
𝑣 2 69.44
𝑠= = = 1205.63𝑚
2𝑎 2(2)
b) –kv2 is included

𝑣𝑑𝑣 = 𝑎𝑑𝑠

𝑣𝑑𝑣 = (2 − 0.00004𝑣 2 )𝑑𝑠

𝑠 𝑣
𝑣
∫ 𝑑𝑠 = ∫ 2
𝑑𝑣
0 𝑣𝑜 2 − 0.00004𝑣

11
Engineering Mechanics II: Dynamics
 Kinematics of Particles Mechanical Engineering Department

𝑣
𝑣
𝑠=∫ 2
𝑑𝑣
𝑣𝑜 2 − 0.00004𝑣

𝑙𝑒𝑡 𝑢 = 2 − 0.00004𝑣 2

𝑑𝑢 = −2(0.00004)𝑣𝑑𝑣

𝑑𝑢
− 0.00008 = 𝑣𝑑𝑣 Substitute

𝑢 𝑑𝑢
𝑠=∫ −
𝑢𝑜
0.00008𝑢

1
= − 0.00008 𝑙𝑛𝑢 Substitute

𝑠 = −(12500 ln(2 − 0.00004𝑣 2 ))𝑣𝑣𝑜

𝑠 = −(12500 ln(2 − 0.00004𝑣 2 )) + (12500 ln(2 − 0.00004𝑣𝑜 2 ))

𝑠 = −12500 ln(2 − 0.00004(69.44)2 ) + 12500 ln(2)

2
= 12500 ln ( )
1.807

= 1268.49𝑚

12
Engineering Mechanics II: Dynamics
 Kinematics of Particles Mechanical Engineering Department

5.

13
Engineering Mechanics II: Dynamics
 Kinematics of Particles Mechanical Engineering Department

5. A test projectile is fired horizontally into a viscous liquid with a velocity of Vo. The
retarding force is proportional to the square of the velocity, so that the acceleration
becomes a = -kv2. Derive expressions for the distance D traveled in the liquid and the
corresponding time t required to reduce the velocity to vo/2. Neglect any vertical
motion.
Given
V=Vo/2 a=-kv2 so=0
Solution

𝑣𝑑𝑣 = 𝑎𝑑𝑠

𝑣𝑑𝑣 = −𝑘𝑣 2 𝑑𝑠

𝑣𝑑𝑣
− = 𝑑𝑠
𝑘𝑣 2
𝑣 𝑥
𝑣𝑑𝑣
∫ − 2 = ∫ 𝑑𝑠
𝑣0 𝑘𝑣 0

1
-𝑘 𝑙𝑛𝑣]𝑣𝑣𝑜 = 𝑥

1 𝑣𝑜 𝑣
𝑥 = 𝑘 𝑙𝑛 but for v= 2𝑜
𝑣

𝑙𝑛2 0.693
𝐷= =
𝑘 𝑘

t=?

𝑑𝑥
Method1. 𝑣= 𝑑𝑡

𝑣𝑜
𝑓𝑟𝑜𝑚 𝑡ℎ𝑒 𝑝𝑟𝑒𝑣𝑖𝑜𝑢𝑠 𝑠𝑜𝑙𝑢𝑡𝑖𝑜𝑛 𝑤𝑒 𝑘𝑛𝑜𝑤 𝑡ℎ𝑎𝑡 𝑥𝑘 = ln
𝑣

14
Engineering Mechanics II: Dynamics
 Kinematics of Particles Mechanical Engineering Department

𝑣𝑜
𝑒 𝑘𝑥 = 𝑣 = 𝑣𝑜 𝑒 −𝑘𝑥
𝑣

𝑑𝑥 𝑑𝑥 1 𝑘𝑥
𝑠𝑜 𝑙𝑒𝑡 𝑢𝑠 𝑠𝑢𝑏𝑠𝑡𝑖𝑡𝑢𝑡𝑒 𝑣 𝑖𝑛 𝑑𝑡 = = = 𝑒 𝑑𝑥
𝑣 𝑣𝑜 𝑒 −𝑘𝑥 𝑣𝑜

𝑡 𝑥
1 𝑘𝑥
∫ 𝑑𝑡 = ∫ 𝑒 𝑑𝑥
0 0 𝑣𝑜

1 𝑘𝑥 𝑥 1
𝑡= 𝑒 ]0 = (𝑒 𝑘𝑥 − 1) 𝑓𝑜𝑟 𝑥 = 𝐷 𝑘𝑥 = 𝑙𝑛2
𝑣𝑜 𝑘 𝑣𝑜 𝑘

1
𝑡=
𝑣𝑜 𝑘

dv
Method 2. a= but we know that 𝑎 = −kv 2
dt

dv dv
dt = =− 2
a kv

𝑡
1 𝑣 𝑑𝑣
∫ 𝑑𝑡 = − ∫
0 𝑘 𝑣𝑜 kv 2

1 1 1 1 1 𝑣𝑜
𝑡 = − [− ]𝑣𝑜 𝑣 = ( − ) 𝑏𝑢𝑡 𝑓𝑜𝑟 𝑥 = 𝐷 , 𝑣 =
𝑘 𝑣 𝑘 𝑣 𝑣𝑜 2

1 2 1
𝑡= ( − )
𝑘 𝑣𝑜 𝑣𝑜

1
𝑡=
𝑘𝑣𝑜

15
Engineering Mechanics II: Dynamics
 Kinematics of Particles Mechanical Engineering Department

2.2.PLANE CURVILINEAR MOTION

At time t the particle is at position A, which is located by the position vector r measured from some
convenient fixed origin o. If both the magnitude and direction of r are known at time t, then the
position of the particle is completely specified. At time t +∆t, the particle is at A', located by the
position vector r + ∆r. We note, of course, that this combination is vector addition and not scalar
addition. The displacement of the particle during time ∆t is the vector ∆r which represents the
vector change of position and is clearly independent of the choice of origin. If an origin were
chosen at some different location, the position vector r would be changed, but ∆r would be
unchanged. The distance actually traveled by the particle as it moves along the path from A to A'
is the scalar length ∆s measured along the path. Thus, we distinguish between the vector
displacement ∆r and the scalar distance ∆s.

Figure 2/3

Velocity
The average velocity of the particle between A and A' is defined as Vav = ∆r/ ∆t, which is a vector
whose direction is that of ∆r and whose magnitude is the magnitude of ∆r divided by ∆t. The
average speed of the particle between A and A' is the scalar quotient ∆s/ ∆t. Clearly, the magnitude
of the average velocity and the speed approach one another as the interval ∆t decreases and A
and A' become closer together.

16
Engineering Mechanics II: Dynamics
 Kinematics of Particles Mechanical Engineering Department

The instantaneous velocity v of the particle is defined as the limiting value of the average velocity
as the time interval approaches zero. Thus,
∆r
v = lim
∆𝑡→0 ∆t
𝑑𝑟
𝑉= = 𝑟̇ ………………………………………………..2.4
𝑑𝑡

We observe that the direction of ∆r approaches that of the tangent to the path as ∆t approaches
zero and, thus, the velocity v is always a vector tangent to the path.
The magnitude of v is called the speed and is the scalar
𝑑𝑠
𝑣 = |𝑉| = = 𝑠̇
𝑑𝑡
The velocity of the particle (Figure 2/3) at A can be represented by the tangent vector v and the
velocity at A' by the tangent v'. Clearly, there is a vector change in the velocity during the time ∆t.
The velocity v at A plus (vectorially) the change ∆v must equal the velocity at A', so we can write
v' - v = ∆v. Inspection of the vector diagram shows that ∆v depends both on the change in
magnitude (length) of v and on the change in direction of v. These two changes are fundamental
characteristics of the derivative of a vector.
Acceleration
The average acceleration of the particle between A and A' is defined as ∆v/∆t, which is a vector
whose direction is that of ∆v. The magnitude of this average acceleration is the magnitude of ∆v
divided by ∆t.
The instantaneous acceleration a of the particle is defined as the limiting value of the average
acceleration as the time interval approaches zero. Thus,
∆v
a = lim
∆𝑡→0 ∆t
𝑑𝑉
𝑎= = 𝑣̇ …………………………………….2.5
𝑑𝑡

As the interval M becomes smaller and approaches zero, the direction of the change ∆v approaches
that of the differential change dv and, thus, of a. The acceleration a, then, includes the effects of
both the change in magnitude of v and the change of direction of v. It is apparent, in general, that
the direction of the acceleration of a particle in curvilinear motion is neither tangent to the path
nor normal to the path. We do observe, however, that the acceleration component which is normal
to the path points toward the center of curvature of the path.(see figure 2/4)

17
Engineering Mechanics II: Dynamics
 Kinematics of Particles Mechanical Engineering Department

2.3. RECTANGULAR COORDINATES (x-y)

Figure 2/4

𝑟 = 𝑥𝑖 + 𝑦𝑗
𝑉 = 𝑟̇ = 𝑥̇ 𝑖 + 𝑦̇ 𝑗 ………………………………..2.6
𝑎 = 𝑉̇ = 𝑟̈ = 𝑥̈ 𝑖 + 𝑦̈ 𝑗
As we differentiate with respect to time, we observe that the time derivatives of the unit vectors
are zero because their magnitudes and directions remain constant. The scalar values of the
components of v and a are merely Vx = 𝑥̇ , Vy = 𝑦̇ and ax = 𝑉̇ x = 𝑥̈ , ay = 𝑉̇ y = 𝑦̈ .
𝑉𝑦
𝑉 2 = 𝑉𝑥 2 + 𝑉𝑦 2 𝑣 = √𝑉𝑥 2 + 𝑉𝑦 2 tan 𝜃 =
𝑉𝑥

𝑎 2 = 𝑎𝑥 2 + 𝑎𝑦 2 𝑎 = √𝑎𝑥 2 + 𝑎𝑦 2

Projectile Motion
An important application of two-dimensional kinematic theory is the problem of projectile motion.
For a first treatment of the subject, we neglect aerodynamic drag and the curvature and rotation of
the earth, and we assume that the altitude change is small enough so that the acceleration due to
gravity can be considered constant.

18
Engineering Mechanics II: Dynamics
 Kinematics of Particles Mechanical Engineering Department

Figure 2/6
𝑎𝑥 =0 𝑎𝑦 =g
Integration of these accelerations follows the results obtained previously for constant
acceleration and yields
𝑣𝑥 = (𝑣𝑥 )0 𝑜𝑟 𝑣𝑦 = (𝑣𝑦 )𝑜 + 𝑔𝑡
1
𝑥 = 𝑥𝑜 + (𝑣𝑥 )0 𝑡 𝑜𝑟 𝑦 = 𝑦𝑜 + (𝑣𝑦 )𝑜 𝑡 − 𝑔𝑡 2
2
𝑣𝑦 2 = (𝑣𝑦 )𝑜 2 − 2𝑔(𝑦 − 𝑦𝑜 )
Example
A rocket has expended all its fuel when it reaches position A, where it has a velocity of u
at an angle ɵ with respect to the horizontal. It then begins unpowered flight and attains a
maximum added height h at position B after traveling a horizontal distance s from A.
Determine the expressions for h and s, the time t of flight from A to B, and the equation
of the path. For the interval concerned, assume a flat earth with a constant gravitational
acceleration g and neglect any atmospheric resistance.

19
Engineering Mechanics II: Dynamics
 Kinematics of Particles Mechanical Engineering Department

Solution
Since all motion components are directly expressible in terms of horizontal and vertical
coordinates, a rectangular set of axes x-y will be employed. With the neglect of atmospheric
resistance, ax = 0 and ay = -g, and the resulting motion is a direct superposition of two rectilinear
motions with constant acceleration. Thus,
𝑡
𝑑𝑥 = 𝑣𝑥 𝑑𝑡 𝑥 = ∫0 𝑢𝑐𝑜𝑠𝜃𝑑𝑡 𝑥 = 𝑢𝑡𝑐𝑜𝑠𝜃
𝑣𝑦 𝑡
𝑑𝑣𝑦 = 𝑎𝑦 𝑑𝑡 ∫ 𝑑𝑣𝑦 = ∫ −𝑔𝑑𝑡 𝑣𝑦 = 𝑢𝑠𝑖𝑛𝜃 − 𝑔𝑡
𝑢𝑠𝑖𝑛𝜃 0
𝑡
1
𝑑𝑦 = 𝑣𝑦 𝑑𝑡 𝑦 = ∫ (𝑢𝑠𝑖𝑛𝜃 − 𝑔𝑡)𝑑𝑡 𝑦 = 𝑢𝑡𝑠𝑖𝑛𝜃 − 𝑔𝑡 2
0 2
Position B is reached when vy=0, which occurs for 0 = usinɵ -gt or
𝑢𝑠𝑖𝑛𝜃
𝑡=
𝑔
Substitution of this value for the time into the expression for y gives the maximum added
altitude
𝑢𝑠𝑖𝑛𝜃 1 𝑢𝑠𝑖𝑛𝜃 2
ℎ = 𝑢( ) 𝑠𝑖𝑛𝜃 − ( )
𝑔 2 𝑔
𝑢2 𝑠𝑖𝑛2 𝜃
ℎ=
2𝑔
The horizontal distance is seen to be
𝑢𝑠𝑖𝑛𝜃
𝑠 = 𝑢( ) 𝑐𝑜𝑠𝜃
𝑔

𝑢2 𝑠𝑖𝑛2𝜃
𝑠=
2𝑔
Which is clearly a maximum when 0 = 45°. The equation of the path is obtained by
eliminating t from the expressions for x and y, which gives
𝑔𝑥 2
𝑦 = 𝑥𝑡𝑎𝑛𝜃 − 2 𝑠𝑒𝑐 2 𝜃
2𝑢
This equation describes a vertical parabola as indicated in the figure

20
Engineering Mechanics II: Dynamics
 Kinematics of Particles Mechanical Engineering Department

Examples
1. The muzzle velocity of a long-range rifle at A is u = 400 m/s. Determine the two angles
of elevation ɵ which will permit the projectile to hit the mountain target B.

Given
u=400m/s
x=5000m
y=1500m
Solution
𝑔𝑥 2
𝑦 = 𝑥𝑡𝑎𝑛𝜃 − 𝑠𝑒𝑐 2 𝜃
2𝑢2
𝑔𝑥 2
𝑦 = 𝑥𝑡𝑎𝑛𝜃 − (1 + 𝑡𝑎𝑛2 𝜃)
2𝑢2
Substitute values and get
9.81(5000)2
1500 = 5000𝑡𝑎𝑛𝜃 − (1 + 𝑡𝑎𝑛2 𝜃)
2(400)2
𝑜𝑟 𝑡𝑎𝑛2 𝜃 − 6.524𝑡𝑎𝑛𝜃 + 2.957 = 0

21
Engineering Mechanics II: Dynamics
 Kinematics of Particles Mechanical Engineering Department

𝑠𝑜𝑙𝑢𝑡𝑖𝑜𝑛 𝑔𝑖𝑣𝑒𝑠 𝑟𝑜𝑜𝑡𝑠 𝜃1 = 26.1° 𝑎𝑛𝑑 𝜃2 = 80.6°

2. A projectile is launched from point A with the initial conditions shown in the figure.
Determine the slant distance s which locates the point B of impact. Calculate the time of
flight t.

Given
120𝑚
𝑣𝑜 = , 𝜃 = 40𝑜
𝑠
Solution
Set up x-y coordinate with origin at A.

𝑥 = 𝑥𝑜 + 𝑣𝑥𝑜 𝑡 @ 𝐵 ∶ 800 + 𝑠𝑐𝑜𝑠20𝑜 = (120𝑐𝑜𝑠40𝑜 )𝑡 (1)

1 9.81 2
𝑦 = 𝑦𝑜 + 𝑣𝑦𝑜 𝑡 − 2 𝑔𝑡 2 @ 𝐵: − 𝑠𝑠𝑖𝑛20𝑜 = (120𝑠𝑖𝑛40𝑜 )𝑡 − 𝑡 (2)
2

Solve (1) and (2) obtain simultaneously to obtain

S=1057m t=19.5s

3. With what minimum horizontal velocity u can a boy throw a rock at A and have it just
clear the obstruction at B?

22
Engineering Mechanics II: Dynamics
 Kinematics of Particles Mechanical Engineering Department

Given
y=26-16=10m x=40m uy=0
Solution

1 2𝑦 10
𝑦 = 𝑢𝑦 − 𝑔𝑡 2 𝑡 = √ = √2 ∗
2 𝑔 9.81

𝑡 = 1.428𝑠
40
𝑥 = 𝑢𝑡 𝑢 = = 28 𝑚/𝑠
1.428
4. Projectile is ejected into an experimental fluid at time t = 0. The initial speed is Vo and the
angle to the horizontal is ɵ. The drag on the projectile results in an acceleration term aD =-
kv, where k is a constant and v is the velocity of the projectile. Determine the x- and y-
components of both the velocity and displacement as functions of time. What is the terminal
velocity? Include the effects of gravitational acceleration.

23
Engineering Mechanics II: Dynamics
 Kinematics of Particles Mechanical Engineering Department

Given
𝑎 = −𝑘𝑣 − 𝑔𝑗
𝑎𝑥 𝑖 + 𝑎𝑦 𝑗 = −𝑘(𝑣𝑥 𝑖 − 𝑣𝑦 𝑗) − 𝑔𝑗
∴ 𝑎𝑥 = −𝑘𝑣𝑥
𝑎𝑦 = −𝑘𝑣𝑦 − 𝑔
𝑑𝑣𝑥
X: 𝑎𝑥 = = −𝑘𝑣𝑥
𝑑𝑡
𝑣𝑥 𝑡
𝑑𝑣𝑥
∫ = − ∫ 𝑘𝑑𝑡 𝑣𝑥 = 𝑣𝑥𝑜 𝑒 −𝑘𝑡
𝑣𝑥𝑜 𝑣𝑥 0

𝑜𝑟 𝑣𝑥 = (𝑣𝑜 𝑐𝑜𝑠𝜃)𝑒 −𝑘𝑡

𝑑𝑥
𝑣𝑥 = = 𝑣𝑥𝑜 𝑒 −𝑘𝑡
𝑑𝑡
𝑥 𝑡
∫ 𝑑𝑥 = ∫ 𝑣𝑥𝑜 𝑒 −𝑘𝑡 𝑑𝑡
0 0

𝑣𝑥𝑜 𝑣𝑜 𝑐𝑜𝑠𝜃
𝑥= [1 − 𝑒 −𝑘𝑡 ] = [1 − 𝑒 −𝑘𝑡 ]
𝑘 𝑘

𝑑𝑣𝑦
Y: 𝑎𝑦 = = −𝑘𝑣𝑦 − 𝑔
𝑑𝑡
𝑣𝑦 𝑑𝑣𝑦 𝑡
∫ = − ∫ 𝑑𝑡
𝑣𝑦𝑜 𝑘𝑣𝑦 + 𝑔 0

𝑔 𝑔 𝑔 𝑔
𝑣𝑦 = [𝑣𝑦𝑜 + ] 𝑒 −𝑘𝑡 − = [𝑣𝑜 𝑠𝑖𝑛𝜃 + ] 𝑒 −𝑘𝑡 −
𝑦 𝑘 𝑘 𝑘

24
Engineering Mechanics II: Dynamics
 Kinematics of Particles Mechanical Engineering Department

𝑑𝑦 𝑔 𝑔 𝑔 𝑔
𝑣𝑦 = = [𝑣𝑦𝑜 + ] 𝑒 −𝑘𝑡 − = [𝑣𝑜 𝑠𝑖𝑛𝜃 + ] 𝑒 −𝑘𝑡 −
𝑑𝑡 𝑘 𝑘 𝑘 𝑘
𝑦 𝑡
𝑔 𝑔
∫ 𝑑𝑦 = ∫ {[𝑣𝑦𝑜 + ] 𝑒 −𝑘𝑡 − } 𝑑𝑡
𝑜 0 𝑘 𝑘
1 𝑔 𝑔
𝑦= [𝑣𝑜 𝑠𝑖𝑛𝜃 + ] [1 − 𝑒 −𝑘𝑡 ] − 𝑡
𝑘 𝑘 𝑘
(𝑡 → ∞): 𝑣𝑥 → 0
𝑔
𝑣𝑦 → −
𝑘
5. A projectile is launched with speed Vo from point A. Determine the launch angle ɵ which
results in the maximum range R up the incline of angle 𝛼 (where 0≤ 𝛼 ≤90°). Evaluate
your results for 𝛼 = 0, 30°, and 45°.

Solution

𝑥 = 𝑥𝑜 + 𝑣𝑥𝑜 @ 𝐵: 𝑅𝑐𝑜𝑠𝛼 = (𝑣𝑜 𝑐𝑜𝑠𝜃)𝑡𝑓

1 1
𝑦 = 𝑦𝑜 + 𝑣𝑦𝑜 𝑡 − 𝑔𝑡 2 @𝐵 ∶ 𝑅𝑠𝑖𝑛𝛼 = (𝑣𝑜 𝑠𝑖𝑛𝜃)𝑡𝑓 − 𝑔𝑡𝑓 2
2 2
𝑅𝑐𝑜𝑠𝛼
𝑡𝑓 =
𝑣𝑜 𝑐𝑜𝑠𝜃

𝑅𝑐𝑜𝑠𝛼 1 𝑅𝑐𝑜𝑠𝛼 2
𝑅𝑠𝑖𝑛𝛼 = 𝑣𝑜 𝑠𝑖𝑛𝜃 ( )− 𝑔( )
𝑣𝑜 𝑐𝑜𝑠𝜃 2 𝑣𝑜 𝑐𝑜𝑠𝜃

2𝑣𝑜 2 𝑐𝑜𝑠 2 𝜃
𝑅= (𝑡𝑎𝑛𝜃 − 𝑡𝑎𝑛𝛼)
𝑔𝑐𝑜𝑠𝛼

25
Engineering Mechanics II: Dynamics
 Kinematics of Particles Mechanical Engineering Department

𝑑𝑅 4𝑣𝑜 2 𝑐𝑜𝑠𝜃(−𝑠𝑖𝑛𝜃) 2𝑣𝑜 2 𝑐𝑜𝑠 2 𝜃 1

= 0: (𝑡𝑎𝑛𝜃 − 𝑡𝑎𝑛𝛼) + =0
𝑑𝜃 𝑔𝑐𝑜𝑠𝛼 𝑔𝑐𝑜𝑠𝛼 𝑐𝑜𝑠 2 𝜃

2𝑣𝑜 2
[−2𝑐𝑜𝑠𝜃𝑠𝑖𝑛𝜃(𝑡𝑎𝑛𝜃 − 𝑡𝑎𝑛𝛼) + 1] = 0
𝑔𝑐𝑜𝑠𝛼

𝑠𝑖𝑛𝜃
2𝑐𝑜𝑠𝜃𝑠𝑖𝑛𝜃 (𝑡𝑎𝑛𝛼 − −) + 1 = 0
𝑐𝑜𝑠𝜃

(2𝑐𝑜𝑠𝜃𝑠𝑖𝑛𝜃)𝑡𝑎𝑛𝛼 − 2𝑠𝑖𝑛2 𝜃 + 1 = 0

1
𝑠𝑖𝑛2𝜃𝑡𝑎𝑛𝛼 + 𝑐𝑜𝑠2𝜃 = 0 → 𝑡𝑎𝑛2𝜃 = −
𝑡𝑎𝑛𝛼

1 1
2𝜃 = 𝑡𝑎𝑛−1 (− ) = 180𝑜 − 𝑡𝑎𝑛−1 ( )
𝑡𝑎𝑛𝛼 𝑡𝑎𝑛𝛼

90 + 𝛼
= 180 − (90 − 𝛼) = 90 + 𝛼 → 𝜃=
2

Specific results 𝛼 = 0𝑜 𝜃 = 45𝑜

𝛼 = 30𝑜 𝜃 = 60𝑜

𝛼 = 45𝑜 𝜃 = 67.5𝑜

2.4. NORMAL AND TANGENTIAL COORDINATES (n-t)

One of the common descriptions of curvilinear motion uses path variables, which are
measurements made along the tangent t and normal n to the path of the particle. These
coordinates provide a very natural description for curvilinear motion and are frequently the
most direct and convenient coordinates to use. The n- and t-coordinates are considered to move
along the path with the particle, as seen in Fig. 2/7 where the particle advances from A to B to
C. The positive direction for n at any position is always taken toward the center of curvature
of the path. As seen from Fig. 2/7, the positive n-direction will shift from one side of the curve
to the other side if the curvature changes direction.

26
Engineering Mechanics II: Dynamics
 Kinematics of Particles Mechanical Engineering Department

Figure 2/7

Figure 2/8

27
Engineering Mechanics II: Dynamics
 Kinematics of Particles Mechanical Engineering Department

We now use the coordinates n and t to describe the velocity v and acceleration a which were
introduced previously for the curvilinear motion of a particle. For this purpose, we introduce
unit vectors en in the n-direction and et in the t-direction, as shown in Fig. 2/8a for the
position of the particle at point A on its path. During a differential increment of time dt, the
particle moves a differential distance ds along the curve from A to A'. With the radius of
curvature of the path at this position designated by 𝜌, we see that ds =𝜌𝑑𝛽, where 𝛽 is in
radians. It is unnecessary to consider the differential change in 𝜌 between A and A' because a
higher-order term would be introduced which disappears in the limit. Thus, the magnitude of
the velocity can be written v = ds/dt = 𝜌𝑑𝛽/𝑑𝑡, and we can write the velocity as the vector
𝑣 = 𝑣𝑒𝑡 = 𝜌𝛽̇ 𝑒𝑡 ……………………………………2.7
The acceleration a of the particle was defined in Art. 2/3 as a = dv/dt, and we observed from
Fig. 2/3 that the acceleration is a vector which reflects both the change in magnitude and the
change in direction of v. We now differentiate v in Eq. 2/7 by applying the ordinary rule for
the differentiation of the product of a scalar and a vector and get
𝑑𝑣 𝑑(𝑣𝑒𝑡 )
𝑎= = = 𝑣𝑒𝑡̇ + 𝑣̇ 𝑒𝑡 …………………………..2.8
𝑑𝑡 𝑑𝑡

Where the unit vector 𝑒𝑡 now has a nonzero derivative because its direction changes.
To find 𝑒𝑡̇ we analyze the change in 𝑒𝑡 during a differential increment of motion as the
particle moves from A to A' in Fig. 2/8a. The unit vector 𝑒𝑡 correspondingly changes to
𝑒𝑡 ′and the vector difference d𝑒𝑡 is shown in part b of the figure. The vector d𝑒𝑡 in the limit
has a magnitude equal to the length of the arc |𝑒𝑡 |𝑑𝛽 = 𝑑𝛽 obtained by swinging the unit
vector 𝑒𝑡 through the angle 𝑑𝛽 expressed in radians.
The direction of 𝑑𝑒̇𝑡 is given by 𝑒𝑛 Thus, we can write 𝑑𝑒𝑡 = 𝑒𝑛 𝑑𝛽 . Dividing by 𝑑𝛽 gives
𝑑𝑒𝑡
= 𝑒𝑛
𝑑𝛽
𝑑𝑒̇ 𝑡
Dividing by dt gives = (𝑑𝛽/𝑑𝑡)𝑒𝑛 which can be written
𝑑𝑡

𝑒̇𝑡 = 𝛽̇ 𝑒𝑛 …………………………………………..2.9

28
Engineering Mechanics II: Dynamics
 Kinematics of Particles Mechanical Engineering Department

With the substitution of Eq. 2/9 and 𝛽̇ from the relation 𝑣 = 𝜌𝛽̇ Eq. 2/8 for the acceleration
becomes
𝑣2
𝑎= 𝑒𝑛 + 𝑣̇ 𝑒𝑡 …………………………………………….2.10
𝜌

𝑣2
Where 𝑎𝑛 = = 𝜌𝛽̇ 2 = 𝑣𝛽̇
𝜌

𝑎𝑡 = 𝑣̇ = 𝑠̈
𝑎 = √𝑎𝑛 2 + 𝑎𝑡 2
𝑑(𝜌𝛽̇ )
We may also note that 𝑎𝑡 = 𝑣̇ = = 𝜌𝛽̈ + 𝜌̇ 𝛽̇ . This relation, however, finds little use
𝑑𝑡

because we seldom have reason to compute 𝜌̇ .

The particle moves along a path expressed as y = f(x). The radius of curvature, ρ, at any point on
the path can be calculated from
3
 dy 2  2
1  ( ) 
 xy   2
dx 
d y
dx 2

Circular Motion

29
Engineering Mechanics II: Dynamics
 Kinematics of Particles Mechanical Engineering Department

Figure 2/9
Circular motion is an important special case of plane curvilinear motion where the radius of
curvature ρ becomes the constant radius r of the circle and the angle β is replaced by the
angle ɵ measured from any convenient radial reference to OP, Fig. 2/9. The velocity and the
acceleration components for the circular motion of the particle P become
𝑣 = 𝑟𝜃̇
𝑣2
𝑎𝑛 = = 𝑟𝜃̇ 2 = 𝑣𝜃̇…………………..2.11
𝑟

𝑎𝑡 = 𝑣̇ = 𝑟𝜃̈

Note:

 an is always directed towards the center of curvature of the path.

 at is directed towards the positive t-direction of the motion if the speed v is increasing and
towards the negative t-direction if the speed v is decreasing.

30
Engineering Mechanics II: Dynamics
 Kinematics of Particles Mechanical Engineering Department

 At the inflection point in the curve, the normal acceleration, v2/ρ goes to zero since ρ
becomes infinity.

Examples
1. A race driver traveling at a speed of 250 km/h on the straightaway applies his brakes at
point A and reduces his speed at a uniform rate to 200 km/h at C in a distance of 150 +
150 = 300 m. Calculate the magnitude of the total acceleration of the race car an instant
after it passes point B.

Solution

For at=const,𝑣𝑐 2 = 𝑣𝐴 2 + 2𝑎𝑡 ∆𝑠𝐴−𝐶

250 200 (200)2 − (250)2

𝑣𝐴 = 𝑚/𝑠 , 𝑣𝐶 = 𝑚/𝑠, 𝑎𝑡 = = −2.89𝑚/𝑠 2
3.6 3.6 (3.6)2 ∗ 2(300)

250 2 𝑚 2
𝑣𝐵 2 = 𝑣𝐴 2 + 2𝑎𝑡 ∆𝑠𝐴−𝐵 = ( ) + 2(−2.89)(150) = 3954 ( )
3.6 𝑠

𝑣𝐵 = 62.9𝑚/𝑠

𝑣𝐵 2 62.92
At B 𝑎𝑛 = = = 7.91𝑚/𝑠 2
𝜌 500

31
Engineering Mechanics II: Dynamics
 Kinematics of Particles Mechanical Engineering Department

𝑎 = √𝑎𝑛 2 + 𝑎𝑡 2 = √(7.91)2 + (2.89)2 = 8.42𝑚/𝑠 2

2. In the design of a timing mechanism, the motion of the pin A in the fixed circular slot is
controlled by the guide B, which is being elevated by its lead screw with a constant
upward velocity Vo = 2 m/s for an interval of its motion. Calculate both the normal and
tangential components of acceleration of pin A as it passes the position for which ɵ = 30°.

Solution

𝑣𝑜 2
𝑣= 𝑜
= = 2.31𝑚/𝑠
𝑐𝑜𝑠30 𝑐𝑜𝑠30𝑜

𝑣 2 2.312
𝑎𝑛 = = = 21.3𝑚/𝑠 2
𝑟 0.25

𝑎𝑡 = −𝑎𝑛 𝑡𝑎𝑛30𝑜 = −12.36𝑚/𝑠 2

32
Engineering Mechanics II: Dynamics
 Kinematics of Particles Mechanical Engineering Department

2.5.POLAR COORDINATE SYSTEM

Polar coordinates are particularly useful when a motion is constrained through the control of
a radial distance and an angular position or when an unconstrained motion is observed by
measurements of a radial distance and an angular position.

(a)

𝒓 = 𝑟𝑒𝑟

33
Engineering Mechanics II: Dynamics
 Kinematics of Particles Mechanical Engineering Department

(b)
Figure 2/10
Time Derivatives of the Unit Vectors
As we can observe from fig 2.10b we can write
𝑑𝑒𝑟 𝑑𝑒𝜃
= 𝑒𝜃 𝑎𝑛𝑑 = −𝑒𝑟 Dividing by dt
𝑑𝜃 𝑑𝜃

𝑒𝑟̇ = 𝜃̇𝑒𝜃 𝑎𝑛𝑑 𝑒𝜃̇ = −𝜃̇𝑒𝑟 ……………………..2.12

Velocity
𝑣 = 𝑟̇ = 𝑟̇ 𝑒𝑟 + 𝑟𝑒𝑟̇
Substituting 𝑒𝑟 from equation 2.12
𝑣 = 𝑟̇ 𝑒𝑟 + 𝑟𝜃̇𝑒𝜃 ………………………………..2.13
𝑣𝑟 = 𝑟̇
𝑣𝜃 = 𝑟𝜃̇
𝑣 = √𝑣𝑟 2 + 𝑣𝜃 2
The r-component of v is merely the rate at which the vector r stretches. The ɵ-component of
v is due to the rotation of r.
Acceleration
𝑎 = 𝑣̇ = (𝑟̈ 𝑒𝑟 + 𝑟̇ 𝑒𝑟̇ ) + (𝑟̇ 𝜃̇𝑒𝜃 + 𝑟𝜃̈ 𝑒𝜃 + 𝑟𝜃̇𝑒𝜃̇ )
Substitution of 𝑒𝑟̇ and 𝑒𝜃̇ from Eq. 2/12 and collecting terms give
𝑎⃗ = 𝑟̈ 𝑒𝑟 + 𝑟̇ 𝜃̇𝑒𝜃 + 𝑟̇ 𝜃̇𝑒𝜃 + 𝑟𝜃̈𝑒𝜃 + 𝑟𝜃̇(−𝜃̇)𝑒𝑟

∴ 𝑎 = (𝑟̈ − 𝑟𝜃 2̇ )𝑒𝑟 + (𝑟𝜃̈ + 2𝑟̇ 𝜃̇)𝑒𝜃 ……………………2.14

34
Engineering Mechanics II: Dynamics
 Kinematics of Particles Mechanical Engineering Department

Where 𝑎𝑟 = (𝑟⃛ − 𝑟𝜃 2̇ )

𝑎𝜃 = (𝑟𝜃̈ + 2𝑟̇ 𝜃̇)

𝑎 = √𝑎𝑟 2 + 𝑎𝜃 2

1 𝑑
We can write the ɵ -component alternatively as 𝑎𝜃 = 𝑟 𝑑𝑡 (𝑟 2 𝜃̇)

For motion in a circular path

Velocity 𝑣 = 𝑟̇ 𝑒𝑟 + 𝑟𝜃̇𝑒𝜃

Where, 𝑟̇ = 0 because r=constant ∴ 𝑣 = 𝑟𝜃̇𝑒𝜃

Acceleration

Where, 𝑟̇ = 𝑟̈ = 0

∴ 𝑎 = (−𝑟𝜃̇ 2 )𝑒𝑟 + (𝑟𝜃̈)𝑒𝜃

Examples

1. An aircraft flying in a straight line at a climb angle β to the horizontal is tracked by radar
located directly below the line of flight. At a certain instant, the following data are
recorded: r = 12,000 ft, 𝑟̇ = 360 ft/sec, 𝑟̈ = 19.60 ft/sec2, ɵ = 30°, and 𝜃̇ = 2.20 deg/sec.
For this instant, determine the aircraft altitude h, velocity v, angle of climb β, 𝜃̈, and
acceleration α.

35
Engineering Mechanics II: Dynamics
 Kinematics of Particles Mechanical Engineering Department

Solution

𝜋
𝜃̇ = 2.20 ( ) = 0.0384𝑟𝑎𝑑/𝑠𝑒𝑐
180

𝑣𝑟 = 𝑟̇ = 360𝑓𝑡/𝑠𝑒𝑐

𝑣𝜃 = 𝑟𝜃̇ = 12,000(0.0384) = 461𝑓𝑡/𝑠𝑒𝑐

𝑣 = √𝑣𝑟 2 + 𝑣𝜃 2 = 585𝑓𝑡/𝑠𝑒𝑐

𝑣 = 399𝑚𝑖/ℎ𝑟

36
Engineering Mechanics II: Dynamics
 Kinematics of Particles Mechanical Engineering Department

360
30 + 𝛽 = 𝑡𝑎𝑛−1 = 38.0𝑜 , 𝛽 = 8.000
461

ℎ = 𝑟𝑐𝑜𝑠30𝑜 = 12,000𝑐𝑜𝑠30𝑜 = 10,390𝑓𝑡

𝑎𝑟 = 𝑟̈ − 𝑟𝜃̇ 2 = 19.60 − 12,000(0.0384)2 = 1.908𝑓𝑡/𝑠𝑒𝑐 2

𝑎𝑟 1.908
𝑎= = = 3.10𝑓𝑡/𝑠𝑒𝑐 2
sin(𝜃 + 𝛽) 𝑠𝑖𝑛38.0𝑜

𝑎𝑟
𝑎𝜃 = = 𝑟𝜃̈ + 2𝑟̇ 𝜃̇
tan (𝜃 + 𝛽)

1.908
= 12,000𝜃̈ + 2(360)(0.0384), 𝜃̈ = −0.00210𝑟𝑎𝑑/𝑠𝑒𝑐 2
𝑡𝑎𝑛38.0𝑜
2. The fixed horizontal guide carries a slider and pin P whose motion is controlled by the
rotating slotted arm OA. If the arm is revolving about 0 at the constant rate 𝜃̇ = 2 rad/s for
an interval of its designed motion, determine the magnitudes of the velocity and
acceleration of the slider in the slot for the instant when ɵ= 60°. Also find the
r-components of the velocity and acceleration.

Solution

37
Engineering Mechanics II: Dynamics
 Kinematics of Particles Mechanical Engineering Department

ℎ = 𝑥𝑡𝑎𝑛𝜃
0 = 𝑥̇ 𝑡𝑎𝑛𝜃 + 𝑥𝜃̇ 𝑠𝑒𝑐 2 𝜃
= 𝑥̇ 𝑡𝑎𝑛𝜃 + (ℎ𝑐𝑡𝑛𝜃)𝜃̇𝑠𝑒𝑐 2 𝜃
ℎ𝜃̇𝑐𝑡𝑛𝜃𝑠𝑒𝑐 2 𝜃 2 2
𝑣 = −𝑥̇ = ̇ 2
= ℎ𝜃𝑐𝑠𝑐 𝜃 = 200(2) ( ) = 533𝑚𝑚/𝑠
𝑡𝑎𝑛𝜃 √3
1
𝑣𝑟 = −𝑣𝑐𝑜𝑠𝜃 = −533 ( ) = −267𝑚𝑚/𝑠
2
−𝑎 = 𝑣̇ = ℎ𝜃̇2𝑐𝑠𝑐𝜃(−𝑐𝑡𝑛𝜃𝑐𝑠𝑐𝜃)𝜃̇ = −2ℎ𝜃̇ 2 𝑐𝑡𝑛𝜃𝑐𝑠𝑐 2 𝜃
2
2
1 2
𝑎 = 2(200)2 ) = 1232𝑚𝑚/𝑠 2
(
√3 √3
1
𝑎𝑟 = 𝑎𝑐𝑜𝑠𝜃 = 1232 ( ) = 616𝑚𝑚/𝑠 2
2
Alternatively obtain 𝑟̇ = 𝑣𝑟 𝑎𝑛𝑑 𝑟̈ 𝑓𝑟𝑜𝑚 𝑟 = ℎ𝑐𝑠𝑐𝜃

38
Engineering Mechanics II: Dynamics
 Kinematics of Particles Mechanical Engineering Department

2.8. RELATIVE MOTION ( TRANSLATING AXES )

In the previous articles of this chapter, we have described particle motion using coordinates
referred to fixed reference axes. The displacements, velocities, and accelerations so determined
are termed absolute. It is not always possible or convenient, however, to use a fixed set of axes
to describe or to measure motion. In addition, there are many engineering problems for which the
analysis of motion is simplified by using measurements made with respect to a moving reference
system. These measurements, when combined with the absolute motion of the moving coordinate
system, enable us to determine the absolute motion in question. This approach is called a
relative-motion analysis.

Choice of Coordinate System

The motion of the moving coordinate system is specified with respect to a fixed coordinate
system. Strictly speaking, in Newtonian mechanics, this fixed system is the primary inertial
system, which is assumed to have no motion in space. For engineering purposes, the fixed
system may be taken as any system whose absolute motion is negligible for the problem at hand.
For most earthbound engineering problems, it is sufficiently precise to take for the fixed
reference system a set of axes attached to the earth, in which case we neglect the motion of the
earth. For the motion of satellites around the earth, a non-rotating coordinate system is chosen
with its origin on the axis of rotation of the earth. For interplanetary travel, a non-rotating
coordinate system fixed to the sun would be used. Thus, the choice of the fixed system depends
on the type of problem involved.

We will confine our attention in this article to moving reference systems which translate but do
not rotate. Motion measured in rotating systems will Chapter 5 on rigid-body kinematics.

Vector Representation

Now consider two particles A and B which may have separate curvilinear motions in a given
plane or in parallel planes, Fig. 2/17. We will arbitrarily attach the origin of a set of translating

39
Engineering Mechanics II: Dynamics
 Kinematics of Particles Mechanical Engineering Department

(non-rotating) axes x-y to particle B and observe the motion of A from our moving position on B.
The position vector of A as measured relative to the frame x-y is rA/B = xi + yj, where the
subscript notation "A/B" means "A relative to B" or "A with respect to B." The unit vectors along
the x- and y-axes are i and j, and x and yare the coordinates of A measured in the x-y frame. The
absolute position of B is defined by the vector rB measured from the origin of the fixed axes X-Yo
The absolute position of A is seen, therefore, to be determined by the vector.

Figure 2/17

𝑟𝐴 = 𝑟𝐵 + 𝑟𝐴/𝐵

We now differentiate this vector equation once with respect to time to obtain velocities and twice
to obtain accelerations. Thus,

𝑟𝐴̇ = 𝑟𝐵̇ + 𝑟𝐴/𝐵

̇ 𝑣𝐴 = 𝑣𝐵 + 𝑣𝐴/𝐵

𝑟𝐴̈ = 𝑟𝐵̈ + 𝑟𝐴/𝐵

̈ 𝑎𝐴 = 𝑎𝐵 + 𝑎𝐴/𝐵

In the above equations the velocity which we observe A to have from our position at B attached
to the moving axes x-y is 𝑟̇𝐴/𝐵 = 𝑉𝐴/𝐵 = 𝑥̇ 𝑖 + 𝑦̇ 𝑗 . This term is the velocity of A with respect to
B. Similarly, the acceleration which we observe A to have from our non-rotating position on B
̇
is 𝑟̈𝐴/𝐵 = 𝑉𝐴/𝐵 = 𝑥̈ 𝑖 + 𝑦̈ 𝑗. This term is the acceleration of A with respect to B. We note that the
unit vectors i and j have zero derivatives because their directions as well as their magnitudes

40
Engineering Mechanics II: Dynamics
 Kinematics of Particles Mechanical Engineering Department

remain unchanged. (Later then we discuss rotating reference axes, we must account for the
derivatives of the unit vectors when they change direction.)

The above equations states that the absolute velocity (or acceleration) of A equals the absolute
velocity (or acceleration) of B plus, vectorially, the velocity (or acceleration) of A relative to B.
The relative term is the velocity (or acceleration) measurement which an observer attached to the
moving coordinate system x-y would make. We can express the relative-motion terms in
whatever coordinate system is convenient rectangular, normal and tangential, or polar-and the
formulations in the preceding articles can be used for this purpose. The appropriate fixed system
of the previous articles becomes the moving system in the present article.

Additional Considerations

The selection of the moving point B for attachment of the reference coordinate system is
arbitrary. As shown in Fig. 2/18, point A could be used just as well for the attachment of the
moving system, in which case the three corresponding relative-motion equations for position,
velocity, and acceleration are

𝑟𝐴 = 𝑟𝐵 + 𝑟𝐴/𝐵 𝑣𝐴 = 𝑣𝐵 + 𝑣𝐴/𝐵 𝑎𝐴 = 𝑎𝐵 + 𝑎𝐴/𝐵

Figure 2/ 18

41
Engineering Mechanics II: Dynamics
 Kinematics of Particles Mechanical Engineering Department

It is seen, therefore, that 𝑟𝐵/𝐴 = −𝑟𝐴/𝐵 , 𝑣𝐵/𝐴 = 𝑣𝐴/𝐵 and 𝑎𝐵/𝐴 = 𝑎𝐴/𝐵 𝑟𝐴/𝐵 In relative-motion
analysis, it is important to realize that the acceleration of a particle as observed in a translating
system x-y is the same as that observed in a fixed system X-Y if the moving system has a constant
velocity. This conclusion broadens the application of Newton's second law of motion (Chapter3).
We conclude, consequently, that a set of axes which has a constant absolute velocity may be
used in place of a "fixed" system for the determination of accelerations. A translating reference
system which has no acceleration is called an inertial system.

42
Engineering Mechanics II: Dynamics
 Kinematics of Particles Mechanical Engineering Department

Example

1. A batter hits the baseball A with an initial velocity of Vo = 100 ft/sec directly toward
fielder B at an angle of 300 to the horizontal; the initial position of the ball is 3 ft above
ground level. Fielder B require 1/4 sec to judge where the ball should be caught and
begins moving to that position with constant speed. Because of great experience, fielder
B chooses his running speed so that he arrives at the "catch position" simultaneously with
the baseball. The catch position is the field location at which the ball altitude is 7 ft.
Determine the velocity of the ball relative to the fielder at the instant the catch is made.

Solution

Find flight time t:

1
𝑦 = 𝑦𝑜 + 𝑣𝑦𝑜 𝑡 − 𝑔𝑡 2 ∶ 7 = 3 + 100𝑠𝑖𝑛30𝑜 𝑡 − 16.1𝑡 2
2

Solve to obtain 0.0822 sec(𝑑𝑖𝑠𝑐𝑎𝑟𝑑) 𝑎𝑛𝑑 𝑡 = 3.02𝑠𝑒𝑐

Range 𝑅 = 𝑥𝑜 + 𝑣𝑥𝑜 𝑡 = 0 + 100𝑐𝑜𝑠30𝑜 (3.02)

= 262𝑓𝑡

Fielder must run 262-220 = 41.8ft

41.8
𝑖𝑛 (3.02 − 0.25) sec => 𝑣𝐵 = = 15.08𝑓𝑡/𝑠𝑒𝑐
2.77

43
Engineering Mechanics II: Dynamics
 Kinematics of Particles Mechanical Engineering Department

Velocity component of ball when caught:

𝑣𝑥 = 𝑣𝑥𝑜 = 100𝑐𝑜𝑠30𝑜 = 86.6𝑓𝑡/𝑠𝑒𝑐

𝑣𝑦 = 𝑣𝑦𝑜 − 𝑔𝑡 = 100𝑠𝑖𝑛30𝑜 − 32.2(3.02) = −47.4𝑓𝑒𝑡/𝑠𝑒𝑐

𝑣𝐴/𝐵 = 𝑣𝐴 − 𝑣𝐵 = (86.6𝑖 − 47.4𝑗) − 15.08𝑖

= 71.5𝑖 − 47.4𝑗 𝑓𝑡/𝑠𝑒𝑐

2. For the instant represented, car A has a speed of 100 km/h, which is increasing at the rate
of 8 km/h each second. Simultaneously, car B also has a speed of 100 km/h as it rounds
the turn and is slowing down at the rate of 8 km/h each second. Determine the
acceleration that car B appears to have to an observer in car A.

Solution

44
Engineering Mechanics II: Dynamics
 Kinematics of Particles Mechanical Engineering Department

8 2 8
𝑎𝐵𝑡 = = 2.22𝑚/𝑠 𝑎𝐴 = = 2.22𝑚/𝑠 2
3.6 3.6

100 2
𝑣𝐵2 ( 3.6 )
𝑎𝐵𝑛 = = = 2.57𝑚/𝑠 2
𝜌 300

𝑎𝐵 = 𝑎𝐴 + 𝑎𝐵/𝐴

−2.22𝑖 + 2.57𝑗 = 2.22𝑖 + 𝑎𝐵/𝐴

𝑎𝐵/𝐴 = −4.44𝑖 + 2.57𝑗 𝑚/𝑠 2

Example

1 Car A is traveling at the constant speed of 60 km/h as it rounds the circular curve of 300-
m radius and at the instant represented is at the position ɵ = 45°. Car B is traveling at the
constant speed of 80 km/h and passes the center of the circle at this same instant. Car A is
located with respect to car B by polar coordinates r and ɵ with the pole moving with B.
For this instant determine VA/B and the values of 𝑟̇ and 𝜃̇ as measured by an observer in
car B.

45
Engineering Mechanics II: Dynamics
 Kinematics of Particles Mechanical Engineering Department

Solution

𝑣𝐴/𝐵 2 = 602 + 802 − 2(60)(80)𝑐𝑜𝑠135𝑜

𝑣𝐴/𝐵 = 129.6𝑘𝑚/ℎ 𝑜𝑟 36𝑚/𝑠

36.0 80/3.6
= , 𝛽 = 25.9𝑜
sin135o 𝑠𝑖𝑛𝛽

46
Engineering Mechanics II: Dynamics
 Kinematics of Particles Mechanical Engineering Department

𝑟𝜃̇ = 𝑣𝐴/𝐵 𝑐𝑜𝑠𝛽 ∶ 300𝜃̇ = 36.0𝑐𝑜𝑠25. 9𝑜

𝜃̇ = 0.1079 𝑟𝑎𝑑/𝑠

𝑟̇ = −36.0 sin 25. 9𝑜

𝑟̇ = −15.71𝑚/𝑠

2 At a certain instant after jumping from the airplane A, a skydiver B is in the position
shown and has reached a terminal (constant) speed VB = 50 m/s. The airplane has the
same constant speed VA = 50 m/s, and after a period of level flight is just beginning to
follow the circular path shown of radius ρA = 2000 m. (a) Determine the velocity and
acceleration of the airplane relative to the skydiver. (b) Determine the time rate of change
of the speed vr of the airplane and the radius of curvature ρr of its path, both as observed
by the non rotating skydiver.

Solution

47
Engineering Mechanics II: Dynamics
 Kinematics of Particles Mechanical Engineering Department

𝑚
a. 𝑣𝐴/𝐵 = 𝑣𝐴 − 𝑣𝐵 = 50𝑖 − (−50𝑗) = 50𝑖 + 50𝑗 𝑠

𝑣𝐴 2 502
𝑎𝐴/𝐵 = 𝑎𝐴 − 𝑎𝐵 = 𝑗−0= 𝑗 = 1.250𝑗 𝑚/𝑠 2
𝜌𝐴 200
b. Use the results of part(a) for a normal- tangential analysis:

𝑣𝐴/𝐵 = √502 + 502 = 70.7𝑚/𝑠

√2
𝑣𝑟̇ = (𝑎𝐴/𝐵 ) = 𝑎𝐴/𝐵 𝑐𝑜𝑠450 = 1.250 = 0.884𝑚/𝑠
𝑡 2
70.72
(𝑎𝐴/𝐵 ) = 𝑎𝐴/𝐵 𝑠𝑖𝑛450 = , 𝜌𝑟 = 5660𝑚 (in n-direction from A)
𝑛 𝜌𝑟

2.9.CONSTRAINED MOTION OF CONNECTED PARTICLES

One Degree of Freedom

Consider first the very simple system of two interconnected particles A and B shown in Fig. 2/19.
It should be quite evident by inspection that the horizontal motion of A is twice the vertical
motion of B. Nevertheless we will use this example to illustrate the method of analysis which
applies to more complex situations where the results cannot be easily obtained by inspection.
The motion of B is clearly the same as that of the center of its pulley, so we establish position
coordinates y and x measured from a convenient fixed datum. The total length of the cable is

48
Engineering Mechanics II: Dynamics
 Kinematics of Particles Mechanical Engineering Department

Figure 2/19

𝜋𝑟2
𝐿=𝑥+ + 2𝑦 + 𝜋𝑟1 + 𝑏
2
With L, r2, r1 and b all constant, the first and second time derivatives of the equation give
0 = 𝑥̇ + 2𝑦̇ 𝑜𝑟 0 = 𝑣𝐴 + 2𝑣𝐵
0 = 𝑥̈ + 2𝑦̈ 𝑜𝑟 0 = 𝑎𝐴 + 2𝑎𝐵
The velocity and acceleration constraint equations indicate that, for the coordinates selected, the
velocity of A must have a sign which is opposite to that of the velocity of B, and similarly for the
accelerations. The constraint equations are valid for the motion of the system in either direction.
We emphasize that 𝑉𝐴 = 𝑥̇ is positive to the left and that 𝑉𝐵 = 𝑦̇ is positive down.
Because the results do not depend on the lengths or pulley radii, we should be able to analyze the
motion without considering them. In the lower-left portion of Fig. 2/19 is shown an enlarged
view of the horizontal diameter A'B'C' of the lower pulley at an instant of time. Clearly, A' and A
have the same motion magnitudes, as do Band B'. During an infinitesimal motion of A', it is easy
to see from the triangle that B' moves half as far as A' because point C as a point on the fixed
portion of the cable momentarily has no motion. Thus, with differentiation by time in mind, we
can obtain the velocity and acceleration magnitude relationships by inspection. The pulley, in
effect, is a wheel which rolls on the fixed vertical cable. (The kinematics of a rolling wheel will
be treated more extensively in Chapter 5 on rigid-body motion.) The system of Fig. 2/19 is said

49
Engineering Mechanics II: Dynamics
 Kinematics of Particles Mechanical Engineering Department

to have one degree of freedom since only one variable, either x or y, is needed to specify the
positions of all parts of the system.
Two Degrees of Freedom
The system with two degrees of freedom is shown in Fig. 2/20. Here the positions of the lower
cylinder and pulley C depend on the separate specifications of the two coordinates YA and YB'

Figure 2/20
The lengths of the cables attached to cylinders A and B can be written, respectively, as
𝐿𝐴 = 𝑦𝐴 + 2𝑦𝐷 + 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡
𝐿𝐵 = 𝑦𝐵 + 𝑦𝐶 + (𝑦𝐶 − 𝑦𝐷 ) + 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡

and their time derivatives are

0 = 𝑦𝐴̇ + 2𝑦𝐷̇ and 0 = 𝑦𝐴̇ + 2𝑦𝐶̇ − 𝑦𝐷̇
0 = 𝑦𝐴̈ + 2𝑦𝐷̈ and 0 = 𝑦𝐵̈ + 2𝑦𝐶̈ − 𝑦𝐷̈
Eliminating the terms in 𝑦𝐷̇ and 𝑦𝐷̈ gives
𝑦𝐴̇ + 2𝑦𝐵̇ + 4𝑦̇ 𝐶 = 0 or 𝑣𝐴 + 2𝑣𝐵 + 4𝑣𝐶 = 0
0 = 𝑦𝐵̈ + 2𝑦𝐶̈ − 𝑦𝐷̈ or 𝑎𝐴 + 2𝑎𝐵 + 4𝑎𝐶 = 0

50
Engineering Mechanics II: Dynamics
 Kinematics of Particles Mechanical Engineering Department

It is clearly impossible for the signs of all three terms to be positive simultaneously. So, for
example, if both A and B have downward (positive) velocities, then C will have an upward
(negative) velocity.
These results can also be found by inspection of the motions of the two pulleys at C and D. For
an increment dYA (with YB held fixed), the center of D moves up an amount dYA/2, which causes
an upward movement dYA/4 of the center of C. For an increment dYB (with YA held fixed), the
center of C moves up a distance dYB/2. A combination of the two movements gives an upward
movement
𝑑𝑦𝐴 𝑑𝑦𝐵
−𝑑𝑦𝑐 = +
4 4
So that -Vc = vA/4 + vB/2 as before. Visualization of the actual geometry of the motion is an
important ability.
A second type of constraint where the direction of the connecting member changes with the
motion is illustrated in the second of the two sample problems which follow.
Example

1. Determine an expression for the velocity VA of the cart A down the incline in terms of the
upward velocity VB of cylinder B.

51
Engineering Mechanics II: Dynamics
 Kinematics of Particles Mechanical Engineering Department

Solution

The total length of the cable is 𝐿 = √𝑥 2 + ℎ2 + 2𝑦 + 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡

1 2𝑥𝑥̇
𝐿̇ = 0 = + 2𝑦̇
2 √𝑥 2 + ℎ2

𝑤𝑖𝑡ℎ 𝑣𝐴 = 𝑥̇ 𝑎𝑛𝑑 𝑣𝐵 = −𝑦̇ ∶

2√𝑥 2 + ℎ2
𝑣𝐴 = 𝑣𝐵
𝑥

2. If load B has a downward velocity VB, determine the upward component (VA)y of the
velocity of A in terms of b, the boom length l, and the angle ɵ. Assume that the cable
supporting A remains vertical.

52
Engineering Mechanics II: Dynamics
 Kinematics of Particles Mechanical Engineering Department

Solution

𝑠 2 = 2𝑏 2 + 2𝑏 2 𝑐𝑜𝑠𝜃
= 2𝑏 2 (1 + 𝑐𝑜𝑠𝜃)
2𝑠𝑠̇ = 2𝑏 2 (−𝜃̇𝑠𝑖𝑛𝜃)

53
Engineering Mechanics II: Dynamics
 Kinematics of Particles Mechanical Engineering Department

𝑏2
𝑣𝐵 = −𝑠̇ = 𝜃̇𝑠𝑖𝑛𝜃
𝑠
𝑦 = 𝑙𝑠𝑖𝑛𝜃
(𝑣𝐴 )𝑦 = 𝑦̇ = 𝑙𝜃̇𝑐𝑜𝑠𝜃
Eliminating 𝜃̇ and get
𝑠𝑣𝐵 𝑙 √2(1 + 𝑐𝑜𝑠𝜃)
(𝑣𝐴 )𝑦 = 𝑙𝑐𝑜𝑠𝜃 2
= 𝑣𝐵
𝑏 𝑠𝑖𝑛𝜃 𝑏𝑡𝑎𝑛𝜃

Example
1. For the pulley system shown, each of the cables at A and B is given a velocity of 2 m/s in
the direction of the arrow. Determine the upward velocity u of the load m.

54
Engineering Mechanics II: Dynamics
 Kinematics of Particles Mechanical Engineering Department

𝑥̇ 1
𝑥1 + 2𝑦1 = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡; 𝑥1̇ + 2𝑦̇ 1 = 0, 𝑦1̇ = −
2
𝑥2 + 𝑦2 + (𝑦2 − 𝑦1 ) = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡 ; 𝑥̇ 2 + 2𝑦̇ 2 − 𝑦1 = 0
𝑥̇ 1
𝑥̇ 2 + 2𝑦̇ 2 − (− )=0
2
𝑥̇ 1 𝑥̇ 2 𝑥̇ 1 2 2
𝑥̇ 2 + 2𝑦̇ 2 + = 0 , 𝑦̇ 2 = − − = − − = −1.5𝑚/𝑠
2 2 4 2 4
𝑜𝑟 1.5𝑚/𝑠 𝑢𝑝
2. Under the action of force P, the constant acceleration of block B is 6 ft/sec2 up the
incline. For the instant when the velocity of B is 3 ft/sec up the incline, determine the
velocity of B relative to A, the acceleration of B relative to A, and the absolute velocity of
point C of the cable.

55
Engineering Mechanics II: Dynamics
 Kinematics of Particles Mechanical Engineering Department

Solution

The cable length is 𝐿 = 2(𝑠𝐵 − 𝑠𝐴 ) + 𝑠𝐷 − 𝑠𝐴 + 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡𝑠

Differentiating 0 = 2𝑣𝐵 − 3𝑣𝐴 ; 0 = 2𝑎𝐵 − 3𝑎𝐴
2 2
𝑠𝑜 𝑣𝐴 = 𝑣𝐵 = (3) = 2𝑓𝑡/𝑠𝑒𝑐
3 3
2 2
𝑎𝐴 = 𝑎𝐵 = (6) = 4𝑓𝑡/𝑠𝑒𝑐 2
3 3
𝑣𝐵/𝐴 = 𝑣𝐵 − 𝑣𝐴 = 3 − 2 = 1𝑓𝑡/𝑠𝑒𝑐
𝑎𝐵/𝐴 = 𝑎𝐵 − 𝑎𝐴 = 6 − 4 = 2𝑓𝑡/𝑠𝑒𝑐 2
The length of cable between A and C is
𝐿′ = (𝑠𝐵 − 𝑠𝐴 ) + (𝑠𝐵 − 𝑠𝐶 ) = 2𝑠𝐵 − 𝑠𝐴 − 𝑠𝐶 + 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡
0 = 2𝑣𝐵 − 𝑣𝐴 − 𝑣𝐶 ; 𝑣𝐶 = 2𝑣𝐵 − 𝑣𝐴 = 2(3) − 2 = 4𝑓𝑡/𝑠𝑒𝑐
All quantities are directed up incline

56
Engineering Mechanics II: Dynamics