ME 212 – Dynamics
Instructor: Muhammad Ilyas, PhD
Example
5 𝑚/𝑠𝑒𝑐
A
30 𝑚
?
20 𝑚/ 𝑠𝑒𝑐
2
B
Kinematics of a particle: Objectives
• Concepts such as position, displacement, velocity and acceleration are introduced
• Study the motion of particles along a straight line. Graphical representation
• Investigation of a particle motion along a curved path. Use of different coordinate
systems
• Analysis of dependent motion of two particles
• Principles of relative motion of two particles. Use of translating axis
3
Lecture 2
• Kinematics of a particle (Chapter 12)
• 12.3
4
Erratic (discontinuous) 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
5
s-t graph construct v-t
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 )
Therefore, the graph can be constructed
by finding the slope at various points
along the graph
Also, the distance moved (displacement) of the
particle is the area under the graph during
time
6
v-t graph construct a-t
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 )
Therefore, the graph can be constructed
by finding the slope at
various points along the graph
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a-t graph construct v-t
Given the curve, the change in velocity
() during a time period is the area under
the curve.
So we can construct a graph from an
graph if we know the initial velocity of
the particle
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v-t graph construct s-t
We begin with initial position
and add
algebraically increments determined from the
graph
Equations described by graphs may be
integrated in order to yield equations that
describe segments of the graph
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Please remember the link!!!
handle complex motions
graphing
visual description of motion
differentiation and integration
slope and area under curve
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Explanation of Example 12.7 (A)
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Explanation of Example 12.7 (B)
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A couple of cases more…
A couple of cases that are a bit more …
COMPLEX… and therefore need more
attention!!!
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a-s graph construct v-s
A more complex case is presented by the
acceleration versus position or graph. The
area under the curve represents the change in
velocity
This equation can be solved
for , 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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v-s graph construct a-s
Another complex case is presented by the velocity
vs. distance or graph.
By reading the velocity at a point on the curve
and multiplying it by the slope of the curve at the
same point, we can obtain the acceleration at that
point. Recall the formula
Thus, we can obtain an plot from the curve.
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Example
The graph describing the motion of a motorcycle
is shown in Figure. Construct the
graph of the motion and determine the time needed for the motorcycle to reach the
position .
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Please think about it
If a particle in rectilinear motion has zero speed at some instant in
time, is the acceleration necessarily zero at the same instant ?
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Groups think about this problem please
Given: The v-t graph shown
Find: The a-t graph, average
speed, and distance
traveled for the 30 s interval
Hint
Find slopes of the curves and draw the a-t graph.
Find the area under the curve--that is the distance traveled.
Finally, calculate average speed (using basic definitions!)
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Solution to the problem (A)
For 0 ≤ t ≤ 10 a = dv/dt = 0.8 t ft/s²
For 10 ≤ t ≤ 30 a = dv/dt = 1 ft/s²
a(ft/s²)
1
t(s)
10 30
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Solution to the problem (B)
Ds0-10 = ò v dt = (1/3) (0.4)(10)3 = 400/3 ft
Ds10-30 = ò v dt = (0.5)(30)2 + 30(30) – 0.5(10)2 – 30(10)
= 1000 ft
s0-30 = 1000 + 400/3 = 1133.3 ft
vavg(0-30) = total distance / time
= 1133.3/30
= 37.78 ft/s
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Try at home please (I)
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Try at home please (II)
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Try at home please (III)
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Problem sheet
12-38, 12-40, 12-42, 12-45, 12-46, 12-50, 12-
53, 12-57, 12-58
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General Curvilinear Motion - Applications
The path of motion of each plane in this formation
can be tracked with radar and their 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 at any instant?
A roller coaster car travels down a fixed, helical path at a
constant speed
If you are designing the track, why is it important to
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be able to predict the acceleration of the car?
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 curved defined by the
path function,
The position of the particle at any instant is designated by the vector . Both the
magnitude and direction of may vary with time
If the particle moves a distance along the curve
during time interval , the displacement is
determined by vector subtraction:
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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 is
The instantaneous velocity is the time-
derivative of position
The velocity vector, , is always tangent to
the path of motion
The magnitude of is called the speed. Since the arc length approaches the magnitude
of as , the speed can be obtained by differentiating the path function (). 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 to over a time increment
, the average acceleration during that increment is:
The instantaneous acceleration is the time-derivative of
velocity:
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
Can
• be analyzed using
1- Rectangular components (, , )
2- Tangent Normal (, )
3- Radial-Transverse (, )
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Rectangular components: Position
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
The x, y, z components may all be functions of
time, i.e.,
, , and
The magnitude of the position vector is:
The direction of r is defined by the unit vector: Displacement ??
30 ?
Rectangular components: Velocity
The velocity vector is the time derivative of the position vector:
Since the unit vectors , , are constant in magnitude and direction (fixed frame of
reference), this equation reduces to
Where; , ,
The magnitude of the velocity vector is
The direction of 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):
Where: , ,
The magnitude of the acceleration vector is
The direction of a is usually not
tangent to the path of the particle
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Important Points and Analysis
1. Kinematic equations used because
rectilinear motion occurs along each
coordinate axis
Appendix B will 2. Magnitudes of v and a for x,y,z vector
help you with Use rectangular
components can be found using
vectors Pythagorean theorem coordinate system
to solve problems
By considering the
Curvilinear motion can component motions,
cause changes in both the direction of
magnitude and direction motion of the particle
of the position, velocity is automatically taken
into account
and acceleration vectors
When using
rectangular
coordinates, the
components along
In general the acceleration each of the axes do
Velocity vector is vector is not tangent to the path, not change direction.
always directed but rather, to the hodograph
Only magnitude and
tangent to the path algebraic sign will
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change
Example
An object travels from origin along a curved path as shown. If its horizon
velocity vx=8t m/s , determine magnitude of its velocity, acceleration and
distance from origin at t= 2 sec.
y
𝟏 𝟑/ 𝟐
𝒚= 𝒙
𝟒
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Example
For a short time, the path of the plane in Figure is described by y = (0.00lx2)
m. If the plane is rising with a constant velocity of 10 m/s, determine the
magnitudes of the velocity and acceleration of the plane
when it is at y = 100 m.
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Motion of a projectile
Projectile motion can be treated as two rectilinear motions, one in the horizontal
direction experiencing zero acceleration and the other in the vertical direction
experiencing constant acceleration (i.e. gravity)
For illustration, consider the two balls on the
left. The red ball falls from rest, whereas the
yellow ball is given a horizontal velocity. Each
picture in this sequence is taken after the same
time interval. Notice both balls are subjected to
the same downward acceleration since they
remain at the same elevation at any instant.
Also, note that the horizontal distance between
successive photos of the yellow ball is constant
since the velocity in the horizontal direction is
constant
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Motion of a projectile
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Kinematic equations: Horizontal &Vertical motion
Since ax = 0, the velocity in the
horizontal direction remains
constant (vx = vox) and the
position in the x direction can be
determined by:
x = xo + (vox)(t)
Since the positive y-axis is directed upward, ay = -g. Application of the
constant acceleration equations yields:
vy = voy – g(t)
y = yo + (voy)(t) – ½g(t)2
vy2 = voy2 – 2g(y – yo)
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Motion of a projectile
Horizontal Motion.
Vertical Motion.
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Example
A sack slides off the ramp, shown in figure with a horizontal velocity of
12m/s, 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 sacks begin to pile up.
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Example
The chipping machine is designed to eject wood chips at v0=25 ft/s, as shown
in Figure. 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 20 ft from the tube.
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Problem Sheet
12-75, 12-76, 12-78, 12-79, 12-80, 12-82, 12-
85, 12-86, 12-89, 12-92, 12-95
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