CHAPTER 12
KINEMATICS OF A PARTICLE

DEFINITION

position

displacement

velocity

acceleration

particle motion along a straight line

graphical presentation

particle motion along a curved path

dependent motion of 2 particles

relative motion of two particles

MECHANICS: state of rest or motion of bodies subjected to the action of forces

STATICS: the equilibrium of a body that is
either at rest or moves with constant velocity

DYNAMICS = accelerated motion of a body

KINEMATICS: the geometric aspects of the motion 🚩

KINETICS: the forces causing the motion = relationship between the change in motion of a body and the forces that cause this change 🚩

KINEMATICS of a particle along a rectilinear = straight line path
RECTILINEAR KINEMATICS

REMINDER: a particle: mass = negligible size and shape (e.g., with finite size

At any instant:

  • position
  • velocity
  • acceleration

Position = vector quantiy that has magnitude and direction

  • a single coordinate axis s
  • origin O
  • distance s (meter)

Displacement = the change in its position: a vector quantity ! 🚩 Screenshot 2018-11-10 14.00.34

either + or - values

NOT the
distance traveled by a particle
= a positive scalar: total length of
path over which the particle travels

Velocity

average velocity Screenshot 2018-11-10 14.07.31

instantaneous velocity: Screenshot 2018-11-10 14.08.47
OR
Screenshot 2018-11-10 14.08.53
Screenshot 2018-11-10 14.21.38

speed = magnitude of velocity (m/s)
AND average speed is : Screenshot 2018-11-10 14.23.38


S T: total distance that a particle travelled
delta t: elapsed time

Acceleration

average acceleration Screenshot 2018-11-10 14.31.04
AND instantaneous acceleration: Screenshot 2018-11-10 14.33.26


Screenshot 2018-11-10 14.32.06

Screenshot 2018-11-10 14.34.11

a (m^2/s)

Screenshot 2018-11-10 14.37.02

Constant Acceleration: a = ac

Integration of ac = dv/dt, v = ds/dt, and ac ds = v dv to obtain formulas that relates ac, v, s, and t

As a function of time = integration of ac = dv/dt Screenshot 2018-11-10 14.42.22
Screenshot 2018-11-10 14.42.39

Position as a Function of Time
Screenshot 2018-11-10 14.46.29 Screenshot 2018-11-10 14.46.35

Velocity as a Function of Position
Screenshot 2018-11-10 14.49.19 (thieu ds): Screenshot 2018-11-10 14.49.27

Deceleration: A particle that is slowing down

derived from a = dv/dt and v=ds/dt by eliminating dt

ERRATIC MOTION

functions of velocity, position, and acceleration cannot be a single continuous mathematical function

THEREFORE, graphs should be used such as s-t, v-t, a-t graphs

s-t graphs Screenshot 2018-11-11 15.30.29
WITH
Screenshot 2018-11-11 15.29.56

v-t graph
Screenshot 2018-11-11 15.36.52
WITH
Screenshot 2018-11-11 15.36.26
SO
Screenshot 2018-11-11 15.45.19

if a-t graph is given, then delta v can be determined. E.G. Screenshot 2018-11-11 15.43.27
Screenshot 2018-11-11 15.47.52
Screenshot 2018-11-11 15.47.58
WITH: v = v° + delta v

if v-t graph is given, then delta s can be determined. E.G.
Screenshot 2018-11-11 15.54.54
Screenshot 2018-11-11 15.55.03
Screenshot 2018-11-11 15.55.09

if a-s graph is given, then v can be determined: Screenshot 2018-11-11 16.21.07
Screenshot 2018-11-11 16.21.25
SO
Screenshot 2018-11-11 16.21.18

if v-s graph is given, then a can be determined


Screenshot 2018-11-11 16.29.16 Screenshot 2018-11-11 16.29.09


Screenshot 2018-11-11 16.29.45

IN GENERAL
Screenshot 2018-11-11 16.29.58
Screenshot 2018-11-11 16.30.02
THEN Screenshot 2018-11-11 16.30.08

Screenshot 2018-11-10 14.01.12

KINEMATICS: CURVILINEAR MOTION: a particle moves along a curved path

  • 3 D
  • vector analysis

position

velocity

average acceleration
Screenshot 2018-11-12 10.45.14
Screenshot 2018-11-12 10.45.04
with
Screenshot 2018-11-12 10.45.24
Screenshot 2018-11-12 10.46.31
Hodograph = red line
Screenshot 2018-11-12 10.46.41
Screenshot 2018-11-12 10.57.31


v is always tangent to
the path and a is always tangent to the hodograph 🚩

Screenshot 2018-11-12 10.24.42
: Screenshot 2018-11-12 10.24.52
r: position vector

displacement

Screenshot 2018-11-12 10.30.30
Screenshot 2018-11-12 10.30.44
Screenshot 2018-11-12 10.30.51
during a small time interval delta t:
delta r: displacement = change in the particle’s position

average velocity Screenshot 2018-11-12 10.35.00

instantaneous velocity
Screenshot 2018-11-12 10.39.48
Screenshot 2018-11-12 10.41.15


speed
Screenshot 2018-11-12 10.41.30

instantaneous acceleration
Screenshot 2018-11-12 10.49.39
OR
Screenshot 2018-11-12 10.51.42

Screenshot 2018-11-12 11.58.18

If the particle is at point (x, y, z) on the curved path s, then its location is defined by the position vector
Screenshot 2018-11-12 11.59.32
while x = x(t), y = y(t), z = z(t)
so r = r(t)
with Screenshot 2018-11-12 12.02.06

v Screenshot 2018-11-12 12.09.42 elocity
Screenshot 2018-11-12 12.05.17
OR
Screenshot 2018-11-12 12.06.15
with
Screenshot 2018-11-12 12.07.58
and Screenshot 2018-11-12 12.08.22 = Screenshot 2018-11-12 12.08.29

Acceleration

Screenshot 2018-11-12 12.12.44
Screenshot 2018-11-12 12.12.53
Screenshot 2018-11-12 12.13.06
Screenshot 2018-11-12 12.13.29

Screenshot 2018-11-12 12.12.36

Motion of a Projectile
Screenshot 2018-11-12 12.53.04

Horizontal Motion
Since a x = 0
Screenshot 2018-11-12 12.59.27
with Screenshot 2018-11-12 12.59.50


Screenshot 2018-11-12 12.59.32 ac . t2
with
Screenshot 2018-11-12 12.59.55


Screenshot 2018-11-12 12.59.37
with
Screenshot 2018-11-12 13.00.01

Vertical Motion
Screenshot 2018-11-12 13.05.53 Screenshot 2018-11-12 13.06.00

DEPENDENT MOTION OF 2 PARTICLESScreenshot 2018-11-16 09.58.08
position coordinates sA and sB (notice the positive sense of each coordinates) ❗
fixed point O

Screenshot 2018-11-16 10.02.14
l CD: length of the cord passing over arc CD
lt: total cord length


sA and sB: the segments of the cord that change in length
SO
Screenshot 2018-11-16 10.06.34
OR
Screenshot 2018-11-16 10.07.14
what does it mean?


Screenshot 2018-11-16 10.14.35

how do we determine sA and sB?
(1) have their origin at fixed
points or datums
(2) are measured in the direction of motion of each
block
(3) has a positive sense from C to A and D to B

Screenshot 2018-11-16 10.20.11
Screenshot 2018-11-16 10.21.26
Screenshot 2018-11-16 10.21.50
Screenshot 2018-11-16 10.21.54

For another fixed point of sB
Screenshot 2018-11-16 10.24.27
Screenshot 2018-11-16 10.24.49
Screenshot 2018-11-16 10.24.54

Procedure for Analysis

  • use algebraic scalars or
    position coordinates of rectilinear path
  • changes in magnitudes of velocity and acceleration but not their line of direction

How to do it?

STEP 1

  • Establish each position coordinate with O point = fixed point or datum
  • coordinate axis ~ path of motion

what is a datum?
a datum refers to the references from which the measurements are made on the part. This can be a point, a line or a plane or even features.

STEP 2
relate sA, sB to l T or l, l CD (arc segments wrapped over pulleys = do not change length)

STEP 3
Time Derivatives of position coordinates for the required velocity and acceleration equations