KINEMATICS OF A PARTICLE

DYNAMICS
- Dynamics is that branch of mechanics dealing with bodies in action.

KINEMATICS
-Kinematics is that part of Dynamics which treats of bodies in motion without regard for
the forces which cause or affect the motion.

KINETICS
-Kinetics is that part of Dynamics which treats of the effects of forces in causing the motion
or in changing the motion of bodies.

KINDS OF MOTION

RECTILINEAR
-If the particle moves along a straight line, the motion is Rectilinear.

CURVILINEAR
-If the particle moves along a curved path, the motion is known as Curvilinear.

RECTILINEAR MOTION

Linear Displacement: The linear displacement of a particle is its change o position referred
to some fixed point. Displacement is a vector quantity since it has magnitude, direction and
position.

Linear Speed and Velocity: Linear speed is the time rate of travel. It is a scalar quantity
since its only property is magnitude. Linear velocity is the time rate of displacement. It is a
vector quantity and has magnitude, direction and position.

If a particle moves along a straight line with displacement ∆ s during the time interval ∆ t,
then its average velocity is

vavg = ∆s/∆t

and its instantaneous velocity becomes

lim
v=∆ 0 ∆s/∆t = ds/dt
Linear Acceleration: Linear acceleration is the time rate of change of linear velocity. If the
linear velocity ∆v occurs during a time interval ∆t, the average linear acceleration is

aavg = v = ∆v/∆t

and the instantaneous linear acceleration is

a=t 0 ∆v/∆t = dv/dt

since v = ds/dt

a = ( d/dt )( ds/dt ) = d²s/dt²

Fliminating dt from the equation v = ds/dt and a = dv/dt,

we obtain the equation
v dv = a ds

Summarizing, the basic differential equations which we may use for solving any rectilinear
kinematic problems are:

v = ds/dt; a = dv/dt = d²s/dt², and vdv = ads.

Motion of a Particle with Constant Acceleration: If acceleration is constant, the equation

used to solve problems are:

v = vo + at
v² = vo² + 2as
s = vot + ½ at²
s = ( v + vo/2 )t

Falling Bodies, Air Resistance Neglected: For freely falling bodies in space, a = g and s = h.
The equations are:

v = vo + gt
h = vot + ½ gt²
v² = vo² + 2gh

For bodies projected vertically upward, a = -g.

Relative Motion: The velocity of a body with reference to a point on the earth is called its
absolute velocity, while the velocity of one body relative to another body is called relative
velocity.

CURVILINEAR MOTION

Curvilinear Displacement: In this book only plane curvilinear motion will be considered.
Fig. 1 represents the path of a particle that moves from point A through points B and C to
point D. C

B
( Fig. 1 )

A D
When the particle reaches point B, its displacement the vector AB. When it reaches point C
its displacement is AC. Its displacement is independent of the path, and depends only upon
the original and final positions.

Velocity in Curvilinear Motion: The velocity of a particle in curvilinear motion is the time
rate of its displacement. In Fig. 1, the displacement of the particle is the vector AB, and its
actual path is the arc AB equal to ∆s. If this displacement takes place in the time interval ∆t, then

vavg = ∆s/∆t
As ∆t decreases and becomes so small arc AB approaches vector AB and B will approach A
as a limit. Thus, the instantaneous velocity is
lim
v = ∆t 0 ∆s/∆t = ds/dt
Acceleration in Curvilinear Motion: Acceleration is the time rate of change of velocity. In
curvilinear motion the velocity continually change direction and may also change in
magnitude.
v1 v1
ds B
( Fig. 2 ) O 90°
d d v
E
(a) dθ (b) F
C
In Fig. 2 let the particle move along the curved path AB in time ∆t. Let v1 and v be the
instantaneous velocities at A and B, respectively. In Fig. (b), lay off the velocities v 1 and v
from point 0. The vector DF represents total change in velocity and DF/∆t is the average
rate of change of velocity, or acceleration is the limiting value of the average acceleration.

Tangential and Normal Acceleration: In Fig. 2, the acceleration of DF/∆t is resolve into its
tangential and normal components: EF/dt = at parallel to the direction of the velocity at A,
and DE/dt = an, normal to the direction of the velocity at A.

Since A and B are consecutive points on the curved path, EF = v - v1 = dv, so

at = dv/dt

This is the rate of change of velocity at point A.

In the limit
DE = v1 d θ = v d θ
Also,
d θ = ds/d and ds/dt = v
Hence,
an= DE/dt = v d θ/dt = ( v/d )( ds/dt )

= v²/d

FORMULAS FOR CURVILINEAR MOTION

The formulas below for curvilinear motion are similar to those for rectilinear motion, that
is , ω replace v, ∝ replaces α and θ replace s.

ω = ωo + α t at = r α
ω² = ωo² + 2 α θ an = r ω²
θ = ωo t + ½ α t²
θ = ( ωo + ω / 2 )t

SOLVE PROBLEMS

Example 1:
A body increases its speed from 20 km/hr to 90 km/hr. Reduce these speed to m/sec/

Solution:
1km = 1,000 m; 1 hour = 60 minutes = 3,600 seconds
20 (1,000)
20 km/hr = 3,600 = 5.56 m/sec. Ans.
90 (1,000)
90 km/hr = 3,600 = 25 m/sec. Ans.
Example 2; Determine the times required for a space ship of the future to accelerate from
rest to half the speed of light at rate of 6g m/sec ². Light travels 300,000 km/sec.

Solution:
vo = 0, v = 150, 000 km/sec = 150 x 106 – 0
a = 6g m/sec²
v = vo + at, t = v - vo 150 x 106 – 0
a 6 ( 9.80)
= 2.55 x 10 seconds = 708.6 hours
6

= 29 and ½ days. Ans.

Example 3:
The equation of motion of a particle is
s = 8t² + 3t – 10
s being in meters and t in seconds.
Compute the initial velocity and also the velocity when the displacement is zero.

Solution:
s = 8t² + 3t – 10, v = ds = 16t + 3
dt

Initial velocity occurs when t = 0. Therefore, v =3 m/sec.

when s = 0, s = 8t² + 3t – 10.

Solving by the quadratic formula, t = 0.946 seconds.

v = 16(0.946) + 3 = 18.14 m/sec. Ans.

Example 4:
A body moves north east for 4 km and then east for 6 km. Determine the amount and
direction of its displacement from the starting point.

A 6 km

4 km 135° θ B
( Fig. 3 )- 45°
O θ X
Solution:
 Fig. 3 shows the vectors drawn corresponding to the displacements.
The vector 0B represents the resultant of the displacement vector 0A and AB.
(OB)² = 4² + 6² - 2(4)(6) cos 135° = 85.94
OB = 9.24 km. Ans.

sin θ = sin 135°, sin θ = 0.3051, θ = 17.76°

4 9.27
Direction of the displacement = N 17.76° E. Ans.

Example 5:
A particle moves along a straight line in such a manner that its displacement, at any instant,
from a fixed point on its path is given by the equation.
s= 1/ 10 ( t³ + 6t² – 4t )
What displacement, velocity and acceleration will the particle attain after 10 seconds?

Solution:
s = 1/ 10 ( t³ + 6t² – 4t )
v = ds/dt = 1/10 ( t³ + 6t² – 4t )
a = dv/dt = ( t³ + 6t² – 4t )
When t = 10 seconds,
s = 1/10 ( 1,000 + 600 – 400) =156 m Ans.
v = 1/10 ( 300 + 120 – 4 ) = 41.6 m/sec Ans.
a = 1/10 ( 60 + 12 ) = 7.2 m/sec² Ans.

Example 6:
How far will the particle in Example 5 travel during tenth second?

Solution:
t = 10 seconds, s = 1/10 ( 1,000 + 600 - 40 ) = 156 m
t = 9 seconds, s = 1/10 ( 729 + 486 – 36 ) = 117.9 m
Distance traveled during the 10th second
156 – 117.9 = 38.1 m Ans.

Example 7:
A particle moves along a straight line so that,
s = 3t³ - 4t²
where s is in meters and t in minute.
Determine the velocity and acceleration when t = 1 minute, when t = 2 minutes.
Solution:
s = 3t³ - 4t²
v = ds/dt = 9t² - 8t
a = dv/dt =18t – 8
when t = 1 minute, v = 1 m/min., a = 10 m/min² Ans.
when t = 2 minutes, v = 20 m/min., a = 28 m/min² Ans.

Example 8:
A particle moves in accordance with the equation
s = 32 + 24t – 2t³
where s is meters and t in seconds.
a.) Derive the v – t equation for the motion.
b.) How far to the right of the origin does the particle go?
c.) When, if ever, does the particle pass the origin?

Solution:
a.) s = 32 + 24t – 2t³, v = ds/dt = 24 -6t² = 6 ( 4 – t² ) Ans.
b.) At the furthest point from the origin, v = 0.
v = 6 ( 4 – t² ) = 0; t = 2 seconds/
s = 32 + 24 ( 2 )³ = 64 meters. Ans.
c.) At the origin, s = 0.
32 + 24t - 2t³ = 0, t = 4 seconds.
The particles passes the origin when t = 4 seconds Ans.

Example 10:
The velocity of a particle moving along the x-axis is given by
v = x³ - 4x² + 7x
where x is in meters and v is m/sec.
Determine the acceleration when x = 2 meters.

Solution:
a = dv/dt = d/dt ( x³ - 4x² + 7x ) = ( 3x² - 8x² + 7 ) dx/dt
but dx/dt = v. Hence. a = ( 3x² - 8x² + 7 ) v

when x = 2 meters, v = ( 2 )³ - 4 ( 2 )² + 7 ( 2 ) = 6 m/sec.

a = [ 3 ( 2 )² - 8 ( 2 ) + 7 ] 6 = 18 m/sec²

Example 11:
A car moving with a constant acceleration travels 10 m during the 6 th second of its motion,
and 6 m during the 8th second of its motion. Find its initial velocity and its acceleration.
Solution: d 10m 8m 6m

0 1 2 3 4 5 6 7 8
( Fig. 4 )
Because the car moves with constant acceleration it will travel 8 m during the 7 th
second. Thus, as indicated in Fig. 4.

a = ( 8 – 10 )/1 = - 2 m/sec². Ans.

t = 6 seconds, s = d + 10 m s = vo t + ½ a t² :
d + 10 = vo ( 6 ) - 46

t = 8 seconds,
s = d+ ( 10 + 8 + 6 ) = d + 24 d + 24 = vo t ( 8 ) + ½ ( -2 )( 8 )²
d = 8 vo – 88

Solving Eqs. ( 1 ) and ( 2 ) simultaneously we obtain

vo = 21 m/sec. or 75.6 km/hr. Ans.

Example 12:
A particle travels around a circle of 6 m radius 5 times in 1 minute. What is its acceleration
normal to the curve?

Solution:
Distance traveled in 1 revolution = 2 π d = 12 π m
v = velocity of the particle = 5 ( 12 π )/ 60 = π m/sec.
an = normal acceleration = v0²/d = π ²/6 = 1.64 m/sec². Ans.

Example 13:
A flywheel 0.8 m in diameter accelerates uniformly from rest to 1,200 rpm in 30 seconds.
What is its angular acceleration?

Solution:
ωo = 0, ω = 1,200 rpm = 1,200/60 rev/sec. x 2 π ( radian/revolution )
= 40 π radians/second.
ω = ωo + at : 40 π = 0 + α ( 30 )
α =4/3 π = 4.19 radians/ seconds ² Ans.
Example 14:
In example 13, how many revolution does the flywheel make in attaining its speed of 1,200
rpm?

Solution:
θ = ωo + ω ( t) : θ = 0 + 40 ( 30 ) = 600 π radians
2 2
= 600 π radians = 300 revolutions Ans.
2 π rad/rev

Example 15:
Determine the linear velocity and linear acceleration of a point on the rim of the flywheel in
Example 13, 0.8 second after it has started from the rest.

Solution:
ω = angular velocity = ωo + at
= 0 + 4.19 ( 0.8 ) = 3.35 rad/sec.
v = linear velocity = r ω
= 0.4 ( 3.35 ) = 1.35 m/sec. Ans.

1.68 m/ s²

O 4.49 m/s²

α
ω
( Fig. 5 )
This velocity is tangent to the rim.
at = tangential component of the acceleration.
= r α = 0.4 ( 3.35 ) = 1.34 m/sec.
an = normal component of acceleration
= r ω² = 0.4 ( 3.35 )² =4.49 m/sec²
a = resultant acceleration = √( at² + an² )
= √ ( 1.68) ² + ( 4.49 )² = 4.79 m/sec² Ans.
tan θ = at/an = 1.68/4.49 =0.37416; θ = 20.51° Ans.
The angle θ is the angle between the resultant acceleration and the radius of the
flywheel.
Example 16:
an automobile has a speed of 90 km/hr when the brake are applied. The car is slowed
down at the rate of 4 m/sec². What time is required to stop the car, and how far will it
travel before stopping?

Solution:
vo = 90 km/hr = 90 ( 1,000 ) = 25 m/sec.; v = 0 a = - 4 m/sec²
3,600
v = vo + at : 0 = 25 ( 6.25 ) + ½ ( - 4 )( 6.25 )² = 78.125 m Ans.

Check:
s = ( vo + v/2 ) t = ( 25 + 0/2 )( 6.25 ) = 78.125 m O.K

Example 17:
An object falls from the top of a 20-story building 60 m high. How long will it take to reach
the ground and with what velocity will it strike the ground?

Solution:
vo = 0, h =60 m , a = g = 9.80 m/sec ²
v² = vo + 2gh :
v² = 0 + 2 ( 9.80 )( 60 ) = 1.176
v = vo + gt :
34.29 = 0 + 9.80 t ; t = 3.50 seconds. Ans.

Example 18:
At an elevation of 100 m from the ground a small ball is dropped from a balloon which at
instant the ball is released, is ascending with a velocity of 3 m/sec and is being accelerated
upward at the rate of 1.0 m/sec². When and with what velocity will the ball strike the
ground?

Solution:
h = - 100 m; v = 3 m/sec.; a = - 9.80 m/sec²
h = vo t – ½ gt² ;
- 100 = 3 t – ½ ( 9.80 ) t²
4.90 t² - 3 t – 100 = 0
t = 4.83 seconds. Ans.
v² = ( 3 )² + 2 ( 9.80 )( 100 ) = 1,969
v = 44.37 m/sec. Ans.
Note : The acceleration of the balloon upward has no effect on the ball as soon as it
is released.
Example 19:
Two care start at the intersection of two roads which make an angle of 60° with each other.
Car A accelerates at 0.9 m/sec² and car B has an acceleration of 0.75 m/sec².
Determine the relative displacement, velocity and acceleration of the two cars 20 seconds
after leaving the intersection.

Solution:
s(A) = distance traveled by car A = ½ ( 0.9 )( 20 )² = 180 m
s(B) = distance traveled by car B = ½ ( 0.75 )( 20 )² = 150 m

Fig 6. Example 19

Example 20:
A cannon ball was fired vertically upward from elevation 0 + 00 above sea level with an
initial velocity of 190 km/hr. What elevation will the cannon ball reach before returning to
earth?
v=0

h vo = 190 kph

El. 0 + 00
Solution:
190 km/hr = 190,000/3,600 = 52.78 m/sec/
v² = vo² + 2gh: 0 = ( 52.78 )² + 2 ( - 9.80 )h
h = 142.12 m Ans.

The cannon ball will reach Elev. 0 + 142.12 m.