106 Chapter? Kinematics of Particles CHAPTER Review In Chapter 2 we have developed and illustrated the basic meth for describing particle motion. The concepts developed in this chapter form the basis for much of dynamies, and it is important to review and master this material before proceading to the following chapters. By far the moat important concept in Chapter 2 is the time deriva: tive of @ vector. The time derivative of ¢ vector depends on direction change os woll es magnitude change. As we proceed in our study dynamics, we will need to examine the time derivatives of vectors other than position and velocity vectors, and the principles and procedur developed in Chapter 2 will be useful for this purpose. Categories of Motion ‘The following categories of motion have boon examined in this chapter: 1. Rectilinear motion (one coordinate) 2. Plane curvilinear motion (two coordinates) 8. Space curvilinear motion (three coordinates) In general, the geometry of « given problem enables us to identify the category readily. One exception to this categorization is encountered when only the magnitudes of the motion quantities measured along the path are of interest, In thie event, we can use the single distance coor inate measured slong the curved path, together with its scalar time derivatives giving the speed |s| and the tangential acceleration 3. Plane motion is easier to generate and control, particularly in ma: chinery, than space motion, and thus a large fraction of our motion problems come under the plane curvilinear or rectilinear categories. Use of Fixed Axes We commonly describe motion or make motion measurements with respect to fixed reference axes (absolut motion) and moving axes (rel tative motion), 'The acceptable choice of the fixod axes depends on the problem, Axes attached to the surface of the earth are sufficiently “fixed” for most engineering problems, although important exceptions include carth-sctellite and interplanetary motion, accurate projectile trajectories, navigation, and other problems. The equations of celative ‘motion discussed in Chapter 2 are cestrieted to translating reference Choice of Coordinates ‘The choice af coordinates is of prime importance. We have developed th deseription of motion using the following evordinates: 1. Rectangular (Cartesian) coordinates (x-y) and (-y-2) 2, Normal and tangential coordinates (n-)rive: stion ly of J ther ures this with, (rele the Polar coordinates (r-0) Gylindrical coordinates (7-2) 5, Sphorical coordinates (R-0.4) the coordinates are not specified, the appropriate choice usually da on how the motion is generated or measured, Thus, for a par- ‘which slides radially along a rotating rod, polar coordinates are the aral ones to use, Radar tracking calls for polar or spherical coordi- When measurements are made along s curved path, normal and Figure 2/21 is a composite representation of the sy, n-t, and r-0 “Gordinste deseriptions of the velocity v and acceleration x for eurvilin- Making appropriate approximations fe one of the most important “ilies you can acquire. The assumption of constant acceleration is alid when the forces which cause the acceleration do not vary appre- Gakly, When motion data are acquired exparimentally, wa must utilize ‘fhe nonexact data to acquire the best possible description, often with, ‘the aid of graphical or numerieal approximations of Mathematical Method We frequently have a choice of solution using scalar algebra, vector ‘algebra, trigonometric geometry, or graphical geometry. All of these “mmethcdls have been illustrated and all are important to learn, The choice “of method will depend on the geometry of the problem, how the motion “tats are given, and the accuracy desired. Mechanics by its very nature ‘is geometrie, so you are encouraged to develop facility in sketching vee- “tor relationships, both es an eid to the disclosure of appropriate ge “metric and trigonometric relations and as @ means of solving vector “equations graphically. Geometric portrayal is the most direct represen- tation of the vast majority of mechanics problems, Chapter Review 107 ae i (a) Veet components | | y i i i I i i 1 i 1 1 1 r ae OPE (b) Aogéleration components Figure 2/21