Introduction to Mechanics of Flight

A. Particle Problems

1. An out of control rocket traces an upward helical trajectory described in cartesian coordinates for t > 0
by
x = R cos(t)
y = R sin(t)
z = ht
Express the position, velocity and acceleration vectors in the cartesian x, y, z system using unit
vectors i, j, k.
Express the position, velocity and acceleration vectors in the cylindrical coordinate system using unit
vectors er , e , k.
Express the velocity and acceleration vectors using intrinsic coordinates and the unit vectors et , en , eb .
Modulus of the velocity vector
Evolution of the arc-length coordinate as a function of time
Trajectory in terms of the arc-length coordinate
Where is the center of curvature for this curve when the particle is located at (x, y, z) = (R, 0, 0) ?

Figure 1: taken from MIT OCW

2. A spiral fixed in a plane is given by the equation r = e . If a particle moves along the spiral according
to the equation = tn , determine:
The radial and transverse components of the velocity
The radial and transverse components of the acceleration
The tangential and normal components of the velocity
The tangential and normal components of the acceleration
The radius of curvature of the spiral

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Introduction to Mechanics of Flight

A. Particle Problems

3. A point describes the astroid:

x =

a cos3

a sin3

with a motion whose tangential acceleration is constant, k. If the point is initially at rest at = 0,
compute the evolution of the position as a function of time.

4. A vehicle moves at constant altitude y0 . At time t = 0 it is located at x = 0, at which time it begins

to accelerate in the x direction at a constant rate ax from an initial velocity v0 at x = 0. Describe the
motion in polar coordinates, r, . We are going to express the acceleration in polar coordinates. Work
out the various terms:
(a) Show that: r = v(t) x(t)/r(t)
2
(b) Show that: = v(t) y0 / (r(t))


3
(c) Show that: r = v 2 (t) y02 + ax x(t) r2 (t) / (r(t))


4
(d) Show that: = y0 2 v 2 (t) x(t) ax r2 (t) / (r(t))
From these expressions form the acceleration vector a = ar er + a e .
Repeat the problem using cartesian coordinates.

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Introduction to Mechanics of Flight

A. Particle Problems

5. On an perfectly smooth horizontal plane, a skater P is towed by a vehicle A. The vehicle is moving along
a circumference whose center is in O and its radius is a, with constant angular velocity . The skater is
attached to the vehicle by a bar without mass and longitude a. Initially, the vehicle is located at (a, 0)
and the skater is at rest in (2a, 0). Defining a rotating reference frame Ox0 y 0 with origin in O and axes
OA and the line perpendicular to OA, determine:
The relative acceleration of the skater with respect to Ox0 y 0 as a function of and its time derivatives.
is the angle between the bar AP and the axis Ox0
The centrifugal and Coriolis forces also as a function of and its time derivatives.
R

Reduce the evolution of to quadratures. (Consider that 2 = 2 dt)

Determine the tension on the bar.
If the rigid bar is substituted by a string which cannot bear compression. Determine if the string is
ever subject to compression. If yes specify precisely when it happens.

6. The angle describing the rotation of a reconnaissance satellites solar panels about the body-fixed x
axis is an arbitrary function of time. The satellite spins about the z axis at the constant rate. Derive
expressions for the absolute velocity and acceleration of point B relative to the origin of Oxyz.

(Taken from Ginsberg, Engineering Dynamics, Cambridge University Press, 2008)

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Introduction to Mechanics of Flight

A. Particle Problems

7. Airplane A is flying horizontally with a constant speed of v = 200 km/h, and is towing a glider B. The
glider is gaining altitude. The tow cable has a length r = 60 m, and is increasing at a constant rate of
5 /s. We want to determine the magnitude of the velocity, vG , and the acceleration, aG , of the glider for
the instant when = 15 .

8. A couple of trains, A and B, are moving along parallel tracks. The distance between the tracks is a. The
velocity of each train is v1 and v2 , respectively. At the moment they are at the closest point, which are
their mutual velocities (the velocity which would be observed by an observer at each train)?
Solve the same problem considering that the train B is now moving along a circular track. The circular
track has a radius of R. The distance of the closest point of the circular track with respect to the track
of A is a.

9. In 2001: A Space Odyssey an idea to obtain artificial gravity in a spaceship is presented. It consists of
a cylinder rotating at constant angular velocity around its axis. The astronauts would live in the inner
surface of the cylinder and the centrifugal force would act as an artificial gravity.
If we consider a cylinder of radius 10 m, determine the angular velocity to obtain a gravity of 1 m/s2 .
In a general case, the cylinder of radius R rotates counterclockwise at an angular velocity . An
astronaut runs counterclockwise along the inner surface of the cylinder at a constant speed u with
respect to the cylinder. Determine the artificial gravity that she feels. (Neglect the height of the
astronaut h compared to the radius of the cylinder R, h  R)
If she runs clockwise at which speed she will start floating?

10. A particle of mass m moves under a force F = cx3 i , where c is a positive constant. Find the potential
energy function. If the particle starts from rest at x = a, what is its velocity when it reaches x = 0?
Where in the subsequent motion does it instantaneously come to rest?

11. The potential energy function of a particle of mass m is V (x) = 21 c(x2 a2 )2 , where c and a are positive
constants. Sketch this function, and describe the possible types of motion in the three cases (a) E > 0,
(b) E < 21 ca4 , and (c) 12 ca4 < E < 0.

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Introduction to Mechanics of Flight

A. Particle Problems

12. A particle moving under a conservative force oscillates between x1 and x2 . Show that the period of
oscillation is:
Z x2 r
m
=2
dx
2 [V (x2 ) V (x)]
x1
In particular, if V = (1/2)m02 (x2 bx4 ), show that the period for oscillations of amplitude a is
Z a
dx
2
p

=
0 a a2 x2 1 b(a2 + x2 )



13. A particle of mass m moves along the Ox axis under the potential V (x) = mgx (x/a)2 3 . Compute the
evolution of the particle as a function of time, when
an initialvelocityv0 =
R it is thrown
from
x0 = a with

8ga directed along the positive Ox axis. (tip: dx/ (x + 1) 2 x = (2/ 3)arctanh( 2 x/ 3))
14. A particle of mass m is moving along the Ox axis under the force F(x) = mKxex/a i, where K and a are
known constants. The initial position of the particle is x = a and the initial velocity is v = v0 i. Describe
the possible types of motion of the particle as a function of v0 .
15. The Stokes law states that the drag force acting on a sphere or radius r moving on a fluid with a dynamic
viscosity of is: F (v) = 6 r v. Assuming the density of an sphere is twice the density of the fluid, and
considering the weight of the sphere, compute:
The terminal velocity of the sphere.
The evolution of the position as a function of time, if the sphere starts from rest.

16. A football has a radius r, mass m and a drag coefficient CD . It falls vertically through the air of density
. It is assumed that the forces acting on the ball are only gravity and drag. The drag can be modelled
as: D = (1/2)V 2 SCD (where is the density of the air, V is the velocity of the ball and S is the surface
of the ball). Compute its terminal velocity and its position as a function of time.

17. A force attracts a heavy particle M of mass m to a point O. The attractive force is proportional to the
mass of the particle and to the distance OM . The proporcionality coefficient is k 2 . The coordinate system
Oxyz has the origin at the centre of
attraction O and the axis Oz is vertically oriented. Initially, the
coordinates of M are (x0 , y0 , z0 ) = ( 3g/k 2 , 0, 0) and its initial velocity is (x 0 , y 0 , z0 ) = (0, 2g/k, 0).
Describe the motion of M, specifying clearly the shape of the path.
Compute the maximum and minimum speed of M.

18. A heavy particle of mass m is moving without friction on a cone which is described as:
z 2 = x2 + y 2
The frame of reference Oxyz is inertial and Oz is the ascending vertical. The initial coordinates of the

particle are (a, 0, a) and its velocity is agj. Reduce the problem to quadratures and determine the
maximum and minumum value of z along the motion.
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Introduction to Mechanics of Flight

A. Particle Problems

19. A heavy particle of mass m is moving without friction on the paraboloid which is described as:
az = r2
where a is a positive constant. Oz is the ascending vertical. If r = a initially, and the particle is
thrown with a velocity v0 tangent to the local parallel, reduce the problem to quadratures. Determine the
maximum and minumum of r along the motion.

20. A heavy particle is moving along a smooth circumference of radius R and fixed center O. The circumference
is rotating with constant angular velocity . The relative motion of the particle with respect to the
circumference is described by the angle between the particle and the lowest point of the circumference.
Get the integral of the energy for the relative motion.
Compute the reaction of the circumference in the direction normal to its plane, as a function of .

21. On a spinning spherical planet of radius R and gravitational acceleration gp , the bodies weight twice as
much on the poles as on the equator. Determine the duration of the day on that planet.

Bioengineering and Aerospace Engineering Dept.

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Introduction to Mechanics of Flight

A. Particle Problems

22. A heavy point particle P of mass m is constrained to move without friction along the curve

 x 
y = a 1 cos
,
a

(1)

in the range a x a, where a is a positive constant. Initially, the particle is located at x = 0 with
velocity v0 along the positive x axis.

y
2a
g
m

x
a

Reduce the problem to quadratures.

If v0 = ga determine the minimum and maximum value of x along the motion.

What should be the minimum value of v0 in order to reach x = a? How much time would it take
to reach that point?
Lets assume now that the curve containing the point particle rotates around the OY axis with constant
angular velocity = j.
Define a convenient moving reference frame with origin in O, OX1 Y1 Z1 . Determine the inertia force
that acts on the particle in this moving reference frame as a function of m,,x1 and x 1 , where x1
represents the position coordinate of P along OX1 .
Reduce the problem to quadratures and determine the value of the reaction force.
Find out a trascendental equation whose solutions are the equilibrium positions of the point particle
in OX1 Y1 Z1 .
If were a function of time, would it be possible to use the energy equation? Justify your answer.

23. A simple pendulum consists of a mass m hanging from a string of length L and fixed at a pivot point O.
The simple pendulum is equivalent to the problem of a heavy particle constrained to move along a smooth
circumference. A unilateral constraint is considered, such that the particle move along the interior of the
circumference and it might fall under certain conditions. Analyze the motion of the particle when it is
pushed from the lowest point of the circumference with velocity v0 . At what point does the particle leave
the circumference? Is this point reached?
If the circumference rotates around the vertical axis with a constant angular velocity equal to , write
down the new equations of motion. Compute the locations along the circumference in which the particle
is in equilibrium.

Bioengineering and Aerospace Engineering Dept.

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Introduction to Mechanics of Flight

A. Particle Problems

24. A heavy particle P is constrained to move along a circumference and it is attached to a spring as shown
in the figure. The mass of the particle is m, and the radius of the circumference is a. Besides, one end of
the spring is attached to a point of the y axis with coordinates (0, a) and the constant of the spring is
equal to k.
(a) Compute the potential of the forces acting on the particle as a function of the angle (shown in the
figure).
(b) Identify the equilibrium positions.
The particle departs from the point (a, 0) of the circumference with an initial velocity v0 = v0 j.
(c) Reduce the motion to quadratures.
(d) If = mg/(ka), obtain the position of the particle as a function of time.
Consider now the situation in which an additional force acts on the particle. A force is proportional to
and in the same direction as the velocity. The constant of proportionality is 2m. Besides, the initial
conditions are the same as before.
(e) Obtain the position of the particle as a function of time.
(f) Obtain the reaction of the circumference.

A
g
a
P

a
O

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Introduction to Mechanics of Flight

A. Particle Problems

25. A spacecraft S is orbiting a celestial body F . The trajectory of the spacecraft with respect to an inertial
reference frame F xy is given by
p
r=
,
1 + e cos
where p and e are known constants and (t) is a known function of time. The space explorer Ijon Tichy
needs to perform some extra-vehicular activities during his Seventh Voyage1 . He attaches himself with
a massless cord of length L to the spacecraft and goes for a space walk. We neglect all gravitational
interactions and assume that we can consider him as a point particle of mass m. We define a moving
reference frame Sx1 y1 as indicated in the figure.
(a) Determine the acceleration of the spacecraft with respect to F xy as a function of time.
(b) Determine the tangent vector to the trajectory of S as a function of time.
(c) Determine the relative velocity and relative acceleration of Ijon Tichy with respect to Sx1 y1 as a
function of and its time derivatives.
(d) Determine the fictitious forces acting on Ijon Tichy if we analyze the problem with respect to the
frame Sx1 y1 .
(e) Write down one ordinary differential equation that once solved (with given initial conditions) would
yield the angle as a function of time. (You do not need to solve it)
(f) Assuming that you have solved the previous equation, and therefore you know (t), determine the
value of the tension on the cord as a function of time.

x1

y
S

y1

1 The

Star Diaries by Stanislaw Lem.

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Introduction to Mechanics of Flight

A. Particle Problems

26. A heavy point particle P of mass m is constrained to move without friction along the half-circumference
wire of radius a shown in the figure. The wire containing the point particle rotates around the OY axis
with constant angular velocity = j. Initially, the particle is located at x = 0 with velocity v0 along
the positive x axis.

x
a

Determine the number of degrees of freedom of the problem.

Define a convenient moving reference frame with origin in O, OX1 Y1 Z1 . Express the inertia force
that acts on the particle in this moving reference frame.
Express also the components of the weight of the particle with respect to OX1 Y1 Z1 .
Determine if there are any equilibrium points.
Reduce the problem to quadratures and determine the value of the reaction force.
Is it possible to use the energy equation? If were a function of time, would it be possible to use
the energy equation? Justify your answer.

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