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P
x
Fig. 11.27
dx
dt
(11.1)
dv
dt
(11.2)
a5
d 2x
dt2
(11.3)
or
dv
dx
(11.4)
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Two types of motion are frequently encountered: the uniform rectilinear motion [Sec. 11.4], in which the velocity v of the particle is
constant and
(11.6)
(11.7)
(11.8)
v 5 v0 1 at
x 5 x0 1 v0t 1 12 at2
v2 5 v02 1 2a(x 2 x0)
When two particles A and B move along the same straight line,
we may wish to consider the relative motion of B with respect to A
A
683
(11.5)
x 5 x0 1 vt
B
xB/A
xA
xB
Fig. 11.28
(11.9)
(11.10)
(11.11)
where vB/A and aB/A represent, respectively, the relative velocity and
the relative acceleration of B with respect to A.
When several blocks are connected by inextensible cords, it is possible to write a linear relation between their position coordinates.
Similar relations can then be written between their velocities and
between their accelerations and can be used to analyze their motion
[Sample Prob. 11.5].
Graphical solutions
v 5 slope of x t curve
a 5 slope of v t curve
while, over any given time interval from t1 to t2,
v2 2 v1 5 area under a t curve
x2 2 x1 5 area under v t curve
In the second half of the chapter, we analyzed the curvilinear motion
of a particle, i.e., the motion of a particle along a curved path. The
position P of the particle at a given time [Sec. 11.9] was defined by
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and was found to be a vector tangent to the path of the particle and
of magnitude v (called the speed of the particle) equal to the time
derivative of the length s of the arc described by the particle:
P0
/Volumes/204/MHDQ077/work%0/indd%0
Kinematics of Particles
5:48:15 PM user-s173
v5
Fig. 11.29
ds
dt
(11.16)
dv
dt
(11.18)
Component motions
For two particles A and B moving in space (Fig. 11.30), we considered the relative motion of B with respect to A, or more precisely,
with respect to a moving frame attached to A and in translation
with A [Sec. 11.12]. Denoting by rB/A the relative position vector of
B with respect to A (Fig. 11.30), we had
y'
y
B
rB
rB/A
rA
A
rB 5 rA 1 rByA
x'
Denoting by vB/A and aB/A, respectively, the relative velocity and the
relative acceleration of B with respect to A, we also showed that
z'
z
Fig. 11.30
(11.31)
vB 5 vA 1 vB/A
(11.33)
aB 5 aA 1 aB/A
(11.34)
and
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y
C
(11.36)
v2
a n = en
and
dv
v2
a5
et 1 en
r
dt
at =
(11.39)
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dv
et
dt
Fig. 11.31
.
(11.43)
v 5 r er 1 r ueu
$
2
$
vr 5 r
vu 5 r u
(11.45)
$
$
a 5 r 2 r u2
a 5 ru 5 2 r u
(11.46)
Fig. 11.32
e
er
r = re r