Part I

Dynamics of a Particle

Prof. Imam Morgan

Head of MCTR Depart.

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Contents

Ch. 1 . Kinematics of a Particle

Ch. 2 . Kinetics of a Particle
Accelerating Force
Ch. 3 . Kinetics of a Particle
Impulse and Momentum
Part I
Energy Approach
Dynamics of Particle
Ch. 4 . Kinematics of R.B.
Translation
Part II
Rotation about a fixed axis ( 2D & 3D)
Dynamics of R.B
General Plane Motion
Rotation about a fixed point
(Spherical Motion)
Ch. 5 . Simultaneous Motion (Coriolis effect)
Ch. 6 . Kinetics of Rigid Body
Accelerating Force
Ch. 7 . Kinetics of Rigid Body
Energy Approach
Prof. Imam Morgan
Head of MCTR Depart.

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Chapter 1
Kinematics of Particles
I Rectilinear Motion
Position, Velocity, and Acceleration.
Connected Particles
Graphical Integration

Rectilinear
Motion

The aircraft shown is considered as a particle in rectilinear

motion during landing operation. Its motion relative to the
ground is characterized at any instant by its position, velocity,
and acceleration.
Prof. Imam Morgan
Head of MCTR Depart.

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Kinematic
Parameters

General &
Important
Notes

Path

r ... Position vector r r t

v ...Velocity vector v v t
tangent to the path

a ... Accelerati on vector a a t
not tangent to the path

r
How can we express each

vector at any time ?

O
The path can be:
Straight line Rectilinear Motion
Plane or Space curve. Curvilinear Motion
Prof. Imam Morgan
Head of MCTR Depart.

How can we derive the relation(s)

between them ?

The physical meaning of each

vector (why ?and how ?)
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Rectilinear Motion
t

t=0

Po

Straight line
Path

In this case,

the Kinematic
quantities r , v ,and a are
directed along the specified
straight line.

Prof. Imam Morgan

Head of MCTR Depart.

Therefore, the magnitude and sense of

each quantity are required to be
known for complete description of
that quantity. So, scalar analysis is an
adequate approach for solution

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A: Position
+ve x

The path of the particle is defined

using a single coordinate axis x.
The origin O is a chosen fixed
point on the path.

- ve x

The position of the particle at any

time is given by the distance x
measured from O.
x = x(t)

For example:
x 6t 2 t 3
or, it may be given in the
form of a graph (x - t )

Note: The value of x does not

indicate the direction of
Prof. Imam Morgan
Head of MCTR Depart.

motion!!!

(7)

B: Displacement
The displacement, x = x1,2 ,
of the particle, over a time
interval t = t1,2 = t2 t1 ,
represents the change of
position of the particle during
that interval.
The displacement is given by:
x1,2= x2 x1

x can be positive, negative, or

even zero.

+ve x

x1
x2

t=0

x0,2

t=2
x

t=6

x2,6

Example: The position of a particle is define by the relation: x 6t 2 t 3

where x in m and t in sec. Calculate x0,2 and x2,6.
x0,2= x2 - x0
x2,6= x6 - x2
x2 = 16 and x0 = 0
x6 = 0
x0,2= +16 m
x2,6= - 16 m
Prof. Imam Morgan
Head of MCTR Depart.

(8)

C: Velocity
(average and instantaneous)
Consider a particle which occupies
position P at time t and P at t +Dt ,
Average velocity

Dx
Dt

Dx
Instantaneous velocity lim
Dt 0 Dt
From the definition of the derivative,
Dx dx
v lim

Dt 0 Dt
dt
Instantaneous velocity may be positive or negative.
Magnitude of velocity is referred
to as particle speed.

Note: The sign of v indicates the

direction of motion.
Prof. Imam Morgan
Head of MCTR Depart.

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e.g.,

x 6t 2 t 3

dx
12t 3t 2
dt
Find the average velocity of
the particle durin the time
interval 2 < t < 6.
Dx2,6
average velocity vav
Dt 2,6
v

but ,

Dx2,6 16
Dt 2,6 4

vav

16
4
4

m/s

t0 = 0

t2 =2
v2= 12

v6= - 36
t6 =6
Prof. Imam Morgan
Head of MCTR Depart.

t4=4
v4= 0

x2,6= -16
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D: Acceleration
(average and instantaneous)
Consider particle with velocity v at time t
and v at t +Dt,
Dv
Instantaneous acceleration a lim
Dt 0 Dt
From the definition of the derivative,
Dv dv d 2 x
a lim

2
Dt 0 Dt
dt dt
e.g. v 12t 3t 2
dv
a
12 6t
dt

Note: The sign of a does not indicate

the direction of motion.
Prof. Imam Morgan
Head of MCTR Depart.

(11)

Instantaneous acceleration may be:

Positive

Negative

increasing positive velocity

decreasing negative velocity

decreasing positive velocity

increasing negative velocity.

If a = 0, then v will be kept

constant in positive or negative
direction.
Prof. Imam Morgan
Head of MCTR Depart.

(12)

The previous example, continue:

x 6t 2 t 3
v 12t 3t 2
dv
a
12 6t
dt

t0 =0

t2 =2

x2,6= -16

v2= 12

t4=4
v4= 0

v6= - 36
t6 =6

Prof. Imam Morgan

Head of MCTR Depart.

Total distance
traveled during
the time interval:
2 < t < 6.

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Displacement x and Total distance traveled xT

D x xT

xT

D xt , t

D xt ,t

D x xT

xT

t
D xt ,t

x
Time of zero
velocity

D xt , t
Prof. Imam Morgan
Head of MCTR Depart.

(14)

Example (1)
The position of a particle in rectilinear motion is
given by :
x = t 3 6t 2 -36t + 116
(m,s)
For the time interval 0 < t < 8 seconds, determine:
a- the displacement, and the average velocity,
b- the total distance traveled by the particle.
c- Sketch the motion.
x
O

(t )

Solution:

Prof. Imam Morgan

Head of MCTR Depart.

x t 3 6t 2 36t 116

( m)

v 3t 2 12t 36

(m / s)

a 6t 12

(m / s 2 )
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x t 3 6t 2 36t 116
v 3t 2 12t 36
a 6t 12

a- The displacement, and the average velocity:

Dx0,8 x8 x0

x0 116 m and x8 44 m

Dx0,8 44 116 160

vav

Prof. Imam Morgan

Head of MCTR Depart.

Dx0,8
Dt 0,8

160
20 m / s
8

(16)

x t 3 6t 2 36t 116

b- The total distance traveled by the particle.

v 3t 2 12t 36
a 6t 12

At first, find (if exist) the time(s) within the given

interval at which v = 0. (see slide 14)
For v 0
t 6 t6

3t 2 12t 36 0
and t 2 refused

as t6 lies within the int erval :

t6 = 6

t8 = 8

t0,8

xT Dx0 ,6 Dx6 ,8
x6 x0 x8 x6

t0 = 0

x0 116
x6 100
x8 44

xT 100 116 44 100

272

Prof. Imam Morgan

Head of MCTR Depart.

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x t 3 6t 2 36t 116

c- Sketch the motion.

v 3t 2 12t 36
a 6t 12
x0 = 116

x6 = - 100
0

t6 = 6

t0 = 0 P 0

x8 = - 44

v6 = 0
v7 > 0

D x0,8
t8 = 8

xT Dx0,6 Dx6,8
x6 x0 x8 x6

x0 116
x6 100

xT 100 116 44 100

272

Prof. Imam Morgan

Head of MCTR Depart.

x8 44

m
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Determination of Rectilinear Motion

Two Types of Problems:

Direct
differentiation

Given

x = x (t)

v = v (t)

a = a (t)

Given

Direct
Integration
(I. C.)

Typically, conditions of motion are

specified by the type of acceleration
experienced by the particle.

a = a (t)

a = a (x)
a = a (v)
Prof. Imam Morgan
Head of MCTR Depart.

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Acceleration given as a function of time, a = a(t):

a at
dv
at
dt

v0

dv at dt

v vt
dx
vt
dt

x0

vt v0 at dt
0

dx vt dt

xt x0 vt dt
0

x xt

Acceleration given as a function of position, a = a(x):

a a x
dv
a
dt

or

dv
a v a x
dx

v v x
dx
v x
dt
Prof. Imam Morgan
Head of MCTR Depart.

vo

xo

vdv a x dx

dx t
v x dt
xo
0

x xt

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Acceleration given as a function of velocity, a = a(v):

a a v
v t

dv
av
dt

v0

dv t
dt
av 0

v vt
dx
vt
dt

xo

dx vt dt
x xt

or :

a a v
v

v dv x
av dx
vo
xo

dv
v av
dx

v v x
dx
v x
dt
Prof. Imam Morgan
Head of MCTR Depart.

dx t
v x dt
xo
0

x x(t )
(21)

vo

Example (2)
Brake mechanism used to reduce gun
recoil consists of piston attached to barrel
moving in fixed cylinder filled with oil.
As barrel recoils with initial velocity v0 ,
piston moves and oil is forced through
orifices in piston, causing piston and
barrel to decelerate at rate proportional to

a kv

itsvelocity.
Determine v (t), x (t), and v (x).
SOLUTION:
Integrate a = dv/dt = -kv to find v(t).

dv
a
kv
dt

v t

t
dv
v k dt
v
0
0

ln

vt
kt
v0

vt v0 e kt
Prof. Imam Morgan
Head of MCTR Depart.

(22)

 Integrate v (t) = [dx/dt ] to find x (t):

vt
x t

dx
v0 e kt
dt
t

dx v0 e

kt

xt v0 e kt
k
0

dt

v
xt 0 1 e kt
k

Integrate a = v [dv/dx ]= - kv to find v (x).

dv
a v kv
dx

dv k dx

v0

dv k dx

v v0 kx

v v0 kx
Prof. Imam Morgan
Head of MCTR Depart.

(23)

Or, one can use an alternative solution:

with

v0
xt
1 e kt
k

and

vt v0 e kt or e kt

then

xt

v0 vt
1

k
v0

vt
v0

v v0 kx

Note: Uniformly accelerated Rectilinear

Motion

v vo at
v 2 vo2 2ax

a = const.

t=0
vo

t
v

1 2
x vot at
2
Prof. Imam Morgan
Head of MCTR Depart.

(24)

Motion of Several Particles

(dependant motions)

Position of a particle may depend on position of one or more other

particles.
For example, position of block B depends on position of block A and
vice versa. Since rope is of constant length, it follows that sum of lengths
of segments must be constant.

The motion relation between the two blocks is given by:

xA + 2 xB = constant
(one degree of freedom)
Prof. Imam Morgan
Head of MCTR Depart.

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Positions of three blocks are dependent.

2 x A 2 xB xC constant

(two degrees of freedom)

For linearly related positions, similar relations hold

between velocities and accelerations.
dx
dx A
dx
2 B C 0 or 2v A 2v B vC 0
dt
dt
dt
dv
dv
dv
2 A 2 B C 0 or 2a A 2a B aC 0
dt
dt
dt
2

Prof. Imam Morgan

Head of MCTR Depart.

(26)

Example (3)
Pulley D is attached to a collar which is pulled
down at 3 in./s. At t = 0, collar A starts
moving down from K with constant
acceleration and zero initial velocity.
Knowing that velocity of collar A is 12 in./s as
it passes L, determine the change in elevation,
velocity, and acceleration of block B when
block A is at L.
SOLUTION:
Define origin at upper horizontal surface with
positive displacement downward.
Collar A has uniformly accelerated rectilinear
motion. Solve for acceleration and time t to
xA
reach L.
2
vvA2A2 vvAA 002 22aaAA xxAA xxAA 00
22
12
12 00 22aaAA88

Prof. Imam Morgan

Head of MCTR Depart.

aaAA 99 in
in // ss22

Collar A

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v A v A 0 a At
12 9 t

t 1.333 s

Note: xA= 8 in

Pulley D has uniform rectilinear motion. Calculate

change of position at time t.
x D x D 0 v D t

x D x D 0 Dx D 31.333 4 in.

Pulley D

Block B motion is dependent on motions of collar A

and pulley D. Write motion relationship and solve
for change of block B position at time t.
Total length of cable remains constant,
x A 2 x D x B x A 0 2 x D 0 x B 0

x A x A 0 2xD xD 0 xB xB 0 0
or :
Dx A 2Dx D Dx B 0

8 24 DxB 0
Dx B 16
Prof. Imam Morgan
Head of MCTR Depart.

in.

Dx B 16 in.
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 Differentiate motion relation twice to develop

equations for velocity and acceleration of block B.
x A 2 x D x B constant
v A 2v D v B 0

12 23 v B 0
v B 18 in / s
18 in / s
a A 2a D a B 0

9 a B 0

a B 9 in / s 2
9 in / s 2

Prof. Imam Morgan

Head of MCTR Depart.

(29)

Graphical Solution of Rectilinear Motion

Direct Differentiation

a = a (t)
Given

v = v (t)

Slope

Self Study and the

student is required to
solve Problem ( 10) in
Tutorial (1)
[see example (4)] slides
35 and 36.

x = x (t)

Start

Given the x-t curve, the v-t curve

is equal to the x-t curve slope.
Prof. Imam Morgan
Head of MCTR Depart.

Given the v-t curve, the a-t curve is

equal to the v-t curve slope.
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Direct Integration

Given

a = a (t)
v = v (t)

Area

x = x (t)

Given the a-t curve, the change in velocity between t1 and t2 is

equal to the area under the a-t curve between t1 and t2.
Given the v-t curve, the change in position between t1 and t2 is
equal to the area under the v-t curve between t1 and t2.
Prof. Imam Morgan
Head of MCTR Depart.

(31)

a = a ( t)
v = v ( t)
x = x ( t)

Prof. Imam Morgan

Head of MCTR Depart.

Slope
Given

Area

(32)

Alternative Graphical Solutions

Moment-area method to determine particle position at
time t directly from the a-t curve:
x1 x0 area under v t curve
v1

v0t1 t1 t dv
v0

using dv = a dt ,
v1

x1 x0 v0t1 t1 t a dt
v0
v1

t1 t a dt first moment of area under a-t curve

v0

with respect to t = t1 line.

x1 x0 v0t1 area under a-t curve t1 t

t abscissa of centroid C
Prof. Imam Morgan
Head of MCTR Depart.

(33)

 Method to determine particle acceleration

from v-x curve:
dv
dx
AB tan
BC subnormal to v-x curve

av

Prof. Imam Morgan

Head of MCTR Depart.

(34)

Example (4)
A subway car travels from station A to
station B. The cars velocity varies with
time according to the shown pattern.
a- Draw a sketch for the acceleration
variation with time (a-t).
b- Sketch x-t diagram.
c- Determine the distance d between the
two stations

Given:

Prof. Imam Morgan

Head of MCTR Depart.

(35)

(a-t) diagram
In each interval, the acceleration is the
slope of v-t diagram in this interval
0t 6

6 t 10
10 t 34

34 t 40

24
4 ft / s 2
6
48 24
a
6 ft / s 2
4
a 0 ft / s 2
48
a 8 ft / s 2
6

(x-t) diagram

10

A2

A3
A4

A1

In each interval, the difference in position

is the area of v - t diagram in this interval
1
624 72 ft
2
1
x10 x6 A2 72 24 484 216 ft
2
x34 x10 A3 216 48 24 1368 ft
1
x40 x34 A4 1368 648 1512 ft
2
x6 x0 A1 0

Prof. Imam Morgan

Head of MCTR Depart.

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