Chinese University of Hong Kong

[Review]

An Overview of Mechanics
Mechanics: the study of how bodies react
to forces acting on them

Statics: the study of

bodies in equilibrium

Dynamics:
1). Kinematics -- concerned with
the geometric aspects of motion
2). Kinetics -- concerned with the
forces causing the motion

Fig.3-1Department of Mechanical and Automation Engineering

Chinese University of Hong Kong

Chapter 12. Kinematics of a Particle

Objectives:
9 To introduce the concepts of position, displacement, velocity, and
acceleration.
9 To study particle motion along a straight line and represent this motion
graphically.
9 To investigate particle motion along a curved path using different
coordinate systems.
9 To present an analysis of dependent motion of two particles.
9 To examine the principles of relative motion of two particles using
translating axes.

Department of Mechanical and Automation Engineering

Chinese University of Hong Kong

12-1. Introduction
Application:

The motion of large objects, such as rockets,

airplanes, or cars, can often be analyzed as if
they were particles.
Problem: If we measure the altitude of this
rocket as a function of time, how
can we determine its velocity and
acceleration?

Fig.12-1
Department of Mechanical and Automation Engineering

Chinese University of Hong Kong

12-2. Rectilinear Kinematics: Continuous Motion

Motion along a straight path.
Fig.12-2

Kinematics specifying at any instant, the particles position, velocity,

and acceleration

9 Position:

Fig.12-3(a)

Note: - Magnitude of s = Distance from O to P

- The sense (arrowhead dir of r) is defined
by algebraic sign on s
=> +ve = right of origin, -ve = left of origin

1) Single coordinate axis, s

2) Origin, O
3) Position vector r specific location of particle P at any instant
4) Algebraic scalar s in meters (m) or feet (ft)
Department of Mechanical and Automation Engineering

Chinese University of Hong Kong

9 Displacement: change in its position.

If particle moves from P to P
=>

r = r r

s = s s

Vector form

Scalar form

s is +ve if particles position is right

of its initial position; while is -ve if

particles position is left of its initial
position.
Fig.12-3(b)

Difference between displacement and distance:

Displacement: a vector quantity.

The total distance traveled by the particle, sT, is a positive scalar that
represents the total length of the path over which the particle travels.
Department of Mechanical and Automation Engineering

Chinese University of Hong Kong

9 Velocity: a measure of the rate of change in the position of a particle.

It is a vector quantity (it has both magnitude and direction). The
magnitude of the velocity is called speed, with units of m/s or ft/s

r
vavg =
t

Average velocity,

Instantaneous velocity is defined as

v = lim (r / t )
t 0

Representing
+

dr
v =
dt

Fig.12-3(c)

as an algebraic scalar,

ds
v=
dt

(12-1)

Velocity is +ve = particle moving to the right; and ve = particle moving

to the left.
Department of Mechanical and Automation Engineering

Chinese University of Hong Kong

Average speed is defined as total distance traveled by a particle, sT ,

divided by the elapsed time t .

(v )

sp avg

sT
=
t

For example, the particle travels along the path of length sT in time t

=> (vsp ) = sT
avg
vavg

t
s
=
t

Average speed

Average velocity

Fig.12-3(d)

Department of Mechanical and Automation Engineering

Chinese University of Hong Kong

9Acceleration: the rate of change in the velocity of a particle. It is a

vector quantity. Typical units are m/s2 or ft/s2.
If the velocity of particle is known at points P and P during time interval
t, the average acceleration is

a avg

v
=
t

where v represents difference in the

velocity during the time interval t, i.e.,

v = v' v
The instantaneous acceleration is the time
derivative of velocity.
Vector form: a = dv/dt
(12-2)
Scalar form: a = dv/dt = d2s/dt2
Fig.12-3
Acceleration canDepartment
be positive
(speed increasing)
or negative
(speed decreasing).
of Mechanical
and Automation
Engineering

Chinese University of Hong Kong

Velocity as a Function of Time

Integrate ac = dv/dt, assuming that initially v = v0 when t = 0.
v

v = v0 + act

dv = a dt
c

v0

(12-3)

Constant Acceleration

Position as a Function of Time

Integrate v = ds/dt = v0 + act, assuming that initially s = s0 when t = 0

ds = (v + a t) dt
s

s0

1 2
s = s0 + v0t + act
2

(12-4)

Constant Acceleration

Velocity as a Function of Position

Integrate v dv = ac ds, assuming that initially v = v0 at s = s0
v

vdv= a ds
v0

s0

v = v + 2ac (s s0 )
2

2
0

(12-5)

Constant Acceleration

Department of Mechanical and Automation Engineering

Chinese University of Hong Kong

Procedure for Analysis

1). Coordinate System
9 Establish a position coordinate s along the path and specify its fixed
origin and positive direction.
9 The particles position, velocity, and acceleration, can be represented as
s, v and a respectively and their sense is then determined from their
algebraic signs.
9 The positive sense for each scalar can be indicated by an arrow shown
alongside each kinematics equation as it is applied

Department of Mechanical and Automation Engineering

10

Chinese University of Hong Kong

2) Kinematic Equation
9 If a relationship is known between any two of the four variables a, v, s
and t, then a third variable can be obtained by using one of the three the
kinematic equations (Eqs.(12.3~5))
9 When integration is performed, it is important that position and velocity
be known at a given instant in order to evaluate either the constant of
integration (if an indefinite integral is used), or the limits of integration
(if a definite integral is used)
9 Remember that the three kinematics equations (12.3-5) can only be
applied to situation where the acceleration of the particle is constant.

Department of Mechanical and Automation Engineering

11

Chinese University of Hong Kong

Example 1 The car moves in a straight line such that for a short time its
velocity is defined by v=(0.9t2+0.6t) m/s where t is in sec.
Determine it position and acceleration when t=3s. When t=0,
s = 0.
Solution:

Coordinate System:

Fig.12-4

The position coordinate extends from the fixed origin O to the car,
positive to the right.
Position:
Since v = f(t), the cars position can be determined from v=ds/dt,
since this equation relates v, s and t. Noting that s = 0 when t = 0,
we have
+

ds
v=
= 0.9t 2 + 0.6t
dt

Department of Mechanical and Automation Engineering

12

Chinese University of Hong Kong

ds = 0.9t 2 + 0.6t dt
0

s = 0.3t + 0.3t
0

t
0

s = 0.3t 3 + 0.3t 2
When t = 3s, s = 10.8m
Acceleration:
Knowing v=f(t), the acceleration is determined from a = dv/dt, since this
equation relates a, v and t.

dv d
= 0.9t 2 + 0.6t
dt dt
=1.8t + 0.6

a=

When t = 3s, a = 6 m/s2

()

Department of Mechanical and Automation Engineering

13

Chinese University of Hong Kong

Example 2 A particle moves along a horizontal path with a velocity of

v=(3t26t)m/s. If it is initially located at the origin O, determine
the distance traveled in 3.5s and the particles average velocity
and speed during the time interval.
Solution:

Coordinate System.

Assuming positive motion to the right,

measured from the origin, O

Fig.12-5(a)

Distance traveled.

Since v = f(t), the position as a function of time may be found integrating

v=ds/dt with t = 0, s = 0.
+

ds = vdt = 3t 2 6t dt

ds = 3 t dt 6 tdt s = t 3 3t 2 m
0

Department of Mechanical and Automation Engineering

14

Chinese University of Hong Kong

0 t < 2 s -ve velocity the particle

is moving to the left;
t > 2a +ve velocity the particle is
moving to the right

t =0

=0

t =2 s

= 4.0m

t =3.5 s

= 6.125m

Fig.12-5(b)

The distance traveled in 3.5s is sT = 4.0 + 4.0 + 6.125 14.1m

Velocity.

The displacement from t = 0 to t=3.5s is s=6.125 0=6.125m, and so

the average velocity is
s 6.125
vavg =
=
= 1.75m / s
t 3.5 0
sT 14.125
Average speed,
vsp avg =
=
= 4.04m / s
t 3.5 0

( )

Department of Mechanical and Automation Engineering

15