EME1076 Applied Dynamics

Topic 1 (Chapter 12):

Kinematics of a particle
Part 2

This lecture note is taken and modified from Engineering Mechanics-Dynamics, R.C.Hibbeler, Prentice Hall which
copyright belongs to Pearson Education South Asia Pte Ltd.

Trimester2, 2016/17 1
1.8 Curvilinear Motion :
Cylindrical Components
If motion is restricted to the plane, polar
coordinates r and are used

Polar Coordinates
Specify the location of P using both the radial
coordinate r, which extends outward from the
fixed origin O to the particle and a traverse
coordinate , which is the counterclockwise
angle between a fixed reference line and the r
axis

2
1.8 Curvilinear Motion :
Cylindrical Components

Angle usually measured in

degrees or radians, where
1 rad = 180
Positive directions of the r and
coordinates are defined by
the unit vectors ur and u
ur extends from P along
increasing r, when is held
fixed

3
1.8 Curvilinear Motion :
Cylindrical Components
u extends from P in the direction that occurs
when r is held fixed and is increased
Note these directions are perpendicular to
each other
Position
At any instant, position of the particle defined
by the position vector

r ru r

4
1.8 Curvilinear Motion :
Cylindrical Components
Velocity
Instantaneous velocity v is obtained by the
time derivative of r

v r rur rur

To evaluate ur , note that ur changes only its
direction with respect to time since magnitude
of this vector = 1
During time t, a change r will not cause a
change in the direction of ur

5
1.8 Curvilinear Motion :
Cylindrical Components
However, a change will cause ur to become
ur where
ur = ur + ur
Time change is ur
For small angles , vector has a magnitude of
1 and acts in the u direction

ur
ur lim lim u
t 0 t t 0 t

ur u

6
1.8 Curvilinear Motion :
Cylindrical Components

v vr ur v u
where vr r
v r
Radical component vr is a measure of the rate
of increase or decrease in the length of the
radial coordinate
Transverse component v is the rate of
motion along the circumference of a circle
having a radius r
7
1.8 Curvilinear Motion :
Cylindrical Components
Angular velocity d / dt indicates the rate
of change of the angle
Since vr and v are mutually perpendicular,
the magnitude of the velocity or speed is
simply the positive value of
v r 2 r 2
Direction of v is tangent
to the path at P

8
1.8 Curvilinear Motion :
Cylindrical Components
Acceleration
Taking the time derivatives, for the instant
acceleration,
a v rur rur ru ru ru
During the time t, a change r will not
change the direction u although a change in
will cause u to become u
For small angles, this vector has a magnitude
= 1 and acts in the ur direction
u= - ur
9
1.8 Curvilinear Motion :
Cylindrical Components
a ar ur a u
where ar r r 2
a r 2r

The term d 2 / dt 2 is called the angular

acceleration since it measures the change
made in the angular velocity during an
instant of time
Use unit rad/s2

10
1.8 Curvilinear Motion :
Cylindrical Components
Since ar and a are always perpendicular,
the magnitude of the acceleration is simply
the positive value of

a r r
2 2
r 2r
2

Direction is determined from the

vector addition of its components
Acceleration is not tangent to the
path

11
1.8 Curvilinear Motion :
Cylindrical Components

Cylindrical Coordinates
If the particle P moves along
a space, then its location may
be specified by the three
cylindrical coordinates r, , z
z coordinate is similar to that
used for rectangular
coordinates

12
1.8 Curvilinear Motion :
Cylindrical Components

Since the unit vector defining its direction, uz,

is constant, the time derivatives of this
vector are zero
Position, velocity, acceleration of the particle
can be written in cylindrical coordinates as
shown rp rur zuz

v rur ru zu z

2
a (r r )ur (r 2r )u zu z

13
1.8 Curvilinear Motion :
Cylindrical Components
Time Derivatives
Two types of problems usually occur :
1) If the coordinates are specified as time
parametric equations, r = r(t) and = (t),
then the time derivative can be formed
directly.
2) If the time parametric equations are not given,
it is necessary to specify the path r = f() and
find the relationship between the time
derivatives using the chain rule of calculus.

14
EXAMPLE 12.17
The amusement park consists of a chair that is
rotating in a horizontal circular path of radius r
such that the arm OB has an angular velocity
and angular acceleration. Determine the radial
and transverse components of velocity and
acceleration of the passenger.

15
 EXAMPLE 12.17

Coordinate System. Since the angular motion of

the arm is reported, polar coordinates are chosen
for the solution. is not related to r, since radius is
constant for all .

Velocity and Acceleration. Since r is constant,

rr r 0 r 0

16
EXAMPLE 12.17

vr r 0
v r
ar r r 2 r 2
a r 2r r

This special case of circular motion

happen to be collinear with r and axes

17
EXAMPLE 12.18

The rob OA is rotating in the horizontal plane

such that = (t3) rad. At the same time, the collar
B is sliding outwards along OA so that r =
(100t2)mm. If in both cases, t is in seconds,
determine the velocity and acceleration of the
collar when t = 1s.

18
EXAMPLE 12.18

Coordinate System. Since time-parametric

equations of the particle is given, it is not
necessary to relate r to .

Velocity and Acceleration.

r 100t 2
t 1s 100 mm t 3
t 1 s
1rad 5.73

r 200t t 1 s
200 mm / s 3t 2 t 1 s
2rad / s
r 200 t 1 s
200 mm / s 2 6t t 1 s
6 rad / s 2

19
EXAMPLE 12.18

v rur ru


{200ur 300u }mm / s

The magnitude of v is

v 2002 3002 361mm / s

1 300
tan 56.3
200

57.3 114

20
EXAMPLE 12.18
2
a (r r )ur (r 2r )u


{700ur 1800u }mm / s 2

The magnitude of a is

a 7002 18002 1930mm / s 2

1 1800
tan 68.7
700
(180 ) 57.3 169

21
EXAMPLE 12.19
The searchlight casts a spot of light along the
face of a wall that is located 100m from the
searchlight. Determine the magnitudes of the
velocity and acceleration at which the spot
appears to travel across the wall at the instant
= 45. The searchlight is rotating at a
constant rate of 4 rad/s

22
 EXAMPLE 12.19 100 m
r

Coordinate System. Polar coordinates will be used

since the angular rate of the searchlight is given. To
find the time derivatives, it is necessary to relate r
to .
r = 100/cos = 100sec

Velocity and Acceleration.

r 100(sec tan )
r 100 sec tan 100 sec 100(sec tan )
2 2 3 2

23
 EXAMPLE 12.19

Since = 4 rad/s = constant, = 0, when = 45,

r 141.4
r 565.7
r 6788.2

v rur ru


{565.7ur 565.7u }m / s
v 800m / s

24
EXAMPLE 12.19

2
a (r r )ur (r 2r )u


{4525.5ur 4525.5u }mm / s 2
a 6400mm / s 2

25
EXAMPLE 12.20

Due to the rotation of the

forked rod, ball A travels
across the slotted path, a
portion of which is in the shape
of a cardioids, r = 0.15(1 cos
)m where is in radians. If
the balls velocity is v = 1.2m/s
and its acceleration is 9m/s2 at
instant = 180, determine the
angular velocity and angular
acceleration of the fork.
26
EXAMPLE 12.20

Coordinate System. For this unusual path, use

polar coordinates.

Velocity and Acceleration.

r 0.15(1 cos )
r 0.15(sin )
r 0.15(cos )() 0.15(sin )
Evaluating these results at = 180
r 0.3m r 0 r 0.152
27
EXAMPLE 12.20

Since v = 1.2 m/s

v r r
2 2

4rad / s

a (r r ) (r 2r )
2 2 2

18rad / s 2

28
 1.9 Absolute Dependent Motion Analysis
of Two Particles
Motion of one particle will depend on
the corresponding motion of another
particle
Dependency occur when particles
are interconnected by the
inextensible cords which are
wrapped around pulleys
For example, the movement of block
A downward along the inclined
plane will cause a corresponding
movement of block B up the other
incline 29
 1.9 Absolute Dependent Motion Analysis
of Two Particles
Specify the locations of the blocks using position
coordinate sA and sB
Note each of the coordinate axes is (1) referenced
from a fixed point (O) or fixed datum line, (2)
measured along each inclined plane in the
direction of motion of block A and block B and (3)
has a positive sense from C to A and D to B
If total cord length is lT, the position coordinate
are elated by the equation
s A lCD sB lT

30
 1.9 Absolute Dependent Motion Analysis
of Two Particles
Here lCD is the length passing over arc CD
Taking time derivative of this expression, realizing
that lCD and lT remain constant, while sA and sB
measure the lengths of the changing segments of
the cord
ds A dsB
0 or vB v A
dt dt
The negative sign indicates that when block A has
a velocity downward in the direction of position sA,
it causes a corresponding upward velocity of
block B; B moving in the negative sB direction
31
 1.9 Absolute Dependent Motion Analysis
of Two Particles
Time differentiation of the velocities yields the
relation between accelerations
aB = - aA

For example involving

dependent motion of two blocks
Position of block A is specified
by sA, and the position of the
end of the cord which block B is
suspended is defined by sB

32
1.9 Absolute Dependent Motion Analysis
of Two Particles
Chose coordinate axes which are (1) referenced
from fixed points and datums, (2) measured in
the direction of motion of each block, (3) positive
to the right (sA) and positive downward (sB)
During the motion, the red colored segments of
the cord remain constant
If l represents the total length of the cord minus
these segments, then the position coordinates
can be related by
2sB h s A l
33
 1.9 Absolute Dependent Motion Analysis
of Two Particles
Since l and h are constant during the motion, the
two time derivatives yields
2vB v A 2a B a A

When B moves downward

(+sB), A moves to left (-sA) with
two times the motion
This example can also be
worked by defining the position
of block B from the center of
the bottom pulley (a fixed point)
34
 1.9 Absolute Dependent Motion Analysis
of Two Particles

2(h sB ) h s A l
Time differentiation yields
2vB v A 2aB a A

35
EXAMPLE 12.21
Determine the speed of block A if block B has
an upward speed of 2 m/s.

36
EXAMPLE 12.21
Position Coordinate System.
There is one cord in this system having
segments which are changing length. Position
coordinates sA and sB will be used since each is
measured from a fixed point (C or D) and
extends along each blocks path of motion. In
particular, sB is directed to point E since motion
of B and E is the same. The red colored
segments of the cords remain at a constant
length and do not have to be considered as the
block move.

37
EXAMPLE 12.21
The remaining length of the cord, l, is also
considered and is related to the changing
position coordinates sA and sB by the equation
s A 3sB l

Time Derivative. Taking the time derivative yields

v A 3vB 0

so that when vB = -2m/s (upward)

vA = 6m/s

38
EXAMPLE 12.22
Determine the speed of block A if block B has
an upward speed of 2m/s.

39
EXAMPLE 12.22
Position Coordinate Equation.
Positions of A and B are defined using
coordinates sA and sB.
Since the system has two cords which change
length, it is necessary to use a third coordinate
sC in order to relate sA to sB. Length of the cords
can be expressed in terms of sA and sC, and the
length of the other cord can be expressed in
terms of sB and sC. The red colored segments
are not considered in this analysis.

40
EXAMPLE 12.22

For the remaining cord length,

s A 2sC l1 sB ( sB sC ) l2

Eliminating sC yields,
s A 4 sB 2l2 l1

Time Derivative. The time derivative gives

v A 4v B 0
so that vB = -2m/s (upward)
v A 8m / s 8m / s
41
EXAMPLE 12.23
Determine the speed with which block B
rises if the end of the cord at A is pulled
down with a speed of 2m/s.

42
EXAMPLE 12.23
Position-Coordinate Equation.
The position of A is defined by sA, and the
position of block B is specified by sB since point E
on the pulley will have the same motion as the
block. Both coordinates are measured from a
horizontal datum passing through the fixed pin at
pulley D. Since the system consists of two cords,
the coordinates sA and sB cannot be related
directly. By establishing a third position
coordinate, sC, and the length of the other cord in
terms of sA, sB and sC.

43
 EXAMPLE 12.23
Excluding the red colored
segments of the cords, the
remaining constant cord
lengths l1 and l2 (along the
hook and link dimensions) can
be expressed as
sC sB l1
s A sC sB sC sB l2

Eliminating sC yields
sC 4sB l2 2l1

44
EXAMPLE 12.23
Time Derivative.
The time derivative give
v A 4v B 0
when vA = 2m/s (downward)
vB 0.5m / s 0.5m / s

45
EXAMPLE 12.24
A man at A s hoisting a
safe S by walking to the
right with a constant
velocity vA = 0.5m/s.
Determine the velocity
and acceleration of the
safe when it reaches the
elevation at E. The rope is
30m long and passes
over a small pulley at D.

46
EXAMPLE 12.24
Position Coordinate System.
Rope segment DA changes both direction and
magnitude. However, the ends of the rope,
which define the position of S and A, are
specified by means of the x and y coordinates
measured from a fixed point and directed along
the paths of motion of the ends of the rope. The
x and y coordinates may be related since the
rope has a fixed length l = 30m, which at all
times is equal to the length of the segment DA
plus CD.

47
EXAMPLE 12.24

Using Pythagorean Theorem,

I DA 152 x 2 ICD 15 y

l lDA lCD
30 152 x 2 15 y
y 225 x 2 15 (1)

48
EXAMPLE 12.24
Time Derivative.
Taking time derivative, using the chain rule
where, vS = dy/dt and vA = dx/dt

dy 1 2x dx
vS
dt 2 225 x 2 dt
x
vA
225 x 2 (2)

At y = 10 m, x = 20 m, vA = 0.5 m/s,
vS = 400mm/s
49
EXAMPLE 12.24
The acceleration is determined by taking the
time derivative of eqn (2),

d2y x(dx / dt ) 1 dx
aS 2 xv
2 3/ 2 A vA
2 dt
dt ( 225 x ) 225 x
1 dv A 225v 2A
x
225 x 2 dt
225 x
2 3/ 2

At x = 20 m, with vA = 0.5 m/s,

aS 3.6mm / s 2
50
1.10 Relative Motion Analysis of Two Particles
Using Translating Axes
There are many cases where the path of the
motion for a particle is complicated, so that it may
be feasible to analyze the motions in parts by
using two or more frames of reference
For example, motion of an particle located at the
tip of an airplane propeller while the plane is in
flight, is more easily described if one observes
first the motion of the airplane from a fixed
reference and then superimposes (vectorially) the
circular motion of the particle measured from a
reference attached to the airplane
51
1.10 Relative Motion Analysis of Two Particles
Using Translating Axes
Position.
Consider particle A and B,
which moves along the
arbitrary paths aa and bb,
respectively
The absolute position of
each particle rA and rB, is
measured from the
common origin O of the
fixed x, y, z reference
frame
52
1.10 Relative Motion Analysis of Two Particles
Using Translating Axes
Origin of the second frame of reference x, y
and z is attached to and moves with particle A
Axes of this frame only permitted to translate
relative to fixed frame
Relative position of B with respect to A is
designated by a relative-position vector rB/A
Using vector addition

rB rA rB / A

53
 1.10 Relative Motion Analysis of Two Particles
Using Translating Axes
Velocity.
By time derivatives,

vB v A vB / A

Here Bv dr B / dt and v A dr A / dt refer to
absolute velocities, since they are observed
from the fixed frame

Relative velocity vB / A drB / A / dt is observed
from the translating frame

54
1.10 Relative Motion Analysis of Two Particles
Using Translating Axes
Since the x, y and z axes translate,
the components of rB/A will not
change direction and therefore time
derivative o this vector components
will only have to account for the
change in the vector magnitude
Velocity of B is equal to the velocity
of A plus (vectorially) the relative
velocity of B relative to A as
measured by the translating observer
fixed in the x, y and z reference
55
1.10 Relative Motion Analysis of Two Particles
Using Translating Axes
Acceleration.
The time derivative yields a similar relationship
between the absolute and relative
accelerations of the particles A and B

aB a A aB / A
Here aB/A is the acceleration of B as seen by the
observer located at A and translating with the x,
y and z reference frame

56
EXAMPLE 12.25
A train, traveling at a constant speed of
90km/h, crosses over a road. If automobile A
is traveling at 67.5km/h along the road,
determine the magnitude and direction of
relative velocity of the train with respect to the
automobile.

57
EXAMPLE 12.25

Vector Analysis. The relative velocity is

measured from the translating x, y axes
attached to the automobile. Since vT and vA
are known in both magnitude and direction,
the unknowns become the x and y
components of vT/A. Using the x, y axes and a
Cartesian vector analysis,

vT v A vT / A
~ ~ ~
90 i (67.5 cos 45 i 67.5 sin 45 j ) vT / A
~ ~
v
T/A {42.3i 47.7 j )km / h

58
EXAMPLE 12.25

The magnitude of vT/A is

vT / A (42.3 47.7 ) 63.8km / h

2 2 2

The direction of vT/A defined from the x axis is

vT / A y 47.7
tan
vT / A x 42.3
48.40

59
EXAMPLE 12.26
Plane A is flying along a straight-line path,
while plane B is flying along a circular path
having a radius of curvature of B = 400 km.
Determine the velocity and acceleration of B
as measured by the pilot of A.

60
EXAMPLE 12.26
Velocity. The x, y axes are located at an arbitrary
fixed point. Since the motion relative to plane A is
to be determined, the translating frame of
reference x. y is attached to it. Applying the
relative-velocity equation in scalar form since the
velocity vectors of both plane are parallel at the
instant shown,
( ) v B v A v B / A
600 700 vB / A
vB / A 100km / h 100km / h

61
 EXAMPLE 12.26
Acceleration. Plane B has both tangential and
normal components of acceleration, since it is
flying along a curved path. Magnitude of normal
acceleration,
vB2
aB n 900km / h 2

Applying the relative-acceleration equation,

aB a A aB / A
~ ~ ~
900 i 100 j 50 j a B/ A
aB / A 900~
i 150 ~j km / h 2
62
EXAMPLE 12.26
From the figure shown, the magnitude and
direction of aB / A

1 150
aB / A 912km / h 2
tan 9.46
900

63
 EXAMPLE 12.27

At the instant, car A and B

are traveling with the speed
of 18 m/s and 12 m/s
respectively. Also at this
instant, A has a decrease in
speed of 2 m/s2, and B has
an increase in speed of 3
m/s2. Determine the velocity
and acceleration of B with
respect to A.

64
EXAMPLE 12.27
Velocity. The fixed x, y axes are established
at a point on the ground and the translating
x, y axes are attached to car A. Using
Cartesian vector analysis,
vB v A vB / A
~ ~ ~

12 j 18 cos 60 i 18 sin 60 j vB / A
vB/ A 9 i 3.588 j m / s
~ ~

Thus,
vB / A 9 3.588 9.69m / s
2 2

65
EXAMPLE 12.27

Its direction is
vB / A y 3.588
tan
vB / A x 9
21.7

Acceleration. The magnitude of the normal

component is
vB2
aB n 1.440m / s 2

66
EXAMPLE 12.27
Applying the equation for relative
acceleration yields
aB a A aB / A
~ ~ ~ ~

1.440 i 3 j 2 cos 60 i 2 sin 60 j aB / A
aB/ A 2.440~ i 4.732 ~j m / s 2

Magnitude and direction is

aB / A 5.32m / s 2
62.7

67
Chapter Review
Rectilinear Kinematics. Rectilinear kinematics
refers to motion along a straight line. A position
coordinate s specifies the location of the particle
on the line and the displacement s is the
change in this position.
The average velocity is a vector quantity,
defined as the displacement divided by the time
interval.
r
vavg
t

68
Chapter Review
This is the different than the average speed,
which is a scalar and is the total distance
traveled divided by the time of travel.

vsp avg
sT
t
The time, position, instantaneous velocity and
instantaneous acceleration are related by the
differential equations
v ds / dt a dv / dt a ds v dv

69
Chapter Review
If the acceleration is known to be constant,
then the integration of these equations
yields
v v0 act
1 2
s s0 v0t act
2
v 2 v02 2ac s s0

70
Chapter Review
Graphical Solutions. If the motion is erratic, then
it can be described by a graph. If one of these
graphs is given, then the others can be established
using the differential relations, v = ds/dt, a = dv/dt,
or a ds = v dv.
Curvilinear Motion, x, y, z. For this case, motion
along the path is resolved into rectilinear motion
along the x, y, z axes. The equation of the path is
used to relate the motion along each axis.

71
Chapter Review
Projectile Motion. Free flight motion of a
projectile follows a parabolic path. It has a
constant velocity in the horizontal direction
and constant acceleration of g = 9.81 m/s2 in
the vertical direction. Any two of the three
equations for constant acceleration apply in
the vertical direction, and in the horizontal
direction only

x x0 (v0 ) x t

72
Chapter Review
Curvilinear Motion n, t. If normal and tangential
axes are used for the analysis, then v is always in
the positive t direction. The acceleration has two
components. The tangential components, at,
accounts for the change in the magnitude of the
velocity; a slowing down is in the negative t
direction, and a speeding up is in the positive t
direction. The normal component, an accounts for
the change in the direction of velocity. The
component is always in the positive n direction.

73
Chapter Review
Curvilinear Motion r, , z. If the path of motion
is expressed in polar coordinates, then the
velocity and acceleration components can be
written as v r
r a
r r r 2

v r a r 2r
To apply these equations, it is necessary to
determine r , r, r,, at the instant considered.
If the path r = f() is given, then the chain rule of
calculus must be used to obtain the time
derivatives.

74
Chapter Review
Once the data is substituted into
the equations, then the
algebraic sign of the results will
indicate the direction of
components of v or a along
each axis.
Absolute Dependent Motion of
Two Particles. The dependent
motion of blocks that are
suspended from pulleys and
cables can be related by the
geometry of the system.
75
Chapter Review
This is done by first establishing position
coordinates, measured from a fixed origin
to each block so that they are directed
along the line of motion of the blocks.
Using geometry and/or trigonometry, the
coordinates are then related to the cable
length in order to formulate a position
coordinate equation. The first time
derivative of this equation gives a
relationship between the velocities of the
blocks, and a second time derivative gives
the relationship between their
accelerations.
76
Chapter Review
Relative Motion Analysis Using Translating
Axes. If two particles A and B undergo
independent motions, then these motions can
be related to their relative motion. Using a
translating set axes attached to one of the
particles (A), the velocity and acceleration
equations become

vB v A vB / A
aB a A aB / A

77
Chapter Review
For planar motion, each of these equations
produces two scalar equations, one in the x,
and the other in the y direction. For solution,
the vectors can be expressed in Cartesian
form or the x and y scalar components can be
written directly.

78