Kinematics of Particle

Chapter 1 : Introduction to Dynamics
Mechanics
Particle/Rigid-body Deformable-body Fluid
Static Dynamics
Equilibrium body Accelerated motion particle/body
Kinematics
(Geometric aspect of motion)
Kinetics
(Analysis of force causing the motion)
INTRODUCTION
• Mechanics – the state of rest of motion of
bodies subjected to the action of forces
• Static – equilibrium of a body that is either at
rest or moves with constant velocity
• Dynamics – deals with accelerated motion of
a body
1) Kinematics – treats with geometric aspects
of the motion
2) Kinetics – analysis of the forces causing
the motion
Chapter 2 :
Kinematics Of
Particle in Plane
Motion
Chapter Objectives
• To introduce the concepts of position, displacement,

velocity, and acceleration.
• To study particle motion along a straight line and
represent this motion graphically.
• To investigate particle motion along a curved path
using different coordinate systems.
• To present an analysis of dependent motion of two
particles.
• To examine the principles of relative motion of two
particles using translating axes.
Chapter Outline
• Introduction
• Rectilinear Kinematics: Continuous Motion
• Rectilinear Kinematics: Erratic Motion
• Curvilinear Motion: Rectangular Components
• Motion of a Projectile
• Curvilinear Motion: Normal and Tangential
Components
•Curvilinear Motion: Cylindrical Components
•Absolute Dependent Motion Analysis of Two Particles
•Relative Motion Analysis of Two Particles Using
Translating Axes
KINEMATICS OF PARTICLES
Kinematics of particles
Rectilinear
Rectilinear motion
motion Dependent
Dependent
motion
motion
Curvilinear
Curvilinear motion
motion Relative
Relative motion
motion
x-y
x-ycoord.
coord. n-t
n-tcoord.
coord. r-θ
r-θcoord.
coord.
Projectile
ProjectileMotion
Motion
Rectilinear Kinematics:
Continuous Motion
• Rectilinear Kinematics – specifying at any
instant, the particle’s position, velocity, and
acceleration
• Position
1) Single coordinate axis, s
2) Origin, O
3) Position vector r – specific location of
particle P at any instant
Continuous Motion
4) Algebraic Scalar s in metres
Note : - Magnitude of s = Dist 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
Continuous Motion
• Displacement – change in its position, vector
quantity
Continuous Motion
• If particle moves from P to P’
=> ∆ r = r ′ − r
∆s = s′ − s
∆s is +ve if particle’s position is right of its

initial position
∆s
is -ve if particle’s position is left of its initial
position
Continuous Motion
• Velocity
∆r
Average velocity, vavg = ∆t
Instantaneous velocity is defined as

vins = lim (∆r / ∆t )
∆t →0
dr
⇒ vins =
dt
Continuous Motion
Representing vins as an algebraic scalar,
ds ⎛ + ⎞
v= ⎜→⎟
⎝ ⎠
dt
Velocity is +ve = particle moving to the right

Velocity is –ve = Particle moving to the left
Magnitude of velocity is the speed (m/s)
Continuous Motion
Average speed is defined as total
distance traveled by a particle, sT, divided
by the elapsed
∆t time .
(v ) =
sT
∆t
sp avg
The particle travels along

the path of length sT in time
(vsp ) = sT ∆t
avg
∆t
=> ∆s
vavg =−
∆t
Continuous Motion
• Acceleration – velocity of particle is known at

points P and P’ during time interval ∆t,
average acceleration is a =
∆v
∆t
avg
∆v
aavg =
∆t
• ∆v represents difference in the velocity

during the time interval ∆t, ie
∆v = v'−v
Continuous Motion
Instantaneous acceleration at time t is found
by taking smaller and smaller values of ∆t and
corresponding smaller and smaller values of
∆v,
a = lim (∆v / ∆t )
∆t → 0
dv ⎛ ⎞
a = ⎜→⎟+
dt ⎝ ⎠
d 2s ⎛ ⎞+
a = 2 ⎜⎝ → ⎟⎠
dt
Continuous Motion
• Particle is slowing down, its speed is
decreasing => decelerating => ∆v = v '− v
will be negative.
• Consequently, a will also be negative,
therefore it will act to the left, in the opposite
sense to v
• If velocity is constant,
acceleration is zero
Continuous Motion
• Velocity as a Function of Time
Integrate ac = dv/dt, assuming that initially v
= v0 when t = 0.
v t
∫
v0
dv = ∫ ac dt
0
⎛ + ⎞
v = v0 + a c t ⎜ →⎟
⎝ ⎠
Constant Acceleration
Continuous Motion
• Position as a Function of Time
Integrate v = ds/dt = v0 + act, assuming that
initially s = s0 when t = 0
s t
∫s0ds = ∫0 (v0 + act ) dt
1 2 ⎛ + ⎞
s = s0 + v0t + act ⎜ →⎟
2 ⎝ ⎠
Continuous Motion
• Velocity as a Function of Position
Integrate v dv = ac ds, assuming that initially v =
v0 at s = s0 v s
∫ vdv = ∫
v0 s0
ac ds
v = v + 2 a c (s − s 0 )
⎛ + ⎞
2 2 ⎜ →⎟
0 ⎝ ⎠
Continuous Motion
PROCEDURE FOR ANALYSIS
1) Coordinate System
• Establish a position coordinate s along the
path and specify its fixed origin and positive
direction.
• The particle’s position, velocity, and
acceleration, can be represented as s, v and a
respectively and their sense is then
determined from their algebraic signs.
• The positive sense for each scalar can be
indicated by an arrow shown alongside each
kinematics eqn as it is applied
Continuous Motion
2) Kinematic Equation
• 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
• 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
• Remember that the three kinematics equations can
only be applied to situation where the acceleration of
the particle is constant.
Curvilinear motion
General Curvilinear Motion
Curvilinear motion occurs when the particle moves
along a curved path
Position. The position of the particle, measured
from a fixed point O, is designated by the position
vector r = r(t).
Displacement. Suppose during a small time

interval ∆t the particle moves a distance ∆s along
the curve to a new position P`, defined by r` = r +
∆r. The displacement ∆r represents the change in
the particle’s position.
Velocity. During the time ∆t, the average velocity

of the particle is defined as
∆r
vavg =
∆t
The instantaneous velocity is determined from
this equation by letting ∆t 0, and consequently
the direction of ∆r approaches the tangent to the
curve at point P. Hence,
dr
vins =
dt
• Direction of vins is tangent to the curve

• Magnitude of vins is the speed, which may be
obtained by noting the magnitude of the
displacement ∆r is the length of the straight line
segment from P to P`.
ds
v=
dt
Acceleration. If the particle has a velocity v at

time t and a velocity v` = v + ∆v at time t` = t + ∆t.
The average acceleration during the time interval
∆t is
∆v
aavg =
∆t
dv d 2 r
a= = 2
dt dt
a acts tangent to the hodograph, therefore it is not

tangent to the path
Curvilinear Motion: Rectangular
Components
Position. Position vector is defined by
r = xi + yj + zk
The magnitude of r is always positive and defined
as
r = x2 + y2 + z 2
The direction of r is specified

by the components of the
unit vector ur = r/r
Components
Velocity. dr r r r
v= = vx i + v y j + vz k
dt
where v x = x& v y = y& v z = z&
The velocity has a magnitude
defined as the positive value of
v = v x2 + v y2 + v z2
and a direction that is specified by the components

of the unit vector uv=v/v and is always tangent to
the path.
Components
Acceleration.
dv r r r
a= = axi + a y j + az k
dt
where a x = v&x = &x&
a y = v& y = &y&
a z = v&z = &z&
The acceleration has a magnitude defined as the

positive value of
a = a x2 + a y2 + a z2
Components
• The acceleration has a direction specified by the
components of the unit vector ua = a/a.
• Since a represents the time rate of change in
velocity, a will not be tangent to the path.
Components

Coordinate System
• A rectangular coordinate system can be used to
solve problems for which the motion can
conveniently be expressed in terms of its x, y and z
components.
Components
Kinematic Quantities
• Since the rectilinear motion occurs along each
coordinate axis, the motion of each component is
found using v = ds/dt and a = dv/dt, or a ds = v ds
• Once the x, y, z components of v and a have
been determined. The magnitudes of these vectors
are found from the Pythagorean theorem and their
directions from the components of their unit
vectors.
Motion of a Projectile
• Free-flight motion studied in terms of rectangular
components since projectile’s acceleration always
act vertically
• Consider projectile launched at (x0, y0)
• Path defined in the x-y plane
• Air resistance neglected
• Only force acting on the projectile is its weight,
resulting in constant downwards acceleration
• ac = g = 9.81 m/s2
Horizontal Motion Since ax = 0,

⎛ + ⎞
⎜ →⎟
⎝ ⎠
v = v0 + ac t ; v x = (v0 ) x
1 2
⎛ + ⎞
⎜ →⎟
⎝ ⎠ x = x0 + v0t + ac t ; x = x0 + (v0 ) x t
2
⎛ + ⎞
⎜ →⎟
⎝ ⎠ v 2 = v02 + 2ac ( s − s0 ); v x = (v0 ) x
Horizontal component of velocity remain constant

during the motion
Vertical. Positive y axis is directed upward, then

ay = - g
(+ ↑) v = v0 + ac t ; v y = (v0 ) y − gt
1 2 1 2
(+ ↑) y = y0 + v0t + ac t ; y = y0 + (v0 ) y t − gt
2 2
(+ ↑) v 2 = v02 + 2ac ( y − y0 ); v x = (v0 ) 2y − 2 g ( y − y0 )
• Problems involving the motion of a projectile have

at most three unknowns since only three
independent equations can be written:
- one in the horizontal direction
- two in the vertical direction
• Velocity in the horizontal and vertical direction are
used to obtain the resultant velocity
• Resultant velocity is always tangent to the path

Coordinate System
• Establish the fixed x, y, z axes and sketch the
trajectory of the particle
• Specify the three unknowns and data between
any two points on the path
• Acceleration of gravity always acts downwards
• Express the particle initial and final velocities in
the x, y components
• Positive and negative position, velocity and

acceleration components always act in accordance
with their associated coordinate directions
Kinematics Equations
• Decide on the equations to be applied between
the two points on the path for the most direct
solution
Horizontal Motion
• Velocity in the horizontal or x directions is
constant (vx) = (vo)x
x = xo + (vo)x t
Vertical Motion
• Only two of the following three equations should
be used
v y = (v0 ) y − gt
1 2
y = y0 + (v0 ) y t − gt
2
v x = (v0 ) 2y − 2 g ( y − y0 )
• Eg: if final velocity is not needed, first and third of

the equations would not be needed
Curvilinear Motion: Normal and
Tangential Components
• When the path of motion of a particle is known,

describe the path using n and t coordinates which
act normal and tangent to the path
• Consider origin located at the particle
Planar Motion
• Consider particle P which is moving in a plane
along a fixed curve, such that at a given instant it
is at position s, measured from point O
• Consider a coordinate
system that has origin at a
fixed point on the curve on
the curve, and at the instant,
considered this origin
happen to coincide with the
location of the particle
• t axis is tangent to the curve at P and is positive in

the direction of increasing s
• Designate this positive position direction with unit

vector ut
• For normal axis, note that geometrically, the curve
is constructed from series differential arc segments
• Each segment ds is
formed from the arc of an
associated circle having
a radius of curvature ρ
(rho) and center of
curvature O’
• Normal axis n is perpendicular to the t axis and is

directed from P towards the center of curvature O’
• Positive direction is always on the concave side of
the curve, designed by un
• Plane containing both the n and t axes is known
as the oscillating plane and is fixed on the plane of
motion
Velocity.
• Since the particle is moving, s is a function of time
• Particle’s velocity v has direction that is always
tangent to the path and a magnitude that is
determined by taking the time derivative of the path
function s = s(t)
r r
v = vut
where v = s&
Acceleration
• Acceleration of the particle is the time rate of
change of velocity
r r r r
a = v& = v&ut + vu&t
• As the particle moves along the arc ds in time dt,

ut preserves its magnitude of unity
• When particle changes direction, it becomes ut’
ut’ = ut + dut
• dut stretches between the arrowhead of ut and
ut’, which lie on an infinitesimal arc of radius ut = 1
r r s& r vr
u&t = θun = un = un
&
ρ ρ
where
r r r
a = at ut + anun
at = v& at ds = vdv
and v2
an =
ρ
• Magnitude of acceleration is the positive value

of
a = at2 + an2
Consider two special cases of motion
• If the particle moves along a straight line, then
ρ → ∞ and an = 0. Thus a = at = v& , we can
conclude that the tangential component of
acceleration represents the time rate of change in
the magnitude of velocity.
• If the particle moves along the curve with a

constant speed, then t &
a = v = 0 and a = an = v 2
/ρ
• Normal component of acceleration represents the
time rate of change in the direction of the velocity.
Since an always acts towards the center of
curvature, this component is sometimes referred to
as the centripetal acceleration
• As a result, a particle moving along the curved
path will have accelerations directed as shown
Three Dimensional Motion

• If the particle is moving along a space curve, at a
given instant, t axis is completely unique
• An infinite number of straight lines can be
constructed normal to tangent axis at P
• For planar motion,

- choose positive n axis directed from P towards
path’s center of curvature O’
- The above axis also referred as principle normal
to curve at P
-ut and un are always perpendicular to one another
and lies in the osculating plane
• For spatial motion,
a third unit vector ub, defines a binormal axis b
which is perpendicular to ut and un
• Three unit vectors are related by vector cross
product
ub = ut X un
• un is always on the concave side

Coordinate System
• When path of the particle is known, establish a
set of n and t coordinates having a fixed origin
which is coincident with the particle at the instant
• Positive tangent axis acts in the direction of the
motion and the positive normal axis id directed
toward the path’s center of curvature
• n and t axes are advantageous for studying the
velocity and acceleration of the particle
Velocity
• Particle’s velocity is always tangent to the path
• Magnitude of the velocity is found from the
derivative of the path function
v = s&
Tangential Acceleration
• Tangential component of acceleration is the
result of the time rate of change in the magnitude
of velocity
• Tangential component acts in the positive s
direction if the particle’s speed is increasing and in
the opposite direction if the seed is decreasing
• For rectilinear motion,
at = v& at ds = vdv
• If at is constant,
1
s = s0 + v0t + (ac )c t 2
2
v = v0 + (ac )c t
v 2 = v02 + 2(ac )c ( s − s0 )
Normal Acceleration
• Normal component of acceleration is the result of
the time rate of change in the direction of the
particle’s velocity
• Normal component is always directed towards the
center of curvature of the path along the positive n
axis
• For magnitude of the normal component,
v2
an =
ρ
• If the path is expressed as y = f(x), the radius of
the curvature ρ at any point on the path is
determined from
[1 + (dy / dx) 2 ]3 / 2
ρ=
d 2 y / dx 2
Curvilinear Motion: Cylindrical
Components
• If motion is restricted to the plane, polar
coordinates r and θ 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 transverse coordinate
θ, which is the counterclockwise angle between a
fixed reference line and the r axis
Components
• Angle usually measured in
degrees or radians, where 1 rad
= 180°
• Positive directions of the r and
θ coordinates are defined by
the unit vectors ur and uθ
• ur extends from P along
increasing r, when θ is held
fixed
Components
• uθ extends from P in the direction that occurs

when r is held fixed and θ is increased
• Note these directions are perpendicular to each
other
Position
• At any instant, position of the particle defined by
the position vector
r r
r = ru r
Components
Velocity
• Instantaneous velocity v is obtained by the time
derivative of r
r r r r
v = r& = r&ur + ru&r
r
• To evaluate u&r , 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 u
Components
• However, a change ∆θ will cause ur to become ur’
where
ur’ = ur + ∆ur
• Time change is ∆ur
• For small angles ∆θ, vector has a magnitude of 1
and acts in the uθ direction
r
r ∆ur ⎛ ∆θ ⎞ r
u&r = lim = ⎜ lim ⎟uθ
∆t →0 ∆t ⎝ ∆t →0 ∆t ⎠
r r
u&r = θuθ
&
Components
Velocity r r r
v = vr ur + vθ uθ
where vr = r&
vθ = rθ&
• Radical component vr is a measure of the rate of

increase or decrease in the length of the radial
coordinate
• Transverse component vθ is the rate of motion
along the circumference of a circle having a radius
r
Components
• Angular velocity θ& = dθ / dt indicates the rate of
change of the angle θ
• Since vr and vθ are mutually perpendicular, the
magnitude of the velocity or speed is simply the
positive value of
v = (r& ) + (rθ )
2 & 2
• Direction of v is tangent
to the path at P
Components
Acceleration
• Taking the time derivatives, for the instant
acceleration,
a = v& = &r&ur + r&u&r + r&θ&uθ + rθ&&uθ + rθ&u&θ
• During the time ∆t, a change ∆r will not change

the direction uθ although a change in ∆θ will cause
uθ to become uθ’
• For small angles, this vector has a magnitude =
1 and acts in the –ur direction
∆uθ= - ∆θur
Components
Acceleration
a = ar ur + aθ uθ
where ar = &r& − rθ& 2
aθ = rθ&& + 2r&θ&
• The term θ&& = d 2θ / 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
Components
• Since ar and aθ are always perpendicular, the
magnitude of the acceleration is simply the positive
value of
(
a = &r& − rθ)
& 2 2
+ (rθ + 2r&θ )
&& & 2
• Direction is determined from the vector addition

of its components
• Acceleration is not tangent to the path
Components
Cylindrical Coordinates
• If the particle P moves along
a space, then its location may
be specified by the three
cylindrical coordinates r, θ, z
• z coordinate is similar to that
used for rectangular
coordinates
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
r r r
rp = ru r + zu z
r r r r
v = r&ur + rθuθ + z&u z
&
r 2 r r r
a = (&r& − rθ )ur + (rθ + 2r&θ )uθ + &z&u z
& && &
Components
Time Derivatives
Two types of problems usually occur
1) If the coordinates are specified as time
parametric equations, r = r(t) and θ = θ(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(θ) and find
the relationship between the time derivatives
using the chain rule of calculus.
Components

Coordinate System
• Polar coordinate are used to solve problem
involving angular motion of the radial coordinate r,
used to describe the particle’s motion
• To use polar coordinates, the origin is
established at a fixed point and the radial line r is
directed to the particle
• The transverse coordinate θ is measured from a
fixed reference line to radial line
Components
Velocity and Acceleration
• Once r and the four time derivatives r&,r&&,θ&,θ&& have
been evaluated at the instant considered, their
values can be used to obtain the radial and
transverse components of v and a
• Use chain rule of calculus to find the time
derivatives of r = f(θ)
• Motion in 3D requires a simple extension of the
above procedure to find
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
• 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
• 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
• 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
• 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
2 sB + h + 2 s A = l
Since l and h are constant during the motion, the

two time derivatives yields
2v B = − v A 2aB = − 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)
2( h − s B ) + h + s A = l
• Time differentiation yields
2v B = v A 2aB = a A
Position-Coordinate Equation
• Establish position coordinates which have their
origin located at a fixed point or datum
• The coordinates are directed along the path of
motion and extend to a point having the same
motion as each of the particles
• It is not necessary that the origin be the same for
each of the coordinates; however, it is important
that each coordinate axis selected be directed
along the path of motion of the particle
• Using geometry or trigonometry, relate the
coordinates to the total length of the cod, lT, or to
that portion of cord, l, which excludes the segments
that do not change length as the particle move –
such as arc segments wrapped over pulleys
• For problem involving a system of two or more
cords wrapped over pulleys, then the position of a
point on one cord must be related to the position of
a point on another cord using the above procedure
• Separate equations must be written for a fixed
length of each cord of the system.
Time Derivatives
• Two successive time derivatives of the position-
coordinates equations yield the required velocity
and acceleration equations which relate motions of
the particles
• The signs of the terms in these equations will be
consistent with those that specify the positive and
negative sense of the position coordinates
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
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
• 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
r r r
rB = rA + rB / A
Velocity.
• By time derivatives,
r r r
vB = v A + vB / A
r r r r
• Here vB = drB / dt and v A = drA / dt refer to absolute
velocities, since they are observed from the fixed
frame
r r
• Relative velocity vB / A = drB / A / dt is observed from
the translating frame
• 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
Acceleration.
• The time derivative yields a similar relationship
between the absolute and relative accelerations of
the particles A and B
r r r
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
• When applying the relative position equations, rB

= rA + rB/A, it is necessary to specify the location of
the fixed x, y , z and translating x’, y’ and z’
• Usually, the origin A of the translating axes is
located at a point having a known position rA
• A graphical representation of the vector addition
can be shown, and both the known and unknown
quantities labeled on this sketch
• Since vector addition forms a triangle, there can be at
most two unknowns, represented by the magnitudes and/or
directions of the vector quantities
• These unknown can be solved for either graphically, using
trigonometry, or resolving each of the three vectors rA, rB
and rB/A into rectangular or Cartesian components, thereby
generating a set of scalar equations
• The relative motion equations vB = vA + vB/A and aB = aA +
aB/A are applied in the same manner as explained above,
except in this case, origin O of the fixed axes x, y, z axes
does not have to be specified

Kinematics of Particle

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Kinematics of Particle

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Chapter 1 : Introduction to Dynamics

Particle/Rigid-body Deformable-body Fluid

• To introduce the concepts of position, displacement,

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

∆s is +ve if particle’s position is right of its

Instantaneous velocity is defined as

Velocity is +ve = particle moving to the right

The particle travels along

• Acceleration – velocity of particle is known at

• ∆v represents difference in the velocity

Displacement. Suppose during a small time

Velocity. During the time ∆t, the average velocity

• Direction of vins is tangent to the curve

Acceleration. If the particle has a velocity v at

a acts tangent to the hodograph, therefore it is not

The direction of r is specified

and a direction that is specified by the components

The acceleration has a magnitude defined as the

PROCEDURE FOR ANALYSIS

Horizontal Motion Since ax = 0,

Horizontal component of velocity remain constant

Vertical. Positive y axis is directed upward, then

• Problems involving the motion of a projectile have

PROCEDURE FOR ANALYSIS

• Positive and negative position, velocity and

• Eg: if final velocity is not needed, first and third of

• When the path of motion of a particle is known,

• t axis is tangent to the curve at P and is positive in

• Designate this positive position direction with unit

• Normal axis n is perpendicular to the t axis and is

• As the particle moves along the arc ds in time dt,

• Magnitude of acceleration is the positive value

• If the particle moves along the curve with a

Three Dimensional Motion

• For planar motion,

PROCEDURE FOR ANALYSIS

• uθ extends from P in the direction that occurs

• Radical component vr is a measure of the rate of

• During the time ∆t, a change ∆r will not change

• The term θ&& = d 2θ / dt 2 is called the angular

• Direction is determined from the vector addition

2) If the time parametric equations are not given, it

PROCEDURE FOR ANALYSIS

Since l and h are constant during the motion, the

• Here aB/A is the acceleration of B as seen by the

PROCEDURE FOR ANALYSIS

• When applying the relative position equations, rB

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