CH 12

PHILADELPHIA UNIVERSITY
Department of Civil Engineering
Dynamics
(620212)
CHAPTER 12
KINEMATICS OF A PARTICLE
1
Instructor:
Eng. Abdallah Odeibat
Civil Engineer, Structures , M.Sc.
12.1 INTRODUCTION
 Mechanics is a branch of the physical sciences that is
concerned with the state of rest or motion of bodies
subjected to the action of forces.
 Engineering mechanics is divided into two areas of
study, namely, statics and dynamics.
 Statics is concerned with the equilibrium of a body
that is either at rest or moves with constant velocity.
 Dynamics, which deals with the accelerated motion of
a body. The subject of dynamics will be presented in
two parts: kinematics, which treats only the
geometric aspects of the motion, and kinetics, which is
the analysis of forces causing the motion.
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12.2 RECTILINEAR KINEMATICS: CONTINUOUS
MOTION
 Particle has a mass but negligible size and shape.
 Rectilinear Kinematics. The kinematics of a particle

is characterized by specifying, at any given instant, the
particle's position, velocity, and acceleration.
 Position: The origin O on the path is a fixed

point, and from this point the position coordinate s is
used to specify the location of the particle at any given
instant.
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 Displacement: The displacement of the particle is
defined as the change in its position.
Vector form:  r = r’ - r
 The displacement of a particle is also a vector

quantity, and it should be distinguished from the
distance the particle traveled.
 Distance traveled is a positive scalar that represents
the total length of path over which the particle
travels. 4
5
 Velocity: If the particle moves through a displacement
∆s during the time interval ∆t, the average velocity of
the particle during this time interval is
 The magnitude of the velocity is known as the speed,

and it is generally expressed in units of m/s or ft/s.
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 The magnitude of the velocity is known as the speed,
and it is generally expressed in units of m/s or ft/s.
 Average speed is the total distance traveled divided

by elapsed time:
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 Acceleration: Provided the velocity of the particle is
known at two points, the average acceleration of the
particle during the time interval!::
is defined as
 The instantaneous acceleration at time t is
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 Typical units are m/s2 or ft/s2.
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𝑠 𝑡
𝑑𝑠 = 𝑣 𝑑𝑡
𝑠0 0
𝑣 𝑡
𝑑𝑣 = 𝑎 𝑑𝑡
𝑣0 0
𝑣 𝑠
𝑣. 𝑑𝑣 = 𝑎 𝑑𝑠
𝑣0 𝑠0
Note that so and vo represent the initial position and velocity of 10
the particle at t = 0.
CONSTANT ACCELERATION
a = ac
𝑣 𝑡
𝑑𝑣 = 𝑎𝑐 𝑑𝑡
𝑣0 0
𝑠 𝑡 𝑠 𝑡
𝑑𝑠 = 𝑣 𝑑𝑡 𝑑𝑠 = 𝑎𝑐 𝑑𝑡
𝑠0 0 𝑠0 0
𝑣 𝑠
𝑣. 𝑑𝑣 = 𝑎𝑐 𝑑𝑠
𝑣0 𝑠0
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 A typical example of constant accelerated motion
occurs when a body falls freely toward the earth. If air
resistance is neglected and the distance of fall is short,
then the downward acceleration of the body when it is
close to the earth is constant and approximately
9.81 m/s2 or 32.2 ft/s2.
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12.4 GENERAL CURVILINEAR MOTION
 Curvilinear motion occurs when a particle moves along
a curved path.
• Position.
• Displacement.
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Velocity.
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 Acceleration
However, in order for the particle to follow any

curved path, the directional change always
"swings" the velocity vector toward the "inside"
or "concave side" of the path, and therefore a
cannot remain tangent to the path. In summary,
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v is always tangent to the path and a is always
tangent to the hodograph.
12.5 CURVILINEAR MOTION: RECTANGULAR
COMPONENTS
 Position
And the direction of r is specified by the unit vector

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 Velocity
And the direction of v is specified by the unit vector

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 Acceleration
And the direction of a is specified by the unit vector
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in general a will not be tangent to the path
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12.6 MOTION OF A PROJECTILE
 Projectile motion can be treated as two rectilinear
motions, one in the horizontal direction experiencing
zero acceleration and the other in the vertical
direction experiencing constant acceleration (i.e.,
from gravity).
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 Horizontal Motion:
Since ax = 0, application of the constant acceleration
equations yields
 Vertical Motion:
Since the positive y axis is directed upward, then ay = -g,
application of the constant acceleration equations yields
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12.7 CURVILINEAR MOTION: NORMAL AND
TANGENTIAL COMPONENTS
 When the path along which a particle travels is known,
then it is often convenient to describe the motion using
n and t coordinate axes which act normal and tangent
to the path, respectively, and at the instant considered
have their origin located at the particle
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 The t axis is tangent to the curve at the point and is
positive in the direction of increasing s
 The normal axis n is perpendicular to the t axis with its

positive sense directed toward the center of curvature
O’.
 The positive n and t directions are defined by the unit
vectors un and ut, respectively.

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 The center of curvature, O’, always lies on the concave
side of the curve.
 The radius of curvature, r, is defined as the

perpendicular distance from the curve to the center of
curvature at that point.
 The position of the particle at any instant is defined by

the distance, s, along the curve from a fixed reference
point.
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 Velocity
The velocity vector is always tangent to the path of

motion (t-direction).
The magnitude is determined by taking the time

derivative of the path function, s(t).
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 Acceleration
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12.9 ABSOLUTE DEPENDENT MOTION ANALYSIS
OF TWO PARTICLES
 In some types of problems the motion of one particle

will depend on the corresponding motion of another
particle.
 For example, the movement of block A downward along

the inclined plane will cause a corresponding movement
of block B up the other incline.
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 The motion of each block can be related mathematically
by defining position coordinates, sA and sB. Each
coordinate axis is defined from a fixed point or datum
line, measured positive along each plane in the direction
of motion of each block.
 Note that each of the coordinate axes is (1) measured
from a fixed point (O) or fixed datum line, (2) measured
along each inclined plane in the direction of motion of
each block, and (3) has a positive sense from C to A and
D to B. If the total cord length is IT, the two position
coordinates are related by the equation
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 Here LCD is the length of the cord passing over arc CD.
Taking the time derivative of this expression, realizing
that LCD and LT remain constant, while sA and sB
measure the segments of the cord that change in length.
We have
 The negative sign indicates that when block A has a

velocity downward, i.e., in the direction of positive sA, it
causes a corresponding upward velocity of block B; i.e.,B
moves in the negative sB direction.
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 Consider a more complicated example.
Position coordinates (sA and sB) are
defined from fixed datum lines,
measured along the direction of
motion of each block.
 Note that sB is only defined to the

center of the pulley above block B,
since this block moves with the pulley.
Also, h is a constant.
 The red colored segments of the cord

remain constant in length during
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motion of the blocks.
When block B moves downward (+sB),
block A moves to the left (-sA).
Remember to be consistent with your 54
sign convention!
 This example can also be worked by defining the
position of block B from the center of the bottom pulley
(a fixed point). In this case
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12.10 RELATIVE-MOTION OF TWO PARTICLES
USING TRANSLATING AXES
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PHILADELPHIA UNIVERSITY

Department of Civil Engineering

 Rectilinear Kinematics. The kinematics of a particle

 Position: The origin O on the path is a fixed

 The displacement of a particle is also a vector

 The magnitude of the velocity is known as the speed,

 Average speed is the total distance traveled divided

 The instantaneous acceleration at time t is

However, in order for the particle to follow any

And the direction of r is specified by the unit vector

And the direction of v is specified by the unit vector

And the direction of a is specified by the unit vector

 The normal axis n is perpendicular to the t axis with its

 The radius of curvature, r, is defined as the

 The position of the particle at any instant is defined by

The velocity vector is always tangent to the path of

The magnitude is determined by taking the time

 In some types of problems the motion of one particle

 For example, the movement of block A downward along

 The negative sign indicates that when block A has a

 Note that sB is only defined to the

 The red colored segments of the cord

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