EM Ch-8

Ch-8: Kinematics of a Particle
Book:
 Engineering Mechanics Statics and Dynamics by R. C. Hibbeler
Mechanical Engineering Dept. CEME NUST 1
Kinematics of a Particle
Dynamics
 In Statics all the forces and moments cancel each other
 In Dynamics the forces and moments add to cause the acceleration of mass
Dynamics deals with the accelerated motion of a body
 Dynamics is presented in two parts:
o Kinematics: treats only the geometric aspects of the motion
Study of motion (not focusing on forces, just the motion)
o Kinetics: is the analysis of the forces causing the motion
Study of forces on moving objects
 Kineticshas practical applications in designing of Automobiles whereas

kinematics finds applications in study of movement of Celestial Bodies

Dynamics
 Application of the principles of dynamics:
• Structural design of any vehicle, e.g. an Automobile or Airplane
• Mechanical devices, such as Motors, Pumps, Movable Tools,
Industrial Manipulators, and Machinery
• Predictions of the motions of Satellites, Projectiles, and Spacecraft

Rectilinear Kinematics: Continuous Motion

 Here we will consider Kinematics of a Particle that moves along a
Rectilinear or Straight line path
oParticle has a mass but negligible size and shape
oParticle is something whose spatial extent is neglected in the evaluation of
mechanics equations
oObject is small compared to other relevant distances
 we limit application to those objects that have dimensions that are of
⇒ no consequence in the analysis of the motion
 E.g. Rockets, Projectiles, or Vehicles can be considered as a particle, as long as

the motion is characterized by the motion of its mass center and any rotation of
the body is neglected


Rectilinear Kinematics
 Kinematics of a particle is characterized by specifying, at any given instant:
• Particle’s Position
• Velocity
• Acceleration
Position
 Straight-line path of a particle is defined using a single coordinate axis s
 Position Coordinate s is used to specify the location of the particle at any given
instant w.r.t an origin O


Displacement
 Change in the position of a particle
 ifthe particle moves from one point to
another:
Δs is Positive since the Particle’s Final Position is to the right of its initial
position i.e. S’ > S
 Displacement of a particle is also a Vector Quantity

 On the other hand Distance traveled is a positive scalar that represents the
total length of path over which the particle travels


Velocity
 Particle moves through a displacement ΔS during the time interval Δt, Average
Velocity of the particle during this time interval is
 smaller and smaller values of Δt the magnitude of

ΔS becomes smaller and smaller
⇒ Instantaneous Velocity is a vector defined as:
OR
 Magnitude of the velocity is known as Speed, with units of m/sec or ft/sec


Velocity—contd-
Average Speed is a positive scalar and is defined as the total distance traveled
by a particle, sT divided by the elapsed time Δt
but its Average Velocity is:
Acceleration
 For known velocity of the particle at two points, Average Acceleration of the
particle during the time interval Δt
= difference in the velocity

during the time interval Δt

Acceleration—contd.
 Instantaneous acceleration at time t
OR OR
 Both the Average and Instantaneous Acceleration can be either +ve OR -ve
o when a Particle is slowing down particle is said to be decelerating
will be negative
v’ < v
When Velocity is constant, the acceleration is zero
since:
Units of Acceleration:


Acceleration—contd.
 Important differential relation involving the displacement, velocity, and
acceleration along the path is obtained by eliminating the time differential dt:
1 and 2 ⇒ 3
Constant Acceleration a = ac
 When the acceleration is constant, each of the three kinematic Eqs. (1), (2) and
(3), can be integrated to obtain formulas that relate ac, v, s, and t.
Velocity as a function of Time
From Eq. (1): Assuming Initially t = 0 and v = vo
⇒ Mechanical Engineering Dept. CEME NUST

A
10

Constant Acceleration a = ac ---contd.
Position as a Function of Time
Integrate Assuming initially t = 0 and s = so
⇒ ⇒ B
Velocity as a Function of Position
Integrate Assuming initially v = vo and s = so
⇒
C
Eqs. (A), (B) and (C) are useful only when acceleration is
constant a = ac and when t = 0, S = So, v = vo

Example 8.1
A small projectile is fired vertically

downward into a fluid medium
with an initial velocity of 60 m/s.
Due to the drag resistance of the
fluid the projectile experiences a
deceleration of a = (-0.4v3 m/s2)
where v is in m/s. Determine the
projectile’s velocity and position 4
sec after it is fired.


Example 8.2
A metallic particle is subjected to the

influence of a magnetic field as it
travels downward through a fluid that
extends from plate A to plate B. If the
particle is released from rest at the
midpoint C, s = 100 mm and the
acceleration is a = (4s) m/s2, where s is
in meters, determine the velocity of the
particle when it reaches plate B, s = 200
mm, and the time it takes to travel from
C to B.


Example 8.3
Car A starts from rest at t = 0 and travels along a straight road with a constant
acceleration of 6 ft/sec2 until it reaches a speed of 80 ft/s . Afterwards it maintains
this speed. Also, when , car B located 6000 ft down the road is traveling towards A
at a constant speed of 60 ft/sec. Determine the distance traveled by car A when
they pass each other.

Rectilinear Kinematics: Erratic Motion
 When a particle has Erratic or Changing Motion

then its Position, Velocity, and Acceleration
cannot be described by a Single Continuous
Mathematical Function along the entire path
 A series of Functions are required to specify the motion at different intervals

o It is convenient to represent the motion as a graph
o If a graph of the motion relating any two of the variables s, v, a, t can be drawn, then
this graph can be used to construct graphs relating two other variables
o Since variables are related by the differential relationships:


The s–t, v–t, and a–t Graphs
 Toconstruct the v-t graph from a given s-t

graph:
by measuring the slope on the s–t graph when t =

t1, velocity is v1 → Graph can be constructed by
plotting this and other values at each instant


The s–t, v–t, and a–t Graphs—contd-
 a-t graph can be constructed from the v-t graph


 Ifthe s–t curve for each interval of motion can be expressed by a
mathematical function s = s(t) then
Eq. of the v-t graph for the same interval can be obtained by differentiating
the function s = s(t) with respect to time since v = ds/dt
 Eq. of the a–t graph for the same interval can be determined by differentiating v
= v(t) since a = dv/dt
 Differentiation reduces a polynomial of degree n to that of degree n – 1

i.e.
if the s–t graph is Parabolic (a second-degree curve), the v-t graph will be
a Sloping Line (a first-degree curve), and the a–t graph will be a constant
or a Horizontal Line (a zero-degree curve).


 Ifthe a–t graph is given, v-t graph may be

constructed using a = dv/dt
Add small increments of area Δv particle’s initial

velocity vo, to construct the v-t graph
Areas above the t axis correspond to an increase
in v (“Positive” area), whereas those below the
axis indicate a decrease in v (“Negative” area)
 a–t graph can be described by a series of Eqs.,

integral of each of these yield Eqs. describing
the corresponding segments of theEngineering
Mechanical v-t graphDept. CEME NUST 19

 Ifthe v–t graph is given, s-t graph may be

constructed using v = ds/dt
Add small increments of area Δs particle’s initial

position so, to construct the s-t graph
 s–t graph can be obtained by integrating the

equations which describe the segments of the
v-t graph


The v–s, and a–s Graphs
 Ifthe a–s graph is given, v-s graph may be

constructed using:
Integrating between the limits v = vo at s = so

and v = v1 at s = s1
If initial velocity vo at so = 0 is known , then

⇒


The v–s, and a–s Graphs—contd-
 Accelerationa at any position s can be

determined using:
with v and dv/ds known, the value of a

can be calculated


Example 8.4
A bicycle moves along a straight road such that its position is described by the
graph shown in Fig. Construct the v-t and a–t graphs for 0 ≤ t ≤ 30 sec.


Example 8.5
The v–s graph describing the motion

of a motorcycle is shown in Fig.
Construct the a–s graph of the
motion and determine the time
needed for the motorcycle to reach
the position s = 400 ft


Example 8.6
An airplane traveling at 70 m/sec lands on a straight runway and has a
deceleration described by the graph. Determine the time t’ and the distance
traveled for it to reach a speed of 5 m/sec. Construct the v-t and s-t graphs for this
time interval, 0 ≤ t ≤ t’.

General Curvilinear Motion

 Curvilinear Motion occurs when a particle moves along a curved path
o This path is often described in 3-dimensions, Vector Analysis will be used to
formulate the particle’s Position, Velocity, and Acceleration
Position
A particle located at a point on a

space curve defined by the Path
Function s(t)
 Position of the particle, measured

from a fixed point O, is designated
by the position vector r = r(t)

Displacement
 During a small time interval Δt the particle

moves a distance Δs along the curve to a new
position
displacement Δr represents the change in

the particle’s position:


Velocity
 During the time the Average Velocity of the particle is
Instantaneous Velocity is determined by letting Δt →

0, and consequently the direction of Δr approaches the
Tangent to the Curve
Since dr will be tangent to the curve, the direction of

v is also tangent to the curve
Δr approaches the arc length Δs as Δt → 0
⇒

Acceleration
 Particle has a velocity v at time t and a velocity v’

= v + Δv, Average Acceleration of the particle
during the time interval Δt
where
 Two Velocity Vectors are plotted such that their

Tails are located at the fixed point O’ and their
Arrowheads touch points on a curve → This curve
is called a Hodograph
A Hodograph is a diagram that gives a Vectorial Visual
Representation of the movement of a body or a fluid
 Instantaneous Acceleration
⇒ ⇒ 29

Acceleration– contd---
 By definition of the derivative, a acts tangent to

the Hodograph and it is not tangent to the path of
motion
v is always tangent to the path and a is

always tangent to the Hodograph

General Curvilinear Motion: Rectangular Components

 Motion of a particle can best be described along a path that can be expressed in
terms of its x, y, z coordinates
Position
 For a particle is at point (x, y, z) on the curved
path s its location is defined by the Position
Vector
When the particle moves, the x, y, z

components of r will be functions of
time
⇒
At any instant the magnitude of r is:
Direction of r is specified by the unit vector:


Velocity
Where E.g.:
x, y, z reference frame is fixed, and therefore the direction (and the magnitude) of
i does not change with time
Velocity has a Magnitude:
Direction of v is specified by the Unit Engineering

Mechanical Vector: Dept. CEME NUST is always Tangent to the path
32

Acceleration
Where;
Acceleration has a Magnitude:
Direction of a is specified by the Unit Vector:


Example 8.7
At any instant the horizontal position
of the weather balloon in Fig. is
defined by x = 8t ft where t is in
seconds. If the equation of the path
is y = x2/10. determine the magnitude
and direction of the velocity and the
acceleration when t = 2 sec.
Tangent to the path

Motion of a Projectile
 Free-flightMotion of a projectile is often studied in terms of its Rectangular
Components
Kinematic Analysis of Projectile
• Projectile launched at point (xo, yo)

• Initial Velocity, vo having components
(vo)x and (vo)y
• Air resistance is neglected

• Only force acting on the Projectile is
its Weight → resulting in a constant
Downward Acceleration:

Horizontal Motion
As, ax = 0
⇒
⇒ Horizontal Component of Velocity, vx = (vo)x always remains constant during the motion.

Vertical Motion
Positive y-axis is directed upward

ay = -g

Example 8.8
The chipping machine is designed to eject wood chips at vo = 25 ft/s as shown in
Fig. If the tube is oriented at 30° from the horizontal, determine how high, h, the
chips strike the pile if at this instant they land on the pile 20 ft from the tube.

Example 8.9
The van travels over the hill described by:

If it has a constant speed of 75 ft/s, determine the x and y components of the van’s
velocity and acceleration when x = 50 ft.

Example 8.10
The ball is thrown off the top of the
building. If it strikes the ground at B in
3sec, determine the initial velocity vA
and the inclination angle θA at which it
was thrown. Also, find the magnitude
of the ball’s velocity when it strikes the
ground.

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Ch-8: Kinematics of a Particle

 Kineticshas practical applications in designing of Automobiles whereas

Mechanical Engineering Dept. CEME NUST 2

• Predictions of the motions of Satellites, Projectiles, and Spacecraft

Mechanical Engineering Dept. CEME NUST 3

Rectilinear Kinematics: Continuous Motion

 E.g. Rockets, Projectiles, or Vehicles can be considered as a particle, as long as

Mechanical Engineering Dept. CEME NUST 4

Rectilinear Kinematics: Continuous Motion

Mechanical Engineering Dept. CEME NUST 5

Rectilinear Kinematics: Continuous Motion

 Displacement of a particle is also a Vector Quantity

Mechanical Engineering Dept. CEME NUST 6

Rectilinear Kinematics: Continuous Motion

 smaller and smaller values of Δt the magnitude of

 Magnitude of the velocity is known as Speed, with units of m/sec or ft/sec

Mechanical Engineering Dept. CEME NUST 7

Rectilinear Kinematics: Continuous Motion

but its Average Velocity is:

= difference in the velocity

Rectilinear Kinematics: Continuous Motion

Mechanical Engineering Dept. CEME NUST 9

Rectilinear Kinematics: Continuous Motion

Velocity as a function of Time

From Eq. (1): Assuming Initially t = 0 and v = vo

⇒ Mechanical Engineering Dept. CEME NUST

Rectilinear Kinematics: Continuous Motion

Integrate Assuming initially t = 0 and s = so

Velocity as a Function of Position

Integrate Assuming initially v = vo and s = so

Rectilinear Kinematics: Continuous Motion

A small projectile is fired vertically

Mechanical Engineering Dept. CEME NUST 12

Rectilinear Kinematics: Continuous Motion

A metallic particle is subjected to the

Mechanical Engineering Dept. CEME NUST 13

Rectilinear Kinematics: Continuous Motion

Mechanical Engineering Dept. CEME NUST 14

Rectilinear Kinematics: Erratic Motion

 When a particle has Erratic or Changing Motion

 A series of Functions are required to specify the motion at different intervals

Mechanical Engineering Dept. CEME NUST 15

Rectilinear Kinematics: Erratic Motion

 Toconstruct the v-t graph from a given s-t

by measuring the slope on the s–t graph when t =

Mechanical Engineering Dept. CEME NUST 16

Rectilinear Kinematics: Erratic Motion

 a-t graph can be constructed from the v-t graph

Mechanical Engineering Dept. CEME NUST 17

Rectilinear Kinematics: Erratic Motion

 Differentiation reduces a polynomial of degree n to that of degree n – 1

Mechanical Engineering Dept. CEME NUST 18

Rectilinear Kinematics: Erratic Motion

 Ifthe a–t graph is given, v-t graph may be

Add small increments of area Δv particle’s initial

 a–t graph can be described by a series of Eqs.,

Rectilinear Kinematics: Erratic Motion

 Ifthe v–t graph is given, s-t graph may be

Add small increments of area Δs particle’s initial