Chapter 1

Kinematics with Vector analysis

Standard Competence & Basic
Competence
 SC: Analyzing the natural phenomena and its
orderliness using the particle mechanics.

 KD: Analyzing linear motion, circular motion

and projectile motion using vectors.
Indicators
Students are able to:
 construct and interpret graphs of position,
velocity, or acceleration versus time.
 use the vector concept for projectile motion.

 determine the equation of angular position,

angular velocity and angular acceleration for
circular motion.
Equation 1

ˆ ˆ
r = 3i +8 j
Equation 2

ˆ ˆ
r = 6i - 5 j
Equation 3

ˆ ˆ
r ( t ) = ti + 3tj ,
t =2
Equation 4

ˆ ˆ
r ( t ) = 2t i - 5tj ,
2

t =1
Equation 5

r ( t ) = (t - 3)iˆ + t jˆ,
2 3

t =2
Motion in Two Dimensions
 Using + or – signs is not always sufficient to fully
describe motion in more than one dimension
 Vectors can be used to more fully describe motion
 Will look at vector nature of quantities in more detail
 Still interested in DISPLACEMENT, VELOCITY, and
ACCELERATION
 Will serve as the basis of multiple types of motion in
future chapters
Position Vector
 The position of an object is
described by its position
vector y

r  xiˆ  yˆj
x, y = vector components; the
projections of vector x
along x and y-axis.
iˆ, ˆj  unit vectors in the x
and y direction,
respectively.
Position Vector (cont.)
 The magnitude and
direction are related to its
components through the y

Pythagorean theorem and

the definition of the tangent:
 x
ri  x y
2 2
Magnitude of vector
y
tan   Direction of vector
x
Sample Problem 1
The cartesian coordinates of a
point in the xy plane are
(x, y) = (-3.50, -2.50) m, as
shown.
(a) Write the vector
representation of this point.
(b) Find the polar coordinates
of this point.
Solution:
Equation 1

ˆ ˆ
r 1 = 3i + 8 j
ˆ
r 2 = 4i + 6 j ˆ
Equation 2

ˆ ˆ
r 1 = 6i - 5 j
r2 =3j ˆ
Equation 3

ˆ ˆ
r ( t ) = ti + 3tj ,
t1 = 2
t2 = 3
Equation 4

ˆ ˆ
r ( t ) = 2ti - 5 j ,
t1 = 1
t2 = 3
Equation 5

r ( t ) = (t - 3)iˆ + t jˆ,
2 3

t =2
Displacement Vector
 The displacement of the
object is defined as the
change in its position ( )


ri  initial position vector
final position vector

• The displacement is INDEPENDENT OF THE

PATH taken
Displacement Vector (cont.)
 Write the displacement vector in
terms of vector components and
unit vectors.

 Determine the magnitude and

direction of the displacement (polar
coordinate)
Sample Problem 2

The initial and final positions of a moving object

are r1 = 8iˆ +10 ĵ and r2 = -5iˆ + 20 ĵ , respectively.
Determine the displacement vector of the object
and the magnitude of the displacement.
Check Your Understanding
 A fly lands on one wall of a room. The
lower left-hand corner of the wall is
selected as the origin of a two-
dimensional Cartesian coordinate
system. If the fly is located at the point
having coordinates (2.00, 1.00) m,
(a) how far is it from the corner of the
room? (b) what is its location in polar
coordinates?
 Textbook page 6 Evaluation 1.1
Reading Assignment
 Instantaneous velocity
 Average velocity
 Instantaneous acceleration
 Average acceleration
Average Velocity
 The average velocity is the displacement divided by
the time interval during which the displacement
occurred.

 The direction of the average velocity is the direction

of the displacement vector
 The average velocity between points is independent
of the path taken.
Sample Problem 3
The position of a moving object depends on time
( )
according to r(t) = 3iˆ + 5t 2 ĵ m. What is the average
velocity of the object between t = 0 s to t = 5 s.
Check Your Understanding
 Textbook page 61, exercise no. 2&3.
Reading Assignment
 Derivatives and Integrals
Equation 1

ˆ
r ( t ) = ti + 3tjˆ
ˆ ˆ
r '( t ) = i + 3 j
Equation 2

r ( t ) = 2t iˆ - 5tjˆ
2

r '( t ) = 4tiˆ - 5 jˆ
Equation 3

ˆ 3 ˆ
r ( t ) = (t - 3)i + t j
2

ˆ 2 ˆ
r '(t ) = 2ti + 3t j
Instantaneous Velocity
 The instantaneous velocity is the limit of the
average velocity as Δt approaches zero.

d
v = (r )
dt
Derivative with respect to variable t

 The process of taking the derivative is called

DIFFERENTIATION.
Sample Problem 4

RULE FOR
Vektor posisi suatu benda DERIVATION:
dapat dinyatakan oleh
ˆ 2 ˆ
r = (t - 2t )i + (3t ) j ;
3 2

t dalam sekon dan r dalam

meter. For any xb, its
(c) Tentukan persamaan derivative is
kecepatan dan kecepatan simply bxb–1
mobil pada saat t = 3 s. Ex: d 5
(t ) = 5t 4
dt
Check Your Understanding
 Textbook page 9, exercise no. 1.
Acceleration Vector
 Write the acceleration vector in
terms of vector components and
unit vectors.

 Determine/formulate the average

acceleration and instantaneous
acceleration from the velocity vector.
Average Acceleration
 The average acceleration of a particle as it
moves is defined as the change in the
instantaneous velocity vector divided by the
time interval during which that change
occurs.
Average Acceleration (cont.)
 As a particle moves,
the direction of the
change in velocity is
found by vector
subtraction

 The average
acceleration is a vector
quantity directed along
Sample Problem 5
A body moves with velocity
v = éë2cos(0.1p t) iˆ + 2sin(0.1p t) ĵ ùû m s
10
Calculate the average acceleration from 1 t = s to
6
t2 =10s.
Instantaneous Acceleration
 The instantaneous acceleration is the limiting
value of the ratio as Δt approaches
zero

 The instantaneous acceleration equals the

derivative of the velocity vector with respect to
time
Sample Problem 6
The instantaneous velocity of a particle is given
by v = [(10t 2 )iˆ + (3) ĵ]m / s.
Calculate the instantaneous acceleration of the
particle at t = 5 s.
Solution:
Check Your Understanding
 The position vector of an object is

r  [( 2t 3 )iˆ  (4t 2 ) ˆj ]m
(a) Calculate the instantaneous
acceleration of the object at t = 2 s.
(b) Calculate the average acceleration
during the time interval from t = 2 s
to t = 4 s.
 Textbook page 13, Evaluation 1.3
Deriving Position from Velocity
If velocity vectors, v , as a d dr

v = (r ) =
function of time are known, dt dt
we can determine the
position using the integral. dr = v dt
r1 t

ò dr = ò v dt
r0 0
t
r1 - r0 = ò v dt
0
t
r1 = r0 + ò v dt
0
Deriving Velocity from
Acceleration
 Derive the velocity using the integral if
the acceleration as a function of time
are known.
Sample Problem 7
An object moves with acceleration
 ˆ
of a  [( 10 ) j ]m / s 2

At t = 0, the velocity of the object

is [(5)iˆ]m / s and its position is
at [(50) ˆj]m . Determine:
(a) The velocity at arbitrary time
The integral of
(b) The position at arbitrary time. is
(c) The position at t = 3 s. Ex:
Solution: ∫4x3 = x4
∫5 = 5x
Check Your Understanding
 Page 9, Evaluation 1.2 #2
 Page 16, Evaluation 1.4 #2
Reading Assignment
 Position – time graph
 Velocity – time graph
 Acceleration – time graph
Position vs. Time Graph
 The GRADIENT of a position-
time graph equals the AVERAGE
VELOCITY of the object.
Sample Problem 8
 Determine the average velocity of the object as
portrayed by the graph below during time
interval t = 0 s to t = 5 s.
Velocity vs. Time Graph

 The DISPLACEMENT of the

object during the time interval
is equal to the SHADED AREA
under the velocity–time curve.
Sample Problem 9
 The velocity-time graph for a two-stage rocket is
shown below. Determine the acceleration and
displacement of the rocket during the listed time
intervals.
a) 0 s to 1 s
b) 1 s to 4 s
c) 4 s to 12 s
Acceleration vs. Time Graph
 The CHANGE IN
VELOCITY of the
object during the time
interval is equal to the
SHADED AREA under
the acceleration–time
curve.
 Sample Problem 10
• The acceleration of an object as a function of
time is shown in the graph below. Initially the
object moves with velocity of 4 m/s, find the
velocity of the object at t = 15 s.
Summary

Area under the

Graph Slope
graph

Position vs. time

Velocity vs. time

Acceleration vs. time

Check Your Understanding
 Textbook page 61, exercise no. 5.
 Textbook page 62, exercise no. 9, 11.
 Textbook page 64, exercise no. 18.
Circular Motion
 In the study of linear motion,
the important concepts are
displacement x, velocity v,
and acceleration a.
 Each of these concepts has
its analog in rotational
motion: angular
displacement θ, angular
velocity ω, and angular
acceleration α.
 Indiana Jones runs for his
A life escaping from a
spherical rock of radius RA
> RB that rolls down an
inclined cave.

Assume the rock rolls

without slipping, which is
easier for the
B archeologist? To outrun
rock A or rock B? Explain
your answer.

 When a particle has
moved through the angle
θ with respect to the
reference line, it has
moved an arc length s
measured along the
circumference of the
circle.
q 2p
= s  R
s 2p R

 1 rotation = 360o = 2 rad

Linear equation analogous to rotational equation
NO PERS. GERAK
Linear LINEAR
Motion PERS. GERAK MELINGKAR
Rotational Motion
1 dr d
v 
dt dt

2 r = ro +  v dt  = o +   dt

3 dv d
a  
dt dt

4 v = vo +  a dt  = o +   dt

Hubungan
Relations besaran
betweengerak linear
linear anddengan besaran
angular gerak melingkar
quantities
s = . R ; v = . R ; a = .R
Check Your Understanding
1. The roller in a xerox machine rotates
according to equation θ(t) = pt2 – qt3, with
p = 2.50 rad/s2 and q = 0.4 rad/s3. Find:
a. The equation of angular velocity as a
function of time.
b. The equation of angular acceleration as a
function of time.
c. The maximum angular velocity and the
respective t in second.
Check Your Understanding
2. A wheel rotates according to the equation

Determine:
a. The equation of angular position as time
function.
b. The angular acceleration at t = 5 s.
Check Your Understanding
3. The electric power that moves a
grinder was off when it is rotating at
8.6 rad/s. The frictional force cause
the grinder to stop after 192 s. Find:
a. the angular acceleration

b. The linear displacement of the particle

since the electric power was off until
the grinder stopped. The grinder has a
radius of 10 cm.
Check Your Understanding
3. The disk is rotating about its central
axis like a merry-go-round. The angular
position θ(t) of a reference line on the
disk is given by θ(t)=-1.00-0.600t+0.250t2
with t in seconds, θ in radians. Find:
a) the angular position of the disk at t =
2.0 s and t = 4.0 s.
b) the average angular velocity in this
time interval.
Check Your Understanding
4. A child’s top is spun with angular
acceleration α=5t3+4t, with t in seconds
and α in radians per second-squared. At t
= 0, the top has angular velocity 5 rad/s,
and a reference line on it is at angular
position θ= 2 rad.
a) Obtain an expression for the angular
velocity of the top.
b) Obtain an expression for the angular
position θ(t) of the top.
Check Your Understanding
 Textbook page 32, evaluation 1.7
Projectile Motion
 An object may move in both the x and y
directions simultaneously under constant
acceleration.
 The form of two-dimensional motion we will
deal with is called projectile motion.
Assumptions of Projectile
Motion
Assumptions of Projectile
Motion
Assumptions of Projectile
Motion

With these assumptions, an object in projectile

motion will follow a parabolic path. This path is
called the trajectory.
Projectile Motion Diagram
Analyzing Projectile Motion
 Consider the motion as the superposition of the
motions in the x- and y-directions
 The initial velocity can be expressed in terms of
its components
 vxi = vi cos  and vyi = vi sin 
 The x-direction has constant velocity
 ax = 0
 The y-direction is free fall
 ay = -g
Analyzing Projectile Motion
The actual velocity and position at any time are
given by:
x-direction y-direction

Position

Velocity

Acceleration
Sample Problem 11
A long-jumper leaves the ground at an angle of
30.0° above the horizontal and at a speed of
10.0 m/s.
(a) How far does he jump in the horizontal
direction? (Assume his motion is equivalent to
that of a particle.)
(b) What is the maximum height reached?

Solution:
Check Your Understanding
An Alaskan rescue plane drops
a package of emergency
rations to a stranded party of
explorers, as shown. If the
plane is traveling horizontally
at 40.0 m/s and is 100 m
above the ground, (a)where
does the package strike the
ground relative to the point at
which it was released, (b) the
magnitude and direction of
the velocity just before it hits
the ground?
Check Your Understanding
 A soccer ball is kicked at an initial
velocity of 20 m/s with an angle of 45°
above the horizontal. Using g =
10m/s2, determine the time and
coordinates of the highest point
reached by the ball.
Check Your Understanding
 A boy on the edge of a vertical cliff 20m
high throws a stone horizontally
outward with a speed of 20 m/s. It
strikes the ground at what horizontal
distance from the foot of the cliff? Use
g = 10 m/s2.
MORE PROBLEMS
Linear Motion
 The acceleration of a particle with
respect to time is given by the equation

a (t ) = t iˆ + 2 jˆ
3

where a is in meter per second-

squared and t is in seconds. What are
(a) the velocity and (b) the position of
the particle as a function of time?
Linear Motion
 A web page designer creates an
animation in which a dot on a computer
screen has a position

( )
r (t ) = éë 4.0 + 2.5t 3 iˆ + (5.0t ) jˆùû m .
Find (a) the magnitude and (b) direction
of the dot's average velocity between t
= 0 and t = 2.0 s.
Linear Motion
 The position vector of a particle is
expressed as
ˆ 3 ˆ
r = 3t i + t j ,
2

where r is in meter and t is in second.

Determine:
a) The particle displacement between t =
1 s to t = 3 s.
b) The instantaneous velocity at t = 5 s
Circular Motion
 A ferris wheel rotates according to
( )
equation w = 2t + 9t + 6t rad / s .
3 2

What is the angular position of the ferris

wheel at arbitrary time?
Circular Motion
 A wheel turning at a constant rate
completes 100 revolutions in 10 s.
Calculate its angular speed in rad/s.
Circular Motion
 A VCD rotates according to the
equation a = (12t +12)rad / s 2 , where
the initial angular velocity w0 = 2rad /. s
Determine the angular velocity at t = 5
s.
Projectile Motion
 A ball is thrown at initial velocity of 30 m/s
from a horizontal ground at an elevation
angle of 60°. Determine:
a) The time needed for the ball to reach the
farthest point.
b) The coordinate of farthest point.
Projectile Motion
 A large cannon is fired from ground level
over level ground at an angle of 30° above
the horizontal. The muzzle speed is 980
m/s. Neglecting air resistance, the
projectile will travel what horizontal
distance before striking the ground?
Projectile Motion
 A firefighter 50.0 m away
from a burning building
directs a stream of water
from a fire hose at an
angle of 30.0° above the
horizontal. If the speed of
the stream is 40.0 m/s, at
what height will the water
strike the building?
Projectile Motion
A stone is thrown from the top of
a building upward at an angle
of 30.0° to the horizontal and
with an initial speed of 20.0
m/s, as shown. If the height
of the building is 45.0 m,
(a) how long is it before the
stone hits the ground?
(b) What is the speed of the
stone just before it strikes
the ground?
(c) Where does the stone strike
the ground?
Evaluation
 Individual Worksheet
Date:

 Summative Test
Date: