W10 Kinematics of A Particle: Kns1633 Engineering Mechanics Semester 1 2011-2012 MR Abdul Azim Abdullah

Download as pptx, pdf, or txt
Download as pptx, pdf, or txt
You are on page 1of 59

W10 Kinematics of a Particle

KNS1633 ENGINEERING
MECHANICS
Semester 1 2011-2012
Mr Abdul Azim Abdullah
LECTURE OUTLINE
Rectilinear Kinematics: Erratic Motion
Curvilinear Motion: Rectangular
Components
Motion of a Projectile
Rectilinear Kinematics: Erratic Motion
Given the a-t Graph, construct the v-t Graph
• When the a-t graph is known, the v-t graph may be
constructed using a = dv/dt


vadt
Change in = Area under a-
velocity t graph
Rectilinear Kinematics: Erratic Motion
Particle’s initial velocity v0 is
known
Then add small increments of
area (∆v) determined from the
a-t graph
Successive points for the v-t
graph, v1 = v0 + ∆v
Algebraic addition since the
areas above t axis correspond to
an increase in v (+ve areas)
Rectilinear Kinematics: Erratic Motion
If segments of the a-t graph
described by a series of eqns,
integrate each eqns to yield
eqns for corresponding
segments of the v-t graph
If the a-t graph is linear (1st
degree curve), integration
will yield a v-t graph that is
parabolic (2nd degree curve),
etc.
Rectilinear Kinematics: Erratic Motion
Given the v-t Graph, construct the s-t Graph
• When the v-t graph is known, the s-t graph may be
constructed using v = ds/dt

svdt

Displacement = Area under v-


t graph
Rectilinear Kinematics: Erratic Motion
Particle’s initial position, s0 is
known
add small area increments (∆s)
determined from the v-t graph
Successive points for the s-t graph,
s1 = s0 + ∆s
Algebraic addition since the areas
above t axis correspond to an
increase in v (+ve areas)
If the v-t graph described by a
series of eqns, integrate each eqns
to yield eqns for corresponding
segments of the s-t graph
EXAMPLE 2
A test car starts from rest and
travels along a straight track
such that it accelerates at a
constant rate for 10 s and
then decelerates at a constant
rate. Draw the v-t and s-t
graphs and determine the
time t’ needed to stop the
car. How far has the car
traveled?
Solution
v-t Graph.
The v-t graph can be determined by integrating the
straight-line segments of the a-t graph. Using initial
condition v = 0 when t = 0,
v t
0  t  10 s a  10; 
0
dv   10 dt , v  10t
0

When t = 10s, v = 100m/s, using this as initial condition


for the next time period, we have
v t
10s  t  t ; a  2; 
100
dv    2 dt , v  2t  120
10

When t = t’ we require v = 0. This yield t’ = 60 s


s-t Graph.
Integrating the eqns of the v-t graph yields the
corresponding eqns of the s-t graph. Using the initial
conditions s = 0 when t = 0,
s t
0  t  10 s; v  10t ; 
0
ds   10t dt , s  5t 2
0
When t = 10s, s = 500m. Using this initial condition,

 ds     2t  120 dt
s t
10s  t  60s; v  2t  120;
500 10

s  t 2  120t  600

When t’ = 60s, the position is s = 3000m


Rectilinear Kinematics: Erratic Motion
Given the a-s Graph, construct the v-s Graph
• v-s graph can be determined by using v dv = a ds,
integrating this eqn between the limit v = v0 at s = s0 and
v = v1 at s = s1

2
v
12 2 s1
10
v 
s
0
a ds 
Area under a-s
graph
Rectilinear Kinematics: Erratic Motion
 •
Initial small segment of area
under the a-s graph, [colored,
fig.(a)] = half the difference in
the squares of the speed,
•If the area and the initial value
of v0 at s=0 is known, then
•Successive points on the v-s
graph can be constructed in
this manner starting from the
initial velocity, v0
Rectilinear Kinematics: Erratic Motion

Other method to construct v-s graph….


•determine the eqns which define the segments of the a-s
graph
• corresponding eqns defining the segments of the v-s
graph can be obtained from integration, using vdv = a ds
Rectilinear Kinematics: Erratic Motion

Given the v-s Graph, construct the a-s Graph


• v-s graph is known, the acceleration a at any position s
can be determined using a ds = v dv

dv
av 
ds
Acceleration = velocity times slope of v-s graph
Rectilinear Kinematics: Erratic Motion
Method 1
• At any point (s,v), the slope
dv/ds of the v-s graph is measured
• Since v and dv/ds are known,
the value of a can be calculated
Method 2
•If the eqns of the corresponding
segments of the v-s graph are
known, the segments describing
the a-s graph can be determine
analytically by integration using a
ds = v dv
EXAMPLE 3
The v-s graph describing the motion of a motorcycle is
shown in Fig 12-15a. Construct the a-s graph of the
motion and determine the time needed for the motorcycle
to reach the position s = 120 m.
Solution
a-s Graph.
Since the eqns for the segments of the v-s graph are
given, a-s graph can be determined using a ds = v dv.

0  s  60m; v  0.2 s  3
dv
av  0.04s  0.6
ds
60m  s  120m; v  15;
dv
av 0
ds
Time.
The time can be obtained using v-s graph and v = ds/dt.
For the first segment of motion, s = 0 at t = 0,

ds ds
0  s  60m; v  0.2s  3; dt  
v 0. 2  3
t s ds
o dt  0 0.2s  3
t  5 ln(0.2 s  3)  5 ln 3

At s = 60 m, t = 8.05 s
For second segment of motion,

ds ds
60  s  120m; v  15; dt  
v 15
t s ds
8.05 dt  60 15
s
t   4.05
15

At s = 120 m, t = 12.0 s
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).
General Curvilinear Motion
Displacement. Suppose during a small time interval Δt
the particle moves a distance Δs along the curve to a
new position P’, defined by r’ = r + Δr. The
displacement Δr represents the change in the particle’s
position (Δr = r’ - r).
General Curvilinear Motion
Velocity. During the time Δt, the average velocity of the
particle is defined as
r
vavg 
t

The instantaneous velocity is determined from this


equation by letting Δt 0, and consequently the
direction of Δr approaches the tangent to the curve at
point P. Hence,
dr
vins 
dt
General Curvilinear Motion
• Direction of vins is tangent to the curve
• Magnitude of vins is the speed, obtained by noting the
magnitude of the displacement Δr is the length of the
straight line segment from P to P’.

ds
v
dt
General Curvilinear Motion
Acceleration. If the particle has a velocity v at time t
and a velocity v’ = v + Δv at time t’ = t + Δt. The
average acceleration during the time interval Δt is

v
aavg 
t
General Curvilinear Motion
To study this time rate of change, the two velocity
vectors are plotted such that their tails are located at
the fixed point O’ and their arrowheads touch points on
a curve.
The curve is called hodograph, describes the locus of
points for the arrowhead of the velocity vector in the
same manner as the path s describes the locus points
for the arrowhead of the position vector

Hodograp
h
General Curvilinear Motion
Instantaneous acceleration -> let Δt 0 in the average
acceleration eqn, Δv will approach the tangent to the
hodograph, hence:
dvins
a
dt d r2
a 2
Substitute
dr dt
vins 
dt
General Curvilinear Motion
a acts tangent to the hodograph, therefore it is not
tangent to the path of motion v

In summary, v is always tangent to the path and a is


always tangent to the hodograph.
Curvilinear Motion: Rectangular
Components
x, y and z
Position. Position vector is defined by components are
generally functions
r = xi + yj + zk of time, i.e, x = x(t),
y = y(t), z = z(t)
The magnitude of r is always positive and defined as

r x y z
2 2 2

The direction of r is specified


by the components of the unit
vector ur = r/r
Curvilinear Motion: Rectangular
Components  The “dot” notation , ,
represents the first time
Velocity. derivatives of the parametric
 
equations x = x(t), y = y(t),
j+k z = z(t), respectively

where vx  x v y  y vz  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.
Curvilinear Motion: Rectangular
Components
Acceleration.
 
j+k

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
Curvilinear Motion: Rectangular
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.
Example 4
At any instant the horizontal
position of the weather balloon is
defined by x = (9t) m, where t is
in second. If the equation of the
path is y = x2/30,
a) determine the distance of the
balloon from the station at A,
b) the magnitude and direction of
the both the (i) velocity and
(ii) acceleration when t = 2 s.
Solution
Position.
When t = 2 s, x = 9(2) m = 18 m and y = (18)2/30 = 10.8
m
The straight-line distance from A to B is

r 18
 
10
.
8 2
21
m
2

Velocity.
d
v x  x   9t   9m / s
dt
v y  y  
d 2
dt

x / 30  10.8m / s
When t = 2 s, the magnitude of velocity is
v  9 2  10.8 2  14.1m / s

The direction is tangent to the path,


where v
 v  tan 1 y
 50.2
vx

v vy
θv
vx
Acceleration. a x  v x  0
a y  v y  5.4m / s 2

When t = 2 s, the magnitude of acceleration is

a   0 2   5.4 2  5.4m / s 2

The direction of a is   tan 1 5.4  90


a
0

a ay
θa
ax
Example 5
The motion of box B is defined by
the position vector r = {0.5sin(2t)i
+ 0.5cos(2t)j – 0.2tk} m, where t
is in seconds and the arguments
for sine and cosine are in radians
(π rad = 180°). Determine the
location of box when t = 0.75 s
and the magnitude of its velocity
and acceleration at this instant.
Solution
Position. Evaluating r when t = 0.75 s yields
   
r t 0.75s  {0.5 sin(1.5rad )i  0.5 cos(1.5rad ) j  0.2(0.75)k } m
  
 {0.499i  0.0354 j  0.150k } m

The distance of the box from the origin is

r  (0.499) 2  (0.0354) 2  (0.150) 2  0.522m


The direction of r is obtained from the components of
the unit vector,

r 0.499  0.0352  0.150 
ur   i j k
r 0.522 0.522 0.522
  
 0.955i  0.0678 j  0.287 k
  cos 1 (0.955)  17.2
  cos (0.0678)  86.1
1 

  cos (0.287)  107


1 
Velocity. 
 dr   
v  {1 cos(2t )i  1sin(2t ) j  0.2k }m / s
dt

Hence at t = 0.75 s, the magnitude of velocity, is


v  v x2  v y2  v z2  1.02m / s

Acceleration. The acceleration is not tangent to the


path. 
 dv  
a  {2 sin(2t )i  2 cos(2t ) j }m / s 2
dt

At t = 0.75 s, a = 2 m/s2
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
 Initial velocity is v0 with (v0)x and (v0)y
 Air resistance neglected
 Only force acting on the projectile is its weight,
resulting in constant downwards acceleration
 ac = g = 9.81 m/s2
Motion of a Projectile
Motion of a Projectile
Horizontal Motion Since ax = 0, by applying constant
acceleration equations,
  
 
 
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
Motion of a Projectile
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 y  (v0 ) 2y  2 g ( y  y0 )
Motion of a Projectile
• 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


Motion of a Projectile
PROCEDURE FOR ANALYSIS

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
Motion of a Projectile
Kinematics Equations
 Depends on the known data & what is to be determined
 Decide on which three of the following eqns 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
Motion of a Projectile
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 y  (v0 ) 2y  2 g ( y  y0 )

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


equations would not be needed
Example 6
A sack slides off the ramp
with a horizontal velocity
of 12 m/s. If the height of
the ramp is 6 m from the
floor, determine the time
needed for the sack to strike
the floor and the range R
where the sacks begin to
pile up.
Solution
Coordinate System. Origin of the coordinates is
established at the beginning of the path, point A.

Initial velocity of a sack has components (vA)x = 12 m/s


and (vA)y = 0

Acceleration between point A and B ay = -9.81 m/s2

Since (vB)x = (vA)x = 12 m/s, the three unknown are (vB)y,


R and the time of flight tAB
Vertical Motion. Vertical distance from A to B is
known 1 2
y  y0  (v0 ) y t AB  ac t AB ;
2
1
 6  0  0  (9.81)t AB 2
;
2
t AB  1.11s

The above calculations also indicate that if a sack is


released from rest at A, it would take the same amount
of time to strike the floor at C
Horizontal Motion.
x  x0  (v0 ) x t AB
R  0  12(1.11)
R  13.3m
Example 7
The chipping machine is designed to eject wood at chips
vO = 7.5 m/s. If the tube is oriented at 30° from the
horizontal, determine how high, h, the chips strike the
pile if they land on the pile 6 m from the tube.
Solution
Coordinate System. Three unknown h, time of flight,
tOA and the vertical component of velocity (vA)y. Taking
origin at O, for initial velocity of a chip,

(vO ) x  (7.5 cos 30 )  6.5m / s 


(vO ) y  (7.5 sin 30 )  3.75m / s 

(vA)x = (vO)x = 6.5 m/s and ay = -9.81 m/s2


Horizontal Motion.
x A  x0  (v0 ) x tOA
6  0  (6.5)tOA
tOA  0.9231s
Vertical Motion.
Relating tOA to initial and final elevation of the chips,
1 2
   y A  yO  (v0 ) y tOA  ac tOA
2
1
(h  2.1)  0  (3.75)(0.9231)  (9.81)(0.9231) 2
2
h  1.38m
Example 8
The track for this racing
event was designed so that
the riders jump off the slope
at 30°, from a height of 1m.
During the race, it was
observed that the rider
remained inthe
Determine mid air for
speed 1.5 s. he was traveling off the
at which
slope, the horizontal distance he travels before striking
the ground, and the maximum height he attains. Neglect
the size of the bike and rider.
Solution
Coordinate System. Origin is established at point A.
Three unknown are initial speed vA, range R and the
vertical component of velocity vB.
Vertical Motion. Since time of flight and the vertical
distance between the ends of the paths are known,
1
( sB ) y  ( s A ) y  (v A ) y t AB  aC t AB
2

2
1
 1  0  v A sin 30(1.5)  (9.81)(1.5) 2
2
v A  13.4m / s
Horizontal Motion

( sB ) x  ( s A ) x  (v A )t AB
R  0  13.38 cos 30 (1.5)  17.4m

•For maximum height h, we consider path AC


•Three unknown are time of flight, tAC, horizontal
distance from A to C and the height h
•At maximum height (vC)y = 0
•Since vA known, determine h using the following
equations
(vc ) y  (vA ) y  2ac [(sC ) y  (s A ) y ]
2 2

(0)  (13.38sin 30 )  2(9.81)[(h 1)  0]


2  2

h  3.28m

•Please show that the bike will strike the ground at B


with velocity having components of
(v )  11.6m / s , (v )  8.02m / s 
B x B y
Thank
You…..

You might also like