- -

UNIT 5 KINEMATICS
Structure
5.1 Introduction
Objectives

5.2 Kinematics of a Particle : Along a Straight Path

5.2.1 Linear Motion
5.2.2 Simple Harmonic Motion
5.3 Kinematics of a Particle : Along a Curved Path
5.3.1 Motion of Rotation
5.3.2 Curvilinear Motion
, 5.3.3 Projectile
5.4 Kinematics of a Rigid Body
5.4.1 Motion of Translation
5.4.2 Rotation of a Rigid Body about a Fixed Axis
5.4.3 Plane Motion of a Rigid Body

I
i
, 5.5 Relative Motion
5.5.1 Velocity in a Moving Frame of Reference
5.6 Summary
5.7 Key Words
5.8 Solutions/Answers to SAQs

This unit will introduce you the various types of particle and rigid body motions. The
prerequisites for this is the concept of a particle, a rigid body, and the displacement of a
particle. The basic knowledge of algebra co-ordinate geometry, trigonometry, differential
and integral calculus is essential. The understanding of various types of motions, velocities
and accelerations of particles and rigid bodies will be developed after study of this unit.
Objectives
After studying this unit, you should be able to :
* know different types of linear particle motions, velocities and accelerations,
* identify the simple harmonic motion,
* differentiate circular and curvilinear motion and projectile,
* h o w rigid body motions, and various methods to calculate velocity and
acceleration in plane motion, and
* define a relative velocity of a body.

5.2 KINEMATICS OF A PARTICLE :ALONG A

STRAIGHT PATH
We can define a particle as a material point without dimensions, but contains a defrnite
quantity of matter. In kinematics we are concerned only with the time displacement
relationship of a given motion of a particle or a rigid body.
When the size of a particle is extremely small compared with its range of motion, in cenain
cases we can consider it as a particle. Stars and planets, although quite large in diameter, can
be considered as very small when compared with their range of motion and may be
considered as particles in a very large space. Similarly the dimensions of a bullet of a rifle
are very small compared with those of its trajectories, and the bullet may be considered as a
particle.
When a particle moves, it describes a curve that is called a path. If the path described by a
particle is a straight line the particle is said to have rectilinear motion. The displacement is a
vector quantity and therefore, all vector methods are applicable to the displacement, velocity
and acceleration relationships.
 ,
Dyaukr
I 5.2.1 Linear Motion
Consider a particle moving along the x axis as shown in Figure 5.1, the displacement of this
particle can be defined by x-coordinate measured from fixed reference point 0.
When the particle is on the right hand side of 0, we can call this displacement positive and
when the particle is on the left hand side of 0 we can call the displacement negative.
7
II
$-I As particle moves, the displacement varies with time. If the displacement is x at any time t,
o the motion of the particle can be completely defined by the relation x =f (t), where f (t)
stands for any function of time.
nrrr S.1 'Ihe relationship between x and t will depend upon how the particle moves along x axis.

tben constant x, represents an initial displacement at time t = 0, while the constant v

represents the rate of increase of displacement. Such motion of a particle is called a
uniform rectilinearmotion.
Consider a particle at A when time is t as shown in Figure 5.2. After a small interval of time
At the particle moves further and occupies position B.
Such that
AB = hr.
Then we can defme,
~ ~ 4 s A B *
At
= Average change of displacement, also called as average velocity during time At.

(0 dx
as At -t 0 is called the instantaneous velocity which can be expressed as -
FiyrrSi2 At dt
?herefore, mathematically the differentiation of x with respect to t gives us the
instantaneous velocity.
Example 5.1
The displacement of a particle is given by the equation
x= lot3-7t2+6t+2.
1) Calculate the displacement, velocity, at t = 4 seconds.
2) Also calculate the distance travelled in 4th second. Distances a ~ measured
e in
centimeters.
Solution
1) ~ e h a v e x = 1 0 r ~ - 7 t ~ + 6 t + 2 .
.= Displacement, at t = 4 secs, will be
x , = 1 0 ~ 4 ~ - 7 ~ 4 ~ + 6 x 4 + 2
= 640-112+24+2
= 554 cm.

Velocity

:. at r = 4 secs,
v4=30x4*- 1 4 x 4 + 6
= 480-56+6
= 430 cmfsec.
2) Distance travelled in 4th second = x4- x,
we have x4 = 554 cm [calculated already]
a n d x , = 1 0 ~ 3 ~ - 7 ~ 3 * + 6 ~ 3 + 2
= 270 - 63 + 18 + 2
= 227 cm
The equation of nonuniform rectilinear motion can generally be expressed as
x = x, + vo t + - 1 a t 2. The displacement time diagr& for this can be as shown in
2
Figure 5.3.
In this case increment of displacement increases with time, we have accelerated motion and x ,
v d = - ak as in the previous case. Also we can write, ak = v dt
dt

... . f ak = 3 vdt

Ellprc53
12

or r, - x, = J vdt
11

= area under v - t diagram between t, and t 2 .

Let us now consider a velocity time diagram as shown in Figure 5.4.
If the velocity of a body is not comtant and Av = change in velocity in time At, then we can vl

&fme acceleration a as rate of change of velocity. 1

.-. average acceleration = - Av
At
and instantaneous acceleration = a,, = lim - Av - --dv
A At dt
1
-+
If we consider the equation of motion of a particle given by x = - a t 2 .then velocity Elgun 5.4
2

i.e. increase in velocity Av in equal intervals of time At is constant, throughout the motion
then the motion is called a motion with constant acceleration.
When in equal intervals of time At, increment in velocity Av,, Av, are unequal, then the
motion is called a motion with variable acceleration.
Also we have

"1 11

or v2 - vl= area under acceleration time diagram between t, and t2.

Example 5.2
The motion of a particle,is determined by the equation s = t - 3 t +2 t -8
where s is in metres and t in seconds. Determine the velocity and acceleration when
t = 2 seconds.
SolutIon
We have
s=t4-3t3+2t2-8

dv
and a = - = 12t2- 1 8 t + 4
dt
 = 16 m/sec2
Example 5.3
The acceleration time diagram for a particle is as given below. Calculate velocity of
the particle at various time intervals, plot velocity time diagram and calculate the
displacement of the particle at various intervals. Assume initial velocity vo = 0 and
initial displacement so = 5.30 crns.
Solution
We have
dv
- = a , or d v = a dt.
dt

.; v 1 - vo = area of a - t diagram between, t = 0 and t = 1 seconds

1
- = 10 cm/sec
2

0 1 2 3 4 ~
arnc(aonds) Similarly,

Rgure 5 5
v2 = v, + area of a - r diagrambetween t = 0 and t = 2 seconds

= 20 cm/sec
and v3 = 30 cm/sec
And now we plot v - t diagram as shown in Figure 5.6.
We have

v dt

area of v - t diagram between t = O and t = 1 seconds.

time ~~~
:. s, = so + -1 x 1 x 10
2
= 5.30 + 5.0
= 10.30 c m
s2 = so + area of v -3 diagram between t = 0 and t = 2 seconds.

= 25.3 cm.
 s, = so + area of v - f diagram between f = 0 and f = 3 seconds.

= 50.3 cm.
Vector Representation of Motion
3 +
If the motion of a particle is defmed by a position vector r (t) = x (t) ?t y (t) J + z (t) k
++ +
where i, j and k are unit vectors along x, y and z axes respectively.
The direction cosines of this vector are cos a , cos f! , cos y
We have
r (t) = x ( t ) ?+ 3
y (t) j + z ( t ) t+
Then velocity

and vx
c o s a = -, a s $ = 1, v
v cosy= 3
v v v
Similarly acceleration of the particle will be obtained by

Example 5.4
The position vector of a particle at any instant f with respect to the axes x, y and z is
given by
r(t) = (4?+5) z ( 3 ? + 2 ) j3+ 02
Determine nature of its path and its position, velocity and acceleration at I = 3
seconds. Distances are measured in centimeters.
Solution
*
As coefficient of k m the given equation is zero, there is no displacement along z
direction at any time f. This can be described as a motion of a particle in plane
(XOY).If there is any coefficient for the k vector of the motion, the motion of the
particle will be in space.
The given equation of motion can be written as

Eliminating t 2, from the above two relations we get

.. 3 ~ 1- 5 = 4 y - 8
.: 3 x - 4 y - 7 = 0.
This is the equation of a straight line. The path is shown in the Figure 5.8 which can
be obtained by calculating values of x and y for various values of 1 as given in
Table 5.1.
 Dynamics Table 5.1

"
10
3

O
/

10 20 30

Figure 5.8
40 50
X
The velocity and acceleration of the particle c m be calculated from the relations

SAQ 1
d r = d ( 4 t 2 + 5)
dt

at t = 3
dt

-
dt
2
= 8t,

dl2
+
v=24i+18j
& = A (3t2 +
dl

d x = 8 , fiiY=6

= 30 cmlsec.
+ +
a = 8 i + 6 j
+

= 10 cm/sec2.
dt
2) = 6 t

The position vector of a particle at any instant t with respect to axis x, y, z is given by
+ + +
r (1) = (8 + 1) i + (? + 3)j + 0 k . Find the path of the particle and its position
at t = 3 seconds. Also calculate velocity and acceleration of the particle at the same
instant.

SAQ 2
A body falling freely under the action of gravity passes two points 24 m apart
vertically in 0.5 seconds. From what height above the higher point did the body start
to fall?
Take g = 9.8 mlsec2.

SAQ 3
A body moves along a straight line with acceleration a which varies with t ;given by
a = 3 - 4t. After 5 seconds from start of observations its velocity is observed to be 30
mlsec. After 10 seconds from start of observations the body was 100 metres from the
origin.
a) Determine its acceleration, velocity and distance from the origin at the start of
observations.
b) Determine the time after start of observations in which the velocity becomes
zero and its distance from the origin.
c) Describe the motion diagrammatically.
5.2.2 Simple Harmonic Motion
Simple Harmonic Motion can be defined as a straight line motion of a particle whose
~hc~~~ties
I
acceleration is proportional to the displacement from a fixed point called origin and is
always directed towards the origin.
Let us consider a particle moving with constant speed along a circular path. The motion of
the projection of this moving particle upon the diameter of the circle can be considered as
Simple Harmonic Motion. D A
X
Consider a circle of radius r. A particle is moving along the circumference of this circle
with constant angular velocity win the anticlockwise direction. A particle starts its motion
from the initial position A as shown in Figure 5.9.
-
At any time r it occupies the position B and OB makes an angle 0 with x axis as shown. Let
I
OC be the projection of OB along x axis. ~ w 5.9
m
Then we have
OC = x = OB cos 8 = r cos or
The motion of C along x axis can be defined as Simple Harmonic Motion.
We have x = r cos wr.

.. 4 = - r w sinwt ... velocity of C

dt

and

=- d x ... acceleration of C.
negative sign indicates that acceleration is oriented towards origin.
From the figure it is clear that the diametrical projection of such a point oscillates between
AOD and back to A as the particle rotates around the circle. w is called the natural circular
frequency. The circle in this discussion is called auxilliary circle. The radius is called
amplitude of the motion. The time required to complete one oscillation is called the period
I
of the motion.
2~ .
periodic time T = -
0

Frequency is defined as the number of oscillations per second or f = 1

T
= * 2%'
Example 5.5
The displacement of a particle is defied by x = 5 + 3 cos 31
Find the position of the particle at t = 3 seconds. Calculate amplitude and frequency
of the particle.
Solution

at t = 3 x = 5+3cos9
= 2.27 cm.
We have
 Amplitude will be calculated as the displacement when t = 0
.. x = 5 + 3cos0° = 8 .
.: amplitude = 8 cm.

5.3 KINEMATICS OF A PARTICLE :ALONG A

CURVED PATH
When the motion of a particle is along a path other than straight path, it is called curvilinear
motion. The motion along a curved path may be only rotational motion or may be motion of
rotation alongwith motion on a straight path. In case of motion along a straight path velocity
and acceleration of the particle is oriented along the path itself but in case of curvilinear
motion velocity and acceleration will not be along the path.
5.3.1 Motion of Rotation
A- Now we consider a particle moving along a circular path. Let the radius of the circle be r.
Initially the particle is at A. At time t the particle occupies the position B. Position vector
OB makes an angle 8 with OA, then 0 can be termed as angular displacement.
:. 0 = f (1)
Wgure 5.10
After a small interval of time At, the particle occupies the position C such that
LBOC = A0 as shown in Figure 5.11.
Then 8 = average angular velocity.
At
and
a+&
- as At + 0 = - de = instantaneous angular velocity = c>ht
Al dt
*t. Consider o,angular velocity of the particle at B and o + A o will be angular velocity at C.
A Then
- as A ~ + O = -d =o a
At dt
This is defined as instantaneous angular acceleration and it acts along the tangent to the
Figure5.11 circle at the point.
As the particle moves along the circular path, let S be the distance travelled along the path.
Then s=re.
Linear velocity of the particle at B can be obtained by

Figure 5.12
The velocity will be oriented along the tangent at B as shown in Figure 5.12(a). Ktnenutia

Similarly let v + Av be the linear velocity of the particle at C. Then

will be the linear acceleration along the tangent and ro2 or 1 will be centripetal
r
acceleration oriented towards the centre as shown in Figure 5.12(b).
5.3.2 Curvilinear Motion
Consider a particle moving along a plane curve AB as shown in Figure 5.13. At any ~ i nPt
on the curve, we can ascerttin two directions, tangential and normal to the curve. Lett be
the unit tangent vector and n be the unit normal vector at P. It is clear that the directions of
the normal and tangent will vary at various points.
At any other poitt P ufit tangent vecto5? %unit normal vector 2 will be in different
directions from t and n at P. Therefore t and n are unit vectors of constant magnitudes but
variable in directions. Hence, they can be differentiated. Let v be the ^velocity
of the particle at P which will be acting along the tangent. Let ? and n' rnakeAan
angle A$ with their old directions. Now we increase the unit normal vectors n Y c
and 2 and let them meet at C which is called the centre of curvature and length
CP = p is called the radius of curvature.
. As = p . A $

At P'
:. v = -ds= As = p d 3
lim -
dt ~l+oAt dt
The velocity at point P' will be different from velocity at P and can be written A
as v + Av. The change in velocity Av will be a vector and will be caused by an J
increase in the magnitude as well as a change in the direction of vector Vat P o X
as shown in ~ i ~ u5.14.
re

Figure 5.14

v . AV = (V + A v ) ~
Therefore, acceleration a will be
D ~ ~ C S Resolving along tangent and normal at P.
a = [ lim ( v
Al+o
+ Av)
At
cosA@ . )" vcos0 .
At
1'
but as At + 0, A$ + 0. and lim . sin $ = $ and lim .cos $ = 1.
A

:. a = lim [ ( v t A ~ ) -t e I.+ (
&+O A1 At
4 + %.$
At
+ U.$
Av . A$ is the product of two small quantities, we neglect it. Also we have
At 1
A$ = - AS and - As --v
P Ar
- -.n

If a, = tangential component of acceleration, and a,, = normal component of

acceleration. Then
A A
a = a,t + a n n

= -dv. t A
+ -v2. n A

dl P

la1 =

Elgun?5.15
X
- d-@fq
This resultant acceleration will make an angle P with the normal to the curve at p. Then

shown in Figure 5.15.

Here, we must remember that normal acceleration is oriented towards the centre of
curvature C.
In case of rectilinear motion p= m and a,, = 0. The acceleration a = a, = - dv and will be
dt
always along the path of the particle. If equation of the path of the particle is given by
v = f ( x ). Then the radius of curvature at a point whose coordinates are x and v is given by
d2v
-

Example 5.6
The motion of a particle in xoy plane is defined by Ule equation
f f
r ( f )= 3 t 1 + ( 4 t - 3 t 2 ) j
The distances are in metres. Find its radius of curvature and its acceleration when it
crosses the x axis again.
Solution
We have

:. The equation is a second degree curve and if we equate it to zero, we will get two
values of x .
The path ctosses the x axis at x = 0,y = 0 and t = 0 second, x = 4 , 'Y (m)
4
y = 0, t = - seconds as shown in Figure 5.16.
3
The radius of curvature is obtained as below.

Figure 5.16

and

Wehave, x = 3 t y = 4 t - 3 ?
:. vx= 3 m 1sec :. vy = 4 - 6 t m 1sec.
:. t = C, v x = 3 mlsec., v y = 4 rnlsec.
:. v = d32 + 42 = 5 m/sec
Differentiating further, we get
 The total acceleration is constant and equal in magnitude to 6 m I sec2.
At both instants r = 0 and r = 413 sea. 'lhe normal acceleration can be found as an

and tangential acceleration

The tangential and normal component of acceleration of r = 413 sec. is shown in

Figure 5.16.
5.3.3 Projectile
A particle thrown up with some angle of elevation with initial velocity v, will traverse a
path called trajectory, and the motion is called projectile as shown in Figure 5.17.
The equation of this motion can be written as below
x = vo cos 0 1

where g = gravitational acceleration.

Eliminating t from the above equations
X
f=
vo cos 0

The path is a parabola.

The velocity along x axis is constant and is equal to
v, = vo cos 0

and x = distance travelled along x axis

Velocity at any instant along y axis will be

V, = V, sin 0 - gt.
and
y = distance travelled along y axis

- \B
o - -- If H is the maximum height reached, this will take place at the instant when
x vy = 0.

K p r e 5.17 :. 0 = v, = vo sin 0 - gr
r=- vo sin 0 time for maximum height
R

H = it, sin0 x
vo sin 0 1 4 sin20
g -p 8
- 3, sih2 0
2 13
When the particle crosses x axis again, i.e. when it is at B vertical distance travelled is zero.
This is called the range of the projectile and normally denoted by R .
We have . Kinematics

2 vo sin 0
.. = t
?!

2v0sin0 - - <sin20
= vo cos 0 x
R R .
2 vo sin 0
T = time of projectile =
R
Example 5.7
A ball is thrown horizontally from the top of a building 60 m height, hits the
horizontal ground 25 m from the base of the building as shown in Figure 5.18.
What is the initial velocity of the ball?
Solution
Let the top of the building comer be origin. Then
v, = v and v,, = 0
We have

:. t = 3.5 seconds
X = Vf

Example 5.8

A gun fires a projectile with a muzzle velocity of 300 m 1 sec as shown in

Figure 5.19. Find its angle of inclination so that it strikes a target situated at a
horizontal distance of 4000 m and 200 m above it.

Solution
Coordinates of the target will be ( 4000 ,200 ). Substituting these values
in the equation of motion. We have
I

200=4000tan0- 9.81 x 400d

2 x 3002 cos20
:. t a d 0 - 4.587 tan 0 + 1.23 = 0
:. 0 = 15.96O, or 76.91'
SAQ 4
Efpre 5.19
Find the velocity an4 acceleration after 0.4 seconds from the extreme
position of a body moving with simple harmonic motion with an amplitude of 0.8 m
and period of complete oscillation of 1.8 seconds. 9
 SAQ 5
A projectile is fixed from the edge of a 160 m high cliff with an initial velocity of
200 m/sec at an angle of elevation 35" with horizontal.
Neglecting air resistance, find
a) the horizontal distance from the gun to the point where the projectile strikes the
ground, and
b) the greatest elevation above the ground reached by the projectile.

SAQ 6
Determine path, velocity and acceleration of point 'M' in the middle of b e
Y connecting rod of the crank gear shown in Figure 5.20. If OA = OB = 2a and angle $
I A
increases in proportion with time $ = of.

Figure 5.U)

5.4 KINEMATICS OF A RIGID BODY

The study of motion of a rigid body in space is a very complicated problem. In this study we
will only consider
1) motion of translation,
2) motion of rotation and plane motion.
5.4.1 Motion of Translation
When a rigid body moves in plane in such a manner that a straight line in the body remains
parallel to itself. Such motion of the body is called the motion of translation.

Figure 5.21

Line AB moves parallel to itself at all the times, such that at different instants it assumes thc
positions A , B,, A, B, etc. The vector AB = r,, remains constant during the motion, since
the magnitude and direction of this vector does not change. Consider two wheels A and B
and a bar PQ hinged at both ends to these wheels. When the wheels rotate about their axes
the bar PQ will undergo motion of translation. The position P'Q' at any instant of the bar
will be parallel to its original position PQ given in Figure 5.22.

Figure 5.22

We can write down the equation of position vector at B as follows (refer Figure 5.21)

differentiating this equation with respect to time we get

but vector r A B = A is constant in magnitude and direction.

but

Ldt" = v , and dr,-

-
dt
-
VB

Differentiating once again we get

We also keep in mind that A and B are any two points in the rigid body. Thus we can say
that, the velocities and accelerations of all points in the rigid body undergoing motion of
translation are the same at all instants.
5.4.2 Rotation of a Rigid Body about a Fixed Axis
Consider a body which rotates about z axis as shown in the Figure 5.23. Any point P lying
in the my plane will move along a circular path as shown. The point Q will similarly trace
out a circle in a plane parallel to xoy plane.
A plane OA passes through the axis of rotation OZ which will be assumed to be fixed to the
body such that it rotates with the body. At any instant t the position of the body can be
defined by the angle this rotating plane makes with a plane fixed in space. This angle is I$ as
shown in Figure 5.23. This is also called angular displacement. The angle I$ changes as
time changes and I$ will be a function of time.

After a small time interval At. The plane OA rotates further and occupies the position OA'
The angle I$ will alter by the amount A$ = angle POP'.
Then

4= average angular velocity

Al
and if o = instantaneous angular velocity, then
Dynamics

We must note that angle $ is measured in radians and the units of w will be radiansJsecond
also mentioned as sec- '.
If the body undergoes N number of revolutions per minute then
we have w = -
x: radians~second.
60
Further we can define instantaneous angular acceleration a as below
a= Aw
lim = -d o= d2A
Al-toAt dt d?
Example 5.9
.The angular displacement of a rotating body starting from rest is defined by
@ ( t ) = 4t3 - 312. Find its angular displacement, angular velocity and angular
acceleration at t = 2 sec.
Solution

At t =. 2 sec ,
:. w = 48 - 12 = 36 rad/sec

a = 48 - 6 = 42 radlsec2
Velocity and Acceleration of a Point in a Rotating Body
The velocity and acceleration of any point P can be expressed in terms of angular velocity
and angular acceleration.
Please refer Figure 5.24 (a). The position vector of the point P be r ( t ). As the body rotates
P will trace out a circle of radius a in a plane parallel to XOY plane, where a = r sin 0. The
centre C of the circle will be along z axis. The path of P is shown separately in Figure 5.24.
(b) Po is the starting point and distance s = a $ is measured from Po.
Then linear velocity of P can be obtained by
 ---:--Fp
- J -/ Starting point I a\

This will be directed along the tangent to the circle at P. The magnitude of velocity v is
proportional to the distance of P from the centre of its path.
Consider the Figure 5.25. The acceleration of point P can be obtained as shown. We know
that P moves along a circular path of radius a. The acceleration of P will have two
components, viz tangential component and nonnal component.
Therefore, we have

\ Axis
\
\

but
 magnitude I n l = d n2 + n2 04

If p is the angle the resultant acceleration makes with normal componenl then

Example 5.10
A fly wheel with diameter 400 mm starts from rest with constant angular
acceleration 2 rad / [Link] the tangential and normal components of
acceleration of a point on the rim, 3 seconds after the motion starts.
Solution
Radius of the wheel = 200 mm.
a = 2 rad / sec2 (constant)

5.4.3 Plane Motion of a Rigid Body

When the body moves in such a way that all the points in the body move parallel to a -
fixed reference plane, such motion of the body is called the plane motion.

Figure 5.26

Consider the section of the body 's ' as shown in Figure 5.26 on XOY plane, consider the
point A as pole and xA and yA as coordinates of the point. After sometime S will move and
occupy position S' such that line AB occupies the position A'K. The paths AA' and BB'
traced by A and B will be different.
We can write coordinates of B as
xB = xA + a cos I$
and
yB = yA + a sin $ .
The displacement of a body undergoing plane motion is equivalent to a translation of a pole
and a rotation about an axis passing through this pole.
The final position of AB defied as A'B' can be considered as below.
Fist, let the body occupy the position A'B" such that all the particles have motion of
translation i.e. they move parallel to AB.
Then we imagine that the body rotates about an axis passing through A' in the anticlockwise
direction through an angle A$ such that point B" occupies the position B'.
Also we can consider that the body has occupied fist position of B' A" and then rotated
about an axis through B' and occupied final position of A'.
Velocity of Points in a Rigid Body

Figarc 5.27 :Velocity of Points in a Rigid Body

We consider the equation of pole A in the body as

TA ( 1 ) = XA (!) ?+ yA (1)7
At any instant position vector of any other point B is given by
rB = rA + rAB
-
r, = A B is a vector of constant magnitude because distance AB is constant. But the
&AB
direction of this vector can change with respect to time so that - exist . Then by
dl
differentiatingwe get

4i.B
-dl
is the differentiationof a vector of constant magnitude but changing in direction. If o
is the angular velocity with which the body rotates about the axis then we can write
This is a vector VAB of magnitude a. rAB,acting at right angles to AB.
Then
VB = VA + VAB .
Here we must note that velocity of B consists of two components.
1) The component vA which represents the velocity of translation of pole A.
2) The component vABof magnitude a rABis caused by the rotation of point B
about an axis passing through A, perpendicular to the plane XOY. This
component will be perpendicular to AB.
VB = VA +0X rAB
Example 5.1 1
A wheel of 0.5 m radius rolls over a horizontal surface without slipping as shown in
the Figure 5.28(a). The velocity of its centre is 2 mlsec and is constant. Calculate
the angular velocity of the wheel and velocities at C, D and E.

Solution
As the wheel rolls on the ground and does not slip or slide on the ground, the velocity
of the point of contact of wheel and ground is same but the velocity of ground must
be equal to zero.
:. we get v, = 0.
Now consider the wheel as the rigid body and the body rotating about an axis through
the pole A and B is the point on the rim of the wheel.
Considering this motion as a plane motion we have

= - AB . ai ,acting at right angles to BA in the opposite direction of vA

= 4 rad 1 sec.
Now, refer Figure 5.28(b)

Similarly,refer Figure 5.28(c)

 Kinematics

and

Instantaneous Centre Technique

We have seen that a body undergoing plane motion has two components
1) Translational Component and
2) Rotation Component.
Further we can imagine a point (may be outside the body sometimes) about which the body
appears to rotate i.e. the translation motion of this point is zero. Such a point is called
instantaneous centre of rotation.
Consider a body bdergoing plane motion. vA and v, are velocities of two points A and B at
any instant as shown in Figure 5.29 .
Draw perpendicular to v, at A and perpendicular to vB at B. These two perpendiculars
meet at 0 . Then 0 is called the instantaneous centre of rotation also known as
instantaneous centre of zero velocity.
Then we have .
vA = vo + voA voA = A 0 o ( perpendicular to OA )

VB = v0 + voB vOB = BO w ( perpendicular to OB )

This is possible when v , = 0.
.= 0 is instantaneous centre.
Example 5.12 ~igure5.29

A bar AB as shown in the Figure 5.30(a) slides so that its bottom point A has a
velocity of 4 m / sec to the left along the horizontal plane. Calculate the velocity of B
and also the angular velocity o.

.-- (a)
ETgure 5.30

Solution
A bar AB is resting on two surfaces as shown in Figure 5.3qa). If end A starts
moving to the left then B will start sliding down along the sloping surface as shown
in Figure 5.30(b). To locate instantaneous centre draw perpendicular to v, at A and
perpendicular to vB at B. These perpendiculars meet at 0 . Consider A AOB.
L OAB = 75". L ABO = 60"
:. L AOB =45"
 By using sine rule we can get the length A 0 and B 0.
.. - -AB- - -- A 0 - BO
sin 45O sin 60° sin 75'

and
v, = OB o = 3.265 x 1.366 = 4.46 m/sec
Velocity Diagram Technique
If A and B are any two points in the rigid body undergoing plane motion and if we know v,
then we have

,v is the velocity of B with respect to pole A and is perpendicular to AB.

Thus we can draw a triangle representing velocities and get the magnitude of unknown
velocity.
Example 5.13
Solve the Example 5.12 by velocity diagram method. See Figure 5.31(a).
We have
v, = vA + VA, ( perpendicular to AB )

(a)
Figure 5.31

Solution
Select any point 0. Draw v, to scale (oa). Draw a line along which v, lies. From a
draw VAB in a direction perpendicular to AB where it cuts the line drawn from 0
along 0 b. Name it b. Refer Figure 5.31(b).
Then Ob represents Vb , and ab represents.,v

.. VA- - --
-- VB - v~~
sin 60" sin 75' sin 45"
Example 5.14
In the slider crank mechanism shown in Figure 5.32, the crank is rotating clockwise
at 120 revolution I minute. What is the velocity of the crosshead when lhe crank is in
the 60' phase ?
Solution
We have, crank AB = 200 mrn = 0.2 metres.
oM= 120 revolution I minute

as B rotates about A, V B = AB . o A=~0.2 x 4 IF = 0.8 n = 2.51 d s e c and %

is perpendicular to AB .
Crosshead C moves along horizontal.
We know VB fully its magnitude and direction.
Consider A ABC.

AB - BC -
---- AC
sina sin 60' sin(120° - a)

1) By Instantaneous Centre Method

Figure 5.33
Draw perpendicular to vBat B and perpendicular to v, at C . They meet at 0.
Consider A BOC. Refer Figure 5.33
BC = CO -
- BO
sin 30° sin 71.09" sin 78.9"

;. OC = 0.9 x sin [Link] = 1.702

sin 30°

OB = 0.9 x sin 78.g0 = 1-76

sin 30°

2) By Velocity Diagram Method

From any point 0 represent vB,draw vBperpenpicular to BC from the end of vBdraw a line
parallel to v, .

.. 'B - 'BC - Vc
sin 78.91° sin 30° sin 71.1 lo

:. vc = VB . sin 71.1lo
sin 78.91°

VBC = VB . sin30° - - 2.51 x 0 . 5

sin 78.91° 0.98
= 1.2806 mfsec

We plot the triangle shown in Figure 5.34 to scale and get the graphical solution.

Acceleration in Plane Motion

If a body is performing plane motion and acceleration of the pole A and angular acceleration
of the body is known, then we can calculate the acceleration of any other point B as shown
in Figure 5.35.
 a,= Acceleration of pole A.
aM = Acceleration of B with respect to A.
But, we know that B rotates about A, with o and a as angular velocity and acceleration
respectively.

perpendicular AB From B + A

. 8rB - d2rA + -d. ( o x r , , )

" d? dt2 dt
- -d2rA + d~
r A B+ -
o -d r ~ ~
d? dt dt
:. a, = a, +a x r, + or,
A A
= a A +a,t + a,n
These components are shown in Figure 5.35 and by combining these vectors we can get the
final acceleration of point B.
Example 5.15
A locomotive wheel of radius r = 0.8 m is shown in Figure [Link] the given instant,
the speed of the locomotive is 1.6 m/sec and is accelerating at the rate of 2 m/sec2.
Calculate the angular acceleration of the wheel and the acceleration of the points P,,

DPl p3;
P,, P, and P, lying on the vertical and horizontal diameters.
P4

p3 O L t ,
A I
I +a~
I
I
e
' P,'

p2
(a) (a)
ETpre 5.36
Dydcs Solution
We have V A = ro . P2is inst. centre of rotation

Assuming the wheel to be moving towards the right as shown, o and a will be in the
clockwise direction.
Accelerations of P,, P2etc. can be calculated very easily from the equations derived above.

Point P,

21
3.2
f
I
Y'
a
;
I
:" 2.0
:.
tan 8 = -2
1.2
= 1.67

8 = 59.03".
ap2 = 3.2 d s e c 2
2 2
Similarly for P2
Acceleration of P, and P, can be calculated in the same way.
SAQ 7
The two blocks A and B are connected as shown in Figure 5.37. The velocity of
A is 5 cdsec to the right. Calculate the velocity of block B.

Rgure 5.37
SAQ 8
The linear velocity of the cross head is 2.0 d s e c to the left along the horizontal
plane. Using the instantaneous centre method, determine the angular velocity of the
crank AB in the phase shown in Figure 5.38.

Figare 5.38
SAQ 9
The block as shown in Figure 5.39 moves on two 100 mm diameters rollers. If the
block has a velocity of 1 d s e c to the right, determine the velocity of the centre of
one of the rollers?
 Kinematics
5.5 RELATIVE MOTION
Jpto this time, we have studied the motiorl of the particles and rigid hodics wilh respect to a
'ixed set of reference axes. Sometimes it is necessary to study the motions wilh moving
;rame of reference. Let us consider a person moving on the deck of a boat which itself is
sailing. If the observer is standing on the shore (assumed to be fixed) and is observing the
motion of the moving person on the deck his observation will be different than the motion
observed by the observer which is itself on the boat.
The motion of a particle or a rigid body with reference to tixed axes is termed as absolute
motion. The motion of the particle or a rigid body with respect to moving reference axes is
termed as relative motion.
5.5.1 Velocity in a Moving Frame of Reference
Consider a body performing plane motion as shown in Figure 5.401 This body will be
termed as vehicle, OX and OY axes are fixed axes. If I and J are unit vectors along them
respectively, then we can say

Figure 5.40

Consider any particle B which is moving in the vehicle. Further let us consider any one
point A as pole in the body. Then motion of P can be studied by fixing axes A, and A, to the
vehicle at A, i and j are unit vectors acting along A, and A, respectively. These axes also
di
mate along with the vehicle and hence we ean say - and '@ exist. Also o and u are
dt dt
the absolute angular velocity and acceleration of the body.
If r B = m
Then
OB= m + m

These vectors also can be expressed with reference to fixed set of axes, as below,

r , = XAI + YAJ
and
+ +
rAB= XP i + Ypj
In the above equations there are three terms. The significance of each term is as below.
1) dr, clX, 4 dYA +
v I+- J
A - dt - dt dt
This is the absolute velocity of point A in the vehicle and as we have assumed
A as a pole, this also represents the translatory velocity of the vehicle.

This represents the rotation of point B with respect to pole A which is

obtained by treating vector r, of constant magnitude in the vehicle itself.

This is the velocity of B with respect to reference axes x, y attached to the

vehicle. This is, therefore, the velocity of B relative to the vehicle or called the
relative velocity of B and represented as 4.
Further we can combine
VA + VAB = Vbg
4
Where we can call is the velocity of the particle B if it was attached to the
vehicle and this is termed as vehicle or base velocity.
... VB = 4, + .I,

v; = v, - 4,
Hence we can say relative velocity is the difference of absolute and vehicle
velocity.
Example 5.16
As shown in Figure 5.411. a ship A moves with a velocity v, = 40 kmmour while ship
B moves with a velocity of vB = 30 kmfhour. Find the velocity of B as it appears to an
observer on A.
 Solution Kinematics

Moving axes x, y are fixed to the ship A and all vectors are expressed in terms of vectors i,
1.
Then
vA=40i and v,=-30j

I
:
A point fixed to the x, y axes and coinciding with the ship A would also move with
velocity v,.

I
: and

and magnitude
161 = d ( - 3 0 ) ~ + (-40)~

5.6 SUMMARY
In this unit we have seen the various types of motions which may he undergone by particles
and rigid bodies. You may be able to understand the relationships of displacement. velocity
and acceleration when a particle is moving along a straight path. The acceleration of the
particle may be uniform or may be variable. A special type of linear motion called simple
harmonic motion is also studied by you and we are aware that this is a repetitive type of
motion.
A particle may move along a circular path with uniform or variable velocity. We have
studied the methods by which we can calculate tangential and normal components of
accelerations. A special type of curvilinear motion is called projectile in which the path is
parabolic and called trajectory.
A rigid body motion may be translatory or [Link] fixed axis and can cause velocity
and acceleration at different points in the body. A plane motion is a combination of these
two motions. To calculate velocity in plane motion we can use instantaneous centre
technique velocity diagram method. Further, acceleration in plane motion can be calculated
if we h o w the angular acceleration of the body.
Many a times, the axes of reference are not fixed. The same are attached to a body called
vehicle which moves and observations are made by the observer standing on the vehicle.
Thus relative motion and relative velocity can be calculated.
The kinematics part of dynamics of bodies is very important for understanding the motions
and the forces which are responsible causing the motions. The forces and their effects on
particles and rigid Bodies will be studied in successive units.

5.7 KEY WORDS

Rigid Body : This is defined as a definite amount of matter. Any two
points in this matter are fixed in position relative to one
another.
Rectilinear Motion : This is the motion of a particle along a straight line.
Displacement, velocity and accleration are also in the
same direction. The position coordinate 'S' replaces the
position vector r and scalar differential equations can be
applied.
CuwiHnear Motion : This is the motion of a particle along a curved path and
may be expressed in terms of rectangular components,
normal and tangential components, or polar and
cylindrical coordinates. This motion may be considered
equivalent to the simultaneous projection of the motion
 along fixed rectangular axes and each projected motion
can be treated as a rectilinear motion.
Tangential and Normal
Components of
Acceleration These are components of acceleration and denote the
rate of change of magnitude and direction of velocity.
Using unit vectors r'and $to denote directions
respectively tangent and normal to the path we get

where p is the radius of curvature at the instant.

Simple Harmonic
Motion (SHM) This describes the straight line motion of a body whose
acceleration is proportional to the displacement from a
fixed origin and is always directed towards the origin.
The motion is a special case of rectilinear motion with
variable acceleration. The motion is essentially a
vibratory displacement such as that described by a
weight which is attached to one end of a spring and is
allowed to vibrate freely.
Motion of Translation This is defined as the motion of a rigid body in which a
straight line passing through any two particles of a body
always remains parallel to its initial position. All
particles travel along the same or parallel paths and
therefore have identical values of displacement, velocity
and acceleration.
Motion of Rotation
about a Fixed Axis This is the motion of a rigid body in which the particles
move in circular paths with their centers on a fixed
straight line called the axis of rotation. Angular
displacement is measured in radians by the angular
distance traversed through by the projection of any line
in the body upon a plane perpendicular to the axis of
rotation. The kinematic characteristics of rotation is that
all particles in the body have identical values of angular
displacement, angular velocity and angular accelerations.
Plane Motion This is the motion of a rigid body in which all particles
move in parallel planes. It is also considered to be
equivalent to an instantaneous combination of rotation
about any reference point in the body plus geometrically
the translation of the reference point.

SAQ 1
We have x (1) = ? + 1, y (t) = t + 3 eliminating ? between the above two, we get
y = x + 2. The path of the particle which is the equation of a straight line in XOY
plane. This path is shown in Figure 5.42.
At t = 0 the particle will be at Po whose coordinates are 1 and 3.
n
At t = 3 seconds, the position of particle will be at P whose coordinates are
x=10cmandy=12cm.
I /+z Now to get velocity and accelecation,

X at t = 3 , v, = 6 c d s e c v, = 6 c d sec
0
:.Total velocity = 6 f i c d s e c = 8.49 d s e c
 .: Acceleration is constant. a, = 2 cm/sec2. 4 = 2 cm/second2
-a = 2.\Jz-cm/sec2
= 2.83 cm / sec2.

SAQ 2
Given - initial velocity u = 0.
Let the body start from A and pass the two points B and C 24 m apart in 0.5 sec as
shown in Figure 5.43.
Let distance AB = x m
Then AC = (x+24) m
Let t be the time taken by the body to travel AB
Then (t + 0.5) = Time taken by the body to travel AC

1) x + 2 4 = p(r+0.5) + -21 g(t+0.5) 2

+ 0.5) 2
= 4.9 ( t
2) we get 24 = 4.9 [?. + t + 0.25 - $1
= 4.9 ( t + 0.25)
:. t = 4.65 seconds
.-.x = 105.86 m.
SAQ 3
I
I
Given - acceleration a = 3 - 4 t
t At r = 5 seconds v = 30 m/sec

a) i) Acceleration at start we can get as below

a = 3-41
at r = 0 , a = 3 m / s e c 2 (am)
ii) We can write equation (1) as

where C1 is the constant of integration

at t = 5, v = 30 m/sec
... 30 = 1 5 - 5 0 + C l
C1 = 30-15 + 50 = 65
Substituting in (2) we get
v = 31 - 212 + 65 (3)
The velocity at start can be obtained by substituting fHQ in equation (3)
.: v = 0 - O + 6 5 = 65 m/sec
 ds
iii) Wehavev = - = 3t-2?+65
dt

where C2is another constant of integration

at t=lOseconds,s=100m

C2 = 100 150 - + 666.67- 650

= -33.33
Substituting this value of C2in equation (4) we have
S = 1.58 - 0.67 ? + 65 t - 33.33

The distance at start can be obtained by substituting t = 0in equation (5)

:.S = - 33.33 ans.
b) The equation (3) gives the velocity [Link] time t.
To find the time after start of observation in which velocity becomes zero. We
substitute v = 0 in (3)

:.
= 6.5 seconds
f (m)
The distance from the origin at t = 6.5 seconds will be obtained by substituting
this value oft in *tion (5)

c) Description of motion diagrammatically. 'Ihe velocities for different times in

seconds is obtained from equation (3). They are given as :

Time in Secs 0 1 2 3 4 5 6 7 8

Velodty 'v' mfsec 65 66 63 56 45 30 11 -12 -39

Figure 5.44 shows the graph of velocity and time

70-

so.
20.

Time -
\
-20 -
-90- Figure 5.44

-40-
SAQ 4
a) Given Amplitude r = 0.8 m.
Period of oscillation T = 1.8 seconds.
Time taken by the body from extreme position t = 0.4 seconds
Let
v = velocity of the body
a = acceleration of the body

2lc
Wq have T = -
o

As the time t is measured from extreme position A as shown in Figure 5.45.

v = -rosinat
= - 0.8 x 3.49 x sin (3.49 x 0.4)
= - 2.792 sin 79.98'
= - 2.749 m / s (ma)
acceleration is given by
a = -ro2cosot
2
= - 0.8 x (3.49) x cos (3.49 x 0.4)
= - 9.744 x 0.174
= -1.695 m/sec2 (m.1
SAQ 5
Given Height of cliff h = 160 m
Velocity of projection u = 200 d s e c
Angle of projection 8 = 35"

Let the gun is fixed at point 0 and the projectile strikes the ground at C as shown in
Figure 5.46.
Considering vertical motion we aave

:. - 150 = (202 x sin 35) x t - 1 x 9.8 x 8

 = 24.65 seconds (ans.)
Horizontal distance x = u cos 0 t
= 200 x cos 35 x 24.73
= 4051.53 m
Max. vertical height y,, = 160 + &,

SAQ 6
Let us first develop the equation of motion of point M.
Let x, y be coordinates of M
Then x = 3acos+ , y = asin+
= 3a cos wt , = a sin wt.
To determine path of M, we get relationship between x and y as below
X
- = cos wt , 1 = sin o t
3a a

So we can say that the path described by point M is an ellipse with semi axes equal to
3a and a.,
Further we get
= vx = - 3ao sin or.
dt

.:v = a o 49 sin2 o t + cos2 o r

I

Velocity is a variable quantity changing with time.

vmia = am and ,v = 3 am.
Further we have,

where r is the radius vector from the origin to point M . Thus the magnitude of the
acceleration changes in proportion to its distance from the centre of the ellipse.
 To determine direction of a, we get

The acceleration wiU be always oriented towards the origin.

SAQ 7
As VA is to the right, block B will move downwards.
Let us locate instantaneous centre. I
Draw I f to VA at A.
Draw I r to VB atB. I
I
They meet at 0.i.e. inst. centre.
:. OA= 10 sin30=5
:. OB = 10cos 30 = 8.66

:. a
A B = O A = - -OB
v' - 1 rad / sec

V, = 8.66 mtsec downwards.

SAQ 8
Locate inst. centre at 0 by drawing perpendicular to V, at C at perpendicular
to VB at B.
Consider AABC
-AB
-- - BC
sina sin35
AB
:. sin a = - sin 35 = 0.2867
BC
:. a = 16.665"
Consider A OBC
L B = 35 + a = 51.665"
L C = 90 - a = 73.33'

--
-BC
- - OB -
- OC
sin 8 sin (90 - a ) sin (35 + a )
BC sin 51.665
:. OC =
sin 55
= 2298.17.

BC sin 73.33
.= O B = = 2807.25
sin 55
SAQ 9
We have 0 as inst. centre
.'. v, oc . a,,
=

3f aBC vc
= --
2000
= 0.87 rad / sec
OC - 2298.17
Similarly v, = OB 0 , ~
= 2443 mm / sec
= 2.443 m / sec
Dynamics But B rotates @ A

.-.oAB= - 2.443 - 2.036 rad / sec

vB - -
AB 1.2
Dia. of roller = 100 mrn
= 0.1 m
The block rests on rollers.
The velocity of the block is the same as the velocity of the top point on roller. i.e. point B.
Let A be the contact point of roller with the ground V, = OA is instantaneous centre also
VB = O X A B
A We have
1
Figure 5.49 :. o = - = lOrad/sec
0.1

= 10 x 0.05
= 0.5 m / sec.