Introduction

• Mechanics – the state of rest or motion of bodies

subjected to the action of forces
• Statics – equilibrium of a body that is either at
rest or moves with constant velocity
• Dynamics – deals with accelerated motion of a
body
1) Kinematics – geometric aspects of a motion
2) Kinetics – analysis of the forces causing the
motion

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Rectilinear Kinematics: Continuous Motion

• Rectilinear Kinematics – specifying the particle’s

position, velocity, and acceleration at any instant

• Position
1) Single coordinate axis, s
2) Origin, O
3) Position vector r – specific location of particle
P at any instant

2
Rectilinear Kinematics: Continuous Motion

4) Algebraic Scalar s in meters

Note : - Magnitude of s = Dist from O to P

- Direction is defined by algebraic sign on s
=> +ve = right of origin, -ve = left of origin

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Rectilinear Kinematics: Continuous Motion

Displacement
• Change in its position, vector quantity

• If particle moves from P to P’,

r = r  − r
s = s − s
When is +ve / -ve, particle’s position
is right / left of its initial position

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Rectilinear Kinematics: Continuous Motion

Velocity
r
• Average velocity, vavg =
t

• Instantaneous velocity is defined as

vins = lim(r / t )
t →0

dr
 vins =
dt

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Rectilinear Kinematics: Continuous Motion

Velocity
• Representing vins as an algebraic scalar,
ds
v=
dt

+ve = particle moving to the right

–ve = Particle moving to the left
Magnitude of velocity is the speed (m/s)

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Rectilinear Kinematics: Continuous Motion

Velocity
• Average speed is total distance traveled by a
particle, sT, divided by the elapsed time t .

(v ) =
sT
t
sp avg

• The particle travels along the path of length sT in

time
=> (vsp )avg = sT
t
s
vavg = −
t
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Rectilinear Kinematics: Continuous Motion

Acceleration
v
• Average acceleration is aavg =
t

• Δv represents difference in the velocity during

the time interval Δt, ie v = v'−v

a = lim(v / t )
• Instantaneous acceleration is
t →0
d 2s dv
• Thus we have a= 2 and a=
dt dt

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 Rectilinear Kinematics: Continuous Motion

Acceleration
• When particle is slowing down, its speed is
decreasing => decelerating => v = v'−v will be
negative.

• It will act to the left, in the opposite sense to v

• If velocity is constant,
acceleration is zero.

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 Rectilinear Kinematics: Continuous Motion

Velocity as a Function of Time

• Integrate ac = dv/dt, assuming that initially v = v0
when t = 0.
v t +
v0 dv = 0 ac dt  v = v0 + act  → 
Velocity as a Function of Position
• Integrate v dv = ac ds, assuming that initially
v = v0 at s = s0
+
ac ds  v = v + 2ac (s − s0 )
v s
 vdv =  →
2 2
0
v0 s0
 
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Example 12.1
The car moves in a straight line such that for a short
time its velocity is defined by v = (0.9t2 + 0.6t) m/s
where t is in sec. Determine it position and
acceleration when t = 3s. When t = 0, s = 0.

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Example 12.1

Solution
Coordinate System
Positive is to the right.

Position
When s = 0 when t = 0, we have

v=
ds
dt
(
= 0.9t 2 + 0.6t )
( ) ( )
s t s t

 ds =  0.9t + 0.6t dt  s = 0.3t + 0.3t = 0.3t 3 + 0.3t 2

2 3 2
0 0 0 0

When t = 3s, s = 10.8m

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Example 12.1

Solution
Acceleration
Knowing v = f(t), the acceleration is determined from a = dv/dt,
since this equation relates a, v and t.
dv d
( )
a = = 0.9t 2 + 0.6t = 1.8t + 0.6
dt dt

When t = 3s, a = 6m/s2

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Example 12.2

A small projectile is fired downward into a fluid

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

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Example 12.2

Solution
Coordinate System
Since the motion is downward, the position
coordinate is downwards positive, with the origin
located at O.

Velocity
Here a = f(v), velocity is a function of time using a =
dv/dt, since this equation relates v, a and t.
dv
a= = −0.4v 3 (+ )
dt
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Example 12.2

Solution
Velocity v dv t
60m / s − 0.4v 3 = 0 dt
1  1  1 v
  2 =t −0
− 0.4  − 2  v 60
1 1 1 
 2− 2
=t
0 .8  v (60) 
 1  
1/ 2

v =  + 0.8t  m / s
 (60)
2
 

When t = 4s, v = 0.559 m/s (+ )

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Example 12.2

Solution
Position
Since v = f(t), projectile’s position can be determined
from v = ds/dt. When s = 0 and t = 0, we have
−1 / 2 −1 / 2
ds  1  s  1t 
v= 
= + 0.8t    ds =  
 + 0.8t  dt
dt  (60)2

0 0 (
 60)
2


1  1 
−1 / 2
1 
s=  + 0.8t  − m
0.4  (60)2
 60 
 
When t = 4s, s = 4.43m (+ )

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Rectilinear Kinematics: Erratic Motion

• When particle’s motion is erratic, it is described

graphically using a series of curves
• A graph is used to described the relationship with
any 2 of the variables: a, v, s, t
• We use a = dv/dt, v = ds/dt and a ds = v dv

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Rectilinear Kinematics: Erratic Motion

The s-t, v-t and a-t Graphs

• s-t graph can be plotted when position of the
particle can be determined experimentally during
a period of time t.
• To find the particle’s velocity as a function of
time, we use v = ds/dt
• Velocity as any instant is found by measuring the
slope of the s-t graph
ds
=v
dt
Slope of s-t graph = velocity
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Rectilinear Kinematics: Erratic Motion

The s-t, v-t and a-t Graphs

• When the particle’s v-t graph is known, the
acceleration as a function of time, the a-t graph
can be determined using a = dv/dt
• Acceleration as any instant is determined by
measuring the slope of the v-t graph

dv
=a
dt
Slope of v-t graph = acceleration

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Rectilinear Kinematics: Erratic Motion

The s-t, v-t and a-t Graphs

• When a–t graph is given, v–t can
be written as
v =  adt
Change in velocity = area under a-t graph

• When v–t graph is given, s–t can

be written as
s =  vdt
Displacement = area under v-t graph
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Rectilinear Kinematics: Erratic Motion

The v-s and a-s Graphs

• A–s graph can be constructed with

(v )
s1
1
2
2
1 − v02 =  ads
s0
area under a-s graph

• When v–s graph is known, a at any s

can be written as
 dv 
a = v 
 ds 
Acceleration = velocity * slope of v-s graph
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Example 12.6

A bicycle moves along a straight road such that it’s

position is described by the graph as shown.
Construct the v-t and a-t graphs for 0 ≤ t ≤ 30s.

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Example 12.6

Solution
v-t Graph
By differentiating the eqns that defining the s-t graph,
we have
ds
0  t  10s; s = 0.3t 2 v= = 0.6t
dt
ds
10s  t  30s; s = 6t − 30 v= =6
dt

By measuring the slope of the s-t graph at a given

time instant,
s 150 − 30
t = 20s; v= = = 6m / s
t 30 − 10
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Example 12.6

Solution
a-t Graph
By differentiating the eqns defining the lines of the v-
t graph,
dv
0  t  10s; v = 0.6t a = = 0. 6
dt
dv
10  t  30s; v = 6 a= =0
dt

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Example 12.7

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?

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Example 12.7

Solution
v-t Graph
Using initial condition v = 0 when t = 0,
v t
0  t  10s a = 10;  0
dv =  10 dt, v = 10t
0

When t = 10s, v = 100m/s,

v t
10s  t  t ; a = −2; 
100
dv =  − 2 dt, v = −2t + 120
10

When t = t’, v = 0 ➔ t’ = 60 s

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Example 12.7

Solution
s-t Graph.
Using initial conditions s = 0 when t = 0,
s t
0  t  10s; v = 10t ; 0
ds =  10t dt, s = 5t 2
0

When t = 10s, s = 500m,

 ds =  (− 2t + 120)dt
s t
10s  t  60s; v = −2t + 120;
500 10

s = −t 2 + 120t − 600
When t’ = 60s, s = 3000m

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Example 12.8

The v-s graph describing the motion of a motorcycle

as shown. Construct the a-s graph of the motion and
determine the time needed for the motorcycle to
reach the position s = 120 m.

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Example 12.8

Solution
a-s Graph
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

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Example 12.8

Solution
Time
When s = 0 at t = 0,
ds ds
0  s  60m; v = 0.2 s + 3; dt = =
v 0.2 + 3
t ds s
o dt = 
0 0. 2 s + 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 ds s s
8.05 dt = 
60 15
 t =
15
+ 4.05

At s = 120 m, t = 12.05 s
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General Curvilinear Motion

Curvilinear motion
• occurs when the particle moves along a curved
path

Position
• measured from a fixed point O, by the position
vector r = r(t)

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General Curvilinear Motion

Displacement
• For a particle travel a distance Δs along the
curve to a new position P`, within a small time
interval Δt, it is defined by r` = r + Δr
• The displacement Δr represents the change in
the particle’s position

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General Curvilinear Motion

Velocity
• Average velocity of the particle is defined as
r
vavg =
t

• Instantaneous velocity is found from letting

Δt➔0,
dr
vins =
dt

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General Curvilinear Motion

Acceleration
• The average acceleration during the time interval
Δt is v dv d 2 r
aavg = a= =
t dt dt 2
• a acts tangent to the hodograph and is not
tangent to the path

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Curvilinear Motion: Rectangular Components

Position
• Position vector is defined by r = xi + yj + zk
• The magnitude of r is always positive and
defined as
r = x2 + y 2 + z 2
• The direction of r is specified by the components
of the unit vector ur = r/r

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Curvilinear Motion: Rectangular Components

Velocity
• We have
dr   
v= = vx i + v y j + vz k
dt
where v x = x , v y = y , v z = z

• The velocity has a magnitude defined as the

positive value of
v = v x2 + v y2 + v z2

• Unit vector uv=v/v and is always tangent to the

path
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Curvilinear Motion: Rectangular Components

Acceleration
• We have
dv   
a= = axi + a y j + az k
dt
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
Unit vector ua=a/a and a will not be tangent to the path
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Curvilinear Motion: Rectangular Components

PROCEDURE FOR ANALYSIS

Coordinate System
• Rectangular coordinate system can be
expressed in terms of its x, y and z components
Kinematic Quantities
• Rectilinear motion is found using
v = ds/dt, a = dv/dt or a ds = v ds
• Magnitudes of vectors are found from
Pythagorean theorem

39