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Kinematics of a Particle
The subject of dynamics is classified into the following two branches:
1. Kinematics: In studying the kinematics, we only describe the motion of the particle
without considering the forces that act upon it, i. e, we study the variations of the
particle` s position, velocity, and acceleration with the time.
2. Kinetics: In kinetics, all the forces that act upon the particle are considered. We
first apply Newton`s second law of motion or the principle of work and energy to
determine the acceleration or the velocity of the particle, respectively, then, we
complete the analysis of the motion by studying the kinematics.
Rectilinear Motion
In rectilinear motion, the particle moves along a straight line, which is considered to be the
x axis. The kinematics of the motion is described as follows:
The position ( x ):
The position of the particle is defined by the distance x between the particle and a fixed
origin O on the straight line. The position may be positive (if the particle is to the right of
the origin ) or negative ( if it is to the left ). The position x varies with the time during the
motion, i. e,
x=(t)
The velocity ( v ):
The instantaneous velocity of the particle ( its velocity at any instant ) is defined by the rate
of change of its position with respect to the time, i. e,
v=
dx
dt
The acceleration ( a ):
It is defined as the time rate of change of the particle`s velocity, i. e,
a=
dv
dt
In some cases, as we will see later, it will be necessary to substitute the acceleration in
the following mathematical form:
a=v
dv
dx
a=
dv dv dx
=
dt dx dt
a = v
dx
=v
dt
dv
dx
The displacement ( x ) :
The displacement of a particle during a certain time interval is defined as the change of
its position. If at a certain instant ti the corresponding position is xi and at another
instant tf ( tf > ti ) the corresponding position is xf then, the displacement that happened
during the time interval ( t = tf ti ) will be x = xf xi. The displacement x may be
positive or negative.
t2
x2
ti
t1
tf
xi
x1
xf
d1
d2
d3
Types of applications:
1. Differentiation problems:
Given: The relation between the position and the time ( x , t ).
Required: The velocity v and the acceleration f at any instant.
4
Method of solution: By differentiating ( x , t ) we obtain (v , t ), then differentiating ( v ,
t ), we obtain ( a , t ).
Example ( 1 ):
A particle is moving along a straight line such that its position is given by :
x = t3 6t2 + 9t
first 2 seconds.
Solution:
x = t3 6t2 + 9t
v = dx / dt = 3t2 12t + 9
the distance traveled is determined as follows :
x0 = 0
x2 = ( 2 )3 6 ( 2 )2 + 9( 2 ) = 2 m
when v = 0 :
3t2 12t + 9 = 0
t2 4t + 3 = 0
(t1)(t3)=0
t = 1 sec or
t = 3 sec
the solution t = 3 sec. is outside the time interval from t = 0 to t = 2 sec., then we determine
the position x1 only.
x1 = 1 6 + 9 = 4 m
D=4+2=6m
t=0
x=0
t = 2 sec.
t = 1 sec.
x = 4m
x = 2m
4m
2m
2. Integration problems:
In the integration problems, the acceleration is given and the required is the position ( x
, t ), then we must execute two integration steps. To determine the constants of
integration, additional data must be given. Almost the initial conditions x0 , v0 are
given. According to the given data of the problem, the integration problems are
classified into four cases :
a Given: ( a , t ) and the initial conditions x0 , v0.
Required : ( x , t )
Method of solution : substitute a = dv / dt in the relation ( a , t ) , the first integration
step results in ( v , t ) , then substitute v = dx / dt in the relation ( v , t ) and integrate
again , the relation ( x , t ) will be obtained.
Example ( 2 ) :
A particle moves along a straight line such that its acceleration is given by:
a = 2t 6 m / s2, where t is in seconds. If the motion is started from the origin with a
velocity of 5 m / sec., determine the distance it travels during the first 6 seconds.
Solution:
a = dv / dt = 2t 6
v
dv = ( 2t 6 ) dt
dv = (2 t 6 )dt
5
v 5 = t2 6t
v = t2 6t + 5
dx / dt = t2 6t + 5
dx = ( t2 6t + 5 ) dt
dx = (t
6 t + 5 dt
t3
x=
3
- 3 t2 + 5 t
x6 = ( 6 )3/3 - 3( 6 )2 + 5( 6 ) = - 6 m
x0 = 0
when v = 0 :
t2 6t + 5 = 0
( t 1 )( t 5 ) = 0
t = 1 sec.
x1 = 1/3 3 + 5 = 7/3 m
t = 5 sec.
or
t = 5 sec.
, x5 = ( 5 )3/3 - 3 ( 5 )2 + 5 ( 5 ) = - 25/3 m
t = 6 sec.
x6 = -6m
x5 = 25/3
t = 1sec.
t=0
x0 = 0
32/3
x1 = 7/3
7/3
7/3
Required: ( x , t )
Method of solution : substitute a = vdv / dx in the relation ( a , x ), the first integration
step will result in ( v , x ), then substitute v = dx / dt in the relation ( v , x ) and integrate
again , the relation ( x , t ) will be obtained.
7
Example ( 3 ) :
A car starts from rest and moves along a straight line with an acceleration of
a = 3x-1/3 m / s2 , where x is in meters. Determine the velocity and the position of the car
after 6 seconds.
Solution:
a = vdv / dx = 3 x - 1/3
v
vdv = 3 x - 1/3 dx
v
0
d v = 3 x - 1/3 dx
v2 = 9 x 2/3
v = 3 x1/3
v = 3x1/3 = dx / dt ,
0
x x-1/3 dx = 3 0 t dt
when t = 6 sec. :
x-1/3 dx = 3 dt
( 3/2 ) x2/3 = 3t
x = ( 12 )3/2 = 41.6 m,
x2/3 = 2t
x = ( 2t )3/2
c: Given : ( a , v ) + v0 , x0
Required : ( x , t )
Solution : substitute a = dv/dt or a = vdv/dx
integrate twice to obtain ( x , t ).
8
Example ( 4 ) :
A particle is moving along a straight line such that it starts from the origin with a velocity
of 4 m / sec. If it begins to decelerate at the rate of a = - 2v m / s2, where v is in m / s,
determine the distance it travels before it stops.
Solution :
a = dv/dt = - 2v
4
v dv/v = - 2 0 t dt
v = 4 e-2t
0
dv/v = - 2dt
,
v = dx/dt = 4 e-2t
x dx = 0 t 4 e-2t d.
ln v ln 4 = -2t = ln ( v / 4)
x = -2 ( e-2t - e0 )
x = 2 ( 1 e-2t ).
4 e-2t= 0
when v = 0 :
x = D = 2m
d Given : a = constant + v0 , x0
Required : ( v , t ) , ( x , t ) or/and ( x , t )
Solution : substitute directly in the following relations of constant acceleration motion :
v = v0 + at
x x0 = v0t + a t2 ,
v2 = v02 + 2a ( x x0 )
9
Example ( 5 ) :
A car has an initial velocity of 25 m/s and moves with a constant deceleration of 3 m/s2.
Determine the velocity of the car after 4 seconds. What will be the displacement of the car
during this time interval .
Solution :
x0 = 0 , a = constant = - 3 m/s2
v0 = 25 m/s ,
v = v0 + at
v = 25 + ( - 3 ) * 4 = 13 m/s.
where x is in
meters. The initial conditions of the motion are : x0 = 0 , v0 = 4 m/s. Find the relations ( v , t )
, ( x , t ).
Solution :
v
vdv
a=
= 4 x
dx
v = 4 cos 2 t
Q v 0 = +4 m / s
x
dx
v = 2 4 x =
dt
x
) = 2t
2
v 2 = 16 4 x 2 = 4 4 x 2
sin 1 (
vdv = 4 xdx
v2 42
x2
= 4
2
2
2
v = 2 4 x 2
. v , t )
dx
4 x
x = 2 sin 2 t
= 2 dt
0
( x , t )
10
Another solution :
Q a = 4 x = 2 x
where
= 2 rad / sec
The motion of the particle is a simple harmonic motion . The general solution of the simple
harmonic motion is :
x = A cos t + B sin t
x = A cos 2 t + B sin 2 t
(1)
v = 2 A sin 2 t + 2 B cos 2 t
(2)
A=0
v = v0 = 4 m/s . Substituting into eqn. ( 2 )
B=2
x = 2 sin 2 t
v = 4 cos 2 t
11
SAMPLE PRPOBLEMS
v = 4 t ( t 1 ) (t 2 ) m / s , where
SOLUTION
v = 4 t ( t 1)( t 2)
= 4t 3 12t 2 + 8t
..................(1)
dx = ( 4 t 3 12t 2 + 8t ) dt x 4 = t 4 4 t 3 + 4t 2
x = t 4 4 t 3 + 4t 2 + 4 ..............( 3)
Qa =
dv
= 12 t 2 24 t + 8 .......................( 4 )
dt
at v = 0 in ( 1 ) :
t = 0 ( initial moment )
, t = 1 sec
t = 2 sec
12
x 1 = ( 1 )4 4( 1 ) 3 + 4 ( 1 ) 2 + 4 = 5 m
x 2 = ( 2 )4 4( 2 ) 3 + 4( 2 ) 2 + 4 = 4 m
a 1 = 12 ( 1 ) 2 24 ( 1 ) + 8 = 4 m / s 2 (reverse to left ) ,
a 2 = 12 ( 2 ) 2 24 ( 2 ) + 8 = + 8 m / s 2 ( reverse to right )
in ( 3 ) :
at : t = 1.5 sec
in ( 3 ) :
x 3 = ( 3 )4 4 ( 3 ) 3 + 4 ( 3 ) 2 + 4
x 3 = 13 m
From the path plot showing the positions of the particle at the different
instants of time, the distance traveled by the particle during the first
1.5 seconds and during the first 3 seconds can be calculated as follows:
t=0 ,
t=1s
t=3 s
A
C
t=2s
4m
5m
13 m
4.56 m
t=1.5s
13
= 1.44 m ,
D( T = 0 T = 3 ) = (5 4) + (5 4) + (13 4) = 11 m
8. A particle moves along a straight line according to the relation between the
position x and the time t given by : x = 2 t3 24 t + 6 meters .Determine :
a = 36 m/s2
D = 122m)
SOLUTION
x = 2 t 3 24 t + 6
dx
v=
= 6 t 2 24
dt
dv
a=
= 12 t
dt
............................................................( 1 )
............................................................( 2 )
............................................................( 3 )
At v = 72 m/s in (2) : 72 = 6 t 2 24
t 2 = 16
t = 4 sec
At v = 30 m / s in (2) : 30 = 6 t 2 24
t2 = 9
t = 3 sec
in (3):
a = 12 ( 3 ) = 36 m / s 2
14
at v = 0 : in (2):
0 = 6 t 2 24
t = 2 sec ,
at t = 1 : x = 2(1) 3 - 24(1) + 6
= - 16 m
at t = 2 : x = 2( 2) 3 - 24(2) + 6
= - 26 m
at t = 4 : x = 2(4) 3 - 24(4) + 6
D( t = 1 t = 4) = AB + BC
= + 86 m
= ( 26 16) + ( 26 + 86 )
= 122 m
t = 2s
t = 1s
t = 3s
t=0
(26-16)=10 m
16m
26m
26 + 86 = 112 m
C
86 m
15
SOLUTION
a = A 6 t 2 ........................( 1 )
The initial conditions are:
t=0
vo = 0
t = 1s
v1 = + 30 m / s
Qa =
xo = + 8 m ;
dv
= A 6t 2
dt
(
)
dv = (A 6 t ) dt
dv = A 6 t 2 dt
v
v = A t 2 t 3 .................( 2 )
at t = 1 s v 1 = +30 m / s in ( 2 ) :
30 = A 2
A = 32 m / s 2 in ( 2 ) ; ( 1 ) :
v = 32 t 2 t 3 ......................................( 3 )
a = 32 6 t 2 ..........................................( 4 )
16
Qv =
dx
= 32 t 2 t 3 dx = ( 32 t 2 t 3 ) dt
dt
dx = ( 32 t 2 t 3 ) dt
t4
x = 16 t
+8
2
2
...................................( 5 )
in (3)
at v = 0
2 t ( 16 t 2 ) = 0
t = 4 sec in ( 5 ) , ( 4 ) :
( 4 )4
x 4 = 16 ( 4 )
+ 8 = 136 m ,
2
2
a 4 = 64 m / s 2 ( reverse to left )
in (5) :
at t = 5 s
( 5 )4
x 5 = 16 ( 5 )
+ 8 = 95.5 m
2
2
136 m
t=0
t= 4s
8m
O
B
A
C
t=5 s
95.5 m
17
10.
( x , t ) , and
a trip of (
28
m ) distance traveled .
3
a = 8 t + 4 .............................................( 1 )
dv
= 8t + 4
dt
dv = ( 8 t + 4 ) dt
dv = ( 8 t + 4 ) d
v = 4 t 2 + 4 t 8 ................................( 2 )
v=
dx
=4t2 +4t 8
dt
15
having an acceleration
SOLUTION
Qa =
o= 8 m / s ,
dx = ( 4 t 2 + 4 t 8 )dt
dx = ( 4 t 2 + 4 t 8 ) dt
4
x = t 3 + 2 t 2 8 t + 15 ...................( 3 )
3
18
at v = 0 in ( 2 ) :
4 ( t 1 )( t + 2 ) = 0 t = 1 sec , x 1 =
31
m , a 1 = = +12 m / s 2 (Reverse to right)
3
31 14
28
= m ; AB + BC =
3 3
3
28 14 14
BC =
= m
3
3 3
AB = 15
xC = x A = 15 m
Subistituting x = 15 in ( 3 ) :
4
4
4
15 = t 3 + 2 t 2 8 t + 15 t ( t 2 + 2 t 8 ) = 0 ( t 2 + 2 t 8 ) = 0
3
3
3
2 + 4 + 4 ( 8 )(
t=
4
2( )
3
4
)
3 = 1.81 s
in ( 2 )
t=1
31
m
3
14
m
3
v = 12.34 m / s
t=0
A
C
15m
14
m
3
tC =1.81s
19
11. A space ship is directed towards March planet where the radius is
(6400
km)
and
the
gravitation
acceleration
on
its
surface
v A = 20000 km / h
16400km
10000km
vB
SOLUTION
+
6400km
20
a=
C
y2
..............( 1 ) ,
47952 =
C
( 6400 )2
6400
B
vdv
C
dy
a=
= 2 vdv = C
2
dy
y
20000
16400 y
1 2
1
1
{ v B ( 20000 )2 } = 40960000{
}
2
16400 6400
v B = 31840 km / h