Yeu-Sheng Paul Shiue, Ph.D

薛 宇 盛

Professor and Chair

Mechanical Engineering Department

Christian Brothers University

650 East Parkway South

Memphis, TN 38104

Office: (901) 321-3424 Rm: N-110

Fax : (901) 321-3402

Email: pshiue@cbu.edu

Webpage: http:\\www.cbu.edu\~pshiue

Statics -- (dictionary)

(a) relating to bodies or forces at rest.

(b) not moving.

-- Deal with the action of forces on

bodies at rest.

Dynamics -- (dictionary)

(a) relating to physical force producing motion.

Dynamics -- (1) Kinematics

(2) Kinetics

Kinematics -- The study of motion without reference to the

forces which cause motion.

(MOTION)

Kinetics -- Study the action of forces on bodies to their

resulting motions.

(FORCE, POWER, WORK)

Ch.12 -- Kinematics of a particle.

Ch.13 -- Kinetic of a Particle: Force and Acceleration.

Ch.14 -- Kinetic of a Particle: Work and Energy

Ch.15 -- Kinetic of a Particle: Impulse and Momentum

Ch.16 -- Planar Kinematics of a Rigid Body

Ch.17 -- Planar Kinematics of a Rigid Body: Force and Acceleration

Ch.18 -- Planar Kinematics of a Rigid Body: Work and Energy

Ch.19 -- Planar Kinematics of a Rigid Body: Impulse and Momentum

Ch. 20, Ch21, Ch22 will be introduced if time allowed.

(a)Knowing Subjects

(b) A lot of Practice (Problem

solving)

INTRODUCTION &

RECTILINEAR KINEMATICS: CONTINUOUS MOTION

Today’s Objectives:

Students will be able to:

1. Find the kinematic quantities

(position, displacement, velocity,

and acceleration) of a particle

traveling along a straight path.

READING QUIZ

1. In dynamics, a particle is assumed to have _________.

A) both translation and rotational motions

B) only a mass

C) a mass but the size and shape cannot be neglected

D) no mass or size or shape, it is just a point

2. The average speed is defined as __________.

A) Dr/Dt B) Ds/Dt

C) sT/Dt D) None of the above.

APPLICATIONS

The motion of large objects,

such as rockets, airplanes, or

cars, can often be analyzed

as if they were particles.

Why?

If we measure the altitude

of this rocket as a function

of time, how can we

determine its velocity and

acceleration?

APPLICATIONS

(continued)

A sports car travels along a straight road.

Can we treat the car as a particle?

If the car accelerates at a constant rate, how can we

determine its position and velocity at some instant?

An Overview of Mechanics

Statics: The study of

bodies in equilibrium. Dynamics: 1. Kinematics – concerned with

the geometric aspects of motion

2. Kinetics - concerned with

the forces causing the motion

Mechanics: The study of how bodies

react to forces acting on them.

RECTILINEAR KINEMATICS: CONTINIOUS MOTION

(Section 12.2)

A particle travels along a straight-line path

defined by the coordinate axis s.

The total distance traveled by the particle, sT, is a positive scalar

that represents the total length of the path over which the particle

travels.

The position of the particle at any instant,

relative to the origin, O, is defined by the

position vector r, or the scalar s. Scalar s

can be positive or negative. Typical units

for r and s are meters (m) or feet (ft).

The displacement of the particle is

defined as its change in position.

Vector form: D r = r’ - r Scalar form: D s = s’ - s

VELOCITY

Velocity is a measure of the rate of change in the position of a particle.

It is a vector quantity (it has both magnitude and direction). The

magnitude of the velocity is called speed, with units of m/s or ft/s.

The average velocity of a particle during a

time interval Dt is

vavg = Dr / Dt

The instantaneous velocity is the time-derivative of position.

v = dr / dt

Speed is the magnitude of velocity: v = ds / dt

Average speed is the total distance traveled divided by elapsed time:

(vsp)avg = sT / Dt

ACCELERATION

Acceleration is the rate of change in the velocity of a particle. It is a

vector quantity. Typical units are m/s2 or ft/s2.

As the book indicates, the derivative equations for velocity and

acceleration can be manipulated to get a ds = v dv

The instantaneous acceleration is the time

derivative of velocity.

Vector form: a = dv / dt

Scalar form: a = dv / dt = d2s / dt2

Acceleration can be positive (speed

increasing) or negative (speed decreasing).

SUMMARY OF KINEMATIC RELATIONS:

RECTILINEAR MOTION

• Differentiate position to get velocity and acceleration.

v = ds/dt ; a = dv/dt or a = v dv/ds

• Integrate acceleration for velocity and position.

• Note that so and vo represent the initial position and

velocity of the particle at t = 0.

Velocity:

= t

o

v

v o

dt a dv = s

s

v

v o o

ds a dv v or = t

o

s

s o

dt v ds

Position:

CONSTANT ACCELERATION

The three kinematic equations can be integrated for the special case

when acceleration is constant (a = ac) to obtain very useful equations.

A common example of constant acceleration is gravity; i.e., a body

freely falling toward earth. In this case, ac = g = 9.81 m/s2 = 32.2 ft/s2

downward. These equations are:

t a v v c o + = yields =

t

o

c

v

v

dt a dv o

2 c o o

s

t (1/2) a t v s s + + = yields = t

o s

dt v ds o

) s - (s 2a ) (v v o c

2

o

2 + = yields = s

s

c

v

v o o

ds a dv v

EXAMPLE

Plan: Establish the positive coordinate, s, in the direction the

particle is traveling. Since the velocity is given as a

function of time, take a derivative of it to calculate the

acceleration. Conversely, integrate the velocity

function to calculate the position.

Given: A particle travels along a straight line to the right

with a velocity of v = ( 4 t – 3 t2 ) m/s where t is

in seconds. Also, s = 0 when t = 0.

Find: The position and acceleration of the particle

when t = 4 s.

EXAMPLE

(continued) Solution:

1) Take a derivative of the velocity to determine the acceleration.

a = dv / dt = d(4 t – 3 t2) / dt =4 – 6 t

=> a = – 20 m/s2 (or in the direction) when t = 4 s

2) Calculate the distance traveled in 4s by integrating the

velocity using so = 0:

v = ds / dt => ds = v dt =>

=> s – so = 2 t2 – t3

=> s – 0 = 2(4)2 – (4)3 => s = – 32 m ( or )

= t

o

s

s

(4 t – 3 t2) dt ds o

CONCEPT QUIZ

1. A particle moves along a horizontal path with its velocity

varying with time as shown. The average acceleration of the

particle is _________.

A) 0.4 m/s2 B) 0.4 m/s2

C) 1.6 m/s2 D) 1.6 m/s2

2. A particle has an initial velocity of 30 ft/s to the left. If it

then passes through the same location 5 seconds later with a

velocity of 50 ft/s to the right, the average velocity of the

particle during the 5 s time interval is _______.

A) 10 ft/s B) 40 ft/s

C) 16 m/s D) 0 ft/s

t = 2 s t = 7 s

3 m/s 5 m/s

GROUP PROBLEM SOLVING

Given: Ball A is released from rest

at a height of 40 ft at the

same time that ball B is

thrown upward, 5 ft from the

ground. The balls pass one

another at a height of 20 ft.

Find: The speed at which ball B was

thrown upward.

Plan: Both balls experience a constant downward acceleration

of 32.2 ft/s2 due to gravity. Apply the formulas for

constant acceleration, with ac = -32.2 ft/s2.

GROUP PROBLEM SOLVING

(continued) Solution:

1) First consider ball A. With the origin defined at the ground,

ball A is released from rest ((vA)o = 0) at a height of 40 ft

((sA )o = 40 ft). Calculate the time required for ball A to drop to

20 ft (sA = 20 ft) using a position equation.

sA = (sA )o + (vA)o t + (1/2) ac t2

So,

20 ft = 40 ft + (0)(t) + (1/2)(-32.2)(t2) => t = 1.115 s

GROUP PROBLEM SOLVING

(continued) Solution:

2) Now consider ball B. It is throw upward from a height of 5 ft

((sB)o = 5 ft). It must reach a height of 20 ft (sB = 20 ft) at the

same time ball A reaches this height (t = 1.115 s). Apply the

position equation again to ball B using t = 1.115s.

sB = (sB)o + (vB)ot + (1/2) ac t2

So,

20 ft = 5 + (vB)o(1.115) + (1/2)(-32.2)(1.115)2

=> (vB)o = 31.4 ft/s

ATTENTION QUIZ

2. A particle is moving with an initial velocity of v = 12 ft/s

and constant acceleration of 3.78 ft/s2 in the same direction

as the velocity. Determine the distance the particle has

traveled when the velocity reaches 30 ft/s.

A) 50 ft B) 100 ft

C) 150 ft D) 200 ft

1. A particle has an initial velocity of 3 ft/s to the left at

s0 = 0 ft. Determine its position when t = 3 s if the

acceleration is 2 ft/s2 to the right.

A) 0.0 ft B) 6.0 ft

C) 18.0 ft D) 9.0 ft