Ch07 Kinematics
Ch07 Kinematics
Ch07 Kinematics
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M th
KINEMATICS 4
CHAPTER
INTRODUCTION
t
The branch of mechanics which deals with the motion of object is called dynamics. It is
ne
divided into two branches:
s.
(i) Kinematics (ii) Kinetics
e
Kinematics: ot
The branch of dynamics which deals with geometry of motion of a body without any
n
ey
Kinetics:
The branch of dynamics which deals with geometry of motion of a body with reference to the
.h
Points to be Remember
w
The position of a particle can be specified by a vector r whose initial point is at the
://
(i)
tp
origin of some fixed coordinate system and the terminal point is at the particle. This
vector is called position vector. If the particle is moving, the vector r changes with
ht
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B dr
=V
Q dt
δr
r + δr
P
r
t
ne
A
x
O
s.
be at the point P whose position vector is r. After a small time δt, let the particle reach the
Let AB be a part of the trajectory of the particle as shown in figure. Let the particle at time t
e
= δr is the displacement of the particle from
point Q whose position vector is r + δr. The PQ
n ot
the point P in the small time interval δt. The quotient
δr
ey
on
δt
gives the average rate of change of displacement of the particle in the interval δt. If we start
decreasing the time interval δt, the displacement δr will go on deceasing and the point Q gets
.h
w
δr
nearer and nearer to P. Thus
lim
w
δ
δt
w
://
δr dr
ht
Thus,
v lim
δ
δt dt
Proceeding in similar way we can see that the acceleration a (the instantaneous rate of change
of velocity) at time t is given by
δv dv d dr d2 r
a= lim = =
= 2
δt →0 δt dt dt dt dt
r = xi + yi
In Cartesian coordinates, we can write
Then
v = xi + yi= i + j
d dx dy
dt dt dt
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a = 2 xi + yi= 2 i + 2 j
d2 d2 x d2 y
dt dt dt
Thus
dx
vx = x- component of velocity =
dt
dy
vy = y- component of velocity =
dt
ax x- component of acceleration 2
d2 x
dt
ay y- component of acceleration 2
d2 y
dt
Question 1
t
ne
s.
Find the velocity and acceleration.
e
ot
Solution
n
If v and a are velocity and acceleration of particle respectively. Then
ey
dr d
v t3 + t2 i + cost + sin2 tj + et + logtk
on
dt dt
.h
1
w
t
dv d
://
t
ht
Question 2
A particle P start from O at t = 0. Find tits velocity and acceleration of particle at any time t
r = at2 i + 4atj
if its position at that time is given by
Solution
If v and a are velocity and acceleration of particle respectively. Then
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dr d
v at2 i + 4atj = 2ati + 4aj
dt dt
dv d
and a 2ati + 4aj 2ai
dt dt
Question 3
At any time t, the position of a particle moving in a plane can be specified by
(acoswt, asinwt) where a and w are constants. Find the component of its velocity and
acceleration along the coordinates axis.
Solution
Let r = acoswt i + asinwt j
t
Differentiate w.r.t “t”, we get
v = awsinwt i + awcoswt j
ne
s.
Differentiate again w.r.t “t”, we get
a = aw2 coswt i aw2 sinwt j
e
not
Thus the component of velocity and acceleration are
vx = awsinwt
ey
, vy = awcoswt
ax = aw2 coswt , ay = aw2 sinwt
on
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Question 4
w
The position of particle moving along an ellipse is given by r = acost i + bsint j If a > b,
w
w
find the position of the particle where velocity has maximum and minimum magnitude.
://
Solution
tp
r = acost i + bsint j
ht
As
⇒ v = asint2 + bcost2
= sin2 ta2 b2 + b2
So the position of the particle when velocity has maximum magnitude is ± bj.
v is minimum when sin2 t is minimum. i.e. sin2 t = 0 ⇒ sint = 0 ⇒ t = 0, 180
t
So the position of the particle when velocity has minimum magnitude is ± ai.
ne
s.
e
Radial & Transverse Components of Velocity & Acceleration ot
n
y
ey
on
ŝ
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w
w
P
w
r̂
://
900 + θ
tp
x
ht
In polar coordinates, the position of a particle is specified by a radius vector r and the polar
angle θ which are related to x and y through the relations
x = rcosθ
y = rsinθ
provided the two coordinates frames have the same origin and the x–axis and the initial line
coincide. The direction of radius vector is known as radial direction and that perpendicular
to it in the direction of increasing θ is called transverse direction.
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Let r̂ and ŝ be units vectors in the radial and transverse direction respectively as shown in
figure. Then
sinθ i + cosθj
dθ
dt
ŝ
t
dθ
ne
By (ii) ______________ (iii)
dt
s.
Differentiating (ii) w.r.t “t”
dŝ
sinθi + cosθj
dt dt
d
e
n ot
!cosθ i sinθj "
ey
dθ dθ
dt dt
on
sinθ i + cosθj
dθ
.h
dt
w
r̂
dθ
w
We know that
r
://
r = r r̂
tp
r̂ = ⇒
r
dr
ht
Now v =
dt
rr̂ . r̂ + r . r̂ + r ŝ
d dr dr̂ dr dθ
dt dt dt dt dt
Thus,
dr
vr = Radial component of velocity = = r$
dt
θ$
dθ
vθ = Transverse component of velocity = r = rθ
dt
Where dot denotes the differentiation with respect to time “t”.
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. r̂ + r ŝ
d dr dθ
dt dt dt
. r̂ + r ŝ
d dr d dθ
dt dt dt dt
= r̂ + + ŝ + rŝ + r
d dr dr dr̂ dr dθ d dθ dŝ dθ
dt dt dt dt dt dt dt dt dt dt
d2 r
rŝ + r
dr dr̂ dr dθ d2 θ dŝ dθ
= 2 r̂ + + ŝ + 2
dt dt dt dt dt dt dt dt
t
dt dt dt dt dt dt dt dt
ne
d2 r dθ 2 dr dθ d2 θ
= r̂ r r̂ + 2 ŝ + r ŝ
s.
dt2 dt dt dt dt2
Thus,
2
dt
aθ = Transverse component of acceleration = 2 + r 2 = 2r$ θ$ + rθ(
dt
.h
dr dθ d2 θ
w
dt dt dt
w
Question 5
w
://
A particle P moves in a plane in such away that at any time t, its distance from point O is
tp
r = at + bt2 and the line connecting O and P makes an angle θ = ct3/2 with a fixed line OA.
ht
Find the radial and transverse components of velocity and acceleration of particle at t = 1
Solution
Given that
r = at + bt2 and θ = ct3/2
Differentiate w.r.t “t”, we get
dr dθ 3 1)
= a + 2bt and = ct 2
dt dt 2
Differentiate again w.r.t “t”, we get
d2 r d2 θ 3 *1)
= 2b and = ct 2
dt2 dt2 4
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At t = 1
r = a + b and θ = c
= c ,
dr dθ 3 d2 r d2 θ 3
= a + 2b , = 2b and = c
dt dt 2 dt2 dt2 4
dr
Radial component of velocity = vr = = a + 2b
dt
a
= 2b + b c
3 2
2
= 2b c a + b
9 2
t
ne
4
s.
4
3 3
2 4
on
3
= c5a + 9b
.h
4
w
Question 6
w
w
Find the radial and transverse components of velocity of a particle moving along the curve
://
ax2 + by2 = 1
tp
ht
Solution
Given that
θ = ct2
Differentiate w.r.t “t”, we get
dθ
= 2ct
dt
Also given that
ax2 + by2 = 1
First we change this into polar form by putting x = rcosθ and y = rsinθ
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ar2cos2θ + br2sin2θ = 1
⇒ r2(acos2θ + bsin2θ) = 1
⇒ r√acos2θ + bsin2θ = 1
r = acos2θ + bsin2θ* .
-
⇒
Differentiate w.r.t “t”, we get
2
cta bsin2θ
t
ne
acos2θ + bsin2θ 2
= 3
cta bsin2θ
s.
dr
acos2θ + bsin2θ 2
e
Radial component of velocity = = 3
dt
n ot
dθ 2ct
acos2θ + bsin2θ 2
ey
Question 7
.h
w
Find the radial and transverse components of acceleration of a particle moving along the
w
Solution
tp
Given that
ht
dθ
=c
dt
Differentiate w.r.t “t”, we get
d2 θ
=0
dt2
Also given that
x2 + y2 = a2
First we change this into polar form by putting x = rcosθ and y = rsinθ
r2cos2θ + r2sin2θ = a2
⇒ r2(cos2θ + sin2θ) = a2
⇒ r2 = a2
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10
⇒ r=a
dr d2 r
⇒ =0 ⇒ =0
dt dt2
= 0 ac
dt dt
2
= ac2
t
ne
y
e s.
B ot Tangent
Q
n
ey
δs
δr
on
r + δr
.h
P
w
r
w
w
A
x
O
://
be at the point P whose position vector is r. After a small time δt, let the particle reach the
Let AB be a part of the trajectory of the particle as shown in figure. Let the particle at time t
tp
dr
Here is a unit tangent at point P.
ds
Let t̂ be a unit vector along the tangent at P and n/ unit vector along normal at the point P.
Then
dr
t̂
ds
Using this in (i), we get
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11
v = v t̂ + 0.n/
Thus,
vt = Tangential component of velocity = v
vn = Normal component of velocity = 0
y
Normal
n/
Tangent
t̂
t
ne
900
e s.
ψ
n ot 900 + ψ
x
Let a be the acceleration. Then
O
ey
dv
a =
on
dt
= v t̂
.h
dt̂
dt
w
t̂ + v
dv
w
=
dt̂ dψ ds
dt dt
w
t̂ + v
dv
://
dt̂
dt dψ ds dt
t̂ + v
tp
0 v
dv ds
= (Kv)
ht
dt dψ dt
dψ 1
Where = K is called curvature and K =
dt̂ v
ds ρ
a = t̂ + v
dv
So .
v2 dt̂
dt dψ ρ
t̂ +
dv
=
Since t̂ and n/ are unit vectors along tangent and normal at P Therefore
dt ρ dψ
t̂ = cosψi + sinψj
n/ = cos(900 + ψ)i + sin(900 + ψ)j = sinψi + cosψj
dt̂
Now cosψi + sinψj
d
dψ dψ
sinψ i + cosψ j
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12
n/
a = ̂
t + n/
dv v2
So
dt ρ
Thus,
dv
Tangential component of acceleration = at =
dt
v2
Normal component of acceleration = an =
ρ
Where
3)
ρ=
4 24
d2 y
dx
t
ne
Question 8
e s.
A particle is moving along the parabola x2 = 4ay with constant speed. Determine tangential
ot
and normal components of its acceleration when it reaches the point whose abscissa is √5a.
n
Solution
ey
on
Given that
x2 = 4ay
.h
dy dy x
w
2x = 4a ⇒ =
dx dx 2a
w
d2 y 1
tp
dx 2 2a
Given that x = √5a therefore
ht
dy √5a √5
= =
dx 2a 2
We know that
3)
√5
3)
= 2a 71 + 8 = 2a 7 8 = 2a 7 8
5 2 9 2 3 3 27a
ρ= =
4 24
d2 y 1 4 4 2 4
dx 2a
Since the particle is moving with constant speed therefore
dv
=0
dt
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13
0
dv
Tangential component of acceleration = at =
dt
v2 v2 4v2
Normal component of acceleration = an = =
ρ 27a 27a
4
Question 9
Find the tangential and normal component of acceleration of a point describing ellipse
9 =1
x2 y2
a2 b 2
Solution
t
ne
Given that
9 =1
s.
x2 y2
e
a2 b2 ot
⇒ x2 b2 + y2 a2 = a2 b2
n
ey
2b2 x + 2a2 y =0
dx
.h
= 2
dy b2 x
w
⇒
dx ay
w
b2 y x dx
dy
://
2: <
d2 y
y;
tp
dx2 a
ht
y x
b2 x
b2 ? a2 y B
2> A
a y;
= @
+
b2 1 x 2 b 2
a2 y a2 y3
At (0, b)
= 2 =0
dy b2 0
b2 1 0.b2
dx ab
2
+ 2
2
d y b
and 2 3
dx a b a2 b a
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14
We know that
3)
ρ=
4 24
d2 y
dx
D1 + 02 E
3)
2 a2
F 2 F
= =
b b
a
Since the particle is moving with uniform speed therefore
dv
=0
dt
0
dv
Thus, Tangential component of acceleration = at =
t
ne
b
es.
Question 10
n ot
A particle is moving with uniform speed along the curve
ey
x2 y = a
x2 +
a2
√5
on
10v2
.h
Solution
w
Given that
://
x2 y = a
x2 +
a2
√5
tp
ht
x*2
a3
√5
⇒ y=a+
dy 2a3 *3
√5
x
dx
Differentiate again w.r.t “x”, we get
d2 y 6a3 *4
dx2 √5
x
We know that
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15
3)
ρ=
4 24
d2 y
dx
3)
3)
&1 + x ' 71 + 6 8
2a3 *3
2 2
D5x6 + 4a6 E
3)
√5 √5x4 5x6 + 4a6
4a6 3)
2
& '
2 2
5x
= = = = ____(i)
6a3 *4 6a3 6a3 5x6 30a3 x5
√5 √5x4
x
We know that
a = ̂
t 9 n/
dv v2
dt ρ
Since the particle is moving with constant speed therefore
t
dv
ne
=0
dt
a = n/
s.
v2
⇒
e
ρ
6 5 6 3 4
30a3 x5 ;
w
dx
5x6 + 4a6 )2
D30a3 x5 D45x5 E D5x6 + 4a6 E150a3 x4 E
w
30; a6 x10
w
5x6 + 4a6 )2
://
30a3 x6
5x6 + 4a6 )2
D45x6 25x6 20a6 E
ht
3
30a x 6
5x + 4a6 )2
D20x6 20a6 E
6 1
30a3 x6
205x6 + 4a6 )2 6
Dx a6 E
1
30a3 x6
205x6 + 4a6 )2 2
x a2 x4 + x2 a2 + a4
1
3
30a x 6
dρ
Putting = 0, we get
dx
x=±a
Since
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16
dρ dρ
< 0 before x = a and > 0 after x = a
dx dx
Therefore ρ is minimum when x = a
t
ne
s.
e
%%%%% End of The Chapter # 4 %%%%% ot
n
ey
on
.h
w
w
w
://
tp
ht
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