Ch07 Kinematics

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CH-4

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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

reference of the force acting on the body is called kinematics.


on

Kinetics:
The branch of dynamics which deals with geometry of motion of a body with reference to the
.h

force causing motion is called kinetics.


w
w

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

time. i.e. it is a function of time.


(ii) The curve traced by a moving particle is called the trajectory or the path of the
particle.
(iii) The path of the particle can be specified by the vector equation
r  r (t) ________ (i)
The path of the particle can also be specified by three scalar equations
x = x(t), y = y(t), z = z(t) __________ (ii)
These equations are obtained by equating the components of vectors on two sides of
the equation (i). Equation gives the coordinates of the points of the path for different
value s of t. We call these as parametric equations of the path.

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 Cartesian Components of Velocity & Acceleration


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
://

instantaneous velocity or the simply velocity v of the particle at point P.


can be considered as the instantaneous rate of change of displacement. This is defined as the
tp

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

r = t3 + t2 i + cost + sin2 tj + et + logtk


A particle is moving in such a way that it position at any time t is specified by

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

= 3t2 + 2ti +  sint + 2sintcostj + et +  k


1
w

= 3t2 + 2ti + sin2t  sintj + et +  k


w

1
w

t
dv d
://

and a   3t2 + 2ti + sin2t  sintj + et +  k 


1
dt dt
tp

t
ht

 6t + 2i + 2cos2t  costj + et  2  k


1
t

 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
.h

 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 =  asint i + bcost j


Differentiate w.r.t “t”, we get

⇒ v = asint2 + bcost2

= a2 sin2 t + b2 cos2 t

= a2 sin2 t + b2 1  sin2 t

= a2 sin2 t + b2  b2 sin t


2

= sin2 ta2  b2  + b2

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v is maximum when sin2 t is maximum. i.e. sin2 t = 1 ⇒ sint = 1 ⇒ t = 90, 270

r = acos90 i + bsin90 j = bj


For t = 90

r = acos270 i + bsin270 j =  bj


For t = 270

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

r = acos0 i + bsin0 j = ai


For t = 0

r = acos180 i + bsin180 j =  ai


For t = 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


.h
w
w

P
w


://

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

r̂ = cosθi + sinθj ______________ (i)


ŝ = cos(900 + θ)i + sin(900 + θ)j =  sinθi + cosθj ______________ (ii)
Differentiating (i) w.r.t “t”
dr̂ d
 cosθi + sinθj
dt dt

 !sinθ i   + cosθj  "


dθ dθ
dt dt

 sinθ i + cosθj

dt

 ŝ

t

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

.h

dt
w

  r̂

w

By (i) ______________ (iv)


dt
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$

vθ = Transverse component of velocity = r = rθ
dt
Where dot denotes the differentiation with respect to time “t”.

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Let a be the acceleration Then


dv
a =
dt

  . 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

= 2 r̂ +  ŝ  +   ŝ + 2 r ŝ +  r̂   r By iii& (iv)


d2 r dr dθ dr dθ d2 θ dθ dθ

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

= & 2  r   ' r̂ + &2   + 2 r' ŝ


d2 r dθ 2 dr dθ d2 θ
e
ot
dt dt dt dt dt
n
ey

Thus,

ar = Radial component of acceleration = 2  r   = r(  rθ$ 


d2 r dθ 2
on

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

Transverse component of velocity = vθ = r = ca + b


dθ 3
dt 2

Radial component of acceleration = ar = 2  r  


2
d r dθ 2
dt dt

a
= 2b  + b  c
3 2
2
= 2b  c a + b
9 2

t
ne
4

= 8b  9c2 a + b


1

s.
4

Transverse component of acceleration = aθ = 2   + r 2 e


d2 θ
dr dθ
ot
dt dt dt
n
= 2a + 2b  c + a + b  c
ey

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

at any time t if the polar angle is θ = ct2

Solution
Given that
θ = ct2
Differentiate w.r.t “t”, we get

= 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

=  acos2θ + bsin2θ* 2 a2cosθsinθ + b2sinθcosθ 


dr 1 3 dθ dθ
dt 2 dt dt

= acos2θ + bsin2θ* 2 a  bsin2θ


1 3 dθ
2 dt

= acos2θ + bsin2θ* 2 a  bsin2θ.2ct


1 3

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

Transverse component of velocity = r = 1


dt
on

 Question 7
.h
w

Find the radial and transverse components of acceleration of a particle moving along the
w

circle x2 + y2 = a2 with constant velocity c.


w
://

Solution
tp

Given that
ht


=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

Radial component of acceleration = ar = 2  r  


d2 r dθ 2

= 0  ac
dt dt
2

=  ac2

Transverse component of acceleration = aθ = 2   + r 2


dr dθ d2 θ
dt dt dt
=0

 Tangential & Normal Components of Velocity & Acceleration

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

point Q whose position vector is r + δr. Then PQ


 = δr and arcPQ = δs
ht

dr dr ds dr


Now v = = . = v. _____________(i)
dt ds dt ds

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

Hence the velocity is along the tangent to the path.

y
Normal

n/
Tangent

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)

&1 + dx '


dy 2 2

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

Differentiate w.r.t “x”, we get


w

dy dy x
w

2x = 4a ⇒ =
dx dx 2a
w

Differentiate again w.r.t “x”, we get


://


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)

&1 + dx ' 51 + 2  6


2 2
2 2
dy
3) 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

With uniform speed v when the particle is at (0, b).

Solution

t
ne
Given that

9 =1

s.
x2 y2

e
a2 b2 ot
⇒ x2 b2 + y2 a2 = a2 b2
n
ey

Differentiate w.r.t “x”, we get


dy
on

2b2 x + 2a2 y =0
dx
.h

=  2
dy b2 x
w


dx ay
w

Differentiate again w.r.t “x”, we get


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)

&1 + dx '


dy 2 2

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 =

Normal component of acceleration = an = ρ = a2  a2 \


dt
v2 v2 bv2

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

Show that acceleration has maximum value


9a
w
w

Solution
w

Given that
://

x2 y = a x2 + 
a2
√5
tp
ht

x*2
a3
√5
⇒ y=a+

Differentiate w.r.t “x”, we get

 
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)

&1 + dx '


dy 2 2

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

|a| = |n/ |  0 |n/ | = 1


v2 v2
ot

n
|a| will maximum when ρ is minimum.
ρ ρ
ey
on

Differentiate (i) w.r.t “x”, we get

dρ 30a x H2 5x + 4a  2 30x I  D5x + 4a E 2 150a x 


3 5 3 6 1) 6 3)

.h

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
://

 D45x6  55x6 + 4a6 E


1
tp

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


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

D5a6 + 4a6 E D9a6 E )2 27a 9


Thus
3) 3
2
ρmin = = = = a
30a3 a5 30a8 30 10
v2 v2 10v2
Maximum value of acceleration = = =
ρmin 9 a 9a
10

t
ne
s.
e
%%%%% End of The Chapter # 4 %%%%% ot
n
ey
on
.h
w
w
w
://
tp
ht

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