Engineering
g g Mechanics:
Dynamics in SI Units, 12e
Chapter
p 12-5
Kinematics of a Particle
12.9 Absolute Dependent
p Motion Analysis
y of Two Particles
Motion of one p particle depend
p on the
corresponding motion of another particle
Movement of A downward will cause a
movement of B up the other incline
If total cord length is lT, the position coordinate is
s A lCD sB lT
For velocity, negative sign indicates A has a
velocity downward(increasing direction)
ds A dsB
0 or vB v A
dt dt
2
12.9 Absolute Dependent
p Motion Analysis
y of Two Particles
Time differentiation of the velocities yyields the
relation between accelerations: aB = - aA
A is specified byy sA, and the position of the end
of the cord which block B is suspended, sB
Position coordinate is
2sB h s A l
Since l and h are constant
during the motion
motion,
2vB v A , 2aB a A
3
12.9 Absolute Dependent
p Motion Analysis
y of Two Particles
PROCEDURE FOR ANALYSIS
Position-Coordinate Equation
Establish position coordinates
with origin located at a
fixed point or datum
Coordinates are along the
path of motion
Each coordinate axis is directed
along the path of motion
4
12.9 Absolute Dependent
p Motion Analysis
y of Two Particles
PROCEDURE FOR ANALYSIS
Time Derivatives
2 time derivatives of the position-coordinates
position coordinates
equations required for velocity and acceleration
equations
The signs will be positive and negative sense of
the position coordinates
5
Example 12.22
Determine the speed
p of block A if block B has an
upward speed of 2m/s.
6
Example 12.22
Solution
Position Coordinate System
Positions of A and B are defined using g sA and sB.
For the remaining cord length,
s A 2 sC l1 sB ( sB sC ) l2
Eliminating sC yields s A 4sB 2l2 l1
Time Derivative
The time derivative gives v A 4vB 0
so that vB = -2m/s↑↑ and v A 8m / s 8m / s
7
Example 12.23
Determine the speed
p of block B if the end of the cord
at A is pulled down with a speed of 2m/s.
8
Example 12.23
Solution
Position Coordinate System
sA and sB are measured from a horizontal datum
passing through the fixed pin at pulley D.
The remaining constant cord lengths l1 and l2 are
sC sB l1
s A sC sB sC sB l2
Eliminating sC yields sA 4sB l2 2l1
Time Derivative
The time derivative g
give vA 4vB 0
When vA = 2m/s↓, vB 0.5m / s 0.5m / s 9
Example 12.24
A man at A is hoistingg a safe S byy walking
g to the
right with a constant velocity vA = 0.5m/s. Determine
the velocityy and acceleration of the safe when it
reaches the elevation at E. The rope is 30m long
and ppasses over a small p pulley
y at D.
dy
vS
dt
dx
vA
dt
10
Example 12.24
Solution
Position Coordinate System
Rope
p segment
g DA changes
g both direction and
magnitude.
Using Pythagorean Theorem
Theorem, DA x 2 , lCD 15 y
2
l 15
l lDA lCD
30 152 x 2 15 y
y 225 x 2 15
Time Derivative
dy 1 2x dx x
g chain rule,
Using vS vA
dt 2 225 x 2 dt 225 x 2
11
Example 12.24
Solution
Time Derivative
At y = 10 m, x = 20 m, vA = 0.5 m/s, vS = 400mm/s ↑
The acceleration is determined by taking the time
derivative of eqn (2),
d2y x(dx / dt ) 1 dx
aS
2 3/ 2 A
xv dt v A
(225 x ) 225 x
2 2
dt
1 dv A 225v 2A
x
2 dt
225 x
225 x
2 3/ 2
/s, aS 3.6mm / s
2
At x = 20
0 m,, with vA = 0
0.5
5 m/s,
12
12.10 Relative Motion Analysis of Two Particles Using Translating Axes
There are cases where the p path of the motion for
a particle is complicated
Feasible to analyze the motions in parts by using
two or more frames of reference
Position
Absolute position rA and rB
i measured
is d ffrom O off fixed
fi d
x, y, z reference frame
rB rA rB / A
13
12.10 Relative Motion Analysis
y of Two Particles Using
g Translating
g Axes
Velocityy
By time derivatives, vB v A vB / A
vB drB / dt and v A drA / dt refer to absolute
velocities, as they are observed from the fixed
frame
Relative velocity vB / A drB / A / dt is observed
f
from the
th translating
t l ti frame
f
Acceleration
A l ti
The time derivative also yields aB a A aB / A
14
12.10 Relative Motion Analysis
y of Two Particles Using
g Translating
g Axes
PROCEDURE FOR ANALYSIS
When applying the relative position equations,
necessary to specify the location and translating
x’, y’ and z’
As vector addition forms a triangle
triangle, there can be
at most two unknowns
Unknowns
U k can b
be solved
l db by graphically,
hi ll
trigonometry or resolving into
rectangular
t l or
Cartesian components
15
Example 12.25
A train,, traveling
g at a constant speed
p of 90km/h,,
crosses over a road. If automobile A is traveling t
67.5km/h along g the road,, determine the magnitude
g
and direction of relative velocity of the train with
respect
p to the automobile.
vT / A vT v A
vT v A vT / A
16
Example 12.25
Solution
Vector Analysis
Relative velocityy is measured from the translating g x’,,
y’ axes attached to the automobile.
vT and vA are known and the unknowns are x and y
components of vT/A.
Using the x, x y axes and a Cartesian vector analysis
analysis,
vT v A vT / A
~ ~ ~
90 i (67.5 cos 45 i 67.5 sin 45 j ) vT / A
~ ~
vT / A {42.3i 47.7 j )km
k /h
17
Example 12.25
Solution
Vector Analysis
The magnitude
g of vT/A is
vT / A (42.3 47.7 ) 63.8km / h
2 2 2
The direction of vT/A defined from the x axis is
vT / A y 47.7
tan
vT / A x 42.3
48.40
18
Example 12.26
Plane A is flying
y g alongg a straight-line
g path,, while
p
plane B is flying along a circular path having a radius
of curvature of ρB = 400 km. Determine the velocityy
and acceleration of B as measured by the pilot of A.
vB / A vB v A
19
Example 12.26
Solution
Velocity
The x,, y axes are located at an arbitraryy fixed point.
p
The translating frame of reference x’, y’ is attached
to it
it.
Applying the relative-velocity equation in scalar form,
( )
vB v A vB / A
600 700 vB / A
vB / A 100km / h 100km / h
20
Example 12.26
Solution
Acceleration
Plane B has both tangential and normal components
off acceleration,
l ti v2
aB n B 900km / h 2
Applying the relative-acceleration equation,
aB a A aB / A
900~
i 100 ~j 50 ~j a B/ A
aB / A 900~
i 150 ~j km
k / h2
150
Magnitude and direction is aB / A 912km / h 2 and tan 1
900
9.46
21
Example 12.27
At the instant,, car A and B are traveling
g with the
speed of 18 m/s and 12 m/s, respectively. Also at
this instant,, A has a decrease in speed
p of 2 m/s2,
and B has an increase in speed of 3 m/s2. Determine
the velocityy and acceleration of B with respect
p to A.
vB / A vB v A
22
Example 12.27
Solution
Velocity
Using
g Cartesian vector analysis,
y ,
vB v A vB / A
12 j 18cos 60 i 18sin 60 j vB / A
vB / A 9i 3.588 j m / s
Thus vB / A 92 3.5882 9.69m / s
vB / A y 3.588
Its direction is tan 21.7
vB / A x 9
23
Example 12.27
Solution
Acceleration
Applying
pp y g the equation
q for relative acceleration yyields
aB a A aB / A
1.440~i 3~j 2 cos 60 ~i 2 sin 60 ~j aB / A
~ ~
aB / A (2.440 i 4.732 j ) m / s 2
Magnitude and direction is
aB / A 5.32m / s 2
62.7
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