Kinetics of rectilinear motion, relative motion and dependant motion :

Q. The 50 kg crate is projected along the floor with an initial speed of 7m/s at x = 0. The co-
efficient of kinetic friction k = 0.4. Calculate the time required for the crate to come to rest and
corresponding distance x travelled.

Solution : The free body diagram of the crate is as shown in the fig.

Fy = 0

N1 (50 x g) = 0

N1 = 50 x 9.81 = 490.5 N

Fx = m x a

- 0.4 N1 = m x a

-0.4 x 490.5 = 50 x a

a = - 3.924 m/s2

As per given , u = 7 m/s , v = 0

v = u + at

0 = 7 + (-3.924) t

t = 1.784 seconds

Also ,

v2 = u2 + 2 a s

02 = 72 + 2(-3.924)s

s = 6.244 m

Q. A body of mass m is projected up at 25 inclined plane with an initial velocity of 15m/s. If

the coefficient of friction k = 0.25. Determine the distance moved by the body up the plane and
also find the time required to reach the highest point.( technical pg 11.9)

Solution : from the free body diagram as shown ;

Fy = 0

N1 mg cos25 = 0 N1 = mg cos 25
 Fx = m x a

mg sin 25 0.25 N1 = m a

mg sin 25 0.25 mg cos 25 = m a

a = -6.369 m/s2

u = 15 m/s & v=0

v = u + at

0 = 15 + (-6.369) t

t = 2.355 seconds

v2 = u2 + 2 a s

0 = 152 + 2 (-6.369) s

s = 17.66 m

Q. The co-efficient of friction between blocks A and C and the horizontal surface are s = 0.24
and k = 0.20. If Ma = 5.0kg and Mc = 10.0 kg, determine

i) The tension in the chord. ii) The acceleration of each block ( Refer Figure )

(technical pg 11.9)

As per the figure aside and its F.B.D choose xA, xB, and xC .

xA+2xB+ xC = l ; aA + 2aB + aC = 0 ; hence aB = - [aA+ aC]/2

let aA and aC be towards the origin i.e. towards the centre, then aB will be away from the origin
i.e. downwards. The tensile forces are shown in the figure, the free body diagram be as shown ,

For A : Fy = 0 NA = mA g = 5 x 9.81 = 49.05 N

Fx = m x a T 0.2 NA = 5 aA

T 0.2 (49.05 ) = 5 aA

T 9.81 = 5 aA --------------------------------- (i)

For C : Fy = 0 NC = mA g = 10 x 9.81 = 98.1 N

Fx = m x a - T + 0.2 NC = -10 aC

- T + 0.2 (98.1 ) = -10 aC

 - T + 19.62 = -10 aC ----------------------------- (ii)

For C : Fy = m a y 2T 98.1 = 10 aB

2T 98.1 = 10 (- [aA+ aC]/2 )

= - 5(aA+ aC ) ---------------------------- (iii)

Considering equation (i), (ii), (iii) and solving these equations we obtain;

T = 33.63 N

aA = 4.765 m/s2 ()

aC = 1.401 m/s2 ()

Substituting the values of aA & aC in aB

aB = 3.083 m/s2 ()

Q. Block B rests on a smooth surface. If the co-efficient of static friction s = 0.40 and kinetic
friction = 0.30, determine the acceleration of each block if A is pushed by a force

a) P = 30 kN b) P = 250 N (Refer figure ) (technical pg 11.13)

Solution : Block A moves on block B if the external force P is greater than (Fr)max [ P > (Fr)max]
From the Free Body Diagram as shown

Fy = 0 N1-100=0 hence N1 = 100 N

(Fr)max = s* N1= 0.4*100= 40 N

Now if P < (Fr)max , then Block A does not move on the surface of block B, hence A and B will
move together. Treating them as one object as shown in the figure.

Fx = m*a i,e 30 = (250/9.81) * a,

a = 1.772 m/s2

But for P > (Fr)max as both the blocks move separately ( block A moves on B where as B moves
on surface )

Considering F.B.D of both the blocks separately ,

As shown in the figure ,

For Block B ; Fy = 0

N2 - N1 150 = 0 ,

N1 = 100 N

N2 = 250 N

Fx = m*ab

30 = (150/9.81) * ab

ab = 1.962 m/s2

For Block A ; Fy = 0

N1 = 100 N

Fx = m*a

250 - kN1 (100/9.81) ab = (100/9.81) aA/B

aA/B = 19.62 m/s2

Also ; aA/B = aA aB

aA = 21.582 m/s2
 MOTION OF A SET OF PARTICLES (Motion of connected rigid bodies) :
Set of particles can be either connected set or particles or number of two or more unconnected
particles moving in the same reference system.
Thus the relationship between particles has to be taken into consideration. Lets take the case of
particle A and B as shown on diagram:
Both particles are connected via inextensible cable carried over the pulleys. This imposes non-
penetrable condition between them:
L sAh2 hsB

The additional length of the cable between the upper datum and the ceiling as well as the portion of
the cable embracing the pulleys will remain constant during the motion thus does not play any role in
the kinematical description.

Investigating mobility of the set of particles would define the number of independent coordinates
that in our case is i1
The path of a particle A is not identical with path of the particle B and the relation between them has
to be described based on the joints involved. Thus except of the no-penetration condition the support
at A has to be taken into consideration as well as the supports for the pulleys and body B.
Having the basic condition of the inextensible length we can evaluate the relation between velocities
of the particle A and B as a time derivative of the l. Thus
0vA2vB

Then we can conclude that formation of the particle A in positive direction (away from the datum
 v
A
in the direction of sA) the particle B will move upward with velocity vB

Acceleration may be specified as a function of time, velocity, or position coordinate, or as a

combined function of these.
(a) Constant Acceleration

At the beginning of the interval t = 0, s = s0, v = v0

For a time interval t: integrating the following two equations

Substituting in the following equation and integrating will give the position coordinate:

Equations applicable for Constant Acceleration and for time interval 0 to t

(b) Acceleration given as a function of time, a = f(t)

At the beginning of the interval t = 0, s = s0, v = v0

For a time interval t: integrating the following equation :

Substituting in the following equation and integrating will give the position coordinate:

Alternatively, following second order differential equation may be solved to get the
position coordinate:
(c) Acceleration given as a function of velocity, a = f(v)

At the beginning of the interval t = 0, s = s0, v = v0

For a time interval t: Substituting a and integrating the following equation :

Solve for v as a function of t and integrate the following equation to get the position coordinate:

Alternatively, substitute a = f(v) in the following equation and integrate to get the position
coordinate :

(d) Acceleration given as a function of displacement, a = f(s)

At the beginning of the interval t = 0, s = s0, v = v0

For a time interval t: substituting a and integrating the following equation

Solve for v as a function of s : v = g(s), substitute in the following equation and integrate to get
the position coordinate:

It gives t as a function of s. Rearrange to obtain s as a function of t to get the position coordinate.

In all these cases, if integration is difficult, graphical, analytical, or computer methods can be
utilized.

Motion with constant acceleration

Motion with constant acceleration occurs in everyday life whenever an object is
dropped: the object moves downward with the constant acceleration ,
under the influence of gravity.

Fig. 8 shows the graphs of displacement versus time and velocity versus time for a
body moving with constant acceleration. It can be seen that the displacement-time
graph consists of a curved-line whose gradient (slope) is increasing in time. This line
can be represented algebraically as

(19)

Here, is the displacement at time : this quantity can be determined from

the graph as the intercept of the curved-line with the -axis. Likewise, is the
body's instantaneous velocity at time .
 Figure 8: Graphs of displacement versus time and velocity versus time for a body moving with constant
acceleration

The velocity-time graph consists of a straight-line which can be represented

algebraically as

(20)

The quantity is determined from the graph as the intercept of the straight-line
with the -axis. The quantity is the constant acceleration: this can be determined
graphically as the gradient of the straight-line (i.e., the ratio , as shown).

Note that , as expected.

Equations (19) and (20) can be rearranged to give the following set of three useful
formulae which characterize motion with constant acceleration:

(21)

(22)

(23)

Here, is the net distance traveled after seconds.

Fig. 9 shows a displacement versus time graph for a slightly more complicated case of
accelerated motion. The body in question accelerates to the right [since the gradient
(slope) of the graph is increasing in time] between times and . The body then
moves to the right (since is increasing in time) with a constant velocity (since the
graph is a straight line) between times and . Finally, the body decelerates [since
the gradient (slope) of the graph is decreasing in time] between times and .
 Figure 9: Graph of displacement versus time

Using s-t curve, v-t & a-t curves can be plotted.

Area under v-t curve during time dt = vdt == ds
Net disp from t1 to t2 = corresponding area under v-t curve

or s2 - s1 = (area under v-t curve)

Area under a-t curve during time dt = adt == dv

Net change in vel from t1 to t2 = corresponding area under a-t curve

Or v2 - v1 = (area under a-t curve) 13

Two additional graphical relations:

Area under a-s curve during disp ds= ads == vdv
Net area under a-s curve betn position coordinates s1 and s2
Or (v22 v12) = (area under a-s curve)
Slope of v-s curve at any point A = dv/ds
Construct a normal AB to the curve at A. From similar triangles:

Velocity and position coordinate axes should have the same numerical scales so that the accln
read on the x-axis in meters will represent the actual acceleration in m/s2