Chapter2: Kinematics of the material point

Introduction

kinematics is a branch of mechanics which describes the movement of a body,

that is to say the variation of its position with time without being interested in the causes which
produce them

I/ General:
Movement : The movement of a mobile is its evolution in space over time, the evolution is

characterized by the data of its position over time, the notion of movement is relative.

The reference system:

We say that an observer is in motion relative to another when its position relative to the second

body changes as a function of time. On the other hand, if this position does not change as a

function of time, the observer is at rest.

Rest as movement are both relative notions. To describe the movement, we must choose a

reference point or system of reference.

The reference system can be:

• An object

• A reference system or orthonormal reference R(O, X, Y, Z) in which the position of a body

M (X, Y, Z) is located.

Notion of the material point: it is a solid whose dimensions are very small compared to the

distance which separates them from the observer.

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Notion of trajectory: it is the geometric location of the successive positions occupied by the

mobile over time and in relation to the reference system considered.

The trajectory can be a straight line (rectilinear movement), a circle (circular movement), any

curve (curvilinear movement)

We obtain the trajectory equation by eliminating the time between the two time equations.

II/ Study of movements:

1/ Rectilinear movement: it is a movement for which the trajectory of the mobile is a straight

line (movement in one dimension)

1.1/ Position vector :

The mobile moves on a straight axis (OX)

The position M of the mobile is identified by the position vector ⃗⃗⃗⃗⃗⃗⃗ = 𝑶𝑴 𝒊

𝑶𝑴

𝑂𝑀 = 𝑥(𝑡) ; it is the abscissa of point M at time t. it is also the time equation of motion.

The graph of x(t) is called a space diagram.

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1.2/ Displacement vector :

Let 𝑀1 and 𝑀2 two positions of a mobile on the axis (OX) at the instants

𝑡1 and 𝑡2 respectively. The vector ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗

𝑀 1 𝑀2 is called displacement vector

⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑀1 𝑀2 = 𝑀 ⃗⃗⃗⃗⃗⃗⃗⃗ ⃗⃗⃗⃗⃗⃗⃗⃗⃗ ⃗⃗⃗⃗⃗⃗⃗⃗⃗ ⃗⃗⃗⃗⃗⃗⃗⃗
1 𝑂 + 𝑂𝑀2 = 𝑂𝑀2 − 𝑂𝑀1 = ∆ 𝑂𝑀
⃗⃗⃗⃗⃗⃗
⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑀1 𝑀2 = 𝑥2 𝑖 − 𝑥1 𝑖 = (𝑥2 − 𝑥1 )𝑖 = ∆𝑥 𝑖

⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
|𝑀 1 𝑀2 | = |∆𝑥| → This is the module of the displacement (the length of the displacement)

The displacement module ≠ the distance traveled → ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗

|𝑀 ⃗⃗⃗⃗⃗⃗⃗⃗ ⃗⃗⃗⃗⃗⃗⃗⃗⃗
1 𝑀2 | ≠ |𝑀1 𝑂| + |𝑂𝑀2 |

Example : 𝑥𝑖 = −7 𝑚 et 𝑥𝑓 = −3 𝑚

⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑀𝑖 𝑀𝑓 is displacement vector.
The module of displacement vector (lenght) → ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
|𝑀 𝑖 𝑀𝑓 | = 4 𝑚.

Distance traveled ⃗⃗⃗⃗⃗⃗⃗⃗

→ 𝑑 = |𝑀 ⃗⃗⃗⃗⃗⃗⃗⃗
𝑖 𝑂 | + |𝑂𝑀𝑓 | = |−7| + |3| = 10 𝑚

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1.3 Velocity vector:

There are two types of speed :

Let a mobile which moves from 𝑀1 to 𝑀2 between the moments 𝑡1 and 𝑡2 .

Average speed: We define the average speed of the mobile between the moments
𝑡1 and 𝑡2 by:

𝑡 2
⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑀1 𝑀2 ⃗⃗⃗⃗⃗⃗⃗⃗⃗2 − 𝑂𝑀
𝑂𝑀 ⃗⃗⃗⃗⃗⃗⃗⃗1 ∆𝑂𝑀
⃗⃗⃗⃗⃗⃗
⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑉 𝑚𝑜𝑦 )𝑡 = = =
1 𝑡2 − 𝑡1 𝑡2 − 𝑡1 ∆𝑡

The module of average speed is :

𝑡
2
⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
‖𝑀 1 𝑀2 ‖
⃗⃗⃗⃗⃗⃗⃗⃗⃗
‖𝑉 𝑚𝑜𝑦 )𝑡 ‖ =
1 ∆𝑡

Instantaneous speed: this is the speed at a given time t, it is defined by:

𝑡
2
⃗⃗𝑉𝑖 (𝑡) = lim 𝑉
⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑚𝑜𝑦 )𝑡 t is the middle of ∆t
∆𝑡→0 1

⃗⃗⃗⃗⃗⃗
∆𝑂𝑀 ⃗⃗⃗⃗⃗⃗
𝑑𝑂𝑀
⃗⃗𝑉𝑖 (𝑡) = lim = →
∆𝑡→0 ∆𝑡 𝑑𝑡

Graphically it is the slope of the tangent to the curve of 𝑥 = 𝑓(𝑡)

The unit of speed is (m/s)

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1.4 Acceleration vector :

Average acceleration between two times 𝑡1 and 𝑡2 :

𝑡2 ⃗⃗⃗
𝑉2 − ⃗⃗⃗
𝑉1 ∆𝑉 ⃗
𝑎𝑚𝑜𝑦 )
⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗ = =
𝑡1 𝑡2 − 𝑡1 ∆𝑡
The module of average acceleration is :

2 𝑡 ⃗⃗⃗⃗⃗ ‖
‖∆𝑉
⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
‖𝑎 𝑚𝑜𝑦 )𝑡 ‖ =
1 ∆𝑡

Instantaneous acceleration : it is the acceleration at a given time t

𝑡
𝑎𝑚𝑜𝑦 )𝑡2
𝑎𝑖 (𝑡) = lim ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
⃗⃗⃗
∆𝑡→0 1

⃗ 2 (𝑡2 ) − 𝑉
𝑉 ⃗ 1 (𝑡1 ) ⃗
∆𝑉 ⃗
𝑑𝑉
𝑎𝑖 (𝑡) = lim
⃗⃗⃗ = lim =
∆𝑡→0 𝑡2 − 𝑡1 ∆𝑡→0 ∆𝑡 𝑑𝑡

Integral relationships.

We have seen that we can go from position to speed and from speed to acceleration by derivation.

𝒙(𝒕) → 𝒗(𝒕) → 𝒂(𝒕) → by derivation

Going in the opposite direction is possible by integration.

𝒂(𝒕) → 𝒗(𝒕) → 𝒙(𝒕) → by integration

Shifting from velocity to position

a. :

𝑑𝑥 𝑥(𝑡) 𝑡
𝑉𝑥 = 𝑑𝑡
⇒ 𝑑𝑥 = 𝑉𝑥 𝑑𝑡 → ∫𝑥(𝑡 ) 𝑑𝑥 = ∫𝑡 𝑉𝑥 𝑑𝑡
0 0

𝒕
By integrating → 𝒙(𝒕) − 𝒙(𝒕𝟎 ) = ∫𝒕 𝑽𝒙 𝒅𝒕
𝟎

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Graphically :

𝒕
𝒙(𝒕) − 𝒙(𝒕𝟎 ) = ∫𝒕 𝑽𝒙 𝒅𝒕 =
𝟎
Algebraic area delimited by

the curve of Vx(t), the time axis and

the two lines t=t i and t=tf

Example 1 :

A mobile animated by a movement on the axis (OX) with: 𝑉(𝑡) = 2𝑡 + 1 ( 𝑚/𝑠).

At t=0s, the mobile is at position 2m.

Determine the time equation of position 𝑥(𝑡).

Example2 :

Consider the diagram in Figure.

We have : 𝑥 (0𝑠) = 1𝑚.
- Determine 𝑥(2𝑠) et 𝑥(4𝑠).

- Calculate the distance traveled between

t = 0s et t = 5s.

Noticed :

→ To calculate the positions, you must take the areas in algebraic value.

→ To calculate the distance traveled, you must take the absolute values of the areas.

b. / Shifting from acceleration to velocity :

We have :

𝑑𝑉𝑥 𝑉 (𝑡 ) 𝑡
𝑎𝑥 = 𝑑𝑡
⇒ 𝑑𝑉𝑥 = 𝑎𝑥 𝑑𝑡 → ∫𝑉 𝑥(𝑡 𝑓) 𝑑𝑉𝑥 = ∫𝑡 𝑓 𝑎𝑥 𝑑𝑡
𝑥 𝑖 𝑖

𝑡
by integrating → 𝑉𝑥 (𝑡𝑓 ) − 𝑉𝑥 (𝑡𝑖 ) = ∫𝑡 𝑓 𝑎𝑥 𝑑𝑡
𝑖

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 Graphically:

𝒕
𝑽𝒙 (𝒕𝒇 ) − 𝑽𝒙 (𝒕𝒊 ) = ∫𝒕 𝒇 𝒂𝒙 𝒅𝒕 = Aire al Algebraic area delimited by
𝒊

the curve of ax(t), the time axis and the two lines t=t i and t=tf

Exercise :

- We take the following acceleration diagram:

- Determine 𝑉𝑥 (2𝑠) et 𝑉𝑥 (6𝑠)

such as 𝑉𝑥 (0𝑠) = 1 𝑚/𝑠

1.6 Study of particular rectilinear movements.

a- Uniform rectilinear motion :
𝑑𝑉𝑥
𝑉𝑥 (𝑡) = 𝑐𝑡𝑒 = 𝑉0 → 𝑎𝑥 = 𝑑𝑡
= 0 𝑚/𝑠 2

Integral method :
𝑑𝑥
We have 𝑉𝑥 = 𝑑𝑡
⇒ 𝑑𝑥 = 𝑉𝑥 𝑑𝑡
𝑥(𝑡) 𝑡 𝑡
The integral gives us → ∫𝑥(𝑡 ) 𝑑𝑥 = ∫𝑡 𝑉𝑥 𝑑𝑡 → 𝑥(𝑡) − 𝑥(𝑡0 ) = ∫𝑡 𝑉𝑥 𝑑𝑡
0 0 0

𝑡 𝑡
Such as 𝑥(𝑜) = 𝑥0 → 𝑥(𝑡) − 𝑥(0) = ∫0 𝑉0 𝑑𝑡 → 𝑥(𝑡) = 𝑥0 + 𝑉0 ∫𝑡 𝑑𝑡
0

We obtain the time equation: 𝒙(𝒕) = 𝒙𝟎 + 𝑽𝟎 𝒕

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 Graphical method :

b Uniformly varied rectilinear motion - :

varied ⇒ 𝑎𝑥 ≠ 0.

Uniformly ⇒ 𝑎𝑥 = 𝑐𝑡𝑒
𝑡
Integral Method : → for velocity : 𝑉𝑥 (𝑡) − 𝑉𝑥 (𝑡0 ) = ∫𝑡 𝑎𝑥 𝑑𝑡
0

𝑡
𝑉𝑥 (𝑡) − 𝑉𝑥 (0) = 𝑎𝑥 ∫0 𝑑𝑡 → 𝑉𝑥 (𝑡) = 𝑉𝑥 (0) + 𝑎𝑥 (𝑡 − 0)

We obtain equation of velocity: 𝑉𝑥 (𝑡) = 𝑎𝑥 𝑡 + 𝑉𝑥0 ; such as 𝑉𝑥 (0) = 𝑉𝑥0

𝑡
→ For position : 𝑥(𝑡) − 𝑥(𝑡0 ) = ∫𝑡 𝑉𝑥 𝑑𝑡
0

𝑡 𝑡 𝑡
𝑥(𝑡) − 𝑥(0) = ∫0 (𝑎𝑥 𝑡 + 𝑉𝑥0 ) 𝑑𝑡 → 𝑥(𝑡) − 𝑥(0) = ∫0 𝑎𝑥 𝑡 𝑑𝑡 + ∫0 𝑉𝑥0 𝑑𝑡

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𝑥(𝑡) − 𝑥0 = 2 𝑎𝑥 𝑡 2 + 𝑉𝑥0 𝑡 such as : 𝑥(0) = 𝑥0

We obtain the time equation :

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𝑥(𝑡) = 2 𝑎𝑥 𝑡 2 + 𝑉𝑥0 𝑡 + 𝑥0

Graphic example : 1st case : 𝒂𝒙 = 𝟐 𝒎/𝒔 > 0 𝑽𝒙𝟎 = −𝟒 𝒎/𝒔 𝒙𝟎 = 𝟐 𝒎

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 2nd case : 𝒂𝒙 = −𝟐 𝒎/𝒔 < 0 𝑽𝒙𝟎 = 𝟒 𝒎/𝒔 𝒙𝟎 = 𝟐 𝒎

Noticed :

1- The concavity of the graph of x(t) can be used to determine the sign of the acceleration.
→ Upward concavity indicates positive acceleration .

→ Downward concavity indicates negative acceleration .

Uniformly varied rectilinear motion is characterized by a constant acceleration which can be calculated as
𝑑𝑉𝑥 𝑑 𝑉𝑥 𝑥 𝑉
follows: 𝑎𝑥 = → 𝑎𝑥 𝑑𝑥 = 𝑑𝑥 → 𝑎𝑥 ∫𝑥 𝑓 𝑑𝑥 = ∫𝑉 𝑓 𝑉𝑥 𝑑𝑉𝑥
𝑑𝑡 𝑑𝑡 𝑖 𝑖
𝑥 1 𝑉𝑓 1
𝑎𝑥 [𝑥]𝑥𝑖𝑓 = [2 𝑉𝑥2 ] ⇒ 𝑎𝑥 (𝑥𝑓 − 𝑥𝑖 ) = (𝑉 2
2 𝑥𝑓
2
− 𝑉𝑥𝑖 )
𝑉𝑖
⇒ a time independent equation :
2 2
(𝑉𝑥𝑓 − 𝑉𝑥𝑖 )
𝑎𝑥 =
2(𝑥𝑓 − 𝑥𝑖 )
2
𝑉𝑥𝑓 − 𝑉𝑥𝑖2 = 2 𝑎𝑥 (𝑥𝑓 − 𝑥𝑖 )

c/ Nature of rectilinear motion :

c/ Nature of rectilinear motion :
• 𝑉𝑥 = 𝑐𝑡𝑒 → Movement is rectilinear Uniform (MRU).
• 𝑎𝑥 = 𝑐𝑡𝑒 → Movement is rectilinear Uniformly Varied (MRUV).
• 𝑎𝑥 𝑉𝑥 > 0 and 𝑎𝑥 = 𝑐𝑡𝑒 → Movement is rectilinear Uniformly Accelerated (MRUA)

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 • 𝑎𝑥 𝑉𝑥 < 0 and 𝑎𝑥 = 𝑐𝑡𝑒 → Movement is rectilinear Uniformly Decelerated (MRUD)

2/ Rectilinear sinusoidal movement:( simple harmonic movement):

The motion is called sinusoidal rectilinear motion if the material point moves with a position vector

⃗⃗⃗⃗⃗⃗
𝑂𝑀 = 𝑥(𝑡) 𝑖 such as
𝑥(𝑡) = 𝑥𝑚 cos(𝜔𝑡 + 𝜑)

Its characteristics are :

- 𝑥𝑚 : the maximum amplitude (maximum elongation)

- t +  : the phase ;
-  : initiale phase .

- : pulsation or angular frequency (rd/s)

2𝜋
𝜔= = 2 𝜋𝑓
𝑇

-T: period. this is the time needed to make a complete revolution

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- 𝑓= :
𝑇
Frequency ; the number of turns per unit of time.

We write:
Position vector → ⃗⃗⃗⃗⃗⃗
𝑂𝑀 = 𝑥(𝑡) 𝑖 = 𝑥𝑚 cos(𝜔𝑡 + 𝜑) 𝑖
⃗⃗⃗⃗⃗⃗⃗
𝑑 𝑂𝑀 𝑑𝑥
Velocity vector → 𝑣= 𝑑𝑡
= 𝑑𝑡 𝑖 = − 𝜔 𝑥𝑚 sin(𝜔𝑡 + 𝜑) 𝑖
⃗
𝑑𝑣 𝑑2 𝑥
Acceleration vector → 𝑎= 𝑑𝑡
= 𝑑𝑡 2
𝑖 = − 𝜔2 𝑥𝑚 cos(𝜔𝑡 + 𝜑) 𝑖

𝑑2𝑥
⃗⃗⃗𝑎 = −𝜔2 𝑥(𝑡)𝑖 ⇒ + 𝜔2 𝑥 = 0 It is a differential equation without
𝑑𝑡 2

second member.

graphic presentation :

𝑥(𝑡) = 𝑥𝑚 cos(𝜔𝑡) ; 𝜑=0

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3/ Movement in plane :

It is a movement whose trajectory is any curve. We study the movement following Cartesian coordinates

(O, 𝑖, 𝑗)or following polar coordinates (𝑂, 𝑢⃗𝑟 , 𝑢⃗𝜃 ).

3.1/ Study of movement in Cartesian coordinates:

Position vector : ⃗⃗⃗⃗⃗⃗

𝑂𝑀 = 𝑟(t)

⃗⃗⃗⃗⃗⃗
𝑂𝑀 = 𝑥(𝑡) 𝑖 + 𝑦(𝑡) 𝑗

Displacement vector :

⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑀1 𝑀2 = ∆𝑂𝑀 ⃗⃗⃗⃗⃗⃗ = 𝑂𝑀
⃗⃗⃗⃗⃗⃗⃗⃗⃗2 − 𝑂𝑀
⃗⃗⃗⃗⃗⃗⃗⃗1

= ( 𝑥2 𝑖 + 𝑦2 𝑗) − (𝑥1 𝑖 + 𝑦1 𝑗 = (𝑥2 − 𝑥1 )𝑖 + (𝑦2 − 𝑦1 ) 𝑗

= ∆𝑥 𝑖 + ∆𝑦 𝑗

Velocity vector :
𝒕 ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗ ⃗⃗⃗⃗⃗⃗⃗
⃗ 𝒎 ] 𝟐 = 𝑴𝟏𝑴𝟐 = ∆𝑶𝑴
a/ Average velocity vector : 𝑽 𝒕 ∆𝒕 𝟏∆𝒕

∆𝒙 ∆𝒚
= 𝒊+ 𝒋 = 𝑽𝒙𝒎 ⃗𝒊 + 𝑽𝒚𝒎 ⃗𝒋
∆𝒕 ∆𝒕
𝒕
the module : ⃗ 𝒎 ] 𝟐 ‖ = √𝑽𝟐𝒙𝒎 + 𝑽𝟐𝒚𝒎
‖𝑽 𝒕 𝟏

b/ instantaneous speed vector:

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 ⃗⃗⃗⃗⃗⃗⃗
∆𝑂𝑀 𝑑 ⃗⃗⃗⃗⃗⃗⃗
𝑂𝑀
when ∆𝑡 → 0 ⃗ (𝑡) = lim
on 𝑉 =
∆𝑡 →0 ∆𝑡 𝑑𝑡

𝑑 𝑑𝑥 𝑑𝑦
⃗ (𝑡) =
𝑉 (𝑥 𝑖 + 𝑦𝑗) = 𝑖+ 𝑗 = 𝑉𝑥 𝑖 + 𝑉𝑦 𝑗
𝑑𝑡 𝑑𝑡 𝑑𝑡

⃗ (𝑡)‖ = √𝑉𝑥2 + 𝑉𝑦2

the module : ‖𝑉

→ Its caracteristics :

⃗ (𝑡)
𝑉 is always oriented in the direction of movement.

⃗ (𝑡)
𝑉 is tangent to the trajectory.

𝑑𝑥
𝑉𝑥 = 𝑑𝑡
𝑠𝑙𝑜𝑝𝑒 𝑜𝑓 𝑡ℎ𝑒 𝑡𝑎𝑛𝑔𝑒𝑛𝑡 𝑡𝑜 𝑡ℎ𝑒 𝑐𝑢𝑟𝑣𝑒 𝑥(𝑡)
• ⃗ (𝑡)
𝑉 { 𝑑𝑦
𝑉𝑦 = 𝑑𝑡 𝑠𝑙𝑜𝑝𝑒 𝑜𝑓 𝑡ℎ𝑒 𝑡𝑎𝑛𝑔𝑒𝑛𝑡 𝑡𝑜 𝑡ℎ𝑒 𝑐𝑢𝑟𝑣𝑒 𝑦(𝑡)

Acceleration Vector

a/ Average acceleration vector:

𝒕
⃗⃗⃗⃗𝟐 − ⃗𝑽𝟏 ∆𝑽
𝑽 ⃗
⃗ 𝒎 ]𝒕𝟐𝟏 =
𝒂 =
𝒕𝟐 − 𝒕𝟏 ∆𝒕
∆𝑉𝑥 ∆𝑉𝑦
= 𝑖 + 𝑗 = 𝑎𝑚𝑥 𝑖 + 𝑎𝑚𝑦 𝑗
∆𝑡 ∆𝑡

𝒕
2 + 𝑎2
⃗ 𝒎 ]𝒕𝟐𝟏 =|√𝑎𝑚𝑥
the module : |𝒂 𝑚𝑦

→ Its caracteristics :

𝒕 ⃗.
⃗ 𝒎 ]𝒕𝟐𝟏
𝒂 has the same direction and same meaning as ∆𝑽
• ⃗ (𝑡) is tangent to the curve.
𝑉

𝑡 ⃗
∆𝑉 ⃗
𝑑𝑉
b/ Instantaneous acceleration vector: 𝑎(𝑡) = lim 𝑎𝑚 ]𝑡21 = lim ∆𝑡
= 𝑑𝑡
∆𝑡→0 ∆𝑡 →0

𝑑 𝑑𝑉𝑥 𝑑𝑉𝑦
𝑎(𝑡) = (𝑉𝑥 𝑖 + 𝑉𝑦 𝑗) = 𝑖+ 𝑗 = 𝑎𝑥 𝑖 + 𝑎𝑦 𝑗
𝑑𝑡 𝑑𝑡 𝑑𝑡
𝑑𝑉𝑥
𝑎𝑥 = 𝑠𝑙𝑜𝑝𝑒 𝑜𝑓 𝑡𝑛𝑒 𝑡𝑎𝑛𝑔𝑒𝑛𝑡 𝑡𝑜 𝑡ℎ𝑒 𝑐𝑢𝑟𝑣𝑒 𝑉𝑥 (𝑡)
𝑎(𝑡) { 𝑑𝑡
𝑑𝑉𝑦
𝑎𝑦 = 𝑠𝑙𝑜𝑝𝑒 𝑜𝑓 𝑡ℎ𝑒 𝑡𝑎𝑛𝑔𝑒𝑛𝑡 𝑡𝑜 𝑡ℎ𝑒 𝑐𝑢𝑟𝑣𝑒 𝑉𝑦 (𝑡)
𝑑𝑡

12
Noticed : 𝑎 is always oriented towards the side of the concavity
.

Application : Exercise 8

Consider a mobile 𝑀 moving on a plane (𝑂𝑥𝑦). We give, below, graphic plots of the
components of velocities 𝑣𝑥 (𝑡) and 𝑣𝑦 (𝑡). At 𝑡 = 0𝑠, 𝑥 = 𝑦 = 0𝑚.

1- Represent the path describing motion

of the mobile 𝑀 between 𝑡 = 0𝑠 and 𝑡 = 30𝑠.
2- What is the distance traveled between t=0s
and t=10s
3- Represent, graphic plots of the accelerations
𝑎𝑥 (𝑡) and 𝑎𝑦 (𝑡).

4- Represent, on the path, velocity vectors and

acceleration vectors at 𝑡 = 10𝑠 and 𝑡 = 30𝑠.

Answer:

1/ The trajectory: see the graph

t(s) 0 2.5 5 10 15 20 30
x(m) 0 5 10 20 30 40 60
y(m) 0 0.625 2.5 10 20 30 50

2/ the distance traveled :

𝑑0𝑠→10𝑠 = √𝑥 2 + 𝑦 2 = 22.36 𝑚

3/ graphic plots of the acceleration :

13
 𝑑𝑉𝑦 0.2 → 0 < 𝑡 < 10𝑠
𝑎𝑦 = = 𝑠𝑙𝑜𝑝𝑒 𝑜𝑓 𝑉𝑦 (𝑡) = {
𝑑𝑡 0 → 10𝑠 < 𝑡 < 30𝑠
𝑑𝑉𝑥
𝑎𝑥 = = 𝑠𝑙𝑜𝑝𝑒 𝑜𝑓 𝑉𝑥 (𝑡) = 0 → 0 < 𝑡 < 30𝑠
𝑑𝑡

⃗ (20𝑠), ⃗⃗⃗𝑎(20𝑠) et 𝑉
4/ Representation of 𝑉 ⃗ (5𝑠) , ⃗⃗⃗𝑎(5𝑠) (see the trajectory graph ):

𝑥(5𝑠) = 10𝑚; 𝑦(5𝑠) = 2.5𝑚 → ⃗⃗⃗⃗⃗⃗

𝑂𝑀 = 10 𝑖 + 2.5 𝑗
𝑡 = 5𝑠 {𝑉𝑥 = 2𝑚/𝑠; 𝑉𝑦 = 1𝑚/𝑠 → ⃗ (5𝑠) = 2𝑖 + 𝑗
𝑉
𝑎𝑥 = 0𝑚/𝑠 2 ; 𝑎𝑦 = 0.2 𝑚/𝑠 2 → 𝑎(5𝑠) = 0.2 𝑗

𝑥(20𝑠) = 40𝑚; 𝑦(20𝑠) = 30𝑚 → ⃗⃗⃗⃗⃗⃗

𝑂𝑀 = 40 𝑖 + 30 𝑗
𝑡 = 20𝑠 { 𝑉𝑥 = 2𝑚/𝑠; 𝑉𝑦 = 2𝑚/𝑠 → ⃗ (20𝑠) = 2𝑖 + 2 𝑗
𝑉
𝑎𝑥 = 0𝑚/𝑠 2 ; 𝑎𝑦 = 0.2 𝑚/𝑠 2 → 𝑎(20𝑠) = ⃗0

14
3.2 Study of motion in polar coordinates:

𝑟 = |𝑟| = ⃗⃗⃗⃗⃗⃗⃗⃗
𝑂𝑀 ; 𝑝𝑜𝑙𝑎𝑟 𝑟𝑎𝑑𝑖𝑢𝑠
The polar coordinates are {
𝜃 ; 𝑝𝑜𝑙𝑎𝑟 𝑎𝑛𝑔𝑙𝑒 𝑏𝑒𝑡𝑥𝑒𝑒𝑛 𝑡ℎ𝑒 𝑎𝑥𝑖𝑠 ⃗⃗⃗⃗⃗⃗
𝑂𝑥 𝑎𝑛𝑑 𝑡ℎ𝑒 𝑣𝑒𝑐𝑡𝑜𝑟 ⃗⃗⃗⃗⃗⃗
𝑂𝑀

𝑢
⃗
polar base { 𝑟
𝑢
⃗𝜃
it is a mobile base linked to point M which is in movement .

𝑢
⃗𝑟 in the same direction as ⃗⃗⃗⃗⃗⃗
𝑂𝑀.

𝑢
⃗𝜃 is perpendicular to 𝑢⃗𝑟 in the trigonometric direction.

the base (𝑢
⃗ 𝑟, 𝑢
⃗ 𝜃) is linked to the mobile and therefore variable over time, unlike the Cartesian base (𝑖, 𝑗, 𝑘⃗)

which are fixed.

𝑑𝑢⃗𝑟 𝑑𝑢⃗𝜃
≠0 ≠0
𝑑𝑡 𝑑𝑡

Determination of derivatives of the polar basis:

⃗ 𝑟 = ‖𝑢
𝑢 ⃗ 𝑟 ‖ 𝑐𝑜𝑠 𝜃 𝑖 + ‖𝑢
⃗ 𝑟 ‖ sin 𝜃 𝑗 → 𝑢
⃗ 𝑟 = 𝑐𝑜𝑠 𝜃 𝑖 + sin 𝜃 𝑗

𝑢 ⃗ 𝜃 ‖ sin 𝜃 𝑖 + ‖𝑢
⃗ 𝜃 = −‖𝑢 ⃗ 𝜃 ‖ cos 𝜃 𝑗 → 𝑢
⃗ 𝜃 = − sin 𝜃 𝑖 + cos 𝜃 𝑗

15
Let's calculate the derivative:

𝑑𝑢⃗ 𝑟 𝑑𝜃 𝑑𝜃
∗ → = (− sin 𝜃) 𝑖 + cos 𝜃 𝑗
𝑑𝑡 𝑑𝑡 𝑑𝑡
𝑑𝜃 𝑑𝜃
= (− sin 𝜃 𝑖 + cos 𝜃 𝑗 ) = ⃗ = 𝜃̇ 𝑢
𝑢 ⃗𝜃
𝑑𝑡 𝑑𝑡 𝜃

𝑑𝑢⃗𝜃 𝑑𝜃 𝑑𝜃
∗∗ → = − cos 𝜃 𝑖 + (−sin 𝜃 ) 𝑗
𝑑𝑡 𝑑𝑡 𝑑𝑡
𝑑𝜃 𝑑𝜃
=− 𝑑𝑡
(cos 𝜃 𝑖 + sin 𝜃 𝑗 ) = − 𝑑𝑡
⃗ 𝑟 = − 𝜃̇ 𝑢
𝑢 ⃗𝑟

To Remember:

𝑑𝑢⃗ 𝑟 𝑑𝑢⃗ 𝑟 𝑑𝜃
= = 𝜃̇ 𝑢
⃗𝜃
𝑑𝑡 𝑑𝜃 𝑑𝑡
𝑑𝑢⃗ 𝜃 𝑑𝑢⃗ 𝜃 𝑑𝜃
= = −𝜃 ̇ 𝑢
⃗𝑟
𝑑𝑡 𝑑𝜃 𝑑𝑡

Polar position vector :

𝑟
⃗⃗⃗⃗⃗⃗
𝑂𝑀 ( ) → ⃗⃗⃗⃗⃗⃗
𝑂𝑀 = 𝑟 = 𝑟 𝑢
⃗𝑟 ⃗⃗⃗⃗⃗⃗ ‖
; 𝑟 = ‖𝑂𝑀
0

Relationship between Cartesian and polar coordinates:

⃗⃗⃗⃗⃗⃗ 𝑥 = 𝑟 𝑐𝑜𝑠 𝜃
𝑂𝑀 {
𝑦 = 𝑟 𝑠𝑖𝑛𝜃
𝑦
𝑟 = √𝑥 2 + 𝑦 2 et 𝜃 = 𝑎𝑟𝑐𝑡𝑔 𝑥

Velocity vector :

⃗⃗⃗⃗⃗⃗
𝑑𝑂𝑀 𝑑(𝑟 𝑢
⃗ 𝑟)
⃗ =
𝑉 =
𝑑𝑡 𝑑𝑡

𝑑𝑟 𝑑𝑢⃗𝑟
= 𝑢
⃗𝑟+𝑟 ⃗ 𝑟 + 𝑟𝜃 ̇ 𝑢
= 𝑟̇ 𝑢 ⃗𝜃
𝑑𝑡 𝑑𝑡

16
 𝑑𝑟
𝑉𝑟 = = 𝑟̇
⃗ = 𝑉𝑟 𝑢
𝑉 ⃗ 𝑟 + 𝑉𝜃 𝑢
⃗𝜃 { 𝑑𝑡
𝑑𝜃
𝑉𝜃 = 𝑟 = 𝑟𝜃̇
𝑑𝑡

𝑉𝑟 is a radial velocity ; 𝑉𝜃 transversal velocity or orthoradial

Acceleration vector:

⃗
𝑑𝑉 ⃗ 𝑟 + 𝑟𝜃 ̇ 𝑢
𝑑(𝑟̇ 𝑢 ⃗ 𝜃)
𝑎= =
𝑑𝑡 𝑑𝑡

𝑑𝑟̇ 𝑑𝑢⃗ 𝑟 𝑑𝑟 𝑑𝜃̇ 𝑑𝑢⃗𝜃

= 𝑢
⃗ 𝑟 + 𝑟̇ + 𝜃̇ 𝑢
⃗𝜃+𝑟 ⃗ 𝜃 + 𝑟 𝜃̇
𝑢
𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡

𝑑𝑟̇ 𝑑𝜃̇
= ⃗ 𝑟 + 𝑟̇ 𝜃̇ 𝑢
𝑢 ⃗ 𝜃 + 𝑟̇ 𝜃̇ 𝑢
⃗𝜃 +𝑟 ⃗ + 𝑟 𝜃̇ (−𝜃̇ 𝑢
𝑢 ⃗ 𝑟)
𝑑𝑡 𝑑𝑡 𝜃

𝑎 = (𝑟̈ − 𝑟𝜃̇ 2 ) 𝑢
⃗ 𝑟 + (2 𝑟̇ 𝜃̇ + 𝑟 𝜃̈ ) 𝑢
⃗𝜃

𝑎 = 𝜃̈ − 𝑟𝜃̇ 2
𝑎 = 𝑎𝑟 𝑢
⃗ 𝑟 + 𝑎𝜃 𝑢
⃗𝜃 { 𝑟
𝑎𝜃 = 2𝑟̇ 𝜃̇ + 𝑟 𝜃̈

𝑎𝑟 is radial acceleration ; 𝑎𝜃 is transversal acceleration or orthoradial.

3.3 / Study of curvilinear movement:

Frenet Base :

𝑢
⃗ 𝑡 → Unit vector following the Tangent (direction of movement)

𝑢
⃗𝑛→ vector on the Normal to the trajectory oriented towards the concavity

17
If the trajectory is known we can:

✓ Direct it in an arbitrary direction.

✓ Choose a fixed origin point 𝑀0 .

✓ Choose a unit of length

.

We call the curvilinear abscissa of a point M the algebraic quantity of the arc : ̂
𝑠=𝑀0𝑀
𝑠1 = 𝑀0 ̂
𝑀1 < 0

̂
𝑠2 = 𝑀0 𝑀2 >0

The move : ̂
𝑀1 𝑀2 = 𝑠2 − 𝑠1 = ∆𝑠

∆𝑠
The average curvilinear speed : 𝑣𝑚 = ∆𝑡

Instanteneous velocity : 𝑣 = lim 𝑣𝑚 = lim ∆𝑠

∆𝑡
𝑑𝑠
= ; it is the tangent to the trajectory
𝑑𝑡
∆𝑡→0 ∆𝑡→0

𝑑𝑠
𝑣=𝑣𝑢
⃗𝑡 = 𝑢
⃗
𝑑𝑡 𝑡

18
Intrinsic components of acceleration:

𝑎 = 𝑎𝑡 + 𝑎𝑛 = 𝑎𝑡 𝑢
⃗ 𝑡 + 𝑎𝑛 𝑢
⃗𝑛

𝑎𝑡 : tangente component of 𝑎

𝑎𝑛 : normal component of 𝑎 .

𝑎𝑡 et 𝑎𝑛 these are the intrinsic components of 𝑎.

Expression of 𝒂𝒕 and 𝒂𝒏 :

⃗‖
𝑑‖𝑉 𝑑𝑉
𝑎𝑡 = = → linked to the change of the module ⃗.
𝑉
𝑑𝑡 𝑑𝑡

𝑉2
𝑎𝑛 = → ⃗.
linked to the change of the direction de 𝑉 𝜌 is , it is the radius of the circle tangent to
𝜌

the trajectory at the point M.

The module of total acceleration : ‖𝑎‖ = 𝑎 = √𝑎𝑡2 + 𝑎𝑛2

Noticed :

Varied rectilinear movement Rectilinear ⇒ 𝜌 = ∞ → 𝑎𝑛 = 0

Varied ⇒ 𝑎𝑡 ≠ 0

19
Uniform circular motion Circular ⇒ 𝜌 = 𝑅 = 𝑐𝑡𝑒 et 𝑎𝑛 ≠ 0
𝑑𝑉
Uniform ⇒ 𝑎𝑡 = 𝑑𝑡
=0

Nature of movement :

• 𝜌 = 𝑐𝑡𝑒 ⇒ Circular motion.

• 𝑎𝑡 = 0 ⇒ Uniform motion.
• 𝑎𝑡 ≠ 0 ⇒ Varied motion.
• 𝑎𝑡 = 𝑐𝑡𝑒 ⇒ Uniformly varied motion : ( 𝑎𝑡 > 0 ⇒ uniformly accelerated motion and if 𝑎𝑡 < 0
⇒ uniformly decelerated motion).

Special case : Circular motion 𝑹 = 𝒄𝒕𝒆

The trajectory is a circle of radius R.

Position Vecotor :

In cartesian cordinates :
𝑥(𝑡) = 𝑅 cos 𝜃
⃗⃗⃗⃗⃗⃗
𝑂𝑀(𝑡) = |
𝑦(𝑡) = 𝑅 sin 𝜃
In polar cordinates :
𝑟(𝑡) = 𝑅 = 𝑐𝑡𝑒
⃗⃗⃗⃗⃗⃗
𝑂𝑀(𝑡) = |
𝜃(𝑡) 𝑣𝑎𝑟𝑖𝑒

Velocity vector :

In cartesian cordinates :
𝑑𝑥
= −𝑅 sin 𝜃
⃗ (𝑡) = | 𝑑𝑡
𝑉 𝑑𝑦
= 𝑅 cos 𝜃
𝑑𝑡
In polar cordinates :
𝑉𝑟 = 𝑟̇ = 0
⃗ (𝑡) = |
𝑉
𝑉𝜃 = 𝑟 𝜃̇ = 𝑅 𝜃̇ = 𝑅𝜔
𝜃̇ is angular velocity such as :
𝑑𝜃
𝜃̇ = =𝜔
𝑑𝑡

Acceleration vector:

In cartesian cordinates :
𝑑2 𝑥
= −𝑅 cos 𝜃
𝑑𝑡 2
𝑎 (𝑡) = |𝑑2 𝑦
= −𝑅 sin 𝜃
𝑑𝑡 2

In polar cordinates :

20
 𝑎𝑟 = 𝑟̈ − 𝑟 𝜃̇ 2 = 0 − 𝑅 𝜃̇ 2 = −𝑅 𝜔2
𝑎(𝑡) = |
𝑎𝜃 = 2 𝑟̇ 𝜃̇ + 𝑟 𝜃̈ = 0 + 𝑅 𝜃̈ = 𝑅 𝛼

𝜃̈ is angular acceleration such as :

𝑑2 𝜃 𝑑𝜔
𝜃̈ = = =𝛼
𝑑𝑡 2 𝑑𝑡

Acceleration in intrinsic cordinates:

𝑑‖𝑉⃗‖ 𝑑𝜔
𝑎𝑡 = =𝑅 =𝑅𝛼
𝑑𝑡 𝑑𝑡
𝑎(𝑡) = || 𝑉2
𝑎𝑛 = 𝑅 == 𝑅 𝜔 2

Noticed :

𝑎 = 𝑎𝑟 𝑢
⃗ 𝑟 + 𝑎𝜃 𝑢
⃗ 𝜃 = 𝑎𝑡 𝑢
⃗ 𝑡 + 𝑎𝑛 𝑢
⃗𝑛

𝑎 = − 𝑅 𝜔2 𝑢
⃗𝑟+𝑅 𝛼 𝑢 ⃗ 𝑡 + 𝑅 𝜔2 𝑢
⃗𝜃 =𝑅 𝛼 𝑢 ⃗𝑛

𝑢
⃗ =−𝑢 ⃗𝑛
By identification we find : { 𝑟
𝑢
⃗𝜃 = 𝑢
⃗𝑡

In the case when the motion is uniform circular:

• the angular velocity is constant : 𝝎 = 𝜽̇ = 𝒄𝒕𝒆

𝒂𝒕 = 𝟎
⇒ ⃗⃗⃗ {
𝒂 𝑽𝟐 acceleration is centripetal
𝒂𝒏 = = 𝑹 𝝎𝟐
𝑹

• The angular position is given by :

𝑑𝜃 𝜃(𝑡) 𝑡
𝜔 = 𝜃̇ = 𝑑𝑡 ⇒ ∫𝜃(𝑡 ) 𝑑𝜃 = ∫𝑡 𝜔 𝑑𝑡 ⇒ 𝜃(𝑡) − 𝜃(𝑡0 ) = 𝜔(𝑡 − 𝑡0 )
0 0

We pose : 𝑡0 = 0 et 𝜃(𝑡0 ) = 𝜃0

We find : 𝜽(𝒕) = 𝝎 𝒕 + 𝜽𝟎

Noticed :

We knows that : 𝑉⃗ =𝑉𝑢 ⃗𝜃

̇
=𝑅 𝜃 𝑢 ⃗𝜃
=𝑅𝜔 𝑢 ⃗𝜃

21
𝑢
⃗ 𝑟; 𝑢 ⃗
⃗ 𝜃 and 𝑘 form a direct triad.

𝑢 ⃗ 𝜃 ∧ 𝑘⃗
⃗𝑟 =𝑢 ⃗ 𝜃 = 𝑘⃗ ∧ 𝑢
→ 𝑢 ⃗𝑟 → 𝑘⃗ = 𝑢
⃗𝑟∧ 𝑢
⃗𝜃

So

⃗ 𝜃 = 𝑅 𝜔 (𝑘⃗ ∧ 𝑢
⃗ =𝑅𝜔𝑢
𝑉 ⃗ 𝑟 ) = 𝜔 𝑘⃗ ∧ 𝑅 𝑢
⃗𝑟 =𝜔 ⃗⃗⃗⃗⃗⃗
⃗ ∧ 𝑂𝑀

𝜔 ⃗⃗⃗⃗⃗⃗ ∧ 𝑉
⃗ = 𝑂𝑀 ⃗ ⇒ ⃗⃗⃗⃗⃗⃗ = 𝑉
𝑂𝑀 ⃗ ∧ 𝜔
⃗

𝑑𝜃
⃗ ‖ = |𝜃̇ | = | 𝑑𝑡 | ; such as : 𝑂𝑀
⃗ of module ‖𝜔
We can represent the angular vector by a vector 𝜔 ⃗⃗⃗⃗⃗⃗ , 𝑉
⃗ 𝑎𝑛𝑑 𝜔
⃗

is direct.

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