Kinematics & Calculus
Practice
practice problem 1
solution
Jerk is the derivative of acceleration. Undo that process. Integrate jerk to get acceleration. That's the first time I've ever said that. I propose we call this the zeroeth equation of motion for constant jerk. The reason why will be apparent after we finish the next derivation.
j = | da | |||
dt | ||||
da = | j dt | |||
a | t | ||
⌠ ⌡ |
da = | ⌠ ⌡ |
j dt |
a_{0} | 0 |
a − a_{0} = | jt | ||||
a = | a_{0} + jt | [0] |
Acceleration is the derivative of velocity. Integrate acceleration to get velocity. We've done this process before. We called the result the velocity-time relationship or the first equation of motion when acceleration was constant. We should give it a similar name. This is the first equation of motion for constant jerk.
a = | dv | |||||
dt | ||||||
dv = | a dt | |||||
dv = | (a_{0} + jt) dt | |||||
v | t | |||
⌠ ⌡ |
dv = | ⌠ ⌡ |
(a_{0} + jt) dt | |
v_{0} | 0 |
v − v_{0} = | a_{0}t + ½jt^{2} | ||||
v = | v_{0} + a_{0}t + ½jt^{2} | [1] | |||
Velocity is the derivative of displacement. Integrate velocity to get displacement. We've done this before too. The resulting displacement-time relationship will be our second equation of motion for constant jerk.
v = | ds | |||||
dt | ||||||
ds = | v dt | |||||
ds = | (v_{0} + a_{0}t + ½jt^{2}) dt | |||||
s | t | |||
⌠ ⌡ |
ds = | ⌠ ⌡ |
(v_{0} + a_{0}t + ½jt^{2}) dt | |
s_{0} | 0 |
s − s_{0} = | v_{0}t + ½a_{0}t^{2} + ⅙jt^{3} | ||||
s = | s_{0} + v_{0}t + ½a_{0}t^{2} + ⅙jt^{3} | [2] | |||
Please notice something about these equations. When jerk is zero, they all revert back to the equations of motion for constant acceleration. Zero jerk means constant acceleration, so all is right with the world we've created. (I never said constant acceleration was realistic. Constant jerk is equally mythical. In hypertextbook world, however, all things are possible.)
Where do we go next? Should we try to remold the velocity-displacement relationship (the third equation of motion) in our new realm of constant jerk?
v = | v_{0} + a_{0}t + ½jt^{2} | [1] |
+ | ||
s = | s_{0} + v_{0}t + ½a_{0}t^{2} + ⅙jt^{3} | [2] |
= | ||
v = | ƒ(s) | [3] |
How about an acceleration-displacement relationship (the fourth equation of motion)?
a = | a_{0} + jt | [1] |
+ | ||
s = | s_{0} + v_{0}t + ½a_{0}t^{2} + ⅙jt^{3} | [2] |
= | ||
a = | ƒ(s) | [4] |
I don't even know if these can be worked out algebraically. I doubt it. Look at that scary cubic equation for displacement. That can't be our friend. At the moment, I can't be bothered. I don't know if working this out would tell me anything interesting. I do know I've never needed a third or fourth equation of motion for constant jerk — not yet. I leave this problem to the mathematicians of the world.
This is the kind of problem that distinguishes physicists from mathematicians. A mathematician wouldn't necessarily care about the physical significance and just might thank the physicist for an interesting challenge. A physicist wouldn't necessarily care about the answer unless it turned out to be useful, in which case the physicist would definitely thank the mathematician for being so curious.
practice problem 2
s = t^{3} − 15t^{2} + 54t
Where s is in meters, t is in seconds, and positive is forward. Determine…
- the object's velocity as a function of time
- the object's acceleration as a function of time
- the object's maximum velocity
- the object's minimum velocity
- the time when the object was moving backward
- the times when the object returned to its starting position
- the object's average velocity
- the object's average speed
solution
Draw it first.
- Velocity is the first derivative of displacement.
v = ds = 3t^{2} − 30t + 54 dt - Acceleration is the second derivative of displacement or the first derivative of velocity.
a = dv = 6t − 30 dt - In general, the extreme values of a function occur at the endpoints of the domain or at local extrema (if they exist). Let's check the endpoints first. How fast is the object moving at the beginning and end of the time interval?
v(0) = 3(0)^{2} − 30(0) + 54 v(0) = +54 m/s v(10) = 3(10)^{2} − 30(10) + 54 v(10) = +54 m/s Local extrema occur where the derivative of a function is zero. The extrema of the velocity function can be found at the places where the acceleration is zero.
a = 6t − 30 = 0 m/s^{2} t = 5 s This is the time where acceleration reversed direction. It corresponds to an inflection point on the graph.
How fast was the object moving at this time?
v(5) = 3(5)^{2} − 30(5) + 54 v(5) = −21 m/s We now have all the info needed to answer this question and the next one. The maximum velocity was +54 m/s. It occurred at 0 s and 10 s.
- The minimum velocity was −21 m/s. It occurred at 5 s.
- The direction of motion is determined by the sign of the velocity. Direction is reversed whenever the velocity switches sign. Between two signs lies a zero. Let's find the zeroes.
v = 3t^{2} − 30t + 54 v = 3(t ^{2}− 10t + 18) t = 10 ± √[10^{2} − 4(18)] 2 t = (5 ± √7) s t = 2.354… s, 7.645… s We have all the info we need to answer this question, but it's scattered. Let's make a little table summarizing what we know so far.
quantity start of
problemdirection
reversalminimum
velocitydirection
reversalend of
problemtime 0 s 2.3 s 5 s 7.6 s 10 s velocity +54 m/s 0 m/s −21 m/s 0 m/s +54 m/s direction forward not moving backward not moving forward The object was moving backward from 2.3 s to 7.6 s.
- Set the position equation equal to zero to determine the times when the object was at the starting point (s = 0 m).
s = t^{3} − 15t^{2} + 54t = 0 m s = t(t − 6)(t − 9) = 0 m t = 0 s, 6 s, 9 s - Average velocity is displacement divided by time. We know the object started at s = 0 m so that means Δs = s(10 s)
v̅ = Δs Δt v̅ = (10)^{3} − 15(10)^{2} + 54(10) 10 v̅ = +4 m/s - Average speed is distance divided by time. Finding distance is not easy. We need to find the distance traveled during the three stages of motion — forward, backward, and forward again — and then add the absolute values of the displacements. Before we can do that, we need to actually find the critical positions.
s = t^{3} − 15t^{2} + 54t s(0) = (0)^{3} − 15(0)^{2} + 54(0) s(0) = 0 m s(2.354) = (2.354)^{3} − 15(2.354)^{2} + 54(2.354) s(2.354) = +57.040… m s(7.645) = (7.645)^{3} − 15(7.645)^{2} + 54(7.645) s(7.645) = −17.040… m s(10) = (10)^{3} − 15(10)^{2} + 54(10) s(10) = +40 m Now combine them.
segment start finish distance moving forward +00 m +57 m 057 m moving backward +57 m −17 m 074 m moving forward −17 m +40 m 057 m overall 188 m Finally, divide distance by time.
v̅ = Δs = 188 m = 18.8 m/s Δt 10 s
practice problem 3
- the maximum speed of the elevator
- the duration of the brief jerk experienced by the elevator centered on 17.5 s
- velocity-time
- position-time
- the most likely floor on which the elevator stopped
solution
- A quick glance at the graph shows the elevator accelerating downward over 3 s, then coasting, then accelerating upward for 2 s, coasting again, and then accelerating for a brief burst before stopping. The speed increases, remains constant, decreases, remains constant, and decreases a bit more — all in the down direction. The greatest speed would happen at the end of the first triangular region on the acceleration-time graph. The area under this bit is the change in velocity from its initial value of zero. Therefore…
Δv = area under a-t graph
Δv = area of a triangleΔv = ½bh
Δv = ½(3.0 s)(−6.0 m/s^{2})Δv = −9.0 m/s - If an elevator is going to work properly it has to stop on a floor to let people off. Therefore, the velocity of the elevator at the end of the graph should be zero. Since change in velocity equal the area under the curve on an acceleration-time graph, we need the total area of the three triangular segments to add up to zero. We've already determined this change for the first triangular segment. Let's repeat it for the second.
Δv = area under a-t graph
Δv = area of a triangleΔv = ½bh
Δv = ½(2.0 s)(+8.0 m/s^{2})Δv = +8.0 m/s Add these two areas up and you don't get zero, you get…
Δv = −9.0 m/s + 8.0 m/s Δv = −1.0 m/s Therefore, the area under the remaining segment must be +1.0 m/s to compensate. Use the same concepts as before, but this time solve for the base (change in time) of the triangle instead of the area (change in speed).
Δv =
Δv =area under a-t graph
area of a triangleΔv =
+1.0 m/s =½bh
½Δt (+4.0 m/s^{2})t = +0.50 s - The best way to construct the graphs for the next two questions is systematically — beginning from first principles. The rate of change of position is called velocity, the rate of change of velocity is called acceleration, and the rate of change of acceleration is called jerk. Yes, you heard me right — jerk. The straight line segments of the graph we started with correspond to intervals of constant jerk. (If they were curved we'd have non-uniform jerk.) Work backward, integrating the constant value of j to get a, then integrating that to get v, then integrating that to get s.
j = j = j a = ∫ j dt = a_{0} + jt v = ∫ a dt = v_{0} + a_{0}t + ½ jt^{2} s = ∫ v dt = s_{0} + v_{0}t + ½ a_{0}t + ⅙ jt^{3} Apply these equations over and over again. This much computation is best left to a computer. The results are summarized in the table below.
A hydraulic elevator time
(s)jerk
(m/s^{3})acceleration
(m/s^{2})velocity
(m/s)position
(m)0.00 0.0 0.0 0.00 0.000 1.00 −0.4 0.0 0.00 0.000 2.50 0.4 −0.6 −0.45 −0.225 4.00 0.0 0.0 −0.90 −1.350 13.00 0.8 0.0 −0.90 −9.450 14.00 −0.8 0.8 −0.50 −10.217 15.00 0.0 0.0 −0.10 −10.450 17.25 1.6 0.0 −0.10 −10.675 17.50 −1.6 0.4 −0.05 −10.696 17.75 0.0 0.0 0.00 −10.700 20.00 0.0 0.0 0.00 −10.700 - Here's the velocity-time graph for the elevator. The horizontal segments correspond to intervals with no acceleration. The curved segments correspond to intervals with changing acceleration.
- Here's the position-time graph for the elevator. The intervals with acceleration are curved. The intervals without acceleration are straight. The beginning and end of the graph are horizontal since the elevator is stopped.
- The overall position of the elevator was 10.7 m below the second floor. Ceiling heights in a typical residential building are about 3 m. Public buildings like schools tend to have taller floors than homes. My guess is that the ceiling heights in this school are on the order of 5 m. That would mean the elevator stopped in the basement.