
Section 6.4.1: Constant negative acceleration • 115
velocity changes. That is, the acceleration is the derivative of the velocity
with respect to time t. Since the velocity is the derivative of the position, we
see that the acceleration is actually the second derivative of the position. So
we have
acceleration = a =
dv
dt
=
d
2
x
dt
2
.
For example, let’s say that we know that the position of an object at time
PSfrag replacements
(
a, b)
[
a, b]
(
a, b]
[
a, b)
(
a, ∞)
[
a, ∞)
(
−∞, b)
(
−∞, b]
(
−∞, ∞)
{
x : a < x < b}
{
x : a ≤ x ≤ b}
{
x : a < x ≤ b}
{
x : a ≤ x < b}
{
x : x ≥ a}
{
x : x > a}
{
x : x ≤ b}
{
x : x < b}
R
a
b
shadow
0
1
4
−
2
3
−
3
g(
x) = x
2
f(
x) = x
3
g(
x) = x
2
f(
x) = x
3
mirror (
y = x)
f
−
1
(x) =
3
√
x
y = h
(x)
y = h
−
1
(x)
y = (
x − 1)
2
−
1
x
Same height
−
x
Same length,
opposite signs
y = −
2x
−
2
1
y =
1
2
x − 1
2
−
1
y = 2
x
y = 10
x
y = 2
−
x
y = log
2
(
x)
4
3 units
mirror (
x-axis)
y = |
x|
y = |
log
2
(x)|
θ radians
θ units
30
◦
=
π
6
45
◦
=
π
4
60
◦
=
π
3
120
◦
=
2
π
3
135
◦
=
3
π
4
150
◦
=
5
π
6
90
◦
=
π
2
180
◦
= π
210
◦
=
7
π
6
225
◦
=
5
π
4
240
◦
=
4
π
3
270
◦
=
3
π
2
300
◦
=
5
π
3
315
◦
=
7
π
4
330
◦
=
11
π
6
0
◦
= 0 radians
θ
hypotenuse
opposite
adjacent
0 (
≡ 2π)
π
2
π
3
π
2
I
II
III
IV
θ
(
x, y)
x
y
r
7
π
6
reference angle
reference angle =
π
6
sin +
sin −
cos +
cos −
tan +
tan −
A
S
T
C
7
π
4
9
π
13
5
π
6
(this angle is
5
π
6
clockwise)
1
2
1
2
3
4
5
6
0
−
1
−
2
−
3
−
4
−
5
−
6
−
3π
−
5
π
2
−
2π
−
3
π
2
−
π
−
π
2
3
π
3
π
5
π
2
2
π
3
π
2
π
π
2
y = sin(
x)
1
0
−
1
−
3π
−
5
π
2
−
2π
−
3
π
2
−
π
−
π
2
3
π
5
π
2
2
π
2
π
3
π
2
π
π
2
y = sin(
x)
y = cos(
x)
−
π
2
π
2
y = tan(
x), −
π
2
< x <
π
2
0
−
π
2
π
2
y = tan(
x)
−
2π
−
3π
−
5
π
2
−
3
π
2
−
π
−
π
2
π
2
3
π
3
π
5
π
2
2
π
3
π
2
π
y = sec(
x)
y = csc(
x)
y = cot(
x)
y = f(
x)
−
1
1
2
y = g(
x)
3
y = h
(x)
4
5
−
2
f(
x) =
1
x
g(
x) =
1
x
2
etc.
0
1
π
1
2
π
1
3
π
1
4
π
1
5
π
1
6
π
1
7
π
g(
x) = sin
1
x
1
0
−
1
L
10
100
200
y =
π
2
y = −
π
2
y = tan
−
1
(x)
π
2
π
y =
sin(
x)
x
, x > 3
0
1
−
1
a
L
f(
x) = x sin (1/x)
(0 < x < 0
.3)
h
(x) = x
g(
x) = −x
a
L
lim
x
→a
+
f(x) = L
lim
x
→a
+
f(x) = ∞
lim
x
→a
+
f(x) = −∞
lim
x
→a
+
f(x) DNE
lim
x
→a
−
f(x) = L
lim
x
→a
−
f(x) = ∞
lim
x
→a
−
f(x) = −∞
lim
x
→a
−
f(x) DNE
M
}
lim
x
→a
−
f(x) = M
lim
x
→a
f(x) = L
lim
x
→a
f(x) DNE
lim
x
→∞
f(x) = L
lim
x
→∞
f(x) = ∞
lim
x
→∞
f(x) = −∞
lim
x
→∞
f(x) DNE
lim
x
→−∞
f(x) = L
lim
x
→−∞
f(x) = ∞
lim
x
→−∞
f(x) = −∞
lim
x
→−∞
f(x) DNE
lim
x →a
+
f(
x) = ∞
lim
x →a
+
f(
x) = −∞
lim
x →a
−
f(
x) = ∞
lim
x →a
−
f(x) = −∞
lim
x →a
f(x) = ∞
lim
x →a
f(x) = −∞
lim
x →a
f(x) DNE
y = f (x)
a
y =
|x|
x
1
−1
y =
|x + 2|
x + 2
1
−1
−2
1
2
3
4
a
a
b
y = x sin
1
x
y = x
y = −x
a
b
c
d
C
a
b
c
d
−1
0
1
2
3
time
y
t
u
(t, f(t))
(u, f(u))
time
y
t
u
y
x
(x, f(x))
y = |x|
(z, f(z))
z
y = f(x)
a
tangent at x = a
b
tangent at x = b
c
tangent at x = c
y = x
2
tangent
at x = −1
u
v
uv
u + ∆u
v + ∆v
(u + ∆u)(v + ∆v)
∆u
∆v
u∆v
v∆u
∆u∆v
t is given by x = 3t
3
− 6t
2
+ 4t − 2, where x is in feet and t is in seconds.
What are the object’s velocity and acceleration at time t = 3? Well, we get
the velocity by differentiating the position with respect to time, just like this:
v = dx/dt = 9t
2
− 12t + 4. Now we differentiate this new expression with
respect to time to get the acceleration: a = dv/dt = 18t − 12. Now plug in
t = 3 to get v = 9(3)
2
−12(3)+4 = 49 ft/sec, and a = 18(3)−12 = 42 ft/sec
2
.
Why is the acceleration given in feet per second squared? Well, when you
ask what the acceleration of an object is, you are really asking how fast the
object’s speed is changing. If the speed changes from 15 ft/sec to 25 ft/sec
over a time period of 2 seconds, then it has (on average) changed by 5 ft/sec
per second. So acceleration should be written in feet per second per second,
or just feet per second squared. In general, you always have to square the
time unit when you are dealing with acceleration.
6.4.1 Constant negative acceleration
Suppose you throw a ball directly up in the air. It goes up and comes back
down (unless it hits something or someone else catches it!). This is because
the Earth’s gravitational pull exerts a force on the ball, pulling it toward the
Earth. Newton—one of the pioneers of calculus—realized that the effect of
the force is that the ball moves downward with constant acceleration. (We’ll
assume that there’s no air resistance.)
Since the ball is going up and down, we’d better reorient our number line
so that it points up and down. Let’s set the 0 point as being on the ground,
and we’ll make upward positive. Since the acceleration is downward, it must
be a negative quantity, and since it’s constant, we can just call it −g. On
Earth, g is about 9.8 meters per second squared, but it’s a lot less on the
moon. Anyway, if we’re going to understand how this ball moves, we need to
know its position and its velocity at time t.
Let’s start off with velocity. We know that a = dv/dt. In the example
in the previous section, we knew what v was, so we differentiated it to find
a. Unfortunately, this time we know what a is (it’s the constant −g) and
we need to find v; so we’re all topsy-turvy here. The same thing happens
for x, once we know v. In both cases, we need to reverse the process of
differentiation. Unfortunately, we’re not ready for this yet—that’s part of
what integration is all about. So I’m just going to tell you the answer, then
verify it by differentiating:
An object thrown at time t = 0 from initial height h with
initial velocity u satisfies the equations
a = −g, v = −gt + u, and x = −
1
2
gt
2
+ ut + h.