1 2.

8 CURVILINEAR MOTION: CYLINDRICAL COMPONENTS 71

EXA M P L E 1 2 . 1 7

The amusement park ride shown in Fig. 12-32a consists of a chair that
•
is rotating in a horizontal ci�cular path of radius r such . �hat the arm
DB has an angular velocity e and angular acceleration e. Determine
the radial and transverse components of velocity and acceleration of
the passenger. Neglect his size in the calculation.

n,
-ar =
./"
�
-",J /= re.
ao = re r
e,t
( a) (b)
Fig. 12-32

SO LUTIO N

Coordinate System. Since the angular motion o f the arm is

reported, polar coordinates are chosen for the solution, Fig. 12-32a.
Here e is not related to r, since the radius is constant for all e.

Velocity and Acceleration. It is first necessary to specify the first

and second time derivatives of r and e. Since r is constant, we have
r =r r=0
Thus,
Vr = r = 0 Ans.
ve = re Ans.
.. .
ar = r - riP = -riP
ae = re + 2re = re ..
Ans.
Ans.
These results are shown in Fig. 12-32b.
NOTE: The n, t axes are also shown in Fig. 12-32b, which in this
special case of circular motion happen t� be collinear with the r and e
axes, respectively. Since v = Ve = VI = re , then by comparison,

-ar = an = - (r8 ) 2 = re. 2

V2 = --
p r
ae = aI = dv =
dr . + r-
d ( re· ) = -e de = 0 + r.e.
-

dt dt -

dt dt
 72 CHAPTER 12 K I N E M AT I C S O F A P A RT I C L E

• EXA M P L E 1 2 . 1 8

The rod OA in Fig. 12-33a rotates in the horizontal plane such that
e= (p) rad. At the same time, the collar B is sliding outward along
so that r = (lOOP) mm. If in both cases t is in seconds, determine
the velocity and acceleration of the collar when t = 1 s.
OA

SO LUTIO N
Coordinate System. Since time-parametric equations o f the path
are given, it is not necessary to relate r to e.

=
Velocity and Acceleration. Determining the time derivatives and
evaluating them when t 1 s, we have
A
r = 100t2 1 t=l s
= 100mm e = t3 1 t=l s
= 1 rad = 57.3°
( a)
r = 200t l t=l s
= 200 mm/s e = 3p I t=l s
= 3 rad/s

r= 200 1 t=l s
= 200 mm/s2 e = 6t 1 t=l s
= 6 rad/s2.

v As shown in Fig. 12-33b,

v = rUy + reuo
r = 200uy + 100(3)uo = { 200uy + 300uo } mm/s
(b)
The magnitude of v is

(���)
v = V(200? + (300? = 361 mm/s Ans.

8 = tan-
l = 56.3° Ans.

a
As shown in Fig. 12-33c,
a = (r - r(2 )ur + (re + 2re)uo
= [200 - 100(3?]ur + [100(6) + 2(200)3]uo
= { -700uy + 1800uo } mm/s2
r The magnitude of a is
( c)

C78��)
a = V(700) 2 + (1800) 2 = 1930 mm/s2 Ans.
Fig. 12-33
cf> = tan-1 = 68.7° Ans.

NOTE: The velocity is tangent to the path; however, the acceleration

is directed within the curvature of the path, as expected.
 1 2.8 CURVILINEAR MOTION: CYLINDRICAL COMPONENTS 73

EXA M P L E 1 2 . 1 9

The searchlight in Fig. 12-34a casts a spot of light along the face of a wall
•
that is located 100 m from the searchlight. Determine the magnitudes of
the velocity and acceleration at which the spot appears to travel across
the wall at the instant 8 = 45°. The searchlight rotates at a constant rate
of e = 4 rad/s.
SOLUTION
Coordinate System. Polar coordinates will be used to solve this
problem since the angular rate of the searchlight is given. To find the ( a)
necessary time derivatives it is first necessary to relate r to 8. From
Fig. 12-34a,
r = 100/cos 8 = 100 sec 8
Velocity and Acceleration. Using the chain rule of calculus, noting
that d(sec 8) sec 8 tan 8 d8, and d(tan 8) sec2 8 d8, we have
= =

r = 100(sec 8 tan 8)e

r 100(sec 8 tan 8)e(tan 8)e + 100 sec 8(sec2 8)e(e)
=

+ 100 sec 8 tan 8(0)

= 100 sec 8 tan2 8 (e) 2 + 100 sec38 (e? + 100(sec 8 tan 8)0
. ..
Since 8 4 rad/s constant, then 8 0, and the above equations,
= = =

when 8 45°, become

= (b)
r = 100 sec 45° = 141.4
r = 400 sec 45° tan 45° = 565.7
r 1600 (sec 45° tan2 45° + sec3 45°) 6788.2
= =

As shown in Fig. 12-34b,

rUr + r8uo
= 565.7ur + 141.4(4 )uo
v =

={ 565.7ur + 565.7uo--'---} m/s

---------
v yv� + v� = Y'--(5 65 .7 ) 2 + (565 .7) 2
=

800 m/s Ans.

(c)
=

As shown in Fig. 12-34c,

a = (r - r(2 )ur + (rO + 2re)uo
= [6788.2 - 141.4(4 ?]ur + [141.4(0) + 2(565.7)4]uo
= { 4525.5ur + 4525.5uo } m/s2
ya� + a� Y(4525.5)2 + (4525.5)2
= 6400 m/s2
a = =

Ans.
NOTE: It is also possible to find a without having to calculate r (or ar). (d)
As shown in Fig. 12-34d, since ao = 4525.5 m/s2 , then by vector
resolution, a = 4525.5/cos 45° 6400 m/s2 .
= Fig. 12-34
 74 CHAPTER 12 K I N E M AT I C S O F A P A RT I C L E

• EXA M P L E 1 2 . 2 0

r = 0.5 ( 1 cos e) ft
Due to the rotation of the forked rod, the ball in Fig. 12-35a travels
-

around the slotted path, a portion of which is in the shape of a

cardioid, r = 0.5(1 cos 8) ft, where 8 is in radians. If the ball 's
velocity is v = 4 ft/s and its acceleration is. a = 30 ft/s2 at the instant..
-

8 = 180°, determine the angular velocity 8 and angular acceleration 8

of the fork.

SO LUTIO N
Coordinate System. This path is most unusual, and mathematically
it is best expressed using polar coor�inate.�, as done here, rather than
rectangular coordinates. Also, since 8 and 8 must be determined, then
( a)
r, 8 coordinates are an obvious choice.
Velocity and Acceleration. The time derivatives of r and 8 can be
determined using the chain rule.
r = 0.5(1 - cos 8)
r = 0 .5 (sin 8)8
r = 0 . 5 (cos 8)8(8) + 0 . 5 (sin 8)8

Evaluating these results at 8 = 180°, we have

r = l ft r = 0 r = 0 . 5 82 -

Since v = 4 ft/s, using Eq. 12-26 to determine 8 yields

v = y(r)2 + (re)2
4 = yeO? + (le)2
-......., 8 = 4 radls
\
,..- - ---
Ans.

/
/ "

\
/

In a similar manner, 8 can be found using Eq. 12-30.

/
---§��
I

r
I /
a = y( r riJ2? + ( r8 + 2re?
-

v = 4 ftjs \
30 = y[ -0.5(4)2 1(4)2f + [ 1 8 + 2(0)(4)f
I
-

\ a = 30 ftjs2 / (30)2 = (-24)2 + 8 2

""
/ 8 = 18 rad/s2 Ans.
- - -- /
e
(b) Vectors a and v are shown in Fig. 12-35b.
8
NOTE: At this location, the and t (tangential) axes will coincide. The
Fig. 12-35
+n (normal) axis is directed to the right, opposite to +r.