CHAPTER 1

KINEMATICS OF PARTICLES

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 CHAPTER OBJECTIVES
Concepts of position, displacement, velocity, and acceleration
Study particle motion along a straight line
Investigate particle motion along a curved path
Analysis of dependent motion of two particles
Principles of relative motion of two particles using translating axes

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 CHAPTER OUTLINE
1. Introduction
2. Rectilinear Kinematics: Continuous Motion
3. Rectilinear Kinematics: Erratic Motion
4. General Curvilinear Motion
5. Curvilinear Motion: Rectangular Components
6. Motion of a Projectile
7. Curvilinear Motion: Normal and Tangential Components
8. Curvilinear Motion: Cylindrical Components
9. Absolute Dependent Motion Analysis of Two Particles
10. Relative Motion Analysis of Two Particles Using
Translating Axes

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 INTRODUCTION
• Dynamics includes:
- Kinematics: study of the geometry of motion. Kinematics is used to
relate displacement, velocity, acceleration, and time without reference to
the cause of motion.
- Kinetics: study of the relations existing between the forces acting on a
body, the mass of the body, and the motion of the body. Kinetics is used
to predict the motion caused by given forces or to determine the forces
required to produce a given motion.

• Rectilinear motion: position, velocity, and acceleration of a particle as it

moves along a straight line.

• Curvilinear motion: position, velocity, and acceleration of a particle as it

moves along a curved line in two or three dimensions.

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 KINEMATICS OF PARTICLES

Kinematics
of particles

Rectilinear Curvilinear Relative

- Continuous (acceleration varies) -Rectangular components - Dependent motion

- Continuous (Constant acceleration) - Normal/tangential
- Erratic motion - Radial/transverse

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 RECTILINEAR MOTION: CONTINUOUS
POSITION

Position coordinate of a particle is defined by positive or negative distance of

particle from a fixed origin on the line

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 DISPLACEMENT

The displacement of the particle is defined as change in its position.

Must have magnitude and direction – negative or positive

Different from distance traveled – total length of path over which the particle
travels

s  s ' s

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 VELOCITY
•Velocity is a measure of the rate of change in the position of a
particle.
• It is a vector quantity (it has both magnitude and direction).
•The magnitude of the velocity is called speed, with units of m/s

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VELOCITY
The average velocity of a particle during a time interval t is
s
vavg 
t
The instantaneous velocity is the time-derivative of position.

ds
v
dt
Average speed

v 
sp avg 
sT
t
Average velocity
s
vavg 
t 9-
49
 ACCELERATION
•Acceleration is the rate of change in the velocity of a particle.
•It is a vector quantity.
•Typical units is m/s2.
•Acceleration can be positive (speed increasing) or negative (speed decreasing).

Average acceleration Instantaneous acceleration

v dv d 2 s
aavg  a  2
t dt dt

v  v ' v

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 ACCELERATION

Combining

ds
v
dt
a ds  v dv
dv
a
dt

So Now we have 3 important kinematic equations

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CONSTANT ACCELERATION

v t

 dv   a dt
vo 0
c v  vO  aC t

s t

 ds   (vO  aCt )dt

so 0
s  sO  vOt  12 aC t 2

v2  vO2  2aC  s  sO 
v s

 vdv   a ds
vo sO
c

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ACCELERATION IS NOT CONTANT

d d
dt dt
Displacement Velocity Acceleration
s v a

 

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EXAMPLE
The car moves in a straight line such that for a short time its velocity is defined by
v = (0.9t2 + 0.6t) m/s, where t is in seconds. Determine its position and acceleration when t = 3s.
When t = 0, s = 0.

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 SOLUTION
Since v = f(t), the car’s position can be determined from v = ds/dt
ds
v  (0.9t 2  0.6t )
dt

 
s t

    0.6t dt
2
ds 0.9t
0 0

s0s  0.3t 3  0.3t 2 t0

s  0.3t 3  0.3t 2

when t  3s,
s  0.3(3)3  0.3(3) 2  10.8m

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Knowing v = f(t), the acceleration is determined from a = dv/dt.

a
dv d

dt dt

0.9t 2  0.6t 

 1.8t  0.6

When t  3s,

a  1.8(3)  0.6  6 m / s 2

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EXAMPLE:

During a test of a rocket travels upward

at 75 m/s, and when it is 40 m from the
ground its engine fails. Determine the
maximum height sB reached by the
rocket and its speed just before it hits
the ground. While in motion the rocket is
subjected to a constant downward
acceleration of 9.81 m/s2 due to
gravity. Neglect the effect of air
resistance.

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 To find sB

( ) vB  v A  2as
2 2

0  75  2(9.81)h
2

h  286.7 m
sB  s A  h  40  286.7  326.7m

To find vC, Consider path BC and assume +ve upward

  vC  vB  2as
2 2

vC  0  2(9.81)(326.7)
2

vC  80.1 m/s  80.1 m/s 

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To find vC, Consider path BC and assume +ve downward

  vC  vB  2as
2 2

vC  0  2(9.81)(326.7)
2

vC  80.1 m/s 

To find vC, Consider path ABC and assume +ve upward

  vC  v A  2as
2 2

vC  75  2(9.81)(40)
2

vC  80.1 m/s 

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 RECTILINEAR MOTION: ERRATIC
•Motion that cannot be described by a single continuous mathematical function
along the entire path
•Need series of functions to specify the motion at different intervals
•Thus it is convenient to represent the motion as a graph

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 THE S-T, V-T AND A-T GRAPHS
To construct the v-t graph given the s-t graph

ds
 v
dt
Slope of s - t graph = velocity

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 THE S-T, V-T AND A-T GRAPHS
To construct the a-t graph given the v-t graph

dv
 a
dt
Slope of v - t graph = acceleration

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 THE S-T, V-T AND A-T GRAPHS
Note that, differentiation reduces a polynomial of degree n to that of degree n-1

Thus, if the s-t graph is parabolic (a second-degree curve), the v-t graph will be
a sloping line (a first degree curve) and a-t graph will be a constant or a
horizontal line (zero-degree curve.

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 THE S-T, V-T AND A-T GRAPHS
To construct the v-t graph if given the a-t graph

v   a dt
Change in velocity = area under a - t graph

•Begin with the particle’s initial velocity, vO and

add to this small increment of area (v)
determined from a-t graph
•Area lying above the t axis corresponds to an
increase in v (“positive” area)
•Area lying below the t axis corresponds to the
decrease in v (“negative” area)

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 THE S-T, V-T AND A-T GRAPHS
To construct s-t graph if given the v-t graph

s   v dt
Displacement = area under v - t graph

Same manner as in previous slide

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 THE V-S AND A-S GRAPHS
If a-s graph can be constructed, then points
on the v-s can be determined using

v dv  a ds

s1
1
2 (v12  vO 2 )   a ds
sO

Area under a - s graph

If the initial velocity vO at sO = 0 is known, then

1
 s1  2
v1   2  a ds  vO 
2

 sO 
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 THE V-S AND A-S GRAPHS
If v-s graph is known, the acceleration a at any position
s can be determined using

v dv  a ds

 dv 
a  v 
 ds 
acceleration = velocity times
slope of v - s graph

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 EXAMPLE
A bicycle moves along a straight road such that its position is described the graph
shown below. Construct the v-t and a-t graph for 0  t  30 s

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 SOLUTION
v-t Graph – since v = ds/dt, the v-t graph can be determined by differentiating the
equations defining the s-t graph

ds
0  t  10 s; st 2
v  2t
dt
ds
10 s  t  30 s; s  20t -100 v   20
dt

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 SOLUTION
a-t Graph – since a = dv/dt, the a-t graph can be determined by differentiating
the equations defining the v-t graph

ds dv
0  t  10 s; v  2t a 2
dt dt
ds dv
10 s  t  30 s; v   20 a 0
dt dt

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 EXAMPLE

A car travels up a hill with the speed shown below. Determine the total distance
the car travels until it stops (t = 60 s). Plot the a-t graph.

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 CURVILINEAR MOTION: RECTANGULAR COMPONENTS
Projectile Motion

Assumption:
1. Air resistance is neglected
2. The only force acting on the projectile is its weight.
ax = 0 ay = g = 9.81 m/s2
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CURVILINEAR MOTION: RECTANGULAR
COMPONENTS
Horizontal Motion: ax = 0

(
 ) v  v0  at; vx  (v0 ) x
 1 2
(
) x  x 0  v0 t  at ; x  x 0  (v0 ) x t
2

(
) v  v 0  2a(s - s 0 ); vx  (v0 ) x
2 2

Vertical Motion: ay = -g
( ) v  v0  at; vy  (v0 ) y  gt
1 1
( ) y  y 0  v0 t  at 2 ; y  y 0  (v0 ) y t - gt 2
2 2
( ) v2  v 0  2a(y - y 0 ); vy  (v0 ) y  2g(y  y 0 )
2 2 2

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• Motion in horizontal direction is uniform.
• Motion in vertical direction is uniformly accelerated.
• Motion of projectile could be replaced by two independent rectilinear
motions.

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 EXAMPLE
A projectile is fired from the edge of a 150 m cliff with an initial velocity of 180 m/s
at an angle of 30o with the horizontal. Neglecting air resistance, find (a) the horizontal
distance from the gun to the point where the projectile strikes the ground,
(b) the greatest elevation above the ground reached by the projectile.

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SOLUTION
VERTICAL MOTION
(v0 ) y  (180)sin30o  90 m/s
a  -g  -9.81m/s2

Substituting into uniformly accelerated motion

v y  (v0 ) y  gt vy  90  9.81t
1 2
y  y 0  (v0 ) y t - gt y  90t - 4.90t 2
2
v y  (v0 ) y  2g(y  y 0 ) vy  8100  19.62 y
2 2 2

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 Horizontal Motion

- Uniform Motion

(v0 ) x  (180)cos30o  155.9 m/s

x  (v0 ) x t; x  155.9t

a. Horizontal Distance

When the projectile strikes the ground, y = -150 m.

From y = 90t – 4.90t2 we have;
t2 - 18.37t - 30.6 = 0 t = 19.91s

From x = 155.9t we have

x = 155.9(19.91) = 3100 m
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b. Greatest Elevation

When the projectile reaches its greatest elevation, vy = 0

From vy = 8100 – 19.62y, we have

0 = 8100 – 19.62y y = 413 m

Greatest elevation above the ground = 150 + 413 = 563 m

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 EXAMPLE
A roofer tosses a small tool toward a coworker on the ground. What is the
minimum horizontal velocity vo so that the tool clears point B. Locate the point
of impact by specifying the distance s shown in the figure below.

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 EXAMPLE:
The chipping machine is designed to eject wood chips at vO = 7.5 m/s as shown
below. If the tube is oriented at 30o from the horizontal, determine how high, h,
the chips strike the pile if they land on the pile 6 m from the tube.

2.1 m

6m
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When the motion is analyzed between points O and A, the three unknowns are
represented as the height h, time of flight tOA and vertical component (vA)y.
The initial velocity of the chip has components of
 vO  x  7.5 cos 30  6.50 m/s 
 vO  y  7.5sin 30  3.75 m/s 
Horizontal Motion Vertical Motion

  x A  xO   vO  x tOA   y A  yO   vO  y tOA  12 ac tOA 2
6  0  6.5tOA h  2.1  0  (3.75)(0.9231)  12 (9.81)(0.9231) 2
tOA  0.9321 s h  1.38

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Curvilinear Motion: Normal and Tangential Components

APPLICATIONS

Cars traveling along a clover-leaf

interchange experience an
acceleration due to a change in
velocity as well as due to a change
in direction of the velocity.
If the car’s speed is increasing at a
known rate as it travels along a
curve, how can we determine the
magnitude and direction of its total
acceleration?
Why would you care about the total acceleration of the car? 42 -
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Curvilinear Motion: Normal and Tangential Components

APPLICATIONS
(continued)
A roller coaster travels down a
hill for which the path can be
approximated by a function
y = f(x).

The roller coaster starts from rest

and increases its speed at a
constant rate.
How can we determine its velocity
and acceleration at the bottom?
Why would we want to know
these values? 43 -
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Curvilinear Motion: Normal and Tangential Components

When a particle moves along a curved path, it is sometimes convenient

to describe its motion using coordinates other than Cartesian. When the
path of motion is known, normal (n) and tangential (t) coordinates
are often used.

In the n-t coordinate system, the

origin is located on the particle
(the origin moves with the
particle).

The t-axis is tangent to the path (curve) at the instant considered,

positive in the direction of the particle’s motion.
The n-axis is perpendicular to the t-axis with the positive direction
toward the center of curvature of the curve.
Curvilinear Motion: Normal and Tangential Components

The positive n and t directions are

defined by the unit vectors un and ut,
respectively.

The center of curvature, O’, always

lies on the concave side of the curve.
The radius of curvature, r, is defined
as the perpendicular distance from
the curve to the center of curvature at
that point.

The position of the particle at any

instant is defined by the distance, s, along the curve from a
fixed reference point.
Curvilinear Motion: Normal and Tangential Components
VELOCITY IN THE n-t COORDINATE SYSTEM

The velocity vector is always

tangent to the path of motion
(t-direction).

The magnitude is determined by taking the time derivative of

the path function, s(t).
v = v ut where v = ds/dt

Here v defines the magnitude of the velocity (speed) and

ut defines the direction of the velocity vector.
Curvilinear Motion: Normal and Tangential Components
ACCELERATION IN THE n-t COORDINATE SYSTEM

Acceleration is the time rate of change of velocity:

. .
a = dv/dt = d(vut)/dt = vut + vut
.
Here v represents the change in
.
the magnitude of velocity and ut
represents the rate of change in
the direction of ut.

After mathematical manipulation,

the acceleration vector can be
expressed as:
.
a = v ut + (v2/r) un = at ut + an un.
Curvilinear Motion: Normal and Tangential Components
ACCELERATION IN THE n-t COORDINATE SYSTEM (continued)

So, there are two components to the

acceleration vector:
a = at ut + an un

• The tangential component is tangent to the curve and in the

direction of increasing or decreasing velocity.
.
at = v or at ds = v dv
• The normal or centripetal component is always directed
toward the center of curvature of the curve. an = v2/r
• The magnitude of the acceleration vector is
a = [(at)2 + (an)2]0.5
 SPECIAL CASES OF MOTION
There are some special cases of motion to consider.
1) The particle moves along a straight line. .
r  => an = v /r  0
2 > a = at = v
The tangential component represents the time rate of change in
the magnitude of the velocity.
2) The particle moves along a curve at constant speed.
.
at = v = 0 => a = an = v2/r
The normal component represents the time rate of change in the
direction of the velocity.
 EXAMPLE
A race car C travels around the horizontal circular track that has a radius
of 90 m. If the car increases its speed at a constant rate of 2.1 m/s2,
starting from rest, determine the time needed for it to reach an acceleration
of 2.4 m/s2. What is its speed at this instant.

90 m
 SOLUTION
v2
a  at2  an2 at  2.1 m / s 2 an 
r
v  v0  (at )t  0  2.1t

Thus an 
v2

2.1t 
2
 0.049t 2
r 90
The time needed for the acceleration to reach 2.4 m/s 2
a  at2  an2

2.4  2.12  0.049t 2

t  4.87 s
The speed at time t  4.87s
v  2.1t  2.1(4.87)  10.2 m/s
 EXAMPLE

The boxes in Figure below travel along the industrial conveyor. If a box as in the
figure starts from rest at A and increases its speed such that at = 0.2t m/s2, where
t is in seconds, determine the magnitude of its acceleration when it arrives at
point B.
 SOLUTION
ds
Need to find v first v  0.1t 2
dt
dv
at  v   0.2t
6.142 tB

v t
dt 
0
ds   0.1t 2 dt
0

 dv   0.2t dt
0 0
6.142  0.0333t B 3
t B  5.690s
v  0.1t 2
 aB t  0.2t  0.2(5.690)  1.138 m/s 2
at B r B  2m, so that
Time needed to reach point B
vB 2 3.2382
2 (2)  aB  n    5.242 m/s 2
sB  3   6.142m rB 2
4
aB  1.1382  5.2422  5.36 m/s2
 CURVILINEAR MOTION: RADIAL AND TRANSVERSE
COMPONENTS
• When particle position is given in polar coordinates,
it is convenient to express velocity and acceleration
with components parallel and perpendicular to OP.

• The particle velocity vector is


 d  dr  der dr  d 
v  rer   er  r  er  r e
dt dt dt dt dt
 
 r er  r e
 
r  re r
  • Similarly, the particle acceleration vector is
der  de 
 e  er  d  dr  d  
d d a   er  r e 
dt  dt dt 
   
der der d  d d 2 r  dr der dr d  d 2  d de
  e  2 er   e  r 2 e  r
dt d dt dt dt dt dt dt dt dt dt dt
 
 
de de d  d  r  r 2 er  r  2r e
 
  er
dt d dt dt
CURVILINEAR MOTION: RADIAL AND TRANSVERSE COMPONENTS

vr  r v  r
ar  r  r 2 aθ  rθ  2r

If the particle is moving in a circle with constant

radius, r

vr  0 v  r
ar  r 2 aθ  rθ
12.8 CURVILINEAR
Curvilinear MOTION: CYLINDRICAL
Motion: Radial and COMPONENTS
Transverse Components

Time Derivatives
2 common problems:
When coordinates are specified as r = r(t) and θ = θ(t),
time derivative can be formed directly
dr d 2r d d 2
r r 2   2
dt dt dt dt
When time parametric equations are not given, need to
specify r = f(θ) and relationship between the time
derivatives using the chain rule of calculus
dr dr d
r  
dt d dt 56 -
49
 EXAMPLE
SOLUTION:
• Evaluate time t for  = 30o.
• Evaluate radial and angular positions,
and first and second derivatives at
time t.
Rotation of the arm about O is defined • Calculate velocity and acceleration in
by  = 0.15t2 where  is in radians and t cylindrical coordinates.
in seconds. Collar B slides along the
arm such that r = 0.9 - 0.12t2 where r is • Evaluate acceleration with respect to
in meters. arm.

After the arm has rotated through 30o,

determine (a) the total velocity of the
collar, and (b) the total acceleration of
the collar
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SOLUTION:
• Evaluate time t for  = 30o.
  0.15 t 2
 30  0.524 rad t  1.869 s

• Evaluate radial and angular positions, and first

and second derivatives at time t.
r  0.9  0.12 t 2  0.481 m
r  0.24 t  0.449 m s
r  0.24 m s 2

  0.15 t 2  0.524 rad

  0.30 t  0.561rad s
  0.30 rad s 2
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• Calculate velocity and acceleration.
vr  r  0.449 m s
v  r  0.481m 0.561rad s   0.270 m s
v
v  vr2  v2   tan 1 
vr
v  0.524 m s   31.0
ar  r  r 2
 0.240 m s 2  0.481m 0.561rad s 2
 0.391m s 2
a  r  2r
 
 0.481m  0.3 rad s 2  2 0.449 m s 0.561rad s 
 0.359 m s 2
a
a  ar2  a2   tan 1 
ar
a  0.531m s   4259.6-
49
 EXAMPLE
Due to the rotation of the
forked rod, ball A travels
across the slotted path, a
portion of which is in the
shape of a cardioids, r =
0.15(1 – cos θ)m where θ is
in radians. If the ball’s
velocity is v = 1.2m/s and its
acceleration is 9m/s2 at
instant θ = 180°, determine
the angular velocity and
angular acceleration of the
fork.

60 -
49
EXAMPLE 12.20

Solution
Coordinate System
For this unusual path, use polar coordinates.
Velocity and Acceleration
We have
r  0.15(1  cos  )
r  0.15(sin  )
r  0.15(cos  )()  0.15(sin  )
Evaluating these results at θ = 180° ,

r  0.3m r  0 r  0.15 2

61 -
49
 EXAMPLE 12.20

Solution
Velocity and Acceleration
Since v = 1.2 m/s, we have

v  r 2  r 
2

  4rad / s
a  (r  r2 )2  (r  2r)2
  18rad / s 2
MOTION OF SEVERAL PARTICLES: DEPENDENT MOTION
Motion of one particle will depend on
the corresponding motion of another
particle.
The movement of block A downward
along the inclined plane will cause a
corresponding movement of block B up
the other incline.
s A  lCD  s B  lT
lT  total length

lCD , lT remain constant

ds A dsB
 0 , vA  vB  0 , a A  aB  0
dt dt
EXAMPLE
2sB  h  s A  l
l , h are constant
ds B ds A
2   0, 2vB  v A  0
dt dt
2v B   v A 2a B   a A

When B moves downward (+sB),

A moves to the left (-sA)
MOTION OF SEVERAL PARTICLES: DEPENDENT
MOTION
• Position of block B depends on position of block A.
Since rope is of constant length, it follows that sum of
lengths of segments must be constant.
x A  2 x B  constant (one degree of freedom)

• Positions of three blocks are dependent.

2 x A  2 xB  xC  constant (two degrees of freedom)

• For linearly related positions, similar relations hold

between velocities and accelerations.
dx A dx dx
2  2 B  C  0 or 2v A  2v B  vC  0
dt dt dt
dv dv dv
2 A  2 B  C  0 or 2a A  2a B  aC  0
dt dt dt
EXAMPLE

Determine the speed of block A if block B

has an upward speed of 2 m/s.

2
m/s
 s A  3sB  l
ds A ds B
3  0, v A  3vB  0
dt dt

2 v A  3(2)  0
m/s
v A  6 m/s ()
EXAMPLE

Determine the speed of block A if block B has an

upward speed of 2 m/s.

2 m/s
 s A  2 sC  l1 and s B  ( s B  sC )  l2
Solve these questions simultaneo usly to get
s A  4 s B  2l2  l1
ds A ds B
4 0
dt dt
v A  4v B  0
so when vB  2m / s (upward)
v A  4 ( 2 )  0
v A  8 m / s  
2 m/s
 SAMPLE PROBLEM 11.5
SOLUTION:
• Define origin at upper horizontal surface
with positive displacement downward.
• Collar A has uniformly accelerated
rectilinear motion. Solve for acceleration
and time t to reach L.
• Pulley D has uniform rectilinear motion.
Pulley D is attached to a collar which Calculate change of position at time t.
is pulled down at 3 in./s. At t = 0,
collar A starts moving down from K • Block B motion is dependent on motions
with constant acceleration and zero of collar A and pulley D. Write motion
initial velocity. Knowing that velocity relationship and solve for change of block
of collar A is 12 in./s as it passes L, B position at time t.
determine the change in elevation, • Differentiate motion relation twice to
velocity, and acceleration of block B develop equations for velocity and
when block A is at L. acceleration of block B.
SAMPLE PROBLEM 11.5
SOLUTION:
• Define origin at upper horizontal surface with
positive displacement downward.

• Collar A has uniformly accelerated rectilinear

motion. Solve for acceleration and time t to reach L.

v 2A  v A 02  2a A x A   x A 0 
2
 in.  in.
12   2a A 8 in. aA  9 2
 s  s

v A  v A 0  a At
in. in.
12 9 2t t  1.333 s
s s
SAMPLE PROBLEM 11.5
• Pulley D has uniform rectilinear motion. Calculate
change of position at time t.
x D   x D 0  v D t
 in. 
x D   x D 0   3 1.333 s   4 in.
 s 
• Block B motion is dependent on motions of collar
A and pulley D. Write motion relationship and
solve for change of block B position at time t.
Total length of cable remains constant,
x A  2 x D  x B   x A 0  2 x D 0   x B 0

x A   x A 0  2xD  xD 0  xB   xB 0   0

8 in.  24 in.  x B   x B 0   0
x B   x B 0  16 in.
SAMPLE PROBLEM 11.5
• Differentiate motion relation twice to develop
equations for velocity and acceleration of block B.
x A  2 x D  x B  constant

v A  2v D  v B  0

 in.   in.  in.

12   2 3   v B  0 v B  18
 s   s  s

a A  2a D  a B  0

 in.  in.
a B  9 2
 9 2   vB  0
 s  s
DERIVATION: TANGENTIAL AND NORMAL
COMPONENTS*
• Velocity vector of particle is tangent to path of
particle. In general, acceleration vector is not.
Wish to express acceleration vector in terms of
tangential and normal components.
 
• et and et are tangential unit vectors for the
particle path at P and P’. When drawn with
  
respect to the same origin, et  et  et and
 is the angle between them.

et  2 sin  2


et sin  2  
lim  lim en  e n
 0   0  2

 det
en 
d
 TANGENTIAL
Derivation: AND NORMAL
Tangential COMPONENTS
and Normal Components*
 
• With the velocity vector expressed asv  vet
the particle acceleration may be written as
  
 dv dv  de dv  de d ds
a  et  v  et  v
dt dt dt dt d ds dt
but 
det  ds
 en r d  ds v
d dt
After substituting,
 dv  v 2  dv v2
a  et  en at  an 
dt r dt r
• Tangential component of acceleration reflects
change of speed and normal component reflects
change of direction.
• Tangential component may be positive or
negative. Normal component always points
toward center of path curvature.
 TANGENTIAL
Derivation: AND NORMAL
Tangential COMPONENTS
and Normal Components*
 dv  v 2  dv v2
a  et  en at  an 
dt r dt r

Normal component always directed to the centre

of curvature.