Vector Mechanics For Engineers: Dynamics

Chapter 11
Kinematics of Particles
: Curvilinear Motion

1
 11.4 Curvilinear Motion

https://en.wikipedia.org/wiki/Solar_System

• Curvilinear motion: position, velocity, and acceleration of a

particle as it moves along a curved line in two or three
dimensions.

2
 11.4 Curvilinear Motion
• The position vector of a particle is often used to describe the curvilinear
motion.

• Consider a particle which occupies position P defined by r at time t and P′
defined by r  at?t𝑡++Δt,
∆𝑡

∆𝒓 = 𝒓′ − 𝒓
Position vector

3
 Curvilinear Motion
Instantaneous velocity Instantaneous speed
(vector) (scalar)

r dr s ds
v  lim  v  lim 
t 0 t t 0 t dt
dt

4
 Curvilinear Motion

• Consider velocity v of a particle at time t and velocity v at t + Δt,

v dv
a  lim   instantaneous acceleration (vector)
t 0 t dt

• In general (3D system), the acceleration vector is not tangent to the

particle path and velocity vector.

5
 Curvilinear Motion

• Three components used regular to describe the curvilinear motion

Rectangular component Tangential and normal Radial and transverse

component component

(Cartesian coordinate) (Path coordinate) (Polar coordinate)

6
11.4C Rectangular Components of
Velocity and Acceleration
• When position vector of particle P is given by
its rectangular components,
   
r  xi  y j  zk

• Velocity vector,
 dx  dy  dz    
v  i  j  k  xi  y j  zk
dt dt dt
  
 vx i  v y j  vz k
• Acceleration vector,
 d 2 x d 2 y  d 2 z    
a  2 i  2 j  2 k  xi  y j  zk
dt dt dt
  
 ax i  a y j  az k
7
Rectangular Components of Velocity and
Acceleration
• Rectangular components particularly effective when
component accelerations can be integrated
independently, example: motion of a projectile,
a x  x  0 a y  y   g a z  z  0
with initial conditions,
x0  y0  z0  0 v x 0 , v y 0 , v z 0  0
Integrating twice yields
v x  v x 0 v y  v y   gt vz  0
0
x  v x 0 t y  v y  y  12 gt 2 z0
0

• Motion in horizontal direction is uniform.

• Motion in vertical direction is uniformly accelerated.
• Motion of projectile could be replaced by two
independent rectilinear motions.
8
 Sample Problem 11.10

A projectile is fired from the edge of a 150-m cliff with an initial velocity of 180
m/s at an angle of 30° 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.

9
Solution1
Modeling and Analysis:
Given:  v o = 180 m / s  y o = 150 m
ay  9.81m/s 2  a x  0 m/s 2

Vertical motion – uniformly accelerated:

 v   180 m / s  sin 30   90 m / s
y 0

v   v   at
y y 0 v  90  9.81t
y 1
y   v y  t  at 2
1
y  90t  4.90t 2  2
0 2
v 2y   v y   2ay  3
2
v y2  8100  19.62 y
0

Horizontal motion – zero acceleration:

Choose positive x to the right as shown
 vx 0  180 m / s  cos 30   155.9 m / s

𝑥 =x =𝑣𝑥vx 0𝑡0
t x = 155.9t
 Solution2
Horizontal distance
Projectile strikes the ground at: y = −150m
Substitute into equation (1) above
150 = 90t  4.90t 2
Solving for t, we take the positive root
t 2  18.37t  30.6 = 0 t  19.91s

Substitute t into equation (4)

x = 155.9 19.91 x = 3100 m

Maximum elevation occurs when v y = 0

0 = 8100  19.62 y y  413m

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

 Note
Reflect and Think:
Because there is no air resistance, you
can treat the vertical and horizontal
motions separately and can immediately
write down the algebraic equations of
motion. If you did want to include air
resistance, you must know the
acceleration as a function of speed (you
will see how to derive this in Chapter 12),
and then you need to use the basic
kinematic relationships, separate
variables, and integrate.

© McGraw-Hill Education
 Think about
If you fire a projectile from 150
meters above the ground (see
Ex Problem 11.10), what launch
angle will give you the greatest
horizontal distance x?

a) A launch angle of 45°

b) A launch angle less than 45°
c) A launch angle greater than 45°
d) It depends on the launch velocity
© McGraw-Hill Education
 Sample Problem 11.11

A projectile is fired with an initial velocity of 240 m/s at a target B located

600 m above the cannon A and at a horizontal distance of 3,600 m. Neglecting
air resistance, determine the value of the firing angle a needed to hit the target.

14
Solution1

15
Solution2
 Sample Problem

A baseball pitching machine “throws” baseballs with a

horizontal velocity v0. If you want the height h to be 1050
mm, determine the value of v0.

© McGraw-Hill Education
 Solution
Given: x= 12.2 m, yo = 1.5
m, yf= 1050 mm.
Find: vo
Analyze the motion in
Analyze the motion in
the y-direction
the x-direction
Constant acceleration
Constant velocity
1 2
y f  y0  (0)t  gt
2
1 x  0  (vx )0 t  v0t
1.05  1.5  gt 2
2 12.2 m  (v0 )(0.30289 s)
1
0.45 m   (9.81 m/s2 )t 2 v0  40.3 m/s  145 km/h
2
t  0.30289 s
© McGraw-Hill Education
Sample Problem 11.12
Solution1
Solution2
 11.4D Motion Relative to a Frame in
Translation
It is critical for a pilot to know the relative motion of his
helicopter with respect to the aircraft carrier to make a
safe landing.

© McGraw-Hill Education © Digital Vision/Getty Images RF

Motion Relative to a Frame in
Translation

• Designate one frame as the fixed frame of reference.

All other frames not rigidly attached to the fixed
reference frame are moving frames of reference.
• Position vectors for particles A and B with respect
 
to the fixed frame of reference Oxyz are rA and rB .

• Vector B A joining A and B defines the position of
r
B with respect to the moving frame Axyz and
rB  rA  rB A .
• Differentiating twice,
   
v B  v A  v B A B A  velocity of B relative to A.
v
  
a B  a A  a B A aB A  acceleration of B relative to A.
Sample Problem 11.13
Solution1
Solution2
 Sample Problem 11.14

Automobile A is traveling east at the constant speed of 36 km/h. As automobile A

crosses the intersection shown, automobile B starts from rest 35 m north of the
intersection and moves south with a constant acceleration of 1.2 m / s 2 .
Determine the position, velocity, and acceleration of B relative to A 5 s
after A crosses the intersection.
 Solution1
• Define axes along the road,
Given: vA  36 km / h, a A  0,  x A 0  0
 vB 0  0, a B  1.2 m / s 2 ,  y B 0  35 m
Determine motion of Automobile A:
 km   1000 m  1h 
v A   36     10 m / s
 h   1km  3600s 

We have uniform motion for A so:

aA  0
vA  10 m / s Constant velocity
x A =  xA 0 +v At = 0 +10t

At t = 5 s
aA  0 aA  0
vA  10 m / s v A  10 m / s 
xA = + 10 m / s  5s  = +50 m rA  50 m 
Solution2
Determine motion of Automobile B:
We have uniform acceleration for B so:
aB = -1.2 m / s 2
vB =  vB 0 + at = 0 - 1.2t Constant acceleration
1 1
yB --  yB 0 +  vB 0 t + aBt 2 = 35+0 - 1.2  t 2
2 2
At t = 5 s
aB = -1.2 m / s 2
vB = -  1.2 m / s 2   5 s  = -6 m / s

yB = 35 -
1
2
 1.2 m / s 2   5 s  = +20 m
2

a B  1.2 m / s 2 
vB  6 m / s 
rB  20 m ↑
 Solution3
aA  0 a B  1.2 m / s 2 
v A  10 m / s  vB  6 m / s 
rA  50 m  rB  20 m ↑

We can solve the problems using geometry:

rB A  53.9 m   21.8 vB A  11.66 m / s   31.0

Or we can solve the problems using vectors to obtain equivalent results:

rB  rA  rB/ A v B  v A  v B/ A aB  aA  aB/ A
20 j  50i  rB/ A 6 j  10i  v B/ A 1.2 j  0i  aB/ A
rB/ A  20 j  50i (m) v B/ A  6 j  10i (m/s) aB/ A  1.2 j (m/s 2 )
Physically, a rider in car A would “see” car B travelling south and west.
Sample Problem 11.15
Solution1
Solution2
 Think about

If you are sitting in train

B looking out the window,
it which direction does it
appear that train A is
moving?

a) c)

b) d)
© McGraw-Hill Education
 11.5 Non-Rectangular Components

• Tangential and normal components

• Radial and transverse components

© McGraw-Hill Education
 11.5A Tangential and Normal
Components (Path Coordinate)
• To derive the acceleration vector in tangential
and normal components, define the motion of a
particle as shown in the figure.
 
• t
e and et are tangential unit vectors for the
particle path at P and P'. When drawn with
respect to the same origin, et  et  et and
 is the angle between them.

et  2 sin  2


et sin  2  
lim  lim en  en
 0   0  2

 de
en  t
d
Tangential and Normal Components
• With the velocity vector expressed as v = 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  d  ds v
d dt
After substituting,
 dv  v 2  dv v2
a  et  en at  an 
dt  dt 
• The tangential component of acceleration
reflects change of speed and the normal
component reflects change of direction.
• The tangential component may be positive or
negative. Normal component always points
toward center of path curvature.
Tangential and Normal Components along a
Space Curve
• Relations for tangential and normal
acceleration also apply for particle moving
along a space curve.
 dv  v 2  dv v2
a  et  en at  an 
dt  dt 
• The plane containing tangential and normal unit
vectors is called the osculating plane.
• The normal to the osculating plane is found from
  
eb  et  en

en  principal normal

eb  binormal
• Acceleration has no component along the binormal.
 Sample Problem 11.16

A motorist is traveling on a curved section of highway of radius 750 m at the

speed of 90 km/h. The motorist suddenly applies the brakes, causing the
automobile to slow down at a constant rate. Knowing that after 8 s the speed has
been reduced to 72 km/h, determine the acceleration of the automobile
immediately after the brakes have been applied.
 Solution
Modeling and Analysis:
• Define your coordinate system
• Determine velocity and acceleration in
the tangential direction

• The deceleration constant, therefore

• Immediately after the brakes are applied,

the speed is still 25 m/s

a  an2  at2  0.6252  0.8332

Sample Problem 11.17
Solution
 Tangential and Normal Components
In 2001, a race scheduled at the Texas Motor Speedway was
cancelled because the normal accelerations were too high and
caused some drivers to experience excessive g-loads (similar to
fighter pilots) and possibly pass out. What are some things that
could be done to solve this problem?

© McGraw-Hill Education © Glow Images RF

 Sample Problem
8

The tangential acceleration of the

centrifuge cab is given by
at  0.5 t (m/s2 )
where t is in seconds and at is in
m / s 2 . If the centrifuge starts from
rest, determine the total acceleration
magnitude of the cab after 10
seconds.
© McGraw-Hill Education
 Solution
Modeling and Analysis: 8
Define your coordinate system
In the side view, the tangential
direction points into the “page”.
Determine the tangential velocity
at  0.5 t

vt   0.5 t dt  0.25t 2  0.25t 2

t t

0 0

vt  0.25 10   25 m/s

2

Determine the normal acceleration

v 
2
252
an  t   78.125 m/s 2
r 8
Determine the total acceleration magnitude

amag  an2  at2  78.1252 + (0.5)(10)

2
amag  78.285 m/s 2
 Think About

Notice that the normal

acceleration is much higher than
the tangential acceleration. What
would happen if, for a given
tangential velocity and
acceleration, the arm radius was
doubled?

a) The accelerations would remain the same

b) The an would increase and the at would decrease
c) The an and at would both increase
d) The an would decrease

© McGraw-Hill Education
 11.5B Radial and Transverse
Components (Polar Coordinate)
The foot pedal on an elliptical machine
rotates about and extends from a central
pivot point. This motion can be analyzed
using radial and transverse components
Fire truck ladders can rotate as well as
extend; the motion of the end of the
ladder can be analyzed using radial
and transverse components.

© McGraw-Hill Education © Syracuse Newspapers/M Greenlar/The Image Works, © Fuse/ Getty Images RF
Radial and Transverse Components

• The position of a particle P is

expressed as a distance r from the
origin O to P – this defines the
radial direction er. The transverse
direction e is perpendicular to er,
 
r  rer
 Characteristics of er and e

• The position of a particle P is

expressed as a distance r from the
origin O to P – this defines the
radial direction er. The transverse
direction eq is perpendicular to er,
 
r  rer

 
der  de 
 e  er
d d
 Radial and Transverse Components
• We can derive the velocity and acceleration
relationships by recognizing that the unit vectors
change direction.

• The particle velocity vector is:


 d  dr  de dr  d 
v  rer   er  r r  er  r e
dt dt dt dt dt
 
 r er  r e
 
r  rer • 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
 Think about

If you are travelling in a perfect

circle, what is always true about
radial/transverse coordinates and
normal/tangential coordinates?

a) The er direction is identical to the en direction.

b) The e direction is perpendicular to the en direction.
c) The e direction is parallel to the er direction.

© McGraw-Hill Education
 Radial and Transverse Components in
Cylindrical Coordinate
• When particle position is given in cylindrical
coordinates, it is convenient to express the
velocity and accelerationvectors using the
 
unit vectors eR , e , and k .

• Position vector,
  
r  R e R z k

• Velocity vector,
 
 dr   
v  R eR  R e  z k

dt
• Acceleration vector,

 dv
a
dt

  2 
    
 R  R eR  R  2 R e  z k

© McGraw-Hill Education
 Sample Problem 11.18

Rotation of the arm about O is defined

by θ = 0.15t 2 Where  is in radians and t
in seconds. Collar B slides along the
arm such that r = 0.9  0.12t 2 where r is
in meters.
After the arm has rotated through 30°
determine (a) the total velocity of the
collar, (b) the total acceleration of
the collar, and (c) the relative
acceleration of the collar with respect
to the arm.
Solution1

  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
 Solution2
• 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   42.6
Solution3

• Evaluate acceleration with respect to arm.

Motion of collar with respect to arm is
rectilinear and defined by coordinate r.
a B OA  r  0.240 m s 2
Sample Problem 11.19
Solution1
Sample Problem 11.20
Solution1
 Sample Problem

The angular acceleration of the

centrifuge arm varies according to
  0.05 (rad/s2 )
Where θ is measured in radians. If the
centrifuge starts from rest, determine the
acceleration magnitude after the gondola
has travelled two full rotations.

© McGraw-Hill Education
 Solution1

Determine the angular velocity

  0.05 (rad/s2 )

Acceleration is a function
 d  d
of position, so use:
Evaluate the integral
(2)(2 ) 


0
0.05 d    d
0

2(2 ) 
0.05 2 2

 2  0.05 2(2 )
2
2 0
2 0
 Solution2
Determine the angular velocity
 2  0.05 2(2 )
2

  2.8099 rad/s
Determine the angular acceleration
  0.05 = 0.05(2) (2 )  0.6283 rad/s 2

Find the radial and transverse accelerations

  
a  r  r 2 er  r  2r e
  0  (8)(2.8099)  e   (8)(0.6283)  0  e
2
r 

 63.166 er  5.0265 e (m/s 2 )

Magnitude:
amag  ar2  a2  (63.166)2 + 5.0265
2
amag  63.365 m/s2
 Summary1

Rectangular component Tangential and normal Radial and transverse

component component

(Cartesian coordinate) (Polar coordinate)

64
 Summary2
• Tangential and Normal Components

 dv  v 2  dv v2
a  et  en at  an 
dt  dt 

65
 Summary3
• Radial and transverse components

• 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
• Similarly, the particle acceleration vector is:

 d  dr  d  
a   er  r e 
dt  dt dt 
 
d 2 r  dr der dr d  d 2  d de
 2 er   e  r 2 e  r
dt dt dt dt dt dt dt dt
 
 r  r 2 er  r  2r e
 

66
 Summary4
• Cylindrical Coordinate

• Position vector,
  
r  R e R z k

• Velocity vector,
 
 dr   
v  R eR  R e  z k

dt
• Acceleration vector,

 dv
a
dt
 R  2 
  
  R eR  R  2 R  e  z k

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End of Chapter 11

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