DYNAMICS

Chapter 12- Kinematics of a particle.

Contents of Class 12-1 (Curvilinear motion).

12.7- Normal and tangential components

12.8- Polar and cylindrical components.

Today’s Objectives (Students will be able to):

• Describe the motion of a particle in curvilinear motion using normal

- tangential components (n-t) and cylindrical components (r-θ-z).
• Calculate velocity and acceleration of a particle using normal and
tangential components and polar and cylindrical coordinates.
SECTION 12.7
NORMAL AND TANGENTIAL COMPONENTS

I n cur v iline ar
m o tio n, th e
par ticle
acce le r atio n
h as s tr o ng
r e latio n with
th e path and
th e v e lo city.
This video shows the effect
of normal acceleration (an)
and speed on the train (v)
when taking a curve of
radius ρ going over the
speed limit.
This train derails in the curve because the normal force
is great enough to take the train off the tracks.
The train normal force is depending on the mass (m), the
 v2 
r a d i u s o f c u r v a t u r e o f p a t h ( ρ ) a n d i t s v e l o c i t y ( v ) . Fn = m ⋅ an = m  
ρ
Train also has tangential acceleration depending on the velocity
change on time (linear acceleration) in the curved path.
dv
a = t
dt
 Normal and tangential components
Application:
Texas Sky Screamer
(Swing ride on Six Flags Texas):
Hight of 400 ft
Speed of up to 35 mph
124-foot-wide circle
24 riders

Riders in a chair
flying with circular
path undergo a normal
acceleration toward
the center of
curvature of the path.

The riders are supporting centrifugal forces in opposite direction to

the normal acceleration when they are moving on the circular path.
Normal and tangential components
 Normal and tangential components
When a particle moves along a known curved path, it is
sometimes convenient to describe its motion by normal (n) and
tangential (t) coordinates.

Industrial roller conveyor

Gears
Curved road
 Normal and tangential components
n – t coordinate system.

In this coordinate system, the

origin is located on the particle
(so, the origin and coordinate
system move with the particle).

 The t-axis is tangent to the path (curve) with positive

sense in the direction of the particle’s motion.

 The n-axis is perpendicular to the t-axis (normal to the

path) with the positive direction toward the curve center.
 Normal and tangential components
n – t coordinate system.

The center of curvature, O’,

always is located on the concave
conqueiv
side of the curve.

The radius of curvature, ρ

is defined as the perpendicular
distance from the curve to the
center of curvature at that point.
 Velocity in the n – t coordinate system
The velocity vector is
always tangent to the path
of motion (t-direction).
The magnitude of the velocity
vector v could be calculated by the
time derivative of the path function, s (t ) .
  ds
v= v ⋅ ut where v=
dt
Here:
v
 defines the magnitude of the velocity (speed), and
ut defines the direction of the velocity vector.
 Acceleration in the n – t coordinate system
Acceleration is usually considered
by two components.:
  
a= at + an
  
a = at ⋅ ut + an ⋅ un

a) The tangential component at is tangent to the curve.
The direction and sense are the same of the velocity
when the speed increases and opposite sense when the
speed decreases.

b) The normal an component is always directed toward
the center of curvature of the curve.
Acceleration in the n – t coordinate system
  
a = at ⋅ ut + an ⋅ un
at represents the change in the dv
magnitude of velocity: at =
dt
at ⋅ d s =v ⋅ d v

2
an represents the change in the v
direction of motion: an =
ρ
 Acceleration in the n – t coordinate system

In general, the magnitude of the acceleration is:

2 2
=a at + an

2 2
δv   v 
2
=a   + 
 δt   ρ 
EXAMPLE PROBLEM 12.7- Normal and
tangential
components.
 Kinematics of a
particle S =0

Example –12.8
The car is originally at rest at s =0
and its speed is increased by
Plan:
a =(0.05 t2) ft/s2 , where t is in We have to know where the car is at 18 s.
seconds. Is the car on the straight section or in the curved
section?
If the car is on the straight line, then:
Calculate the absolute velocity and v t

acceleration when t =18 s. ∫ dv = ∫ a dt a = ( 0.05t 2 ) ft/s 2

0 0
If the car is on the curve, then:

=a 2
at + an 2 a t= a= ( 0.05t ) ft/s
2 2

v t v2
∫ dv = ∫ a dt an =
0 0
t
ρ
Integrating the function of acceleration over time to obtain
the function of velocity over time.
Integration of acceleration over time

Knowing: a = ( 0.05t 2 ) ft/s 2 and dv= a ⋅ dt

Applying the integral over time to the acceleration function,
we can obtain the velocity function depending on time:
v t t

∫ dv = ∫ a dt
0 0
v−0 =0.05∫ t 2 dt
0

 t 3 03 
=v 0.05  − 
3 3
Velocity as function on time:
= v 0.0167 ⋅ t 3

At t = 18 s:=v 0.0167 ⋅ (18)3

Answer: v = 97.4 ft/s

 Where is located the car at t = 18 s?
In the straight line (s < 300 ft) or in the curve (300 ft < s < 677 ft =300 +rθ=240 x π/2) ?

Integration of velocity over time

Knowing: =v 0.0167 ⋅ t 3 and ds= v ⋅ dt

Applying the integral over time to velocity function

to obtain the position function over time:
s t t

∫ ds = ∫ v dt
0 0
s−0 =0.0167 ∫ t 3 dt
0
 t 04  4
=s 0.0167  − 
4 4
Position as function on
= time: s 0.0004175 ⋅ t 3

4
18 s: s 0.0004175 ⋅ (18)
When t ==
=s 438.3 ft > 300 ft
Therefore, the car is on a curved path.

=a at2 + an2
Calculating the car acceleration at t = 18 s?

At t = 18 s:
v = 97.4 ft/s
a t = a = ( 0.05t 2 ) ft/s 2
a t = 16.2 ft/s 2
v 2 97.42
an = = =39.5 ft/s 2
ρ 240

Magnitude of acceleration

a= at2 + an2 = 16.22 + 39.52

Answer: a = 42.7 ft/s 2

Special cases of motion (n – t coordinate system)

There are some special cases of motion to consider.

1) The particle moves along a curve

at constant speed (v = constant).
δv
at = == > a =
0          v2 ρ
an =
δt
The acceleration normal component (an)
represents the change in the velocity
direction over time.
 Special cases of motion (n – t coordinate system)

2) The tangential component of acceleration is constant at = ( at )C

In this case,
s = so + vot + (1 2 ) ( at )c t 2
v= vo + ( at )c t
2
2
v =( vo ) + 2 ( at )c ( s − so )
As before, in case of projectile trajectory, So and Vo are the
initial position and velocity of the particle at t = 0.
Remember: this case is similar to projectile motion equations
for vertical direction.
Special cases of motion (n – t coordinate system)

3) The particle moves along a path expressed as y = f ( x ) .

The radius of curvature ρ , at any point on the path

can be calculated from:
2 32
1 + ( dy dx ) 
ρ=  
d 2 y dx 2
EXAMPLE PROBLEM Velocity and radius of
curvature of path in
curvilinear motion.
 Kinematics of a
particle
Example –12.9
The path of the crate is described by
the function y =(1/16) x2 ft.

Find:
a) Direction of his velocity Direction of velocity:  dy 
θ =tan −1  
b) Radius of curvature of the path at A.  dx 

2 32
1 + ( dy dx ) 
ρ= 
d 2 y dx 2
Direction of velocity of the crate.

Velocity in curvilinear motion is always tangent

to the path.

Derivative is the slope of a tangent line to the

path function at a given point.
dy
Then: θ =tan −1  
 dx 
 1 
d  x2 
16  1 d ( x )
2
dy 
= =
dx dx 16 dx
dy 1 x
= = ( 2) x
dx 16 8

−1  x 
Then: θ =tan  
8
At x = 10 ft
−1  10 
  tan (1.25 )
−1
=θ tan
= θ =51.34
 8  Answer:
Radius of curvature of the path at A.

The radius of curvature ρ at any point on the

path can be calculated from:
2 32  1 
1 + ( dy dx )  dy
d  x2 
16  1
= x
( 2) x
ρ=  = =
dx dx 16 8
d 2 y dx 2 2
x
d 
=
d y
=8 1
2
dx dx 8
At x = 10 ft
It is known from the previous calculation:
dy x 10
= = = 1.25 ft
dx 8 8
And:
d2y 1
2
= = 0125
. ft
dx 8
2 32
1 + (1.25 ) 
=ρ =  32.82 ft
0.125
Section 12.8

POLAR AND
CYLINDRICAL
COMPONENTS
Sometimes the path motion
of the particle is best
described using cylindrical
coordinates (3D).

If motion is only in the

plane, then polar coordinates
(2D) are used.

A microplate handler for laboratory automation with 3D motion.

 Cylindrical components
The three coordinates (r, θ, z) of
a point are defined as:

1) Radial coordinate is the

radial distance r from the
point in the plane of
projection (P’) to the origin O

2) Transverse coordinate is
the angle θ between the polar
axis on the chosen plane and
the line from the origin to
the projection of P on the
plane.

3) Axial coordinate is the

distance z from the chosen
plane to the point P.
 Cylindrical components
Single displacements of a tower crane moving a load
(particle) in cylindrical coordinates.

Motion in three coordinates (r, θ, z):

Radial motion Transverse motion Axial motion

r = f(t) θ = f(t) z = f(t)
 Polar components
When the motion is in the plane (2D), the axial coordinate (z = 0) is not
used, in these cases only the radial (r) and transverse (θ) coordinates
are useful.

When the cylindrical

coordinate system is applied
in the plane is known as the
polar coordinate system.

Vector of de radial r distance.


Unit vector ur of radial coordinate.

Unit vector u of transverse coordinate.
θ
Cylindrical components (polar coordinates,2D)

We can express the location of P

in polar coordinates as (r,θ):

Where, the position vector is:

  Fixed axis
r= r ⋅ ur

The positive directions

 ofr and θ coordinates are defined by
the unit vectors ur and uθ .

The radial direction r (radial coordinate) is oriented from the fixed

origin O to the point, and the angle θ (transverse coordinate) is from
the fixed axis to the polar axis (radial direction) in counter-clockwise
(CCW) direction.
 Velocity (Polar coordinates,2D)
The instantaneous velocity is defined and calculated as the
time derivative of position vector:

v=

=
(
 d r d r ⋅ ur
=
)
dr 
⋅ ur + r ⋅

dur
dt dt dt dt

By mathematical procedures, it is
possible to obtain the instantaneous Fixed axis
velocity vector:

 dr  d θ 
v= ⋅ u r + r ⋅ ⋅ uθ
dt dt
 Velocity (Polar coordinates,2D)
Mathematical function for the vector of
instantaneous velocity in polar coordinates
for a particle:
 dr  d θ 
v= ⋅ u r + r ⋅ ⋅ uθ
dt dt

Thus, the velocity vector has two components:

Radial component: Transverse component: dθ
dr (radial coordinate multiplied by time vθ = r ⋅
(Time derivative of
radial coordinate)
vr = derivative of angular coordinate)
dt
dt
dθ
= ω is called angular velocity (rad/s)
dt about origin (point O).
The speed of the particle at any
given instant is the sum of the 2
 dr   d θ 
2

squares of both components: v= vr 2 + vθ 2 =      +  r 

dt
   dt 
 Acceleration (Polar coordinates,2D)
The instantaneous acceleration is defined as:  dr  dθ  
d  ⋅ ur + r ⋅ ⋅ uθ 
dv dt dt
a = 
= 
dt dt
After manipulation,  2
d 2r  dθ  
 d 2
θ dr dθ 
=
the acceleration can a ( 2 – r  )ur + (r 2 + 2 )uθ
be calculated as: dt  dt  dt dt dt
2 2
Then, the Radial d r  dθ  d 2θ
ar = 2 – r   = α
acceleration vector component: dt  dt  dt 2

has two components: is called angular

Transverse d 2θ dr dθ acceleration (rad/s2)
component:=aθ r 2 +2 about origin (point O).
dt dt dt

The magnitude of acceleration is:

22 2
 d 2r  d θ    dθ
2
dr dθ 
a= ar 2 + aθ 2 =  2 – r   + r 2 + 2 ⋅ 
 dt  dt    dt dt dt 
Kinematics in cylindrical coordinates (3D)
If the particle P moves along a space
curve, its position can be written as
  
rP = r ⋅ u r + z ⋅ u z
After mathematical manipulation:
 dr  dθ  dz 
Velocity: vP = ur + r uθ + u z
dt dt dt
2 2 2
2 2 2  dr   d θ   dz 
v= vr + vθ + vz =      +  r  + 
 dt   dt   dt 
2
  d 2r  dθ   d 2
θ dr dθ  d 2 z  
Acceleration: a  2 – r
=  )ur + (r 2 + 2 )uθ + 2 u z 
 dt  dt  dt dt dt dt 
2
2 2
 d 2r  d θ    dθ
2
dr dθ  d 2 z
a= ar 2 + aθ 2 + az 2 =  2 – r   + r 2 + 2 ⋅  + 2
 dt  dt    dt dt dt  dt
EXAMPLE PROBLEM 12.8- Polar components.
Kinematics of a
particle
Example –12.10
The armof the robot moves so
that:
r = 1 − 0.5 cos( 2π t ) m
=θ 0.5 − 0 ,2 sin ( 2π t ) rad

Find the velocity of Pin polar

coordinates at t =0,8 s
Applying the derivatives in the expression for the velocity
  
v = vr ⋅ ur + vθ ⋅ uθ
 dr  d θ 
v= ⋅ u r + r ⋅ ⋅ uθ
dt dt
Radial component of velocity Vr:

dr d (1− 0.5 cos ( 2πt ) )

v=
r =
dt dt
dr d (1) d ( cos ( 2πt ) )
vr = = − 0.5 ⋅
dt dt dt
dr
v=r = 0 − 0.5 ( −2π ⋅ sin( 2πt ))
dt
dr
vr = π sin ( 2πt ) m/s
=
dt
Applying the derivatives in the expression for the velocity
  
v = vr ⋅ ur + vθ ⋅ uθ
 dr  d θ 
v= ⋅ u r + r ⋅ ⋅ uθ
dt dt
Transverse component of velocity Vθ:
dθ d 0.5 − 0.2 sin ( 2πt ) 
vθ =⋅
r r
=⋅
dt dt
dθ  d ( 0.5 ) d ( sin ( 2πt ) ) 
vθ =⋅
r =r  − 0.2 ⋅ 
dt  dt dt 
dθ
vθ = r ⋅ = r 0 − 0.2 ⋅ 2π ⋅ cos ( 2πt ) 
dt
dθ
vθ =r ⋅ =− r ⋅ 0.4π cos ( 2πt ) rad/s
dt
Velocity vector of P at t = 0,8 s

Velocity vector of P in polar coordinates

  
v =π sin ( 2πt ) ur + r ⋅ ( −0.4π cos ( 2πt ) ) uθ
When t = 0.8 s
r = 1 − 0.5 cos ( 2π t ) m
r = 0.845 m
  
v =π sin ( 2π( 0.8 )) ur + 0.845 ⋅ ( −0.4π cos ( 2π( 0.8 )) ) uθ

Velocity vector of P:
  
v=−2.988ur − 0.328uθ m/s

Magnitude of velocity of P:
2 2
v= vr2 + vθ2 = ( −2.988) + ( −0.328) = 3 m/s
 PROBLEMS.
TO CONSOLIDATE KNOWLEDGE

Contents of Class
(Curvilinear motion):

12.7- Normal and

tangential
components

12.8- Cylindrical
components.
Group problem solving – 12.9

A particle traveling in a circular path of

radius 300 m has an instantaneous
velocity of 30 m/s and its velocity is
increasing at a constant rate of 4 m/s2.

What is the magnitude of its total

acceleration at this instant?
Group problem solving – 12.10

The boat is traveling along the circular path with a speed of

v = (0.0625.t2) m/s, where t is in seconds.
Find the magnitude of its acceleration when t = 10 s.
Group problem solving -12.11

The car travels up the hill with a speed of v = (0.2s) m/s, where s is in
meters, measured from A. Find the magnitude of its acceleration when
it is at point s = 50 m, where r = 500 m.
Group problem solving – 12.12

A car travels around the horizontal circular track that has a radius of
40 m as shown in the figure. Starting from rest, the car increases its
speed at a constant rate (or constant acceleration) of 4 m/s2.
Find:
a) Tangent component of acceleration.
b) Car velocity as a function of time.

When the magnitude of total acceleration becomes 20 m/s2,

calculate:
c) Velocity of the car.
d) Time needed to reach that acceleration.
e) Distance s traveled to reach an
acceleration of 20 m/s2.
Group problem solving – 12.13
Starting from rest in position A, the motorcycle has an acceleration
of at = 0.09t m/s2, where t is in seconds. When the motorcycle passes
through point B, calculate the magnitudes:
a) Velocity of motorcycle
b) Acceleration of motorcycle
Group problem solving – 12.14

When the skier reaches point A along the parabolic path shown in the
figure, he has a speed of 6 m/s which is increasing at 2 m/s2. Without
considering the size of the skier in the calculation, find:
a) Direction of his velocity at A
b) Radius of curvature of the
path at A.
c) Magnitude of tangential
acceleration at A.
d) Magnitude of normal
acceleration at A.
e) Magnitude and direction of
his acceleration at this
instant.
Remember: Velocity is always tangent to the path, ..and
derivative is the slope of a tangent line to the path
function at a given point.  dy 
θ =tan −1  
 dx 
Group problem solving – 12.15

The rod OA shown in the figure rotates in the horizontal plane such
that θ = (t3) rad. At the same time, the collar B is sliding outward
along OA so that r = (100t2) mm. If in both cases t is in seconds,
determine at t = 1 s:
a) the velocity of the collar
b) The acceleration of the collar

 dr  d θ 
v= ⋅ u r + r ⋅ ⋅ uθ
dt dt
2
 d 2r  dθ   d 2θ dr dθ 
a ( 2 – r  )ur + (r 2 + 2 )uθ
dt  dt  dt dt dt
Group problem solving – 12.16

The arm of the robot moves so that r = 3 ft

is constant, and its grip A moves along the
path z = (3 sin 4θ) ft, where θ is in radians.
If θ = (0.5 t) rad, where t is in seconds,
determine the magnitudes of the grip’s
velocity when t = 3 s.

 dr  d θ  dz 
v= ⋅ ur + r ⋅ ⋅ uθ + ⋅ u z
dt dt dt
Group problem solving – 12.16
Group problem solving – 12.16