1.2.

6 Kinematics of Particle / Curvilinear Motion / Cylindiral Components

1.2.6 Examination of curvilinear motion according to Cylindrical Coordinates: (tvid1.2.4 b)

Cylindrical Coordinates: It is the 3-dimensional version of polar coordinates.In

addition to the r, q axes, there is also movement in the z axis. In addition to the
equations in polar coordinates, there are also equations for the velocity (𝑧)ሶ and
acceleration (𝑧)ሷ in the z axis. The position at a time t is expressed with the
coordinates 𝑃(𝑟,𝜃,𝑧).
, Figure 1.2.35
Provided that the r and q axes are in the x-y plane, at point P (at time t):
𝑣𝑟 = 𝑟ሶ (1.27)
𝑧
velocity: 𝑣Ԧ = 𝑣𝑟 + 𝑣𝜃 + 𝑣𝑧 𝑣𝜃 = 𝑟𝜃ሶ (1.28)
𝑣𝑧 = 𝑧ሶ (1.31)

𝑃(𝑟, 𝜃, 𝑧)
𝑎𝑟 = 𝑟ሷ − 𝑟𝜃 2ሶ (1.29)

𝜃 𝑟 𝑦 accelaration: 𝑎Ԧ = 𝑎𝑟 + 𝑎𝜃 + 𝑎𝑧 𝑎𝜃 = 𝑟𝜃ሷ + 2𝑟ሶ 𝜃ሶ (1.30)

𝑧 𝑎𝑧 = 𝑧ሷ (1.32)
𝑥
Figure 1.2.36
DYNAMICS - Lecture Notes / Mehmet Zor 1
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1.2.6 Kinematics of Particle / Curvilinear Motion / Cylindiral Components

Example 1.2.14
The position of a child who starts sliding from the top point of a curved slide in
an aqua park at any time t can be expressed in cylindrical coordinates as
r = 0.2t2 -2t +6, q = Sin(5t) + Cos(20t) + 2t, z = -2.3t + 20
It is known that the lowest point of the slide is 2.6m above the pool.
Accordingly,a-) Calculate the speed and acceleration of the child at the 5th
second,b-) calculate how far from the slide the point where the child falls into
the pool will be. z

Solution:
2.6m
r = 0.2t2 -2t +6 q = Sin(5t) + Cos(20t) + 2t z = -2.3t + 20
x θ
𝑑𝑟 r y
= 𝑟ሶ = 0.4𝑡 − 2 𝜃ሶ = 5 cos 5𝑡 − 20 sin 20𝑡 + 2 𝑧ሶ = −2.3
𝑑𝑡 Figure 1.2.37

𝑑2 𝑟 𝑧ሷ = 0
2
= 𝑟ሷ = 0.4 𝜃ሷ = −25 sin 5𝑡 − 400 cos 20𝑡
𝑑𝑡
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1.2.6 Kinematics of Particle / Curvilinear Motion / Cylindiral Components

a-) For 𝑡 = 5𝑡ℎ 𝑠𝑒𝑐𝑜𝑛𝑑

𝜃5 = Sin(5 x 5) + Cos(20x5) + 2x5 = 10.24
𝑟5 = 0.2𝑥52 − 2𝑥5 + 6 = 1
𝑟5ሶ = 0.4𝑥5 − 2 = 0 𝜃ሶ 5 = 5 cos 5 𝑥 5 − 20𝑥 sin 20 𝑥 5 + 2 = −13.16 𝑟𝑑Τ𝑠
𝑟5ሷ = 0.4 𝜃ሷ 5 = −25 sin 5 𝑥 5 − 400𝑥 cos 20𝑥5 = 58.89 𝑟𝑑Τ𝑠 2

𝑧5 = −2.3𝑥5 + 20 = 8.5𝑚, 𝑧ሶ5 = −2.3 𝑧ሷ5 = 0

(from eq. 1.27) (from eq. 1.28) (from eq. 1.31)

𝑣𝜃5 = 𝑟5 . 𝜃ሶ 5 = 1𝑥 −13.16 = −13.16 𝑚Τ𝑠 , 𝑣𝑧5 = 𝑧ሶ5ሶ = −2.3 𝑚Τ𝑠 z
𝑣𝑟5 = 𝑟5ሶ = 0 ,

𝑣5 = 𝑣𝑟5 2 + 𝑣𝜃5 2 + 𝑣𝑧5 2 𝑣5 = 13.35 𝑚Τ𝑠 2.6m

2 x θ
(from eq. 1.29) 𝑎𝑟5 = 𝑟5ሷ − 𝑟5 . 𝜃ሶ5 = 0.4 − 1 −13.16 2
= −172.78 𝑚Τ𝑠 2 r y
Figure 1.2.38
(from eq. 1.30) 𝑎𝜃5 = 𝑟5 𝜃ሷ5 + 2𝑟5ሶ 𝜃ሶ5 = 1(58.89) + (2)(0) −13.16 = 58.89 𝑚Τ𝑠 2 a-) at t=5s, v=?, a=?
(from eq. 1.32) 𝑎𝑧5 = 𝑧ሷ5 = 0

𝑎5 = 𝑎𝑟5 2 + 𝑎𝜃5 2 + 𝑎𝑧5 2 𝑎5 = 182.54 𝑚Τ𝑠 2

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 1.2.6 Kinematics of Particle / Curvilinear Motion / Cylindiral Components

b-) We will calculate how far away from the slide the point where the child falls into the pool will be.
First of all, we need to find the velocity components of the child at point A at the end of the slide:

// 𝑧 𝑧𝐴 = 2.6 𝑚 → 𝑧𝐴 = −2.3𝑡𝐴 + 20 = 2.6 → 𝑡𝐴 = 7.56 𝑠

𝑧
𝑧′
𝑟𝐴 = 0.2𝑡𝐴 2 − 2𝑡𝐴 + 6 → 𝑟𝐴 = 2.31𝑚

𝐴 𝑟𝐴ሶ = 𝑣𝑟𝐴 = 0.4𝑡𝐴 − 2 = 0.4𝑥7.56 − 2 𝑣𝐴′

𝑣𝑧𝐴 //𝑟 𝐴
→ 𝑣𝑟𝐴 = 1.024 𝑚Τ𝑠 2.6m
𝑣𝐴′ 𝑥′
𝑧𝐴
𝑩
𝜃𝐴ሶ = 5. cos(5𝑡𝐴 ) − 20 sin 20𝑡𝐴 + 2 Figure 1.2.40
𝜃𝐴 𝑦
𝑟 → 𝜃𝐴ሶ = −3.684 𝑟𝑑Τ𝑠 The velocities 𝑣𝑟𝐴 𝑎𝑛𝑑 𝑣𝜃𝐴
𝑥 Figure 1.2.39 their resultant velocity 𝑣𝑥′𝐴
𝑣𝜃𝐴 = 𝑟𝜃𝐴ሶ = 2.31x(−3.684) → 𝑣𝜃𝐴 = −8.51 𝑚Τ𝑠 and the x’ axis lie in a plane
parallel to the x-y plane. You
𝑣𝑥′𝐴 = 𝑣𝑟𝐴 2 + 𝑣𝜃𝐴 2 = 1.0242 + (−8.51)2 → 𝑣𝑥′𝐴 = 8.57 𝑚Τ𝑠 should realize this from what
you know so far.
→ 𝑣𝑧𝐴 = 𝑧𝐴ሶ = −2.3 𝑚Τ𝑠
After leaving point A, there is a projectile motion in the 𝑥′−𝑧′ plane...>>
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1.2.6 Kinematics of Particle / Curvilinear Motion / Cylindiral Components

𝑧′ Projectile motion after exiting point A:

𝐼𝑛 𝑡ℎ𝑒 𝑥′ − 𝑧′ 𝑝𝑙𝑎𝑛𝑒
𝐴 𝑣𝑥 ′ 𝐴
𝑥′
𝑣𝐴′ 𝑧 ′ = 𝑧0′ + 𝑣𝑧𝐴 . 𝑡 + 12𝑔𝑡 2
𝑣𝑧𝐴 𝑧′𝐵
𝑧 ′ = 𝑧𝐵′ = −2.6𝑚
𝒙′𝑩 𝑩
1 𝑣𝐴′
Figure 1.2.41 −2.6 = 0 − 2.3𝑡𝐵 − 9.81𝑥𝑡𝐵 2 𝐴
2
2.6m
4.905𝑡𝐵 2 + 2.3𝑡𝐵 − 2.6 = 0 𝑩

Figure 1.2.42
𝑡𝐵1 < 0
−2.3 ∓ 2.32 + 4𝑥4.905𝑥2.6
𝑡𝐵1,2 =
2 𝑥 4.905
𝑡𝐵2 = 0.53𝑠 = 𝑡𝐵

𝑥𝐵′ = 𝑥0 + 𝑣𝑥′𝐴 . 𝑡𝐵 = 0 + 8.57𝑥0.53 → 𝑥𝐵′ = 4.54𝑚 (The distance from the slide to the point where
the child fell into the pool)
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1.2.6 Kinematics of Particle / Curvilinear Motion / Cylindiral Components

𝐐𝐮𝐞𝐬𝐭𝐢𝐨𝐧𝟏.2.6 (*)

Figure 1.2.43
While two coordinates of a robot arm are changed
with the relations 𝑧 = 0.4𝑡 2 ve 𝜃 = 1.5𝑡
its velocity in the r direction is increased to
0.15m/s
Calculate the total speed and total acceleration of
the end point A, given that r=0.3𝑚 is known at
t=3rd second.
Answer: 𝑣 = 2.45 𝑚/𝑠; 𝑎 = 1.14𝑚/𝑠 2
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1.2.6 Kinematics of Particle / Curvilinear Motion / Cylindiral Components

Question1.2.7 (*): A roller coaster at an amusement park

3
moves along a conical spiral track defined by 𝑟 = 𝑧 for a
4

short distance. 𝜃 = −1.5z where r and z are in meters and

q is in radians. If the angular velocity 𝜃ሶ =1 rad /s is always
conserved, determine the components of the acceleration
of the train (𝑎𝑟 , 𝑎𝜃 , 𝑎𝑧 ) when z = 6m. The total mass of
the train and passengers is 200 kg.
Answers: 𝑎𝑟 = −4.5𝑚/𝑠 2 ; 𝑎𝜃 = −1𝑚/𝑠 2 ; 𝑎𝑧 = 0

Figure 1.2.44

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