Engineering Mechanics:

Dynamics in SI Units, 12e

Chapter 12
Kinematics of a Particle
Copyright © 2010 Pearson Education South Asia Pte Ltd
12.7 Curvilinear Motion: Normal and Tangential Components

Path of motion of a particle is describe using n

and t coordinates which act normal and tangent
to the path

At the instant considered have their origin
located at the particle

Planar Motion

Origin happen to coincide
with the location of the particle

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12.7 Curvilinear Motion: Normal and Tangential Components

Planar Motion

Curve can be constructed from a series of
differential arc segments ds

Plane contains n and t axes is referred to as
osculating plane and is fixed in the plane of
motion

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12.7 Curvilinear Motion: Normal and Tangential Components

Velocity

When particle is moving, s is a function of time

Particle’s velocity v has direction that is always
tangent to the path

Magnitude is determined by taking the time
derivative of the path function s = s(t)

 
v = vut where v = s

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12.7 Curvilinear Motion: Normal and Tangential Components

Acceleration

Acceleration of the particle is the time rate of
change of velocity
   
a = v
= v
ut + vu
t

a can be written as
  
a = at ut + anu n
v2
where at = v
or at ds = vdv and an =
ρ
2 2

Magnitude is a = at + an

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12.7 Curvilinear Motion: Normal and Tangential Components

PROCEDURE FOR ANALYSIS

Coordinate System

When path of the particle is known, establish a
set of n and t coordinates with a fixed origin

Positive tangent axis acts in the direction of the
motion

n and t axes are used for studying the velocity
and acceleration of the particle

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12.7 Curvilinear Motion: Normal and Tangential Components

PROCEDURE FOR ANALYSIS

Velocity

Particle’s velocity is always tangent to the path

Magnitude of the velocity is found from the
derivative of the path function
v = s

Tangential Acceleration

For rectilinear motion, at = v
and at ds = vdv
1 2

If at is constant, s = s + v t +0
2
(a ) t
0 c c

v = v0 + (ac ) c t
v 2 = v02 + 2(ac ) c ( s − s0 )
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12.7 Curvilinear Motion: Normal and Tangential Components

PROCEDURE FOR ANALYSIS

Normal Acceleration

For magnitude of the normal component,
v2
an =
ρ

When path is expressed as y = f(x), radius of

curvature ρ at any point on the path is
determined from
[1 + (dy / dx) 2 ]3 / 2
ρ=
d 2 y / dx 2

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Example 12.14

When the skier reaches the point A along the

parabolic path, he has a speed of 6m/s which is
increasing at 2m/s2. Determine the direction of his
velocity and the direction and magnitude of this
acceleration at this instant. Neglect the size of the
skier in the calculation.

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Example 12.14

Solution
Coordinate System
Establish n, t axes at the fixed point A.
Determine the components of v and a.

Velocity
The velocity is directed tangent to the path where
1 2 dy
y= x , =1
20 dx x =10

V make an angle of θ = tan-1 = 45°with the x axis

v A = 6m / s

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Example 12.14

Solution
Acceleration

d2y 1
Since 2
= , the radius of curvature is
dx 10
[1 + (dy / dx) 2 ]3 / 2
ρ= 2 2
= 28.28m
d y / dx
The acceleration becomes
 v2
a A = v
ut + un
ρ
 
= {2ut + 1.273un }m / s 2

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Example 12.14

Solution
Acceleration
The magnitude and angle is
a= (2)2 + (1.237 )2 = 2.37m / s 2
2
−1
φ = tan = 57.5
1.237

Thus, 57.5°– 45 °= 12.5 °

a = 2.37 m/s2

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Example 12.15

Race car C travels round 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?

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Example 12.15

Solution
Coordinate System
The origin of the n and t axes is coincident with the
car at the instant.
Acceleration
The magnitude of acceleration can be related to its
components using a = at2 + an2 , thus at = 2.1 m/s
The velocity is v = v0 + (at )c t = 2.1t
v2
We have an = = 0.049t 2m / s 2
ρ

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Example 12.15

Solution
Acceleration
The time needed for the acceleration to reach
2.4m/s2 is
a = at2 + an2
2 2
+ ( 0.049t )
2
2.4 = ( 2.4 ) ⇒ t = 4.87 s

The speed at time t = 4.87s is

v = 2.1t = 10.2m / s

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Example 12.16

The boxes travels alone the industrial conveyor. If a

box starts from rest at A and increases its speed
such that at = (0.2t) m/s2, determine the magnitude
of its acceleration when it arrives at point B.

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Example 12.16

Solution
Coordinate System
The position of the box at any instant is defined by s,
from the fixed point A.

Acceleration
Since vA when t = 0
at = v
= 0.2t (1)
v t
∫0
dv = ∫ 0.2t dt ⇒ v = 0.1t 2
0
( 2)
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Example 12.16

Solution
Acceleration
Position of B is sB = 3 + 2π(2)/4 = 6.142 m
Since sA = 0 when t = 0,
ds
v= = 0.1t 2
dt
6.142 tB
∫0
ds = ∫ 0.1t 2 dt
0

t B = 5.69s

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Example 12.16

Solution
Acceleration
Substituting into eqn (1) and (2),
(aB )t = v
B = 0.2(5.690) = 1.138m / s 2
vB = 0.1(5.69) 2 = 3.238m / s

vB2
At B, ρB = 2 m, (aB )n = = 5.242m / s 2
ρB

∵aB = (1.138) 2 + (5.242) 2 = 5.36m / s 2

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12.8 Curvilinear Motion: Cylindrical Components

Polar Coordinates

Location of P use both the radial coordinate r
and a traverse coordinate θ which is
counterclockwise angle

Angle measured in deg or rad
where 1 rad = 180°
Position

At any instant, position
defined by position vector
 
r = ru r

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12.8 Curvilinear Motion: Cylindrical Components

Velocity

Instantaneous velocity v is obtained by the time
derivative of r
   
v = r
= r
ur + ru
r

A change in ∆θ will cause ur to become ur’
where ur’ = ur + ∆ur

For small angles ∆θ,

 ∆ur  ∆θ  
u
r = lim =  lim uθ
∆t →0 ∆t  ∆t →0 ∆t 
 
u
r = θ
uθ

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12.8 Curvilinear Motion: Cylindrical Components

Velocity
  

We have v = vr ur + vθ uθ ⇒ vr = r
⇒ vθ = rθ


Since vr and vθ are mutually perpendicular,
v= (r
)2 + (rθ
)2

Direction of v is tangent
to the path at P
Acceleration

Taking the time derivatives, we have

a = v
=
r
ur + r
u
r + r
θ
uθ + rθ

uθ + rθ
u
θ

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12.8 Curvilinear Motion: Cylindrical Components

Acceleration

For small angles, ∆uθ = - ∆θur

We write the acceleration in component form as

r − rθ
2 , aθ = rθ

+ 2r
θ

a = ar ur + aθ uθ , ar =

Since ar and aθ are always perpendicular

a= (
r
− rθ ) + (rθ

+ 2r
θ
)2

2 2

Acceleration is not
tangent to the path
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12.8 Curvilinear Motion: Cylindrical Components

Cylindrical Coordinates

When P moves along a space, location is
specified by the three cylindrical coordinates
r, θ, z

Position, velocity, acceleration of the particle is
written as
  
r p = ru r + zu z
 
 
v = r
ur + rθuθ + z
u z

2 


 
a = (
r
− rθ )ur + ( rθ + 2r
θ )uθ +
z
u z

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12.8 Curvilinear Motion: Cylindrical Components

Time Derivatives
2 common problems:
a. When coordinates are specified as r = r(t) and θ
= θ(t), time derivative can be formed directly

b. When time parametric equations are not given,

we will need to specify r = f(θ) and find
relationship between the time derivatives using
the chain rule of calculus

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Chain rule

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Chain rule

Try these:

2
r = 5θ

2 3
r = 6θ

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12.8 Curvilinear Motion: Cylindrical Components

PROCEDURE FOR ANALYSIS

Coordinate System

Polar coordinate solve angular motion of radial
coordinate r

Origin at a fixed point and the
radial line r is directed to
the particle

Transverse coordinate θ is
measured from a fixed
reference line to radial line

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12.8 Curvilinear Motion: Cylindrical Components

PROCEDURE FOR ANALYSIS

Velocity and Acceleration

r and the 4 time derivatives can be used to
obtain the radial and transverse components of v
and a

Use chain rule of calculus to find the time

derivatives of r = f(θ)

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Example 12.17

The amusement park consists of a chair that is

rotating in a horizontal circular path of radius r such
that the arm OB has an angular velocity and angular
acceleration. Determine the radial and transverse
components of velocity and acceleration of the
passenger.

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Example 12.17

Solution
Coordinate System
Polar coordinates are chosen for the solution.

Velocity and Acceleration

Since r is constant, r = r , r
= 0 ,

r = 0
Thus vr = r
= 0
vθ = rθ

ar =
r
− rθ
2 = − rθ
2
aθ = rθ

+ 2r
θ
= rθ

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Example 12.18

The rob OA is rotating in the horizontal plane such

that θ = (t3) rad. At the same time, the collar B is
sliding outwards along OA so that r = (100t2)mm. If
in both cases, t is in seconds, determine the velocity
and acceleration of the collar when t = 1s.

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Example 12.18

Solution
Coordinate System
Since time-parametric equations of the particle is
given, it is not necessary to relate r to θ.

Velocity and Acceleration

We have
r = 100t 2 t =1s = 100mm θ = t3 t =1 s
= 1rad = 57.3°

r
= 200t t =1 s
= 200mm / s θ
= 3t 2 t =1 s
= 3rad / s

r
= 200 t =1 s
= 200mm / s 2 θ

= 6t t =1 s
= 6 rad / s 2

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Example 12.18

Solution
Velocity and Acceleration
As shown in the figure,
 

v = r
ur + rθuθ
 
= {200ur + 300uθ }mm / s

The magnitude of v is
v = 2002 + 3002 = 361mm / s

δ = tan −1
300  
 = 56.3
 200 
δ + 57.3 = 114
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Example 12.18

Solution
Velocity and Acceleration
As shown in the figure,
  
a = (
r
− rθ
2 )ur + (rθ

+ 2r
θ
)uθ
 
= {−700ur + 1800uθ }mm / s 2

The magnitude of a is
a = 7002 + 18002 = 1930mm / s 2
−1 1800  
φ = tan   = 68.7
 700 
(180 − φ ) + 57.3 = 169
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Example 12.20

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 – cosθ) m where θ is
in radians. If the ball’s velocity is v = 1.2 m/s and its
acceleration is 9 m/s2 at instant θ = 180°, determine
the angular velocity and angular acceleration of the
fork.

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Example 12.20

Solution
Coordinate System
For this unusual path, use polar coordinates.

Velocity and Acceleration

We have r = 0.15(1 − cosθ )
r
= 0.15(sin θ )θ


r
= 0.15(cosθ )θ
(θ
) + 0.15(sin θ )θ

Evaluating these results at θ = 180°,

r = 0.3m r
= 0
r
= −0.15θ
2

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Example 12.20

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

2
v = (r
)2 + (rθ
)
θ
= 4rad / s

a = (
r
− rθ
2 )2 + (rθ

+ 2r
θ
)2

θ

= 18rad / s 2

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