5-Curvilinear Motion (Normal and Tangential Components)

BACHELOR OF SCIENCE IN CIVIL ENGINEERING:
DYNAMICS OF RIGID BODIES

COURSE MODULE COURSE UNIT WEEK
2 1 5
Curvilinear Motion: Normal and Tangential Components
CHECKLIST
✓ Read course and unit objectives
✓ Read study guide prior to class attendance
✓ Read required learning resources; refer to unit
terminologies for jargons
✓ Proactively participate in classroom discussions
✓ Answer and submit course unit tasks
UNIT EXPECTED OUTCOMES (UEOs)

At the end of this unit, the students are expected to:
Cognitive:
1. Understand the topic, curvilinear motion: normal and tangential components.
Affective:
1. Listen attentively during class discussions
2. Demonstrate tact and respect when challenging other people’s opinions and ideas
3. Accept comments and reactions of classmates on one’s opinions openly and graciously.
Psychomotor:
1. Participate actively during class discussions and group activities
2. Express opinion and thoughts in front of the class
REQUIRED READINGS
R.C. Hibeler (2010) Dynamics 13th Edition, Curvilinear Motion: Normal and Tangential
Components (pp 53-59). New Jersey: Pearson Prentice Hall
STUDY GUIDE
Curvilinear Motion: Normal and Tangential Components
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.
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.
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).
𝑑𝑠
𝒗 = 𝑣𝒖𝒕 where 𝑣 = 𝑠̇ = 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 the time rate of change of velocity:
𝑑𝒗 𝑑(𝑣𝒖𝒕 )
𝒂= = = 𝑣̇ 𝒖𝒕 + 𝑣𝒖̇𝒕
𝑑𝑡 𝑑𝑡
Here v represents the change in the magnitude of velocity and 𝑢𝑡̇ represents the rate of change in
the direction of ut.
After mathematical manipulation, the acceleration vector can be expressed as:
There are two components to the acceleration vector:
The tangential component is tangent to the curve and in the direction of increasing or decreasing
velocity.
The normal or centripetal component is always directed toward the center of curvature of the
curve.
The magnitude of the acceleration vector is
Special Cases of Motion
There are some special cases of motion to consider.
1. The particle moves along a straight line.
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.
The normal component represents the time rate of change in the direction of the velocity.
3. The tangential component of acceleration is constant, at = (at)c. In this case,
4. The particle moves along a path expressed as y = f(x). The radius of curvature, r, at any
point on the path can be calculated from
Three-Dimensional Motion
If a particle moves along a space curve, the n and t axes are defined as before. At any point, the t-
axis is tangent to the path and the n-axis points toward the center of curvature. The plane
containing the n and t axes is called the osculating plane.
A third axis can be defined, called the binomial axis, b. The binomial unit vector, ub, is directed
perpendicular to the osculating plane, and its sense is defined by the cross product ub = ut x un.
There is no motion, thus no velocity or acceleration, in the binomial direction.
Problem 1
When the skier reaches point A along the parabolic path in the figure, he has a speed of 6 m/s
which is increasing at 2 m/s2. Determine the direction of his velocity and the direction and
magnitude of his acceleration at this instant. Neglect the size of the skier in the calculation.
Problem 2
A race car C travels around the horizontal circular track that has a radius of 300 ft, as shown in the
figure. If the car increases its speed at a constant rate of 7 ft/s2, starting from rest, determine the
time needed for it to reach an acceleration of 8 ft/s2. What is its speed at this instant?
Problem 3
The boxes in figure A travel along the industrial conveyor. If a box as in figure B 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.
TERMINOLOGIES
Osculating plane - the plane which contains the n and t axes is referred to as the embracing
UNIT TASK
• Answer Problem Set No. 3
REFERENCES
R.C. Hibeler (2010) Dynamics 13th Edition, Curvilinear Motion: Normal and Tangential
Components (pp 53-59). New Jersey: Pearson Prentice Hall

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BACHELOR OF SCIENCE IN CIVIL ENGINEERING:

DYNAMICS OF RIGID BODIES

Curvilinear Motion: Normal and Tangential Components

UNIT EXPECTED OUTCOMES (UEOs)

Normal and Tangential Components

Velocity in the n-t Coordinate System

The velocity vector is always tangent to the path of motion (t-direction).

Acceleration in the n-t Coordinate System

Acceleration is the time rate of change of velocity:

There are two components to the acceleration vector:

Special Cases of Motion

There are some special cases of motion to consider.

1. The particle moves along a straight line.

2. The particle moves along a curve at constant speed.

3. The tangential component of acceleration is constant, at = (at)c. In this case,

There is no motion, thus no velocity or acceleration, in the binomial direction.

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