Problem 12-105

Starting from rest, a bicyclist travels around a horizontal circular path of radius ρ at a speed
v = b t2 + c t. Determine the magnitudes of his velocity and acceleration when he has
traveled a distance s1.

m m
Given: ρ = 10 m b = 0.09 c = 0.1 s1 = 3 m
3 2
s s

Solution: Guess t1 = 1 s

⎛ b ⎞t 3 + ⎛ c ⎞t 2 t1 = Find ( t1)
Given s1 = ⎜ ⎟1 ⎜ ⎟1 t1 = 4.147 s
⎝ 3⎠ ⎝ 2⎠
2 m
v1 = b t1 + c t1 v1 = 1.963
s
m
at1 = 2b t1 + c at1 = 0.847
2
s
2
v1 m
an1 = an1 = 0.385
ρ s
2

2 2 m
a1 = at1 + an1 a1 = 0.930
2
s
Problem 12-106

The jet plane travels along the vertical parabolic path. When it is at point A it has speed v which is
increasing at the rate at. Determine the magnitude of acceleration of the plane when it is at point A.

Given:
m
v = 200
s
m
at = 0.8
2
s

d = 5 km

h = 10 km

Solution:
2
y ( x) = h ⎜
⎛x⎞
⎟
⎝ d⎠

d
y' ( x) = y ( x)
dx

d
y'' ( x) = y' ( x)
dx

(1 + y' ( x) 2)
3
ρ ( x) =
y'' ( x)

2
v 2 2 m
an = a = at + an a = 0.921
ρ ( d) 2
s
Problem 12–107

The car travels along the curve having a radius of R. If its speed is uniformly increased from
v1 to v2 in time t, determine the magnitude of its acceleration at the instant its speed is v3.

Given:

m
v1 = 15 t = 3s
s
m R = 300 m
v2 = 27
s
m
v3 = 20
s

Solution:
2
v2 − v1 v3 2 2 m
at = an = a = at + an a = 4.22
t R 2
s
*Problem 12–108

The satellite S travels around the earth in a circular path with a constant speed v1. If the
acceleration is a, determine the altitude h. Assume the earth’s diameter to be d.

3
Units Used: Mm = 10 km

Given:
Mm
v1 = 20
hr
m
a = 2.5
2
s

d = 12713 km

Solution:

Guess h = 1 Mm
2
v1
Given a= h = Find ( h) h = 5.99 Mm
d
h+
2
Problem 12–109

A particle P moves along the curve y = b x2 + c with a constant speed v. Determine the point
on the curve where the maximum magnitude of acceleration occurs and compute its value.

1 m
Given: b = 1 c = −4 m v = 5
m s

Solution: Maximum acceleration occurs where the radius of curvature is the smallest which
occurs at x = 0.

2 d d
y ( x) = b x + c y' ( x) = y ( x) y'' ( x) = y' ( x)
dx dx

(1 + y' ( x) 2)
3
ρ ( x) = ρ min = ρ ( 0m) ρ min = 0.5 m
y'' ( x)

2
v m
amax = amax = 50
ρ min s
2
Problem 12–110

The Ferris wheel turns such that the speed of the passengers is increased by at = bt. If the
wheel starts from rest when θ = 0°, determine the magnitudes of the velocity and acceleration
of the passengers when the wheel turns θ = θ1.

Given:

m
b = 1.2 θ 1 = 30 deg r = 12 m
3
s

Solution:

m
Guesses t1 = 1 s v1 = 1
s
m
at1 = 1
2
s

⎛ b⎞t 2 ⎛ b ⎞t 3
Given at1 = b t1 v1 = ⎜ ⎟1 rθ 1 = ⎜ ⎟1
⎝ 2⎠ ⎝ 6⎠

⎛ at1 ⎞
⎜ ⎟
⎜ v1 ⎟ = Find ( at1 , v1 , t1)
m m
t1 = 3.16 s v1 = 5.97 at1 = 3.79
s 2
⎜t ⎟ s
⎝ 1⎠

2
⎛ 2⎞
2 ⎜ v1 ⎟ m m
a1 = at1 + v1 = 6 a1 = 4.81
⎝ r ⎠ s
s
2
Problem 12-111

At a given instant the train engine at E has speed v and acceleration a acting in the direction
shown. Determine the rate of increase in the train's speed and the radius of curvature ρ of the
path.

Given:

m
v = 20
s

m
a = 14
2
s

θ = 75 deg

Solution:

at = ( a)cos ( θ )
m
at = 3.62
2
s

an = ( a)sin ( θ )
m
an = 13.5
2
s
2
v
ρ = ρ = 29.6 m
an
*Problem 12–112

A package is dropped from the plane which is flying with a constant horizontal velocity vA.
Determine the normal and tangential components of acceleration and the radius of curvature of
the path of motion (a) at the moment the package is released at A, where it has a horizontal
velocity vA, and (b) just before it strikes the ground at B.

m m
Given: vA = 50 h = 500 m g = 9.81
s 2
s
Solution:

At A:

aAn = g
2
vA
ρA =
aAn

ρ A = 254.8 m

At B:

2h ⎛ vy ⎞
t = vx = vA vy = g t θ = atan ⎜ ⎟
g ⎝ vx ⎠
2
vB
g cos ( θ )
2 2
vB = vx + vy aBn = ρB = ρ B = 2784.5 m
aBn
Problem 12-113

The automobile is originally at rest at s = 0. If its speed is increased by dv/dt = bt2, determine
the magnitudes of its velocity and acceleration when t = t1.

Given:

m
b = 0.015
4
s
t1 = 18 s

ρ = 72 m

d = 90 m

Solution:

2 m
at1 = b t1 at1 = 4.86
2
s

⎛ b ⎞t 3 m
v1 = ⎜ ⎟1 v1 = 29.2
⎝ 3⎠ s

⎛ b ⎞t 4
s1 = ⎜ ⎟1 s1 = 131.2 m
⎝ 12 ⎠

If s1 = 131.22 m > d = 90.00 m then we are on the curved part of the track.

2
v1 m 2 2 m
an1 = an1 = 11.81 a = an1 + at1 a = 12.8
ρ 2
s s
2

If s1 = 131.22 m < d = 90.00 m then we are on the straight part of the track.

ft m 2 2 m
an1 = 0 an1 = 0.00 a = an1 + at1 a = 4.86
2 2 2
s s s
Problem 12-114

The automobile is originally at rest at s = 0. If it then starts to increase its speed at dv/dt = bt2,
determine the magnitudes of its velocity and acceleration at s = s1.

Given:

d = 90 m

ρ = 72 m

m
b = 0.015
4
s
s1 = 165 m

Solution:

1
4
at = b t
2 ⎛ b⎞ 3
v = ⎜ ⎟t
⎛ b ⎞ 4 t = ⎛⎜ 12s1 ⎞⎟
s = ⎜ ⎟t t1 = 19.06 s
1
⎝ 3⎠ ⎝ 12 ⎠ ⎝ b ⎠

⎛ b ⎞t 3 m
v1 = ⎜ ⎟1 v1 = 34.6
⎝ 3⎠ s

If s1 = 165.00 m > d = 90.00 m the car is on the curved path

2
2 ⎛ b ⎞t 3 v
at = b t 1 v = ⎜ ⎟1 an =
a =
2
at + an
2
a = 17.5
m
⎝ 3⎠ ρ 2
s
If s1 = 165.00 m < d = 90.00 m the car is on the straight path

2 ft 2 2 m
at = b t 1 an = 0 a = at + an a = 5.45
2 2
s s
Problem 12-115

The truck travels in a circular path having a radius ρ at a speed v0. For a short distance from s
= 0, its speed is increased by at = bs. Determine its speed and the magnitude of its acceleration
when it has moved a distance s = s1.

Given:

ρ = 50 m

m
v0 = 4
s
1
b = 0.05
2
s

s1 = 10 m

Solution:
v1 s1 2 2
⌠ ⌠ v1 v0 b 2
at = b s ⎮ v dv = ⎮ b s ds − = s1
⌡v ⌡0 2 2 2
0

2 2 m
v1 = v0 + b s1 v1 = 4.58
s

2
v1 2 2 m
at1 = b s1 an1 = a1 = at1 + an1 a1 = 0.653
ρ s
2
*Problem 12–116

The particle travels with a constant speed v along the curve. Determine the particle’s
acceleration when it is located at point x = x1.

Given:
mm
v = 300
s

3 2
k = 20 × 10 mm

x1 = 200 mm

Solution:

k
y ( x) =
x

d
y' ( x) = y ( x)
dx

d
y'' ( x) = y' ( x)
dx

(1 + y' ( x) 2)
3
ρ ( x) = θ ( x) = atan ( y' ( x) ) θ 1 = θ ( x1) θ 1 = −26.6 deg
y'' ( x)

v
2 ⎛ −sin ( θ 1) ⎞ ⎛ 144 ⎞ mm mm
a = ⎜ ⎟ a= ⎜ ⎟ a = 322
ρ ( x1) ⎝ cos ( θ 1) ⎠ ⎝ 288 ⎠ s2 s
2
Problem 12–117

Cars move around the “traffic circle” which is in the shape of an ellipse. If the speed limit is
posted at v, determine the maximum acceleration experienced by the passengers.

Given:

km
v = 60
hr

a = 60 m

b = 40 m

Solution:

Maximum acceleration
occurs where the radius of
curvature is the smallest.
In this case that happens
when y = 0.

2
⎛ y⎞
x ( y) = a 1 − ⎜ ⎟ x' ( y) =
d
x ( y) x'' ( y) =
d
x' ( y)
⎝ b⎠ dy dy

(1 + x' ( y) 2)
3
−
ρ ( y) = ρ min = ρ ( 0m) ρ min = 26.667 m
x'' ( y)

2
v m
amax = amax = 10.42
ρ min s
2
Problem 12–118

Cars move around the “traffic circle” which is in the shape of an ellipse. If the speed limit is
posted at v, determine the minimum acceleration experienced by the passengers.

Given:

km
v = 60
hr

a = 60 m

b = 40 m

Solution:

Minimum acceleration
occurs where the radius of
curvature is the largest. In
this case that happens
when x = 0.

2
⎛x⎞
y ( x) = b 1 − ⎜ ⎟ y' ( x) =
d
y ( x) y'' ( x) =
d
y' ( x)
⎝ a⎠ dx dx

(1 + y' ( x) 2)
3
−
ρ ( x) = ρ max = ρ ( 0m) ρ max = 90 m
y'' ( x)

2
v m
amin = amin = 3.09
ρ max s
2
Problem 12-119

The car B turns such that its speed is increased by dvB/dt = bect. If the car starts from rest
when θ = 0, determine the magnitudes of its velocity and acceleration when the arm AB
rotates to θ = θ1. Neglect the size of the car.

Given:
m
b = 0.5
2
s

−1
c = 1s

θ 1 = 30 deg

ρ = 5m

Solution:
ct
aBt = b e

vB =
c
(
b ct
e −1 )

ρ θ = ⎛⎜ ⎞⎟ e ⎛ b⎞t − b
b ct
− ⎜ ⎟
2
⎝c ⎠ ⎝ c ⎠ c2

Guess t1 = 1 s

ρ θ 1 = ⎛⎜ ⎞⎟ e ⎛ b⎞t − b t1 = Find ( t1)

b c t1
Given − ⎜ ⎟1 2 t1 = 2.123 s
2
⎝c ⎠ ⎝c⎠ c

vB1 = e (
b c t1
−1 ) vB1 = 3.68
m
c s

2
c t1 vB1 2 2
aBt1 = b e aBn1 = aB1 = aBt1 + aBn1
ρ

m m m
aBt1 = 4.180 aBn1 = 2.708 aB1 = 4.98
2 2 2
s s s
*Problem 12-120

The car B turns such that its speed is increased by dvB/dt = b ect. If the car starts from rest when
θ = 0, determine the magnitudes of its velocity and acceleration when t = t1. Neglect the size of
the car. Also, through what angle θ has it traveled?

Given:

m
b = 0.5
2
s

−1
c = 1s

t1 = 2 s

ρ = 5m

Solution:
ct
aBt = b e

vB = (
b ct
c
e −1 )

ρ θ = ⎛⎜ ⎞⎟ e ⎛ b⎞t − b
b ct
− ⎜ ⎟
2
⎝c ⎠ ⎝ c ⎠ c2

vB1 = e (
b c t1
−1 ) vB1 = 3.19
m
c s

2
c t1 vB1 2 2
aBt1 = b e aBn1 = aB1 = aBt1 + aBn1
ρ

m m m
aBt1 = 3.695 aBn1 = 2.041 aB1 = 4.22
2 2 2
s s s

⎞ ec t1 − ⎛ b ⎞ t − b ⎤
1 ⎡⎛ b
θ1 = ⎜ ⎟ 1 2⎥ θ 1 = 25.1 deg
ρ c2 ⎟
⎢⎜ ⎝c⎠
⎣⎝ ⎠ c ⎦
Problem 12–121

The motorcycle is traveling at v0 when it is at A. If the speed is then increased at dv/dt = at

determine its speed and acceleration at the instant t = t1.

Given:
−1
k = 0.5 m
m
at = 0.1
2
s
m
v0 = 1
s

t1 = 5 s

Solution:

(1 + y' ( x) 2)
3
2
y ( x) = k x y' ( x) = 2k x y'' ( x) = 2k ρ ( x) =
y'' ( x)

1 2 m
v1 = v0 + at t1 s1 = v0 t1 + at t1 v1 = 1.5
2 s

x1
⌠
x1 = Find ( x1)
2
Guess x1 = 1 m Given s1 = ⎮ 1 + y' ( x) dx
⌡0
2
v1 2 2 m
a1t = at a1n = a1 = a1t + a1n a1 = 0.117
ρ ( x1) s
2
Problem 12-122

The ball is ejected horizontally from the tube with speed vA. Find the equation of the path y = f (x), and
then find the ball’s velocity and the normal and tangential components of acceleration when t = t1.

Given:

m
vA = 8
s

t1 = 0.25 s

m
g = 9.81
2
s
Solution:

x −g 2 −g 2
x = vA t t= y= t y= x parabola
vA 2 2
2vA

when t = t1

⎛ −vy ⎞
vx = vA vy = −g t1 θ = atan ⎜ ⎟ θ = 17.04 deg
⎝ vx ⎠
an = g cos ( θ )
m
an = 9.38
2
s

at = g sin ( θ )
m
at = 2.88
2
s
Problem 12–123

The car travels around the circular track having a radius r such that when it is at point A it has
a velocity v1 which is increasing at the rate dv/dt = kt. Determine the magnitudes of its
velocity and acceleration when it has traveled one-third the way around the track.

Given:

m
k = 0.06
3
s

r = 300 m

m
v1 = 5
s

Solution:

at ( t ) = k t

k 2
v ( t) = v1 + t
2

k 3
sp ( t) = v1 t + t
6

2π r
Guess t1 = 1 s Given sp ( t1) = t1 = Find ( t1) t1 = 35.58 s
3
2
v1
v1 = v ( t1) at1 = at ( t1)
2 2
an1 = a1 = at1 + an1
r

m m
v1 = 43.0 a1 = 6.52
s 2
s
*Problem 12–124

The car travels around the portion of a circular track having a radius r such that when it is at
point A it has a velocity v1 which is increasing at the rate of dv/dt = ks. Determine the
magnitudes of its velocity and acceleration when it has traveled three-fourths the way around
the track.

Given:

−2
k = 0.0006 s

r = 150 m

m
v1 = 0.6
s

3
Solution: sp1 = 2π r
4

d
at = v v = k sp
dsp

v1 sp1
⌠ ⌠
v1 = Find ( v1)
m
Guess v1 = 1 Given ⎮ v dv = ⎮ k sp dsp
s ⌡0 ⌡
0
2
v1 2 2 m
at1 = k sp1 an1 = a1 = at1 + an1 v1 = 17.3
r s

m
a1 = 2.0
2
s
Problem 12-125

The two particles A and B start at the origin O and travel in opposite directions along the circular path
at constant speeds vA and vB respectively. Determine at t = t1, (a) the displacement along the path of
each particle, (b) the position vector to each particle, and (c) the shortest distance between the
particles.
Given:
m
vA = 0.7
s
m
vB = 1.5
s

t1 = 2 s

ρ = 5m

Solution:

(a) The displacement along the path

sA = vA t1 sA = 1.400 m

sB = vB t1 sB = 3.000 m

(b) The position vector to each particle

sA ⎛ ρ sin ( θ A) ⎞ ⎛ 1.382 ⎞
θA = rA = ⎜ ⎟ rA = ⎜ ⎟m
ρ ⎝ ρ − ρ cos ( θ A) ⎠ ⎝ 0.195 ⎠

sB ⎛ −ρ sin ( θ B) ⎞ ⎛ −2.823 ⎞
θB = rB = ⎜ ⎟ rB = ⎜ ⎟m
ρ ⎝ ρ − ρ cos ( θ B) ⎠ ⎝ 0.873 ⎠

(c) The shortest distance between the particles

d = rB − rA d = 4.26 m
Problem 12-126

The two particles A and B start at the origin O and travel in opposite directions along the circular
path at constant speeds vA and vB respectively. Determine the time when they collide and the
magnitude of the acceleration of B just before this happens.

Given:
m
vA = 0.7
s
m
vB = 1.5
s

ρ = 5m

Solution:

(vA + vB)t = 2π ρ
2π ρ
t = t = 14.28 s
vA + vB

2
vB m
aB = aB = 0.45
ρ s
2
Problem 12-127

The race car has an initial speed vA at A. If it increases its speed along the circular track at the
rate at = bs, determine the time needed for the car to travel distance s1.

Given:

m
vA = 15
s

−2
b = 0.4 s

s1 = 20 m

ρ = 150 m

Solution:

d
at = b s = v v
ds

v s 2 2 2
⌠ ⌠ v vA s
⎮ v dv = ⎮ b s ds − =b
⌡v ⌡0 2 2 2
A

d 2 2
v= s= vA + b s
dt

s s
⌠ ⌠
t ⌠1
⎮ 1 ⎮ 1
ds = ⎮ 1 dt t = ds t = 1.21 s
⎮ 2 2 ⌡0 ⎮ 2 2
⎮ vA + b s ⎮ vA + b s
⌡ ⌡
0 0
*Problem 12-128

A boy sits on a merry-go-round so that he is always located a distance r from the center of
rotation. The merry-go-round is originally at rest, and then due to rotation the boy’s speed is
increased at the rate at. Determine the time needed for his acceleration to become a.

m m
Given: r = 2.4 m at = 0.6 a = 1.2
2 2
s s

Solution

2 2 v
an = a − at v = an r t = t = 2.63 s
at
Problem 12–129

A particle moves along the curve y = bsin(cx) with a constant speed v. Determine the normal and
tangential components of its velocity and acceleration at any instant.

m 1
Given: v = 2 b = 1m c =
s m

Solution:

2
y = b sin ( c x) y' = b c cos ( c x) y'' = −b c sin ( c x)

(1 + y' 2)
3 2
⎡⎣1 + ( b c cos ( c x) ) 2⎤⎦
ρ = =
y'' 2
−b c sin ( c x)

2
v b c sin ( c x)
an = at = 0 vt = 0 vn = 0
3
2
⎡⎣1 + ( b c cos ( c x) ) 2⎤⎦
Problem 12–130

The motion of a particle along a fixed path is defined by the parametric equations r = b, θ = ct
and z = dt2. Determine the unit vector that specifies the direction of the binormal axis to the
osculating plane with respect to a set of fixed x, y, z coordinate axes when t = t1. Hint:
Formulate the particle’s velocity vp and acceleration ap in terms of their i, j, k components.
Note that x = r cos ( θ ) and y = r sin ( θ ). The binormal is parallel to vp × ap. Why?

rad m
Given: b = 8m c = 4 d = 6 t1 = 2 s
s 2
s

Solution:

⎛ b cos ( c t1) ⎞ ⎛ −b c sin ( c t1) ⎞ ⎛⎜ −b c2 cos ( c t1) ⎞⎟

⎜ ⎟ ⎜ ⎟
= ⎜ b sin ( c t1) ⎟ = ⎜ b c cos ( c t1) ⎟
⎜
= −b c2 sin c t
⎟
rp1 vp1 ap1
⎜ ( 1) ⎟
⎜ 2 ⎟ ⎜ 2d t ⎟ ⎜ ⎟
⎝ d t1 ⎠ ⎝ 1 ⎠ ⎝ 2d ⎠

Since vp and ap are in the normal plane and the binormal direction is perpendicular to this plane
then we can use the cross product to define the binormal direction.

vp1 × ap1
⎛ 0.581 ⎞
u =
⎜
u = 0.161
⎟
vp1 × ap1 ⎜ ⎟
⎝ 0.798 ⎠
Problem 12-131

Particles A and B are traveling counter-clockwise around a circular track at constant speed v0. If
at the instant shown the speed of A is increased by dvA/dt = bsA, determine the distance
measured counterclockwise along the track from B to A when t = t1. What is the magnitude of
the acceleration of each particle at this instant?
Given:
m
v0 = 8
s

−2
b = 4s

t1 = 1 s

r = 5m

θ = 120 deg

Solution: Distance
vA sA
dvA ⌠ ⌠
aAt = vA = b sA ⎮ vA dvA = ⎮ b sA dsA
dsA ⌡v ⌡
0 0

2 2
vA v0 b 2 2 2 dsA
− = sA vA = v0 + b sA =
2 2 2 dt

t1 s
⌠ ⌠ A1
⎮ 1 dt = ⎮
1
Guess sA1 = 1 m Given dsA
⌡0 ⎮ 2 2
⎮ v0 + b sA
⌡
sA1 = Find ( sA1)
0
sA1 = 14.51 m

sB1 = v0 t1 sB1 = 8.00 m sAB = sA1 + rθ − sB1 sAB = 16.98 m

2
⎛ 2 2⎞
2 ⎜ v0 + b sA1 ⎟
(b sA1) +
m
aA = aA = 190.24
⎝ r ⎠ 2
s
2
v0 m
aB = aB = 12.80
r 2
s
Problem 12-132

Particles A and B are traveling around a circular track at speed v0 at the instant shown. If the
speed of B is increased by dvB/dt = aBt, and at the same instant A has an increase in speed
dvA/dt = bt, determine how long it takes for a collision to occur. What is the magnitude of the
acceleration of each particle just before the collision occurs?

Given : m
v0 = 8 r = 5m
s
m
aBt = 4 θ = 120 deg
2
s

m
b = 0.8
3
s
Solution:

vB = aBt t + v0

aBt 2
sB = t + v0 t
2
b 2 b 3
aAt = b t vA = t + v0 sA = t + v0 t
2 6

Assume that B catches A Guess t1 = 1 s

aBt 2
t1 = Find ( t1)
b 3
Given t1 + v0 t1 = t1 + v0 t1 + rθ t1 = 2.5074 s
2 6

Assume that A catches B Guess t2 = 13 s

aBt 2
t2 + v0 t2 + r( 2π − θ ) = t2 + v0 t2 t2 = Find ( t2)
b 3
Given t2 = 15.642 s
2 6

Take the smaller time t = min ( t1 , t2) t = 2.5074 s

2
⎡⎛ b 2 2⎤
⎢ ⎜ t + v0⎞⎟ ⎥ ⎡ 2⎤
2
⎝2 ⎠ ⎥ 2 ⎢ ( aBt t + v0) ⎥
( b t) + ⎢
2
aA = aB = aBt +
⎣ r ⎦ ⎣ r ⎦

⎛ aA ⎞ ⎛ 22.2 ⎞ m
⎜ ⎟=⎜ ⎟
⎝ aB ⎠ ⎝ 65.14 ⎠ s2
Problem 12-133

The truck travels at speed v0 along a circular road that has radius ρ. For a short distance from s
= 0, its speed is then increased by dv/dt = bs. Determine its speed and the magnitude of its
acceleration when it has moved a distance s1.

Given:

m
v0 = 4
s

ρ = 50 m

0.05
b =
2
s

s1 = 10 m

Solution:
v1 s1 2 2
⎛d ⎞ ⌠ ⌠ v1 v0 b 2
at = v⎜ v⎟ = b s ⎮ v dv = ⎮ b s ds − = s1
⎝ ds ⎠ ⌡v ⌡0 2 2 2
0

2 2 m
v1 = v0 + b s1 v1 = 4.58
s

2
v1 2 2 m
at = b s1 an = a = at + an a = 0.653
ρ s
2
Problem 12-134

A go-cart moves along a circular track of radius ρ such that its speed for a short period of time, 0
⎛ ct
2⎞
< t < t , is v = b⎝ 1 − e ⎠. Determine the magnitude of its acceleration when t = t2. How far has
1
it traveled in t = t2? Use Simpson’s rule with n steps to evaluate the integral.

m −2
Given: ρ = 30 m t1 = 4 s b = 18 c = −1 s t2 = 2 s n = 50
s
⎛ ct
2⎞
Solution: t = t2 v = b⎝ 1 − e ⎠

2 2
ct v 2 2 m
at = −2b c t e an = a = at + an a = 10.5
ρ 2
s

t2
⌠ ⎛ ct ⎞
2
s2 = ⎮ b⎝ 1 − e ⎠ dt s2 = 20.1 m
⌡0
Problem 12-135

A particle P travels along an elliptical spiral path such that its position vector r is defined by
r = (a cos bt i + c sin dt j + et k). When t = t1, determine the coordinate direction angles α,
β, and γ, which the binormal axis to the osculating plane makes with the x, y, and z axes.
Hint: Solve for the velocity vp and acceleration ap of the particle in terms of their i, j, k
components. The binormal is parallel to vp × ap . Why?

Given:

a = 2m
−1
b = 0.1 s

c = 1.5 m
−1
d = 0.1 s

m
e = 2
s

t1 = 8 s

Solution: t = t1

⎡ ( a)cos ( b t) ⎤ ⎛ −a b sin ( b t) ⎞ ⎛ −a b2 cos ( b t) ⎞

⎢ ⎥ ⎜ ⎟ ⎜ ⎟
rp = c sin ( d t) vp = c d cos ( d t) ap = ⎜ −c d2 sin ( d t) ⎟
⎢ ⎥ ⎜ ⎟
⎣ et ⎦ ⎝ e ⎠ ⎜ ⎟
⎝ 0 ⎠

⎛ 0.61 ⎞ ⎛⎜ α ⎟⎞ ⎛⎜ α ⎟⎞ ⎛ 52.5 ⎞
vp × ap ⎜ ⎟ ⎜ ⎟
ub = ub = −0.79
⎜ ⎟ ⎜ β ⎟ = acos ( ub) ⎜ β ⎟ = ⎜ 142.1 ⎟ deg
vp × ap ⎜γ ⎟ ⎜ γ ⎟ ⎝ 85.1 ⎠
⎝ 0.08 ⎠ ⎝ ⎠ ⎝ ⎠
*Problem 12-136

The time rate of change of acceleration is referred to as the jerk, which is often used as a means
of measuring passenger discomfort. Calculate this vector, a', in terms of its cylindrical
components, using Eq. 12-32.

Solution:

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

( 2 ) ( 2
j = a' = r''' − r'θ' − 2rθ' θ'' ur + r'' − rθ' u'r ... )
+ ( r' θ'' + rθ''' + 2r'' θ' + 2r' θ'' )uθ + ( rθ'' + 2r' θ'' )u'θ + z''' uz + z'' u'z

But ur = θ'uθ u'θ = −θ' ur u'z = 0

Substituting and combining terms yields

( 2 ) ( 3 )
j = r''' − 3r' θ' − 3rθ'θ'' ur + rθ''' + 3r'θ'' + 3r'' θ' − rθ' uθ + ( z''' )uz
Problem 12-137

If a particle ’s position is described by the polar coordinates r = a(1 + sin bt) and θ = cedt, determine
the radial and tangential components of the particle’s velocity and acceleration when t = t1.

−1 −1
Given: a = 4m b = 1s c = 2 rad d = −1 s t1 = 2 s

Solutions: When t = t1
2
r = a( 1 + sin ( b t) ) r' = a b cos ( b t) r'' = −a b sin ( b t)

dt dt 2 dt
θ = ce θ' = c d e θ'' = c d e

m
vr = r' vr = −1.66
s
m
vθ = rθ' vθ = −2.07
s

2 m
ar = r'' − rθ' ar = −4.20
2
s

m
aθ = rθ'' + 2r' θ' aθ = 2.97
2
s
Problem 12–138

The slotted fork is rotating about O at a constant rate θ'. Determine the radial and transverse
components of the velocity and acceleration of the pin A at the instant θ = θ1. The path is
defined by the spiral groove r = b + cθ , where θ is in radians.

Given:
rad
θ' = 3
s

b = 125 mm

25
c = mm
π
θ 1 = 2 π rad

Solution: θ = θ1

in rad
r = b + cθ r' = cθ' r'' = 0 θ'' = 0
2 2
s s

2
vr = r' vθ = rθ' ar = r'' − rθ' aθ = rθ'' + 2r' θ'

mm mm m mm
vr = 23.9 vθ = 525 ar = −1.58 aθ = 143.2
s s 2 2
s s
Problem 12–139

The slotted fork is rotating about O at the rate θ ' which is increasing at θ '' when θ = θ1.
Determine the radial and transverse components of the velocity and acceleration of the pin A
at this instant. The path is defined by the spiral groove r = 25(5 + θ /π) mm., where θ is in
radians.

Given:
rad
θ' = 3
s
rad
θ'' = 2
2
s
b = 125 mm

25
c = mm
π
θ 1 = 2 π rad

Solution: θ = θ1

r = b + cθ r' = cθ' r'' = cθ''

2
vr = r' vθ = rθ' ar = r'' − rθ' aθ = rθ'' + 2r' θ'

mm mm m m
vr = 23.9 vθ = 525 ar = −1.56 aθ = 0.493
s s 2 2
s s
*Problem 12-140

If a particle moves along a path such that r = acos(bt) and θ = ct, plot the path r = f(θ)
and determine the particle’s radial and transverse components of velocity and
acceleration.

−1 rad
Given: a = 2m b = 1s c = 0.5
s
θ
r = ( a)cos ⎜ b
⎛ θ⎞
The plot t= ⎟
c ⎝ c⎠

θ = 0 , 0.01( 2 π ) .. 2 π
⎛ θ⎞ 1
r ( θ ) = ( a)cos ⎜ b⎟
⎝ c⎠ m

2
Distance in m

r( θ ) 0

2
0 1 2 3 4 5 6 7
θ
Angle in radians
2
r = ( a)cos ( b t) r' = −a b sin ( b t) r'' = −a b cos ( b t)

θ = ct θ' = c θ'' = 0

vr = r' = −a b sin ( b t)

vθ = rθ' = a c cos ( b t)

2
(2 2
ar = r'' − rθ' = −a b + c cos ( b t))
aθ = rθ'' + 2 r' θ' = −2 a b c sin ( b t)
Problem 12-141

If a particle's position is described by the polar coordinates r = asinbθ and θ = ct,

determine the radial and tangential components of its velocity and acceleration when t = t1.

rad
Given: a = 2m b = 2 rad c = 4 t1 = 1 s
s

Solution: t = t1
2 2
r = ( a)sin ( b c t) r' = a b c cos ( b c t) r'' = −a b c sin ( b c t)
rad
θ = ct θ' = c θ'' = 0
2
s
m
vr = r' vr = −2.33
s
m
vθ = rθ' vθ = 7.91
s

2 m
ar = r'' − rθ' ar = −158.3
2
s

m
aθ = rθ'' + 2r' θ' aθ = −18.62
2
s
Problem 12-142

A particle is moving along a circular path having a radius r. Its position as a function of time is
given by θ = bt2. Determine the magnitude of the particle’s acceleration when θ = θ1. The particle
starts from rest when θ = 0°.

rad
Given: r = 400 mm b = 2 θ 1 = 30 deg
2
s
θ1
Solution: t = t = 0.51 s
b

2
θ = bt θ' = 2b t θ'' = 2b

a = (−r θ' 2)2 + (rθ'' )2 a = 2.32

m
2
s
Problem 12-143

A particle moves in the x - y plane such that its position is defined by r = ati + bt2j. Determine the
radial and tangential components of the particle’s velocity and acceleration when t = t1.

m m
Given: a = 2 b = 4 t1 = 2 s
s 2
s

Solution: t = t1

Rectangular
m
x = at vx = a ax = 0
2
s
2
y = bt vy = 2b t ay = 2b

Polar

θ = atan ⎛⎜ ⎟⎞
y
θ = 75.96 deg
⎝x⎠

vr = vx cos ( θ ) + vy sin ( θ )
m
vr = 16.0
s

vθ = −vx sin ( θ ) + vy cos ( θ )

m
vθ = 1.94
s

ar = ax cos ( θ ) + ay sin ( θ )
m
ar = 7.76
2
s

aθ = −ax sin ( θ ) + ay cos ( θ )

m
aθ = 1.94
2
s
*Problem 12-144

A truck is traveling along the horizontal circular curve of radius r with a constant speed v.
Determine the angular rate of rotation θ' of the radial line r and the magnitude of the truck’s
acceleration.

Given:

r = 60 m

m
v = 20
s

Solution:

v rad
θ' = θ' = 0.33
r s

2 m
a = −r θ' a = 6.67
2
s
Problem 12-145

A truck is traveling along the horizontal circular curve of radius r with speed v which is increasing
at the rate v'. Determine the truck’s radial and transverse components of acceleration.

Given:

r = 60 m

m
v = 20
s

m
v' = 3
2
s

Solution:
2
−v m
ar = ar = −6.67
r 2
s

m
aθ = v' aθ = 3.00
2
s
Problem 12-146

A particle is moving along a circular path having radius r such that its position as a function of
time is given by θ = c sin bt. Determine the acceleration of the particle at θ = θ1. The particle
starts from rest at θ = 0°.

−1
Given: r = 6 cm c = 1 rad b = 3s θ 1 = 30 deg

1 ⎛ θ1 ⎞
Solution: t = asin ⎜ ⎟ t = 0.18 s
b ⎝c⎠

2
θ = c sin ( b t) θ' = c b cos ( b t) θ'' = c b sin ( b t)

a = (−r θ' 2)2 + (rθ'' )2 a = 0.483

m
2
s
Problem 12-147

The slotted link is pinned at O, and as a result of the constant angular velocity θ' it drives the peg
P for a short distance along the spiral guide r = aθ. Determine the radial and transverse
components of the velocity and acceleration of P at the instant θ = θ1.

Given:

rad
θ' = 3
s

a = 0.4 m

π
θ1 = rad
3

b = 0.5 m

Solution: θ = θ1

m
r = aθ r' = aθ' r'' = 0
2
s

m
vr = r' vr = 1.20
s
m
vθ = rθ' vθ = 1.26
s

2 m
ar = r'' − rθ' ar = −3.77
2
s
m
aθ = 2r' θ' aθ = 7.20
2
s
*Problem 12-148

The slotted link is pinned at O, and as a result of the angular velocity θ' and the angular acceleration
θ'' it drives the peg P for a short distance along the spiral guide r = aθ. Determine the radial and
transverse components of the velocity and acceleration of P at the instant θ = θ1.

Given:

rad a = 0.4 m
θ' = 3
s
π
rad θ1 = rad
θ'' = 8 3
2
s
b = 0.5 m

Solution: θ = θ1

r = aθ r' = aθ' r'' = aθ''

m
vr = r' vr = 1.20
s
m
vθ = rθ' vθ = 1.26
s

2 m
ar = r'' − rθ' ar = −0.57
2
s

m
aθ = rθ'' + 2r' θ' aθ = 10.55
2
s
Problem 12-149

The slotted link is pinned at O, and as a result of the constant angular velocity θ' it drives the peg
P for a short distance along the spiral guide r = aθ where θ is in radians. Determine the velocity
and acceleration of the particle at the instant it leaves the slot in the link, i.e., when r = b.

Given:

rad
θ' = 3
s

a = 0.4 m

b = 0.5 m

b
Solution: θ =
a

m
r = aθ r' = aθ' r'' = 0
2
s

2
vr = r' vθ = rθ' ar = r'' − rθ' aθ = 2 r' θ'

2 2 2 2 m m
v = vr + vθ a = ar + aθ v = 1.92 a = 8.49
s 2
s
Problem 12–150

A train is traveling along the circular curve of radius r. At the instant shown, its angular rate
of rotation is θ', which is decreasing at θ''. Determine the magnitudes of the train’s velocity
and acceleration at this instant.

Given:
r = 200 m

rad
θ' = 0.02
s
rad
θ'' = −0.001
2
s

Solution:

m
v = rθ' v =4
s

a = (−r θ' 2)2 + (rθ'' )2 a = 0.215

m
2
s
Problem 12–151

A particle travels along a portion of

the “four-leaf rose” defined by the
equation r = a cos(bθ). If the
angular velocity of the radial
coordinate line is θ' = ct2, determine
the radial and transverse components
of the particle’s velocity and
acceleration at the instant θ = θ1.
When t = 0, θ = 0°.

Given:
a = 5m

b = 2
rad
c = 3
3
s
θ 1 = 30 deg

c 3 2
Solution: θ ( t) = t θ' ( t) = c t θ'' ( t) = 2c t
3

r ( t) = ( a)cos ( b θ ( t) )
d d
r' ( t) = r ( t) r'' ( t) = r' ( t)
dt dt
1
3
⎛ 3θ 1 ⎞
When θ = θ1 t1 = ⎜ ⎟
⎝ c ⎠

vr = r' ( t1)
m
vr = −16.88
s

vθ = r ( t1) θ' ( t1)

m
vθ = 4.87
s

ar = r'' ( t1) − r ( t1) θ' ( t1)

2 m
ar = −89.4
2
s

aθ = r ( t1) θ'' ( t1) + 2 r' ( t1) θ' ( t1)

m
aθ = −53.7
2
s
*Problem 12-152

At the instant shown, the watersprinkler is rotating with an angular speed θ' and an angular
acceleration θ''. If the nozzle lies in the vertical plane and water is flowing through it at a
constant rate r', determine the magnitudes of the velocity and acceleration of a water particle as it
exits the open end, r.

Given:

rad
θ' = 2
s

rad
θ'' = 3
2
s

m
r' = 3
s

r = 0.2 m

Solution:

r' + ( rθ' )
2 2 m
v = v = 3.03
s

a = (−r θ' 2)2 + (rθ'' + 2r'θ' )2 a = 12.63

m
2
s
Problem 12–153

The boy slides down the slide at a constant speed v. If the slide is in the form of a helix, defined
by the equations r = constant and z = −(hθ )/(2π), determine the boy’s angular velocity about
the z axis, θ' and the magnitude of his acceleration.

Given:
m
v = 2
s

r = 1.5 m

h = 2m

Solution:

h
z= θ
2π

h
z' = θ'
2π

2
z' + ( rθ' ) =
2 2 ⎛ h ⎞ + r2 θ'
v= ⎜ ⎟
⎝ 2π ⎠

v rad
θ' = θ' = 1.304
2 s
⎛ h ⎞ + r2
⎜ ⎟
⎝ 2π ⎠

2 m
a = −r θ' a = 2.55
2
s
Problem 12–154

A cameraman standing at A is following the movement of a race car, B, which is traveling along
a straight track at a constant speed v. Determine the angular rate at which he must turn in order
to keep the camera directed on the car at the instant θ = θ1.

Given:

m
v = 24
s

a = 30 m

θ 1 = 60 deg

Solution: θ = θ1

a = r sin ( θ )

0 = r' sin ( θ ) + rθ' cos ( θ )

x = r cos ( θ )

vx = −v = r' cos ( θ ) − rθ' sin ( θ )

m rad
Guess r = 1m r' = 1 θ' = 1
s s

Given a = r sin ( θ ) 0 = r' sin ( θ ) + rθ' cos ( θ ) −v = r' cos ( θ ) − rθ' sin ( θ )

⎛r⎞
⎜ r' ⎟ = Find ( r , r' , θ' ) r = 34.6 m r' = −12
m
θ' = 0.6
rad
⎜ ⎟ s s
⎝ θ' ⎠
Problem 12-155

For a short distance the train travels along a track having the shape of a spiral, r = a/θ. If it
maintains a constant speed v, determine the radial and transverse components of its velocity
when θ = θ1.

m π
Given: a = 1000 m v = 20 θ1 = 9 rad
s 4

Solution: θ = θ1

a −a 2 2 2 2 ⎛⎜ a2 a2 ⎞⎟ 2
r= r' = θ' v = r' + r θ' = + θ'
θ 2 ⎜ θ4 θ2 ⎟
θ ⎝ ⎠
2
vθ a −a
θ' = r = r' = θ'
2 θ θ
2
a 1+θ

m
vr = r' vr = −2.80
s
m
vθ = rθ' vθ = 19.80
s
*Problem 12-156

For a short distance the train travels along a track having the shape of a spiral, r = a / θ. If
the angular rate θ' is constant, determine the radial and transverse components of its velocity
and acceleration when θ = θ1.
rad π
Given: a = 1000 m θ' = 0.2 θ1 = 9
s 4

Solution: θ = θ1

a −a 2a 2
r = r' = θ' r'' = θ'
θ θ
2
θ
3

m
vr = r' vr = −4.00
s
m
vθ = rθ' vθ = 28.3
s

2 m
ar = r'' − rθ' ar = −5.43
2
s

m
aθ = 2r' θ' aθ = −1.60
2
s
Problem 12-157

The arm of the robot has a variable length so that r remains constant and its grip. A moves along
the path z = a sinbθ. If θ = ct, determine the magnitudes of the grip’s velocity and acceleration
when t = t1.

Given:
rad
r = 1m c = 0.5
s

a = 1 m t1 = 3 s

b = 4

Solution: t = t1

θ = ct r=r z = a sin ( b c t)

m
θ' = c r' = 0 z' = a b c cos ( b c t)
s
rad m 2 2
θ'' = 0 r'' = 0 z'' = −a b c sin ( b c t)
2 2
s s

r' + ( rθ' ) + z'

2 2 2 m
v = v = 1.98
s

a = (r'' − rθ' 2)2 + (rθ'' + 2r'θ' )2 + z'' 2 a = 1.15

m
2
s