Lecture 03.

Curvilinear Motion –
Normal and Tangential Components

DYNAMICS OF RIGID BODIES

INTRODUCTION

DYNAMICS OF RIGID BODIES

CURVILINEAR MOTION

Highly dependent on the type of coordinate system that will be used for which
the advantage or applicability of its use depend on the problem being solved.

For this course, two components will be introduced:

• Rectangular Components
• Normal and Tangential Components

DYNAMICS OF RIGID BODIES

Lecture Objectives

After this lecture, students are expected to be able to:

• define tangential and normal components of the acceleration of a particle

under curvilinear motion at each position, and
• resolve the total acceleration into normal and tangential components and
vice-versa (i.e. obtain the total acceleration from the normal and tangential
components).

DYNAMICS OF RIGID BODIES

 Normal
NORMAL AND & Tangential
TANGENTIAL Components
COMPONENTS
Recall:
1. The velocity vector of a particle is tangent to the path of
the particle.
2. In general, the acceleration vector is not tangent to
both the path and the velocity vector of the particle.

*Thus, there may be a need to express the acceleration

vector in terms of tangential and normal components.

5
 
Let et and et be tangential unit vectors

for the particle path at P and P’.

DYNAMICS OF RIGID BODIES

Kinematics of Particles (by F.P. Beer and E.R. Johnston, Notes by J.W. Oler)
 Normal
NORMAL AND & Tangential
TANGENTIAL Components
COMPONENTS

When drawn with respect to the same origin,

we obtain et  et  et and  is the
angle between them.

 
Take note that et and et are unit vectors and thus,
have magnitudes both equal to 1. Therefore, et  2 sin  2 

Since the tangential unit vector does not 

et sin  2   
change with respect to time, then we can 6 lim  lim en  en
 0   0  2
analyze the change in direction of this
vector with respect to Δθ instead.

 det
The result is referred to as the normal unit vector. en 
d

DYNAMICS OF RIGID BODIES

Kinematics of Particles (by F.P. Beer and E.R. Johnston, Notes by J.W. Oler)
 Normal
NORMAL AND & Tangential
TANGENTIAL Components
COMPONENTS
 
Knowing that the velocity of a particle under curvilinear motion is given by v  vet

The acceleration of the particle can now

be determined using the tangential and
normal unit vectors.
 
 dv dv  de t
a  et  v
dt dt dt

dv  de d ds
 et  v 7
dt d ds dt
where

det  ds
 en  d  ds v
d dt

DYNAMICS OF RIGID BODIES

Kinematics of Particles (by F.P. Beer and E.R. Johnston, Notes by J.W. Oler)
 Normal
NORMAL AND & Tangential
TANGENTIAL Components
COMPONENTS
After substituting,

 dv  de d ds
a  et  v
dt d ds dt

 dv  v 2 
a  et  en
dt 
dv
 at  tangential acceleration
dt
v2
8

 an  normal acceleration


 radius of curvature

DYNAMICS OF RIGID BODIES

Kinematics of Particles (by F.P. Beer and E.R. Johnston, Notes by J.W. Oler)
 Normal
NORMAL AND & Tangential
TANGENTIAL Components
COMPONENTS

dv
 at  tangential acceleration
dt
• The tangential component of acceleration reflects the change in speed of
the particle.
• It may be positive or negative. If the tangential component is positive, then it
is directed with the velocity vector. If it is negative, it is directed against the
velocity vector.
v2
 an  normal accelerati on
 9

• The normal component of acceleration reflects the change in direction.

• It is always positive and points toward the center of path curvature.

DYNAMICS OF RIGID BODIES

Kinematics of Particles (by F.P. Beer and E.R. Johnston, Notes by J.W. Oler)
 Sample Problem EXAMPLES

A motorist is traveling on a curved section of

highway at 60 mph. The motorist then applies
brakes causing a constant deceleration rate.
Knowing that after 8 s the speed has been
reduced to 45 mph, determine the acceleration
of the automobile immediately after the brakes
are applied.

10

60 mph  88 ft/s
45 mph  66 ft/s

DYNAMICS OF RIGID BODIES

Kinematics of Particles (by F.P. Beer and E.R. Johnston, Notes by J.W. Oler)
 Sample Problem EXAMPLES

A motorist is traveling on a curved section of SOLUTION:

highway at 60 mph. The motorist then applies • Calculate tangential acceleration. Take
brakes causing a constant deceleration rate. note that deceleration is constant and
Knowing that after 8 s the speed has been thus, the particle is under uniformly-
accelerated motion.
reduced to 45 mph, determine the acceleration
of the automobile immediately after the brakes
are applied. v  v0 v
at  
t t


66  88 ft s  2.75 ft
11 8s s2

• The negative sign illustrates that the

tangential component is directed
60 mph  88 ft/s against the velocity vector.
45 mph  66 ft/s

DYNAMICS OF RIGID BODIES

Kinematics of Particles (by F.P. Beer and E.R. Johnston, Notes by J.W. Oler)
 Sample Problem EXAMPLES

A motorist is traveling on a curved section of • Calculate normal acceleration. Since the

highway at 60 mph. The motorist then applies acceleration is asked at the time
brakes causing a constant deceleration rate. immediately after the brakes are
applied, then the velocity at the said
Knowing that after 8 s the speed has been time must be used in the calculation.
reduced to 45 mph, determine the acceleration
of the automobile immediately after the brakes
are applied. v2
an 



88 ft s 
2
 3.10
ft
12 2500 ft s2

• Recall that the normal component is

always directed towards the center of
60 mph  88 ft/s curvature.
45 mph  66 ft/s

DYNAMICS OF RIGID BODIES

Kinematics of Particles (by F.P. Beer and E.R. Johnston, Notes by J.W. Oler)
 Sample Problem EXAMPLES

A motorist is traveling on a curved section of

• Calculate the total acceleration.
highway at 60 mph. The motorist then applies
brakes causing a constant deceleration rate. a  at2  an2   2.752  3.10 2
Knowing that after 8 s the speed has been
reduced to 45 mph, determine the acceleration ft
=> a  4.14
of the automobile immediately after the brakes s2
are applied.
an 3.10
  tan 1  tan 1
at 2.75
=>   48.4
13

• Take note that this direction is with

respect to the tangential direction.
• In general, it is more convenient to
60 mph  88 ft/s express the direction of a vector with
45 mph  66 ft/s respect to the horizontal (or vertical).

DYNAMICS OF RIGID BODIES

Kinematics of Particles (by F.P. Beer and E.R. Johnston, Notes by J.W. Oler)
 Sample Problem EXAMPLES

A projectile is fired from the edge of a 150-m cliff with an

initial velocity of 180 m/s at an angle of 30° with the
horizontal. Neglecting air resistance, find the tangential
and normal components of acceleration, and the radius
of curvature of the trajectory
(a) right after the projectile is fired,
(b) at its peak, and
(c) right before the projectile lands on the ground.

14

DYNAMICS OF RIGID BODIES

Kinematics of Particles (by F.P. Beer and E.R. Johnston, Notes by J.W. Oler)
 Sample Problem EXAMPLES

A projectile is fired from the edge of a 150-m cliff with an SOLUTION:

initial velocity of 180 m/s at an angle of 30° with the • Recall the equations of motion used in this
horizontal. Neglecting air resistance, find the tangential problem. These may be needed in solving
and normal components of acceleration, and the radius for different parameters.
of curvature of the trajectory ax  0
(a) right after the projectile is fired,
 m
(b) at its peak, and vx  180  cos 30
 s
(c) right before the projectile lands on the ground.
 m
x  180  cos 30t
 s
m
a y  9.81
s2
 m  m
v y  180  sin 30    9.81 2 t
 s  s 
 m 1 m
y  180  sin 30t    9.81 2 t 2
 s 2 s 

DYNAMICS OF RIGID BODIES

Kinematics of Particles (by F.P. Beer and E.R. Johnston, Notes by J.W. Oler)
 Sample Problem EXAMPLES

A projectile is fired from the edge of a 150-m cliff with an • The direction of the normal acceleration
initial velocity of 180 m/s at an angle of 30° with the may then be determined by finding the
horizontal. Neglecting air resistance, find the tangential component perpendicular to the tangential
and normal components of acceleration, and the radius acceleration.
of curvature of the trajectory  m
at  g sin 30   9.81 2  sin 30
 s 
(a) right after the projectile is fired,
m
(b) at its peak, and => at  4.91 2 , 30 from the horizontal
s
(c) right before the projectile lands on the ground.
 m
an  g cos 30   9.81 2  cos 30
 s 
m
=> an  8.50 2 , 60 from the horizontal
16 s
2
 m
2 180 
atotal  g an 
v2
=> 
v

s
 an m
8.50 2
s
=>   3,813.69 m

DYNAMICS OF RIGID BODIES

Kinematics of Particles (by F.P. Beer and E.R. Johnston, Notes by J.W. Oler)
 Sample Problem EXAMPLES
A projectile is fired from the edge of a 150-m
• Notice
At this
the peak
point,oftheitsto
total
trajectory,
acceleration
the velocity
is of the is
cliff with an initial velocity of 180 m/s at an • There that prior
is then this,
a reversal velocity
in the change in
particle
equal toisthe
decreasing still
duehorizontal
equal thetodecreasing
the
component
to tangential acceleration
of the
due
vertical
angle of 30° with the horizontal. Neglecting air speed. Thus, the component is
to
initial
gravity.
(upward) velocity.
component of velocity. After the
resistance, find the tangential and normal equal to zero.
components of acceleration, and the radius of particle reaches the peak, velocity is
curvature of the trajectory (a) right after the increasing due to the increasing vertical
projectile is fired, (b) at its peak, and (c) right (downward) component of velocity.
before the projectile lands on the ground.
=> at  0
• Since the resultant shall be g, then the
normal component must be equal to g.
m
17 => an  9.81 
s2
2
 m 
180  cos 30 
v 2  s 
 
an m
9.81 2
s
=>   2, 477 .06 m

DYNAMICS OF RIGID BODIES

Kinematics of Particles (by F.P. Beer and E.R. Johnston, Notes by J.W. Oler)
 Sample Problem EXAMPLES
A projectile is fired from the edge of a 150-m cliff • When
Right before
the projectile
the projectile
lands onlands
theon
ground,
the x
with an initial velocity of 180 m/s at an angle of 30° =ground,
3,100.54
its m
velocity
and y =shall
-150first
m .be calculated.
with the horizontal. Neglecting air resistance, find
the tangential and normal components of  m
v x  180  cos 30
acceleration, and the radius of curvature of the  s
trajectory (a) right after the projectile is fired, (b) at m
v x  155.88 
its peak, and (c) right before the projectile lands on s
the ground.  m  m
v y  180  sin 30    9.81 2 19.89 s 
 s  s 
m m
v y  105.12 or 105.12 
s s
18
m
v  155.882   105.12  188.01
2

s
 105.12 
  tan 1    34
 155.88 

DYNAMICS OF RIGID BODIES

Kinematics of Particles (by F.P. Beer and E.R. Johnston, Notes by J.W. Oler)
 Sample Problem EXAMPLES

A projectile is fired from the edge of a 150-m cliff with an • As

Notice
donethat
previously
as the particle
right after
lands
theonprojectile
the
initial velocity of 180 m/s at an angle of 30° with the is
ground,
fired, the
its velocity
directionincreases.
of the normal
Thus, the
horizontal. Neglecting air resistance, find the tangential component
tangential component
may then be is directed
determined
withbythe
and normal components of acceleration, and the radius bearing
velocity invector.
mind that its resultant with the
of curvature of the trajectory (a) right after the projectile tangential component shall be equal to g.
is fired, (b) at its peak, and (c) right before the projectile
 m
lands on the ground. at  g sin 34   9.81 2  sin 34
 s 
m
=> at  5.49 2 , 34 from the horizontal
s
 m
an  g cos 34   9.81 2  cos 34
 s 
19
m
=> an  8.13 2 , 56 from the horizontal
s
2
 m
2 188.01 
v s
  =>   4,347.82 m
an m
8.13 2
s

DYNAMICS OF RIGID BODIES

Kinematics of Particles (by F.P. Beer and E.R. Johnston, Notes by J.W. Oler)
 Sample Problem EXAMPLES

Determine the following:

a. Its tangential component of acceleration just
before it reaches section Y
b. Its velocity at section Y
c. Its total acceleration just after it passes
section Y
d. Its total acceleration just before it reaches
section Z

DYNAMICS OF RIGID BODIES

Kinematics of Particles (by F.P. Beer and E.R. Johnston, Notes by J.W. Oler)
 Sample Problem EXAMPLES

Determine the following:

a. Its tangential component of acceleration
just before it reaches section Y
b. Its velocity at section Y
c. Its total acceleration just after it passes
section Y
d. Its total acceleration just before it reaches
section Z

DYNAMICS OF RIGID BODIES

Kinematics of Particles (by F.P. Beer and E.R. Johnston, Notes by J.W. Oler)
 Sample Problem EXAMPLES

Determine the following:

a. Its tangential component of acceleration just
before it reaches section Y
b. Its velocity at section Y
c. Its total acceleration just after it passes
section Y
d. Its total acceleration just before it reaches
section Z

DYNAMICS OF RIGID BODIES

Kinematics of Particles (by F.P. Beer and E.R. Johnston, Notes by J.W. Oler)
 Sample Problem EXAMPLES

Determine the following:

a. Its tangential component of acceleration just
before it reaches section Y
b. Its velocity at section Y
c. Its total acceleration just after it passes
section Y
d. Its total acceleration just before it reaches
section Z

DYNAMICS OF RIGID BODIES

Kinematics of Particles (by F.P. Beer and E.R. Johnston, Notes by J.W. Oler)
 Sample Problem EXAMPLES

Determine the following:

a. Its tangential component of acceleration just
before it reaches section Y
b. Its velocity at section Y
c. Its total acceleration just after it passes
section Y
d. Its total acceleration just before it reaches
section Z

DYNAMICS OF RIGID BODIES

Kinematics of Particles (by F.P. Beer and E.R. Johnston, Notes by J.W. Oler)
 Sample Problem EXAMPLES

Determine the following:

a. Its tangential component of acceleration just
before it reaches section Y
b. Its velocity at section Y
c. Its total acceleration just after it passes
section Y
d. Its total acceleration just before it
reaches section Z

DYNAMICS OF RIGID BODIES

Kinematics of Particles (by F.P. Beer and E.R. Johnston, Notes by J.W. Oler)
 End of Lecture

DYNAMICS OF RIGID BODIES