\- -.

-
\
i cA;t5 6 **}'
l

_ i1( a
Engineering Mechanics (Dynamics) Second Class

(b)-Normal and Taneen

These coordinates provide a very natural description for curvilinear motion and are frequently the

most direct and convenient coordinates to use.

The n and t are considered t move along the path with the particle as seon in Figure where the {
particle advanced from.4 to B to C.

(
A \
B n
4
The positive direction of n at any position is always taken of path

Note that the positive n direction will shift from one side of the curve to side if the curvature
changes direction. path
I
r
Velocit), and Acceleration r \*,
\L)
'I
I
I

iin: unitvector in n direction C

p
er : unit vector in f direction s
A
A :position of particle on the ppth at time f ,/
A' : position of particle on the path at // 0\,

p : The radius of curvature of

A
ds : (p 1- dp)(dp) : pdS *

pdfi is a which a particle moves.along the curve from A to utr'

Now,
ds
dt dt dt
: pil .........(1)
r$1,-&

where, lff'velocity of the path units of /i is rad/sec

alwdys tangent to the path (i.e in the direction of e6) then the velocity as a vector

can be i=vet=pFet
the d of the particle can be found from the derivative of velocity or
di d.
d=;=fi(ve) - vetliel ...(2)

The Derivative

The unit vector er now has derivative because its direction changes. To find el we analyze the
change in e6 as the particle moves from A to A'.

16

."*. I_ j.1
 )

Engineering Mechanics (Dynamics) Second Class

Now, Aet : letl Afr where letl = L

o+ f-. vo"
Le,= A,B xat
Af
o\
,, Let
lll1l66+s;; = ,.
llmal+s;
AP
4:g!
dt dt
i+

dt:0 Tr=|rn .,..(3)

- &r:Ui f
'Hi#
'fhen, from equations (1). (2) and (3)

d = bet * vB en : at€t * are,,

where an : the normal colnponent olacceleration = t'0 = iP = ppz

and at : the tangent component of acceleration =u: # =

where P = acceleration (rad./ secz)

#:angular
Notes

1. a,, is always directed toward the center of

2. a1 will be in positive f - direction if the and in negative t - direction if
the speed u is decreasing

increasing Speed decreasing

!7
 Engineering Mechanics (Dynamics) Second Class

circular motion is an important special case of plane curvilinear

motion where the radius of curvature becomes the constant (
/ a
radius of circle and the angle is replaced by the angle measured p

from any convenient radial reference to op

an
So, v= r0 , &n: vb =*: re'
o e
at=O-ri) S-ta
ffi li t5!-.
E

Ex

Example
To anticipate the dip and hump in the road the driver of a

car applies her brakes to prodttce a r.rniform deceleration'

Her speed is 100 km/h at the bottom,4 of the dip and 50
C
km/h at the top C of the hump, which is 120 m along
road from A. If the passengers experience a
acceleration of 3 m/s' at A and if the radius of
the hump at C is 150 m, calculate ( of
curvature p at A, (b) the accel point

.8, and (c) the total acceleration at

Solution

uA= B m/s
-=
3.6
50
3.6wj
13.89 m/s

= q=M
v21uc
ff: v as ds
T)uo= a' t 2s

where s=1-20m at = -2.41 m/ s2 = constant deceleration

the total onatpq[q[:!:a=3m/sz an = !'78

az = a?

on

an=T
+ a?n
= !.78 m/sz
v?
=+ 3z

L)-
'on
: (2.4t)' + a?,
'a
v' (27.78)2
L.7A
= 432m
:J
at = -2'41

18
 Second Class
Engineering Mechanics (Dynamics)

at point B o. = at = -?.4L m/ sz
v2
at point C on=?=\fff (13.89)2
=L.29 m/sz = -2.47
}
az =a?+a?, - a J4TA= (-2.4L + (1..2e)2

a = 2.73 m/sz a
7.29

Example
A certain rocket maintains a horizontal attitude of its axis
during the powered phase of its flight at attitude 'The thrust

imparts a horizontal component of acceleration of 6 mf s'

and the downrvard acceleration component is the

acceleration due to gravity at that altitude which is g

: 9

the velocity of the mas

^l s' . At the instant represented
center G of the rocket the along the 15-deg direction

trajectory is 20(10'; t<m/tr. For this position

the radius of curvature of the flight at

which the speed v is increasing ,(c) the Fof

the radial line from G to the cen C, and (d)

the vector expression the a of the

rocket.
dx = 6 m/.sz
Solution
J
From the figure qt
15 -ff6 sin 15 = 7.14 m/ sz
6 cos 15 : B.LZ m/ sz qn
a
now
(2ox1o3)2
g=9m/s2
(a)- p
an 7.14
=4.32 x1,06 m
(b)- at = therate at which u is increasing - b = 8'12 m/ sz
(c)- v=pF - B=;='m=t2.B5x1o-4
(d)- d. = at €s * Qn€n = 8.LZet * 7.1,4en m/ s2

19
 Second Class
Engineering Mechanics (Dynamics)

Problerns
1-Inthedesignofatimingmechanism,themotionofthepinA\n
v the fixed circular slot is controlled by the guide B, which is
being

elevated by its lead screw with a constant upward velocity

uo = Zm/s for an interval of its motion. calculate both
the

nonnal and tangetltial conlponents of acceleration of pin A as

rt

passes the position lor rr lrich g = 30''

L t.)
2.i rocket traveling above the atmosphere at an altitude of 500 km I
I
i

would have a free -fail acceleration I = 8'43m/sr in the absence

30'
of forces other than gravitational attraction. Because of thrust I
I
I

however, the rocket has an additional acceleration

8.80mls2tangent to its trajectory, which makes an

with the vertical at the instant considered' If the
rocket is 30,000 km/h at this position, us of
ging with
curvature pof the trajectory and the rute a

time. Answer P: !648 499 m/ s2

r:+t:L-.rlJi!,-' .,,i
q \4) iri
j,
i iii j:;ialiiii iit: :iiij:::

3.A race driver traveling at a the strai ghtwaY aPPlies

his brakes atpoinlA at a uniform rate to 200 km/h

at C in a distance of + 300 m. Calculate magnitude of the total

acceleration ofthe race car an after it passes point B

SWer 1\1r(
a = 8.42 m/ sz

4.The of a flat tape in a numerical-control device

1S two pulleys ,4 and B shown. If the speed of the
tape tn uniformly from 2 mf s to t\m/ s while B meters o f
tape pass over the Pu lleys, calculate the magnitude of the
acceleration of point P on the tape in contact with pulley
B at the

instant whep the tape speed is 3 m/ s.

Answer a = 63.2 m/ sz

20
 t

Engineering Mechanics (Dynamics) Second Class

5. A ball is thrown horizontally from top of a 45.7m cliff at Awitha

speed of 1.5.24m/s and lands at point C. Because of a strong
7 horizontal wind, the ball has a constant acceleration in the negative
x- direction. Determine the radius of curvature p of the path of the
ball at B where its trajectory makes an angle of 45" with the
horizontal.'Neglect any effect of air resistance in the vertical
direction.
'1

36.6 rn

&&,=
6. Racecar,4 follolvs patha-a rvhile raceB follows pathb-b onthe
unbanked track. If each car has a constant speed limited to

corresponding to normal acceleration 0.Bg , determine the

aid t, for both cars to negotiate the turn as delimited

C-C,

Answer tn = 1O.52 s 0 s

2L
 Engineering N{echanics (Dynamics) Second Class

oq
0{
(c) - Polar Coordinates (r-0)
+d0
Consider a particle moves on a cured path as shown in Figure A,
V r radialdistance of particle from a fixed pole
o'O" I
I
I

g angular measurement to the radial line e

i the position vector of particle at point A.

0
et

i=re, """"'(1) 60
"(

Where e, and e 6 dra unit vectors in r and 0 directions respectively 0

0

Note : During tirne dt the coordinate directions rotates through the ed0 e, and

e6 aiso rotates through the same angle 1rom e. and es lo el,. ande'e

The unit vectors e, and €s ttow have derivative because changes. To f-rnd e, and e6 ive

aqalyze thc change \n e, and eeas the particle movos

Now, Ae, = lerl A0

fo
Ler- L0 *# t.
90 0,\

,. Ae. ,. Ae
o\
Itnr16-6 -: = lllTl6s+9 f,! i,o

€r:0 (a)

.l-

l'J fl^ d;''"h^

Sinrilarly \
tr- \
t V
Les = lesl L0 where leol =
b-* inva-)q g I
Ar0 x-Ar
At

.. Le
IImAt-o;;
aee _- d0
dt dt
+
0 ee = -0e, (b)

Velocihi and Acceleration

By differentiation equation (1) with respect to time

i=i:j'er*re,
Then l'rom equation (a) i=ier*r0e6 ,.,,,.(2)

22

L.
 Engineering Mechanics (Dynamics) Second Class

?
where

i = ur = The r - component of velo city i and is the rate at which the vector r
r0 = ve = The g - component of velo city i and is due to rotation of i.

Thus v ul +ufi

t)r

f A

0
0

To obtain the acceleration differentiate time

d-di=; = i€r +- ier * roes *

Then, from equations (a) and (b)

A-(r-roz)e,+(16 + zfe ),, ........(3) o',or 9eiv.S-r'

irJrt,att
Where

&r r -r02: acceleration

ae=16+ onent of acceleration

q a2,

the as in the following form

=: *r(r'e) =!(zrrd + 126) = rd + ute

A clear of equation (3) comes only when the geometry of the physical changes can be
clearly seen.

23

6\-
 Second Class
Engineering Mechanics (Dynamics)
v
4
^00
>\ l
I
{{
I
,
A
I
I

v
!
t)r

\,&0 t A
60
'60
0
0

g0 i
I
o{
The expression'for a, and ae in scalar form may also be I

obtained by direct differentiating of the coordinate relations ax

! =rsin?
I

x=rcos0 I
I
I
,(

- _:'x
ax: av=! iy =rsin0

then,
g * an sin? 0
a, =.,,a*cos O6 = OyCOS e
{ x=rcos0

Example
Rotation of the radiallY by 0=0.2t+
0.0213, where 0 is i seconds. SimultaneouslY,

the power screw engages the slider B and controls its

distance from O accord r = 0.2 + 0.04*, where r is in

meters and t i secor*ls. Calculate the magnitude of the velocity

and o slider for the instant when t = 3 s.

2 + O.O4* whent=3s r :0.56m

r = 0.08t whent=3s i = 0.24 m/s
I = 0.08 whent:3s i = 0.08 m/ sz
and

0 : O.Zt+0.AZt3 whent= 3s 0 = L.L4 rad orA=L.t4g=65,3' Tt

24
Engineering Mechanics (Dynamics) Second Class

0:0.2+O.O6t2 whent=3s 0--O14rad/s

6=O.LZt whent=3s 6=0.36rad/sz
The velocity components are obtained as
Ur=i vr=0.24m/s
ve : r0 ve = 0.56 (0.74) = 0'4L4 m/ s

lrll = vl+vfi= Q.24)2 + (0.414) = 0.479 m/s i.L.. ..1 ll; ' : ':;

?
The acceleration components are obtained as

ar=i-r02 ar=0.08-0. 56 (0.74)2 = - 77 m/s2

a_e,= 16 + zie ao : 0.56(0.36) + 2(t0.24)(0.74) 5 s2

fit:wa (-0.27 +( 'J.m/sz

The path of the slider B over the t<5 s

is shown in Figure below. This by varying

t in the given express for r from

polar to rectangul 1S by

x=rcos0 !=rsin9

radar lies in the vertical plane of the path of a

rocket is coasting in unpowered flight above the

atmosphere. For the instant when

g : 30o the tracking data give

r = 8(100),,, i = 1200m/s, and 0 = 0.80" /sec. The acceleration

of the rocket is due only to gravitational attraction and for its

particular altitude is 9.20mf s2 vertically down. For these

ll

t'rt25
'f i'
,i,.
 q

Engineering Mechanics (Dynamics) Second Class

conditions determine the velocity v of the rocket and the values of

i and 6.
Solution
The velocity components are obtained as

ur=i vr=120Am/s
ue : r0 ue :8 (104 )0.8# = LLLT m/s
u ui+va= (1200)2 + (7t17)2

u: L639m/s
Since the total acceleration of the rocket is g w \ssss. r
= 9.2m/ s2,then we$nHfud - and 0 - components
of acceleration for given position as
"N
w
.-s

er = -9.2 cos 30 = -9.2m/ sz

qe :9.2 sin 30 : 4.6 m/sz
Now

&r=i-r02 ::+
2

-7.7s-i-8(104)(o.al;
= i = 7.63m/s2
ae=16+Te 4 )6 + z1zooxo.B #) 0 = -3.61x 10-a rad/s2

,"./ I t--.*rtufu t
Problems

C' t'J ils

1- .The guide carries a slider and pin P whose
lled by the rotating slotted arm OA. If the arm is
revolvin O at the constant rate 0 = 2 rad / s for an interval
of its motion, determine the magnitude of the velocity and

acceleration of the slider in the slot for the instant when 0 = 60'.
Also find the r-components of the velocity and acceleration.

26

t
 Engineering Mechanics (Dynamics) Second Class

2- (CW) At the bottom of a loop in the vertical (r - 0) plane at an = : i;..r::r:,::::i+:'ji

i'ili:ii:!i:lrl:1,.::;tl:

altitude of 400 m, the airplane P has a horizontal velocity of 600

km/ hr and no horizontal acceleration. The radius of curvature of
the loop is 1200 m. For the radar tracking at O, determine the

i and 6 for this instant.

recorded value of

Answer i =LZ.LS m/sz g:0.0365rad/sz .4e-"& W

eru
t&" t B:a
A:}. -:4,.,

3- A locomotive is traveling on the straight and level track with a

speed 90 km/ hr and a deceleration a = 0.5 m/ sz as shown.

Relative to the fixed observer at O, determine the quantities
d
i, f, e andd atthe instantwhen g = 60' and r = 40Om
Answer t-1,7.68m/s 0=-0.044 s

i=0.428m/sz 6=O

4- A jet plane flying at a constant speed u at = 1,0 km

is being tracked by radar atO the line of
flight. If the angle 6 is de creaslng .020 rad/ s when

0 = 60", determine the this instant and the

magnitude of the voI
Answer T 2 m/ sz u = 960 km/lt

5-LinkAB gh&h limited range of the angle B and its end

A AC to rotates also. For the instant .::

B = 60' , and p : 0.6 rad/ s, determine the

correspo t, i, 0 and i)
g values of

Ansryer t = 77 .9 mmf s 0 = -0.3 rad/ s

f=-13.5mm/s2 6=0

27
 Engineering Mechanics (Dynamics)
Second Class

6- A meteor P is tracked by a radar observatory on

the eafih at o.
when the meteor is directly overhead (0 90'), the folrowing
/
=
observation are recorde d: r = B0 km, t
= _20 km/ s and
0 = 0.4 rad. / s. (a) Determine the speed v of themeteor and the
angle s which its velocity vector makes with the horizontal-
Neglect any effects due to the earth's rotation. (6) Repeat
with all
given quantities remaining the same, except that A :25".

Answer v=37.7km/s F=32"

v = 37.7 km/s fi -- LZ.OL"
mP"
F'{&;,,.
*.r4.
.i i
%"
*'k
,'%,

F "w'
$J" $ "tr
@"*ffi
$#"" \
ruW

ri

28

i..
 t

Second Class
Engineering Mechanics (Dynamics)

Relative Motion (Translatins Axes)

There are many engineering problems for which the analysis
of motion is simplified by using
respect to moving reference system. These measurements
when combined
measurements made with
with the absolute motion of the moving coordinate system, permit us to
determine the absolute

motion in question. This approach is known as a relative motion analysis'

respect to a fixed
The motion of the moving coordinate system is specified with
no
this fixed inNewtonian mechanics is the Primary Inertia System which
be taken rt,hose
motion in space. For engineering purpose the fixed system may
as

on
absolute motion is negligible, and the choice of the fixed depends
a given plane.
Now, suppose y' and B two particles *'hich may have separate
x_yTranslating(non-rotating)axisattachedtoparticleB O7
(_<
and observe the motion of A.
v'.
io/, The position vector of A measured relative to the

x-yaxts
ofB Te/g
where io/, = xt + Yi j ",
x
Tt - the absolute position of A measured
X.Y B '.( I
I

/6:- the absolute Position ofA gin axis X-Y X

'. (1)
ie = ia *i t/p
Then, the velocitY of
io -- 7u +i - = is +iils (2)

where

ie/n = j,j? of ,4 with resPect to B

and becomes to
.........(3)
rA/B dt = da *-ae/s

where

r A/B = ii. + yi:- acceleration of ,4 with respect to B

Notes
L- The unit vectors t and jhave no derivative because their directions as well as their magnitudes
remain unchanged'

29
 Engineering Mechanics (Dynamics) Second Class

2- We may express the relative motion terms (iorc ,do/r) in whatever coordinate system (x - y
, -t ,T - 0 ) is convenient.
3- Point A could be just as well for the attachment of the moving system.
.b^
. <tl2
*is/e
iB = ie ."'.'...(1')
Y

iB = 0e *iste ,...,.,,,(2,) "'1't

QB:QAtae/e .'....".(3')
x
Where
ofB
iB/n = -io/, is/t = -io/, B

dr/o = -do/, t
I

4- We can solve the vector equations (1) , (2) and (3) ') by three ways

(a) - Graphical (b) - Trigonometric algebra

Example
Passengers in the jet cast km/h

observe a second jet plane .B the transport in

horizontal flight. Although the of in the 45'

north-east direction, p B Passen inl to be
moving away from the 60' angle as shown.

Determine the true B

Solution
1- Tri
draw the triangle, then

x
L

since 45"+60'+6=1.80" 0 =75'

30

I
 Engineering Mechanics (Dynamics) Second Class

fromsinelaw #=# - ua=800H=7fikm/h

]; applying sine law again m= # = un/t = 585'4 km/h

we can apply the cosine law instead

(urtil =(7L7)z +(800)2 +2.717'800'cos135 + un/n= 585.4km/h
2 - Vector algebra
Since the observer is at point A : ie *istt
then fia

From velocity vector representation ofthe problem

i

us cos 45 t +?s sin 45 j = 800i - vs1acos60 i * v61 a sin 60

then, solving separately for the i and i terms give o
i - term 128 coS45 = 800 - ue/ecos 60

/ - term u6 sin 45 : vslasin 60

Now, from equations (a) and (b)

vB = 717 km/h un/e = 5

Example
Car A is accelerated in the direction of the rate of

1.2 mls2. Car B is rounding a at a constant

speed of 54 km/hr. Determine accel eration which

car B appears to have if car A has reached a

speed of 72 km/h

Solution
is at then is = 0e +iett
.........(a)
Since the
6rint,4 v
then, vector representation
3 $= 20m/s vn = 54/3.6 = t\m/s
j
(a)
x
c0 s 60 i - j = vet - v611cos0 t - vslasin 07
?6 sin 60

L5 cos 60 t -15 sin 60 j = 20t - velacos0 t - us1asin07 ve = 20m/s

.(a

then, solving separately for the t and i terms give (")

s\

i- term 15 cos 60 = 20 - uslscos 0 "' "' "' (b) ?)

L, //
"s
j -term -L5 sin 45 = -vn/.a sin
g "' "' "' (c)

31
 !

Engineering Mechanics (Dynamics) Second Class

Now, from equations (D) and (c)

0 = 46.L" vB/A = 18.03 m/s

and the acceleration becomes to \\

{3
aa/e
ds = dt +d.ste "' "' "' (d) .J?

.p_
but ae = an = =
tiii' = t.u m/ sz ae = 1.2m/
*
applying equation (d)
as cos30 i + ds sin 30i = aat * aslacos fr tOarhsinB i
1.5 cos 30 i+ 1.5 sin 30i = L.Zt + aslacas F iO ortosins i
then, solving separately for the t and i terms give
j
- term l-.5 cos 30 = 1.2 * ttspcos fi
j -term 1.5 sin 30 = aa/esilF .,.'....(c)
as/e = 0'757 m/sz P =r#'"%
*j.=*'
*$$$s
Problems .";'h t"
x..J
\\. i
. *l

l. For the instant represented car I has a s o 0 , which

is increasing at the r4te of 8 km/h each ly car

B also has a speed of 100 km/hr and is slowing

down at the rate of 8 Determine the

acceleration which car to an observer in car A

2. The car A has a forward of 18 km/h and is accelerated at 3

m/ sz .Determ v$ocity and acceleration of the car relative

too s in a nonrotating chair on the Ferris wheel.

o 3 rev /mtn of the Ferris wheel is constant.

3. Train A with a constant ve= L20km/h along

speed the

straight and level track. The driver of car ,8, anticipating the

railway grade crossing C, decreasing the car speed of 90 km/h x

the rate of 3 m/s2. Determine the velocity and acceleration of the
train relative to car.

32

i
 t

Engineering Mechanics (Dynamics) Second Class

4. For the instant represented car A has an acceleration in the

direction of its motion, and car .B has a speed of 72.42 kmftr which

is increasing, If the acceleration of B as observed from A is zero for

this instant, determine the acceleration of A and the rate at which
the speed of B is changing.

s-N
t'

600km/h '
-,'

5. A jet transport B is flying north with a velocity ua = '

when a smaller aircraft A passes demeath the transport headed in

the 60" direction shown. To passengers in B, however,l to

be flying sideways and moving east. Determine the actual

of A and the velocity which A appeats to have relative

6. Airplane ,4 is flying horizontally with of 200

km/hr and is towing the glider altitude. If the

tow cable has a length r: 60 m at the constant

rate of 5 degrees per the magnitude of the

velocity v and the a glider for the instant when

0 : 75o.

.i:

7. The the plane Mars along attqectoty b-b

orbital o f Mars with an absolute velocity of 19 km/s

Mars tocity of 24.1 km/s along its trajector! a.4

Determ the angle / between the line of sight S-M and the
trajectory b-6 when the Mars appears from the spacecraft to be
approaching it head on.

33