RLF

Here we consider the polar coordinate system.

y In the figure shown, the position the particle is
described by specifying the length R together
j
eT θ eR with its direction angle θ.
θ i x

Thepositionvectoris of the particle is R = ReR

R
where : eR = radial unit vector and
θ
e = transverse unit vector
 Resolving eR and eθintoX &Ycomponents
eR = cos  i + sin  j
y
eT = − sin  i + cos  j
j
eT θ eR Time rate of change of the unit vector eR
θ i x
deR d di d dj
= − sin  i + cos  + cos  j + sin 
R dt dt dt dt dt
di dj
θ Note : = = 0 because i and j are constants
dt dt
d d
= ( − sin  i + cos  j )
deR
= e
dt dt dt
 Resolving eR and eθintoX &Ycomponents
y eR = cos  i + sin  j
j eT = − sin  i + cos  j
eT θ eR
θ i x
Time rate of change of unit vector e
R de d di d dj
= − cos  i + sin  − sin  j + cos 
dt dt dt dt dt
θ
di dj
Note : = =0
dt dt
d d
= − ( cos  i + sin  j )
de
= −eR
dt dt dt
 y Displacement: R = ReR
j
eT θ eR dR deR dR
θ i x
Velocity: V = =R + eR
dt dt dt
R dR d
V= eR + R e
θ dt dt
dR d
VR = and V = R
dt dt
 d dR dV
Velocity: V = R e + eR and Acceleration: a =
dt dt dt
d  de   d 2 dR  d   dR  deR  d 2 R
a=R   + R 2 +    e +   + 2 eR
dt  dt   dt dt  dt   dt  dt  dt
d  d   d 2
 dR  d   dR  d   d 2
R
a=R  −eR  + R 2 +    e +  e  + 2 eR
dt  dt   dt dt  dt  dt  dt  dt
 d   d 2 2dR  d 
2
d 2R
a = −R   eR + 2 eR +  R 2 +    e
 dt  dt  dt dt  dt 
 d 2R  d   
2
 d 2  dR  d 
a =  2 − R   eR +  R 2 + 2     e
 dt  dt    dt  d t  dt 
The motion of the rod OB is described by
ⅆ𝜃
= ω𝑡 rad/sec, where ω=1.2 rad/sec2 is
ⅆ𝑡
the constant angular acceleration of the
rod. The position of collar A on the rod is
R=V0t, where V0=0.8m/s is the constant
outward speed of the collar along the rod.
Calculate the velocity and acceleration
vectors of the collar as function of time.

d d 2 dR
Given: = 1.2t ;  = 2 =1.2; R = 0.8t; = 0.8
dt dt dt
Required : V and a
 d d 2 dR
Given: = 1.2t ;  = 2 =1.2; R = 0.8t; = 0.8
dt dt dt
Required : V and a
Velocity:
dR d
V= eR + R e
dt dt
dR d
VR = and V = R
dt dt
V = 0.8eR + ( 0.8t )(1.2t ) e
V = 0.8eR + ( 0.9t ) e
2
 answer
 d d 2 dR
Given: = 1.2t ;  = 2 =1.2; R = 0.8t; = 0.8
dt dt dt
Required : V and a

 d 2R  d  
2
 d 2  dR  d 
a =  2 − R   eR +  R 2 + 2     e
 dt  dt    dt  dt  dt 
d 2R
here 2
=0
dt
 d 2R  d  
2

aR =  2 − R   
 dt  dt  
aR = 0 − 0.8t (1.2t ) = −1.152t 3
2
 d d 2 dR
Given: = 1.2t ;  = 2 =1.2; R = 0.8t; = 0.8
dt dt dt
Required : V and a

 d 2R  d  
2
 d 2  dR  d 
a =  2 − R   eR +  R 2 + 2     e
 dt  dt    dt  dt  dt 
 d 2  dR  d  
a =  R 2 + 2   
 dt  dt  dt 
a = 0.8t (1.2 ) + 2 ( 0.8 )(1.2t ) = 2.88t

a = −1.152t 3eR + 2.88te  Answer

 B

4m R
θ
A The cable connecting the winch A to point B on
the railroad car is wound in at the constant rate
of 2m/s. When θ=600, determine 1) the velocity of B
and dθ/dt; and 2) the acceleration of B and d2θ/dt2.
 dR m
As given in the problem: = −2
B dt s
4 4
sin  = when  =60 , R=
0
= 4.619m
4m R
R sin 60
θ d −4  dR  d −4 ( −2 )
A cos  = 2  → when  =60 ; cos 60
0
=
dt R  dt  dt 4.6192
B d rad
= 0.75
θ dt sec
4m R

A
 Velocity
B dR
VR = =2
dt
4m R
d
A
θ VT = R when  =600
dt
d rad
B → R=4.619m and = 0.75
θ dt sec
4m R VT = ( 4.619 )( 0.75 ) = 3.464m / s
A V = 22 + 3.4642 = 4m / s
  d 2R  d  
2
 d 2  dR  d 
Acceleration : a =  2 − R    R e + R + 2     eT
    dt 
2
B  dt dt   dt dt

 d 
2
d 2R
aR = 2 − R 
dt  dt 
 = 0 − 4.619 ( 0.75 2
) = −2.598
m
s
4m R
θ d 2  dR  d 
A aT = R 2 + 2   
dt  dt  dt 
d −4  dR 
B From : cos  = 2 
dt R  dt 
θ
4m d  d  d 2 8  dR  dR  −4  d 2 R 
R − sin    + cos  2 = 3   + 2  2 
dt  dt  dt R  dt  dt  R  dt 
A  d 2  8 −4
− sin 60 ( 0.75 ) + cos 60  2 = 3 (
− ) + 2 ( )
2 2
 2 0
 dt  ( 4.619 ) 4.619
d 2
2
= 1.624
dt
aT = 4.619 (1.624 ) + 2 ( −2 )( 0.75 ) = 4.5
a = 2.5982 + 4.52 = 5.2m / s 2
The collar B slides on a rod that has A
the spiral shape described by
𝜃 B
𝑅 = 0.3 − 0.4 𝑚. The pin
𝜋
attached to the collar engages a R
slot in the arm OA, which is rotating
𝑑𝜃 O θ
at the constant angular speed =2
𝑑𝑡
rad/s. Find the polar components
of the velocity and acceleration of
collar B at θ=900
The collar B slides on a rod that has the spiral shape described by
𝜃
𝑅 = 0.3 − 0.4 𝑚. The pin attached to the collar engages a slot in the
𝜋
𝑑𝜃
arm OA, which is rotating at the constant angular speed =2
rad/s. Find
𝑑𝑡
the polar components of the velocity and acceleration of collar B at θ=900

A
  −0.4
Given that R = 0.3 − 0.4   dR
B   = VR = ( 2)
dt 
R dR −0.4  d 
VR = = −0.8
O θ dt   dt  VR =

−0.255m / s
 A  
R = 0.3 − 0.4    d 
  VT = R   = 0.1( 2 )
B
  dt 
when  =900 = VT = 0.2m / s
R 2
  
O θ R = 0.3 − 0.4   = 0.1m
 2 
  d 
2 2
  d R
aR = 2 − R 
R = 0.3 − 0.4   
A   dt  dt 
B dR 0.4  d  dR −4 d
=− =
dt   dt  From
 dt
R dt

when  =90 =0
d 2 R −4 d 2
O θ 2 = =0
  
dt 2
 dt 2

R = 0.3 − 0.4   = 0.1m m

 2  aR = 0 − 0.1( 2 ) = −0.4
2

s
  
R = 0.3 − 0.4    d 2   dR  d 
  aT = R  2  + 2   
dR 0.4  d   dt   d t  dt 
A =−
dt   dt  when  = 900
B 
when  =900 = aT = 0.1( 0 ) + 2 ( −0.255 )( 2 )
R 2
   m
O θ
R = 0.3 − 0.4   = 0.1m aT = −1.02
 2  s
Problems taken from the book by Pytel and Kiusalaas
Prob 1.4.1
Prob 1.4.2
Prob 1.4.3
Prob 1.4.4

The winch D unwinds the cable BCD at the constant rate of 1.2
m/s. Determine the speed of the end of bar AB when R=8m.
Prob 1.4.5
Prob 1.4.6

The pin attached to the sliding collar A engages the slot in bar OB. Using polar coordinates,
𝑑𝜃
determine the speed of A in terms of θ and .
𝑑𝑡