CHAPTER-1

1-Introduction
Motion In Two Dimensions
First Lecture
In Dynamics-2
By
Dr. Mohsen Hanafy Mohamed Moussa
[email protected]
 How do we locate a material
point in a plane?

 If a material point moves in a

plane at any given moment, its
position can be determined in
one of the following two ways:

First: in cartesian coordinates 

 Second: Polar coordinates:
 The position of the point can also be determined in a plane if it knows:
 1-The distance of this point from a fixed point in the plane such as O this fixed point is called
"pole".
 2-The angle made by the line OP with a constant direction in the plane such as oe the fixed
direction is called the primary line to measure θ ̂.
 Geometric representation of directions in two dimensions
 It is known that any vector quantity can be represented by a straight line. Therefore, we
suppose that a vector 𝒂 can be represented by a straight line𝑶𝓵 with a suitable scale, whose
magnitude is the magnitude of the vector 𝒂 and its direction is the same as 𝒂.

𝑶𝓵 = 𝑶𝒃 + 𝑶𝒄 (1)

𝑶𝒃 = 𝒂𝟏 𝑶𝑪 = 𝒂𝟐 (2)

𝑶𝒃 = 𝒂𝟏 𝒊 𝑶𝒄 = 𝒂𝟐 𝒋

𝒂 = 𝒂𝟏 𝒊 + 𝒂𝟐 𝒋 ≡ 𝒂𝟏 , 𝒂𝟐
a position vector for a moving point in a plane

𝒓=𝒙 𝒊 + 𝒚 𝒋 ≡ 𝒙 , 𝒚
 The velocity of a material point moving in a plane

 Consider a material point moving in a plane.

Suppose that A the position vector of this
point is at moment t and that O a fixed point
is in the plane. Suppose A` position of the
point at moment t+△ 𝑡.

 Suppose the position vector of the moving

point when it takes the position A` is

 𝑶𝑨` − 𝑶𝑨=𝒓+△ 𝒓-𝒓=△ 𝒓

 Then the change in the position of the

point

 𝒓+△ 𝒓-𝒓=△ 𝒓

 That is, the displacement of the point at

the period of time △ 𝒕 is equal to

𝑨𝑨`= △𝒓 

 The velocity gives like this

△𝒓 𝒅𝒓
𝑽= 𝐥𝐢𝐦 = = 𝒓ሶ 
△𝒕→𝟎 △𝒕 𝒅𝒕
 It is useful to find an expression to velocity in
relation to the arc dimension.

 Therefore, we assume that the curve BC is the

curve along which the material point moves.

 We suppose that the arc distance of a point A

from a fixed point on the curve, such as B is l ,
and the arc distance of a point A` from fixed
point B is 𝓵 +△ 𝓵 . The smaller time period
△ 𝒕 , the closer the point A` is to the point A,
and thus the length of the chord AA`
approaches the length of the arc 𝓵, Therefore:
△𝒓 𝒅𝒓
𝑽= 𝐥𝐢𝐦 = = 𝒓ሶ
△𝒕→𝟎 △𝒕 𝒅𝒕

 And in the direction tangent to the curve at A.

 The acceleration of a material point moving in a plane

 Acceleration is the rate of change of velocity with respect to time, that is

𝒅𝑽 𝒅 𝒅𝒓 𝒅𝟐 𝒓
𝑪= 𝒅𝒕 = = = 𝒓ሷ 
𝒅𝒕 𝒅𝒕 𝒅𝒕𝟐

 In the following, we will discuss the appropriate formula for both velocity and acceleration in both
Cartesian and polar coordinates.

 First: The Cartesian coordinates

 (a) Reference axes

 We assume that A the position of the moving point is at the moment t , and O that the origin is fixed,
and 𝒓 that the position vector of the point A with respect to O, and by choosing OX, OY the
perpendicular axes for reference in the plane of motion.
The position vector is 

𝒓 = 𝒙𝒊෡ + 𝒚𝒋 

 And differentiate with respect to time

𝒅𝒓
𝑽= 𝒅𝒕
= 𝒙ሶ 𝒊෡ + 𝒚ሶ 𝒋 ≡ 𝒙,ሶ 𝒚ሶ 

 And since the axes of support OX, OY

are fixed during movement, then𝒊෡,𝒋
are fixed in magnitude and direction,
i.e. ,𝒊෡ሶ = 𝒋ሶ = 𝟎.

 And it's easy to find the components of

the Acceleration like this

𝒅𝑽
𝑪= = 𝒙ሷ 𝒊መ +𝒚ሷ 𝒋መ ≡ 𝒙,ሷ 𝒚ሷ 
𝒅𝒕

 Among the applications on the planar

motion in Cartesian coordinates are
projectiles, and they were studied in
the previous term.
 (b) Support axes are movable

 The rate of change of unit vectors,𝒊෡ሶ , 𝒋ሶ when the set of

axes is in motion. Assume that two axes OX, OY are
perpendicular at O the fixed origin. Suppose that this
set of axes rotate around O with a certain angular
velocity 𝝎. Suppose that the positions of the two axes
OX`, OY` after time period △ 𝒕 where the angle

 ෣ = 𝒀𝑶𝒀`
𝑿𝑶𝑿` ෣ = ∆𝜽

 Suppose that 𝑶𝑨 represent the unit vector 𝒊መ at time t

and 𝑶𝑨` represents the unit vector 𝒊መ at time t+ △ 𝒕.
Also 𝑶𝑩, 𝑶𝑩` they represent the unit vector෡𝒋 at the
two moments t, t+△ 𝒕 respectively.

 Then the change in the unit vector 𝒊መ is

 𝑶𝑨` − 𝑶𝑨 = 𝑨𝑨` =△ 𝜽෡𝒋

△𝜽
 ∴ 𝒊 ሶ = 𝒍𝒊𝒎 𝒋 = 𝜽ሶ 𝒋 = 𝝎 𝒋
△𝒕→𝟎 △ 𝒕
 Likewise, it can be proven that

 𝒋ሶ = −𝜽ሶ 𝒊መ =−𝝎𝒊መ
 Now, the velocity and acceleration components can be found with respect to a set of moving axes.

 The Velocity and Acceleration

 Suppose a material point is moving in a plane. Assuming A the position of the point, in the moment t and
that the set of perpendicular axes in the plane (the plane of motion) are OX, OY and that the rotation
around O by an angular velocity 𝝎.

 Suppose that A≡ 𝒙, 𝒚 for these two axes. Position vector at moment of time t is

 𝒓 = 𝒊෡ + 𝒋

 ሶ 𝒙ሶ 𝒊෡+ 𝒚ሶ 𝒋+𝒙𝒊෡ሶ + 𝒚𝒋ሶ

𝒓=

 𝒊෡ሶ = 𝝎 ෡𝒋, 𝒋=−𝝎

ሶ 𝒊መ

∴ 𝒓ሶ = 𝒙ሶ − 𝝎𝒚 𝒊 + 𝒚ሶ + 𝝎𝒙 𝒋

∴ 𝑽= 𝒙ሶ − 𝝎𝒚 𝒊 + 𝒚ሶ + 𝝎𝒙 𝒋

The Acceleration
𝒅𝑽
𝑪= = 𝒙ሷ − 𝟐𝝎𝒚ሶ − 𝝎𝟐 𝒙 𝒊 + 𝒚 +
ሷ 𝟐𝝎𝒙ሶ − 𝝎𝟐 𝒚 𝒋
𝒅𝒕
 Example (1);

 A material point is moving in a plane. If the components of its velocity with respect to the axes OX and OY are perpendicular to the plane
and revolve around O with a uniform angular velocity ω, they are ωy and ωx respectively. Prove that this point is moving in a straight line
at a constant speed.

 Solution:

 The axes are moving therefore the velocity is written as

𝑽= 𝒙ሶ − 𝝎𝒚 𝒊መ + 𝒚ሶ + 𝝎𝒙 𝒋 

∴ ωy=𝒙ሶ − 𝝎𝒚 (1) 

ωx=𝒚ሶ + 𝝎𝒙 (2) 

 From (2)

𝒚ሶ = 𝟎 ⇒ 𝒚 = 𝒄𝒐𝒏𝒔𝒕. = 𝑨 

 That is, the coordinate y of the trajectory of the point during its movement is fixed. Therefore, the point path is a straight line parallel to
the X- axis.

 From (1) we get

ሶ 𝟐𝝎𝒚 = 𝟐𝝎𝑨 = 𝑪𝒐𝒏𝒔𝒕.

𝒙= 

∴𝑽= 𝒙ሶ 𝟐 + 𝒚ሶ 𝟐 = 𝟐𝝎𝑨 

 That is, the velocity of the material point is constant.

 Second: The Polar Coordinates

 Suppose that a particle Q is moving in a plane and p is its position at time t. This position may be
fixed by the polar coordinates 𝐫, 𝛉 as shown in the corresponding figure. In the case, we have fixed
a reference line Ox in the plane in which Q is moving and a fixed reference point O marked on it.
 The "r" coordinate of p is the distance Op and its " 𝛉" coordinate is the angle ( in radians) made by Op with Ox\,
measured anticlockwise, Op is called the r-direction, + ve. way from O and OI. obtained by rotating Op
anticlockwise through a right angle at O is called the 𝛉 𝐝𝐢𝐫𝐞𝐜𝐭𝐢𝐨𝐧. As the point Q moves on its path , not only
magnitudes of r and 𝛉 coordinates but their directions also change continuously.

 Polar Components of Velocity and Acceleration

 To obtain expressions for velocity and acceleration, it will be convenient to use vector notation, with 𝐞𝐫 𝐚𝐧𝐝 𝐞𝛉 as
unit vectors in the r and 𝛉 directions respectively. At the outset it is important to appreciate that since the unite
vectors are defined for two directions which are changing with the time, they will have time derivative which
must first be determined. From corresponding figure, we can write
 𝐞𝐫 =𝐜𝐨𝐬 𝛉 𝐢 + 𝐬𝐢𝐧 𝛉 𝐣 

𝐞𝛉 =− 𝐬𝐢𝐧 𝛉 𝐢 + 𝐜𝐨𝐬 𝛉 𝐣 

 Differentiating with respect to t , yields

𝐞𝐫ሶ =− 𝐬𝐢𝐧 𝛉 𝛉ሶ 𝐢 + 𝐜𝐨𝐬 𝛉 𝛉ሶ 𝐣= − 𝐬𝐢𝐧 𝛉 𝐢 + 𝐜𝐨𝐬 𝛉 𝐣 𝛉ሶ 

= 𝛉𝐞 ሶ 𝛉

𝐞𝛉ሶ =− 𝐜𝐨𝐬 𝛉 𝛉ሶ 𝐢 − 𝐬𝐢𝐧 𝛉𝛉ሶ 𝐣= − 𝐜𝐨𝐬 𝛉 𝐢 − 𝐬𝐢𝐧 𝛉 𝐣 𝛉ሶ 

= −𝛉𝐞 ሶ 𝐫

 The position vector of p is

 𝐫 = 𝐫𝐞𝐫

 The velocity 𝐯 of the point p will be obtained by

differentiating with respect to time t

ሶ 𝛉 =𝐫ሶ 𝐞𝐫 +r𝛉𝐞
𝑽 = 𝐫ሶ = 𝐫ሶ 𝐞𝐫 + 𝐫 𝐞𝐫ሶ = 𝐫ሶ 𝐞𝐫 + 𝐫 𝛉𝐞 ሶ 𝛉 

∴ 𝐕𝐫 = 𝐫ሶ , 𝑽𝛉 = 𝐫𝛉ሶ 

 Where 𝑽𝐫 and 𝐕𝛉 are the magnitudes of r and 𝛉

components of the velocity.
 Differentiating the velocity 𝐕 w.r.to time gives the acceleration

𝐝𝑽
𝑪= ሷ 𝐫𝐞
= 𝐫= ሶ 𝛉 + r𝛉𝐞
ሷ 𝐫 +𝐫ሶ 𝐞𝐫ሶ + 𝐫ሶ 𝛉𝐞 ሷ 𝛉 + r𝛉ሶ 𝐞𝛉ሶ =𝐫𝐞 ሶ 𝛉 + 𝐫ሶ 𝛉𝐞
ሷ 𝐫 +𝐫ሶ 𝛉𝐞 ሶ 𝛉 + 𝐫𝛉𝐞
ሷ 𝛉 − 𝐫𝛉ሶ 𝟐 𝐞𝐫 = 𝐫ሷ − 𝐫𝛉ሶ 𝟐 𝐞𝐫 +൫𝐫𝛉ሷ 
𝐝𝐭
+ 𝟐𝐫ሶ 𝛉ሶ �𝐞𝛉

∴ 𝐂𝐫 = 𝐫ሷ − 𝐫𝛉ሶ 𝟐 and 𝐂𝛉 = 𝐫𝛉ሷ + 𝟐𝐫ሶ 𝛉ሶ 

This gives 𝐂𝐫 and 𝐂𝛉 the magnitudes of r and 𝛉 components of the acceleration 𝐚𝛉 can also written as 

𝟏 𝐝
𝐂𝛉 = 𝐫 𝐝𝐭 𝐫 𝟐 𝛉ሶ 

 Then the acceleration 𝐂 is

𝟏 𝐝
𝐂 = 𝐫ሷ − 𝐫𝛉ሶ 𝟐 𝐞𝐫 + 𝐫 𝐝𝐭 𝐫 𝟐 𝛉ሶ 𝐞𝛉 