Engineering Mechanics (II)

Dynamics
second Semester 2023-2024

LECTURE 3

Engineering Mechanics: II 2023/2024

 Curvilinear Motion:
Normal and Tangential Components
Planar Motion.
When the path along which a particle is moving
is known, it is often convenient to describe the
motion using n and t
coordinates which act
normal and tangent to
the path, respectively,
and at the instant
considered have
their origin located
at the particle.
The t axis is tangent to the curve at P and is
positive in the direction of increasing s.
The normal axis n is perpendicular to the t axis
and is directed from P toward the center of
curvature O'
The plane which contains the n and t axes is
referred to as the osculating plane, and in this
case it is fixed in the plane of motion.
radius of curvature 
Position. s  s(t )
Velocity.
v  vu t v  s
Acceleration.
a  v  vut  vu t
 s v
u t   u n  u n  u n
 
a  at ut  anu n
v2
at  v and an 

or dv
at  v at ds  vdv
ds
 the magnitude of acceleration is the positive
value of
a  a  at2  an2

Remark. If the path is expressed as y  f (x)

then the radius of curvature at any point on the
path is determined by using the equation

[1  (dy / dx) 2 ]3 / 2

d 2 y / dx 2
Consider the following two special cases of
motion.

1. If the particle moves along a straight line, then

  an  0 a  at  v

So, we can conclude that the tangential

component of acceleration represents the time
rate of change in the magnitude of the velocity.
 2. If the particle moves along a curve with a
constant speed, then
v2
at  v  0 a  an 

Therefore, the normal component of acceleration
represents the time rate of change in the direction
of the velocity.
Since a n always acts towards the center of
curvature, this component is sometimes referred to
as the centripetal acceleration.
 Three-Dimensional Motion.
Since u t and u n
are always perpendicular to
one another and lie in the
osculating plane, for spatial
motion a third unit vector, u b
defines a binomial axis b which
is perpendicular to u t and u n
the three unit vectors are related to one another by
the vector cross product

ub  ut  u n u n  ub  ut
Example 1.6
When the skier reaches point A along the parabolic
path in Fig., he has a speed of 6 m/s which is
increasing at 2 m/s2.
Determine the
direction of his
velocity and the
magnitude of his
acceleration at this
instant. Neglect the
size of the skier in
the calculation.
 Velocity.
The velocity is always directed tangent to the path.
Since 2
1 2 dy d y
y x  0.1x 2
 0.1
20 dx dx
Hence, at A, x  10
v makes an angle of
1dy
  tan ( )  tan 1 (1)  45o
dx x 10

with the x axis. Therefore,

v A  6 m/s   45o
 Acceleration. v2
at  v an 

However, it is first necessary to determine the
radius of curvature of the path at A (10 m, 5 m),

[1  (dy / dx) ]2 3/ 2
[1  (0.1x)2 ]3 / 2
 2 2
  28.28 m
d y / dx 0.1 x 10

at  v  2 m/s 2

v2
(6) 2
an    1.273 m/s 2
 28.28
 2 2
v
(6)
at  v  2 m/s 2 an    1.273 m/s 2
 28.28

a  2 u t  1.273 u n m/s 2

a  (2) 2  (1.273) 2  2.37 m/s 2

12
  tan  57.5o
1.273
Example 1.7
A race car C travels around the horizontal circular
track that has a radius of 300 ft. If the car increases
its speed at a constant rate of 7 ft/s2, starting from
rest, determine the time needed for it to reach an
acceleration of 8 ft/s2. What is its speed at this instant?
Acceleration. a  at2  an2 at  7 ft/s 2
v2
Since a n  , the velocity as a function of time is

v  v0  at t v  0  7t  7t
2 2
v (7t )
an    0.163t 2 ft/s 2
 300
The time needed for the acceleration to reach 8 ft/s2 is
a at2  an2 8  (7)  (0.163t )
2 2 2

t  4.87 s
Velocity. The speed at time t = 4.87 s is
v  7t  7(4.87)  34.1 ft/s
Example 1.8 The boxes in Fig. (a) travel along the
industrial conveyor. If a box as in Fig.
starts from rest at A and increases its
speed such that at  0.2 t m/s 2
where t is in seconds, determine the
magnitude of its acceleration when it
arrives at point B.
Acceleration. at  v v2
an 

Since v A  0 when t = 0, then
dv v t
at 
dt
 0.2t 0 dv  0 0.2 t dt
v  0.1 t 2
the position of B is
s B  3  2( / 2)  6.142 m
and since s A  0
when t = 0, we have
ds
v   0.1t 2
dt
 ds s t
v   0.1t   
2 2
ds 0.1 t dt
dt 0 0

s  0.0333t 3

At B : s B  6.142 m t B  5.69s
at  0.2t v  0.1 t
2

(a B ) t  v B  0.2(5.69)  1.138m / s 2
v B  0.1(5.69) 2  3.238 m/s

At B,  B  2 m , so that
vB2 (3.238) 2
(a B ) n    5.242 m/s 2
The magnitude B 2
of a B is a B  (1.138) 2  (5.242) 2  5.36 m/s 2
 Curvilinear Motion:
Cylindrical Components
Polar Coordinates.
We can specify the location of particle P shown in
Fig. using both the radial coordinate r, which extends
outward from the fixed origin O to the particle,
and a transverse coordinate 
which is the counterclockwise
angle between a fixed reference
line and the r axis.
Position. r  ru r
Velocity. v  r  ru r  ru r u r   u
the velocity v can be written in component form as
v  vr u r  v u
vr  r v  r
The magnitude of velocity
or speed is simply computed
as the positive value of

v  v  vr2  v2

the direction of v is of course tangent to the path at P

Acceleration. v  r  rur  r u
a  v  r u r  r u r  r u  r u  r u 
u r   u u    u r
we can write the acceleration in component form as
a  ar u r  a u
ar  r  r 2 a  r  2r
The magnitude of acceleration is
simply the positive value of

a  a  ar2  a2
Remark.

 d
 is called the angular velocity, since it
dt indicates the time rate of change of the
angle 
d 2
 2 is called the angular acceleration since
dt it measures the change made in the
angular velocity during an instant of time.
Cylindrical Coordinates.
If the particle P moves along a space
curve as shown in Fig., then
r p  ru r  zu z
v p  vr u r  v u  v z u z
a p  ar u r  a u  a z u z
where
vr  r ar  r  r 2

v  r a  r  2r

v z  z a z  z
Example 1.10
The rod OA in Fig. is rotating in the horizontal plane
such that   t 3 rad. At the same time, the collar B is
sliding outward along OA so that r  100t mm. 2

If in both cases t is in seconds, determine the

velocity and acceleration of the collar when t = 1 s.
Velocity and Acceleration.
Determining the time derivatives and evaluating
when t = 1 s, we have
r  100t 2
 100 mm   t3  1 rad  57.3o
t 1 t 1

r  200t t 1  200 mm/s 

  3t 2
 3 rad/s
t 1

r  200 t 1  200 mm/s 2   6t t 1  6 rad/s2

vr  r  200 mm/s
v  r  (100)(3)  300 mm/s


v  200u r  300u mm/s

The magnitude of v is

v  (200)  (300)  361 mm/s

2 2

1 300
  tan ( )  56.3o
200
      114o
,
ar  r  r 2  200  (100)(3) 2  700 mm/s 2
a  r  2r  100(6)  2(200)(3)  1800 mm/s 2
a  700u r  1800u mm/s 2
The magnitude of a is
a  (700)  (1800)  1930 mm/s
2 2 2

11800
  tan ( )  111.3o
 700
      169o
Example 1.11
The searchlight in Fig. casts a spot of light along the
face of a wall that is located 100 m from the
searchlight. Determine the magnitudes of the
velocity and acceleration at which the spot appears
to travel across the wall at the instant   45o.
The searchlight is rotating at a constant rate of
  4 rad/s
 r  100 / cos  100 sec
r  100(sec tan  ) 
r  100[(sec tan 2  ) () 2  (sec3  )() 2  (sec tan  ) 

  4 rad/s = constant,   0

when   45o

r  100 sec 45  141.4 m

o

r  100(sec 45o tan 45o ) (4)  565.7 m/s

r  100[(sec 45o tan 2 45o ) (4) 2  (sec3 45o )(4) 2  6788.2 m/s 2
vr  r  565.7 m/s

v  r  (141.4)(4)  565.7 m/s

v  565.7u r  565.7u m/s

v  (565.7)  (565.7)  800 m/s

2 2
ar  r  r  6788.2  (141.4)(4)  4525.5 m/s
  2 2 2

a  r  2r  141.4(0)  2(565.7)(4)  4525.5 m/s 2

a  4525.5u r  4525.5u m/s 2
a  (4525.5)  (4525.5)  6400 m/s
2 2 2
Example 1.12
Due to the rotation of the forked rod, the cylindrical
peg A in Fig. travels around the slotted path, a portion
of which is in the shape of a cardioid,
r  0.5(1  cos ) ft,
where  is in radians. If the
peg's velocity is v = 4 ft/s and
its acceleration is a.= 30 ft/s2
at the instant   180o
determine the angular
velocity 
and angular acceleration 
of the fork.
r  0.5(1  cos )

r  0.5(sin )  ft/s

r  0.5(cos ) ( )  0.5(sin )  ft/s

 2  2
 r  0.5(1  cos )
r  0.5(sin )  ft/s
r  0.5(cos ) ( )  0.5(sin )  ft/s
 2  2

Evaluating these results at   180o

r  1 ft r  0 r  0.5( ) ft/s
 2 2

vr  r  0 v  r   ft/s
Since v = 4 ft/s,
v  vr2  v2 4  0  () 2

  4 rad/s
In a similar manner,  can be found as follows:
a  r  r  0.5(4)  1(4)  24 ft/s
r   2 2 2 2

a  r  2r  1()  0   ft/s 2

a 2
ar  a 2

30  (24) 2  () 2

  18 rad/s2

Vectors a and v are shown

in Fig. (b).