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APPM 211 Week 3, Lesson 3 Slides

This document discusses curvilinear motion and how to derive the radial and transverse components of position, velocity, and acceleration for objects moving along a curved path. It defines polar coordinates and shows examples of calculating velocity and acceleration magnitudes and components for objects moving in circular motions at various radii and angular velocities.

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20 views

APPM 211 Week 3, Lesson 3 Slides

This document discusses curvilinear motion and how to derive the radial and transverse components of position, velocity, and acceleration for objects moving along a curved path. It defines polar coordinates and shows examples of calculating velocity and acceleration magnitudes and components for objects moving in circular motions at various radii and angular velocities.

Uploaded by

ruanhattingh037
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Curvilinear Motion (Cylindrical Components)

APPM 211

North-West University
[email protected]
Dr Djomengi’s e-mail: [email protected]

Week3: 1-5 March 2021


Lesson Outcomes

I At the end of today’s lesson you should be able to

I Derive radial and transverse components for Curvilinear

Motion.
I Determine the radial and transverse components of velocity

and acceleration of a particle travelling along a curved path.


Polar Coordinates
Polar Coordinates

We can specify the location of the particle shown in Figure 1 using

a radial coordinate r , which extends outward from the fixed origin

O to the particle, and a transverse coordinate θ, which is the

counter-clockwise angle between a fixed reference line and

the r axis.

Figure : 1
Position
The positive directions of the r and θ coordinates are defined by

the unit vectors ur and uθ , respectively. Here ur is in the direction

of increasing r when θ is held fixed, and uθ is in a direction of

increasing θ when r is held fixed.

Figure : 2

Position: At any instant the position of the particle, Figure 2, is

defined by the position vector


r = r ur .
Velocity
The instantaneous velocity v is obtained by taking the time

derivative of r.
v = ṙ = (r u˙ r ) = ṙ ur + r u̇r , (1)
To evaluate u̇r .

The time change in ur is ∆ur . For small angles ∆θ this vector

has a magnitude ∆ur ≈ 1(∆θ) and acts in the uθ direction.

Figure : 3
Thus, ∆ur = ∆θuθ , and so
   
∆ur ∆θ
u̇r = lim = lim uθ
∆t→0 ∆t ∆t→0 ∆t

Substituting the above equation into (1), yields

u̇r = θ̇uθ

v = vr ur + vθ uθ (2)
where

vr = ṙ , vθ = r θ̇.

See figure below.


Figure : 4

The radial component vr is a measure of the rate of increase or


decrease in the length of the radial coordinate, i.e., ṙ .

The transverse component vθ can be interpreted as the rate of


motion along the circumference of a circle having a radius r.

Since vr and vθ are always perpendicular, the magnitude of


acceleration is simply the positive value of
q
v = ṙ 2 + (r θ̇)2
Acceleration

Acceleration is the time rate of change of velocity


dv
a= = r̈ ur + ṙ u̇r + ṙ θ̇uθ + r θ̈uθ + r θ̇u̇θ . (3)
dt

Figure : 4

To evaluate u̇θ , it is necessary only to find the change in the

direction of uθ .
For small angles this vector has a magnitude ∆uθ ≈ 1(∆θ) and

acts in the −ur direction; i.e., ∆uθ = −∆θur , and so


   
∆uθ ∆θ
u̇θ = lim = − lim ur
∆t→0 ∆t ∆t→0 ∆t

u̇θ = −θ̇ur .
Finally the acceleration vector takes the following form

a = ar ur + aθ uθ ,

where

ar = r̈ − r θ̇2 , an = r θ̈ + 2ṙ θ̇. (4)

See the figure below.


Acceleration

Figure : 5

Since ar and aθ are always perpendicular, the magnitude

of acceleration is simply the positive value of


q
a = (r̈ − r θ̇2 )2 + (r θ̈ + 2ṙ θ̇)2
Problem 12-163 New/12-164 Old
A radar gun at O rotates with the angular velocity of

θ̇ = 0.1 rad/s and angular acceleration of θ̈ = 0.025rad/s 2 , at the

instant θ = 45o , as it follows the motion of the car traveling along

the circular road having a radius of r = 200m. Determine the

magnitudes of velocity and acceleration of the car at this instant.

Figure : 163
Solution for problem 12-163 new/12-164 old
Problem 12-169 new
At the instant shown, the man is twirling a hose over his head with

an angular velocity θ̇ = 2 rad/s and an angular acceleration θ̈ = 3

rad/s 2 . If it is assumed that the hose lies in a horizontal plane,

and water is flowing through it at a constant rate of 3 m/s,

determine the magnitudes of the velocity and acceleration of a

water particle as it exits the open end, r = 1.5 m.


Solution for problem 12-169 new
Problem 12-170 New/12-197 Old
The partial surface of the cam is that of a logarithmic

r = (40e 0.05θ )mm, where θ is in radians. If the cam is rotating at

a constant angular rate of θ̇ = 4rad/s, determine the magnitudes

of the velocity and acceleration of the follower rod at the instant

θ = 30o .

Figure : 170
Solution for problem 12-175 new/12-179 old
Problem 12-175 New/12-179 Old
A block moves outward along the slot in the platform with a speed

of ṙ = 4 t m/s where t is in seconds.The platform rotates at a

constant rate of 6 rad/s. If the block starts from rest at the

centre, determine the magnitudes of its velocity and acceleration

when t = 1 s.

Figure : 175
Solution for problem 12-170 new/12-197 old
Dankie vir julle aandag

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