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Module 02 Part 1 Rectangular Components of Velocity and Acceleration

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255 views

Module 02 Part 1 Rectangular Components of Velocity and Acceleration

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blu.ren127
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Don Honorio Ventura State University

Bacolor, Pampanga

College of Engineering and Architecture


2𝑛𝑑 Semester S.Y. 2022 - 2023

EM 222 (DYNAMICS OF RIGID BODIES)

Module No. 2: Rectangular Components of Velocity and Acceleration


(Curvilinear Motion)

CURVILINEAR MOTION

- Motion of particle as it moves on a curve path.


- It is defined as motion that occurs when a particle travels along a curved path. The curved path can
be in two dimensions (in a plane), or in three dimensions.

THREE METHODS
1. Rectangular Components
2. Tangential and Normal Components
3. Cylindrical Components

RECTANGULAR COMPONENTS:
Occasionally the motion of a particle can best be described along a path that can be expressed in
terms of its x, y, z coordinates.

• Position
- If a particle is at point (x, y, z) on the curved path s shown in Fig. A, then its location is defined by
the position vector

𝒓 = 𝑥𝒊 + 𝑦𝒋 + 𝑧𝒌

FIG. A

When the particle moves, the x, y, z components of r will be functions of time, i.e., 𝑥 = 𝑥(𝑡), 𝑦 =
𝑦(𝑡), 𝑧 = 𝑧(𝑡), so that 𝒓 = 𝒓(𝑡).

𝒓 = √𝑥 2 + 𝑦 2 + 𝑧 2 Eq. (1)
EM 222 MODULE 2: Rectangular Components 2nd Semester S.Y. 2022 – 2023

• Velocity
The first-time derivative of r yields the velocity of the particle. Hence,

𝑑𝒓 𝑑 𝑑 𝑑
𝒗= = (𝑥𝒊) + (𝑦𝒋) + (𝑧𝒌)
𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡 Eq. (2)

When taking this derivative, it is necessary to account for changes in both the magnitude
and direction of each of the vector’s components. For example, the derivative of the i
component of r is

𝑑 𝑑𝑥 𝑑𝒊 Eq. (3)
(𝑥𝒊) = 𝒊+𝑥
𝑑𝑡 𝑑𝑡 𝑑𝑡

The second term on the right side is zero, provided the x, y, z reference frame is fixed, and
therefore the direction (and the magnitude) of i does not change with time. Differentiation
of the j and k components may be carried out in a similar manner, which yields the final
result,

𝑑𝒓
𝒗= = 𝑣𝑥 𝒊 + 𝑣𝑦 𝒋 + 𝑣𝑧 𝒌 Eq. (4)
𝑑𝑡

where

𝑣𝑥 = 𝑥̇ ; 𝑣𝑦 = 𝑦̇ ; 𝑣𝑧 = 𝑧̇ Eq. (5)

The “dot” notation 𝑥̇ , 𝑦̇ , 𝑧̇ represents the first-time derivatives of 𝑥 = 𝑥(𝑡), 𝑦 = 𝑦(𝑡), 𝑧 =


𝑧(𝑡), respectively.
The velocity has a magnitude that is found from

𝑣 = √𝑣𝑥 2 + 𝑣𝑦 2 + 𝑣𝑧 2 Eq. (6)

• Acceleration
The acceleration of the particle is obtained by taking the first-time derivative of velocity or
the second time derivative of Eq. (1) . We have

𝑑𝒗
𝒂= = 𝑎𝑥 𝒊 + 𝑎 𝑦 𝒋 + 𝑎𝑧 𝒌
𝑑𝑡

where

𝑎𝒙 = 𝑣𝑥̇ = 𝑥̈
𝑎𝒚 = 𝑣𝑦̇ = 𝑦̈
𝑎𝑧 = 𝑣𝑧̇ = 𝑧̈
EM 222 MODULE 2: Rectangular Components 2nd Semester S.Y. 2022 – 2023

Here 𝑎𝑥 , 𝑎𝑦 , 𝑎𝑧 represent, respectively, the first-time derivatives of 𝑣𝑥 = 𝑣𝑥 (𝑡), 𝑣𝑦 = 𝑣𝑦 (𝑡),


𝑣𝑧 = 𝑣𝑧 (𝑡), or the second time derivatives of the functions 𝑥 = 𝑥(𝑡), 𝑦 = 𝑦(𝑡), 𝑧 = 𝑧(𝑡).

The acceleration has a magnitude

𝑎 = √𝑎𝑥 2 + 𝑎𝑦 2 + 𝑎𝑧 2

Sample Problems:
1
1. Given that 𝑠 = 2𝒊 + 3𝑡 3 𝒋 − 2 𝑡𝒌 where “s” is in meters and “t” is in seconds. At 𝑡 = 1𝑠,
compute for the velocity and acceleration (both in Cartesian and Resultant form).

2. Determine the velocity (in Cartesian Form) in m/s of a particle moving with an acceleration
of 𝑎 = 4𝑡 3 𝒊 − 2√𝑡𝒋 + 6𝑡 2 𝒌 where “a” is in 𝑚/𝑠 2 and “t” is in seconds at exactly 3 seconds.
The particle is initially at rest.

𝑡−1
3. A molecule moves at a velocity expressed as 𝑣 = 𝑡 sin 𝑡 𝐢 + 𝑡 3 −1 𝒋 where “v” is in m/s.
Determine the equation for the vertical position of the molecule. When 𝑡 = 0, 𝑣 = 0.

𝑡 𝟑 −𝟏
4. A particle moves at a velocity expressed as 𝑣 = 𝑡 ln 𝑡 𝒊 − 𝒋 + √𝑡 − 1𝒌 where “v” is in
𝑡−1
m/s while “t” is in sec. Determine the magnitude of the particle’s acceleration after 4
seconds and the particle’s coordinates after 2 seconds.

Reference:
1. Beer and Johnston. Vector Mechanics for Engineers
2. Dynamics,7th SI ed. McGraw-Hill, 2003

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