2/5 Normal and Tangential Coordinates (n-t)

It is one of the very natural description of the curvilinear motion

along the tangent t and normal n to the path of the particle.

When the particle advances from A to B to C, the positive n is always

taken toward the center of the curvature of the path.

Velocity

We introduce:

𝑒𝑒���⃑𝑡𝑡 𝑎𝑎 𝑢𝑢𝑢𝑢𝑢𝑢𝑢𝑢 𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣 𝑖𝑖𝑖𝑖 𝑡𝑡ℎ𝑒𝑒 𝑡𝑡 − 𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑.

𝑒𝑒𝑛𝑛 𝑎𝑎 𝑢𝑢𝑢𝑢𝑢𝑢𝑢𝑢 𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣 𝑖𝑖𝑖𝑖 𝑡𝑡ℎ𝑒𝑒 𝑛𝑛 − 𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑
����⃑

During 𝑑𝑑𝑑𝑑, the particle moves a

differential distance 𝑑𝑑𝑑𝑑 along the
curve from 𝐴𝐴 to Á
𝜌𝜌 the radius of curvature of the path.

𝑑𝑑𝑑𝑑 = 𝜌𝜌 𝑑𝑑𝑑𝑑
𝜌𝜌 𝑖𝑖𝑖𝑖 𝑢𝑢𝑢𝑢𝑢𝑢ℎ𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎 (ℎ𝑖𝑖𝑖𝑖ℎ𝑒𝑒𝑒𝑒 𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜)
𝑑𝑑𝑑𝑑 𝜌𝜌𝜌𝜌𝜌𝜌
𝑣𝑣 = =
𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑

.................................
̇ ........... 2/7
𝑣𝑣⃑ = 𝑣𝑣 𝑒𝑒⃑𝑡𝑡 = 𝜌𝜌 𝛽𝛽 𝑒𝑒⃑𝑡𝑡

𝑑𝑑𝑣𝑣�⃑
𝑎𝑎⃑ = is a vector reflects both the change in magnitude and the
𝑑𝑑𝑑𝑑
change in direction of 𝑣𝑣⃑

𝑑𝑑𝑣𝑣�⃑ 𝑑𝑑(𝑣𝑣𝑒𝑒⃑𝑡𝑡 )
𝑎𝑎⃑ = = = 𝑣𝑣𝑒𝑒̇⃑𝑡𝑡 + 𝑣𝑣̇ 𝑒𝑒⃑𝑡𝑡 … … … 2/8
𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑

𝑒𝑒̇⃑𝑡𝑡 ≠ 0 (𝑡𝑡ℎ𝑒𝑒 𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 𝑐𝑐ℎ𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎)

In Fig. a 𝐴𝐴 → 𝐴𝐴̀ 𝑒𝑒⃑𝑡𝑡 → 𝑒𝑒̀⃑𝑡𝑡 ≡ 𝑑𝑑𝑒𝑒⃑𝑡𝑡
Ch. 2 22
 The magnitude of 𝑑𝑑𝑒𝑒⃑𝑡𝑡 = |𝑒𝑒⃑𝑡𝑡 |𝑑𝑑𝑑𝑑 = 𝑑𝑑𝑑𝑑 and the direction of 𝑑𝑑𝑒𝑒⃑𝑡𝑡 is
given by 𝑒𝑒⃑𝑛𝑛

𝑑𝑑𝑒𝑒⃑𝑡𝑡 = 𝑑𝑑𝑑𝑑 𝑒𝑒⃑𝑛𝑛

𝑑𝑑𝑒𝑒⃑𝑡𝑡 𝑑𝑑𝑒𝑒⃑𝑡𝑡 𝑑𝑑𝑑𝑑
= 𝑒𝑒⃑𝑛𝑛 → = 𝑒𝑒⃑𝑛𝑛 → 𝑒𝑒̇⃑𝑡𝑡 = 𝛽𝛽̇ 𝑒𝑒⃑𝑛𝑛 … … . . . 2/9
𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑

With the substitution of eq. 2/9 and 𝛽𝛽̇ from the relation (𝑣𝑣 = 𝜌𝜌𝛽𝛽̇ )
equation 2/8 becomes:
𝑎𝑎⃑ = 𝑣𝑣𝛽𝛽̇ 𝑒𝑒⃑𝑛𝑛 + 𝑣𝑣̇ 𝑒𝑒⃑𝑡𝑡

𝑣𝑣 2
𝑎𝑎⃑ = 𝑒𝑒⃑ + 𝑣𝑣̇ 𝑒𝑒⃑𝑡𝑡 .......... 2/10
𝜌𝜌 𝑛𝑛

𝑣𝑣 2
𝑎𝑎𝑛𝑛 = = 𝜌𝜌𝛽𝛽̇ 2 = 𝑣𝑣𝛽𝛽̇
𝜌𝜌
𝑎𝑎𝑡𝑡 = 𝑣𝑣̇ = 𝑠𝑠̈
a = �𝑎𝑎𝑛𝑛 2 + 𝑎𝑎𝑡𝑡2

Geometric Interpretation
Referring to Fig. c |𝑑𝑑𝑣𝑣⃑𝑛𝑛 | = 𝑣𝑣𝑣𝑣𝑣𝑣
|𝑑𝑑 𝑣𝑣𝑛𝑛 | 𝑑𝑑𝑑𝑑
𝑎𝑎𝑛𝑛 = = 𝑣𝑣 = 𝑣𝑣𝛽𝛽̇
𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑
|𝑑𝑑𝑣𝑣⃑𝑡𝑡 | = 𝑑𝑑𝑑𝑑 𝑐𝑐ℎ𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎 𝑖𝑖𝑖𝑖 𝑡𝑡ℎ𝑒𝑒 𝑙𝑙𝑙𝑙𝑙𝑙𝑙𝑙𝑙𝑙ℎ 𝑜𝑜𝑜𝑜 𝑣𝑣⃑
𝑑𝑑𝑑𝑑
𝑎𝑎𝑡𝑡 = = 𝑣𝑣̇ = 𝑠𝑠̈ 𝑎𝑎𝑎𝑎 𝑏𝑏𝑏𝑏𝑏𝑏𝑏𝑏𝑏𝑏𝑏𝑏
𝑑𝑑𝑑𝑑

(a) Speed increasing (b) Speed decreasing

Ch. 2 23
Acceleration vectors for particle moving from A to B
𝑎𝑎𝑛𝑛 𝑖𝑖𝑖𝑖 𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎 𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡 𝑡𝑡ℎ𝑒𝑒 𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐 𝑜𝑜𝑜𝑜 𝑡𝑡ℎ𝑒𝑒 𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐
𝑎𝑎𝑡𝑡 𝑖𝑖𝑖𝑖 𝑖𝑖𝑖𝑖 𝑡𝑡ℎ𝑒𝑒 𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝 𝑡𝑡 − 𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐. 𝑖𝑖𝑖𝑖 𝑡𝑡ℎ𝑒𝑒 𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠 𝑖𝑖𝑖𝑖 𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖.

Circular Motion
It is a special case of plane curvilinear motion.
𝜌𝜌 → 𝑟𝑟
𝛽𝛽 → 𝜃𝜃

𝑣𝑣 = 𝑟𝑟𝜃𝜃̇
........ 2/11
𝑣𝑣 2
𝑎𝑎𝑛𝑛 = = 𝑟𝑟𝜃𝜃̇ 2 = 𝑣𝑣𝜃𝜃̇
𝑟𝑟
𝑎𝑎𝑡𝑡 = 𝑣𝑣̇ = 𝑟𝑟𝜃𝜃̈

Problems 2/97 2/99 2/101 2/105 2/112 2/114 2/116 2/120

Ch. 2 24
Sample Problem 2/7
To anticipate the dip and hump in the road, the driver of a car applies her
brakes to produce a uniform deceleration. Her speed is 100 km/h at the
bottom A of the dip and 50 km/h at the top C of the hump, which is 120 m
along the road from A. If the passengers experience a total acceleration of
3 m/s2 at A and if the radius of curvature of the hump at C is 150 m,
calculate (a) the radius of curvature 𝜌𝜌 at A, (b) the acceleration at the
inflection point B, and (c) the total acceleration at C.

Solution
The dimensions of the car are small
compared with those of the path, so
we will treat the car as a particle.

100
𝑣𝑣𝐴𝐴 = 3.6
= 27.8 𝑚𝑚⁄𝑠𝑠
50
𝑣𝑣𝐶𝐶 = 3.6 = 13.89 𝑚𝑚⁄𝑠𝑠
𝑣𝑣𝐶𝐶 2 = 𝑣𝑣𝐴𝐴 2 + 2𝑎𝑎𝑡𝑡 ∆𝑠𝑠
(13.89)2 = (27.8)2 + 2𝑎𝑎𝑡𝑡 (120)
𝑎𝑎𝑡𝑡 = −2.41 𝑚𝑚⁄𝑠𝑠 2
(a) Condition at A
[𝑎𝑎2 = 𝑎𝑎𝑛𝑛 2 + 𝑎𝑎𝑡𝑡 2 ] 𝑎𝑎𝑛𝑛 2 = 32 − 2.412 = 3.19 𝑎𝑎𝑛𝑛 =
1.785 𝑚𝑚⁄𝑠𝑠 2
𝑣𝑣 2 𝑣𝑣 2 27.82
[𝑎𝑎𝑛𝑛 = ] 𝜌𝜌 = 𝑎𝑎 = 1.785 = 432 𝑚𝑚 𝐴𝐴𝐴𝐴𝐴𝐴.
𝜌𝜌 𝑛𝑛

(b) Condition at B
Since ρ is infinite, an = 0 ∶
𝑎𝑎 = 𝑎𝑎𝑡𝑡 = −2.41 𝑚𝑚⁄𝑠𝑠 2 𝐴𝐴𝐴𝐴𝐴𝐴.
(c) Condition at C
𝑣𝑣 2 13.892
[𝑎𝑎𝑛𝑛 = ] 𝑎𝑎𝑛𝑛 = = 1.286 𝑚𝑚⁄𝑠𝑠 2
𝜌𝜌 150

[𝑎𝑎2 = 𝑎𝑎𝑛𝑛 2 + 𝑎𝑎𝑡𝑡 2 ] 𝑎𝑎 = √1.2862 + 2.412 =

2.73 𝑚𝑚⁄𝑠𝑠 2 𝐴𝐴𝐴𝐴𝐴𝐴.
With unit vectors, the acceleration may
written
𝑎𝑎⃑ = 1.286 𝑒𝑒⃑𝑛𝑛 − 2.41𝑒𝑒⃑𝑡𝑡 𝑚𝑚⁄𝑠𝑠 2
The acceleration vectors representing the conditions at each of the three
points are shown for clarification.

Ch. 2 25
Sample Problem 2/8
A certain rocket maintains a horizontal attitude of its axis during the
powered phase of its flight at high altitude. The thrust imparts a horizontal
component of acceleration of 6 m/s2, and the downward acceleration
component is the acceleration due to gravity at that altitude, which is g=
9 m/s2. At the instant represented, the velocity of the mass center G of
the rocket along the 15o direction of its trajectory is 20(10)3 km/h. For
this position determine (a) the radius of curvature of the flight trajectory,
(b) the rate at which the speed 𝑣𝑣 is increasing, (c) the angular rate 𝛽𝛽̇ of
the radial line from G to the center of curvature C, and (d) the vector
expression for the total acceleration 𝑎𝑎⃑ of the rocket.

Solution
𝑎𝑎𝑛𝑛 = 9 cos 15𝑜𝑜 − 6 sin 15𝑜𝑜 = 7.14 𝑚𝑚⁄𝑠𝑠 2
𝑎𝑎𝑡𝑡 = 9 sin 15𝑜𝑜 + 6 cos 15𝑜𝑜 = 8.12 𝑚𝑚⁄𝑠𝑠 2

2
𝑣𝑣 2 �20(10)3 �
𝑎𝑎. �𝑎𝑎𝑛𝑛 = � 7.14 =
𝜌𝜌 𝜌𝜌×3.6
6
𝜌𝜌 = 4.32(10) 𝑚𝑚 𝐴𝐴𝐴𝐴𝐴𝐴.

𝑏𝑏. 𝐼𝐼𝐼𝐼 𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚 𝑎𝑎𝑡𝑡 𝑎𝑎𝑡𝑡 = 8.12 𝑚𝑚⁄𝑠𝑠 2 𝐴𝐴𝐴𝐴𝐴𝐴.

𝑐𝑐. �𝑣𝑣 = 𝜌𝜌𝛽𝛽̇ � 20(10)3 = 4.32(10)6 𝛽𝛽̇

𝛽𝛽̇ = 12.85(10)−4 𝑟𝑟𝑟𝑟𝑟𝑟⁄sec 𝐴𝐴𝐴𝐴𝐴𝐴.

𝑑𝑑. [𝑎𝑎⃗ = 𝑎𝑎𝑡𝑡 𝑒𝑒⃗𝑡𝑡 + 𝑎𝑎𝑛𝑛 𝑒𝑒⃗𝑛𝑛 ] 𝑎𝑎⃗ = 8.12𝑒𝑒⃗𝑡𝑡 + 7.14𝑒𝑒⃗𝑛𝑛 𝐴𝐴𝐴𝐴𝐴𝐴.

Ch. 2 26
Ch. 2 27
Ch. 2 28
 2/6 Polar Coordinates (r-𝜽𝜽)
The description particle is located by the radial distance r from a
fixed point and by an angular measurement 𝜃𝜃 to the radial line.

Polar coordinates is used when:

A motion is constrained through the control of a radial distance and
angular position. or: An unconstrained motion is observed by
measurements of radial distance and angular position.

Let a particle A traveling on a

curved path located by the polar
coordinates r and 𝜃𝜃 .

x-axis: an arbitrary fixed line can

be used as a reference for the
measurement of 𝜃𝜃 .

𝑒𝑒⃑𝑟𝑟 and 𝑒𝑒⃑𝜃𝜃 are unit vectors in the

positive r and 𝜃𝜃-direction
respectively.

𝑟𝑟⃑ = 𝑟𝑟𝑒𝑒⃑𝑟𝑟 𝑟𝑟⃑ 𝑖𝑖𝑖𝑖 𝑡𝑡ℎ𝑒𝑒 𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝 𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣 𝑜𝑜𝑜𝑜 𝑡𝑡ℎ𝑒𝑒 𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝 𝐴𝐴.

Time Derivatives of the Unit Vectors

During time dt, the coordinates r, 𝜃𝜃 rotate through d𝜃𝜃, the unit
vectors 𝑒𝑒⃑𝑟𝑟 and 𝑒𝑒⃑𝜃𝜃 also rotate through the same angle.
𝑒𝑒⃑𝑟𝑟 → 𝑒𝑒́⃑𝑟𝑟
𝑒𝑒⃑𝜃𝜃 → 𝑒𝑒́⃑𝜃𝜃

Note that:
𝑑𝑑𝑒𝑒⃑𝑟𝑟 𝑖𝑖𝑖𝑖 𝑡𝑡ℎ𝑒𝑒 + 𝜃𝜃 𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐
𝑑𝑑𝑒𝑒⃑𝜃𝜃 𝑖𝑖𝑖𝑖 𝑡𝑡ℎ𝑒𝑒 − 𝑟𝑟 𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑
𝑑𝑑𝑒𝑒⃑𝑟𝑟 = 𝑒𝑒⃑𝜃𝜃 𝑑𝑑𝑑𝑑 & 𝑑𝑑𝑒𝑒⃑𝜃𝜃 = − 𝑒𝑒⃑𝑟𝑟 𝑑𝑑𝑑𝑑
𝑑𝑑𝑒𝑒⃑𝑟𝑟 𝑑𝑑𝑒𝑒⃑𝜃𝜃
= 𝑒𝑒⃑𝜃𝜃 𝑎𝑎𝑎𝑎𝑎𝑎 = − 𝑒𝑒⃑𝑟𝑟
𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑
𝑑𝑑𝑒𝑒⃑𝑟𝑟 𝑑𝑑𝑑𝑑 𝑑𝑑𝑒𝑒⃑𝜃𝜃 𝑑𝑑𝑑𝑑
= 𝑒𝑒⃑𝜃𝜃 𝑎𝑎𝑎𝑎𝑎𝑎 =− 𝑒𝑒⃑
𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑 𝑟𝑟
𝑒𝑒̇⃑𝑟𝑟 = 𝜃𝜃̇ 𝑒𝑒⃑𝜃𝜃 𝑎𝑎𝑎𝑎𝑎𝑎 𝑒𝑒̇⃑𝜃𝜃 = −𝜃𝜃̇𝑒𝑒⃑𝑟𝑟 … … … 2/12

Velocity
𝑟𝑟⃑ = 𝑟𝑟𝑒𝑒⃑𝑟𝑟
𝑑𝑑𝑟𝑟⃑
𝑣𝑣⃑ = = 𝑟𝑟̇⃑ = 𝑟𝑟̇ 𝑒𝑒⃑𝑟𝑟 + 𝑟𝑟𝑒𝑒̇⃑𝑟𝑟
𝑣𝑣⃑ = 𝑟𝑟̇ 𝑒𝑒⃑𝑟𝑟 + 𝑟𝑟𝜃𝜃̇𝑒𝑒⃑𝜃𝜃 𝑑𝑑𝑑𝑑
....... 2/13 (scalr and vectors)
𝑣𝑣𝑟𝑟 = 𝑟𝑟̇ 𝑡𝑡ℎ𝑒𝑒 𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟 𝑎𝑎𝑎𝑎 𝑤𝑤𝑤𝑤𝑤𝑤ℎ 𝑡𝑡ℎ𝑒𝑒 𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣 𝑟𝑟⃑ 𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠ℎ𝑒𝑒𝑒𝑒.

Ch. 2 29
 𝑣𝑣𝜃𝜃 = 𝑟𝑟𝜃𝜃̇ 𝑑𝑑𝑑𝑑𝑑𝑑 𝑡𝑡𝑡𝑡 𝑡𝑡ℎ𝑒𝑒 𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟 𝑜𝑜𝑜𝑜 𝑟𝑟
𝑣𝑣 = �𝑣𝑣𝑟𝑟2 + 𝑣𝑣𝜃𝜃2
Acceleration
𝑑𝑑
𝑎𝑎⃑ = 𝑣𝑣⃑ = �𝑟𝑟̇ 𝑒𝑒⃑𝑟𝑟 + 𝑟𝑟𝜃𝜃̇𝑒𝑒⃑𝜃𝜃 � 𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟 𝑒𝑒̇⃑𝑟𝑟 = 𝜃𝜃̇𝑒𝑒⃑𝜃𝜃 𝑎𝑎𝑎𝑎𝑎𝑎 𝑒𝑒̇⃑𝜃𝜃 = −𝜃𝜃̇𝑒𝑒⃑𝑟𝑟
𝑑𝑑𝑑𝑑
= 𝑟𝑟̈ 𝑒𝑒⃑𝑟𝑟 + 𝑟𝑟̇ 𝑒𝑒⃑̇𝑟𝑟 + 𝑟𝑟̇ 𝜃𝜃̇𝑒𝑒⃑𝜃𝜃 + 𝑟𝑟𝜃𝜃̈𝑒𝑒⃑𝜃𝜃 + 𝑟𝑟𝜃𝜃̇𝑒𝑒⃑̇𝜃𝜃

𝑎𝑎⃑ = �𝑟𝑟̈ − 𝑟𝑟𝜃𝜃̇ 2 �𝑒𝑒⃑𝑟𝑟 + (𝑟𝑟𝜃𝜃̈ + 2𝑟𝑟̇ 𝜃𝜃̇)𝑒𝑒⃑𝜃𝜃 ............. 2/14

Where: 𝑎𝑎𝑟𝑟 = 𝑟𝑟̈ − 𝑟𝑟𝜃𝜃̇ 2 𝑎𝑎𝑎𝑎𝑎𝑎 𝑎𝑎𝜃𝜃 = 𝑟𝑟𝜃𝜃̈ + 2𝑟𝑟̇ 𝜃𝜃̇

𝑎𝑎 = �𝑎𝑎𝑟𝑟2 + 𝑎𝑎𝜃𝜃2

1 𝑑𝑑
We can write 𝑎𝑎𝜃𝜃 = 𝑟𝑟 𝑑𝑑𝑑𝑑
(𝑟𝑟̇ 𝜃𝜃̇)

Geometric Interpretation
Equation 2/14 can be best understood when the
geometry of the physical changes can be clearly
seen.

The components in r and 𝜃𝜃- direction undergoe

a change in magnitude and direction:

(a) Magnitude change of 𝑣𝑣⃑𝑟𝑟

𝑑𝑑𝑣𝑣𝑟𝑟 = 𝑑𝑑𝑟𝑟̇ → 𝑟𝑟̈ 𝑖𝑖𝑖𝑖 𝑡𝑡ℎ𝑒𝑒 𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝 𝑟𝑟 − 𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑
(b) Direction change of 𝑣𝑣⃑𝑟𝑟
𝑣𝑣𝑟𝑟 𝑑𝑑𝑑𝑑 = 𝑟𝑟̇ 𝑑𝑑𝜃𝜃 →
𝑟𝑟̇ 𝜃𝜃̇ 𝑖𝑖𝑖𝑖 𝑡𝑡ℎ𝑒𝑒 𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝 𝜃𝜃 − 𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑

(c) Magnitude change of 𝑣𝑣⃑𝜃𝜃

𝑑𝑑�𝑟𝑟𝜃𝜃̇��
𝑑𝑑�𝑟𝑟𝜃𝜃̇� = ̈
𝑑𝑑𝑑𝑑 → 𝑟𝑟𝜃𝜃 +
𝑟𝑟̇ 𝜃𝜃̇ 𝑖𝑖𝑖𝑖 𝑡𝑡ℎ𝑒𝑒 𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝 𝜃𝜃 − 𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑

(d) Direction change of 𝑣𝑣⃑𝜃𝜃 :

𝑣𝑣𝜃𝜃 𝑑𝑑𝑑𝑑 = 𝑟𝑟𝜃𝜃̇𝑑𝑑𝑑𝑑 → 𝑟𝑟𝜃𝜃̇ 𝑑𝑑𝑑𝑑�𝑑𝑑𝑑𝑑 =
𝑟𝑟𝜃𝜃̇ 2 𝑖𝑖𝑖𝑖 𝑡𝑡ℎ𝑒𝑒 𝑛𝑛𝑛𝑛𝑛𝑛𝑛𝑛𝑛𝑛𝑛𝑛𝑛𝑛𝑛𝑛 𝑟𝑟 − 𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑.
Collcting terms gives 𝑎𝑎𝑟𝑟 = 𝑟𝑟̈ − 𝑟𝑟𝜃𝜃̇ 2 𝑎𝑎𝑎𝑎𝑎𝑎 𝑎𝑎𝜃𝜃 = 𝑟𝑟𝜃𝜃̈ + 2𝑟𝑟̇ 𝜃𝜃̇

𝑟𝑟̈ is the acceleration which the particle would have along the radius
in the absence of a change in 𝜃𝜃.

Ch. 2 30
−𝑟𝑟𝜃𝜃̇ 2 is the normal component of acceleration if r were constant (as
in circular motion).

𝑟𝑟𝜃𝜃̈ is the tangential acceleration which the particle would have if r

were constant, but is only a part of the acceleration due to the
change in magnitude of 𝑣𝑣⃑𝜃𝜃 when r is variable.

2𝑟𝑟̇ 𝜃𝜃̇ is composed of two effects:

comes from that portion of the change
in magnitude 𝑑𝑑�𝑟𝑟𝜃𝜃̇ � of 𝑣𝑣𝜃𝜃 due to the
change in r.

comes from the change in direction of

𝑣𝑣⃑𝑟𝑟 .

The Difference between 𝑑𝑑𝑣𝑣⃑𝑟𝑟 and 𝑑𝑑𝑣𝑣𝑟𝑟 or

𝑑𝑑𝑣𝑣⃑𝜃𝜃 𝑎𝑎𝑎𝑎𝑎𝑎 𝑑𝑑𝑣𝑣𝜃𝜃
To obtain expressions for the
derivatives, divide by dt:

𝑑𝑑𝑣𝑣⃑𝑟𝑟 𝑑𝑑𝑣𝑣𝑟𝑟
𝑑𝑑𝑣𝑣⃑𝑟𝑟 → 𝑎𝑎𝑎𝑎𝑎𝑎 𝑑𝑑𝑣𝑣𝑟𝑟 →
𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑
𝑑𝑑𝑣𝑣�⃑
� 𝑑𝑑𝑑𝑑𝑟𝑟 � is the magnitude of the derivative.
𝑑𝑑𝑣𝑣𝑟𝑟 𝑑𝑑
is the derivative of the magnitude and they are different ( 𝑑𝑑𝑑𝑑 |𝑣𝑣⃑𝑟𝑟 |)
𝑑𝑑𝑑𝑑

Circular Motion
For motion in a circular path, r is constant
𝑣𝑣𝑟𝑟 = 𝑟𝑟̇ = 0 𝑎𝑎𝑟𝑟 = −𝑟𝑟𝜃𝜃̇ 2
𝑣𝑣𝜃𝜃 = 𝑟𝑟𝜃𝜃̇ 𝑎𝑎𝜃𝜃 = 𝑟𝑟𝜃𝜃̈
They are the same of that obtained for n and t component , 𝜃𝜃 and t
coincide, positive r is in the negative n-direction and 𝑎𝑎𝑟𝑟 = − 𝑎𝑎𝑛𝑛 .

𝑎𝑎𝑟𝑟 𝑎𝑎𝑎𝑎𝑎𝑎 𝑎𝑎𝜃𝜃 may be found directly by differentiation of the

coordinates relation.
𝑥𝑥 = 𝑟𝑟 𝑐𝑐𝑐𝑐𝑐𝑐 𝜃𝜃 𝑦𝑦 = 𝑟𝑟 𝑠𝑠𝑠𝑠𝑠𝑠 𝜃𝜃
𝑥𝑥̇ = 𝑦𝑦̇ =
𝑥𝑥̈ = 𝑎𝑎𝑥𝑥 = 𝑦𝑦̈ = 𝑎𝑎𝑦𝑦 =
𝑎𝑎𝑥𝑥 𝑎𝑎𝑎𝑎𝑎𝑎 𝑎𝑎𝑦𝑦 are resolved in r and 𝜃𝜃 direction which when combined
, will yield the expressions of eq. 2/14.

Problems 2/131 2/135 2/138 2/141 2/142 2/144 2/152 2/166

Ch. 2 31
Sample Problem 2/9 P71
Rotation of the radially slotted arm is governed by 𝜃𝜃 = 0.2𝑡𝑡 + 0.02 𝑡𝑡 3 ,
where 𝜃𝜃 is in radians and t is in seconds. Simultaneously, the power
screw in the arm engages the slider B and controls its distance from
O according to 𝑟𝑟 = 0.2 + 0.04 𝑡𝑡 2 , where r is in meters and t is in
seconds. Calculate the magnitude of the velocity and acceleration of
the slider for the instant when 𝑡𝑡 = 3 𝑠𝑠𝑠𝑠𝑠𝑠.

Given
𝜃𝜃 = 0.2𝑡𝑡 + 0.02 𝑡𝑡 3
𝑟𝑟 = 0.2 + 0.04 𝑡𝑡 2

Required
𝑣𝑣 =?
𝑎𝑎 =?

Solution
𝑟𝑟 = 0.2 + 0.04 𝑡𝑡 2 𝑟𝑟3 = 0.56 𝑚𝑚
𝜃𝜃 = 0.2𝑡𝑡 + 0.02 𝑡𝑡 3 𝜃𝜃3 = 1.14 𝑟𝑟𝑟𝑟𝑟𝑟
𝑟𝑟̇ = 0.08𝑡𝑡 𝑟𝑟̇3 = 0.24 𝑚𝑚⁄𝑠𝑠
̇𝜃𝜃 = 0.2 + 0.06 𝑡𝑡 2 𝜃𝜃̇3 = 0.74 𝑟𝑟𝑟𝑟𝑟𝑟⁄𝑠𝑠
𝑟𝑟̈ = 0.08 𝑟𝑟̈3 = 0.08 𝑚𝑚⁄𝑠𝑠 2
𝜃𝜃̈ = 0.012𝑡𝑡 𝜃𝜃̈3 = 0.36 𝑟𝑟𝑟𝑟𝑟𝑟⁄𝑠𝑠 2
𝑣𝑣𝑟𝑟 = 𝑟𝑟̇ 𝑣𝑣𝑟𝑟 = 0.24 𝑚𝑚⁄𝑠𝑠
𝑣𝑣𝜃𝜃 = 𝑟𝑟𝜃𝜃̇ 𝑣𝑣𝜃𝜃 = 0.56(0.74) = 0.414 𝑚𝑚⁄𝑠𝑠

𝑣𝑣 = �𝑣𝑣𝑟𝑟2 + 𝑣𝑣𝜃𝜃2
𝑣𝑣 = √0.242 + 0.4142 = 0.479 𝑚𝑚⁄𝑠𝑠 𝑨𝑨𝑨𝑨𝑨𝑨.

𝑎𝑎𝑟𝑟 = 𝑟𝑟̈ − 𝑟𝑟𝜃𝜃̇ 2

𝑎𝑎𝑟𝑟 = 0.08 − 0.56(0.74)2 = −0.227 𝑚𝑚⁄𝑠𝑠 2

𝑎𝑎𝜃𝜃 = 𝑟𝑟𝜃𝜃̈ + 2𝑟𝑟̇ 𝜃𝜃̇

𝑎𝑎𝜃𝜃 = 0.56(0.36) + 2(0.24)(0.74) =
0.557 𝑚𝑚⁄𝑠𝑠 2
𝑎𝑎 = �𝑎𝑎𝑟𝑟2 + 𝑎𝑎𝜃𝜃2

𝑎𝑎 = √−0.2272 + 0.5772
𝑎𝑎 = 0.601 𝑚𝑚⁄𝑠𝑠 2 𝑨𝑨𝑨𝑨𝑨𝑨.

Ch. 2 32
Sample Problem 2/10
A tracking radar lies in the vertical plane of the path of a rocket
which is coasting in unpowered flight above the atmosphere. For the
instant when 𝜃𝜃 = 30° , the tracking data give 𝑟𝑟 = 8(10)4 𝑚𝑚 , 𝑟𝑟̇ =
1200 𝑚𝑚⁄𝑠𝑠 , 𝑎𝑎𝑎𝑎𝑎𝑎 𝜃𝜃̇ = 0.8 °⁄𝑠𝑠 . The acceleration of the rocket is due only
to gravitational attraction and for its particular altitude is 9.20 𝑚𝑚⁄𝑠𝑠 2
vertically down. For the conditions determine the velocity 𝑣𝑣 of the
rocket and the values of 𝑟𝑟̈ 𝑎𝑎𝑎𝑎𝑎𝑎 𝜃𝜃̈.

Given 𝜃𝜃 = 30° 𝜃𝜃̇ = 0.8 𝑑𝑑𝑑𝑑𝑑𝑑⁄𝑠𝑠

4
𝑟𝑟 = 8(10) 𝑚𝑚 𝑔𝑔 = 9.20 𝑚𝑚⁄𝑠𝑠 2
𝑟𝑟̇ = 1200 𝑚𝑚⁄𝑠𝑠

Required
𝑣𝑣 =?
𝑟𝑟̈ =?
𝜃𝜃̈ =?

Solution
𝑣𝑣𝑟𝑟 = 𝑟𝑟̇ 𝑣𝑣𝑟𝑟 = 1200 𝑚𝑚⁄𝑠𝑠
𝑣𝑣𝜃𝜃 = 𝑟𝑟𝜃𝜃̇ 8(10)4 (0.8) π⁄180 = 1117 m⁄s

𝑣𝑣 = �𝑣𝑣𝑟𝑟2 + 𝑣𝑣𝜃𝜃2

𝑣𝑣 = �12002 + 11172
= 1639 𝑚𝑚⁄𝑠𝑠 𝑨𝑨𝑨𝑨𝑨𝑨.

The total acceleration of the

rocket is g

𝑎𝑎𝑟𝑟 = −9.20 cos 30 = −7.97 𝑚𝑚⁄𝑠𝑠 2

𝑎𝑎𝜃𝜃 = 9.20 sin 30 = 4.60 𝑚𝑚⁄𝑠𝑠 2

𝑎𝑎𝑟𝑟 = 𝑟𝑟̈ − 𝑟𝑟𝜃𝜃̇ 2

𝜋𝜋
−7.97 = 𝑟𝑟̈ − 8(10)4 (0.8 180 )2

𝑟𝑟̈ = 7.63 𝑚𝑚⁄𝑠𝑠 2 𝑨𝑨𝑨𝑨𝑨𝑨.

𝑎𝑎𝜃𝜃 = 𝑟𝑟𝜃𝜃̈ + 2𝑟𝑟̇ 𝜃𝜃̇

4.6 = 8(10)4 𝜃𝜃̈ + 2(1200)

𝜃𝜃̈ = −3.61(10)−4 𝑟𝑟𝑟𝑟𝑟𝑟⁄𝑠𝑠 2 𝑨𝑨𝑨𝑨𝑨𝑨.

Ch. 2 33
Ch. 2 34
Ch. 2 35
Ch. 2 36
 2/9 Constrained Motion of Connected Particles
The motions of particles are interrelated because of the constraints
imposed by interconnecting members.

One Degree of Freedom

Consider a system of two connected particles A and B.

The motion of B = The motion of the

center of its pulley

Establish position coordinates y and

x from a convenient fixed datum.

L: the total length of the cable.

𝜋𝜋𝜋𝜋
𝐿𝐿 = 𝑥𝑥 + 22 + 2𝑦𝑦 + 𝜋𝜋𝑟𝑟1 + 𝑏𝑏
0 = 𝑥𝑥̇ + 2𝑦𝑦̇

𝐿𝐿, 𝑟𝑟1 , 𝑟𝑟2 , 𝑎𝑎𝑎𝑎𝑎𝑎 𝑏𝑏 𝑎𝑎𝑎𝑎𝑎𝑎 𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐

0 = 𝑣𝑣𝐴𝐴 + 2𝑣𝑣𝐵𝐵
0 = 𝑥𝑥̈ + 2𝑦𝑦̈
0 = 𝑎𝑎𝐴𝐴 + 2𝑎𝑎𝐵𝐵

Of these constrained equations:

𝑣𝑣𝐴𝐴 has a sign opposite to 𝑣𝑣𝐵𝐵 and similarly for the accelerations.
𝑣𝑣𝐴𝐴 is positive to the left and 𝑣𝑣𝐵𝐵 is positive down.

The figure shown is enlarged view of the horizontal

diameter 𝐴𝐴́𝐵𝐵́ 𝐶𝐶́ of the lower pulley at an instant of
time.

The motion magnitude of 𝐴𝐴́ = 𝐴𝐴

The motion magnitude of 𝐵𝐵́ = 𝐵𝐵

During an infinitesimal motion of 𝐴𝐴́ , the movement of 𝐵𝐵́ = 1� 𝑜𝑜𝑜𝑜 𝐴𝐴́

2
(because C momentarily has no motion)

1 1
Differentiate: 𝑣𝑣𝐵𝐵 = 𝑣𝑣𝐴𝐴 𝑎𝑎𝑎𝑎𝑎𝑎 𝑎𝑎𝐵𝐵 = 𝑎𝑎𝐴𝐴
2 2

The system is one degree of freedom since only one variable either x
or y is needed to specify the positions of all parts of the system.

Ch. 2 43
Two Degrees of Freedom
The figure shows the system with two degrees of freedom:
The positions of the lower cylinder and pulley C depend on the
separate coordinates 𝑦𝑦𝐴𝐴 𝑎𝑎𝑎𝑎𝑎𝑎 𝑦𝑦𝐵𝐵 .

𝐿𝐿𝐴𝐴 = 𝑦𝑦𝐴𝐴 + 2𝑦𝑦𝐷𝐷 + 𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐.

𝐿𝐿𝐵𝐵 = 𝑦𝑦𝐵𝐵 + 𝑦𝑦𝐶𝐶 + 𝑦𝑦𝐶𝐶 − 𝑦𝑦𝐷𝐷 + 𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐.

0 = 𝑦𝑦̇𝐴𝐴 + 2𝑦𝑦̇ 𝐷𝐷 𝑎𝑎𝑎𝑎𝑎𝑎 0 = 𝑦𝑦̇ 𝐵𝐵 + 2𝑦𝑦̇ 𝐶𝐶 − 𝑦𝑦̇ 𝐷𝐷

0 = 𝑦𝑦̈𝐴𝐴 + 2𝑦𝑦̈ 𝐷𝐷 𝑎𝑎𝑎𝑎𝑎𝑎 0 = 𝑦𝑦̈ 𝐵𝐵 + 2𝑦𝑦̈ 𝐶𝐶 − 𝑦𝑦̈ 𝐷𝐷

𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸 𝑡𝑡ℎ𝑒𝑒 𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡 𝑖𝑖𝑖𝑖 𝑦𝑦̇ 𝐷𝐷 𝑎𝑎𝑎𝑎𝑎𝑎 𝑦𝑦̈ 𝐷𝐷 𝑔𝑔𝑔𝑔𝑔𝑔𝑔𝑔𝑔𝑔

𝑦𝑦̇𝐴𝐴 + 2𝑦𝑦̇ 𝐵𝐵 + 4𝑦𝑦̇ 𝐶𝐶 = 0 𝑜𝑜𝑜𝑜 𝑣𝑣𝐴𝐴 + 2𝑣𝑣𝐵𝐵 + 4𝑣𝑣𝐶𝐶 = 0

𝑦𝑦̈𝐴𝐴 + 2𝑦𝑦̈ 𝐵𝐵 + 4𝑦𝑦̈ 𝐶𝐶 𝑜𝑜𝑜𝑜 𝑎𝑎𝐴𝐴 + 2𝑎𝑎𝐵𝐵 + 4𝑎𝑎𝐶𝐶 = 0

Note : It is impossible for the signs of all

three terms to be positive simultaneously.
For example if both 𝑣𝑣𝐴𝐴 and 𝑣𝑣𝐵𝐵 have
downward velocity ( positive), then 𝑣𝑣𝐶𝐶
will have an upward (negative) velocity.

By Inspection
1. With 𝑦𝑦𝐵𝐵 held fixed:
𝑑𝑑𝑑𝑑
for an increment 𝑑𝑑𝑑𝑑𝐴𝐴 → 𝑑𝑑𝑑𝑑𝐷𝐷 = 2 𝐴𝐴
𝑑𝑑𝑑𝑑 𝐴𝐴
𝑑𝑑𝑑𝑑𝐶𝐶 = … … … (1)
4

2. With 𝑦𝑦𝐴𝐴 held fixed:

𝑑𝑑𝑑𝑑
for an increment 𝑑𝑑𝑑𝑑𝐵𝐵 → 𝑑𝑑𝑑𝑑𝐶𝐶 = 2𝐵𝐵 … … … … (2)
A combination of the two movements gives an upward movement:
𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑
− 𝑑𝑑𝑑𝑑𝐶𝐶 = 2𝐵𝐵 + 4 𝐴𝐴
𝑣𝑣𝐵𝐵 𝑣𝑣𝐴𝐴
So that −𝑣𝑣𝐶𝐶 = +
2 4

A second type of constraint: The direction of the connecting member

changes with the motion (Sample problem 2/16).

Problems 2/208 2/210 2/211 2/213 2/216 2/220 2/222

Ch. 2 44
Sample Problem 2/14
In the pulley configuration shown, cylinder A has a downward
velocity of 0.3 m/s. Determine the velocity of B. Solve in two ways.

Solution (1)
𝐿𝐿 = 3𝑦𝑦𝐵𝐵 + 2𝑦𝑦𝐴𝐴 + 𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐
Differentiation with time gives

0 = 3𝑦𝑦̇ 𝐵𝐵 + 2𝑦𝑦̇𝐴𝐴
Substitution

𝑣𝑣𝐴𝐴 = 𝑦𝑦̇𝐴𝐴 = 0.3 𝑚𝑚⁄𝑠𝑠 𝑎𝑎𝑎𝑎𝑎𝑎 𝑣𝑣𝐵𝐵 = 𝑦𝑦̇ 𝐵𝐵 𝑔𝑔𝑔𝑔𝑔𝑔𝑔𝑔𝑔𝑔

0 = 3(𝑣𝑣𝐵𝐵 ) + 2(0.3) 𝑜𝑜𝑜𝑜 𝑣𝑣𝐵𝐵 = −0.2 𝑚𝑚⁄𝑠𝑠 𝑨𝑨𝑨𝑨𝑨𝑨.

Solution (2)
During a differential movement 𝑑𝑑𝑑𝑑𝐴𝐴 of the
center of pulley A (downward)1

2𝑑𝑑𝑑𝑑𝐴𝐴 = 3𝑑𝑑𝑑𝑑𝐵𝐵

2
𝑑𝑑𝑑𝑑𝐵𝐵 = 3 𝑑𝑑𝑑𝑑𝐴𝐴

2
|𝑣𝑣𝐵𝐵 | = 𝑣𝑣𝐴𝐴
3

2
𝑣𝑣𝐵𝐵 = 3 (0.3)

𝑣𝑣𝐵𝐵 = 0.2 𝑚𝑚⁄𝑠𝑠 𝑨𝑨𝑨𝑨𝑨𝑨.

upward (According to Figure )

1. According to 𝑣𝑣𝐴𝐴 in question.

Ch. 2 45
Sample Problem 2/15
The tractor A is used to hoist the bale B with the pulley arrangement
shown. If A has a forward velocity 𝑣𝑣𝐴𝐴 , determine an expression for
the upward velocity 𝑣𝑣𝐵𝐵 of the bale in terms of x.

Solution
𝑥𝑥: The position of the tractor
𝑦𝑦: The position of the bale

𝐿𝐿 = 𝑙𝑙 + 2(ℎ − 𝑦𝑦)

𝐿𝐿 = √𝑥𝑥 2 + ℎ2 + 2(ℎ − 𝑦𝑦)

𝑥𝑥𝑥𝑥̇
0 = √𝑥𝑥 2 − 2𝑦𝑦̇
+ℎ 2

Substituting 𝑣𝑣𝐴𝐴 = 𝑥𝑥̇ & 𝑣𝑣𝐵𝐵 = 𝑦𝑦̇

1 𝑥𝑥𝑣𝑣
𝑦𝑦̇ = 2 √𝑥𝑥 2 𝐴𝐴
+ℎ 2

1 𝑥𝑥𝑣𝑣
𝑣𝑣𝐵𝐵 = 2 √𝑥𝑥 2 𝐴𝐴 𝑨𝑨𝑨𝑨𝑨𝑨.
+ℎ 2

Ch. 2 46
Ch. 2 47
Ch. 2 48
 CHAPTER THREE
KINETICS OF PARTICLES
Introduction
According to Newton's second law, a particle will accelerate when it is subjected
to unbalanced forces . Kinetics is the study of the relations between unbalanced
forces and the resulting changes in motion.

Kinetics of particles can be solved by three general approaches:

a) Direct application of Newton's second law (Force- mass - acceleration

method).
b) Work and energy principles.
c) Impulse and momentum methods.

Section A. Force , Mass, and Acceleration

3/2 Newton's Second Law
���⃑
𝐹𝐹 = 𝑚𝑚 𝑎𝑎⃑ … … … (3⁄1)
The verification of this equation is entirely experimental. The experiment
involves subjecting a mass particle to the action of a single force 𝐹𝐹⃑1 , and the
acceleration 𝑎𝑎⃑1 is measured in the primary inertial system. By repeating the
procedure with different forces, The followings were noticed:
𝐹𝐹 1 𝐹𝐹 2 𝐹𝐹
𝑎𝑎 1
= 𝑎𝑎 2
= … 𝑎𝑎
= 𝐶𝐶 C is constant.

1. C is the inertial of the particle (invariable) which is the resistance to rate of

change of velocity. Mass, m is a quantitative measure of inertia.
C = km , k is a constant accounting for the units used.
2. The acceleration is always in the direction of the applied force.
𝐹𝐹⃑ = 𝑘𝑘𝑘𝑘𝑎𝑎⃑ … … … 3⁄2
Inertial System
The results of the ideal experiment ( eq. 3/2 ) are obtained with respect to fixed
primary inertial system. The results are also valid for measurements made with
respect to any non-rotating reference systems which translates with a constant
velocity.
Eq. 3/2 may be applied with negligible error to experiments made on the surface
of the earth.

Ch. 3 1
System of Units
���⃑ = 𝑚𝑚 𝑎𝑎
𝐹𝐹 ���⃑
A system of units for which k is unity is known as a kinetic system.
In SI units, the units of force derived from the basic units of mass times
acceleration ( known as an absolute system ).
In US customary units, the units of mass (slugs) are derived from the units of
force (pounds force, lb) divided by acceleration (ft/sec2). This system is known
as a gravitational system.
𝑔𝑔 = 9.80665 𝑚𝑚/𝑠𝑠 2 ( Accepted measured value relative to the earth at sea level
and at a latitude of 45°) or 𝑔𝑔 = 32.174 𝑓𝑓𝑓𝑓/𝑠𝑠 2
g = 9.81 m/s2 or g = 32.2 ft/s2

Force and Mass Units

Consider the free -fall experiment as shown in the figure below:
In SI units, for a mass m = 1 kg, In US customary units, for a
the weight is W = 9.81 N and mass m = 1 lbm (1/32 slug), the
the corresponding downward weight is W = 1 lbf and the
acceleration 𝑎𝑎 is g = 9.81 m / s2 acceleration is g = 32.2 ft / s2

3/3 Equation of Motion and Solution of Problems

���⃑ = 𝑚𝑚 𝑎𝑎
∑ 𝐹𝐹 ���⃑ … … … 3⁄3
Equation 3/3 is usually called the equation of motion, ∑ ���⃑ 𝐹𝐹 = ���⃑
𝐹𝐹1 + ����⃑
𝐹𝐹2 + ����⃑
𝐹𝐹3 +
… … … , ���⃑
𝐹𝐹1 , ����⃑
𝐹𝐹2 , ����⃑
𝐹𝐹3 , … are concurrent forces and they are instantaneous values
corresponding to the instantaneous accelerations. To solve problems, eq. 3/3 is
Ch. 3 2
usually expressed in scalar components form with the use of one of the
following coordinates, 𝑥𝑥 − 𝑦𝑦 , 𝑛𝑛 − 𝑡𝑡 , 𝑟𝑟 − 𝜃𝜃 , … … …

Two Types of Dynamics Problems

1. The acceleration of the particle is specified or determined directly from
known kinematic conditions. Then the corresponding forces are determined by
direct substitution into Eq. 3/3 .
2. The forces are specified and the resulting motion must be determined.
If the forces are constant → a is constant and is easily found from Eq. 3/3
When the forces are functions of time , position ,or velocity Eq. 3/3 becomes a
differential equation and must be integrated.

Constrained and Unconstrained Motion

There are two physically distinct types of motion specified by Eq. 3/3 .
1. Unconstrained motion : The particle is free of mechanical guides. Air planes ,
rockets are examples of unconstrained motion.
2. Constrained motion :
a) Partially ; Ice hockey puck (constrained to move in the horizontal plane ).
b) Totally ; Train moving along its track, a collar sliding along a fixed shaft.

Free Body Diagram

All forces acting on the particle must be accounted for when force- mass
acceleration equations of motion are applied. The only reliable way is by
drawing the FBD . By which every force known or unknown is represented and
accounted for.

Steps of solutions:
1) Recognizing the known and unknown.
2) Drawing the FBD.
3) Indicate the coordinate axes and their positive directions.
4) Plan of attack. ( including choice of particular direction ).
5) Equations of motion.

3/4 Rectilinear Motion

In this article, we will analyze the motions of bodies which can be treated as
particles. This is possible as long as we are interested only in the motion of
the mass center of the body.

The forces should be concurrent through the mass center ( the action of non-
concurrent forces will be accounted for the kinetics of rigid bodies).
Ch. 3 3
 � 𝐹𝐹𝑥𝑥 = 𝑚𝑚 𝑎𝑎𝑥𝑥

� 𝐹𝐹𝑦𝑦 = 0
If x-direction ,for example, is chosen as the
direction of the rectilinear motion of a particle.
� 𝐹𝐹𝑧𝑧 = 0

� 𝐹𝐹𝑥𝑥 = 𝑚𝑚𝑎𝑎𝑥𝑥

� 𝐹𝐹𝑦𝑦 = 𝑚𝑚𝑎𝑎𝑦𝑦 If we are not free to choose a coordinate direction

along the direction of the motion.
� 𝐹𝐹𝑧𝑧 = 𝑚𝑚𝑎𝑎𝑧𝑧

𝑎𝑎 = �𝑎𝑎𝑥𝑥2 + 𝑎𝑎𝑦𝑦2 + 𝑎𝑎𝑧𝑧2

2
�⃑
∑ 𝐹𝐹⃑ = ∑ 𝐹𝐹𝑥𝑥 𝑖𝑖⃑ + ∑ 𝐹𝐹𝑦𝑦 𝑗𝑗⃑ + ∑ 𝐹𝐹𝑧𝑧 𝑘𝑘 �∑ 𝐹𝐹⃑ � = �(∑ 𝐹𝐹𝑥𝑥 )2 + �∑ 𝐹𝐹𝑦𝑦 � + (∑ 𝐹𝐹𝑧𝑧 )2
Problems 3/1 3/2 3/3 3/4 3/7 3/12 3/15 3/17 3/20 3/323

3/5 Curvilinear Motion

Equation 3/3 is rewriten in three ways :
 Rectangular coordinates.
∑ 𝐹𝐹𝑥𝑥 = 𝑚𝑚𝑎𝑎𝑥𝑥
3/6
∑ 𝐹𝐹𝑦𝑦 = 𝑚𝑚𝑎𝑎𝑦𝑦
Where 𝑎𝑎𝑥𝑥 = 𝑥𝑥̈ and 𝑎𝑎𝑦𝑦 = 𝑦𝑦̈
 Normal and tangential coordinates.
∑ 𝐹𝐹𝑛𝑛 = 𝑚𝑚𝑎𝑎𝑛𝑛
3/7
∑ 𝐹𝐹𝑡𝑡 = 𝑚𝑚𝑎𝑎𝑡𝑡

Where:
𝑣𝑣 2
𝑎𝑎𝑛𝑛 = = 𝜌𝜌𝛽𝛽 2̇ = 𝑣𝑣𝛽𝛽̇
𝜌𝜌
𝑎𝑎𝑡𝑡 = 𝑣𝑣̇ , 𝑣𝑣 = 𝜌𝜌𝛽𝛽̇

 Polar coordinates.
∑ 𝐹𝐹𝑟𝑟 = 𝑚𝑚𝑎𝑎𝑟𝑟
3/8
∑ 𝐹𝐹𝜃𝜃 = 𝑚𝑚𝑎𝑎𝜃𝜃

Where 𝑎𝑎𝑟𝑟 = 𝑟𝑟̈ − 𝑟𝑟𝜃𝜃 2̇ and 𝑎𝑎𝜃𝜃 = 𝑟𝑟𝜃𝜃̈ + 2𝑟𝑟̇ 𝜃𝜃̇

Problems 3/50 3/51 3/54 3/60 3/64 3/69 3/73 3/75 3/81 3/86
Ch. 3 4
Sample problem 3/1
A 75-kg man stands on a spring scale in an elevator. During the first
3 seconds of motion from rest, the tension T in the hoisting cable is
8300 N. Find the reading R of the scale in Newtons during this interval
and the upward velocity v of the elevator at the end of the 3 seconds.
The total mass of the elevator, man, and scale is 750 kg.

Given :
𝑚𝑚𝑚𝑚 = 75 𝑘𝑘𝑘𝑘 𝑡𝑡 = 1 𝑡𝑡𝑡𝑡 3 𝑠𝑠𝑠𝑠𝑠𝑠.
𝑇𝑇 = 8300 𝑁𝑁 (𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 3 𝑠𝑠𝑠𝑠𝑠𝑠. ) 𝑚𝑚𝑡𝑡 = 750 𝑘𝑘𝑘𝑘
Required
𝑅𝑅 =?
𝑣𝑣3 =?

Solution
𝐹𝐹𝐹𝐹𝐹𝐹𝐹𝐹 𝑡𝑡ℎ𝑒𝑒 𝐹𝐹𝐹𝐹𝐹𝐹 𝑜𝑜𝑜𝑜 𝑡𝑡ℎ𝑒𝑒 𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡

[∑ 𝐹𝐹𝑦𝑦 = 𝑚𝑚𝑎𝑎𝑦𝑦 ]

8300 − 750(9.81) = 750 𝑎𝑎𝑦𝑦

𝑎𝑎𝑦𝑦 = 1.257 𝑚𝑚⁄𝑠𝑠 2

𝐹𝐹𝐹𝐹𝐹𝐹𝐹𝐹 𝑡𝑡ℎ𝑒𝑒 𝐹𝐹𝐹𝐹𝐹𝐹 𝑜𝑜𝑜𝑜 𝑡𝑡ℎ𝑒𝑒 𝑚𝑚𝑚𝑚𝑚𝑚 𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎

𝑅𝑅 − 75(9.81) = 75(1.257)
𝑅𝑅 = 830 𝑁𝑁

𝑣𝑣 = 𝑣𝑣0 + 𝑎𝑎 𝑡𝑡
𝑣𝑣3 = 0 + 1.257(3) = 3.77 𝑚𝑚⁄𝑠𝑠 𝐴𝐴𝐴𝐴𝐴𝐴.

• As tension force (T) is constant , a becomes constant

• ay is the acceleration of man as well as of the total
• If the scale is calibrated to 830 / 9.81= 84.6 kg ≠ 75 kg
, because of the acceleartion.

Ch. 3 5
Sample problem 3/2
A small inspection car with a mass of 200-kg runs along the fixed
overhead cable and is controlled by the attached cable at A. Determine
the acceleration of the car when the control cable is horizontal and
under a tension T=2.4 kN. Also find the total force P exerted by the
supporting cable on the wheels.

Given :
𝑚𝑚 = 200 𝑘𝑘𝑘𝑘
𝑇𝑇 = 2400 𝑁𝑁
Required
𝑎𝑎 =? , 𝑃𝑃 =?

Solution
𝐹𝐹𝐹𝐹𝐹𝐹𝐹𝐹 𝑡𝑡ℎ𝑒𝑒 𝐹𝐹𝐹𝐹𝐹𝐹 𝑜𝑜𝑜𝑜 𝑡𝑡ℎ𝑒𝑒 𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡
[∑ 𝐹𝐹𝑦𝑦 = 0]
12 5
𝑃𝑃 − 200 (9.81) � � − 2400 � � = 0
13 13
𝑃𝑃 = 2.73 𝑘𝑘𝑘𝑘 𝐴𝐴𝐴𝐴𝐴𝐴.

[∑ 𝐹𝐹𝑥𝑥 = 𝑚𝑚𝑎𝑎𝑥𝑥 ]
12 5
2400 � � − 200(9.81) � � = 200 𝑎𝑎
13 13
𝑎𝑎 = 7.3 𝑚𝑚⁄𝑠𝑠 2 𝐴𝐴𝑛𝑛𝑛𝑛.

• All parts have been taken as one units and one acceleartion.
• There is no acceleration , ay so ∑Fy = 0
• Try to solve by choosing x and y as horizontal and vertical.

Ch. 3 6
Sample problem 3/3
The 125-kg concrete block A is released from rest in the position
shown and pulls the 200-kg log up the 30○ ramp. If the coefficient of
kinetic friction between the log and the ramp is 0.5, determine the
velocity of the block as it hits the ground at B.

Given :
mA = 125 kg v0 = 0 , m log = 200 kg
θ = 30° , µk = 0.5
Required
𝒗𝒗𝑩𝑩 =?

Solution
𝐿𝐿 = 2 𝑆𝑆𝑐𝑐 + 𝑆𝑆𝐴𝐴 + 𝐶𝐶
0 = 2 𝑆𝑆𝐶𝐶̇ + 𝑆𝑆𝐴𝐴̇
0 = 2 𝑎𝑎𝐶𝐶 + 𝑎𝑎𝐴𝐴 …. (1)

For the FBD of the pully C T (log ) = 2T (block)

For the FBD of the log
[ ∑ 𝐹𝐹𝑦𝑦 = 0] N – 200 (9.81) cos 30° = 0
N = 1699 N
[∑ 𝐹𝐹𝑥𝑥 = 𝑚𝑚𝑎𝑎𝑥𝑥 ] 0.5 (1699) + 200 (9.81) sin 30° - 2T = 200 aC

For the block [ ∑ 𝐹𝐹 = 𝑚𝑚𝑎𝑎 ↓+ ]

125 (9.81) – T = 125 aA ……. (3)

Solving the three equations (1), (2) and (3):

aA = 1.777 aC = - 0.888 T = 1004 N

𝑣𝑣 2 = 𝑣𝑣02 + 2 𝑎𝑎 ∆𝑆𝑆
𝑣𝑣𝐴𝐴 = �2 (1.777)(6)
𝑣𝑣𝐴𝐴 = 4.62 𝑚𝑚⁄𝑠𝑠 𝐴𝐴𝐴𝐴𝐴𝐴.

Ch. 3 7
Sample problem 3/4
The design model for a new ship has a mass of 10-kg and is tested in
an experimental towing tank to determine its resistance to motion
through the water at various speeds. The test results are plotted on
the accompanying graph, and the resistance R may be closely
approximated by the dashed parabolic curve shown. If the model is
released when it has a speed of 2 m/s, determine the time t required
for it to reduce its speed to 1 m/s and the corresponding travel
distance x.
Given : 𝑚𝑚 = 10 𝑘𝑘𝑘𝑘, 𝑣𝑣𝑜𝑜 = 2 𝑚𝑚⁄𝑠𝑠 , 𝑣𝑣 = 1 𝑚𝑚⁄𝑠𝑠
Required : 𝒕𝒕 =? 𝒙𝒙 =?

Solution
Approximate 𝑅𝑅 = 𝑘𝑘 𝑣𝑣 2
𝑎𝑎𝑎𝑎 𝑣𝑣 = 2 𝑎𝑎𝑎𝑎𝑎𝑎 𝑅𝑅 = 8
8 = 𝑘𝑘(2)2 𝑙𝑙𝑙𝑙𝑙𝑙𝑙𝑙 𝑡𝑡𝑡𝑡 𝑘𝑘 = 2
𝑅𝑅 = 2𝑣𝑣 2

∑ 𝐹𝐹𝑥𝑥 = 𝑚𝑚𝑎𝑎𝑥𝑥
−𝑅𝑅 = 10 𝑎𝑎𝑥𝑥
−2𝑣𝑣 2 = 10 𝑎𝑎𝑥𝑥 𝑎𝑎𝑥𝑥 = −0.2 𝑣𝑣 2
𝑑𝑑𝑑𝑑
𝑎𝑎 =
𝑑𝑑𝑑𝑑
𝑑𝑑𝑑𝑑 −1
= 𝑣𝑣 2
𝑑𝑑𝑑𝑑 5

t v dv 1 1
∫0 dt= -5 ∫2 v2 𝑡𝑡 = 5 ( − )
𝑣𝑣 2
𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠 𝑣𝑣 = 1 𝑙𝑙𝑙𝑙𝑙𝑙𝑙𝑙𝑙𝑙 𝑡𝑡𝑡𝑡 𝑡𝑡 = 2.5 sec 𝐴𝐴𝐴𝐴𝐴𝐴.
𝑑𝑑𝑑𝑑
𝑣𝑣 =
𝑑𝑑𝑑𝑑
𝑥𝑥 2.5 10
∫0 dx= ∫0 𝑑𝑑𝑑𝑑
5 + 2t
10
𝑥𝑥 = ln(5 + 2𝑡𝑡)
2
𝑥𝑥 = 3.47 𝑚𝑚 𝐴𝐴𝐴𝐴𝐴𝐴.

Suggestion : express x in terms of v

−1 2
𝑣𝑣 𝑑𝑑𝑑𝑑 = 𝑎𝑎 𝑑𝑑𝑑𝑑 𝑣𝑣 𝑑𝑑𝑑𝑑 = 𝑣𝑣 𝑑𝑑𝑑𝑑
5
𝑣𝑣 𝑑𝑑𝑑𝑑 𝑥𝑥
∫𝑣𝑣 −5 = ∫0 𝑑𝑑𝑑𝑑 𝑥𝑥 = −5 ln𝑣𝑣|𝑣𝑣𝑣𝑣0
0 𝑣𝑣
𝑣𝑣0
𝑥𝑥 = −5 (ln 𝑣𝑣 − ln 𝑣𝑣0 ) 𝑥𝑥 = 5 ln
𝑣𝑣
Ch. 3 8
Sample Problem 3/6
Determine the maximum speed 𝐯𝐯 which the sliding block may have as
it passes point A without lossing contact with the surface.

Solution
Loss of contact means 𝑁𝑁 = 0

From the FBD of the block [ ∑ 𝐹𝐹𝑛𝑛 = 𝑚𝑚 𝑎𝑎𝑛𝑛 ]

𝑣𝑣 2
𝑚𝑚𝑚𝑚 − 0 = 𝑚𝑚
𝜌𝜌
𝑣𝑣 = �𝑔𝑔𝑔𝑔 𝐴𝐴𝐴𝐴𝐴𝐴.

If 𝑣𝑣 < �𝑔𝑔𝑔𝑔 , 𝑡𝑡ℎ𝑒𝑒 𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓 𝑁𝑁 𝑒𝑒𝑒𝑒𝑒𝑒𝑒𝑒𝑒𝑒𝑒𝑒

𝐼𝐼𝐼𝐼 𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜 𝑓𝑓𝑓𝑓𝑓𝑓 𝑡𝑡ℎ𝑒𝑒 𝑏𝑏𝑏𝑏𝑏𝑏𝑏𝑏𝑏𝑏 𝑣𝑣 > �𝑔𝑔𝑔𝑔 ,
𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠 𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡 𝑜𝑜𝑜𝑜 𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐 𝑤𝑤𝑤𝑤𝑤𝑤𝑤𝑤𝑤𝑤 ℎ𝑎𝑎𝑎𝑎𝑎𝑎 𝑡𝑡𝑡𝑡 𝑏𝑏𝑏𝑏 𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑑𝑑 𝑡𝑡𝑡𝑡 𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝
𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎 𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓.

Ch. 3 9
Sample Problem 3/8
A 1500-kg car enters a section of curved road in the horizontal plane
and slows down at a uniform rate from a speed of 100 km/h at A to a
speed of 50 km/h as it passes at C. The radius of curvature 𝛒𝛒 of the
road at A is 400 m and at C is 80 m. Determine the total horizontal
force exerted by the road on the tires at positions A, B, and C. Point B is
the inflection point where the curvature changes direction.

Solution
𝑣𝑣𝑐𝑐2 = 𝑣𝑣𝐴𝐴2 + 2𝑎𝑎𝑡𝑡 ∆𝑠𝑠
(50⁄3.6)2 = (100⁄3.6)2 +
2 𝑎𝑎𝑡𝑡 (200)
𝑎𝑎𝑡𝑡 = −1.447 𝑚𝑚⁄𝑠𝑠 2

𝑣𝑣 2
[𝑎𝑎𝑛𝑛 = ]
𝜌𝜌
(100 ⁄3.6)2
𝐴𝐴𝐴𝐴 𝐴𝐴, 𝑎𝑎𝑛𝑛 = = 1.929 𝑚𝑚⁄𝑠𝑠 2
400
𝐴𝐴𝐴𝐴 𝐵𝐵, 𝑎𝑎𝑛𝑛 = 0
(50 ⁄3.6 )2
𝐴𝐴𝐴𝐴 𝐶𝐶, 𝑎𝑎𝑛𝑛 = = 2.41 𝑚𝑚⁄𝑠𝑠 2
80

[∑ 𝐹𝐹𝑡𝑡 = 𝑚𝑚 𝑎𝑎𝑡𝑡 ]
𝐹𝐹𝑡𝑡 = 1500(1.447) = 2170 𝑁𝑁
∑ 𝐹𝐹𝑛𝑛 = 𝑚𝑚 𝑎𝑎𝑛𝑛
𝐴𝐴𝐴𝐴 𝐴𝐴, 𝐹𝐹𝑛𝑛 = 1500(1.929) = 2890 𝑁𝑁
𝐴𝐴𝐴𝐴 𝐵𝐵, 𝐹𝐹𝑛𝑛 = 0
𝐴𝐴𝐴𝐴 𝐶𝐶, 𝐹𝐹𝑛𝑛 = 1500(2.41) = 3620 𝑁𝑁

𝐴𝐴𝐴𝐴 𝐴𝐴, 𝐹𝐹 = �𝐹𝐹𝑛𝑛2 + 𝐹𝐹𝑡𝑡2 = �(2890)2 + (2170)2 = 3620 𝑁𝑁 𝐴𝐴𝐴𝐴𝐴𝐴.

𝐴𝐴𝐴𝐴 𝐵𝐵, 𝐹𝐹 = 𝐹𝐹𝑡𝑡 = 2170 𝑁𝑁 𝐴𝐴𝐴𝐴𝐴𝐴.
𝐴𝐴𝐴𝐴 𝐶𝐶, 𝐹𝐹 = �𝐹𝐹𝑛𝑛2 + 𝐹𝐹𝑡𝑡2 = �(3620)2 + (2170)2 = 4220 𝑁𝑁 𝐴𝐴𝐴𝐴𝐴𝐴.
Ch. 3 10
Ch. 3 11
Ch. 3 12
Ch. 3 13
Ch. 3 14