Lecture (3)

Faculty of Engineering and Materials Science

MECHANICS II
(Dynamics)

Prof. Dr. E. I. Imam Morgan 4th MCTR, DPE,

Faculty of Engineering and Materials
MATS, and CIVIL
Science (EMS)
Mechatronics Department
[email protected]
C7.105
Prof. Dr. Imam Morgan
Former Dean EMS – MCTR Depart. (1)
 Part I
Dynamics of Particles
Ch. 1 …. Kinematics of a Particle (Rectilinear Motion)
Position
Motion determination
Multi connected particles and relative motions
Ch. 2 …. Kinematics of a Particle (Curvilinear Motion)
Position, velocity, and acceleration vectors in general forms
and their relations with respect to the path
Applications in different frames of references (2D and 3D)
Rectangular coordinates (2D and 3D)
Intrinsic Coordinates (Tangent and Normal)
Lect. (3) Polar Coordinates (Radial and Transversal)
Ch. 3 …. Kinetics of a Particle
● Accelerating Force
Ch. 4 …. Kinetics of a Particle
● Impulse and Momentum
● Energy Approach

Prof. Dr. Imam Morgan

Former Dean EMS – MCTR Depart. (2)
 Chapter 2… continue

Kinematics of Particles
II Curvilinear Motion
Cartesian Coordinates
Intrinsic Coordinates
Polar Coordinates

3
 or
3 Radial and Transversal Components
Polar Coordinates

In certain cases, it is convenient to

express the position of a particle P
that moves w. r. to a moving rigid
body by using Polar Coordinates.
B moves along a
rod that rotates
about O
P moves inside a slot
cut-off a rocker

Prof. Dr. Imam Morgan

Former Dean EMS – MCTR Depart. (4)
 Position

The position of P is given by:

r = r (t) and θ = θ (t) path

● r is measured from a specified

𝑒Ƹ𝜃
fixed point. (units m)
𝑒Ƹ𝑟
● θ is measured from horizontal
and it is positive in CCW direction
𝑟
(units rad.) 𝜃
𝑥
Again, two perpendicular unit vectors
are attached to the particle as shown.
They are:
êr ... directed outward along r . Radial direction
ê ... directed perpendicular to r . Transversal direction

rotation of êr by 90o CCW 

Prof. Dr. Imam Morgan
Former Dean EMS – MCTR Depart. (5)
 When particle position is given in polar coordinates, it is convenient to express
velocity and acceleration with components parallel and perpendicular to OP.

Velocity Acceleration

𝑣Ԧ = 𝑟ሶ 𝑒Ƹ𝑟 + 𝑟𝜃ሶ 𝑒Ƹ𝜃 𝑎Ԧ = 𝑟ሷ − 𝑟𝜃ሶ 2 𝑒Ƹ𝑟 + 𝑟𝜃ሷ + 2𝑟ሶ 𝜃ሶ 𝑒Ƹ𝜃

Radial Transversal Radial Transversal

component(vr) component(vθ) component(ar) component(aθ)

The shown directions

are the positive ones
Prof. Dr. Imam Morgan
Former Dean EMS – MCTR Depart. (6)
 Rate of Change
path
y of rotating unit vector 𝑒Ƹ𝜃
𝑒Ƹ𝜃
iˆ 𝑒Ƹ𝑟
θ 𝑒Ƹ𝑟
𝑟
θ 𝜃
x
iˆ
𝑥
𝑑 𝑒Ƹ𝑟
It is known that = 𝑒Ƹ𝜃
𝑑𝜃

𝑑 𝑒Ƹ𝑟 𝑑 𝑒Ƹ𝑟 𝑑𝜃 𝑑 𝑒Ƹ𝑟

Therefore, = = 𝜃ሶ 𝑒Ƹ𝜃
𝑑𝑡 𝑑𝜃 𝑑𝑡 𝑑𝑡
Therefore; Rate of change of a rotating unit vector 𝑒Ƹ𝑟 leads to another unit vector 𝑒Ƹ𝜃
that is perpendicular to 𝑒Ƹ𝑟 and in sense of increasing ofθ and multiplied by 𝜃.ሶ

𝑑 𝑒Ƹ𝜃
Similarly = −𝜃ሶ 𝑒Ƹ𝑟
𝑑𝑡
Prof. Dr. Imam Morgan
Former Dean EMS – MCTR Depart. (7)
 Radial and Transversal Components of 𝑣Ԧ and 𝑎Ԧ

 Velocity Components
𝑟Ԧ = 𝑟𝑒Ƹ𝑟
𝑑 𝑟Ԧ 𝑑 𝑒Ƹ𝑟
𝑣Ԧ = = 𝑟ሶ 𝑒Ƹ𝑟 + 𝑟 𝑣Ԧ = 𝑟ሶ 𝑒Ƹ𝑟 + 𝑟𝜃ሶ 𝑒Ƹ𝜃
𝑑𝑡 𝑑𝑡
 Acceleration Components

𝑑 𝑣Ԧ 𝑑
𝑎Ԧ = = 𝑟ሶ 𝑒Ƹ𝑟 + 𝑟𝜃ሶ 𝑒Ƹ𝜃
𝑑𝑡 𝑑𝑡
𝑑 𝑒Ƹ𝑟 𝑑 𝑒Ƹ𝜃
= 𝑟ሷ 𝑒Ƹ𝑟 + 𝑟ሶ ሶ ሷ
+ 𝑟ሶ 𝜃 + 𝑟𝜃 𝑒Ƹ𝜃 + 𝑟𝜃ሶ
𝑑𝑡 𝑑𝑡

= 𝑟ሷ 𝑒Ƹ𝑟 + 𝑟ሶ 𝜃ሶ 𝑒Ƹ𝜃 + 𝑟ሶ 𝜃ሶ + 𝑟𝜃ሷ 𝑒Ƹ𝜃 − 𝑟𝜃ሶ 2 𝑒Ƹ𝑟

𝑎Ԧ = 𝑟ሷ − 𝑟𝜃ሶ 2 𝑒Ƹ𝑟 + 𝑟𝜃ሷ + 2𝑟ሶ 𝜃ሶ 𝑒Ƹ𝜃

Prof. Dr. Imam Morgan

Former Dean EMS – MCTR Depart. (8)
 Example (3)

Rotation of the arm OA about O is defined by:

 = 0.15t 2 (rad., sec.).
Collar B slides along the arm such that
r = 0.9 - 0.12t 2 (m, sec.).
After the arm has rotated through 30o, determine;
a- the total velocity of the collar,
b- the total acceleration of the collar, and
c- the relative acceleration of the collar with
respect to the arm.

Solution:
►Evaluate time t for  = 30o.

  0.15 t 2
 30  0.524 rad t  1.869 s

Prof. Dr. Imam Morgan

Former Dean EMS – MCTR Depart. (9)
 ►►Evaluate radial and angular positions, and first and
second derivatives at time t.

r  0.9  0.12 t 2  0.481 m   0.15 t 2  0.524 rad

r  0.24 t  0.449 m s   0.30 t  0.561rad s
r  0.24 m s 2   0.30 rad s 2

a- Calculate the velocity

vr  r  0.449 m s
v  r  0.481 0.561   0.270 ms
v
v  vr2  v2   tan 1
vr
v  0.524 m s   31.0

Prof. Dr. Imam Morgan

Former Dean EMS – MCTR Depart. (10)
 b- Calculate the acceleration
ar  r  r 2
 0.240  0.4810.5612
 0.391 m s 2
a  r  2r
 0.481 0.3  2 0.4490.561
 0.359 m s2
a   42.6
a  ar2  a2   tan 1 a  0.531 m s
ar

c- Evaluate acceleration with respect to arm.

Motion of collar with respect to arm is
rectilinear and defined by :

a B OA  r  0.240 m s 2

Prof. Dr. Imam Morgan

Former Dean EMS – MCTR Depart. (11)
 Cartesian Intrinsic path Polar
Coordinates Coordinates Coordinates path
𝑦 path
𝑒Ƹ𝑛 𝑒Ƹ𝑡 𝑒Ƹ𝜃

𝑒Ƹ𝑟
𝑠 𝑟
𝑗Ƹ 𝑟Ԧ 𝑂ሖ
𝑂,, 𝜃
𝑂 𝑥 𝑥
𝑖Ƹ

path
𝑦 𝑒Ƹ𝜃
𝑒Ƹ𝑛 𝑒Ƹ𝑡
Motion in Plane 𝑒Ƹ𝑟
(2D)
𝑟Ԧ
𝑗Ƹ 𝑂ሖ
𝑠
𝜃
𝑂
𝑥
𝑖Ƹ
Prof. Dr. Imam Morgan
Former Dean EMS – MCTR Depart. (12)
 Example (4) Combinations of different coordinates

During a portion of vertical loop, an airplane flies in an arc of radius ρ = 600 m

with a constant speed v = 400 km/h. When the airplane is at A, the angle made by
𝑣Ԧ with the horizontal is β = 40o, and radar tracking gives r = 800 m and θ = 30o.
a) Determine the tangential and normal components of 𝑣Ԧ and 𝑎. Ԧ
b) Determine the rectangular components of 𝑣Ԧ and 𝑎. Ԧ
c) Determine the radial and transversal components of 𝑣Ԧ and 𝑎. Ԧ
d) Find the values of 𝑟,ሶ 𝜃,ሶ 𝜃.ሷ

an

Specify 𝑣Ԧ and 𝑎Ԧ
on the figure

Prof. Dr. Imam Morgan

Former Dean EMS – MCTR Depart. (13)
 The velocity is v = 400 km/h = 111.11 m/s
𝑣2
The acceleration is in normal direction 𝑎𝑛 = = 20.58 𝑚/𝑠 2
𝜌 30o
40o
a) Intrinsic components
an v
 The velocity is in tangent direction as
40o
shown.
 The acceleration has only one
component, that is an = 20.58 m/s2 as
shown
b) Rectangular components
 Velocity components
vx = v cos 40o = 85.12 m/s →
vy = v sin 40o = 71.42 m/s ↑

 Acceleration components
ax = − an sin 40o = − 13.23 m/s2 ←
ay = an cos 40o = 15.77 m/s2 ↑
Prof. Dr. Imam Morgan
Former Dean EMS – MCTR Depart. (14)
 vr
c) Polar components an v
40o
 The velocity v is resolved into
two components along and vθ 30o
perpendicular to r ;
vr = + v sin 70o = + 104.41 m/s
vθ = + v cos 70o = + 38.0 m/s
70o
an
v
aθ ar
 The acceleration an is resolved 40o

into two components along and

30o
perpendicular to r ;
ar = + an cos 70o = + 7.04 m/s2
aθ = − an sin 70o = − 19.34 m/s2

Prof. Dr. Imam Morgan

Former Dean EMS – MCTR Depart. (15)
 d) Radar Recordings 𝑟,ሶ 𝜃,ሶ and 𝜃ሷ
70o vr
 From velocity analysis;
an
vr = 𝑟ሶ = + 104.41 m/s v
vθ = 𝑟𝜃ሶ , + 38 = (800) 𝜃ሶ aθ ar 40o
𝜃ሶ = + 0.0475 rad/s
30o

 Also, aθ is given by; vθ

𝑎𝜃 = 𝑟𝜃ሷ + 2𝑟ሶ 𝜃ሶ
− 19.34 = (800)𝜃ሷ + 2 104.41 0.0475
𝜃ሷ = −0.037 rad/s2

Important Note
If 𝑟, 𝑟,ሶ 𝜃,ሶ 𝑎𝑛𝑑 𝜃ሷ are given, then the velocity and acceleration of
the airplane can be determined w. r. to the different frames.
Kindly try.

Prof. Dr. Imam Morgan

Former Dean EMS – MCTR Depart. (16)
 x, y, z ……Cartesian Motion in Space
Coordinates (3D)
Osculating Plane
t, n, b ……Intrinsic
Coordinates

r, θ, z … Cylinderical
Coordinates
If r is constant,
then the particle
will move on curve
lying on Cylinder

θ, ∅, R … Spherical
Coordinates
If R is constant,
then the particle
will move on curve
lying on sphere of
Radius R

𝑥
Prof. Dr. Imam Morgan
Former Dean EMS – MCTR Depart. (17)
 Combinations of different Motion in Space
coordinates in Space motion (3D) (3D)

Cartesian Coordinates (x, y, z)

Cylindrical Coordinates (r, θ, z)
Spherical Coordinates (θ, 𝜙, R)

Prof. Dr. Imam Morgan

Former Dean EMS – MCTR Depart. (18)
 Polar Coordinates in 3D (motion in space) are known
as the Cylindrical coordinates

● When particle position is given in cylindrical

coordinates, it is convenient to express the
velocity and acceleration
 vectors using the unit
 
vectors eR , e , and k .

● Position vector,
  
r  R e R z k

● Velocity vector,
 
 dr   
v  R eR  R e  z k

dt

● Acceleration vector,

 dv 
a
dt
     

 R  R eR  R  2R e  z k
2  

Prof. Dr. Imam Morgan

Former Dean EMS – MCTR Depart. (19)
 Example (5)
An aircraft P takes off at A with a velocity vo of 250 km/h and climbs in the
vertical 𝑦ư − 𝑧ư plane at the constant 15o angle with an acceleration along its
flight path of 0.8 m/s2. Flight progress is monitored by radar at point O.
(a) Resolve the velocity of P into cylindrical-coordinate components
60 seconds after takeoff and find 𝑟,ሶ 𝜃,ሶ and 𝑧ሶ for that instant.
(b) Resolve the velocity of the aircraft P into spherical-coordinate components
60 seconds after takeoff and find 𝑅,ሶ 𝜃,ሶ and 𝜙ሶ for that instant. (For try ☺)

Prof. Dr. Imam Morgan

Former Dean EMS – MCTR Depart. (20)
 Solution.
(a) The accompanying figure shows the velocity and acceleration vectors in the
y’ – z’ plane. The takeoff speed is vo = 250 km/h = 69.4 m/s

The speed at P, after 60 seconds is given as

v = vo + at = 69.4 + 0.8(60) = 117.4 m/s
and the distance s traveled after takeoff is
s = s0 + vot + (1/2) a t2 = 0 + 69.4(60) + (1/2) (0.8)(60)2
= 5610 m

The y coordinate and associated angle θ are;

d = 5610 cos 15o = 5420 m
5420
𝜃 = 𝑡𝑎𝑛−1 3000 = 61.0𝑜
Prof. Dr. Imam Morgan
Former Dean EMS – MCTR Depart. (21)
 Fig. (b)

d
Fig. (a)

Figure (b) represents the projection of v in x – y

plane. This projection is named as vxy .
We have; 𝑟 = 30002 + 54202 = 6190 𝑚
vxy = vy’ = v cos 15o = 117.4 cos 15o = 113.4 m/s
vr = 𝑟ሶ = vxy sin θ = 113.4 sin 61o = 99.2 m/s
vθ = 𝑟𝜃ሶ = vxy cos θ = 113.4 cos 61o = 55 m/s
55
So, 𝜃ሶ = 6190 = 8.88 10−3 rad/s
𝑧ሶ = 𝑣𝑧 = 𝑣 sin 15o = 30.4 m/s Cylindrical
Therefore, (Polar)
components

𝑣Ԧ = 𝑣𝑥 𝑖Ƹ + 𝑣𝑦 𝑗Ƹ + 𝑣𝑧 𝑘෠ Cartesian 𝑣Ԧ = 𝑣𝑟 𝑒Ƹ𝑟 + 𝑣𝜃 𝑒Ƹ𝜃 + 𝑣𝑧 𝑘෠

= 0 + 113.4𝑗Ƹ + 30.4𝑘෠ components = 99.2𝑒Ƹ𝑟 + 55𝑒Ƹ𝜃 + 30.4𝑘෠
Prof. Dr. Imam Morgan
Former Dean EMS – MCTR Depart. (22)
 End of
Lecture
Thank you: Imam Morgan

Prof. Dr. Imam Morgan

Former Dean EMS – MCTR Depart. (23)