King Fahd University of Petroleum & Minerals

King Fahd University of Petroleum
& Minerals
Mechanical Engineering
Dynamics ME 201
BY
Dr. Meyassar N. Al-Haddad
Lecture # 13

Rectangular Coordinates
=
=
=
z z
y y
x
ma F
ma F
ma F
x

+ + = + +
=
) k j i ( k j i
a F
z y x z y x
a a a m F F F
m
Normal and Tangential Coordinates

+ = + +
=
n t b b n n t t
m m F F F
m
a a u u u
a F
u
u u
/
/
2
=
= =
n
t
a
dt d a

=
=
=
0
t
b
n n
t
F
ma F
ma F
Cylindrical Coordinates

Resultant force components
causing a particle to move with a
known acceleration
=
=
=
z z
r r
ma F
ma F
ma F
u u

=

+
=
u u
u
u
r r a
r r a
r
2
2
z r
F F F , ,
u

+ + = + +
=
z z r r z z r r
ma ma ma F F F
m
u u u u u u
a F
u u u u
Polar Coordinates
Radial coordinate r
Transverse coordinate u
u and r are perpendicular
Theta u in radians
1 rad = 180
o
/t
Direction u
r
and u
u

Directions of Forces
Wight force mg vertical downward.
Normal force N perpendicular to the tangent
of path
Frictional force F
f
along the tangent in the
opposite direction of motion.
Acting force F
u
along u direction

N
u
F
u
r
mg
F
f
Free-Body Diagram
Select the object
Establish r, u coordinate system
Set a
r
always acts in the positive r direction
Assume a
u
acts in the positive q
Set W = mg always acts in a vertical directio
ndownward in vertical problem neglect we
ight in horizontal problem
Set the tangent line
Set normal force F
N
perpendicular to
tangent line
Set frictional force F
f
opposite to tangent
Set acting force F along u direction
Calculate the angle using

Calculate other angles
Apply
r
u
a
r
a
u
F
N
tangent
F
f
F
mg
u
d dr
r
/
tan =

=
=
u u
ma F
ma F
r r
(psi) angle
Establish r = f(u)
Example : r = 10t
2
and u = 0.5
t
r = 40u
2
From geometry

(Psi) is defined between the exten
ded radial line and the tangent to t
he curve.

Positive counterclockwise sense
or in the positive direction of u.
Negative opposite direction to
positive u.
u
u
d dr
r
/
tan =
r
2
u
u
u
csc 2
sin
2
= = r
) (u f r =
W = 2 Ib
Smooth horizontal
r = 10 t
2
ft u = 0.5t rad
F = ? Tangent force at t = 1 s.
Example 13-10
2 2
40 )
5 . 0
( 10 u
u
= = r
o
rad
04 . 14
25 . 0
) 2 ( 40
40
5 . 0
2
=
=
=
u
u
u
u u u
a N F ma F
a N F ma F
r r r
2 . 32
2
04 . 14 cos 04 . 14 sin
2 . 32
2
04 . 14 sin 04 . 14 cos
= + =
= =
2 2 2
/ 5 . 17 ) 5 . 0 ( 10 20 s ft r r a
r
= = = u

2
/ 20 ) 5 . 0 ( ) 20 ( 2 ) 0 ( 10 2 s ft r r a = + = + = u u
u

2
1
1
2
/ 20 / 20 20 10 10 s ft r s ft t r ft t r
s t
s t
= = = = =
=
=

0 / 5 . 0 5 . 0 5 . 0
1
= = = =
=
u u u

s rad rad t
s t
Ib N
Ib F
942 . 0
36 . 1
=
=
= =
u
d dr
r
/
tan
Problem
m=2 kg
Smooth horizontal
r = 0.4 u
P
tangent
= ?
N=?
At u = 45
o
u u u

4 . 0 4 . 0 4 . 0 = = = r r r
0 / 6
4
45 = = = = u u
t
u

s rad
o
0 / 4 . 2 1 . 0 = = = r s m r r t
= = =
2 2 2
/ 31 . 11 ) 6 ( ) 1 . 0 ( 0 s m r r a
r
t u

2
/ 8 . 28 ) 6 )( 4 . 2 ( 2 0 2 s m r r a = + = + = u u
u

o
d dr
r
15 . 38
4 4 . 0
4 . 0
/
tan = = = = =
t
u
u
u
= = ) 31 . 11 ( 2 15 . 38 sin 15 . 38 cos ; N P ma F
r r
= + = | ) 8 . 28 ( 2 15 . 38 cos 15 . 38 cos ; N P ma F
u u
N P N N 8 . 17 3 . 59 = =
P
N
r
u
Problem 13-89
Smooth
Horizontal
m = 0.5 kg
r = (0.5 u)
u = 0.5 t
2
rad
Applied force
Normal force
t = 2 s.
u
r
u u u

5 . 0 5 . 0 5 . 0 = = = r r r
1 5 . 0
2
= = = u u u

t t
2
2
/ 5 . 0 / 1 1
/ 1 / 2 6 . 114 2
sec 2
s m r s m r m r
s rad s rad rad
t at
o
= = =
= = = =
=

u u u
o
rad
d dr
r
43 . 63
5 . 0
5 . 0
/
tan
2
=
= =
=
u
u
u
2 2 2
/ 5 . 3 ) 2 ( 1 5 . 0 s ft r r a
r
= = = u

2
/ 5 ) 2 )( 1 ( 2 ) 1 ( 1 2 s ft r r a = + = + = u u
u

N F F ma F
N N N ma F
c c r r
62 . 1 ) 5 ( 5 . 0 43 . 63 cos 96 . 1
96 . 1 ) 5 . 3 ( 5 . 0 43 . 63 sin
= = + =
= = =
u u
(?) ,
/ 2
30
5 . 0
u
u
u
F N
s rad
vertical smooth
kg m
=
=
=
N
u F
u
r
mg
u
ma
r
ma
Problem
N a mg N F
N mg a N
s m r r a
s m r r a
r
r
44 . 7 5 . 0 30 cos 30 sin
72 . 3 ) 30 sin 5 . 0 (
cos
1
/ 667 . 2 2
/ 5396 . 1
2
2 2
= + + =
= + =
= + =
= =
u
u
u
u
u u
u

r
ma
N
u F
u
r
mg
u
ma
u
u u
u a mg N F ma F
a mg N ma F r
r
r
5 . 0 30 cos 30 sin
5 . 0 30 sin 30 cos
= =
= =
2
2 2 2 3
/ 8490 . 3 0
/ 6667 . 0 / 2
5774 . 0 30 sec 5 . 0 30
tan sec 5 . 0 sec 5 . 0 tan sec 5 . 0
tan sec 5 . 0 sec 5 . 0 5 . 0 cos
s m r
s m r s rad
m r At
r
r r r
= =
= =
= = =
+ + =
= = =

u
u
u
u u u u u u u u
u u u u u
Review
Example 13-11
Example 13-12

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