Chapter 1(cont.

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

1
 5 Curvilinear Motion

Particle moving along a curve other than a straight line is in

curvilinear motion. Indeed, in the shown photo, each plane
performs a space curvilinear motion. We are interest to
specify, completely, this motion and to determine the
kinematic quantities that define the motion
Prof. Imam Morgan (2)
Head of MCTR Department
 General  Kinematic
Objectives v Parameters
  
 r ... Position vector r  r t 
Path
!!
  
Repeated Slide  v ...Velocity vector v  v t 
tangent to the path
P    
a  a ... Accelerati on vector a  a t 
not tangent to the path


r
►How can we express each
vector at any time.
O
►How can derive the relation(s)
between them.
►The physical meaning of each
vector (why? and how?)

Prof. Imam Morgan (3)

Head of MCTR Department
 Curvilinear Motion
5
(General Discussion)
Curvilinear motion occurs when the particle moves along a curved path.
Since this path is often described in three dimensions, vector analysis
(mainly components) will be used to formulate the particle’s position,
velocity, and acceleration.

5.1 Position Vector, Velocity Vector, and Acceleration vector

A Position Vector

►Position vector of a particle at

time t is defined by a vector
between origin O of a fixed
reference frame and the
position occupied by particle.

Prof. Imam Morgan (4)

Head of MCTR Department
 Consider particle which occupies

position P defined by r at time t

and P’ defined by r  at t + Dt,

Dr ...displacement vector
Ds...curvilinear displacement

B Velocity Vector

The instantaneous velocity of the particle at

time t is obtained by considering that P’
approaches P.

So, Dr becomes shorter and shorter,
Hence, in the limit at t = 0 it tends to be in
tangent direction.

Prof. Imam Morgan (5)

Head of MCTR Department
  
 Dr dr
v  lim 
Dt 0 Dt dt
 instantaneous velocity (vector)

Ds ds
v  lim 
Dt 0 Dt dt
 instantaneous speed (scalar)

v is tangent to
the path

Prof. Imam Morgan (6)

Head of MCTR Department
 C Acceleration Vector


Consider velocity v of particle at

time t and velocity v  at t + Dt,



Dv v


v

 
  Dv dv
a is not tangen t a  lim 
Dt 0 Dt dt
to the path
 instantaneous acceleration (vector)

Prof. Imam Morgan (7)

Head of MCTR Department
 Finally


r ... position vector

v ... velocity vector

 dr
v
dt
tangent to the path
gives the direction of motion

a ... accelerati on vector

 dv
a
dt
not tangen t to the path (in concave side)
does not give the direction of motion

Prof. Imam Morgan (8)

Head of MCTR Department
 Now, we shall express each vector in terms of its components for different cases;
namely: 5.2 Rectangular Components
5.3 Tangential and Normal components

5.4 Radial and Transversal components

5.2 Rectangular Components

►In this case, the position vector of particle P is

given by its rectangular components,
   
r  xi  y j  zk

►Velocity vector,
 dx  dy  dz    
v  i  j  k  xi  y j  zk
dt dt dt
  
 vx i  v y j  vz k

The total velocity v is tangent to the path.
Prof. Imam Morgan (9)
Head of MCTR Department
 ►Acceleration vector,
 d 2 x d 2 y  d 2 z    
a  2 i  2 j  2 k  xi  y j  zk
dt dt dt
   
 ax i  a y j  az k a in concave side

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Head of MCTR Department
 Important application
Projectile
g = constant Motion
►An important application
of Cartesian coordinates is
that for study of motion
Projectile Vertical of a particle that moves in
Path Plane
a constant acceleration
field: (Projectile Motion)

P Reference ►Basic Assumptions:

Line ● g = constant (near
surface of the earth)
Firing (initial) ● Neglect air resistance
Velocity
● The projectile is
considered as a
particle.

Reference Plane
Prof. Imam Morgan (11)
Head of MCTR Department
 Basic Relations
y Given: vo ≡ initial velocity Required:
α ≡ inclination of vo Position ……… x (t) , y (t)
w.r.to horizontal Velocity ………vx (t) , vy (t)
Equation of the path y = y (x)
vy= ?

vx= ? Parabolic
vo Path
y(t)=?
α
O x

x(t)=? y ..   g
x ..  0
v y  vo sin  gt 3
vx  vo cos  1
1
x  vo cos  t 2 y  vo sin t  gt 2 4
2
Eliminating t from (2) g
and (4) we get the path y  x tan   x2 5
Prof. Imam Morgan
2vo2 cos  
2

(12)
Head of MCTR Department
 Important Note
►The equations (1) through (5) can be used to solve any projectile’s
motion if the following conditions are satisfied:
● The origin O is taken at the firing point.
● x-axis is horizontal (in direction of firing).
● y-axis is vertically upward.
y y

x
1 km x

4 km
y
y
α=0
x
x
α = -15o

Prof. Imam Morgan (13)

Head of MCTR Department
 Example (5)

For the shown projectile, find in terms of vo and α the following:

a- The time of flight from A to C.
b- The range R.
c- The maximum height Hmax

y B

vo
Hmax

α
O≡A C x

Prof. Imam Morgan (14)

Head of MCTR Department
 a- The time of flight from A to C. y B
vo
this time is denoted as T = tA→C .
α Hmax C
at C : y0 A
use equation 4 ; and substitute y  0 and t  T
x
R
1
0  vo sin T  gT 2
2
2v sin
T o
g

b- The range R.
you can use equation (2) by substituting x = R and t = T.
R  vo cos  T
2vo sin
 vo cos  
g
vo2 sin2 
R
g

Prof. Imam Morgan (15)

Head of MCTR Department
 vo2 sin 2 
R
vo g

α > 45o The maximum rang

Rmax is obtained when
α = 45o in condition
that vo is kept constant

vo

α = 45o

vo2
Rmax Rmax 
g

vo

α < 45o

Prof. Imam Morgan (16)

Head of MCTR Department
 y B Important
vo

α Hmax C The equations for T, R, and

A
x Hmax are valid only for this
R Figure.

c- The maximum height Hmax .

at B we have the condition that vy = 0
So, use equation (3) to get the time of flight from A to B.
0  vo sin   g t A B
vo sin 
t A B  …… (6)
g
substitute in 4 ;
 v sin   1  vo sin  
2

H max  vo sin    o   
 g  2 g 
vo2 sin 2 
H max 
2g
Prof. Imam Morgan (17)
Head of MCTR Department
 Important Note

►The projectile will have the same velocity, as it passes through the same
height y: vD= vE . Moreover, the velocity at y can be obtained from:
v 2  vo2  2 g y Proof is recommended
y vD B

E
vo
D
vE
y
α
C x

O≡A

Prof. Imam Morgan (18)

Head of MCTR Department
 Example (6)

A projectile is fired from the edge of a 150 m cliff with an initial velocity
vo = 180 m/s as shown.
a) Determine the horizontal distance (R) from A to C.
b) Calculate the time of flight from A to C.
c) Find the maximum height (hmax) above the lower horizontal plane.

y
vo= 180 m/s
α = 30o
B B
A A x
hmax hmax
C C

R R

Prof. Imam Morgan (19)

Head of MCTR Department
 a) Determine the horizontal distance (R) from A to C.
Use equation of the path 5, where at C : y
vo= 180 m/s
x  R and y  150 α = 30o
9.81
 150  R tan 30  R 2
B
2180 2 cos 30 2
A x
2.019  104 R2  0.577 R  150  0 hmax
R  3097 .7 m or , R  239 .8 m refused  C
 R  3097 .7 m ◄
R
b) Calculate the time of flight from A to C.
In equation 4  substitute y  150
1
 150  180 sin 30 T  9.81T 2
2
T 2  18.37T  30.6  0
T  19.91 sec or , T  1.54 sec refused 
 T  19.91 sec ◄
One can use eq. (2)
with x = 3097.7 m
Prof. Imam Morgan (20)
Head of MCTR Department
 c) Find the maximum height (hmax) above the lower horizontal plane.
at B : v y  0
The height H max above x  axis is obtained before :

 hmax  150 
180 2 sin 30 2
29.81
 150  413
 hmax  563 m ◄

y
vo= 180 m/s
α = 30o
B
A x
hmax
C

Prof. Imam Morgan (21)

Head of MCTR Department
 Example (7)

A projectile is fired with an initial

velocity of 800 ft/s at a target B
located 2000 ft above the gun A at
horizontal distance of 12000 ft.
Neglecting air resistance, determine
the value of the firing angle α.

Solution:
We can use directly equation of
the path:
g
y  x tan   x 2
2vo2 cos 2 

Where, at B:
x = 12000 ft, y = 2000 ft

Prof. Imam Morgan (22)

Head of MCTR Department
 32.2
2000  12000 tan   12000 2

2800  cos 2 
2

Knowing that: 1
 sec 2
  1  tan 2

cos 
2

then, 2000 = 12000 tan α – 3622.5 [ 1 + tan2α ]

3622.5 tan2α – 12000 tan α + 5622.5 = 0
tan α1 = 0.565 or, tan α2 = 2.748
α1 = 29.5o or, α2 = 70o
So, the target will be hit if either of these two firing
angles is used (two possible solutions)

Recommended:
Calculate the time of flight
from A to B in each angle.

Prof. Imam Morgan (23)

Head of MCTR Department
 5.3 Tangential and Normal Components or
(Intrinsic or,
Natural Coordinates)

This type of coordinates is used

whenever the path of the particle
is known (well defined).
Prof. Imam Morgan (24)
Head of MCTR Department
 Position

The position of the particle on the shown curved plane path is

defined by the curvilinear distance s covered by the particle
during time t.
s = s(t)
The reference point O is considered as a point on the path.

Plane Path
P
s(t)

Po O

Prof. Imam Morgan (25)

Head of MCTR Department
 Velocity

v
►Two unit vectors êt and ên P et
are attached to the particle:
s(t) en
● êt is tangent to the path
(pointing in direction of motion) ρ
● ên is normal to the path
(in concave side and pointing in ●
Po C
direction of center of curvature). O
►These vectors are perpendicular. C .... Center of curvature
ρ .... Radius of curvature (PC)
►The velocity vector is always
directed in tangent direction:

v  v êt

ds
where; v  s.
dt

Prof. Imam Morgan (26)

Head of MCTR Department
 Acceleration
at
P

 v2 
 dv
a ..
 
 s êt    ên s(t)
atot
dt 
an
tangential normal ρ
acceleration acceleration ●
( at ) ( an ) Po C
O

Tangent to the path. Always towards center

with or against v. of curvature.

dv
at   v .  s ..
dt atot  at2  an2 ....... alwaysside
In concave in concav
v2
an 

Proof will be discussed in slides 33,34.
Prof. Imam Morgan (27)
Head of MCTR Department
 Physical meaning
of at and an

Prof. Imam Morgan (28)

Head of MCTR Department
 ρ=∞
ρ2
v1

an1 an2

ρ1 v2

v2
an 


Prof. Imam Morgan (29)

Head of MCTR Department
 Remember !!!

y Path:
y = y(x)
A

ρ
ρ …. Radius of curvature C
C …. Center of curvature

From Mathematics: If the path of the particle is defined by

the function y = y(x), then, the radius of curvature ρ at certain
point A(x,y) is given by:


1  dy / dx 
2
3
2

d2y
dx 2

Prof. Imam Morgan

Head of MCTR Department (30)
 Special Case

Motion with constant tangential acceleration:

s at = const.
B
t
vB
vA

v B  v A  at t
t=0
1
A s  v A t  at t 2 Negative sign for
2
deceleration
v B2  v A2  2at s

Prof. Imam Morgan (31)

Head of MCTR Department
 Example (7)
vA=108 km/h
A motorist is traveling on curved section of
highway at 108 km/h. The motorist applies
brakes causing a constant deceleration rate.
Knowing that after 8 s the speed has been
reduced to 36 km/h, determine the acceleration
of the automobile immediately after the brakes
are applied. 750 m
For cons tan t deceleration :
v A  108 km / h v B  v A  at t at=2.5 m/s2
 30 m / s
10  30  at 8 a t  2 .5 m / s 2
vB  36 km / h
Then , at A :
 10 m / s
v A2 30 2
an    1 .2 m / s 2
 750 an=1.2 m/s2
a 2.52  1.22  2.78 m / s 2
  tan 1 
1.2 
  25.6
o

Prof. Imam Morgan  2.5  (32)

Head of MCTR Department
 Simple Proof

►Velocity vector of particle is tangent to path

of particle. In general, acceleration vector θ
is not. Aim: is to express the acceleration
vector in terms of tangential and normal
components.

eˆt  cos iˆ  sin  ˆj y

deˆt
  sin  iˆ  cos ˆj 
en
d 
ĵ et
but eˆn   sin  iˆ  cos ˆj θ

deˆt θ
  eˆn x
d iˆ

Therefore; differentiating of a rotating unit vector êt with respect to the angle of
rotation θ leads to another unit vector ên that is perpendicular to êt and in sense of
increasing of θ.
Prof. Imam Morgan
Head of MCTR Department (33)
 ►With the velocity expressed as vector v  v eˆt
the particle acceleration may be written as
  
 dv dv  det dv  det d ds
a  et  v  et  v
dt dt dt dt d ds dt
but 
det  ds
 en  d  ds v
d dt
After substituting,
 dv  v 2  dv v2
a  et  en at  an 
dt  dt 
►Tangential component of acceleration reflects
change of speed and normal component reflects
change of direction.
►Tangential component may be positive or
negative. Normal component always points
toward center of path curvature.

Prof. Imam Morgan (34)

Head of MCTR Department
 In case of Space Curvilinear Path

■ Relations for tangential and normal acceleration

also apply for particle moving along space curve.
 dv  v 2  dv v2
a  et  en at  an 
dt  dt 

■ Plane containing tangential and normal unit

vectors is called the osculating plane.
■ Normal to the osculating plane is found from
  
eb  et  en

en  principal normal

eb  binormal

■ Acceleration has no component along binormal.

Prof. Imam Morgan (35)

Head of MCTR Department
 5.4 Radial and Transversal Components or
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.
B moves along a
rod that rotates
about O
P moves inside a slot
cut-off a rocker

Prof. Imam Morgan (36)

Head of MCTR Department
 Position

The position of P is given by:

r = r (t) and θ = θ (t)

● r is measured from a specified

fixed point. (units m)
● θ is measured from horizontal
and it is positive in CCW direction
(units rad.)
Again, two perpendicular unit vectors Radial
are attached to the particle as shown. Transversal

They are:
êr ... directed outward along r .
ê ... directed perpendicular to r .
rotation of êr by 90 o CCW 
Prof. Imam Morgan (37)
Head of MCTR Department
 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

v  r  eˆr  r eˆ


 
a  r  r 2 eˆr  r  2r eˆ


radial velocity : vr  r radial accelerati on : ar  r  r 2

transversa l velocity : v  r transversa l accelerati on : a  r  2r

!!
Proof is highly ☺
The shown directions are the positive ones recommended
Prof. Imam Morgan (38)
Head of MCTR Department
 Polar Coordinates in case of Space
Curvilinear Path. (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

  
2      
 R  R eR  R  2 R e  z k

Prof. Imam Morgan (39)

Head of MCTR Department
 Example of Space Motion using Cylindrical Coordinates:

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

Prof. Imam Morgan (40)

Head of MCTR Department
 Example (8)

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. Imam Morgan (41)

Head of MCTR Department
 ►►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  0.561 rad 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. Imam Morgan (42)

Head of MCTR Department
 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. Imam Morgan (43)

Head of MCTR Department
 Report

Prob. (1)
A wire OA connects the collar A and a reel
located at O. Knowing that the collar
moves to the right at a constant speed vo,
determine  in terms of vo, b, and θ.

Prob. (2)
A rocket is fired vertically from a
launching pad at B. Its flight is tracked
by radar from point A. Determine the
velocity of the rocket in terms of b, θ,
and 

Prof. Imam Morgan (44)

Head of MCTR Department