KIG 2002: Dynamics

Lecture 3: Kinematic of Particles – Curvilinear Motion

3.1 Curvilinear Motion: Position, Velocity & Acceleration

• A particle moving along a curve other than a straight line is in curvilinear motion.

• 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 the particle.
 
• Consider a particle which occupies position P defined by r at time t and position P’ defined by r  at t + Δt,
 
 r dr
v = lim = => Instantaneous velocity (vector)
t →0 t dt
s ds
v = lim = => Instantaneous speed (scalar)
t →0 t dt

 
• Consider velocity v of particle at time t and velocity v at t + Δt,
 
 v dv
a = lim = => Instantaneous acceleration (vector)
t →0 t dt

• In general, acceleration vector is not tangential to particle path and velocity vector.

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3.2 Rectangular Components of Velocity and Acceleration

• When 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

• Acceleration vector,
 d 2x  d 2 y  d 2z    
a = 2 i + 2 j + 2 k = xi + y j + zk
dt dt dt
  
= ax i + a y j + az k
Projectiles

• Rectangular components particularly effective when component accelerations can be integrated independently,
e.g., motion of a projectile,
ax = x = 0 a y = y = − g az = z = 0

• Motion in horizontal direction is uniform.

• Motion in vertical direction is uniformly accelerated.
• Motion of projectile could be replaced by two independent rectilinear motions.

3.3 Motion Relative to a Frame in Translation

• Designate one frame as the fixed frame of reference. All other frames not rigidly attached to the fixed reference
frame are moving frames of reference.

• Vector rB A joining A and B defines the position of B with respect to the moving frame Ax’y’z’ and
  
rB = rA + rB A
• Differentiating twice,
  
vB = vA + vB A
  
a B = aA + aB A

• Absolute motion of B can be obtained by combining motion of A with relative motion of B with respect to moving
reference frame attached to A.

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3.4 Tangential and Normal Components

• Velocity vector of particle is tangent to path of particle. In general, acceleration vector is not. Now express
acceleration vector in terms of tangential and normal components.

 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.
• Relations for tangential and normal acceleration also apply for particle moving along space curve.
dv v2 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.

3.5 Sample Problem 11.10

A motorist is traveling on curved section of highway at 88 m/s. The motorist applies brakes causing a constant deceleration
rate. Knowing that after 8 s the speed has been reduced to 66 m/s, determine the acceleration of the automobile
immediately after the brakes are applied.

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Solution:

• Calculate tangential and normal components of acceleration.

v (66 − 88)
at = = = −2.75 m / s
t 8
v 2 (88)
2
an = = = 3.10 m / s 2
 2500

• Determine acceleration magnitude and direction with respect to tangent to curve.

a = at2 + an2 = (− 2.75)2 + 3.10 2
a = 4.14 m / s 2
a 3.10
 = tan −1 n = tan −1
at 2.75
 = 48.4

3.6 Radial and Transverse Components

• When particle position is given in polar coordinates, it is convenient to express velocity and acceleration with
components parallel and perpendicular to OP.

• The particle velocity vector is

d dr de dr d
v= ( rer ) = er + r r = er + r e
dt dt dt dt dt
= r er + r e

• Similarly, the particle acceleration vector is

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3.7 Sample Problem 11.12

Rotation of the arm about O is defined by Ɵ= 0.15t2 where Ɵ is in radians and t in seconds. Collar B slides along the arm
such that r = 0.9 - 0.12t2 where r is in meters. After the arm has rotated through 30o, determine
(a) The total velocity of the collar
(b) The total acceleration of the collar

• Evaluate time t for Ɵ = 30o.

• Evaluate radial and angular positions, and first and second derivatives at time t.

• Calculate velocity and acceleration.

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