ENGINEERING

DYNAMICS
MEC60604

LECTURE 03
 Lecture 2 Recap
CURVILINEAR MOTION COORDINATE SYSTEMS

1. Rectangular Components 3. Cylindrical Components

𝐫 = 𝑥𝐢 + 𝑦𝐣 + 𝑧𝐤 2. Normal & Tangential Components

𝐯 = 𝑥𝐢ሶ + 𝑦𝐣ሶ + 𝑧𝐤
ሶ
𝐯 = 𝑣𝑥 𝐢 + 𝑣𝑦 𝐣 + 𝑣𝑧 𝐤

𝑑𝐯
𝐚= = 𝑎𝑥 𝐢 + 𝑎𝑦 𝐣 + 𝑎𝑧 𝐤
𝑑𝑡

The direction of r, v, and a is defined

by the unit vector:

𝐮𝐫 = 𝐫/𝑟, 𝐮𝒗 = 𝐯/𝑣, 𝐮𝒂 = 𝐚/𝑎

 Lecture 2 Recap

Projectile Motion

Horizontal Vertical
• Since the positive y axis is directed
• 𝑎𝑥 = 0 and the velocity in the horizontal or 𝑥 – upward, then 𝑎𝑦 = −𝑔
direction is constant, 𝑣𝑥 = 𝑣0 𝑥
• Equation to use:

• Equation to use: 𝒙 = 𝒙𝑶 + 𝒗𝟎 𝒙 𝒕 𝒗𝒚 = 𝒗𝟎 − 𝒈𝒕
𝒚
𝟏
𝒚 = 𝒚𝒐 + 𝒗𝟎 𝒚 𝒕 − 𝒈𝒕𝟐
𝟐
𝟐 𝟐
𝒗 𝒚 = 𝒗𝟎 𝒚 − 𝟐𝒈(𝒚 − 𝒚𝟎 )
GENERAL CURVILINEAR MOTION

CURVILINEAR MOTION COORDINATE SYSTEMS

1. Rectangular Components 3. Cylindrical Components

2. Normal & Tangential Components

Table of Contents

01
NORMAL & TANGENTIAL 02
CYLINDRICAL
COMPONENTS COMPONENTS
 01

NORMAL & TANGENTIAL

COMPONENTS Objective:
To investigate curvilinear motion using normal & tangential components.
NORMAL & TANGENTIAL COMPONENTS
The position of the
particle at any
O instant is defined by
the distance, s
measured from O
O’ O’ is the centre of curvature
s

In the n-t coordinate

system, the origin is Path of motion
located on the particle
(the origin moves with
the particle).
NORMAL & TANGENTIAL COMPONENTS
As the boy swings upward with a
velocity v, his motion can be analyzed
using n–t coordinates.
y
As he rises, the magnitude of his velocity
x is changing, and acceleration as well.

How can we determine his velocity and acceleration at the bottom of

the arc?
Can we use different coordinates, such as x-y coordinates, to describe his
motion? Which coordinate system would be easier to use to describe his
motion? Why?
NORMAL & TANGENTIAL COMPONENTS

➢ The positive n and t directions are defined by

the unit vectors 𝒖𝒏 and, 𝒖𝒕 respectively.

➢ The center of curvature, O’, always lies on the

concave side of the curve.

➢ The radius of curvature, 𝜌 , is defined as the

perpendicular distance from the curve to the
center of curvature at that point.
 NORMAL & TANGENTIAL COMPONENTS
VELOCITY

➢ The velocity vector is always tangent to the

path of motion (t-direction).

➢ The magnitude is determined by taking the time derivative of the path function, s(t).
𝐯 = 𝑣𝒖𝒕 𝑤ℎ𝑒𝑟𝑒 𝑣 = 𝑠ሶ = 𝑑𝑠/𝑑𝑡

Here 𝑣 defines the magnitude of the velocity (speed) and 𝒖𝒕 defines the direction of the velocity vector.
NORMAL & TANGENTIAL COMPONENTS
ACCELERATION
➢ Acceleration is the time rate of change of velocity:

𝑑𝐯 𝑑 𝑣𝒖𝒕
𝐚= = ሶ 𝒕 + 𝑣 𝒖ሶ 𝒕
= 𝑣𝒖
𝑑𝑡 𝑑𝑡

➢ Here 𝑣ሶ represents the change in the magnitude of velocity and 𝑢ሶ 𝑡

represents the rate of change in the direction of 𝑢𝑡 .

➢ After mathematical manipulation, the acceleration vector can be expressed as:

𝑣2
𝐚 = 𝑣𝒖
ሶ 𝒕 + 𝒖𝒏 = 𝑎𝑡 𝒖𝒕 + 𝑎𝑛 𝒖𝒏
𝜌
NORMAL & TANGENTIAL COMPONENTS

𝑎𝑡

𝑎𝑛 𝑎𝑛
𝑎𝑛 𝑎𝑡

𝑎𝑡
 NORMAL & TANGENTIAL COMPONENTS
SUMMARY
➢ Velocity only have one direction
which is tangent to the path of
motion in t-direction

➢ Acceleration has two directions;

in n-direction and t-direction
NORMAL & TANGENTIAL COMPONENTS
➢ So, there are two components to the acceleration
vector:
𝐚 = 𝑎𝑡 𝒖𝒕 + 𝑎𝑛 𝒖𝒏

Tangential acceleration, 𝑎𝑡 Normal acceleration, 𝑎𝑛

• 𝑎𝑛 is the result of the time rate of change in
• Tangent to the curve and in the direction of the direction of the particle’s velocity
increasing or decreasing velocity.
• The normal or centripetal component is
• The relations between 𝑎𝑡 , 𝑣 and 𝑠 are similar as always directed toward the center of
for rectilinear motion curvature of the curve
𝑎𝑡 = 𝑣 and 𝑎𝑡 𝑑𝑠 = 𝑣𝑑𝑣 • The magnitude is 𝑎𝑛 = 𝑣 2 /𝜌
• If 𝑎𝑡 is constant, 𝑎𝑡 =𝑎𝑐 • If the path is expressed as y=f(x), the radius of
𝑣 = 𝑣0 + (𝑎𝑡 )𝑐 𝑡 curvature is
1 𝑑𝑦 2 3/2
𝑠 = 𝑠0 + 𝑣0 𝑡 + (𝑎𝑡 )𝑐 𝑡 2 1+( )
2 𝑑𝑥
𝜌=
𝑣 2 = 𝑣0 2 + 2(𝑎𝑡 )𝑐 𝑠 − 𝑠0 𝑑 2 𝑦/𝑑𝑥 2
 NORMAL & TANGENTIAL COMPONENTS
SPECIAL CASES OF MOTION
There are some special cases of motion to consider.

1) The particle moves along a straight line.

𝑣2
𝜌 → ∞ ⇒ 𝑎𝑛 = = 0 ⇒ 𝑎 = 𝑎𝑡 = 𝑣ሶ
𝜌
The tangential component represents the time rate of change in the
magnitude of the velocity.

2) The particle moves along a curve at constant speed.

𝑣2
𝑎𝑡 = 𝑣ሶ = 0 ⇒ 𝑎𝑛 =
𝜌

The normal component represents the time rate of change in the direction
of the velocity.
NORMAL & TANGENTIAL COMPONENTS
CENTRIPETAL FORCE
NORMAL & TANGENTIAL COMPONENTS
Example 1
Given: A car travels along the road with
a speed of v = (2s) m/s, where s
is in meters.
 = 50 m

Find: The magnitudes of the car’s

acceleration at s = 10 m.
NORMAL & TANGENTIAL COMPONENTS
Example 1 solution
NORMAL & TANGENTIAL COMPONENTS
Example 1 solution
 NORMAL & TANGENTIAL COMPONENTS
Example 2
When the skier reaches the point A along the parabolic path, y = (1/20)x2, he has a speed of 6
m/s which is increasing at 2 m/s2. Determine the direction of his velocity and the direction and
magnitude of this acceleration at this instant. Neglect the size of the skier in the calculation.
NORMAL & TANGENTIAL COMPONENTS
Example 2 solution
NORMAL & TANGENTIAL COMPONENTS
Example 2 solution
NORMAL & TANGENTIAL COMPONENTS
Example 2 solution
NORMAL & TANGENTIAL COMPONENTS
Example 2 solution
• Assignment Briefing
Lab Briefing
 02

CYLINDRICAL COMPONENTS
Objective:
To investigate curvilinear motion using cylindrical components.
CYLINDRICAL COMPONENTS
➢ In some problem, it is convenient to express the path of motion in term of cylindrical
coordinates, 𝑟, 𝜃, 𝑧.
CYLINDRICAL COMPONENTS

The cylindrical coordinate system can

be used to describe the motion of the
girl on the slide.

Here the radial coordinate is

constant, the transverse coordinate
increases with time as the girl rotates
about the vertical axis, and her
altitude, z, decreases with time.
 CYLINDRICAL COMPONENTS
➢ The transverse coordinate, 𝜃, is
➢ Note that the radial
perpendicular to radial component,
component’s direction, 𝒓,
positive in direction of increasing 𝜃
extends outward from the fixed
origin, O.

➢ The transverse coordinate, 𝜃, is measured counter-

clockwise (CCW) from the horizontal.

Cylindrical coordinates are particularly suitable for solving problems for which data regarding the
angular motion of the radial coordinate 𝒓 is given to describe the particle’s motion
CYLINDRICAL COMPONENTS
POSITION
➢ The position of the particle is defined by the position vector

𝒓 = 𝑟𝒖𝒓
CYLINDRICAL COMPONENTS
VELOCITY
➢ The velocity vector has two components:
✓ 𝑟ሶ called the radial component, and
✓ 𝑟𝜃ሶ is called the transverse component.

Therefore: 𝒗 = 𝑟𝒖 ሶ 𝜽 = 𝑣𝑟 𝒖𝒓 + 𝑣𝜃 𝒖𝜽
ሶ 𝒓 + 𝑟𝜃𝒖

➢ The magnitude is 𝑣 = 𝑣𝑟 2 + 𝑣𝜃 2
CYLINDRICAL COMPONENTS
ACCELERATION
➢ The instantaneous acceleration is defined as:
𝑑𝑣
𝐚 = = 𝑑(𝑟𝒖 ሶ 𝜽 )/𝑑𝑡
ሶ 𝒓 + 𝑟𝜃𝒖
𝑑𝑡

➢ By using the chain rule:

𝐚 = 𝑎𝑟 𝒖𝒓 + 𝑎𝜃 𝒖𝜽
where
𝑎𝑟 = 𝑟ሷ − 𝑟𝜃ሶ 2 (radial component)
𝑎𝜃 = 𝑟θሷ + 2𝑟ሶ 𝜃ሶ (transverse component)

➢ The magnitude is 𝑎 = 𝑎𝑟 2 + 𝑎𝜃 2
CYLINDRICAL COMPONENTS

Three dimensions

Position 𝒓 = 𝑟𝒖𝒓 + 𝑧𝒖𝒛

Velocity 𝒗 = 𝑟𝒖 ሶ 𝜽 + 𝑧𝒖
ሶ 𝒓 + 𝑟𝜃𝒖 ሶ 𝒛

Acceleration 𝐚 = 𝑟ሷ − 𝑟𝜃ሶ 2 𝒖𝒓 + 𝑟θሷ + 2𝑟ሶ 𝜃ሶ 𝒖𝜽 + 𝑧𝒖

ሷ 𝒛
CYLINDRICAL COMPONENTS
EXAMPLE 3

Given: The platform is rotating such that, at any instant, its

angular position is  = (4t3/2) rad, where t is in
seconds.
A ball rolls outward so that its position is r = (0.1t3) m.

Find: The magnitude of velocity and acceleration of the ball

when t = 1.5 s.
CYLINDRICAL COMPONENTS
EXAMPLE 3 SOLUTION
CYLINDRICAL COMPONENTS
EXAMPLE 3 SOLUTION
CYLINDRICAL COMPONENTS
EXAMPLE 3 SOLUTION
CYLINDRICAL COMPONENTS
EXAMPLE 4
CYLINDRICAL COMPONENTS
EXAMPLE 4 SOLUTION
CYLINDRICAL COMPONENTS
EXAMPLE 4 SOLUTION
THE END