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3 Curvilinear Motion
3 Curvilinear Motion
3 Curvilinear Motion
Let Pu be a vector function of scalar variable u,
dP P Pu u Pu
lim lim
du u 0 u u 0 u
Velocity vector,
dx dy dz
v i j k xi y j zk
dt dt dt
vx i v y j vz k
Rectangular Components of Velocity &
Acceleration.
Acceleration vector,
d 2 x d 2 y d 2 z
a 2 i 2 j 2 k xi y j zk
dt dt dt
ax i a y j az k
Example:
Exercise:
Exercise:
Projectile Motion
Rectangular Components of Velocity &
Acceleration:
Motion in horizontal direction is uniform.
v x v x 0 v y v y gt vz 0
0
x v x 0 t y v y y 12 gt 2 z0
0
Example:
Example:
Example:
Example:
Example:
Example:
Tangential and
Normal
Velocity vector of particle is tangent to
path of particle.
In general, acceleration vector is not.
express acceleration
vector in terms of
tangential and normal
components.
Velocity vector of particle is tangent to
path of particle.
et and et are tangential unit vectors for the
particle path at P and P. When drawn with
respect to the same origin, et et et and
is the angle between them.
et 2 sin 2
e t sin 2
lim lim en en
0 0 2
de
en t
d
Acceleration vector
With the velocity vector expressed as v vet
the particle acceleration may be written as
dv dv de dv de d ds
a et v et v
dt dt dt dt d ds dt
but
det ds
en d ds v
d dt
Acceleration vector
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.
11 - 42
ar r r 2
0.240 m s 2 0.481m 0.561rad s 2
0.391m s 2
a r 2r
0.481m 0.3 rad s 2 2 0.449 m s 0.561rad s
0.359 m s 2
a
a ar2 a2 tan 1
ar
a 0.531m s 42.6
11 - 43
Evaluate acceleration with respect to arm.
Motion of collar with respect to arm is rectilinear
and defined by coordinate r.
a B OA r 0.240 m s 2
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Effective Listening