Kinematics of Particles: Plane Curvilinear Motion

Rectangular Coordinates (x-y)

If all motion components are directly expressible
in terms of horizontal and vertical coordinates

Time derivatives of the unit

vectors are zero because their
magnitude and direction remains
constant.

Also, dy/dx = tan θ = vy /vx

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Kinematics of Particles: Plane Curvilinear Motion
Normal and Tangential Coordinates (n-t)
Determination of ėt:
 change in et during motion from A to A’
 The unit vector changes to e’t
The vector difference det is shown in the bottom figure.
• In the limit det has magnitude equal to length of
the arc │et│ dβ = dβ
• Direction of det is given by en
 We can write: det = en dβ 

Dividing by dt: det /dt = en (dβ/dt) en 

Substituting this and v = ρ dβ/dt = in equation for acceleration:

v2
an    2  v
Here: 
at  v  s

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Example (1) on normal and tangential coordinates

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Example (1) on normal and tangential coordinates

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Example (2) on normal and tangential coordinates

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Example (2) on normal and tangential coordinates

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Example (2) on normal and tangential coordinates

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Kinematics of Particles: Plane Curvilinear Motion
Polar Coordinates (r - θ)
The particle is located by the radial distance r from
a fixed point and by an angular measurement θ to
the radial line.
• θ is measured from an arbitrary reference axis
• er and eθ are unit vectors along +r & +θ dirns.

Location of particle at A: r = r er
By definition: v = dr/dt and a = d2r/dt2
Therefore we need: ėr and ėθ
During time dt, the coordinate directions rotate
through an angle dθ: er  e’r and eθ  e’θ
Vector change der is in the +ve θ direction
Vector change deθ is in the -ve r direction

As already seen in the previous section:

magnitudes of der and deθ in the limit are equal to
the unit vector (radius) times dθ 
der = eθ dθ and deθ = - er dθ
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Kinematics of Particles: Plane Curvilinear Motion
Polar Coordinates (r - θ)
der = eθ dθ and deθ = - er dθ
de r de
• Dividing by dθ   e  e r
d d
de r d de d
• Dividing by dt   e  e r
dt dt dt dt
 r   e
 e e    e r
Relations for Velocity:
Differentiating r = r er wrt time
Vector expression for velocity 
v  r  re r  re r  v  re r  r e
Magnitudes can be calculated as: vr  r The term dθ/dt is called
Angular Velocity (rad/s)
r
r-component of v is the rate at which
the vector r stretches. θ component of v  since it represents time
rate of change of angle
v is due to the rotation of r along the 2 θ
circumference of a circle having radius r. v vr  v
2

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Kinematics of Particles: Plane Curvilinear Motion
Polar Coordinates (r - θ)
Relations for Acceleration:
Differentiating the expression v  re r  r e wrt time
The derivative of the second term will produce three
terms since all three factors are variable.

a  v  re r  re r   r e  re  r e  
We know: e r   e e    e r
Vector expression for acceleration 
a  re r  r e  r e  re  r 2 e r
  
 a  r  r 2 e r  r  2r e 
Magnitudes can be calculated as:
ar  r  r 2 The term d2θ/dt2 is
called Angular Accln
θ-component can be
a
alternatively written as:  
r dt
 
1 d 2
r
a  r  2r

since it represents
change made in angular
a  a r2  a2 vel during an instant of
time (rad/s2)
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Kinematics of Particles: Plane Curvilinear Motion
Polar Coordinates (r - θ)
Geometric Interpretations of the equations
Top figure shows velocity vectors and their r- and θ- components
at positions A and A’ after an infinitesimal movement.
Changes in magnitudes and directions of these components are
shown in the bottom figure. Following are the changes:

(a) Magnitude change of vr :

= increase in length of vr or dvr  dr
 Accn term (in the + r-dirn): dr / dt  r
(b) Direction change of vr :
Magnitude of this change = vr d  rd
 Accn term (in the + θ-dirn): rd / dt  r
(c) Magnitude change of vθ :
= change in length of vθ or d (r)
 Accn term (in the + θ-dirn): d (r) / dt  r  r
(d) Direction change of vθ :
Magnitude of this change = v d  r d
 Accn term (in the - r-dirn): r (d / dt )  r 2
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Kinematics of Particles: Plane Curvilinear Motion
Polar Coordinates (r - θ)
Geometric Interpretations of the equations
Collecting terms gives same relations as obtained previously

ar  r  r 2
a  r  2r


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Kinematics of Particles: Plane Curvilinear Motion
Polar Coordinates (r - θ)
Circular Motion: For motion in a circular path, r is constant
 The components of velocity and acceleration become:
vr  r 
vr  0
v  r v  r
ar  r  r 2 ar  r 2

a  r  2r
 a  r

 Same as that obtained with n- and t-components, where the θ and t-directions
coincide but the +ve r-direction is along the –ve n-direction
 ar = -an for circular motion centered at the origin of the polar coordinates.
Further the expressions for ar and aθ can also be obtained using rectangular
coordinates x = rcosθ and y = rsinθ
 ax  x  and ay  y

these rectangular components can be resolved into r- and θ-components to get
the same expressions as obtained above.
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Example (1) on polar coordinates
Rotation of the radially slotted arm is governed by θ = 0.2t + 0.02t3.
Simultaneously, the power screw in the arm engages the slider B and controls its
distance from O according to r = 0.2 + 0.04t2. Calculate the magnitudes of the
velocity and acceleration of the slider for the instance when t = 3 s.
θ is in radians, r is in meters, and t is in seconds.

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Example (1) on polar coordinates

Solution:
Using the Polar Coordinates. v  r
r ar  r  r 2
Available Equations:
v  r a  r  2r


v  vr2  v2 a  a r2  a2

Obtaining the derivatives of r and θ at t = 3 s.

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Example (1) on polar coordinates

Solution:
Substituting in these eqns: vr  r ar  r  r 2
v  r a  r  2r


v  vr2  v2 a  a r2  a2

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Example (2) on polar coordinates

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Example (2) on polar coordinates

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Example (3) on polar coordinates

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Example (3) on polar coordinates

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Example (3) on polar coordinates

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