‫وزاره التعليم العالي والبحث العلمي‬

‫جامعه كربالء‬
‫كليه الهندسه‬
‫قسم هندسه الميكانيك‬
‫الدراسه الصباحيه‬

‫‪Dynamics‬‬
‫‪Report of‬‬
‫‪Kinetics of particles curviliear Motion‬‬

‫االسم ‪:‬احمد هاشم حسين‬

‫المرحله ‪:‬الثانيه \المجموعه ‪A‬‬

‫استاذ الماده‪ :‬د‪ .‬باسم رحيم‬

‫السنه ‪2020-2019:‬‬

‫‪1‬‬
 Kinematics of Particles
II Curvilinear Motion
► Cartesian Coordinates
► Intrinsic Coordinates
► Polar Coordinates

)
 1 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
)
 Kinematic
General 
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 ... Acceleration 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?)

)
 Curvilinear Motion
1
(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.

1.1 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.

)
 Consider particle which occupies

position P defined by r at time t

and P’ defined by r  at t + t,

r ...displacement vector
s...curvilinear displacement

B Velocity Vector

The instantaneous velocity of the particle at

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

)
  
 r dr
v  lim  
t0 t dt
 instantaneous velocity (vector)
s
v  lim 
ds
t0 t dt
 instantaneous speed (scalar)

v is tangent to
the path

)
 C Acceleration Vector

Consider velocity v of particle at

time t and velocity  at t + t,
v



v  v


v

 
 v dv

a is not tangent a  lim  
t0 t dt
to the path
 instantaneous acceleration (vector)

)
 Finally

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

)
 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

2.2 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  vzk
j

The total velocity v is tangent to the path.
)
 ► 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  a z k a in concave side
 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
 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)
v y= ?

v x= ? Parabolic
vo Path
y(t)=?
α
O x

x(t)=? y..  g
x..  0
vy  vo sin  gt 3
vx  vo cos 1
1
x  vo cos t 2 y  vosin t  gt 2 4
 2
Eliminating t from (2)
g 
and (4) we get the path y  x tan   2 x 2
5 
2v o cos 2 
 ► 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

)
Example (1)

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

)
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 2
0  vo sin T  gT 
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
2v sin
 vo cos  o
g
vo2 sin2 
R 
g

)
 v 2 sin2 
R o
vo g

α > 45o The maximum rang

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

vo

α = 45o

Rmax v 2o
Rmax 
g

vo

α < 45o

)
 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
v osin 
t A B  …… (6)
g
substitute in 4; 
 vo sin   1  v sin  
2

H  v sin      o 
max o
 g  2  g 
v2o sin 2 
H max 
2g 

)
 



► 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:
v2  v2o  2g y Proof is recommended
y vD B

E
vo
D
vE
y
α x
C
O≡A