Curvilinear Motion: Normal

and Tangential Components

• Isra University
• Civil engineering department
• Engineering Dynamics
• Hashem Almashaqbeh
Normal and Tangential Components

• When a particle moves along a curved path, it is

sometimes convenient to describe its motion using
coordinates other than Cartesian (Rectangular).
• When the path of motion is known, normal(n) and
tangential(t) coordinates are often used.
• In the n-t coordinate system, the origin is located on the
particle (the origin moves with the particle).
• The t-axis is tangent to the path (curve) at the instant
considered, positive in the direction of the particle’s
motion.
• The n-axis is perpendicular to the t-axis with the positive
direction toward the center of curvature of the curve.
Normal and Tangential Components
Normal and 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, r, is defined as
the perpendicular distance from the curve
to the center of curvature at that point.
• The position of the particle at any instant
is defined by the distance, s, along the
curve from a fixed reference point.
Normal and Tangential coordinates (Velocity)

• Velocity vector is always

tangent to the path of
motion (t-direction). Here v
defines the magnitude of the
velocity (speed) and ut
defines the direction of the
velocity vector.
Normal and Tangential coordinates
(Acceleration)
• There are two components to the acceleration vector:
a = 𝑎 = 𝑎𝑡 𝑢𝑡 + 𝑎𝑛 𝑢𝑛
• The normal or centripetal component is always directed toward the
3
2
𝑣2 [1 + (𝑑𝑦/𝑑𝑥) ]2
center of curvature of the curve. 𝑎𝑛 = where 𝜌 =
𝑑𝑦2
𝜌 [ 2]
𝑑𝑥

• The magnitude of the acceleration vector is 𝑎= 𝑎𝑡2 + 𝑎𝑛2

 Curvilinear Motion: Normal and Tangential
Components
• The n-t coordinate system is fixed with the particle, therefore, movies
with the particle
• Velocity has only one components: 𝒗 = 𝑣𝒖𝑡
• at is the change in speed and an is the change in the direction of the
velocity, therefore:
3
2 2
𝑑𝒔 𝑑𝒗 𝑣2 [1 + (𝑑𝑦/𝑑𝑥) ]
𝒗= 𝒂𝒕 = 𝒂𝒕 𝑑𝑠 = 𝒗 𝑑𝑣 𝒂𝒏 = ,where: 𝜌 = if 𝑦 = 𝑓(𝑥)
𝑑𝑡 𝑑𝑡 𝜌 𝑑𝑦2
[ 2]
𝑑𝑥

The magnitude of v is The magnitude of a is

For constant
𝑣 = 𝑣𝑡 𝑎= 𝑎𝑡2 + 𝑎𝑛2 acceleration
 Procedure of Analysis
1. Coordinate System
• Provided the path of the particle is known, we can establish a set of n and t
coordinates having a fixed origin, which is coincident with the particle at the
instant considered
• The positive tangent axis acts in the direction of motion and the positive
normal axis is directed toward the path's center of curvature.
2. Velocity.
• The particle's velocity is always tangent to the path.
• The magnitude of velocity is found from the time derivative of the path
function.
𝑑𝒔
𝒗=
𝑑𝑡
 Procedure of Analysis
3. Tangential Acceleration.
• The tangential component of acceleration is the result of the time rate of
change in the magnitude of velocity. This component acts in the positive s
direction if the particle's speed is increasing or in the opposite direction if the
speed is decreasing.
• The relations between at, v, t and s are the same as for rectilinear motion,
namely, 𝑑𝒗
𝒂𝒕 = 𝒂𝒕 𝑑𝑠 = 𝒗 𝑑𝑣
𝑑𝑡
4. Normal Acceleration.
• The normal component of acceleration is the result of the time rate of change
in the direction of the velocity. This component is always directed toward the
center of curvature of the path, i.e., along the positive n axis.
• The magnitude of this component is determined from 𝑣2
𝒂𝒏 =
𝜌
 Example (1)

When the skier reaches point A along

the parabolic path in the Figure, he has a
speed of 6 m/s which is increasing at 2
m/s^2. Determine the direction of his
velocity and the direction and
magnitude of his acceleration at this
instant. Neglect the size of the skier in
the calculation.
Example (1) Cont….
 Example (2)

• A race car C travels around

the horizontal circular track
that has a radius of 300 ft. If
the car increases its speed at
a constant rate of 7 ft/S^2,
starting from rest, determine
the time needed for it to
reach an acceleration of 8
ft/S^2. What is its speed at
this instant?
Example (2)
Cont….
Example (3)
• The boxes in the figure travel along the
industrial conveyor. If a box starts from rest at
A and increases its speed such that at = (0.2t)
m/s^2 where t is in seconds, determine the
magnitude of its acceleration when it arrives at
point B.
Example (3) Cont..
Example (3) Cont..