Lecture 2 Curvilinear Motion

CURVILINEAR
MOTION
ENGR. HEBER JOHN DE VERA
CHAPTER OBJECTIVES:
At the end of this topic, the student will be able to:
• Describe the motion of a particle traveling along a curved path.
• Relate kinematic quantities in terms of the rectangular
components of the vectors.
• Analyze the free-flight motion of a projectile.
GENERAL CURVILINEAR MOTION
Curvilinear motion occurs when a particle moves along a curved path. Since
this path is often described in three dimensions, vector analysis will be used to
formulate the particle’s position, velocity, and acceleration.
a. Position.
b. Displacement.
c. Velocity.
d. Acceleration.
Note that the velocity vector, v, is always tangent to the path of motion. A plot of the locus of points of the
velocity vector is called a hodograph. The acceleration vector is tangent to the hodograph , but not, in
general, tangent to the path function.
RECTANGULAR COMPONENTS
Occasionally the motion of a particle can best be described along a path that can be
expressed in terms of its x, y, z coordinates or rectangular components, relative to a fixed
frame of reference
Position. The position of the particle can be defined at any instant by the position vector
The x, y, z components may all be functions of time;
The magnitude of the position vector is: 𝟐 𝟐 𝟐
The direction r is defined by the unit vector ur = (r/r)

Velocity. The velocity vector is the time derivative of the position vector;
Since the unit vectors i, j, k are constant in magnitude and direction, this equation
reduces v = vxi + vyj + vzk.
𝟐 𝟐
The magnitude of the velocity vector is: 𝒙 𝒚
𝟐
𝒛
The direction of v is tangent to the path of motion.

Acceleration. The acceleration vector is the time derivative of the velocity vector;
𝟐 𝟐
The magnitude of the acceleration vector is: 𝒙 𝒚
𝟐
𝒛
The direction of a is specified by the unit vector ua= (a/a). Since a represents the time rate
of change in both the magnitude and direction of the velocity, in general a will not be
tangent to the path.
EXAMPLE 3:
At any instant, the horizontal position of the weather balloon is defined by
x = (8t) ft. where t is in seconds. If the equation of the path is y = x2/10,
determine the magnitude and direction of the velocity when t = 2 s.
EXAMPLE 3:
EXAMPLE 3:
EXAMPLE 3:
EXAMPLE 3:
MOTION OF A PROJECTILE
Projectile motion can be treated as two
rectilinear motions, one in the horizontal
direction experiencing zero acceleration and
the other in the vertical direction experiencing
constant acceleration (i.e., from gravity)
HORIZONTAL MOTION. Since ax = 0,
application of the constant acceleration
equations yields:
VERTICAL MOTION. Since the positive y axis
is directed upward, then ay = - g, application of
the constant acceleration equations yields:
EXAMPLE 4:
The water sprinkler, positioned at the base of a hill, releases a stream of water
with a velocity of 15 ft/s as shown. Determine the point B(x, y) where the water
strikes the ground on the hill. Assume that the hill is defined by the equation y =
(0.05x2) ft and neglect the size of the sprinkler.
EXAMPLE 4:
EXAMPLE 4:
EXAMPLE 4:
EXAMPLE 5:
A golf ball is struck with a velocity of 80 ft/s as shown. Determine the distance d
to where it will land.
EXAMPLE 5:
EXAMPLE 5:
EXAMPLE 5:
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. 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
(thus the origin and coordinate
system move 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
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.
VELOCITY IN THE n-t COORDINATE SYSTEM
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 = v ut where v = s = ds/dt
Here v defines the magnitude of the velocity (speed) and

ut defines the direction of the velocity vector.
ACCELERATION IN THE n-t COORDINATE SYSTEM
Acceleration is the time rate of change

. of
. velocity:
a = dv/dt = d(vut)/dt = vut + vut
.
Here v represents the change in
.
the magnitude of velocity and ut
represents the rate of change in
the direction of ut.
After mathematical manipulation,

the acceleration vector can be
expressed as:
.
a = v ut + (v2/r) un = at ut + an un.
ACCELERATION IN THE n-t COORDINATE SYSTEM
So, there are two components to the

acceleration vector:
a = a t ut + a n un
• The tangential component is tangent to the curve and in the

direction of. increasing or decreasing velocity.
at = v or at ds = v dv
• The normal or centripetal component is always directed
toward the center of curvature of the curve. an = v2/r
• The magnitude of the acceleration vector is
a=
SPECIAL CASES OF MOTION
There are some special cases of motion to consider.

1) The particle moves along a straight line.
.
r  => an = v /r = 0 => a = at = v
2
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.
at = v = 0 => a = an = v2/r
The normal component represents the time rate of change in the
direction of the velocity.
SPECIAL CASES OF MOTION
3) The tangential component of acceleration is constant, at = (at)c.

In this case,
s = so + vo t + (1/2) (at)c t2
v = vo + (at)c t
v2 = (vo)2 + 2 (at)c (s – so)
As before, so and vo are the initial position and velocity of the
particle at t = 0.
4) The particle moves along a path expressed as y = f(x).

The radius of curvature, r, at any point on the path can be
calculated from [ 1 + (dy/dx)2 ]3/2
r = ________________
d2y/dx 2
THREE-DIMENSIONAL MOTION
If a particle moves along a space curve,

the n-t axes are defined as before. At
any point, the t-axis is tangent to the
path and the n-axis points toward the
center of curvature. The plane
containing the n-t axes is called the
osculating plane.
A third axis can be defined, called the binomial axis, b. The

binomial unit vector, ub, is directed perpendicular to the osculating
plane, and its sense is defined by the cross product ub = ut × un.
There is no motion, thus no velocity or acceleration, in the

binomial direction.
EXAMPLE 6
Given: A car travels along the road

with a speed of v = (2s) m/s,
where s is in meters.
r = 50 m
Find: The magnitudes of the car’s
acceleration at s = 10 m.
EXAMPLE 6

r = 50 m
EXAMPLE 6

r = 50 m
EXAMPLE 6

r = 50 m
EXAMPLE 6

r = 50 m
EXAMPLE 6

r = 50 m
EXAMPLE 6

r = 50 m
EXAMPLE 7:
A boat is traveling along a circular path having a radius of 20 m. Determine the
magnitude of the boat’s acceleration when the speed is v = 5 m/s and the rate
of increase in the speed is 2 m/s2.
EXAMPLE 7:
EXAMPLE 7:
EXAMPLE 7:
CYLINDRICAL COMPONENTS
We can express the location of P in polar coordinates as r = r ur.

Note that the radial direction, r, extends outward from the fixed
origin, O, and the transverse coordinate, q, is measured counter-
clockwise (CCW) from the horizontal.
VELOCITY in POLAR COORDINATES
The instantaneous velocity is defined as:

v = dr/dt = d(rur)/dt
. dur
v = rur + r
dt
Using the chain rule:
dur/dt = (dur/dq)(dq/dt) .
We can prove that
. dur/d. q = uθ so dur/dt = quθ
Therefore: v = rur + rquθ
.
Thus, the velocity vector has two components:
. r,
called the radial component, and rq called the
transverse component. The speed of the particle
at any given instant is the sum of the squares of
both components or
. .
v= (r q ) + ( r )
2 2
ACCELERATION (POLAR COORDINATES)
The instantaneous acceleration is defined as:
. .
a = dv/dt = (d/dt)(rur + rquθ)
After manipulation, the acceleration can be
expressed as
.. . .. . .
a = (r – rq 2)ur + (rq + 2rq )uθ
.. .
The term (r – rq 2) is the radial acceleration
or ar .
.. . .
The term (rq + 2rq ) is the transverse
acceleration or aq .
.. . .. . .
The magnitude of acceleration is a = (r – rq 2)2 + (rq + 2rq ) 2
CYLINDRICAL COORDINATES
If the particle P moves along a space

curve, its position can be written as
rP = rur + zuz
Taking time derivatives and using
the chain rule:
. . .
Velocity: vP = rur + rquθ + zuz
.. . .. . . ..
Acceleration: aP = (r – rq 2)u r + (rq + 2rq )uθ + zuz
EXAMPLE 8
Given: The platform is rotating such

that, at any instant, its angular
position is q = (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.
EXAMPLE 8

t is in seconds.
EXAMPLE 8

t is in seconds.
EXAMPLE 8

t is in seconds.
EXAMPLE 8

t is in seconds.
EXAMPLE 8

t is in seconds.
EXAMPLE 8

t is in seconds.
EXAMPLE 8

t is in seconds.
EXAMPLE 8

t is in seconds.
EXAMPLE 8

t is in seconds.
EXAMPLE 8

t is in seconds.
EXAMPLE 8

t is in seconds.
ABSOLUTE
DEPENDENT AND
RELATIVE MOTION
ENGR. HEBER JOHN DE VERA
CHAPTER OBJECTIVES:
At the end of this topic, the student will be able to:
• Relate positions, velocities, and accelerations of particles
undergoing dependent motion.
• Understand translating frames of reference.
• Use translating frames of reference to analyze relative motion.
DEPENDENT MOTION
In many kinematics problems, the motion of one object will

depend on the motion of another object.
The blocks in this figure are

connected by an inextensible cord
wrapped around a pulley.
If block A moves downward along
the inclined plane, block B will
move up the other incline.
The motion of each block can be related mathematically by

defining position coordinates, sA and sB. Each coordinate axis is
defined from a fixed point or datum line, measured positive along
each plane in the direction of motion of each block.
DEPENDENT MOTION
In this example, position

coordinates sA and sB can be
defined from fixed datum lines
extending from the center of
the pulley along each incline
to blocks A and B.
If the cord has a fixed length, the position coordinates sA

and sB are related mathematically by the equation
sA + lCD + sB = lT
Here lT is the total cord length and lCD is the length of cord
passing over the arc CD on the pulley.
DEPENDENT MOTION
The velocities of blocks A and B

can be related by differentiating
the position equation. Note that
lCD and lT remain constant, so
dlCD/dt = dlT/dt = 0
dsA/dt + dsB/dt = 0  vB = -vA

The negative sign indicates that as A moves down the incline
(positive sA direction), B moves up the incline (negative sB
direction).
Accelerations can be found by differentiating the velocity
expression.
DEPENDENT MOTION
Consider a more complicated

example. Position coordinates (sA
and sB) are defined from fixed
datum lines, measured along the
direction of motion of each block.
Note that sB is only defined to the

center of the pulley above block
B, since this block moves with the
pulley. Also, h is a constant.
The red-colored segments of the cord remain constant in length

during motion of the blocks.
DEPENDENT MOTION
The position coordinates are related by

the equation
2sB + h + sA = lT
Where lT is the total cord length minus
the lengths of the red segments.
Since lT and h remain constant

during the motion, the velocities and
accelerations can be related by two
successive time derivatives:
2vB = -vA and 2aB = -aA
When block B moves downward (+sB), block A moves to the left

(-sA). Remember to be consistent with your sign convention!
DEPENDENT MOTION
This example can also be worked

by defining the position coordinate
for B (sB) from the bottom pulley
instead of the top pulley.
The position, velocity, and

acceleration relations then become
2(h – sB) + h + sA = lT
and 2vB = vA 2aB = aA
Prove to yourself that the results are the same, even if the sign
conventions are different than the previous formulation.
DEPENDENT MOTION: PROCEDURES
These procedures can be used to relate the dependent motion of
particles moving along rectilinear paths (only the magnitudes of
velocity and acceleration change, not their line of direction).
1. Define position coordinates from fixed datum lines,
along the path of each particle. Different datum lines can
be used for each particle.
2. Relate the position coordinates to the cord length.
Segments of cord that do not change in length during the
motion may be left out.
3. If a system contains more than one cord, relate the
position of a point on one cord to a point on another
cord. Separate equations are written for each cord.
4. Differentiate the position coordinate equation(s) to relate
velocities and accelerations. Keep track of signs!
EXAMPLE 3
Given:In this pulley system, block A is

moving downward with a speed
of 6 ft/s while block C is
moving down at 18 ft/s.
Find: The speed of block B.
EXAMPLE 3

EXAMPLE 3

EXAMPLE 3

EXAMPLE 3

EXAMPLE 3

RELATIVE POSITION
The absolute positions of two

particles A and B with respect to
the fixed x, y, z-reference frame are
given by rA and rB. The position of
B relative to A is represented by
rB/A = rB – rA
Therefore, if rB = (10 i + 2 j ) m
and rA = (4 i + 5 j ) m,
then rB/A = rB – rA = (6 i – 3 j ) m.
RELATIVE VELOCITY
To determine the relative velocity of B

with respect to A, the time derivative of
the relative position equation is taken.
vB/A = vB – vA
or
vB = vA + vB/A
In these equations, vB and vA are called absolute velocities

and vB/A is the relative velocity of B with respect to A.
Note that vB/A = - vA/B .

RELATIVE ACCELERATION
The time derivative of the relative

velocity equation yields a similar
vector relationship between the
absolute and relative accelerations
of particles A and B.
These derivatives yield: aB/A = aB – aA

or
aB = aA + aB/A
SOLVING PROBLEMS
Since the relative motion equations are vector equations,

problems involving them may be solved in one of two ways.
For instance, the velocity vectors in vB = vA + vB/A could be
written as two dimensional (2-D) Cartesian vectors and the
resulting 2-D scalar component equations solved for up to
two unknowns.
Alternatively, vector problems can be solved “graphically” by
use of trigonometry. This approach usually makes use of the
law of sines or the law of cosines.
LAWS OF SINES AND COSINES
C Since vector addition or subtraction forms

b a triangle, sine and cosine laws can be
a applied to solve for relative or absolute
velocities and accelerations. As a review,
A
B their formulations are provided below.
c
a b c
Law of Sines: = =
sin A sin B sin C
Law of Cosines: a2 = b 2 + c 2 - 2 bc cos A
b2 = a2 + c 2 - 2 ac cos B
c2 = a 2 + b
2 -
2 ab cos C
EXAMPLE 4
Given: Two aircraft as shown.

vA = 650 km/h
vB = 800 km/h
Find: vB/A
EXAMPLE 4

vA = 650 km/h
vB = 800 km/h
Find: vB/A
EXAMPLE 4

vA = 650 km/h
vB = 800 km/h
Find: vB/A
EXAMPLE 4

vA = 650 km/h
vB = 800 km/h
Find: vB/A
EXAMPLE 4

vA = 650 km/h
vB = 800 km/h
Find: vB/A
EXAMPLE 4

vA = 650 km/h
vB = 800 km/h
Find: vB/A
EXAMPLE 4

vA = 650 km/h
vB = 800 km/h
Find: vB/A
EXAMPLE 4

vA = 650 km/h
vB = 800 km/h
Find: vB/A
Engr. Heber John de Vera
09178370439
hjdevera.ce@tip.edu.ph
Contact hours: 11:00AM –

05:00PM (T-Th-S)

Lecture 2 Curvilinear Motion

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CURVILINEAR

The x, y, z components may all be functions of time;

The magnitude of the position vector is: 𝟐 𝟐 𝟐

The direction r is defined by the unit vector ur = (r/r)

The direction of v is tangent to the path of motion.

When a particle moves along a curved path, it is sometimes convenient

In the n-t coordinate system, the

The t-axis is tangent to the path (curve) at the instant considered,

The positive n and t directions are

The center of curvature, O’, always

The position of the particle at any

The velocity vector is always

The magnitude is determined by taking the time derivative of

Here v defines the magnitude of the velocity (speed) and

Acceleration is the time rate of change

After mathematical manipulation,

So, there are two components to the

• The tangential component is tangent to the curve and in the

There are some special cases of motion to consider.

The tangential component represents the time rate of change in

3) The tangential component of acceleration is constant, at = (at)c.

4) The particle moves along a path expressed as y = f(x).

If a particle moves along a space curve,

A third axis can be defined, called the binomial axis, b. The

There is no motion, thus no velocity or acceleration, in the

Given: A car travels along the road

Given: A car travels along the road

Given: A car travels along the road

Given: A car travels along the road

Given: A car travels along the road

Given: A car travels along the road

Given: A car travels along the road

We can express the location of P in polar coordinates as r = r ur.

The instantaneous velocity is defined as:

If the particle P moves along a space

Given: The platform is rotating such

Given: The platform is rotating such

Given: The platform is rotating such

Given: The platform is rotating such

Given: The platform is rotating such

Given: The platform is rotating such

Given: The platform is rotating such

Given: The platform is rotating such

Given: The platform is rotating such

Given: The platform is rotating such

Given: The platform is rotating such

Given: The platform is rotating such

In many kinematics problems, the motion of one object will

The blocks in this figure are

The motion of each block can be related mathematically by

In this example, position

If the cord has a fixed length, the position coordinates sA

The velocities of blocks A and B

dsA/dt + dsB/dt = 0  vB = -vA

Consider a more complicated

Note that sB is only defined to the

The red-colored segments of the cord remain constant in length

The position coordinates are related by

Since lT and h remain constant

When block B moves downward (+sB), block A moves to the left

This example can also be worked

The position, velocity, and

Given:In this pulley system, block A is