UNIVERSITY OF LA SALETTE, INC.

College of Engineering and Architecture

Dubinan East, Santiago City

PCEA 006:
DYNAMICS OF RIGID BODIES
(ENGINEERING MECHANICS 2)

MODULE 3:
CURVILINEAR MOTION AND ANGULAR
ROTATION

ENGR. KRISTINE JOY A. CAALAM, RMP

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MODULE 3: CURVILINEAR MOTION AND ANGULAR ROTATION

MODULE CONTENTS:
I. CURLVILINEAR MOTION
A. Tangential and Normal Components of Acceleration
B. Relation Between Rectilinear Motion and Rotation
C. Conical Pendulum
II. ANGULAR ROTATION
A. Tangential Velocity
B. Tangential Acceleration
C. Normal Acceleration

OVERVIEW
In Kinematics, we studied motion along a straight line and introduced such concepts as
displacement, velocity, and acceleration. Two-Dimensional Kinematics dealt with motion
in two dimensions. Projectile motion is a special case of two-dimensional kinematics in
which the object is projected into the air, while being subject to the gravitational force,
and lands a distance away. In this chapter, we consider situations where the object does
not land but moves in a curve.

LEARNING OUTCOMES:
At the end of module, you should have achieved the following topic learning outcomes:
1. Identify the components of acceleration;
2. Illustrate the path and forces in a curvilinear motion and angular rotation;
3. Differentiate relation of rectilinear motion and rotation

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I. CURLVILINEAR MOTION

D. Tangential and Normal Components of Acceleration

𝑎𝑡 = 𝑡𝑎𝑛𝑔𝑒𝑛𝑡𝑖𝑎𝑙 𝑎𝑐𝑐𝑒𝑙𝑒𝑟𝑎𝑡𝑖𝑜𝑛 𝑎𝑛 = 𝑛𝑜𝑟𝑚𝑎𝑙 𝑎𝑐𝑐𝑒𝑙𝑒𝑟𝑎𝑡𝑖𝑜𝑛

𝑽𝟐
𝒅𝑽 𝒂𝒏 =
𝒂𝒕 = 𝒓
𝒅𝒕

𝐹𝑟𝑜𝑚 𝑡ℎ𝑒 𝑓𝑖𝑔𝑢𝑟𝑒 𝑔𝑖𝑣𝑒𝑛,

𝑾
𝑭= 𝒂
𝒈 𝒏

𝑆𝑢𝑏𝑠𝑡𝑖𝑡𝑢𝑡𝑖𝑛𝑔 𝑡ℎ𝑒 𝑣𝑎𝑙𝑢𝑒 𝑜𝑓 𝒂𝒏

𝑾𝑽𝟐
𝑭=
𝒈𝒓

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E. Relation Between Rectilinear Motion and Rotation

RECTILINEAR ROTATION
MOTION

1. DISTANCE 𝑆(𝑑𝑖𝑠𝑡𝑎𝑛𝑐𝑒) 𝜃 = 𝑎𝑛𝑔𝑢𝑙𝑎𝑟 𝑑𝑖𝑠𝑝𝑙𝑎𝑐𝑒𝑚𝑒𝑛𝑡

2. VELOCITY 𝑑𝑆 𝑑𝜔
𝑉= 𝜔=
𝑑𝑡 𝑑𝑡

3. ACCELERATION 𝑑𝑉 𝑑𝜔
𝑎= 𝛼=
𝑑𝑡 𝑑𝑡

4. TANGENTIAL 𝑑𝑉 𝑎𝑡 = 𝑟𝛼
ACCELERATION 𝑎𝑡 =
𝑑𝑡

5. NORMAL 𝑉2 𝑎𝑛 = 𝑟𝜔2
ACCELERATION 𝑎𝑛 =
𝑟

6. DIFFERENTIAL 𝑉 𝑑𝑉 = 𝑎 𝑑𝑆 𝜔 𝑑𝑤 = 𝛼 𝑑𝜃
EQUATION

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𝑺 = 𝒓𝜽
𝑽 = 𝒓𝝎

F. Conical Pendulum

𝑴𝒂𝒙𝒊𝒎𝒖𝒎 𝒑𝒆𝒓𝒊𝒐𝒅 𝒐𝒇 𝒕𝒊𝒎𝒆 𝒇𝒐𝒓 𝒂 𝒓𝒆𝒗𝒐𝒍𝒖𝒕𝒊𝒐𝒏

𝑳
𝒕 = 𝟐𝝅√
𝒈

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SAMPLE PROBLEMS

1. To anticipate the dip and hump in the road, the driver of a car applies her brakes
to produce a uniform acceleration. Her speed is 100 kph at the bottom A of the
dip and 50 kph at the top C of the hump, which is 120 m. along the road from A.
If the passengers experience a total acceleration of 3 m/s2 at A and if the radius
of curvature at the hump at C is 150 m.

a. Compute the radius of curvature at A.

b. Compute the acceleration at inflection point B.
c. Compute the acceleration of the car at C.

SOLUTION
a. Radius of Curvature at A

100
𝑉𝐴 = = 27.78 𝑚/𝑠
3.6
50
𝑉𝐶 = = 13.89 𝑚/𝑠
3.6

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𝑉𝑐2 = 𝑉𝐴2 + 2𝑎𝑡 𝑠

(13.89)2 = (27.78)2 + 2𝑎𝑡 (120)
𝑎𝑡 = −2.41 𝑚/𝑠 2
𝑎 = 3 𝑚/𝑠 2 𝑎𝑐𝑐𝑒𝑙𝑒𝑟𝑎𝑡𝑖𝑜𝑛 𝑎𝑡 𝐴

(𝑎)2 = (𝑎𝑛 )2 + (𝑎𝑡 )2

(3)2 = (𝑎𝑛 )2 + (−2.41)2
𝑎𝑛 = 1.786 𝑚/𝑠 2

𝑉2
𝑎𝑛 =
𝑟
(27.78)2
1.786 =
𝑟
𝒓 = 𝟒𝟑𝟐 𝒎 𝑎𝑛𝑠𝑤𝑒𝑟

b. Acceleration at inflection point B

(𝑎𝐵 )2 = (𝑎𝑡 )2 + (𝑎𝑛 )2

(𝑎𝐵 )2 = (−2.41)2 + (0)2
𝒂𝑩 = 𝟐. 𝟒𝟏 𝒎/𝒔𝟐 𝑎𝑛𝑠𝑤𝑒𝑟

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c. Acceleration of the car at C

𝑉𝑐 2
𝑎𝑛 =
𝑟
(13.89)2
𝑎𝑛 =
150
𝑎𝑛 = 1.286 𝑚/𝑠 2

𝑎𝑡 = −2.41 𝑚/𝑠 2

(𝑎𝑐 )2 = (𝑎𝑛 )2 + (𝑎𝑡 )2

(𝑎𝑐 )2 = (1.286)2 + (−2.41)2
𝒂𝒄 = 𝟐. 𝟕𝟑 𝒎/𝒔𝟐 𝑎𝑛𝑠𝑤𝑒𝑟

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2. The car travels at speed on a circular banked tack of 75 m. radius. If the bank
angle is 10 degrees and the coefficient of static friction between the truck and the
tires is 0.85.
a. Determine the normal reaction between the tire and the circular track if the
car has a mass of 1300 kg.
b. Determine the normal acceleration at this instant.
c. Determine the maximum possible speed of the car in m/s.

SOLUTION
a. Normal reaction between the tire and the track

𝑁 cos 10° = 𝑚𝑔 + 𝐹 sin 10°

𝑁 cos 10° = 1300(9.81) + 𝜇𝑁 sin 10°
𝑁 cos 10° = 1300(9.81) + 0.85𝑁 sin 10°
0.85𝑁 = 1300(9.81)
𝑁 = 15237 𝑁
𝑵 = 𝟏𝟓. 𝟐𝟒 𝒌𝑵 𝑎𝑛𝑠𝑤𝑒𝑟

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b. Normal acceleration at this instant

𝑁 sin 10° + F cos 10° = 𝑚𝑎𝑛

15237 sin 10° + 0.85(15237) cos 10° = 1300𝑎𝑛
𝒂𝒏 = 𝟏𝟏. 𝟖𝟓 𝒎/𝒔𝟐 𝑎𝑛𝑠𝑤𝑒𝑟

c. Velocity of the car at this instant

𝑉2
𝑎𝑛 =
𝑟
𝑉2
11.85 =
75
𝑽 = 𝟐𝟗. 𝟖𝟏 𝒎/𝒔 𝑎𝑛𝑠𝑤𝑒𝑟

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II. ANGULAR ROTATION

𝟏. 𝑻𝒂𝒏𝒈𝒆𝒏𝒕𝒊𝒂𝒍 𝑽𝒆𝒍𝒐𝒄𝒊𝒕𝒚
𝑉 = 𝑟𝜔 (𝑡𝑎𝑛𝑔𝑒𝑛𝑡𝑖𝑎𝑙 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦)
𝜔 = 𝑎𝑛𝑔𝑢𝑙𝑎𝑟 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦 𝑖𝑛 𝑟𝑎𝑑/ sec 𝑜𝑟 𝑟𝑒𝑣𝑜𝑙𝑢𝑡𝑖𝑜𝑛𝑠 𝑝𝑒𝑟 𝑚𝑖𝑛𝑢𝑡𝑒
𝑁𝑜𝑡𝑒: 𝑜𝑛𝑒 𝑟𝑒𝑣𝑜𝑙𝑢𝑡𝑖𝑜𝑛 = 2𝜋 𝑟𝑎𝑑𝑖𝑎𝑛𝑠

𝟐. 𝑻𝒂𝒏𝒈𝒆𝒏𝒕𝒊𝒂𝒍 𝑨𝒄𝒄𝒆𝒍𝒆𝒓𝒂𝒕𝒊𝒐𝒏
𝑎1 = 𝑟𝛼
𝑑𝜔
𝑎= (𝑎𝑛𝑔𝑢𝑙𝑎𝑟 𝑎𝑐𝑐𝑒𝑙𝑒𝑟𝑎𝑡𝑖𝑜𝑛)
𝑑𝑡

𝟑. 𝑵𝒐𝒓𝒎𝒂𝒍 𝑨𝒄𝒄𝒆𝒍𝒆𝒓𝒂𝒕𝒊𝒐𝒏
𝑉2
𝑎𝑛 =
𝑟

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SAMPLE PROBLEMS
1. The angular velocity of rod OB varies as ω= 8 – 12t2 rad/sec where t is in sec.

a. Compute the acceleration of point B when t = 0 sec

b. Compute the acceleration of point B when t = 1 sec
c. Determine the tangential velocity of B when t = 0 sec

SOLUTION
a. Acceleration of point B when t = 0 sec

𝜔 = 8 − 12𝑡 2
𝛼 = −24𝑡 𝑟𝑎𝑑/𝑠𝑒𝑐 2
𝑤ℎ𝑒𝑛 𝑡 = 0
𝜔 = 8 𝑟𝑎𝑑.

𝑎𝑛 = 𝑟𝜔2
𝑎𝑛 = 1(8)2
𝑎𝑛 = 64

𝑎𝑡 = 𝑟𝛼
𝑤ℎ𝑒𝑛 𝑡 = 0
𝛼 = −24𝑡
𝛼 = −24(0)
𝛼= 0
𝑎𝑡 = 0

(𝑎)2 = (𝑎𝑛 )2 + (𝑎𝑡 )2

(𝑎)2 = (64)2 + (0)2

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𝒂 = 𝟔𝟒 𝒎/𝒔𝟐 𝑎𝑛𝑠𝑤𝑒𝑟

b. Acceleration of point B when t = 1 sec

𝜔 = 8 − 12𝑡 2
𝜔 = 8 − 12(1)2
𝜔 = −4 𝑚/𝑠 2

𝑎𝑛 = 𝑟𝜔2
𝑎𝑛 = 1(−4)2
𝑎𝑛 = 16

𝜔 = 8 − 12𝑡 2
𝛼 = −24𝑡
𝛼 = −24(1)
𝛼 = −24

𝑎𝑡 = 𝑟𝛼
𝑎𝑡 = 1(−24)
𝑎𝑡 = −24

(𝑎)2 = (𝑎𝑛 )2 + (𝑎𝑡 )2

(𝑎)2 = (16)2 + (−24)2
𝒂 = 𝟐𝟖. 𝟖 𝒎/𝒔𝟐 𝑎𝑛𝑠𝑤𝑒𝑟

c. Tangential velocity of B when t = 0 sec

𝑉 = 𝑟𝜔
𝜔 = 8 − 12(0)
𝜔 = 8 𝑟𝑎𝑑/𝑠𝑒𝑐
𝑉 = 1(8)
𝑽 = 𝟖 𝒎/𝒔𝟐 𝑎𝑛𝑠𝑤𝑒𝑟

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REFERENCES
1. Gillesania, D.I.T. (2016). Civil Engineering Reference for Licensure
Examination Volume 4 (4th ed.). Diego Inocencio Tapang Gillesania.

2. Hibbeler, R.C. (2015). Engineering Mechanics Dynamics (13th ed.).

Pearson

3. Gillesania, D.I.T. (2014). Civil Engineering Reference for Licensure

Examination Volume 3 (2nd ed.). Diego Inocencio Tapang Gillesania.

4. Besavilla, V.I. (2014). Applied Mechanics and Strength of Materials. VIB

Publisher.

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