Module 2: Dynamics Of

Rigid Bodies CE 204A

Curvilinear Motion
Learning Outcomes
• Apply the principles of integration and differentiation of kinematic
differential equations.
• Describe kinematic motion of particles in curvilinear translation
• Derive kinematic equation to illustrate relationships between
position, velocity, and acceleration in 2D and 3D translation
• To solve and understand projectile motions of particles in curvilinear
paths
Motion Curves
It is important to utilize pictorial representation of kinematics using
graphs especially identifying the position of a certain particle described
by a differential equation of a curve.

Initial Position

Final Position
 Motion with Constant Velocity

∆𝑠 First Degree Curve

Velocity = ∆𝑡

Position Vs. Time

 Motion with Constant Velocity

Zero Degree Curve

∆𝑣
Acceleration = ∆𝑡

Velocity Vs. Time

 Motion with Constant Velocity

No Degree /Equation

∆𝑎
Jerk =
∆𝑡

Acceleration Vs. Time

 Motion with Constant Velocity

First Degree Curve Zero Degree Curve

No Degree /Equation

Position Vs. Time Velocity Vs. Time Acceleration Vs. Time

Degree decreases when differentiating

 Motion with Constant Acceleration

∆𝑠
Velocity = ∆𝑡 Second Degree Curve

Position Vs. Time

 Motion with Constant Acceleration

First Degree Curve

∆𝑣
Acceleration = ∆𝑡

Velocity Vs. Time

 Motion with Constant Acceleration

Zero Degree Curve

∆𝑎
Jerk =
∆𝑡

Acceleration Vs. Time

 Motion with Constant Velocity

Second Degree Curve

First Degree Curve

Zero Degree Curve

Position Vs. Time Velocity Vs. Time Acceleration Vs. Time

Degree decreases when differentiating

Curvilinear Motion: 2D Rectangular Coordinates
General Overview
Curvilinear motion occurs when a particle moves along a curved path.
Since this path is often described in 3-D, vector analysis will be used to
formulate the particle’s position, velocity and acceleration.
Displacement
At a small time interval
Δt, the particle moves a
certain distance along
the curve

Point O
Δr = r’ – r
Change in the particle’s position
Velocity v
Velocity becomes instantaneous
as time approaches zero.

∆𝑟
𝑣 = 𝑙𝑖𝑚∆𝑡→0
∆𝑡

𝑑𝑟
𝑣=
𝑑𝑡
During time Δt, the average
velocity of the particle is
∆𝑟
𝑣𝑎𝑣𝑔 = ∆𝑡
Point O
Velocity of a particle is
TANGENT to the path
Acceleration v
Acceleration becomes
v' instantaneous as time
approaches zero.

∆𝑣
a a= 𝑙𝑖𝑚∆𝑡→0
∆𝑡

𝑑𝑣
During time Δt, the average a= 𝑑𝑡
acceleration of the particle is
∆𝑣
𝑎𝑎𝑣𝑔 = ∆𝑡
Acceleration of a particle is
TANGENT to the hodograph

Δv = v’ – v
Change in velocity with respect to time
Curvilinear Motion: 3D Rectangular Coordinates
The motion of a particle can best be described along a path that can be
expressed in terms of its x,y,z, coordinates.
Position

Function of time
x = x(t)
y = y(t)
z = z(t)

At any instant, the magnitude of r is

𝑟 = 𝑥 2 + 𝑦2 + 𝑧2
Curvilinear motion occurs when a particle moves along a curved path. While it can be
generally described with vector quantities, it can also be simplified with the use of
rectangular coordinates.

α = 𝑐𝑜𝑠 −1 (𝑥/𝑟)
β = 𝑐𝑜𝑠 −1 (𝑦/𝑟)
γ = 𝑐𝑜𝑠 −1 (𝑧/𝑟) γ

𝛽
𝛼
Velocity
𝑑𝑟 𝑑 𝑑 𝑑
𝑣= = 𝑥𝑖 + 𝑦𝑗 + (𝑧𝑘)
𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡
𝑑𝑟
𝑣= = 𝑣𝑥 𝑖 + 𝑣𝑦 𝑗 + 𝑣𝑧 𝑘
𝑑𝑡

𝑑𝑥 𝑑𝑦 𝑑𝑧
𝑣𝑥 = 𝑣𝑦 = 𝑣𝑧 =
𝑑𝑡 𝑑𝑡 𝑑𝑡
𝑣 = 𝑣𝑥 𝒊 + 𝑣𝑦 𝒋 + 𝑣𝑧 𝒌
Acceleration 𝑑𝑣
𝑎= = 𝑎𝑥 𝑖 + 𝑎𝑦 𝑗 + 𝑎𝑧 𝑘
𝑑𝑡

𝑑𝑣𝑧 𝑑 𝑑𝑥
𝑎𝑥 = = ( )
𝑑𝑡 𝑑𝑡 𝑑𝑡

𝑑𝑣𝑦 𝑑 𝑑𝑦
𝑎𝑦 = = ( )
𝑑𝑡 𝑑𝑡 𝑑𝑡
𝑑𝑣𝑧 𝑑 𝑑𝑧
𝑎𝑧 = = ( )
𝑑𝑡 𝑑𝑡 𝑑𝑡
𝑎 = 𝑎𝑥 𝒊 + 𝑎𝑦 𝒋 + 𝑎𝑧 𝒌
Sample Problem
At time = 0, the position vector of a particle moving in the x-y plane is r=5i m.
By t = 0.02s, its position vector has become 5.1i + 0.4j m. Determine the
magnitude v of its average velocity during this interval and the angle θ made
by the average velocity with the positive x-axis.
𝐼𝑛𝑖𝑡𝑖𝑎𝑙 ∶ 𝑡 = 0 ; 𝑟 = 5𝑖 𝐹𝑖𝑛𝑎𝑙: 𝑡 = 0.02 ; 𝑟 = 5.1𝑖 + 0.4𝑗

∆𝑟 𝑟𝑓𝑖𝑛𝑎𝑙 − 𝑟𝑖𝑛𝑖𝑡𝑖𝑎𝑙 𝑟0.02 − 𝑟0 (5.1𝑖 + 0.4𝑗) − (5𝑖)

𝑣= = = =
∆𝑡 𝑡𝑓𝑖𝑛𝑎𝑙 − 𝑡𝑖𝑛𝑖𝑡𝑖𝑎𝑙 𝑡0.02 − 𝑡0 0.02 − 0
(0.1𝑖 + 0.4𝑗) −1
𝑣𝑦
𝑣= = 5𝑖 + 20𝑗 𝜃𝑣 = 𝑡𝑎𝑛 ( )
0.02 𝑣𝑥

= 20.62 𝑚/𝑠 20
𝑣= 52 + 202 𝜃𝑣 = 𝑡𝑎𝑛 −1
= 75.96 °
5
Sample Problem
If the velocity of a particle is defined as v(t) = (0.8t²i + 12𝑡1/2 𝑗 + 5k) m/s.
Determine the magnitude and coordinate direction angles: α β γ of the
particles acceleration when t = 2 seconds.
𝑣 = 0.8𝑡 2 𝑖 + 12𝑡1/2 𝑗 + 5𝑘
𝑑𝑣 𝑑
𝑎= = (0.8𝑡 2 𝑖 + 12𝑡1/2 𝑗 + 5k)
𝑑𝑡 𝑑𝑡
𝑎 = 1.6𝑡𝑖 + 6𝑡 −1/2 𝑗
@ 𝑡 = 2 𝑠𝑒𝑐𝑜𝑛𝑑𝑠
𝑎 = 1.6 2 𝑖 + 6(2)−1/2 𝑗
𝑎 = 3.2𝑖 + 4.242 𝑗
𝑎= 3.22 + 4.242² = 5.314 𝑚/𝑠²
Sample Problem
If the velocity of a particle is defined as v(t) = (0.8t²i + 12𝑡1/2 𝑗 + 5k) m/s.
Determine the magnitude and coordinate direction angles: α β γ of the
particles acceleration when t = 2 seconds.
−1 𝑎𝑥 −1 3.2𝑖
z 𝛼= 𝑐𝑜𝑠 ( ) = 𝑐𝑜𝑠
𝑎 5.314
𝛼 = 52.97 °
−1 𝑎𝑦 −1 4.242𝑗
β= 𝑐𝑜𝑠 ( 𝑎 ) = 𝑐𝑜𝑠 5.314
β = 37.02 °
y
γ β γ= −1 𝑎𝑧
𝑐𝑜𝑠 ( 𝑎 ) = 𝑐𝑜𝑠 −1
0
x 𝛼 5.314
γ = 90°
Motion of a Projectile
Motion of a Projectile
The free-flight motion of a projectile is studied in terms of its
rectangular components.
y (𝑣0 )𝑦
𝑣0 (𝑣)𝑥
𝑣
𝑎=𝑔
(𝑣)𝑦
(𝑣0 )𝑥
y 𝑦0

x
𝑥0 x
 (𝑦𝑚𝑎𝑥 )

Range
• Trajectory – path of the projectile
• Range - total distance covered by the projectile
• Time of flight – time from launching to landing
• Maximum Height (𝑦𝑚𝑎𝑥 ) – peak height at which velocity = 0
• Time to reach Maximum Height (𝑡𝑦𝑚𝑎𝑥 ) – projectile at greatest height
Formula Recap

2 2
Formula Recap
 Sample Problem
A cannon was fired upward at 60 degrees with the horizontal with the velocity
of 2000 ft/s. Find the range and time of flight. s = 𝑥𝑡 t= 𝑡𝑡
1 1. Horizontal Velocity
𝑦 = 𝑉0 𝑡 + 𝑎𝑡² 𝑉² = 2aS+ 𝑉0 ²
y 2
(𝑣0 )𝑥 = 𝑉 cos(θ)
𝑉 = 𝑉0 + 𝑎𝑡
𝑓𝑡
(𝑣0 )𝑥 = 2000 cos(60°) = 1,000 ft/s
𝑠

𝑆 𝑥𝑡
𝑣= =
𝑇 𝑡𝑡

𝑥𝑡
1,000 =
𝑠 = 𝑥𝑡
x 𝑡𝑡
range
 Sample Problem
A cannon was fired upward at 60 degrees with the horizontal with the velocity
of 2000 ft/s. Find the range and time of flight. s = 𝑥𝑡 t= 𝑡𝑡
1 2. Vertical Velocity
𝑉² = 2aS+ 𝑉0 ²
y 𝑦 = 𝑉0 𝑡 + 𝑎𝑡²
2 (𝑣0 )𝑦 = 2000
𝑓𝑡
sin(60°) = 1,732.05 ft/s
𝑠
𝑉 = 𝑉0 + 𝑎𝑡
3. Vertical Velocity y=0
1
0 = (1,732.05) 𝑡𝑡 + (−32.2)𝑡𝑡 ²
2
0 = 𝑡𝑡 (1,732.05 − 16.1𝑡𝑡 )
16.1 𝑡𝑡 1,732.05
=
16.1 16.1

𝑠 = 𝑥𝑡
x 𝑡𝑡 = 107.58 𝑠𝑒𝑐𝑜𝑛𝑑𝑠
range
 Sample Problem
A cannon was fired upward at 60 degrees with the horizontal with the velocity
of 2000 ft/s. Find the range and time of flight. s = 𝑥𝑡 t= 𝑡𝑡
1
𝑦 = 𝑉0 𝑡 + 𝑎𝑡² 𝑉² = 2aS+ 𝑉0 ² Therefore,
y 2
𝑥𝑡
𝑉 = 𝑉0 + 𝑎𝑡 1,000 =
𝑡𝑡

𝑥𝑡
1,000 =
107.58

𝑥𝑡 = 107,581 𝑓𝑡

𝑠 = 𝑥𝑡
x
range