Hi.

In this video, we are going to practice how we can formulate

the velocity and acceleration relationship in normal and tangential coordinate. Why
don't we just
switch over name like tangential first
and the normal second. I'm going to explain
to you why I prefer these T-N order better
than the other one. Suppose we want to describe the motion of the point
A from here to here, A to A prime, over a time, Delta t in rectangular
coordinate. Then you have to define the position and take the derivative to obtain
the velocity and
the acceleration. For the rotational coordinate, you have to work on the derivative
of the
unit vector as well. I'm going to explain it later. Suppose the A and A
prime is now not in the direct straight line
but curved curvature, the first step is you have
to define the position or the displacement from A to A prime and make a
small change over it, and to formulate the velocity and acceleration according to
it. Let me make an example
using the T-N coordinate. So first, suppose
you have a point A through this curved path, then the velocity is defined
by the tangential direction. So based on those
tangential direction, you have to define
the unit vector of this T-N coordinate, as t as parallel
to the tangential, and normal is 90
degree perpendicular to the T-N counterclockwise. Then make a small change; suppose
that A is moved to
the A prime over the really, really small amount of time. So that's going to be
another v prime here. Based on those direction
of the v prime, you have another unit vector defined at this
instant, A prime here. So it's going to
be e_t prime here, and e_n prime here. Then you define the displacement
from A to A prime as ds. So the velocity by definition, is going to be the time
derivative of ds over dt, and its direction is going to be a tangential, so e_t
vector. So how we can formulate ds here? Now, extend the e_n vector, so there
should be some
intersection here. Then let's assume that
the angle between those A to A prime is
going to be d Beta. The distance from the A to those intersection
will be Rho, then this is going
to be Rho prime. But for very short
amount of time, let's assume that
the Rho is going to be pretty much same as Rho prime, so let us take it as
a constant value. Then your ds is going to be a function of the angle between the
intersection to the point A and intersection to
the point A prime. So ds is going to be Rho d Beta. So if you plug that in here,
what you can have is
your velocity will be Rho Beta dot e_t. So you have a direction
as tangential, and the magnitude will
be Rho b Beta prime. Now, since you
obtained the velocity, you can then formulate
the acceleration as well as a time derivative
of the velocity. So if you take the derivative
of the velocity term, which means you have
a time derivative, the velocity term
Rho Beta dot e_t. By chain rule, since
your Rho is a constant, you can take a derivative
of the Beta here. So Beta double dot e_t, plus Rho Beta dot and e_t unit vector
time
derivative here. In the rectangular coordinate, your time derivative of
the unit vector, i vector, or the j vector, or x direction unit vector, and y
direction unit
vector was zero. However, if you're handling
the rotational coordinate, look at here, you're
e_t vector is firstly direct in this way. As infinitesimal time, this has been
changed
its direction. So this e_t term, the time derivative of the unit vector is
not zero anymore. So how we can formulate? Suppose your e_t vector is initially
directed
this way and then later it's going to
be e_t prime like this, then your changing for the
e_t vector is dt here, and this angle is going
to be same as d Beta. So your de_t is going
to be the magnitude of d Beta multiplied
by the e_n vector, the unit vector, and the
direction is going to be where? The perpendicular to the e_t
vector counterclockwise, which is e_n vector. So your time derivative e_t dt is
going to be Beta dot e_n. It's not going to
be zero anymore. So if you plug that into the original acceleration
formulation, what you can have is Rho Beta double dot e_t plus
Rho Beta dot square e_n. So since your velocity
is Rho Beta dot, what you can get is acceleration in T-N
coordinate is going to be v dot e_t plus v
square over Rho e-n. So you have a two
directional acceleration in rotational coordinate. So in T-N coordinate your
velocity is going
to be Rho Beta dot e_t, and acceleration is
going to be v dot e_t plus v squared over Rho e_n. Can you derive this
relationship from the scratch? I will strongly recommend you to work on it right
now before you forget it in
this blank slide. Now, let's solve the example for the tangential normal using
tangentially
normal coordinate. Given problems having a car moving from point A to point B, with
a velocity of v_A
here and v_B there. Then it's accelerating over
Delta t in a uniform manner. So it's a constant
acceleration motion in tangential speed. Suppose that the car is moving on the
curvature
and the point A, the radius of curvature is Rho A when the total
acceleration of the car, total here, is same
as point A and B, what's going to be the
radius curvature at point B? That's what we are
supposed to find. Assume the car is a point-mass, meaning you can ignore the
size effect of the car. Now, actually the
axial-tangential acceleration, if suppose if this is
so simple Cartesian coordinate moving the car from A to B, everything is given.
Like velocity has been
increased from v_A to v_B over the Delta t uniformly, which means that
acceleration is given; v_B minus v_A over
Delta t. However, here the total acceleration, what it mean is if
there should be another component of the
acceleration in this case, because it's a motion not
in the straight line. So can you remind what would be the acceleration
for the T-N coordinate? Yes. You have not only the
tangential components, you also have a normal component, and same for the point B.
So is moving through
the curvature, not only you have acceleration in the tangential direction, you also
have a acceleration
in the normal direction. So the acceleration for
the T-N coordinate is going to be v dot e_t and
the v square over Rho, if that's the normal direction of components of
the acceleration. Since this is a constant
acceleration motion, acceleration of the
point A and between B shares the same
tangential acceleration, so this could be canceled out. What you can compare is
only the normal components
of the acceleration. So v_A square over Rho A is going to be same as
v_B square over Rho B. Everything else is
given except the Rho B, so that you can find out the radius of
curvature at point B. Let's solve another problem. Now, you have two
slotted linear guides, horizontal and vertical, and then those two guides has been
connected by a pin A here. It's X trajectory over
time is given by this, and the Y trajectory
is given by that. Which means since this
is a function of time, you can simply calculate the velocity and
acceleration over time. Now, when time equals
1 second here, what's going to be the radius
of curvature of point A? That's what we're
supposed to find. So you have to actually transfer x and y coordinate
into the T-N coordinate. That's what this problem
asks you to solve. So let's bring up the acceleration form
for the T-N coordinate, which is v dot dt plus
v square over Rho e_n. Since we're supposed to find
the radius of curvature, curvature is here at
the velocity term, and here for the
acceleration term. However, Beta dot is not a parameter that you can easily solve
from the given information, whereas the v-square you can easily obtained by taking
a time integral of the x
and y trajectory over time. So let's use the
acceleration information. To do so, you have to
find out what's going to be the normal component
for the acceleration here, and you should then specify
the T-N coordinate here. How you can convert
x and y into T-N? The very first step you have
to find is the velocity. Then remember the T-N
coordinate has been defined from the velocity vector. By the way, when you see
this red box in the video, that means you have a
blank note for that part. So while you are
watching the video, either you can take a note
for your blank red box, or later you can just fill in the review by filling
in those red boxes. So please refer notes
in the website. Now, let's then first
find the vector so that we can define the e_t unit vector
directions and the e_n. By taking the derivative of
time trajectory for x and y, we can find their time, velocity, and the acceleration
over time
when t equals one second. Since velocity is minus one, minus three, so it is like
this. So the total velocity is
somewhat like a diagonal term. So this is actually the
direction for the e_t, and then whatever
perpendicular to this is the direction for the en. Now, you have an x and y
component of the
acceleration, two, minus two, and what you're supposed
to find is what's going to be the normal
components of the acceleration. So what that means, you have to do the projection
for the a_x in these a_n coordinate, and also you can find the projection for the
a_y
in the a_n coordinate. So we have a projection for that in the a_t direction
and a_n direction, in terms of sine and
cosine for those angle. This angle could
be also solved by the direction of the
v at this instant, with respect to the x and y axis. So this a_n normal
components could be equal to the v
square over Rho. So since everything
else is given, you know the
acceleration in a and y, and you know what's
kind of the angle, and the unit what's going with
the magnitude of velocity, that's how you can ended
up finding the Rho. So you can just plug that
in all the known numbers, so that you can find the
radius of curvature. So in this chapter, we learn how to describe
the motion of the particle, motion of the body using the tangential and
normal coordinate, different from the
rectangular coordinate. The tangential coordinate is defined using the
velocity vector. So first you find out
the velocity vector that'll have a tangential
direction unit vector, and then you can take
the derivative of this to obtain the acceleration. Then while you are
taking the derivative, note that this unit vector time derivative is not going
to be zero anymore, like the case with the
rectangular coordinate, and then you can use
these characteristics to derive the acceleration.
Thank you for listening.