DYNAMICS

BDA 20103 – LECTURE 4

MOHD NO RIHAN B IBRAHIM
Universiti Tun Hussein Onn Malaysia
 MNRIHAN IBRAHIM
APPLICATION: N-T COORDINATE SYSTEM

P et

en

Particle model

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Curvilinear Motion: Normal and Tangential
Components

MNRIHAN IBRAHIM
• Describe the path using n and t coordinates which act
normal and tangent to the path
• Consider particle move on a plane
• Consider a coordinate system
that has origin at a fixed point
on the curve
• t axis is tangent to the curve at
P and is positive in the
direction of increasing s.
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 MNRIHAN IBRAHIM
• Designate this positive position
direction with unit vector ut

• Segment ds - formed from

the arc, having a radius of
curvature ρ (rho) and center
of curvature O’

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 MNRIHAN IBRAHIM
• Normal axis n
- perpendicular to the t axis
- directed from P towards the center
of curvature O’
- designated by un

•Plane containing both the n and t axes

- known as the osculating plane
- fixed on the plane of motion
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 MNRIHAN IBRAHIM
N – T COORDINATE SYSTEM

Motion
n
et0 P0 A path
t t
P1 Δs
en0 n
et1 en1 P
θ r
Δθ

n : normal
t : tangential
en : unit vector n direction
et : unit vector t direction

Radius of motion path

CONSTANT 6
 DISTANCE AND VELOCITY IN N – T COORD SYSTEM

MNRIHAN IBRAHIM
Distance travel s  r 
s 
ds  rd
et0 P0
 ds  r d
s0
P1 Δs
0

en0 Angular velocity

et1
en1 P  d 
θ   lim  
Δθ r   0 t dt
Speed of P s r  d
v  lim  lim r  r
t 0 t t 0 t dt
v  r  r

Velocity vector of
rotating P in v  vet  r et
tangential
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VELOCITY IN (N–T ) COORDINATE SYSTEM IN X-Y

MNRIHAN IBRAHIM
SYSTEM

vy v=rω  vx 
y v 
v y 
θ vx
P
r
r cos    
ω θ v 
x
 r sin    

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 MNRIHAN IBRAHIM
SPECIAL NOTES IN N – T COORDINATE SYSTEM
s 2
Perimeter:
 ds  r  d
0 0
s  r 2

RADIAN
s 
β
Distance travel:
 ds  r  d sr 
0 0

ω r
P Angular velocity : ω rad/s

In engineering, generally : RPM (rotations per minute)

1 RPM = (2.π/60) rad/s

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n-t Components - ACCELERATION

MNRIHAN IBRAHIM
• As the particle moves along the arc ds in time dt, ut
preserves its magnitude of unity

• When particle changes direction, it becomes ut’

ut’ = ut + dut
  
a  at ut  anun
at  v at ds  vdv
v2
an 
 a  at2  an2 10
 MNRIHAN IBRAHIM
N – T COORDINATE SYSTEM: ACCELERATION
v  vet  r et
a  ret  r 2 en
dv  d de 
a  r et   t 
dt  dt dt 
a  r et  r 2 en

a  r et   e t 
a  at et  an en
det d 
 en  
d dt
det det d at  r  r v2
 an   r 2
dt d dt r
det
 e t   en a  at 2  an 2
dt 11
N – T COORDINATE SYSTEM:
ACCELERATION

MNRIHAN IBRAHIM
aty at=rα
y y
P anx θ
P atx
θ
an=rω2
any
ω θ ω θ
x x
α α
r r

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• Normal component of acceleration represents the time

MNRIHAN IBRAHIM
rate of change in the direction of the velocity. Since an
always acts towards the center of curvature, this
component is sometimes referred to as the centripetal
acceleration.
•Tangent component of acceleration represents the time
rate of change in the magnitude of velocity.
• As a result, a particle moving along the curved path
will have accelerations directed as shown

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 MNRIHAN IBRAHIM
• For magnitude of the normal component

v2
an 


• If the path is expressed as y = f(x), the radius of the

curvature ρ at any point on the path is determined from
[1  (dy / dx) 2 ]3 / 2

d 2 y / dx 2
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EXAMPLE 1

MNRIHAN IBRAHIM
When the skier reaches the
point A along the parabolic
path, he has a speed of 6m/s
which is increasing at 2m/s2.
Determine the direction of his
velocity and the direction and
magnitude of this acceleration
at this instant. Neglect the size
of the skier in the calculation.

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EXAMPLE 1

MNRIHAN IBRAHIM
Coordinate System; Establish the origin of the n, t
axes at the fixed point A on the path and determine the
components of v and a along these axes.
Velocity; The velocity is directed tangent to the path.

1 2 dy
y x , 1
20 dx x 10
v make an angle of θ = tan-1 1 = 45° with the x axis
v A  6m / s
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 EXAMPLE 1

MNRIHAN IBRAHIM
Acceleration; Determined from   2 
a  v ut  (v /  )un
[1  (dy / dx) 2 ]3 / 2
  28.28m
d 2 y / dx 2

The acceleration becomes

 v2
a A  v ut  un

 
 {2ut  1.273un }m / s 2
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EXAMPLE 1

MNRIHAN IBRAHIM
a  2 2  1.237  2  2.37m / s 2
2
1
  tan  57.5
1.327

Thus, 57.5° – 45 ° = 12.5 °

a = 2.37 m/s2

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 MNRIHAN IBRAHIM
PROBLEM 1

 At a given instant the jet

plane has speed of 120m/s
and acceleration of 21 m/s2
acting in the directions
shown.
 Determine the rate of
increase in the plane’s speed
if  = 60.
 Find the radius of curvature
ρ of the path
 MNRIHAN IBRAHIM
PROBLEM 2

 A lorry is travelling along a a circular curve that has a

radius of 50 m. If it speed is 16 m/s and is increasing
uniformly at 8 m/s2, determine the magnitude of its
acceleration at this instant.
 MNRIHAN IBRAHIM
PROBLEM 3

 A car moves along a circular track of radius ρ = 75m

such that its speed for a short period of time 0 ≤ t ≤ 4s,
is v = 0.9(t + t2). Determine the magnitude of its
acceleration when t = 3s. How far has it traveled at
time t = 3s?
 MNRIHAN IBRAHIM
CONTINUE ON …
LECTURE 5

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