MEC102

Module 3: Curvilinear
Motion
Course Outcomes
 CO1. Explain and use the principles governing
motion of particles.
 CO2. Apply the concepts of kinematics of
particles to compute positions, velocities, and
accelerations of rigid bodies.
OBJECTIVES
 At the end of the lesson, you should be able
to:
 Solve problems inline with CURVILINEAR
MOTION
 Derive the equations to be used in projectile
motion problems.
 Apply these equations in projectile motion
problems.
Recall:
Recall Kinematical Quantities by
Integration
Recall:
 Recall Vector in 2D (x-y plane)
 Recall Vector in 3D (i, j k)
 CURVILINEAR MOTION
 Particle moving along a curve other than a
straight line is in curvilinear motion.
• Position vector of a particle at time t is
defined by a vector between origin O of a
fixed reference frame and the position
occupied by particle.
• Where: rA is the position vector A
• : rB is the position vector A
• rAB is the position vector from A to B
 CURVILINEAR MOTION
 Particle moving along a curve other than a
straight line is in curvilinear motion.
• Position vector of a particle at time t is
defined by a vector between origin O of a
fixed reference frame and the position
occupied by particle.

• Consider particle which occupies position P defined

by r at time t and P’ defined by r at t + Dt,
 
  r dr
vlim 
t 0 t dt
instantaneous velocity (vector)
 CURVILINEAR MOTION
 Particle moving along a curve.

• Consider velocity v of particle at time t and velocity

v  at t + Dt,
 
 v dv
a lim 
t0t dt
instantaneous acceleration (vector)

• In general, acceleration vector is not tangent to

particle path and velocity vector.
 Rectangular Components of Velocity &
Acceleration (x-y) plane
• When position vector of particle P is given by its
rectangular components,
 
r
xi
 y
jz
k

• Velocity vector,
dxdydz   
v i j kx
iy
j
zk
dt dt dt
  
v
xi
vyj
vzk
 Rectangular Components of Velocity &
Acceleration. (x-y) plane

• Acceleration vector,
2 2 2   
d x dy dz
a2 i 2j 2
k 
x
i
 y
j
 z
k

dt dt dt
  
a
xia
yjak
z
P1
 2/47    At time t = 0, the position vector of a
particle moving in the x‐y plane is r = 5i m. By
time t = 0.02 s, its position vector has
become 5.1i + 0.4 j m. Determine the
magnitude vav of its average velocity during this
interval and the angle θ made by the average
velocity with the positive x‐axis.
 vav = 20.6 m/s, θ = 76.0°
P2
 2/48    A particle moving in the x‐y plane has a
velocity at time t = 6 s given by 4i + 5j m/s, and
at t = 6.1 s its velocity has become 4.3i +
5.4j m/s. Calculate the magnitude aav of its
average acceleration during the 0.1‐s interval
and the angle θ it makes with the x‐axis.
 aav = 5 m/s2, θ = 53.1°
 Rectangular Components of Velocity &
Acceleration (x-y)
• When position vector of particle P is given by its
rectangular components,
 
r
xi
 y
jz
k

• Velocity vector,
dxdydz   
v i j kx
iy
j
zk
dt dt dt
  
v
xi
vyj
vzk
 Rectangular Components of Velocity &
Acceleration (x-y)
• When position vector of particle P is given by its
rectangular components,
 
r
xi
 y
jz
k

• Velocity vector,
dxdydz   
v i j kx
iy
j
zk
dt dt dt
  
v
xi
vyj
vzk
 CURVILINEAR MOTION
 Rectangular Components of Velocity &
Acceleration.

• Acceleration vector,
2 2 2   
d x dy dz
a2 i 2j 2
k 
x
i
 y
j
 z
k

dt dt dt
  
a
xia
yjak
z
 PROJECTILE MOTION
 Rectangular Components of Velocity &
Acceleration:
• Motion in horizontal direction is uniform.

• Motion in vertical direction is uniformly

accelerated.

• Motion of projectile could be replaced by two

independent rectilinear motions.
 P1. A particle which moves with curvilinear
motion has coordinates in millimeters which vary
with the time t in seconds according to x = 2t2 -
4t and y = 3t2 - t3/3. Determine the magnitudes
of the velocity v and acceleration a and the
angles which these vectors make with the x-
axis when t = 2 s.
P2
 At time t = 0, a particle is at rest in the x‐
y plane at the coordinates (x0, y0) = (6, 0) in. If
the particle is then subjected to the
acceleration components ax = 0.5 −
0.35t in./sec2 and ay = 0.15t − 0.02t2 in./sec2,
determine the coordinates of the particle
position when t = 6 sec. Plot the path of the
particle during this time period.
MEC102
Projectile Motion
 PROJECTILE MOTION
 Rectangular Components of Velocity &
Acceleration:
• Motion in horizontal direction is uniform.

• Motion in vertical direction is uniformly

accelerated.

• Motion of projectile could be replaced by two

independent rectilinear motions.
 PROJECTILE MOTION
 Rectangular Components of Velocity &
Acceleration:
• Rectangular components particularly effective
when component accelerations can be integrated
independently, e.g., motion of a projectile,
a

x


x
0a

y


y

ga

z


z
0
with initial conditions,
x

y
0
z
0
0
0v
xv
0
,,
yv
0
z
0
0

Integrating twice yields

v
xv
x0v
yv
y
0
gtv
z0
x
v
x0t y
vyy1

02
2
gt
z0  
DYNAMICS
 MOTION OF A PARTICLE:
1. RECTILINEAR MOTION
The direction of resultant is constant,
the motion of a particle is along a
straight path and is called Rectilinear
Translation.
CURVILINEAR MOTION
The motion of a particle is along a
curved line in two or three dimensions.
 Projectile Motion
A projectile is any body that is given an initial velocity
and then follows a path determined entirely by the
effects of gravitational acceleration.
The path followed by a projectile is called trajectory
Combination of horizontal motion with constant
velocity and vertical motion with constant acceleration
Projectile Motion
 
1. A motorcycle stunt rider rides off the edge of
a cliff. Just at the edge his velocity is horizontal
with a magnitude of 9.0 m/s. Find the motorcycles
position, distance from the edge of the cliff and
velocity after 0.5s.
2. A batter hits a baseball so that it leaves the bat with an initial
speed of ν0 = 37.0 m/s at an initial angle α0 = 53.1°, at a location
where g = 9.81 m/s2. let’s see how we can find the ball’s maximum
height and how we can find the distance from home plate to where
the ball comes down.
a)Find the position of the ball, and the magnitude and
direction of its velocity when t = 2.00 s
b)Find the time when the ball reaches the highest point of
its flight and its height at this point
c)Find the horizontal range
Problem
Solution
 PROJECTILE MOTION
 Example:
 PROJECTILE MOTION
 Example:
 PROJECTILE MOTION
 Example:
 PROJECTILE MOTION
 Example:
 PROJECTILE MOTION
 Example:
 PROJECTILE MOTION
 Example:
 MEC102
Tangential and Normal
 TANGENTIAL AND NORMAL
 Velocity vector of particle is tangent to
path of particle.
 In general, acceleration vector is not.

• express acceleration
vector in terms of
tangential and normal
components.
 TANGENTIAL AND NORMAL
 Velocity vector of particle is tangent to
path of particle.

• e 
tand e are tangential unit vectors for the
t
particle path at P and P’. When drawn with

respect to the same origin, 
et e
t et and
 is the angle between them.
et 2sin
2

et
lim  lim

sin2  
enen
 0   0  2

 d e
en t

d
 TANGENTIAL AND NORMAL
 Acceleration vector

 
• With the velocity vector expressed as v  vet
the particle acceleration may be written as


d
v 
dv

d
e 
dv

d
e
dd 
a

dt
e

t
dt
v
dt
e

t
dt
v
d
ds
d 
but

d
e
t

d


e
n d
ds
ds
v
dt


 TANGENTIAL AND NORMAL
 Acceleration vector

After substituting,
2 2
 
dv v dvv
a
 e
 e
naa 
t
dt
t n
dt  
• Tangential component of acceleration reflects
change of speed and normal component reflects
change of direction.

• Tangential component may be positive or

negative. Normal component always points
toward center of path curvature.
 TANGENTIAL AND NORMAL
 Example:
 A motorist is traveling on curved section
of highway at 60 mph. The motorist
applies brakes causing a constant
deceleration rate.
 Knowing that after 8 s the speed has been
reduced to 45 mph, determine the
acceleration of the automobile
immediately after the brakes are applied.
 TANGENTIAL AND NORMAL
 Answer:
 Calculate tangential
and normal components
of acceleration.
 Determine acceleration
magnitude and
direction with respect
to tangent to curve.
 TANGENTIAL AND NORMAL
 Answer: • Calculate tangential and normal
components of acceleration.
 v 66 88  fts ft
at   2.
75
t 8s s2
v2 88
fts2 ft
a
n  3
.10
 2500 ft s2
• Determine acceleration magnitude and direction
with respect to tangent to curve.
60 mph  88 ft/s ft
45 mph  66 ft/s a a2
 a 2
 2.75 2  3.
10 2 a  4.14
t n s2
a 3
.10

 
1n
tan 
1
tan   48.4
a
t 2
.
75
 TANGENTIAL AND NORMAL
 Example:
 TANGENTIAL AND NORMAL
 Example:
 TANGENTIAL AND NORMAL
 Example:
 TANGENTIAL AND NORMAL
 Example:
 TANGENTIAL AND NORMAL
 Example:
 MEC102
Radial and Transverse
Course Outcomes
 CO1. Explain and use the principles governing
motion of particles.
 CO2. Apply the concepts of kinematics of
particles to compute positions, velocities, and
accelerations of rigid bodies.
Recall:
 Rectangular Coordinates
 Tangential and Normal Coordinates
 Polar Coordinates
POLAR : RADIAL AND TRANSVERSE

https://www.youtube.com/watch?v=zLmt5tgYNCI
 RADIAL AND TRANSVERSE
 Polar (Radial/Transverse) Coordinates:
 This coordinate system is convenient to
use when the distance and direction of a
particle are measured relative to a fixed
point or when a particle is fixed on or
moves along a rotating arm.
 RADIAL AND TRANSVERSE
 Polar (Radial/Transverse) Coordinates:
 Coordinates are chosen such that:
 is a unit vector pointing radially outward
from the origin toward the particle
is a unit vector perpendicular to the radial
line in the direction of increasing .
 RADIAL AND TRANSVERSE
 When particle position is given in polar
coordinates, it is convenient to express
velocity and acceleration with components
parallel and perpendicular to OP.
 
r  rer
 
der  de 
 e   er
d d
 
der der d  d
  e
dt d dt dt
 
de de d  d
   er
dt d dt dt
 RADIAL AND TRANSVERSE
 The particle velocity vector is

 d  dr  der dr  d 
v  rer   er  r  er  r e
dt dt dt dt dt
  
 r er  r e

 Similarly, the particle acceleration vector

is  d dr  d  

a  er  r e 
dt  dt dt 
2  2 
d r  dr der dr d  d d de
 2 er   e  r 2 e  r
dt dt dt dt dt dt dt dt
2  
 
    
 r  r er  r  2r e
 RADIAL AND TRANSVERSE
 The particle velocity vector is

 The particle acceleration vector is

 The scalar components are

 RADIAL AND TRANSVERSE
 Example:
 Rotation of the arm about O is defined by q = 0.15t2
where q is in radians and t in seconds. Collar B slides
along the arm such that r = 0.9 - 0.12t2 where r is in
meters.

 After the arm has rotated through 30o, determine

(a) the total velocity of the collar, (b) the total
acceleration of the collar, and (c) the relative
acceleration of the collar with respect to the arm.
 RADIAL AND TRANSVERSE
 Answer:
• Evaluate time t for q = 30o.

• Evaluate radial and angular positions, and

first and second derivatives at time t.
• Calculate velocity and acceleration in
cylindrical coordinates.

• Evaluate acceleration with respect to arm.

 RADIAL AND TRANSVERSE
 Answer:
• Evaluate time t for q = 30o.
 0.15 t2

 30  0.524 rad t 1
.
869
s

• Evaluate radial and angular positions, and first

and second derivatives at time t.
r0
.90 t20
.12 .481
m
r
0
.24
t0.449
ms
r

 0 ms2
.24

0.15t20.524rad
 0.30
 t 0.561
rads
0.30
 s2
rad
RADIAL AND TRANSVERSE

• Calculate velocity and acceleration.

v
r
r 
0 .
449ms
v
r
0.
481
m0
.
561 
rad
s 0.
270
m
s
2 2 v
1
vv
rv
 tan
v
r
v

0.
524
ms
3
.
0 

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RADIAL AND TRANSVERSE
2
ar rr
ms20.481
0.240 rads2
m0.561
0.391ms2
2r
a r 

0.481  
m 0.3rads2 20.449
ms0.561
rads
ms2
0.359
a
a ar2a
2 1 
 tan
ar
a 
0
.
531
ms
4
.
6 

11 - 75
RADIAL AND TRANSVERSE

• Evaluate acceleration with respect to arm.

Motion of collar with respect to arm is rectilinear
and defined by coordinate r.

a B OA  r  0.240 m s 2

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RADIAL AND TRANSVERSE

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RADIAL AND TRANSVERSE

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RADIAL AND TRANSVERSE

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RADIAL AND TRANSVERSE

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PREPARATION FOR THE COURSE
 Effective Listening
PREPARATION FOR THE COURSE