CH 02

CHAPTER 2
KINEMATICS OF PARTICLES
CHAPTER OUTLINE
2/1 Introduction
2/2 Rectilinear Motion
2/3 Plane Curvilinear Motion
2/4 Rectangular Coordinates (x-y)
2/5 Normal and Tangential Coordinates (n-t)
2/6 Polar Coordinates (r-θ)
2/7 Space Curvilinear Motion
2/8 Relative Motion (Translating Axes)
2/9 Constrained Motion of Connected Particles
Sean Cayton/The Image Works
Article 2/1 Introduction
• Kinematics is the “geometry of motion.”
• Particle Motion
• Constrained
• Unconstrained
• Choice of Coordinates
• Rectangular (x, y, z)
• Cylindrical (r, θ, z)
• Spherical (R, θ, 𝜙)
• Path (n, t)
• Reference Frame
• Absolute Motion
• Relative Motion
Article 2/2 Rectilinear Motion
• Description
• Sign Convention
• Position, s
• Displacement, Δs
Article 2/2 – Velocity and Speed
• Velocity
• A vector quantity(m/s) that has a magnitude and direction.
• Average Velocity, vav = Δs/Δt, scalar form
• Can also write it in vector form.
• Instantaneous Velocity, v = ds/dt =
• Pay attention this is still a vector quantity
• Sign Convention
• Speed, the magnitude of velocity
• Average speed is the total distance traveled divided by
the elapsed time, (v)aveg= sT/Δt
What is the average velocity
here?
Article 2/2 – Acceleration
• Average Acceleration, aav = Δv/Δt
• Instantaneous Acceleration, a = dv/dt = = , scalar form.

• Can also write it in vector form.
• A vector quantity, units: m/s2, has a magnitude and direction.
• Sign Convention
• Other Differential Relationships: a = v dv/ds or = d/ds
• Eliminate time, dt, between the two basic relations
• Acceleration can be positive (speed increasing) or negative (speed
decreasing). Link for conceptual understanding (LCU).
• Pay attention that the particle can have acceleration but zero velocity, the
extreme points in the animation
Article 2/2 – Graphical Interpretations (1 of 2)
• Functions of Time
• Velocity at time t is the slope of the position curve at time
t.
• Acceleration at time t is the slope of the velocity curve at

time t.
• The area under the v-t curve during the interval t1 to t2 is

the net displacement of the particle during that time
interval.
• The area under the a-t curve during the interval t1 to t2 is

the net change in velocity of the particle during that time
interval.
Article 2/2 – Graphical Interpretations (2 of 2)
• Functions of Position
• The area under the a-s curve between the positions s1
and s2 is one-half the difference of the squared
velocities of the particle at the two positions.
• A line drawn perpendicular to the slope of the v-s

curve at a position s, can be extended to the position
axis to give the acceleration of the particle at that
position. It is important that the velocity and the
position coordinate axes have the same numerical
scale.
/v = dv/ds or = v dv/ds = a
Article 2/2 – Analytical Differentiation
• If position is given as a function of time, s(t), then…
• Differentiate once to obtain velocity as a function of time, v(t)
• Differentiate a second time to obtain acceleration as a function of time, a(t)
• The functions for position, velocity, and acceleration are easily plotted and
evaluated at times of interest to obtain desired information.
• If position is not given as a function of time, it must be determined by

successive integrations of the acceleration, which is determined by the forces
which act on the particle.
Article 2/2 – Analytical Integration (1 of 4)
• Case 1: Constant Acceleration, a
• At time t = t0 = 0, the particle has velocity v = v0 and is at position s = s0.
• Substitute into a dt = dv and integrate once to obtain velocity as a function of time.
• Substitute the previous result into v dt = ds and integrate a second time to obtain
position as a function of time.
• Substitute into a ds = v dv/ds and integrate once with respect to position to obtain a
different relationship.
• Case 2: Acceleration as a Function of Time, a = f(t)
• Substitute into a dt = dv and integrate once to obtain velocity as a function of time.
• Substitute the previous result into v dt = ds and integrate a second time to obtain
position as a function of time.
• If desired, the displacement s can be obtained by a direct solution of a second-order

differential equation of the form = f(t), but this is more difficult.
• Case 3: Acceleration as a Function of Velocity, a = f(v)
• Substitute into a = f(v) = dv/dt, separate variables, and integrate once to obtain the
time as a function of velocity.
• This function could be inverted to obtain velocity as a function of time, which could
then be integrated, as before, to obtain position as a function of time, or differentiated,
to obtain acceleration as a function of time.
• Substitute into a = f(v) = v dv/ds, separate variables, and integrate once to obtain a
relationship between position and velocity.
• Case 4: Acceleration as a Function of Position, a = f(s)
• Substitute into a = f(s) = v dv/ds, separate variables, and integrate once to obtain a
relationship between position and velocity.
• Solve for velocity as a function of position v = g(s), substitute into v = ds/dt, separate
variables, and integrate once to obtain time as a function of position.
• This function can be inverted to obtain position as a function of time, differentiated

once to obtain velocity as a function of time, and differentiated a second time to
obtain acceleration as a function of time.
Article 2/2 – Sample Problem 2/1 (1 of 4)
• Problem Statement
The position coordinate of a particle which is confined to move along a straight line is given by
s = 2t3 − 24t + 6, where s is measured in meters from a convenient origin and t is in seconds.
Determine (a) the time required for the particle to reach a velocity of 72 m/s from its initial
condition at t = 0, (b) the acceleration of the particle when v = 30 m/s, and (c) the net
displacement of the particle during the interval from t = 1 s to t = 4 s.
• Velocity and Acceleration
• Plots of the Motion
• (a) Time when v = 72 m/s

• (b) Acceleration when v = 30 m/s
• (c) Net Displacement from t = 1 s to t = 4 s

• Comment about the Displacement
A particle moves along the x-axis with an initial velocity vx = 50 m/s at the origin when t = 0.
For the first 4 seconds it has no acceleration, and thereafter it is acted on by a retarding force
which gives it a constant acceleration ax = −10 m/s2. Calculate the velocity and the x- coordinate
of the particle for the conditions of t = 8 sec and t = 12 sec and find the maximum positive x-
coordinate reached by the particle.
• Velocity
• Position
• Position
• Maximum Positive x-Coordinate

The spring-mounted slider moves in the horizontal guide with negligible friction and has a
velocity v0 in the s-direction as it crosses the mid-position where s = 0 and t = 0. The two springs
together exert a retarding force to the motion of the slider, which gives it an acceleration
proportional to the displacement but oppositely directed and equal to a = −k2s, where k is
constant. (The constant is arbitrarily squared for later convenience in the form of the
expressions.) Determine the expressions for the displacement s and velocity v as functions of the
time t.
• Solution I
Integral Table (integral-table.com), integral 33

• Solution II
A freighter is moving at a speed of 8 knots when its engines are suddenly stopped. If it takes 10
minutes for the freighter to reduce its speed to 4 knots, determine and plot the distance s in
nautical miles moved by the ship and its speed v in knots as functions of the time t during this
interval. The deceleration of the ship is proportional to the square of its speed, so that a = −kv2.
Note: one knot is the speed of one nautical mile (6076 ft) per hour. Work directly in the units of
nautical miles and hours for simplicity.
• Velocity
• Distance
Article 2/3 Plane Curvilinear Motion
• Introduction
• Reference Frame
• Position, r
• Displacement, Δr
• Distance, Δs
Article 2/3 – Velocity
• Average Velocity, vav = Δr/Δt
• Average Speed, vav = Δs/Δt
• Instantaneous Velocity, v = dr/dt =
• Instantaneous speed, v = ds/dt =
• Velocity is always tangent to the path in the

direction of motion.
Article 2/3 – Acceleration
• Average Acceleration, aav = Δv/Δt
• Instantaneous Acceleration, a = dv/dt =
• Instantaneous speed, v = ds/dt =
• Acceleration, in general, is neither tangent to the

path nor normal to the path.
Article 2/3 – Visualization of Motion
• General Scenario
• Hodograph
• Plot the velocity vectors to scale, emanating from a
common point.
• Acceleration vectors will be tangent to the path traced out
by the tips of the velocity vectors.
Article 2/4 Rectangular Coordinates (x-y)
• Introduction
• Illustration
• Unit Vectors, i and j
• Rectangular coordinates are particularly useful for describing motions

where the x- and y-components of acceleration are independently
generated or determined.
Article 2/4 – Vector Representation
• Vector Relationships of Interest
• Scalar Relationships of Interest
• Note that the time derivatives of the unit vectors i and j are zero
because the unit vectors always have the same magnitude and always
point in the same directions.
Article 2/4 – Projectile Motion (1 of 2)
• Illustration
• Assumptions
• Ignore Aerodynamic Drag
• Ignore Curvature of the Earth
• Ignore Rotation of the Earth
• Constant Acceleration: ax = 0 and ay = -g
• Launch Conditions
• Launch Speed, v0
• Launch Angle, θ
• Launch Coordinates, (x0, y0)
Article 2/4 – Projectile Motion (2 of 2)
• Equations of Interest
• Typical Calculations
• Find the maximum height which a projectile reaches.
• Find the maximum range or distance covered by a projectile.
• Find a launch speed and/or launch angle to ensure a particular impact point.
• Locate a projectile at a particular instant after launch.
• Determine the velocity components of a projectile at a particular instant after
launch.
The curvilinear motion of a particle is defined by vx = 50 − 16t and y = 100 −
4t2, where vx is in meters per second, y is in meters, and t is in seconds. It is also
known that x = 0 when t = 0. Plot the path of the particle and determine its
velocity and acceleration when the position y = 0 is reached.
• Velocity and Acceleration Expressions
• Plot of the Displacement

• Velocity and Acceleration Values
A team of engineering students designs a medium-size catapult which launches 8-lb steel
spheres. The launch speed is v0 = 80 ft/sec, the launch angle is 𝜃 = 35° above the horizontal, and
the launch position is 6 ft above ground level. The students use an athletic field with an
adjoining slope topped by an 8-ft fence as shown. Determine:
a) the time duration tƒ of the flight
b) the x-y coordinates of the point of first impact
c) the maximum height h above the horizontal field attained by the ball
d) the velocity (expressed as a vector) with which the projectile strikes the ground (or the fence)
Repeat part (b) for a launch speed of v0 = 75 ft/sec.
• Check y-Displacement at Fence
• Find Maximum height
Article 2/5 Normal and Tangential Coordinates (n-t)
• Introduction
• Path Coordinates
• The t-axis is tangent to the path and is positive in the direction of motion.
• The n-axis is perpendicular to the path and is positive toward the center of
curvature of the path. It can shift from one side of the path to the other if the
curvature changes.
• Because the coordinates travel with the particle, there is no utility in writing a
position vector.
• These coordinates provide a very natural description for curvilinear motion and
are often the most direct and convenient coordinates to use.
Article 2/5 – Velocity with n-t Coordinates
• Unit Vectors, et and en
• Center of Curvature, C
• Radius of Curvature, ρ
• Differential Angle, dβ
• Arclength, ds = ρ dβ
• Speed, v = ds/dt = ρ dβ/dt = ρ
• Velocity, v = vet = ρet

Article 2/5 – Acceleration with n-t Coordinates (1 of 4)
• Time Derivative of the Velocity
• Time Rate of Change of Speed,
• Question: What is ?
• While the unit vector in the t-direction is constant in magnitude, it does
change directions as it follows the particle along the curved path, therefore, its
time derivative is not zero.
• Time Derivative of et
• Unit vector et will rotate through a differential angle dβ in a
differential time dt, to the et′ configuration.
• The vector difference det has a magnitude equal to the

arclength dβ = 1 dβ = dβ, and points along the n-axis.
• Thus, the vector difference is written as det = dβ en.
• Dividing both sides by the differential time dt yields the

following result: det/dt = = dβ/dt en = en.
• Now, the term v = ven = v2/ρen.
• Note the preceding derivation assumes dβ is in radians.

• Final Expression for Acceleration
• Scalar Expressions of Interest

• Comments
• The normal component of acceleration is an = v2/ρ and
represents the component of acceleration responsible for
changing the direction of the velocity vector as the particle
moves along the path.
• The tangential component of acceleration is at = and

represents the component of acceleration responsible for
changing the speed of the particle as it moves along the
path. For this reason, it is referred to as the time rate of
change of speed.
Article 2/5 – Geometric Interpretation (1 of 2)
• The change in the velocity vector as the particle moves from
A to A′ is dv. This establishes the direction of the
acceleration vector a.
• The change in velocity has components along the n- and t-
axes which are dvn and dvt, respectively.
• The normal component of acceleration is an = dvn/dt, and this
component is always directed toward the center of curvature
of the path.
• The tangential component of acceleration is at = dvt/dt, and
this component is in the direction of the velocity if the
particle is speeding up, and opposite the direction of the
velocity if the particle is slowing down.
• Acceleration Vectors for General Scenarios
Article 2/5 – Circular Motion in n-t Coordinates (1 of 2)
• Illustration
• Special Case of Curvilinear Motion

• Radius of Curvature is a Constant Radius, ρ → r
• Angle β is replaced by the angle θ, β → θ
• New Expressions
Article 2/5 – Circular Motion in n-t Coordinates (2 of 2)
• Angular Velocity,
• SI Units: rad/s or deg/s
• U.S. Units: rad/sec or deg/sec
• Angular Acceleration,
• SI Units: rad/s2 or deg/s2
• U.S. Units: rad/sec2 or deg/sec2
• Conversions – Always Work in Radians!

• To convert from deg/s to rad/s (or deg/sec to rad/sec) multiply the degrees by π/180°
• The same conversion holds for deg/s2 to rad/s2 (or deg/sec2 to rad/sec2).
• The conversion is on the degrees, not the unit of time.
To anticipate the dip and hump in the road, the driver of a car applies her brakes to produce a
uniform deceleration. Her speed is 100 km/h at the bottom A of the dip and 50 km/h 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 of the hump at C is 150 m, calculate (a)
the radius of curvature 𝜌 at A, (b) the acceleration at the inflection point B, and (c) the total
acceleration at C.
• Velocities and Acceleration
• Condition at A
• Condition at B
• Condition at C
A certain rocket maintains a horizontal attitude of its axis during the powered phase of its flight at
high altitude. The thrust imparts a horizontal component of acceleration of 20 ft/sec 2, and the
downward acceleration component is the acceleration due to gravity at that altitude, which is g = 30
ft/sec2. At the instant represented, the velocity of the mass center G of the rocket along the 15°
direction of its trajectory is 12,000 mi/hr. For this position determine (a) the radius of curvature of the
flight trajectory, (b) the rate at which the speed v is increasing, (c) the angular rate of the radial line
from G to the center of curvature C, and (d) the vector expression for the total acceleration a of the
rocket.
• Acceleration Components
• Radius of Curvature
• Rate of Change of Speed
• Angular Rate of line GC
• Vector Expression for Acceleration

Article 2/6 Polar Coordinates (r-θ)
• Introduction
• Radial Distance r
• Angular Measurement, θ
• Important Features
• The r-axis proceeds outward in a straight line from the reference point O to
the particle location, and is always positive.
• The θ-axis proceeds normal to the r-axis from the particle location, and is
measured positive counterclockwise or clockwise from the r-axis consistent
with the angular measurement θ.
• Polar coordinates are particularly useful when a motion is constrained through
the control of a radial distance and an angular position or when an
unconstrained motion is observed by measurements of a radial distance and an
Article 2/6 – Position in Polar Coordinates
• Unit Vectors, er and eθ
• Position Vector, r = rer
• Note that as the particle moves along the curved path, the r-θ axes will
change orientation. This will result in nonzero time derivatives of the
unit vectors, which must be determined before writing the expressions
for the velocity and acceleration of the particle in polar coordinates.
Article 2/6 – Time Derivatives of Unit Vectors (1 of 3)
• Rotation of Unit Vectors in Polar Coordinates
• Time Derivative of er
• Unit vector er will rotate through a differential angle dθ in a differential time dt, to
the er′ configuration.
• The vector difference der has a magnitude equal to the arclength dθ = 1 dθ = dθ,
and points along the +θ-axis. This assumes the angle dθ is expressed in radians.
• Thus, the vector difference is written as der = dθ eθ.
• Dividing both sides by the differential time dt yields… der/dt = = dθ/dt eθ = eθ.
• Rotation of Unit Vectors in Polar Coordinates
• Time Derivative of eθ
• Unit vector eθ will rotate through a differential angle dθ in a differential time dt, to
the eθ′ configuration.
• The vector difference deθ has a magnitude equal to the arclength dθ = 1 dθ = dθ,
and points along the -r-axis. This assumes the angle dθ is expressed in radians.
• Thus, the vector difference is written as deθ = -dθ er.
• Dividing both sides by the differential time dt yields… deθ/dt = = -dθ/dt er = -er.
• Summary of Results
• Analogous to n-t Coordinates

Article 2/6 – Velocity in Polar Coordinates
• Time Derivative of the Position Vector
• Substitution of Terms

Article 2/6 – Acceleration in Polar Coordinates
• Time Derivative of the Velocity Vector
• Substitution of Terms

• Illustration
• Velocity Component Changes

• Acceleration Represented
Article 2/6 – Circular Motion in Polar Coordinates (1 of 2)
• Illustration
• Similar to n-t Coordinates
• Radius Distance is a Constant Radius r,
• New Expressions
Article 2/6 – Circular Motion in Polar Coordinates (1 of 2)
• Angular Velocity,
• SI Units: rad/s or deg/s
• U.S. Units: rad/sec or deg/sec
• Angular Acceleration,
• SI Units: rad/s2 or deg/s2
• U.S. Units: rad/sec2 or deg/sec2
• Conversions – Always Work in Radians!

• To convert from deg/s to rad/s (or deg/sec to rad/sec) multiply the degrees by π/180°
• The same conversion holds for deg/s2 to rad/s2 (or deg/sec2 to rad/sec2).
• The conversion is on the degrees, not the unit of time.
Article 2/6 – Comparison of Coordinate Systems (1 of 2)
• Velocity Components
Article 2/6 – Comparison of Coordinate Systems (2 of 2)
Rotation of the radially slotted arm is governed by 𝜃 = 0.2t + 0.02t3, where 𝜃 is in radians and t
is in seconds. Simultaneously, the power screw in the arm engages the slider B and controls its
distance from O according to r = 0.2 + 0.04t2, where r is in meters and t is in seconds. Calculate
the magnitudes of the velocity and acceleration of the slider for the instant when t = 3 s.
• Coordinates and Time Derivatives
Article 2/6 – Sample Problem 2/9 (of 4)
• Plot of the Motion
A tracking radar lies in the vertical plane of the path of a rocket which is coasting in unpowered
flight above the atmosphere. For the instant when 𝜃 = 30°, the tracking data give r = 25(104) ft,
= 4000 ft/sec, and = 0.80 deg/sec. The acceleration of the rocket is due only to gravitational
attraction and for its particular altitude is 31.4 ft/sec2 vertically down. For these conditions
determine the velocity v of the rocket and the values of and .
Article 2/8 Relative Motion (Translating Axes)
• Utility of Translating Coordinate Frames
• Choice of Coordinate System

• Absolute Coordinate Frames
• Coordinate Frames for Engineering Purposes
• Coordinate Frames for Interplanetary Travel
• Focus of this Article

• Moving Reference Systems which Translate but do not Rotate
• Relative-Motion Analysis for Plane Motion
Article 2/8 – Vector Representation (1 of 2)
• Situation of Interest
• Coordinate Frames
• OXY = fixed, inertial frame
• Bxy = translating axes attached to particle B
• Position Vectors
• rA = absolute position vector of particle A
• rB = absolute position vector of particle B
• rA/B = position vector of particle A measured relative to frame x-y
• The A/B subscript is read “A relative to B” or “A with respect to B.”
• r =r +r
Article 2/8 – Vector Representation (2 of 2)
• Velocity Vectors
• Differentiate with respect to time…
• Acceleration Vectors
• Differentiate with respect to Time again…
• Note that the time derivatives of the unit vectors i and j are zero because
the unit vectors always have the same magnitude and always point in the
same directions, even though the coordinate frame is translating. This
result would not hold if the coordinate frame was rotating.
Article 2/8 – Additional Considerations
• Choice of B or A for the Translating Frame
• Vector Results
and… rB/A = -rA/B, vB/A = -vA/B, and aB/A = -aA/B
• The acceleration of a particle as observed in a translating system x-y is the

same as that observed in a fixed system X-Y if the moving system has a
constant velocity.
Passengers in the jet transport A flying east at a speed of 800 km/h observe a second jet plane B
that passes under the transport in horizontal flight. Although the nose of B is pointed in the 45°
northeast direction, plane B appears to the passengers in A to be moving away from the transport
at the 60° angle as shown. Determine the true velocity of B.
• Solution
• Graphical Solution
• Trigonometric Solution
• Vector-Algebra Solution
Car A is accelerating in the direction of its motion at the rate of 3 ft/sec 2. Car B is rounding a
curve of 440-ft radius at a constant speed of 30 mi/hr. Determine the velocity and acceleration
which car B appears to have to an observer in car A if car A has reached a speed of 45 mi/hr for
the positions represented.
• Velocity
• Acceleration
Article 2/9 Constrained Motion of Connected Particles
• Introduction
• One-Degree-of-Freedom Example
• Establish position coordinates to each body from a convenient
datum.
• In this example, x is measured positive to the right from the corner pulley, and
y is measured positive down from the center of the corner pulley.
• Write the length of the cable which connects the particles.
• Take time derivatives of the cable length, remembering that the time
derivative of a constant value is zero.
Article 2/9 – One-Degree-of-Freedom Example (cont.)
• Analysis of the Connecting Pulley
• Points A′ and A have the same motion magnitudes, as

do points B and B′.
• During an infinitesimal motion of A′, it is easy to see

that B′ moves half as far as A′ because point C is fixed.
• Point C is fixed because the pulley “rolls” down the

vertical length of cable so that point C momentarily
has no motion.
• Differentiation of this relationship with respect to time

will yield the same result as differentiation of the cable
length with respect to time.
Article 2/9 – Two-Degree-of-Freedom Example (1 of 2)
• Situation of Interest
• Note there are two cables in the system of pulleys which
come together at pulley D.
• Solution Process
• Establish position coordinates to each body and pulley of
interest from a convenient datum.
• In this example, coordinates are measured positive down for each
of the three hanging masses as well as the pulley of
commonality, D.
• Write the length of each connecting cable. Note that all of
the constant segments have been lumped into a single
term.
Article 2/9 – Two-Degree-of-Freedom Example (2 of 2)
• Solution Process (cont.)
• Take time derivatives of the cable lengths, remembering
that the time derivative of a constant value is zero.
• Eliminate the terms involving the time rate of change of

pulley D to obtain equations which relate the velocity and
acceleration of the three hanging masses.
In the pulley configuration shown, cylinder A has a downward velocity of 0.3 m/s. Determine
the velocity of B. Solve in two ways.
• Solution I
• Solution II
The tractor A is used to hoist the bale B with the pulley arrangement shown. If A has a forward
velocity vA, determine an expression for the upward velocity vB of the bale in terms of x.
• Solution

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CH 02

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CHAPTER 2

• Instantaneous Acceleration, a = dv/dt = = , scalar form.

• Acceleration at time t is the slope of the velocity curve at

• The area under the v-t curve during the interval t1 to t2 is

• The area under the a-t curve during the interval t1 to t2 is

• A line drawn perpendicular to the slope of the v-s

• Differentiate once to obtain velocity as a function of time, v(t)

• Differentiate a second time to obtain acceleration as a function of time, a(t)

• If position is not given as a function of time, it must be determined by

• If desired, the displacement s can be obtained by a direct solution of a second-order

• This function can be inverted to obtain position as a function of time, differentiated

• Plots of the Motion

• (a) Time when v = 72 m/s

• (c) Net Displacement from t = 1 s to t = 4 s

• Maximum Positive x-Coordinate

Integral Table (integral-table.com), integral 33

• Average Speed, vav = Δs/Δt

• Instantaneous Velocity, v = dr/dt =

• Instantaneous speed, v = ds/dt =

• Velocity is always tangent to the path in the

• Instantaneous Acceleration, a = dv/dt =

• Instantaneous speed, v = ds/dt =

• Acceleration, in general, is neither tangent to the

• Unit Vectors, i and j

• Rectangular coordinates are particularly useful for describing motions

• Scalar Relationships of Interest

• Plot of the Displacement

• Speed, v = ds/dt = ρ dβ/dt = ρ

• Velocity, v = vet = ρet

• Time Rate of Change of Speed,

• The vector difference det has a magnitude equal to the

• Thus, the vector difference is written as det = dβ en.

• Dividing both sides by the differential time dt yields the

• Now, the term v = ven = v2/ρen.

• Note the preceding derivation assumes dβ is in radians.

• Scalar Expressions of Interest

• The tangential component of acceleration is at = and

• Special Case of Curvilinear Motion

• Conversions – Always Work in Radians!

• Angular Rate of line GC

• Vector Expression for Acceleration

• Position Vector, r = rer

• Thus, the vector difference is written as der = dθ eθ.

• Thus, the vector difference is written as deθ = -dθ er.

• Analogous to n-t Coordinates

• Scalar Expressions of Interest

• Scalar Expressions of Interest

• Velocity Component Changes

• Conversions – Always Work in Radians!

• Choice of Coordinate System

• Coordinate Frames for Engineering Purposes

• Coordinate Frames for Interplanetary Travel

• Focus of this Article

and… rB/A = -rA/B, vB/A = -vA/B, and aB/A = -aA/B

• The acceleration of a particle as observed in a translating system x-y is the

• Points A′ and A have the same motion magnitudes, as

• During an infinitesimal motion of A′, it is easy to see

• Point C is fixed because the pulley “rolls” down the

• Differentiation of this relationship with respect to time

• Eliminate the terms involving the time rate of change of

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