Chapter 3

Curvilinear Translation
Curvilinear Motion of a Particle: Fundamental Concepts
What is the meaning of curvilinear motion?
The motion of an object moving in a curved path is
called curvilinear motion. Example: A stone thrown into
the air at an angle. Curvilinear motion describes
the motion of a moving particle that conforms to a known
or fixed curve.
translation of a rigid body has been defined as the
motion in which a straight line passing through any two
points remains parallel to its initial position
in rectilinear motion, we chose the origin of motion on
the path so that only the magnitude of the displacement
vector could change, but not its inclination
in curvilinear motion, the displacement vector will change
both in magnitude and inclination

Curvilinear Motion
the concept of velocity and acceleration must be extended to
include both these changes in displacement
although the velocity is always directed tangent to the curved
path of the motion, the acceleration is not tangent to the path
the diagram shows the curved path traversed by a particle having
curvilinear motion

Fig. 1

the displacement of any position is its vector distance from the origin O
example, the vector displacement of two positions A and B are
respresented by and
It is clear that the change in the displacement is due to a combined
change in magnitude and inclination on these displacement vectors
for any position, the displacement of any point may be
expressed as the vector sum of its X and Y coordinates as
follows: after a small elapsed time

recalling and and by successive differentiation

we obtain:

Velocity in Curvilinear Motion:

from Fig. 1, let points A and B represent successive positions of
moving particle after a small elapsed time
the change in displacement during this interval is the
chord distance between A and B
if the change in displacement is resolved into
components parallel to the reference axes, and from the
figure shows that the geometric relation between
is given by following vector equation
and dividing by elapsed time , then
𝜟𝒔 𝜟𝒙 𝜟 𝒚 and this creates a new vector having a
= →
𝜟𝒕 𝜟𝒕 𝜟𝒕
a different magnitude but the same direction and each of
these new vectors represent the average velocity in the
respective direction and displacement
 in the limit as approaches zero
the quation becomes:

the significance of the equation is that, as approaches

zero, B approaches A and the chord coincides with the
curved of travel so that, in the limit, becomes which is
directed along the path at A
the term represents the instantaneous velocity at

A directed tangent to the path at A

The figure represents the path and shows its velocity and
its components and
Y

the magnitude of the velocity is given by the algebraic

expression:
its direction with the x axis is given by:

if we replace and by their corresponding

values and we obtain:

it is clear that is the slope of the curved path

which conclude that the velocity is tangent to the path
Rectangular Components of Acceleration

Fig.1

Fig. 2
Fig. 1 shows the instantaneous velocities at points A
and B which are separated by ∆t
 Fig. 2 shows these velocities are represented as free
vectors, which is evident that a vector of magnitude
Δv and the direction indicated must be added to
to obtain ; meaning that the change in the velocity
between and is given by
resolving into components parallel to the
reference axes gives the vector relation:

dividing by elapsed time

each new vector represent the average acceleration in
the direction of each change of velocity
in the limit as:

 is the instanataneous acceleration at point A and B

and and are its component
the magnitude of the acceleration at A may be expressed
by the algebraic relation:
its angle with the x axis is:

substituting and by and

therefore, the direction of the acceleration vector is

not tangent to the path Y

o X
Fig. 3 Rectangular components of acceleration
Projectile:
What is a Projectile?
A projectile is an object upon which the only force acting is
gravity.
The projectile is any object thrown into space upon which the
only acting force is gravity.
A projectile is any object that once projected or dropped
continues in motion by its own inertia and is influenced only by
the downward force of gravity.
By definition, a projectile has a single force that acts upon it -
the force of gravity.
If there were any other force acting upon an object, then that
object would not be a projectile.
Thus, the free-body diagram of a projectile would show a
single force acting downwards and labeled force of gravity
(or simply ).
Regardless of whether a projectile is moving downwards,
upwards, rightwards, and leftwards, the free-body diagram
of the projectile is still as depicted in the diagram at the
right.
By definition, a projectile is any object upon which the only
force is gravity.
Sample of Projectile

There are a variety of examples of projectile:

1. An object dropped from rest is a projectile (provided that the

influence of air resistance is negligible).
2. An object that is thrown vertically upward is also a projectile
(provided that the influence of air resistance is negligible).
3. And an object which is thrown upward at an angle to the
horizontal is also a projectile (provided that the influence of air
resistance is negligible).
Flight of Projectile: Air Resistance Neglected
Why do we neglect air resistance in projectile motion?
During the motion of a projectile, however, air resistance continuously
retards its motion. As a result, the deviation of the actual trajectory of
the projectile from that calculated by neglecting air resistance increases
as the launch speed, size of the ball, and the time of flight increases.
What means that air resistance is neglected?
Objects that are said to be undergoing free fall, are not encountering a
significant force of air resistance; they are falling under the sole
influence of gravity. Under such conditions, all objects will fall with the
same rate of acceleration, regardless of their mass.
How does air resistance affect the flight of a projectile?
As a projectile moves through the air it is slowed down
by air resistance. Air resistance will decrease the
horizontal component of a projectile. The effect of air
resistance is very small, but needs to be considered if you
want to increase the horizontal component of a projectile.

Flight of Projectile:
assume the projectile
to be moving without
rotation in vacuum
neglect the effect of air
resistance and other
factors on the actual
flight of projectile Fig. 4. Flight of Projectile
resolve the curvilinear motion of the path into rectilinear
motions along the X and Y axes
let the path of the projectile be given by the curve OBCD as
shown in the figure with origin of axes as initial point of flight
the initial velocity is given by directed at an angle θ with
the x axis
from initial direction of motion, displacements will be taken as
positive both rightward and upward
since the only force acting on the projectile is its own weight,
its total acceleration at all positions due to gravity and is
directed vertically downward with the value of
the rectangular components of this acceleration are constant
at and
instead of considering the actual path of the projectile, we
combine the simultaneous projection upon the X and Y axes
the equation of these rectilinear components of the path are
found by subtsituting the X and Y components of
in the equations for rectilinear motion with constant
acceleration as shown on the accompanying table
Rectilinear Motion with X component of Flight Y Component of Flight
Constant Acceleration

or or

or or
 Alternate Formula:

𝒙 𝒙
𝒗 𝒐= 𝒕=
𝒄𝒐𝒔 𝜽 𝒕 or 𝑽 𝒐 𝒄𝒐𝒔 𝜽

𝒚= ( 𝒙
𝒄𝒐𝒔 𝜽 𝒕 ) 𝟏
𝒔𝒊𝒏 𝜽 𝒕 − 𝒈𝒕 ²
𝟐 ❑
if the time of flight is less than that to reach C, the projectile will be
above its initial position and values of Y displacement will be
positive
if the time of flight is more than that required to reach C, the
projectile will be on path CD and values of Y displacement will then
be negative
at the topmost point of flight B, the value of will be zero
Example 1102: A stone is thrown from a hill at an angle of 60º
to the horizontal with an initial veloccity of 100 fps. After
hitting a level ground at the base of the hill, the stone has
covered a horizontal distance of 500 ft., how high is the hill?

O
Solution:

Alternate Solution:
Example 1103: A shell leaves a mortar with a muzzle
velocity of 500 fps directed upward at 60º with the
horizontal. Determine the position of the shell and its
resultant velocity 20 sec after firing. How high will it rise?

x
Cont.
Example 1107: The car shown is just to clear the water gap.
Find the take – off velocity.

O
Tangential and Normal Components of Acceleration:
most useful components of acceleration are those which are
tangents and normal to the path

Fig. 1

Fig. 2
these components denotes the rate of change of
magnitude and direction of velocity
Fig. 1 show the normal to the path at points A and B
separated by time interval
these normal differ by an angle of radians and
intersect at the center of curvature for the segment AB
the radius of carvature at A is designated by r
the radius of curvature at B approah this value as

In Fig. 2, the free vectors OC and OE representing the

velocities at A and B
the length OD has been has been laid off equal to

and the change in velocity is resolve to vectors

CD and DE
distance DE represent the numerical magnitude of the
difference in velocity between and for if and
were equal points E and D would coincide
the distance CD represents the difference in velocity
between and due to the difference in direction
of these velocities or else points C and D would
coincide
resolved the total change in velocity into two
components, DE due to change in the magnitude of
the velocities and CD due to change in the direction of
the velocities
denoting CD by and DE by gives:

or
Acceleration is:

magnitude of acceleration:

its inclination with the normal:

note carefully that represent only the rate

of change in the magnitude of velocity and it will be
zero if the speed is constant
the normal acceleration will be given by:

the tangential acceleration is given by:

 the normal component of acceleration as varying only with and

 if the path is straight, will be infinite and will be zero

 for curved path will zero only if is zero
Example: A race car travels around the horizontal circular track
that has a radius of 300 ft. If the car increases its speed at a
constant rate of 7 fps² starting from rest, determine the time
for it to reach an acceleration of 8 fps². What is the speed at
this instant?
Time needed to reach acceleration of 8 fps²
Velocity: The speed at time is:

Example: Determine the minimum radius of curvature of the

trajectory described by the projectile considered from the
following given.
Example: A motorist is traveling on a curved section of highway of
radius 2500 ft at the speed of 60 mi/hr. The motorist suddenly
applies the brakes, causing the automobile to slow down at a
constant rate. Knowing that after 8 sec the speed has been
reduced to 45 mi/hr, determine the acceleration of the automobile
immediately after the brakes have been applied.
Tangential Component of Acceleration:

Average :

Normal Components of Acceleration:

Magnitude and Direction of Acceleration:
 Kinetics of Curvilinear Translation:
Dynamic Equilibrium
the kinetic equations of curvilinear translation are obtained
from the equation of motion of center of gravity of any body
that is

it convenient to resolve this equation into components which

are normal and tangent to the path
callling the normal axis N and tangential axis T we obtain:
the bar sign which refer to the motion of the center of gravity
can be omitted from these equation because all particles in
translation have identical values of acceleration as well as
displacement and velocity
a condition of dynamic equilibrium may therefore be
obtained by applying the inertia force of magnitudes
and acting through the center of gravity
opposite in direction to the normal and
tangential acceleration
these inertia forces are known as the centrifugal inertia force
(or reversed normal effective force) and tangential inertia
force (or reversed tangential effectve force)
it is more convenient to solve problem in curvilinear
translation by creating dynamic equilibrium
Example: A bob of W = 100 lb is moving with a constant velocity of
8.03 fps in a horizontal plane at the end of a cord of length 18 in. It
is required to determine the tension in the cord, the inclination with
the horizontal, and the period or time required to complete one
revolution. The string generates a curve called a conical pendulum.
Example: A rod 4 ft rotates in a horizontal plane about a vertical axis
through its center. At each end of the rod is fastened a cord 3 ft long.
Each cord supports a weight W. Compute the speed of rotation n in
rpm to incline each cord at 30° with the vertical.

❑
𝑾𝒗 ²
𝒈𝒓
Cont. : from
Example: A weight concentrated at the end of a cord forms a
conical pendulum for which the period is 1 sec. Determine the
velocity of the weight if the cord rotates inclined at 30° with the
vertical.
Banking of Highway Curves:
What is the purpose of banking a highway curve?
To negotiate turns at high speed, where frictional effects are not
sufficient to maintain circular motion, we often resort to a
banked curve.
The banking of curves can reduce the chance of skidding
because the normal force on the road (acting perpendicular to
the road) will have a component towards the centre of the circle
and so less friction is needed. For a given banking angle θ there
will be one speed for which no friction at all is required.
What is banking of curve?
A banked turn (or banking turn) is a turn or change of direction in
which the vehicle banks or inclines, usually towards the inside of
the turn. For a road or railroad this is usually due to the roadbed
having a transverse down-slope towards the inside of the curve.
Why do highways have banked curves?
Curved roads are banked in order to avoid the chances of
overturning the vehicles. When a vehicle moves on curved road
centripetal force acts on the vehicle and it has tendency to pull the
vehicle towards it so in order to avoid this effect banking is
provided.
What is angle of banking?
The angle of banking can be defined as the angle at which any
vehicle becomes inclined around its longitudinal axis with respect
to the horizontal. To make the vehicle safer on a curved road, the
outer edge is raised above than the inner edge.
Why are curves in roadways often banked?
Curved roads are banked in order to avoid the chances of
toppling or overtuning the vehicles. When a vehicle moves
on curved road centripital force acts on the vehicle and it has
tendency to pull the vehicle towards it so in order to avoid this
effect banking is provided.
Ideal Angle of Banking:
What is the angle of banking?
The angle of banking can be defined as the angle at which any
vehicle becomes inclined around its longitudinal axis with
respect to the horizontal. To make the vehicle safer on a
curved road, the outer edge is raised above than the inner
edge.
Discussion:
consider a car of weight
W lb that makes a
horizontal turn on
a curve of radius r ft while
traveling at v ft per sec
the curve is banked at an angle with the horizontal so that
there is no tendency to slide up or down the road
the angle is known as the ideal angle of banking
assuming the centrifugal inertia force applied through
the center of gravity to create dynamic equilibrium as shown
on the figure
the resultant normal pressure against the wheels is
represented ny N
because these forces are in equilibrium, a tip-to-tail addition
gives the triangle as shown on the diagram

or - ideal angle of
banking
it should be observed that the dimensions of the car are negligibly
small in comparison to the size of the path, so that the car may be
considered as a particle
the equation defines the ideal angle of banking in terms of the
velocity of the car and the radius of the turn and is independent of
the weight of the car
the velocity in this case is often termed the rated speed or safe
speed or design speed of the curve
Friction Force on a Banked Curve:
we will now determine the friction force exerted by the road on the
tires when the car is rounding a banked curve with a velocity
greater than the rated speed of the curve
this frictional force F will be acting down on the plane of
banking as shown on diagram at Fig. a

Fig. a

Fig. b
taking parallel to the plane of banking
will determine the friction force acting
the friction force adjust itself to the amount required to
prevent skidding and will not have its maximum value unless
skidding is impending
in other words, the friction force F = µN does not apply unless
the car is making a maximum speed
 when the car is traveling at its greatest speed and about to skid
up the plane, the relation between F and N is given by F = µN
F and N are the components of the total road reaction R and µ is
tangent of angle of friction
replacing F and N by their resultant R will give the tip-to-tail
addition shown in Fig. b giving the equation:

skid up
if the car is about to skid down the plane of banking,
(because of insufficient speed) the equation becomes:

skid down

Example: To what angle a racing track of radius of curvature

600 m be banked so as to be suitable for a maximum speed of
180 kph?
Example: A curve in the road is in the form of an arc of a circle of
radius 400 m. At what angle should the surface of the road be laid
inclined to the hofizontal so that the resultant reaction of the
surface acting on a car running at 120 kph is normal to the
surface?
Example 1141: A boy running a foot race rounds a flat curve of 50-ft
radius. If he runs a rate of 15 mph, at what angle with the vertical
will he incline his body?
Example 1143:The superelevation of a railroad track is the number
of inches that the outside rail is raised to prevent thrust on the
wheel flanges around the curve at rated speed. Determine the
superelevation e for a track having a gauge of 4 ft 8 ½ inches of
2000 - ft radius and a rated speed of 60 mph. What is the flange
pressure P on the wheels of a 100,000 lb car that rounds the curve
at 80 mph?
Sol’n: (a)

Note: for small angle tan = sin

= 56.5” sin 6.85°

(b)
(b)
Example 1144: An airplane makes a turn in a horizontal plane
without sideslip at 480 mph. At what angle must the plane be
banked if the radius of the turn is 1 mile? If the pilot weighs 150
lb, what pressure does he exert on his seat?
𝚺 𝐅 𝐯 =𝟎
Prob. 1147: The rated speed of a highway curve of 200-ft radius is 30 mph.
If the coefficient of friction between the tires and the road is 0.60, what is
the maximum speed at which a car can round the curve without skidding?

𝑽 𝟐❑ ( 𝟒𝟒 )𝟐 ❑
𝒕𝒂𝒏 𝜽= 𝒕𝒂𝒏 ( 𝟏𝟔. 𝟕𝟒°+𝜱 )=
𝒈𝒓 𝟑𝟐.𝟐 ( 𝟐𝟎𝟎 )

( )
❑
𝟐𝟐 𝜱=𝟑𝟏 ° ❑
𝒕𝒂𝒏 𝜽=𝟑𝟎 =𝟒𝟒 𝒇𝒑𝒔
𝟏𝟓 𝒗
𝟐❑

( 𝟒𝟒 )𝟐 𝒕𝒂𝒏 ( 𝜽+ 𝜱 )=
𝒕𝒂𝒏 𝜽= 𝒈𝒓
𝟑𝟐 .𝟐 ( 𝟐𝟎𝟎 ) 𝒗
𝟐
𝒕𝒂𝒏 ( 𝟏𝟔 . 𝟕𝟒 ° +𝟑𝟏 ° )=
𝜽=𝟏𝟔 . 𝟕𝟒 ° ❑ 𝟑𝟐 .𝟐 ( 𝟐𝟎𝟎 )
❑
𝒗²
𝟐❑ 𝒕𝒂𝒏 ( 𝟏𝟔. 𝟕𝟒°+𝟑𝟏° )=
𝒗 𝟑𝟐.𝟐 ( 𝟐𝟎𝟎 )
𝒕𝒂𝒏 ( 𝜽+𝜱 )=
𝒈𝒓
( )
❑
𝟏𝟓
𝒗=𝟖𝟒 .𝟏𝟖 =𝟓𝟕. 𝟒 𝒎𝒑𝒉
𝟐𝟐
Example: Find the angle of banking for a highway curve of 300-ft
radius to accommodate cars traveling at 100 mph, if the
coefficient of friction between the tires and the road is 0.60. What
is the rated speed of the curve?
 Engg 1016
Assignment 1
1. Using a video camera, it is observed that when a ball is kicked from as
shown, it is just to clear the top a wall at B as it reaches its maximum
height. Knowing that the distance from A to the wall us 20 m and the wall
is 4 m high, determine the initial speed at which the ball was kicked
Neglect the size of the ball.

❑
𝒚 𝑽 𝑨❑

❑ ❑
𝜽 ❑
𝟒𝒎
𝑨 ❑ 𝒙
𝟐𝟎𝒎❑
2. Determine the rated speed of a highway curve of radius r = 400 ft
banked through an angle θ = 18°. The rated speed of a banked highway
curve is the speed at which a car should travel if no lateral friction force
is to be exerted on the wheels
❑
𝒚
❑
𝟏𝟖 𝑾
°

❑
𝟐 𝒙
𝑾𝒗
°
° 𝟗𝟎 𝒈𝒓
𝟏𝟖 °
𝟏𝟖 ❑
𝑹
 1. Horizontal Motion:
𝒙 𝑩 =𝒙 𝑨 +𝑽 𝑨 𝒕 𝑨𝑩 𝒙
❑❑
𝟐𝟎=𝟎+𝑽 𝑨 𝒄𝒐𝒔 𝜽 ( 𝒕 𝑨𝑩)
Vertical Motion:
𝑽 𝑩 =𝑽 𝑨 +𝒂 𝑪 𝒕 𝑨𝑩
𝒚 𝒚

𝟎=𝟎+𝑽 𝑨 𝒔𝒊𝒏 𝜽 −𝟗 . 𝟖𝟏 𝒕 𝑨𝑩 ❑
𝟐 𝟐
𝑽 𝑩 =𝑽 𝑨 +𝟐 𝒂 𝑪 ( 𝒚 𝑩 − 𝒚 𝑨 )
𝒚 𝒚
𝟐 𝟐 ❑❑
𝟎=𝑽 𝒔𝒊𝒏 𝜽+𝟐 ( −𝟗.𝟖𝟏 ) (❑𝟒−𝟎 )
𝑨
𝒆𝒍𝒊𝒎𝒊𝒏𝒂𝒕𝒆 𝒕 𝑨𝑩 𝒇𝒓𝒐𝒎 (𝟏 ) 𝒂𝒏𝒅 ( 𝟐 )
𝟐
𝑽 𝑨 𝒔𝒊𝒏 𝜽 𝒄𝒐𝒔 𝜽=𝟏𝟗𝟔 .𝟐
❑
𝑺𝒐 𝒍𝒗𝒆 𝒊𝒏 𝑬𝒒.𝟒𝒂𝒏𝒅 𝒔𝒖𝒃𝒕𝒔.𝒕𝒐 𝑬𝒒 𝟑:
 Cont.
𝒔𝒊𝒏 𝜽 𝟐 ( 𝟗 .𝟖𝟏 )( 𝟒 )
=𝒕𝒂𝒏 𝜽= =𝟎 . 𝟒
𝒄𝒐𝒔 𝜽 𝟏𝟗𝟔 .𝟐
𝜽=𝟐𝟏. 𝟖°
❑
𝑼𝒔𝒊𝒏𝒈 𝑬𝒒 .4𝒕𝒐 𝒔𝒐𝒍𝒗𝒆 𝒇𝒐𝒓 𝑽 𝑨 :

𝑽 𝑨=
√ 𝟏𝟗𝟔.𝟐
(𝐬𝐢𝐧 𝟐𝟏.𝟖 ) ( 𝐜𝐨𝐬 𝟐𝟏.𝟖
𝑽 𝑨 =𝟐𝟑. 𝟗 𝒎𝒑𝒔
° °)
Solution:
2. ❑ 𝟐
𝜮 𝑭 𝒚 =0 𝒗 =𝒈𝒓 𝒕𝒂𝒏 𝜽
❑
𝑹𝒄𝒐𝒔 𝜽 −𝑾 =𝟎 𝟐
𝒗 =( 𝟑𝟐 . 𝟐 ) ( 𝟒𝟎𝟎 ) 𝒕𝒂𝒏 𝟏𝟖
°
❑
𝑾
𝑹= − − ( 𝟏) ❑
𝒄𝒐𝒔 𝜽 𝒗=𝟔𝟒 .𝟕 𝒇 𝒕/ 𝒔𝒆𝒄
𝑭 𝒙 =𝟎
𝟐 ❑
𝑾𝒗
𝑹 𝒔𝒊𝒏 𝜽= − −(𝟐)
𝒈𝒓

𝟐
𝑾 𝑾𝒗
𝒔𝒊𝒏 𝜽=
𝒄𝒐𝒔 𝜽 𝒈𝒓
 Quiz
3.
Question:
Civil engineers generally bank curves on roads in such a manner that a
car going around the curve at the recommended speed does not have to
rely on friction between its tires and the road surface in order to round the
curve. Suppose that the radius of curvature of a given curve is r = 60 m,
and that the recommended speed is v = 40 km/hr.
(a) At what angle should the curve be banked? Provide diagram or figure.
Explain you answer.

(b) What happen if the car attempt to round the curve at a wrong speed?
Cont.

[ )] ²
❑

𝒕𝒂𝒏 𝜽 =
𝑾𝒗 ²
=
( 𝟒𝟎 ) ( 𝟏𝟎𝟎𝟎
𝟑𝟔𝟎𝟎
𝒈𝒓 𝟔𝟎 ( 𝟗 . 𝟖𝟏 )

Note that if the car attempts to round the curve at the wrong speed
then mv²/r is not equal m g tan θ, and the difference has to be made
up by a sideways friction force exerted between the car's tires and
the road surface. Unfortunately, this does not always work--
especially if the road surface is wet!