The description of the Plane

Curvilinear Motion by the normal-

tangential (n-t) coordinates & the Polar
Coordinates
Lecture IV
t
n
P
A
P
B
P
C
t
n
t
n
Path
y
x
P
r
u
u
r
Path
O
Polar
coordinates
Normal-Tangential
coordinates
Plane Curvilinear Motion Normal-
Tangential (n-t) Coordinates
t
n
P
A
P
B
P
C
t
n
t
n
Path
Here, the curvilinear motions measurements are made along the
tangent (t) and the normal (n) to the path.
n-t coordinates are considered to move along the path with the particle.
The positive direction of the normal (n) always points to the center of
curvature of the path; while the positive direction of the tangent (t) is
taken in the direction of particle advance (for convenience).
e
t
& e
n
are the unit vectors in t-direction and n-direction, respectively.
(n-t) Coordinates - Velocity
Note: is the radius of
curvature and d| is the
increment in the angle (in
radians)
(after dt)
t t
e v = v
|
|

= = =
dt
d
dt
ds
v
t
Note: as mentioned before
that the velocity vector v is
always tangent to the path;
thus, the velocity has only
one component in the n-t
coordinates, which is in the t-
direction. This means that v
n

= 0.
Its magnitude is:
(n-t) Coordinates - Acceleration
Note: e
t
, in this case, has a
non-zero derivative, since it
changes its direction. Its
magnitude remains constant
at 1.
( )
t t t t
t t
e v e v
dt
e v d
dt
d

+ = =
=
a
v
a
?
( ) |
|
|
|
|
t
n t n
t
n
t
n t
v dt ds
e e e
dt
d
dt
e d
dt
e
d
e d
e d e d
= =
= =
= =

: But

: by Dividing

(after dt)
Note: the vector de
t
, in the
limit, has a magnitude equal
to the length of the arc
|e
t
|d|=d|. The direction of
de
t
is given by e
n
.
Thus,
n
t
t t
e
v
e v
|
|
.
|

\
|
+ =

2
a
(n-t) Coordinates Acceleration
(Cont.)
2 2
2
2
t n
t
n
t t
a a a
v
v
a
s v a
+ =
= = =
= =
| |

Its magnitude is:
Notes:
-a
n
always directed toward the
center of curvature.
-a
t
positive if the speed v is
increasing and negative if v is
decreasing.
= , thus a
n
= 0
(n-t) Coordinates Circular
Motion
u u
u
u

t
t
n
t t
t
v r
r
v
a
r v a
r v
= = =
= =
=
2
2
For a circular path: = r
n-t Coordinates
Exercises
Exercise # 1
2/97: A particle moves in a circular path of 0.4 m radius. Calculate the
magnitude a of the acceleration of the particle (a) if its speed is constant at 0.6
m/s and (b) if its speed is 0.6 m/s but is increasing at the rate of 1.2 m/s each
second. .
Exercise # 2
2/101: The driver of the truck has an acceleration of 0.4g
as the truck passes over the top A of the hump in the road
at constant speed. The radius of curvature of the road at
the top of the hump is 98 m, and the center of mass G of
the driver (considered a particle) is 2 m above the road.
Calculate the speed v of the truck.
Exercise # 3
2/110: Write the vector expression for the acceleration
a of the mass center G of the simple pendulum in both
n-t and x-y coordinates for the instant when u = 60 if
u
.
= 2.00 rad/s and u
..
= 2.45 rad/s
2
.
Exercise # 4
2/118: The design of a camshaft-drive system of a four
cylinder automobile engine is shown. As the engine is revved
up, the belt speed v changes uniformly from 3 m/s to 6 m/s
over a two-second interval. Calculate the magnitudes of the
accelerations of points P
1
and P
2
halfway through this time
interval.
Exercise # 5
2/128: The pin P is constrained to move in the slotted guides
which move at right angles to one another. At the instant
represented, A has a velocity to the right of 0.2 m/s which is
decreasing at the rate of 0.75 m/s each second. At the same
time, B is moving down with a velocity of 0.15 m/s which is
decreasing at the rate of 0.5 m/s each second. For this instant
determine the radius of curvature of the path followed by P.
Plane Curvilinear Motion Polar
Coordinates
Here, the curvilinear motions measurements are made by the radial
distance (r) from a fixed pole and by an angular measurement (u) to the
radial line.
The x-axis is used as a reference line for the measurement of u.
e
r
& e
u
are the unit vectors in r-direction and u-direction, respectively.
y
x
P
r
u
u
r
Path
O
Polar Coordinates Position &
Velocity
t t
e v = v
Note: from (b), de
r
is in the
positive u-direction and de
u
in
the negative r-direction
r
e r = r
The position vector of
the particle:
( )
r r
t
e r e r
dt
e r d
dt
d
v
r
v + = = =
The velocity is:
?
(after dt)
(after dt)
r r
r
r
r r
r
r
e e e
dt
d
dt
e d
e e e
dt
d
dt
e d
dt
e
d
e d
e d e d
e
d
e d
e d e d
u
u
u
u
u
u
u
u
u u
u
u
u u

= =
= =
= =
= =


: by Dividing


Polar Coordinates Velocity
(Cont.)
u
ue r e r
r

+ = v
Thus, the velocity is:
2 2
u
u
u
v v v
r v
r v
r
r
+ =
=
=

Its magnitude is:

Due to rotation of r
Due to the rate at which the
vector stretches
Polar Coordinates - Acceleration
( )
( ) ( )
u u u
u
u u u
u
e r e r e r e r e r
dt
e r e r d
dt
d
r r
r

+ + + + =
+
=
=
a
v
a
Rearranging,
( ) ( )
u
u u u e r r e r r
r

2 a
2
+ + =
2 2
2
2
u
u
u u
u
a a a
r r a
r r a
r
r
+ =
+ =
=

Its magnitude is:
Coriolis acceleration
Centripetal acceleration
Polar Coordinates Circular
Motion
u
u
u
u
u

r a
r a
r v
v
r
r
=
=
=
=
2
0
For a circular path: r = constant
Note: The positive r-direction is in the
negative n-direction, i.e. a
r
= - a
n

Polar Coordinates
Exercises
Exercise # 6
2/131: The boom OAB pivots about point O, while
section AB simultaneously extends from within
section OA. Determine the velocity and acceleration
of the center B of the pulley for the following
conditions: u = 20, u
.
= 5 deg/s, u
..
= 2 deg/s
2
, l =
2 m, l
.
= 0.5 m/s, l
..
= -1.2 m/s
2
. The quantities l
.

and l
..
are the first and second time derivatives,
respectively, of the length l of section AB.
Exercise # 7
2/133: The position of the slider P in the rotating slotted
arm OA is controlled by a power screw as shown. At the
instant represented, u
.
= 8 rad/s and u
..
= -20 rad/s
2
. Also
at this same instant, r = 200 mm, r
.
= -300 mm/s, and r
..
=
0. For this instant determine the r- and u-components of
the acceleration of P .
Exercise # 8
2/142: At the bottom of a loop in the vertical (r-u) plane at
an altitude of 400 m, the airplane P has a horizontal
velocity of 600 km/h and no horizontal acceleration. The
radius of curvature of the loop is 1200 m. For the radar
tracking at O, determine the recorded values of r
..
and u
..

for this instant.