Chapter 1

Particle Kinematics
Part II. Curvilinear Motion
E. Curvilinear Motion of Particles (in Rectangular Components: i , j , k ) F. Tangential and Normal Components: et , en , eb G. Radial and Transverse Components: er , e , ez

E. Curvilinear Motion of Particles

Position of a Particle r
Vector connecting from origin to the particle. Displacement r Vector connecting positions of a particle from at t to at t + t . Velocity v = lim
t 0

r dr = t dt s ds = t dt r

Speed v = v = lim
t 0

where s =

Chapter 1, Page 18

Curvilinear Motion of Particles Accelration

Acceleration a = lim
t

v dv = t dt

Chapter 1, Page 19

Derivatives of Vectors
P= dP P P(t + t) = lim = lim t 0 t 0 dt t t d( P + Q) dP dQ = + dt dt dt dP d( fP) df P+ f = dt dt dt dQ d( P Q) dP = Q+ P dt dt dt dQ d( P Q) dP = Q+ P dt dt dt P(t)

Chapter 1, Page 20

Rectangular Components
r = xi + yj + zk if i , j, k are constants v= dr dt = xi + yj + zk

= vx i + v y j + vz k a= dv dt = vx i + v y j + vz k

= xi + yj + zk = ax i + a y j + az k

Chapter 1, Page 21

Uniformly Accelerated Curvilinear Motion

a = constant dv =a dt
v v0 r r0

dr = v0 + at dt dr =
t 0

dv =

t 0

( v0 + at) dt 1 2 at 2 1 2 at 2

It is possible to prove that v v = v0 v0 + 2 a ( r r0 )

a dt r r0 = v0t +

v0 = at

v = v0 + at

r = r0 + v0t +

Chapter 1, Page 22

Problem 1.9

(Sample Problem 11.7, Page 648)

SIMULATION

A projectile is fired from the edge of a 150-m cliff with an initial velocity of 180 m/s at an angle of 30 . Neglecting air resistance, find (a) the horizontal distance x from the gun to the point where the projectile strikes the ground, (b) the greatest elevation above the ground reached by the projectile.

(a)

When striking ground, r = xi 1 r = r0 + v0t + at 2 , where 2

r0 = 0

150 j

v0 = 180cos30 i + 180sin 30 j
a = 9.81 j

Solve for x, t. x = 3100 m , t = 19.91 s (b) At greatest elevation, v = 180cos30 i

v v = v0 v0 + 2 a ( r r0 ) , where

v0 = 180cos30 i + 180sin 30 j
a = 9.81 j , r = xi + yj , r0 = 0

Solve for x, y; y = 413 m

Chapter 1, Page 23

Relative Motion
rB A = rB vB A = aB A = drB dt dv B dt
A A

rB A = rB vB A = vB aB A = aB = vB = aB vA

rA or rB = rA + rB

A A A

v A or v B = v A + v B a A or aB = a A + aB

rA drA dt dv A dt

= =

drB dt dv B dt

Key Concept
aA Physical meanings of rB A , v B A , and aB A : The motion of B observed from A, where the observer doesn't rotate. Note that, if the reference frame Ax'y'z' is in rotation, vB / A drB dt
A

, aB / A

dv B dt

Chapter 1, Page 24

Problem 1.10

(Sample Problem 11.9, Page 650)

A is traveling east at a constant speed of 36 km/h. As A crosses the intersection, B starts from rest 35 m north and moves south with a constant acceleration of 1.2 m/s 2 . Determine the position, velocity, and acceleration of B relative to A, 5 s after A crosses the intersection.

Assume origin at the intersection, and positive senses directed east and north, a A = 0 , v A = 10i , rA = 10ti aB = 1.2 j , v B = 1.2tj , rB = (35 0.6t 2 ) j rB A = rB rA = ( 10t)i + (35 0.6t 2 ) j v A = 10i 1.2tj

vB A = vB

aB A = aB

a A = 1.2 j

At t = 5 s, rB A = 50i + 20 j = 53.9 m ( v B A = 10i 6 j = 11.7 m/s (

21.8 ) , 31.0 ) )
Chapter 1, Page 25

aB A = 1.2 j = 1.2 m/s 2 (

Problem 1.11

(Adapted from Problem 11.128, Page 663)

The conveyor belt A moves with a constant velocity and discharges sand onto belt B as shown. Knowing that the velocity of belt B is 2 m/s, determing the velocity of the sand relative to belt B as it lands on belt B.

vS = v A i = 1.5i = 1.5i

2gh j 2 9.81 1 j 4.429 j

v B = ( v B cos15 )i + (v B sin15 ) j = ( 2cos15 )i + (2sin15 ) j = 1.932i + 0.518 j vS

B

= vS

vB 4.947 j 85 )

= ( 1.5 + 1.932)i + ( 4.429 0.518) j = 0.432i = 4.965 m/s (

Chapter 1, Page 26

F. Tangential and Normal Components ( e , e , e )

t n b

Sometimes, it is convenient to expressed a vector in terms of tangential and normal components. Since velocity is tangent to the path of particle, we can write v = vet In general, acceleration is not tangent to the path. How can we express the acceleration in et and en ? Let be the change of direction of the unit vectors, then we can prove den det = en , = et d d Proof: et = 2sin( det e sin( = lim t = lim 0 0 d 2) 2) 2 en = en
Chapter 1, Page 27

Acceleration
In general, we can write a = at et + an en We can prove that at = v , an = a = vet + Proof: v = vet a= de dv dv = et + v t dt dt dt de d ds dv = et + v t dt d ds dt 2 v = vet + en
Chapter 1, Page 28

v2 v2

, i.e., en

Principal Normal and Binormal

Plane containing et and en is called the osculating plane. Unit normal to the osculating plane is eb = et en en is called principle normal and eb is called binormal. Acceleration has no component along binormal.

Chapter 1, Page 29

Problem 1.12

(Sample Problem 11.10, Page 670)

A motorist is traveling on curved section of highway at 90 km/h. The motorist suddenly applies brakes causing the automobile to slow down at a constant rate. Knowing that after 8 s the speed has been reduced to 72 km/h, determine the acceleration of the automobile immediately after the brakes are applied.

90 km/h = 25 m/s 72 km/h = 20 m/s 20 25 at = v = = 0.625 m/s 2 8 an = v2 252 = = 0.833 m/s 2 750

a = 0.625et + 0.833en = 1.041 m/s 2 ( = 53.1 )

Chapter 1, Page 30

Problem 1.13

(Sample Problem 11.11, Page 670)

Calculate the radius of curvature at greatest elevation of the trajectory described by the projectile considered in Problem 1.9. an = v2

At greatest elevation,
v = 180cos30 = 155.9 m/s

an = 9.81 m/s 2

9.81 =

155.92

= 2480 m

Chapter 1, Page 31

Problem 1.14

(Problem 11.138, 8th edition)

SIMULATION

C of the cam A: (an ) A = v2 A

A

, 0.66 =

v2 A 0.06

v A = 0.199 m/s C of the follower B: v B = v A = 0.199 m/s (an ) B =

B 2 vB B

, 6.8 =

0.1992
B

= 0.00582 m

Diameter = 11.6 mm
Chapter 1, Page 32

G. Radial and Transverse Components ( e , e , e )

r z

Sometimes, it is convenient to expressed a vector in radial and transverse components. Consider 2D cases. Let r be the distance between the particle and the origin, we may write r = rer How can we express the velocity and acceleration in er and e ?

We can prove de der =e , = er d d Besides der der = dt d de de = dt d d = e dt d = er dt

Chapter 1, Page 33

Velocity and Acceleration

Let be the direction of er , then r = rer v= dr d = (re ) dt dt r de dr er + r r = dt dt = rer + r( e ) = rer + r e a= dv d = ( re + r e ) dt dt r de de ) = ( rer + r r ) + ( r e + r e + r dt dt = rer + r( e ) + r e + r e r ( er ) r 2 )er + (r + 2r )e we can prove v = rer + r e a = (r r 2 )er + (r + 2r )e

In case of circular motion ( r = const ), v=r e a = r er + r e

2

In case of constant speed circular motion ( r = const , = const ), v=r e a = r er

2

= (r

Chapter 1, Page 34

Problem 1.15

(Sample Problem 11.12, Page 671)

SIMULATION

Rotation of the arm about O is defined by = 0.15t2 where 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 velocity of the collar, (b) the acceleration of the collar, and (c) the relative acceleration of the collar with respect to the arm.

r = rer v = rer + r e a = (r r 2 )er + (r + 2r )e

= 0.15t 2 = 6 when t = 1.869 s

r = 0.9 0.12t 2 = 0.481 m r = 0.24t = 0.449 m/s r = 0.24 m/s 2 = 0.30t = 0.561 rad/s = 0.30 rad/s 2
Chapter 1, Page 35

Problem 1.15
v = rer + r e

(Continued)

= 0.449er + (0.481)(0.561)e = 0.449er + 0.270e = 0.524 m/s ( = 31.0 )

a = (r = r
2

)er + (r + 2r )e

0.24 0.481(0.561)2 er 0.359e

+ 0.481(0.3) + 2( 0.449)(0.561) e = 0.391er = 0.531 m/s 2 ( = 42.6 )

aB / OA = r = 0.24 m/s 2 (toward O)

Chapter 1, Page 36

Problem 1.16

(Problem 11.177, Page 681)

O h B er P d e vP

Since P is rotating about B at a constant rate , v P = d (directed as shown) The component along r-direction is (v P )r = r = d sin By law of sines, h d = sin sin d sin = hsin Thus r = h sin
Chapter 1, Page 37

Problem 1.17

(Problem 11.172, 8th edtion)

SIMULATION

Pin C is attached to rod BC, which rotates at a constant rate , and slides freely in the slot of rod OA. At the instant when = 60 , determine (a) r and , (b) r and . Express your answer in terms of d and . From the geometry, when = 60 , = 30 and r = 3d .

(assuming Since C is rotating about B at a constant rate counterclockwise), vC = d ( 30 ) = d sin 30 er + d cos30 e aC = d e vC

30 30 30 30
2

60 ) = d

cos30 er d and 2 r=

sin 30 e ,

Motion of C also can be expressed in terms of r and C aC aC = ( r vC = rer + r e ,

2

r=

= 3d 4

2
2

er

r )er + (r + 2r )e ,

and

=0

Chapter 1, Page 38

Motion in 3D Space
In 3D motion, position can be written as r = ReR + zk The velocity and the acceleration are v = ReR + R e + zk a = (R R 2 )eR + (R + 2 R )e + zk

Chapter 1, Page 39

Problem 1.18

(Problem 11.178, Page 681)

R = A , = 2 t , z = At 2 4 R = 0 , = 2 , z = At 2 R = 0, = 0, z = A 2 v = ReR + R e + zk = 2 Ae + ( At 2) k v= a = (R A 16 2
2

+ t2
2

R 2 )eR + (R + 2 R )e + zk = 4 a= A 64 2
4

AeR + ( A 2) k

+1

Chapter 1, Page 40