Curvilinear (2- and 3-

Dimensional) Kinematics of
Material Points or Particles

Dynamics
Dr. David Veazie
 Curvilinear Motion: Rectangular Components
This topic describes the motion of a particle traveling along a
curved path and relates kinematic quantities in terms of the
rectangular components of the vectors.
The path of motion of each plane in
this formation can be tracked with
radar and their x, y, and z
coordinates (relative to a point on
earth) recorded as a function of
time.
How can we determine the velocity
or acceleration of each plane at any
instant?
Should they be the same for each
aircraft?

Dynamics
Dr. David Veazie
 Applications of Rectangular Components
A roller coaster car travels down a fixed, helical path at a
constant speed.

How can we determine its

position or acceleration at any
instant?

If you are designing the track, why is it important to be able to

predict the acceleration of the car?

Dynamics
Dr. David Veazie
 Position and Displacement
A particle moving along a curved path undergoes curvilinear
motion. Since the motion is often three-dimensional, vectors
are used to describe the motion.
A particle moves along a curve defined by the path function, s, as
shown in the figure below left.
The position of the particle at any instant is designated by the
vector r = r(t). Both the magnitude and direction of r may vary
with time.
If the particle moves a distance s along the curve during time
interval t, the displacement is determined by vector subtraction:
r = r - r

Dynamics
Dr. David Veazie
 Velocity
Velocity represents the rate of change in the position of a
particle. The average velocity of the particle during the time
increment t is
vavg = r/t .
The instantaneous velocity is the time-derivative of position
v = dr/dt .
The velocity vector, v, is always tangent to the path of motion.

The magnitude of v is called the

speed. Since the arc length s
approaches the magnitude of r as
t0, the speed can be obtained by
differentiating the path function (v =
ds/dt). Note that this is not a vector!

Dynamics
Dr. David Veazie
 Acceleration
Acceleration represents the rate of
change in the velocity of a particle.
If a particles velocity changes from v to v
over a time increment t, the average
acceleration during that increment is:
aavg = v/t = (v - v)/t
The instantaneous acceleration is the
time-derivative of velocity:
a = dv/dt = d2r/dt2

A plot of the locus of points defined by the

arrowhead of the velocity vector is called a
hodograph. The acceleration vector is
tangent to the hodograph, but not, in
general, tangent to the path function.
Dynamics
Dr. David Veazie
 Rectangular Components: Position
It is often convenient to describe the motion of a particle in terms
of its x, y, z or rectangular components, relative to a fixed
frame of reference.
The position of the particle can be
defined at any instant by the
position vector
r=xi+yj+zk .
The x, y, z components may all be
functions of time, i.e.,
x = x(t), y = y(t), and z = z(t) .

The magnitude of the position vector is: r = (x2 + y2 + z2)0.5

The direction of r is defined by the unit vector: ur = (1/r)r

Dynamics
Dr. David Veazie
 Rectangular Components: Velocity
The velocity vector is the time derivative of the position vector:

v = dr/dt = d(xi)/dt + d(yj)/dt + d(zk)/dt

Since the unit vectors i, j, k are

constant in magnitude and
direction, this equation reduces to
v = vx i + v y j + v z k
where

v x = x& = dx dt , v y = y& = dy dt , v z = z& = dz dt ,

The magnitude of the velocity vector is
v = [(vx)2 + (vy)2 + (vz)2]0.5
The direction of v is tangent to the path of motion.
Dynamics
Dr. David Veazie
 Rectangular Components: Acceleration
The acceleration vector is the time derivative of the velocity
vector (second derivative of the position vector):
a = dv/dt = d2r/dt2 = axi + ay j + azk
where

a x = v&x = &x& = dv x dt
a y = v& y = &y& = dv y dt ,
a z = v&z = &z& = dv z dt
The magnitude of the acceleration vector is
a = [(ax)2 + (ay)2 + (az)2]0.5
The direction of a is usually NOT tangent to the path of the
particle.

Dynamics
Dr. David Veazie
 Example Problem
The motion of two particles (A and B) is described by the position
vectors
rA = [3t i + 9t(2 t) j] m and rB = [3(t2 2t +2) i + 3(t 2) j] m
Find the point at which the particles collide and their speeds just
before the collision.
The point of collision requires that rA = rB, so xA = xB and yA = yB .
x-components: 3t = 3(t2 2t + 2)
Simplifying: t2 3t + 2 = 0
Solving: t = {3 [32 4(1)(2)]0.5}/2(1)
=> t = 2 or 1 s
y-components: 9t(2 t) = 3(t 2)
Simplifying: 3t2 5t 2 = 0
Solving: t = {5 [52 4(3)(2)]0.5}/2(3)
=> t = 2 or 1/3 s
Dynamics
Dr. David Veazie
 Example Problem
So, the particles collide when t = 2 s. Substituting this value into rA
or rB yields
xA = xB = 6 m and yA = yB = 0

Differentiate rA and rB to get the velocity vectors.

vA = drA/dt = x& Ai + y& A j = [3i + (18 18t)j] m/s
At t = 2 s: vA = [3i 18j] m/s

vB = drB/dt = x& B i + y& B j = [(6t 6)i + 3j] m/s

At t = 2 s: vB = [6i + 3j] m/s

Speed is the magnitude of the velocity vector.

vA = (32 + 182)0.5 = 18.2 m/s
vB = (62 + 32)0.5 = 6.71 m/s
Dynamics
Dr. David Veazie
 Example Problem
A particle travels along a path described by the parabola y = 0.5 x2.
The x-component of velocity is given by vx = (5t) ft/s. When t = 0, x
= y = 0. Find the particles distance from the origin and the
magnitude of its acceleration when t = 1 s.

x-components
Velocity: vx = = dx/dt = (5t) ft/s
x t
Position: 0
dx = 5tdt => x = (5/2)t2 = (2.5t2) ft
0

Acceleration: ax = = v&x = d/dt (5t) = 5 ft/s2

y-components
Position: y = 0.5x2 = 0.5(2.5t2)2 = (3.125t4) ft
Velocity: vy = dy/dt = d (3.125t4) /dt = (12.5t3) ft/s
Acceleration: ay = vy = d (12.5t3) /dt = (37.5t2) ft/s2
Dynamics
Dr. David Veazie
 Example Problem
A particle travels along a path described by the parabola y = 0.5 x2.
The x-component of velocity is given by vx = (5t) ft/s. When t = 0, x
= y = 0. Find the particles distance from the origin and the
magnitude of its acceleration when t = 1 s.
The distance from the origin is the magnitude of the position
vector: r = x i + y j = [2.5t2 i + 3.125t4 j] ft

At t = 1 s, r = (2.5 i + 3.125 j) ft

Distance: d = r = (2.52 + 3.1252) 0.5 = 4.0 ft

The magnitude of the acceleration vector is calculated as:
Acceleration vector: a = [5 i + 37.5t2 j ] ft/s2

Magnitude: a = (52 + 37.52)0.5 = 37.8 ft/s2

Dynamics
Dr. David Veazie
 Example Problem

Dynamics
Dr. David Veazie
 Example Problem

Dynamics
Dr. David Veazie
 Curvilinear Motion: Cylindrical Components
This topic allows the determination of velocity and acceleration
components using cylindrical and polar coordinates.
Cylindrical and Polar coordinates
should be used when the radial
distance, r, of the particle is
changing, i.e., there exists a
and/or a &r& .
The cylindrical coordinate system is
used in cases where the particle
moves along a 3-D curve.
In the figure shown, the boy slides
down the slide at a constant speed
of 2 m/s. How fast is his elevation
from the ground changing (i.e.,
what is )?
Dynamics
Dr. David Veazie
 Curvilinear Motion: Polar Components
A polar coordinate system is a 2-D representation of the cylindrical
coordinate system.
When the particle moves in a plane
(2-D), and the radial distance, r, is
not constant, the polar coordinate
system can be used to express the
path of motion of the particle.
We can express the location of P
in polar coordinates as r = rur. Note
that the radial direction, r, extends
outward from the fixed origin, O,
and the transverse coordinate, , is
measured counter-clockwise
(CCW) from the horizontal.

Dynamics
Dr. David Veazie
 Velocity: Polar Components
The instantaneous velocity is defined as:
v = dr/dt = d(rur)/dt
. dur
v = rur + r dt
Using the chain rule:
dur/dt = (dur/d)(d/dt)
We can prove that dur/d = u so dur/dt = & u
Therefore: v = ur + r& u
Thus, the velocity vector has two
components: , called the radial component,
and r & , called the transverse component. The
speed of the particle at any given instant is
the sum of the squares of both components or
v= ( )
r + (r& )
& 2 2

Dynamics
Dr. David Veazie
 Acceleration: Polar Components
The instantaneous acceleration is defined as:
a = dv/dt = (d/dt)(ur + r& u)
After manipulation, the acceleration can be
expressed as
a = ( &r& r & 2)ur + (r && + 2 &)u
The term ( &r& r&2) is the radial acceleration
or ar .

The term (r&& + 2 & ) is the transverse

acceleration or a

The magnitude of acceleration is

a= (&r& r& 2 ) (
2
+ r&& + 2r&& )
2

Dynamics
Dr. David Veazie
 Cylindrical Coordinates
If the particle P moves along a space curve, its position can be written
as
rP = rur + zuz

Taking time derivatives and using

the chain rule:

Velocity:
( )
v P = (r& )u r + r& u + z&u z

Acceleration: Coriolis

( ) ( )
a P = &r& r& 2 u r + r&& + 2r&& u + &z&u z
Centripetal (r 2)

Dynamics
Dr. David Veazie
 Example Problem
If r = 5 cos(2 ) m, & = 3t 2 (rad/s), and o = 0, find the velocity and
acceleration at = 30 by applying the chain rule to determine and
&r& and evaluating at = 30.
t t
= dt = 3t 2dt = t 3
&
to =0 0

Dynamics
Dr. David Veazie
 Example Problem
If r = 5 cos(2 ) m, & = 3t 2 (rad/s), and o = 0, find the velocity and
acceleration at = 30 by applying the chain rule to determine and
&r& and evaluating at = 30.
Substitute in the equation
. for velocity
.
v = rur + ru
v = -16.88ur + 2.5(1.95)u
v = (16.88)2 + (4.87)2 = 17.57 m/s
Substitute in the equation for acceleration:

Dynamics
Dr. David Veazie
 Example Problem

Dynamics
Dr. David Veazie
 Example Problem
The cars speed is constant at 1.5 m/s. Find the cars acceleration
(as a vector). Hint: The tangent to the ramp at any point is at an
angle

Since r is constant the velocity only has 2 components:

v = r & = v cos and vz = = v sin

Dynamics
Dr. David Veazie
Curvilinear Motion: Normal & Tangential Comp
This topic enables one to determine the normal and tangential
components of velocity and acceleration of a particle traveling
along a curved path.
Cars traveling along a clover-leaf
interchange experience an
acceleration due to a change in
speed as well as due to a
change in direction of the
velocity.
If the cars speed is increasing at
a known rate as it travels along a
curve, how can we determine the
magnitude and direction of its
total acceleration?
Why would you care about the total acceleration of the car?

Dynamics
Dr. David Veazie
 Applications: Normal & Tangential Comp
A motorcycle travels up a hill for which the path can be
approximated by a function y = f(x).
Use Normal and Tangential
Components when the radial
distance (r) is fixed! If the radial
distance changes with time, use
Cylindrical (radial and
transverse) or Polar coordinates.
If the motorcycle starts from rest
and increases its speed at a
constant rate, how can we
determine its velocity and
acceleration at the top of the hill?
How would you analyze the motorcycle's flight at the top of the
hill?
Dynamics
Dr. David Veazie
 Normal & Tangential Components
When a particle moves along a curved path, it is sometimes
convenient to describe its motion using coordinates other than
Cartesian. When the path of motion is known, normal (n) and
tangential (t) coordinates are often used.
In the n-t coordinate system, the
origin is located on the particle
(the origin moves with the particle).
The t-axis is tangent to the path
(curve) at the instant considered,
positive in the direction of the
particles motion.
The n-axis is perpendicular to the
t-axis with the positive direction
toward the center of curvature of the
curve.

Dynamics
Dr. David Veazie
 Normal & Tangential Components
The positive n and t directions are defined by the unit vectors
un and ut, respectively.

The center of curvature, O,

always lies on the concave
side of the curve.
The radius of curvature, , is
defined as the perpendicular
distance from the curve to the
center of curvature at that
point.
The position of the particle at
any instant is defined by the
distance, s, along the curve
from a fixed reference point.

Dynamics
Dr. David Veazie
 Normal & Tangential Components: Velocity
The velocity vector is always tangent to the path of motion (t-
direction).

The magnitude is
determined by taking the
time derivative of the
path function, s(t).

Here v defines the

magnitude of the velocity
(speed) and
ut defines the direction of
the velocity vector.

Dynamics
Dr. David Veazie
Normal & Tangential Components: Acceleration
Acceleration is the time rate
of change of velocity:

Here v& represents the

change in the magnitude of
velocity and u& t represents
the rate of change in the
direction of ut .
After mathematical
manipulation, the
acceleration vector can be
expressed as:

Dynamics
Dr. David Veazie
Normal & Tangential Components: Acceleration
There are two components to
the acceleration vector:

The tangential component is

tangent to the curve and in the
direction of increasing or
decreasing velocity.

The normal or centripetal

component is always directed
toward the center of curvature of The magnitude of the
the curve. acceleration vector is
an = v2/

Dynamics
Dr. David Veazie
 Special Cases of Motion
There are some special cases of motion to consider.
1. The particle moves along a straight line.

The tangential component

represents the time rate of change
in the magnitude of the velocity.

2. The particle moves along a curve at constant speed.

The normal component represents

the time rate of change in the
direction of the velocity.

Dynamics
Dr. David Veazie
 Special Cases of Motion
There are some special cases of motion to consider.
3. The tangential component of acceleration is constant, at = (at)c.
In this case,

As before, so and vo are the initial position and velocity of the

particle at t = 0. How are these equations related to projectile
motion equations? Why?

4. The particle moves along a path expressed as y = f(x).

The radius of curvature, , at any point on the path can be
calculated from

Dynamics
Dr. David Veazie
 Three-Dimensional Motion
If a particle moves along a
space curve, the n and t axes
are defined as before. At any
point, the t-axis is tangent to
the path and the n-axis points
toward the center of
curvature. The plane
containing the n and t axes is
called the osculating plane.

A third axis can be defined, called the binomial axis, b. The

binomial unit vector, ub, is directed perpendicular to the
osculating plane, and its sense is defined by the cross
product ub = ut x un.
There is no motion, thus no velocity or acceleration, in the
binomial direction.

Dynamics
Dr. David Veazie
 Example Problem
Starting from rest, a motorboat travels around a circular path of
= 50 m at a speed that increases with time, v = (0.2 t2) m/s.
Find the magnitudes of the boats velocity and acceleration at
the instant t = 3 s.
1. The velocity vector is v = v ut , where the
magnitude is given by v = (0.2t2) m/s.
At t = 3s: v = 0.2t2 = 0.2(3)2 = 1.8 m/s
2. The acceleration vector is
.
Tangential component: at = v = d(0.2t2)/dt = 0.4t m/s2
At t = 3s: at = 0.4t = 0.4(3) = 1.2 m/s2
Normal component: an = v2/ = (0.2t2)2/() m/s2
At t = 3s: an = [(0.2)(32)]2/(50) = 0.0648 m/s2
The magnitude of the acceleration is
a = [(at)2 + (an)2]0.5 = [(1.2)2 + (0.0648)2]0.5 = 1.20 m/s2
Dynamics
Dr. David Veazie
 Example Problem
A jet plane travels along a vertical parabolic path defined by the equation y
= 0.4x2. At point A, the jet has a speed of 200 m/s, which is increasing at
the rate of 0.8 m/s2. Find the magnitude of the planes acceleration when it
is at point A.

Dynamics
Dr. David Veazie
 Example Problem

Dynamics
Dr. David Veazie
 Example Problem

Dynamics
Dr. David Veazie