Engineering Mechanics :
DYNAMICS
Lecture #3c
By,
ROHANI BINTI RAHMAD
University Tun Hussein Onn Malaysia (UTHM),
Faculty of Engineering Technology,
Department of Mechanical Engineering Technology
CURVILINEAR MOTION:
NORMAL AND TANGENTIAL COMPONENTS
Today’s Objectives:
Students will be able to:
1. Determine the normal and tangential components of velocity and
acceleration of a particle traveling along a curved path.
Learning Topics:
• Applications
• Normal and Tangential
Components of Velocity
and Acceleration
• Special Cases of Motion
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APPLICATIONS
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 car’s 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?
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APPLICATIONS (continued)
A motorcycle travels up a
hill for which the path can
be approximated by a
function y = f(x).
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?
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NORMAL AND TANGENTIAL COMPONENTS (Section 12.7)
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 particle’s motion.
The n-axis is perpendicular to the t-axis with the positive direction
toward the center of curvature of the curve. 5
NORMAL AND TANGENTIAL COMPONENTS (continued)
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, r, 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.
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VELOCITY IN THE n-t COORDINATE SYSTEM
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). .
v = vutt where v = s = ds/dt
Here v defines the magnitude of the velocity (speed) and ut defines
the direction of the velocity vector.
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ACCELERATION IN THE n-t COORDINATE SYSTEM
Acceleration is the time rate of change of velocity:
. .
a = dv/dt = d(vut)/dt = vut + vut
.
Here v represents the change in
.
the magnitude of velocity and ut
represents the rate of change in
the direction of ut.
After mathematical manipulation,
the acceleration vector can be
expressed as:
.
a = vut + (v2/r)un = atut + anun.
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ACCELERATION IN THE n-t COORDINATE SYSTEM
(continued)
There are two components to the
acceleration vector:
a = at ut + an un
• The tangential component is tangent to the curve and in the
direction of increasing or decreasing velocity.
.
at = v or at ds = v dv
• The normal or centripetal component is always directed toward the
center of curvature of the curve. an = v2/r
• The magnitude of the acceleration vector is
a = [(at)2 + (an)2]0.5 9
SPECIAL CASES OF MOTION
There are some special cases of motion to consider.
1) The particle moves along a straight line.
r => an = v2/r = 0 => a = at = v
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.
.
at = v = 0 => a = an = v2/r
The normal component represents the time rate of change
in the direction of the velocity.
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SPECIAL CASES OF MOTION (continued)
3) The tangential component of acceleration is constant, at = (at)c.
In this case,
s = so + vot + (1/2)(at)ct2
v = vo + (at)ct
v2 = (vo)2 + 2(at)c(s – so)
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, r, at any point on the path can be
calculated from
[ 1 + (dy/dx)
r = ________________
2 ]3/2
d2y/dx 2
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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.
12
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