ISU MODULE

Subject: CE 223 and Dynamics of Rigid Bodies

Continuation of Chapter 1

Topic 4 General Curvilinear Motion

Curvilinear motion occurs when a particle moves along a curved path. Since this path is often described in
three dimensions, vector analysis will be used to formulate the particle's position, velocity, and acceleration.

Position
Consider a particle located at a point on a space curve defined
by the path function s(t). The position of the particle,
measured from a fixed point 0, will be designated by the
position vector r = r (t). Notice that both the magnitude and
direction of this vector will change as the particle moves along
the curve.

Displacement
Suppose that during a small time interval ∆ t the particle
moves a distance ∆ s along the curve to a new position,
defined by r' = r + ∆ r. The displacement ∆ r represents the
change in the particle's position and is determined by
vector subtraction; i.e., ∆ r = r' - r.

Velocity
During the time ∆ t, the average velocity of the particle is
dr
vavg =
dt

dr = tangent to the curve

v = direction of v is also tangent to the curve and the
magnitude is called speed
Acceleration
If the particle has a velocity v at time t and a velocity v' = v
+ ∆ v at t + ∆ t
∆v
aavg =
∆t

∆ v = v' - v
This curve is called a hodograph, and when constructed, it describes the locus of points for the arrowhead of
the velocity vector in the same manner as the path s describes the locus of points for the arrowhead of the
position vector.

dv d ²r
a= or a =
dt dt ²

a acts tangent to the hodograph, and, in general it is not

tangent to the path of motion.

Curvilinear Motion: Rectangular Components

Position
If the particle is at point (x, y, z) on the curved path s
shown, then its location is defined by the position vector
 Velocity
The first time derivative of r yields the velocity of the
particle. Hence,

Acceleration
The acceleration of the particle is obtained by taking the
first time derivative

Here ax, ay, az represent, respectively, the first time derivatives

of vx = vx(t), vy = vy(t), vz = vz(t), or the second time derivatives
of the functions x = x(t), y = y(t), z = z(t). The acceleration has a
magnitude

Important Points

• Curvilinear motion can cause changes in both the magnitude and direction of the position, velocity, and
acceleration vectors.

• The velocity vector is always directed tangent to the path.

• In general, the acceleration vector is not tangent to the path, but rather, it is tangent to the hodograph.

• If the motion is described using rectangular coordinates, then the components along each of the axes do
not change direction, only their magnitude and sense (algebraic sign) will change.

• By considering the component motions, the change in magnitude and direction of the particle's position
and velocity are automatically taken into account.

Examples:

1. At any instant the horizontal position of the weather balloon is defined by x = (8t) ft, where t is in
seconds. If the equation of the path is y = x2/10, determine the magnitude and direction of the
velocity and the acceleration when t = 2 s.
Solution:
2. For a short time, the path of the plane is described by y = (0.00lx2) m. If the plane is rising with a
constant velocity of 10 m/s, determine the magnitudes of the velocity and acceleration of the plane
when it is at y = 100 m.
Solution:
3.
4.
Topic 5 Motion of a Projectile

The free-flight motion of a projectile is often studied in terms of its rectangular components. To
illustrate the kinematic analysis, consider a projectile launched at point (xo, yo), with an initial
velocity of vo, having components (vo)x and (vo)y. When air resistance is neglected, the only force
acting on the projectile is its weight, which causes the projectile to have a constant downward
acceleration of approximately ac = g = 9.81 m/s2 or g = 32.2 ft/s2.

Horizontal Motion
Since ax = 0, application of the constant acceleration equations

The first and last equations indicate that the horizontal component of velocity always remains constant
during the motion.

Vertical Motion
Since the positive y axis is directed upward, then ay = -g.

the last equation can be formulated on the basis of eliminating the time t from the first two equations, and
therefore only two of the above three equations are independent of one another.

Examples:
1. A sack slides off the ramp, with a horizontal velocity of 12 m/s. If the height of the ramp is 6 m from
the floor, determine the time needed for the sack to strike the floor and the range R where sacks
begin to pile up.

Solution:
2. The chipping machine is designed to eject wood chips at v o = 25 ft/s as shown. If the tube is
oriented at 30° from the horizontal, determine how high, h, the chips strike the pile if at this
instant they land on the pile 20 ft from the tube.
Topic 6 Curvilinear Motion: Normal and Tangential Components

Coordinate System
• Provided the path of the particle is known, we can establish a set of n and t coordinates having a fixed
origin, which is coincident with the particle at the instant considered.
• The positive tangent axis acts in the direction of motion and the positive normal axis is directed toward the
path's center of curvature.
Velocity
• The particle's velocity is always tangent to the path.

A unique choice for the normal axis can be made by noting that geometrically the curve is constructed from
a series of differential arc segments ds. Each segment ds are formed from the arc of an associated circle
having a radius of curvature ρ (rho) and center of curvature 0'. The normal axis n is perpendicular to the t
axis with its positive sense directed toward the center of curvature 0'.

• The magnitude of velocity is found from the time derivative of the path function.

Tangential Acceleration
• The tangential component of acceleration is the result of the time rate of change in the magnitude of
velocity. This component acts in the positive s direction if the particle's speed is increasing or in the opposite
direction if the speed is decreasing.
• The relations between at , v, t and s are the same as for rectilinear motion, namely,

• If at is constant, at = (at)c, the above equations, when integrated, yield

s = so + v0t + ½(at)ct 2
v = v0 + (at)ct
v2 = v02 + 2(at)c (s - so)

Normal Acceleration
• The normal component of acceleration is the result of the time rate of change in the direction of the
velocity. This component is always directed toward the center of curvature of the path, i.e., along the
positive n axis.
• The magnitude of this component is determined from

• If the path is expressed as y = f(x), the radius of curvature ρ at any point on the path is determined from
the equation
The derivation of this result is given in any standard calculus text.

These two mutually perpendicular components are shown

in the figure. Therefore, the magnitude of acceleration is
the positive value of

Examples:

1. When the skier reaches point A along the parabolic path, he has a speed of 6 m/s which is increasing
at 2 m/s2. Determine the direction of his velocity and the direction and magnitude of his acceleration
at this instant. Neglect the size of the skier in the calculation.
2. A race car C 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 ft/s 2, starting from rest, determine the time needed for it to reach an
acceleration of 8 ft/s2. What is its speed at this instant?