Curvilinear Motion (Cylindrical Components)
APPM 211
North-West University
[email protected]
Dr Djomengi’s e-mail: [email protected]
Week3: 1-5 March 2021
Lesson Outcomes
I At the end of today’s lesson you should be able to
I Derive radial and transverse components for Curvilinear
Motion.
I Determine the radial and transverse components of velocity
and acceleration of a particle travelling along a curved path.
Polar Coordinates
Polar Coordinates
We can specify the location of the particle shown in Figure 1 using
a radial coordinate r , which extends outward from the fixed origin
O to the particle, and a transverse coordinate θ, which is the
counter-clockwise angle between a fixed reference line and
the r axis.
Figure : 1
Position
The positive directions of the r and θ coordinates are defined by
the unit vectors ur and uθ , respectively. Here ur is in the direction
of increasing r when θ is held fixed, and uθ is in a direction of
increasing θ when r is held fixed.
Figure : 2
Position: At any instant the position of the particle, Figure 2, is
defined by the position vector
r = r ur .
Velocity
The instantaneous velocity v is obtained by taking the time
derivative of r.
v = ṙ = (r u˙ r ) = ṙ ur + r u̇r , (1)
To evaluate u̇r .
The time change in ur is ∆ur . For small angles ∆θ this vector
has a magnitude ∆ur ≈ 1(∆θ) and acts in the uθ direction.
Figure : 3
Thus, ∆ur = ∆θuθ , and so
∆ur ∆θ
u̇r = lim = lim uθ
∆t→0 ∆t ∆t→0 ∆t
Substituting the above equation into (1), yields
u̇r = θ̇uθ
v = vr ur + vθ uθ (2)
where
vr = ṙ , vθ = r θ̇.
See figure below.
Figure : 4
The radial component vr is a measure of the rate of increase or
decrease in the length of the radial coordinate, i.e., ṙ .
The transverse component vθ can be interpreted as the rate of
motion along the circumference of a circle having a radius r.
Since vr and vθ are always perpendicular, the magnitude of
acceleration is simply the positive value of
q
v = ṙ 2 + (r θ̇)2
Acceleration
Acceleration is the time rate of change of velocity
dv
a= = r̈ ur + ṙ u̇r + ṙ θ̇uθ + r θ̈uθ + r θ̇u̇θ . (3)
dt
Figure : 4
To evaluate u̇θ , it is necessary only to find the change in the
direction of uθ .
For small angles this vector has a magnitude ∆uθ ≈ 1(∆θ) and
acts in the −ur direction; i.e., ∆uθ = −∆θur , and so
∆uθ ∆θ
u̇θ = lim = − lim ur
∆t→0 ∆t ∆t→0 ∆t
u̇θ = −θ̇ur .
Finally the acceleration vector takes the following form
a = ar ur + aθ uθ ,
where
ar = r̈ − r θ̇2 , an = r θ̈ + 2ṙ θ̇. (4)
See the figure below.
Acceleration
Figure : 5
Since ar and aθ are always perpendicular, the magnitude
of acceleration is simply the positive value of
q
a = (r̈ − r θ̇2 )2 + (r θ̈ + 2ṙ θ̇)2
Problem 12-163 New/12-164 Old
A radar gun at O rotates with the angular velocity of
θ̇ = 0.1 rad/s and angular acceleration of θ̈ = 0.025rad/s 2 , at the
instant θ = 45o , as it follows the motion of the car traveling along
the circular road having a radius of r = 200m. Determine the
magnitudes of velocity and acceleration of the car at this instant.
Figure : 163
Solution for problem 12-163 new/12-164 old
Problem 12-169 new
At the instant shown, the man is twirling a hose over his head with
an angular velocity θ̇ = 2 rad/s and an angular acceleration θ̈ = 3
rad/s 2 . If it is assumed that the hose lies in a horizontal plane,
and water is flowing through it at a constant rate of 3 m/s,
determine the magnitudes of the velocity and acceleration of a
water particle as it exits the open end, r = 1.5 m.
Solution for problem 12-169 new
Problem 12-170 New/12-197 Old
The partial surface of the cam is that of a logarithmic
r = (40e 0.05θ )mm, where θ is in radians. If the cam is rotating at
a constant angular rate of θ̇ = 4rad/s, determine the magnitudes
of the velocity and acceleration of the follower rod at the instant
θ = 30o .
Figure : 170
Solution for problem 12-175 new/12-179 old
Problem 12-175 New/12-179 Old
A block moves outward along the slot in the platform with a speed
of ṙ = 4 t m/s where t is in seconds.The platform rotates at a
constant rate of 6 rad/s. If the block starts from rest at the
centre, determine the magnitudes of its velocity and acceleration
when t = 1 s.
Figure : 175
Solution for problem 12-170 new/12-197 old
Dankie vir julle aandag
