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Curvilinear Motion: Cylindrical Components (Section 12.8)

1. The document discusses curvilinear motion using cylindrical and polar coordinates to describe position, velocity, and acceleration of objects moving along curved paths. 2. Examples are provided to demonstrate how to calculate velocity and acceleration components in polar coordinates at a given point along the path. 3. Key concepts include that radial velocity is zero for circular motion, while radial acceleration is directed toward the center and is negative for circular motion.

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Peter Adrian Ngo
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115 views

Curvilinear Motion: Cylindrical Components (Section 12.8)

1. The document discusses curvilinear motion using cylindrical and polar coordinates to describe position, velocity, and acceleration of objects moving along curved paths. 2. Examples are provided to demonstrate how to calculate velocity and acceleration components in polar coordinates at a given point along the path. 3. Key concepts include that radial velocity is zero for circular motion, while radial acceleration is directed toward the center and is negative for circular motion.

Uploaded by

Peter Adrian Ngo
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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CURVILINEAR MOTION: CYLINDRICAL COMPONENTS

(Section 12.8)

Today’s Objectives:
Students will be able to determine velocity and acceleration
components using cylindrical coordinates.
APPLICATIONS

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 z )?
APPLICATIONS (continued)

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.
POSITION (POLAR COORDINATES)

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, θ, is measured counter-
clockwise (CCW) from the horizontal.
VELOCITY (POLAR COORDINATES)
The instantaneous velocity is defined as:
v = dr/dt = d(rur)/dt
. dur
v = rur + r dt
Using the chain rule:
dur/dt = (dur/dθ)(dθ/dt) .
We can prove that dur/d
. . θ = uθ so dur/dt = θuθ
Therefore: v = rur + rθuθ
.
.
Thus, the velocity vector has two components: r,
called the radial component, and rθ, called the
transverse component. The speed of the particle at
any given instant is the sum of the squares of both
components or
. . 2
v = (r θ ) + ( r )
2
ACCELERATION (POLAR COORDINATES)
The instantaneous acceleration is defined as:
. .
a = dv/dt = (d/dt)(rur + rθuθ)
After manipulation, the acceleration can be
expressed as
.. . 2 .. ..
a = (r – rθ )ur + (rθ + 2rθ)uθ
.. . 2
The term (r – rθ ) is the radial acceleration
or ar.
.. ..
The term (rθ + 2rθ) is the transverse
acceleration or aθ
.. . 2 2 .. .. 2
The magnitude of acceleration is a = (r – rθ ) + (rθ + 2rθ)
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: vP = rur + rθuθ + zuz
.. . 2 .. .. ..
Acceleration: aP = (r – rθ )ur + (rθ + 2rθ)uθ + zuz
EXAMPLE
Given: r. = 5 cos(2θ) (m)
θ = 3t2 (rad/s)
θo = 0

Find: Velocity and acceleration at θ = 30°.


. ..
Plan: Apply chain rule to determine r and r
and evaluate at θ = 30°.
t t
.
Solution: θ = ∫ θ dt = ∫ 3t2 dt = t3
to= 0 0
π
At θ = 30°, θ= = t3. Therefore: t = 0.806 s.
6
.
θ = 3t2 = 3(0.806)2 = 1.95 rad/s
EXAMPLE (continued)
..
θ = 6t = 6(0.806) = 4.836 rad/s2

r = 5 cos(2θ) = 5 cos(60) = 2.5m


. .
r = -10 sin(2θ)θ = -10 sin(60)(1.95) = -16.88 m/s
.. . ..
r = -20 cos(2θ)θ2 – 10 sin(2θ)θ

= -20 cos(60)(1.95)2 – 10 sin(60)(4.836) = -80 m/s2


Substitute in the equation
. for velocity
.
v = rur + rθuθ
v = -16.88ur + 2.5(1.95)uθ

v = (16.88)2 + (4.87)2 = 17.57 m/s


EXAMPLE (continued)

Substitute in the equation for acceleration:


.. . 2 .. ..
a = (r – rθ )ur + (rθ + 2rθ)uθ

a = [-80 – 2.5(1.95)2]ur + [2.5(4.836) + 2(-16.88)(1.95)]uθ

a = -89.5ur – 53.7uθ m/s2

a = (89.5)2 + (53.7)2 = 104.4 m/s2


CONCEPT QUIZ

.
1. If r is zero for a particle, the particle is

A) not moving. B) moving in a circular path.

C) moving on a straight line. D) moving with constant velocity.

2. If a particle moves in a circular path with constant velocity, its


radial acceleration is
..
A) zero. B) r.
. ..
C) -rθ2. D) 2rθ.
GROUP PROBLEM SOLVING
Given: The car’s speed is constant at
1.5 m/s.
Find: The car’s acceleration (as a
vector).
Hint: The tangent to the ramp at any
point is at an angle
12
φ = tan (-1 ) = 10.81°
2π(10)
Also, what is the relationship between φ and θ?
Plan: Use cylindrical coordinates. Since r is constant, all
derivatives of r will be zero.
Solution: Since r .is constant the velocity only has 2 components:
.
vθ = rθ = v cosφ and vz = z = v sinφ
GROUP PROBLEM SOLVING (continued)
. v cosφ
Therefore: θ = ( ) = 0.147 rad/s
r
..
θ = 0

.
vz = z = v sinφ = 0.281 m/s
..
z = 0
. ..
r = r = 0
.. . 2 .. .. ..
a = (r – rθ )ur + (rθ + 2rθ)uθ + zuz
.
a = (-rθ2)ur = -10(0.147)2ur = -0.217ur m/s2
ATTENTION QUIZ
1. The radial component of velocity of a particle moving in a
circular path is always
A) zero.
B) constant.
C) greater than its transverse component.
D) less than its transverse component.
2. The radial component of acceleration of a particle moving in
a circular path is always
A) negative.
B) directed toward the center of the path.
C) perpendicular to the transverse component of acceleration.
D) All of the above.

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