Eleventh Edition

CHAPTER VECTOR MECHANICS FOR ENGINEERS:

11 DYNAMICS
Ferdinand P. Beer
E. Russell Johnston, Jr.
Phillip J. Cornwell Kinematics of Particles
Brian P. Self
(Curvilinear Motion of
Particles)

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Eleventh
Vector Mechanics for Engineers: Dynamics
Learning Outcomes
At the end of the chapter students would be able to:

• Describe the motion of a particle traveling along a curved path.

• Relate kinematic quantities in terms of the rectangular components of the

vectors.

• Calculate the position, velocity and acceleration of a particle undergoing

curvilinear motion using tangential and normal, and radial and transverse
coordinates.

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Eleventh
Vector Mechanics for Engineers: Dynamics
Contents
Curvilinear Motion: Position, Velocity & Acceleration
Derivatives of Vector Functions
Rectangular Components of Velocity and Acceleration
Motion Relative to a Frame in Translation
Tangential and Normal Components
Radial and Transverse Components
Sample Problem 11.10
Sample Problem 11.12

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Eleventh
Vector Mechanics for Engineers: Dynamics
Curvilinear Motion: Position, Velocity & Acceleration

The softball, the car and a roller coaster, all undergo

curvilinear motion.

• A particle moving along a curve other than a straight line is in

curvilinear motion.
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Eleventh
Vector Mechanics for Engineers: Dynamics
GENERAL CURVILINEAR MOTION

A particle moving along a curved path undergoes curvilinear motion.

Since the motion is often three-dimensional, vectors are usually used
to describe the motion.

A particle moves along a curve

defined by the path function, s.

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 Ds along the

curve during time interval Dt, the
displacement is determined by vector
subtraction: Dr = r’ - r

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Eleventh
Vector Mechanics for Engineers: Dynamics
VELOCITY
Velocity represents the rate of change in the position of a
particle.
The average velocity of the particle
during the time increment Dt is
vavg = Dr/Dt .
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 Ds
approaches the magnitude of Dr as t→0, the speed can be
obtained by differentiating the path function (v = ds/dt). Note
that this is not a vector!
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Eleventh
Vector Mechanics for Engineers: Dynamics
ACCELERATION

Acceleration represents the rate of change in the

velocity of a particle.

If a particle’s velocity changes from v to v’ over a

time increment Dt, the average acceleration during
that increment is:
aavg = Dv/Dt = (v - v’)/Dt
The instantaneous acceleration is the time-
derivative of velocity:
a = dv/dt = d2r/dt2

In general, the acceleration vector is not tangent to

the particle path and velocity vector.

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Vector Mechanics for Engineers: Dynamics
Rectangular Components of Velocity & Acceleration
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.

• When position vector of particle P is given by its

rectangular components,
   
r  xi  y j  zk

• Velocity vector,
 dx  dy  dz    
v  i  j  k  xi  y j  zk
dt dt dt
  
 vx i  v y j  vz k

• Acceleration vector,
 d 2 x d 2 y  d 2 z    
a  2 i  2 j  2 k  xi  y j  zk
dt dt dt
  
 ax i  a y j  az k
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Eleventh
Vector Mechanics for Engineers: Dynamics
Example 1

Given: The particle travels along the path y = 0.5 x2.

When t = 0, x = y = z = 0.

Find: The particle’s distance and the magnitude of its

acceleration when t = 1 s, if vx = (5 t) m/s, where t is in
seconds.
Plan:
1) Determine x and ax by integrating and differentiating
vx, respectively, using the initial conditions.
2) Find the y-component of velocity & acceleration by
taking a time derivative of the path.
3) Determine the magnitude of the acceleration &
position.

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Vector Mechanics for Engineers: Dynamics
Example 1 (continued)
Solution:
1) x-components:
•
Velocity known as: vx = x = (5 t ) m/s  5 m/s at t=1s
t
Position:  
vxdt = (5t) dt  x = 2.5 t2  2.5 m at t=1s
0
••
Acceleration: ax = x = d/dt (5 t)  5 m/s2 at t=1s
2) y-components:
Position known as : y = 0.5 x2  3.125 m at t=1s
• • •
Velocity: y = 0.5 (2) x x = x x  12.5 m/s at t=1s
•• • • ••
Acceleration: ay = y = x x + x x  37.5 m/s2 at t=1s

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Vector Mechanics for Engineers: Dynamics
Example 1 (continued)
3) The position vector and the acceleration vector are

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Vector Mechanics for Engineers: Dynamics
Rectangular Components of Velocity & Acceleration
• Rectangular components particularly effective
when component accelerations can be integrated
independently, e.g., motion of a projectile,
a x  x  0 a y  y   g a z  z  0
with initial conditions,
x0  y0  z0  0 v x 0 , v y  , v z 0  0
0

Integrating twice yields

v x  v x 0  
v y  v y  gt
0
vz  0
x  v x 0 t  0
y  v y y  12 gt 2 z0

• Motion in horizontal direction is uniform.

• Motion in vertical direction is uniformly accelerated.

• Motion of projectile could be replaced by two

independent rectilinear motions.
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Vector Mechanics for Engineers: Dynamics
MOTION OF A PROJECTILE
Projectile motion can be treated as two rectilinear
motions, one in the horizontal direction experiencing
zero acceleration and the other in the vertical
direction experiencing constant acceleration (i.e.,
from gravity).
A basketball is shot at a certain
angle. What parameters should
the shooter consider in order
for the basketball to pass
through the basket?

Distance, speed, the basket location,

… anything else?
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Vector Mechanics for Engineers: Dynamics
KINEMATIC EQUATIONS: HORIZONTAL MOTION

Since ax = 0, the velocity in the horizontal direction remains

constant (vx = vox) and the position in the x direction can be
determined by:
x = xo + (vox) t
Why is ax equal to zero (what assumption must be made if the
movement is through the air)?

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Vector Mechanics for Engineers: Dynamics
KINEMATIC EQUATIONS: VERTICAL MOTION

Since the positive y-axis is directed upward, ay = – g.

Application of the constant acceleration equations yields:

vy = voy – g t

y = yo + (voy) t – ½ g t2

vy2 = voy2 – 2 g (y – yo)

For any given problem, only two of these three equations

can be used. Why?

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Vector Mechanics for Engineers: Dynamics
Sample Problem 2
SOLUTION:
• Consider the vertical and horizontal motion
separately (they are independent)
• Apply equations of motion in y-direction

• Apply equations of motion in x-direction

• Determine time t for projectile to hit the

A projectile is fired from the edge
ground, use this to find the horizontal
of a 150-m cliff with an initial
distance
velocity of 180 m/s at an angle of
30°with the horizontal. Neglecting • Maximum elevation occurs when vy=0
air resistance, find (a) the horizontal
distance from the gun to the point
where the projectile strikes the
ground, (b) the greatest elevation
above the ground reached by the
projectile.
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Vector Mechanics for Engineers: Dynamics
Sample Problem 2 (continued)
SOLUTION:

Given: (v)o =180 m/s (y)o =150 m

(a)y = - 9.81 m/s2 (a)x = 0 m/s2

Vertical motion – uniformly accelerated:

Horizontal motion – uniformly accelerated:

Choose positive x to the right as shown

(4)

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Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 2
SOLUTION:
Horizontal distance
Projectile strikes the ground at:
Substitute into equation (2) above

Solving for t, we take the positive root

Substitute t into equation (4)

Maximum elevation occurs when vy=0

Maximum elevation above the ground =

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Eleventh
Vector Mechanics for Engineers: Dynamics
Concept Quiz
If you fire a projectile from 150
meters above the ground (see
Ex Problem 11.7), what launch
angle will give you the greatest
horizontal distance x?

a) A launch angle of 45
b) A launch angle less than 45
c) A launch angle greater than 45
d) It depends on the launch velocity

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Eleventh
Vector Mechanics for Engineers: Dynamics
EXAMPLE 3
Given: vA and θ
Find: Horizontal distance it
travels and vC.
Plan: Apply the kinematic relations
in x- and y-directions.

Solution: Using vAx = 10 cos 30 and vAy = 10 sin 30

We can write vx = 10 cos 30

vy = 10 sin 30 – (9.81) t
x = (10 cos 30) t
y = (10 sin 30) t – ½ (9.81) t2
Since y = 0 at C
0 = (10 sin 30) t – ½ (9.81) t2  t = 0, 1.019 s

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Eleventh
Vector Mechanics for Engineers: Dynamics
EXAMPLE 3 (continued)
Only the time of 1.019 s makes sense!

Velocity components at C are;

vCx = 10 cos 30
= 8.66 m/s 

vCy = 10 sin 30 – (9.81) (1.019)

= -5 m/s = 5 m/s 

Horizontal distance the ball travels is;

x = (10 cos 30) t
x = (10 cos 30) 1.019 = 8.83 m

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Vector Mechanics for Engineers: Dynamics
Group Problem Solving 1

SOLUTION:
A baseball pitching machine • Consider the vertical and horizontal motion
“ throws ” baseballs with a separately (they are independent)
horizontal velocity v0. If you
want the height h to be 1 m, • Apply equations of motion in y-direction
determine the value of v0.
• Apply equations of motion in x-direction

• Determine time t for projectile to fall to

1 m.
• Calculate v0=0
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Eleventh
Vector Mechanics for Engineers: Dynamics
Group Problem Solving 1
Given: x= 12 m, yo = 1.5 m,
yf= 1 m.
Find: vo

Analyze the motion in Analyze the motion in

the y-direction the x-direction
1 2
y f  y0  (0)t  gt x  0  (vx )0 t  v0t
2
1 12 m  (v0 )(0.3193 s)
1.0  1.5  gt 2
2
1 v0  37.6 m/s  135.3 km/h
0.5 m   (9.81 m/s2 )t 2
2
t  0.3193 s

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Vector Mechanics for Engineers: Dynamics
GROUP PROBLEM SOLVING 2

y Given: A skier leaves the ski

x jump ramp at qA = 25o
and hits the slope at B.

Find: The skier’s initial speed vA.

Plan:

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Vector Mechanics for Engineers: Dynamics
GROUP PROBLEM SOLVING 2

y Given: A skier leaves the ski

x jump ramp at qA = 25o
and hits the slope at B.

Find: The skier’s initial speed vA.

Plan: Establish a fixed x,y coordinate system (in this solution,

the origin of the coordinate system is placed at A).
Apply the kinematic relations in x- and y-directions.

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Vector Mechanics for Engineers: Dynamics
GROUP PROBLEM SOLVING 2 (continued)
Solution:
Motion in x-direction:
Using xB = xA + vox(tAB)  (4/5)100 = 0 + vA (cos 25) tAB

tAB= 80 88.27
=
vA (cos 25) vA
Motion in y-direction:
Using yB = yA + voy(tAB) – ½ g(tAB)2

88.27 88.27 }2
– 64 = 0 + vA(sin 25) { } – ½ (9.81) {
vA vA
vA = 19.42 m/s
tAB= (88.27 / 19.42) = 4.54 s
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Vector Mechanics for Engineers: Dynamics
GROUP PROBLEM SOLVING 3

Given: The golf ball is struck

with a velocity of 24
m/s as shown.
y Find: Distance d to where it
x will land.
Plan:

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Vector Mechanics for Engineers: Dynamics
GROUP PROBLEM SOLVING 3

Given: The golf ball is struck

with a velocity of 24
m/s as shown.
y Find: Distance d to where it
x will land.

Plan: Establish a fixed x, y coordinate system (in this solution,

the origin of the coordinate system is placed at A).
Apply the kinematic relations in x- and y-directions.

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Vector Mechanics for Engineers: Dynamics
GROUP PROBLEM SOLVING 3 (continued)
Solution:
Motion in x-direction:
Using xB = xA + vox(tAB)
y
 d cos10 = 0 + 24 (cos 55) tAB
x
tAB = 0.07154 d
Motion in y-direction:
Using yB = yA + voy(tAB) – ½ g(tAB)2
 d sin10 = 0 + 24(sin 55)(0.07154 d) – ½ (9.81) (0.07154 d)2
 0 = 1.2328 d – 0.025104 d2

d = 0, 49.1 m Only the non-zero answer is meaningful.

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Vector Mechanics for Engineers: Dynamics
Motion Relative to a Frame in Translation
It is critical for a pilot to
A soccer player must consider know the relative motion
the relative motion of the ball of his aircraft with respect
and her teammates when to the aircraft carrier to
making a pass. make a safe landing.

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Eleventh
Vector Mechanics for Engineers: Dynamics
Motion Relative to a Frame in Translation
• Designate one frame as the fixed frame of reference.
All other frames not rigidly attached to the fixed
reference frame are moving frames of reference.
• Position vectors for particles A and B with respect to
 
the fixed frame of reference Oxyz are rA and rB .

• Vector B A joining A and B defines the position of
r
B with respect to the moving frame Ax’y’z’ and
  
rB  rA  rB A
• Differentiating twice,
   
vB  v A  vB A vB A  velocity of B relative to A.
   
a B  a A  aB A aB A  acceleration of B relative
to A.
• Absolute motion of B can be obtained by combining
motion of A with relative motion of B with respect to
moving reference frame attached to A.
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Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 4
SOLUTION:

• Define inertial axes for the system

• Determine the position, speed, and

acceleration of car A at t = 5 s
• Determine the position, speed, and
acceleration of car B at t = 5 s
Automobile A is traveling east at the • Using vectors (Eqs 11.31, 11.33, and
constant speed of 36 km/h. As 11.34) or a graphical approach, determine
automobile A crosses the intersection the relative position, velocity, and
shown, automobile B starts from rest acceleration
35 m north of the intersection and
moves south with a constant
acceleration of 1.2 m/s2. Determine
the position, velocity, and
acceleration of B relative to A 5 s
after A crosses the intersection.
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Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 4
SOLUTION: • Define axes along the road

Given: vA=36 km/h, aA= 0, (xA)0 = 0

(vB)0= 0, aB= - 1.2 m/s2, (yA)0 = 35 m
Determine motion of Automobile A:

We have uniform motion for A so:

At t = 5 s

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Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 4
SOLUTION:

Determine motion of Automobile B:

We have uniform acceleration for B so:

At t = 5 s

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Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 4
SOLUTION:

We can solve the problems geometrically, and apply the arctangent relationship:

Or we can solve the problems using vectors to obtain equivalent results:

rB  rA  rB/ A vB  v A  vB/ A aB  aA  aB/ A
20 j  50i  rB/ A 6 j  10i  v B/ A 1.2 j  0i  aB/ A
rB/ A  20 j  50i (m) v B/ A  6 j  10i (m/s) aB/ A  1.2 j (m/s 2 )

Physically, a rider in car A would “see” car B travelling south and west.
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Eleventh
Vector Mechanics for Engineers: Dynamics
Concept Quiz
If you are sitting in train
B looking out the window,
it which direction does it
appear that train A is
moving?

a) 25o c)

b) 25o d)
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Eleventh
Vector Mechanics for Engineers: Dynamics
Tangential and Normal Components
If we have an idea of the path of a vehicle, it is often convenient to analyze
the motion using tangential and normal components (sometimes called path
coordinates).

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Eleventh
Vector Mechanics for Engineers: Dynamics
APPLICATIONS (continued)

As the boy swings upward with a

velocity v, his motion can be
analyzed using n–t coordinates.
y
As he rises, the magnitude of his
x velocity is changing, and thus his
acceleration is also changing.
How can we determine his velocity and acceleration at the bottom of
the arc?

Can we use different coordinates, such as x-y coordinates, to describe

his motion? Which coordinate system would be easier to use to
describe his motion? Why?

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Vector Mechanics for Engineers: Dynamics
Tangential and Normal Components
y
r= the instantaneous
radius of curvature

v  v et
en v= vt et dv v2
et a  e t  en
dt r

x
• The tangential direction (et) is tangent to the path of the
particle. This velocity vector of a particle is in this direction
• The normal direction (en) is perpendicular to et and points
towards the inside of the curve.
• The acceleration can have components in both the en and et directions
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Vector Mechanics for Engineers: Dynamics
Tangential and Normal Components
• To derive the acceleration vector in tangential
and normal components, define the motion of a
particle as shown in the figure.

 
• et and et are tangential unit vectors for the
particle path at P and P’. When drawn with
  
respect to the same origin, Det  et  et and
Dq is the angle between them.

Det  2 sinDq 2 

Det sinDq 2   
lim  lim en  en
Dq 0 Dq Dq 0 Dq 2

 det
en 
dq

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Eleventh
Vector Mechanics for Engineers: Dynamics
Tangential and Normal Components
 
• With the velocity vector expressed as v  vet
the particle acceleration may be written as
  
 dv dv  de dv  de dq ds
a  et  v  et  v
dt dt dt dt dq ds dt
but 
det  ds
 en r dq  ds v
dq dt
After substituting,
 dv  v 2  dv v2
a  et  en at  an 
dt r dt r
• The tangential component of acceleration
reflects change of speed and the normal
component reflects change of direction.
• The tangential component may be positive or
negative. Normal component always points
toward center of path curvature.
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Eleventh
Vector Mechanics for Engineers: Dynamics
Tangential and Normal Components
• Relations for tangential and normal acceleration
also apply for particle moving along a space curve.
 dv  v 2  dv v2
a  et  en at  an 
dt r dt r

• The plane containing tangential and normal unit

vectors is called the osculating plane.
• The normal to the osculating plane is found from
  
eb  et  en

en  principal normal

eb  binormal

• Acceleration has no component along the binormal.

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Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 5
SOLUTION:

• Define your coordinate system

• Calculate the tangential velocity and

tangential acceleration
• Calculate the normal acceleration

A motorist is traveling on a curved • Determine overall acceleration magnitude

section of highway of radius 750 m after the brakes have been applied
at the speed of 90 km/h. The
motorist suddenly applies the brakes,
causing the automobile to slow
down at a constant rate. Knowing
that after 8 s the speed has been
reduced to 72 km/h, determine the
acceleration of the automobile
immediately after the brakes have
been applied.
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Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 5
SOLUTION: • Define your coordinate system
• Determine velocity and acceleration in
the tangential direction
et  km   1000 m  1 h 
en 90 km/h =  90     25 m/s
 h  1 km  3600 s 
72 km/h = 20 m/s
• The deceleration constant, therefore
Dv 20 m/s - 25 m/s
at = average at = = = - 0.625 m/s2
Dt 8s
• Immediately after the brakes are applied,
the speed is still 25 m/s
v2 (25 m/s)2
an = = = 0.833 m/s2
r 750 m
a n 0.833m / s 2
a  a  a  (0.625)  (0.833)
2
n
2
t
2 2
tan   
a t 0.625m / s 2
a = 1.041 m/s2   53.1
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Eleventh
Vector Mechanics for Engineers: Dynamics
Tangential and Normal Components
In 2001, a race scheduled at the Texas Motor Speedway was
cancelled because the normal accelerations were too high and
caused some drivers to experience excessive g-loads (similar to
fighter pilots) and possibly pass out. What are some things that
could be done to solve this problem?

Some possibilities:

Reduce the allowed speed

Increase the turn radius
(difficult and costly)
Have the racers wear g-suits

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Eleventh
Vector Mechanics for Engineers: Dynamics
EXAMPLE 6
Given: A boat travels around a
circular path, r = 40 m, at a
speed that increases with
time, v = (0.0625 t2) m/s.
Find: The magnitudes of the boat’s
velocity and acceleration at
the instant t = 10 s.
Plan:
The boat starts from rest (v = 0 when t = 0).
1) Calculate the velocity at t = 10 s using v(t).
2) Calculate the tangential and normal components of
acceleration and then the magnitude of the
acceleration vector.
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Vector Mechanics for Engineers: Dynamics
EXAMPLE 6 (continued)
Solution:
1) The velocity vector is v = v et , where the magnitude is
given by v = (0.0625t2) m/s. At t = 10s:
v = 0.0625 t2 = 0.0625 (10)2 = 6.25 m/s
.
2) The acceleration vector is a = atet + anen = vet + (v2/r)en.
.
Tangential component: at = v = d(.0625 t2 )/dt = 0.125 t m/s2
At t = 10s: at = 0.125t = 0.125(10) = 1.25 m/s2

Normal component: an = v2/r m/s2

At t = 10s: an = (6.25)2 / (40 = 0.9766 m/s2

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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
GROUP PROBLEM SOLVING 4
Given: The train engine at E has a
at
speed of 20 m/s and an
acceleration of 14 m/s2 acting
in the direction shown.
an
Find: The rate of increase in the
train’s speed and the radius of
curvature r of the path.
Plan:

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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
GROUP PROBLEM SOLVING 4 (continued)
Solution:
1) Acceleration

Tangential component :
at =14 cos(75) = 3.623 m/s2

Normal component :
an = 14 sin(75) = 13.52 m/s2

3) The normal component of acceleration is

an = v2/r  13.52 = 202 / r
r  29.6 m
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Group Problem Solving 5
SOLUTION:

• Define your coordinate system

• Calculate the tangential velocity and
tangential acceleration

• Calculate the normal acceleration

• Determine overall acceleration

The tangential acceleration of the magnitude
centrifuge cab is given by
at  0.5 t (m/s2 )
where t is in seconds and at is in
m/s2. If the centrifuge starts from
rest, determine the total acceleration
magnitude of the cab after 10
seconds.
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Group Problem Solving 5
Define your coordinate system
In the side view, the tangential
direction points into the “page”
en
Determine the tangential velocity
at  0.5 t
t
vt   0.5 t dt  0.25t 2 t
 0.25t 2 Top View
0 0

vt  0.25 10   25 m/s

2

et
Determine the normal acceleration en
 t  252
2
v
an   2
 78.125 m/s
r 8
Determine the total acceleration magnitude
amag  an2  at2  78.1252 + (0.5)(10)
2
amag  78.285 m/s2
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Group Problem Solving 5

Notice that the normal

acceleration is much higher than
the tangential acceleration.
What would happen if, for a
given tangential velocity and
acceleration, the arm radius was
doubled?
a) The accelerations would remain the same
b) The an would increase and the at would decrease
c) The an and at would both increase
d) The an would decrease and the at would increase

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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Radial and Transverse Components
By knowing the distance to the aircraft and the
angle of the radar, air traffic controllers can
track aircraft.

Fire truck ladders can rotate as well as extend;

the motion of the end of the ladder can be
analyzed using radial and transverse
components.

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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
APPLICATIONS

A cylindrical coordinate
system is used in cases The cylindrical coordinate system
where the particle moves can be used to describe the motion
along a 3-D curve. of the girl on the slide.

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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Radial and Transverse Components
• The position of a particle P is
expressed as a distance r from the
origin O to P – this defines the
radial direction er. The transverse
direction eq is perpendicular to er
 
r  rer
• The particle velocity vector is

v = rer + rq eq
• The particle acceleration vector is

( ) (
a = r - rq 2 er + rq + 2rq eq )
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Radial and Transverse Components
• We can derive the velocity and acceleration
relationships by recognizing that the unit vectors
change direction.

• The particle velocity vector is


 d  dr  der dr  dq 
v  rer   er  r  er  r eq
dt dt dt dt dt
 
 r er  rq eq
 
r  rer
  • Similarly, the particle acceleration vector is
der  deq 
 eq  er  d  dr  dq  
dq dq a   er  r eq 
dt  dt dt 
   
der der dq  dq d 2 r  dr der dr dq  d 2q  dq deq
  eq  2 er   eq  r 2 eq  r
dt dq dt dt dt dt dt dt dt dt dt dt
 
 
deq deq dq  dq  r  rq 2 er  rq  2rq eq
 
  er
dt dq dt dt
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Concept Quiz

If you are travelling in a perfect

circle, what is always true about
radial/transverse coordinates and
normal/tangential coordinates?

a) The er direction is identical to the en direction.

b) The eq direction is perpendicular to the en direction.
c) The eq direction is parallel to the er direction.

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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Radial and Transverse Components
• When particle position is given in cylindrical
coordinates, it is convenient to express the
velocity and acceleration
 vectors using the unit
 
vectors eR , eq , and k .

• Position vector,
  
r  R e R z k

• Velocity vector,
 
 dr   
v  R eR  Rq eq  z k

dt

• Acceleration vector,

 dv
a
dt
 R  2 
  
  Rq eR  Rq  2 R q eq  z k

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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 7
SOLUTION:
• Evaluate time t for q = 30o.
• Evaluate radial and angular positions,
and first and second derivatives at
time t.
Rotation of the arm about O is defined • Calculate velocity and acceleration in
by q = 0.15t2 where q is in radians and t cylindrical coordinates.
in seconds. Collar B slides along the
arm such that r = 0.9 - 0.12t2 where r is • Evaluate acceleration with respect to
in meters. arm.

After the arm has rotated through 30o,

determine (a) the total velocity of the
collar, (b) the total acceleration of the
collar, and (c) the relative acceleration
of the collar with respect to the arm.
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 7
SOLUTION:
• Evaluate time t for q = 30o.
q  0.15 t 2
 30  0.524 rad t  1.869 s

• Evaluate radial and angular positions, and first

and second derivatives at time t.

r  0.9  0.12 t 2  0.481 m

r  0.24 t  0.449 m s
r  0.24 m s 2

q  0.15 t 2  0.524 rad

q  0.30 t  0.561 rad s
q  0.30 rad s 2

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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 7
• Calculate velocity and acceleration.
vr  r  0.449 m s
vq  rq  0.481m 0.561rad s   0.270 m s
v
v  vr2  vq2   tan 1 q
vr
v  0.524 m s   31.0
ar  r  rq 2
 0.240 m s 2  0.481m 0.561rad s 2
 0.391m s 2
aq  rq  2rq
 
 0.481m  0.3 rad s 2  2 0.449 m s 0.561rad s 
 0.359 m s 2
a
a  ar2  aq2   tan 1 q
ar
a  0.531m s   42.6
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 7
• Evaluate acceleration with respect to arm.
Motion of collar with respect to arm is rectilinear
and defined by coordinate r.

a B OA  r  0.240 m s 2

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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
EXAMPLE 8

Given: The platform is rotating such

that, at any instant, its angular
position is q = (4t3/2) rad, where
t is in seconds.
A ball rolls outward so that its
position is r = (0.1t3) m.
Find: The magnitude of velocity and acceleration of the ball when t =
1.5 s.

Plan:
Use a polar coordinate system and related kinematic
equations.

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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
EXAMPLE 8 (continued)

Substitute into the equation

. for velocity
.
v = r er + rq eθ = 0.675 er + 0.3375 (7.348) eθ
= 0.675 er + 2.480 eθ

v = (0.675)2 + (2.480)2 = 2.57 m/s

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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
EXAMPLE 8 (continued)

Substitute in the equation for acceleration:

.. . .. . .
a = (r – rq 2)er + (rq + 2rq)eθ

a = [0.9 – 0.3375(7.348)2] er
+ [0.3375(2.449) + 2(0.675)(7.348)] eθ

a = – 17.33 er + 10.75 eθ m/s2

a = (– 17.33)2 + (10.75)2 = 20.4 m/s2

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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Group Problem Solving 6
SOLUTION:

• Define your coordinate system

• Calculate the angular velocity after

three revolutions
• Calculate the radial and transverse
accelerations
The angular acceleration of the • Determine overall acceleration
centrifuge arm varies according to magnitude

q = 0.05q (rad/s2 )

where q is measured in radians. If the

centrifuge starts from rest, determine the
acceleration magnitude after the gondola
has travelled two full rotations.
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Group Problem Solving 6
Define your coordinate system
In the side view, the transverse er
direction points into the “page”
Determine the angular velocity
q = 0.05q (rad/s2 )
Acceleration is a function
q dq = q dq er Top View
of position, so use:

Evaluate the integral eq

(2)(2 p ) q

ò 0.05q dq = ò q dq
0 0
2(2 p ) q
0.05q 2
q 2
q = 0.05éë2(2p )ùû
2
= 2

2 0
2 0
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Group Problem Solving 6
Determine the angular velocity
é ù
2
q = 0.05ë2(2p )û
2 er
q = 2.8099 rad/s
Determine the angular acceleration
q = 0.05q = 0.05(2)(2p ) = 0.6283 rad/s2
Find the radial and transverse accelerations
( ) ( )
a = r - rq 2 er + rq + 2rq eq

= ( 0 - (8)(2.8099) ) e + ( (8)(0.6283) + 0) e
2
r q

= -63.166 er + 5.0265eq (m/s 2 )

Magnitude:
amag  ar2  aq2  (63.166)2 + 5.0265
2
amag  63.365 m/s2
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Group Problem Solving 6
r
What would happen if you
designed the centrifuge so
that the arm could extend
from 6 to 10 meters?

You could now have additional acceleration terms. This might

give you more control over how quickly the acceleration of the
gondola changes (this is known as the G-onset rate).

(
a = r - rq er + rq + 2rq eq
2
) ( )
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