Universiti Tun Hussein

Onn Malaysia
Mechanical Engineering
Dynamics DAM 10903/20903
Presented by
Pn Noraniah bt Kassim
 Objective
• To investigate particle motion along a curved path
“Curvilinear Motion” using three coordinate
systems
– Rectangular Components
• Position vector r = x i + y j + z k
• Velocity v = v x i + vy j + v z k (tangent to path)

• Acceleration a = ax i + ay j +az k (tangent to hodograph)

– Normal and Tangential Components

– Polar & Cylindrical Components
 Normal and Tangential 12.7
Components
• If the path is known i.e.
– Circular track with given radius
– Given function
1 2 x
y x y  15 ln( )
60 80

• Method of choice is normal and

tangential components
 Position

• From the given geometry

and/or given function
• More emphasis on radius
of curvature velocity and
acceleration
 Planer Motion
• At any instant the origin is located
at the particle it self
• The t axis is tangent to the curve at
P and + in the direction of
increasing s.
• The normal axis is perpendicular to
t and directed toward the center of
curvature O’.
• un is the unit vector in normal
direction
• ut is a unit vector in tangent
direction
 Radius of curvature (
• For the Circular motion :
() = radius of the circle
• For y = f(x):



1  ( dy / dx ) 2 3/ 2

d 2 y / dx 2
Curvilinear Motion
Angular Motion
 Velocity
• The particle velocity is always tangent to the path.
• Magnitude of velocity is the time derivative of path
function s = s(t)
ds
   s
dt

v  ut
– From constant tangential acceleration

   o  (at )c t
– From time function of tangential acceleration

dv
at 
dt
  dv   a t dt
– From acceleration as function of distance

v dv  at ds   v dv   f (s)ds
 Acceleration
• Acceleration is time derivative
of velocity
v  ut
a  v   u t   u t

u t  un

2
a   u t  u n

a t   an 
2

a  atu t  anu n
2 2
a  at  an
 Special case
1- Straight line motion
   an  0
a  a t  
2- Constant speed curve
motion (centripetal
acceleration)
a t    0
2
a  an 

 Centripetal acceleration
• Recall that acceleration is defined as a change
in velocity with respect to time.
• Since velocity is a vector quantity, a change
in the velocity’s direction , even though the
speed is constant, represents an acceleration.
• This type of acceleration is known as
Centripetal acceleration

2
ac 

at    0
 Contoh 1
• Sebuah kereta bergerak dengan halaju 72 km/j
di atas sebatang jalan raya ufuk yang berjejari
1000m seperti dalam rajah 1. Jika kereta ini
menambah lajunya dengan kadar 5m/s2 bagi
setiap saat (constant), tentukan masa yang
diambil untuk mencapai pecutan paduan 7 m/s 2.
Rajah 1
 Contoh 2
• Sebiji bola bergerak daripada keadaan pegun di
atas suatu bulatan ufuk berjejari 100 m dengan
pecutan tangen adalah seragam bernilai a t = 0.6
m/s2. Tentukan masa dan jarak bola bergerak
sebelum magnitude pecutan paduannya
mencapai 0.75 m/s2.
 Example 3
• Find the radius of curvature of the
parabolic path in the figure at x = 150 m.

1 2
y x  200
200
1
dy / dx  x
100
1
d 2 y / dx 2 
100
2 3/ 2
  1  
1   x 

1  (dy / dx) 2 3/ 2

  100  
 585.9 m
2
d y / dx 2
1
100
x 150
 Problem 1
• The jet plane travels along the vertical parabolic path. When it is at point A it has a
speed of 200m/s, which is increasing at the rate 0.8m/s². Determine the magnitude
of acceleration of the plane when it is at point A.
y  0.4 x 2
dy
 0.8 x |x  5000  4000
dx
d2y
 0.8
dx 2

3
[1  ( 4000) ] 2
2

  2.56 10 21 m
0.8
at  0.8m / s
v2 (200) 2
an    1.56 10 17 m / s 2
 2.56 10 21

a  (0.8) 2  (1.56 10 17 ) 2  0.8m / s 2

 Problem 2
• At a given instant the jet plane has a speed of 200 m/s and an acceleration of 35m/s²
acting in the direction shown. Determine the rate of increase in the plane’s speed
and the radius of curvature ρ of the path.

at  35 cos 60  17.5ms 2

 2 (200) 2
an    35 sin 60
 
  1319.66m
 Problem 3
• A car is traveling along a circular curve that has a radius of 50m. If its speed is
16m/s and is increasing uniformly at 8m/s², determine the magnitude of its
acceleration at this instant.

at  8ms 2
r  50m
v 2 (16) 2
an    5.12ms 2
 50
a  at an  (8) 2  (5.12) 2  9.50ms 2