3 Curvilinear Motion v4
3 Curvilinear Motion v4
3 Curvilinear Motion v4
Module 3: Curvilinear
Motion
Course Outcomes
CO1. Explain and use the principles governing
motion of particles.
CO2. Apply the concepts of kinematics of
particles to compute positions, velocities, and
accelerations of rigid bodies.
OBJECTIVES
At the end of the lesson, you should be able
to:
Solve problems inline with CURVILINEAR
MOTION
Derive the equations to be used in projectile
motion problems.
Apply these equations in projectile motion
problems.
Recall:
Recall Kinematical Quantities by
Integration
Recall:
Recall Vector in 2D (x-y plane)
Recall Vector in 3D (i, j k)
CURVILINEAR MOTION
Particle moving along a curve other than a
straight line is in curvilinear motion.
• Position vector of a particle at time t is
defined by a vector between origin O of a
fixed reference frame and the position
occupied by particle.
• Where: rA is the position vector A
• : rB is the position vector A
• rAB is the position vector from A to B
CURVILINEAR MOTION
Particle moving along a curve other than a
straight line is in curvilinear motion.
• Position vector of a particle at time t is
defined by a vector between origin O of a
fixed reference frame and the position
occupied by particle.
• Velocity vector,
dxdydz
v i j kx
iy
j
zk
dt dt dt
v
xi
vyj
vzk
Rectangular Components of Velocity &
Acceleration. (x-y) plane
• Acceleration vector,
2 2 2
d x dy dz
a2 i 2j 2
k
x
i
y
j
z
k
dt dt dt
a
xia
yjak
z
P1
2/47 At time t = 0, the position vector of a
particle moving in the x‐y plane is r = 5i m. By
time t = 0.02 s, its position vector has
become 5.1i + 0.4 j m. Determine the
magnitude vav of its average velocity during this
interval and the angle θ made by the average
velocity with the positive x‐axis.
vav = 20.6 m/s, θ = 76.0°
P2
2/48 A particle moving in the x‐y plane has a
velocity at time t = 6 s given by 4i + 5j m/s, and
at t = 6.1 s its velocity has become 4.3i +
5.4j m/s. Calculate the magnitude aav of its
average acceleration during the 0.1‐s interval
and the angle θ it makes with the x‐axis.
aav = 5 m/s2, θ = 53.1°
Rectangular Components of Velocity &
Acceleration (x-y)
• When position vector of particle P is given by its
rectangular components,
r
xi
y
jz
k
• Velocity vector,
dxdydz
v i j kx
iy
j
zk
dt dt dt
v
xi
vyj
vzk
Rectangular Components of Velocity &
Acceleration (x-y)
• When position vector of particle P is given by its
rectangular components,
r
xi
y
jz
k
• Velocity vector,
dxdydz
v i j kx
iy
j
zk
dt dt dt
v
xi
vyj
vzk
CURVILINEAR MOTION
Rectangular Components of Velocity &
Acceleration.
• Acceleration vector,
2 2 2
d x dy dz
a2 i 2j 2
k
x
i
y
j
z
k
dt dt dt
a
xia
yjak
z
PROJECTILE MOTION
Rectangular Components of Velocity &
Acceleration:
• Motion in horizontal direction is uniform.
v
xv
x0v
yv
y
0
gtv
z0
x
v
x0t y
vyy1
02
2
gt
z0
DYNAMICS
MOTION OF A PARTICLE:
1. RECTILINEAR MOTION
The direction of resultant is constant,
the motion of a particle is along a
straight path and is called Rectilinear
Translation.
CURVILINEAR MOTION
The motion of a particle is along a
curved line in two or three dimensions.
Projectile Motion
A projectile is any body that is given an initial velocity
and then follows a path determined entirely by the
effects of gravitational acceleration.
The path followed by a projectile is called trajectory
Combination of horizontal motion with constant
velocity and vertical motion with constant acceleration
Projectile Motion
1. A motorcycle stunt rider rides off the edge of
a cliff. Just at the edge his velocity is horizontal
with a magnitude of 9.0 m/s. Find the motorcycles
position, distance from the edge of the cliff and
velocity after 0.5s.
2. A batter hits a baseball so that it leaves the bat with an initial
speed of ν0 = 37.0 m/s at an initial angle α0 = 53.1°, at a location
where g = 9.81 m/s2. let’s see how we can find the ball’s maximum
height and how we can find the distance from home plate to where
the ball comes down.
a)Find the position of the ball, and the magnitude and
direction of its velocity when t = 2.00 s
b)Find the time when the ball reaches the highest point of
its flight and its height at this point
c)Find the horizontal range
Problem
Solution
PROJECTILE MOTION
Example:
PROJECTILE MOTION
Example:
PROJECTILE MOTION
Example:
PROJECTILE MOTION
Example:
PROJECTILE MOTION
Example:
PROJECTILE MOTION
Example:
MEC102
Tangential and Normal
TANGENTIAL AND NORMAL
Velocity vector of particle is tangent to
path of particle.
In general, acceleration vector is not.
• express acceleration
vector in terms of
tangential and normal
components.
TANGENTIAL AND NORMAL
Velocity vector of particle is tangent to
path of particle.
• e
tand e are tangential unit vectors for the
t
particle path at P and P’. When drawn with
respect to the same origin,
et e
t et and
is the angle between them.
et 2sin
2
et
lim lim
sin2
enen
0 0 2
d e
en t
d
TANGENTIAL AND NORMAL
Acceleration vector
• With the velocity vector expressed as v vet
the particle acceleration may be written as
d
v
dv
d
e
dv
d
e
dd
a
dt
e
t
dt
v
dt
e
t
dt
v
d
ds
d
but
d
e
t
d
e
n d
ds
ds
v
dt
TANGENTIAL AND NORMAL
Acceleration vector
After substituting,
2 2
dv v dvv
a
e
e
naa
t
dt
t n
dt
• Tangential component of acceleration reflects
change of speed and normal component reflects
change of direction.
https://www.youtube.com/watch?v=zLmt5tgYNCI
RADIAL AND TRANSVERSE
Polar (Radial/Transverse) Coordinates:
This coordinate system is convenient to
use when the distance and direction of a
particle are measured relative to a fixed
point or when a particle is fixed on or
moves along a rotating arm.
RADIAL AND TRANSVERSE
Polar (Radial/Transverse) Coordinates:
Coordinates are chosen such that:
is a unit vector pointing radially outward
from the origin toward the particle
is a unit vector perpendicular to the radial
line in the direction of increasing .
RADIAL AND TRANSVERSE
When particle position is given in polar
coordinates, it is convenient to express
velocity and acceleration with components
parallel and perpendicular to OP.
r rer
der de
e er
d d
der der d d
e
dt d dt dt
de de d d
er
dt d dt dt
RADIAL AND TRANSVERSE
The particle velocity vector is
d dr der dr d
v rer er r er r e
dt dt dt dt dt
r er r e
30 0.524 rad t 1
.
869
s
0.15t20.524rad
0.30
t 0.561
rads
0.30
s2
rad
RADIAL AND TRANSVERSE
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RADIAL AND TRANSVERSE
2
ar rr
ms20.481
0.240 rads2
m0.561
0.391ms2
2r
a r
0.481
m 0.3rads2 20.449
ms0.561
rads
ms2
0.359
a
a ar2a
2 1
tan
ar
a
0
.
531
ms
4
.
6
11 - 75
RADIAL AND TRANSVERSE
a B OA r 0.240 m s 2
11 - 76
RADIAL AND TRANSVERSE
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RADIAL AND TRANSVERSE
11 - 78
RADIAL AND TRANSVERSE
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RADIAL AND TRANSVERSE
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PREPARATION FOR THE COURSE
Effective Listening
PREPARATION FOR THE COURSE