Jai Guru Deva

Sri Ganesaya Namaha

Jai Hind

Course Offered by:

Prof. Bhanuprakash Tallapragada

Dept. of Marine Engineering
College of Engineering
Andhra University
Visakhapatnam - 530003
15 December 2012

Engineering Mechanics II
(Dynamics)
Chapter 12
Lecture 2

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General Curvilinear Motion

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Introduction

Curvilinear Motion occurs when the particle moves

along a curved path.

Since the path described is in Three-Dimensions,

vector analysis is used to formulate the particles
position, velocity, and acceleration.

In this lecture we look into the general aspects of

curvilinear motion.

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Position

Consider a particle located at P on a space curve

defined by the path function s.

The position vector is r = r (t)

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Displacement
During a small interval of time
t, particle moves by a
distance s along the curve to
a new position P/ defined by

r = r + r

The

displacement

represents the change in the

particles position
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Velocity

r
vavg =
t
r dr
=
v lim
t 0 t
dt
1. dr is tangent to the curve at P
2. Direction of v is also tangent to the curve
3. As t 0, r approaches s, hence speed (v scalar) is
given by
ds
Thus speed can be obtained by
v=
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dt differentiating path function wrt time

Acceleration
Particle has vel v at t, at t + t, velocity is v/ = v + v

aavg
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v
=
t

dv d r
=
a =
2
dt dt
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Hodograph
Hodograph is the locus of the arrowhead of the velocity
vector
v will approach the tangent to the hodograph as t
goes to zero
Acceleration will always be tangent to the hodograph
and never tangential to the path
Velocity is always tangential to the path

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10

Curvilinear Motion :
Rectangular Components

1. Position:

r = xi + yj + zk

i, j, k frame of
reference is fixed

2. Here x = x(t), y = y(t), z = z(t), so r = r (t)

3. The magnitude of r is always positive and defined by

r=

x2 + y 2 + z 2

4. Direction of r is given by unit vector ur = r/r

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11

Velocity
dr d
d

d
v = =( xi ) + ( yj ) + ( zk )
dt dt
dt
dt
d
dx
di
xi )
i+x
(=
dt
dt
dt
dr
v = =vx i + v y j + vz k
dt
Magnitude is given by

v=

vx + v y + vz
2

Direction is given by uv = v/v

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12

Acceleration
dv
a = =a x i + a y j + a z k
dt
where
=
ax v=
v=
vz
x , ay
y , az

a=

ax + a y + a
2

2
z

Magnitude

Direction is specified by ua = a/a

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13

Suppose you are shooting a projectile up the hill, what

angle must you shoot so that it will go the maximum
distance along the hill?

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14

Monkey and Hunter

Heres a classic example that every beginning physics student has

traditionally learned.
A hunter sees a monkey in a tree, and decides to shoot it. He
knows that this particular species of monkey always falls
from the tree at the instant the shot is fired. At what angle
must the hunter aim, in order to hit the monkey?
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15

Monkey and Hunter

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16

The first step is to solve for the time at which

impact occurs.

The x-component of the velocity of the

projectile is v0 cos ,

The distance in the x-direction is D

so the time of impact is

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17

At the time of impact, the z-coordinates of the

monkey and bullet must be the same:

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18

This says that the hunter should aim directly at

the monkey!
The downward acceleration of the monkey
exactly

compensates

for

the

downward

acceleration of the bullet, as long as they start

falling at the same time.
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19

It may at first seem a bit surprising that this result

doesnt depend on the speed of the bullet

But it makes sense when you think about it.

The faster the bullet, the less time the bullet has to fall,
but the monkey also has less time to fall, so the speed
has no effect.
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20

Example:
Estimate the maximum distance a long jumper can
jump. Determine some reasonable values to use in
this problem.

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21

First assume vI = 30 ft/sec (a world class sprinter).

Let = 45 to maximize the range.
Finally use g = 32 ft/sec2.
The range equation gives

R = 28.125 ft
World Record by Bob Beamon in
Mexico Olympics in 1968 is 29ft 2.5 in
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22

Normal and Tangential Components

When path is known n-t coordinate system

convenient
Origin located at the particle

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23

Normal and Tangential Components (cont)

1. Planar Motion:
2. Particle P is moving in a plane along a fixed curve
3. P is located at distance s from a point O
4. Coordinate system is considered with Origin at P.
5. t-axis is tangent to the curve
6. Positive t-direction represented by ut (unit vector)

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Normal and Tangential Components (cont)

The normal coordinate will be directed towards O/, the centre of

curvature of the plane curve.

This is always on the concave side of the curve

Positive direction is un.

The plane containing the n-t axes is called the osculating plane,
and in this case is fixed in the plane of motion

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25

Normal and Tangential Components (cont)

Velocity:
1. Velocity is always tangential to the path
2. Path s = s(t)
3. Magnitude of Velocity = v = ds/dt
4. V= v (scalar) x ut (Unit vector - direction)

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26

Normal and Tangential Components (Cont)

V = vu t

Acceleration
Acceleration is the time
rate of change of velocity

a= v= vu t + vu t
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Normal and Tangential components (Cont)

a=
v =
vu t + vu t =
anun + at u t
1. When particle moves along arc ds
in time dt, magnitude of ut does not
change (magnitude = 1)
2. Its direction changes to u/t
3. Thus u/t = ut + dut
4. Magnitude of dut= ut d =1x d
5. Direction is perpendicular to ut i.e.,
along un
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6. 15Therefore
dut = d un

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Normal
Since

and Tangential Components ( cont)

ds=d; =

v
s

u t =
un =un =un

ds

dv dv ds dt dv ds
dv
at u t + anun where at =v =
= =v
a=
=
dt dt dt ds ds dt
ds
v2
an =

a= at2 + an2
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Normal and Tangential Components (cont)

Summary
1.

Straight line motion = , an = 0, at = dv/dt

2.

Curved motion constant speed at = dv/dt = 0, an = v2/

centripetal acceleration

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Normal and Tangential components (Cont)

Radius of curvature is given by

3

2 2
dy

1+
dx

=
2

d y

2
dx

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31

Cylindrical Components
1. In Some Engineering Problems, it is often
convenient to use Cylindrical Coordinate system
r, , z
2. If the problem is in plane we use Polar Coordinates
r,
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Cylindrical Components (contd)

Polar Coordinates

R extends outwards from origin to the particle

is measured ccw between fixed reference line and r-axis

Positive directions of r and are given by unit vectors ur,

u
These are perpendicular to one another
ur extends from P along increasing r when is held fixed
u extends from P in a direction that occurs when r is held
fixed and is increased

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Position:
At any instant the position of the particle is defined
by the position vector

r = ru r

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Velocity
Instantaneous velocity is
obtained by taking time
derivative of r.

v= r= ru r + ru r

u r

=
u r lim
= lim
u

t 0 t
x t

u r = u

=
v vrur + v u
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Velocity
Graphically the velocity components are shown

vr = r and v = r
Magnitude of V is given by
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v= (r +(r
)
2

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Acceleration

a = v =
rur + rur + r u + r
u + r u

u = lim
ur
= lim

t 0 t
t 0 t
u = ur
+ 2r
ar =
r r 2 a = r
a ar ur + au
=
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37

Cylindrical Coordinates
In a space curve we have three
coordinates

(3

DOF)

for

particle and so we use r, , z

=
rP rur + zu z
v= rur + r u + zu z
2

u +
a =
r-r ur + r+2r
zu z

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Time Derivatives ( Issues)

1.

If the coordinates are defined as time parametric

equations r = r(t), = (t), then derivatives are easy

2. In some cases the relationship between r and may

be given

Thus of the four time derivatives

namely

r,r,,

if we know two,

then we can get the other two from

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these
equations

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