General Curvilinear Motion

Curvilinear motion occurs when the particle moves

along a curved path
Position. The position of the particle, measured
from a fixed point O, is designated by the position
vector r = r(t).
Displacement. Suppose during a small time
interval t the particle moves a distance s along
the curve to a new position P`, defined by r` = r +
r. The displacement r represents the change in
the particles position.
General Curvilinear Motion
Velocity. During the time t, the average velocity
of the particle is defined as
t
r
v
avg
A
A
=
The instantaneous velocity is determined from
this equation by letting t 0, and consequently
the direction of r approaches the tangent to the
curve at point P. Hence,
dt
dr
v
ins
=
General Curvilinear Motion
Direction of v
ins
is tangent to the curve
Magnitude of v
ins
is the speed, which may be
obtained by noting the magnitude of the
displacement r is the length of the straight line
segment from P to P`.
dt
ds
v =
General Curvilinear Motion
Acceleration. If the particle has a velocity v at
time t and a velocity v` = v + v at time t` = t + t.
The average acceleration during the time interval
t is
t
v
a
avg
A
A
=
2
2
dt
r d
dt
dv
a = =
General Curvilinear Motion
a acts tangent to the hodograph, therefore it is not
tangent to the path
General Curvilinear Motion
Curvilinear Motion: Rectangular Components
Position. Position vector is defined by
r = xi + yj + zk
The magnitude of r is always positive and defined
as
2 2 2
z y x r + + =
The direction of r is specified
by the components of the
unit vector u
r
= r/r
Velocity.
z v y v x v
k v j v i v
dt
dr
v
z y x
z y x

= = =
+ + = =
where
The velocity has a magnitude
defined as the positive value of
2 2 2
z y x
v v v v + + =
and a direction that is specified by the components
of the unit vector u
v
=v/v and is ALWAYS tangent to
the path.
Curvilinear Motion: Rectangular Components
Acceleration.
z v a
y v a
x v a
k a j a i a
dt
dv
a
z z
y y
x x
z y x

= =
= =
= =
+ + = =
The acceleration has a magnitude defined as the
positive value of
2 2 2
z y x
a a a a + + =
where
Curvilinear Motion: Rectangular Components
The acceleration has a direction specified by the
components of the unit vector u
a
= a/a.
Since a represents the time rate of change in
velocity, a will NOT be tangent to the path.
Curvilinear Motion: Rectangular Components
PROCEDURE FOR ANALYSIS
Coordinate System
A rectangular coordinate system can be used to
solve problems for which the motion can
conveniently be expressed in terms of its x, y and z
components.
Curvilinear Motion: Rectangular Components
Kinematic Quantities
Since the rectilinear motion occurs along each
coordinate axis, the motion of each component is
found using v = ds/dt and a = dv/dt, or a ds = v ds
Once the x, y, z components of v and a have
been determined. The magnitudes of these vectors
are found from the Pythagorean theorem and their
directions from the components of their unit
vectors.
Curvilinear Motion: Rectangular Components
EXAMPLE 12.9
At any instant the horizontal
position of the weather balloon
is defined by x = (9t) m, where
t is in seconds. If the equation
of the path is y = x
2
/30,
determine the distance of the
balloon from the station at A,
the magnitude and direction of
both the velocity and
acceleration when t = 2 s.
Solution:
Position. When t = 2 s, x = 9(2) m = 18 m and
y = (18)
2
/30 = 10.8 m

The straight-line distance from A to B is

( ) ( ) 21 8 . 10 18
2 2
= + = r m
Velocity.

( )
( ) s m x
dt
d
y v
s m t
dt
d
x v
y
x
/ 8 . 10 30 /
/ 9 9
2
= = =
= = =

EXAMPLE 12.9
When t = 2 s, the magnitude of velocity is
( ) ( ) s m v / 1 . 14 8 . 10 9
2 2
= + =
The direction is tangent to the path, where

2 . 50 tan
1
= =

x
y
v
v
v
u
Acceleration.
2
/ 4 . 5
0
s m v a
v a
y y
x x
= =
= =

EXAMPLE 12.9
( ) ( )
2
2 2
/ 4 . 5 4 . 5 0 s m a = + =
The direction of a is

= = 90
0
4 . 5
tan
1
a
u
EXAMPLE 12.9
The motion of box B is defined
by the position vector r =
{0.5sin(2t)i + 0.5cos(2t)j
0.2tk} m, where t is in
seconds and the arguments for
sine and cosine are in radians
( rad = 180). Determine the
location of the box when t =
0.75 s and the magnitude of its
velocity and acceleration at this
instant.
EXAMPLE 12.10
Solution:
Position. Evaluating r when t = 0.75 s yields

m k j rad i rad r
s t
} ) 75 . 0 ( 2 . 0 ) 5 . 1 cos( 5 . 0 ) 5 . 1 sin( 5 . 0 {
75 . 0

+ =
=
m k j i } 150 . 0 0354 . 0 499 . 0 {


+ =
The distance of the box from the origin is
m r 522 . 0 ) 150 . 0 ( ) 0354 . 0 ( ) 499 . 0 (
2 2 2
= + + =
EXAMPLE 12.10
The direction of r is obtained from the components
of the unit vector,

107
1 . 86
2 . 17 ) 955 . 0 ( cos
287 . 0 0678 . 0 955 . 0
522 . 0
150 . 0
522 . 0
0352 . 0
522 . 0
499 . 0
1
=
=
= =
+ =
+ = =

|
o
k j i
k j i
r
r
u
r
EXAMPLE 12.10
Velocity.
s m k j t i t
dt
r d
v / } 2 . 0 ) 2 sin( 1 ) 2 cos( 1 {

= =
Hence at t = 0.75 s, the magnitude of velocity is
s m v v v v
z y x
/ 02 . 1
2 2 2
= + + =
Acceleration. The acceleration is not tangent
to the path.
2
/ } ) 2 cos( 2 ) 2 sin( 2 { s m j t i t
dt
v d
a

= =
At t = 0.75 s, a = 2 m/s
2
EXAMPLE 12.10
Free-flight motion studied in terms of rectangular
components since projectiles acceleration always
acts vertically
Consider projectile launched at (x
0
, y
0
)
Path defined in the x-y plane
Air resistance is neglected
The only force acting on the projectile would be its
weight, resulting in constant downwards
acceleration
a
c
= g = 9.81 m/s
2
Motion of a Projectile
Motion of a Projectile
Horizontal Motion Since a
x
= 0,

); ( 2
;
2
1
;
0
2
0
2
2
0 0
0
s s a v v
t a t v x x
t a v v
c
c
c
+ =
+ + =
+ =
|
.
|

\
|

+
|
.
|

\
|

+
|
.
|

\
|

+
x x
x
x x
v v
t v x x
v v
) (
) (
) (
0
0 0
0
=
+ =
=
Horizontal component of velocity remain constant
during the motion
Motion of a Projectile
Vertical. Positive y axis is directed upward, then
a
y
= - g
); ( 2
;
2
1
;
0
2
0
2
2
0 0
0
y y a v v
t a t v y y
t a v v
c
c
c
+ =
+ + =
+ =
( ) | +
( ) | +
( ) | + ) ( 2 ) (
2
1
) (
) (
0
2
0
2
0 0
0
y y g v v
gt t v y y
gt v v
y x
y
y y
=
+ =
=
Motion of a Projectile
Problems involving the motion of a projectile have
at most three unknowns since only three
independent equations can be written:
- one in the horizontal direction
- two in the vertical direction
Velocity in the horizontal and vertical direction are
used to obtain the resultant velocity (via
Pythagorean theorem)
Resultant velocity is always tangent to the path

Motion of a Projectile
PROCEDURE FOR ANALYSIS
Coordinate System
Establish the fixed x, y, z axes and sketch the
trajectory of the particle
Specify the three unknowns and data between
any two points on the path
Acceleration of gravity always acts downwards
Express the particle initial and final velocities in
the x, y components
Motion of a Projectile
Positive and negative position, velocity and
acceleration components always act in accordance
with their associated coordinate directions
Kinematics Equations
Decide on the equations to be applied between
the two points on the path for the most direct
solution
Motion of a Projectile
Horizontal Motion
Velocity in the horizontal or x directions is
constant (v
x
) = (v
o
)
x
x = x
o
+ (v
o
)
x
t

Vertical Motion
Only two of the following three equations should
be used
Motion of a Projectile
) ( 2 ) (
2
1
) (
) (
0
2
0
2
0 0
0
y y g v v
gt t v y y
gt v v
y x
y
y y
=
+ =
=
Eg: if final velocity is not needed, first and third of
the equations would not be needed
Motion of a Projectile
EXAMPLE 12.11
A sack slides off the
ramp with a horizontal
velocity of 12 m/s. If the
height of the ramp is 6 m
from the floor, determine
the time needed for the
sack to strike the floor
and the range R where
the sacks begin to pile
up.
Coordinate System. Origin of the coordinates is
established at the beginning of the path, point A.
Initial velocity of a sack has components (v
A
)
x
= 12
m/s and (v
A
)
y
= 0
Acceleration between point A and B a
y
= -9.81 m/s2
Since (v
B
)
x
= (v
A
)
x
= 12 m/s, the three unknown are
(v
B
)
y
, R and the time of flight t
AB

EXAMPLE 12.11
Vertical Motion. Vertical distance from A to B is
known
s t
t a t v y y
AB
AB c AB y
11 . 1
;
2
1
) (
2
0 0
=
+ + =
The above calculations also indicate that if a sack
is released from rest at A, it would take the same
amount of time to strike the floor at C
EXAMPLE 12.11
Horizontal Motion.
m R
t v x x
AB x
3 . 13
) (
0 0
=
+ =
EXAMPLE 12.11
The chipping machine is designed to eject wood at
chips v
O
= 7.5 m/s. If the tube is oriented at 30
from the horizontal, determine how high, h, the
chips strike the pile if they land on the pile 6 m
from the tube.
EXAMPLE 12.12
Coordinate System. Three unknown h, time of
flight, t
OA
and the vertical component of velocity
(v
B
)
y.
Taking origin at O, for initial velocity of a chip,



(v
A
)
x
= (v
O
)
x
= 6.5 m/s and a
y
= -9.81 m/s
2

| = =
= =
s m v
s m v
y O
x O
/ 75 . 3 ) 30 sin 5 . 7 ( ) (
/ 5 . 6 ) 30 cos 5 . 7 ( ) (

EXAMPLE 12.12
Horizontal Motion.
s t
t v x x
OA
OA x A
9231 . 0
) (
0 0
=
+ =
Vertical Motion.
Relating t
OA
to initial and final elevation of the chips,
( ) | +
m h
t a t v y h y
OA c OA y O A
38 . 1
2
1
) ( 1 . 2
2
0
=
+ + = =
EXAMPLE 12.12
The track for this racing event
was designed so that the
riders jump off the slope at
30, from a height of 1m.
During the race, it was
observed that the rider
remained in mid air for 1.5 s.
Determine the speed at which he was traveling off
the slope, the horizontal distance he travels before
striking the ground, and the maximum height he
attains. Neglect the size of the bike and rider.
EXAMPLE 12.13
Coordinate System. Origin is established at point
A. Three unknown are initial speed v
A
, range R and
the vertical component of velocity v
B
.
Vertical Motion. Since time of flight and the vertical
distance between the ends of the paths are known,
s m v
t a t v s s
A
AB C AB y A y A y B
/ 4 . 13
2
1
) ( ) ( ) (
2
=
+ + =
EXAMPLE 12.13
Horizontal Motion



For maximum height h, we consider path AC
Three unknown are time of flight, t
AC
, horizontal
distance from A to C and the height h
At maximum height (v
C
)
y
= 0
m
R
t v s s
AB A x A x B
4 . 17
) 5 . 1 ( 30 cos 38 . 13 0
) ( ) ( ) (
=
+ =
+ =

EXAMPLE 12.13
Since v
A
known, determine h using the following
equations




Show that the bike will strike the ground at B with
velocity having components of
+ = =
=
+ =
+ =
s m v s m v
m h
h
s s a v v
y B x B
y A y C c A c
y y
/ 02 . 8 ) ( , / 6 . 11 ) (
28 . 3
] 0 ) 1 )[( 81 . 9 ( 2 ) 30 sin 38 . 13 ( ) 0 (
] ) ( ) [( 2 ) ( ) (
2 2
2 2

EXAMPLE 12.13