BeerVM11e PPT Ch11b

Eleventh
Edition
Vector Mechanics for Engineers: Dynamics

Curvilinear Motion: Position, Velocity & Acceleration
The snowboarder and the train both
undergo curvilinear motion.
A particle moving along a curve other than a

straight line is in curvilinear motion.
Copyright McGraw-Hill Education. Permission required for reproduction or display.
11 - 47
Eleventh
Edition

The 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.
Consider a particle which occupies position P defined by r at time t
and P defined by r at t + t,
11 - 48
Eleventh
Edition

Instantaneous velocity
(vector)
r dr
v lim
t 0 t
dt
Instantaneous speed
(scalar)
s ds
t 0 t
dt
v lim
11 - 49
Eleventh
Edition

Consider velocity v of a particle at time t and velocity v at t + t,
v dv
a lim
instantaneous acceleration (vector)

t 0 t
dt
In general, the acceleration vector is not tangent

to the particle path and velocity vector.
11 - 50
Eleventh
Edition

Rectangular Components of Velocity & Acceleration
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 xi y j zk
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 xi y j zk
dt
dt
dt
ax i a y j az k
11 - 51
Eleventh
Edition

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,
v x 0 , v y , v z 0 0
x0 y 0 z 0 0
0
Integrating twice yields

v x v x 0
x v x 0 t
0 gt
y v y y 12 gt 2
0
vy vy
vz 0
z0
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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Eleventh
Edition

Sample Problem 11.10
STRATEGY:
Consider the vertical and horizontal motion
separately (they are independent)
Apply equations of motion in y-direction
Apply equations of motion in x-direction
A projectile is fired from the edge

of a 150-m cliff with an initial
velocity of 180 m/s at an angle of
30with the horizontal. Neglecting
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.
Determine time t for projectile to hit the

ground, use this to find the horizontal
distance
Maximum elevation occurs when vy=0
11 - 53
Eleventh
Edition

MODELING and ANALYSIS:
Given: (v)o =180 m/s
(a)y = - 9.81 m/s2
(y)o =150 m
(a)x = 0 m/s2
Vertical motion uniformly accelerated:
Horizontal motion uniformly accelerated:

Choose positive x to the right as shown
11 - 54
Eleventh
Edition

Horizontal distance
Projectile strikes the ground at:
Substitute into equation (1) 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 =

11 - 55
Eleventh
Edition

REFLECT and THINK:
Because there is no air resistance, you can
treat the vertical and horizontal motions
separately and can immediately write
down the algebraic equations of motion.
If you did want to include air resistance,
you must know the acceleration as a
function of speed (you will see how to
derive this in Chapter 12), and then you
need to use the basic kinematic
relationships, separate variables, and
integrate.
11 - 56
Eleventh
Edition

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)
b)
c)
d)
A launch angle of 45
A launch angle less than 45
A launch angle greater than 45
It depends on the launch velocity
11 - 57
Eleventh
Edition

Group Problem Solving
STRATEGY:
A baseball pitching machine
throws baseballs with a
horizontal velocity v0. If you
want the height h to be 42 in.,
determine the value of v0.
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 fall to 42
inches
Calculate v0=0
11 - 58
Eleventh
Edition

Given: x= 40 ft, yo = 5 ft,

yf= 42 in.
Find: vo
Analyze the motion in
the y-direction
y f y0 (0)t
1 2
gt
2
1 2
3.5 5 gt
2
1
1.5 ft (32.2 ft/s 2 )t 2
2
t 0.305234 s
Analyze the motion in

the x-direction
x 0 (vx )0 t v0 t
40 ft (v0 )(0.305234 s)
v0 131.047 ft/s 89.4 mi/h
REFLECT and THINK:
Units are correct and magnitudes
are reasonable
11 - 59
Eleventh
Edition

Motion Relative to a Frame in Translation
It is critical for a pilot to know the relative motion of his helicopter
with respect to the aircraft carrier to make a safe landing.
11 - 60
Eleventh
Edition

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 .
r
Vector B A joining A and B defines the position of
B with respect to the moving frame Axyz and

rB rA rB A
Differentiating twice,
vB v A vB A vB
a B a A aB
velocity of B relative to 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.
11 - 61
Eleventh
Edition

STRATEGY:
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 11.30, 11.32, and
11.33) or a graphical approach, determine
constant speed of 36 km/h. As
the relative position, velocity, and
automobile A crosses the intersection
acceleration
shown, automobile B starts from rest
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.
11 - 62
Eleventh
Edition

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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Edition

Determine motion of Automobile B:
We have uniform acceleration for B so:
At t = 5 s
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Edition

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
20 j 50i rB/ A
rB/ A 20 j 50i (m)
v B v A v B/ A
6 j 10i v B/ A
v B/ A 6 j 10i (m/s)
a B a A a B/ A
1.2 j 0i a B/ A
a B/ A 1.2 j (m/s 2 )
Physically, a rider in car A would see car B travelling south and west.
11 - 65
Eleventh
Edition

REFLECT and THINK:
Note that the relative position and velocity of
B relative to A change with time; the
values given here are only for the moment
t =5 s.
11 - 66
Eleventh
Edition

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)
11 - 67
Eleventh
Edition

Tangential and Normal Components
If we have an idea of the path of a vehicle or object, it is often
convenient to analyze the motion using tangential and normal
components (sometimes called path coordinates).
11 - 68
Eleventh
Edition

y
= the instantaneous
radius of curvature
v v et
v= vt et
en
dv
v2
a e t en
dt
et
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
11 - 69
Eleventh
Edition

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, et et et and
is the angle between them.
et 2 sin 2
et
sin 2
lim
lim
en en
0
0 2
det
en
d
11 - 70
Eleventh
Edition

With the velocity vector expressed as v vet

the particle acceleration may be written as
de dv
de d ds
dv dv
a
et v
et v
dt dt
dt dt
d ds dt
but
det
ds
en
d ds
v
d
dt
After substituting,
dv
v2
dv v 2
a et en
at
an
dt
dt
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.
11 - 71
Eleventh
Edition

Relations for tangential and normal acceleration
also apply for particle moving along a space curve.
dv v 2
a et en
dt
dv
at
dt
an
v2
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.
11 - 72
Eleventh
Edition

STRATEGY:
Define your coordinate system
Calculate the tangential velocity and
tangential acceleration
Calculate the normal acceleration
A motorist is traveling on a curved
section of highway of radius 2500 ft
at the speed of 60 mi/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 45
mi/h, determine the acceleration of
the automobile immediately after the
brakes have been applied.
Determine overall acceleration magnitude

after the brakes have been applied
11 - 73
Eleventh
Edition

et

Determine velocity and acceleration in
the tangential direction
en
The deceleration constant, therefore
Immediately after the brakes are applied,

the speed is still 88 ft/s
a an2 at2 2.752 3.102
11 - 74
Eleventh
Edition

REFLECT and THINK:
The tangential component of acceleration is
opposite the direction of motion, and the
normal component of acceleration points to
the center of curvature, which is what you
would expect for slowing down on a
curved path. Attempting to do the problem
in Cartesian coordinates is quite difficult.
11 - 75
Eleventh
Edition

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
11 - 76
Eleventh
Edition

STRATEGY:
Calculate the tangential velocity and
tangential acceleration
Calculate the normal acceleration
The tangential acceleration of the
centrifuge cab is given by
Determine overall acceleration

magnitude
at 0.5 t (m/s 2 )
where t is in seconds and at is in
m/s2. If the centrifuge starts from
fest, determine the total acceleration
magnitude of the cab after 10
seconds.
11 - 77
Eleventh
Edition


In the side view, the tangential
direction points into the page
en
Determine the tangential velocity

at 0.5 t
t
Top View
vt 0.5 t dt 0.25t 2 0.25t 2

2
vt 0.25 10 25 m/s
et
en
Determine the normal acceleration

2
vt 252
2
an
78.125 m/s
Determine the total acceleration magnitude

2
amag an2 at2 78.1252 + (0.5)(10)
amag 78.285 m/s 2
11 - 78
Eleventh
Edition

REFLECT and THINK:
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)
b)
c)
d)
The accelerations would remain the same

The an would increase and the at would decrease
The an and at would both increase
The an would decrease and the at would increase
11 - 79
Eleventh
Edition

Radial and Transverse Components
The foot pedal on an elliptical machine
rotates about and extends from a central
pivot point. This motion can be analyzed
using radial and transverse components
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.
11 - 80
Eleventh
Edition

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 e is perpendicular to er
r r er
The particle velocity vector is
v r er r e
The particle acceleration vector is
a
r r er r 2r e
11 - 81
Eleventh
Edition

We can derive the velocity and acceleration
relationships by recognizing that the unit vectors
change direction.
r re r
der
e
d
The particle velocity vector is
der dr
dr
d
d
v r e r e r r
er r
e
dt
dt
dt
dt
dt
r er r e
de
er
d
der der d d
e
dt
d dt
dt
de de d
d
er
dt
d dt
dt
Similarly, the particle acceleration vector is

d
d dr
a er r
e
dt dt
dt
d 2 r dr der dr d
d 2
d de
2 er
e r 2 e r
dt dt dt dt
dt dt
dt
dt
r r 2 er r 2r e
11 - 82
Eleventh
Edition

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 e direction is perpendicular to the en direction.
c) The e direction is parallel to the er direction.
11 - 83
Eleventh
Edition

When particle position is given in cylindrical
coordinates, it is convenient to express the
velocity and acceleration
vectors using the unit

vectors eR , e , and k .
Position vector,
r R e R z k
Velocity vector,
dr
v
R e R R e z k
dt
Acceleration vector,
dv
R e R R 2 R e z k
a
R
dt
11 - 84
Eleventh
Edition

STRATEGY:
Evaluate time t for = 30o.
Evaluate radial and angular positions,
and first and second derivatives at
time t.
Rotation of the arm about O is defined
by = 0.15t2 where is in radians and t
in seconds. Collar B slides along the
arm such that r = 0.9 - 0.12t2 where r is
in meters.
Calculate velocity and acceleration in

cylindrical coordinates.
Evaluate acceleration with respect to
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.
11 - 85
Eleventh
Edition

MODELING and ANALYSIS
Evaluate time t for = 30o.
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
0.15 t 2 0.524 rad

0.30 t 0.561 rad s
0.30 rad s 2
11 - 86
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Edition

Calculate velocity and acceleration.
vr r 0.449 m s
v r 0.481 m 0.561rad s 0.270 m s
v
tan 1
v vr2 v2
vr
v 0.524 m s
31.0
ar r r 2
0.240 m s 2 0.481 m 0.561 rad s 2
0.391m s 2
a r 2r
0.481 m 0.3 rad s 2 2 0.449 m s 0.561 rad s

0.359 m s 2
a ar2 a2
a
tan 1
ar
a 0.531m s
42.6
11 - 87
Eleventh
Edition

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
REFLECT and THINK:

You should consider polar coordinates for any
kind of rotational motion. They turn this problem
into a straightforward solution, whereas any other
coordinate system would make this problem much
more difficult. One way to make this problem harder
would be to ask you to find the radius of curvature in
addition to the velocity and acceleration. To do this,
you would have to find the normal component of the
acceleration; that is, the component of acceleration
that is perpendicular to the tangential direction
defined by the velocity vector.
11 - 88
Eleventh
Edition

STRATEGY:
Calculate the angular velocity after
three revolutions
Calculate the radial and transverse
accelerations
The angular acceleration of the
centrifuge arm varies according to
Determine overall acceleration

magnitude
0.05 (rad/s 2 )
where is measured in radians. If the
centrifuge starts from rest, determine the
acceleration magnitude after the gondola
has travelled two full rotations.
11 - 89
Eleventh
Edition

er
In the side view, the transverse

direction points into the page
Determine the angular velocity

0.05 (rad/s 2 )
Acceleration is a function
of position, so use:
Evaluate the integral

(2)(2 )
er
d d
Top View
0.05 d d
0.05
2
2 2(2 )
2
2
2 0.05 2(2 )
11 - 90
Eleventh
Edition

Determine the angular velocity
2
2 0.05 2(2 )
2.8099 rad/s
er
Determine the angular acceleration
0.05 = 0.05(2)(2 ) 0.6283 rad/s 2

Find the radial and transverse accelerations
a
r r 2 er r 2r e
2
0 (8)(2.8099) er (8)(0.6283) 0 e
63.166 er 5.0265 e (m/s 2 )
Magnitude:
2
amag ar2 a2 (63.166 ) 2 + 5.0265
amag 63.365 m/s 2
11 - 91
Eleventh
Edition

r
REFLECT and THINK:
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 r er r 2r e
11 - 92

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Eleventh

Vector Mechanics for Engineers: Dynamics

A particle moving along a curve other than a

Vector Mechanics for Engineers: Dynamics

Consider a particle which occupies position P defined by r at time t

Copyright McGraw-Hill Education. Permission required for reproduction or display.

Vector Mechanics for Engineers: Dynamics

Copyright McGraw-Hill Education. Permission required for reproduction or display.

Vector Mechanics for Engineers: Dynamics

Consider velocity v of a particle at time t and velocity v at t + t,

instantaneous acceleration (vector)

In general, the acceleration vector is not tangent

Vector Mechanics for Engineers: Dynamics

Vector Mechanics for Engineers: Dynamics

Integrating twice yields

Motion in horizontal direction is uniform.

Vector Mechanics for Engineers: Dynamics

A projectile is fired from the edge

Determine time t for projectile to hit the

Copyright McGraw-Hill Education. Permission required for reproduction or display.

Vector Mechanics for Engineers: Dynamics

Vertical motion uniformly accelerated:

Horizontal motion uniformly accelerated:

Copyright McGraw-Hill Education. Permission required for reproduction or display.

Vector Mechanics for Engineers: Dynamics

Substitute t into equation (4)

Maximum elevation occurs when vy=0

Maximum elevation above the ground =

Vector Mechanics for Engineers: Dynamics

Copyright McGraw-Hill Education. Permission required for reproduction or display.

Vector Mechanics for Engineers: Dynamics

Copyright McGraw-Hill Education. Permission required for reproduction or display.

Vector Mechanics for Engineers: Dynamics

Consider the vertical and horizontal motion

Copyright McGraw-Hill Education. Permission required for reproduction or display.

Vector Mechanics for Engineers: Dynamics

Given: x= 40 ft, yo = 5 ft,

Analyze the motion in

Copyright McGraw-Hill Education. Permission required for reproduction or display.

Vector Mechanics for Engineers: Dynamics

Copyright McGraw-Hill Education. Permission required for reproduction or display.

Vector Mechanics for Engineers: Dynamics

the fixed frame of reference Oxyz are rA and rB .

Absolute motion of B can be obtained by combining

Vector Mechanics for Engineers: Dynamics

Vector Mechanics for Engineers: Dynamics

We have uniform motion for A so:

Copyright McGraw-Hill Education. Permission required for reproduction or display.

Vector Mechanics for Engineers: Dynamics

Copyright McGraw-Hill Education. Permission required for reproduction or display.

Vector Mechanics for Engineers: Dynamics

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

Vector Mechanics for Engineers: Dynamics

Copyright McGraw-Hill Education. Permission required for reproduction or display.

Vector Mechanics for Engineers: Dynamics

Copyright McGraw-Hill Education. Permission required for reproduction or display.

Vector Mechanics for Engineers: Dynamics

Copyright McGraw-Hill Education. Permission required for reproduction or display.

Vector Mechanics for Engineers: Dynamics

The tangential direction (et) is tangent to the path of the

Vector Mechanics for Engineers: Dynamics

et and et are tangential unit vectors for the

Vector Mechanics for Engineers: Dynamics