MECH 312

Dynamics of Rigid Bodies

Module 5

Curvilinear Motion
Normal & Tangential Components

When the path of motion is

known, normal (n) and
tangential (t) components are
often used.
In the n-t coordinate system,
the origin is located on the
particle (thus the origin and
coordinate system move with
the particle).

O The t-axis is tangent to the

path (curve) at the instant

considered, positive in the
direction of the particles
motion.
O The n-axis is perpendicular
to the t-axis with the positive
direction toward the center
of curvature of the curve.

The center of curvature, O,

always lies on the concave side
of the curve.
The radius of curvature, r, is
defined as the perpendicular
distance from the curve to the
center of curvature at that point.
O The position of the particle at any instant is defined

by the distance, s, along the curve from a fixed

reference point.

Velocity in n-t coordinate system

O The velocity vector is always tangent to

the path of motion (t-direction).

O The magnitude is determined by taking
the time derivative of the path
function, s(t).

= v

where = = /

Note: v defines the magnitude, defines the direction

Acceleration in n-t coordinate system

2 components of the acceleration vector:
O Tangential component tangent to the curve and
in the direction of increasing/decreasing velocity
= or =
O Normal or centripetal component always
directed toward the center of curvature

Where:
=
radius of curvature

v - velocity

Acceleration in n-t coordinate system

O Magnitude of the acceleration vector:

SPECIAL CASES OF MOTION:

1. The particle moves along a straight line

= 2 /

= =

The tangential component represents the time rate

change of velocity.

SPECIAL CASES OF MOTION:

2. The particle moves along a curve at constant speed
= =
= = /
The normal component represents the time rate change
in the direction of velocity.

SPECIAL CASES OF MOTION:

3. The particle moves along a path expressed as y = f(x).

The radius of curvature, , at any point on the path can

be calculated from:
/
[ +
]

Problem 19
A boat travels around a circular
path, = 40m, at a speed that
increases with time,
= (0.0625 2 ) /. Find the
magnitude of the boats
velocity and acceleration at the
instant t = 10s.

Problem 20
The satellite S travels around
the earth in a circular path
with a constant speed of
20Mm/h. If the acceleration is
2.5m/s2, determine the
altitude h. Assume the earths
diameter to be 12713km.

Problem 21
The car travels along the circular
path such that its speed is
increased by
= (0.5 )/ 2 , where t is in
seconds. Determine the
magnitude of its velocity and
acceleration after the car has
traveled s=18m starting from
rest. Neglect the size of the car.