BMFA 2123 DYNAMICS

Muhamad Arfauz Bin A Rahman, PhD

Room: BG 10, ground floor, FTMK or TDAs room, Block B, FKP
Office: 06 331 6488 / 6424 Mobile: 013 6133361
Email: arfauz@utem.edu.my
KINETICS OF A PARTICLE:
FORCE AND
ACCELERATION
13.5 Equation of Motion: Normal and
Tangential Coordinates
 EQUATIONS OF MOTION:
NORMAL AND TANGENTIAL COORDINATES

Todays Objectives:
Students will be able to:
1. Apply the equation of
motion using normal and In-Class Activities:
tangential coordinates. Check Homework
Reading Quiz
Applications
Equation of Motion Using
n-t Coordinates
Concept Quiz
Group Problem Solving
Attention Quiz
 READING QUIZ

1. The normal component of the equation of motion is written

as Fn=man, where Fn is referred to as the _______.

A) impulse B) centripetal force

C) tangential force D) inertia force

2. The positive n direction of the normal and tangential

coordinates is ____________.

A) normal to the tangential component

B) always directed toward the center of curvature
C) normal to the bi-normal component
D) All of the above.
 APPLICATIONS

Race track turns are often banked to reduce the frictional

forces required to keep the cars from sliding up to the outer rail
at high speeds.

If the cars maximum velocity and a minimum coefficient of

friction between the tires and track are specified, how can we
determine the minimum banking angle (q) required to prevent
the car from sliding up the track?
 APPLICATIONS (continued)

This picture shows a ride at the amusement park. The

hydraulically-powered arms turn at a constant rate, which
creates a centrifugal force on the riders.

We need to determine the smallest angular velocity of cars A

and B such that the passengers do not lose contact with their
seat. What parameters are needed for this calculation?
 APPLICATIONS (continued)

Satellites are held in orbit around the earth by using the earths
gravitational pull as the centripetal force the force acting to
change the direction of the satellites velocity.

Knowing the radius of orbit of the satellite, we need to

determine the required speed of the satellite to maintain this
orbit. What equation governs this situation?
 REVIEW on THREE-DIMENSIONAL MOTION

If a particle moves along a space

curve, the n and t axes are defined
as before. At any point, the t-axis is
tangent to the path and the n-axis
points toward the center of
curvature. The plane containing the
n and t axes is called the osculating
plane.

A third axis can be defined, called the binomial axis, b. The

binomial unit vector, ub, is directed perpendicular to the
osculating plane, and its sense is defined by the cross product
ub = ut un.

There is no motion, thus no velocity or acceleration, in the

binomial direction.
 NORMAL & TANGENTIAL COORDINATES

Again:

When a particle moves along a

curved path, it may be more
convenient to write the equation
of motion in terms of normal and
tangential coordinates.

The normal direction (n) always points toward the paths center of
curvature. In a circle, the center of curvature is the center of the
circle.

The tangential direction (t) is tangent to the path, usually set as

positive in the direction of motion of the particle.
 EQUATIONS OF MOTION

Since the equation of motion is a

vector equation, F = ma, it may be
written in terms of the n & t
coordinates as

Ftut + Fnun+ Fbub = mat + man

Here Ft & Fn are the sums of the force components

acting in the t & n directions, respectively.

This vector equation will be satisfied provided the

individual components on each side of the equation
are equal, resulting in the two scalar equations:
Ft = mat and Fn = man.
Since there is no motion in the binormal (b) direction, we can also
write Fb = 0.
NORMAL AND TANGENTIAL ACCELERATIONS

The tangential acceleration, at = dv/dt, represents the time

rate of change in the magnitude of the velocity. Depending
on the direction of Ft, the particles speed will either be
increasing or decreasing.
The normal acceleration, an = v2/r, represents the time rate of
change in the direction of the velocity vector. Remember, an
always acts toward the paths center of curvature. Thus, Fn
will always be directed toward the center of the path.

Recall, if the path of motion is defined

as y = f(x), the radius of curvature at
any point can be obtained from
 Newtons second law provides

F ma

For tangential and normal components,

F t mat F n man
dv v2
t
F m Fn m
dt r
 SOLVING PROBLEMS WITH n-t COORDINATES

Use n-t coordinates when a particle is moving along a

known, curved path.

Establish the n-t coordinate system on the particle.

Draw free-body and kinetic diagrams of the particle. The

normal acceleration (an) always acts inward (the positive
n-direction). The tangential acceleration (at) may act in
either the positive or negative t direction.

Apply the equations of motion in scalar form and solve.

It may be necessary to employ the kinematic relations:

at = dv/dt = v dv/ds an = v2/r

 EXAMPLE

Given: The 10-kg ball has a velocity of 3

m/s when it is at A, along the
vertical path.

Find: The tension in the cord and the

increase in the speed of the ball.

Plan: 1) Since the problem involves a curved path and requires

finding the force perpendicular to the path, use n-t
coordinates. Draw the balls free-body and kinetic
diagrams.

2) Apply the equation of motion in the n-t directions.

 EXAMPLE (continued)

Solution:
1) The n-t coordinate system can be
established on the ball at Point A,
thus at an angle of 45.
Draw the free-body and kinetic
diagrams of the ball.

Free-body diagram Kinetic diagram

n n
T W
man
45
=
t mat
t
 EXAMPLE (continued)

2) Apply the equations of motion in the n-t directions.

(a) Fn = man T W sin 45 = m an

Using an = v2/r = 32/2, W = 10(9.81) N, and m = 10 kg

T 98.1 sin 45 = (10) (32/2)
T= 114 N

(b) Ft = mat W cos 45 = mat

98.1 cos 45 = 10 at
at = (dv/dt) = 6.94 m/s2
 CONCEPT QUIZ

1. A 10-kg sack slides down a smooth surface. If the normal force

on the surface at the flat spot, A, is 98.1 N () , the radius of
curvature is ____.

A) 0.2 m B) 0.4 m

C) 1.0 m D) None of the above. v=2m/s

2. A 2-kg block is moving along a smooth surface. If the

normal force on the surface at A is 10 N, the velocity is
________.

A) 7.6 m/s B) 5.9 m/s A

r=7 m
C) 10.6 m/s D) 12.6 m/s
 GROUP PROBLEM SOLVING

Given: A 800-kg car is traveling over

a hill with the shape of a
parabola. When the car is at
point A, its v = 9 m/s and
a = 3 m/s2.

(Neglect the size of the car.)

Find: The resultant normal force and resultant frictional force

exerted on the road at point A by the car.
Plan: 1) Treat the car as a particle. Draw its free-body and
kinetic diagrams.
2) Apply the equations of motion in the n-t directions.
3) Use calculus to determine the slope and radius of
curvature of the path at point A.
 GROUP PROBLEM SOLVING (continued)

Solution:
1) The n-t coordinate system can
be established on the car at
point A. Treat the car as a
particle and draw the free-
body and kinetic diagrams:

W
q
F
N
= man mat
q
n t n t
W = mg = weight of car
N = resultant normal force on road
F = resultant friction force on road
 GROUP PROBLEM SOLVING (continued)

2) Apply the equations of motion in the n-t directions:

Fn = man W cos q N = man

Using W = mg and an = v2/r = (9)2/r

(800)(9.81) cos q N = (800) (81/r)
N = 7848 cos q 64800/r (1)

Ft = mat W sin q F = mat

Using W = mg and at = 3 m/s2 (given)

(800)(9.81) sin q F = (800) (3)
F = 7848 sin q 2400 (2)
 GROUP PROBLEM SOLVING (continued)

3) Determine r by differentiating y = f(x) at x = 80 m:

y = 20(1 x2/6400) dy/dx = (40) x / 6400

d2y/dx2 = (40) / 6400

dy
[1 + ( )2]3/2 [1 + (0.5)2]3/2
dx
r = = = 223.6 m
x = 80 m
d2y 0.00625
dx2

Determine q from the slope of the curve at A:

tan q = dy/dx
dy x = 80 m
q q = tan-1 (dy/dx) = tan-1 (-0.5) = 26.6
dx
 GROUP PROBLEM SOLVING (continued)

From Eq.(1): N = 7848 cos q 64800 / r

= 7848 cos (26.6) 64800 / 223.6 = 6728 N

From Eq.(2): F = 7848 sin q 2400

= 7848 sin (26.6) 2400 = 1114 N
 ATTENTION QUIZ

1. The tangential acceleration of an object

A)represents the rate of change of the velocity vectors
direction.
B) represents the rate of change in the magnitude of the
velocity.
C) is a function of the radius of curvature.
D) Both B and C.

2. The block has a mass of 20 kg and a speed of

v = 30 m/s at the instant it is at its lowest point.
Determine the tension in the cord at this instant.
10 m
A) 1596 N B) 1796 N q

C) 1996 N D) 2196 N
v = 30m/s
KINETICS OF A PARTICLE:
FORCE AND
ACCELERATION
13.6 Equation of Motion: Cylindrical
Coordinates
 EQUATIONS OF MOTION:
CYLINDRICAL COORDINATES

Todays Objectives:
Students will be able to:
1. Analyze the kinetics of a
particle using cylindrical
coordinates.
In-Class Activities:
Check Homework
Reading Quiz
Applications
Equations of Motion Using
Cylindrical Coordinates
Angle between Radial and
Tangential Directions
Concept Quiz
Group Problem Solving
Attention Quiz
 READING QUIZ

1. The normal force which the path exerts on a particle is

always perpendicular to the _________.
A) radial line B) transverse direction
C) tangent to the path D) None of the above.

2. When the forces acting on a particle are resolved into

cylindrical components, friction forces always act in the
__________ direction.
A) radial B) tangential
C) transverse D) None of the above.
APPLICATIONS

The forces acting on the 50-kg

boy can be analyzed using the
cylindrical coordinate system.

How would you write the

equation describing the
frictional force on the boy as he
slides down this helical slide?
 APPLICATIONS (continued)

When an airplane executes the vertical loop shown above,

the centrifugal force causes the normal force (apparent
weight) on the pilot to be smaller than her actual weight.

How would you calculate the velocity necessary for the pilot
to experience weightlessness at A?
 CYLINDRICAL COORDINATES

This approach to solving problems has

some external similarity to the normal &
tangential method just studied. However,
the path may be more complex or the
problem may have other attributes that
make it desirable to use cylindrical
coordinates.

Equilibrium equations or Equations of Motion in cylindrical

coordinates (using r, , and z coordinates) may be expressed in
scalar form as:
.. .2
Fr = mar = m ( r r )
.. . .
F = ma = m (r 2 r )
..
Fz = maz = m z
 CYLINDRICAL COORDINATES
(continued)

If the particle is constrained to move only in the r plane

(i.e., the z coordinate is constant), then only the first two
equations are used (as shown below). The coordinate system
in such a case becomes a polar coordinate system. In this
case, the path is only a function of .
.. .
Fr = mar = m(r r 2)
.. . .
F = ma = m(r 2r )

Note that a fixed coordinate system is used, not a body-

centered system as used in the n t approach.
 TANGENTIAL AND NORMAL FORCES

If a force P causes the particle to move along a path defined by r

= f ( ), the normal force N exerted by the path on the particle is
always perpendicular to the paths tangent.

The frictional force F always acts along the tangent in the

opposite direction of motion. The directions of N and F can be
specified relative to the radial coordinate by using angle y .
 DETERMINATION OF ANGLE y

If y is positive, it is measured counterclockwise from the radial line

to the tangent. If it is negative, it is measured clockwise.
EXAMPLE
 EXAMPLE

Plan: 1) Draw the FBD and kinetic diagrams.

2) Develop the kinematic equations using cylindrical
coordinates.
3) Apply the equation of motion to find the force.
 EXAMPLE (continued)

Solution:
1) Free-Body and Kinetic Diagrams :
Establish the r, q coordinate
system when q = 0, and draw
the free-body and kinetic
diagrams.

Free-body diagram Kinetic diagram

W
r mar
=
N
maq
q
EXAMPLE (continued)
 EXAMPLE (continued)

3) Equation of motion: q direction

(+) F = ma
N 0.2 (9.81) = 0.2 (0)
N = 1.96 N

Free-body diagram Kinetic diagram

W
mar
r
= ar = 27 m/s2
N
maq
a = 0 m/s2
q
 CONCEPT QUIZ
B
1. When a pilot flies an airplane in a
vertical loop of constant radius r at C
constant speed v, his apparent weight r A
is maximum at
A) Point A B) Point B (top of the loop) D
C) Point C D) Point D (bottom of the loop)

2. If needing to solve a problem involving the pilots weight at

Point C, select the approach that would be best.
A) Equations of Motion: Cylindrical Coordinates
B) Equations of Motion: Normal & Tangential Coordinates
C) Equations of Motion: Polar Coordinates
D) No real difference all are bad.
E) Toss up between B and C.
 GROUP PROBLEM SOLVING

Given: The smooth particle P is attached to

an elastic cord extending from O
to P. Due to the slotted arm guide, P
moves along a horizontal circular
path. The mass of P = 0.08 kg.

The cords stiffness is k = 30 N/m,

its un-stretched length = 0.25 m,
r = (0.8 sinq) m.

Plan: 1) Find the acceleration components using the kinematic

equations.
2) Draw free-body diagram & kinetic diagram.
3) Apply the equation of motion to find the forces.
 GROUP PROBLEM SOLVING (continued)

Solution:
 GROUP PROBLEM SOLVING (continued)

2) Free-Body Diagram Kinetic Diagram

mar

maq

where the spring force Fs will be

Fs = k s = 30 (0.6928 0.25) = 13.28 N

 GROUP PROBLEM SOLVING (continued)

3) Apply equation of motion :

Fr = mar -13.28 + N cos 30 = 0.08 (-34.64)
Fq = maq F - N sin 30 = 0.08 (20)

N = 12.1 N, F = 7.67 N

mar

maq
 ATTENTION QUIZ

1. For the path defined by r = 2 , the angle y at = 0.5 rad is

A) 10 B) 14
C) 26 D) 75
END OF SLIDE
By
Muhamad Arfauz Bin A Rahman, PhD
Room: BG 10, ground floor, FTMK or TDAs room, Block B, FKP
Office: 06 331 6488 / 6424 Mobile: 013 6133361
Email: arfauz@utem.edu.my