Curvilinear Motion: Cylindrical Components

If motion is restricted to the plane, polar coordinates r and are used

Polar Coordinates
Specify the location of P using both the radial coordinate r, which extends outward
from the fixed origin O to the particle and a traverse coordinate , which is the
counterclockwise angle between a fixed reference line and the r axis

Angle usually measured in degrees or radians, where
1 rad = 180
Positive directions of the r and coordinates are
defined by the unit vectors u
r
and u

u
r
extends from P along increasing r, when is held
fixed
Curvilinear Motion: Cylindrical Components
u

extends from P in the direction that occurs when r is held fixed and is increased
Note these directions are perpendicular to each other
Position
At any instant, position of the particle defined by the position vector
r
u r r

=
Curvilinear Motion: Cylindrical Components
Velocity
Instantaneous velocity v is obtained by the time derivative of r
r r
u r u r r v

+ = =
To evaluate , note that u
r
changes only its direction with respect to time since
magnitude of this vector = 1
During time t, a change r will not cause a change in the direction of u
r
u

Curvilinear Motion: Cylindrical Components

However, a change will cause u
r
to become u
r
where
u
r
= u
r
+ u
r
Time change is u
r
For small angles , vector has a magnitude of 1 and acts in the u

direction
u
u
u
u
u u
u
t t
u
u
r
t
r
t
r

=
|
.
|

\
|
A
A
=
A
A
=
A A 0 0
lim lim
Curvilinear Motion: Cylindrical Components
u
u
u u

r v
r v
u v u v v
r
r r
=
=
+ =
where
- Radical component v
r
is a measure of the rate of increase or decrease in the length of
the radial coordinate
- Transverse component v

is the rate of motion along the circumference of a circle

having a radius r
Curvilinear Motion: Cylindrical Components
Angular velocity indicates the rate of change of the angle
- Since v
r
and v

are mutually perpendicular, the magnitude of the velocity or speed is

simply the positive value of


- Direction of v is tangent to the path at P
dt d / u u =

( ) ( )
2
2
u

r r v + =
Curvilinear Motion: Cylindrical Components
Acceleration
Taking the time derivatives, for the instant acceleration,
u u u
u u u u r u r u r u r u r v a
r r


+ + + + = =
During the time t, a change r will not change the direction u

although a change
in will cause u

to become u

For small angles, this vector has a magnitude = 1 and acts in the u
r
direction
u

= - u
r
Curvilinear Motion: Cylindrical Components
u u
u
u
u u

r r a
r r a
u a u a a
r
r r
2
2
+ =
=
+ =
where
- The term is called the angular acceleration since it measures the
change made in the angular velocity during an instant of time
- Use unit rad/s
2
2 2
/ dt d u u =

Curvilinear Motion: Cylindrical Components
- Since a
r
and a

are always perpendicular, the magnitude of the acceleration is simply

the positive value of
( ) ( )
2
2
2
2 u u u

r r r r a + + =
Direction is determined from the vector addition of its components
Acceleration is not tangent to the path
Curvilinear Motion: Cylindrical Components
Cylindrical Coordinates
If the particle P moves along a space, then its
location may be specified by the three cylindrical
coordinates r, , z
z coordinate is similar to that used for rectangular
coordinates
Curvilinear Motion: Cylindrical Components
Since the unit vector defining its direction, u
z
, is constant, the time derivatives of this
vector are zero
Position, velocity, acceleration of the particle can be written in cylindrical coordinates
as shown
z r
z r
z r p
u z u r r u r r a
u z u r u r v
u z u r r

+ + + =
+ + =
+ =
u
u
u u u
u
) 2 ( ) (
2
Curvilinear Motion: Cylindrical Components
Time Derivatives
Two types of problems usually occur
1) If the coordinates are specified as time parametric equations, r = r(t) and = (t),
then the time derivative can be formed directly.

2) If the time parametric equations are not given, it is necessary to specify the path r =
f() and find the relationship between the time derivatives using the chain rule of
calculus.
Curvilinear Motion: Cylindrical Components
PROCEDURE FOR ANALYSIS
Coordinate System
Polar coordinate are used to solve problem involving angular motion of the radial
coordinate r, used to describe the particles motion
To use polar coordinates, the origin is established at a fixed point and the radial line r
is directed to the particle
The transverse coordinate is measured from a fixed reference line to radial line
Curvilinear Motion: Cylindrical Components
Velocity and Acceleration
Once r and the four time derivatives have been evaluated at the instant
considered, their values can be used to obtain the radial and transverse components of
v and a
Use chain rule of calculus to find the time derivatives of r = f()
Motion in 3D requires a simple extension of the above procedure to find
u u

, , , r r
Curvilinear Motion: Cylindrical Components
The amusement park consists of a chair that is rotating in a horizontal circular path of
radius r such that the arm OB has an angular velocity and angular acceleration.
Determine the radial and transverse components of velocity and acceleration of the
passenger.
EXAMPLE 12.17
Coordinate System. Since the angular motion of the arm is reported, polar coordinates
are chosen for the solution. is not related to r, since radius is constant for all .

Velocity and Acceleration. Since r is constant,
0 0 = = = r r r r
EXAMPLE 12.17
u u u
u u
u
u
u

r r r a
r r r a
r v
r v
r
r
= + =
= =
=
= =
2
0
2 2
This special case of circular motion happen to be collinear with r and axes
EXAMPLE 12.17
The rod OA is rotating in the horizontal plane such that = (t
3
) rad. At the same time,
the collar B is sliding outwards along OA so that r = (100t
2
)mm. If in both cases, t is in
seconds, determine the velocity and acceleration of the collar when t = 1s.
EXAMPLE 12.18
Coordinate System. Since time-parametric equations of the particle is given, it is not
necessary to relate r to .

Velocity and Acceleration.
2 2
2
3
1
2
/ 6 6 / 200 200
/ 3 3 / 200 200
3 . 57 1 100 100
1 1
1 1
1
s rad t s mm r
s rad t s mm t r
rad t mm t r
s t s t
s t s t
s t
s t
= = = =
= = = =
= = = = =
= =
= =
=
=
u
u
u

EXAMPLE 12.18
s mm u u
u r u r v
r
r
/ } 300 200 {
u
u
u

+ =
+ =
The magnitude of v is

114 3 . 57
3 . 56
200
300
tan
/ 361 300 200
1
2 2
= +
=
|
.
|

\
|
=
= + =

o
o
s mm v
EXAMPLE 12.18
2
2
/ } 1800 700 {
) 2 ( ) (
s mm u u
u r r u r r a
r
r
u
u
u u u

+ =
+ + =
The magnitude of a is

169 3 . 57 ) 180 (
7 . 68
700
1800
tan
/ 1930 1800 700
1
2 2 2
= +
=
|
.
|

\
|
=
= + =

|
|
s mm a
EXAMPLE 12.18
The searchlight casts a spot of light along the face of a wall that is located 100m from
the searchlight. Determine the magnitudes of the velocity and acceleration at which
the spot appears to travel across the wall at the instant = 45. The searchlight is
rotating at a constant rate of 4 rad/s
EXAMPLE 12.19
Coordinate System. Polar coordinates will be used since the angular rate of the
searchlight is given. To find the time derivatives, it is necessary to relate r to .
r = 100/cos = 100sec

Velocity and Acceleration.
( ) ( ) u u u u u u u u
u u u

) tan (sec 100 sec 100 tan sec 100

) tan (sec 100
2
3
2
2
+ + =
=
r
r
EXAMPLE 12.19
Since = 4 rad/s = constant, = 0, when = 45,
u

u

u
2 . 6788
7 . 565
4 . 141
=
=
=
r
r
r

s m v
s m u u
u r u r v
r
r
/ 800
/ } 7 . 565 7 . 565 {
=
+ =
+ =
u
u
u

EXAMPLE 12.19
2
2
2
/ 6400
/ } 5 . 4525 5 . 4525 {
) 2 ( ) (
s mm a
s mm u u
u r r u r r a
r
r
=
+ =
+ + =
u
u
u u u

EXAMPLE 12.19
Due to the rotation of the forked rod, ball A travels
across the slotted path, a portion of which is in the
shape of a cardioid, r = 0.15(1 cos )m where is
in radians. If the balls velocity is v = 1.2m/s and its
acceleration is 9m/s
2
at instant = 180, determine
the angular velocity and angular acceleration of the
fork.
EXAMPLE 12.20
Coordinate System. For this unusual path, use polar coordinates.

Velocity and Acceleration.
u u u u u
u u
u

) (sin 15 . 0 ) ( ) (cos 15 . 0
) (sin 15 . 0
) cos 1 ( 15 . 0
+ =
=
=
r
r
r
Evaluating these results at = 180
2
15 . 0 0 3 . 0 u

= = = r r m r
EXAMPLE 12.20
View Free Body Diagram
Since v = 1.2 m/s
( ) ( )
s rad
r r v
/ 4
2
2
=
+ =
u
u

2
2 2 2
/ 18
) 2 ( ) (
s rad
r r r r a
=
+ + =
u
u u u

EXAMPLE 12.20