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    Engineering Dynamics 2020 Lecture 3

    Uploaded by

    Muhammad Shess
    This document discusses curvilinear motion and different coordinate systems used to describe the position and motion of particles, including: 1. Normal and tangential coordinates (n-t coordinates) which describe measurements along the normal and tangent to the particle's path. 2. Polar coordinates (r,θ) which describe the radial distance r and angular position θ of a particle located a radial distance from a fixed point. 3. Expressions for velocity and acceleration are derived using the time derivatives of the unit vectors in each coordinate system. Circular motion is used as an example case for both n-t and polar coordinates.

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    © All Rights Reserved
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    Engineering Dynamics 2020 Lecture 3

    Uploaded by

    Muhammad Shess
    84 views36 pages
    This document discusses curvilinear motion and different coordinate systems used to describe the position and motion of particles, including: 1. Normal and tangential coordinates (n-t coordinates) which describe measurements along the normal and tangent to the particle's path. 2. Polar coordinates (r,θ) which describe the radial distance r and angular position θ of a particle located a radial distance from a fixed point. 3. Expressions for velocity and acceleration are derived using the time derivatives of the unit vectors in each coordinate system. Circular motion is used as an example case for both n-t and polar coordinates.

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    Engineering_Dynamics_2020_Lecture_3

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    This document discusses curvilinear motion and different coordinate systems used to describe the position and motion of particles, including: 1. Normal and tangential coordinates (n-t coordinates) which describe measurements along the normal and tangent to the particle's path. 2. Polar coordinates (r,θ) which describe the radial distance r and angular position θ of a particle located a radial distance from a fixed point. 3. Expressions for velocity and acceleration are derived using the time derivatives of the unit vectors in each coordinate system. Circular motion is used as an example case for both n-t and polar coordinates.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    84 views36 pages

    Engineering Dynamics 2020 Lecture 3

    Uploaded by

    Muhammad Shess
    This document discusses curvilinear motion and different coordinate systems used to describe the position and motion of particles, including: 1. Normal and tangential coordinates (n-t coordinates) which describe measurements along the normal and tangent to the particle's path. 2. Polar coordinates (r,θ) which describe the radial distance r and angular position θ of a particle located a radial distance from a fixed point. 3. Expressions for velocity and acceleration are derived using the time derivatives of the unit vectors in each coordinate system. Circular motion is used as an example case for both n-t and polar coordinates.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 36

    Lecture #3:Kinematics of Particle:

    Curvilinear motion
    ( Normal and tangential Coordinates)
    (Polar Coordinates)

    Syed Ahsan Masud Zaidi


    Ahsan_Zaidi@rocketmail.com
    Department of Mechatronics and Control Engineering
    University of Engineering and Technology, Lahore
    1
    ▪ The position of particle at any
    point can be described by
    specifying either its
    1. Rectangular coordinates (x,y,z)
    2. Cylindrical coordinates (r ,θ,z)
    3. Spherical coordinates (R ,θ,Φ)
    4. Making measurements along
    the normal(n) and tangent(t) to
    the curve (path variables)
    ▪ Curvilinear motion
    ▪Rectangular coordinates

    ▪Projectile motion
    A small airplane flying horizontally with a speed of 180 mi/hr at an
    altitude of 400 ft above a remote valley drops an emergency
    medical package at A. The package has a parachute which deploys
    at B and allows the package to descend vertically at the constant
    rate of 6 ft/sec. If the drop is designed so that the package is to
    reach the ground 37 second after release at A, determine the
    horizontal lead L so that the package hits the target. Neglect
    atmospheric resistance from A to B.

    4
    5
    6
    A boy throws a ball upwards with a speed vo=12m/s. The wind
    imparts a horizontal acceleration of 0.4m/s2 to the left. At what
    angle theta, must the ball be thrown so that it returns to the point
    of release? Assume that the wind does not affect the vertical
    motion.

    7
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    ▪Path variables: measurements made along the tangent t
    and normal n to the path of the particle.
    ▪ The n- and t- coordinates are considered to move along the path
    with the particle.(e.g. point A, B ,C)
    ▪ The positive direction for n at any position is always taken
    toward the center of curvature of the path.
    ▪ Positive n direction may shift from one side of the curve to the
    other side of the curve.
    ▪Let us consider a unit vector 𝒆𝒏 in the n-direction and 𝒆𝒕 in
    the t direction.
    ▪ After the time dt the particle moves the distance ds to reach from
    particle A to 𝐴′ .
    ▪ Let the radius of curvature of the path be designated by ρ

    v = ds/dt= ρdβ/dt
    ▪The acceleration a of the particle was defined as a=dv/dt
    ▪Acceleration is a vector which reflects both the change
    in magnitude and the change in direction of v.

    ▪ We need to find the expression for ė𝒕


    ▪ |d𝒆𝒕 | = |𝒆𝒕 |𝑑β = dβ
    ▪ d𝒆𝒕 has a direction same as 𝒆𝒏
    ▪ d𝒆𝒕 = 𝒆𝒏 𝑑β
    ▪ dβ/dt=v/ ρ
    ▪ρ → r
    ▪β → θ
    The car travels at a constant speed from the bottom A of the dip to
    the top B od the hump. If the radius of curvature of the road at A is
    ρ𝐴 = 120𝑚 and the car acceleration at B must be limited to 0.25g,
    determine the minimum radius of curvature ρ𝐵 of the road at B

    16
    17
    The particle P moves in the circular path shown. Sketch the
    acceleration vector a and determine its magnitude a for the
    following cases:
    a)Speed is constant v=1.2m/s
    b)V=1.2 and speed is increasing at a rate of 2.4 m/s each second
    c) V=1.2 and speed is decreasing at a rate of 4.8 m/s each second

    18
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    ▪ Assume a particle is located the radial distance r from a fixed point by an angle θ
    to the radial line.
    ▪ The Position and movement of the moving particle can be described by using the
    radial distance and the angel θ. This is called the polar coordinate system.
    ▪ Polar coordinates are particularly useful when a motion is constrained through
    the control of a radial distance and an angular position.
    ▪ By knowing the distance to the aircraft and the angle of the radar, air traffic
    controllers can track aircraft.
    ▪ 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.
    ▪ Let us introduce two unit Vectors 𝒆𝒓 and 𝒆θ in the positive r and
    θ- direction respectively.
    ▪ The position vector r to the particle at A has a magnitude equal to
    the radial distance r and a direction specified by the unit vector 𝒆𝒓

    r =r 𝒆r
    ▪ Time derivatives and Unit Vectors:
    ▪ For Velocity and acceleration calculation we need to first find out the
    derivative of the unit vectors i.e.
    ▪ Velocity
    ▪ The expression for velocity can be found out by differentiating
    with respect to time.
    ▪ Acceleration
    ▪ The expression for velocity can be found out by differentiating velocity with
    respect to time.
    For Circular motion, The Radial and angular components are comparable to the n- and
    t-Components of the path variables, with

    Recall: in case of path variables:


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    ▪Engineering Mechanics , Dynamics
    Sixth Edition
    By J.L. Meriam , L.G.Kraige
    Chapter # 2: Kinematics of Particles
    Article 2/5 Normal and tangential coordinates (n-t)
    Article 2/6 Polar coordinates (r,θ)

    35
    Thank you
    Any Questions???

    36

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