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DYNAMICS OF
RIGID BODIES
z

Curvilinear Motion

BRIEF BACKGROUND
This topic elaborates position vector, velocity and
acceleration. It also introduce Curvilinear Motion of a Particle. It
also discuss
z the derivatives of vector functions and rectangular
components of velocity and acceleration.

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OBJECTIVE OF THE TOPIC

At the end of this topic, students will:
1. Be able to determine Position Vector, Velocity and Acceleration
z
2. Be able to know the principles Curvilinear Motion

3. Be familiar in the derivatives of vector function

4. Be able to determine rectangular components of velocity and

acceleration

TOPIC OUTLINE
For this topic, It will discuss the following:
1. Curvilinear Motion.
2. zPosition Vector.
3. Velocity in Curvilinear Motion.
4. Acceleration in Curvilinear Motion.
5. Derivatives of Vector Function
6. Rectangular Components of velocity and acceleration

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POSITION VECTOR, VELOCITY AND

ACCELERATION
Curvilinear Motion it is when the motion on a certain
particle moves along the curve line. To determine the position P
z
occupied by the particle at a given time t, we select a fixed
reference system, such as the x, y, z axes

POSITION VECTOR, VELOCITY AND

ACCELERATION
If we draw the vector r joining the origin O and point P. Since the
vector r is characterized by its magnitude r and its direction with
respect zto the reference axes, it completely defines the position
of the particle with respect to those axes; the vector r is referred
to as the POSITION VECTOR of the particle at time t.

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POSITION VECTOR, VELOCITY AND

ACCELERATION
Now, consider the vector r’ defining the position P’ occupied by
the same particle at a later time t + Δt. The vector Δr joining P
and P’ represents
z the change in the position vector during the
time interval Δt. r’ obtained from adding vectors r and Δr by
triangle rule. Note that Δr is the change of the direction also
magnitude of the position vector r. therefore, average velocity is
defined as Δr/ Δt. While instantaneous velocity is the limit of Δr/
Δt as Δt approaches to 0

POSITION VECTOR, VELOCITY AND

ACCELERATION
Since the position vector r is dependent on t, we can refer to it as
vector function of t. and we can express it in.
z 𝑑𝑥
𝑣=
𝑑𝑡
The magnitude v of the vector v is called speed of the particle. It can
be obtain when substituting the vector Δr at first it is in the straight
line but when the segment approaches to Δs, 𝑣 = will be 𝑣 =
where s is the length of arc.

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POSITION VECTOR, VELOCITY AND

ACCELERATION
Consider the velocity v of the particle at time t and its v’ at a
latter time t + Δt. Now draw both vectors v and v’ from the same
z
origin O’.

POSITION VECTOR, VELOCITY AND

ACCELERATION
The vector Δv. Joining Q and Q’ represents the change of
velocity of the particle during Δt. The average acceleration of the
particle zover Δt is defined as Δv/ Δt. While instantaneous
acceleration is the limit of Δv/ Δt as Δt approaches 0

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DERIVATIVES OF VECTOR
FUNCTIONS
Let P(u) be a vector function of u. u defines the magnitude and
direction of the vector P. If P is drawn from the origin O and u is
allowedzto vary, the tip of P will describe a given curve in space.

DERIVATIVES OF VECTOR
FUNCTIONS
Consider vector P in respect to values of u and u + Δu. Then let ΔP be the
vector joining P(u) and P(u + Δu).

z ΔP = P(u + Δu) – P(u)

Divide the equation Δu to get
∆ ∆ ( )
=
∆ ∆
When Δu approach 0, the behavior of ΔP becomes tangent to the curve.
Thus, of the vector of function P(U) is tangent to the curve path of
particle.

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DERIVATIVES OF VECTOR
FUNCTIONS

DERIVATIVES OF VECTOR
FUNCTIONS
Using the rules of differentiation the sum and product of scalar
function is also applied in vector functions. Consider vectors
P(u) andz Q(u), the derivative of P(u) + Q(u)
( )
= +

Consider the product of a scalar function f(u) and vector function

P(u). The derivative of the vector f P(u)

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DERIVATIVES OF VECTOR
FUNCTIONS
( )
= 𝑃+𝑓

Using the
z similar process for P(u) and Q(u)

𝑑(𝑃 𝑄) 𝑑𝑃 𝑑𝑄
= 𝑄+𝑃
𝑑𝑢 𝑑𝑢 𝑑𝑢
𝑑(𝑃 × 𝑄) 𝑑𝑃 𝑑𝑄
= ×𝑄+𝑃×
𝑑𝑢 𝑑𝑢 𝑑𝑢

DERIVATIVES OF VECTOR
FUNCTIONS
This establish properties will now determine the rectangular
components of the derivative of a vector function P(u). To get P
use thiszequation.
P = Px i + Py j + Pz k
where Px , Py , Pz are rectangular components of vector P and I,
j, k are unit vectors in respect to x, y, and z axes.

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DERIVATIVES OF VECTOR
FUNCTIONS
Vectors rate of change

When the vector P is a function of t, its derivative , represents

rate of change of P in terms of frame Oxyz then,
dP dP dP dP
= i+ j+ k
dt dt dt dt

DERIVATIVES OF VECTOR
FUNCTIONS
𝑃̇ = 𝑃 ̇ 𝑖 + 𝑃 ̇ 𝑗 + 𝑃 ̇𝑘
The dotzindicate that this equation is in differentiation with
respect to time.

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RECTANGULAR COMPONENTS OF
VELOCITY AND ACCELERATION
When the position particle P is defined at any instant by its
rectangular coordinates, x, y, and z, it is easily to compute the
velocity zand accelerations rectangular components.

From the equation for position vector

r = rx i + ry j + rz k

RECTANGULAR COMPONENTS OF
VELOCITY AND ACCELERATION
Take the derivative in coordinates of x, y, and z in relations to t
v = 𝑥𝑖̇ + 𝑦𝑗̇ + 𝑧𝑘̇
z

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RECTANGULAR COMPONENTS OF
VELOCITY AND ACCELERATION
To get the acceleration, take the derivative of velocity in
coordinates of x, y, and z in relations to t
z
a = 𝑥̈ 𝑖 + 𝑦̈ 𝑗 + 𝑧̈ 𝑘

MOTION RELATIVE TO FRAME IN

TRANSLATION
Consider the frame was attached to the earth and it must be
fixed. Now there are simultaneous frame references but if one of
z
the frames attached in the earth it will be called a fixed frame of
reference and the other frame will be referred to as moving
frames of reference.

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MOTION RELATIVE TO FRAME IN

TRANSLATION

MOTION RELATIVE TO FRAME IN

TRANSLATION
From the figure.
rB = rA + rB/A
z

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PROBLEM 1
Automobile A is traveling east at the constant speed of 45 km/h.
As automobile A crosses the intersection shown, automobile B
z
starts from rest 55 m north of the intersection and moves south
with a constant acceleration of 1.5 m/s2. Determine the position,
velocity, and acceleration of B relative to A 5 s after A crosses
the intersection.

PROBLEM 1

1.5 m/s2
z 55 m

45 kph

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PROBLEM 1
First convert 45 kph to m/s
45 kph = _____ m/s
z
Next create a working equation for Car A
aa =
va =
xa =

PROBLEM 1
Next convert into vector form
aa =
z
va =
ra =

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PROBLEM 1
Create an equation for Car B
ab =
z vb =
xb =
When t = 5
ab =
vb =
xb =

PROBLEM 1
Next convert into vector form
ab =
z
vb =
rb =

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PROBLEM 1
Next draw the triangle corresponds to the vector equation
rb = ra + rb/a to get the magnitude and direction of B relative to A.
z

Since the vector is in components, to get the resultant, use the force
triangle
rb/a =
This relationship is also same for velocity and acceleration
vb/a =
ab/a =

SUMMARY
• Curvilinear motion are the motion of the particles along a
curved line.
z
• A position vector r is defined in respect to the concerned
axes. This can also be composed into components along x,
y and z axis.
• The velocity, and acceleration can easily be calculated if the
position vertor of a certain particle is defined in respect to
axis.

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DISCUSSION

FURTHER READINGS

Beer and Johnston. Vector Mechanics for Engineers, 10th

Edition. z

Singer, Ferdinand. Engineering Mechanics 2nd Edition.

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