CONTENTS:

1. General Curvilinear Motion (Position, velocity, acceleration).

2. General Curvilinear (Rectangular components)

3. Projectile Motion

4. Curvilinear Motion: (Normal and Tangential Components)

5. Curvilinear Motion: (Cylindrical Components)

6. Relative Motion (Translating Axes)

 General Curvilinear Motion
Curvilinear motion occurs when a particle moves along a
curved path.

Since this path is often described in three dimensions,

vector analysis will be used to formulate the particle's
position, velocity, and acceleration.

In this lecture the general aspects of curvilinear motion are

discussed, and three types of coordinate systems will be
considered often used to analyze this motion.
 Position
Consider a particle located at a point on a space curve defined by the path
function s(t), Fig. 12-16a.

The position of the particle is measured from a fixed point 0, will be

designated by the position vector r=r(t).

Notice that both the magnitude and direction of this vector will change as
the particle moves along the curve.
 Displacement
Suppose that during a small time interval ∆t the particle moves a
distance ∆s along the curve to a new position, defined by r' = r + ∆r, Fig.
12-16b.

The displacement ∆r represents the change in the particle's position and

is determined by vector subtraction; i.e., ∆ r = r' - r.
 Velocity
During the time ∆t, the average velocity of the particle is:
Vavg= ∆r/ ∆t

The instantaneous velocity is determined from this

equation by letting ∆t→ 0, and consequently the direction
of ∆r approaches the tangent to the curve.

Hence
v  lim ( r / t )
t 0

dr
v
dt
 Velocity
Since dr will be tangent to the curve, the direction of v is also tangent to Fig.
12-16c.
The magnitude of v, which is called the speed, is obtained by realizing that
the length of the straight line segment ∆r in Fig. 12-16b approaches the arc
length ∆s as ∆t → 0, we have

v  lim ( r / t )  lim ( s / t )
t 0 t 0
or
ds
v
dt

Thus, the speed can be obtained by differentiating the path function s

with respect to time.
 Acceleration
If the particle has a velocity v at time t and a velocity
v' = v + ∆v at t + ∆t, Fig. 12-16d , then the average acceleration of
the particle during the time interval ∆t is

dv
aavg 
dt

where ∆v = v' - v.
 Acceleration
To study this time rate of change, the two
velocity vectors in Fig. 12-16d are plotted
in Fig. 12-16e such that their tails are
located at the fixed point 0' and their
arrowheads touch points on a curve.

This curve is called a hodograph, and

when constructed, it describes the locus
of points for the arrowhead of the
velocity vector in the same manner as
the path s describes the locus of points
for the arrowhead of the position vector,
Fig. 12-16a.
 Acceleration
To obtain the instantaneous acceleration, let ∆t → 0 in the above
equation.
In the limit ∆v will approach the tangent to the hodograph, and so
a  lim ( v / t )
t 0

Substituting Eq. 12-7 into this result, we can also write

2
d r
a 2
dt

By definition of the derivative, a acts tangent to the hodograph,

Fig. 12-16J, and, in general it is not tangent to the path of motion, Fig.
12-16g.
 Acceleration
Realize that ∆v and consequently a must account for the
change made in both the magnitude and direction of the
velocity v as the particle moves from one point to the next
along the path, Fig. 12-16d .

However, in order for the particle to follow

any curved path, the directional change
always "swings" the velocity vector toward
the "inside" or "concave side" of the path,
and therefore a cannot remain tangent to
the path.

In summary, v is always tangent to the

path and a is always tangent to the
hodograph.
 Curvili near Motion:
Rectangular Components

Occasionally the motion of a particle can

best be described along a path that can be
expressed in terms of its x, y, z
coordinates.
 Position

If the particle is at point (x, y, z) on the curved path s shown

in Fig. 12-17 a, then its location is defined by the position vector

r= xi+yj+zk Eq. 12-10

When the particle moves, the x, y, z components of r will be functions

of time; i.e., x = x(t), y = y(t), z = z(t), so that r = r(t).
At any instant the magnitude of r is defined from Eq. C-3

r  x2  y2  z 2

And the direction of r is specified by

the unit vector ur = r/r
 Velocity
The first time derivative of r yields the velocity of the
particle. Hence,

When taking this derivative, it is necessary to account for

changes in both the magnitude and direction of each of the
vector's components.

For example, the derivative of the i component of r is

 Velocity
The second term on the right side is zero, provided the x, y, z
reference frame is fixed, and therefore the direction (and the
magnitude) of i does not change with time.

Differentiation of the j and k components may be carried out in a

similar manner, which yields the final result,
Fig. 12-17b.

Eq. 12-11

where
 Velocity
The "dot" notation represents the first time
derivatives of x = x(t), y = y(t), z = z(t), respectively.

The velocity has a magnitude that is found from

and a direction that is specified by the unit vector uv = v/v.

As discussed in previous lecture, the direction is always tangent to the

path, as shown in Fig. 12-17b.
 Acceleration
The acceleration of the particle is obtained by taking the first time
derivative of Eq. 12-11 (or the second time derivative of Eq. 12-10).
We have

where
Fig. 12-17C
 Acceleration
Here ax, ay, az represent, respectively, the first time derivatives of
vx = vx(t), vy = vy(t), vz = vz(t), or the second time derivatives of the
functions x = x(t), y = y(t), z = z(t).
The acceleration has a magnitude

Fig. 12-17C

and a direction specified by the

unit vector ua = a/a.

Since a represents the time rate of

change in both the magnitude and
direction of the velocity, in general
a will not be tangent to the path,
Fig. 12-17 C.
 Motion of a Projectile

The free-flight motion of a projectile is often studied in terms of its

rectangular components.
To illustrate the kinematic analysis, consider a projectile launched at point
(xo, yo), with an initial velocity of (vo) having components (vo)x and (vo)y Fig.
12-20.
When air resistance is
neglected, the only force
acting on the projectile
is its weight, which
causes the projectile to
have a constant
downward acceleration
of approximately
ac = g = 9.81 m/s2 or
g = 32.2 ft/s2.
Each picture in this sequence is taken after the
same time interval.
The red ball falls from rest, whereas the yellow
ball is given a horizontal velocity when released.

Both balls accelerate downward at the same

rate, and so they remain at the same
elevation at any instant.

This acceleration causes the difference in

elevation between the balls to increase between
successive photos.

Also, note the horizontal distance between

successive photos of the yellow ball is constant
since the velocity in the horizontal direction
remains constant.
 Horizontal Motion.
Since ax = 0, application of the constant acceleration
equations, 12-4 to 12-6, yields

The first and last equation indicate that the horizontal

component of velocity always remains constant during
the motion
 Vertical Motion
Since the positive y axis is directed upward, then ay = -g.
Applying Eqs. 12-4 to 12-6, we get

Recall that the last equation can be formulated on the basis

of eliminating the time t from the first two equations, and
therefore only two of the above three equations are
independent of one another.
 Motion of a Projectile

To summarize, problems involving the motion of a

projectile can have at most three unknowns since
only three independent equations can be written;
that is, one equation in the horizontal direction and
two in the vertical direction.

Once vx and vy are obtained, the resultant velocity

v, which is always tangent to the path, can be
determined by the vector sum as shown in Fig. 12-
20.
 Problem
A sack slides off the ramp, shown in Fig. 12-21,
with a horizontal velocity of 12 m/s. If the height
of the ramp is 6 m from the floor,

Determine the time

needed for the sack to
strike the floor and
the range R where
sacks begin to pile up.
 SO LUTION

Coordinate System.
The origin of coordinates is established at the beginning of
the path, point A, Fig.
The initial velocity of a sack has components (vA)x = 12 m/s and
(vA)y = 0.

Also, between points A and B the acceleration is ay = -9.81 m/s2.

Since (vb)x = (vA)x = 12 m/s, the three unknowns are (vB)y , R,
and the time of flight tAB.

Here we do not need to determine

(vB)y.
 Vertical Motion
The vertical distance from A to B is known, and
therefore we can obtain a direct solution for tAB
by using the equation
( +↑)

yB –yA = (vA )y tAB + ½ ac (tAB )2

yB = yA + (vA )y tAB + ½ ac (tAB )2
-6 = 0 + 0 + 1/2(-9.81 ) (tAB )2
tAB = 1.1 1 s Ans.
 Horizontal Motion.
Since tAB has been calculated, R is determined
as follows:
xB –xA = (vA )x tAB
R- 0 = 12 m/s (1.11 s)
R = 13.3 m Ans.
 Problem
The chipping machine is designed to eject wood
chips at vo = 25 ft/s as shown in Fig. 12-22.
If the tube is oriented at 30° from the horizontal,
Determine how high,
h, the chips strike the
pile if at this instant
they land on the pile
20 ft from the tube.
 SO LUTIO N
C oordinate System.
When the motion i s analyzed between points O and A, the three
unknowns are the height h, time of flight tOA, and vertical component of
velocity (vA)y. [Note that (vA)x = (vo)x.]

With the origin of coordinates at 0, Fig. 12-22, the initial velocity of a

chip has components of

(vo)x = (25 cos 30° ) ft/s = 21.65 ft/s →

(vo)y = (25 sin 30° ) ft/s = 12.5 ft/s ↑
Also,
(vA)x = (vo)x = 21 .65 ft/s and
ay = -32.2 ft/s2.

Since we do not need to

 Solution (Horizontal Motion)

xA - xo = (vo)xtOA

20 - 0 = (21 .65) tOA

tOA= 0.9238 s
 Solution (Horizontal Motion)

Relating tOA to the initial and final elevations of a

chip. we have

(+↑)
yA - yo =(vo)ytOA+ + ½ ac (toA)2

yA = yo + (vo)ytOA+ + ½ ac (toA)2

(h - 4) = 0 + ( 12.5 ) (0.9238) + ½ ( -32.2 ft/s2) (0.9238 )2

h = 1 .81 ft Ans.
 Problem
The pitching machine is adjusted so that the
baseball is launched with a speed of vA = 30 m/s.
If the ball strikes the ground at B, determine the
two possible angles ϴA at which it was launched.
(vo)x = (30 cos ϴA ) m/s →
(vo)y = (30 sin ϴA ) m/s ↑
Also,
ay = -9.81 m/s2.

Since we do not need

to determine (vA)y
we have
 12-71
The position of a particle is
r = { (3(3 - 2t)I - (4t1/2 + t)j + (3t2 - 2)k} m,
where t is in seconds.
Determine the magnitude of the particle's
velocity and acceleration when t = 2 s.
 12-72
The velocity of a particle is v = {3i + (6 - 2t)j }
m/s,
where t is in seconds. If r = 0 when t = 0,
determine the displacement of the particle
during the time interval t = 1 s to t = 3 s.
 12-73
A particle travels along the parabolic path
y = bx2.
If its component of velocity along the y axis is
vy = ct2,
determine the x and y components of the
particle's acceleration. Here b and c are
constants.
 12-74
.The velocity of a particle is given by
v = { 16t2i + 4t3j + (5t + 2)k} m/s, where t is in
seconds.
If the particle is at the origin when t = 0, determine
The magnitude of the particle's acceleration
when t = 2 s. Also,
what is the x, y, z coordinate position of the particle
at this instant?
 12-75

. A particle travels along the circular path

x2+y2 = r2.
If the y component of the particle's velocity is
vy =2r cos 2t,
determine the x and y components of its
acceleration at any instant.
 12-76
The box slides down the slope described by the
equation y = (0.05x2) m, where x is in meters. If
the
box has x components of velocity and
acceleration of vx = -3 m/s and ax = -1.5 m/s2 at
x = 5 m, determine the y components of the
velocity and the acceleration of the box at this
instant.
 12-77
The position of a particle is defined by
r = { 5 cos 2t i + 4 sin 2t j } m, where t is in
seconds
and the arguments for the sine and cosine are
given in radians.
Determine the magnitudes of the velocity and
acceleration of the particle when t = 1 s. Also,
prove that the path of the particle is elliptical.
 12-78
Pegs A and B are restricted to move in the
Elliptical slots due to the motion of the slotted
link.
If the link moves with a constant speed of 10
m/s, determine
the magnitude
of the velocity
and acceleration
of peg A when x = 1 m.
 12-79
A particle travels along the path y2 = 4x with a
constant speed of v = 4 m/s.
Determine the x and y components of the
particle's velocity and acceleration when
the particle is at x = 4 m.
 12-80
The van travels over the hill described by
y = ( - 1 .5(10-3) x2 + 15) ft. If it has a constant
speed of
75 ft/s, determine the x and y components of
the van's
velocity and acceleration when x = 5 0 ft.
 12-81
A particle travels along the circular path from A
to B in 1 s.
If it takes 3 s for it to go from A to C, determine
Its average velocity when it goes from B to C.
 12-82
A car travels east 2 km for 5 minutes, then north
3
Km for 8 minutes, and then west 4 km for 10
minutes.
Determine the total distance traveled and the
magnitude of displacement of the car. Also,
what is the magnitude of the average velocity
and the average speed?
 12-83

The roller coaster car travels down the helical

path at constant speed such that the parametric
equations that define its position are
x = c sin kt, y = c cos kt, Z = h - bt,
where c, h, and b are constants.
Determine the magnitudes of its velocity and
acceleration.
 12-84
The path of a particle i s defined by y2 = 4kx, and
the component of velocity along the y axis is vy =
ct,
Where both k and c are constants. Determine
the x and y components of acceleration
when y = yo.
 12-85
A particle moves along the curve y = x - (x2/400),
where x and y are in ft.
If the velocity component in the x direction is
vx = 2 ft/s and remains constant,
determine the magnitudes of the velocity and
acceleration when x = 20 ft.
 12-86
The motorcycle travels with constant speed vo
along the path that, for a short distance, takes
the form of a sine curve.
Determine the x and y components of its
velocity at any instant on the curve.
 12-87
The skateboard rider leaves the ramp at A with
an initial velocity v A at a 30° angle. If he strikes
the ground at B, determine v A and the time of
flight
 12-88
The pitcher throws the baseball horizontally with
a speed of 140 ft/s from a height of 5 ft.
If the batter is 60 ft away, determine the time for
the ball to arrive at the batter and the height h at
which it passes the batter.
 12-89
The ball i s thrown off the top o f the building.
If it strikes the ground at B in 3 s, determine the
initial velocity
vA and the inclination angle θA at which it was
thrown.
Also,
find the magnitude of the ball's velocity when it
strikes the
ground.
 12-90
A projectile is fired with a speed of v = 60 m/s at
an
angle of 60°. A second projectile is then fired with
the same
speed 0.5 s later. Determine the angle θ of the
second
projectile so that the two projectiles collide. At
what
position (x, y) will this happen?
 12-91
The fireman holds the hose at an angle θ = 30°
with
horizontal, and the water is discharged from the
hose at A
with a speed of vA = 40 ft/s. If the water stream
strikes the
building at B, determine his two possible distances
s from
the building.
• 12-92. Water is discharged from the hose with
a speed of
• 40 ft/s. Determine the two possible angles θ
the fireman can
• hold the hose so that the water strikes the
building at B.
• Take s = 20 ft.
• 12-93. The pitching machine is adjusted so
that the
• baseball is launched with a speed of v A = 30
m/s. If the ball
• strikes the ground at B, determine the two
possible angles IJ A
• at which it was launched.
• 12-94. It is observed that the time for the ball
to strike the
• ground at B is 2.5 s. Determine the speed v A
and angle IJ A at
• which the ball was thrown.
• 12-95. If the motorcycle leaves the ramp
traveling at
• 110 ft/s, determine the height h ramp B must
have so that
• the motorcycle lands safely.
• •
• 12-96. The baseball player A hits the baseball with •
v A = 40 ft/s and IJ A = 60°. When the ball is directly
above
• of player B he begins to run under it. Determine the
• constant speed VB and the distance d at which B
must run in
• order to make the catch at the same elevation at
which the
• ball was hit.
• 12-97. A boy throws a ball at 0 in the air with a
speed Vo
• at an angle 1J1 . If he then throws another ball
with the same
• speed Vo at an angle {3z < 1J1, determine the
time between
• the throws so that the balls collide in mid air
at B.
• 12-98. The golf ball is hit a t A with a speed o f
VA = 40 mls
• and directed at an angle of 30° with the
horizontal as
• shown. Determine the distance d where the
ball strikes the
• slope at B.
• 12-99. If the football is kicked at the 45° angle,
determine
• its minimum initial speed V A so that it passes
over the goal
• post at C. At what distance s from the goal
post will the
• football strike the ground at B?
• 12-100. The velocity of the water jet discharging from
the
• orifice can be obtained from v = \I2ih, where h = 2 m
is
• the depth of the orifice from the free water surface.
• Determine the time for a particle of water leaving the
orifice
• to reach point B and the horizontal distance x where it
hits
• the surface.
• 12-101. A projectile is fired from the platform
at B. The
• shooter fires his gun from point A at an angle
of 30°.
• Determine the muzzle speed of the bullet if it
hits the
• projectile at C.
• 12-102. A golf ball is struck with a velocity of
80 ft/s as
• shown. Determine the distance d to where it
will land.
• 12-103. The football is to be kicked over the
goalpost,
• which is 15 ft high. If its initial speed is VA = 80
ftls,
• determine if it makes it over the goalpost, and
if so, by how
• much, h.
• *12-104. The football is kicked over the
goalpost with an
• initial velocity of VA = 80 ft/s as shown.
Determine the
• point B (x, y) where it strikes the bleachers.
• 12-105. The boy a t A attempts to throw a ball
over the . roof of a barn with an initial speed of
v A = 15 m/s.
• Determine the angle () A at which the ball must
be thrown so
• that it reaches its maximum height at C. Also,
find the
• distance d where the boy should stand to make
the throw.
• 12-106. The boy at A attempts to throw a ball over the
roof
• of a barn such that it is launched at an angle () A = 40°.
• Determine the minimum speed v A at which he must
throw
• the ball so that it reaches its maximum height at C. Also,
• find the distance d where the boy must stand so that he
can
• make the throw.
• 12-107. The fireman wishes to direct the flow
of water
• from his hose to the fire at B. Determine two
possible
• angles 81 and 82 at which this can be done.
Water flows from
• the hose at v A = 80 ft/s.
• 12-108. Small packages traveling on the conveyor
belt fall
• off into a l-m-Iong loading car. If the conveyor is
running at a
• constant speed of Vc = 2 m/s, determine the
smallest and
• largest distance R at which the end A of the car may
be
• placed from the conveyor so that the packages enter
the car.
• 12-109. Determine the horizontal velocity VA
of a tennis
• ball at A so that it just clears the net at B. Also,
find the
• distance s where the ball strikes the ground.
• 12-110. It is observed that the skier leaves the
ramp A at an
• angle () A = 25° with the horizontal. If he
strikes the ground
• at B, determine his initial speed v A and the
time of flight t AS.