1.2.

4 Kinematics of Particle / Curvilinear Motion / Normal and Tangential Components

1.2.4 Normal and Tangential Components

• We can examine curvilinear motion in the tangent and normal (t-n) directions
perpendicular to the tangent. Unit Vectors:

𝐶
Curvilinear
Path
𝑧 𝑆
Figure 1.2.17
𝑥 𝑂 𝑦
Figure 1.2.15 Figure 1.2.16 Unit vector at position P’
• S: Path distance to that reference point O
• At a point P, differential dS part of the path coincides with the arc of a circle at the 𝑢′𝑡 = 𝑢𝑡 + 𝑑𝑢𝑡
same point. The tangent of this circle with center C and radius r at point P will also
coincide with the tangent of the path. Unit vectors have
• P': It is the point reached when distance dS is traveled from P. the normal and tangent magnitudes of 1.
axes at this point are n’ – t’. 𝑢𝑡 = 𝑢𝑡 = 1
• We know that velocity at each point of the path is in the tangential direction.
• We can separate resultant acceleration into tangential and normal components (𝑎Ԧ𝑡 ; 𝑎Ԧ𝑛 ) Accordingly;
• Our goal now is to derive the relations between the velocity, acceleration, 𝑑𝑢𝑡 = 𝑑𝑢𝑡 = 𝑢𝑡 . dq = 1. dq
and position components.
• First, we will derive the relations between the unit vectors in the t, n, and t’ directions: → 𝑑𝑢𝑡 = dq
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1.2.4 Kinematics of Particle / Curvilinear Motion / Normal and Tangential Components
Instantaneous velocity :
Since the instantaneous velocity (𝑣) Ԧ is always along
the tangent to the path S, (i.e. since it is on the 𝑑𝑆
t-axis) , equation 1.13 in rectilinear motion is valid: 𝑣= = 𝑆ሶ (1.13)
𝐶 𝑑𝑡
The velocity vector is equal to the product of the
Curvilinear
magnitude of the velocity and the unit vector: 𝑣Ԧ = 𝑣. 𝑢𝑡 (1.20a)
Path
Instantaneous acceleration and its components:
𝑧 𝑆
The direction of the resultant acceleration may not
𝑥
𝑂 coincide with the direction of the velocity. In this case, the 𝑑 𝑣Ԧ (1.20b)
𝑦 vector relationship between acceleration and velocity is: 𝑎Ԧ =
Figure 1.2.18 𝑑𝑡
𝑑𝑣Ԧ 𝑑(𝑣. 𝑢𝑡 ) = 𝑣𝑢 ሶ
𝑣 𝑣2
Diff. arc length : → 𝑑𝑆 = 𝜌dq 𝑎Ԧ = = ሶ 𝑡 + 𝑣𝑢𝑡 = 𝑣𝑢 ሶ 𝑡 + 𝑣 𝑢𝑛 = 𝑣𝑢 ሶ 𝑡 + 𝑢𝑛
𝑑𝑡 𝑑𝑡 𝜌 𝜌
Instantaneous 𝑑𝑣 (1.21a)
1 dq 𝑑𝑆 1 𝑆ሶ
→ 𝑑𝜃 = 𝑑𝑆 → = . → 𝜃ሶ = Since tangential acceleration : 𝑎𝑡 = 𝑣ሶ = 𝑑𝑡
𝜌 𝑑𝑡 𝑑𝑡 𝜌 𝜌
𝑎Ԧ = 𝑎𝑡 𝑢𝑡 + 𝑎𝑛 𝑢𝑛 Instantaneous 𝑣2
normal acceleration : 𝑎𝑛 = (1.21b)
Since 𝑑𝑢𝑡 // 𝑢𝑛 → 𝑑𝑢𝑡 = 𝑑𝑢𝑡 . 𝑢𝑛 = dq𝑢𝑛 𝜌
The above equations are valid for 2 or 3 dimensional curvilinear motions.
𝑑𝑢𝑡 ሶ dq 𝑆ሶ
= 𝑢𝑡 = ሶ
𝑢 = 𝜃𝑢𝑛 = 𝑢𝑛
𝑑𝑡 𝑑𝑡 𝑛 𝜌 We can think of rectilinear motion as a special case of curvilinear motion.
𝑣 𝑣2 𝑑𝑣
→ 𝑢𝑡ሶ = 𝑢𝑛 In rectilinear motion: 𝜌 → ∞ and hence 𝑎𝑛 = =0 , 𝑎𝑡 = 𝑎 =
∞ 𝑑𝑡
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𝜌
DYNAMICS - Lecture Notes / Mehmet Zor 2
1.2.4 Kinematics of Particle / Curvilinear Motion / Normal and Tangential Components

[Link] Circular Motion : It is a special case of curvilinear motion. The path is a circle of radius r.
The radius of curvature r=r : is constant for each instant t.
Definitions specific to circular motion: constant
From 0 to t 𝑆 = 𝑟. 𝜃
𝑣Ԧ0
𝑆 • Distance traveled (path distance): S 𝑑𝑆 𝑑𝜃
𝑣= = 𝑟.
𝑑𝑡 𝑑𝑡
𝑡 𝑡=0 • Total angle traveled : 𝜃 (instantaneous
𝜃 𝑣 = 𝑟. 𝜔 (1.24)
velocity):
• Angular velocity: 𝜔 (𝑟𝑑 Τ𝑠)
(It is the angle rotated per unit time.) 𝑑𝑣 𝑑𝜔
𝐶 𝑎𝑡 = = 𝑟.
𝑑𝜃 𝑑𝑡 𝑑𝑡
𝜌=𝑟 𝜔= (1.22) (tangential
𝑑𝑡 acceleration): → 𝑎𝑡 = 𝑟. 𝛼 (1.25)

• Angular accelaration: α (𝑟𝑑 Τ𝑠 2 )

Figure 1.2.19
𝑣 2 𝑣 2 𝑟 2 𝜔2
(It is the change in angular velocity per unit time.) 𝑎𝑛 = = =
𝜌 𝑟 𝑟
𝑑𝜔 𝑑2 𝜃 (normal
𝛼= = 2 (1.23) acceleration): → 𝑎𝑛 = 𝜔2 . 𝑟
𝑑𝑡 𝑑𝑡 (1.26)

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1.2.4 Kinematics of Particle / Curvilinear Motion / Normal and Tangential Components
Solution: 𝑎𝑡
Example 1.2.5 108 t=0
A 𝑥
𝑣𝐴 = = 30 𝑚Τ𝑠 𝐶
3.6 𝑎𝑛𝐴
z 𝜃
𝑎𝑡 = −3 𝑚Τ𝑠 2 = 𝑎𝑡𝐵 = 𝑎𝑡𝐴
x C 𝑑𝑣
𝑎𝑡 = → 𝑑𝑣 = 𝑎𝑡 𝑑𝑡 𝑦𝐵 𝑣𝐴
144m y
𝑑𝑡
𝑣 𝑡 𝑆𝐵
𝑣 𝑡 𝑎𝑡 𝑎𝑛𝐵
𝑦
න 𝑑𝑣 = න 𝑎𝑡 𝑑𝑡 → න 𝑑𝑣 = −3 න 𝑑𝑡 𝜌 = 144𝑚
𝑣𝐴 0 30 0

→ 𝑣 = 30 − 3𝑡 → 𝑣𝐵 = 30 − 3x2 = 24 𝑚Τ𝑠 B
t=2sn 𝑣𝐵
𝑣𝐵 2 242 2
Figure 1.2.20
𝑎𝑛𝐵 = = → 𝑎𝑛𝐵 = 4 𝑚Τ𝑠
𝜌 144 𝑥𝐵
A motorcycle enters a circular curve
of radius 144 m at a speed of 108 → 𝑎𝐵 = 𝑎𝑡𝐵 2 + 𝑎𝑛𝐵 2 = (−3)2 +42 → 𝑎𝐵 = 5𝑚/𝑠 Figure 1.2.21
𝑆 𝑡 𝑡
km/h and decreases its speed 𝑑𝑆 3 2
uniformly at 3 m/s per second. 𝑣= → න 𝑑𝑆 = න 𝑣𝑑𝑡 = න(30 − 3𝑡)𝑑𝑡 → 𝑆 = (30𝑡 − 𝑡 )
𝑑𝑡 2
Accordingly, 2 seconds after entering 0 0 0
3 2 54
the curve, calculate the total → 𝑆𝐵 = 30x2 − 2 = 54𝑚 = r.q = 144. 𝜃 → 𝜃 = = 0.375𝑟𝑑
acceleration of the motorcycle and its 2 144
coordinates with respect to the center 180 𝑥𝐵 = 144. cos 21.5° → 𝑥𝐵 = 133.98𝑚
→ 𝜃 = 0.375x ≅ 21.5°
of curvature of the curve (point C). 𝜋 𝑦𝐵 = 144. sin 21.5° → 𝑦𝐵 = 52.77𝑚
23 Agust, 2024 DYNAMICS - Lecture Notes / Mehmet Zor 4