PHYS

170
Lecture 26
November 8, 2019
 Lecture Outline/Learning Goals

• Motion in polar (cylindrical) coordinates

• Worked examples of motion in polar coordinates

 13.5 Equations of Motion: Cylindrical Coordinates
RECALL: Ch 12 – Polar components: Planar Motion (2D)

POSITION Note that, in general,

r , q coordinates of
r = r ur particle will be functions
of time, i.e.
r = r (t )
q = q (t )

VELOCITY

v = r! u r + rq! uq
Polar components: Planar Motion (2D) [continued]

ACCELERATION

r - rq! 2 ) u r + (rq!! + 2r!q!) uq

a = (!!
THREE DIMENSIONAL MOTION (Cylindrical coordinates)

• As earlier (and largely for completeness) we

now want to extend our discussion to 3D
motion

• Again, this is easy to do – we simply

introduce a z coordinate which is identical
to the z coordinate used in the description of
3D motion using rectangular (Cartesian)
coordinates
un ut
• Thus, as shown in the figure, we label a
particle at point P with cylindrical
coordinates ( r ,q , z ) and note that associated
with the z-axis is a unit vector u z that can be
All 3 cylindrical coordinates, r , q and z defined in terms of u r and uq via
will generally be functions of time
r = r (t ) u z = u r ´ uq
q = q (t )
z = z (t )
THREE DIMENSIONAL MOTION (Cylindrical coordinates) [continued]

• The modification of our formulae for

position, velocity and acceleration in polar
coordinates to corresponding expressions in
cylindrical coordinates is straightforward

• Specifically, we have

rP = r u r + z u z
v = r! u r + rq! uq + z! u z
un ut
r - rq! 2 ) u r + (rq!! + 2r!q!) uq + !!
a = (!! z uz

• Note that these are identical to the

expressions for polar coordinates, except for
All 3 cylindrical coordinates, r , q and z the addition of the terms
will generally be functions of time
Position: z u z
r = r (t )
q = q (t ) Velocity: z! u z
z = z (t ) Acceleration: !!
z uz
EQUATIONS OF MOTION
• Once we have established the three dimensional
cylindrical coordinate system ( r ,q , z ), it is again
straightforward to write down the corresponding
equations of motion

• Specifically (and referring to the diagram at left),

Newton’s second law

S F = ma

can be written in cylindrical coordinates as

(SFr ) u r + (SFq ) uq + (SFz ) u z = mar u r + maq uq + maz u z

EQUATIONS OF MOTION (continued)
• The previous vector equation is satisfied if and
only if its r , q and z components are
independently satisfied

• We thus have the following scalar equations of

motion in cylindrical components

SFr = m ar
SFq = m aq
SFz = m az
• Note that in contrast to the case of (t,n,b) coordinates, there can be motion in the
third (z) dimension in this case, and that all of the scalar components of the
acceleration, ar , aq and az , can have either sign in general

• Will usually be dealing with problems in which the motion is restricted to 2D, i.e.
to the r - q plane. In this case, only the first two of the above equations apply
 Tangential and Normal Forces

• We will be able to calculate the components of the acceleration (or force) in

polar or cylindrical coordinates.

• Many times we have to find the components of the force in direction

tangential or normal to the instantaneous motion..

• The angle between the radial direction and the tangent to the curve given
by

tan( ) = r/ṙ
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• See the book for derivation.

 Problem 13-104 (Page 153, 13th edition)
The slotted rod moves the 4 kg particle around the curved slot whose shape is given
by r = 0.6 / q m where q is in radians. Motion is in the horizontal plane.
Weight of the particle can be neglected

(1) Determine the force that the rod exerts on the particle and the force of the slot on
the particle when q = 90°, q! = 0.5 rad/s and q!! = 0.6 rad/s 2 . Friction may be neglected.
 Solution strategy

Determine acceleration components in

polar coordinates, then determine requested
forces. Force that rod exerts on particle
is in the q direction, force that the slot
exerts on particle is in normal (n) direction.

Determination of acceleration components

requires computation of various derivatives
(r!, !!
r)

Also need angle y between tangential and radial unit vectors, and angle h between
normal and radial unit vectors; calculate from tan y = r / (dr / dq ) and h = y - 90°
Data

m = 4 kg r (q ) = aq -1 a = 0.6 m q in radians
q = 90° q! = 0.5 rad/s q!! = 0.6 rad/s 2

Derivatives (Exercise: Verify all calculations here and below)

! -2
r! = - aqq (
!! -2 - 2q! 2q -3
r = - a qq
!! )
When q = 90° (p / 2 rad)

r = 0.3820 m r! = -0.1216 m/s r = -0.06850 m/s 2

!!
Acceleration

! ! !
a = ar ur + aq uq

r - rq" 2 = -0.1640 m/s 2

ar = "" when q = 90°

aq = rq"" + 2r"q" = 0.1076 m/s 2 when q = 90°

Angle between tangential and radial unit vectors

r aq -1 p
tany = = = -q = -
dr / dq - aq -2 2

y = tan -1 (-p / 2) = 122.5°

h = y - 90° = 32.48°
Forces

! !
F = F uq

! ! ! !
N = N un = N (- cosh ur - sin h uq )

Equations of motion

åF r = mar : - N cosh = mar (1)

å F q = maq : F - N sin h = maq (2)

Using givens and previously computed values determine N from (1),

then compute F from (2)

N = 0.778 N F = 0.847 N
 Problem 13-110 (Page 153, 13th edition)
The slotted guide moves the 150 g particle P around the 0.4 m radius circular disk.
Motion is in the vertical plane. Attached to P is an elastic cord extending from O.
The cord has stiffness 30 N/m and unstretched length 0.25 m. Friction may be
neglected.
Weight of the particle cannot be neglected

(1) Determine the force of the guide on

P and the normal force of the disk on P when
q = 70° , q! = 5 rad/s and q!! = 2 rad/s 2 .
 P

From geometry
y =q
O
h = 90 -y = 90 - q
n and y axes both make an angle h with r axis
 Solution strategy

Determine acceleration components in

polar coordinates, then determine requested
forces from equations of motion using
acceleration components and other forces
(elastic cord, weight)

As before, determination of acceleration

components requires computation of various
derivatives (r!, !!
r ) and we must also determine
angle, y , between radial and tangential
unit vectors

Exercise: Refer to the original diagram. Show that r (q ) is given by

r (q ) = 2 R sin q , where R is the radius of the disk.
Data

m = 150 g g = 9.81 m/s 2 r (q ) = 2 R sin q R = 0.4 m

k = 30 N/m r0 = 0.25 m
q = 70° q! = 5 rad/s q!! = 2 rad/s 2

Derivatives (Exercise: verify all calculations here and below)

r! = 2 Rq! cos q (
r = 2 R q!! cos q - q! 2 sin q
!! )
When q = 70°

r = 0.7518 m r! = 1.3680 m/s r = -18.247 m/s 2

!!
Acceleration

! ! !
a = ar ur + aq uq

When q = 70°

r - rq" 2 = -37.040 m/s 2

ar = ""

aq = rq"" + 2r"q" = 15.184 m/s 2

Angle between tangential and radial unit vectors

From geometry (refer to FBD): y = q

Alternatively
r 2 R sin q
tany = = = tan q Þ y =q and h = 90° - q = 20°
dr / dq 2 R cos q
Forces

! !
F = F uq

! ! ! !
N = - N un = - N (- cosh ur + sinh uq )

! !
Fs = -k (r - r0 ) ur

! ! ! !
Fg = - mg j = - mg (cosh ur + sinh uq )

Equations of motion

åF r = mar : N cosh - k (r - r0 ) - mg cosh = mar (1)

å Fq = maq : F - N sin h - mg sin h = maq (2)

Solution of equations of motion

From (1)

k (r - r0 ) + mg cosh + mar
N= = 11.6 N
cosh

From (2)

F = N sinh + mg sinh + maq = 6.74 N

 Based on Problem F12-36 (14th edition)

The forked rod OA moves the 1.6 kg particle P around the curved slot whose shape
is given by r = 0.6eq m where q is in radians. Motion is in the vertical plane. A
!
force S acts on the particle in the direction opposite to its velocity. The magnitude
!
of S is 8.4 N.

(1) Determine the force that the rod exerts on

the particle and the force of the slot on the
particle when q = 50° , q" = 1.3 rad/s and
q"" = 1.4 rad/s 2 .
Solution strategy

Determine acceleration components in

polar coordinates, then determine requested
forces from equations of motion using
acceleration components and other forces
!
(S , weight)

As before, determination of acceleration

components requires computation of various
derivatives (r", ""
r ) and we must also determine
angle, y , between radial and tangential
unit vectors
Data

m = 1.6 kg g = 9.81m/s 2 S = 8.4 N

r (q ) = aeq a = 0.6 m q in radians
q = 50° q! = 1.3 rad/s q!! = 1.4 rad/s 2

Derivatives (Exercise: verify all calculations here and below)

r! = aeq q! (
r = aeq q!! + q! 2
!! )
When q = 50°

r = 1.436 m r! = 1.867 m/s r = 4.437 m/s 2

!!
Acceleration

! ! !
a = ar ur + aq uq

When q = 50°

r - rq" 2 = aeq q"" = 2.010 m/s 2

ar = ""

( )
aq = rq"" + 2r"q" = aeq q"" + 2q" 2 = 6.864 m/s 2

Angle between tangential and radial unit vectors

r aeq
tany = = q =1 for all values of q
dr / dq ae

y = 45° for all values of q

Forces

! !
F = F uq

! ! ! !
N = - N un = - N (- siny ur + cosy uq )

! ! ! !
Fg = - mg j = -mg (sin q ur + cosq uq )

! ! ! !
S = - Sut = - S (cosy ur + siny uq )

Equations of motion

åF r = mar : N siny - mg sin q - S cosy = mar (1)

å Fq = maq : F - N cosy - mg cos q - S siny = maq (2)

Solution

N = 30.0 N

F = 48.2 N