King Fahd University of

Petroleum & Minerals

Mechanical Engineering
Dynamics ME 201
BY
Dr. Meyassar N. Al-Haddad
Lecture # 3

12.3 Rectangular Kinematics:
Erratic Motion
Omitted
Objective
To investigate particle motion along a
curved path using three coordinate systems
Rectangular Components
Normal and Tangential Components
Polar & Cylindrical Components
Section 12.4 in your text


Path is described in three dimensions
Position, velocity, and acceleration are vectors


Position
* S is a path function
* The position of the particle
measured from a fixed
point O is given by the
position vector
r = r(t)
Example :
r = {sin (2t) i + cos (2t) j 0.5 t k}

Displacement
The displacement Ar
represents the change
in the particles
position
Ar = r - r
Velocity
Average velocity



Instantaneous velocity




As At = 0 then Ar = As
Speed



Since A r is tangent to the
curve at P, then the velocity is
tangent to the curve
t
r
v
avg
A
A
=
dt
dr
t
r
t
=
A
A
=
A
lim
0
v
dt
ds
v =
Acceleration
Average acceleration:


Hodograph curve velocity
arrowhead points
Instantaneous acceleration:

2
2
0
lim
dt
r d
dt
dv
t
v
a
t
= =
A
A
=
A
t
v
a
avg
A
A
=
Hodograph
Acceleration (con.)
a acts tangent to the
hodograph
a is not tangent to the
path of motion
a directed toward the
inside or concave side

12.5 Curvilinear Motion: Rectangular
Components
Rectangular : x, y, z
frame
Position
Position vector r
r = x i + y j + z k
The magnitude of r is always
positive and defined as


Unit vector


The direction cosines are
2 2 2
z y x r + + =
k
r
r
j
r
r
i
r
r
u
z
y
x
r
+ + =
r
r
r
r
r
r
z
y
x
= = = | o cos cos cos
Velocity
Velocity is the first time
derivative of r


Where

Magnitude of velocity


Direction is always
tangent to the path
k j i
dt
dr
v
z y x
u u u + + = =
z y x
z y x
= = = u u u
u u u
2 2 2
z y x
v + + =
Problem
The position of a particle is described by r
A
= {2t i +(t
2
-1) j} ft. where t
is in seconds. Determine the position of the point and the speed at 2
second.

j i j i r
A
3 4 ) 1 2 ( ) 2 ( 2
2
+ = + =
j i j t i
dt
dr
v
A
A
4 2 2 2 + = + = =
ft/s 47 . 4 4 2
2 2
= + =
A
v speed
Acceleration
Acceleration is the first time
derivative of v


Where



Magnitude of acceleration


Direction is not tangent to the
path
k a j a i a
dt
dv
a
z y x
+ + = =
x x
x a u
= =
a a a
z y x
a
2 2 2
+ + =
y y
y a u
= =
z z
z a u
= =
Example 12.9
The distance of the balloon from A at 2 sec
The magnitude and direction of velocity at 2 sec
The magnitude and direction of acceleration at 2 sec

t x 8 =
A
10
2
x
y =
Position
ft 16 ) 2 ( 8 = = x
ft 6 . 25 10 / ) 16 (
2
= = y
ft 2 . 30 ) 6 . 25 ( ) 16 (
2 2
= + = r
Velocity
ft/s 8 ) 8 ( = = = t
dt
d
x
x
u
ft/s 6 . 25 10 / ) 8 )( 16 ( 2 10 / 2 ) 10 / (
2
= = = = = x x x
dt
d
y
y
u
ft 8 . 26 ) 6 . 25 ( ) 8 (
2 2
= + = u
o
x
y
6 . 72
8
6 . 25
tan tan
1 1
= = =

u
u
u
u
Acceleration
ft/s 0 ) 8 ( = = =
dt
d
x a
x

2
ft/s 8 . 12 10 / ) ( 2 10 / ) ( 2 ) 10 / 2 ( = + = = = x x x x x x
dt
d
y a
y

2 2 2
ft/s 8 . 12 ) 8 . 12 ( ) 0 ( = + = a
o
x
y
a
a
a
90
0
8 . 12
tan tan
1 1
= = =

u
X=8t
Example 12.10
{ } k ) 75 . 0 ( 2 . 0 j ) 5 . 1 cos( 5 . 0 i ) 5 . 1 sin( 5 . 0 ) 75 . 0 ( r + =
) 180 (
o
rad = t t in second arguments in radians
At t = 0.75 s find location, velocity, and acceleration
{ } k 2 . 0 j ) 2 cos( 5 . 0 i ) 2 sin( 5 . 0 t t t r + =
{ } k 15 . 0 j 0354 . 0 .499i 0 r + =
m 522 . 0 ) 15 . 0 ( ) 0354 . 0 ( ) 499 . 0 (
2 2 2
= + + = r
0.287k - 0.0678j i 955 . 0 k
522 . 0
15 . 0
j
522 . 0
0354 . 0
i
0.522
.499 0
+ =
)
`

+ =
r
u
o
2 . 17 ) 955 . 0 ( cos
1
= =

o
o
1 . 86 ) 0678 . 0 ( cos
1
= =

|
o
107 ) 287 . 0 ( cos
1
= =

Note: Put your calculator in Rad Mode