Curvilinear Motion (Normal and Tangential
Components)
APPM 211
North-West University
gabriel.magalakwe@nwu.ac.za
Dr Djomengi’s e-mail: 30599946@nwu.ac.za
Week2: 22-26 February 2021
Lesson Outcomes
I At the end of today’s lesson you should be able to
I Determine the tangential component of velocity as well as
normal and tangential components of acceleration of a particle
travelling along a curved path.
I Derive Normal and Tangential components for Curvilinear
Motion.
Background and Planar Motion
When the path along which a particle travels is known, then it is
often convenient to describe the motion using n and t coordinate
axes which act normal and tangent to the path, respectively.
Planar Motion
I Consider the particle shown in Figure 1, which moves in a
plane along a fixed curve, such that at a given instant it is at
position s, measured from point O.
Figure : 1
In the n-t coordinate system, the origin is located on the particle
(origin moves with the particle).
The t-axis is tangent to the curve at any given point and is
positive in the direction of increasing s (motion of the particle).
The n-axis is perpendicular to the t-axis with the positive direction
toward the center of curvature of the curve.
Position
I The position of the particle at any instant is defined by the
distance, s, along the curve from a fixed reference point.
I The positive n and t directions are defined by the unit vectors
un and ut respectively.
The center of curvature, O 0 , always lies on the concave side of the
curve.
Radius of curvature
Figure : 2
Radius of curvature
I The radius of curvature, ρ, is defined as the perpendicular
distance from the curve to the center of curvature at that
point.
I Curve can be constructed into differential segments of path
length ds which defines an arc segment of constant radius of
curvature, ρ.
Velocity
I The velocity vector is always tangent to the path of motion
along (ut -direction).
I The magnitude is determined by taking the time derivative of
the path function, s(t).
ds
v= (1)
dt
such that the velocity vector is given by
v = v ut , (2)
where v = ṡ
Figure : 3
Here v defines the magnitude of the velocity (speed) and ut
defines the direction of the velocity vector.
Acceleration
Since the acceleration is not tangent to the path (it is tangent to
the hodograph), it is important to express the acceleration in terms
of components that are tangent and normal to the path.
Recall that: Acceleration is the time rate of change of velocity
dv d(v ut )
a= = = v̇ ut + v u̇t . (3)
dt dt
Figure : 4
Here v̇ represents the change in the magnitude of the velocity and
u̇t the rate of change in direction of ut
Acceleration
Since we have the tangential component ut , how do we find the
normal contribution un ?
Note that particle moves ds over interval dt.
In order to determine the time derivative u̇t , note that as the
particle moves along the arc ds over time dt.
dut stretches between the arrowheads of ut and u0t , which lie
on an infinitesimal arc of radius ut = 1. See figure 5.
Figure : 5
Acceleration
The magnitude dut of unit vector ut which is 1 remains 1,
only the direction changes, thus, from figure 5 the formula s = r θ,
where (when ∆t → 0) s ≈ dut , r = ut = 1 and θ = dθ yields
dut
= 1. (4)
dθ
Hence, dut has a magnitude of dut = (1)dθ, and its direction is
defined by un .
Equation (4) can be written in vector form as follow
dut = dθun ,
since dθ changes in the un direction.
The infinitesimal relations of differentials yields
u̇t = θ̇un . (5)
By differentiating the equation of arc length s = ρ θ and
substituting the results into equation (5), we get
ṡ v
u̇t = un = un . (6)
ρ ρ
The acceleration vector (3) can finally be expressed as
v2
a = at ut + an un , where at = v̇ or at ds = vdv and an = .
ρ
If at is constant, the above equations when integrated yields
1
s = s0 + v0 t + (at )c t 2 ,
2
v = v0 + (at )c t,
v 2 = v02 + 2(at )( s − s0 ).
Acceleration
There are two components to the acceleration vector:
a = at ut + an un .
The tangential component is tangent to the curve and in the
direction of increasing or decreasing velocity:
at = v̇ or at ds = vdv .
The normal or centripetal (center seeking) component is always
v2
directed toward the center of curvature of the curve: an = ρ
Figure : 6
If the path is expressed as y = f (x), the radius of curvature ρ at
any point on the path is determined from the equation
3
[1 + (dy /dx)2 ] 2
ρ= (7)
| d 2 y /dx 2 |
The derivation of this result is given in any standard calculus text.
p
The magnitude of the acceleration vector is: a = at2 + an2
Tutorial 12-128 old/ 12-114 new
The car travels along the curve having a radius of 300m. if its
speed is uniformly increased from 15m/s to 27m/s in 3s.
Determine the magnitude of its acceleration at instant its speed
is 20m/s.
Figure : 114 New
Solution for problem 12-114 new / 12-128 old
Tutorial 12-131 old/12-126 new
At a given instant the train engine at E has a speed of 20m/s and
an acceleration of 14m/s 2 acting in the direction shown.
Determine the rate of increase in the train’s speed and the radius of
curvature ρ of the path.
Figure : 131 old
Solution for problem 12-126 new / 12-131 old
Proplem 12-128 new/12.122 old
If the roller coaster starts from rest at A and its speed increases at
at = (6 − 0.06s) m/s 2 , determine the magnitude of its acceleration
when it reaches B where sB = 40 m.
Figure : 128
Solution for problem 12-128 new/12-122 old
Proplem 12-136 new/12.136 old
The motorcycle is travelling at a constant speed of 60 km/h.
Determine the magnitude of its acceleration when it is at point A.
Figure : 131 old
Solution for problem 12-136 new/12-136 old
Dankie vir julle aandag
