Created by T.

Madas

INTRINSIC
COORDINATES

Created by T. Madas
 Created by T. Madas

Question 1 (**)

y s = 4a sinψ

O ψ
x

A bead of mass m is made to slide along a smooth wire, which is fixed in a vertical
plane, and is bent into the shape of an inverted cycloid with intrinsic equation

s = 4a sinψ ,

where a is a positive constant, s is measured from the origin O , and ψ is the angle
the tangent to the cycloid makes with the x axis.

The bead is released from a point on the cycloid where s ≠ 0 .

a) Show that the period of the resulting oscillations is independent of the position
from which the bead was released.

The bead passes through the lowest point of the path with speed u .

b) Determine in terms of m , u , a and g , the magnitude of the reaction of the

4a mu 2
τ = 2π , R= + mg
g 4a

Created by T. Madas
 Created by T. Madas

Question 2 (**)
A particle moves with constant speed u on the curve with intrinsic equation

π
s = a tanψ , 0 ≤ ψ < ,
2

where a is a positive constant, s is measured from the origin O , and ψ is the angle
the tangent to the curve makes with the x axis.

Show that the magnitude of the normal component of the acceleration of the particle,
t seconds after starting from the point where ψ = 0 , is

au 2
.
a 2 + u 2t 2

M456-B , proof

Created by T. Madas
 Created by T. Madas

Question 3 (**)

y s = c tanψ

O ψ
x

A particle P is moving with constant speed u on the catenary with intrinsic equation

π
s = c tanψ , 0 ≤ ψ < ,
2

where c is a positive constant, s is measured from the origin O , and ψ is the angle
the tangent to the catenary makes with the x axis.

Find an expression for the magnitude of the acceleration of the particle and hence
state the maximum magnitude of its acceleration.

cu 2 u2
a = , a max =
c2 + s2 c

Created by T. Madas
 Created by T. Madas

Question 4 (**+)

y s = 5ln ( tanψ + secψ )

O ψ
x

A bead of mass 0.25 kg is made to slide along a smooth wire, which is fixed in a
horizontal plane, and is bent into the shape of a curve with intrinsic equation

π
s = 5ln ( tanψ + secψ ) , 0 ≤ ψ <
2

where a is a positive constant, s is measured from the origin O , and ψ is the angle
the tangent to the curve makes with the x axis.

The bead is moving along the wire with constant speed 10 ms −1 .

π
Determine the magnitude of the reaction of the wire on the bead, when ψ = .
3

R = 2.5 N

Created by T. Madas
 Created by T. Madas

Question 5 (***)

O x
ψ
m

s = a sinψ

The figure above shows a particle of mass m , which is free to slide along a smooth
surface, whose vertical cross section is the curve C with intrinsic equation

π
s = a sinψ , 0 ≤ ψ <
2

where a is a positive constant.

The arclength s is measured from the origin O , and the angle ψ is the angle the
tangent to C makes with the positive x axis, as shown in the figure above.

The particle is projected from O with speed 1 ag and leaves the surface at the
2
point P .

a) Find the value of s at P .

b) Determine the magnitude of the acceleration at P .

M456-C , s = 1 a , acceleration = g
2

Created by T. Madas
 Created by T. Madas

Question 6 (***)

y s = 4a sinψ

O ψ
x

A bead of mass m is made to slide along a smooth wire, which is fixed in a vertical
plane, and is bent into the shape of an inverted cycloid with intrinsic equation

π
s = 4a sinψ , 0 ≤ ψ <
2

where a is a positive constant, s is measured from the origin O , and ψ is the angle
the tangent to the cycloid makes with the x axis.

The bead is projected from O with tangential speed 3ag .

π
Show that when ψ = ,…
4

a) … the speed of the bead is ag .

b) … the magnitude of the reaction of the wire on the bead is 3 2 mg .

proof

Created by T. Madas
 Created by T. Madas

Question 7 (***+)

3
A y = ( x − 1) 2

B
O
x
1 5 17

A rollercoaster car, of mass 200 kg , is constrained to move along a rail path with
Cartesian equation
3
y = ( x − 1) 2 .

The car comes to instantaneous rest at the point A , where x = 17 , and immediately
begins to freely slide downwards towards the origin O , as shown in the figure above.
The point B , lies on the same rail path, where x = 5 . The car is modelled as a particle
moving along a smooth rail path without any air resistance.

As the car passes through B , calculate ...

a) ... the magnitude of the acceleration of the car as it passes through B .

b) ... the magnitude of the normal reaction exerted by the rails onto the car

M456-A , a ≈ 16.0 ms −2 , R ≈ 3223 N

Created by T. Madas
 Created by T. Madas

Question 8 (***+)

y s = 4a sinψ

O ψ
x

A bead of mass m is made to slide along a smooth wire, which is fixed in a horizontal
plane, and is bent into the shape of a curve with intrinsic equation

π
s = 4a sinψ , 0 ≤ ψ <
2

where a is a positive constant, s is measured from the origin O , and ψ is the angle
the tangent to the curve makes with the x axis.

The bead is released from rest from a point on the wire where s = 2a .

Show the magnitude of the reaction of the wire on the bead, R , is given by

R = 1 mg [ 4cosψ + secψ − 4 tanψ sinψ ] .

proof

Created by T. Madas
 Created by T. Madas

Question 9 (****)

P s = a cosψ

ψ O x

The figure above shows a bead of mass m , modelled as a particle P , sliding freely
along a smooth wire bent into the shape of the curve with intrinsic equation

π
s = a cosψ , 0 ≤ ψ ≤ ,
2

where a is a positive constant, s is measured from the origin O , and ψ is the angle
the tangent to the curve makes with the x axis.

Given that the bead was projected from the highest point on the wire with tangential
speed 1 ag , determine a simplified expression for the magnitude of the normal
2
reaction between the bead and the wire, as the bead reaches O .

1 ( π + 1) mg
2

Created by T. Madas
 Created by T. Madas

Question 10 (****)
A bead B is free to slide along a smooth wire which is bent into a circle of radius a ,
with centre at C . The wire is fixed in a vertical plane.

The bead is held at a point A , where CA is horizontal, and released from rest.

When the angle ACB is θ the bead has speed v .

Use intrinsic coordinates ( s,ψ ) to find the magnitude of the acceleration of the bead
π
when θ = .
4

a = ag 5
2

Created by T. Madas
 Created by T. Madas

Question 11 (****)

x
O ψ
m

4k 2 sinψ
s=
g

A bead of mass m is made to slide along a smooth wire, which is fixed in a vertical
plane, and is bent into the shape cycloidal arch with intrinsic equation

4k 2 sinψ
s= ,
g

where k is a positive constant.

The arclength s is measured from the origin O , and the angle ψ is the angle the
tangent to the cycloid makes with the positive x axis as shown in the figure above.

The bead passes through the highest point of the cycloidal arch O , at time t = 0 , with
speed 2k . The particle passes through the point where θ = 1 π , when t = T
2

Show that

2k
T=
g
(
ln 1 + 2 . )
proof

Created by T. Madas
 Created by T. Madas

Question 12 (****)

x
O ψ
m

s = a sinψ

A bead of mass m is made to slide along a smooth wire, which is fixed in a vertical
plane, and is bent into the shape cycloidal arch with intrinsic equation

s = a sinψ ,

where a is a positive constant.

The arclength s is measured from the origin O , and the angle ψ is the angle the
tangent to the cycloid makes with the positive x axis as shown in the figure above.

The bead passes through the highest point of the cycloidal arch O , with speed 1 ag .
2

When the particle has travelled a distance s , its speed is v and the normal reaction
from the wire to the bead is R .

a) Show, with a detailed method, that …

g  2
i. … v 2 = 2s + a 2  .
2a  

mg 
ii. … R = 1 − 4sin 2 ψ  .
2cosψ  

b) Find the distance travelled by the bead by the time R = 0 .

M456-D , d = 1 a
2

[solution overleaf]

Created by T. Madas
Created by T. Madas

Created by T. Madas
 Created by T. Madas

Question 13 (****)
A particle is constrained to move on a curve with intrinsic equation s = f (ψ ) .

It is moving in such a way so that it has constant tangential acceleration of magnitude

When t = 0 , s = 0 , ψ = 0 and the particle is moving with speed u .

Find the intrinsic equation of the curve on which the particle is moving.

u2  ψ 
s= e −1
2a  

Created by T. Madas
 Created by T. Madas

Question 14 (****)

nɵ
ŝ

P
O ψ
x

A particle P is constrained to move on a path, so that its distance travelled along that
path, measured from the origin O , is denoted by s . The angle the tangent to P at
any position on the path makes with the x axis is denoted by ψ .

The unit vector along the tangent to the path at P is denoted by ŝ and the unit vector
along the normal to the path at P , directed towards the centre of curvature of the path
is denoted by nɵ , as shown in the figure above.

Show that the acceleration of the particle is

sɺ 2
s sˆ +
ɺɺ nˆ ,
ρ

where ρ denotes the radius of curvature.

proof

Created by T. Madas
 Created by T. Madas

Question 15 (****)

O ψ
m

y s = 4a sinψ

A section of thin flexible gutter type tubing, with a smooth groove running along its
length is bend into the shape of a cycloid with intrinsic equation

π
s = 4a sinψ , 0 ≤ ψ < ,
2

where a is a positive constant.

The cycloidal tubing is fixed in a vertical plane with its vertex coinciding with a
Cartesian origin O , where the directions of x and y increasing are measured as
shown the above figure.

The arclength s is measured from O , and the angle ψ is the angle the tangent to the
cycloidal tubing makes with the positive x axis also shown in the figure above.

A particle of mass m is placed in the groove of the tubing at O .

The particle is slightly disturbed and begins to travel down the rod, where the groove
keeps the particle from falling to either side of the tubing.

a) Show that while the particle is still in contact with the tubing

y = 2a sin 2 ψ .

b) Show further than the particle leaves the tubing when y = a .

proof

[solution overleaf]

Created by T. Madas
Created by T. Madas

Created by T. Madas
 Created by T. Madas

Question 16 (****)

y 5s = 8sinψ

O ψ
x

A bead B is made to slide along a smooth wire, which is fixed in a vertical plane, and
is bent into the shape of an inverted cycloid with intrinsic equation

π
5s = 8sinψ , 0 ≤ ψ < ,
2

where s is measured from the origin O , and ψ is the angle the tangent to the cycloid
makes with the x axis.

The bead is projected from O with tangential speed 5.6 ms −1 .

Use intrinsic coordinates to find an expression, in terms of s and g , for the speed of
the bead and hence show that the bead comes to rest at a cusp.

You may not consider energy conservation in this question.

v 2 = 1 g [8 − 5s ]
2

Created by T. Madas
 Created by T. Madas

Question 17 (****)

O x
ψ
m

s = 7 tanψ

The figure above shows a particle of mass m , which is free to slide along a smooth
surface, whose vertical cross section is the curve C with intrinsic equation

π
s = 7 tanψ , 0 ≤ ψ < .
2

The arclength s is measured from the origin O , and the angle ψ is the angle the
tangent to C makes with the positive x axis, as shown in the figure above.

The particle is released from rest from a point A on the surface, where ψ = 1 π , and
4
leaves the surface at the point B .

Determine the distance AB along the curved surface.

d =7

Created by T. Madas
 Created by T. Madas

Question 18 (*****)

y
O
x
particle

y = ln ( cos x )

The figure above shows a particle which is free to slide along a smooth surface,
whose vertical cross section is the curve C with equation

π
y = ln ( cos x ) , 0 ≤ x < .
2

The particle is projected from O with speed 1 g tangential to C and leaves the
3
surface at the point P .

Show that the distance OP along C is arcosh  e 3  .

 

proof

Created by T. Madas
 Created by T. Madas

Question 19 (*****)
A right prism is fixed so that its axis is horizontal.

A particle is placed on the highest point of the outer smooth surface of the prism
whose cross section has equation

y = 1 − cosh x , x ≥ 0 .

The particle is slightly disturbed and begins to move in a path along the cross section
of the outer surface of the prism whose equation is given above.

Determine the distance the particle travels until the instant it leaves the surface.

d= 3

Created by T. Madas