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Module 02 Part 3 Tangential and Normal Components

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Module 02 Part 3 Tangential and Normal Components

Uploaded by

blu.ren127
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© © All Rights Reserved
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Download as PDF, TXT or read online on Scribd
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Don Honorio Ventura State University

Bacolor, Pampanga

College of Engineering and Architecture


2𝑛𝑑 Semester S.Y. 2022 - 2023

EM 222 (DYNAMICS OF RIGID BODIES)

Module No. 4: Normal and Tangential Components

Curvilinear Motion: Normal and Tangential Components

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, and at the
instant considered have their origin located at the particle.

PLANAR MOTION

Consider the particle shown in Fig. (a), which moves in a plane along a fixed curve, such that at a
given instant it is position s, measured from point O. We will now consider a coordinate system that has its
origin on the curve, and at the instant considered this origin happens to coincide with the location of the
particle. The t axis is tangent to the curve at the point and is positive in the direction of increasing s. We will
designate this positive direction with the unit vector 𝒖𝑡 . A unique choice for the normal axis can be made by
noting that geometrically the curve is constructed from a series of differential arc segments ds, Fig. (b).
Each segment ds are formed from the arc of an associated circle having a radius of curvature 𝜌 (rho) and
center of curvature O’. The normal axis n is perpendicular to the t axis with its positive sense directed
toward the center of curvature O’. This positive direction, which is always on the concave side of the curve,
will be designated by the unit vector 𝒖n . The plane which contains the n and t axes is referred to as the
embracing or osculating plane, and in this case, it is fixed in the plane of motion.

Fig. (a) Fig. (b)


EM 222 MODULE 2: Rectangular Components 2nd Semester S.Y. 2022 – 2023

VELOCITY
Since the particle moves, s is a function of time, the particle’s velocity v has a direction that is always
tangent to the path, Fig. (c), and a magnitude that is determined by taking the time derivative of the path
function s=s(t), i.e., 𝑣 = 𝑑𝑠/𝑑𝑡.

Hence
v = 𝑣𝒖𝑓
where
𝑣 = 𝑠̇

Fig. (c) Fig. (d)

ACCELERATION
The acceleration of the particle is the time rate of change of the velocity. Thus,

a = 𝐯̇ = 𝑣̇ 𝒖𝑡 +𝑣𝒖𝑡̇ Eq. (1)

In order to determine the time derivative 𝒖𝑡̇ , note that as the particle moves along the arc
ds in time dt, 𝒖𝑡 preserves its magnitude of unity; however, its direction changes, and becomes
𝒖′𝑡 , Fig. (d). As shown in Fig. (e), we require 𝒖′𝑡 = 𝒖𝑡 + 𝑑𝒖𝑡 . Here d𝒖𝑡 stretches between the
arrowheads of 𝒖𝑡 , has a magnitude of d𝑢𝑡 = (1) d𝜃, and its direction is defined by 𝒖𝑛 .
Consequently, 𝑑𝒖𝑡 = 𝑑𝜃𝒖𝑛 , and therefore the time derivative becomes 𝒖𝑡̇ = 𝜃̇ 𝒖𝑛 . Since 𝑑𝑠 = 𝜌𝑑𝜃,
Fig. (d), then 𝜃̇ = 𝑠̇ /𝜌, and therefore

𝑠̇ 𝑣
𝒖𝑡̇ = 𝜃̇ 𝒖𝑛 = 𝒖𝑛 = 𝒖𝑛
𝜌 𝜌

Substituting into Eq.(1), a can be written as the sum of its two components,

𝐚 = 𝑎𝑡 𝒖𝑡 + 𝑎𝑛 𝒖𝑛

where

𝑎𝑡 = 𝑣̇ or 𝑎𝑡 𝑑𝑠 = 𝑣𝑑𝑣

and

𝑣2
𝑎𝑛 =
𝜌
EM 222 MODULE 2: Rectangular Components 2nd Semester S.Y. 2022 – 2023

These two mutually perpendicular components are shown in Fig. (f).


Therefore, the magnitude of acceleration is the positive value of

𝑎 = √𝑎𝑡 2 + 𝑎𝑛 2

Fig. (e) Fig. (f)

SAMPLE PROBLEMS
1. Determine the acceleration of the particle moving in a circular path as shown at the instant
that its velocity is 1m/s while its tangential acceleration is 2 m/𝑠 2 .
2. Determine the velocity of the particle at the instant it reached Point B if its tangential
acceleration is 4s m/𝑠 2 while its normal acceleration is 0.48 m/𝑠 2 . The particle was at rest
from the beginning. Use the figure below for other given.
3. A race car drives a circular tract as shown in the figure with its velocity expressed as 𝒗 =
𝟓𝒕𝟑 + 𝟖 where v is in m/s while t is in seconds. Determine its acceleration when t is equal
to 2 seconds and radius of curvature is 4m.
4. The bee is travelling from point A to point B in a parabolic path shown in the figure. If its
tangential acceleration is expressed as 𝑎𝑡 = 5𝑡 2 − 16 m/𝑠 2 , (a) what is its velocity at any
given time? (Assuming that the particle is at rest from the beginning) (b) what is the
resultant acceleration if it the bee took 4 seconds to reach point B?

Reference:
1. Beer and Johnston. Vector Mechanics for Engineers
2. Dynamics,7th SI ed. McGraw-Hill, 2003

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