CHAPTER 2

Kinematics of a Particle:
Particle motion along a
curved path.
Sub-topics:

1.General curvilinear motion

2.Curvilinear motion: Rectangular components.
3.Motion of a projectile.
4.Curvilinear motion: Normal and tangential
components.
5.Curvilinear motion: Cylindrical components.
3. General curvilinear motion

z A roller coaster car travels

down a fixed, helical path at a
constant speed.

How can we determine its

position or acceleration at any
instant?
y
x

If you are designing the track, why is it important to be able to predict the
acceleration of the car?
POSITION AND DISPLACEMENT
A particle moving along a curved path undergoes curvilinear motion. Since the motion is often
three-dimensional, vectors are used to describe the motion.

A particle moves along a curve defined by the path

function, s.

The position of the particle at any instant is designated by

the vector
r = r(t). Both the magnitude and direction of r may vary
with time.

If the particle moves a distance s along the curve during time

interval t, the displacement is determined by vector subtraction:

 r = r′ - r
 VELOCITY
Velocity represents the rate of change in the position of a particle.
The average velocity of the particle during the time
increment t is
vavg = r/t .
The instantaneous velocity is the time-derivative of
position
v = dr/dt .

The velocity vector, v, is always tangent to the path of

motion.
The magnitude of v is called the speed. Since the arc length s approaches the magnitude
of r as t→0, the speed can be obtained by differentiating the path function (v = ds/dt).
Note that this is not a vector!
ACCELERATION
Acceleration represents the rate of change in the velocity of a
particle.

If a particle’s velocity changes from v to v′ over a time increment

t, the average acceleration during that increment is:

aavg = v / t = ( v′ - v ) / t

The instantaneous acceleration is the time- derivative of

velocity:
a = dv/dt = d2r/dt2

The acceleration vector is NOT, in general, tangent to the path

function!
 4. Curvilinear motion: Rectangular components.
POSITION
It is often convenient to describe the motion of a particle in terms of its x, y, z or
rectangular components, relative to a fixed frame of reference.
The position of the particle can be defined at any instant
by the position vector

r=xi+yj+zk
The x, y, z components may all be functions of time, i.e.,
x = x(t), y = y(t), and z = z(t)

The magnitude of the position vector is: r = (x2 + y2 + z2)0.5 The direction of r is
defined by the unit vector: ur = (1/r) r
VELOCITY
The velocity vector is the time derivative of the position vector:
v = dr/dt = d(xi)/dt + d(yj)/dt + d(zk)/dt
Since the unit vectors i, j, k are constant in magnitude and direction, this equation
reduces to v = vx i + vy j + vz k
• • •
where vx = x = dx/dt, vy = y = dy/dt, vz = z =
dz/dt

The magnitude of the velocity vector is

v = [(vx)2 + (vy)2 + (vz)2]0.5

The direction of v is tangent to the path of motion!

ACCELERATION
The acceleration vector is the time derivative of the velocity vector (second derivative of
the position vector):
a = dv/dt = d2r/dt2 = ax i + ay j + az k
• •
= dvx /dt, ay = vy = y = dvy
•
where x •• ••
az = v••z = z = dvz /dt
v
ax = x =
/dt,

The magnitude of the acceleration vector is

a = [(ax)2 + (ay)2 + (az)2 ]0.5

The direction of a is usually NOT tangent to the path

of the particle.
EXAMPLE

Given: The motion of two particles (A and B) is described by the position vectors
rA = [ 3t i + 9t(2 – t) j ] m
rB = [ 3(t2 –2t +2) i + 3(t – 2) j ] m

Find: The point at which the particles collide and their speeds just before the
collision.

Plan: 1) The particles will collide when their position vectors are equal, or rA =
rB .
2) Their speeds can be determined by differentiating the position vectors.
EXAMPLE (continued)
Solution:
1) The point of collision requires that rA = rB, so xA = xB
and yA = yB :
x-components: 3t = 3(t2 – 2t + 2)
Simplifying: t2 – 3t + 2 = 0
Solving: t = {3  [32 – 4(1)(2)]0.5}/2(1)
=> t = 2 or
1s
y-components: 9t(2 – t) = 3(t – 2)
Simplifying: 3t2 – 5t – 2 = 0 Solving: t
= {5  [52 – 4(3)(–2)]0.5}/2(3)
=> t = 2 or – 1/3 s
So, the particles collide when t = 2 s. Substituting
this value into rA or rB yields
xA = xB = 6 m and yA = yB = 0
 rA = [ 3t i + 9t(2 – t) j ] m
EXAMPLE (continued)
rB = [ 3(t2 –2t +2) i + 3(t – 2) j ] m

2) Differentiate rA and rB to get the velocity vectors.

. .
vA = drA/dt = .xA i  yA j = [ 3i + (18 – 18t)j ]
m/s At t = 2 s: vA = [ 3i – 18j ] m/s
• •
vB = drB/dt = xBi + yBj = [ (6t – 6)i + 3j ]
m/s
At t = 2 s: vB = [ 6i + 3j ] m/s

Speed is the magnitude of the velocity vector.

vA = (3 + 18 )
2 2 0.5 = 18.2 m/s
vB = (62 + 32) 0.5 = 6.71 m/s
 PROBLEM

Given: A particle travels along a path described by the

parabola y = 0.5x2. The x-component of velocity
is given by vx = (5t) ft/s. When t = 0, x = y = 0.

Find: The particle’s distance from the origin and the

magnitude of its acceleration when t = 1 s.

Plan: Note that vx is given as a function of time.

1) Determine the x-component of position and
acceleration by integrating and differentiating vx,
respectively.
2) Determine the y-component of position from the
parabolic equation and differentiate to get ay.
3) Determine the magnitudes of the position
and acceleration vectors.
 PROBLEM (continued)

Solution:
1) x-
components: •
vx = x = dx/dt = (5t) ft/s
Velocity: x t
=> x = (5/2)t2 = (2.5t2) ft
Position:  dx
0 = 0 5t dt Integration constant? x(0)=0, C=0
•• •
Acceleration: ax = x = vx = d/dt (5t) = 5 ft/s2

2) y-
components:
Position: y = 0.5x2 = 0.5(2.5t2)2 = (3.125t4) ft
vy = dy/dt = d (3.125t4) / dt = (12.5t3) ft/s
Velocity
Acceleration: ay = vy = d (12.5t3) / dt = (37.5t2) ft/s2
:
 PROBLEM (continued)

3) The distance from the origin is the magnitude of

the position vector:

r = x i + y j = [ 2.5t2 i +

3.125t4 j ] ft At t = 1 s, r = [ 2.5 i

+ 3.125 j ] ft

Distance: d = r = (2.52 +
3.1252) 0.5 = 4.0 ft

The magnitude of the acceleration vector is calculated

as: Acceleration vector: a = [ 5 i + 37.5t2 j ] ft/s2

 Example:

1. If the position of a particle is defined by

r = [ (1.5t2 + 1) i + (4t – 1) j ] (m), its speed at t =
1 s is
A) 2 m/s B) 3 m/s
C) 5 m/s D) 7 m/s

2. The path of a particle is defined by y = 0.5x2. If the component of its

velocity along the x-axis at x = 2 m is vx = 1 m/s, its velocity component along
the y-axis at this position is
A) 0.25 m/s B) 0.5 m/s
C) 1 m/s D) 2 m/s
3. If a particle has moved from A to B along the circular path in 4s, what is the
average velocity of the particle ?
A) 2.5 i m/s y
B) 2.5 i +1.25j m/s
R=5m
C) 1.25  i m/s A B x

D) 1.25  j m/s

4. The position of a particle is given as r = (4t2 i – 2t j) m. Determine the particle’s

acceleration.
A) (4 i +8 j ) m/s2 B) (8 i -16 j ) m/s2
C) (8 i) m/s2 D) (8 j ) m/s2
5. Motion of a projectile.

A projectile is an object
moving in two dimensions
under the influence of Earth's
gravity; its path is a parabola.
Projectile motion is parabolic function:

Where, and
If an object is launched at an initial angle of θ0 with the horizontal, the analysis is
similar except that the initial velocity has a vertical component.

y-axis:

x-axis:
To find height, h (Given: Initial velocity, angle and time).

(Vertical position)

y=h

x
To find max height, hmax (Given: Initial velocity and angle)

For y-axis: (height of trajectory); let vy = 0

y=h
 To find distance, R (Given: Initial velocity and angle).

For x-axis: (Range of trajectory)

The time of flight from initial point to final point:

Replace t with t2:

x=R

Note:
*The final formula also can be used to find the angle (θ)
*Trig identity: Sin2θ = 2sin θcos θ
To find distance, R + Vx (Given: Initial velocity, angle and h)

For y-axis: (Range of trajectory)

The time of flight from initial point to final point:
(quadratic form)

Use quadratic formula to solve

x=R

y=h
Example 10:
A football is thrown with a velocity of 10 m/s at an angle of
30° above the horizontal. (a) How far away should its
intended receiver be? (b) What will the time of flight be?
Solution:
(a)

(b)
Example 11:
A ball is kicked at the angle 35° with velocity of 20 m/s. calculate (a) the maximum
height, (b) the time of flight (c) how far away it hits the ground?
Solution: DIY
(a) Hmax= ………………………(ans: 6.71 m)
(b)T= …………………………(ans: 2.34 s )
(c) R=…………………………(ans: 38.35 m)
6. Curvilinear motion: Normal and tangential components.
When a particle moves along a curved path, it is sometimes convenient to describe its motion
using coordinates other than Cartesian. When the path of motion is known, normal (n) and
tangential (t) coordinates are often used

In the n-t coordinate system, the origin is located on the

particle (the origin moves with the particle).

The t-axis is tangent to the path (curve) at the instant considered, positive in the direction of the
particle’s motion.
The n-axis is perpendicular to the t-axis with the positive direction toward the center of
curvature of the curve.
 The positive n and t directions are defined by the unit
vectors un and ut, respectively

The center of curvature, O’, always lies on the concave

side of the curve.
The radius of curvature, , is defined as the
perpendicular distance from the curve to the center of
curvature at that point

The position of the particle at any instant is defined by the distance, s, along the
curve from a fixed reference point (here O).
Velocity in the n-t coordinate system

The velocity vector is always tangent to the path of

motion (t-direction)

The magnitude is determined by taking the time derivative of

the path function, s(t)
v = vut
where v
= ds/dt

Here v defines the magnitude of the velocity (speed) and (unit vector) ut defines
Acceleration in the n-t coordinate system I
Acceleration is the time rate of change of velocity:
· +vu .
a = dv/dt = d(vut)/dt = vut t

.
Here v represents the change in the magnitude
.
of velocity and ut represents the rate of change in
the direction of ut.

After mathematical manipulation, the acceleration

vector can be expressed as:
How?
.
a = vut + (v2/)un = atut + anun
 · .
a = dv/dt = d(vut)/dt = vut + v ut
2
Derivation of tangential and normal acceleration
Derivation of tangential and normal acceleration
Derivation of tangential and normal acceleration

??
Derivation of tangential and normal acceleration

d is small
Derivation of tangential and normal acceleration

dut is going in the same

direction as un

du t , magnitude change ~
d
Derivation of tangential and normal acceleration
 Acceleration in the n-t coordinate system II

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 = v or at ds = v dv
The normal or centripetal component is always directed toward the center of curvature
of the curve, an = v2/
The magnitude of the acceleration vector is a = [(at)2 + (an)2]0.5
Acceleration in the n-t coordinate system II

The tangential component of acceleration is constant, at = (at)c.

In this case,
s = so + vot + (1/2)(at)ct2

v = vo + (at)ct

v2 = (vo)2 + 2(at)c(s – so)

a = v˙ut + (v2/)un = atut + anun
As before, so and vo are the initial position and velocity of the
particle at t = 0
Three dimensional motion
If a particle moves along a space curve, the
n and t axes are defined as before.

At any point, the t-axis is tangent to the path

and the n-axis points toward the center of
curvature. The plane containing the n and t
axes is called the osculating plane.

A third axis can be defined, called the binomial axis, b. The binomial
unit vector, ub, is directed perpendicular to the osculating plane, and
its sense is defined by the cross product ub = ut x un.
Normal and tangential components III

b= bi-normal direction (perpendicular to both t and

n direction through a right hand rule) u b
ut

un
- 2-D planar motion, unit vector ub is fix in space
- 3D motion unit vector ub is not fix in space

2D, bi-normal direction is

W. Wan perpendicular to the screen 3D
7. Curvilinear motion: Cylindrical components.

Applications
The cylindrical coordinate system is used in cases
where the particle moves along a 3-D curve.

(spiral motion)

Slide
Cylindrical and Polar coordinates

Polar coordinates
Cylindrical Coordinates

Cylindrical coordinates are a generalization of two-dimensional polar

coordinates to three dimensions by superposing a height in (Z) axis.
Cylindrical components: Position.

We can express the location of P in polar

coordinates as
r = rur.

Note that the radial direction, r, extends outward

from the fixed origin, O, and the transverse
coordinate,  is measured counter-clockwise P
(CCW) from the horizontal.
Velocity (Polar coordinates)
The instantaneous velocity is defined as:
One simple way to
v = dr/dt = d(rur)/dt
look at this is that ur
P . du r basically going in the
v = rur + r dt
same direction as theta
Using the chain rule:  and its magnitude
change is cause only
dur/dt = (dur/d)(d/dt) by the angle change.
.
We can prove that dur/d = uθ so dur/dt = uθ
. .
Therefore: v = rur + ruθ
.
Thus, the velocity vector has. two components: r, called
the radial component, and r called the transverse component. The
speed of the particle at any given instant is the sum of the squares of
both components or . 2 . 2
v = (r    
 u’
dur/dt = uθ ?
u’r

Key points: u r only change its direction with respect to time. Hence during the
time interval t, a change of r will not cause a change in the direction of ur.
However, a change  will cause ur to change to u′r , where u′ r = u r + ∆u r . Figure
shows the time change in ur is ∆u r . For a small changing angle  this vector has
a magnitude of ∆ur ~1 ∆θ , and going in the uθ direction.
∆θ
Therefore, u˙ r = lim ∆u r
= lim = θ
∆t→∞ ∆t ∆t→∞ ∆t
θ˙ u
Therefore: v= ur + r uθ
Acceleration (Polar coordinates)
The instantaneous acceleration is defined as:
a .= dv/dt = (d/dt)(r.u +
r u) r θ

After manipulation, the acceleration can be
expressed as
How? see Next page
.. .2 .. . .
a = (r – r )ur + (r + 2r)uθ

.. .
The term (r – r2) is the radial acceleration or ar.

The term (r.. + 2r)

. . is the transverse acceleration or a
. .. . .
.. 2 2
The magnitude of acceleration is a = (r – r ) + (r +
2
Velocity vector is defined as, v = ruθ˙ +
r˙uθ
Therefore, acceleration is a = v˙ = r¨ur +r˙ur˙ + r˙ ur˙ uθ + rθ¨ uθ + rθ˙ u˙ θ

Since we know u˙ r = θ˙uθ, the only unknown in the equation is u˙ θ so that’s what we
need to find.
Fortunately, u˙ θ only change its direction with respect to time. Hence during the
time interval t, a change of r will not cause a change in the direction of uθ.
However, a change  will cause u to change to u′ , where u′θ = u θ + ∆u θ .
Figure shows the time change in uθ is ∆uθ or a small changing angle 
∆θ
Therefore
this vector u˙
hasθ = lim
a magnitude
∆u θ
= of
— ∆ulim
θ ~1 ∆θ=, and
—θ˙going
r in the ‐ur direction.
∆t→∞ ∆ t ∆t→∞ ∆t
u
Then accleration in polar coordinates:

a = v˙ = r¨ur +r˙ur˙ + r˙ θ˙ uθ + rθ¨ uθ +

rθ˙u˙θ

= r¨ur +r˙θ˙ uθ + r˙θ˙ uθ + rθ¨ uθ -

rθ˙θ˙ur

= (r¨ur — rθ˙ θ˙ ur )+(2r˙θ˙ uθ +rθ¨

uθ )

˙ ˙ ˙ ¨
Polar coordinates

Position: r = rur

Velocity: v = ur + uθ

Acceleration: =( ) ur +(2 + ) uθ
Cylindrical coordinates
If the particle P moves along a space curve, its
position can be written as

rP = rur + zuz

Taking time derivatives and using the chain

rule:
.
. + zu
Velocity: vP = r. ur + r θ z

u .. . 2 ..
.. θ
Acceleration: aP = (r –  )ur +  + 2r)u + z
r (r
.
EXAMPLE: I

Given:A car travels along the road with

a speed of v = (2s) m/s, where s
is in meters.
 = 50 m
Find: The magnitudes of the car’s
acceleration at s = 10 m.

Plan:
1) Calculate the velocity when s = 10 m using v(s).
2) Calculate the tangential and normal components of acceleration and then the
magnitude of the acceleration vector.
Acceleration in the n-t coordinate system II

The tangential component of acceleration is constant, at = (at)c.

In this case,
s = so + vot + (1/2)(at)ct2

v = vo + (at)ct

v2 = (vo)2 + 2(at)c(s – so)

a = v˙ut + (v2/)un = atut + anun

As before, so and vo are the initial position and velocity of the particle
 EXAMPLE I
Solution: (continued)
1) The velocity vector is v = v ut , where the magnitude is
given by v = (2s) m/s.
When s = 10 m: v = 20 m/s
.
2) The acceleration vector is a = atut + anun = vut + (v2/)un
Tangential c.omponent:
Since at =vv==2sdv/dt= (dv/ds)
where (ds/dt)(v)=
at = d(2s)/ds = v2(dv/ds)
v
Use chain
rule
At s = 10 m: at = 40 m/s2 No need to worry about
normal acceleration because
it’s just a function of velocity
Normal component: an = v2/
When s = 10 m: an = (20)2 / (50 = 8
m/s2
a = [(at)2 + (an)2]0.5 = [(40)2 + (8)2]0.5 = 40.8 m/s2
The magnitude of the
EXAMPLE II
Given: A boat travels around a
circular path,  = 40 m, at a
speed that increases with
time, v = (0.0625 t2) m/s.
Find: The magnitudes of the boat’s
velocity and acceleration at
the instant t = 10 s.
Plan:
The boat starts from rest (v = 0 when t = 0).
1) Calculate the velocity at t = 10 s using v(t).
2) Calculate the tangential and normal components
of acceleration and then the magnitude of the
acceleration vector.
EXAMPLE II (continued)
Solution:
1) The velocity vector is v = v ut , where the magnitude is
given by v = (0.0625t2) m/s. At t = 10s:
v = 0.0625 t2 = 0.0625 (10)2 = 6.25 m/s
.
2) The acceleration vector is a = atut + anun = vut + (v2 /)un.
.
Tangential component: at = v = d(.0625 t2 )/dt = 0.125 t
m/s2 At t = 10s: at = 0.125t = 0.125(10) = 1.25 m/s2

Normal component: an = v2/ m/s2

At t = 10s: an = (6.25)2 / (40 = 0.9766 m/s2

The magnitude of the acceleration is

a = [(at)2 + (an)2]0.5 = [(1.25)2 + (0.9766)2]0.5 = 1.59 m/s2
EXAMPLE II

Magnitude of the velocity and acceleration vectors : v = [(vr)2 + (v)2]0.5 and a = [(ar)2 + (a)2]0.5