COSMOS: Complete Online Solutions Manual Organization System

Chapter 11, Solution 182.

From problem 11.97, the position vector is r = ( Rt cos ω nt ) i + ctj + ( Rt sin ω nt ) k.

Differentiating to obtain v and a,
dr
v= = R ( cos ω nt − ω nt sin ω nt ) i + cj + R ( sin ω nt + ω nt cos ω nt ) k
dt
a=
dv
dt
( ) (
= R − ω n sin ω nt − ω n sin ω nt − ω n2t cos ω nt i + R ω n cos ω nt + ω n cos ω nt − ω n2t sin ω nt k )
( ) (
= R  − 2ω n sin ω nt − ω n2t cos ω nt i + 2ω n cos ω nt − ω n2t sin ω nt k 
  )
i j k
( )
v × a = vx v y vz = v y a z − vz a y i + ( vz a x − vx az ) j + v x a y − v y a x k ( )
ax a y az

( ) (
= cR 2ω n cos ω nt − ω n2t sin ω nt  i +  R 2 ( sin ω nt + ω nt cos ω nt ) − 2ω n sin ω nt − ω n2t cos ω nt
   )
(
− R 2 ( cos ω nt − ω nt sin ω nt ) 2ω n cos ω nt − ω n2t sin ω nt  j
 )
(
+  − cR −2ω n sin ω nt − ω n2t cos ω nt  k
  )
( )
= cRω n ( 2 cos ω nt − ω nt sin ω nt ) i − R 2ω n 2 + ω n2t 2 j + cRω n ( 2sin ω nt + ω nt cos ω nt ) k
1/2

( ) ( )
2
| v × a | = c 2 R 2ω n2 4 + ω n2τ 2 + R 4ω n2 2 + ω n2t 2 
 
v×a
The binormal unit vector eb is given by eb =
| v×a |
Let α be the angle between the y-axis and the binormal.
( v × a) ⋅ j = R 2ω n ( 2 + ω nt )
cos α = eb ⋅ j =
|v×a |
( ) ( )
12
c 2 R 2ω 2 4 + ω 2t 2 + R 4ω 2 2 + ω 2t 2 
 n n n n 

( ) ( ) A
12
Let A = R 2ω n 2 + ω n2t 2 , B = cRω n 4 + ω n2t 2 , C= A2 + B 2 so that cos α =
as
C
shown in the sketch. The angle that the osculating plane makes with the
y-axis is the angle β.

A
tan β = =
R 2 + ω n2t 2 ( ) β = tan −1 (
R 2 + ω n2t 2 ) !
(
B c 4 + ω 2t 2 1 2
) ( )
12
n c 4 + ω n2t 2

Vector Mechanics for Engineers: Statics and Dynamics, 8/e, Ferdinand P. Beer, E. Russell Johnston, Jr.,
Elliot R. Eisenberg, William E. Clausen, David Mazurek, Phillip J. Cornwell
© 2007 The McGraw-Hill Companies.