Curvilinear

(Two-Dimensional)
Motion

Lecture 3

ME 231: Dynamics
Question of the Day

A particle moving
along a curved
path has a
position vector
(r) given by
r = xi + yj
Determine the
velocity and
acceleration of
the particle.

ME 231: Dynamics 2
Outline for Today

 Question of the day

 Time derivative of a vector
 Velocity and acceleration
 Visualization of motion
 X-Y vector representation
 Projectile motion
 Answer your questions!

ME 231: Dynamics 3
Time Derivative of a Vector
One of the most important concepts in dynamics!

'r
v lim
't o0 't

 's is the scalar displacement along the path (AoA’)

 Magnitude and direction of r are known at time t
 'r is the vector (not scalar) change of position at t +'t
 v has direction of 'r (tangent) and magnitude |'r/'t|
ME 231: Dynamics 4
 Time Derivative of a Vector: Exercise
Magnitude changes, but direction constant

t=1 s
t=0 s t=2 s
r(t) 'r

't)
r(t +' i
dr
v ? r 2i r (t ) 2t i
dt
'r 4  2 i 2 i
v has
direction of 'r 'r 4  2 i 2i
and magnitude |'r/'t| 2
't 2 1 1
ME 231: Dynamics 5
 Time Derivative of a Vector: Another Case
Magnitude constant, but direction changes

'r
v lim
't o0 't
t=1 s

't)
r(t +' 'r

r(t) t=0 s
v has
direction of 'r
and magnitude |'r/'t|
ME 231: Dynamics 6
 Time Derivative of a Vector: Another Case
Magnitude changes AND direction changes

'r
v lim
't o0 't
t=1 s

't)
r(t +' 'r

r(t) t=0 s
v has
direction of 'r
and magnitude |'r/'t|
ME 231: Dynamics 7
Velocity and Acceleration

dr dv
At A, v r a v
dt dt
d r  'r 
At A’, vc 'v vc  v
dt
ME 231: Dynamics 8
Outline for Today

 Question of the day

 Time derivative of a vector
 Velocity and acceleration
 Visualization of motion
 X-Y vector representation
 Projectile motion
 Answer your questions!

ME 231: Dynamics 9
Visualization of Motion

Hodograph is a diagram that gives a vectorial visual

representation of the movement of a body.
ME 231: Dynamics 10
Recall: Possible Coordinate Systems

 Rectangular (x, y, z)
 Polar (r, T, z)
 Spherical (R, T, I)
 Normal and
Tangential (n, t)

ME 231: Dynamics 11
 X-Y Vector Representation

r xi y j

v r x i  y j

a v r x i  y j

 The x- and y-components are independent

 Resulting motion is a vector combination of x-
and y-components
ME 231: Dynamics 12
X-Y Vector Representation: Exercise

A particle moving in two-dimensions has a

position vector (r) as a function of time (t) with
coordinates given by

x(t) = t2 – 4t + 20 , y(t) = 3 sin(2t)

where r is measured in inches and t is in
seconds.

Determine the magnitude of the velocity (v)

and the acceleration (a) at time t =3 s.

ME 231: Dynamics 13
Outline for Today

 Question of the day

 Time derivative of a vector
 Velocity and acceleration
 Visualization of motion
 X-Y vector representation
 Projectile motion
 Answer your questions!

ME 231: Dynamics 14
Projectile Motion

ax 0 ay g

vx vx 0 vy v 
y 0  gt
1 2
x x0  v x 0 t y y0  v y 0 t  gt
2
ME 231: Dynamics 15
Projectile Motion: Exercise

What is the minimum horizontal velocity (u) a

boy can throw a rock at A and have it clear the
obstruction at B?
ME 231: Dynamics 16
Projectile Motion: Exercise

A rocket has expended all

its fuel when it reaches
position A, where it has a
velocity of u at an angle T
with respect to the
horizontal. It attains an
additional height h at
position B after traveling
a distance s from A.

Determine expressions for h, s, and the time t of

flight from A to B.
ME 231: Dynamics 17
Projectile Motion: Exercise

With a horizontal velocity (vx=30 ft/s), what is

the vertical velocity (vy) of the long jumper at
takeoff to make the jump shown? What is the
vertical rise (h)?

ME 231: Dynamics 18
Outline for Today

 Question of the day

 Time derivative of a vector
 Velocity and acceleration
 Visualization of motion
 X-Y vector representation
 Projectile motion
 Answer your questions!

ME 231: Dynamics 19
For Next Time…

 Complete Homework #1 due on

Wednesday (8/29) at the beginning of
class
 Read Chapter 2, Section 2.5

ME 231: Dynamics 20