C ili

Curvilinear motion
ti
Normall and
N d tangential
t ti l
coordinates
 Normal and tangential
coordinates
di
• They are path variables
variables, which are
measurements are made along the tangent
(t) and the normal (n) to the path of the
p
particle.
• In the n-t coordinate system, the origin is
located on the particle (the origin moves
with the particle).
Cont d...
Cont’d

• The
Th t-axis
t xis is tangent
t n nt to
t the
th path
p th (curve)
( )
at the instant considered, p
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.
• Most convenient when position, velocity, and
acceleration
l ti are described
d s ib d relative
l ti tot the
th path
th of
f
the particle itself.
• Origin of this coordinate moves with the particle t
coordinate axis is tangential to the path and
points to the direction of positive velocity.
• n coordinate axis is normal to the path and points
toward center of curvature of the path.
• n and t used to describe the velocity
y and
acceleration for the curvilinear motion of a
particle.
particle

• Similarly to the unit vectors

r r
i and j introduced for
g
rectangular coordinates,, unit
vectors for t-n coordinates
r can be used:
en
r
r • en in the n-direction
et
r
• et in the t-direction
 velocity

• The
Th magnitude
it d of
f the
th velocity
l it iis:-
r ds d dβ
v= v = = (ρdβ ) = ρ
dt dt dt

• Since
Si it
i iis unnecessary to consider
id the
h
differential change in ρ between A and
A’, r r r
&
v = vet = ρβet ........................((1)
Acceleration
• The acceleration of a particle is:-
is:
r r
r dv d(vet ) r r&
a= = = v&et + vet ..............(2)
dt dt
r&
• To find et , consider the fig.
r r&
• NB:- the direction of et & et are
diff
different.
t
r r
e t = e t′ = 1
• Using vector addition,
addition we have:
have:-
r r r
et′ = et + Δet
r
Magnitude ofΔet
r
( 2)
Δet = 2 sin Δθ

• Dividing both sides by Δθ

r ( θ
Δet 2 sin Δ 2
=
)
Δθ Δθ
• Now,
N ass Δθ → 0, this vector
t b
becomes
s
tangent
g to the unit circle,, in the
r
direction perpendicular to et
• Taking the limit as ∆ 0
Δet sin Δθ
lim = lim 2 =1
Δθ →0 Δθ Δθ →0 Δθ
2
• The vector obtained in the limit is a unit
vector along the normal to the path of the
particle.
Δet det
lim = =1
Δθ →0 Δθ dθ
 det
= 1.en
• Therefore dθ
det
∴ en = ⇒ det = dθ .en
dθ
• Dividing both sides by dt
• Then
det dθ
= .en
d
dt dt
d
• But d = ds/ρ
det 1 ds det v
= .en ⇒ = en
dt ρ dt dt ρ
• Equation a becomes
de t dv v2 dv
a = v + et ⇒ a = .e n + .e t
dt dt ρ dt
• We can write  
a = a n e n + a t et
where,                              and
2 •2 • ••
v at = v = ρ θ
an = = ρθ
ρ

a = a = an2 + at2
Note:
• an is always directed towards the center of curvature
of the path.

• at is directed towards the positive t-direction of the

m ti n if the
motion th speed
sp d v is increasing
in sin and
nd towards
t ds the
th
negative t-direction if the speed v is decreasing.

• At the inflection point in the curve, the normal

2
acceleration, v goes to zero since ρ becomes infinity.
g y
ρ
Special case of motion
• Circular motion
v2 but ρ=r and •
an = v = rθ
ρ
•
an = rθ 2 •
dv d ⎛ • ⎞ dθ
at = = ⎜rθ ⎟ = r
dt dt ⎝ ⎠ dt
••
at = r θ
•• •2
a = r θ et + r θ en
• The particle moves along a path expressed as
y = f(x). The radius of curvature, r, at any
point on the path can be calculated from

3
⎧ dy 2 ⎫ 2
⎨1 + ( ) ⎬
ρ xy = ⎩ d ⎭
dx
d2y
2
d
dx
APPLICATIONS
L
Cars traveling along a
clover-leaf interchange
experience an acceleration
due to a change in speed as
well as due to a change in
direction of the velocity.
velocity