2.

5 CURVILINEAR MOTION:
CYLINDRICAL COMPONENTS
Learning Outcome:
Upon completion of this sub-chapter, students will be able to:
1. Determine velocity and acceleration components using
cylindrical coordinates.
1

f\
 READING QUIZ

1. In a polar coordinate system, the velocity

. vector can
. be
.
written as v = vrur + vθuθ = rur + rquq. The term q is called
A) transverse velocity. B) radial velocity.
C) angular velocity. D) angular acceleration.

2. The speed of a particle in a cylindrical coordinate system is

. .
A) r B) rq
.2 .2 .2 . 2 . 2
C) (rq) + (r) D) (rq) + (r) + (z)

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 CYLINDRICAL COMPONENTS
(Section 12.8)

ur
r
V»
o
Position

We can express the location of P in polar coordinates as r = r ur.

Note that the radial direction, r, extends outward from the fixed
origin, O, and the transverse coordinate, q, is measured counter-
clockwise (CCW) from the horizontal.
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 VELOCITY in POLAR COORDINATES)
H
The instantaneous velocity is defined as:
\.
u„
r v = dr/dt = d(rur)/dt
H,
. dur
r
v = rur + r
O
H
dt
Position
Using the chain rule:
dur/dt = (dur/dq)(dq/dt) .
. q = uθ so dur/dt = quθ
'
II
Aur We can prove that dur/d
.
1 »r Therefore: v = rur + rquθ
.
AH

.
Thus, the velocity vector has two components: r,
V
called the radial component, and rq called the
V« 1

V transverse component. The speed of the particle at

r
6
any given instant is the sum of the squares of both
()
components or
Velocity
. .
v = (r q )2 + ( r )2
v/ <\>
 ACCELERATION (POLAR COORDINATES)
The instantaneous acceleration is defined as:
Aue . .
«*0 a = dv/dt = (d/dt)(rur + rquθ)
I
After manipulation, the acceleration can be
AO u, expressed as
.. . .. ..
a = (r – rq )ur + (rq + 2rq)uθ
2
a
.. .
ae
\
The term (r – rq 2) is the radial acceleration
*r
or ar .
r P
.. ..
o
\e
The term (rq + 2rq) is the transverse
Acceleration acceleration or aq .
.. .2 2 .. . .
The magnitude of acceleration is a = (r – rq ) + (rq + 2rq) 2
 CYLINDRICAL COORDINATES

«'z
If the particle P moves along a space
U„
curve, its position can be written as
»'r

r'\
rP = rur + zuz

Taking time derivatives and using

/h, the chain rule:
.

. . .
Velocity: vP = rur + rquθ + zuz
.. . 2 .. .. ..
Acceleration: aP = (r – rq )ur + (rq + 2rq)uθ + zuz
 EXAMPLE

Given: A car travels along a circular

v path.
.
r = 300 ft, q = 0.4 (rad/s),
..
s/pBi t7'0 = 0
u ooe = q = 0.2 (rad/s2)
o /Skzs/peJ z'O =
e Find: Velocity and acceleration
Plan: Use the polar coordinate system.
Solution:

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EXAMPLE
(continued)

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 CONCEPT QUIZ

.
1. If r is zero for a particle, the particle is

A) not moving. B) moving in a circular path.

C) moving on a straight line. D) moving with constant velocity.

2. If a particle moves in a circular path with constant velocity, its

radial acceleration is
..
A) zero. B) r .
. . .
C) − rq 2. D) 2rq .

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