Kinematics of Particles in Polar Coordinates

Chapter 2
Kinematics of Particles
Polar Coordinates (r-θ)
(Third Type of Plane Curvilinear Motion)
2.18 Polar coordinate

It is sometime convenient to describe motion using polar coordinate; i.e.,
using 𝑟 and 𝛉
Radar tracking Robot Manipulator
Method of Polar Coordinates (r-θ) problems solution
1.Analytical method
2.find the equation of r from geometry and then derive twice and then
substitute in equations of 𝜈𝑟 , 𝜈𝜃 𝑎𝑛𝑑 𝑎𝑟 , 𝑎𝜃 to find a &v
A motivating example
Suppose, at the instant when r = 1 m, 𝛉 = 30°, we know that 𝑟 ̇ = 2 m/s
and 𝜃̇ = 0.5 rad/sec. What is the velocity of the point B?
• First, set up x-y and the position vector 𝑟 = 𝑥𝑖 + 𝑦𝑗
• Differentiate to get velocity
𝑑𝑥 𝑑𝑦
𝜈= 𝑖+ 𝑗 = 𝑥̇𝑖 + 𝑦̇𝑗
𝑑𝑡 𝑑𝑡
1 Assist. Prof. Dr.Eng.Kadim K.M. AlTurshan

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We don’t have 𝑥̇ but we have 𝑟̇ and 𝜃̇
Then we have
𝑥 = 𝑓(𝑟, 𝜃) = 𝑟𝑐𝑜𝑠𝜃
𝑦 = 𝑓(𝑟, 𝜃) = 𝑟𝑠𝑖𝑛𝜃
Chain Rule!
𝜕𝑥 𝑑𝑟 𝜕𝑥 𝑑𝜃 𝜕𝑦 𝑑𝑟 𝜕𝑦 𝑑𝜃
𝑉=( + )𝑖 + ( + )𝑗
𝜕𝑟 𝑑𝑡 𝜕𝜃 𝑑𝑡 𝜕𝑟 𝑑𝑡 𝜕𝜃 𝑑𝑡
We see that this method takes long time, we will shorten this process
2.19 The Position Vector
Idea: Setup a position vector and differentiate it to get velocity
The particle is located by the radial distance 𝑟 from a fixed pole and by
an angular measurement  to the radial line
Define a reference frame then define 𝑟 and θ
The location of the particle at A is define by the position vector 𝑟 = 𝑟𝑒𝑟
er is the unit vector in the +ve direction of 𝑟
𝑒𝑟 = 𝑐𝑜𝑠𝜃𝑖 + 𝑠𝑖𝑛𝜃𝑗
eθ is the unit vector in the +ve 𝛉 direction
𝑒𝜃 = − 𝑠𝑖𝑛𝜃𝑖 + 𝑐𝑜𝑠𝜃𝑗
𝑑
𝑒𝜃 = (𝑒 ) 𝑖. 𝑒 𝑒𝜃 𝑖𝑠 𝑡ℎ𝑒 𝑑𝑒𝑟𝑖𝑣𝑎𝑡𝑖𝑣𝑒 𝑜𝑓 𝑒𝑟
𝑑𝜃 𝑟
Assist. Prof. Dr.Eng.Kadim K.M. AlTurshan

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2.20 Velocity and Acceleration

dr
• 𝐕𝐞𝐥𝐨𝐜𝐢𝐭𝐲 ν= = 𝑟̇
dt
dv
• 𝐀𝐜𝐜𝐞𝐥𝐞𝐫𝐚𝐭𝐢𝐨𝐧 𝑎= = 𝑣̇ = 𝑟̈
dt
• Will need derivative of 𝑒𝑟 and 𝑒𝜃 by using the rule of differentiating of
scalar and vector
𝑑(𝑟𝑒𝑟 ) 𝑑𝑟 𝑑(𝑒𝑟 )
𝜈= = 𝑒𝑟 + 𝑟 = 𝑟̇ 𝑒𝑟 + 𝑟𝑒𝑟̇
𝑑𝑡 𝑑𝑡 𝑑𝑡
𝑑(𝑒𝑟 )
𝑊ℎ𝑒𝑟𝑒 = 𝑒̇𝑟
𝑑𝑡
Time derivative of the Unit Vectors
𝑑𝑖 𝑑𝑗 𝑑𝑖 𝑑𝑘
𝑵𝒐𝒕𝒆 𝒕𝒉𝒂𝒕 = 𝑖̇̇ = 0 , = 𝑗̇̇ = 0 = 0 𝑎𝑛𝑑 = 𝑘̇ = 0
𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡
𝑑
𝑒̇𝑟 = (𝑐𝑜𝑠𝜃𝑖 + 𝑠𝑖𝑛𝜃𝑗) (1)
𝑑𝑡
𝑑𝑖 𝑑𝑗
= 𝑐𝑜𝑠𝜃 − 𝑠𝑖𝑛𝜃𝜃̇𝑖 + 𝑠𝑖𝑛𝜃 + 𝑐𝑜𝑠𝜃𝜃̇ 𝑗
𝑑𝑡 𝑑𝑡
= −𝑠𝑖𝑛𝜃𝜃̇𝑖 + 𝑐𝑜𝑠𝜃𝜃̇ 𝑗
Recall:
𝑒𝜃 = − 𝑠𝑖𝑛𝜃𝑖 + 𝑐𝑜𝑠𝜃𝑗
𝑒̇𝑟 = 𝜃̇ 𝑒𝜃

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𝑑(𝑒𝜃 ) 𝑑
= 𝑒̇𝜃 = (− 𝑠𝑖𝑛𝜃𝑖 + 𝑐𝑜𝑠𝜃𝑗)
𝑑𝑡 𝑑𝑡
𝑑𝑖 𝑑𝑗
= − 𝑠𝑖𝑛𝜃 − 𝑐𝑜𝑠𝜃𝜃̇𝑖 + 𝑐𝑜𝑠𝜃 − 𝑠𝑖𝑛𝜃𝜃̇ 𝑗
𝑑𝑡 𝑑𝑡
= −𝑐𝑜𝑠𝜃𝜃̇ 𝑖 − 𝑠𝑖𝑛𝜃𝜃̇𝑗 (2)
• Recall:
𝑒𝑟 = 𝑐𝑜𝑠𝜃𝑖 + 𝑠𝑖𝑛𝜃𝑗
𝑒̇𝜃 = −𝜃̇𝑒𝑟
Velocity
𝑑(𝑟𝑒𝑟 )
𝜈= = 𝑟̇ 𝑒𝑟 + 𝑟𝑒̇𝑟 ∗
𝑑𝑡
Velocity (Polar)
sub 𝑒̇𝑟 = 𝜃̇𝑒𝜃 in equation (*) yields
𝜈 = 𝑟̇ 𝑒𝑟 + 𝑟θ̇eθ
Velocity Components
𝜈𝑟 = 𝑟̇ , 𝜈𝜃 = 𝑟𝜃̇ , 𝜈 = √𝑣𝑟2 + 𝑣2
Acceleration
3-term
𝑑𝑣 𝑑 derivative
𝑎= = (𝑟̇ 𝑒𝑟 + 𝑟θ̇eθ )
𝑑𝑡 𝑑𝑡 𝒓 , 𝜽̇, 𝐞𝛉
= 𝑟̈ 𝑒𝑟 + 𝑟̇ 𝑒̇𝑟 + 𝑟̇ θ̇eθ + 𝑟θ̈eθ + 𝑟θ̇𝑒̇𝜃
(∵ ė θ = −θ̇er , 𝑒̇𝑟 = θ̇eθ )
∴ 𝑎 = 𝑟̈ 𝑒𝑟 + 𝑟̇ θ̇eθ + 𝑟̇ θ̇eθ + 𝑟θ̈eθ + 𝑟̇ (−θ̇er )

2
= 𝑟̈ 𝑒𝑟 + 2𝑟̇ θ̇eθ + 𝑟θ̈eθ − 𝑟̇ er
Acceleration (Polar)
2
𝑎 = (𝑟̈ −𝑟 ̇ )𝑒𝑟 + (𝑟𝜃̈ + 2𝑟̇ 𝜃̇)𝑒𝜃
Acceleration Components

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2
𝑎𝑟 = 𝑟̈ − 𝑟̇
𝑎 = 𝑟θ̈ + 2𝑟̇ θ̇
𝑎 = √𝑎𝑟2 + 𝑎2
Note
𝑎 = 𝑟θ̈ + 2𝑟̇ θ̇ can be written as

1𝑑 2
𝑎𝜃 = (𝑟 𝜃̇) Useful in angular momentum of particles
𝑟 𝑑𝑡
̇
2𝑟̇ 𝜃 = corilios component
Note
 𝜃̇ = ω 𝑎𝑛𝑔𝑢𝑙𝑎𝑟 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦 𝑟𝑎𝑑/𝑠
 𝜃̈ = α 𝑎𝑛𝑔𝑢𝑙𝑎𝑟 𝑎𝑐𝑐𝑒𝑙𝑒𝑟𝑎𝑡𝑖𝑜𝑛 𝑟𝑎𝑑/𝑠 2
 𝜃̇ = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡 𝑡ℎ𝑒𝑛 𝜃̈ = zero
 𝑣 = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡 𝑡ℎ𝑒𝑛 𝑎 = 𝑎𝑟 = 𝑎𝜃 = 0
Alternative Proof of the Time Derivative of the Unit Vectors
During time dt, the position vector rotates through angle of 𝑑𝜃 the unit
vectors 𝑒𝑟 and 𝑒𝜃 must also rotate with same amount angle of 𝑑𝜃 rotation
as shown in the figure.

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The coordinate direction at time t
 𝑑𝑒𝑟 in +ve  direction

 𝑑𝑒 in -ve 𝑟 direction
Magnitude of der and de are equal to the unit vector of (𝑅 × 𝑑𝜃) in rad
where 𝑅 = 𝑟𝑎𝑑𝑖𝑢𝑠 𝑎𝑛𝑑 𝑟𝑎𝑑 = 𝑟𝑎𝑑𝑖𝑎𝑛𝑠 (𝑢𝑛𝑖𝑡)
From the figure Change in 𝑒𝑟 = 𝑑𝑒𝑟
𝑑𝑒𝑟 = (|𝑒𝑟 | × 𝑑)𝑒 , |𝑒𝑟 | = 1

𝑑𝑒𝑟
𝑑𝑒𝑟 = 𝑑 𝑒 𝑜𝑟 𝑑𝑒𝑟 = 𝑒 𝑑 ⟹ = 𝑒
𝑑
𝑑𝑒𝑟 𝑑
Divided by 𝑑𝑡, we have = ( ) 𝑒 = 𝜃̇ 𝑒 ⟹ 𝑒̇𝑟 = 𝜃̇ 𝑒
𝑑𝑡 𝑑𝑡
Similarly for 𝑑𝑒𝜃
From the figure Change in 𝑒𝜃 = 𝑑𝑒𝜃
𝑑𝑒𝜃 = (|𝑒𝜃 | × 𝑑)(−𝑒𝑟 ) , |𝑒𝜃 | = 1

𝑑𝑒𝜃
𝑑𝑒𝜃 = −𝑑 𝑒𝑟 𝑜𝑟 𝑑𝑒𝜃 = − 𝑒𝑟 𝑑 ⟹ = − 𝑒𝑟
𝑑
𝑑𝑒𝜃 𝑑
Divided by 𝑑𝑡, we have = − ( ) 𝑒𝑟 = −𝜃̇𝑒𝑟 ⟹ 𝑒̇𝜃 = −𝜃̇ 𝑒̇𝑟
𝑑𝑡 𝑑𝑡
Then complete the analysis as before ….

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2.21 Geometric Interpretation
Acceleration is the result of changes in both the magnitude and the

direction of 𝜈𝑟 and 𝜈𝜃
Changes in magnitude of 𝜈𝑟 results in 𝑟̈
Changes in direction of 𝜈𝑟 results in 𝑟̇ 𝜃̇
Changes in magnitude of 𝜈𝜃 results in 𝑟̇ 𝜃̇ 𝑎𝑛𝑑 𝑟𝜃̈
Changes in direction of 𝜈𝜃 results in 𝑟𝜃̇ 2
2.22 Important Case: Circular Motion
Place the origin of the

reference frame at the center
of the circle
𝑟 is the length from O to P,
r = constant
𝒓̇ = 𝒓̈ = 𝟎
 is the angle of OP from

some fixed direction
𝑒𝑟 Points from O toward P
𝑒𝜃 Perpendicular to 𝑒𝑟 and toward positive O

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• Velocity
𝒗𝒓 = 𝒓̇ = 𝟎
𝝂𝜽 = 𝒓𝜽̇ (𝟑)
• Acceleration 𝒂𝒓 = 𝒓̈ − 𝒓𝜽̇𝟐 = −𝒓𝜽̇𝟐
𝒂𝜽 = 𝒓𝜽̈ + 𝟐𝒓̇ 𝜽̇ = 𝒓𝜽̈
Constant speed circular motion:
If the speed is constant, then 𝜈𝜃 constant; i.e., 𝜃̈= 0 Then, 𝑎𝜃 = 0 too.
2.23 Transformation from radial and angular (transverse)

components of acceleration to the normal and tangential components
of acceleration
𝑎𝑡 = 𝑎𝑟 𝑐𝑜𝑠𝛽 + 𝑎𝜃 𝑠𝑖𝑛𝛽
𝑎𝑛 = 𝑎𝜃 𝑐𝑜𝑠𝛽 − 𝑎𝑟 𝑠𝑖𝑛𝛽
𝑣𝑟 𝑣
𝐶𝑜𝑠𝛽 = , 𝑠𝑖𝑛𝛽 =
𝑣 𝑣
𝑎𝑟 𝑣𝑟 + 𝑎𝜃 𝑣𝜃
𝑎𝑡 =
𝑣
𝑎𝜃 𝑣𝑟 − 𝑎𝑟 𝑣𝜃
𝑎𝑛 =
𝑣
𝑎𝑡 = 𝑎. 𝑒𝑟 = (𝑎𝑟 + 𝑎𝜃 )𝑒𝑟
𝑎𝑛 = 𝑎. 𝑒𝜃 = (𝑎𝑟 + 𝑎𝜃 )𝑒𝜃
Polar
𝑥 = 𝑟𝑐𝑜𝑠𝜃 𝑦 = 𝑟𝑠𝑖𝑛𝜃 𝑎𝑥 = 𝑥̈ 𝑎𝑦 = 𝑦̈
Rectangular 𝑎2 = 𝑎𝑥2 + 𝑎𝑦2 , Polar 𝑎 = 𝑎𝑟 𝑒𝑟+ 𝑎𝜃 𝑒𝜃

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Example 1

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𝒆𝜽 = 𝒅⁄𝒅𝜽 (𝒆𝒓 ) 𝒊. 𝒆 𝒆𝜽 𝐢𝐬 𝐭𝐡𝐞 𝐝𝐞𝐫𝐢𝐯𝐚𝐭𝐢𝐯𝐞 𝐨𝐟 𝒆𝒓
 So we have for  =30o given 𝒗 = 𝟎. 𝟎𝟔𝟒𝒊 + 𝟎. 𝟐𝟖𝟗𝒋 𝒎⁄𝒔 𝑨𝒏𝒔
𝟐
𝐬𝐢𝐦𝐢𝐥𝐚𝐫𝐥𝐲 𝐟𝐨𝐫 𝒂 == 𝒂𝒓 𝒊 + 𝒂𝜽 𝒋 = (𝒓̈ −𝒓̇ )𝒆𝒓 + (𝒓𝜽̈ + 𝟐𝒓̇ 𝜽̇)𝒆𝜽 ∗
𝒆𝒓 = 𝒄𝒐𝒔𝜽𝒊 + 𝒔𝒊𝒏𝜽𝒋
) 𝒔𝒖𝒃 𝒊𝒏 𝑬𝒒(∗) 𝒚𝒊𝒆𝒍𝒅𝒔,
𝒆𝜽 = − 𝒔𝒊𝒏𝜽𝒊 + 𝒄𝒐𝒔𝜽𝒋
𝒂 = 𝒂𝒓 (𝒄𝒐𝒔𝜽𝒊 + 𝒔𝒊𝒏𝜽𝒋) + 𝒂𝜽 (− 𝒔𝒊𝒏𝜽𝒊 + 𝒄𝒐𝒔𝜽𝒋)
= −𝟎. 𝟑𝟑𝟖(𝒄𝒐𝒔𝟑𝟎𝒐 𝒊 + 𝒔𝒊𝒏𝟑𝟎𝒐 𝒋) + 𝟎. 𝟎𝟕(− 𝒔𝒊𝒏𝟑𝟎𝒐 𝒊 + 𝒄𝒐𝒔𝟑𝟎𝒐 𝒋)
= −𝟎. 𝟑𝟐𝟕𝒊 − 𝟎. 𝟏𝟎𝟗𝒋

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Example 2
Note
∵ Constant velocity ∴ acceleration = zero

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Another Method using i,j vectors

𝒐𝒓 − 𝟏. 𝟓 𝒊 = 𝒓̇ 𝒆𝒓 + 𝒓̇ 𝜽̇𝒆𝜽
−𝟏. 𝟓 𝒊 = 𝒓̇ (𝒄𝒐𝒔𝜽𝒊 + 𝒔𝒊𝒏𝜽𝒋) + 𝒓̇ 𝜽̇(− 𝒔𝒊𝒏𝜽𝒊 + 𝒄𝒐𝒔𝜽𝒋)
𝟎. 𝟏𝟓
−𝟏. 𝟓 𝒊 = 𝒓̇ (𝒄𝒐𝒔𝟔𝟎𝒐 𝒊 + 𝒔𝒊𝒏𝟔𝟎𝒐 𝒋) + 𝒐
𝜽̇(− 𝒔𝒊𝒏𝟔𝟎𝒐 𝒊 + 𝒄𝒐𝒔𝟔𝟎𝒐 𝒋)
𝒔𝒊𝒏𝟔𝟎
Solve, rearranging and then comparing i and j yields
𝒓̇ = − 𝟎. 𝟕𝟓 𝒎⁄𝒔 & 𝜽̇ = 𝟕. 𝟓 𝒓𝒂𝒅/𝒔

13

14
Example 2 (Modified)

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𝟎
(𝑽𝑨 )𝒙 𝒊 + (𝑽𝑨 )𝒚 𝒋 = ⏞
𝒓̇ 𝒆𝒓 + 𝒓𝜽̇𝒆𝜽
𝟎. 𝟏𝟓
−𝟏. 𝟓 𝒊 + (𝑽𝑨 )𝒚 𝒋 = 𝒐
𝜽̇(− 𝒔𝒊𝒏𝟔𝟎𝒐 𝒊 + 𝒄𝒐𝒔𝟔𝟎𝒐 𝒋)
𝒔𝒊𝒏𝟔𝟎
−𝟏. 𝟓 𝒊 + (𝑽𝑨 )𝒚 𝒋 = −𝟎. 𝟏𝟓𝜽̇𝒊 + 𝟎. 𝟎𝟖𝟔𝟔𝜽̇𝒋
comparing two sides gives 𝜽̇ = 𝟏𝟎 𝒓𝒂𝒅⁄𝒔 & (𝑽𝑨 )𝒚 = 𝟎. 𝟖𝟔𝟔 𝒎/𝒔
𝒎
𝑽𝑨 = √(𝑽𝑨 )𝟐𝒙 + (𝑽𝑨 )𝟐𝒚 = √(−𝟏. 𝟓)𝟐 + (𝟎. 𝟖𝟔𝟔) 𝟐 = 𝟏. 𝟕𝟑𝟐
𝒔

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𝟐
𝒂𝑨 )𝒚 𝒋. 𝒊 = [𝒓̇ (𝒄𝒐𝒔𝜽𝒊 + 𝒔𝒊𝒏𝜽𝒋) + 𝒓𝜽̈ (– 𝒔𝒊𝒏𝜽𝒊 + 𝒄𝒐𝒔𝜽𝒋)] . 𝒊
– 𝒔𝒊𝒏𝟔𝟎𝒐 =– 𝒄𝒐𝒔𝟑𝟎𝒐
Another Method
𝟐
𝒂𝒙 𝒊 + 𝒂𝒚 𝒋 = (𝒓̈ −𝒓̇ )𝒆𝒓 + (𝒓𝜽̈ + 𝟐𝒓̇ 𝜽̇)𝒆𝜽

17
𝒓 = 𝒄𝒐𝒏𝒔𝒕. , 𝒓̇ = 𝟎 𝒂𝒏𝒅 𝒂𝒙 = 𝟎 𝐛𝐞𝐜𝐚𝐮𝐬𝐞 𝒙̇ = 𝒄𝒐𝒏𝒔𝒕. (𝐠𝒊𝒗𝒆𝒏)

𝟐
𝟎𝒊 + 𝒂𝒚 𝒋 = 𝒓̇ 𝒆𝒓 + 𝒓𝜽̈ 𝒆𝜽
𝟐
𝟎𝒊 + 𝒂𝒚 𝒋 = 𝒓̇ (𝒄𝒐𝒔𝜽𝒊 + 𝒔𝒊𝒏𝜽𝒋) + 𝒓𝜽̈ (– 𝒔𝒊𝒏𝜽𝒊 + 𝒄𝒐𝒔𝜽𝒋)
Multiply two sides of equation by dot product of (. 𝒊)

𝟐
𝟎𝒊. 𝒊 + 𝒂𝒚 𝒋. 𝒊 = {𝒓̇ (𝒄𝒐𝒔𝜽𝒊 + 𝒔𝒊𝒏𝜽𝒋) + 𝒓𝜽̈ (– 𝒔𝒊𝒏𝜽𝒊 + 𝒄𝒐𝒔𝜽𝒋)} . 𝒊
𝟐
𝟎 = 𝒓̇ 𝒄𝒐𝒔𝟔𝟎𝒐 − 𝒓𝜽̈ 𝒔𝒊𝒏𝟔𝟎𝒐 ⟹ 𝜽̈ =
Multiply two sides of equation by dot product of (. 𝒋)

𝟐
𝟎𝒊. 𝒋 + 𝒂𝒚 𝒋. 𝒋 = {𝒓̇ (𝒄𝒐𝒔𝜽𝒊 + 𝒔𝒊𝒏𝜽𝒋) + 𝒓𝜽̈ (– 𝒔𝒊𝒏𝜽𝒊 + 𝒄𝒐𝒔𝜽𝒋)} . 𝒋
𝟐
𝒂𝒚 = 𝒓̇ 𝒔𝒊𝒏𝜽 + 𝒓𝜽̈ 𝒄𝒐𝒔𝜽 ⟹ 𝒂𝒚 =
Example 3

18
From Figure F.B.D
𝒆𝒕 = 𝒄𝒐𝒔𝜽𝒆𝒓 − 𝒔𝒊𝒏𝜽𝒆𝜽
𝒆𝒏 = −𝒄𝒐𝒔𝜽𝒆𝒓 − 𝒔𝒊𝒏𝜽𝒆𝜽

19
𝒗𝟐
𝒂𝑨 = 𝒆 + 𝒗̇ 𝒆𝒕
𝝆 𝒏
𝒅
= 𝜷𝟐 𝝆𝒆𝒏 + (𝝆𝜷̇)𝒆𝒕
𝒅𝒕
𝟎 𝒐
𝟐 ⏞̈ + 𝜷̇ ⏞
= 𝜷 𝝆𝒆𝒏 + (𝝆 𝜷 𝝆̇ ) 𝒆𝒕 = 𝜷𝟐 𝝆𝒆𝒏

20
Example 4

21
Example 5 (Slinger)
Example 6

22
Example 7
solution

23

24
Example 8
Solution

25
Example 9
Solution

26
Example10

27
Soluion
𝑜𝑟 𝑟̈ = −2𝑏 (𝜃̇ cos 𝜃 𝜃̇ + ⏞

𝜃̈ sin 𝜃) = −2𝑏𝜃̇ 2 cos 𝜃 = −2𝑏𝑘 2 cos 𝜃
𝜃̇ = 𝑘 , 𝜃̈ = 0

28
Example11
Pin A moves in a circle of

90 mm radius as crank AC
revolves at the constant rate
𝛽̇ = 60 𝑟𝑎𝑑 ⁄𝑠. The slotted
link rotates about point O as
rod attached to A moves in
and out of the slot . For the
position 𝛽 = 30𝑜
,determine 𝑟̇ , 𝑟̈ , 𝜃̇ 𝑎𝑛𝑑 𝜃̈.
𝐴𝑛𝑠 𝑟̇ = 3.58 𝑚 ⁄𝑠 , 𝑟̈ = 315 𝑚 ⁄𝑠 2 , 𝜃̇ = 17.86 𝑟𝑎𝑑 ⁄𝑠 , 𝜃̈ = −1510 𝑟𝑎𝑑/𝑠 2 .
Solution

29

30
Example12
Solution
Example13

31

32

33
Summary
Units
Symbols Engineering Units MKS Units

𝑠, 𝜌, 𝑅, 𝑥, 𝑦 ft m
𝑣, 𝑥̇ , 𝑦̇ , 𝑠̇ 𝑓𝑡/𝑠𝑒𝑐 ( 𝑓𝑝𝑠) m/sec
𝑎, 𝑥̈ , 𝑦̈ , 𝑠̈ 𝑓𝑡/𝑠𝑒𝑐 𝑒 𝑚/𝑠𝑒𝑐 𝑒
𝜃, 𝜙 radians (rad) rad
𝜔, 𝜃̇, 𝜙̇ rad/s rad/s
𝛼, 𝜃̈ , 𝜙̈ 𝑟𝑎𝑑/𝑠 2 𝑟𝑎𝑑/𝑠 2
 Outlook
 Space Curvilinear Motion

Kinematics of Particles in Polar Coordinates

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Kinematics of Particles in Polar Coordinates

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Chapter 2

(Third Type of Plane Curvilinear Motion)

2.18 Polar coordinate

Radar tracking Robot Manipulator

Method of Polar Coordinates (r-θ) problems solution

1 Assist. Prof. Dr.Eng.Kadim K.M. AlTurshan

We don’t have 𝑥̇ but we have 𝑟̇ and 𝜃̇

2.19 The Position Vector

Idea: Setup a position vector and differentiate it to get velocity

Define a reference frame then define 𝑟 and θ

The location of the particle at A is define by the position vector 𝑟 = 𝑟𝑒𝑟

er is the unit vector in the +ve direction of 𝑟

eθ is the unit vector in the +ve 𝛉 direction

Assist. Prof. Dr.Eng.Kadim K.M. AlTurshan

2.20 Velocity and Acceleration

Assist. Prof. Dr.Eng.Kadim K.M. AlTurshan

sub 𝑒̇𝑟 = 𝜃̇𝑒𝜃 in equation (*) yields

𝜈𝑟 = 𝑟̇ , 𝜈𝜃 = 𝑟𝜃̇ , 𝜈 = √𝑣𝑟2 + 𝑣2

= 𝑟̈ 𝑒𝑟 + 𝑟̇ 𝑒̇𝑟 + 𝑟̇ θ̇eθ + 𝑟θ̈eθ + 𝑟θ̇𝑒̇𝜃

(∵ ė θ = −θ̇er , 𝑒̇𝑟 = θ̇eθ )

∴ 𝑎 = 𝑟̈ 𝑒𝑟 + 𝑟̇ θ̇eθ + 𝑟̇ θ̇eθ + 𝑟θ̈eθ + 𝑟̇ (−θ̇er )

Assist. Prof. Dr.Eng.Kadim K.M. AlTurshan

𝑎 = 𝑟θ̈ + 2𝑟̇ θ̇ can be written as

Alternative Proof of the Time Derivative of the Unit Vectors

Assist. Prof. Dr.Eng.Kadim K.M. AlTurshan

The coordinate direction at time t

 𝑑𝑒𝑟 in +ve  direction

where 𝑅 = 𝑟𝑎𝑑𝑖𝑢𝑠 𝑎𝑛𝑑 𝑟𝑎𝑑 = 𝑟𝑎𝑑𝑖𝑎𝑛𝑠 (𝑢𝑛𝑖𝑡)

From the figure Change in 𝑒𝑟 = 𝑑𝑒𝑟

𝑑𝑒𝑟 = (|𝑒𝑟 | × 𝑑)𝑒 , |𝑒𝑟 | = 1

From the figure Change in 𝑒𝜃 = 𝑑𝑒𝜃

𝑑𝑒𝜃 = (|𝑒𝜃 | × 𝑑)(−𝑒𝑟 ) , |𝑒𝜃 | = 1

Assist. Prof. Dr.Eng.Kadim K.M. AlTurshan

2.21 Geometric Interpretation

Acceleration is the result of changes in both the magnitude and the

Changes in magnitude of 𝜈𝑟 results in 𝑟̈

Changes in direction of 𝜈𝑟 results in 𝑟̇ 𝜃̇

Changes in magnitude of 𝜈𝜃 results in 𝑟̇ 𝜃̇ 𝑎𝑛𝑑 𝑟𝜃̈

Changes in direction of 𝜈𝜃 results in 𝑟𝜃̇ 2

2.22 Important Case: Circular Motion

Place the origin of the

𝑟 is the length from O to P,

 is the angle of OP from

𝑒𝑟 Points from O toward P

𝑒𝜃 Perpendicular to 𝑒𝑟 and toward positive O

Assist. Prof. Dr.Eng.Kadim K.M. AlTurshan

• Acceleration 𝒂𝒓 = 𝒓̈ − 𝒓𝜽̇𝟐 = −𝒓𝜽̇𝟐

𝒂𝜽 = 𝒓𝜽̈ + 𝟐𝒓̇ 𝜽̇ = 𝒓𝜽̈

Constant speed circular motion:

If the speed is constant, then 𝜈𝜃 constant; i.e., 𝜃̈= 0 Then, 𝑎𝜃 = 0 too.

2.23 Transformation from radial and angular (transverse)

Rectangular 𝑎2 = 𝑎𝑥2 + 𝑎𝑦2 , Polar 𝑎 = 𝑎𝑟 𝑒𝑟+ 𝑎𝜃 𝑒𝜃

Assist. Prof. Dr.Eng.Kadim K.M. AlTurshan

Assist. Prof. Dr.Eng.Kadim K.M. AlTurshan

𝒆𝜽 = 𝒅⁄𝒅𝜽 (𝒆𝒓 ) 𝒊. 𝒆 𝒆𝜽 𝐢𝐬 𝐭𝐡𝐞 𝐝𝐞𝐫𝐢𝐯𝐚𝐭𝐢𝐯𝐞 𝐨𝐟 𝒆𝒓

 So we have for  =30o given 𝒗 = 𝟎. 𝟎𝟔𝟒𝒊 + 𝟎. 𝟐𝟖𝟗𝒋 𝒎⁄𝒔 𝑨𝒏𝒔

𝒂 = 𝒂𝒓 (𝒄𝒐𝒔𝜽𝒊 + 𝒔𝒊𝒏𝜽𝒋) + 𝒂𝜽 (− 𝒔𝒊𝒏𝜽𝒊 + 𝒄𝒐𝒔𝜽𝒋)

= −𝟎. 𝟑𝟑𝟖(𝒄𝒐𝒔𝟑𝟎𝒐 𝒊 + 𝒔𝒊𝒏𝟑𝟎𝒐 𝒋) + 𝟎. 𝟎𝟕(− 𝒔𝒊𝒏𝟑𝟎𝒐 𝒊 + 𝒄𝒐𝒔𝟑𝟎𝒐 𝒋)

= −𝟎. 𝟑𝟐𝟕𝒊 − 𝟎. 𝟏𝟎𝟗𝒋

Assist. Prof. Dr.Eng.Kadim K.M. AlTurshan

∵ Constant velocity ∴ acceleration = zero

Assist. Prof. Dr.Eng.Kadim K.M. AlTurshan