BMFA 2123: DYNAMICS

Chapter 13
Kinetics of Particle: Force &
Acceleration (W5)
~ Cylindrical Coordinates ~
Learning objectives:
Students will be able to:
1. Analyze the kinetics of a particle using cylindrical
coordinates.
 CYLINDRICAL COORDINATES
3
This approach to solving problems has
some external similarity to the normal &
tangential method just studied. However,
the path may be more complex or the
problem may have other attributes that
make it desirable to use cylindrical
coordinates.

Equilibrium equations or “Equations of Motion” in cylindrical

coordinates (using r, θ , and z coordinates) may be expressed
in scalar form as:
.. . 2
 Fr = mar = m (r – r θ )
.. . .
 Fθ = maθ = m (r θ – 2 r θ)
..
 Fz = maz = m z
 CYLINDRICAL COORDINATES
4 (continued)

If the particle is constrained to move only in the r – θ plane

(i.e., the z coordinate is constant), then only the first two
equations are used (as shown below). The coordinate system
in such a case becomes a polar coordinate system. In this
case, the path is only a function of θ.
.. .
 Fr = mar = m(r – rθ 2)
.. . .
 Fθ = maθ = m(rθ – 2rθ )

Note that a fixed coordinate system is used, not a “body-

centered” system as used in the n – t approach.
 TANGENTIAL AND NORMAL FORCES
5
If a force P causes the particle to move along a path defined by r
= f (θ ), the normal force N exerted by the path on the particle is
always perpendicular to the path’s tangent. The frictional force F
always acts along the tangent in the opposite direction of
motion. The directions of N and F can be specified relative to the
radial coordinate by using angle y .
 DETERMINATION OF ANGLE PSI
6

If y is positive, it is measured counterclockwise from the radial line

to the tangent. If it is negative, it is measured clockwise.
 Procedure for analysis
7
 Cylindrical or polar
coordinates are used when
data regarding the angular
motion of the radial line r are
given.
 Step 1:
Draw the free body diagram in
relation to r, θ, z inertial
coordinate system.
Assume that ar , aθ , az act in the
positive direction of r, θ, z if they
are unknown.
Identify all the unknowns in the
problem.
 Step 2:
Apply the equation of motion
 Step 3:
Determine r and the time
derivatives 𝑟, 𝑟, 𝜃, 𝜃, 𝑧 and then
evaluate the accelerration
components 𝑎𝑟 = 𝑟 − 𝑟𝜃 2 , 𝑎𝜃 =
𝑟𝜃 + 2𝑟𝜃, 𝑎𝑧 = 𝑧.
If any of the acceleration
components is computed as a
negative quantity, it indicates
that it acts in its negative
coordinate direction.
When taking the time derivatives
of 𝑟 = 𝑓(𝜃), use the chain rule of
calculus.
8 Example 1 (All solution in class)
9 Example 2
10 Example 3
11

THE END