GENERAL CURVILINEAR MOTION

Curvilinear Motion – occurs when a particle moves along a curved path. Since this path is often described in
three dimensions, vector analysis will be used to formulate the particle’s position, velocity, and acceleration.

Position, r
The position of the particle measured from a fixed point O, will be designated by the position vector � =
�(�). Both the magnitude and direction of the vector will change as the particle moves along the curve.

Displacement, Δr
The displacement ∆� represents the change in the particle’s position and is determined by vector
subtraction ∆� = �' − �.
∆�
During the time ∆�, the average velocity of the particle is ���� = ∆�.

Acceleration, a
If the particle has a velocity � at time � and a velocity �' − � + ∆� at � + ∆�, then the average
∆�
acceleration of the particle during the time interval ∆� is ���� = ∆� (where ∆� = �' − �).

a) Tangential Acceleration (�� ) – a result of a change in speed

Tangential acceleration arises when the particle experiences a force parallel/antiparallel to the
direction of the velocity of the particle which results in non-uniform circular motion.
b) Normal Acceleration (�� ) – the component of acceleration for a point in a curvilinear motion that is
directed along the principal normal to the trajectory toward the center of curvature
Normal acceleration is also called centripetal acceleration.
�2
�� =
�
(where � = ������ �� ���������)

Resultant Acceleration: �� = �� 2 + �� 2

A major difference between tangential acceleration and curvilinear acceleration is their direction.
 Centripetal means “center-seeking”. Centripetal acceleration is always directed inward.
 Tangential acceleration is always directed tangent to the circle.
o By definition, tangential acceleration and centripetal acceleration are perpendicular to
one another.

Another major difference between tangential acceleration and centripetal acceleration is that circular motion
cannot exist without centripetal acceleration.
 No centripetal acceleration means the particle is not moving in a circle.
o Centripetal acceleration results from the change in direction of the tangential velocity. If
the tangential velocity is not changing directions, then the particle is not moving in a
circle.
 Tangential acceleration results from the change in magnitude of the tangential velocity of a particle. A
particle can move in a circle and not have any tangential acceleration. No tangential acceleration
simply means the angular acceleration of the particle is zero and the particle is moving with a constant
angular velocity.

Centripetal Force – the force that pulling a particle on the center; takes ��2
place along the radius of the circle but from the particle
�� =
�
in towards the center
Centrifugal Force – acts in a direction pointing away from the center of the circle; takes place along
the radius of the circle from the center out towards the particle

ES2: Dynamics of Rigid Bodies | engrjco 2