MDM Week 2 Lesson Handouts - Lesson 2 - F = ma Cylindrical

Dynamics Coordinates

Dynamics
F = ma
Cylindrical Coordinates

Reference Handbook Section: Laws of Motion

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F = ma – Cylindrical Coordinates
Newton’s 2nd Law
All motion is governed by the following “vector” equation:
! !
dv !
Newton’s Second Law å F = m
dt
= ma

where: W
m=
g
!
! dv !
a= v = velocity vector
dt
!
! dr !
v= r = position vector
dt
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MDM Week 2 Lesson Handouts - Lesson 2 - F = ma Cylindrical
Dynamics Coordinates

F = ma – Cylindrical Coordinates
Kinematics

For cylindrical coordinates, called polar coordinates in 2D, the position

vector of a body traveling on a curvilinear path is written as:

"
r = r e! r
y
path ! the velocity is always
v tangent to the path
e! q r body
e! r
q x
z
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F = ma – Cylindrical Coordinates
Kinematics
The velocity and acceleration can be found from differentiation with
respect to time:
"
r = r e! r
#
# dr dr dq " "
v= = e! r + r e! q = r e! r + r q e! q
dt dt dt
#$
$ dV "" " "" " "
a= = (r - r q2 )e! r + (r q + 2r q)e! q
dt
! !
2r q - Coriolis acceleration

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MDM Week 2 Lesson Handouts - Lesson 2 - F = ma Cylindrical
Dynamics Coordinates

F = ma – Cylindrical Coordinates
Kinematics

The following is typical notation for the velocity and acceleration and
their respective magnitudes:
! !
vr = r vq = r q v= v r2 + v 2q
!! ! !! ! !
ar = r - r q2 aq = r q + 2r q a= ar2 + aq2

Also, the following notation is common for the angular velocity and the
angular acceleration:
Magnitudes of Angular ! !!
Velocity and Acceleration w=q a=q

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F = ma – Cylindrical Coordinates
Kinematics

For “circular” motion, the radial distance “r” is constant, so:

! !!
r =r =0
The position, velocity, and acceleration become:
"
r = r e! r
Plane Circular Motion "
v = r w e! q
"
a = ( - r w2 )e! r + r a e! q
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MDM Week 2 Lesson Handouts - Lesson 2 - F = ma Cylindrical
Dynamics Coordinates

F = ma – Cylindrical Coordinates
Kinematics

Graphically, the velocity and acceleration of a body in circular motion

are shown as follows:
Plane Circular
Motion v = vq = r w ar = - r w2 aq = r a

r r
r w2 ra
rw
w w,a

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F = ma – Cylindrical Coordinates
Example 1

A 1 lb box rests on a rotating plate as shown. Determine the

maximum angular velocity (rpm) before the box slips.
The coefficient of static friction between the box and the
plate is 0.3.
µs=0.3

1 lb box 1 lb box
w w

rotating 9 in
plate

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MDM Week 2 Lesson Handouts - Lesson 2 - F = ma Cylindrical
Dynamics Coordinates

F = ma – Cylindrical Coordinates
Example 1
Draw the free-body diagram of the box and apply Newton’s 2nd Law in
both the (r) and (z) directions:

Since we are looking for the maximum angular

velocity, the angular acceleration is zero.

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F = ma – Cylindrical Coordinates
Example 1

The maximum angular velocity will occur when the friction force is a
maximum:

Substituting for the maximum friction force gives:

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MDM Week 2 Lesson Handouts - Lesson 2 - F = ma Cylindrical
Dynamics Coordinates

F = ma – Cylindrical Coordinates
Example 1

Substituting for the given coefficient of static friction and the radial
distance to the box gives:

Note that in using symbols in the solution we discovered that the

weight of box cancels.

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F = ma – Cylindrical Coordinates
Example 1

An important question is what is the maximum angular acceleration to

reach the maximum angular velocity?

Applying Newton’s 2nd Law in the (q) direction gives:

The maximum angular acceleration will occur when the friction force is
a maximum:

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MDM Week 2 Lesson Handouts - Lesson 2 - F = ma Cylindrical
Dynamics Coordinates

F = ma – Cylindrical Coordinates
Example 1
Substituting for the maximum friction force gives:

Substituting for the given coefficient of static friction and the radial
distance to the box gives:

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MDM Week 2 Lesson Handouts - Lesson 2 - F = ma Cylindrical
Dynamics Coordinates

F = ma – Cylindrical Coordinates
Problem 1

A ball weighing 5 N is connected by a cable to a vertical shaft

rotating at a constant angular velocity (w) of 45 rpm. If the
perpendicular distance from the ball to the shaft is 0.75 m,
then determine the angle (f) the cable makes with the
horizontal.

A. 15o w
B. 30o
C. 45o f
D. 60o 5N

0.75 m

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