CHAPTER XI – CURVILINEAR TRANSLATION

1. Translation of a rigid body – the motion in which a straight line passing through any
two points of the body always remains parallel to its initial position. This
definition requires that all particles of the translating body have exactly the same
motion.
2. In curvilinear motion, the displacement vector will change in both the magnitude
and inclination.
3. In curvilinear motion, although the velocity is always directed tangent to the curved
path of motion, the acceleration is not tangent to the path.
4. Flight Projectiles
Rectilinear Motion with X Component of Y Component of
Constant Acceleration Flight Flight
ax = 0; vox = vo cos  ay = -g; voy = vo sin 
v = vo + at vx = vox + ax t or vy = voy +ay t or
vx = vo cos  vy = vo sin  - gt
x = vox t + ½ ax t2 or y = voy t + ½ ay t2 or
s = vo t + ½ at2 x = vo cos t y = vo sin  t - ½ gt2
Tangential and Normal Components of Acceleration
5. The most useful components of acceleration are those which are tangent and normal
to the path. These components denote respectively the rate of change of
magnitude and of direction of velocity.
6. The magnitude of the resultant acceleration is given by:

a =  an2 + at2
and its inclination with the normal by tan = at / an
7. “a = dvt / dt” represents only the rate of change in magnitude of velocity
and that it will be zero if the speed is constant.
8. If it is denoted the velocity at any point by v, the normal acceleration is:

an = v2 / r
while the tangential acceleration is:

at = dv / dt
Kinetics of Curvilinear Translation. Dynamic Equilibrium
9. The kinetic equations of curvilinear translation are obtained from the equation of
motion for the center of gravity of any body, i.e., R = Wa/g. It is convenient to
resolve this equation into components which are normal and tangent to the path.
Calling the normal axis N and the tangential axis T:
 Wan Wv2 Wat Wat
N = = T = =
g gr g g

The bar signs which refer to the motion of the center of gravity can be omitted
from these equations because all particles in translation have identical values of
acceleration as well as displacement and velocity.

L h 

T T W

Wv2 vr
gr Wv2
r
W gr

Conical pendulum Force polygon

10. Dynamic equilibrium is created by applying the centrifugal inertia force acting
radially outward from the center of the path.
11. The inclination  of the cord with the vertical is:
Wv2/ gr v2
tan  = =
W gr
From which the inclination  is independent of the weight. Substituting
r = Lsin reduces to:

cos2  + v2 cos / gL – 1 = 0
from which the value of cos , and hence  may be obtained.
12. The tension T is also obtained from the force polygon.

W = Tcos or T = W / cos
13. The distance traveled by the bob in one revolution is 2r at a constant velocity v,
whence the period or time for a complete revolution is:

t = s / v = 2r / v = 2  r / gtan
14. Since tan = r / h, we have:

t = 2  h / g
15. As the angle  decreases, the value of h approaches the limiting value L so that the
maximum time for a revolution becomes:
 tmax = 2 L / g
Banking of Highway Curves
16. The curve is banked at an angle  with the horizontal so that there is no
tendency to slide up or down the road. This is known as the ideal angle of
banking.

tan = v2 / gr

This equation defines the ideal angle of banking in terms of the velocity of the
car and the radius of the turn and is independent of the weight of the car. The
velocity in this case is often termed the rated speed of the curve.

Friction Force on a Banked Road

16. Friction force is exerted by the road on the tires when the car is rounding
a banked curve with a velocity greater than the rated speed of the curve. This
frictional force F will evidently act down the plane of banking.
17. The friction force adjusts itself to the amount required to prevent
skidding and will not have its maximum value unless skidding is impending. In
other words, the friction relation F = fN does not apply unless the car is making
the maximum speed.
18. When the car is traveling at its greatest speed and is about to skid up the
plane, the relation between F and N is given by F = fN.

tan ( + ) = v2 / gr

19. If the car is on the point of slipping down the plane of banking (because
of insufficient speed):

tan ( - ) = v2 / gr
CHAPTER XI – CURVILINEAR TRANSLATION

1. Translation of a rigid body has been defined as the motion in which a straight line
passing through any two points of the body always remains parallel to its initial position. This
definition requires that all particles of the translating body have exactly the same motion.
2. In curvilinear motion, the displacement vector will change in both the magnitude and
inclination.
3. In curvilinear motion, although the velocity is always directed tangent to the curved
path of motion, the acceleration is not tangent to the path.

4. Flight Projectiles

Rectilinear Motion with X Component of Flight Y Component of Flight

Constant Acceleration ax = 0; vox = vo cos  ay = -g; voy = vo sin 
v = vo + at vx = vox + ax t or vy = voy +ay t or
vx = vo cos  vy = vo sin  - gt
x = vox t + ½ ax t2 or y = voy t + ½ ay t2 or
s = vo t + ½ at2 x = vo cos t y = vo sin  t - ½ gt2

Tangential and Normal Components of Acceleration

5. The most useful components of acceleration are those which are tangent and normal to
the path. These components denote respectively the rate of change of magnitude and of
direction of velocity.
6. The magnitude of the resultant acceleration is given by:

a =  an2 + at2

and its inclination with the normal by tan = at / an

7. “a = dvt / dt” represents only the rate of change in magnitude of velocity and that it will
be zero if the speed is constant.
8. If it is denoted the velocity at any point by v, the normal acceleration is:

an = v2 / r

while the tangential acceleration is:

at = dv / dt

Kinetics of Curvilinear Translation. Dynamic Equilibrium

9. The kinetic equations of curvilinear translation are obtained from the equation of
motion for the center of gravity of any body, i.e., R = Wa/g. It is convenient to resolve this
equation into components which are normal and tangent to the path. Calling the normal axis N
and the tangential axis T:

W Wv2 Wat Wat

N = an = T = =
g gr g g

The bar signs which refer to the motion of the center of gravity can be omitted from these
equations because all particles in translation have identical values of acceleration as well as
displacement and velocity.

L h 

T T W
v
Wv2 r
gr r Wv2
W gr

Conical pendulum Force polygon

10. Dynamic equilibrium is created by applying the centrifugal inertia force acting radially outward
from the center of the path.
11. The inclination  of the cord with the vertical is:

Wv2/ gr v2
tan  = =
W gr
From which the inclination  is independent of the weight. Substituting
r = Lsin reduces to:
 cos2  + v2 cos / gL – 1 = 0

from which the value of cos , and hence  may be obtained.

12. The tension T is also obtained from the force polygon.

W = Tcos or T = W / cos

13. The distance traveled by the bob in one revolution is 2r at a constant velocity v, whence the
period or time for a complete revolution is:

t = s / v = 2r / v = 2  r / gtan
14. Since tan = r / h, we have:

t = 2  h / g

15. As the angle  decreases, the value of h approaches the limiting value L so that the maximum
time for a revolution becomes:

tmax = 2 L / g

Banking of Highway Curves

16. The curve is banked at an angle  with the horizontal so that there is no tendency to slide up or
down the road. This is known as the ideal angle of banking.

tan = v2 / gr
This equation defines the ideal angle of banking in terms of the velocity of the car and the
radius of the turn and is independent of the weight of the car. The velocity in this case is often
termed the rated speed of the curve.

Friction Force on a Banked Road

16. Friction force is exerted by the road on the tires when the car is rounding a banked curve with a
velocity greater than the rated speed of the curve. This frictional force F will evidently act down the
plane of banking.
17. The friction force adjusts itself to the amount required to prevent skidding and will not have its
maximum value unless skidding is impending. In other words, the friction relation F = fN does not
apply unless the car is making the maximum speed.
18. When the car is traveling at its greatest speed and is about to skid up the plane, the relation
between F and N is given by F = fN.

tan ( + ) = v2 / gr

19. If the car is on the point of slipping down the plane of banking (because of insufficient speed):

tan ( - ) = v2 / gr