B222 DYNAMICS OF RIGID BODIES

LESSON 7: CURVILINEAR TRANSLATION

Curvilinear Motion of a Particle – Fundamental Concepts

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. Hence in discussing curvilinear translation,
the body may be assumed to be concentrated at its center of gravity and treated as a particle as in the
case of rectilinear translation.

In rectilinear motion, we chose the origin of motion on the path so that only the magnitude of the
displacement vector could change, but not its inclination. In curvilinear motion, however, the
displacement vector will change in both magnitude, and inclination. Our concepts of velocity and
acceleration must be extended to include both these changes in displacement. We shall find that although
the velocity is always directed tangent to the curve path of the motion, the acceleration is not tangent to
the path.

Figure 11-1 shows the curved path traversed by a particle having curvilinear motion. The displacement of
any position is its vector distance from the origin O. For example, the vector displacements of two
positions A and B are represented by SA and SB. It is evident that the change in displacement Δs is due to
a combined change in the magnitude and inclination of these displacement vectors.

For any position, the displacement s of any point may be expressed as the vector sum of its X and Y
coordinates as follows:
𝑠=𝑥⇸𝑦
𝑑𝑠 𝑑𝑣
Recalling that 𝑣 = and 𝑎= , we obtain by successive differentiation of the previous equation
𝑑𝑡 𝑑𝑡

𝑣 = 𝑣𝑥 ⇸ 𝑣𝑦

𝑎 = 𝑎𝑥 ⇸ 𝑎𝑦

In the following articles we shall discuss the geometric significance of these two equations.

Velocity in Curvilinear Motion

Let points A and B in Fig. 11-1 represent successive positions of a moving particle after a small elapsed
time Δt. The change in displacement Δs during this interval is the chord distance between A and B. If the
change in displacement Δs is resolved into components parallel to the reference axes, inspection of the
figure shows that the geometric relation between Δs, Δx, and Δy is given by the following vector equation:

𝛥𝑠 = 𝛥𝑥 ⇸ 𝛥𝑦

If each term in the previous equation is divided by the elapsed time Δt during which the displacement Δs
was observed, we have

𝛥𝑠 𝛥𝑥 𝛥𝑦
= ⇸
𝛥𝑡 𝛥𝑡 𝛥𝑡
1
Each term in the equation represents a vector displacement multiplied by the scalar equation . This
Δt
creates a new vector having a different magnitude but the same direction as the corresponding
displacement. Each of these new vectors, as we saw in the kinematic discussion of the motion of a particle,
represents the average velocity in the respective directions of displacement. In the limit as Δt approaches
zero, we therefore obtain:

𝑑𝑠 𝑑𝑥 𝑑𝑦
= ⇸
𝑑𝑡 𝑑𝑡 𝑑𝑡

or

𝑣 = 𝑣𝑥 ⇸ 𝑣𝑦

The geometric significance of the previous equation is as follows: As Δt approaches zero, B approaches A
and chord Δs coincides more completely with the curve of travel so that, in the limit Δs becomes ds which
𝑑𝑠
is directed along the path A. Hence the term represents the instantaneous velocity at A directed
dt
tangent to the path at A. Figure 11-2 represents the path and shows this velocity and its component 𝑣𝑥

and 𝑣𝑦 . The magnitude of the velocity is given by the algebraic expression = √(𝑣𝑥 )2 + (𝑣𝑦 )2 ; its
𝑣𝑦
direction with the X axis, by tan 𝜃𝑥 = .
𝑣𝑥

𝑑𝑦 𝑑𝑥
Incidentally, if we replace 𝑣𝑦 and 𝑣𝑥 by their corresponding values and , we obtain
dt dt
 𝑑𝑦
𝑣𝑦 𝑑𝑦
tan 𝜃𝑥 = = 𝑑𝑡 =
𝑣𝑥 𝑑𝑥 𝑑𝑥
𝑑𝑡

𝑑𝑦
It is evident that is the slope of the curved path. This confirms our previous conclusions that the velocity
𝑑𝑥
is tangent to the path.

Rectangular Components of Acceleration

Let Fig. 11-1 be redrawn as in Fig. 11-3, showing the instantaneous velocities at point A and B which are
separated by the time interval Δt.

From Fig. 11-4, where these velocities are represented as free vectors, it is evident that a vector of
magnitude Δv and the direction indicated must be added to 𝑣𝑎 to obtain 𝑣𝑏 . In other words, the change
in velocity between 𝑣𝑎 and 𝑣𝑏 is given by Δv. Resolving Δv into components parallel to the reference axes
gives the vector relation:
 Δ𝑣 = Δ𝑣𝑥 ⇸ Δ𝑣𝑦

Dividing this relation by the elapsed time Δt during which Δv was measured, we obtain:

Δ𝑣 Δ𝑣𝑥 Δ𝑣𝑦
= ⇸
Δ𝑡 Δ𝑡 Δ𝑡

Each new vector in this equation represents the average acceleration in the direction of each change in
velocity. In the limit as Δt approaches zero, this equation becomes:

𝑑𝑣 𝑑𝑣𝑥 𝑑𝑣𝑦
= ⇸
𝑑𝑡 𝑑𝑡 𝑑𝑡

or

𝑎 = 𝑎𝑥 ⇸ 𝑎𝑦

in which a is the instantaneous acceleration at point A and 𝑎𝑥 and 𝑎𝑦 are its components. This is shown
in Fig 11-5. Observe that the magnitude of the acceleration at A may be expressed by the algebraic relation
𝑎𝑦
𝑎 = √(𝑎𝑥 )2 + (𝑎𝑦 )2 , and its angle with the X axis by tan 𝜃𝑥 = .
𝑎𝑥

𝑑2 𝑦 𝑑2 𝑥
Replacing 𝑎𝑦 and 𝑎𝑥 by their corresponding values of 2 and 2 gives:
𝑑𝑡 𝑑𝑡

𝑑2𝑦
2 𝑑2𝑦
tan 𝜃𝑥 = 𝑑𝑡2 = 2
𝑑 𝑥 𝑑 𝑥
𝑑𝑡 2
Therefore, the direction of the acceleration vector is not tangent to the path.

Flight of Projectiles. Air Resistance Neglected

We shall assume the projectile to be moving without rotation in a vacuum. Such factors as wind velocity,
air resistance, and rotation of the earth, which have an effect on the actual flight of the projectile, will be
neglected. The principle of the solution is to resolve the curvilinear motion of the path into rectilinear
motion along X and Y axes.

Let the path of the projectile be given by the curve OBCD shown in Fig. 11-6, with the origin of axes at the
initial point of flight. The initial velocity is taken as 𝑣𝑜 directed at an angle  with the X axis. From the
initial direction of motion, displacements will be taken as positive both rightward and upward. Since the
only force acting on the projectile is its own weight; its total acceleration at all positions is due to gravity
and is directed vertically downward with the value g. Hence the rectangular components of this
acceleration are constant at 𝑎𝑥 = 0 and 𝑎𝑦 = −𝑔.

Instead of considering the actual path of the projectile, we combine its simultaneous projections upon the
X and Y axes. The equations of these rectilinear components of the path are found by substituting the X
and Y components of s, v, and a in the equations for rectilinear motion with constant acceleration as
shown in the accompanying table.

Flight of Projectiles

Rectilinear Motion with X Component of Flight Y Component of Flight

Constant Acceleration (𝒂𝒙 = 𝟎, 𝒗𝒐𝒙 = 𝒗𝒐 𝐜𝐨𝐬 𝜽) (𝒂𝒚 = −𝒈, 𝒗𝒐𝒚 = 𝒗𝒐 𝐬𝐢𝐧 𝜽)

𝑣𝑥 = 𝑣𝑜𝑥 + 𝑎𝑥 𝑡 𝑣𝑦 = 𝑣𝑜𝑦 + 𝑎𝑦 𝑡
𝑣 = 𝑣𝑜 + 𝑎𝑡 or or
𝑣𝑥 = 𝑣𝑜 𝑐𝑜𝑠 𝜃 𝑣𝑦 = 𝑣𝑜 sin 𝜃 − 𝑔𝑡
 1 1
1 𝑥 = 𝑣𝑜𝑥 𝑡 + 𝑎𝑥 𝑡 2 𝑦 = 𝑣𝑜𝑦 𝑡 + 𝑎𝑦 𝑡 2
2 2
𝑠 = 𝑣𝑜 𝑡 + 𝑎𝑡 2 or or
2
𝑥 = 𝑣𝑜 𝑐𝑜𝑠 𝜃 ∙ 𝑡 1
𝑦 = 𝑣𝑜 sin 𝜃 ∙ 𝑡 − 𝑔𝑡 2
2

If, in Fig. 11-6, the time of flight is less than that required to reach C, the projectile will be above its initial
position and values of the Y displacement will be positive. If the time of flight is more than that required
to reach C, the projectile will be on path CD and values of the Y displacement will then be negative. At
topmost point of flight B, the value of 𝑣𝑦 will be zero.

PROBLEMS

1. A projectile is fired from the top of a cliff 300 ft. high with a velocity of 1414 ft. per sec directed at 45
to the horizontal. Find the range on a horizontal plane through the base of the cliff.

𝐵𝑎𝑠𝑒 𝑜𝑓 𝑡ℎ𝑒 𝑐𝑙𝑖𝑓𝑓

Given:

𝑓𝑡⁄
𝑣𝑜 = 1414 𝑠𝑒𝑐

𝜃 = 45𝑜

𝑦 = −300 𝑓𝑡 (𝑛𝑒𝑔𝑎𝑡𝑖𝑣𝑒 𝑏𝑒𝑐𝑎𝑢𝑠𝑒 𝑏𝑒𝑙𝑜𝑤 𝑡ℎ𝑒 𝑟𝑒𝑓𝑒𝑟𝑒𝑛𝑐𝑒 𝑝𝑜𝑠𝑖𝑡𝑖𝑜𝑛)

𝑓𝑡
𝑔 = 32.2 ⁄ 2
𝑠𝑒𝑐

Required:

𝑥 − ℎ𝑜𝑟𝑖𝑧𝑜𝑛𝑡𝑎𝑙 𝑑𝑖𝑠𝑡𝑎𝑛𝑐𝑒

𝑆𝑜𝑙𝑢𝑡𝑖𝑜𝑛:

1. Solving for time 𝑡 .

Using the equation:

1 2
𝑦 = 𝑣𝑜 sin 𝜃 ∙ 𝑡 − 𝑔𝑡
2
1
−300 = 1414 sin 45° ∙ 𝑡 − (32.2)𝑡 2
2

𝑡 2 − 62.1𝑡 − 18.63 = 0

Using quadratic formula:

(−62.1) ± √(62.1)2 − 4(1)(−18.63)

𝑡=
2(1)

𝑡(+) = 62.4 𝑠𝑒𝑐 (path 𝑂 to 𝐶)

𝑡(−) = −0.3 𝑠𝑒𝑐 (path 𝐴 to 𝑂)

2. Solving for 𝑥

Use 𝑡 = 62.4 𝑠𝑒𝑐

𝑥 = 𝑣𝑜 𝑐𝑜𝑠 𝜃 ∙ 𝑡

𝑥 = 1414 𝑐𝑜𝑠 45° ∙ 62.4

𝑥 = 𝟔𝟐, 𝟒𝟎𝟎 𝒇𝒕

𝐴𝑛𝑜𝑡ℎ𝑒𝑟 𝑆𝑜𝑙𝑢𝑡𝑖𝑜𝑛:

Consider path 𝑂 to 𝐵

1 2
𝑦 = 𝑣𝑜 sin 𝜃 ∙ 𝑡 − 𝑔𝑡
2

𝑦 (𝑑𝑖𝑠𝑝𝑙𝑎𝑐𝑒𝑚𝑒𝑛𝑡) is zero
 1
0 = 1414 sin 45° ∙ 𝑡 − (32.2)𝑡 2
2

𝑡 = 62.1𝑠𝑒𝑐

Total time for path 𝐴 to 𝐵

𝑡 = 62.1 + 0.3 = 62.4

𝑥 = 𝑣𝑜 𝑐𝑜𝑠 𝜃 ∙ 𝑡

𝑥 = 1414 𝑐𝑜𝑠 45° ∙ 62.4

𝑥 = 𝟔𝟐, 𝟒𝟎𝟎 𝒇𝒕

2. A shell leaves a mortar with a muzzle velocity of 500 ft per sec directed upward at 60 degrees with
the horizontal. Determine the position of the shell and its resultant velocity 20 sec after firing. How
high will it rise?

ℎ𝑖𝑔ℎ𝑒𝑠𝑡 𝑝𝑜𝑖𝑛𝑡

𝑣 = 𝑣𝑥 𝑣𝑥
𝑣𝑜 = 500 𝑓𝑡⁄𝑠𝑒𝑐
𝑣𝑦 = 0 𝑣𝑦
ℎ 𝑣
𝑣𝑜𝑦 𝑦
𝜃 = 600
=0
𝑣𝑜𝑥
=0

𝑥 (𝑎𝑡 𝑡 = 20 sec)

𝑆𝑜𝑙𝑢𝑡𝑖𝑜𝑛

1. Solve for the location (x and y distance) of the shell 20 sec after firing.
 𝑥 = 𝑣𝑜 (𝑐𝑜𝑠𝜃)𝑡

𝑥 = 500(𝑐𝑜𝑠60°)(20)

𝑥 = 5000 𝑓𝑡

1
𝑦 = 𝑣𝑜 (𝑠𝑖𝑛𝜃)𝑡 − 𝑔𝑡 2
2
1
𝑦 = 500(𝑠𝑖𝑛60°)(20) − (32.2)(202 )
2

𝑦 = 2220.25 𝑓𝑡

2. Solve for the resultant velocity 20 sec after firing

𝑣 = 𝑣𝑜 + 𝑎𝑡

𝑣𝑥 = 𝑣𝑜𝑥 + (0)𝑡

𝑣𝑥 = 𝑣𝑜 (𝑐𝑜𝑠𝜃) = 500(𝑐𝑜𝑠60°)

𝑓𝑡
𝑣𝑥 = 250
𝑠

𝑣𝑦 = 𝑣𝑜𝑦 − 𝑔𝑡

𝑣𝑦 = 𝑣𝑜(𝑠𝑖𝑛𝜃) − 𝑔𝑡

𝑣𝑦 = 500(𝑠𝑖𝑛60°) − 32.2(20)

𝑓𝑡
𝑣𝑦 = −210.99
𝑠

𝑣 = √𝑣𝑥 2 + 𝑣𝑦 2 = √2502 + (−210.99)2

𝒇𝒕
𝑣 = 𝟑𝟐𝟕. 𝟏𝟑
𝒔

3. Solve for ℎ (highest point)

𝑣 2 = 𝑣𝑜 2 + 2𝑎𝑠

𝑣𝑦 2 = 𝑣𝑜𝑦 2 + 2𝑔ℎ

Where:

𝑣𝑦 = 0

𝑣𝑜𝑦 = 𝑣𝑜 𝑠𝑖𝑛𝜃

0 = (𝑣𝑜 𝑠𝑖𝑛𝜃)2 + 2𝑔ℎ

𝑣𝑜 2 𝑠𝑖𝑛2 𝜃 5002 𝑠𝑖𝑛2 60°

ℎ= =
2𝑔 2(32.2)

ℎ = 𝟐𝟗𝟏𝟏. 𝟓 𝒇𝒕
3. The car shown in Figure P-1107 is just to clear the water-filled gap. Find the take-off velocity vo.

Given:

ℎ = −22.2 𝑓𝑡 (𝑛𝑒𝑔𝑎𝑡𝑖𝑣𝑒 𝑏𝑒𝑐𝑎𝑢𝑠𝑒 𝑏𝑒𝑙𝑜𝑤 𝑡ℎ𝑒 𝑟𝑒𝑓𝑒𝑛𝑐𝑒 𝑝𝑜𝑖𝑛𝑡 𝑂)

𝑥 = 17.32 𝑓𝑡
𝑂
Required:

𝑣0

𝑆𝑜𝑙𝑢𝑡𝑖𝑜𝑛:

1. Consider the following eqn.

1
ℎ = 𝑣𝑜 𝑠𝑖𝑛𝜃𝑡 − 𝑔𝑡 2
2
1
−22.2 = 𝑣𝑜 𝑠𝑖𝑛30°𝑡 − (32.2)𝑡 2 eqn. 1
2

𝑥 = 𝑣𝑜 𝑐𝑜𝑠𝜃𝑡

17.32 = 𝑣𝑜 𝑐𝑜𝑠30°𝑡
20
𝑡= eqn. 2
𝑣𝑜

2. Substitute eqn. 2 in eqn. 1

 20 1 20 2
−22.2 = 𝑣𝑜 𝑠𝑖𝑛30° ( ) − (32.2) ( )
𝑣𝑜 2 𝑣𝑜

1 20 2
−22.2 = sin(30𝑜 ) (20) − (32.2) ( )
2 𝑣0

20𝑓𝑡
𝑣0 =
sin(30𝑜 ) (20𝑓𝑡) + 22.2
√ 1 𝑓𝑡
(32.2 )
2 𝑠𝑒𝑐 2

𝒇𝒕
𝒗𝒐 = 𝟏𝟒. 𝟏𝟒
𝒔𝒆𝒄

4. Determine the distance s at which a ball thrown with a velocity v o of 100 ft per sec at an angle 38.87°
will strike the incline shown in Fig. P1109.

Given:

𝑣0 = 100 𝑓𝑡⁄𝑠𝑒𝑐
𝜃 = 38.870 𝐴
Required:
𝑠 𝑂 𝐵
Solution:

1. Consider the following equation 𝑦

1 𝐶
−𝑦 = 𝑣𝑜 𝑠𝑖𝑛𝜃𝑡 − 𝑔𝑡 2
2
𝑥
𝑓𝑡 1 𝑓𝑡
−𝑦 = (100 ) 𝑠𝑖𝑛38.87°𝑡 − (32.2 ) 𝑡2
𝑠𝑒𝑐 2 𝑠𝑒𝑐 2
𝑓𝑡 𝑓𝑡
−𝑦 = (62.76 )𝑡 − (16.1 ) 𝑡2 eqn. 1
𝑠𝑒𝑐 𝑠𝑒𝑐 2

𝑥 = 𝑣𝑜 𝑐𝑜𝑠𝜃𝑡

𝑓𝑡
𝑥 = (100 ) (𝑐𝑜𝑠38.87°)𝑡
𝑠𝑒𝑐
𝑓𝑡
𝑥 = (77.86 )𝑡 eqn. 2
𝑠𝑒𝑐

2. Consider the ratio and proportion of the x and y distance and the slope of the incline.
 1 𝑦
=
3 𝑥
1
𝑥 =𝑦 eqn. 3
3

3. Solve for time 𝑡.

Substitute eqn. 1 and eqn.2 in eqn. 3

𝑓𝑡 𝑓𝑡 𝑓𝑡
(25.95 ) 𝑡 = − [(62.76 ) 𝑡 − (16.1 ) 𝑡 2]
𝑠𝑒𝑐 𝑠𝑒𝑐 𝑠𝑒𝑐 2
𝑓𝑡 𝑓𝑡 𝑓𝑡
(25.95 ) 𝑡 = −𝑡 [(62.76 ) − (16.1 ) 𝑡]
𝑠𝑒𝑐 𝑠𝑒𝑐 𝑠𝑒𝑐 2
𝑓𝑡 𝑓𝑡 𝑓𝑡
(25.95 ) = (16.1 2 ) 𝑡 − (62.76 )
𝑠𝑒𝑐 𝑠𝑒𝑐 𝑠𝑒𝑐
𝑓𝑡
88.71
𝑡= 𝑠𝑒𝑐
𝑓𝑡
16.1
𝑠𝑒𝑐 2

𝑡 = 5.51 𝑠𝑒𝑐

4. Solve for 𝑠

𝑥 = 77.86(5.51) = 429 𝑓𝑡

𝑦 = 25.95(5.51) = 142.98 𝑓𝑡

𝑠 = √𝑥 2 + 𝑦 2 = √(429)2 + (142.98)2

𝑠 = 𝟒𝟓𝟐. 𝟐 𝒇𝒕
5. Boat A moves with a constant velocity of 20 ft per sec, starting from the position as shown in Fig. P-
1112. Find 𝜃 in order for the projectile to hit the boat 5 seconds after starting, under the conditions
given. How high is the hill above the water?

𝑂 𝐵

𝑆𝑜𝑙𝑢𝑡𝑖𝑜𝑛

1. Solving for d

𝑑 = 𝑣𝑡 = 20(5) = 100 𝑓𝑡

2. Solving for the horizontal distance 𝑥 (from 𝑂 to 𝐶)

𝑥 = 100 + 301 = 401 𝑓𝑡

3. Solve for the inclined angle 𝜃

𝑥 = 𝑣𝑜 𝑐𝑜𝑠𝜃𝑡

401 = 96.6𝑐𝑜𝑠𝜃(5)

401 𝑓𝑡
𝜃 = cos −1 [ ]
𝑓𝑡
(96.6 ) (5𝑠𝑒𝑐)
𝑠𝑒𝑐

𝜽 = 𝟑𝟑. 𝟖𝟖 °

4. Solve for the height of the hill above water

 1
ℎ = 𝑣𝑜 𝑠𝑖𝑛𝜃𝑡 − 𝑔𝑡 2
2
1
ℎ = (96.6)[𝑠𝑖𝑛(33.88°)](5) − (32.2)(5)2
2

𝒉 = −𝟏𝟑𝟑. 𝟐𝟓 𝒇𝒕