Curvilinear Motion: Position, Velocity & Acceleration + Particle moving along a curve otherthan a straight line is m curvilinear motion. * Position vector of a particle at time ris defined by a vector between origin 0 of a fixed reference frame and the position occupied by particle. + Consider particle which occupies position P defined by F attime rand P’ defined by Fat 1+ Ar, _ ks _ ls v= lim aroat de = instantaneous speed (scalar) Cunilinear Motion: Position, Velocity & Acceleration ' ‘+ Consider velocity ¥ of particleat time f and velocity Wat t+ At, AD oi = tim = amsoAt dt = instantaneous acceleration (vector) + In general, acceleration vector is not tangent to particle path and velocity vector.Derivatives of Vector Functions + Let P(u) bea vector function of scalar variable u. P,P, Plu Au)~Plu) di ou ao A + Derivative of vector sum, AP +0)_dP dO du du du + Derivative of productof scalar and vector functions. AP) dp, pe? du du aw + Derivative of scalar productand vector product, d(PeO)_ a 5 5. 2 O+P, da dei P20) _ 2.520 du du du Rectangular Components of Velocity & Acceleration + When position vector of particle P is given by its reclangularcomponents, axd+yj +28 * Velocity vector, de dys dee eg BS OF SEK a yj ck at al ae avyFeryy tek * Acceleration vector, ,* =ayi +ayj taskMotion Relative to a Frame in Translation + Designate one frame as the fixed frame of reference. All other frames not rigidly attached to the fixed reference frame are moving frames of reference. + Position veetors for particles 4 and B with respect to the fixed frame of reference OxyzareFy and Fj. + Vector j4 joining A and B defines th B with respect to the moving frame A: position of “and Fat fata + Differentiating twice. Ve=Va+ipa Vy, velocity of B relative to A. ag +apj4 Gy4 = accelerationof B relative to Absolute motion of 8 can be obtained by combining motion of 4 with relative motion of B with respect to moving reference frame attached to 4 Tangential and Normal Components Y ei + Banda thine, + * Ae ° 7 Ae; = 2sin(A@/2) a fim 42 — jig, 08/2) t 00N8 90-30 AG/2 , a, "deTangential and Normal Components + With the velocity veetor expressed as the particle acceleration may be written as adv, | dé_dv, dé db ds aed a ae pdo=ds & Afier substituting, oe oa +e, ap ° z Radial and Transverse Components a + The particle velocity vector isSample Problem The chipping machine is designed to eject wood at chips v, = 7.5 mvs. If the tube is oriented at 30° from the horizontal, determine how high, h, the chips strike the pile if they land on the pile 6 m from the tube. Given: Solution: (Vo), =(7.5c0830°)=6.5mis (v9), = (7.58in30°) =3.75m/s T * (gl, = (Vo), = 6.5 mis and a, = -9.81 mis? X4 =X +) fou tog = 0.92315 Required: h 1, “ ¥4=4-2.1= Yo +(V)ybar +5 Felon Ans: h= 1.38m h=1.38mSample Problem ‘A motorist is traveling on a curved section of highway of radius 2600 ft at the speed of 60 mph, The motorist suddenly applies brakes, causing the automobile to slow down a constant rate. Knowing that after 8 s the speed has been reduced to 45 mph, determine the acceleration of the automobile immediately after the brakes are applied Given: Required: a er Solution: somph=sstvs ra 4Smph = 66ft/s 5 feds? 2500 Motion, ‘a, =3.10 fas? Ans:Sample Problem ‘The rotation of the 0.9.m arm about O Is defined by 8 = 0.15f where @ is in radians and tin seconds. Collar B slides along the arm in ‘such a way that its distance from O is r= 0.9 - 0.121, where ris in meters and t in seconds After the arm has rotated through 30”, determine (a) the total velocity of the collar, (b) the total acceleration of the collar, and (c) the relative acceleration of the collar with respect tothe arm Given: Solution: = 0.158 o= 0.18" 09-0128 Required YB 1p » 5/40 869s AE a Seanomain, 6 =030ra0/s? yy =F =-0.49m/s (0.481m 0.561 sad/s)= 0.270.m/s va ft B=too vy S24im/s 1.05)a, =F =-0.240m/s? (0.481 m}0.S61rad/s¥° =-0.391m/s? a9 =rb-+216 = (0.481 mJo 3rad/s?)+ 2(-0.44914/s}0-S61rad/s) —0.359m/s* y= 42.65