MAE 2600 (FS2007) Ch.

12 Kinematics of a Particle Section 12B-2 Page 1/ 2

Ch. 12 Kinematics of a Particle

Section 12B-1: 12.7 Section 12B-2: 12.8
Section 12B-3: 12.9 Section 12B-4: 12.10

Class Note for Section 12B-2:

12.8 Curvilinear Motion: Cylindrical Components
1) Polar Coordinates
r radial coordinate
θ transve rse coordinate
ur unit vector in r-direction
uθ unit vector in θ-direction

π rad = 180° 1 rad = (180 / π)°

1° = (π / 180) rad

2) Position
r = r ur position vector

3) Velocity
v = dr/dt = d(r ur)/dt = r& ur + r dur/dt
∆ur ˜ 1 (∆θ) in uθ-direction → ∆ur = ∆θ uθ
As ∆t → 0, dur/dt = (dθ/dt) uθ = θ& uθ

v = r& ur + r θ& uθ = vr ur + vθ uθ
vr = r&
vθ = r θ& θ& : angular velocity
v = (vr2 + vθ2 )1/2 v: magnitude of v

4) Acceleration
a = dv/dt = d( r& ur + r θ& uθ)/dt
& ur + r& (dur/dt) + r& θ& uθ + r θ&& uθ + r θ& (duθ/dt)
= r&

∆uθ ˜ 1 (∆θ) in - ur direction → ∆uθ = - ∆θ ur

As ∆t → 0, duθ/dt = (- dθ/dt) ur = - θ& ur

& ur + r& ( θ& uθ) + r& θ& uθ + r θ&& uθ + r θ& (- θ& ur)
a = r&
& - r θ& 2 ) ur + (r θ&& + 2 r& θ& ) uθ = ar ur + aθ uθ
a = ( r&

& - rθ& 2
ar = r&
aθ = r θ&& + 2 r& θ& θ&& : angular acceleration

a = (ar2 + aθ2 )1/2 a: magnitude of a

MAE 2600 (FS2007) Ch. 12 Kinematics of a Particle Section 12B-2 Page 2/ 2

Summary of Equations for Section 12B-2:

vr = r& vθ = r θ& & - rθ& 2

ar = r& aθ = r θ&& + 2 r& θ&

Example Problems for Section 12B-2:

EP1. A car is traveling along the circular curve of radius r = 300 ft. At the instant shown, its
angular rate of rotation is θ& = 0.4 rad/s, which is increasing at the rate of θ&& = 0.2 rad/s2 .
Determine the magnitudes of the car’s velocity and acceleration at this instant.

r& = r&
& =0
vr = r& = 0
vθ = r θ& = (300)(0.4) = 120 ft/s

v = (vr2 + vθ2 )1/2 = [(0)2 + (120)2 ]1/2

= 120 ft/s Ans.

& - rθ& 2 = 0 – (300)(0.4)2 = - 48.0 ft/s2

ar = r&
aθ = r θ&& + 2 r& θ& = (300)(0.2) + 0 = 60.0 ft/s2

a = (ar2 + aθ2 )1/2 = [(-48)2 + (60)2 ]1/2 = 76.8 ft/s 2 Ans.

EP2. Because of telescopic action, the end of the industrial robotic arm extends along the path
of limacon r = (1 + 0.5 cos θ) m. At the instant θ = π/4, the arm has an angular rotation
θ& = 0.6 rad/s, which is increasing at θ&& = 0.25 rad/s2 . Determine the radial and transverse
components of the velocity and acceleration of the object A held in the grip at this instant.

r& = - 0.5 sin θ θ&

& = - 0.5 (cos θ θ& 2 + sin θ θ&& )
r&

At θ = π/4 = 45°,
r = (1 + 0.5 cos 45°) = 1.354
r& = - 0.5 sin 45° (0.6) = - 0.2121
& = - 0.5 [(cos 45°)(0.6)2 + (sin 45°)(0.25)] = - 0.2157
r&

vr = r& = - 0.212 m/s Ans.

vθ = r θ& = (1.354)(0.6) = 0.812 m/s Ans.

& - rθ& 2 = - 0.2157 - (1.354)(0.6)2 = - 0.703 m/s 2 Ans.

ar = r&
aθ = r θ&& + 2 r& θ& = 1.354(0.25) + 2(- 0.2121)(0.6) = 0.0838 m/s 2 Ans.

Homework #5 (Section 12B-2)