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(2) Cylindrical Coordinates ( r ,  , z )

Position Vector

Velocity

Acceleration
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Problem

Problem
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Problem
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TIME RATE OF CHANGE OF A VECTOR

P (t ) : vector function
dP
: time rate of change of P (t ) with respect to Oxyz
dt

P(t )  Px (t )i  Py (t ) j  Pz (t )k

Oxyz : fixed frame

Oxyz  : translating frame ( Ox // Ox Oy // Oy  Oz // Oz )

dP  fixed frame
: the same 
dt translating frame
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MOTION RELATIVE TO A FRAME IN TRANSLATION

Oxyz :fixed frame

Axyz  : translating frame ( Ox // Ax Oy // Ay  Oz // Az  )

v B : velocity of B
v A : velocity of A
v B / A : velocity of B relative to A

a B : acceleration of B
a A : acceleration of A
a B / A : acceleration of B relative to A

The motion of B (or A) with respect to the fixed frame is referred to as the “absolute motion” of B (or A).
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Problem
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Problem
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Problem
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PLANAR KINEMATICS OF A RIGID BODY

(1) Translation
(2) Rotation about a fixed axis
(3) General plane motion

(1) Translation
When a line in the body remains parallel to its original orientation throughtout the motion, this tpe of motion
occurs.

(1.a) Rectilinear Translation

When the paths of motion for any two points on the body are parallel lines, the motion is called “rectilinear
translation”.

(1.b) Curvilinear Translation

If the paths of motion are along curved lines which are equidistant, the motion is called “curvilinear translation”.
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Examples

R. Plate: Curvilinear translation BD: Curvilinear translation R. Plate: Curvilinear translation

drB drA drB / A

 
dt dt dt
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Result: All points in a rigid body subjected to either rectilinear or curvilinear translation move with the same
velocity and acceleration.
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(2) Rotation about a fixed axis

When a rigid body rotates about a fixed axis, all the particles of the body, except those which lie on the axis of
rotation, move along circular paths.

Velocity

BP  r sin   r sin 
 : angular coordinate

s 
  r sin  
t t

v  ( BP )

ω k ( ω : angular velocity of the body)

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v P  ω  rP / O  ω  (rB / O  rP / B ) ( ω  rB /O  0 )

v P  ω  rP / O  ω  rP / B  ...

Acceleration

dω
α ( ω  k   k )
dt
( α : angular acceleration of the body)

aP  (aP )t  (aP )n

a P  α  rP / O  ω   ω  rP / O 
a P  α  rP / B  ω   ω  rP / B 
a P  ...

References:
(1) R.C. Hibbeler, “Engineering Mechanics: Dynamics”.
(2) F.P. Beer, E.R. Johnston, P.J. Cornwell, B. Self, “Vector Mechanics for Engineers: Dynamics”.
(3) J.L. Meriam, L.G. Kraige, J.N. Bolton, “Engineering Mechanics: Dynamics”.