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Curvilinear Motion -
Cylindrical Components
A cylindrical coordinate
system is used in cases
where the particle moves
along a 3-D curve.
.. .
The term (r – rq 2) is the radial acceleration
or ar .
.. ..
The term (rq + 2rq ) is the transverse
acceleration or aq .
.. .2 2 .. . .
The magnitude of acceleration is a = (r – rq ) + (rq + 2rq ) 2
Dynamics, Fourteenth Edition Copyright ©2016 by Pearson Education, Inc.
R.C. Hibbeler All rights reserved.
CYLINDRICAL COORDINATES
rP = rur + zuz
. . .
Velocity: vP = rur + rquθ + zuz
.. . 2 .. . . ..
Acceleration: aP = (r – rq )ur + (rq + 2rq )uθ + zuz
Solution:
𝑟 = 0.1𝑡 3 , rሶ = 0.3 t 2 , rሷ = 0.6 t
𝜃 = 4 t3/2, 𝜃ሶ = 6 t1/2, 𝜃ሷ = 3 t−1/2
At t=1.5 s,
r = 0.3375 m, rሶ = 0.675 m/s, rሷ = 0.9 m/s2
𝜃 = 7.348 rad, 𝜃ሶ = 7.348 rad/s, 𝜃ሷ = 2.449 rad/s2
a = [0.9 – 0.3375(7.348)2] ur
+ [0.3375(2.449) + 2(0.675)(7.348)] uθ
.
1. If r is zero for a particle, the particle is
Solution:
When t = 3 s, r = 3 ft and the arm is extending at a constant
rate 𝑟ሶ = 1.5 ft/s. Thus 𝑟ሷ = 0 ft/s2
𝜃 = 1.5 t = 4.5 rad, 𝜃ሶ = 1.5 rad/s, 𝜃ሷ = 0 rad/s2
z = 4 t2 = 36 ft, zሶ = 8 t = 24 ft/s, zሷ = 8 ft/s2