MMB241/222

Kinetics of Particles
o Normal & Tangential
o Polar Coordinates
Zeleke Migbar Assefa (PhD)
E-mail: zelekem@ub.ac.bw
migbarassefa@gmail.com
Office: 143 (Building 248)
 D’Alembert’s Principle
• The particle acceleration we measure from a fixed
set of axes X-Y-Z, Fig. a, is its absolute
acceleration a. In this case the familiar relation
ΣF = ma applies.
• When we observe the particle from a moving
system x-y-z attached to the particle, Fig. b, the
particle necessarily appears to be at rest or in
equilibrium in x-y-z.
• Thus, the observer who is accelerating with x-y-z
concludes that a force -ma acts on the particle to
balance ΣF.
• This point of view, which allows the treatment
of a dynamics problem by the methods of
statics, was an outgrowth of the work of
D’Alembert (1743).
 D’Alembert’s Principle
• This approach merely amounts to rewriting the
equation of motion as ΣF-ma = 0, which assumes
the form of a zero force summation if -ma is
treated as a force.
• This fictitious force is known as the inertia force,
and the artificial state of equilibrium created is
known as dynamic equilibrium.
• The apparent transformation of a problem in
dynamics to one in statics has become known as
D’Alembert’s principle.
 Normal & Tangential Coordinates
• When a particle moves along a
curved path, it may be more
convenient to write the equation
of motion in terms of normal and
tangential coordinates.

• The normal direction (n) always

points toward the path’s center
of curvature.
• In a circle, the center of curvature
is the center of the circle.

• The tangential direction (t) is tangent to the path, usually set

as positive in the direction of motion of the particle.
 Equations Of Motion
Since the equation of motion is a vector

 F  ma
equation,

it may be written in terms of the n & t

coordinates as
This vector equation will be satisfied provided the individual
components on each side of the equation are equal, resulting in
the two scalar equations:
F t  ma t a t  v
2
v
F n  ma n 
an   2


 v 
Since there is no motion in the binormal (b) direction, we can
also write

F 0b
 Normal and Tangential Acceleration
• The tangential acceleration, at  dv / dt , represents the time rate of
change in the magnitude of the velocity. Depending on the direction of
 Ft , the particle’s speed will either be increasing or decreasing.
a
• The normal acceleration, n  v 2
/ represents the time rate of change

in the direction of the velocity vector. Remember, an always acts

toward the path’s center of curvature. Thus,  Fn will always be
directed toward the center of the path.
3
Note: if the path of motion is defined as y  f (x),   dy  
2 2
1    
  dx  
the radius of curvature at any point can be obtained from  
d2y
dx 2
 APPLICATIONS

This picture shows a ride at the amusement park. The

hydraulically-powered arms turn at a constant rate, which creates
a centrifugal force on the riders.
We need to determine the smallest angular velocity of cars A
and B such that the passengers do not lose contact with their
seat. What parameters are needed for this calculation?
 Examples
1. If the 10-kg ball has a velocity of 3 m/s when it is at the
position A, along the vertical path, determine the tension in
the cord and the increase in the speed of the ball at this
position.
Find: The tension in the cord and the
increase in the speed of the ball.
Plan:
1) Since the problem involves a curved
path and requires finding the force
perpendicular to the path, use n-t
coordinates. Draw the ball’s free-
body and kinetic diagrams.
2) Apply the equation of motion in the
n-t directions.
Given:m= 10-kg
velocity of 3 m/s
 Solution:
1) The n-t coordinate system can be
established on the ball at Point A,
thus at an angle of 45°.
Draw the free-body and kinetic
diagrams of the ball.

Free-body diagram Kinetic diagram

n W n
T man
45
=
t mat
t
2) Apply the equations of motion in the n-t directions.

(a) Fn = man  T – W sin 45° = m an

Using an = v2/r = 32/2, W = 10(9.81) N, and m = 10 kg

 T – 98.1 sin 45° = (10) (32/2)
 T = 114 N Free-body diagram
n
W
(b) Ft = mat  W cos 45° = mat T
45
 98.1 cos 45° = 10 at
 at = (dv/dt) = 6.94 m/s2 t
2. The small object is placed on the inner surface of the conical
dish at the radius shown. If the coefficient of static friction
between the object and the conical surface is 0.30, for what range
of angular velocities ω about the vertical axis will the block
remain on the dish without slipping? Assume that speed changes
are made slowly so that any angular acceleration may be
neglected.

If ω = ωmax→ μN (downward)
If ω = ωmin→ μN (upward)
 y
 Fy = 0  Ncosq μNsinq= mg
±
(i) r = 0.2m

 Fn = man  Nsinq± μNcosq= mrω2 (ii)

mg
Upper sign for ωmax y n
Lower sign for ωmin μN
n
μN
Dividing (ii) by (i) : θ=30o 30o
N
sin    cos r 2

cos   sin  g
g sin    cos 9.81 0.5  0.3(0.866)
   
r cos   sin  0.2 0.866  0.3(0.5 _
 max  7.21rad / s 2 Upper sign
 min  3.41rad / s 2 Lower sign
3. The 0.8-Mg car travels over the hill having the shape of a
parabola. When the car is at point A, it is traveling at 9 m/s
and increasing its speed at 3 m/s2. Determine both the
resultant normal force and the resultant frictional force that
all the wheels of the car exert on the road at this instant.
Neglect the size of the car.

Find: The resultant normal force and

resultant frictional force exerted
on the road at point A by the car.
Plan:
1. Treat the car as a particle. Draw its
free-body and kinetic diagrams.
2. Apply the equations of motion in the
3
  dy  
2 2 n-t directions.
1     3. Use calculus to determine the slope
  dx  
 and radius of curvature of the path at
d2y
point A.
dx 2
Solution:
1) The n-t coordinate system can
be established on the car at
point A. Treat the car as a
particle and draw the free-
body and kinetic diagrams:

W
q
F
= man mat
N
θ n t
n t
W = mg = weight of car
N = resultant normal force on road
F = resultant friction force on road
2) Apply the equations of motion in the n-t directions:
W
 Fn = man  W cos q– N = man q
F
Using W = mg and an = v2/ρ = (9)2/ρ N
θ
 (800)(9.81) cos q– N = (800) (81/ρ) n t
 N = 7848 cos q– 64800 / ρ Eq. (1)

 Ft = mat  W sin q– F = mat

Using W = mg and at = 3 m/s2 (given)

 (800)(9.81) sin q– F = (800) (3)
 F = 7848 sin q– 2400 Eq. (2)
 3
  dy  
2 2

3) Determine ρ by differentiating y = f(x) at x = 80 m: 1    

  dx  

d2y
y = 20(1 – x2/6400)  dy/dx = (–40) x / 6400 dx 2
 d2y/dx2 = (–40) / 6400
dy 2 3/2 [1 + (–0.5)2]3/2
[1 + ( ) ]
dx
ρ = 2
= = 223.6 m
dy 0.00625
x = 80 m
dx2
Determine qfrom the slope of the curve at A:

tan q= dy/dx
dy x = 80 m
q
q= tan-1 (dy/dx) = tan-1 (-0.5) = 26.6°
dx
From Eq. (1): N = 7848 cos q– 64800 / ρ
= 7848 cos (26.6°) – 64800 / 223.6 = 6728 N

From Eq. (2): F = 7848 sin q– 2400

= 7848 sin (26.6°) – 2400 = 1114 N
 Cylindrical (Polar) Coordinates
This approach to solving problems has some
external similarity to the normal & tangential
method just studied. However, the path may
be more complex or the problem may have
other attributes that make it desirable to use
cylindrical coordinates.

Equilibrium equations or “Equations of Motion” in cylindrical

coordinates (using r,θ, and z coordinates) may be expressed in
scalar form as:
mr  Sliding Component  Fr mar  m(r  r  2 )
mr 2  Normal (Centripetal )
 F  ma  m( r   2 r )
mr  Tangential Component
2mr  Coriolis Component  Fz  m a z  m z
Cylindrical Coordinates
• If the particle is constrained to move only in the r-θ
plane (i.e., the z coordinate is constant), then only the
first two equations are used (as shown below).
• The coordinate system in such a case becomes a polar
coordinate system. In this case, the path is only a
function of θ.

 Fr  mar  m( r  r  )
2

 F  ma  m(r   2 r )

Note that a fixed coordinate system is used, not a “body-

centered” system as used in the n - t approach.
 Summery on Polar Coordinates
• In the r-θ plane two equations are used (as shown
below).
• Equilibrium equations or “Equations of Motion” in
polar coordinates (r-θ) may be expressed in scalar
form as:

 Fr  mar  m(r  r  )
  2

 
F  ma  m ( r   2r )


ar  r  r  2
a  r  2r 
 Examples
1. The robot arm is elevating and extending simultaneously.
At a given instant, θ= 30°,
  40 deg/ s,   120 deg/ s 2 , l  0.5m, l  0.4m / s, l  0.3m / s 2
Compute the radial and transverse forces Fr and Fθ that the
arm must exert on the gripped part P, which has a mass of 1.2
kg. Compare with the case of static equilibrium in the same
position.
 θ   30o
P r Given:   

  40   0.698rad / s
θ  180 
   
Fr   120   2.09rad / s
2

Fθ  180 
r  0.75  l  1.25m
1.2(9.81)=11.77
l  r  0.4m / s
 r
F  ma r  m ( 
r  r 2 ) l  r  0.3m / s 2

F  ma  m(r  2r )

  r

Required:

Fr and Fθ
 θ
P r F r  mar 
Fr  11.77 sin 30o  m(r  r  2 )
θ
Fr  11.77 sin 30o  1.2[0.3  1.25(0.698) 2 ]
Fr
Fθ Fr  4.79 N

1.2(9.81)=11.77 F   ma  m(r  2r )

F  11.77 cos 30o  1.21.25(2.09)  2(0.4)(0.698)
F  14 N
r  1.25m    
  40   0.698rad / s
 180 
l  r  0.4m / s
  
l  r  0.3m / s 2   120   2.09rad / s
2

 180 
For static case; acceleration is zero. Hence;
(Fr)st=5.89N (Fθ)st=10.19N
2.

0.5(9.81)N
r
F 30o

30o θ
N
r  0 .5sec  tan  
0.5m
r
θ
 1 d  1 
r  r   
cos  dt  cos  
0  cos   (  sin  )  sin  1 
   
cos   cos   cos  cos  
F
r = 0.5774 m 0.5(9.81)N
0.667 m/s r
N F 30o
3.849 m/s2

θ
o
θ 30 N

Ans.

Ans.
3. Solve Prob. 2 if the arm has an angular acceleration of

Solution

0.5(9.81)N
F r
30o

30o
θ

N
Ans.

Ans.
END