SPACE CURVILINEAR

MOTION

INSTRUCTOR : WG CDR M BABAR SAEED

COURSE: 74 (A) E/C
WEEK NO : 8
R E F E R E N C E : T E X T B O O K ( 4 TH E D I T I O N )
ARTICLE 2/7
PA G E 8 1
D AT E : 0 8 J U LY, 2 0 1 0
 LEARNING OBJECTIVE

 How space curvilinear motion and plane curvilinear

motion are different
 Space curvilinear motion is handled in
 Rectangular coordinates
 Cylindrical coordinates
 Spherical coordinates
 Why space curvilinear motion is not handled in
normal-tangential coordinates
 Mathematical formulation of equations for position,
velocity and acceleration vectors
 SPACE CURVILINEAR MOTION

 The general case of three-dimensional motion of a

particle along a space curve was introduced in the
earlier part of this course.
 Mention was made of the three coordinate systems
which are commonly used to describe this motion.
 Rectangular (x-y-z)
 Cylindrical (r-θ-z)
 Spherical (R-θ-Ф)
 A graphical representation of these systems is
shown on the figure on the next slide.
SPACE CURVILINEAR MOTION
θ R
z Ф
eθ
eФ eR

R z
k
y
eθ
j
Ф
r
O θ er

x
 SPACE CURVILINEAR MOTION

 Before describing the use of these coordinate

systems, we may observe that a path variable
description, using n- and t- coordinates may be
applied in the osculating plane discussed earlier.

 We defined this plane as the plane which contains

the curve at the location in question.
 SPACE CURVILINEAR MOTION

 We see that the velocity v, which is along the

tangent t to the curve, lies in the osculating plane.
 The acceleration a also lies in the osculating plane
and, as in the case of plane motion, has a
component at=v• tangent to the path due to the
change in magnitude of the velocity and a
component an=v2/ρ normal to the curve due to the
change in direction of the velocity.
 As before, ρ is the radius of curvature of the path at
the point in question and would be measured in
osculating plane.
 SPACE CURVILINEAR MOTION

 This description of motion, which we found to be

natural and direct for many plane-motion problems,
find little use for space motion because the
osculating plane continually shifts its orientation,
thus making its use as a reference awkward.

 We shall confine our attention, therefore, to the three

fixed coordinate systems shown in the figure earlier
in this lecture.
 RECTANGULAR COORDINATES (x-y-z)

 The extension from two to three dimensions offer no

particular difficulty. We merely add the z- coordinate
and its two time deravitives to the two dimensional
expressions of Eqn 2/6 so that the position vector R,
the velocity v, and the acceleration a become
R  xi  yj  zk
   
v  R  xi  y j zk            (2 / 15)
    
a  v  R  xi  y j z k

 Note that in three dimension we are using R in place

of r for the position vector.
 CYLINDRICAL COORDINATES (r-θ-z)

 If we understand the polar coordinate description of

plane motion, then there should be no difficulty with
cylindrical coordinates because all that is required is
the addition of the z-coordinate and its two time
derivatives. The position vector R to the particle for
cylindrical coordinates is simply

R  rer  zk
 CYLINDRICAL COORDINATES (r-θ-z)

 In place of Eq 2/13 for plane motion, we may write

the velocity as
  
v  r er  r  eθ  z k      (2 / 16)


where vr  r

v  r 

vz  z
v  v r v  vz
2 2 2
 CYLINDRICAL COORDINATES (r-θ-z)

 Similarly the acceleration is written by adding the z-

component to Eq 2/14, which gives us
 2    
a  ( r  r  )er  (r   2 r  )eθ  z k      (2 / 17)

where  2
ar  r  r 
  
1d 2
a  r   2 r   (r  )
r dt

az  z
a  a r  a  a z
2 2 2
 CYLINDRICAL COORDINATES (r-θ-z)

 Whereas the unit vectors er and eθ have time

derivatives due to the changes in their direction, we
note that the unit vector k in the z-direction remains
fixed in direction and therefore has no time
derivative.
 SPHERICAL COORDINATES (R-θ-Ф)

 When a radial distance and two angles are used to

locate the position of a particle, as in the case of
radar measurements, for example, spherical
coordinates R, θ, Ф are used.
 Derivation of the expression for the velocity v is
easily obtained, but the expression for the
acceleration a is more complex because of the
added geometry. Consequently, only the results will
be cited here.
 CYLINDRICAL COORDINATES (r-θ-z)

 First we designate the unit vectors eR, eθ, eФ as

shown in the fig discussed earlier.
 Note that the unit vector eR is in the direction that the
particle P would move if R increases but θ and Ф are
held constant.
 Also the unit vector eθ is in the direction that P would
move if θ increases if R and Ф are held constant.
 Lastly, the unit vector eФ is in the direction in which P
would move if Ф increases while R and θ are held
constant.
 SPHERICAL COORDINATES (R-θ-Ф)

 The resulting expression for v and a are:

v  vR e R  v eθ  v eφ      (2 / 18)

where

vR  R

v  R  cos 

v  R 
 SPHERICAL COORDINATES (R-θ-Ф)

 For the acceleration following expression is derived

a  aR e R  a eθ  a eφ      (2 / 19)
where
 2 2
aR  R  R   R  cos 2 
cos  d 2   
a  ( R  )  2 R   sin 
R dt

1 d 2
a  ( R  )  R  2 sin  cos 
R dt
 SPHERICAL COORDINATES (R-θ-Ф)

 We should mention that linear algebraic

transformation between any two of the three
coordinate system expressions for velocity or
acceleration may be developed.
 These transformations make it possible to express
the motion components in rectangular coordinates,
for example, if the components are known in
spherical coordinates or vice versa.
 These transformations are easily handled with the
aid of matrix algebra and a simple computer
program.
 Quiz No 5
73(A) E/C
Marks 10-Time : 10 min – Course 73 E/C-Date: 08 Jan, 2010

 Explain by drawing an appropriate diagram that how

unit vectors eR, eθand eФ are designated in spherical
coordinate system. The answer should also mention
that how R-,θ- and Ф- axes are fixed.

 Also explain that why polar and cylindrical coordinate

system are not treated separately in plane curvilinear
motion.
 CONCLUSIONS

 Space curvilinear motion and plane curvilinear motion

are different because in the later a third coordinate is
added to track the motion in space
 Space curvilinear motion is handled in
 Rectangular coordinates
 Cylindrical coordinates
 Spherical coordinates
 Space curvilinear motion is not handled in normal-
tangential coordinates because oscillating plane shifts
with time
 Mathematical formulation of equations for position,
velocity and acceleration vectors gives us relationship in
vector as well as in scalar form.