11 Lecture

Tenth Edition
in SI Units
CHAPTER
11
VECTOR MECHANICS FOR ENGINEERS:
DYNAMICS
Ferdinand P. Beer
E. Russell Johnston, Jr.
Phillip J. Cornwell
Lecture Notes:
Brian P. Self
Kinematics of Particles
California Polytechnic State University
Sanjeev Sanghi
Indian Institute of Technology, Delhi
2013 The McGraw-Hill Companies, Inc. All rights reserved.
Tenth Edition
in SI Units
Vector Mechanics for Engineers: Dynamics

Contents
Introduction
Rectilinear Motion: Position,
Velocity & Acceleration
Determination of the Motion of a
Particle
Sample Problem 11.2
Sample Problem 11.3
Uniform Rectilinear-Motion
Uniformly Accelerated RectilinearMotion
Motion of Several Particles:
Relative Motion
Sample Problem 11.4
Motion of Several Particles:
Dependent Motion
Sample Problem 11.5

Graphical Solution of RectilinearMotion Problems
Other Graphical Methods
Curvilinear Motion: Position, Velocity
& Acceleration
Derivatives of Vector Functions
Rectangular Components of Velocity
and Acceleration
Motion Relative to a Frame in
Translation
Tangential and Normal Components
Radial and Transverse Components
Sample Problem 11.10
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Kinematic relationships are used to
help us determine the trajectory of a
golf ball, the orbital speed of a
satellite, and the accelerations
during acrobatic flying.
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Introduction
Dynamics includes:
Kinematics: study of the geometry of motion.
Relates displacement, velocity, acceleration, and time without reference
to the cause of motion.
Fthrust
Fdrag
Flift
Kinetics: study of the relations existing between the forces acting on
a body, the mass of the body, and the motion of the body. Kinetics is
used to predict the motion caused by given forces or to determine the
forces required to produce a given motion.
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Introduction
Particle kinetics includes:
Rectilinear motion: position, velocity, and acceleration of a
particle as it moves along a straight line.
Curvilinear motion: position, velocity, and acceleration of a

particle as it moves along a curved line in two or three
dimensions.
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Rectilinear Motion: Position, Velocity & Acceleration
Rectilinear motion: particle moving
along a straight line
Position coordinate: defined by
positive or negative distance from a
fixed origin on the line.
The motion of a particle is known if
the position coordinate for particle is
known for every value of time t.
May be expressed in the form of a
function, e.g.,
2
3
x 6t t
or in the form of a graph x vs. t.

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Consider particle which occupies position P
at time t and P at t+Dt,
x
Average velocity
t
x
t 0 t
Instantaneous velocity v lim
Instantaneous velocity may be positive or

negative. Magnitude of velocity is referred
to as particle speed.
From the definition of a derivative,
x dx
v lim
dt
t 0 t
e.g., x 6t 2 t 3
dx
v
12t 3t 2
dt
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Consider particle with velocity v at time t and
v at t+Dt,
v
Instantaneous acceleration a lim
t 0 t
Instantaneous acceleration may be:
- positive: increasing positive velocity
or decreasing negative velocity
- negative: decreasing positive velocity
or increasing negative velocity.
From the definition of a derivative,
v dv d 2 x
2
a lim
dt dt
t 0 t
e.g. v 12t 3t 2
dv
12 6t
a
dt
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Concept Quiz
What is true about the kinematics of a particle?
a) The velocity of a particle is always positive
b) The velocity of a particle is equal to the slope of
the position-time graph
c) If the position of a particle is zero, then the
velocity must zero
d) If the velocity of a particle is zero, then its
acceleration must be zero
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From our example,
x 6t 2 t 3
v
dx
12t 3t 2
dt
dv d 2 x
a
12 6t
2
dt dt
What are x, v, and a at t = 2 s ?

- at t = 2 s,
x = 16 m, v = vmax = 12 m/s, a = 0
Note that vmax occurs when a=0, and that the

slope of the velocity curve is zero at this point.
What are x, v, and a at t = 4 s ?
- at t = 4 s,
x = xmax = 32 m, v = 0, a = -12 m/s2

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Determination of the Motion of a Particle
We often determine accelerations from the forces applied
(kinetics will be covered later)
Generally have three classes of motion
- acceleration given as a function of time, a = f(t)
- acceleration given as a function of position, a = f(x)
- acceleration given as a function of velocity, a = f(v)
Can you think of a physical example of when force is a
When force is a function of velocity?
function of position?
a spring
drag
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Acceleration as a function of time, position, or velocity
If.
a a t
Kinematic relationship
dv
a (t )
dt
dt
a a x
dx
dv
and a
v
dt
v dv a x dx
a a v
Integrate
dv
a (v )
dt
dv
v a v
dx
v0
dv a t dt
v0
x0
v dv a x dx
v
dv
v a v 0 dt
0
x
v dv
x dx v a v
0
0
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Sample Problem 11.2
SOLUTION:
Integrate twice to find v(t) and y(t).
Solve for t when velocity equals zero
(time for maximum elevation) and
evaluate corresponding altitude.
Ball tossed with 10 m/s vertical velocity
from window 20 m above ground.
Solve for t when altitude equals zero

(time for ground impact) and evaluate
corresponding velocity.
Determine:
velocity and elevation above ground at
time t,
highest elevation reached by ball and
corresponding time, and
time when ball will hit the ground and
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Sample Problem 11.2
SOLUTION:
Integrate twice to find v(t) and y(t).
dv
a 9.81 m s 2
dt
v t
t
vt v0 9.81t
dv 9.81 dt
v0
vt 10
dy
v 10 9.81t
dt
y t
t
dy 10 9.81t dt
y0
m
m
9.81 2 t
s
s
y t y0 10t 12 9.81t 2
m
m
y t 20 m 10 t 4.905 2 t 2
s
s
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Sample Problem 11.2
Solve for t when velocity equals zero and evaluate
corresponding altitude.
vt 10
m
m
9.81 t 0
s
s2
t 1.019 s
Solve for t when altitude equals zero and evaluate

m
m
y t 20 m 10 t 4.905 2 t 2
s
s
m
m
y 20 m 10 1.019 s 4.905 2 1.019 s 2
s
s
y 25.1 m
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Sample Problem 11.2
Solve for t when altitude equals zero and evaluate
m
m
y t 20 m 10 t 4.905 2 t 2 0
s
s
t 1.243 s meaningless
t 3.28 s
vt 10
m
m
9.81 t
s
s2
m
m
v3.28 s 10 9.81 3.28 s
s
s2
m
v 22.2
s
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Sample Problem 11.3
SOLUTION:
a kv
Integrate a = dv/dt = -kv to find v(t).

Integrate v(t) = dx/dt to find x(t).
Brake mechanism used to reduce gun

recoil consists of piston attached to barrel
moving in fixed cylinder filled with oil.
As barrel recoils with initial velocity v0,
piston moves and oil is forced through
orifices in piston, causing piston and
cylinder to decelerate at rate proportional
to their velocity.
Integrate a = v dv/dx = -kv to find

v(x).
Determine v(t), x(t), and v(x).
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Sample Problem 11.3
SOLUTION:
Integrate a = dv/dt = -kv to find v(t).
v
dv
a
kv
dt
dv
v v k 0 dt
0
ln
v t
kt
v0
vt v0 e kt
Integrate v(t) = dx/dt to find x(t).
v t
dx
v0 e kt
dt
kt
dx
v
e
dt
0
x t v0 e kt
k
0
v0
xt
1 e kt
k
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Sample Problem 11.3
Integrate a = v dv/dx = -kv to find v(x).
dv
a v kv
dx
dv k dx
v0
dv k dx
v v0 kx
v v0 kx
Alternatively,
with
and
then
v
xt 0 1 e kt
k
vt
kt
kt
v t v0 e
or e
v0 vt
xt 1
k
v0
v0
v v0 kx
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Group Problem Solving
A bowling ball is dropped from a boat so that it
strikes the surface of a lake with a speed of 5 m/s.
Assuming the ball experiences a downward
acceleration of a =10 - 0.01v2 when in the water,
determine the velocity of the ball when it strikes the
bottom of the lake.
+y
Which integral should you choose?

v
(a)
(b)
dv a t dt
v0
v dv
x dx v a v
0
0
(c)
v0
x0
v dv a x dx
v
(d)
dv
v a v 0 dt
0
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Concept Question
When will the bowling ball start slowing down?
+y
A bowling ball is dropped from a boat so that it

strikes the surface of a lake with a speed of 5 m/s.
Assuming the ball experiences a downward
acceleration of a =10 - 0.01v2 when in the water,
determine the velocity of the ball when it strikes the
bottom of the lake.
The velocity would have to be high

enough for the 0.01 v2 term to be bigger
than 10
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SOLUTION:
Determine the proper kinematic
relationship to apply (is acceleration
a function of time, velocity, or
position?
The car starts from rest and accelerates
according to the relationship
a 3 0.001v 2
Determine the total distance the car

travels in one-half lap
Integrate to determine the velocity
after one-half lap
It travels around a circular track that has

a radius of 200 meters. Calculate the
velocity of the car after it has travelled
halfway around the track. What is the
cars maximum possible speed?
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Given: a 3 0.001v 2
vo = 0, r = 200 m
Find:
v after lap
Maximum speed
Choose the proper kinematic relationship

Acceleration is a function of velocity, and
we also can determine distance. Time is not
involved in the problem, so we choose:
dv
v a v
dx
v dv
a v
v0
dx
x0
Determine total distance travelled

x r 3.14(200) 628.32 m
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Determine the full integral, including limits
x
v dv
x dx v a v
0
0
628.32
v
dx
dv
2
0 3 0.001v
Evaluate the interval and solve for v

1
2 v
628.32
ln 3 0.001v
0
0.002
628.32(0.002) ln 3 0.001v 2 ln 3 0.001(0)
ln 3 0.001v 2 1.2566 1.0986= 0.15802
Take the exponential of each side

3 0.001v 2 e 0.15802
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Solve for v
3 0.001v 2 e 0.15802
3 e 0.15802
2146.2
v
0.001
2
v 46.3268 m/s
How do you determine the maximum speed the car can reach?
a 3 0.001v 2
Velocity is a maximum when

acceleration is zero
0.001v 2 3
This occurs when
vmax
0.001
vmax 54.772 m/s
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Uniform Rectilinear Motion
During free-fall, a parachutist
reaches terminal velocity when
her weight equals the drag
force. If motion is in a straight
line, this is uniform rectilinear
motion.
For a particle in uniform

rectilinear motion, the
acceleration is zero and
the velocity is constant.
dx
v constant
dt
x
x0
dx v dt
x x0 vt
x x0 vt
Careful these only apply to
uniform rectilinear motion!
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Uniformly Accelerated Rectilinear Motion
If forces applied to a body
are constant (and in a
constant direction), then
you have uniformly
accelerated rectilinear
motion.
Another example is freefall when drag is negligible
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Uniformly Accelerated Rectilinear Motion
For a particle in uniformly accelerated rectilinear motion, the
acceleration of the particle is constant. You may recognize these
constant acceleration equations from your physics courses.
dv
a constant
dt
dx
v0 at
dt
dv a dt
0
v0
dx v0 at dt
x0
dv
v a constant
dx
v v0 at
x x0 v0t 12 at 2
v dv a dx
v0
v 2 v02 2a x x0
x0
Careful these only apply to uniformly

accelerated rectilinear motion!
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Motion of Several Particles
We may be interested in the motion of several different particles,
whose motion may be independent or linked together.
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Motion of Several Particles: Relative Motion
For particles moving along the same line, time
should be recorded from the same starting
instant and displacements should be measured
from the same origin in the same direction.
x B x A relative position of B
with respect to A
xB x A xB A
xB
v B v A relative velocity of B
with respect to A
vB v A vB A
vB
a B a A relative acceleration of B
with respect to A
aB a A aB A
aB
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Sample Problem 11.4
SOLUTION:
Substitute initial position and velocity
and constant acceleration of ball into
general equations for uniformly
accelerated rectilinear motion.
Substitute initial position and constant
velocity of elevator into equation for
uniform rectilinear motion.
Ball thrown vertically from 12 m level
in elevator shaft with initial velocity of
18 m/s. At same instant, open-platform
elevator passes 5 m level moving
upward at 2 m/s.
Determine (a) when and where ball hits
elevator and (b) relative velocity of ball
and elevator at contact.
Write equation for relative position of

ball with respect to elevator and solve
for zero relative position, i.e., impact.
Substitute impact time into equation
for position of elevator and relative
velocity of ball with respect to
elevator.
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Sample Problem 11.4
SOLUTION:
Substitute initial position and velocity and constant
acceleration of ball into general equations for
uniformly accelerated rectilinear motion.
m
m
v B v0 at 18 9.81 t
s
s2
m
m
y B y0 v0t 12 at 2 12 m 18 t 4.905 t 2
s
s2
Substitute initial position and constant velocity of
elevator into equation for uniform rectilinear motion.
vE 2
m
s
m
y E y0 v E t 5 m 2 t
s
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Sample Problem 11.4
Write equation for relative position of ball with respect to
elevator and solve for zero relative position, i.e., impact.
y B E 12 18t 4.905t 2 5 2t 0
t 0.39 s meaningless
t 3.65 s
Substitute impact time into equations for position of elevator

and relative velocity of ball with respect to elevator.
y E 5 23.65
vB
y E 12.3 m
18 9.81t 2
16 9.813.65
vB
m
19.81
s
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Motion of Several Particles: Dependent Motion
Position of a particle may depend on position of one
or more other particles.
Position of block B depends on position of block A.
Since rope is of constant length, it follows that sum of
lengths of segments must be constant.
x A 2 x B constant (one degree of freedom)
Positions of three blocks are dependent.
2 x A 2 x B xC constant (two degrees of freedom)
For linearly related positions, similar relations hold
between velocities and accelerations.
dx A
dx B dxC
2
2
0 or 2v A 2v B vC 0
dt
dt
dt
dv
dv
dv
2 A 2 B C 0 or 2a A 2a B aC 0
dt
dt
dt
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Sample Problem 11.5
SOLUTION:
Define origin at upper horizontal surface
with positive displacement downward.
Collar A has uniformly accelerated
rectilinear motion. Solve for acceleration
and time t to reach L.
Pulley D has uniform rectilinear motion.
Pulley D is attached to a collar which
Calculate change of position at time t.
is pulled down at 75 mm/s. At t = 0,
collar A starts moving down from K Block B motion is dependent on motions
of collar A and pulley D. Write motion
with constant acceleration and zero
initial velocity. Knowing that velocity relationship and solve for change of block
B position at time t.
of collar A is 300 mm/s as it passes L,
determine the change in elevation,
Differentiate motion relation twice to
velocity, and acceleration of block B
develop equations for velocity and
when block A is at L.
acceleration of block B.
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Sample Problem 11.5
SOLUTION:
Define origin at upper horizontal surface with
positive displacement downward.
Collar A has uniformly accelerated rectilinear
motion. Solve for acceleration and time t to reach L.
v A2
2
vA 0
2a A x A x A 0
2
mm
300
2a A 200 mm
s
mm
a A 225 2
s
v A = (v A )0 + a At
300
mm
mm
= 225 2 t
s
s
t = 1.333 s
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Sample Problem 11.5
Pulley D has uniform rectilinear motion. Calculate
change of position at time t.
xD = (xD )0 + vDt
mm
xD - (xD )0 = 75
(1.333s) = 100 mm
s
Block B motion is dependent on motions of collar
A and pulley D. Write motion relationship and
solve for change of block B position at time t.
Total length of cable remains constant,
x A 2 xD xB x A 0 2 xD 0 xB 0
x A x A 0 2 xD xD 0 xB xB 0 0
200 mm 2 100 mm xB xB 0 0
x B - (x B )0 = - 400mm
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Sample Problem 11.5
Differentiate motion relation twice to develop
equations for velocity and acceleration of block B.
x A 2 xD xB constant
v A 2vD vB 0
mm mm
300
2 75
vB 0
s
s
vB = - 450
mm
mm
= 450
s
s
a A 2aD aB 0
mm
225
2(0) aB 0
2
s
aB = - 225
mm
mm
=
225
s2
s2
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Slider block A moves to the left with a
constant velocity of 6 m/s. Determine the
velocity of block B.
Solution steps
Sketch your system and choose
coordinate system
Write out constraint equation
Differentiate the constraint equation to
get velocity
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Given: vA= 6 m/s left Find: vB
xA
This length is constant no

matter how the blocks move
Sketch your system and choose coordinates

yB
Define your constraint equation(s)
x A 3 yB constants L
Differentiate the constraint equation to
get velocity
6 m/s + 3vB 0
v B 2 m/s
Note that as xA gets bigger, yB gets smaller.
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Graphical Solution of Rectilinear-Motion Problems

Engineers often collect position, velocity, and acceleration
data. Graphical solutions are often useful in analyzing
these data.
Data Fideltity / Highest Recorded Punch
180
160
Acceleration data
from a head impact
during a round of
boxing.
140
Acceleration (g)
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120
100
80
60
40
20
0
47.76
47.77
47.78
47.79
47.8
47.81
Time (s)
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Given the x-t curve, the v-t curve is

equal to the x-t curve slope.
Given the v-t curve, the a-t curve is
equal to the v-t curve slope.
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Given the a-t curve, the change in velocity between t1 and t2 is

equal to the area under the a-t curve between t1 and t2.
Given the v-t curve, the change in position between t1 and t2 is
equal to the area under the v-t curve between t1 and t2.
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Moment-area method to determine particle position at
time t directly from the a-t curve:
x1 x0 area under v t curve
v1
v0t1 t1 t dv
v0
using dv = a dt ,
v1
x1 x0 v0t1 t1 t a dt
v0
v1
t1 t a dt first moment of area under a-t curve
v0
with respect to t = t1 line.
x1 x0 v0t1 area under a-t curvet1 t

t abscissa of centroid C
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Method to determine particle acceleration from v-x curve:
dv
dx
AB tan
BC subnormal to v-x curve
av
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Curvilinear Motion: Position, Velocity & Acceleration
The softball and the car both undergo
curvilinear motion.
A particle moving along a curve other than a

straight line is in curvilinear motion.
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The position vector of a particle at time t is defined by a vector between
origin O of a fixed reference frame and the position occupied by particle.
Consider a particle which occupies position P defined by r at time t
and P defined by r at t + Dt,
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Instantaneous velocity
(vector)
r
r
r
r dr
v lim
t 0 t
dt
Instantaneous speed
(scalar)
s ds
v lim
t 0 t
dt
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Consider velocity v of a particle at time t and velocity v at t + Dt,

r
r
r
v dv
a lim
instantaneous acceleration (vector)

t 0 t
dt
In general, the acceleration vector is not tangent

to the particle path and velocity vector.
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Derivatives of Vector Functions
Let Pu be a vector function of scalar variable u,
dP
P
Pu u Pu
lim
lim
du u 0 u u 0
u
Derivative of vector sum,

d P Q dP dQ
du
du du
Delete or put in
bonus slides
Derivative of product of scalar and vector functions,
d f P df dP
P f
du
du
du
Derivative of scalar product and vector product,
d P Q dP
dQ
Q P
du
du
du
d P Q dP
dQ
Q P
du
du
du
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Rectangular Components of Velocity & Acceleration
When position vector of particle P is given by its
rectangular components,

r xi y j zk
Velocity vector,
dx dy dz
v i j k xi yj zk
dt
dt
dt

vx i v y j vz k
Acceleration vector,
d 2 x d 2 y d 2 z
a 2i 2 j 2k
xi
yj
zk
dt
dt
dt

ax i a y j az k
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Rectangular Components of Velocity & Acceleration
Rectangular components particularly effective
when component accelerations can be integrated
independently, e.g., motion of a projectile,
ax
x 0
ay
y g
az
z 0
with initial conditions,
x0 y 0 z 0 0
v x 0 , v y , v z 0 0
0
Integrating twice yields

v x v x 0
x v x 0 t
v y v y gt
0
y v y y 12 gt 2
0
vz 0
z0
Motion in horizontal direction is uniform.

Motion in vertical direction is uniformly accelerated.
Motion of projectile could be replaced by two
independent rectilinear motions.
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Sample Problem 11.7
SOLUTION:
Consider the vertical and horizontal motion
separately (they are independent)
Apply equations of motion in y-direction
Apply equations of motion in x-direction
Determine time t for projectile to hit the
A projectile is fired from the edge
ground, use this to find the horizontal
of a 150-m cliff with an initial
distance
velocity of 180 m/s at an angle of
30with the horizontal. Neglecting
Maximum elevation occurs when vy=0
air resistance, find (a) the horizontal
distance from the gun to the point
where the projectile strikes the
ground, (b) the greatest elevation
above the ground reached by the
projectile.
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Sample Problem 11.7
SOLUTION:
Given:
(v)o =180 m/s

(a)y = - 9.81 m/s2
(y)o =150 m
(a)x = 0 m/s2
Vertical motion uniformly accelerated:
Horizontal motion uniformly accelerated:

Choose positive x to the right as shown
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Sample Problem 11.7
SOLUTION:
Horizontal distance
Projectile strikes the ground at:
Substitute into equation (1) above
Solving for t, we take the positive root
Substitute t into equation (4)
Maximum elevation occurs when vy=0
Maximum elevation above the ground =

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Concept Quiz
If you fire a projectile from 150
meters above the ground (see
Ex Problem 11.7), what launch
angle will give you the greatest
horizontal distance x?
a)
b)
c)
d)
A launch angle of 45
A launch angle less than 45
A launch angle greater than 45
It depends on the launch velocity
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SOLUTION:
A baseball pitching machine
throws baseballs with a
horizontal velocity v0. If you
want the height h to be 1 m,
determine the value of v0.
Consider the vertical and horizontal motion

separately (they are independent)
Apply equations of motion in y-direction
Apply equations of motion in x-direction
Determine time t for projectile to fall to
1 m.
Calculate v0=0
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Given: x= 12 m, yo = 1.5 m,
yf= 1 m.
Find: vo
Analyze the motion in
the y-direction
1 2
y f y0 (0)t gt
2
1 2
3.5 5 gt
2
1
0.5 m (9.81 m/s 2 )t 2
2
Analyze the motion in

the x-direction
x 0 (vx )0 t v0 t
12 m (v0 )(0.3193 s)
v0 37.6 m/s 135.3 km/h
t 0.3193 s
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Motion Relative to a Frame in Translation
A soccer player must consider
the relative motion of the ball
and her teammates when
making a pass.
It is critical for a pilot to

know the relative motion
of his aircraft with respect
to the aircraft carrier to
make a safe landing.
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Motion Relative to a Frame in Translation
Designate one frame as the fixed frame of reference.
All other frames not rigidly attached to the fixed
reference frame are moving frames of reference.
Position vectors for particles A and B with respect to
r
and
r
the fixed frame of reference Oxyz are A
B.
Vector rB A joining A and B defines the position of

B with respect to the moving frame Axyz and

rB rA rB A
Differentiating twice,

v B v A v B A v B A velocity of B relative to A.

a B a A a B A a B A acceleration of B relative
to A.
Absolute motion of B can be obtained by combining
motion of A with relative motion of B with respect to
moving reference frame attached to A.
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Sample Problem 11.9
SOLUTION:
Define inertial axes for the system
Determine the position, speed, and
acceleration of car A at t = 5 s
Determine the position, speed, and
acceleration of car B at t = 5 s
Automobile A is traveling east at the Using vectors (Eqs 11.31, 11.33, and
11.34) or a graphical approach, determine
constant speed of 36 km/h. As
the relative position, velocity, and
automobile A crosses the intersection
acceleration
shown, automobile B starts from rest
35 m north of the intersection and
moves south with a constant
acceleration of 1.2 m/s2. Determine
the
position,
velocity,
and
acceleration of B relative to A 5 s
after A crosses the intersection.
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Sample Problem 11.9
SOLUTION:
Given:
Define axes along the road
vA=36 km/h, aA= 0, (xA)0 = 0

(vB)0= 0, aB= - 1.2 m/s2, (yA)0 = 35 m
Determine motion of Automobile A:
We have uniform motion for A so:
At t = 5 s
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Sample Problem 11.9
SOLUTION:
Determine motion of Automobile B:
We have uniform acceleration for B so:
At t = 5 s
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Sample Problem 11.9
SOLUTION:
We can solve the problems geometrically, and apply the arctangent relationship:
Or we can solve the problems using vectors to obtain equivalent results:

rB rA rB/ A
20 j 50i rB/ A
rB/ A 20 j 50i (m)
vB vA vB/ A
6 j 10i v B/ A
v B/ A 6 j 10i (m/s)
aB a A aB / A
1.2 j 0i a B/ A
a B/ A 1.2 j (m/s 2 )
Physically, a rider in car A would see car B travelling south and west.
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Concept Quiz
If you are sitting in train
B looking out the window,
it which direction does it
appear that train A is
moving?
a)
25o
c)
b)
25o
d)
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If we have an idea of the path of a vehicle, it is often convenient
to analyze the motion using tangential and normal components
(sometimes called path coordinates).
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y
r= the instantaneous
radius of curvature
v v et
v= vt et
en
dv
v2
a e t en
dt
et
x
The tangential direction (et) is tangent to the path of the

particle. This velocity vector of a particle is in this direction
The normal direction (en) is perpendicular to et and points
towards the inside of the curve.
The acceleration can have components in both the en and et directions
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To derive the acceleration vector in tangential
and normal components, define the motion of a
particle as shown in the figure.
et and etare tangential unit vectors for the

particle path at P and P. When drawn with

respect to the same origin, et et
et and
is the angle between them.
et 2 sin 2
et
sin 2
en en
lim
lim
0
0 2
de
en t
d
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v
With the velocity vector expressed as vet
the particle acceleration may be written as
dv dv de dv de d ds
a
et v
et v
dt dt
dt dt
d ds dt
but
det
ds
en
v
d ds
d
dt
After substituting,
dv
v2
dv v 2
a et en
at
an
dt
dt
The tangential component of acceleration

reflects change of speed and the normal
component reflects change of direction.
The tangential component may be positive or
negative. Normal component always points
toward center of path curvature.
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Relations for tangential and normal acceleration
also apply for particle moving along a space curve.
dv v 2
a et en
dt
dv
at
dt
v2
an
The plane containing tangential and normal unit

vectors is called the osculating plane.
The normal to the osculating plane is found from

eb et en
en principal normal
eb binormal
Acceleration has no component along the binormal.
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SOLUTION:
Define your coordinate system
Calculate the tangential velocity and
tangential acceleration
Calculate the normal acceleration
A motorist is traveling on a curved
section of highway of radius 750 m
at the speed of 90 km/h. The
motorist suddenly applies the brakes,
causing the automobile to slow
down at a constant rate. Knowing
that after 8 s the speed has been
reduced to 72 km/h, determine the
acceleration of the automobile
immediately after the brakes have
been applied.
Determine overall acceleration magnitude

after the brakes have been applied
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Sample Problem 11.8
SOLUTION:
Determine velocity and acceleration in

the tangential direction
et
en
km 1000 m 1 h
90 km/h = 90
25 m/s
h 1 km 3600 s
72 km/h = 20 m/s
The deceleration constant, therefore

at = average at =
Dv 20 m/s - 25 m/s
=
= - 0.625 m/s2
Dt
8s
Immediately after the brakes are applied,

the speed is still 25 m/s
v 2 (25 m/s)2
an =
=
= 0.833 m/s2
r
750 m
an 0.833 m/s2
a an2 at2 ( 0.625) 2 (0.833) 2 tan a = a =
2
0.625
m/s
t
a = 53.1o
a = 1.041 m/s2
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In 2001, a race scheduled at the Texas Motor Speedway was
cancelled because the normal accelerations were too high and
caused some drivers to experience excessive g-loads (similar to
fighter pilots) and possibly pass out. What are some things that
could be done to solve this problem?
Some possibilities:
Reduce the allowed speed
Increase the turn radius
(difficult and costly)
Have the racers wear g-suits
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SOLUTION:
Calculate the tangential velocity and
tangential acceleration
Calculate the normal acceleration
The tangential acceleration of the
centrifuge cab is given by
Determine overall acceleration

magnitude
at 0.5 t (m/s 2 )
where t is in seconds and at is in
m/s2. If the centrifuge starts from
fest, determine the total acceleration
magnitude of the cab after 10
seconds.
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In the side view, the tangential
direction points into the page
en
Determine the tangential velocity

at 0.5 t
t
2 t
vt 0.5 t dt 0.25t
0.25t 2
Top View
vt 0.25 10 25 m/s
2
et
en
Determine the normal acceleration

vt
an
252
78.125 m/s 2
8
Determine the total acceleration magnitude

amag a a 78.125 + (0.5)(10)
2
n
2
t
amag 78.285 m/s2

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Notice that the normal
acceleration is much higher than
the tangential acceleration.
What would happen if, for a
given tangential velocity and
acceleration, the arm radius was
doubled?
a)
b)
c)
d)
The accelerations would remain the same

The an would increase and the at would decrease
The an and at would both increase
The an would decrease and the at would increase
11 - 76
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By knowing the distance to the aircraft and the
angle of the radar, air traffic controllers can
track aircraft.
Fire truck ladders can rotate as well as extend;
the motion of the end of the ladder can be
analyzed using radial and transverse
components.
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The position of a particle P is
expressed as a distance r from the
origin O to P this defines the
radial direction er. The transverse
direction eq is perpendicular to er

r re r
The particle velocity vector is
v = rer + rq eq
The particle acceleration vector is
) (
a = r- rq er + rq + 2rq eq
11 - 78
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We can derive the velocity and acceleration
relationships by recognizing that the unit vectors
change direction.

r r er
der
e
d
The particle velocity vector is
d dr der dr d
v rer er r
e
er r
dt
dt
dt
dt
dt
rer re
de
er
d
der der d d
e
dt
d dt
dt
de de d
d
er
dt
d dt
dt
Similarly, the particle acceleration vector is

d dr d
a er r
e
dt dt
dt
2
2
d r dr der dr d d d de
e r 2 e r
2 er
dt dt dt dt
dt dt
dt
dt
r r2 er r 2re

11 - 79
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Concept Quiz
If you are travelling in a perfect
circle, what is always true about
radial/transverse coordinates and
normal/tangential coordinates?
a) The er direction is identical to the en direction.

b) The eq direction is perpendicular to the en direction.
c) The eq direction is parallel to the er direction.
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When particle position is given in cylindrical
coordinates, it is convenient to express the
velocity and acceleration
vectors using the unit

vectors e R , e , and k .
Position vector,

r R e R z k
Velocity vector,
dr
v
R e R R e zk
dt
Acceleration vector,
dv
a
zk
R R eR R 2 R e
dt
11 - 81
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SOLUTION:
Evaluate time t for q = 30o.
Evaluate radial and angular positions,
and first and second derivatives at
time t.
Rotation of the arm about O is defined
by q = 0.15t2 where q is in radians and t
in seconds. Collar B slides along the
arm such that r = 0.9 - 0.12t2 where r is
in meters.
Calculate velocity and acceleration in

cylindrical coordinates.
Evaluate acceleration with respect to
arm.
After the arm has rotated through 30o,

determine (a) the total velocity of the
collar, (b) the total acceleration of the
collar, and (c) the relative acceleration
of the collar with respect to the arm.
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SOLUTION:
Evaluate time t for q = 30o.
0.15 t 2
30 0.524 rad
t 1.869 s
Evaluate radial and angular positions, and first

and second derivatives at time t.
r 0.9 0.12 t 2 0.481 m
r 0.24 t 0.449 m s
r 0.24 m s 2
0.15 t 2 0.524 rad

0.30 t 0.561 rad s
0.30 rad s 2
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Calculate velocity and acceleration.
vr r 0.449 m s
v r 0.481 m 0.561 rad s 0.270 m s
v
tan 1
vr
v vr2 v2
v 0.524 m s
31.0
ar r r2
0.240 m s 2 0.481m 0.561rad s 2
0.391m s 2
a r 2r
0.481m 0.3 rad s 2 2 0.449 m s 0.561rad s

0.359 m s 2
a ar2 a2
a
tan 1
ar
a 0.531 m s
42.6
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Evaluate acceleration with respect to arm.
Motion of collar with respect to arm is rectilinear
and defined by coordinate r.
a B OA
r 0.240 m s 2
11 - 85
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SOLUTION:
Calculate the angular velocity after
three revolutions
Calculate the radial and transverse
accelerations
The angular acceleration of the
centrifuge arm varies according to
Determine overall acceleration

magnitude
q= 0.05q (rad/s2 )
where q is measured in radians. If the
centrifuge starts from rest, determine the
acceleration magnitude after the gondola
has travelled two full rotations.
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In the side view, the transverse
direction points into the page
er
Determine the angular velocity

q= 0.05q (rad/s2 )
Acceleration is a function
of position, so use:
qdq = qdq
Evaluate the integral

(2)(2 p )
er
Top View
eq
0.05q dq = qdq
0
0.05q
2
2(2 p )
q
=
2
q
2
2
q = 0.052(2p )
0
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Determine the angular velocity
2
2
q = 0.052(2p )
q= 2.8099 rad/s
er
Determine the angular acceleration
q= 0.05q = 0.05(2)(2p ) = 0.6283 rad/s2

Find the radial and transverse accelerations
(
(
) (
2
= 0 - (8)(2.8099) er + (8)(0.6283) + 0 eq
= -63.166 er + 5.0265 eq (m/s2 )
)
) (
Magnitude:
amag a a (63.166 ) + 5.0265
2
r
amag 63.365 m/s 2

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r
What would happen if you

designed the centrifuge so
that the arm could extend
from 6 to 10 meters?
You could now have additional acceleration terms. This might

give you more control over how quickly the acceleration of the
gondola changes (this is known as the G-onset rate).
) (
11 - 89

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Tenth Edition

VECTOR MECHANICS FOR ENGINEERS:

California Polytechnic State University

2013 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

Sample Problem 11.5

2013 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

2013 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

Vector Mechanics for Engineers: Dynamics

Curvilinear motion: position, velocity, and acceleration of a

Vector Mechanics for Engineers: Dynamics

or in the form of a graph x vs. t.

Vector Mechanics for Engineers: Dynamics

Instantaneous velocity v lim

Instantaneous velocity may be positive or

Vector Mechanics for Engineers: Dynamics

Vector Mechanics for Engineers: Dynamics

2013 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

What are x, v, and a at t = 2 s ?

Note that vmax occurs when a=0, and that the

x = xmax = 32 m, v = 0, a = -12 m/s2

Vector Mechanics for Engineers: Dynamics

Vector Mechanics for Engineers: Dynamics

2013 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

Solve for t when altitude equals zero

Vector Mechanics for Engineers: Dynamics

Vector Mechanics for Engineers: Dynamics

Solve for t when altitude equals zero and evaluate

Vector Mechanics for Engineers: Dynamics

2013 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

Integrate a = dv/dt = -kv to find v(t).

Brake mechanism used to reduce gun

Integrate a = v dv/dx = -kv to find

Determine v(t), x(t), and v(x).

2013 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

Vector Mechanics for Engineers: Dynamics

2013 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

Which integral should you choose?

2013 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

When will the bowling ball start slowing down?

A bowling ball is dropped from a boat so that it

The velocity would have to be high

Vector Mechanics for Engineers: Dynamics

Determine the total distance the car

It travels around a circular track that has

Vector Mechanics for Engineers: Dynamics

Choose the proper kinematic relationship

Determine total distance travelled

2013 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

Evaluate the interval and solve for v

ln 3 0.001v 2 1.2566 1.0986= 0.15802

Take the exponential of each side

Vector Mechanics for Engineers: Dynamics

Velocity is a maximum when