HOLY CROSS COLLEGE

Sta. Lucia, Sta. Ana, Pampanga

SCHOOL OF ENGINEERING, COMPUTER AND LIBRARY STUDIES
Institute of Civil Engineering
1

Course Description
Mechanics is a branch of the physical sciences that is concerned with the state of rest or
motion of bodies subjected to the action of forces. Engineering mechanics is divided into
two areas of study, namely, statics and dynamics. Statics is concerned with the
equilibrium of a body that is either at rest or moves with constant velocity. Here we will
consider dynamics, which deals with the accelerated motion of a body. The subject of
dynamics will be presented in two parts: kinematics, which treats only the geometric
aspects of the motion, and kinetics, which is the analysis of the forces causing the motion.
To develop these principles, the dynamics of a particle will be discussed first, followed by
topics in rigid-body dynamics in two and then three dimensions.

Module 1: Chapter 1: Week 3 to Week 4

Objectives:
At the end of the chapter, the students would be able to:
• Investigate particle motion along a curved path using different coordinate
systems.
• Investigate projectiles and its properties.
 HOLY CROSS COLLEGE
Sta. Lucia, Sta. Ana, Pampanga
SCHOOL OF ENGINEERING, COMPUTER AND LIBRARY STUDIES
Institute of Civil Engineering
2

Module 1: Chapter 2
KINEMATICS OF A PARTICLE: CURVILINEAR MOTION

GENERAL CURVILINEAR MOTION

Curvilinear motion occurs when the particle moves along a curved path.

• Position. The position of the particle is described by the position vector 𝐫(𝑡). This vector is
a function of time since both its magnitude and direction change as the particle moves
along its path (described by the path function 𝑠(𝑡)).

𝑑𝐫
• Velocity. The velocity of the particle is described by the vector 𝐯(𝑡) = .
𝑑𝑡

Speed. The speed v is the magnitude of 𝐯 and can be obtained by differentiating the
𝑑𝑠
path function 𝑠(𝑡) with respect to time i.e., 𝑣 = .
𝑑𝑡
𝑑𝐯 𝑑2 𝐫
• Acceleration. The acceleration of the particle is described by the vector 𝐚 = = .
𝑑𝑡 𝑑𝑡 2

IMPORTANT NOTES

• Curvilinear motion can cause changes in both the magnitude and direction of the
position, velocity and acceleration vectors.
• The velocity vector is always directed tangent to the path.
• In general, the acceleration vector is not tangent to the path, but rather, it is tangent to
the hodograph.
 HOLY CROSS COLLEGE
Sta. Lucia, Sta. Ana, Pampanga
SCHOOL OF ENGINEERING, COMPUTER AND LIBRARY STUDIES
Institute of Civil Engineering
3

CURVILINEAR MOTION: RECTANGULAR COMPONENTS

Using a fixed xyz-frame of reference:

• Position:
𝐫(𝑡) = 𝑥(𝑡)𝐢 + 𝑦(𝑡)𝐣 + 𝑧(𝑡)𝐤
Magnitude:
𝑟 = √𝑥 2 + 𝑦 2 + 𝑧 2
Direction:
𝐫
𝐮r =
𝑟

• Velocity:
𝑑𝐫 𝑑 𝑑 𝑑
𝐯(𝑡) = = [𝑥(𝑡)𝐢] + [𝑦(𝑡)𝐣] + [𝑧(𝑡)𝐤]
𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡
𝑑 𝑑 𝑑
𝐯(𝑡) = [𝑥(𝑡)]𝐢 + [𝑦(𝑡)]𝐣 + [𝑧(𝑡)]𝐤
𝑑𝑡 𝑑𝑡 𝑑𝑡
𝐯(𝑡) = 𝑣𝑥 𝐢 + 𝑣𝑦 𝐣 + 𝑣𝑧 𝐤
Magnitude:

𝑣 = √𝑣𝑥2 + 𝑣𝑦2 + 𝑣𝑧2

Direction:
𝐯
𝐮𝑣 =
𝑣
Velocity is always tangent to the path of motion.

• Acceleration:
𝐚(𝑡) = 𝑎𝑥 𝐢 + 𝑎𝑦 𝐣 + 𝑎𝑧 𝐤
where
𝑑 𝑑2𝑥 𝑑 𝑑2𝑦 𝑑 𝑑2𝑧
𝑎𝑥 = (𝑣𝑥 ) = 2 , 𝑎𝑦 = (𝑣𝑦 ) = 2 , 𝑎𝑧 = (𝑣𝑧 ) = 2
𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡
Magnitude:

𝑎 = √𝑎𝑥2 + 𝑎𝑦2 + 𝑎𝑧2

Direction:
𝐚
𝐮𝑎 =
𝑎
 HOLY CROSS COLLEGE
Sta. Lucia, Sta. Ana, Pampanga
SCHOOL OF ENGINEERING, COMPUTER AND LIBRARY STUDIES
Institute of Civil Engineering
4

PROBLEM 11: The position of a particle is 𝐫 = {(3𝑡 3 − 2𝑡)𝐢 − (4𝑡 1⁄2 + 𝑡)𝐣 + (3𝑡 2 − 2)𝐤} 𝑚, where 𝑡 is in
seconds. Determine the magnitude of the particle’s velocity and acceleration when 𝑡 = 2 𝑠.

Solution:

For the velocity,

𝑑𝐫
𝐯=
𝑑𝑡
𝑑 𝑑 𝑑
𝐯 = (3𝑡 3 − 2𝑡)𝐢 − (4𝑡 1⁄2 + 𝑡)𝐣 + (3𝑡 2 − 2)𝐤
𝑑𝑡 𝑑𝑡 𝑑𝑡
𝐯 = (9𝑡 2 − 2)𝐢 − (2𝑡 −1⁄2 + 1)𝐣 + (6𝑡)𝐤

When 𝑡 = 2 𝑠:

𝐯 = [9(2)2 − 2]𝐢 − [2(2)−1⁄2 + 1]𝐣 + [6(2)]𝐤

𝐯 = 34𝐢 − 2.414𝐣 + 12𝐤

The magnitude of the velocity is

𝑣 = √𝑣𝑥2 + 𝑣𝑦2 + 𝑣𝑧2

𝑣 = √342 + (−2.414)2 + 122

𝒗 = 𝟑𝟔. 𝟏𝟑𝟔 𝒎⁄𝒔

For the acceleration,

𝑑𝐯
𝐚=
𝑑𝑡
𝑑 𝑑 𝑑
𝐚 = (9𝑡 2 − 2)𝐢 − (2𝑡 −1⁄2 + 1)𝐣 + (6𝑡)𝐤
𝑑𝑡 𝑑𝑡 𝑑𝑡
𝐚 = (18𝑡)𝐢 + (𝑡 −3⁄2 )𝐣 + 6𝐤

When 𝑡 = 2 𝑠:

𝐚 = [18(2)]𝐢 + [(2)−3⁄2 ]𝐣 + 6𝐤
𝐚 = 36𝐢 + 0.354𝐣 + 6𝐤

The magnitude of the acceleration is

𝑎 = √𝑎𝑥2 + 𝑎𝑦2 + 𝑎𝑧2

𝑎 = √362 + 0.3542 + 62
𝒂 = 𝟑𝟔. 𝟒𝟔𝟗𝟖 𝒎⁄𝒔𝟐
 HOLY CROSS COLLEGE
Sta. Lucia, Sta. Ana, Pampanga
SCHOOL OF ENGINEERING, COMPUTER AND LIBRARY STUDIES
Institute of Civil Engineering
5

PROBLEM 12: The roller coaster car travels down the helical path at constant speed such that
the parametric equations that define its position are 𝑥 = 𝑐 sin(𝑘𝑡), 𝑦 = 𝑐 cos(𝑘𝑡), 𝑧 = ℎ − 𝑏𝑡, where
c, h, and b are constants. Determine the magnitudes of its velocity and acceleration.

Solution:

For the velocity,

𝑑𝐫
𝐯=
𝑑𝑡
𝑑 𝑑 𝑑
𝐯 = (𝑐 sin(𝑘𝑡))𝐢 + (𝑐 cos(𝑘𝑡))𝐣 + (ℎ − 𝑏𝑡)𝐤
𝑑𝑡 𝑑𝑡 𝑑𝑡
𝐯 = [𝑐𝑘 cos(𝑘𝑡)]𝐢 − [𝑐𝑘 sin(𝑘𝑡)]𝐣 − 𝑏𝐤

The magnitude of the velocity is

𝑣 = √𝑣𝑥2 + 𝑣𝑦2 + 𝑣𝑧2

𝑣 = √[𝑐𝑘 cos(𝑘𝑡)]2 + [−𝑐𝑘 sin(𝑘𝑡)]2 + (−𝑏)2

𝑣 = √𝑐 2 𝑘 2 cos 2 (𝑘𝑡) + 𝑐 2 𝑘 2 sin2 (𝑘𝑡) + 𝑏 2
𝒗 = √𝒄𝟐 𝒌𝟐 + 𝒃𝟐

For the acceleration,

𝑑𝐯
𝐚=
𝑑𝑡
𝑑 𝑑
𝐚 = [𝑐𝑘 cos(𝑘𝑡)]𝐢 − [𝑐𝑘 sin(𝑘𝑡)]𝐣 + 0𝐤
𝑑𝑡 𝑑𝑡
𝐚 = −𝑐𝑘 2 sin(𝑘𝑡) 𝐢 − [𝑐𝑘 2 cos(𝑘𝑡)]𝐣

The magnitude of the acceleration is

𝑎 = √𝑎𝑥2 + 𝑎𝑦2 + 𝑎𝑧2

𝑎 = √[−𝑐𝑘 2 sin(𝑘𝑡)]2 + [−𝑐𝑘 2 cos(𝑘𝑡)]2 + 02

𝒂 = 𝒄𝒌𝟐
 HOLY CROSS COLLEGE
Sta. Lucia, Sta. Ana, Pampanga
SCHOOL OF ENGINEERING, COMPUTER AND LIBRARY STUDIES
Institute of Civil Engineering
6

PROBLEM 13: Pegs A and B are restricted to move in the elliptical slots due to the motion of the
slotted link. If the link moves with a constant speed of 10 m/s, determine the magnitude of the
velocity and acceleration of peg A when x = 1 m.

Solution:

Velocity: The x and y components of the peg’s velocity can be related by taking the first-time
derivative of the path’s equation.

𝑥2
+ 𝑦2 = 1
4
1 𝑑𝑥 𝑑𝑦
(2𝑥 ) + 2𝑦 =0
4 𝑑𝑡 𝑑𝑡

Simplifying and replacing 𝑣𝑥 = 𝑑𝑥 ⁄𝑑𝑡 and 𝑣𝑦 = 𝑑𝑦⁄𝑑𝑡, we have

1
𝑥𝑣 + 2𝑦𝑣𝑦 = 0
2 𝑥

At 𝑥 = 1 𝑚,

12
+ 𝑦2 = 1
4
√3
𝑦= 𝑚
2

Here, 𝑣𝑥 = 10 𝑚⁄𝑠 and 𝑥 = 1. Substituting these values,

1 √3
(1)(10) + 2 ( ) 𝑣𝑦 = 0
2 2
𝑣𝑦 = −2.887 𝑚⁄𝑠

Thus, the magnitude of the peg’s velocity is

𝑣 = √𝑣𝑥2 + 𝑣𝑦2

𝑣 = √102 + (−2.887)2
𝒗 = 𝟏𝟎. 𝟒𝟎𝟖 𝒎⁄𝒔

Acceleration: The x and y components of the peg’s acceleration can be related by taking the
second time derivative of the path’s equation.

1 𝑑𝑥 𝑑𝑦
𝑥 + 2𝑦 =0
2 𝑑𝑡 𝑑𝑡
 HOLY CROSS COLLEGE
Sta. Lucia, Sta. Ana, Pampanga
SCHOOL OF ENGINEERING, COMPUTER AND LIBRARY STUDIES
Institute of Civil Engineering
7

1 𝑑 2 𝑥 𝑑𝑥 𝑑𝑥 𝑑 2 𝑦 𝑑𝑦 𝑑𝑦
(𝑥 2 + ⋅ ) + 2 (𝑦 2 + ⋅ )=0
2 𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡
Replacing 𝑎𝑥 = 𝑑 2 𝑥 ⁄𝑑𝑡 2 and 𝑎𝑦 = 𝑑 2 𝑦⁄𝑑𝑡 2 ,

1
(𝑥𝑎𝑥 + 𝑣𝑥2 ) + 2(𝑦𝑎𝑦 + 𝑣𝑦2 ) = 0
2

Since 𝑣𝑥 is constant, 𝑎𝑥 = 0. When 𝑥 = 1 𝑚, 𝑦 = √3⁄2 𝑚, 𝑣𝑥 = 10 𝑚⁄𝑠 and 𝑣𝑦 = −2.887 𝑚⁄𝑠.

Substituting theses values,

1 √3
[1(0) + 102 ] + 2 [( ) 𝑎𝑦 + (−2.887)2 ] = 0
2 2
𝑎𝑦 = −38.49 𝑚⁄𝑠2

Thus, the peg’s acceleration is

𝑎 = √𝑎𝑥2 + 𝑎𝑦2

𝑎 = √02 + (−38.49)2
𝒂 = 𝟑𝟖. 𝟒𝟗 𝒎⁄𝒔𝟐
 HOLY CROSS COLLEGE
Sta. Lucia, Sta. Ana, Pampanga
SCHOOL OF ENGINEERING, COMPUTER AND LIBRARY STUDIES
Institute of Civil Engineering
8

MOTION OF A PROJECTILE

The free-flight motion of a projectile is often studied in terms of its rectangular components, since
the projectile’s acceleration always acts in the vertical direction.

PROCEDURE FOR SOLVING PROBLEMS

• Coordinate System
o Establish the fixed 𝑥, 𝑦 coordinate axes and sketch the trajectory of the particle.
Between any two points on the path specify the problem data and the three
unknowns. In all cases the acceleration of gravity acts downward. The particle’s
initial and final velocities should be represented in terms of their 𝑥 and 𝑦
components.
o Remember that positive and negative position, velocity and acceleration
components always act in accordance with their associated coordinate
directions.
• Kinematic Equations
o Depending upon the known data and what is to be determined, a choice should
be made as to which three of the following four equations should be applied
between the two points on the path to obtain the most direct solution to the
problem.
• Horizontal Motion
o The velocity in the horizontal or 𝑥 direction is constant i.e., 𝑣𝑥 = 𝑣0𝑥 and
𝑥 = 𝑥0 + 𝑣0𝑥 𝑡
• Vertical motion
o In the vertical or 𝑦 direction only two of the following three equations can be used
for solution:
𝑣𝑦 = 𝑣0𝑦 − 𝑎𝑐 𝑡
1
𝑦 = 𝑦0 + 𝑣0𝑦 𝑡 + 𝑎𝑐 𝑡 2
2
2
𝑣𝑦2 = 𝑣0𝑦 + 2𝑎𝑐 (𝑦 − 𝑦0 )
o For example, if the particle’s final velocity 𝑣𝑦 is not needed, then the first and third
of these equations (for 𝑦) will not be useful.
 HOLY CROSS COLLEGE
Sta. Lucia, Sta. Ana, Pampanga
SCHOOL OF ENGINEERING, COMPUTER AND LIBRARY STUDIES
Institute of Civil Engineering
9

PROBLEM 14: The skateboard rider leaves the ramp at A with an initial velocity 𝑣𝐴 at a 30° angle.
If he strikes the ground at B, determine 𝑣𝐴 and the time of flight.

Solution:

Select point A as the origin, so that its coordinates is at (0,0). Thus, point B is at (5, −1). We can
use the Eq. (3) in order to get 𝑣𝐴 .
𝑥
𝑥 = 𝑣0𝑥 𝑡 → 𝑡 =
𝑣0𝑥

1
𝑦 = 𝑣0𝑦 𝑡 − 𝑔𝑡 2
2
𝑥 𝑔 𝑥 2
𝑦 = 𝑣0𝑦 ( ) − ( )
𝑣0𝑥 2 𝑣0𝑥
𝑣0𝑦 𝑔𝑥 2
𝑦 = 𝑥( )− 2
𝑣0𝑥 2𝑣0𝑥
𝑣0 sin 𝜃 𝑔𝑥 2
𝑦 = 𝑥( )−
𝑣0 cos 𝜃 2(𝑣0 cos 𝜃)2
𝑔𝑥 2
𝑦 = 𝑥 tan 𝜃 − 2
2𝑣0 cos 2 𝜃
(9.81)(5)2
−1 = 5 tan 30° −
2(𝑣𝐴 )2 cos 2 30°
𝒗𝑨 = 𝟔. 𝟒𝟖𝟔 𝒎⁄𝒔

To get the time of flight, it simpler to use Eq. (1):

𝑥 = 𝑣0𝑥 𝑡
5 = (6.486 cos 30°)𝑡
𝒕 = 𝟎. 𝟖𝟗𝟎 𝒔
 HOLY CROSS COLLEGE
Sta. Lucia, Sta. Ana, Pampanga
SCHOOL OF ENGINEERING, COMPUTER AND LIBRARY STUDIES
Institute of Civil Engineering
10

PROBLEM 15: The pitching machine is adjusted so that the baseball is launched with a speed of
𝑣𝐴 = 30 𝑚⁄𝑠. If the ball strikes the ground at B, determine the two possible angles at which it was
launched.

Solution:

Let A be the point of origin, so that its coordinate is at (0,0). Thus, point B is at (30, −1.2). Using
Eq. (3),

𝑔𝑥 2
𝑦 = 𝑥 tan 𝜃 −
2𝑣02 cos 2 𝜃
(9.81)(30)2
−1.2 = 30 tan 𝜃𝐴 −
2(30)2 cos 2 𝜃𝐴
4.905
−1.2 = 30 tan 𝜃𝐴 −
cos 2 𝜃𝐴

Multiplying both sides by cos 2 𝜃𝐴 and rearranging, this yields to

1.2 cos 2 𝜃𝐴 + 30 sin 𝜃𝐴 cos 𝜃𝐴 − 4.905 = 0

Substituting cos 𝜃𝐴 = √[1 + cos(2𝜃𝐴 )]⁄2 and sin 𝜃𝐴 = √[1 − cos(2𝜃𝐴 )]⁄2,

1 + cos(2𝜃𝐴 ) 1 − cos(2𝜃𝐴 ) 1 + cos(2𝜃𝐴 )

1.2 [ ] + 30√ √ − 4.905 = 0
2 2 2
0.6[1 + cos(2𝜃𝐴 )] + 15√1 − cos 2 (2𝜃𝐴 ) − 4.905 = 0
15√1 − cos 2 (2𝜃𝐴 ) = 4.305 − 0.6 cos(2𝜃𝐴 )

Squaring both sides,

225 − 225 cos 2 (2𝜃𝐴 ) = 18.533025 − 5.166 cos(2𝜃𝐴 ) + 0.36 cos 2 (2𝜃𝐴 )
225.36 cos 2 (2𝜃𝐴 ) − 5.166 cos(2𝜃𝐴 ) − 206.466975 = 0

Solving the resulting quadratic equation, this yields to

cos(2𝜃𝐴 ) = +0.9686954392
cos(2𝜃𝐴 ) = −0.9457721165

Taking the inverse cosine of these values and dividing by 2, then 𝜃𝐴 is equal to

𝜽𝑨 = 𝟕. 𝟏𝟖𝟕°
𝜽𝑨 = 𝟖𝟎. 𝟓𝟐°
 HOLY CROSS COLLEGE
Sta. Lucia, Sta. Ana, Pampanga
SCHOOL OF ENGINEERING, COMPUTER AND LIBRARY STUDIES
Institute of Civil Engineering
11

PROBLEM 16: A boy throws a ball at O in the air with a speed 𝑣0 at an angle 𝜃1 . If he then throws
another ball with the same speed 𝑣0 at an angle 𝜃2 < 𝜃1 , determine the time between the throws
so that the balls collide in midair at B.

Solution:

For the first ball:

𝑔𝑥 2
𝑦 = 𝑥 tan 𝜃1 − → (1)
2𝑣02 cos 2 𝜃1

For the second ball:

𝑔𝑥 2
𝑦 = 𝑥 tan 𝜃2 − → (2)
2𝑣02 cos 2 𝜃2

Equating Eqs. (1) and (2):

𝑔𝑥 2 𝑔𝑥 2
𝑥 tan 𝜃1 − = 𝑥 tan 𝜃2 −
2𝑣02 cos 2 𝜃1 2𝑣02 cos 2 𝜃2
2
𝑔𝑥 1 1
𝑥(tan 𝜃1 − tan 𝜃2 ) = 2 ( 2 − )
2𝑣0 cos 𝜃1 cos 2 𝜃2
𝑔𝑥 2
𝑥(tan 𝜃1 − tan 𝜃2 ) = 2 (sec 2 𝜃1 − sec 2 𝜃2 )
2𝑣0

Dividing both sides by 𝑥:

𝑔𝑥
(tan 𝜃1 − tan 𝜃2 ) = (sec 2 𝜃1 − sec 2 𝜃2 )
2𝑣02

Solving for the value of 𝑥:

2𝑣02 tan 𝜃1 − tan 𝜃2

𝑥= ( )
𝑔 sec 2 𝜃1 − sec 2 𝜃2
sin 𝜃1 sin 𝜃2
2𝑣02 cos 𝜃1 − cos 𝜃2
𝑥= ( )
𝑔 1 1
−
cos 2 𝜃1 cos 2 𝜃2
sin 𝜃1 cos 𝜃2 − cos 𝜃1 sin 𝜃2
2𝑣02 ( cos 𝜃1 cos 𝜃2
)
𝑥= [ ]
𝑔 cos 2 𝜃2 − cos 2 𝜃1
( )
cos 2 𝜃1 cos 2 𝜃2

Take note that sin(𝜃1 − 𝜃2 ) = sin 𝜃1 cos 𝜃2 − cos 𝜃1 sin 𝜃2 , thus

 HOLY CROSS COLLEGE
Sta. Lucia, Sta. Ana, Pampanga
SCHOOL OF ENGINEERING, COMPUTER AND LIBRARY STUDIES
Institute of Civil Engineering
12

2𝑣02 sin(𝜃1 − 𝜃2 )
𝑥= [ 2 ]
𝑔 cos 𝜃2 − cos 2 𝜃1

The time between the throws is

∆𝑡 = 𝑡1 − 𝑡2

Since 𝑡1 = 𝑥 ⁄𝑣0 cos 𝜃1 and 𝑡2 = 𝑥 ⁄𝑣0 cos 𝜃2 :

2𝑣0 sin(𝜃1 − 𝜃2 )
𝑡1 = [ 2 ]
𝑔 cos 𝜃1 cos 𝜃2 − cos 2 𝜃1

and

2𝑣0 sin(𝜃1 − 𝜃2 )
𝑡2 = [ 2 ]
𝑔 cos 𝜃2 cos 𝜃2 − cos 2 𝜃1

Then
𝑥 𝑥
∆𝑡 = −
𝑣0 cos 𝜃1 𝑣0 cos 𝜃2
𝑥 1 1
∆𝑡 = ( − )
𝑣0 cos 𝜃1 cos 𝜃2
𝑥 cos 𝜃2 − cos 𝜃1
∆𝑡 = ( )
𝑣0 cos 𝜃1 cos 𝜃2
2𝑣0 sin(𝜃1 − 𝜃2 ) cos 𝜃1 cos 𝜃2 cos 𝜃2 − cos 𝜃1
∆𝑡 = [ ]( )
𝑔 cos 2 𝜃2 − cos 2 𝜃1 cos 𝜃1 cos 𝜃2
2𝑣0 sin(𝜃1 − 𝜃2 ) cos 𝜃1 cos 𝜃2 cos 𝜃2 − cos 𝜃1
∆𝑡 = [ ]( )
𝑔 (cos 𝜃2 − cos 𝜃1 )(cos 𝜃2 + cos 𝜃1 ) cos 𝜃1 cos 𝜃2
𝟐𝒗𝟎 𝐬𝐢𝐧(𝜽𝟏 − 𝜽𝟐 )
∆𝒕 =
𝒈(𝐜𝐨𝐬 𝜽𝟏 + 𝐜𝐨𝐬 𝜽𝟐 )
 HOLY CROSS COLLEGE
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Institute of Civil Engineering
13

PROBLEM 17: It is observed that the skier leaves the ramp A at an angle 𝜃𝐴 = 25° with the
horizontal. If he strikes the ground at B, determine his initial speed 𝑣𝐴 and the time of flight 𝑡𝐴𝐵 .

Solution:

Initial speed:

𝑔𝑥 2
𝑦 = 𝑥 tan 𝜃 −
2𝑣02 cos 2 𝜃
4 2
3 4 9.81 (100 ⋅ )
− (4 + 100 ⋅ ) = (100 ⋅ ) tan 25° − 5
5 5 2𝑣𝐴2 cos 2 25°
9.81(80)2
−64 = 80 tan 25° − 2
2𝑣𝐴 cos 2 25°
𝒗𝑨 = 𝟏𝟗. 𝟒𝟐𝟑 𝒎⁄𝒔

Time of flight:

𝑥 = 𝑣0 cos 𝜃𝐴 ⋅ 𝑡
80 = (19.423 cos 25°)𝑡
𝒕 = 𝟒. 𝟓𝟒𝟓 𝒔
 HOLY CROSS COLLEGE
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Institute of Civil Engineering
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PROBLEM 18: The boy at A attempts to throw a ball over the roof of a barn with an initial speed
of 𝑣𝐴 = 15 𝑚⁄𝑠 . Determine the angle 𝜃𝐴 at which the ball must be thrown so that it reaches its
maximum height at C. Also, find the distance 𝑑 where the boy should stand to make the throw.

Solution:

Vertical Motion: The vertical component, of initial and final velocity are 𝑣0𝑦 = 15 sin 𝜃𝐴 𝑚⁄𝑠 and
𝑣𝑦 = 0, respectively. The initial vertical position is 𝑠0𝑦 = 1 𝑚.

𝑣𝑦 = 𝑣0𝑦 + 𝑎𝑐 𝑡
0 = 15 sin 𝜃𝐴 − 9.81𝑡 → (1)
15 sin 𝜃𝐴
𝑡=
9.81
1
𝑠𝑦 = 𝑠0𝑦 + 𝑣0𝑦 𝑡 + 𝑎𝑐𝑦 𝑡 2
2
1
8 = 1 + 15 sin 𝜃𝐴 𝑡 + (−9.81)𝑡 2
2
7 = 15 sin 𝜃𝐴 𝑡 − 4.905𝑡 2 → (2)

15 sin 𝜃𝐴 15 sin 𝜃𝐴 2
7 = 15 sin 𝜃𝐴 ( ) − 4.905 ( )
9.81 9.81

Solving Eqs. (1) and (2) yields

𝜽𝑨 = 𝟓𝟏. 𝟑𝟕𝟖°
𝑡 = 1.195 𝑠

Horizontal Motion: The horizontal component of velocity is 𝑣0𝑥 = 𝑣𝐴 cos 𝜃𝐴 = 15 cos 51.378° =
9.363 𝑚⁄𝑠 . The initial and final horizontal positions are 𝑠0𝑥 = 0 and 𝑠𝑥 = (𝑑 + 4) 𝑚, respectively.

𝑠𝑥 = 𝑠0𝑥 + 𝑣0𝑥 𝑡
𝑑 + 4 = 0 + 9.363(1.195)
𝒅 = 𝟕. 𝟏𝟖𝟓 𝒎
 HOLY CROSS COLLEGE
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Institute of Civil Engineering
15

CURVILINEAR MOTION: NORMAL AND TANGENTIAL COMPONENTS

IMPORTANT POINTS

Coordinate System

• Provided the path of the particle is known, we establish a set of 𝑛 and 𝑡 coordinates
having a fixed origin which is coincident with the particle at the instant considered.
• The positive tangent axis always acts in the direction of motion and the positive normal
axis is directed towards the path’s center of
curvature.
• The 𝑛 and 𝑡 axes are particularly advantageous for
studying the velocity and acceleration of the
particle, because the velocity 𝐯 and the
acceleration 𝐚 are expressed by the equations
𝐯 = 𝑣𝐮𝑡
where
𝑑𝑠
𝑣=
𝑑𝑡
and
𝐚 = 𝑎𝑡 𝐮𝑡 + 𝑎𝑛 𝐮 𝑛
where
𝑑𝑣
𝑎𝑡 = ; 𝑎 𝑑𝑠 = 𝑣 𝑑𝑣
𝑑𝑡 𝑡
and
𝑣2
𝑎𝑛 =
𝜌

Velocity

• The particle’s velocity is always tangent to the path.

• The magnitude of velocity (speed) is found from the time
𝑑𝑠
derivative of the path function 𝑣 = .
𝑑𝑡

Tangential Acceleration

• The tangential component of acceleration is the result of the time rate of change in the
magnitude of velocity. This component acts in the positive 𝑠−direction if the particle’s
speed is increasing or in the opposite direction if the speed is decreasing.
• The relations between 𝑎𝑡 , 𝑣 and 𝑠 are the same as for rectilinear motion
𝑑𝑣
𝑎𝑡 = ; 𝑎 𝑑𝑠 = 𝑣 𝑑𝑣
𝑑𝑡 𝑡
• If 𝑎𝑡 is constant, 𝑎𝑡 = (𝑎𝑡 )𝑐 , the above equations, when integrated, yield
1
𝑠 = 𝑠0 + 𝑣0 𝑡 + (𝑎𝑡 )𝑐 𝑡 2
2
𝑣 = 𝑣0 + (𝑎𝑡 )𝑐 𝑡
𝑣2 = 𝑣02 + 2(𝑎𝑡 )𝑐 (𝑠 − 𝑠0 )
 HOLY CROSS COLLEGE
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Normal Acceleration

• The normal component of acceleration is the result of the time rate of change in the
direction of the particle’s velocity. This component is always directed toward the center
of curvature of the path i.e., along the positive 𝑛 axis.
𝑣2
• The magnitude of this component is determined from 𝑎𝑛 = .
𝜌
• If the path is expressed as 𝑦 = 𝑓(𝑥), the radius of curvature 𝜌 at any point on the path is
determined from the equation
[1 + (𝑑𝑦⁄𝑑𝑥 )2 ]3⁄2
𝜌=
𝑑2𝑦
| 2|
𝑑𝑥

PROBLEM 19: At a given instant, a car travels along a circular curved road with a speed of 20
m/s while decreasing its speed at the rate of 3 m/s2. If the magnitude of the car’s acceleration
is 5 m/s2, determine the radius of curvature of the road.

Solution:

Here, the car’s tangential component of acceleration of 𝑎𝑡 = 5 𝑚⁄𝑠2 . Thus,

𝑎 = √𝑎𝑡2 + 𝑎𝑛2

5 = √(−3)2 + 𝑎𝑛2
𝑎𝑛 = 4 𝑚⁄𝑠2
𝑣2
𝑎𝑛 =
𝜌
202
4=
𝜌
𝝆 = 𝟏𝟎𝟎 𝒎
 HOLY CROSS COLLEGE
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SCHOOL OF ENGINEERING, COMPUTER AND LIBRARY STUDIES
Institute of Civil Engineering
17

PROBLEM 20: Starting from rest the motorboat travels around

the circular path, = 50 𝑚 , at a speed 𝑣 = (0.8𝑡) 𝑚⁄𝑠, where 𝑡 is
in seconds. Determine the magnitudes of the boat’s velocity
and acceleration when it has traveled 20 m.

Solution:

The time for which the boat to travel 20 m must be determined

first.

𝑑𝑠 = 𝑣 𝑑𝑡
20 𝑚 𝑡
∫ 𝑑𝑠 = ∫ 0.8𝑡 𝑑𝑡
0 0
𝑡 = 7.071 𝑠

The magnitude of the boat’s velocity is

𝑣 = 0.8(7.071)
𝒗 = 𝟓. 𝟔𝟓𝟕 𝒎⁄𝒔

The tangential acceleration is

𝑑𝑣
𝑎𝑡 =
𝑑𝑡
𝑑
𝑎𝑡 = (0.8𝑡)
𝑑𝑡
𝑎𝑡 = 0.8 𝑚⁄𝑠2

The normal acceleration is

𝑣2
𝑎𝑛 =
𝜌
5.6572
𝑎𝑛 =
50
𝑎𝑛 = 0.64 𝑚⁄𝑠 2

Thus, the magnitude of the acceleration is

𝑎 = √𝑎𝑡2 + 𝑎𝑛2

𝑎 = √0.82 + 0.642
𝒂 = 𝟏. 𝟎𝟐𝟒 𝒎⁄𝒔𝟐
 HOLY CROSS COLLEGE
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SCHOOL OF ENGINEERING, COMPUTER AND LIBRARY STUDIES
Institute of Civil Engineering
18

PROBLEM 21: The train passes point B with a

speed of 20 m/s which is decreasing at 𝑎𝑡 =
−0.5 𝑚⁄𝑠 2 . Determine the magnitude of
acceleration of the train at this point.

Solution:

Solve for the radius of curvature at point B:

𝑦 = 200𝑒 𝑥⁄1000
𝑑𝑦 1
= 200 ( ) 𝑒 𝑥⁄1000
𝑑𝑥 1000
𝑑𝑦
= 0.2𝑒 𝑥⁄1000
𝑑𝑥
𝑑2𝑦 1
2 = 0.2 ( ) 𝑒 𝑥⁄1000
𝑑𝑥 1000
𝑑2𝑦
= (2 × 10−4 )𝑒 𝑥⁄1000
𝑑𝑥 2

Thus, at 𝑥 = 400 𝑚,
3⁄2
𝑑𝑦 2
[1 + ( ) ]
𝑑𝑥
𝜌=
𝑑2𝑦
| |
𝑑𝑥 2
2 3⁄2
[1 + (0.2𝑒 400⁄1000 ) ]
𝜌=
|(2 × 10−4 )𝑒 400⁄1000 |
𝜌 = 3808.96 𝑚

Normal acceleration:

𝑣2
𝑎𝑛 =
𝜌
202
𝑎𝑛 =
3808.96
𝑎𝑛 = 0.105 𝑚⁄𝑠 2

The magnitude of the train’s acceleration at B is

𝑎 = √𝑎𝑡2 + 𝑎𝑛2

𝑎 = √(−0.5)2 + 0.1052
𝒂 = 𝟎. 𝟓𝟏𝟏 𝒎⁄𝒔𝟐
 HOLY CROSS COLLEGE
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SCHOOL OF ENGINEERING, COMPUTER AND LIBRARY STUDIES
Institute of Civil Engineering
19

PROBLEM 22: A racing car travels with a constant

speed of 240 kph around the elliptical racetrack.
Determine the acceleration experienced by the
driver (a) at A, and (b) at B.

Solution:

Let us solve this problem in general form, by letting

𝑎 the length of the semi-major axis, and 𝑏 the
length of the semi-minor axis, so that

𝑥2 𝑦2
+ =1
𝑎2 𝑏 2

Solve for the radius of curvature:

First derivative:

𝑑𝑦
2𝑥 2𝑦 (𝑑𝑥 )
+ =0
𝑎2 𝑏2
𝑑𝑦 𝑏2
𝑦 = − 2 𝑥 → (1)
𝑑𝑥 𝑎
𝑑𝑦 𝑏2𝑥
= − 2 → (2)
𝑑𝑥 𝑎 𝑦

Second derivative:

𝑑2𝑦 𝑑𝑦 2 𝑏2
𝑦 2+( ) = − 2
𝑑𝑥 𝑑𝑥 𝑎
𝑏2 𝑑𝑦 2
[ 2 + ( ) ]
𝑑2𝑦 𝑎 𝑑𝑥
=− → (3)
𝑑𝑥 2 𝑦

Substituting Eq. (2) into Eq. (3) yields

2
𝑏2 𝑏 2𝑥
[ 2 + (− 2 ) ]
𝑑2𝑦 𝑎 𝑎 𝑦
=−
𝑑𝑥 2 𝑦
𝑏2 𝑏4𝑥 2
𝑑2𝑦 [ 2 + 4 2]
𝑎 𝑎 𝑦
=−
𝑑𝑥 2 𝑦
𝑑2𝑦 𝑎 𝑏 𝑦 2 + 𝑏 4𝑥 2
2 2
= −[ ]
𝑑𝑥 2 𝑎4 𝑦 3

Thus,
3⁄2
𝑑𝑦 2
[1 + ( ) ]
𝑑𝑥
𝜌=
𝑑2𝑦
| |
𝑑𝑥 2
 HOLY CROSS COLLEGE
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2 3⁄2
𝑏2𝑥
[1 + (− 2 ) ]
𝑎 𝑦
𝜌=
𝑎 𝑏 𝑦 + 𝑏4𝑥 2
2 2 2
[ ]
𝑎4 𝑦 3
3⁄2
𝑎4 𝑦 2 𝑏 4 𝑥 2
[ 4 2 + 4 2]
𝑎 𝑦 𝑎 𝑦
𝜌= 2 2 2
𝑎 𝑏 𝑦 + 𝑏4𝑥 2
[ ]
𝑎4 𝑦 3
(𝑎4 𝑦 2 + 𝑏 4 𝑥 2 )3⁄2 𝑎4 𝑦 3
𝜌= ⋅
𝑎6 𝑦 3 (𝑎2 𝑏 2 𝑦 2 + 𝑏 4 𝑥 2 )
(𝑎4 𝑦 2 + 𝑏 4 𝑥 2 )3⁄2
𝜌= 2 2 2 2
𝑎 (𝑎 𝑏 𝑦 + 𝑏 4 𝑥 2 )

At point A, 𝑥 = 𝑎 and 𝑦 = 0:

(0 + 𝑏 4 𝑎2 )3⁄2
𝜌𝐴 = 2
𝑎 (0 + 𝑏 4 𝑎2 )
𝑏2
𝜌𝐴 =
𝑎

At point B, 𝑥 = 0 and 𝑦 = 𝑏:

(𝑎4 𝑏 2 + 0)3⁄2
𝜌𝐵 =
𝑎2 (𝑎2 𝑏 4 + 0)
𝑎2
𝜌𝐵 =
𝑏

Since the race car travels with a constant speed along the track, 𝑎𝑡 = 0. Thus,

𝑣2 𝑎𝑣 2
𝑎𝐴 = =
𝑏2 𝑏2
( )
𝑎
𝑣2 𝑏𝑣 2
𝑎𝐵 = 2 = 2
𝑎 𝑎
( )
𝑏

Substituting 𝑎 = 4000 𝑚, 𝑏 = 2000 𝑚, and 𝑣 = 240 𝑘𝑝ℎ = 66.67 𝑚⁄𝑠:

(𝟒𝟎𝟎𝟎)𝟔𝟔. 𝟔𝟕𝟐
𝒂𝑨 = = 𝟒. 𝟒𝟒𝟒 𝒎⁄𝒔𝟐
(𝟐𝟎𝟎𝟎)𝟐
(𝟐𝟎𝟎𝟎)𝟔𝟔. 𝟔𝟕𝟐
𝒂𝑩 = = 𝟎. 𝟓𝟓𝟔 𝒎⁄𝒔𝟐
(𝟒𝟎𝟎𝟎)𝟐
 HOLY CROSS COLLEGE
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Institute of Civil Engineering
21

CURVILINEAR MOTION: CYLINDRICAL COMPONENTS

In some problems it is often convenient to express the path of motion in terms of cylindrical
coordinates 𝑟, 𝜃, 𝑧. If motion is restricted to the plane, polar coordinates 𝑟 and 𝜃 are used.

IMPORTANT POINTS

Coordinate System

• Polar coordinates are particularly suitable for solving problems for which data regarding
the angular motion of the radial coordinate r is given to describe the particle’s motion.
• To use polar coordinates, the origin is established at a fixed point, and the radial line 𝑟 is
directed to the particle.
• The transverse coordinate 𝜃 is measured counterclockwise from a fixed reference line to
the radial line.

Position, Velocity and Acceleration

• The position of the particle is defined by the position vector 𝐫 = 𝑟𝐮𝑟 .

• The velocity and acceleration of the particle are given, respectively, by

𝐯 = 𝑣𝑟 𝐮𝑟 + 𝑣𝜃 𝐮𝜃
𝐚 = 𝑎𝑟 𝐮𝑟 + 𝑎𝜃 𝐮𝜃

𝑑𝑟 𝑑 2 𝑟 𝑑𝜃 𝑑2𝜃
• Once 𝑟 and the four time derivatives , 2, , and have been evaluated at the
𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡 2
instant considered, their values can be substituted into the following equations to obtain
the radial and transverse components of 𝐯 and 𝐚.
𝑑𝑟 𝑑𝜃
𝑣𝑟 = ; 𝑣𝜃 = 𝑟
𝑑𝑡 𝑑𝑡
𝑑2𝑟 𝑑𝜃 2 𝑑2𝜃 𝑑𝑟 𝑑𝜃
𝑎𝑟 = 2 − 𝑟 ( ) ; 𝑎𝜃 = 𝑟 2 + 2 ( ) ( )
𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡
• If it is necessary to take the time derivatives of 𝑟 = 𝑓(𝜃), it is very important to use the chain
rule.
 HOLY CROSS COLLEGE
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• Motion in three-dimensions requires a simple extension of the

above formula to
Position:
𝐫 = 𝑟𝐮𝑟 + 𝑧𝐮𝑧

Velocity:
𝑑𝑟 𝑑𝜃 𝑑𝑧
𝐯= 𝐮𝑟 + (𝑟 ) 𝐮𝜃 + 𝐮𝑧
𝑑𝑡 𝑑𝑡 𝑑𝑡
Acceleration:
𝑑2𝑟 𝑑𝜃 2 𝑑2𝜃 𝑑𝑟 𝑑𝜃 𝑑2𝑧
𝐚 = [ 2 − 𝑟 ( ) ] 𝐮𝑟 + [𝑟 2 + 2 ( ) ( )] 𝐮𝜃 + 2 𝐮𝑧
𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡

PROBLEM 23: The position of a particle is described by 𝑟 = (𝑡 3 + 4𝑡 − 4) 𝑚 and 𝜃 = (𝑡 3⁄2 ) 𝑟𝑎𝑑,

where 𝑡 is in seconds. Determine the magnitudes of the particle’s velocity and acceleration at
the instant 𝑡 = 2 𝑠.

Solution:

Time derivatives: The first- and second-time derivatives or 𝑟 and 𝜃 when 𝑡 = 2 𝑠 are

𝑟 = 𝑡 3 + 4𝑡 − 4|𝑡=2 = 12 𝑚
𝑑𝑟
= 3𝑡 2 + 4|𝑡=2 = 16 𝑚⁄𝑠
𝑑𝑡
𝑑2𝑟
= 6𝑡|𝑡=2 = 12 𝑚⁄𝑠2
𝑑𝑡 2
𝜃 = 𝑡 3⁄2 |𝑡=2 = 2.828 𝑟𝑎𝑑
𝑑𝜃 3
= 𝑡 1⁄2 | = 2.121 𝑟𝑎𝑑⁄𝑠
𝑑𝑡 2 𝑡=2
𝑑2𝜃 3
= 𝑡 −1⁄2 | = 0.5303 𝑟𝑎𝑑⁄𝑠2
𝑑𝑡 2 4 𝑡=2

Velocity:

𝑑𝑟
𝑣𝑟 = = 16 𝑚⁄𝑠
𝑑𝑡
𝑑𝜃
𝑣𝜃 = 𝑟 = (12)(2.121) = 25.456 𝑚⁄𝑠
𝑑𝑡

Thus, the magnitude of the particle’s velocity is

𝑣 = √𝑣𝑟2 + 𝑣𝜃2

𝑣 = √162 + 25.4562
𝒗 = 𝟑𝟎. 𝟎𝟔𝟕 𝒎⁄𝒔

Acceleration:

𝑑2𝑟 𝑑𝜃 2
𝑎𝑟 = 2 − 𝑟 ( ) = 12 − (12)(2.121)2 = −42.00 𝑚⁄𝑠2
𝑑𝑡 𝑑𝑡
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𝑑2𝜃 𝑑𝑟 𝑑𝜃
𝑎𝜃 = 𝑟 2 + 2 ( ) ( ) = (12)(0.5303) + 2(16)(2.121) = 74.246 𝑚⁄𝑠2
𝑑𝑡 𝑑𝑡 𝑑𝑡

Thus, the magnitude of the particle’s acceleration is

𝑎 = √𝑎𝑟2 + 𝑎𝜃2

𝑎 = √(−42.00)2 + 72.2462
𝒂 = 𝟖𝟓. 𝟑𝟎𝟐 𝒎⁄𝒔𝟐

PROBLEM 24: The motion of peg P is constrained by the lemniscate curved slot in OB and by the
𝑑𝜃
slotted arm OA. If OA rotates counterclockwise with an angular velocity of = (3𝑡 3⁄2 ) 𝑟𝑎𝑑⁄𝑠 ,
𝑑𝑡
where 𝑡 is in seconds, determine the magnitudes of the velocity and acceleration of peg P at
𝜃 = 30°. When 𝑡 = 0, 𝜃 = 0°.

Solution:

Time derivatives:

𝑟 2 = 4 cos 2𝜃
𝑑𝑟 𝑑𝜃
2𝑟 = −8 sin 2𝜃 ⋅
𝑑𝑡 𝑑𝑡
𝑑𝜃
𝑑𝑟 −4 sin 2𝜃
=( 𝑑𝑡 ) 𝑚⁄𝑠
𝑑𝑡 𝑟

𝑑2𝑟 𝑑𝑟 2 𝑑2𝜃 𝑑𝜃 2
2 [𝑟 + ( ) ] = −8 [sin 2𝜃 + 2 cos 2𝜃 ( ) ]
𝑑𝑡 2 𝑑𝑡 𝑑𝑡 2 𝑑𝑡
𝑑2𝜃 𝑑𝜃 2 𝑑𝑟 2
−4 [sin 2𝜃 + 2 cos 2𝜃 ( ) ] − ( )
𝑑2 𝑟 𝑑𝑡 2 𝑑𝑡 𝑑𝑡
= 𝑚 ⁄𝑠 2
𝑑𝑡 2 𝑟
{ }

On the other hand,

𝑑𝜃
= 3𝑡 3⁄2
𝑑𝑡
 HOLY CROSS COLLEGE
Sta. Lucia, Sta. Ana, Pampanga
SCHOOL OF ENGINEERING, COMPUTER AND LIBRARY STUDIES
Institute of Civil Engineering
24

𝜃 𝑡
∫ 𝑑𝜃 = ∫ 3𝑡 3⁄2 𝑑𝑡
0° 0
6
𝜃 = 𝑡 5⁄2 𝑟𝑎𝑑
5

𝜋
At 𝜃 = 30° = 𝑟𝑎𝑑,
6

𝜋 6 5⁄2
= 𝑡
6 5
𝑡 = 0.7177 𝑠

Then,

𝑑𝜃
= 3𝑡 3⁄2 |𝑡=0.7177 = 1.8239 𝑟𝑎𝑑⁄𝑠
𝑑𝑡
𝑑2𝜃 9 1
= 𝑡 2| = 3.8122 𝑟𝑎𝑑⁄𝑠2
𝑑𝑡 2 2 𝑡=0.7177

Thus,

𝑟 = √4 cos 60° = 1.414 𝑚

𝑑𝑟 −4 sin 60° (1.8239)
= = −4.468 𝑚⁄𝑠
𝑑𝑡 1.414
𝑑 2 𝑟 −4[sin 60° (3.8122) + 2 cos 60° (1.8239)2 ] − (−4.468)2
= = −32.86 𝑚⁄𝑠2
𝑑𝑡 2 1.414

Velocity:

𝑑𝑟
𝑣𝑟 = = −4.468 𝑚⁄𝑠
𝑑𝑡
𝑑𝜃
𝑣𝜃 = 𝑟 = (1.414)(1.8239) = 2.579 𝑚⁄𝑠
𝑑𝑡

Thus, the magnitude of the peg’s velocity is

𝑣 = √𝑣𝑟2 + 𝑣𝜃2

𝑣 = √(−4.468)2 + 2.5792
𝒗 = 𝟓. 𝟏𝟔 𝒎⁄𝒔

Acceleration:

𝑑2𝑟 𝑑𝜃 2
𝑎𝑟 = − 𝑟 ( ) = −32.86 − 1.414(1.8239)2 = −37.57 𝑚⁄𝑠2
𝑑𝑡 2 𝑑𝑡
𝑑2𝜃 𝑑𝑟 𝑑𝜃
𝑎𝜃 = 𝑟 2 + 2 ( ) ( ) = (1.414)(3.8122) + 2(−4.468)(1.8239) = −10.91 𝑚⁄𝑠 2
𝑑𝑡 𝑑𝑡 𝑑𝑡
 HOLY CROSS COLLEGE
Sta. Lucia, Sta. Ana, Pampanga
SCHOOL OF ENGINEERING, COMPUTER AND LIBRARY STUDIES
Institute of Civil Engineering
25

Thus, the magnitude of the peg’s acceleration is

𝑎 = √𝑎𝑟2 + 𝑎𝜃2

𝑎 = √(−37.57)2 + (−10.91)2
𝒂 = 𝟑𝟗. 𝟏𝟎 𝒎⁄𝒔𝟐

PROBLEM 25: The automobile travels from a parking deck down along a cylindrical spiral ramp
at a constant speed of 𝑣 = 1.5 𝑚⁄𝑠. If the ramp descends a distance of 12 m for every full
revolution, 𝜃 = 2𝜋 𝑟𝑎𝑑, determine the magnitude of the car’s acceleration as it moves along the
ramp, 𝑟 = 10 𝑚. Hint: For part of the solution, note that the tangent to the ramp at any point is
at an angle of 𝜙 = tan−1[12⁄2𝜋(10)] = 10.81° from the horizontal. Use this to determine the
𝑑𝜃 𝑑𝑧
velocity components 𝑣𝜃 and 𝑣𝑧 , which in turn are used to determine and .
𝑑𝑡 𝑑𝑡

Solution:

12
𝜙 = tan−1 [ ] = 10.81°
2𝜋(10)

Velocity, 𝑣 = 1.5 𝑚⁄𝑠 :

𝑣𝑟 = 0
𝑣𝜃 = 1.5 cos 10.81° = 1.473 𝑚⁄𝑠
𝑣𝑧 = −1.5 sin 10.81° = −0.2814 𝑚⁄𝑠

𝑑𝑟 𝑑2 𝑟
Since 𝑟 = 10 𝑚, = 0 and = 0.
𝑑𝑡 𝑑𝑡 2

𝑑𝜃
𝑣𝜃 = 𝑟
𝑑𝑡
𝑑𝜃
1.473 = (10)
𝑑𝑡
𝑑𝜃
= 0.1473 𝑟𝑎𝑑⁄𝑠
𝑑𝑡
𝑑𝜃 𝑑2 𝜃
Consequently, since is constant, = 0.
𝑑𝑡 𝑑𝑡 2
 HOLY CROSS COLLEGE
Sta. Lucia, Sta. Ana, Pampanga
SCHOOL OF ENGINEERING, COMPUTER AND LIBRARY STUDIES
Institute of Civil Engineering
26

𝑑2𝑟 𝑑𝜃 2
𝑎𝑟 = 2 − 𝑟 ( )
𝑑𝑡 𝑑𝑡
𝑎𝑟 = 0 − (10)(0.1473)2 = −0.217 𝑚⁄𝑠2
𝑑2𝜃 𝑑𝑟 𝑑𝜃
𝑎𝜃 = 𝑟 2 + 2 ( ) ( )
𝑑𝑡 𝑑𝑡 𝑑𝑡
𝑎𝜃 = (10)(0) + 2(0)(0.1473) = 0
𝑑2𝑧
𝑎𝑧 = 2 = 0
𝑑𝑡

Thus, the magnitude of the acceleration is

𝑎 = √𝑎𝑟2 + 𝑎𝜃2 + 𝑎𝑧2

𝑎 = √(−0.217)2 + 02 + 02
𝒂 = 𝟎. 𝟐𝟏𝟕 𝒎⁄𝒔𝟐