1.2.

5 Kinematics of Particle / Curvilinear Motion / Polar Components

1.2.5 Curvilinear Motion in Polar Coordinates : 𝑦

(tvid 1.2.4 a)

𝑝𝑎𝑡ℎ
𝑥
Figure 1.2.23

Figure 1.2.22 At the examined time t, (at point P):

• r and q axes are placed at point P.
we will determine the position, velocity • + r axis is in direction of OP.
and acceleration of an object moving
• The +q axis is obtained by rotating the r axis 900
curvilinearly on a plane according to
counterclockwise.
the polar coordinates r - q, at a time t
• According to the right hand rule, we rotate the +x axis to the
+y axis with the 4 fingers of our right hand and close it. This
rotation direction is the +q direction and in this case our
thumb points to the +z direction perpendicular to the plane.
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1.2.5 Kinematics of Particle / Curvilinear Motion / Polar Components

First, we will derive the

𝑦 relationships between the unit
𝑎Ԧ vectors on the r and q axes: Figure 1.2.25
𝑣Ԧ
When we move from position P by the 𝑢′𝑟 = 𝑢𝑟 + 𝑑𝑢𝑟
angle dq, we come to position P’. Unit
𝑢′𝜃 = 𝑢𝜃 + 𝑑𝑢𝜃
vectors at position P’:
magnitudes of unit vectors are 1: 𝑢𝑟 = 𝑢𝑟 = 1 , 𝑢𝜃 = 𝑢𝜃 = 1
Magnitude of diff. unit vectors:
(We liken it to the equation radius x central angle = arc length.) 𝑟:ሶ Radial velocity
𝑝𝑎𝑡ℎ 𝑥 𝑑𝑢𝑟 = 𝑑𝑢𝑟 = 𝑢𝑟 . dq = 1. dq → 𝑑𝑢𝑟 = dq ሶ
𝜃:Angular velocity
𝜃 𝜃:ሷ Angular accelaration
Figure 1.2.24 𝑑𝑢𝜃 = 𝑑𝑢𝜃 = 𝑢𝜃 . dq = 1. dq → 𝑑𝑢𝜃 = dq
𝑑𝑢𝑟 dq instantaneous 𝑑 𝑣Ԧ 𝑑(𝑟𝑢 ሶ 𝜃)
ሶ 𝑟 + 𝑟𝜃𝑢
𝑢
𝑑𝑢𝑟 // 𝜃 → 𝑑𝑢𝑟 = 𝑑𝑢𝑟 . 𝑢𝜃 → = 𝑢𝜃 = 𝜃𝑢ሶ 𝜃 = 𝑢𝑟ሶ acceleration vector : 𝑎Ԧ = =
𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡
𝑑𝑢 dq
𝑑𝑢𝜃 // −𝑢𝑟 → 𝑑𝑢𝜃 = −𝑑𝑢𝜃 . 𝑢𝑟 → 𝜃 = − 𝑢𝑟 = −𝜃𝑢 ሶ 𝑟 = 𝑢𝜃ሶ ሷ 𝑟 + 𝑟ሶ 𝑢𝑟ሶ + 𝑟ሶ 𝜃𝑢
= 𝑟𝑢 ሷ 𝜃 + 𝑟𝜃ሶ 𝑢𝜃ሶ
ሶ 𝜃 + 𝑟𝜃𝑢
𝑑𝑡 𝑑𝑡
Position at time t : 𝑟Ԧ = 𝑟. 𝑢𝑟 = 𝑟𝑢 ሶ 𝜃 + 𝑟ሶ 𝜃𝑢
ሷ 𝑟 + 𝑟ሶ 𝜃𝑢 ሶ 𝜃 + 𝑟𝜃𝑢
ሷ 𝜃 + 𝑟𝜃(−
ሶ 𝜃𝑢
ሶ 𝑟)
instantaneous 𝑑𝑟Ԧ 𝑑(𝑟. 𝑢𝑟 )
velocity vector : 𝑣Ԧ = = ሶ 𝑟 + 𝑟𝑢𝑟ሶ = 𝑟𝑢
= 𝑟𝑢 ሶ 𝑟 + 𝑟𝜃𝑢ሶ 𝜃 𝑎Ԧ = 𝑟ሷ − 𝑟𝜃ሶ 2 𝑢𝑟 + 𝑟𝜃ሷ + 2𝑟ሶ 𝜃ሶ 𝑢𝜃 = 𝑎𝑟 𝑢𝑟 + 𝑎𝜃 𝑢𝜃
𝑑𝑡 𝑑𝑡 instantaneous
instantaneous 𝑣𝑟 = 𝑟ሶ (1.27) 𝑎𝑟 = 𝑟ሷ − 𝑟𝜃ሶ 2 (1.29)
Since 𝑣Ԧ = 𝑣𝑟 𝑢𝑟 + 𝑣𝜃 𝑢𝜃 acceleration components:
velocity components : 𝑣𝜃 = 𝑟𝜃ሶ (1.28) 𝑎𝜃 = 𝑟𝜃ሷ + 2𝑟ሶ 𝜃ሶ (1.30)
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 1.2.5 Kinematics of Particle / Curvilinear Motion / Polar Components
𝑦
Example 1.2.6 Solution: 𝑟
𝑣𝑟 𝑎
𝑟
r = 2t2 -2t +20 q= 0.2t2
𝑎𝜃 r
𝑟ሶ = 4𝑡 − 2 𝜃ሶ = 0.4𝑡
𝑣𝜃
𝑟ሷ = 4 𝜃ሷ = 0.4 𝜃
𝑥
Figure 1.2.27
𝜋 x 120
𝜃 = 120° = = 2.094𝑟𝑑 𝑟 = 2x3.232 − 2x3.23 + 20 → 𝑟 = 34.4𝑐𝑚
180
Figure 1.2.26 𝑟ሶ = 4x3.23 − 2 = 10.92
2.094 = 0.2𝑡 2 → 𝑡 = 3.23𝑠𝑛
On a sufficiently long arm AC, the ring
(from equations 1.27-1.30)
B slides freely. The position of the ring
→ 𝑣𝑟 = 𝑟ሶ = 10.92 𝑐𝑚Τ𝑠 𝑣= 𝑣𝑟 2 + 𝑣𝜃 2
B at time t is described by the
𝑣𝜃 = 𝑟𝜃ሶ = 34.4x 0.4x3.23 → 𝑣𝜃 = 44.4 𝑐𝑚Τ𝑠 → 𝑣 = 45.72 𝑐𝑚Τ𝑠
equations
2 2
r= 2t2 -2t +20, q = 0.2t2 𝑎𝑟 = 𝑟ሷ − 𝑟𝜃 2ሶ = 4 − 34.4𝑥 0.4𝑥3.23 → 𝑎𝑟 = −53.24 𝑐𝑚Τ𝑠
Accordingly, calculate the velocity and
𝑎𝜃 = 𝑟𝜃ሷ + 2𝑟ሶ 𝜃ሶ = 34.4𝑥0.4 + 2𝑥10.92𝑥 0.4𝑥3.23 → 𝑎𝜃 = 41.97 𝑐𝑚Τ𝑠 2

acceleration of the ring when q = 120o 𝑎= 𝑎𝑟 2 + 𝑎𝜃 2 → 𝑎 = 67.79 𝑐𝑚Τ𝑠 2

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DYNAMICS - Lecture Notes / Mehmet Zor
1.2.5 Kinematics of Particle / Curvilinear Motion / Polar Components

Question 1.2.3 (*) 𝑧 While the disk in the figure is rotated around the vertical z-
axis in a counterclockwise direction as seen from above with
3Τ
the hands 𝜃 = 4𝑡 2 the ball in the channel opened on the
disk rolls in the channel with the equation 𝑟 = 0.1𝑡 3 .
𝑦 Calculate the absolute velocity and absolute acceleration of
the ball at the moment 𝑡=1.5𝑠. (t: in seconds, r: in meters.)

𝑥 Answer: 𝑣 = 2.57 𝑚/𝑠 ; 𝑎 = 20.4 𝑚Τ𝑠 2

Figure 1.2.28

23 Agust, 2024 DYNAMICS - Lecture Notes / Mehmet Zor 4

1.2.5 Kinematics of Particle / Curvilinear Motion / Polar Components
𝜃 𝑣𝑟 r
Example 1.2.7 Solution: 𝑎𝑟
A jet, flying at a velocity of 1394.2 km/h in a 𝑎0 𝑣 1394.2
𝑥
𝑣0 = = 387.3 𝑚Τ𝑠
linear path at an altitude of 8.66 km, passes (8.66)103 𝜃 𝑎𝜃 3.6
over a radar on the ground. From this moment 𝑥= = 5000𝑚 𝑣𝜃
tan 600 36
on, the radar starts to track the jet and the jet 𝑎0 = = 10 𝑚Τ𝑠 2
3.6

8.66km
increases its speed to 36 km/h per second. (8.66)103
𝑟= = 10000𝑚 Valid for rectilinear motion
Accordingly, when the angle of the radar to sin 600 with constant acceleration.
the +x axis is 60o, calculate the second
Timeless Velocity Equation (1.9):
derivative of the jet's polar coordinates with 0
2 2
respect to time.( rሷ =?, θሷ =? ) 𝑦 𝑣 = 𝑣0 + 2𝑎0 (𝑥 − 𝑥0 )
𝑣0 𝑎0 𝑣 𝜃 = 60° 𝑣 2 = 387.32 + (2 ) (10 )( 5000) → 𝑣 = 500 𝑚Τ𝑠
𝑥
Figure 1.2.30 𝑣𝑟 = 500(𝑐𝑜𝑠600 ) = 250 𝑚Τ𝑠 = 𝑟ሶ

𝑣𝜃 = −500(𝑠𝑖𝑛600 ) = −433 𝑚Τ𝑠 = 𝑟𝜃ሶ = (10000)𝜃ሶ → 𝜃ሶ = −0.0433 𝑟𝑑Τ𝑠

8.66km 𝑎 = 𝑎0 = 10 𝑚Τ𝑠 2 , 𝑎𝑟 = 𝑎(𝑐𝑜𝑠600 ) = 10(𝑐𝑜𝑠600 ) = 5 𝑚Τ𝑠 2 = 𝑟ሷ − 𝑟𝜃 2ሶ

r
→ 𝑟ሷ = 5 + 𝑟𝜃 2ሶ = 5 + 10000(−0.0433)2 → 𝑟ሷ = 23.75 𝑚Τ𝑠 2
y
𝑎𝜃 = −𝑎(𝑠𝑖𝑛600 ) = −10(𝑠𝑖𝑛600 ) = −8.66 = 2𝑟ሶ 𝜃ሶ + 𝑟𝜃ሷ
q = 60°
−8.66 = (2)(250) −0.0433 + (10000)𝜃ሷ → 𝜃ሷ ≅ 0.0013 𝑟𝑑Τ𝑠 2
x Figure 1.2.29
angular accelaration
23 Agust, 2024 DYNAMICS - Lecture Notes / Mehmet Zor 5
1.2.5 Kinematics of Particle / Curvilinear Motion / Polar Components

Example 1.2.8

vx = 75 km/h constant velocity car, fanatic fan Remzi,

who is too caught up in championship celebrations,
fires his gun vertically upwards. The vertical exit
Remzi
speed of the bullet from the barrel is 600 m/s. At this
time, the radar at point A, which is 200 m behind, is
following the bullet instead of Remzi. Find the radar
values 𝑟,ሶ 𝑟,ሷ 𝜃,ሶ 𝜃ሷ 5 seconds after the bullet is fired.
Gravitational acceleration: g=9.81m/s2
Figure 1.2.31

Solution:…>>>
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1.2.5 Kinematics of Particle / Curvilinear Motion / Polar Components

𝑦 𝑣𝑦 𝑣 For 𝑡 = 5𝑡ℎ 𝑠𝑒𝑐𝑜𝑛𝑑

𝑟
𝑥 = 𝑥0 + 𝑣𝑥 . 𝑡 = 200 + (20.8 )(5) = 304m
t=5s 1 2
𝑦 = 𝑦0 + 𝑣0𝑦 𝑡 − 𝑔𝑡 = 0 + 600x5 − (0.5) 9.81 52 = 2877.375𝑚
x 𝑣𝑥 2
𝑟 = 3042 + (2877. 375)2 = 2893.39m

𝑎 = 𝑔 = 9.81𝑚/𝑠 2 tan 𝜃 = 𝑦/𝑥 = (2877.375)/304 → 𝜃 = 83, 97∘

y 𝑟 :constant
𝑣𝑟 = 𝑣𝑥 . cos 𝜃 + 𝑣𝑦 . sin 𝜃
𝑝𝑎𝑡ℎ = 20.8cos(83.970 ) + 550.95sin(83.970 ) → 𝒗𝑟 = 𝑟ሶ = 550.08m/s
𝑣0𝑦
t=0 𝑣𝜃 = −𝑣𝑥 . sin 𝜃 + 𝑣𝑦 . cos 𝜃
200𝑚 Figure 1.2.32 𝑣0𝑥 = −20.8sin(83.970 ) + 550.95cos(83.970 ) → 𝑣𝜃 = 37.19m/s
The bullet starts moving with the speed of the 𝑎𝜃 = 𝑔 ⋅ cos 𝜃 = −9.81 cos 83.970 = −1.03m/s2
car + its own speed: 0 ) = −9.75m/s 2
Velocity components of the bullet at time t= 0 (oblique shot) 𝑎 𝑟 = 𝑔 ⋅ sin 𝜃 = −9.81sin(83.97
75000𝑚 𝒗 = 𝒓 𝜃ሶ → 𝜃 ሶ = 37.19/2893.39 → 𝜃ሶ = 0.0128rd/s
𝑣0𝑦 = 600𝑚/𝑠 , 𝑣0𝑥 = 75𝑘𝑚/ℎ = = 20.8𝑚/𝑠 𝜃
3600𝑠
At 𝑡 = 5𝑡ℎ second 𝑣𝑥 = 𝑣0𝑥 = 20.8𝑚/𝑠 𝑎𝑟 = 𝑟ሷ − 𝑟𝜃ሶ 2 ⟶ 𝑟ሷ = −9.75 + 2893.39(0. 0128)2 → 𝑟ሷ = −9.27𝑚/𝑠 2
𝑣𝑦 = 𝑣0𝑦 − 𝑔𝑡 = 600 − (9.81)(5) → 𝑣𝑦 = 550.95𝑚/𝑠 −1.03 − 2 550.026
𝑎𝜃 = 𝑟𝜃ሷ + 2𝑟ሶ 𝜃ሶ ⟶ 𝜃ሷ = ⟶ 𝜃ሷ = −0.38𝑟𝑑/𝑠 2
Since 𝑣𝑦 > 0 the bullet is in the rise zone. 2893.39
7
23 Agust, 2024 DYNAMICS - Lecture Notes / Mehmet Zor
1.2.5 Kinematics of Particle / Curvilinear Motion / Polar Components

𝐴 A fighter plane is rotating around a circular

Question 1.2.4 (*)
orbit with center A and radius of 1200 m at a
𝛼
constant velocity of 𝑣=720 km/h. The radar at
point O is constantly tracking the plane.
1200𝑚
Accordingly;
a-) As the plane passes through P, which is the
𝐵 lowest point of the orbit; Calculate the values
𝒄 𝜃,ሶ 𝜃ሷ , 𝑟ሷ
𝑃
b-) As the plane passes through point B, it drops
𝑣 = 720km/h : 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡
a bomb c. Calculate how far away from the
600𝑚 radar the c bomb will hit the ground. (𝛼 = 400 )
𝜃 Answers:
𝑂
800𝑚 a-) 𝜃ሶ = −0.12 𝑟𝑑Τ𝑠 , 𝜃ሷ = 0.065 𝑟𝑑Τ𝑠 2 , 𝑟ሷ = 34.4 𝑚Τ𝑠 2
Figure 1.2.33
b-) 6369.8m
23 Agust, 2024 DYNAMICS - Lecture Notes / Mehmet Zor 8
1.2.5 Kinematics of Particle / Curvilinear Motion / Polar Components 𝑣0 = 10𝑚/𝑠
Question1.2.5 (*)
Hasan ℎ3 = 1𝑚

ℎ2 = 99𝑚

𝐿 = 75𝑚

A ℎ1 = 2𝑚

Figure 1.2.34
A child named Hasan, standing on the edge of a hill, throws a 2N ball in the vertical direction (upward) with an initial
velocity of 10m/s and pulls his hand back. Meanwhile, his father, who is at point A on the beach, is continuously filming
the ball’s movement with his camera. Taking the acceleration due to gravity as g=10m/s2 , after 5 seconds,
a-) Calculate the velocity of the ball and its height from the ground, (answer: 𝑣5 = −40𝑚/𝑠 ; ℎ5 = 27𝑚 )
ሶ and angular acceleration(𝜃)
b-) Calculate the angular velocity (𝜃) ሷ of the camera. (answer:𝜃ሶ5 = −0.48𝑟𝑑/𝑠 ; 𝜃ሷ5 = −0.273𝑟𝑑/𝑠 2 )
23 Agust, 2024 DYNAMICS - Lecture Notes / Mehmet Zor 9