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1
2
3
z
y
x
O
M
f ( t )
f ( t )
z f ( t )
1
2
3
z
M
Relation between vector and
coordinate methods of the particle
motion descriptions can be
expressed as
r xi yj zk
f ( t )i f ( t ) j f ( t )k
1 2 3
Natural way of a particle motion
description
It can be realized only if the particle
trajectory is given (constrained
motion). Natural method supposes that
motion is completely described if position
of particle on its trajectory is given as
function of the time.
To realize the natural method of a
particle motion representation is to
introduce
the reference point M
0
(the
position of the particle on the
trajectory at the moment when
t=0);
the positive direction of
curvilinear coordinate reading;
time dependence of curvilinear
coordinate:
.
The last expression is called
law of motion.
M
M
0
o > 0
f (t ) o =
Relation between coordinate and
natural methods of the particle
motion description is:
d ( dx ) ( dy ) ( dz )
x y z dt
o = + + =
= + +
2 2 2
2 2 2
t
x y z dt o = + +
2 2 2
0
Average velocity of a particle during
interval is ratio
Particle Velocity
t A
av
r
v
t
A
=
A
Particle Velocity
Instantaneous velocity is the vector
position time derivative
0
lim
t
r dr
v r
t dt
A
A
A
= = =
,
.
x y z
dr
v v i v j v k
dt
v x i yj zk
2 2 2
x y z
v v v v
z
y
x
O
M
0
0
r(t )
Ar
A r(t+ t)
M
1
M
1
A r ( t+ t )
Ar
dr
v
dt
=
M
1
Ar
v
A r ( t+ t )
Particle Acceleration
Instantaneous acceleration is the vector
velocity time derivative or vector position
second time derivative
A
A
A
= = = =
t
v dv d r
W lim r ,
t dt dt
2
2
0
x y z
dv
W W i W j W k x i yj zk.
dt
= = + + = + +
x y z
W W W W .
2 2 2
z
y
x
O
M
1
1
r(t )
M
2 r ( t )
2
v
1
v
2
v A
z
y
x
O
r(t)
r (t dt ) +
v(t )
dv
v(t dt ) +
W
Acceleration points toward the side of curve concavity.
v(t dt ) +
t
M
t dt
M
+
Velocity and Acceleration
in Terms of Path variables
(natural way of particle motion
representation)
To realize the natural method of a
particle motion representation is to
introduce
the reference point M
0
(the position of the
particle on the trajectory
at the moment when t=0);
the positive direction of
curvilinear coordinate
reading;
time dependence of
curvilinear coordinate:
.
The last expression is
called law of motion.
M
M
0
o > 0
f (t ) o =
Natural coordinate system
(Frenet coordinate system)
M
M
1
n
t
b
M
0
o > 0
tangent to
the trajectory
Principal normal
to the trajectory
osculating plane
r
O
t
1
C
C is center of curvature
Unit vectors of
natural coordinate system
is unit vector of the tangent to the trajectory
points to the direction of increasing;
is unit vector of the principal normal, points
to the center of curvature of the trajectory;
is unit vector, forms the right hand triad with
and
n
b
n
Particle Velocity
Instantaneous velocity is the vector
position time derivative
t
r dr
v lim r
t dt
A 0
t t
t t
r r
v lim lim
t t
r
lim lim .
t
A A
A A
0 0
0 0
t
r dr
lim ;
d
A
A
t
Ao o
= =
0
t
d
v
t dt
A 0
lim .
o o
o
Velocity is vector along the tangent to the
trajectory with magnitude equals .
Velocity is in the same direction with if
particle moves in the direction of increasing
.
Velocity is opposite to the if particle moves
in the direction of decreasing .
v 1
o
t
t
o
o
> 0 o
< 0 o
M
t
v
M
0
o > 0
0 o
M
t
v
M
0
o > 0
0 o
Particle Acceleration
( )
2
2
dv d d
W
dt dt dt
d d d
. 2
dt dt dt
o
t
o o t
t
| |
= = =
|
\ .
= +
d d d
. (3)
dt d dt
t t o
o
=
d
?
d
t
o
( )
d
v, 4
dt
o
=
M
tangent to
the trajectory
C
C is center of curvature
osculating circle
tangent to
the circle
is radius of curvature
( )
d 1
v. 5
d
t
o
=
2
2
2
d d 1
W n. (7 )
dt dt
o o
t
| |
= +
|
\ .
d d d v
v . (6)
dt dt d
t o t
o
== =
Acceleration components:
tangent and normal
d
W
dt
=
2
2
;
t
o
t
The first component in eq. (7) is in
the direction of tangent to the path. It
is called tangential acceleration. It
characterizes variation of the velocity
magnitude.
The second component in eq. (7) is in
the osculating plane at right angles to
the path tangent and pointing toward
the center of curvature. It
characterizes the variation of the
velocity direction.
n
v
W n =
2
t
W
t
M
M
0
o > 0
n
,
n
W W W
+ =
t
2 2
n
W W W + =
t
v
n
W
W
Character of particle motion
and
V W or
and
< >
|+
< >
0 0
0 0
t
o o
o o
Motion is accelerated
Motion is decelerated
Motion is with uniform
velocity
and
V W or
and
> >
||
< <
0 0
0 0
t
o o
o o
in fin
W for t t t = < < 0
t
Conditions under which
acceleration components
equal zero
W
if
=
=
0
0
,
.
t
o
Speed is constant during a time
interval;
Speed runs up its extreme
value.
At the point of inflection;
On the straight trajectory.
n
W
if
=
=
0,
.
Normal and tangent accelerations in terms
of rectangular coordinates for 2-D case
+
= =
+
x x y y
x y
v W v W
v W
W
v v v
t
2 2
x y y x
n
x y
v W v W v W
v W v W
W
v v v v
= = =
+
2 2
sin( , )
.
( ) ( )
( )
x x y y
n
x y z
x y
v W v W
W W W W W W
v v
+
= = + +
+
2
2 2 2 2
2 2
.
t