Radial Transverse (r-θ)

Coordinate System
DYNAMICS BDA20303
This coordinate system able to accommodate motion with variable
radius. While the particle is making a curve rotation, at the same time
the particle is moving out of its initial radius to another orbit or radius
is also changing.

Velocity in r-θ coordinate system

Since radius is changing the velocity consist not only tangential

direction but also radial as the particle moves out to another orbit.
Refer figure 2.21

v  vr er  v e
where... dr 
vr   r d 

dt v  R  R   R
dt
R is the radius of curvature. The instanteneous velocity is expressed as

v  r er  Re
2
Magnitude v  
 r   R  
2

 

In general cartesian cordinate system, the velocity r-θ can be refered to

xy systemby projecting to cartesian axes as in Figure 2.22

v rx  r cos  


vr       
v
 ry   r sin  
 R sin   vx 
v    
 R  cos   vy 
 2 2
 
  

Magnitude of velocity v   r cos  R sin     r sin   rR cos 
   

Acceleration of r-θ consist of a  a r e r  a  e  where,

  2 
ar  r  R   r  R 2

a  2 r   R 
a  a r 2  a  2
When accelerations expressed in xy coordinate system
     

  r  r  cos  (2 r   r ) sin 
2

a    

 r  r2  sin   2 r   r  cos 


    