3rd Topic

Vector Calculus
Velocity and Acceleration,
Tangential and Normal Acceleration,
Relative Velocity and Acceleration

Prepared by:
Prof. Sunil
Department of Mathematics and Scientific Computing
NIT Hamirpur (HP)

Velocity:

z-axis

Q
P0(t0)
δR
s P(t)
δs

R (t ) X
Tangent
R(t + δt )

y-axis

x-axis

Let the position of a particle P at time t (scalar variable) on a path C be R(t).

At time t + δt , let the particle be at Q, then δR = R(t + δt ) − R( t ) .
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δR
Now is directed along PQ.
δt
As Q → P along C, the line PQ becomes the tangent at P to C.
δR dR
∴ Lt = =V
δ t → 0 δt dt
is the tangent vector of C at P which is the velocity (vector) V of the motion and its
ds
magnitude is the speed v = , where s is the arc length of P from a fixed point
dt
P0 (s = 0) on C.

Acceleration:
The derivative of the velocity vector V(t) is called the acceleration (vector)A(t),
which is given by

δV dV d 2R
A(t ) = Lim = = 2 .
δt →0 δt dt dt
Tangential and normal acceleration:
It is important to note that the magnitude of acceleration is not always the rate of
change of V because A(t) is not always tangential to the path C. In fact

dR dR ds dR
V (t ) = = . , where is a unit tangent vector to C.
dt ds dt ds
2
dV d  ds dR  d 2s dR  ds  d 2R
A(t ) = = . = . +  .
dt dt  dt ds  dt 2 ds  dt  ds 2

dR d 2 R d2R dR
Now since . 2 = 0 ⇒ 2 is perpendicular to .
dt dt dt dt
Hence the acceleration A(t) is comprised of
d 2s dR
(i) The tangent component . , called the tangent acceleration.
dt 2 ds
2 2
 ds  d R
(ii) The normal component   . 2 , called the normal acceleration.
 dt  ds
Remark:
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ds
The acceleration is the time rate change of V = , if and only if the normal
dt
acceleration is zero, for then

d 2s dR d 2s
A = . =
dt 2 ds dt 2

Relative velocity and acceleration:

P1

R1(t) R Curve C1

O
R2(t)
P2

Curve C2

Let two particles P1 and P2 moving along the curves C1 and C2 have position
→→
vectors R1 and R 2 at time t, respectively so that R = P1 P 2 = R 2 − R1.
Differentiating w. r. t. t, we get
dR d R 2 dR 1
= − .
dt dt dt
This defines the relative velocity (vector) of P2 w. r. t. P1 and states that the velocity
(vector) of P2 relative to P1 = velocity (vector) of P2 − velocity (vector) of P1
Again differentiating, we have
d 2R d 2R 2 d 2 R1
= −
dt 2 dt 2 dt 2
i. e., acceleration (vector) of P2 relative to P1 = acceleration (vector) of P2 − acceleration

(vector) of P1
Remarks:
∧ V
Component of A along the tangent = A. V = A. .
V
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Component of A along the normal = A − Re solved part of A along the tangent

 ∧ V
= A −  A. V  .
 V
Now let us solve few problems:
Problems related with radial and transverse components of acceleration:
Q.No.1.:Find the radial and transverse acceleration of a particle moving in a plane
curve.
Sol.: At any time t, let the position vector of the moving particle P ( r , θ) be R.
∧ ∧ ∧
Then R = r R = r(cos θ I + sin θ J ) .
y-axis
∧
U ∧
V

P(r, θ )

∧
R = rR

θ x-axis

O
∧
dR d  ∧  dr ∧ dR
∴ Its velocity V = =  r R  = R+ r . (i)
dt dt   dt dt
∧
∧ ∧ ∧ dR ∧ ∧ dθ
Since R = (cos θ I + sin θ J ) then = (− sin θ I + cos θ J )
dt dt
∧
d R dθ
and = .
dt dt

∧ ∧
dR ∧ dR ∧
Also .R = 0 ⇒ ⊥R,
dt dt
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∧
∧ d R dθ ∧
Let U is a unit vector ⊥ R , then = U.
dt dt
 dr  ∧  dθ  ∧
∴ (i) becomes V =   R +  r  U .
 dt   dt 
dr dθ
Thus, the radial and transverse components of the velocity are and r .
dt dt
 ∧   ∧ 
dV  d 2 r ∧ dr d R   dr dθ ∧ d 2θ ∧ dθ d U 
Also A = = R+ + U+ r 2 U+ r 
dt  dt 2 dt dt   dt dt dt dt dt 
   

 d 2 r  dθ  2  ∧  dr dθ  ∧ ∧

d2θ  ∧ ∧ ∧
∵ U = − sin θ I + cos θ J ⇒ d U dθ ∧
=  2 − r    R+ 2 +r 2 U = − R
 dt  dt    dt dt dt   dt dt 
 

 d 2 r  dθ 2 
Thus, the radial component of acceleration =  2 − r    .
 dt  dt  

 dr dθ d 2θ 
And, the transverse component of acceleration is =  2 +r 2 .
 dt dt dt 

Problem related with tangential and normal components of acceleration:

Q.No.2.:Find the tangential and normal acceleration of a point moving in plane curve.
Sol.: Since we know that thevelocity of a point moving in a plane curve is given by
∧
V = vT
Differentiating w. r. t.t, we get
∧ ∧
dV d  ∧  dT d ∧ d T ds d ∧
A= =  v T  = v. + v T = v. + vT.
dt dt   dt dt ds dt dt
∧
dT ∧ ds
Now, by Franet’s formula = k N and also we know that v = , we get
ds dt
∧ d  ds  ∧
⇒ A = v.k N v +  T
dt  dt 

2d 2s ∧ d 2s ∧ v 2 ∧
∧  1 
⇒ A = v k N + 2 T = 2 T+ N . ∵ k = ρ , where ρ = radius of curvature. 
dt dt ρ  
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d 2s
Thus, the tangential component of A (Tangential acceleration) = .
dt 2
v2
Andnormal component of A (Normal acceleration) = .
ρ
Problems related with velocity and acceleration:

Q.No.3.:A particle moves along a curve x = e − t , y = 2 cos 3t , z = 2 sin 3t , where t is

the time variable. Determine its velocity and acceleration vectors and also the
magnitude of velocity and acceleration at t = 0.
∧ ∧ ∧
Sol.:The vector equation of the curve is R (t ) = e− t I + 2 cos 3t J + 2 sin 3t K .

 ∧ ∧ ∧
∴ Velocity vector V (t ) =
d
[R (t )] = d e− t I + 2 cos 3t J + 2 sin 3t K 
dt dt  
∧ ∧ ∧
= −e − t I − 6 sin 3t J + 6 cos 3t K . Ans.

Magnitude of velocity vector = (− e−t )2 + (− 6 sin 3t )2 + (6 cos 3t )2

= e − 2 t + 36 sin 2 3t + 36 cos 2 3t

( )
= e− 2t + 36 sin 2 3t + cos2 3t = e− 2 t + 36 .

At time t = 0 , we get V = 1 + 36 = 37 . Ans.

 ∧ ∧ ∧
Acceleration vector [A (t )] =
d
[V (t )] = d − e− t I − 6 sin 3t J + 6 cos 3t K 
dt dt  
∧ ∧ ∧
= −e − t I − 18 cos 3t J − 18 sin 3t K . Ans.

Magnitude of acceleration = (e−t )2 + (− 18 cos 3t )2 + (− 18sin 3t )2

= e − 2 t + 324 cos 2 3t + 324 sin 2 3t

( )
= e− 2t + 324 cos2 3t + sin 2 3t = e− 2t + 324 .

At t = 0 , A = 1 + 324 = 325 . Ans.

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Q.No.4.: A particle moves on the curve x = 2t 2 , y = t 2 − 4t , z = 3t − 5 , where t is the

time. Find the components of velocity and acceleration at t = 1 in the direction
∧ ∧ ∧
I − 3J+ 2 K .
∧ ∧ ∧
(
Sol.: The vector equation of the curve is R = 2t 2 I + t 2 − 4t J + (3t − 5)K .)
dR ∧ ∧ ∧
∴V = = 4t I + (2 t − 4) J + 3 K .
dt
dR ∧ ∧ ∧
At time t = 1, we get V = = 4 I − 2 J+ 3K .
dt
∧ ∧ ∧ D
∴ Component of velocity V at time t =1 in the direction I − 3 J + 2 K [= D (say) ] = V.
D
∧ ∧ ∧
∧ ∧ ∧I − 3 J + 2 K 4 + 6 + 6 16 8
= 4 I − 2 J+ 3K . = = 14 = 14 . Ans.
1+ 9 + 4 14 14 7

dV d  ∧ ∧ ∧ ∧ ∧ ∧
Now A = = 4t I + (2t − 4) J + 3 K  = 4 I + 2 J + 0 K .
dt dt  

∧ ∧ ∧
 I − 3 J + 2 K 
∧ ∧ ∧ ∧ ∧ ∧
Components of A along I − 3 J + 2 K = A.
D
= 4 I + 2 J+ 0 K .   = 4−6
D 14 14

− 2 − 2 14 − 14
= = = . Ans.
14 14 7
∧ ∧ ∧
Q.No.5.:The position vector of a particle at time t is R = cos(t − 1) I + sinh (t − 1) J + at 3 K .
Find the condition imposed on ‘a’ by requiring that at time t = 1, the
acceleration is normal to position vector.
Sol.:The position vector of a particle at time t is
∧ ∧ ∧
R = cos(t − 1) I + sinh(t − 1) J + at 3 K .

dR d  ∧ ∧ ∧
Velocity vector V = = cos(t − 1) I + sinh(t − 1) J + at 3 K 
dt dt  
∧ ∧ ∧
= − sin (t − 1) I + cosh(t − 1) J + 3at 2 K .
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dV d  ∧ ∧ ∧
Acceleration vector A = = − sin (t − 1) I + cosh(t − 1) J + 3at 2 K 
dt dt  
∧ ∧ ∧
= − cos(t − 1) I + sinh (t − 1) J + 6at K .
But the given condition is that the acceleration is normal to the position vector i.e.
A.R = 0
 ∧ ∧ ∧
[
⇒ − cos(t − 1) I + sinh (t − 1) J + 6at K . cos(t − 1)I + sinh (t − 1)J + at 3K = 0 ]
 

⇒ − cos2 (t − 1) + sinh 2 (t − 1) + 6a 2 t 4 = 0 .
Attime t = 0, we get
1
− 1 + 0 + 6a 2 = 0 ⇒ 6a 2 = 1 ⇒ a = ± . Ans.
6
∧ ∧ ∧
( ) (
Q.No.6.:A particle moves along the curve R = t 3 − 4t I + t 2 + 4t J + 8t 2 − 3t 3 K , ) ( )
where t denotes time. Find magnitudes of acceleration along the tangent and
normal at time t = 2.
∧ ∧ ∧
( ) (
Sol.: The vector equation of the curve is R = t 3 − 4t I + t 2 + 4t J + 8t 2 − 3t 3 K . ) ( )
∧ ∧ ∧
Velocity
dR
dt
( ) (
= 3t 2 − 4 I + (2t + 4) J + 16t − 9t 2 K )
d 2R ∧ ∧ ∧
and acceleration = 6t I + 2 J + (16 − 18t )K .
dt 2
∧ ∧ ∧ ∧ ∧ ∧
∴ At time t = 2, V = 8 I + 8 J − 4 K and acceleration A = 12 I + 2 J − 20 K .
Since, the velocity is along the tangent to the curve, therefore the component of A along
∧ ∧ ∧
∧ V  ∧ ∧ ∧  8 I + 8 J− 4 K
the tangent = A. V = A. = 12 I + 2 J − 20 K .
V   (64 + 64 + 16)
12 × 8 + 2 × 8 + (− 20 ) × (− 4 )
= = 16 .
12
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Now the component of A along the normal = A − Re solved part of A along the tangent
∧ ∧ ∧
 ∧ V ∧ ∧ ∧ 8 I + 8 J− 4 K
= A −  A. V  = 12 I + 2 J − 20 K − 16.
 V 12

∧ ∧ ∧  ∧ ∧ ∧
36 I + 6 J − 60 K − 4. 8 I + 8 J − 4 K 
∧ ∧ ∧
=
1   = 1 4 I − 26 J − 44 K = 2 (73) . Ans.
3 3 3

∧ ∧ ∧
Q.No.7.:The position vector of a moving particle at time t is R = t 2 I − t 3 J + t 4 K .
Find the tangential and normal components of its acceleration at time t.
∧ ∧ ∧
Sol.: The vector equation of the curve is R = t 2 I − t 3 J + t 4 K .
dR ∧ ∧ ∧
∴V = = 2t I − 3t 2 J + 4t 3 K .
dt
∧ ∧ ∧
At time t = 1, we get V = 2 I − 3 J + 4 K . (i)
dV ∧ ∧ ∧
Also A = = 2 I − 6t J + 12t 2 K .
dt
∧ ∧ ∧
At t = 1, we have A = 2 I − 6 J + 12 K . (ii)
∧
∴ The component A along the tangent = A V
∧ ∧ ∧
V ∧ ∧ ∧ 2 I − 3 J+ 4 K 70
= A. = 2 I − 6 J + 12 K . = . Ans.
V 4 + 9 + 16 29
Now the components of A along normal
→
  V → → ∧
= A − Re solved part of A along the tangent = A −  A . V  . →
  V

∧ ∧ ∧ ∧ ∧ ∧
∧ ∧ ∧ 70 2 I − 3 J + 4 K ∧ ∧ ∧ 140 I + 210 J − 280 K
= 2 I − 6 J + 12 K − = 2 I − 6 J + 12 K −
29 29 29
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1 ∧ ∧ ∧ ∧ ∧ ∧
= 58 I − 174 J + 348 K − 140 I + 210 J − 280 K
29

1 ∧ ∧ ∧ 1 1 436
= − 82 I + 36 J + 68 K = 12644 = . 436 = . Ans.
29 29 29 29

70
(i)∴ Tangent component of acceleration = .
29

436
(ii) The normal component of acceleration .
29
Q.No.8.: A particle moves so that its position vector is given by R = I cos ωt + J sin ωt .
Show that the velocityV of the particle is perpendicular to R and R × V is a
constant vector.
Sol.:(i) The position vector of a particle is given by
∧ ∧
R = cos ωt I + sin ωt J . (i)

dR d  ∧ ∧ ∧ ∧
∴ Velocity V = =  cos ωt I + sin ωt J  = −ω cos ωt I + ω sin ωt J
dt dt  

 ∧ ∧
= ω − sin ωt I + cos ωt J  . (ii)
 
∧ ∧ ∧ ∧
R.V = cos ωt I + sin ωt J . − ω sin ωt I + ω cos ωt J  = −ω sin ωt cos ωt + ω sin ωt cos ωt = 0
 
∴ R ⊥ V ⇒ Velocity V of the particle is perpendicular to R.
∧ ∧ ∧
I J K
∧ ∧ ∧
(ii) R × V = cos ωt sin ωt ( )
0 = (0 − 0) I + (0 − 0) J + ω cos2 ωt + ω sin 2 ωt K

− ω sin ωt ω cos ωt 0

∧ ∧
( )
= ω cos2 ωt + sin 2 ωt K = ω K .
Thus R × V is a constant vector.
Q.No.9.:A particle (position vector R) moving in a circle with constant angular velocity

ω , show by vector method, acceleration is equal to − ω2R .

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Sol.:Let the position vector of a particle in a circle is.

∧ ∧
R = I cos ωt + J sin ωt

dR d  ∧ ∧ ∧ ∧
V= =  cos ωt I + sin ωt J  = −ω cos ωt I + ω sin ωt J ,
dt dt  

dV d 2 R d  ∧ ∧
and acceleration A = = 2 =  − ω sin ωt I + ω cos ωt J 
dt dt dt  

 ∧ ∧
= −ω2  cos ωt I + sin ωt J  = −ω2 R
 

⇒ A = −ω2R .
Hence this proves the result.
Q.No.10.:A particle moves along a catenary s = c tan ψ . The direction of acceleration at
any point makes equal angels with the tangent and normal to the path at that
point. If the speed at the vertex (ψ = 0 ) be v0 , show that the magnitude of

velocity and acceleration at any point are given by v0eψ and

2 2 2ψ
v 0 e cos 2 ψ respectively.
c
ds dψ
Sol.: s = c tan ψ , v = = c sec 2 ψ
dt dt
22
dv 2 2  dψ  2 d ψ
aT = = c sec ψ tan ψ  + c sec ψ 2
dt  dt  dt

v2
aN = , ρ = radius of curvature
ρ

ρ = c sec2 ψ
2
 dψ 
c 2 sec4 ψ  2
 dt  2  dψ 
⇒ aN = = c sec ψ  
c sec2 ψ  dt 
a T = a N {given}
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22 2
2 2  dψ  2 d ψ 2  dψ 
⇒ c sec ψ tan ψ  + c sec ψ 2 = c sec ψ 
 dt  dt  dt 

 dψ   d ψ   dψ 
2 2 2 2
 dψ  d 2ψ
⇒ 2 tan ψ  + 2  =   ⇒ (1 − 2 tan ψ )  = 2
 dt   dt   dt   dt  dt

dψ d 2ψ dP dP
Put =P⇒ 2 =P ⇒ (1 − 2 tan ψ )P 2 = P
dt dt dψ dψ
dP dP
⇒ (1 − 2 tan ψ )dψ =
P
⇒ ∫ (1 − 2 tan ψ )dψ = ∫ P

⇒ ψ − 2ℓn sec ψ + c = ℓnP ⇒ P = eψ − 2ℓn sec ψ + c (i)

ds dψ
v= = c sec 2 ψ
dt dt
dψ dψ v 0  dψ 
at ψ = 0 ⇒ v 0 = c sec2 0 ⇒ = . ∵ P = dt 
dt dt c  
Putting in (i), we get
v0 v
⇒ = ec ⇒ c = ℓn 0
c c

⇒ v = c sec2 ψ.eψ − 2ℓn sec ψ + ℓnv0 / c

eψ
⇒ v = c sec2 ψ × 2ℓn sec ψ
× e ℓn v 0 / c
e
eψ v0
⇒ v = c sec ψ ×2
2
× ⇒ v 0e ψ
sec c
aT = a N

⇒ A = aT2 + a N2

v 2 v 0 2e 2ψ v 0 2e 2 ψ
aN = = 2
= cos 2 ψ
ρ c sec ψ c

2 2 2ψ
⇒ A = a T 2 + a N 2 = 2a N 2 = a N 2 = v 0 e cos 2 ψ . Ans.
c
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Problems related with actual velocity/ relative velocity:

Q.No.11.: A person going east wards with a velocity of 4 kmph, finds that the wind
appears to blow directly from the north. He doubles his speed and wind
seems to come from north-east. Find the actual velocity of the wind.
∧ ∧ ∧ ∧
Sol.: Let the actual velocity of the wind be x I + y J , where I , J represent velocities of 1
kmph towards the east and north respectively.
North

North North-East

4kmph 8kmph
East

∧
As the person is going east wards with a velocity of 4 kmph, his actual velocity is 4 I .
 ∧ ∧ ∧
Then the velocity of the wind relative to the man is  x I + y J  − 4 I , which is parallel to
 
− J , as it appears to blow from the north.
x −4 y−0 x−4 y
∴ = ⇒ = ⇒ ( −1)( x − 4 ) = 0 ⇒ x = 4.
0 −1 0 −1
Hence x = 4. (i)
∧
When the velocity of the person becomes 8 I , the velocity of the wind relative to
 ∧ ∧ ∧ ∧ ∧
man is  x I + y J  − 8 I , but this is parallel to −  I + J  .
   
x −8 y −0 4−8 y
∴ = ⇒ = ⇒ y = −4 .
−1 −1 1 1
∧ ∧ 
Hence, the actual velocity of the wind is 4  I − J  .
 

i.e. 4 2 kmph towards the south east.

Q.No.12.:A person traveling towards the north-east with a velocity of 6 kmph, finds that
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the wind appears to blow from the north but when he doubles his speed it

seems to come from a direction inclined at an angle tan −1 2 to the north of

east. Show that the actual velocity of the wind is 3 2 kmph towards the east.
∧ ∧
Sol.: 1stcase:Let the actual velocity of the wind be Vw = x I + y J ,
∧ ∧
where I , J represents velocities of 1 kmph towards the east and north respectively.
As the person traveling towards the north-east with a velocity of 6 kmph, his actual
velocity is
∧ ∧
Vn = 6 cos 45° I + 6 sin 45° J .
Then, the velocity of the wind relative to person is Vw − Vp .

 6 ∧  6 ∧
Vw p = Vw − Vp =  x −  I+  y − J .
 2  2
∧
It is parallel to − J , as it appear to blow from the north.
6 6
x− y−
∴ 2 = 2.
0 −1
6 6
⇒ −x + =0⇒x= . (i)
2 2
2nd case: When he double his speed then
∧ ∧ 12 ∧ 12 ∧
Vp = 12 cos 45° I + 12 sin 45° J = I+ J.
2 2
∴ The velocity of the wind relative to the person is Vw − Vp

 12  ∧  12  ∧
Vw p = Vw − Vp =  x −  I+  y − J .
 2  2
∧ ∧
But this is parallel to + I + 2 J
12 12
x− y−
∴ 2 = 2 ⇒ 2x − 24 = y − 12 ⇒ 2 x − y = − 12 + 24
1 2 2 2 2 2
Vector Calculus:Velocity and Acceleration 15
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1
⇒ 2x − y = (12)
2
6 2 × 6 12
But x = ⇒ = ⇒ y = 0.
2 2 2

6 ∧
Hence, the actual velocity of the wind is Vw = I.
2
2
 6 
∴ Vw =   = 18 = 3 2 kmph toward the East.
 2
Hence, this proves the result.
∧ ∧
Q.No.13.:The velocity of a boat relative to water is represented by 3 I + 4 J and that of
∧ ∧
water relative to earth is I − 3 J . What is the velocity of the boat relative to the
∧ ∧
earth if I and J represent one km an hour east and north respectively.
∧ ∧
Sol.: Given the velocity of a boat relative to water = 3 I + 4 J .
∧ ∧
And velocity of water relative to earth = I − 3 J .
∧ ∧
Let velocity of boat = x1 I + y1 J .
∧ ∧
Let velocity of water = x 2 I + y 2 J .
∧ ∧
Letvelocity of earth = x 3 I + y3 J .
∧ ∧ ∧ ∧ ∧ ∧
The velocity of a boat relative to water = x1 I − y1 J − x 2 I − y 2 J = 3 I + 4 J . (i)
∧ ∧ ∧ ∧ ∧ ∧
Velocity of water relative to earth = x 2 I + y 2 J − x 3 I − y3 J = I − 3 J . (ii)
On adding (i) and (ii), we get
∧ ∧ ∧ ∧ ∧ ∧
= x1 I + y1 J − x 3 I − y3 J = 4 I + J . (iii)
∧ ∧
∴ The velocity of a boat relative to earth = 4 I + J .

Now its magnitude = 42 + 12 = 17 mph

Vector Calculus:Velocity and Acceleration 16
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1
and tan θ = = 0.25 ⇒ θ = tan −1(0.25) .
4

Thus the velocity of boat relative to earth is 17 mph in the direction tan −1(0.25) north
to east.
Q.No.14.:A vessel A is sailing with a velocity of 11 knots/hour in the direction of
South East and a second vessel B is sailing with a velocity of 13 knots/hour in
a direction of 30° East of North. Find the velocity of A relative to B.
Sol.: We have
∧ ∧
V1 = 11cos 45° I − 11sin 45° J .
∧ ∧
V2 = 13 cos 60° I − 13sin 60° J .
∴ Relative velocity will be V21 = V1 − V2

 11 ∧ 11 ∧   13 ∧ 13 3 ∧   11 13  ∧  11 13 3  ∧
⇒ V21 =  I− J  −  I+ J  =  −  I −  + J
 2 2   2 2   2 2  2 2 

∧ ∧ ∧ ∧
= (7.78 − 6.5) I − (7.78 + 11.26) J = 1.28 I − 19.04 J .

V21 = (1.28)2 − (19.04)2 = 364.16 = 19.08 knots per hour

To find the direction, we have

 19.028 
tan θ = −  ⇒ θ = −86.18° South of East.
 1.27 
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