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Lec 08
Lec 08
2.003J/1.053J Dynamics and Control I, Spring 2007 Professor Thomas Peacock 3/5/2007
Lecture 8
Figure 1: Rigid body where I is the instant center. Figure by MIT OCW.
vA
= =
vI + r IA 0 + r IA
(1)
v A = r IA So body is undergoing rigid body rotation about I. How to locate an instant center? 1. Draw lines in direction of motion of two points on a rigid body. 2. Draw perpendiculars to both these lines at points.
Cite as: Thomas Peacock and Nicolas Hadjiconstantinou, course materials for 2.003J/1.053J Dynamics and Control I, Spring 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology. Downloaded on [DD Month YYYY].
Figure 2: Rigid body with lines drawn to demonstrate how to nd instant center. Figure by MIT OCW.
Proof
v I = v A + r AI ( is angular velocity of rigid body.) r AI : Vector is to r AI . Direction of motion is parallel to motion of A. v I = v B + r BI r BI : Vector is to r BI . Direction of motion is parallel to motion of B. Cannot satisfy both of these unless v I = 0. (I is the instant center.) Note: The instant center may not actually be a point on the rigid body. This simply means that the body is instantaneously rotating about an external point. The instant center can change in time.
Cite as: Thomas Peacock and Nicolas Hadjiconstantinou, course materials for 2.003J/1.053J Dynamics and Control I, Spring 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology. Downloaded on [DD Month YYYY].
Figure 3: Rolling Disk. The disk rolls with angular velocity in the x-direction. Figure by MIT OCW.
Point I marks the contact with disk and ground: no slip, not moving for an instant because ground is still. Instant center.
vA
= =
(2)
e x 0 R 2 cos 45
Cite as: Thomas Peacock and Nicolas Hadjiconstantinou, course materials for 2.003J/1.053J Dynamics and Control I, Spring 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology. Downloaded on [DD Month YYYY].
With Instant Centers We know the directions of motion of B and C m (From motion of bar AB) = BC 1m s
v B = 10 Therefore:
rad (e z ) s
v C = BC m 2 = 2 10m/s
Cite as: Thomas Peacock and Nicolas Hadjiconstantinou, course materials for 2.003J/1.053J Dynamics and Control I, Spring 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology. Downloaded on [DD Month YYYY].
vC =
CD = 10rad/s(+ ez ) Of course, this is a nice geometry can easily become more complicated. Good method for multibar linkages, and ladders against walls.
Cite as: Thomas Peacock and Nicolas Hadjiconstantinou, course materials for 2.003J/1.053J Dynamics and Control I, Spring 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology. Downloaded on [DD Month YYYY].
Figure 5: Rigid body that rotates with angular velocity . Figure by MIT OCW.
HB
= = =
(hB )i =
r i pi
ri mi (vc + i ) (r C + i ) (v c + i )
(3)
HB =
mi (r C v C ) +
(r C i ) + mi (i i ) mi (i vC ) +
i i i
i (r C i ) = 0 because mi i = 0 m i i = 0 i mi (i v C ) = 0 because H B = rC P +
i
m i i i
Cite as: Thomas Peacock and Nicolas Hadjiconstantinou, course materials for 2.003J/1.053J Dynamics and Control I, Spring 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology. Downloaded on [DD Month YYYY].