Advanced Engineering

Systems in Motion:
Dynamics of Three
Dimensional (3D) Motion
Dr. Wayne Whiteman
Director of the Office of Student Services
and Senior Academic Professional
School of Mechanical Engineering

This course is an advanced study of bodies in motion as applied to

engineering systems and structures.

School of Mechanical Engineering

Module 8 Learning Outcome

Solve for the velocities of bodies undergoing

3D motion expressed in moving frames of
reference.

Velocities expressed in moving frames of reference

vP / F vO / F vP / B B / F rOP
I

F O
Oj

i
j

P C
O r

Frame F
Earth

z
O

B 2

Hang glider

x
Frame B
Car

Z
R
Find:

vP / F
3

Velocities expressed in moving frames of reference

vP / B vO / B vP / C C / B rOP

O
j

i
j

P C
O r

B 2

y
O

Y
Frame B
O
Z

x
Frame C

Find:

vP / F
4

Velocities expressed in moving frames of reference

y

vP / F vO / F vP / B B / F rOP
I

F O
O
j

B 2

vP / B r1k

Frame F

z
O

x
Frame B

Find:

vP / F
5

Worksheet: The crane C turns about the vertical axis at

v 0.2 rad/sec = constant, and simultaneously its boom B is
being elevated at the increasing rate of H 0.1 t rad/sec.
The boom was along the y axis when t was zero.

When the boom makes a 60 angle with the horizontal, find:

a)

b)

B / G

vP / G

Used with permission from Engineering

Mechanics: Dynamics, McGill/King, 4th Ed, 2003