Professional Documents
Culture Documents
16 Planar Kinematics of Rigid Body
16 Planar Kinematics of Rigid Body
16.2 TRANSLATION
Position
rB rA rB / A
vB = vA + drB/A/dt
Velocity
vB vA
Acceleration
aB a A
dt
Angular Velocity
dt
Angular Acceleration
The angular acceleration measure the time
rate of change of the angular velocity. The
magnitude of this vector may be written as
( +)
d d 2
2
dt dt
dt
dt
( +)
d d
0 ct
( +)
1 2
0 0t ct
2
( +)
2 02 2 c ( 0 )
Constant Angular Acceleration
Position.
The position of P is defined by the position
vector r, which extends from O to P.
Velocity.
The velocity of P has a magnitude which
can be found from its polar coordinate
components v r and v r
r
Since r is constant, the radial components
vr r 0 and so v r 0
v r
Acceleration.
The acceleration of P can be expressed in terms of
its normal and tangential components
at r
an r
2
Therefore,
a at a n
Since at and an are perpendicular to one another, if needed
the magnitude of acceleration can be determined from the
Pythagorean theorem
2
an
2
at
Example 16.1
A cord is wrapped around a wheel which is initially at rest. If a
force is applied to the cord and gives it an acceleration a = (4t)
m/s2, where t is in seconds, determine as a function of time (a)
the angular velocity of the wheel, and (b) the angular position of
the line OP in radians.
( a P )t r
(4t ) (0.2)
20t rad / s 2
= d/dt
Integrating, with the initial condition that = 0, t = 0,
+
(20t )
dt
0 d 0 20t dt
10t 2rad / s
d
(10t 2 )
dt
0 d 010t
dt
3.33t 3rad
Example 16.2
The motor is used to turn a wheel
and attached blower contained
with the housing. If the pulley A
connected to the motor begins
rotating from rest with an angular
acceleration of A = 2 rad/s2,
determine the magnitudes of the
velocity and acceleration of point P
on the wheel, after the wheel B has
turned one revolution.
Angular Motion.
Converting revolution to radians,
B 6.283 rad
s A rA B rB ;
A (0.15) 6.283(0.4)
A 12.57 rad
2 02 2 c ( 0 )
0 2(2)(12.57 0)
A 7.09 rad / s
2
A
v A rA B rB
B 2.659 rad / s
at A rA B rB
B 0.750 rad / s
Motion of P.
vP B rB 1.06 m / s
(aP ) t B rB 0.3m / s 2
(aP ) n B2 rB 2.827 m / s 2
Thus,
The axes of this coordinate system do not rotate with the body;
rather they will only be allowed to translate with respect to the
fixed frame.
Position.
The position vector rA specifies the
rB rA rB / A
Displacement.
During an instant of time dt, point A and B undergo
displacements drA and drB.
If we consider the general plane motion by its component parts
then the entire body first translates by an amount drA so that A,
the base point, moves to its final position and point B to B.
vB v A vB / A
v B v A rB / A
Vector Method
Vector Cross Product
k = always be the
rotation axis.
Example 16.8
The collar C is moving downward with a velocity of
2 m/s. Determine the angular velocities of CB and
AB at this instant.
Example 16.8
Velocity Equation.
Link CB (general plane motion):
v B vC CB rB / C
vB i 2 j CBk (0.2i 0.2 j)
vB i 2 j 0.2CB j 0.2CBi
vB 0.2CB
0 2 0.2CB
CB 10 rad / s
vB 2 m / s
Example 16.8
Link AB (rotation about a fixed axis):
v B AB rB
2i AB k (0.2 j)
2 0.2 AB
AB 10 rad / s
Same results can be obtained using Scalar Analysis.
Example 16.11
Block D moves with a speed of 3 m/s. Determine
the angular velocities of links BD and AB, at the
instant shown.
0.4
cos 45
0.566 m
BD
vD
rD / IC
5.30 rad / s
0.566
AB
vB
rB / A
2.12
5.30 rad / s
0.4
45
Example 16.12
The cylinder rolls without slipping between the two moving
plates E and D. Determine the angular velocity of the
cylinder and the velocity of its center C at the instant shown.
Solution
Since no slipping occurs, the contact points A and B on the
cylinder have the same velocities as the plate E and D,
respectively.
Assuming this point to be a distance x form B,
we have
vB x;
0.4 x
v A (0.25 x);
0.25 (0.25 x)
0.4(0.25 x) 0.25 x
0.1
x
0.154 m
0.65
vB
0.4
2.60 rad / s
x 0.154
The velocity of point C is therefore
vC rC / IC 2.6(0.154 0.125)
0.0750 m / s
d vB d v A d vB / A
dt
dt
dt
The terms dvB/dt = aB and dvA/dt = aA are measured from a
set of fixed x, y axes and represent the absolute accelerations
of points B and A.
aB = aA + aB/A
a B a A (a B / A )t (a B / A )n
a B a A rB / A rB / A
2
Vector Method
Vector Cross Product
k = always be the
rotation axis.
Example 16.17
The collar is moving downward with an acceleration of 1
m/s2. At the instant shown, it has a speed of 2 m/s which
gives links CB and AB an angular velocity AB = CB = 10
rad/s. Determine the angular accelerations of CB and AB at
this instant.
20 1 0.2CB 20
Solving,
CB 5 rad / s 2
AB 95 rad / s 2 95 rad / s 2
Example 16.18
The crankshaft AB of an engine turns
with a clockwise angular acceleration of
20 rad/s2. Determine the acceleration of
the piston at this instant AB is in the
shown. At this instant AB = 10 rad/s
and BC = 2.43 rad/s.
ac
aB
aC aC j
+ aC/B
aC / B cB rCB
2
CB CB
The motion of the piston rod B controls the rotation of link AB about O
as shown. At this instant shown, the piston rod moves at VB = 2.5 m/s
to the left and decreasing at the rate of 15 m/s2. Determine
i) Angular velocity of link OA and AB at this instant, and
ii) Angular acceleration of link OA and AB at this instant