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G16 - Dynamics - Instantaneous Center of Zero Velocity
G16 - Dynamics - Instantaneous Center of Zero Velocity
KINEMATICS
Instantaneous Center of
Zero Velocity
v A vB
rA rB
Similar reasoning applies to B, and the intersection of
the two perpendiculars will give point C, the
instantaneous center of zero velocity. Point C may lie on
or off the body. If it lies off the body, it may be
visualized as lying on an imaginary extension of the body.
v A vB
rA rB
If the magnitude of the velocity of one of the points is
known, for example vA, the angular velocity of the body
and the linear velocity of every point in the body may be
obtained. In this case, the angular velocity of the body
will be
vA
rA
which, of course, is also the angular velocity of every line in
the body.
v A vB
rA rB
The velocity of B will be vB = rB = (rB/rA)vA. Once the
instantaneous center is located, the direction of the
instantaneous velocity of every point in the body is readily
found since it must be perpendicular to the radial line
joining the point to C.
v A vB
rA rB
If the velocities of two points in a body having plane motion
are parallel, and the line joining the points is perpendicular to
the direction of the velocities, the instantaneous center is
located by direct proportion. If the velocities of points A
and B are parallel and equal in magnitude then the body will
be in translation and the instantaneous center of zero
velocity will approach infinity.
A vA
vA vB
B vB
C in
Motion of the Instantaneous Center
As the body changes its position, the instantaneous center
C also changes its position in space and on the body. The
locus of the instantaneous centers in space is known as the
space centrode, and the locus
of the positions of the
instantaneous centers on the
body is known as the body
centrode. At the instant
considered, the two curves
are tangent at the position of
point C. It can be shown that
the body-centrode curve rolls
on the space-centrode curve
during the motion of the body
as indicated in the figure.
Motion of the Instantaneous Center
vB IC for BC
IC for AB BC
AB
vA
instantaneous
center
Absolute IC
Point C relative IC
Relative IC in infinity