DINÁMICA DEL

CUERPO RÍGIDO
UNIDAD 1
Textos:
Mecánica Vectorial para Ingenieros por Beer & Johnston
Mecánica Vectorial para Ingenieros por Hibbeler
INTRODUCTION
A body can be considered as a particle, if all parts of it move in the
same direction, otherwise it should be considered as a set of particles
In this unit, the relations between time, position, speed and
acceleration of the body as a set of particles are studied.
TYPES OF MOVEMENT OF A RIGID BODY
1. Translation
2. Rotation around a fixed axis
3. General plane motion
4. Movement around a fixed point.
5. General movement
TRANSLATION MOVEMENT
It occurs if every straight line in the body maintains the same direction during
movement.
All the particles of the body move along parallel trajectories.
• Linear translation
• Curvilinear translation
ROTATION MOVEMENT
The particles of the rigid body As each particle moves in a given
move in parallel planes along plane, it is said that the rotation of
circles centered on the same fixed a body around a fixed axis is a
axis. If this axis, called the axis of plane movement
rotation, entersecates the rigid
body, the particles located on the
axis have zero velocity and zero
acceleration.
GENERAL PLANE MOVEMENT
Any flat movement that is not rotation or translation
MOVEMENT AROUND A FIXED POINT
3D movement of a rigid body attached to a fixed point OR
GENERAL MOVEMENT
Any movement of a rigid body that does not enter any of the previous
categories
TRANSLATION MOVEMENT
𝑟𝐵/𝐴 = 𝑟𝐵 − 𝑟𝐴
In the translation movement, the position of B with respect to A does
not change, so that if we derive the expression with respect to time, we
have
𝑣𝐵/𝐴 = 0 = 𝑣𝐵 − 𝑣𝐴 → 𝑣𝐵 = 𝑣𝐴
Deriving again respecto to time (rtt)
𝑎𝐵 = 𝑎𝐴
So, in the translation movement, every points
have same velocity and same acceleration (magnitude).
ROTATION MOVEMENT
𝐵𝑃 = 𝑟𝑠𝑒𝑛∅
∆𝑆 = 𝐵𝑃∆𝜃 = 𝑟𝑠𝑒𝑛∅∆𝜃
Dividing for ∆t and at the limit when ∆𝑡 → 0
𝑑𝑠 𝑑𝜃
𝑣= = 𝑟𝑠𝑒𝑛∅ → 𝑣 = 𝑟𝜃𝑠𝑒𝑛∅ →
𝑑𝑡 𝑑𝑡
𝑣=𝜃𝑥𝑟 = 𝜔𝑥𝑟 being  the angular velocity

𝑑𝑣 𝑑 𝑑𝜔 𝑑𝑟
𝑎= = 𝜔𝑥𝑟 = 𝑥 𝑟 + 𝜔𝑥
𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡
𝑎 = 𝛼𝑥𝑟 + 𝜔𝑥𝑣 being  the angular acceleration
ROTATION MOVEMENT

𝑎 = 𝛼𝑥𝑟 + 𝜔𝑥𝑣=𝜔𝑥 𝜔𝑥𝑟

Where:

𝛼𝑥𝑟 is tangential to the circle

𝜔𝑥𝑣 is a vector directed towards the center of

the circle.
ROTATION MOVEMENT
Velocity as vector: 𝑣 = 𝜔𝑘𝑥 𝑟
In magnitude 𝑣 = 𝜔𝑟
Acceleration as vector 𝑎 = 𝛼𝑘𝑥 𝑟 − 𝜔2 𝑟
Where
𝑎𝑡 = 𝛼𝑘𝑥𝑟 𝑎𝑡 = 𝛼𝑟
𝑎𝑛 = −𝜔2 𝑟 𝑎𝑛 = 𝜔2 𝑟
EQUIVALENCES BETWEEN TRANSLATION
MOVEMENT AND ROTATION MOVEMENT
TRANSLATION ROTATION
x or y 
v 
a 
x=x0+vt (no acceleration) =0+t (no acceleration)
v=v0+at (constant acceleration) =0+t (constant acceleration)
x=x0+v0t+½at2 =0+0t+½t2
v2=v02+2a(x-x0) 2=02+2(-0)
PROBLEM
The load B is connected to a pulley by
means of one of the two cables shown.
The movement of the pulley is controlled
by cable C, which has a constant
acceleration of 9 in/s2 and an initial
velocity of 12 in/s, both to the right.
Determine a) the number of revolutions
performed by the pulley in 2s, b) the
speed and change in the position of load B
after 2s, and c) total acceleration of point
D on the edge of the inner pulley when
t=0.
GENERAL PLANE MOVEMENT
A plane movement can consider as a combination of translation
movement and rotation movement

Plande movement = Translation movement + Rotation movement

ABSOLUTE AND RELATIVE VELOCITY IN PLANE
MOTION
𝑣𝐵 = 𝑣𝐴 + 𝑣𝐵/𝐴
vA = translation movement
vB/A = rotation movement 𝑣𝐵/𝐴 = 𝜔𝑘𝑥𝑟𝐵/𝐴 o 𝑣𝐵/𝐴 = 𝑟𝜔
PROBLEM
The double gear shown, rolls on a
lower stationary rack; the speed of its
center A is 1.2 m/s to the right.
Determine a) the angular speed of the
gear, b) the speeds of the upper rack
R and the gear point D
PROBLEM
In the mechanism shown, the crank AB has a constant angular velocity
in the clockwise direction of 2000 rpm. For the indicated position of the
crank, determine a) the angular velocity of the connecting rod BD, b)
the piston speed P.
ROTATION INSTANTANEOUS CENTER IN PLANE
MOVEMENT
PROBLEM (solve by R.I.C method)
The double gear shown, rolls on a
lower stationary rack; the speed of its
center A is 1.2 m/s to the right.
Determine a) the angular speed of the
gear, b) the speeds of the upper rack
R and the gear point D
EXERCISE
E
A double pulley is fixed to sliding block by 200 mm/s
the pin A. The 30 mm internal pulley is join
rigidly to a 60 mm external pulley. Every rope
is pulled at constant speed as shown.
Determine a) RIC of double pulley, b) speed B D
A
of sliding block.

F 160 mm/s
PROBLEM 1
The rod AB movement is guided by
pins in A and B, wich slide into slots
shown. At the time indicated, θ=40⁰,
and pin B is moving to up and left
with constant velocity of 6 in/s.
Determine a) angular velocity of rod,
b) velocity of pin at the end A
Solve using method of translation and
rotation
15.38 BJ pg 369 R: pg 781
PROBLEM 2
The rod AB movement is guided by
pins in A and B, wich slide into slots
shown. At the time indicated, θ=40⁰,
and pin B is moving to up and left
with constant velocity of 6 in/s.
Determine a) angular velocity of rod,
b) velocity of pin at the end A
Solve using method of rotation
instantaneous center
15.38 BJ pg 369 R: pg 781
PROBLEM 3
The collar A moves to up with constant velocity of
1.2 m/s. At the instant shown, when θ=25⁰,
determine a) angular velocity of rod AB, b) collar B
velocity.
Solve using translation and rotation method
15.38 BJ pg 369 R: pg 781
PROBLEM 4
The collar A moves to up with constant velocity of
1.2 m/s. At the instant shown, when θ=25⁰,
determine a) angular velocity of rod AB, b) collar B
velocity.
Solve using rotation instantaneous center method
15.38 BJ pg 369 R: pg 781
PROBLEM 5
A 10 ft beam AE is lowered by means of two cranes. At the instant
shown, the velocity of point D is 24 in/s down and the velocity at point
B is 36 in/s also downward. Determine a) the instantaneous rotation
center of the beam and b) the velocity of point A.
PROBLEM 6
A 10 ft beam AE is lowered by means of two cranes. At the instant
shown, the velocity of point D is 24 in/s down and the velocity at point
E is 36 in/s also downward. Determine a) the instantaneous rotation
center of the beam and b) the velocity of point A.
PROBLEM 7
An automobile travels to the right at constant speed of 48 mi/h. The
diameter of the tire is 22 in., determine speeds at B, C, D and E.
Solve the problema using RIC method
PROBLEM 8
An automobile travels to the right at constant speed of 48 mi/h. The
diameter of the tire is 22 in., determine speeds at B, C, D and E.
Solve the problema using vectors
PROBLEM 9
The motor of the figure begins to rotate from rest MOTOR

with constant angular acceleration of 2 rad/s2

Determine the magnitudes of the speed and
acceleration of point P of the machine pulley
after it has made two turns, assuming that the
belt does not slip on the pulleys.
Ex 16,2 Hibb pg 322/342

MACHINE
PROBLEM 10
The motor shown in the figure moves the gear
A with αA = 4,5 rad/s2 from the rest. Determine
the speed of the cylinder and the distance it
travels in 3 seconds. The rope that goes up the
cylinder is wound to the pulley D that is
attached to gear B.
PROBLEM 11
The helicopter of the figure is moving z
horizontally to the right at 120 mi/h.
If it is known that the large blades
rotate in the clockwise direction at
180 rpm, determine the position of
the instant rotation center of the y
large blades

x
PROBLEM 12
Two 500 mm rods are connected by a
pin in D as shown the figure. If point B
moves to the left with constant speed
of 360 mm/s, determine for the instant
shown, a) angular velocity of each road
and b) velocity of E.
Solución en cuaderno MT UNEMI
15.72
PROBLEM 13
The cylinder shown in the figure rolls without sliding 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 in Este
equipo/Documentos/Docs/Documentos/UNEMI/Mecánica Teórica
1/Mecánica Teórica II/ Evaluaciones 2009
PROBLEM 14
If at the instant shown, the velocity of the collar D is 4.8 in/s to the left,
calculate a) RIC of BE b) angular velocity of crank AB and rod BE, c)
velocity of point E. E

Solution apunte MT
D
4”

B A

4”
9” 5”
PROBLEM 15
At the instant shown, the collar A is moving to the right at 3 m/s. Find
out the position of the RIC, and use it to find out the angular velocity of
arm AB and velocity of collar B. Rile Sturges pg 122/597 Ej 14.6