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Engineering Mechanics

L22: Rigid body Kinematics: Plane Motion

Indian Institute of Technology Jodhpur

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Example: Multi-cylinder Engine

Linear and Angular Position, Velocity and

Acceleration Analysis

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Introduction
Rigid body Assumption - a system of particles for which the
distances between the particles remain unchanged.

In relationships developed for kinematics of particles, Rotation was

absent

Rigid-body involves both linear and angular displacements,

velocities, and accelerations.

Rigid-body kinematics must account for the rotational motion of the

body.

Purpose is to study
displacement, velocity, and acceleration of the mechanical parts.
forces developed as a result of the motion generated
the motion of a rigid body caused by the forces applied to it.

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Pure Translation
A
A ’
Translation : Any motion in which
every line in the body remains
parallel to its original position at B
all times. B ’
In translation there is no rotation
of any line in the body.

Rectilinear translation: all points A

in the body move in parallel A ’
straight lines.
B
B ’
Curvilinear translation: all points
move on identical curves.

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Pure Rotation in plane

all particles in a rigid body move in A

circular paths about the axis of

rotation,
all lines in the body perpendicular B B’

to the axis of rotation rotate

through the same angle in the
same time.

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General plane motion

It is a combination of translation and rotation.

A A’

B B’

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Rotation
𝜃 = 𝜃 +𝛽
2 1

b 𝜃̇ = 𝜃̇ 𝜃̈ = 𝜃̈
q2
q1 ∆𝜃 = ∆𝜃

Thus, all lines on a rigid body in its plane of motion have

the same angular displacement, the same angular
velocity, and the same angular acceleration.

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Rotation
In plane angular motion

𝑑𝜃 𝑑𝜔 𝑑 𝜃
𝜔= = 𝜃̇ 𝛼= = 𝜔̇ 𝛼= = 𝜃̈
𝑑𝑡 𝑑𝑡 𝑑𝑡

𝜔𝑑𝜔 = 𝛼𝑑𝜃 𝜃̇𝑑𝜃̇ = 𝜃̈𝑑𝜃

Constant angular acceleration

𝜔 = 𝜔 + 𝛼𝑡 𝜔 = 𝜔 + 2𝛼(𝜃 − 𝜃 )

1
𝜃 =𝜃 +𝜔 𝑡+ 𝛼𝑡
2

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Velocity of a point
and

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Acceleration of a point
𝐯 = 𝑣𝒆 where 𝑣 = 𝜌𝛽̇

𝐚 = 𝑣𝛽̇ 𝒆 + 𝑣̇ 𝒆
𝛽̇ = 𝑣/𝜌

𝐚 = 𝑣𝛽̇ 𝒆 + (𝜌𝛽̈ + 𝜌̇ 𝛽̇ )𝒆
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Rotation about a fixed axis

𝐯 = 𝑣𝒆 where 𝑣 = 𝑟𝛽̇ 𝐚 = 𝑣𝛽̇ 𝒆 + (𝑟𝛽̈ + 𝑟̇ 𝛽̇ )𝒆

𝑟 = 𝑐𝑜𝑛𝑠𝑡 𝐚 = 𝑣𝛽̇ 𝒆 + 𝑟𝛽̈ 𝒆

𝜔 = 𝛽̇
v= r w
𝑣 = 𝑟𝜔
at= ra

A 𝛼 = 𝑣𝜔 = 𝑟𝜔 = 𝑣 𝑟
an= rw2
a n
w r
𝑎 = 𝑟𝛼
O

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Vector Notation
𝐯 = 𝐫̇ = 𝑟𝜔𝒆 𝐯=𝛚 × 𝐫

𝐫 × 𝛚 = −𝐯

𝐚 = 𝐯̇ = 𝛚 × 𝐫̇ + 𝛚̇ × 𝐫
𝛂 = 𝛚̇
𝐚=𝛚 × 𝐯+𝛂 × 𝐫
𝐯=𝛚 × 𝐫
𝐚=𝛚 × 𝛚 × 𝐫 +𝛂 × 𝐫
𝐚 = 𝛚 × (𝛚 × 𝐫)

𝐚 =𝛂 × 𝐫
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Rotation does not commute

Case 1

Case 2

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Example 1

0.3 m

w x

0.4 m

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Example 1

0.3 m

w x

0.4 m

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References :

Thanking you
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