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Kinofbodies PDF
Kinofbodies PDF
3/5/2007
Lecture 8
Kinematics of Rigid Bodies
Figure 1: Rigid body where I is the instant center. Figure by MIT OCW.
v A = vI + ω × r IA
= 0 + ω × r IA (1)
v A = ω × r IA
So body is undergoing rigid body rotation about I.
Cite as: Thomas Peacock and Nicolas Hadjiconstantinou, course materials for 2.003J/1.053J Dynamics and
Control I, Spring 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology.
Downloaded on [DD Month YYYY].
Instant Centers or Instantaneous Centers 2
Figure 2: Rigid body with lines drawn to demonstrate how to find instant center.
Figure by MIT OCW.
Proof
v I = v A + ω × r AI
(ω is angular velocity of rigid body.)
v I = v B + ω × r BI
ω × r BI : Vector is ⊥ to r BI . Direction of motion is parallel to motion of B.
Note: The instant center may not actually be a point on the rigid body. This
simply means that the body is instantaneously rotating about an external point.
The instant center can change in time.
Assume no slip.
Cite as: Thomas Peacock and Nicolas Hadjiconstantinou, course materials for 2.003J/1.053J Dynamics and
Control I, Spring 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology.
Downloaded on [DD Month YYYY].
Instant Centers or Instantaneous Centers 3
Figure 3: Rolling Disk. The disk rolls with angular velocity ω in the x-direction.
Figure by MIT OCW.
Point I marks the contact with disk and ground: no slip, not moving for an
instant because ground is still. → Instant center.
v A = ωêz × r IA
√ √
= ωêz × (− 2R cos 45◦ êx − 2R sin 45◦ êy ) (2)
� �
�
� êx êy êz �
�
� √ 0 √ 0 ω
� �=
�
� R 2 cos 45◦ R 2 sin 45◦ 0 �
√ √ √ √
êx (− 2Rω sin 45◦ )−êy (− 2Rω cos 45◦ ) = − 2Rω sin 45◦ êx + 2Rω cos 45◦ êy = v A
Cite as: Thomas Peacock and Nicolas Hadjiconstantinou, course materials for 2.003J/1.053J Dynamics and
Control I, Spring 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology.
Downloaded on [DD Month YYYY].
Instant Centers or Instantaneous Centers 4
v B = v A + ωAB × r AB
v C = v B + ω BC × r BC
v C = v D + ω CD × r DC
3 unknowns (v C , ω BC , ω CD ), 3 equations. Take cross products and solve.
m
v B = 10 (From motion of bar AB) = ωBC · 1m
s
Therefore:
rad
ωBC = 10 (−êz )
s
Now we know that:
√ √
v C = ωBC · m 2 = 2 · 10m/s
Cite as: Thomas Peacock and Nicolas Hadjiconstantinou, course materials for 2.003J/1.053J Dynamics and
Control I, Spring 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology.
Downloaded on [DD Month YYYY].
Plane Kinetics (Dynamics) Of Rigid Bodies 5
√ √
vC = 2 · 10 = ωCD 2
ω CD = 10rad/s(+êz )
Of course, this is a nice geometry → can easily become more complicated.
d
P = F ext
dt
P = M vc
M : Total Mass
v c : Velocity of center of mass
Cite as: Thomas Peacock and Nicolas Hadjiconstantinou, course materials for 2.003J/1.053J Dynamics and
Control I, Spring 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology.
Downloaded on [DD Month YYYY].
Plane Kinetics (Dynamics) Of Rigid Bodies 6
Figure 5: Rigid body that rotates with angular velocity ω. Figure by MIT
OCW.
� � �
HB = (hB )i = r i × pi
i i
� �
= ri × mi (vc + ω × ρi )
i
� �
= (r C + ρi ) × (v c + ω × ρi ) (3)
i
� � � � � �
HB = mi (r C × v C ) + (r C × ω × ρi ) + mi (ρi × vC ) + mi (ρi × ω × ρi )
i i i i
� � �
� i (r C × ω × ρi ) = 0 because� mi ρi = 0
i mi (ρi × v C ) = 0 because m i ρi = 0
� �
H B = rC × P + m i ρi × ω × ρ i
i
�
i mi ρi × ω × ρi : Contains moment of inertia.
Cite as: Thomas Peacock and Nicolas Hadjiconstantinou, course materials for 2.003J/1.053J Dynamics and
Control I, Spring 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology.
Downloaded on [DD Month YYYY].