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Net 6
Net 6
A
~r
Consider first the relationship
~r B B
~rA = ~rB + ~rA/B ,
O
in which ~rB is the known motion of the reference
point B while ~rA is the motion of the arbitrary point
A to be determined. The relative displacement ~rA/B
has the additional restriction of |~rA/B | =constant for
a rigid body.
To obtain the velocity at point A, take derivative of the position vector ~rA with respect to time
to yield
d~rA d~rB d~rA/B
= + or ~vA = ~vB + ~vA/B
dt dt dt
where the relative velocity ~vA/B is defined as
d~rA/B
~vA/B = =ω
~ × ~rA/B
dt
for a rigid body because |~rA/B | =constant and the change occurs only due to rotation. Hence, for
a rigid body
~vA = ~vB + ω
~ × ~rA/B .
The above equation indicates that once ~vB and ω~ are known, the velocity everywhere on the
rigid body can be calculated easily.
To obtain the acceleration vector, perform another time derivative to yield
d~vA d~vB d~
ω d~rA/B
= + × ~rA/B + ω
~×
dt dt dt dt
or
~aA = ~aB + α
~ × ~rA/B + ω
~ × (~
ω × ~rA/B ) .
–6/1–
Example – Plane Rigid Body Kinematics
A rigid bar AP is connected to sliders A
and B as shown in the figure. Slider A
P
is restricted to move only in the horizontal
direction while slider B can move only in
30
0
m
the vertical direction. If at the instant shown,
m
slider A is moving to the left with a velocity
of 4 mm/sec, find ~vB , ω
~ and ~vP .
B
20
0
m
m
45o
Solution:
Since points A, B and P are all on the same rigid body, we can write
~vB = ~vA + ω
~ × ~rB/A and ~vP = ~vA + ω
~ × ~rP/A .
Of course, we can also use
~vP = ~vB + ω
~ × ~rP/B
if the velocity at B is known. The angular velocity, ω
~ , is the same at any location along the rigid
bar.
With ~vA given as {−4, 0, 0}T , let
√
0 0 −200√ 2/2
~vB = vB , ω
~ = 0 and ~rB/A = 200 2/2 .
0 ω 0
Substituting the above vectors into the rigid-body equation, we have
0 −4 0 −141.4 −4 −141.4ω −4 − 141.4ω
vB = 0 + 0 × 141.4 = 0 + −141.4ω = −141.4ω .
0 0 ω 0 0 0 0
The matrix equation above yields the scalar values of ω = 4/(−141.4) = −0.02829 and vB =
(−141.4)(−0.02829) = 4. Recalling the original definitions, the vector solutions can be written as
0 0
~vB = 4 and ω
~ = 0 .
0 −0.02829
With ω
~ now known, the velocity vector at point P can be calculated readily as
−4 0 −353.55 6
~vP = ~vA + ω
~ × ~rP/A = 0 + 0 × 353.55 = 10
0 −0.02829 0 0
–6/2–
Example – Two-Dimensional Rigid Body Kinematics
A 0.75 m long bar, with rollers on each end, is y
operating between two inclined walls as shown in B vA
the figure. At the instant shown, roller A is pulled
up along the right wall with a constant velocity of A
0.5 m/sec, find 20o
(a) the velocity vector of roller B,
o
(b) the angular velocity of bar AB, 30 30 o
(c) the acceleration vector of roller B and
(d) the angular acceleration of bar AB.
x
SOLUTION:
To solve the problem, establish first the direction of the motion of rollers A and B. Define
sin 30◦ 0.5 − sin 30◦ −0.5
êA = cos 30◦ = 0.866 and êB = cos 30◦ = 0.866
0 0 0 0
~rB/A = 0.75{− cos 20◦ , sin 20◦ , 0}T = {−0.705 , 0.257 , 0}T .
−0.5 0.5 0 −0.705
vB 0.866 = 0.5 0.866 + 0 × 0.257
0 0 ωAB 0
yields
−0.5vB 0.25 −0.257ωAB
−0.5 0.257 vB 0.250
0.866vB = 0.433 + −0.705ωAB or =
0.866 0.705 ωAB 0.433
0 0 0
The scalar solution of the above equation results in vB = −0.113 and ωAB = 0.753, or in vector
form ~vB = {0.0565 , −0.0979 , 0}T and ω ~ AB = {0 , 0 , 0.753}T .
2
Apply now the formula ~aB = ~aA − ωAB ~rB/A + α
~ AB × ~rB/A , i.e.,
0 −0.705 0 −0.705
aB êB = 0 − (0.753)2 0.257 + 0 × 0.257
0 0 αAB 0
or
−0.5aB 0.400 −0.257αAB
−0.5 0.257 aB 0.400
0.866aB = −0.146 + −0.705αAB or =
0.866 0.705 αAB −0.146
0 0 0
The scalar solution of the above equation results in aB = −0.555 and αAB = 0.476, or in vector
form ~aB = {0.278 , −0.481 , 0}T and α ~ AB = {0 , 0 , 0.476}T .
–6/3–
Special Case: A Three-Dimensional Rod-Slider Mechanism
Unlike the two-dimensional problem, the three-
dimensional Rod-Slider Mechanism problem has
a uniqueness problem. The rod AB is the rigid
body of interest, so the rigid-body equation, ˆeA
ˆeB
~vA = ~vB + ω~ × ~rA/B ,
can be used. If slider A is contrained to move in A B
the direction prescribed by the unit vector êA and
slider B is contrained by êB , then
~ × ~rA/B = vA êA − vB êB
ω ,
in which vA and vB are the scalar magnitudes of
vA and vB , respectively.
The unknown linear velocity, vA , can be determined quite simply by performing an inner
product of ~rA/B with the rigid body equation as follows:
~rA/B · vA êA = ~rA/B · vB êB + ω ~ × ~rA/B = ~rA/B · vB êB ,
in which the condition, ~rA/B · ω ~ × ~rA/B = 0, is used. This condition is true because ω
~ × ~rA/B
is always perpendicular to ~rA/B . We can now express the unknown, vA , in terms of the given
velocity, vB , as
~rA/B · êB
vA = vB
~rA/B · êA
A
~r
to express them using the fixed basis
~r B B
ˆ Jˆ and K̂. The relative
vectors I,
O Y
position vector ~rA/B , however, is
best described using the rotating basis
x
vectors ı̂, ̂ and k̂ because it is a
X
quantity local to the rotating system.
From the above definitions of the coordinate systems, it is clear that time derivatives of vectors
using the fixed system would be much simpler than those of the rotating system because
in which
QR ~ QR ~ QR ~
x = Q · ı̂ , y = Q · ̂ and z = Q · k̂
are also scalar functions but defined with respect to a set of rotating basis vectors. Note
F R
QX Qx
Q and Q
Y y
QZ XYZ Qz xyz
F
~ Q̇X
dQ F ˆ F ˆ F
= Q̇X I + Q̇Y J + Q̇Z K̂ = Q̇Y
dt
Q̇Z XYZ
~
dQ R dı̂ d̂ dk̂
= Q̇R R R
x ı̂ + Q̇y ̂ + Q̇z k̂ + Qx + QR
y + QR
z ,
dt dt dt dt
therefore
R R
~ Q̇x Qx
dQ ~ × Qy
= Q̇y +Ω .
dt
Q̇z xyz Qz xyz
in which Ω ~ is the angular velocity of the rotating frame R with respect to the fixed frame F .
A second term is needed for the time derivative with respect to the rotating frame because the
scalar functions Qx = Q ~ · ı̂, Qy = Q
~ · ̂ and Qz = Q~ · k̂ are obtained using a set of time-dependent
basis vectors. Therefore, the first term of the matrix expression is like a partial time derivative
“assuming” the basis vectors are fixed and the second term is a correction to account for the rotation
of ı̂, ̂ and k̂.
–6/6–
Application – Velocity and Acceleration in Cylindrical Coordinates
The concept of a rotating frame has been applied frequently in early studies using the cylindrical
coordinate system. The unit vectors êr and êθ follows the motion of the position vector which is
defined as
r
~r = 0 ,
z rθz
~ of the
while the third unit vector êz remains unchanged in the z-direction. The angular velocity Ω
cylindrical coordinate system can be represented in matrix form as
0
~
Ω = θ̇êz = 0 .
θ̇ rθz
ṙ
~v = rθ̇
ż rθz
r̈ −rθ̇2
= ṙθ̇ + rθ̈ + ṙθ̇
z̈ rθz
0 rθz
or
r̈ − rθ̇2
~a = rθ̈ + 2ṙθ̇
z̈ rθz
–6/7–
Application – Velocity and Acceleration in Spherical Coordinates
Let the position vector ~r be defined as
r
~r = 0
0 rφθ
in the spherical coordinate system. The representation is very simple because the unit vector êr
follows the position vector ~r, therefore, the frame which specifies the spherical coordinate system
is rotating with the angular velocity Ω~ defined as
0 θ̇ cos φ θ̇ cos φ
~ = φ̇êθ + θ̇(êr cos φ − êφ sin φ) = 0
Ω + −θ̇ sin φ = −θ̇ sin φ .
φ̇ rφθ 0 rφθ
φ̇ rφθ
or
ṙ
~v = rφ̇
rθ̇ sin φ rφθ
d~v dc~v ~
~a = = + Ω × ~v
dt
dt
r̈ θ̇ cos φ ṙ
= rφ̈ + ṙφ̇ + −θ̇ sin φ × rφ̇
rθ̈ sin φ + ṙθ̇ sin φ + rθ̇φ̇ cos φ rφθ φ̇ rφθ
r θ̇ sin φ rφθ
r̈ −rθ̇2 sin2 φ − rφ̇2
= rφ̈ + ṙφ̇ + ṙφ̇ − rθ̇2 sin φ cos φ
rθ̈ sin φ + ṙθ̇ sin φ + rθ̇φ̇ cos φ rφθ rθ̇φ̇ cos φ + ṙθ̇ sin φ rφθ
or
r̈ − r(φ̇2 + θ̇2 sin2 φ)
~a = rφ̈ + 2ṙφ̇ − rθ̇2 sin φ cos φ
rθ̈ sin φ + 2ṙθ̇ sin φ + 2rθ̇φ̇ cos φ rφθ
–6/8–
The angular velocity Ω~ of the rotating frame shown in the previous page is quite complicated
because there were two rotational degrees of freedom φ̇ and θ̇. It will be shown here that with a
much simplified rotation of the frame the same results can be obtained, but the position vector ~r
would have a much more difficult representation.
z
ˆez
φ r
φ ˆer
y ˆeR
R φ
θ
x
ˆeφ
~ is simply
Apply now the cylindrical coordinate system Rθz. The angular velocity of the frame Ω
~ are therefore
θ̇êz . The matrix representations of ~r and Ω
r sin φ 0
~r = 0 and ~
Ω= 0 ,
r cos φ Rθz θ̇ Rθz
respectively. To obtain the velocity ~v using the new rotating frame, apply the formula
d~r dc~r ~
~v = = + Ω × ~r
dt
dt
ṙ sin φ + r cos φφ̇ 0 r sin φ
= 0 + 0 × 0
ṙ cos φ − r sin φφ̇ θ̇ r cos φ
ṙ sin φ + r cos φφ̇
= rθ̇ sin φ .
ṙ cos φ − r sin φφ̇ Rθz
Develop now a transformation between the cylindrical and spherical coordinate systems by
consulting the above figure to yield
qr cos( π2 − φ) 0 cos φ qR sin φ 0 cos φ qR
q = cos φ 0 cos( π2 + φ) qθ = cos φ 0 − sin φ qθ .
φ
qθ 0 1 0 qz 0 1 0 qz
Now transform the vector ~v from the Rθz to the rφθ system by performing the matrix product
sin φ 0 cos φ ṙ sin φ + r cos φφ̇
~v = cos φ 0 − sin φ rθ̇ sin φ
0 1 0 ṙ cos φ − r sin φφ̇ Rθz
ṙ sin2 φ + r cos φ sin φφ̇ + ṙ cos2 φ − r sin φ cos φφ̇ ṙ
= ṙ sin φ cos φ + r cos2 φφ̇ − ṙ cos φ sin φ + r sin2 φφ̇ = rφ̇ .
rθ̇ sin φ rφθ
rθ̇ sin φ rφθ
Similar results can be obtained for the acceleration vector, but clearly the amount of work needed
to describe the vector ~v and its time derivative is too tedious. It is perhaps better to use a frame
which is more suitable to the task (like the one shown in the previous page) even though the angular
~ may be more complicated.
velocity Ω
–6/9–
Application – Rigid Body Kinematics With Relative Motion
It is well known that a rigid body can be fully described by its rotation vector and just one
given translation vector at a point on the rigid body. However, if the translation vector is given at a
point which moves relative to the rigid body, then a rotating coordinate system pivoting about the
given point would prove invaluable for the solution of the problem.
Velocity Formulation
~
Since the equations for derivatives in a rotating coordinate system were derived for any vector Q,
consider the case of the relative velocity ~vA/B . Recall
it is clear that the absolute position vectors ~rA and ~rB are best described using the fixed frame while
the relative position vector ~rA/B is best represented in the rotating frame. Therefore, let the vector
Q~ (to be described in two different frames) be
~ = ~rR = ~rA
Q F F
− ~rB .
A/B
R F F
We shall perform the time derivatives of ~rA/B in the rotating xyz frame and that of ~rA − ~rB in the
fixed XYZ frame.
~
dQ d F d F d F
F F F
= ~rA − ~rB = ~rA − ~rB = ~vA − ~vB
dt dt dt dt
F F
in which ~vA and ~vB are absolute velocity vectors represented in the basis of XYZ.
~
dQ d R dc R
= ~rA/B = ~rA/B ~ × ~rR = ~v R + Ω
+Ω ~ × ~rR
A/B A/B
dt dt dt rel
~ is the angular velocity of the xyz-frame, and dc~rR /dt = ~v R is the relative velocity
in which Ω A/B rel
R R
measured in the xyz frame. ~vrel is calculated by taking derivatives of the scalar components of ~rA/B
assuming that ı̂, ̂ and k̂ are constant non-rotating unit vectors. The component-by-component time
derivative representation used here is not the same as the partial derivative used in multiple-variable
continuous functions. Here, the time derivative is taken by assuming that the basis vectors are fixed
but the partial derivative with respect to time t of a continuous function is taken by assuming that
other independent variables (e.g., x, y and z) are constant.
Equate now the results of both sides of the equation, we have
F
~vA F
− ~vB R
= ~vrel ~ × ~rR
+Ω .
A/B
For numerical calculation, one frame has to be selected. But since it is easy to find an instantaneous
correspondance between the bases, we can write (keeping in mind the basis used) without the
superscripts the relationship
~ × ~rA/B
~vA = ~vB + ~vrel + Ω
– 6 / 10 –
Acceleration Formulation
Consider now the case of the relative acceleration ~aA/B , i.e., the time derivative of the velocity
~ (to be described in two different frames) be
vectors. Let the vector Q
~ = ~vA/B = ~vA
Q F F
− ~vB R
= ~vrel ~ × ~rR
+Ω .
A/B
~
dQ d F d F d F
F
= ~vA − ~vB = ~vA − ~vB = ~aF aF
A −~ B
dt dt dt dt
in which ~aF aF
A and ~ B are absolute acceleration vectors represented in the fixed basis of frame XYZ.
~
dQ d R d h ~ × ~rR
i d d ~ R
= ~vA/B = ~vrel + Ω A/B = ~vrel + Ω × ~rA/B
dt dt dt dt dt
~
dc R ~ × ~v R dΩ R ~ × d R
= (~vrel ) + Ω rel + × ~rA/B +Ω ~r .
dt dt dt A/B
But since
d R R ~ × ~rR
(~r ) = ~vrel +Ω ,
dt A/B A/B
we have
d R ~ vR + Ω ~˙ × ~rR + Ω
~ × ~v R + Ω
~ × (Ω
~ × ~rR )
~v = ~aR
rel + Ω × ~
dt A/B rel A/B rel A/B
in which
dc R d2c R
~aR = (~vrel ) = 2 (~rA/B )
rel
dt dt
and
~
~˙ = dΩ
Ω .
dt
~ we have
By equating the two derivatives of Q,
~aF aF aR ~ vR + Ω ~˙ × ~rR + Ω
~ × (Ω
~ × ~rR )
A −~ B =~ rel + 2Ω × ~ rel A/B A/B
– 6 / 11 –
Example – A Radar Tracking Problem - General Case
Airplane A is chasing airplane B during
a dog-fight. The pieces of information
needed for calculation are given as z
follows: (i) The radar data of B with
respect to A are given in spherical
φ
coordinates as r = 1100 m, θ = −7◦ , φ =
107◦ , ṙ = −60 m/sec, θ̇ = 0.02 rad/sec, A
φ̇ = −0.01 rad/sec, r̈ = 5 m/sec2 , θ̈ = 20 o
−0.05 rad/sec2 and φ̈ = 0.02 rad/sec2 .
(ii) The absolute velocity and acceleration
vectors of A are ~vA = {300, 0, 0}xyz m/sec
x
and ~aA = {5, 0, 0}xyz m/sec2 . (iii)
Plane A is temporarily heading in the Z , UP
S55◦ E direction. (iv) Plane A is B
turning to follow B at the rate of
~ = {−0.01, 0, 0.02}xyz rad/sec and Ω
Ω ~˙ =
X
{0, 0, 0.01}xyz rad/sec2 . Find
N
(a) the absolute velocity ~vB of airplane
Y
B in command control’s East-North-
Up coordinate system, and 35o
(b) the absolute acceleration ~aB of Bird’s Eye View
airplane B in command control’s
East-North-Up coordinate system. Z , UP E
35 o
SOLUTION:
Let’s first establish the transformations between the coordinate systems at the instant shown:
– 6 / 12 –
Part (a)
~ × ~rB/A + ~vrel
~vB = ~vA + Ω
ṙ −60 −51.2
~vrel = rφ̇ = −11 = 27.5
rθ̇ sin φ rφθ 21.04 rφθ 28.1 xyz
r 1100 1044
~rB/A = 0 = 0 = 128.2
0 rφθ 0 rφθ
321.6 xyz
300 −0.01 1044 −51.2
~vB = 0 + 0 × 128.2 + 27.5
0 xyz
0.02 xyz
321.6 xyz
28.1 xyz
300 − 2.6 − 51.2 246.2 240.5 226.6
= 0 + 24.1 + 27.5 = 51.6 = 51.6 = −95.7
0 − 1.3 + 28.1 xyz
26.8 xyz −59 XYZ −59 ENU
Part (b)
~ × ~vrel + Ω
~aB = ~aA + ~arel + 2Ω ~ × (Ω ~˙ × ~rB/A
~ × ~rB/A ) + Ω
r̈ − r(φ̇2 + θ̇2 sin2 φ) 4.49 −9.2
~arel = rφ̈ + 2ṙφ̇ − rθ̇2 sin φ cos φ = 23.3 = −54
rθ̈ sin φ + 2ṙθ̇ sin φ + 2rθ̇φ̇ cos φ rφθ −54.8 rφθ −23.6 xyz
−0.01 −51.2 −0.55 −1.10
~ × ~vrel = 2
2Ω 0 × 27.5 = 2 −0.74 = −1.48
0.02 xyz 28.1 xyz −0.28 xyz −0.56 xyz
−0.01 −2.6 −0.48
~ × (Ω
Ω ~ × ~rB/A ) = 0 × 24.1 = −0.07
0.02 xyz −1.3 xyz −0.24 xyz
0 1044 −1.28
~˙ × ~rB/A =
Ω 0 × 128.2 = 10.44
0.01 xyz 321.6 xyz 0 xyz
5 −9.2 −1.10 −0.48 −1.28
~aB = 0 + −54 + −1.48 + −0.07 + 10.44
0 xyz −23.6 xyz −0.56 xyz −0.24 xyz 0 xyz
−7.06 −14.98 −38.14
= −45.1 = −45.1 = −28.35
−24.4 xyz −20.51 XYZ −20.51 ENU
– 6 / 13 –
Example – A Sliding Bar
At the instant shown and with the
parameters shown in the figure, find the 2 cm/sec
y
angular velocity of the rigid bar and the
60 o A
sliding velocity between the bar and the b
corner C. Find the absolute velocity of
point P . x
60 o 25 cm
o
60
a C
10 cm
P
SOLUTION:
~ × ~rA/C
~vA = ~vC + ~vrel + Ω
0 0 vrel 0 −10/ cos 60◦
2 = 0 + 0 + 0 × 0
0 xyz 0 xyz 0 abz ωc abz 0 abz
which yield scalars vrel = −1.732 and ωc = −1/20 = −0.05. The vector solutions can be written
as
−1.732 −0.866 0 0
~vrel = 0 = 1.5 and ω
~ = 0 = 0
0 abz
0 xyz
−0.05 abz −0.05 xyz
– 6 / 14 –
Special Case: Rotation About a Fixed Axis
There are many machines or machine parts
which rotate about a fixed axle, they can be z
analyzed by methods designed for “fixed-axis A ~ω , ~α
rotation” problems. Mathematically, the general
relationships for velocity and acceleration can be
simplified to B
O y
~vA = ω
~ × ~rA/B
~aA = α
~ × ~rA/B + ω ω × ~rA/B )
~ × (~
x
in which point B is a point located anywhere on the fixed-axis. The assumption of “fixed-axis
rotation” reduces the rigid-body problem from 6 degrees-of-freedom to 1 because the 3 translation
components are immediately eliminated and the fixed axis disallows the 2 rotational components
which are perpendicular to it. Clearly, the vectors ω
~ and α
~ are parallel to the unit vector ê which
defines the fixed axis.
To characterize the 3 rotations involved in fixed-point rotation, the following names are used:
ωp – the angular velocity of precession,
ωn – the angular velocity of nutation and
ωs – the spin.
Usually, a rotating frame with angular velocity Ω ~ =ω ~ =ω
~ p or Ω ~p + ω ~ n is defined to analyze the
problem for fixed-point rotation. The spin, ω ~ s , is identified more as a rotation for the “body” while
ω
~ p and ω
~ n are identified as the rotations of the “environment.”
Mathematically, there are several choices of coordinate system for analyzing a problem, the
most important consideration is the simplicity of the solution.
~ = ω
• If a rotating frame is selected such that Ω ~ p , then the rotation of the body would be
described by the angular velocity ω
~ =ω ~n + ω
~ s.
~ =ω
• If a rotating frame is selected such that Ω ~p + ω~ n , then the rotation of the body would be
described by the angular velocity ω~ =ω ~ s.
The first choice has a simpler description for the coordinate system but the rotation of the body is
complicated. It may be difficult to visualize the motion of a body with 2 axes of rotation.
– 6 / 15 –
The second choice has a more complicated description for the coordinate system, i.e., the
transformation between the rotating frame and the fixed frame requires two parameters, however,
the body spins about just one axis within the rotating frame.
~ × ~rC/O
~vC = ~vO + ~vrel + Ω C
~rA/C B ~ωs
in which ~vO , the velocity of the fixed-
point, is zero. Within the rotating ~rA/B
frame, the body is undergoing pure O ~rA/O
rotation, therefore, A
~vrel = ω
~ × ~vC/B = ω
~ × ~vC/O
y
in which points B and O are both on x
the axis of rotation.
~vC = ω ~ × ~rC/O = (~
~ × ~vC/O + Ω ~ × ~rC/O = ω
ω + Ω) ~ t × ~rC/O
~vA = ω
~ × ~rA/C .
To obtain the acceleration vector at point A, perform the time derivative as follows:
d~vA d~
ωt d~rA/C
~aA = = × ~rA/C + ω ~t ×
dt dt dt
d~rA d~rC
=α
~ t × ~rA/C + ω
~t × −
dt dt
=α
~ t × ~rA/C + ω
~t × ω ~ t × ~rA/C − ~0
or simply
~aA = α
~ t × ~rA/C + ω
~t × ω
~ t × ~rA/C .
– 6 / 16 –
Example – Plane Rigid Body Kinematics with Relative Motion
A linkage mechanism is driven clockwise at
Y
point A by a motor at the rate of 5 rad/sec. x
Find at the instant shown the angular velocity y B
and angular acceleration of the pivoting sleeve m
at C and the relative velocity and relative 0.65 0.25 m
acceleration of link BD with respect to point β
X
C. D C 0.6 m A 5 rad/sec
Solution:
To solve problems in vector mechanics, it is desirable to know as much about the unknown
vector as possible. If either the magnitude or the direction of the unknown vector is specified, the
number of unknown quantities is reduced by half.
For the present problem, it is convenient to define a rotating frame xyz so that the x-axis
coincides with the link BD. With this new system xyz, the relative velocity ~vrel can be expressed
as vrel ı̂, whereas using the XYZ system, the vector would be a function of the angle β.
The rigid body of interest in this problem is BD. It is easy to determine the velocity and
acceleration at point B because it is connected to AB. Hence, with ω~ AB given as −5K̂, ~vB and
~aB can be computed as
0 0 0 1.25
~vB = ~vA + ω~ AB × ~rB/A = 0 + 0 × 0.25 = 0 ,
0 −5 0 0 XYZ
and
~aB = ~aA + α
~ AB × ~rB/A + ω
~ AB × (~
ωAB × ~rB/A )
0 0 0 0 0
= 0 + 0 × 0.25 − (−5)2 0.25 = −6.25 .
0 0 0 0 0 XYZ
At the instant shown, β = tan−1 (0.25/0.60) = 22.62◦ , the transformation between the coordinate
systems can be established as
qx cos 22.62◦ sin 22.62◦ 0 qX 0.923 0.385 0 qX
qy − sin 22.62◦ cos 22.62◦ 0 qY = −0.385 0.923 0 qY .
qz 0 0 1 qZ 0 0 1 qZ
To determine the relative velocity for link BD, use the formula
~ × ~rB/C
~vB = ~vC + ~vrel + Ω .
– 6 / 17 –
and
0.923 0.385 0 1.25 1.154
~vB = −0.385 0.923 0 0 = −0.481 .
0 0 1 0 XYZ
0 xyz
1.154 1.065 0 0
~vrel = 0 = 0.444 and ω
~C = 0 = 0 .
0 xyz
0 XYZ
−0.74 xyz −0.74 XYZ
and
0.923 0.385 0 0 −2.406
~aB = −0.385 0.923 0 −6.25 = −5.769 ,
0 0 1 0 XYZ
0 xyz
then
−2.406 arel 0 1.154 0.65 0 0.65
−5.769 = 0 +2 0 × 0 −(−0.74)2 0 + 0 × 0
0 xyz
0 −0.74 0 0 α 0
or
−2.406 arel − 0.356
−5.769 = −1.708 + 0.65α
0 xyz
0 xyz
which yields the scalar solutions of arel = −2.05 and α = −6.25. The scalar values, along with
the original definitions, can now be used to generate
−2.05 −1.892 0 0
~arel = 0 = −0.789 and α
~C = 0 = 0 .
0 xyz
0 XYZ
−6.25 xyz −6.25 XYZ
– 6 / 18 –
Example – Three-Dimensional Rigid Body Kinematics
The small disk with a radius of 0.5 m is z Z
rotating relative to point A with an angular ~Ω
velocity |~ω1 | = 5 rad/sec and angular ~ω1 , ~α1
α1 | = 3 rad/sec2 while the entire
acceleration |~ P A O
y Y
assembly is rotating about the Z-axis with a 1
~ = 10 rad/sec. x 3
constant angular velocity |Ω| 1
Find the absolute velocity and acceleration of 1
point P at the instant shown. X
SOLUTION:
Use a rotating frame xyz, which at this instant, is aligned with the fixed frame XYZ. The angular
~ = {0 , 0 , 10}T and Ω
velocity and acceleration of xyz is therefore Ω ~˙ = {0 , 0 , 0}T , respectively.
First, lets find the absolute velocity and acceleration of point A (xyz is not needed here):
0 0 2 10
~vA = ~vO + ω ~ AO × ~rA/O = 0 + 0 × −1 = 20
0 10 1 0 XYZ
~aA = ~aO + ω
~ AO × (~
ωAO × ~rA/O ) + α
~ AO × ~rA/O
0 0 10 0 −200
= 0 + 0 × 20 + 0 = 100
0 10 0 0 0 XYZ
To find the absolute velocity and acceleration of point P , first find the relative velocity and
acceleration inside the rotating frame xyz.
5 0 0
~vrel = (~vP/A )xyz = (~vP − ~vA )xyz = ω
~ P A × ~rP/A = 0 × −0.5 = 0
0 0 −2.5 xyz
0 0 x 0 −ωy x
ω ω × ~r) = 0 × 0 × y = 0 ×
~ × (~ ωx = −ω 2 y = −ω 2~r
ω ω 0 ω 0 0
Hence, for two-dimensional problems only,
ω
~ × (~ ω |2~r
ω × ~r) = −|~
– 6 / 20 –
Example – Total Angular Acceleration of a Rigid Body
At the instant shown, φ = 60◦ ,
z
ωp = 5 rad/sec, ω̇p = 4 rad/sec2 , ωp , ω̇p
2
ωn = 3 rad/sec, ω̇n = 2 rad/sec ,
ωs = 10 rad/sec, ω̇s = 6 rad/sec2 . φ
ωs , ω̇s
Find the total angular acceleration about the O
fixed xyz coordinate system.
x ω , ω̇ y
n n
Polar Coordinates
~ and the angular velocity of the disk relative to
Write the angular velocity of the rotating frame, Ω,
the rotating frame, ω
~ D/F , respectively as
0 ωs sin φ
~ =
Ω 0 and ω
~ D/F = ωn ,
ωp rθz ωs cos φ rθz
then the total angular velocity can be computed as
~D = ω
ω ~F + ω ~ +ω
~ D/F = Ω ~ D/F
0 ωs sin φ ωs sin φ .
= 0 + ωn = ωn
ωp rθz ωs cos φ rθz ωs cos φ + ωp rθz
To calculate the acceleration vector using the rotating frame, apply
ω̇s sin φ + ωs cos φφ̇ 0 ωs sin φ
d~ω dc ω
~ ~ ×ω
= +Ω ~ = ω̇n + 0 × ωn .
dt dt
ω̇s cos φ − ωs sin φφ̇ + ω̇p ωp ωs cos φ + ωp
To express the values in the xyz system, perform the transformation with θ = 90◦ as
cos θ − sin θ 0 αr 0 −1 0 5.196 −45.30
~ t = sin θ
α cos θ 0 αθ = 1 0 0 45.30 = 5.196 .
0 0 1 αz 0 0 1 −18.98 rθz −18.98 xyz
– 6 / 21 –
Spherical Coordinates
~ and the angular velocity of the disk relative to
Write the angular velocity of the rotating frame, Ω,
the rotating frame, ω
~ D/F , respectively as
ωp cos φ ωs
~ =ω
Ω ~p + ω
~ n = −ωp sin φ and ω
~ D/F =ω
~s = 0 ,
ωn rφθ
0 rφθ
ω
~D = ω
~F + ω ~ +ω
~ D/F = Ω ~ D/F
ωp cos φ ωs ωp cos φ + ωs .
= −ωp sin φ + 0 = −ωp sin φ
ωn rφθ
0 rφθ ωn rφθ
For specific values given in the problem, i.e., φ = 60◦ and θ = 90◦ ,
6 + 4 cos 60◦ − (5)(3) sin 60◦ −4.99
d~
ω
= (3)(10) − 4 sin 60◦ − (5)(3) cos 60◦ = 19.04 .
dt
2 + (10)(5) sin 60◦ rφθ
45.3 rφθ
To express the values in the xyz system, perform the transformation with θ = 90◦ and φ = 60◦ as
T
cos 90◦ sin 60◦ sin 90◦ sin 60◦ cos 60◦ αr
~ = cos 90◦ cos 60◦ sin 90◦ cos 60◦ − sin 60◦
α α
◦ ◦ φ
− sin 90 cos 90 0 αθ rφθ
0 0 −1 −4.99 −45.30
= 0.866 0.5 0 19.04 = 5.196 .
0.5 −0.866 0 45.3 rφθ −18.98 xyz
– 6 / 22 –