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Dynamics: Kinematics of Rigid Bodies
Dynamics: Kinematics of Rigid Bodies
15
DYNAMICS
Ferdinand P. Beer
E. Russell Johnston, Jr. Kinematics of
Lecture Notes:
Rigid Bodies
J. Walt Oler
Texas Tech University
1
Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Introduction
• Kinematics of rigid bodies: relations between
time and the positions, velocities, and
accelerations of the particles forming a rigid
body.
• Classification of rigid body motions:
- translation:
• rectilinear translation
• curvilinear translation
- rotation about a fixed axis
- general plane motion
- motion about a fixed point
- general motion
2
Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Rotation About a Fixed Axis. Velocity
• Consider rotation of rigid body about a
fixed axis AA’
r r
• Velocity vector v = dr dt of the particle P is
tangent to the path with magnitude v = ds dt
∆s = ( BP )∆θ = (r sin φ )∆θ
ds ∆θ
v= = lim (r sin φ ) = rθ& sin φ
dt ∆t →0 ∆t
3
Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Rotation About a Fixed Axis. Representative Slab
• Consider the motion of a representative slab in
a plane perpendicular to the axis of rotation.
dθ dθ
• Recall ω = or dt =
dt ω
dω d θ 2
dω
α= = 2 =ω
dt dt dθ
• Uniform Rotation, α = 0:
θ = θ 0 + ωt
4
Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 5.1
SOLUTION:
• Due to the action of the cable, the
tangential velocity and acceleration of
D are equal to the velocity and
acceleration of C. Calculate the initial
angular velocity and acceleration.
• Apply the relations for uniformly
accelerated rotation to determine the
velocity and angular position of the
Cable C has a constant acceleration of 9
pulley after 2 s.
in/s2 and an initial velocity of 12 in/s,
both directed to the right. • Evaluate the initial tangential and
normal acceleration components of D.
Determine (a) the number of revolutions
of the pulley in 2 s, (b) the velocity and
change in position of the load B after 2 s,
and (c) the acceleration of the point D on
the rim of the inner pulley at t = 0.
© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 9
Edition
Seventh
5
Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 5.1
• Evaluate the initial tangential and normal acceleration
components of D.
(arD )t = arC = 9 in. s →
(aD )n = rDω02 = (3 in.)(4 rad s )2 = 48 in s2
(aD )n
tan φ =
(aD )t
48
=
9 φ = 79.4°
6
Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Absolute and Relative Velocity in Plane Motion
vB vA v
= tan θ = A = cosθ
vA v B A lω
v B = v A tan θ vA
ω=
l cosθ
© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 14
7
Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Absolute and Relative Velocity in Plane Motion
• Selecting point B as the reference point and solving for the velocity vA of end A
and the angular velocity ω leads to an equivalent velocity triangle.
• vA/B has the same magnitude but opposite sense of vB/A. The sense of the
relative velocity is dependent on the choice of reference point.
• Angular velocity ω of the rod in its rotation about B is the same as its rotation
about A. Angular velocity is not dependent on the choice of reference point.
© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 15
Edition
Seventh
8
Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.2
SOLUTION:
• The displacement of the gear center in one revolution is
equal to the outer circumference.
For xA > 0 (moves to right), ω < 0 (rotates clockwise).
xA θ
=− x A = − r1θ
2π r 2π
y
Differentiate to relate the translational and angular
velocities.
x
v A = − r1ω
vA 1.2 m s r r r
ω =− =− ω = ωk = −(8 rad s )k
r1 0.150 m
9
Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Absolute and Relative Acceleration in Plane Motion
(arB A ) = α k × rrB A (a B A ) = rα
r
t t
(r
aB )
A n =
r
−ω 2 rB A (a B A )n = rω 2
© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 19
Edition
Seventh
r r
• Given a A and v A ,
r r
determine a B and α .
r r r
aB = a A + aB A
= a A + (a B A ) + (a B )
r r r
n A t
r
• Vector result depends on sense of a A and the
relative magnitudes of a A and (a B A )
n
10
Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Absolute and Relative Acceleration in Plane Motion
r r r
• Write a B = a A + a B A in terms of the two component equations,
+
→ x components: 0 = a A + lω 2 sin θ − lα cos θ
v A = x& A v B = y& B
= lθ& cosθ = −lθ& sin θ
= lω cosθ = −lω sin θ
a A = &x&A a B = &y&B
= −lθ& 2 sin θ + lθ&& cosθ = −lθ& 2 cosθ − lθ&&sin θ
= −lω 2 sin θ + lα cosθ = −lω 2 cosθ − lα sin θ
11
Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Instantaneous Center of Rotation in Plane Motion
• Plane motion of all particles in a slab can always be
replaced by the translation of an arbitrary point A and a
rotation about A with an angular velocity that is
independent of the choice of A.
• The velocity of all other particles in the slab are the same
as originally defined since the angular velocity and
translational velocity at A are equivalent.
12
Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Instantaneous Center of Rotation in Plane Motion
• The instantaneous center of rotation lies at the intersection of
the perpendiculars to the velocity vectors through A and B .
v v v
ω= A = A v B = ( BC )ω = (l sin θ ) A
AC l cosθ l cosθ
= v A tan θ
13
Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.4
SOLUTION:
• The point C is in contact with the stationary lower rack
and, instantaneously, has zero velocity. It must be the
location of the instantaneous center of rotation.
• Determine the angular velocity about C based on the
given velocity at A.
v 1.2 m s
v A = rAω ω= A= = 8 rad s
rA 0.15 m
• Evaluate the velocities at B and D based on their rotation
about C.
vR = vB = rBω = (0.25 m )(8 rad s )
r r
vR = (2 m s )i
rD = (0.15 m ) 2 = 0.2121 m
vD = rDω = (0.2121 m )(8 rad s )
vD = 1.697 m s
r r
vD = (1.2i + 1.2 j )(m s )
r
14
Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.5
SOLUTION:
• From Sample Problem 15.3,
r r
vB = (403.9i − 481.3 j )(in. s )
r
vB = 628.3 in. s
β = 13.95°
• The instantaneous center of rotation is at the intersection
of the perpendiculars to the velocities through B and D.
15
Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.6
SOLUTION:
• The expression of the gear position as a function of θ
is differentiated twice to define the relationship
between the translational and angular accelerations.
x A = − r1θ
v A = − r1θ& = − r1ω
vA 1.2 m s
ω =− =− = −8 rad s
r1 0.150 m
a A = − r1θ&& = − r1α
aA 3 m s2
α =− =−
r1 0.150 m
r r
(
α = α k = − 20 rad s 2 k)r
r r r r r
( r
a B = a A + aB A = a A + a B A + aB A
t n
) ( )
r r r r
= a A + α k × rB A − ω 2 rB A
( r
) ( r
) r r
= 3 m s 2 i − 20 rad s 2 k × (0.100 m ) j − (8 rad s )2 (− 0.100 m ) j
( r
) ( r
) (
= 3 m s 2 i + 2 m s 2 i − 6.40 m s 2 j
r
)
r
( r
) ( r
aB = 5 m s 2 i − 6.40 m s 2 j ) aB = 8.12 m s 2
16
Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.6
r r r r r r r
aC = a A + aC = a A + α k × rC A − ω 2 rC A
A
( r
) ( r
) r r
= 3 m s 2 i − 20 rad s 2 k × (− 0.150 m ) j − (8 rad s )2 (− 0.150 m ) j
( r
) ( r
) (
= 3 m s 2 i − 3 m s 2 i + 9.60 m s 2 j
r
)
r
(
ac = 9.60 m s 2 j
r
)
r r r r r r r
aD = a A + aD A = a A + α k × rD A − ω 2 rD A
( r
) ( r
) r r
= 3 m s 2 i − 20 rad s 2 k × (− 0.150 m ) i − (8 rad s )2 (− 0.150m ) i
( r
) ( r
) (
= 3 m s 2 i + 3 m s 2 j + 9.60 m s 2 i
r
)
r
( r
) (
aD = 12.6 m s 2 i + 3 m s 2 j
r
) aD = 12.95 m s 2
© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 33
Edition
Seventh
The crank AB has a constant clockwise • The directions of the absolute velocity vrD
r
angular velocity of 2000 rpm. and the relative velocity v D B are
determined from the problem geometry.
For the crank position indicated,
determine (a) the angular velocity of • The unknowns in the vector expression
the connecting rod BD, and (b) the are the velocity magnitudes v D and v D B
velocity of the piston P. which may be determined from the
corresponding vector triangle.
• The angular velocity of the connecting
rod is calculated from v D B .
© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 34
17
Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.3
SOLUTION:
• Will determine the absolute velocity of point D with
r r r
vD = vB + vD B
r
• The velocity vB is obtained from the crank rotation data.
rev ⎞⎛ min ⎞⎛ 2π rad ⎞
ω AB = ⎛⎜ 2000 ⎟⎜ ⎟⎜ ⎟ = 209.4 rad s
⎝ min ⎠⎜⎝ 60 s ⎟⎠⎝ rev ⎠
vB = ( AB )ω AB = (3 in.)(209.4 rad s )
r r r vD B = lω BD
vD = vB + vD B vD B 495.9 in. s
ω BD = =
l 8 in. r
r
= 62.0 rad s ω BD = (62.0 rad s )k
© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 36
18
Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.7
SOLUTION:
• The angular acceleration of the
connecting rod BD and the acceleration
of point D will be determined from
r r r r r
(
aD = aB + aD B = aB + aD B + aD B
r
)t ( )n
• The acceleration of B is determined from
the given rotation speed of AB.
19
Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.7
r r
• The directions of the accelerations aD , aD ( )
B t , and (arD B )n are
determined from the geometry.
r r
aD = m aDi
From Sample Problem 15.3, ωBD = 62.0 rad/s, β = 13.95o.
(aD B )n = (BD )ω BD
2
= (12
8 ft )(62.0 rad s )2 = 2563 ft s 2
y components:
0 = −10,962 sin 40° + 2563 sin 13.95° + 0.667α BD cos13.95°
r
(
α BD = 9940 rad s 2 k )r
aD = −(9290 ft s 2 ) i
r r
20
Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.8
SOLUTION:
• The angular velocities are determined by
simultaneously solving the component
equations for
r r r
vD = vB + vD B
r r r r
ω BD = −(29.33 rad s )k ω DE = (11.29 rad s )k
© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 42
21
Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.8
• The angular accelerations are determined by
simultaneously solving the component equations for
r r r
aD = aB + aD B
r r r 2 r
aD = α DE × rD − ω DE rD
r r r r r
= α DE k × (− 17i + 17 j ) − (11.29 )2 (− 17i + 17 j )
r r r r
= −17α DE i − 17α DE j + 2170i − 2170 j
r r
rB = 0 − (20 )2 (8i + 14 j )
r r r 2 r
aB = α AB × rB − ω AB
r r
= −3200i + 5600 j
r r r 2 r
aD B = α BD × rB D − ω BD rB D
r r r r r
= α B D k × (12i + 3 j ) − (29.33)2 (12i + 3 j )
r r r r
= −3α B D i + 12α B D j − 10,320i − 2580 j
x components: − 17α DE + 3α BD = −15,690
y components: − 17α DE − 12α BD = −6010
r
( r
α BD = − 645 rad s 2 k )
r
( r
α DE = 809 rad s 2 k )
© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 43
Edition
Seventh
22
Edition
Seventh
Vector Mechanics for Engineers: Dynamics
General Motion
• For particles A and B of a rigid body,
r r r
vB = v A + vB A
23