Lecture 1 - 2@page

Machine Design Lecture 1: Kinematics and equilibrium of rigid body
Machine Design
Unit 4 – Lecture 1
Kinematics and equilibrium of rigid body
Plane kinematics
Equilibrium between external load and reaction
Internal forces and moments diagrams
© 2011 Politecnico di Torino Page 1

Plane kinematics
Plane kinematics
Rigid-body rotation
Infinitesimal rigid-body rotation
Constraints
Plane structure kinematics

Plane kinematics
Rigid-body rotation
In plane rigid-body rotation (1/8)
π’ π
B
A’
B’ A
A rigid-body displacement consists of a simultaneous translation

and rotation of the body without changing its shape and size. The
rigid body motion is characterized by the requirement that any two
points in the body remains equidistant.
The continuum rigid-body moves, in the plane, from original
position π to final position π’, thus following a rigid-body
6
displacement.

π’ π
B
A’
B’ A
Segment AB moves to A’B’

Vectors AA’ and BB’ are the displacements of
points A and B respectively. 7

b a
C
π’ π
B
A’
HA HB
B’ A
Axes “a” and “b” are perpendicular to segments

AA’ and BB’ respectively, being HA and HB their
middle points. Axes “a” and “b” intersect at C.
8


b a Definition of “axis”
C allows realizing
that following
B pairs
π’ π
of segments
A’ are equal:
HA HB CA=CA’
CB=CB’;
B’ A
remembering also
that: AB=A’B’.
It follows that the triangles CAB and

CA’B’ are triangles with all sides being
equal in length. 9
Point C is vertex of both triangles CAB and CA’B’;

Therefore motion of segment AB can be seen as
a pure rotation about C.
Point C is an “average” center of rotation;
Play care: the above remark does not allow
thinking immediately that C could be center of
rotation for the others segments within the rigid
body. Therefore a further investigation is
needed….!
10


a
C
π’ π B
A’ ϕ D
ϕ HA
B’ A
D’
Let’s consider a new segment AD rotated of an

angle ϕ about A …
11

a
C Angles:
CÂB=CÂ’B’
BÂD=B’Â’D’
π’ π
B CÂD=CÂ’D’
A’ ϕ D
ϕ HA
B’ A
D’
… since CA=CA’ and AD= A’D’, therefore triangles

CAD and CA’D’ are equal, because two sides are equal
in length and one angle is of the same measure.
12


d a
C …but then: CD=CD’
π’
π
A’ D
HA HD
A
D’
Point C lies both on the axis of DD’ and on the axis
of AA’, then it is center of rotation of the segment
AD’.
The process can be repeated for every segments 13
within the body.
In plane rigid-body rotation: closure 1
All the segments within the rigid body rotate about

the same point C called center of rotation (rigid,
finite).
On the other way: the motion of a rigid body after

a “finite” rotation and translation can be always
described by a rigid rotation about the center of
rotation C.
14

In plane rigid-body rotation: closure 2

d a
C
As AĈD=A’ ĈD’,
that is, the
π’ angles opposite
π
D to sides AD and
A’D’ are equal,
A’
HA
HD
A
D’
It follows that
A’ĈD=AĈD+A’ĈA=A’ĈD’+D’ĈD ⇒ A’ĈA=D’ĈD
that is, the angles opposite to segments
(displacements) AA’ e BB’ are equals. 15
Plane kinematics
Infinitesimal rigid rotation

Instantaneous kinematics (1/5)
For the limit case when A’B’ approaches to AB,

that is, the displacements are infinitesimal:
C
AA’=δA ; BB’=δB
δB
we define the instantaneous
kinematics around the initial
position of the segment AB. B
B’
δA
A’ HA A 17
As for finite δϑ
rotation, the angle
opposite to δA and δϑ C
to δB is of the same
measure, namely δB
δϑ. This is true for
the displacement of
any point P within B
B’
the body δP.
δA
A’ HA A 18

The displacements are: δϑ
⎛ dϑ ⎞
dA = 2 CA ⋅ sin ⎜ ⎟= C
⎝ 2 ⎠
dϑ δB
≅ 2 ⋅ CA ⋅ = CA ⋅ dϑ
2
and then for any point P the
first-order approximation B
B’
gives:
dP = CP×dϑ δA
A’ HA A 19
And, moreover, for δϑ

infinitesimal displacements
when δA, δB → 0 and C
δϑ → 0
that is: δB
ˆ ' , CBB
CAA ˆ ' → 90°
and C reaches the final B
position for the given
instantaneous motion.
δA
A 20

This is the limit case: it is not P=A, B, … others

possible to show the
displacement, but it is possible C
to show the velocity
δP dP CP ⋅ dϑ
lim = =
δt →0 δt dt dt
obviously with a different scale B
from that used for
displacements.
Velocity shows the
infinitesimal dP = CP dϑ
A
displacement 21
Determination of kinematics (1/11)
The infinitesimal rotation of an angle dϑ about C

displaces point P of segment dP:
C
dP = i ⋅ dϑ ⋅ CP
123
dϑ
i = operator rotating vector CP of

90° in the same direction and
P
sense of rotation vector dϑ.
dP
22

Then:
any infinitesimal instantaneous motion of a body can
be seen as an infinitesimal rotation of an angle dϑ
about a centre of instantaneous rotation C.
The centre of instantaneous rotation change during
time, unless C is a fixed point (for example when the
body is constrained by a hinge).
23
If point C is at infinite the motion is a rigid

translation. This is the case when the endpoints of
a segment within the body undergo the same
displacements.
A
HA B
HB
A’
(∞ ) B’
(∞ ) 24

The center of instantaneous rotation always

exists, then any instantaneous motion is a
infinitesimal rigid rotation about a center of
instantaneous rotation C.
It may be convenient to describe the motion
without using the center of instantaneous rotation
C; for example the motion of point B can be
described by using the motion of a generic point
A: let’s see how.
25
C exists then:
dB = i · dϑ· CB
dB = i · dϑ· (CA + AB) = i · dϑ· CA + i · dϑ· AB
It follows that: dA
dB = dA + i · dϑ· AB
26


That is, the motion of point B can be described
superimposing an infinitesimally small translation
dA and an infinitesimally small rotation about A
of the segment AB.
A
dA
dB = dA + i · d ϑ· AB
A’
the same
B rotation for all
dϑ the segments
dA
within the
i · dϑ · AB body
B’ 27
Displacements dA and dB are not independent of

each other. Defining Z as the axis parallel to
direction AB:
AB
Z=
AB
The scalar product dB·Z gives, as i·dϑ·AB is

orthogonal to AB:
dB · Z = dA · Z + (i · dϑ· AB) · Z ⇒ dA · Z
=0 28

Then the projected components of dB and dA

on axis Z has the same value.
This is because we
A deal with a rigid
dB body, where
dA segments A’B’ and
A’
AB does not
B change their
dϑ length.
dA
B’
Z 29
With a given dA the only allowable dBs are those

satisfying the condition stated before; the
graphical representation of the equation follows:
A =
dA
=
Allowable dBs
B
30

The properties shown for infinitesimal rigid

rotation hold, with a little approximation, also for
very small finite rigid rotation. Very small finite
rigid rotation means that the displacements they
produce are negligible if compared with the
length of the segments that undergone the
rotation.
31
From a mathematical standpoint “small” rotations

are from 0° to 8°.
C ϑ
AB = CB cos ϑ
A B
ϑ2
Series expansion gives cos ϑ ≅ 1 −
2
and if: ϑ < 8° cos ϑ = 0,99 K
length CB differs from AB less than 1%
32

Plane kinematics
Constraints
Types of constraints (1/5)
We consider “punctual” constraints that restrain

linear or angular displacements at a point.
Constraints are classified according to the degrees
of freedom, linear or angular displacements, that
they restrain.
34

Symbols Description
A B Car:
v restrains the displacement in
direction v → v(A) = 0
(External) Hinge:
restrains displacements in
A B directions v and h ;
v → v(A) = 0 ; h(A) = 0
h
The hinge restrains any rigid
translations of the body in the
plane. 35
Symbols Description
Clamp:
B restraints any translation
v
A and rotation
h
α v(A) = 0 ; h(A) = 0 ; α (A) = 0
B Prismatic joint:
A restrains displacement in
or direction h and rotation α ;
h(A) = 0 ; α (A) = 0
A
(equivalent constraint called
B
“double pendulum”) 36

These were external constraints, that is, they restrain the

degrees of freedom of the element of the structure with
respect to a fixed reference frame external to the structure
(the external “world”)
There are also internal constraints, that is, they restrain
the degrees of freedom of one element with respect to the
degrees of freedom of another element within the same
structure.
B C
A D
Internal hinge
External hinge Car
37
Symbols Description
Internal hinge:
B v • All of the body rotations
D v h h are allowed;
v • only one body can be
h C displaced freely in the
plane: the others must
E follow it.
v
h A
F
38

Constraints and structures (1/2)
The number and type of constraints define the

kinematic behavior of the structure.
Body #2 Body #3
Body #1
39
Constraints and structures (2/2)
Segments drawn within the bodies do not always

symbolize bars or beams, but in more general
sense they are segments linking restrained points
(internal or external) of bodies whatever their
shape may be.
Body #2 Body #3
Body #1
40

Plane kinematics
Kinematics of plane structures
Kinematics determination
A kinematically determinate structure or mechanism

can be defined as a structure where, if it is possible
to find point displacements compatible with the
constraints, those point displacements are unique.
The structure has no possible point displacements
compatible with zero member extensions, at least to
a first-order approximation.
body #2 body #3
body #1
42

Example A (1/7)
A simple example:
(Remark: the given displacements and rotations are
infinitesimal
B C
A D
dv A dv
dh
dϑ
Lets give a vertical displacement to point A: dvA

43
Example A (2/7)
dB = dA + i ⋅ dϑAC ⋅ AB = dv A + i ⋅ dϑAC ⋅ AB
⇒ dv A − dϑAC ⋅ AB vertical
projection
B C
A D
dv A dv
dh
dϑ
dC = dA + i ⋅ dϑAC ⋅ AC ⇒ dv A − dϑAC ⋅ AC vertical

projection
44

Example A (3/7)
dD = dC + i ⋅ dϑCD ⋅ CD ⇒ dv C − dϑCD ⋅ CD vertical

projection
dϑAC
B C
A D
dv A dv
dh
dϑ
dv A
Constraints: dB = 0 ⇒ dϑAC =
AB
45
Example A (4/7)
From vertical projection it follows that

dv A ⎛ AC ⎞ ⎛ BC ⎞
⇒ dv C = dv A − ⋅ AC = dv A ⎜⎜1 −
v
⎟⎟ = dv A ⎜⎜ − ⎟⎟
AB ⎝ AB ⎠ ⎝ AB ⎠
B P C
A D
dv A
dϑAC dv C
… and that for any generic point P
dv A ⎛ AP ⎞ ⎛ BP ⎞
⇒ dvP = dv A − ⋅ AP = dv A ⎜⎜1 − ⎟⎟ = dv A ⎜⎜ − ⎟⎟
AB ⎝ AB ⎠ ⎝ AB ⎠ 46

Example A (5/7)
B C
A D
dv A
dϑAC dv C
Segment AC:
ZAP displacement in
A is given;
dv A displacement in
P C
B is null, then:
A B
dv C
⎛ Z − Z AB ⎞
dv P = dv A ⎜⎜ − AP ⎟⎟
⎝ Z AB ⎠
47
Example A (6/7)
B C
A D
dv A dϑCD
The displacement at point C is dv C
known, then: C P D
dv D = dv C − dϑCD ⋅ CD = 0
dv dv C dD = 0
→ dϑCD = C
CD
dv
Note carefully: positive displacements
and rotations are according to the dh
convention on the right dϑ 48

Example A (7/7)
B C
A D
dv A
dϑAC dv C
The diagram of the vertical displacements is:
dv A
B C D
A
dv C
dD = 0
49
Example B (1/3)
A B C
dv A
D E F
A
B C
dv C
dv A =
C
dv C
Allowable
displacements dD, D =
compatible with
rigid segment CD 50

Example B (2/3)
A B C
dv A
D E F
C
dv C dv F
D =
Only the vertical

displacement is E
D
compatible with the
kinematics (D,E,F).
dv D F
51
Example B (3/3)
A B C
dv A
D E F
The diagram of the vertical displacements is:
B C
A
D E
F
52

Example C (1/3)
If the constraints are not sufficient, the motion of

the structure is not univocally determined once the
displacement of one degree of freedom is given.
The structure is then kinematically indeterminate.
B C =
A
D =
E F
53
Example C (2/3)
Point D can move to any direction, because point E

can translate horizontally and body (D,E,F) can
rotate about E.
B C =
A
D =
E F
54

Example C (3/3)
The kinematics at (D,E,F) is indeterminate.
B C
A
D
E F
B C
A
D
E F
55
Example D (1/2)
When the number of the constraints does not

allow any displacement, the structure is
kinematically over-determinate.
Constraints limit displacements when the
external loads act on the structure (obviously
until the collapse of the structure).
56

Example D (2/2)
Example
B C
A
D
there is only
a vertical There is also
component a horizontal
component
The displacements at C are not compatible:
→ no motion allowed for the structure 57

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Machine Design Lecture 1: Kinematics and equilibrium of rigid body

Kinematics and equilibrium of rigid body

© 2011 Politecnico di Torino Page 1

Kinematics and equilibrium of rigid body

© 2011 Politecnico di Torino Page 2

In plane rigid-body rotation (1/8)

A rigid-body displacement consists of a simultaneous translation

© 2011 Politecnico di Torino Page 3

In plane rigid-body rotation (2/8)

Segment AB moves to A’B’

In plane rigid-body rotation (3/8)

Axes “a” and “b” are perpendicular to segments

© 2011 Politecnico di Torino Page 4

In plane rigid-body rotation (4/8)

It follows that the triangles CAB and

In plane rigid-body rotation (5/8)

Point C is vertex of both triangles CAB and CA’B’;

© 2011 Politecnico di Torino Page 5

In plane rigid-body rotation (6/8)

Let’s consider a new segment AD rotated of an

In plane rigid-body rotation (7/8)

… since CA=CA’ and AD= A’D’, therefore triangles

© 2011 Politecnico di Torino Page 6

In plane rigid-body rotation (8/8)

In plane rigid-body rotation: closure 1

All the segments within the rigid body rotate about

On the other way: the motion of a rigid body after

© 2011 Politecnico di Torino Page 7

In plane rigid-body rotation: closure 2

Infinitesimal rigid rotation

© 2011 Politecnico di Torino Page 8

Instantaneous kinematics (1/5)

For the limit case when A’B’ approaches to AB,

Instantaneous kinematics (2/5)

© 2011 Politecnico di Torino Page 9

Instantaneous kinematics (3/5)

The displacements are: δϑ

Instantaneous kinematics (4/5)

And, moreover, for δϑ

© 2011 Politecnico di Torino Page 10

Instantaneous kinematics (5/5)

This is the limit case: it is not P=A, B, … others

Determination of kinematics (1/11)

The infinitesimal rotation of an angle dϑ about C

i = operator rotating vector CP of

© 2011 Politecnico di Torino Page 11

Determination of kinematics (2/11)

Determination of kinematics (3/11)

If point C is at infinite the motion is a rigid

© 2011 Politecnico di Torino Page 12

Determination of kinematics (4/11)

The center of instantaneous rotation always

Determination of kinematics (5/11)

© 2011 Politecnico di Torino Page 13

Determination of kinematics (6/11)

Determination of kinematics (7/11)

Displacements dA and dB are not independent of