Chapter 16

Planar Kinematics of a
Rigid Body (II)
Impulse and Momentum
by

Dr. Toh Hoong Thiam

ABSOLUTE MOTION ANALYSIS

by

Dr. Toh Hoong Thiam

 A body subjected to general plane motion undergoes both
translation and rotation.

 If the body is represented by a thin slab, the slab translates in

the plane of the slab and rotates about an axis perpendicular to
this plane.

 To specify this motion completely, one needs to know

(a) the motion of a point on the body,
(b) the angular motion of a line fixed in the body.

 The absolute motion analysis method relates the position of a

point P on a rigid body undergoing rectilinear motion to the
angular position q of a line contained in the body.
PROCEDURE
(1) Establish position Coordinate Equation
 Define the position coordinate s of a point P on the body.
 s is measured from a fixed origin and is directed along the
straight-line path of motion of point P.
 Define the angular position q of a line lying in the body.
 q is measured from a fixed reference line

 Using geometry, relate s to q in the form of s = f (q ).

(2) Time Derivative

 Take the first derivative of s = f (q ) with respect to time to
get a relation between v and w.

 Take the second derivative of s = f (q ) with respect to time

to get a relation between a and a.
EXAMPLE 1
Given:

• At a given instant, the cylinder of

radius r has an angular velocity 𝜔
and angular acceleration 𝛼. Ԧ

• The cylinder undergoes general

plane motion as it rotates
counterclockwise while translates
to the left.

Find:
Determine the velocity and acceleration of its center G if the
cylinder rolls without slipping.
Solution:
Position Coordinate Equation
 Point G moves in a straight line to
the left, from G to G’.

 The new position G’ is specified by

the horizontal position coordinate sG,
which is measure from from G to G’.

 If the cylinder rolls without slipping,

AB = A’B
GG’ = A’B (since AB = GG’ )

sG = r q
Time Derivative

 Velocity
𝑠ሶ𝐺 = r 𝜃ሶ

∴ vG = r w

 Acceleration

vሶ 𝐺 = r 𝜔ሶ

∴ aG = r a
EXAMPLE 2

Given:
Crank AB rotates at a constant angular velocity of w = 150 rad/s.

Find:
The velocity of P when q = 30°
Solution:

Position Coordinate Equation

 Define x as a function of q

xP = 0.2 cos q + 0.752– (0.2 sin q )2

Velocity
dxP
vP =
dt
d
= 0.2 cos q + 0.752– (0.2 sin q )2
dt

  0.2 sin q q

 (0.75) – (0.2sin q )  0 – 2(0.2sin q )(0.2cos q q)

1 2 2 –2
1

 1  0.2) w sin 2q
2
vP   0.2w sin q   
 2  0.752 – (0.2sin q ) 2

At q = 30°, w = 150 rad/s,

∴ vP = −18.5 m/s
= 18.5 m/s ←
EXAMPLE 3

Given:

 Two slider blocks are connected

by a rod of length 2 m.

 vA = 8 m/s and aA = 0.

Find:

The angular velocity and angular acceleration of the rod

when q = 60°.
Solution:
Position Coordinate Equation
 Choose a fixed reference point and define the position of the
slider A in terms of the parameter q.

2m

reference
q
A

sA

sA = 2 cos q 1)
Time Derivatives
 Differentiating Eq.(1) with respect to time,
d d
 s A )  (2 cosq ) 2m
dt dt

sAሶ = 2 (−sin q ) 𝜃ሶ reference q

A
⟹ vA = − 2 w sin q 2)
sA

 When q  60° and vA = 8 m/s, Eq. (2) becomes

8 = −2 w sin (60)
⟹ w = − 8/(2 sin 60°) = − 4.62 rad/s

(Note: The negative sign means the rod rotates counterclockwise

as point A moves to the right.)
 Differentiating Eq.(2) with respect to time,
d d
v A )  (2w sin q )
dt dt

aA = − 2 [ 𝜔ሶ sin q  w cos q) (𝜃)ሶ ]

aA = – 2a sin q – 2w2 cos q

 Since vA is constant, aA= 0,

⟹ − 2a sin q – 2w2 cos q = 0

Thus, w2
a = − tan q

(−4.62)2
=−
tan60°

∴ a = − 12.32 rad/s2