Institute of Engineering Mechanics  Chair for Dynamics/Mechatronics

Prof. Dr.-Ing. W. Seemann

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Engineering Mechanics III, WS 2020/2021

Exercise Sheet 4
Topic: Relative Mechanics of Particles, Part 2:
Kinematics in Synthetic Representation; Kinetics.

I. Determination of the absolute acceleration:

Method 1: analytical (see Problem Set 2)

Method 2: synthetic (see supplementary sheet on relative kinematics)

Step 1: Determining the transport acceleration

in magnitude and direction while
freezing the relative motion.

Step 2: Determining the relative acceleration

in magnitude and direction while
freezing the transport motion.

Step 3: Determining the Coriolis acceleration

in magnitude and direction:

acor = 2ω × v rel
e e e
Step 4: Superposition of all acceleration components
yields the absolute acceleration:

aabs = atrans + arel + acor

e e e e

II. Derivation of the equations of motion and equations for constraint forces
from d'Alembert's Principle:

F +Z +T =0 with T = −maabs
e e e e e e
Supplementary sheet on relative kinematics:

Planar motion of a Point P as superposition of

Transport motion = motion of the relative system (ξ, η)

For determination of transport acceleration:

freeze relative motion in a general position
r = const) !
(i.e. ∼rel

Decomposition of the transport motion (-velocity, -acceleration) in terms caused by

Translation of the origin O0 + Rotation about O0

vtrans,T vtrans,R

+
Relative motion = motion within the relative system (ξ, η)

For determination of the relative acceleration:

freeze transport motion in a general position
r 0 = const, ω
(i.e. ∼O ∼
0 )!
=∼

+
Coriolis terms if determining absolute acceleration!
Calculation in vectorial form, cf. cover sheet!
Remarks on 4th Worksheet EM III

Equation of Motion
Until further notice, the term ”equation(s) of motion” denotes the differential equation(s) in the acce-
leration level (i.e. of 2nd order), which are the result of applying Newton’s 2nd Law or d’Alembert’s
Principle. You only have to integrate them to velocity or position level if you are explicitly asked to do
so. You are demanded to rearrange the equation of motion so that the coefficient belonging to the highest
derivation equals 1.

”Positive” Accelerations
In the current exercises, the determination of the motion is the goal – the quantities describing the motion
(i.e. position, velocity, acceleration) therefore are in general unknown (unless there is any kind of guidance
like due to slots, ropes, rods,...). Because accelerations are unknown, they are introduced in general form,
assuming them to be in positive coordinate sense. Consider Problem Set 3 for more information about
d’Alembert’s Principle.

–Remarks on 4th Worksheet, V5, 10.11.15 –

Exercise EMIII-04/01  example 

On a planar disc rotating with the angular speed ϕ̇ 6= const around the ez -axis, a particle m is
sliding without friction in a groove, which is milled into the disc at a distance
e b from the center of
rotation point O.
Note: The (ex , ey )system is space-xed, the (eξ , eη )system is disc-xed.
e e e e
1. For a general position, outline all acceleration components of m in a sketch.

2. Draw a free-body-diagram and determine the equation of the constraint force and the equation
of motion of the particle in the relative coordinate u using d'Alembert's Principle.

3. Calculate the time-dependent function ϕ̇(t) necessary to keep u at the constant value u0 . The
angular speed at time t = 0 equals ϕ̇(t = 0) = ϕ̇0 .
Exercise EMIII-04/03  example 

The system depicted above comprises two massless rods OG and GP of length ` and 2` , which are
hinged at point G by a revolute joint. At point P a particle m is attached to the shorter rod. An
engine mounted at the origin O is propelling the system with the angular speed ω(t) = ϕ̇(t) around
the z -axis. The rod GP can move in a plane, which is spanned by the ξ -η -axes. The position of the
rod is described by the relative coordinate ψ .

1. Outline all acceleration components of m in a sketch and give their magnitudes.

2. Using d'Alembert's principle, give the equation of motion of the particle and the equation of
the constraint force on m. For this, rst draw a free-body-diagram of the particle and outline
all forces acting on m.
Exercise EMIII-04/02  homework 

(1+cos ϕ0 )ω0
ω(t) = 1+cos ϕ0 +ωo t sin ϕ0

A narrow annular slot is milled into a planar disc, which is rotating in the (x, y)-plane around an
axis through the origin O with variable angular speed ω(t). The slot can be described as a circle
of radius a which crosses the origin. Within the slot, a particle m is sliding without friction. The
position of m is described by the relative coordinate ϕ.
The system {ex , ey } is space-xed and the system {eξ , eη } is xed to the rotating disc.
e e e e
1. In a general position, draw all acceleration components of m in a sketch.

2. Determine the equation of motion of the particle m by using d'Alembert's principle and
determine the normal force between the slot and and the particle.

3. Determine the time behavior ω(t) which is necessary to keep the particle at a xed position
ϕ = ϕ0 during the rotation. At time t = 0 the following relation holds: ω (t = 0) = ω0 .
Z
Annotation: ψ = ω(t)dt + C
Exercise EMIII-04/06  homework 

ÿ − y ϑ̇2 − lΩ2 cos(ψ − ϑ) = 0

In a frame, whose center of gravity B rotates in a circle of radius l around the xed pivot point
A with angular velocity ψ̇ = Ω =const, a particle m is sliding without friction. The framework
additionally revolves with angular velocity ϑ̇ = ω =const according to the sketch.

1. For a general situation outline all acceleration components of m in a sketch and give their
magnitudes.

2. Draw a free-body-diagram of the particle and outline all forces actin on m including the inertia
forces.

3. With the principle of d'Alembert determine the equation of motion of the particle in the
relative coordinate y .

4. For the special case of pure translation of the frame, that means ϑ = ϑ̇ = 0, give the Solution
y(t) of the equation of motion for the initial conditions y(0) = ẏ(0) = 0.
Exercise EMIII-04/05  voluntarily 

ξ¨ − 2ω η̇ − ω 2 ξ + √ µg ξ˙ = 0
ξ̇ +η̇ 2
2

η̈ + 2ω ξ˙ − ω 2 η + √ µg η̇ = 0
ξ̇ 2 +η̇ 2

A particle m is sliding on a planar disc (coecient of friction µ), which is rotating around the ez -axis
with a constant angular speed ω . e

1. For a general position, outline all acceleration components of m in a sketch and give their
magnitudes.

2. Preliminary to the determination of the equations of motion, free the particle from its sur-
roundings. Draw a free-body-diagram of m at a general position and outline all forces acting
on the particle.

3. Using d'Alembert's Principle, nd the equations of motion of the particle in ξ and η .
Exercise Application example  voluntarily 

A fun ride (Break Dance ) consists of a disk and four cross-shaped racks, with a cabine on each
edge. The disk rotates around it's center point O. The coordinate ϕ(t) is used to describe the disk's
position referring to the space-xed System A. The racks are linked to the disk in a way that they
can rotate around their center A, while the position of one cabine is given by the point P . The
mass of the cabin and passengers is given by m. A moving system B , xed to the disk, is used to
describe P 's position relative to the disk. ψ is the relating angle. The distance between O and A is
given by R. The distance between A and P is given by r. Furthermore is relationship due to a gear
box between the angles is given by ψ = kϕ, wheras k is a constant.
Determine the the absolute value of the maximum bearing reaction (constraint force) with regard
to the absolute acceleration aabs of point P at a constant angular velocity ϕ̇. The values of the
acceleration parts are given by:
e

B 2
d
rrel = −rψ̈ sin(ψ)b1 − rψ̇ 2 cos(ψ)b1 + rψ̈ cos(ψ)b2 − rψ̇ 2 sin(ψ)b2
dt2 e e e e e
B
d h i
2A ω B × rrel = 2ϕ̇b3 × −rψ̇ sin(ψ)b1 + rψ̇ cos(ψ)b2
e dt e e e e
 
= −2rϕ̇ψ̇ sin(ψ)b2 + cos(ψ)b1
A B
e e

α × rrel = ϕ̈b3 × r cos(ψ)b1 + r sin(ψ)b2
e e e e
e
= ϕ̈r cos(ψ)b2 − sin(ψ)b1
A B
 e e
ω × A ω B × rrel = ϕ̇b3 × ϕ̇b3 × r cos(ψ)b1 + r sin(ψ)b2



e e e e e e
e
= ϕ̇b3 × rϕ̇ cos(ψ)b2 − sin(ψ)b1
A 2
e e e
d 2
r 0,S = −R ϕ̈ sin(ϕ) sin(ψ)b 1 − R ϕ̇ cos(ϕ) sin(ψ)b1
dt2 e e e
+ Rϕ̈ sin(ϕ) cos(ψ)b2 + Rϕ̇2 cos(ϕ) cos(ψ)b2
+ Rϕ̈ cos(ϕ) cos(ψ)b1 − Rϕ̇2 sin(ϕ) cos(ψ)b1
e e

+ Rϕ̈ cos(ϕ) sin(ψ)b2 − Rϕ̇2 sin(ϕ) sin(ψ)b2

e e
e e
Solution of Exercise EMIII-04/01

1. Accelerations

aabs = aRel + aT rans + aCor

e e e e
aRel = ü

(n) b
aT rans,R = ϕ̇2
cos ψ
(t) b
aT rans,R = ϕ̈
cos ψ
aCor = 2ϕ̇u̇

2. Equations of motion

X
Fξ = 0
mb mb
,→ −mü + sin ψ ϕ̇2 + cos ψ ϕ̈ = 0
cos ψ cos ψ
u
with tan ψ =
b
,→ ü − uϕ̇2 − bϕ̈ = 0
X
Fη = 0

,→ N = m bϕ̇2 − uϕ̈ − 2ϕ̇u̇

3. u = u0 = const → ü = 0

in equation of motion: −u0 ϕ̇2 − bϕ̈ = 0

Z Z
dϕ̇ u0 dϕ̇ u0
,→ = − ϕ̇2 → = − dt + c
dt b ϕ̇2 (t) b
1 u0
,→ = t−c with initial conditions (IC): ϕ̇(t = 0) = ϕ̇0
ϕ̇ b
1
,→ c = −
ϕ̇0
1 ϕ̇0
so ϕ̇(t) = 1 u0 ⇔ ϕ̇(t) = u0 ϕ̇0
ϕ̇0 + b t 1+ b t
Solution of Exercise EMIII-04/03

1.

(r) (t)
aT rans,T = ` ϕ̇2 aT rans,T = ` ϕ̈
(r) ` 2 (t) `
aT rans,R = 2 ϕ̇ aT rans,R = 2 ϕ̈
(r) ` 2 (t) `
arel = 2 ψ̇ arel = 2 ψ̈
acor = 2 2` ψ̇ ϕ̇

2.

(r) (r) (r) (t)

%+ : S = m [acor + aT rans,R + arel + cos ψ aT rans,T − sin ψ aT rans,T ] (i)

(t) (r) (t) (t)

-+ : 0 = m [− cos ψ aT rans,T − sin ψ aT rans,T − aT rans,R − arel ] (ii)

m`
(i) → S = 2 [2 ψ̇ ϕ̇ + ϕ̇2 + ψ̇ 2 + 2 cos ψ ϕ̇2 − 2 sin ψ ϕ̈]

m`
Constraint force equation S = 2 [−2 sin ψ ϕ̈ + 2 ψ̇ ϕ̇ + (1 + 2 cos ψ) ϕ̇2 + ψ̇ 2 ]

m`
(ii) → 0 = 2 [− cos ψ 2 ϕ̈ − sin ψ 2 ϕ̇2 − ϕ̈ − ψ̈]

Equation of motion 0 = (1 + 2 cos ψ) ϕ̈ + 2 sin ψ ϕ̇2 + ψ̈