MECHANICAL ENGINEERING DEPARTMENT

ME 201 - DYNAMICS

Chapter 16

1
 Ch 16: Planar Kinematics of a Rigid
Body
16.1 Planar Rigid-Body Motion
16.2 Translation
16.3 Rotation about a Fixed Axis

2
Course Material

Kinematics of particle in various motion (Chapter 12)

Force and acceleration (Chapter 13)
Work and energy relations (Chapter 14)
Impulse and Momentum (Chapter 15)

Kinematics of rigid bodies (Chapter 16)

Force and acceleration of rigid bodies (Chapter 17)
Work and energy relations of rigid bodies (Chapter 18)
Impulse and Momentum of rigid bodies (Chapter 19)

3
Objectives

 To classify the various types of rigid-body

 To investigate rigid-body translation and show how to
analyze motion about a fixed axis

4
Rigid-Body Motion

Types of rigid body planar motion:

 Translation
 Rotational about fixed axis
 General plane motion

5
Translation

Every line segment on the body remains parallel to its original direction
during the motion
6
Rotation about fixed axis

All particles of the body move along circular paths

except those which lie on the axis of rotation
7
General plane motion

Combination of translation and rotation

8
Example

9
Translation
Position

rB = rA + rB / A

Velocity
v B = v A + d rB / A / dt
rB / A = const.
vB = v A
Acceleration

aB = aA
All points move with same velocity and acceleration
10
Rotation About a Fixed axis For Line

Angular Position (q )

• Defined by the angle q measured between a fixed

reference line and r
• Measured in rad

Angular Displacement
• Measured as dq
• Vector quantity
• Measured in radians or revolutions
• 1 rev = 2 π rad

11
 Rotation About a Fixed axis For Line
Angular velocity ( )
“the time rate of change in the angular position”

dq 
= =q
dt
Angular acceleration
“the time rate of change of the angular velocity”

d  d 2q 
= =q  = 2 =q
dt dt

 = f(q)

 dq =  d
12
Constant Angular Acceleration

 = 0 +  c t
1 2
q = q 0 + 0 t +  c t
2

 = 0 + 2 c (q − q 0 )
2 2

13
 Comparison
ds 2 dq d d 2q
s(t ) v= a=
dv d s
= 2 q (t ) = = = 2
dt dt dt dt dt dt

a ds = v dv  dq =  d

v = v0 + ac t  = 0 +  c t
1 2 1
s = s0 + v0t + ac t q = q 0 + 0 t +  c t 2
2 2
v = v + 2ac ( s − s0 )
2 2
0  = 0 + 2 c (q − q 0 )
2 2

14
 Motion of Point P
Position :

Is defined by the position vector r

The arc-length is s = rq
Velocity

dq
= (rq ) =
ds d
vt = r = r
dt dt dt
“tangent to the path”
v =  x rP

15
Acceleration

at = d = d (r ) = r d =  r
dt dt dt
“rate of change in the velocity’s magnitude”

2
( r ) 2
an =
r
=
r
=  2
r

“rate of change in the velocity’s direction”

Direction of an is always toward O

a ( )
= at2 + ar2 = (r )2 + r 2
2
= r  2 +4

16
S = q A rA = q B rB

 =  A rA =  B rB A
a =  A rA =  B rB
B

17
Example

Rest
at = 4t m/s2
 =?
θ=?

18
Solution
(aP )t =  r

(4t ) =  (0.2)
 = 20t rad / s 2

d dq
= = 20 t = = 10 t 2
dt dt
 t
q
 d =  20t dt
t

 q =  dt
2
d 10t
0 0 0 0

 = 10t 2 rad / s q = 3.33t 3 rad

19
Problem

0 = 8 rad / s
C = 6 rad / s 2
A = ? at t = 0.5sec
at = ?
an = ?

20
Solution
 = 0 +  C t

 = 8 + 6(0.5) = 11 rad / s
 A =  r   = (11)(2) = 22 ft / s

at =  r  at = (6)(2) = 12.0 ft / s 2

an =  2 r  an = (11) 2 (2) = 242 ft / s 2

21
 Problem

 = 0.06q 2 rad / s 2
0 = 50 rad / s
B = ?
q A = 10 rev.

22
Solution

 dq =  d
 2 (10 )

  d =  q dq
2
0.06
50 0

 2 10


1 2
= 0.02q
3
2 50 0  A rA =  B rB

0.5 2 − 1250 = 4961 (111.45)(12) =  B (60)

 B = 22.3 rad / s
 A = 111.45 rad / s
23
 Problem

B= ? at t = 5 s.
Gear A start form rest
A= ( 3t + 2 ) rad/s2

24
 Solution
d
=  d =  dt
dt

d = (3t + 2)dt
 t

 d
0
A =  (3t + 2)dt
0

 A = 1.5t 2 + 2t t =5 = 47.5 rad / s

25
Solution

 A rA = C rC

(47.5)(50) = C (50)

C = 47.5 rad / s

 B rB = C rC

 B (75) = 47.5(50)
 B = 31.7 rad / s

26
Problem

Reverse gear
transmission
w B= ?
rG = 80 mm
rC= rD = 40 mm
rE = rB = 50mm
rF= 70 mm

27
 Solution
G

rG = 80 mm
rC= rD = 40 mm
rE = rB = 50mm
rF= 70 mm

rG A = rCC  E rE =  D rD
80(40) = 40C  E (50) = 80(40)  F rF =  B rB
C = 80 rad / s  E = 64 rad / s 64(70) = 50 B
 D = C = 80 rad / s  F =  E = 64 rad / s  B = 89.6 rad / s
28
 Problem

 A = (0.4t ) rad / s 2
vC = ? when t = 3 s
start from rest
s = ? in 3 s

29
 Solution
 A rA =  B rB
(0.4t )(0.3) = B (0.2)  B = 0.6t

d
=  d =  dt
dt
dq
 3 =  dq =  dt
 d =  0.6 t dt dt
0 0 q 3

 B = 2.70 rad / s

0
dq =  0.3 t 2 dt
0

q = 2.7 rad
vC =  B r = 2.70(0.4) = 1.08 m / s
s = q r = 2.7(0.4) = 1.08 m
30
Discussion
Rest
A= 2 rad/s2
P=?
aP=?
qB = 10 revolutions

31
 Discussion

q A rA = q B rB
[(10)(2 )](0.4)
qA = = 167.6 rad
0.15

 A 2 = 0 2 + 2 c (q A − q 0 )

 A 2 = 0 + 2(2)[167.6 − 0]

 A = 25.9 rad / s

32
 Discussion
 A rA =  B rB
 B = 9.7 rad / s

 P =  B rB = ( 69.7
.865 )(0.4) = 3.88 m / s

 A rA =  B rB

 B = 0.75 rad / s 2

at =  B r  at = ( 0.75)(0.4) = 0.3 m / s 2

33
Discussion

an =  2 r  an = (6.9.7
865) 2 (0.4) = 37.636
18.85 m / s 2

aP = (aP )t + (aP ) n = (0(0.3) + (18.852) 2 = 18

2 2
.3) 22+(37.636) .9 mm/s/ s2 2
37.64

34
 Ch 16: Planar Kinematics of a Rigid
Body
16.5 Relative-Motion Analysis: Velocity
16.6 Instantaneous Center of Zero Velocity

35
Objectives

 RelativeMotion Analysis: Velocity

 Instantaneous Centre of Zero Velocity

36
Rigid-Body Motion
Types of rigid body planar motion:
 Translation
 Rotational about fixed axis
 General plane motion

37
Relative Motion Analysis: Velocity
Position

rB = rA + rB / A

38
 Displacement

d rB = d rA + d rB / A

Due to translation Rotation

and rotation about A

Translation of A

39
Velocity
d rB d rA d rB / A
= + vB = velocity of point B
dt dt dt vA = velocity of base point A
vB/A= velocity of B with respect to A
vB = v A + vB/ A “due to rotation” r.

40
Velocity

vB/A = represent the effect of circular motion about A

v B / A =   rB / A

v B = v A +   rB / A
VB = velocity of B
VA = velocity of the base point A
 = angular velocity of the body
rB/A = relative-position vector drawn from A to B

41
Procedure for Analysis

1. Establish the direction of x and y i

+
Indicate the direction of VA, VB, , and rB/A k j
2.

3. Apply VB= VA+  x rB/A in a vector form

4. Evaluate the cross product
5. Equate the respective i and j components to obtain
two scalar equation
6. Solve for  and VB

42
Indicate the direction of velocities of points A, B,
C
y

43
Indicate the direction of velocities of points A, B,
C
y

44
Indicate the direction of velocities of points A, B,
C
y

45
Indicate the direction of velocities of points A, B,
C
y

46
Indicate the direction of velocities of points A, B,
C
y

47
Example

 B = ? at q = 45o

48
Solution

i
+ j
v B = v A +  x rB / A
k
 B i = −2 j + [ k  (0.2 sin 45o i − 0.2 cos 45o j)]
 B i = −2 j + 0.2 sin 45o j + 0.2 cos 45o i
 B = 0.2 cos 45o 0 = −2 + 0.2  sin 45o

 = 14.1 rad / s
B = 2 m / s

49
Example

CB = ?
 AB = ?

50
Solution
v B = v C + CB  rB / C
 B i = −2 j + CB k  (0.2i − 0.2 j)
 B i = −2 j + 0.2CB j + 0.2CB i
 B = 0.2CB 0 = −2 + 0.2CB

CB = 10 rad / s
B = 2 m / s i

 B =  AB r k + j

2
 AB = = 10 rad / s
0.2
51
Discussion

 BC = ?
wheel = ?

52
Discussion

v B =  AB  rB k + j

v B = (−30k )  (0.2 cos 60o i + 0.2 sin 60o j)

v B = 5.2i − 3.0 j

v C = v B +  BC  rC / B

C i = 5.20i − 3.0 j + ( BC k )  (0.2i)

53
Discussion

C i = 5.20 i + (0.2 BC - 3.0) j

C = 5.2 m / s
 BC = 15 rad / s

c 5.2
wheel = = = 52 rad / s
r 0.1

54
Rolling wheels
v C =  ( 2r )

vB =  r

Rolls without slipping

55
 Instantaneous Center of Zero Velocity
For any body undergoing planar motion, there always
exists a point in the plane of motion at which the velocity
is instantaneously zero (if it were rigidly connected to the
body).
This point is called the instantaneous center of zero velocity,
or IC. It may or may not lie on the body!

If the location of this point can be determined, the velocity

analysis can be simplified because the body appears to
rotate about this point at that instant.

56
Center of Zero Velocity

=0 vB =   rB/A
vB = v A + vB/ A
B

=0
vB = v A +   rB / A

A vA = 0

Permanent Center of zero velocity

57
Center of Zero Velocity

D
D =  rD / IC

C =  rC / IC

IC Instantaneous center of zero velocity

58
So how do we find the IC of Zero Velocity?
There are three categories of
Case 1: problems that lend
themselves to this technique,
the first of which is shown
here. The key issue is that
the velocity of a point on the
body is always perpendicular
to the relative position vector
extending from the IC to the
point. This follows from being
able to write the velocity as a
single cross-product:

59
So how do we find the IC of Zero Velocity?

Case 1: vA =   rA/ IC

The locus of points which

define the location of the IC
during the body’s motion is
called a centrode.

60
So how do we find the IC of Zero Velocity?
vA =   rA/ IC and vB =   rB / IC

Case 1:
The premise in this case is that
we know two non-parallel
velocity vector lines of action.
The intersection of the two lines
perpendicular to those
respective lines of action
provides the IC.

61
So how do we find the IC of Zero Velocity?
vA =   rA/ IC and vB =   rB / IC

Case 1:
Since every material point on
the body experiences the same
, our expressions for velocity
above also provide the relative
speeds at A and B.

62
 So how do we find the IC of Zero Velocity?
vA =   rA/ IC and vB =   rB / IC
The premise in these cases is that we know two speeds on parallel lines of action.
Similar triangles provide the IC, using the fact that  is single-valued.

63
Location of IC knowing the line of action of vA
and vB

64
 IC

rB/IC

rC/IC

65
66
67
68
 C rC / IC = 

rB / IC = 

C
CB = =0
rC / IC
v B = vC Translation

69
Example

 AB = ?

70
Solution
rB / IC = 0.4 tan 45o = 0.4 m
0.4
rD / IC = o
= 0.566 m
cos 45
vD 3
BD = = = 5.30 rad / s
rD / IC 0.566

vB = BD (rB / IC ) = 5.3(0.4) = 2.12 m / s

vB 2.12 m / s
 AB = = = 5.3 rad / s
rB / A 0.4 m

71
Problem

 =?
vG = ?

72
Solution

2 r
= A / IC  rA / IC = 3.464
sin 30 sin 120

 = (2 ) / (3.464 ) = 0.5774 rad / s

vG = (0.5774 )(2) = 1.155 m / s

73
Discussion

vC = ?

74
Discussion
vB =  x; 0.4 =  x
v A =  (0.25 − x)
0.25 =  (0.25 − x )
vC
x = 0.154 m
vB 0.4
= = = 2.6 rad / s
x 0.154

vC =  rC / IC = 2.6 (0.154 − 0.125) = 0.075 m / s 

75
 Ch 16: Planar Kinematics of a Rigid
Body
16.7 Relative-Motion Analysis: Acceleration

76
Objectives

 Relative motion analysis: acceleration.

77
Rotation
Recall the circular motion in normal-tangential (n-t)
coordinates

v = r

an =  r 2

at =  r

78
 General Plane Motion
Position
rB = rA + rB / A

vB = v A + vB/ A
Velocity

v B = v A +  X rB/A
Acceleration
d vB d v A d vB/ A
= +
dt dt dt
79
 Acceleration
aB = a A + aB / A
Translation
Rotation

This equation may be explained using the figures below :

80
Relative-Acceleration equation
aB = aA + aB A

= a A + ( aB / A )t + (a B A ) n

a B = a A +   rB/A −  rB / A 2

aB = acceleration of point B
aA = acceleration of the base point A
 = angular acceleration of the body
 = angular velocity of the body
rB/A = relative-position vector drawn from A to B

81
Procedure for Analysis
1. Establish the direction of x and y i
2. Indicate the direction of aA, aB, , , and rB/A +
y k j
3. Apply aB= aA+  x rB/A-2rB/A in a vector form
4. Evaluate the cross product x
5. Equate the respective i and j components to obtain
two scalar equation
6. Solve for  and aB

82
Rolling wheel with-out slipping

G
G =  r
aG =  r
an =  2 r

at=0

aA =  2 r
Point A is not a point of zero acceleration
83
Example

 = 0.283 rad / s
 rod = ?
at horizontal

84
 Solution

a B = a A +   rB/A −  2 rB / A

aB cos 45o i + aB sin 45o j = 3 cos 45o i

− 3 sin 45o j + ( k ) x(10i) − (0.283) 2 (10i)

aB cos 45o = 3 cos 45o − (0.283) 2 (10) [i]

aB sin 45o = −3 sin 45o +  (10) [j]

aB = 1.87 m / s 2  rod = 0.344 rad / s 2

85
Example

aA=?
aB=?

86
Solution

ao =  r = (4 rad / s 2 )(0.15m) = 0.6 m/s 2

a A = a O +   rA/O −  2 rA / O

a A = −0.6i + (4k )  (0.15 j) − (6) 2 (0.15 j)

a A = {−1.2i − 5.4 j} m/s 2

87
Solution

a B = a O +   rB/O −  2 rB / O

a B = −0.6i + (4k )  (0.15i) − (6) 2 (0.15i)

a B = {−6i + 0.6 j} m/s 2

88
Example

 CB = ?

 AB = ?

89
 Solution

a B = a A +  AB  rB/A −  AB rB / A
2

a B = 0 + ( AB k )  (−0.2 j) − (10) 2 (−0.2 j)

aB =  0.2 AB i + 20 j 

90
 Solution

a B = a C +  CB  rB/C − CB rB / C
2

0.2 AB i + 20 j = −1j + ( CB k )  (0.2i − 0.2 j)

− (10) 2 (0.2i − 0.2 j)

0.2 ABi + 20 j = −1j + 0.2 CB j

+ 0.2 CB i − 20i + 20 j

91
Solution

0.2 AB = 0.2 CB − 20

20 = −1 + 0.2 CB + 20

 CB = 5 rad/s 2
 AB = −95 rad/s 2

92
Example

ac =?
BC= ?

93
Solution

a B = a A +  AB  rB/A −  AB rB / A
2

rB / A = {−0.25 sin 45o i + 0.25 cos 45o j}

= {−0.177i + 0.177 j} m

a B = 0 + (−20k )  (−0.177i + 0.177 j)

− (10) 2 (−0.177i + 0.177 j)

a B = {21.2i − 14.14 j} m/s 2

94
 Solution

a C = a B +  BC  rC/B −  BC rC / B
2

rC / B = {0.75 sin 13.6o i + 0.75 cos13.6o j}

= {0.176i + 0.729 j} m

aC j = 21.21i − 14.14 j + ( BC k )  (0.176 i + 0.729 j)

− (2.43) 2 (0.176i + 0.729 j)

0 = 20.17 − 0.729 BC aC = 0.17 BC − 18.45

 BC = 27.7 rad/s 2 aC = −13.6 m/s 2 

95
Discussion

aB = ?

96
 Discussion

aG =  r = (4 rad / s 2 )(150 mm) = 600 mm/s 2

a B = a G +   rB/G −  2 rB / G

aB = −600 j + (− 4k )  (225j) − (3) 2 (225j)

aB =  900i − 2625 j 

aB = (0.9) 2 + (2.625) 2 = 2.775 m/s 2

97
 Ch 16: Planar Kinematics of a Rigid
Body
16.8 Relative-Motion Analysis using Rotating Axes

98
Objectives
 Tostudy the relative motion using rotating
axes.

99
Examples of relative motions “motion of one part lead to the
motion of other parts” (pin-connected rigid body)

100
Relative-Motion Analysis :

Relative Velocity

v B = v A +  x rB / A
Instantaneous Center of Zero Velocity

 B =  rB / IC
Relative Acceleration

a B = a A +   rB/A −  rB / A 2

101
Examples of Relative-Motions
(sliding connections and has two independent motion)

102
 Position

rB = rA + rB / A

 =  = angular velocity = q
 =  = angular acceleration = q


Rotating axes

103
Velocity

drB drA drB / A

= +
dt dt dt

d rB / A
vB = v A +
dt
Rotating axes & translating object
r + v

v B = v A +  x rB / A + ( v B / A ) xyz

104
 Velocity

v C = v O +  x rC / O + ( v C / O ) xyz

VC = Velocity of the Collar, measured from

the X, Y, Z reference
VO = Velocity of the origin O of the x,y,z reference
measured from the X,Y,Z reference
(VC/O)xyz = relative velocity of “C with respect to O”
observer attached to the rotating x,y,z reference
 = angular velocity of the x,y,z reference,
measured from the X,Y,Z reference
rC/O = relative position of “C with respect to O”

105
Acceleration

v B = v A +  x rB / A + ( v B / A ) xyz

Acceleration is the time derivative of velocity

dv B dv A d drB / A d ( v B / A ) xyz
= + x rB / A +  x +
dt dt dt dt dt

 drB / A
a B = a A +  x rB / A +  x + (a B / A ) xyz
dt
Rotating axes & translating object
(r + v)
106
  drB / A
a B = a A +  x rB / A +  x + (a B / A ) xyz
dt
Rotating axes & translating object
(r + v)

Acceleration of
origin Acceleration of the
object

 x r +  x ( x r ) + 2  x ( v ) + (a )
aB = aA +  B/ A B/ A B / A xyz B / A xyz

r 2 r
Tangential acceleration Normal acceleration Coriolis acceleration

107
Coriolis acceleration

In the inertial frame of reference (upper part of the picture), the black object moves in
a straight line. However, the observer (red dot) who is standing in the rotating frame of
reference (lower part of the picture) sees the object as following a curved path.

108
Coriolis acceleration
Whenever a point is moving on a path and the path
is rotating, there is an extra component of the
acceleration due to coupling between the motion
of the point on the path and the rotation of the
path. This component is called Coriolis
acceleration.

First measured by the French engineer G.C. Coriolis

Important in studying the effect “force and acceleration” of earth

rotation on the rockets and long-range projectiles

109
a C = a O +  x rC / O +  x ( x rC / O ) + 2  x(vC / O ) xyz + (a C / O ) xyz

aO = 0
 x r = 2 ( 0 .2 ) = 0 . 4 m / s 2
at =  r =  C /O

an =  2 r =  x ( x rC / O ) = (3) 2 0.2 = 1.8 m / s 2

(a C / O ) xyz = 3 m / s 2

aCor = 2q r = 2 x (v )
C / O xyz = 2(3)( 2) = 12 m / s 2

x − axes = 3 − 1.8 = 1.2 m / s 2

y − axes = −0.4 − 12 = − 12.4 m / s 2
110
 Recall cylindrical coordinate
a = r − rq
  2
r

aq = r q + 2 r q

a C = aq + ar
Rearrange
 
aC = q r − q r + 2q r + r
2

Compare!

 x r +  x ( x r ) + 2  x ( v ) + (a )
aC = aO +  C /O C /O C / O xyz C / O xyz

111
  x r +  x ( x r ) + 2  x ( v ) + (a )
aC = aO +  C /O C /O C / O xyz C / O xyz

v C = v O +  x rC / O + ( v C / O ) xyz
vO = 0
aO = 0 rC / O = {0.2i} m
 = {−3k} ( v C / O ) rel = {2i} m / s
 = {−2k}
 (aC / O ) rel = {3i} m / s 2
112
v C = v O +  x rC / O + ( v C / O ) xyz
v C = {2i − 0.6 j} m/s
v C = 0 + (−3k ) x (0.2i) + 2i

113
  x r +  x ( x r ) + 2  x ( v ) + (a )
aC = aO +  C /O C /O C / O xyz C / O xyz

a C = 0 + (−2k ) x (0.2i) + (−3k ) x [(-3k)x(0.2i)] + 2 (−3k ) x (2i) + 3i

a C = 0 − 0.4 j − 1.80i − 12 j + 3i
a C = {1.2i - 12.4j} m/s 2

114
Recall – Cylindrical coordinate

ar = r − rq 2

ar = 3 − (3) 0.2 = 1.2 m / s

2 2

aq = r q + 2 r q
aq = 0.2(2) + 2(2)(3) = 12.4 m / s 2

Coriolis acceleration
115
 aC/D = ?
DE = ?
DE= ?

vD = 0
rC / D = {0.4i} m
aD = 0
( v C / D ) xyz = C / D i m / s
 = − DE k
 = − k
 (aC / D ) xyz = aC / D i m / s 2
DE

v C =  AB x rC / A = (−3k ) x(0.4i + 0.4 j) = {1.2i − 1.2 j} m / s

116
 v C = v D +  x rC / D + ( v C / D ) xyz (C / D ) xyz = 1.2 m / s

1.2i − 1.2 j = 0 + (− DE k ) x (0.4i) + (C / D ) xyz i  DE = 3 rad / s

a C =  AB x rC / A −  AB rC / A = (−4k ) x(0.4i + 0.4 j) − (3) 2 (0.4i + 0.4 j) = {−2i − 5.2 j} m / s 2

2

 x r +  x ( x r ) + 2  x ( v ) + (a )
aC = a D +  C/D C/D C / D xyz C / D xyz

117
  x r +  x ( x r ) + 2  x ( v ) + (a )
aC = a D +  C/D C/D C / D xyz C / D xyz

− 2i − 5.2 j = 0 + (− DE k ) x (0.4i) + (−3k ) x[(−3k ) x (0.4i)] + 2(−3k ) x(1.2i) + aC / D i

aC / D = 1.6 m / s 2  DE = −5 rad / s 2 = 5 rad / s 2 

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