Professional Documents
Culture Documents
Chapter Three Kinematics of Rigid Bodies: 3-1 Introduction To Dynamics
Chapter Three Kinematics of Rigid Bodies: 3-1 Introduction To Dynamics
Chapter Three
Kinematics of Rigid Bodies
3-1 Introduction to Dynamics
Kinematics of rigid bodies: relations between time and the positions,
velocities, and accelerations of the particles forming a rigid body.
- translation:
rectilinear translation
curvilinear translation
- rotation about a fixed axis
- general plane motion
- motion about a fixed point
- general motion
3-2 Translation
• Consider rigid body in translation:
- direction of any straight line inside the
body is constant,
- all particles forming the body move in
parallel lines.
• Differentiating with respect to time: rB rA rB A rA ....vB v A
Then all particles have the same velocity.
• Differentiating with respect to time again:
r r r r ...........a a
B A B A A B A
Motion of a rigid body rotating around a fixed axis is often specified by the
type of angular acceleration.
d d d d 2 d
or dt ..... 2
dt dt dt d
• Uniform Rotation, a = 0: 0 t
• Uniformly Accelerated Rotation, a = constant:
0 t
0 0t 12 t 2
2 02 2 0
SOLUTION:
1 rev
N 14 rad number of revs N 2.23 rev
2 rad
v B r 5 in.10 rad s .........v B 50 in. s
y B r 5 in.14 rad ...........y B 70 in.
aD n 48
tan ………. 79.4
aD t 9
vB v A vB
A
v B A k rB A v B A r
v B v A k rB A
The direction of vB and vB/A are known. Complete the velocity diagram.
vA v
vB
tan A cos
vA v B A l
vB v A tan
vA
l cos
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.
SOLUTION:
The displacement of the gear center in one revolution is equal to the outer
circumference. For xA > 0 (moves to right), θ < 0 (rotates clockwise).
xA
x A r1
2 r 2
SOLUTION:
The velocity vB is obtained from the crank rotation data:
rev min 2 rad
AB 2000 209.4 rad s
min 60 s rev
vB AB AB 3 in.209.4 rad s
The direction of the absolute velocity vD is horizontal. The direction of the
relative velocity vD B is perpendicular to BD. Compute the angle between the
horizontal and the connecting rod from the law of sines.
vD vD B 628.3 in. s
sin 53.95 sin 50 sin76.05
vD B 495.9 in. s
vD B lBD ...........BD 62.0 rad s
l 8 in.
BD 62.0 rad s k