Kinematics of relative motion:

⃗j μ
⃗ for P on p :
⃗λ
● ABSOLUTE POSITION
Y P WITH RESPECT TO OXY

y rP

r⃗P ⃗r RELATIVE POSITION

●

WITH RESPECT TO Axy

p
⃗i 
r =r 
x
OR
v⃗A ω d ω˙ d r = x i  y j
r⃗A A a⃗A
Variable with time
X
OXY: FIXED coord. sys.
Axy: coord. sys. moving with plane p
 Relative motion

⃗j μ
⃗
⃗λ
The motion of the
Y P moving system with
respect to the fixed
y one is descrided by:

r⃗P ⃗r V⃗A a⃗A ωd ω̇ d

p The motion of P
x
⃗i with respect to
the moving
v⃗A ω d ω˙ d system is
r⃗A A a⃗A descrided by:

X VrP arP
Kinematics of relative motion:
⃗j μ⃗
r⃗P = r⃗A +⃗r
⃗λ
with  r = x i  y j
Y P deriving
y
r⃗P ⃗r
V⃗P = V⃗A+ ⃗r˙
p ⃗i
v⃗A
x
ω d ω˙ d
with ⃗r˙ =x ⃗i˙ + y ⃗˙j+ ẋ ⃗i + ẏ ⃗j
r⃗A a⃗A
A
X ⃗r˙ = ω⃗d ∧( x ⃗i + y ⃗j)+ ẋ ⃗i + ẏ ⃗j
⃗r
V⃗P =( V⃗A+ω⃗d ∧⃗r )+( ẋ ⃗i + ẏ ⃗j)

V⃗P =V⃗dP +V⃗rP

 Poisson Law /Time derivative of unit vector:

'
 


' d⃗λ d⃗
λ
=ϑ̇ μ
⃗ ⃗ ∧⃗
=ω λ

 dt dt
O ϑ= ϑ̇ Δ t  dμ⃗ dμ
⃗
 =−ϑ̇ λ⃗ =⃗
ω∧μ⃗
̇ dt dt

Cross Product: Scalar Product:

⃗c a ∧⃗
⃗ b=⃗c a∗⃗
⃗ b=a b cos ϑ
⃗
b c=a b sin ϑ
ϑ ⃗a
 ⃗j μ
⃗
Relative motion ⃗
λ
Y P
y
In general, P is moving r⃗P ⃗r
with respect to Axy: p ⃗
i
ABSOLUTE MOTION IS x
v⃗A ω d ω˙ d
THE VECTORIAL SUM r⃗A A a⃗A
OF RELATIVE MOTION
AND DRAGGING
MOTION

V⃗P =V⃗rP +V⃗dP

Relative motion ⃗j μ
⃗
⃗
λ
Y P
y
r⃗P ⃗r
p ⃗
i
x
v⃗A ω d ω˙ d
r⃗A A a⃗A
X
The DRAGGING MOTION is the motion of P (with respect to
the fixed frame) when it considered fixed with respect to the
moving frame Axy

V⃗dP = V⃗A+ V (dP

⃗ / A)=V⃗A +ω d r μ
⃗
2
⃗ / A)= a⃗A+ a(dP⃗/ An)+ a(dP⃗/ At )=a⃗A −ωd r ⃗
a⃗dP = a⃗A+ a(dP λ+ ω̇d r μ
⃗
 ⃗j μ
⃗
⃗
Relative motion: λ
Y P
y
The time derivative of r⃗P ⃗r
velocity is: p ⃗
i
x
v⃗A ω d ω˙ d
a⃗P = a⃗rP + a⃗dP + a⃗cP r⃗A A a⃗A

where acP is the CORIOLIS acceleration

a⃗cP =2 ω⃗d ∧ V⃗rP

 Example: Mass on rotating disk

The disk shown in figure, at this instant, rotates around O with

speed  = 4 rad/s and acceleration ω̇ = -10 rad/s2. The motion of
the mass A is controlled separately and, at this instant, the distance
of the mass from the center is
OA=r=150 mm, the radial velocity is
ṙ =125 mm/s and the radial
acceleration r̈ =2025 mm/s2.
Determine the absolute velocity and
acceleration of A at this instant.
Example: Mass on rotating disk

V⃗A =V⃗rA+V⃗tA

V⃗rA= ṙ ⃗i

V⃗tA= v (A/O)
⃗ =ω r ⃗j

V A = √(ω r ) + r˙
2 2
Example: Mass on rotating disk

a⃗A = a⃗rA + a⃗tA+ a⃗cA

a⃗rA= r̈ ⃗i
2
a⃗tA= a⃗O + a( A/On) ⃗ =o+ω r (−⃗i )+ ω̇ r ⃗j
⃗ + a (A/Ot)
2
⃗ ω r (−⃗i )
a( A/On)

⃗ )=ω̇ r ⃗j
a( A/Ot

a⃗C =2 ω
⃗ ∧v⃗
(rA)=2 ω ṙ ⃗
j