Chapter 15

Kinematics of Rigid bodies

 Types of motion of rigid bodies

Translation General plane motion

Rotation about a fixed axis Motion about a fixed point

Translation • Any straight line on the body maintains the
same orientation
• All particles follow parallel paths

Rectilinear – particle paths are straight lines

Curvilinear – particle paths are curved lines

 B 𝐚𝑩
y

𝒓𝑩 𝒓𝑩/𝑨 y
𝐚𝑨
B
A 𝐯𝑩
𝒓𝑨

x A
𝐯𝑨
z
x
Choose any 2 points A and B: z

𝒓𝑩 = 𝒓𝑨 + 𝒓𝑩/𝑨
Therefore 𝐯𝑩 = 𝐯𝑨
𝑑
: 𝐯𝑩 = 𝐯𝑨 + 𝐯𝑩/𝑨 but 𝐯𝑩/𝑨 =0
𝑑𝑡
𝐚𝑩 = 𝐚𝑨
Rotation about a fixed axis
• Points move along parallel planes
• Paths are concentric circles
• If a particle lies on the axis of rotaion, its
velocity and acceleration are zero
 P describes a circle on a plane
parallel to the x-y plane.
z

The position of P is defined by

s
• the distance from the axis r sinφ
B
• distance from the x-y plane θ
• Angular position θ (+ve is CCW) 𝐯
P

φ
𝒓
Length of path ∆𝑠 = (𝑟 𝑠𝑖𝑛∅)∆𝜃

y
𝑑𝑠 𝑑𝜃
Velocity = 𝑟 𝑠𝑖𝑛∅
𝑑𝑡 𝑑𝑡 x
v = 𝑟 𝑠𝑖𝑛∅ 𝜃ሶ

𝑑𝒓 ෠ = 𝜔 𝑘෠
𝐯= = 𝝎 × 𝐫റ Where 𝝎 is the angular velocity = 𝜃ሶ 𝑘
𝒅𝒕
Acceleration: differentiate 𝐯 w.r.t. t
z
𝑑𝐯 𝑑 𝝎 × 𝐫റ
𝐚= =
𝑑𝑡 𝑑𝑡 s

𝑑𝛚 𝑑 𝐫റ B
𝐚= × 𝐫റ + 𝛚 × θ
𝑑𝑡 𝑑𝑡 𝐚𝒏 𝐚𝒕
𝑑𝛚 𝑑 𝐫റ P
Where = 𝜶 and =𝐯
𝑑𝑡 𝑑𝑡
φ
𝒓
𝐚 = 𝜶 × 𝐫റ + 𝛚 × 𝐯
y
𝐚 = 𝜶 × 𝐫റ + 𝛚 × 𝛚 × 𝐫റ
x
tangential normal
acceleration acceleration
𝛚 = 𝜃ሶ 𝑘෠ 𝜶 = 𝜽ሷ 𝑘෠
Can consider the rotation of a slab of the body, i.e.
a slice perpendicular to the axis of rotation z

s
B
θ
Similarly to linear motion, 𝐚𝒏 𝐚𝒕
P

φ
𝒓
can have uniform rotation, i.e. 𝛚 is constant

y
can have uniformly accelerated rotation,
i.e. 𝜶 is constant
x
The angular velocity is defined by its magnitude and a unit vertor in its direction
(i.e. in the direction of the segment AB due to CCW rotation about this axis)

𝐴𝐵 Ƹ
∆𝑥𝑖−∆𝑦 Ƹ
𝑗+∆𝑧𝑘෠ Ƹ
500𝑖−225 Ƹ
𝑗+300𝑘෠
𝝎= 𝜔 =𝜔 = 10
𝑙𝐴𝐵 ∆𝑥 2 +∆𝑦 2 +∆𝑧 2 5002 +2252 +3002

Note that the position vector 𝐫റ𝑬𝑨 can be any vector from the point E to a
𝐯 = 𝝎 × 𝐫റ𝑬𝑨 point on the axis of rotation due to the use of the vector cross product.
Therefore, choose the point that is easiest to define.

𝐚 = 𝜶 × 𝐫റ𝑬𝑨 + 𝛚 × 𝛚 × 𝐫റ𝑬𝑨
At the point of contact (K) between the ring and the cylinder, the velocity at the point of
contact on the ring and the cylinder is the same as no slipping occurs.

Velocity on cylinder Velocity on ring C

𝐯𝐾1𝐴 = 𝝎𝐴 × 𝐫റ𝑲𝟏𝑨 = 𝐯𝐾1𝐴 = 𝝎𝐶 × 𝐫റ𝑲𝟏𝑪

Solve for 𝝎𝐵 and 𝝎𝐶
𝐯𝐾2𝐵 = 𝝎𝐵 × 𝐫റ𝑲𝟐𝑩 = 𝐯𝐾2𝐶 = 𝝎𝐶 × 𝐫റ𝑲𝟐𝑪

𝐚𝑨 = 𝜶 × 𝐫റ𝑲𝟏𝑨 + 𝝎𝐴 × 𝝎𝐴 × 𝐫റ𝑲𝟏𝑨

𝐚𝑩 = 𝜶 × 𝐫റ𝑲𝟐𝑩 + 𝝎𝐵 × 𝝎𝐵 × 𝐫റ𝑲𝟐𝑩
At the time of contact, the velocity of the points of contact must be the same
𝐯𝐴 = 𝐯𝐵
𝝎𝐴 × 𝐫റ𝑨 = 𝝎𝐵 × 𝐫റ𝑩

Disk B has constant angular acceleration,

∆𝝎
Disk A undergoes constant angular deceleration, 𝜶 =
∆𝑡

𝟏
𝝎𝑨 = 𝝎𝑨𝟎 𝒕 + 𝜶𝑨 𝒕𝟐
𝟐
𝟏
𝝎𝑩 = 𝝎𝑩𝟎 𝒕 + 𝜶𝑩 𝒕𝟐
𝟐

Solve for t and 𝝎𝑨 and 𝝎𝑩

 General plane motion
e.g. rolling wheel e.g. sliding ladder

= =
+

translation
translation + rotation

rotation
 𝐯B = 𝐯A + 𝛚 × 𝐫റB/A General plane motion 𝐯A = 𝐯B + 𝛚 × 𝐫റA/B
A
AB Relative motion 𝐯 A
𝐯A
Order of
A’
operation does
not matter
B 𝐯B B’
B’
𝐯B
𝛚 A A’’
A 𝐯B
A
B’’ =
+ 𝐯B/A

B 𝐯B B’
B translation
rotation A’’
A Direction of
𝛚 is + 𝛚
𝐯A B’’ A’ 𝐯A/B A’
= independent
of reference
𝐯A
point.
B’
B’ B’
translation rotation
 𝐯B = 𝐯A + 𝛚 × 𝐫റB/A
General plane motion 𝐯A = 𝐯B + 𝛚 × 𝐫റA/B
A
A Relative motion 𝐯 A
𝐯A
Order of
A’
operation does
not matter
B 𝐯B B’
B B’
𝐯B
𝛚 A A’’
A 𝐯B
A
B’’ = 𝐯A/B
+ 𝛚
𝐯B/A 𝐯A
𝐯A
B 𝐯B B’
B B’
rotation translation rotation
translation
+ Direction of
𝐯B
𝛚 is 𝐯A = 𝐯B + 𝛚 × 𝐫റA/B
𝐯B/A 𝐯B = 𝐯A + 𝛚 × 𝐫റB/A independent
+
𝐯A
𝐯A of reference
𝐯B = 𝐯A + 𝐯B/A point. 𝐯A = 𝐯B + 𝐯A/B 𝐯B/A
𝐯B
 General plane motion
Instantaneous center of rotation
C
C is the instantaneous center of rotation

Can be inside or outside the body 𝛚

𝐯A
𝐫റA =
𝛚

A 𝐯A
𝛚 𝐯A
A
Equivalent to

Rotation and translation is equivalent to rotation about an instantaneous center

 General plane motion
Instantaneous center of rotation
C
C
C is the instantaneous center of rotation

𝛚 The intersection of The intersection of 𝛚

the perpendiculars the line joining the 𝐯A
ends of 2 velocity 𝐫റA =
to the velocity at 2 𝛚
points is C vectors is C 𝐯B
𝐫റB =
𝛚
A 𝐯A
A 𝐯A

B 𝐯B
B
𝐯B

Rotation and translation is equivalent to rotation about an instantaneous center

 General plane motion
Instantaneous center of rotation
𝐯A = 𝛚 × 𝐫റA/C 𝐯B = 𝛚 × 𝐫റB/C
𝐯B = 𝐯A + 𝛚 × 𝐫റB/A
𝐯A
𝛚 𝐫റA =
A 𝛚 C
A
B’’ 𝐯A
+ 𝛚
𝐯B/A 𝐯A
𝐯B
𝐫റB =
𝐯A 𝛚

B B’ 𝐯B
rotation translation

Rotation and translation is equivalent to rotation about an instantaneous center

General Plane Motion
Velocities:
i) rotation + translation
ii) Instantaneous centre of
rotation
 General plane motion
Relative motion to obtain acceleration
𝐯B = 𝐯A + 𝐯B/A where 𝐯B/A = 𝛚 × 𝐫റB/A

Translation Rotation of
of A B about A

Differentiation with respect to time

𝐚B = 𝐚A + 𝐚B/A where 𝐚B/A = 𝐚B/A 𝒕 + (𝐚B/A)𝒏

Acceleration of Acceleration of 𝐚B/A 𝒕 = 𝜶 × 𝐫റB/A

the Translation the rotation of
of A B about A
𝐚B/A 𝒏 = 𝝎 × 𝝎 × 𝐫റB/A
 General plane motion
Relative motion to obtain acceleration

A A A
𝐚A 𝐚A (𝐚B/A )n
𝐚B/A

B
𝐚B = B
+ B
𝐚A

(𝐚B/A )t
𝐚B/A
𝐚B

𝐚A (𝐚B/A )n
(𝐚B/A )t
 General plane motion
Relative motion to obtain acceleration

A A 𝐚B
A
(𝐚B/A )n
(𝐚B/A )t
𝐚A
θ
l θ
l θ
l
= + 𝜶

𝐚B 𝐚B
B B B
𝐚B

𝐚A = 𝐚B + 𝐚A/B 𝐚A
𝐚A/B
 rB

rC
Contact points C1 and C2:

C1 Tangential component of
C2
acceleration is the same.
rA
Normal component of
acceleration is not the same.
 Rotating reference frames

Imagine an absolute reference Imagine a rotating reference frame Oxyz or F (the merry-go-
frame that is fixed to the round) that rotates about the z axis at Ω.
ground OXYZ
Defining:
z Z
The motion of a person (point P) in the
𝐯P
absolute reference frame, OXYZ (i.e. with
respect to the ground).
y
The motion of the location of a person (point P) in
O 𝐯′P
the rotating reference frame , F , due to the
Y
rotation Ω of F with respect to the absolute
Ω
reference frame, OXYZ). (traces a circular path)
X x
𝐯P/F The motion of a person (point P) with respect
to the rotating reference frame, F
 Rotating reference frames: velocity
OXYZ is the absolute reference
frame (fixed to the ground) P is a point (person) on the rotating reference frame (merry-go –round)
whose position is given by 𝐫=റ (𝐫)
റ OXY
Oxyz or F is the rotating
reference frame, rotating at Ω.
𝐯P is the absolute velocity of P (w.r.t. OXYZ)
z Z
𝐯𝑷 = 𝒓ሶ
𝑶𝑿𝒀

y 𝐯𝑷 = Ω × 𝒓 + 𝒓ሶ
𝑶𝒙𝒚
P O
𝐫റ Y
Rate of change of 𝐫റ w.r.t. F
Ω 𝐯𝑷 = 𝐯𝑷′ + 𝐯P/F
(Oxy, the rotating reference
x frame)
X
Rate of change of the location of 𝐫റ in
is the absolute velocity
F (Oxy) due to the rotation of F (Oxy )
of P w.r.t. OXYZ
w.r.t. the absolute frame of reference
(traces a circular path)
OXYZ is the absolute reference Rotating reference frames
frame (fixed to the ground)
Oxyz or F is the rotating
reference frame, rotating at Ω. P is a point (person) on the rotating reference frame (merry-go –round)
whose position is given by 𝐫=റ (𝐫)
റ OXY
𝐯𝑷 = 𝐯𝑷′ + 𝐯P/F
𝐯P is the absolute velocity of P (w.r.t. OXYZ)
𝐯P/F
𝐯𝑷′ = Ω × 𝒓 𝐯𝑷 = 𝒓ሶ
𝑶𝑿𝒀

z Z Rate of change of 𝐫റ w.r.t. F

𝐯𝑷 = 𝐯𝑷′ + 𝐯P/F
(Oxy) the rotating reference
Ω frame
𝐫റ P
y
O 𝐯𝑷 = Ω × 𝒓 + 𝒓ሶ
𝑶𝒙𝒚
Y
The absolute
velocity of P
w.r.t. OXYZ Rate of change of the location of
X x
𝐫റ in F (Oxy) due to the rotation of
F (Oxy) w.r.t. OXY
OXYZ is the absolute reference
Rotating reference frames
frame (fixed to the ground)
Oxyz or F is the rotating
reference frame, rotating at Ω.
𝐯P

𝐯P/F
𝐯𝑷′ = Ω × 𝒓 𝐯𝑷′ = Ω × 𝒓 𝐯P/F

z Z
z Z z Z
Ω
Ω = +
𝐫റ P Ω
𝐫റ P 𝐫റ P
y y y
O O
Y O
Y Y

X x x
X X x

𝐯𝑷 = 𝐯𝑷′ + 𝐯P/F
 Rotating frame is rod AD
Motion within rotating frame is sliding of D
along AD

Velocity of D w.r.t. DB :

𝐯𝑫 = 𝝎𝑩 × 𝒓𝑫/𝑩
X
Velocity of D w.r.t. rotating frame AD:

Ω 𝐯𝑫 = 𝐯𝑫′ + 𝐯D/F
ωB

𝐯𝑫 = Ω × 𝒓𝑨/𝑫 + 𝒓ሶ 𝑨/𝑫
y 𝑶𝒙𝒚
Y

x Sliding of D along rod

Motion of location of AD, i.e. motion within F
D due to rotation Ω
 Rotating frame is rod BD
Motion within rotating frame is sliding of D
along BD

Velocity of D w.r.t. AB :

𝐯𝑫 = 𝝎𝑨 × 𝒓𝑫/𝑨
x X
Velocity of D w.r.t. rotating frame
BD:

ωA ΩB 𝐯𝑫 = 𝐯𝑫′ + 𝐯D/F

𝐯𝑫 = Ω𝑩 × 𝒓𝑫/𝑩 + 𝒓ሶ 𝑫/𝑩
𝑶𝒙𝒚
Y

Sliding of D along rod

Motion of location of BD, i.e. motion within F
y D due to rotation Ω𝑩
 Rotating frame is shaft AB rotating at ω1
Motion within rotating frame is rotation of
the wheel at ω2

y Velocity of P w.r.t. rotating frame BD:

𝐯𝑷 = 𝐯𝑷′ + 𝐯P/F
A
𝐯𝑷 = 𝝎𝟏 × 𝒓𝑷/𝑩 + 𝒓ሶ 𝑷/𝑩
𝑶𝒙𝒚
B
ω1 x
𝐯𝑷 = 𝝎𝟏 × 𝒓𝑷/𝑩 + 𝝎𝟐 × 𝒓𝑷/𝑩

ω2

Sliding of D along rod

Motion of location of BD, i.e. motion within F
Note 𝐯𝑷′ = 𝝎𝟏 × 𝒓𝑷/𝑩 = 𝝎𝟏 × 𝒓𝑷/𝑨
D due to rotation Ω𝑩
since the distance from the 𝝎𝟏 axis is the same
 Rotating reference frames: acceleration

Imagine a reference frame that Imagine a reference frame that moves with the merry-go-round
is fixed to the ground OXYZ Oxyz and rotates about the z axis at Ω.

z Z 𝐯P We will consider the motion of a person

(point P) with respect to the ground (the
absolute reference frame, OXYZ) = 𝐯P.

y
P O
𝐫റ Y 𝒂P = 𝐯𝑷ሶ
Ω

X x
OXYZ is the absolute reference Rotating reference frames: acceleration
frame (fixed to the ground)
P is a point (person) on the rotating reference frame (merry-go –round)
Oxyz or F is the whose position is given by 𝐫=റ (𝐫)
റ OXY
rotating 𝐯𝑷 = 𝐯𝑷′ + 𝐯P/F
reference 𝐯P is the absolute velocity of P (w.r.t. OXYZ)
frame, rotating 𝐯𝑷′ 𝐯P/F
at Ω. 𝐯𝑷 = 𝐯𝑷′ + 𝐯P/F = Ω × 𝒓 + 𝒓ሶ
z Z 𝑶𝒙𝒚
𝒅
𝐚𝑷 = 𝐯𝑷ሶ = (𝐯𝑷′ + 𝐯P/F)
𝒅𝒕
Ω P
𝐫റ
𝐚𝑷 = Ωሶ × 𝒓 + Ω × 𝒓ሶ +
𝒅
y 𝒓ሶ
𝒅𝒕 𝑶𝒙𝒚
O
𝒅
Y where 𝒓ሶ = 𝒓ሷ 𝑶𝒙𝒚 + Ω × 𝒓ሶ 𝑶𝒙𝒚
𝒅𝒕 𝑶𝒙𝒚

and 𝒓 ሶ = 𝐯𝑷 = Ω × 𝒓 + 𝒓ሶ
𝑶𝒙𝒚
X x
𝐚𝑷 = Ωሶ × 𝒓 + Ω × Ω × 𝒓 + 𝒓ሶ + 𝒓ሷ 𝑶𝒙𝒚 + Ω × 𝒓ሶ 𝑶𝒙𝒚
𝑶𝒙𝒚

𝐚𝑷 = Ωሶ × 𝒓 + Ω × (Ω × 𝒓) +2 Ω × 𝒓ሶ 𝑶𝒙𝒚 + 𝒓ሷ 𝑶𝒙𝒚
OXYZ is the absolute reference
frame (fixed to the ground)
Oxyz or F is the rotating
reference frame, rotating at Ω.
Rotating reference frames: acceleration
P is a point (person) on the rotating reference frame (merry-go –round)
whose position is given by 𝐫=റ (𝐫)
റ OXY

𝐯P/F
𝐚𝑷 = Ωሶ × 𝒓 + Ω × (Ω × 𝒓) +2 Ω × 𝒓ሶ 𝑶𝒙𝒚 + 𝒓ሷ 𝑶𝒙𝒚
z Z
𝐚𝑪
Ω P Absolute
𝐫റ acceleration of P
y
O 𝐚𝑷 = 𝐚𝑷 ′+2 Ω × 𝐯P/F + 𝐚P/F
Y

X x Acceleration of the Acceleration of D w.r.t. F

𝐚𝑪
location of 𝐫റ in rotating
frame Oxy due to the Coriolis acceleration
rotation of Oxy ( or F )
w.r.t. OXY
OXYZ is the absolute reference Oxyz or F is the rotating Rotating reference frames:
frame (fixed to the ground) reference frame, rotating at Ω.
acceleration

𝐚P 𝐚′𝑷 𝒕 =𝜶×𝒓

𝐚′𝑷 𝒏 =Ω × Ω × 𝒓 𝐚C= 2 Ω × 𝐯P/F

𝐯P/F 𝐚P/F
z Z
z Z z Z z Z
Ω
Ω = + Ω + Ω
𝐫റ P P
𝐫റ 𝐫റ P 𝐫റ P
y y y y
O O O O
Y Y Y Y

X x x
X X x X x

′
𝐚𝑷 = 𝐚𝑷 + 𝐚𝐂 + 𝐚P/F
Coriolis acceleration

A combination of

1. Solar Heating
2. Winds
3. Gravity
4. Coriolis acceleration

causes the ocean’s

currents/gyres
Coriolis acceleration
 Coriolis acceleration
only a function of
Due to the combined effect of rotation
• the rotation of the rotating reference frame and
• the motion within the rotating reference frame.

ω(r + ∆r) Δ𝜃
𝜔𝑟 = 𝑟𝜔2
u Δ𝑡

𝚫θ
𝒖 = 𝒖𝝎
𝚫𝒕
r + ∆r 𝚫𝒓
ωr 𝝎 = 𝝎𝒖
ω u 𝚫𝒕

𝚫θ
Coriolis acceleration
r
aC = 2𝜔𝑢

𝐚𝐂 = 2𝛀 × 𝐯P/F ωu and uω
requires both rotation and motion
𝐚𝐂 = 2 𝛀 × 𝒓ሶ 𝑶𝒙𝒚 along bar (i.e. within rotating frame)
 Bar B: Rotation about B
𝐯𝑫 = 𝝎𝑩 × 𝒓𝑫/𝑩
𝐚𝑫 = 𝜶𝑩 × 𝒓𝑫/𝑩 + 𝝎𝑩 × (𝝎𝑩 × 𝒓𝑫/𝑩 )
Bar AD:
• Rotating frame is rod AD
• Motion within rotating frame is sliding of D
along AD
X 𝐯𝑫 = 𝐯𝑫′ + 𝐯D/F

𝐯𝑫 = Ω × 𝒓𝑫/𝑨 + 𝒓ሶ 𝑨𝑫
Ω 𝑶𝒙𝒚
ωB, αB 𝒓𝑫/𝑨 Unit vector in
𝐯D/F = vD/F direction of AD
𝒓𝑫/𝑨

y 𝐚𝑫 = 𝐚𝑷 ′+2 Ω × 𝐯D/F + 𝐚D/F

Y

x 𝐚𝑫 = Ωሶ × 𝒓 + Ω × (Ω × 𝒓𝑫/𝑨 ) +2 Ω × 𝐯D/F+𝐚D/F
Set 𝐯𝑫 = 𝐯𝑫 and 𝐚𝑫 = 𝐚𝑫
Note that 𝐯D/F and 𝐚D/F are in the
And write an equation for the i and j components direction of the bar AD
 Bar A: Rotation about A
𝐯𝑫 = 𝝎𝑨 × 𝒓𝑫/𝑨
𝐚𝑫 = 𝜶𝑨 × 𝒓𝑫/𝑨 + 𝝎𝑨 × (𝝎𝑨 × 𝒓𝑫/𝑨 )
Bar BD:
• Rotating frame is rod BD
• Motion within rotating frame is sliding of D
along BD
x X 𝐯𝑫 = 𝐯𝑫′ + 𝐯D/F

𝐯𝑫 = Ω × 𝒓𝑫/𝑩 + 𝒓ሶ 𝑫𝑩
𝑶𝒙𝒚
ωA ΩB
𝒓𝑫/𝑩 Unit vector in
𝐯D/F = vD/F direction of AD
𝒓𝑫/𝑩

𝐚𝑫 = 𝐚𝑷 ′+2 Ω × 𝐯D/F + 𝐚D/F

Set 𝐯𝑫 = 𝐯𝑫 and 𝐚𝑫 = 𝐚𝑫
And write an equation for the i and j components
Y
𝐚𝑫 = Ωሶ × 𝒓 + Ω × (Ω × 𝒓𝑫/𝑩 ) +2 Ω × 𝐯D/F+𝐚D/F
y Note that 𝐯D/F and 𝐚D/F are in the
direction of the bar AD
 Rotating frame is shaft AB rotating at ω1 i
Motion within rotating frame is rotation of
the wheel at ω2 k

Velocity of P w.r.t. rotating frame AB:

𝐯𝑷 = 𝐯𝑷′ + 𝐯P/F
y

𝐯𝑷 = 𝝎𝟏 × 𝒓𝑷/𝑨 + 𝝎𝟐 × 𝒓𝑷/𝑩

Motion of location of Motion of P due to

A
P due to rotation 𝝎𝟏 rotation of wheel at 𝝎𝟐

B 𝐚𝑫 = 𝐚𝑷 ′+2 Ω × 𝐯D/F + 𝐚D/F

ω1 x

𝐚𝑫 = 𝝎ሶ𝟏 × 𝒓𝑷/𝑨 + 𝝎𝟏 × (𝝎𝟏 × 𝒓𝑷/𝑨 ) +2𝝎𝟏 × 𝐯D/F+𝐚D/F

ω2

where 𝐚D/F = 𝝎ሶ𝟐 × 𝒓𝑷/𝑩 + 𝝎𝟐 × (𝝎𝟐 × 𝒓𝑷/𝑩 )

Is due to the rotation of the wheel

 Motion of a rigid body in space
Rotation about an axis through O
Imagine a reference frame that Now the rotating reference frame Oxyz is a mery-go-round that rotates
is fixed to the ground OXYZ about a wobbly axis, that is the axis of rotation can change magnitude and
direction = Ω , 𝜶 are not constant.

z Z
𝐯𝑷 = 𝐯𝑷′ + 𝐯P/F
Ω 𝜶 as before

𝐯𝑷 = Ω × 𝒓 + 𝒓ሶ
𝑶𝒙𝒚
y
P O
Y 𝐚𝑷 = Ωሶ × 𝒓 + Ω × (Ω × 𝒓) +2 Ω × 𝒓ሶ 𝑶𝒙𝒚 + 𝒓ሷ 𝑶𝒙𝒚
𝐫റ
Ω

X x
𝐚𝑷 = 𝜶 × 𝒓 + Ω × (Ω × 𝒓) +2 Ω × 𝐯P/F + 𝐚P/F

Where 𝜶 describes the change in direction and magnitude of the angular velocity 𝛺 .
OXYZ is the absolute reference Rotation about a point
frame (fixed to the ground)
Oxyz or F is the rotating P is a point (person) on the rotating reference frame (merry-go –round)
reference frame, rotating at Ω whose position is given by 𝐫=റ (𝐫)
റ OXY
which is changing due to 𝜶.
𝐯P/F

𝐚𝑷 = Ωሶ × 𝒓 + Ω × (Ω × 𝒓) +2 Ω × 𝒓ሶ 𝑶𝒙𝒚 + 𝒓ሷ 𝑶𝒙𝒚
z Z
Ω
𝐚𝑪
𝜶 P Absolute
𝐫റ acceleration of P
y
O 𝐚𝑷 = 𝐚𝑷 ′+2 Ω × 𝐯P/F + 𝐚P/F
Y

X x Acceleration of the location of 𝐫റ Acceleration of P w.r.t. F

𝐚𝑪
in rotating frame Oxy due to the
rotation of Oxy ( or F ) w.r.t. OXY at Coriolis acceleration
Ω which changes due to 𝜶

𝜶 × 𝒓 + Ω × (Ω × 𝒓)
 Determining the angular velocity and angular
acceleration of a rigid body
𝝎𝟏

𝝎𝟐
𝝎𝟏

𝝎𝟐

𝝎 = 𝝎𝟏 + 𝝎𝟐 It is possible to add 𝝎𝒊 as
the axes of rotation intersect In this case as the axes of
෡ + 𝝎𝟐 𝒋Ƹ
𝝎 = 𝝎𝟏 𝒌 rotation do not intersect
𝜶 = 𝝎ሶ = 𝝎ሶ 𝑶𝒙𝒚 + Ω × 𝝎 (i.e. A is not on the y-axis)
𝜶 is due to the rotation of the
෡ + 𝝎𝟐 𝒋Ƹ
𝜶 = 𝟎 + 𝝎𝟐 𝒋Ƹ × 𝝎𝟏 𝒌 table rotating the motor. It Ω = 𝝎 = 𝝎𝟏

෡ changes the direction of 𝝎𝟏 is the motion within the

𝜶 = 𝝎𝟐 𝒋Ƹ × 𝝎𝟏 𝒌 𝝎𝟐
rotating reference frame
This problem can be approached as either
• rotating reference frame or
• as rotation about a point (O).
 𝝎𝟐
Rotation about a point (O)

𝝎 = 𝝎𝟏 + 𝝎𝟐
𝝎𝟏 𝝎 = 𝝎𝟏 𝒌෡ + 𝝎𝟐 𝒋Ƹ
It is possible to add 𝝎𝒊 as
the axes of rotation intersect
𝐯𝑨 = 𝝎 × 𝒓𝑨/𝑪 = 𝝎𝟏 × 𝒓𝑨/𝑪 + 𝝎𝟐 × 𝒓𝑨/𝑪
𝜶 is due to the rotation of the shaft rotating
Rotating reference frame approach
the disk. It changes the direction of 𝝎
Rotating reference frame is the shaft 𝑑
𝜶 = 𝝎ሶ = 𝝎𝟏 + 𝝎𝟐 = 𝝎𝟏 𝒌 ෡ × 𝝎𝟏 𝒌
෡ + 𝝎𝟐 𝒋Ƹ
rotating at 𝝎𝟏 . 𝑑𝑡
𝜶 = 𝝎𝟏 𝒌෡ × 𝝎𝟏 𝒌 ෡ + 𝝎𝟐 𝒋Ƹ = 𝝎𝟏 𝒌
෡ × 𝝎𝟐 𝒋 Ƹ
Motion within the rotating reference frame
is the rotation of the circular plate at 𝝎𝟐 . 𝐚𝑨 = 𝜶 × 𝒓𝑨/𝑪 + 𝝎 × (𝝎 × 𝒓𝑨/𝑪 )
𝐯𝑨 = 𝐯𝑨′ + 𝐯A/F 𝐚𝑨 = 𝝎𝟏 × 𝝎𝟐 × 𝒓𝑨/𝑪
𝐯𝑨 = 𝝎𝟏 × 𝒓𝑨/𝑪 + 𝝎𝟐 × 𝒓𝑨/𝑪 𝒓𝑨/𝑩 is the projection onto +(𝝎𝟏 + 𝝎𝟐 ) × (𝝎𝟏 + 𝝎𝟐 × 𝒓𝑨/𝑪 )
the circular plate of 𝒓𝑨/𝑪
𝐚𝑨 = 𝝎𝟏 × 𝝎𝟐 × 𝒓𝑨/𝑪
𝐚𝑨 = 𝜶 × 𝒓 + Ω × (Ω × 𝒓) +2 Ω × 𝐯P/F + 𝐚P/F +(𝝎𝟏 + 𝝎𝟐 ) × (𝝎𝟏 + 𝝎𝟐 × 𝒓𝑨/𝑪 )

𝐚𝑨 = 𝝎𝟏 × (𝝎𝟏 × 𝒓𝑨/𝑪 ) +2𝝎𝟏 × 𝝎𝟐 × 𝒓𝑨/𝑩 +𝝎𝟐 × (𝝎𝟐 × 𝒓𝑨/𝑩 ) 𝐚𝑨 = 𝟏𝟓𝟎 𝝎𝟐𝟏 𝒊Ƹ − 𝟏𝟓𝟎 𝝎𝟐𝟐 𝒊Ƹ − 𝟏𝟐𝟎 𝝎𝟐𝟏 𝒋Ƹ
 This problem must be considered as a rotating reference
frame since the vectors 𝝎𝟏 and 𝝎𝟐 do not intersect

The rotating reference frame is the body of

the machine, which rotates at 𝝎𝟏
𝝎𝟏
The motion within the rotating reference frame
is the raising or lowering of the arm at 𝝎𝟐

𝝎𝟐
𝐯𝑩 = 𝐯𝑩′ + 𝐯B/F

𝐯𝑩 = 𝝎𝟏 × 𝒓𝑩/𝑶 + 𝝎𝟐 × 𝒓𝑩/𝑨

𝐚𝑨 = 𝜶 × 𝒓 + Ω × (Ω × 𝒓) +2 Ω × 𝐯P/F + 𝐚B/F

𝐚𝑨 = 𝝎𝟏 × (𝝎𝟏 × 𝒓𝑩/𝑶 ) + 2𝝎𝟏 × 𝝎𝟐 × 𝒓𝑩/𝑨 + 𝝎𝟐 × (𝝎𝟐 × 𝒓𝑩/𝑨 )

 Velocity : Rotating reference frame

If 𝝎𝟐 = 0, then the point of contact, C, of

the little disk A with the large disk B is zero.

𝐯𝑪 = 𝐯𝑪′ + 𝐯C/F
𝐯𝑪 = 𝐯𝑨 + 𝐯C/A
Angular acceleration 𝝎𝟏 𝝎𝟑
of disk B 𝐯𝑪 = 𝝎𝟏 × 𝒓𝑪/𝑶 + 𝝎𝟑 × 𝒓𝑪/𝑨

𝟎 = 𝝎𝟏 𝒋Ƹ × − 𝑹𝒌෡ + 𝝎𝟑 𝒌
෡ × − 𝒓𝒋෡
The magnitude of 𝝎𝑨 is 𝑹
constant but its direction 𝝎𝟑 = 𝝎𝟏 𝒌෡
𝒓
changes due to 𝝎𝟏
Or consider rotation about point O
𝝎𝟐
𝛂𝑨 = 𝝎𝟏 × 𝝎𝑨 (axes of rotation intersect so can be added)

෡ ෡
𝝎𝑨 = 𝝎𝟏 + 𝝎𝟑 = 𝝎𝟏 𝒋Ƹ + 𝝎𝟑 𝒌
𝛂𝑨 = 𝝎𝟏 𝒋Ƹ × 𝝎𝟏 𝒋Ƹ + 𝝎𝟑 𝒌
෡ × −𝒓𝒋Ƹ − 𝑹𝒌
𝐯𝑪 = 𝝎𝑨 × 𝒓𝑪/𝑶 = 𝝎𝟏 𝒋Ƹ + 𝝎𝟑 𝒌 ෡ =𝟎
෡
𝛂𝑨 = 𝝎𝟏 𝒋Ƹ × 𝝎𝟏 𝒋Ƹ + 𝝎𝟑 𝒌
𝑹
𝛂𝑨 = 𝝎𝟏 𝝎𝟑 𝒊Ƹ 𝝎𝟑 = 𝝎𝟏 𝒌෡
𝒓