Rigid Body Dynamics

GSE 264

Assoc. Prof. Mohamed Shiba

16.7 Relative-Motion Analysis: Acceleration
Relative-Motion Analysis: Acceleration

The fact that any plane motion of a rigid slab can be considered the sum of a translation
of the slab with reference to point A and a rotation about A is used to relate the absolute
accelerations of any two points A and B of the slab and the relative acceleration of B with
respect to A.

where aB/A consists of a normal component (aB/A) n of magnitude w2r directed toward A,
and a tangential component (aB/A)t of magnitude ar perpendicular to the line AB.
Relative-Motion Analysis: Acceleration
Relative-Motion Analysis: Acceleration
Relative-Motion Analysis: Acceleration
Relative-Motion Analysis: Acceleration
Relative-Motion Analysis: Acceleration
The fundamental equation relating the absolute accelerations of points A and B and the
relative acceleration of B with respect to A can be expressed in the form of a vector
diagram and used to determine the accelerations of given points of various mechanisms.
Relative-Motion Analysis: Acceleration
Case Study: Sliding of a rod

Consider both the velocity and acceleration of point A are known, we propose to determine the
acceleration of point B and the rod angular acceleration, α.
Relative-Motion Analysis: Acceleration
Report: Prove that for General Plane Motion
Relative-Motion Analysis: Acceleration
EXAMPLE 16.13
The rod AB is confined to move along the inclined
planes at A and B. If point A has an acceleration of
3 m>/s2 and a velocity of 2 m/s, both directed down the
plane at the instant the rod is horizontal, determine the
angular acceleration of the rod at this instant.
Relative-Motion Analysis: Acceleration
EXAMPLE 16.13
The rod AB is confined to move along the inclined
planes at A and B. If point A has an acceleration of
3 m>/s2 and a velocity of 2 m/s, both directed down the
plane at the instant the rod is horizontal, determine the
angular acceleration of the rod at this instant.
Relative-Motion Analysis: Acceleration
EXAMPLE 16.14
The disk rolls without slipping and has the angular
motion shown in Fig. Determine the acceleration of
point A at this instant.
Relative-Motion Analysis: Acceleration
EXAMPLE 16.14
The disk rolls without slipping and has the angular
motion shown in Fig. Determine the acceleration of
point A at this instant.
Relative-Motion Analysis: Acceleration
EXAMPLE 16.15
The spool unravels from the cord, such that at the
instant shown it has an angular velocity of 3 rad/s and
an angular acceleration of 4 rad/s2. Determine the
acceleration of point B.
Relative-Motion Analysis: Acceleration
EXAMPLE 16.15
The spool unravels from the cord, such that at the
instant shown it has an angular velocity of 3 rad/s and
an angular acceleration of 4 rad/s2. Determine the
acceleration of point B.
Relative-Motion Analysis: Acceleration
EXAMPLE 16.16
Relative-Motion Analysis: Acceleration
EXAMPLE 16.16
Relative-Motion Analysis: Acceleration
EXAMPLE 16.17
Relative-Motion Analysis: Acceleration
EXAMPLE 16.17
Relative-Motion Analysis: Acceleration
EXAMPLE 16.17
Relative-Motion Analysis: Acceleration
Relative-Motion Analysis: Acceleration
Relative-Motion Analysis: Acceleration
Relative-Motion Analysis: Acceleration
Relative-Motion Analysis: Acceleration
Relative-Motion Analysis: Acceleration
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