Dynamics of Rigid Bodies

Dynamics of Rigid Bodies

Kinematics of Rigid Bodies
Translation
Rotation about a Fixed Axis
Absolute Motion Analysis
Relative-Motion Analysis Using Translating Axes
Velocity, Instantaneous Center of Zero Velocity
Acceleration
Relative-Motion Analysis Using Rotating Axes
Linkage Kinematics
Kinetics of Rigid Bodies
Force and Acceleration, Linkage Kinetics
Work and Energy
Impulse and Momentum
Kinematics of Rigid Bodies
Translation
Rotation about a Fixed Axis
Absolute Motion Analysis
Relative-Motion Analysis Using Translating Axes
Velocity
Instantaneous Center of Zero Velocity
Acceleration
Relative-Motion Analysis Using Rotating Axes
Linkage Kinematics
 Dynamics –
Kinematics of
Rigid Bodies
Kinematics of Rigid Bodies (cont.)

Translation

If a body moves so that all the particles have at

time t the same velocity relative to some
reference, the body is said to be in translation
relative to this reference.
Kinematics of Rigid Bodies (cont.)

Translation
Rectilinear Translation

Path of Rectilinear Translation

Kinematics of Rigid Bodies (cont.)

Translation

Path of Curvilinear Translation

Kinematics of Rigid Bodies
Translation
Rotation about a Fixed Axis
Absolute Motion Analysis
Relative-Motion Analysis Using Translating Axes
Velocity
Instantaneous Center of Zero Velocity
Acceleration
Relative-Motion Analysis Using Rotating Axes
Linkage Kinematics
Kinematics of Rigid Bodies (cont.)

Rotation
If a rigid body moves so that along some
straight line all the particles of the body, or a
hypothetical extension of the body, have zero
velocity relative to some reference, the body is
said to be in rotation relative to this reference.
The line of stationary particles is called the
axis of rotation.
Kinematics of Rigid Bodies (cont.)

Rotation
Motion

Axis of rotation
Angular Motion. Since a point is without
dimension, it cannot have angular motion. Only
lines or bodies undergo angular motion.
Angular Position. At the instant shown, the
angular position of r is defined by the angle q,
measured from a fixed reference line to r.
Angular Displacement. The change in the angular
position, which can be measured as a differential
dq, is called the angular displacement. This vector
has a magnitude of dq, measured in degrees,
radians, or revolutions, where 1 rev = 2p rad. Since
motion is about a fixed axis, the direction of dq is
always along this axis. Specifically, the direction is
determined by the right-hand rule; that is, the
fingers of the right hand are curled with the sense
of rotation.
Angular Velocity. The time rate of change in the
angular position is called the angular velocity w
(omega). Since dq occurs during an instant of time
𝑑𝜃
dt, then, 𝜔 =
𝑑𝑡
2-D Rotation
In two dimensions,
both q and dq are
counterclockwise, and
so the thumb points
along the axis of
rotation, outward from
the page.
Angular Acceleration. The angular acceleration a
(alpha) measures the time rate of change of the
angular velocity. The magnitude of this vector is
𝑑𝜔
𝛼=
𝑑𝑡

𝑑2 𝜃
𝛼= 2
𝑑𝑡
Similar to the differential relations for rectilinear
particles: 𝑑𝜃 𝑑𝜔
𝜔= 𝛼=
𝑑𝑡 𝑑𝑡
𝑑𝜃 𝑑𝜔
𝑑𝑡 = 𝑑𝑡 =
𝜔 𝛼
𝑑𝜃 𝑑𝜔
=
𝜔 𝛼

𝛼𝑑𝜃 = 𝜔𝑑𝜔
As with the differential relations for rectilinear particles when there is
constant acceleration:

Constant Angular Acceleration

Motion of a Point on a Rigid Body
Position 𝑑𝑠 = 𝑟𝑑𝜃
Velocity
where v and r
𝑣 = 𝜔r are in the same
plane

𝑑𝑟Ԧ𝑃
= 𝑣Ԧ
𝑑𝑡
𝑣Ԧ = 𝜔 × 𝑟Ԧ𝑃
when rP is any position
vector from the axis of
rotation
Motion of a Point on a Rigid Body (cont.)

Acceleration
where a and r are in the same plane
an – normal acceleration
𝑎𝑛 = 𝜔2 𝑟
at – tangential acceleration
𝑎𝑡 = 𝛼𝑟
Motion of a Point on a Rigid Body (cont.)

Acceleration
when rP is any position vector from
the axis of rotation
𝑑 𝑣Ԧ
𝑎Ԧ = 𝑣Ԧ = 𝜔 × 𝑟Ԧ𝑃
𝑑𝑡
𝑑 𝜔 × 𝑟Ԧ𝑃
∴ 𝑎Ԧ =
𝑑𝑡 𝑣Ԧ = 𝜔 × 𝑟Ԧ𝑃
Product Rule a 𝑣Ԧ 𝑑 𝑟Ԧ𝑃
𝑑 𝜔 𝑑 𝑟Ԧ𝑃 = 𝑣Ԧ
= × 𝑟Ԧ𝑃 + 𝜔 × 𝑑𝑡
𝑑𝑡 𝑑𝑡

= 𝛼Ԧ × 𝑟Ԧ𝑃 + 𝜔 × 𝜔 × 𝑟Ԧ𝑃 = 𝛼Ԧ × 𝑟Ԧ − 𝜔2 𝑟Ԧ

𝑎𝑡 = 𝛼𝑟 𝑎𝑛 = 𝜔2 𝑟
 Example
The motor shown in the photo is used to turn
a wheel and attached blower contained
within the housing. The details of the design
are shown in the sketch below it.
If the pulley A connected to the motor begins
to rotate from rest with a constant angular
acceleration of aA = 2 rad/s2, determine the
magnitudes of the velocity and acceleration
of point P on the wheel, after the pulley has
turned two revolutions. Assume the
transmission belt does not slip on the pulley
and wheel.

Engr. Mech. for ISE - 03 2016 - 21

 Given: vA0 = 0
aA = 2 rad/s2
rA = 0.15 m
rB = 0.4 m

Find: vPf and aPf after 2 revolutions

Assumptions: no slip on the pulley and wheel
Knowns: constant angular acceleration

Approach: Use constant acceleration

equations to find wf.
Then use uniform circular motion
equations to find vPf and aPf .
v= wr at= ar an= w2r Need q.

Engr. Mech. for ISE - 03 2016 - 22

 Find: vPf and aPf after vA0 = 0
Solution 2 revolutions aA = 2 rad/s2
rA = 0.15 m
𝜔2 = 𝜔02 + 2𝛼𝑐 𝜃 − 𝜃0 rB = 0.4 m

Need q.
2𝜋 rad=1 rev.

2𝜋 rad
2 rev =4𝜋 rad = 12.57 rad
rev
0 0
𝜔2 = 𝜔02 + 2 2rad
𝑠2
12.57 rad − 𝜃0

𝑟𝑎𝑑 2
𝜔2 = 2 2 𝑠2 12.57 What w is this? 𝜔𝐴
0.15
𝜔 = 2 12.57 𝑟𝑎𝑑
𝑠 = 7.09 𝑟𝑎𝑑
𝑠 𝜔𝐵 = 𝜔 Why?
0.4 𝐴
0.15
𝜔𝐵 = 7.09 = 2.659 𝑟𝑎𝑑
𝑠
Engr. Mech. for ISE - 03 2016 - 23 0.4
 Find: vPf and aPf after vA0 = 0
Solution 2 revolutions aA = 2 rad/s2
𝜔𝐵 = 2.659 𝑟𝑎𝑑 rA = 0.15 m
𝑠
v = wr rB = 0.4 m
𝑚
𝑣𝑃𝑓 = 𝜔𝐵 𝑟𝐵 = 2.659 𝑟𝑎𝑑
𝑠
0.4𝑚 = 1.06 𝑠
an = w2r 𝑣Ԧ𝑃𝑓 = 1.06𝑚
𝑠
@ 180°
2
𝑎𝑛𝑃 = 𝜔𝐵2 𝑟𝐵 = 2.659 𝑟𝑎𝑑
𝑠
0.4𝑚
0.15
at = ar What is aB? 𝛼𝐵 = 𝛼
0.4 𝐴
𝑎𝑡𝑃 = 𝛼𝐵 𝑟𝐵 0.15 𝑟𝑎𝑑
𝛼𝐵 = 𝑟𝑎𝑑
2 𝑠2 = 0.75 𝑠2
0.4
𝑎𝑡𝑃 = 𝛼𝐵 𝑟𝐵 = 0.75 𝑟𝑎𝑑
𝑠2
0.4𝑚 = 0.3 𝑚
𝑠2

𝑎 = 𝑎𝑛2 + 𝑎𝑡2 = 2.827 2 + 0.3 2 = 2.84𝑠𝑚2

𝑎𝑡 −1
0.3 ∅𝑎
∅𝑎 = 𝑡𝑎𝑛−1 = 𝑡𝑎𝑛 = 6.06°
𝑎𝑛 2.827
Engr. Mech. for ISE - 03 𝑎Ԧ𝑃𝑓 = 2.84𝑠𝑚2 @ 96° 2016 - 24
Kinematics of Rigid Bodies
Translation
Rotation about a Fixed Axis
Absolute Motion Analysis
Relative-Motion Analysis Using Translating Axes
Velocity
Instantaneous Center of Zero Velocity
Acceleration
Relative-Motion Analysis Using Rotating Axes
Linkage Kinematics
 General Plane Motion:
Translation and Rotation

Analyze motion as the vector sum of an “ideal”

translation of a point on a body and an “ideal” rotation
about an axis of rotation through that point.
Kinematics of Rigid Bodies (cont.)

Translation plus Rotation

Chasle’s Theorem:
1. Select any point A in the body. Assume that all
particles of the body have at the same time t a
velocity equal to vA, the actual velocity of the point A.
2. Superpose a pure rotational velocity w about an axis
going through point A.
Kinematics of Rigid Bodies (cont.)

General Plane Motion: drA  drB

Kinematics of Rigid Bodies (cont.)

General Plane Motion;

(1) Translation
measured
from original
Point A
Kinematics of Rigid Bodies (cont.)

General Plane
Motion:
(2) Rotation about
axis through Point A
Kinematics of Rigid Bodies (cont.)

General Plane Motion = Translation + Rotation

Kinematics of Rigid Bodies
Translation
Rotation about a Fixed Axis
Absolute Motion Analysis
Relative-Motion Analysis Using Translating Axes
Velocity
Instantaneous Center of Zero Velocity
Acceleration
Relative-Motion Analysis Using Rotating Axes
Linkage Kinematics
 vB C
vB A
Example, Part 1
The collar C is moving
downward with a velocity of
2 m/s. (a) Determine the
angular velocity of CB and
(b) the angular velocity of AB
at this instant.
Given: vC = 2 m/s
Dimensions shown

Find: (a) wCB and (b) wAB at this instant.

Approach: relative velocity equations
𝑣𝐵 = 𝑣𝐶 + 𝜔𝐶𝐵 × 𝑟𝐵ൗ
𝐶
𝑣𝐵 = 𝑣𝑎 + 𝜔𝐴𝐵 × 𝑟𝐵ൗ
𝐴 Engr. Mech. for ISE - 03 2016 - 36
 y

Solution x

Find: (a) wCB.

𝑣𝐵 = 𝑣𝐶 + 𝜔𝐵𝐶 × 𝑟𝐵ൗ 𝜔𝐶𝐵
𝐶
vC = – 2 m/s 𝑗Ƹ
𝑟Ԧ𝐵ൗ = 0.2𝑚 𝑖Ƹ − 0.2𝑚 𝑗Ƹ
𝐶
𝑖Ƹ 𝑗Ƹ 𝑘෠ 𝑖Ƹ 𝑗Ƹ
0 0 𝜔𝐶𝐵 0 0
0.2 −0.2 0 0.2 −0.2
𝑣𝐵𝑦 = 0 0.2𝜔𝐶𝐵 𝑖Ƹ 0.2𝜔𝐶𝐵 𝑗Ƹ
𝑣𝐵𝑥 𝑖Ƹ + 𝑣𝐵𝑦 𝑗Ƹ = −2𝑗Ƹ + 0.2𝜔𝐶𝐵 𝑖Ƹ + 0.2𝜔𝐶𝐵 𝑗Ƹ

𝑣𝐵𝑥 = 0.2𝜔𝐶𝐵 2
x-dir 𝜔𝐶𝐵 = = 10 𝑟𝑎𝑑
𝑠
0.2
y-dir 0 = −2 + 0.2𝜔𝐶𝐵
Engr. Mech. for ISE - 03 2016 - 37
 Solution (cont.) y

Find: (b) wAB.

x
𝜔𝐴𝐵
0
𝑣𝐵 = 𝑣𝐴 + 𝜔𝐴𝐵 × 𝑟𝐵ൗ 𝜔𝐶𝐵 = 10 𝑟𝑎𝑑
𝑠
𝐴 𝜔𝐶𝐵
𝑣𝐴 =0
𝑣𝐵 = 𝜔𝐴𝐵 × 𝑟𝐵ൗ
𝐴

x-dir 𝑣𝐵 = 𝑣𝐵𝑥 = 0.2𝜔𝐶𝐵

𝑚
𝑣𝐵 = 0.2 10 𝑟𝑎𝑑
𝑠
=2 𝑖Ƹ
𝑠
𝑟Ԧ𝐵ൗ = −0.2𝑚 𝑗Ƹ
𝐴 𝑘෠ × −𝑗Ƹ = ?
𝑣𝐵 = 𝜔𝐴𝐵 × 𝑟𝐵ൗ = 𝜔𝐴𝐵 𝑟𝐵ൗ 𝑖Ƹ 𝑗Ƹ 𝑘෠ 𝑖Ƹ 𝑗Ƹ
𝐴 𝐴
0 0 𝜔𝐴𝐵 0 0
𝑣𝐵 2 0 −0.2 0 0 −0.2
𝜔𝐴𝐵 = = = 10 𝑟𝑎𝑑
𝑠 0.2𝜔𝐴𝐵 𝑖Ƹ
𝑟𝐵ൗ 0.2
𝐴

Engr. Mech. for ISE - 03 2016 - 38

Example, Part 2 𝑣𝐶 𝜔𝐴𝐵
The crank AB is attached to an electric motor. It is
turning with the constant angular velocity, wAB ,
determined in Part 1 (10 rad/s). Plot the linear
velocity of the collar of C for one 360° revolution of
AB and determine the maximum velocity it reaches.
Given: 𝜔𝐴𝐵 = 10 𝑟𝑎𝑑
𝑠 and the dimensions shown
Find: Plot of v versus time and vC(max)
Assumptions: The connection at B is designed so that there is no
interference between the column and the joint at B.
Approach: Use the relative velocity equations. 𝑣Ԧ𝐵 = 𝑣Ԧ𝐶 + 𝜔𝐶𝐵 × 𝑟Ԧ𝐵ൗ𝐶
Rewrite as functions of time. 𝑣Ԧ𝐵 = 𝑣Ԧ𝐴 + 𝜔𝐴𝐵 × 𝑟Ԧ𝐵ൗ
𝐴
Write a program or use Excel to plot the results
in 1° increments.
Engr. Mech. for ISE - 03 2016 - 39
 𝑣Ԧ𝐵 = 𝑣Ԧ𝐶 + 𝜔𝐶𝐵 × 𝑟Ԧ𝐵ൗ 𝜔𝐴𝐵 = 10 𝑟𝑎𝑑
𝑠
𝐶
Solution 0
𝑣Ԧ𝐵 = 𝑣Ԧ𝐴 + 𝜔𝐴𝐵 × 𝑟Ԧ𝐵ൗ 𝑣𝐶 𝜔𝐴𝐵
𝐴
Find: Plot of v versus time
Rewrite as functions of time.
Write a program or use Excel to plot the results
in 1° increments.
𝑣Ԧ𝐶 = 𝑣Ԧ𝐵 − 𝜔𝐶𝐵 × 𝑟Ԧ𝐵ൗ
𝐶
Magnitude Direction Don’t change with time:
𝑣Ԧ𝐶 = 𝜔𝐴𝐵 × 𝑟Ԧ𝐵ൗ − 𝜔𝐶𝐵 × 𝑟Ԧ𝐵ൗ AB = 0.2 m = 𝑟Ԧ𝐵ൗ𝐴
𝐴 𝐶
CB = 0.22 + 0.22 =0.2 2m = 𝑟Ԧ𝐵ൗ𝐶
Magnitude Direction Magnitude Direction
Magnitude Direction Magnitude Direction
𝜔𝐴𝐵 = 10 𝑟𝑎𝑑 ෠
𝑠 𝑘
Five vectors = Ten scalar variables
𝑣Ԧ𝐶 = 𝑣𝐶𝑦 𝑗Ƹ
One independent variable, t
𝜃 By geometry, 𝑟Ԧ𝐵ൗ𝐶 is a function of 𝑟Ԧ𝐵ൗ𝐴
𝜔= 𝜃𝐴𝐵 = 𝜔𝐴𝐵 𝑡
𝑡
seven are known or given Engr. Mech. for ISE - 03 2016 - 40
 𝜔𝐴𝐵 = 10 𝑟𝑎𝑑
𝑠
𝑘෠ 𝜃𝐴𝐵 = 𝜔𝐴𝐵 𝑡
Solution (cont.) y y
𝜃𝐶𝐵
x x
𝑣𝐶 𝜔𝐴𝐵
𝑣Ԧ𝐶 = 𝜔𝐴𝐵 × 𝑟Ԧ𝐵ൗ − 𝜔𝐶𝐵 × 𝑟Ԧ𝐵ൗ
𝐴 𝐶 𝑣Ԧ𝐶 = 𝑣𝐶𝑦 𝑗Ƹ

By geometry, 𝑟Ԧ𝐵ൗ𝐶 is a function of 𝑟Ԧ𝐵ൗ𝐴

𝑟Ԧ𝐵ൗ = 0.2𝑚 𝑐𝑜𝑠𝜃𝐴𝐵 𝑖Ƹ + 0.2𝑚 𝑠𝑖𝑛𝜃𝐴𝐵 𝑗Ƹ

𝐴

𝑟Ԧ𝐵ൗ = 0.2 2𝑚 𝑐𝑜𝑠𝜃𝐶𝐵 𝑖Ƹ + 0.2 2𝑚 𝑠𝑖𝑛𝜃𝐶𝐵 𝑗Ƹ

𝐶
y 𝜃𝐴𝐵
0.2 2 cos q CB  0.2  0.2 cos q AB x
y
0.2 cos q AB  0.2 𝜃𝐶𝐵
cos q CB  x

0.2 2
1  0.2 cos q AB  0.2 
q CB  cos  
 0.2 2 

Engr. Mech. for ISE - 03 2016 - 41

 𝜔𝐴𝐵 = 10 𝑟𝑎𝑑
𝑠
𝑘෠ 𝜃𝐴𝐵 = 𝜔𝐴𝐵 𝑡
Solution (cont.) y y
𝜃𝐶𝐵
x x
𝑣𝐶 𝜔𝐴𝐵
𝑣Ԧ𝐶 = 𝜔𝐴𝐵 × 𝑟Ԧ𝐵ൗ − 𝜔𝐶𝐵 × 𝑟Ԧ𝐵ൗ
𝐴 𝐶 𝑣Ԧ𝐶 = 𝑣𝐶𝑦 𝑗Ƹ
𝑟Ԧ𝐵ൗ = 0.2𝑚 𝑐𝑜𝑠𝜃𝐴𝐵 𝑖Ƹ + 0.2𝑚 𝑠𝑖𝑛𝜃𝐴𝐵 𝑗Ƹ
𝐴

𝑟Ԧ𝐵ൗ = 0.2 2𝑚 𝑐𝑜𝑠𝜃𝐶𝐵 𝑖Ƹ + 0.2 2𝑚 𝑠𝑖𝑛𝜃𝐶𝐵 𝑗Ƹ

𝐶
0.2 cos q AB  0.2
cos q CB 
0.2 2
 0.2 cos q AB  0.2 
q CB  cos 1  
 0.2 2 

𝑐𝑜𝑠𝜃𝐴𝐵 + 0.2 0.2𝑐𝑜𝑠𝜃𝐴𝐵 + 0.2

𝑟Ԧ𝐵ൗ = 0.2 2 𝑖Ƹ + 0.2 2 𝑠𝑖𝑛 𝑐𝑜𝑠 −1 𝑗Ƹ
𝐶 0.2 2 0.2 2

We are left with two unknows: magnitude of vc and magnitude of

wCB
One vector equation is two scalar equations, so we can solve for
the two unknows.
Engr. Mech. for ISE - 03 2016 - 42
 𝜔𝐴𝐵 = 10 𝑟𝑎𝑑
𝑠
𝑘෠ 𝜃𝐴𝐵 = 𝜔𝐴𝐵 𝑡
Solution (cont.) 𝑣Ԧ𝐶 = 𝜔𝐴𝐵 × 𝑟Ԧ𝐵ൗ − 𝜔𝐶𝐵 × 𝑟Ԧ𝐵ൗ y y
𝐴 𝐶 𝜃𝐶𝐵
x x
𝑟Ԧ𝐵ൗ = 0.2𝑚 𝑐𝑜𝑠𝜃𝐴𝐵 𝑖Ƹ + 0.2𝑚 𝑠𝑖𝑛𝜃𝐴𝐵 𝑗Ƹ 𝑣𝐶 𝜔𝐴𝐵
𝐴
K1 K2
0.2𝑐𝑜𝑠𝜃𝐴𝐵 + 0.2
𝑟Ԧ𝐵ൗ = 𝑐𝑜𝑠𝜃𝐴𝐵 + 0.2 𝑖Ƹ + 0.2 2 𝑠𝑖𝑛 𝑐𝑜𝑠 −1 𝑗Ƹ
𝐶 0.2 2
𝑣Ԧ𝐶 = 𝑣𝐶 𝑗Ƹ
𝑖Ƹ 𝑗Ƹ 𝑘෠ 𝑖Ƹ 𝑗Ƹ
0 0 𝜔𝐶𝐵 0 0
𝐾1 𝐾2 0 𝐾1 𝐾2
−𝐾2 𝜔𝐶𝐵 𝑖Ƹ 𝐾1 𝜔𝐶𝐵 𝑗Ƹ

𝑖Ƹ 𝑗Ƹ 𝑘෠ 𝑖Ƹ 𝑗Ƹ
0 0 𝜔𝐴𝐵 0 0
0.2𝑐𝑜𝑠𝜃𝐴𝐵 0.2𝑠𝑖𝑛𝜃𝐴𝐵 0 0.2𝑐𝑜𝑠𝜃𝐴𝐵 0.2𝑠𝑖𝑛𝜃𝐴𝐵
−0.2𝑠𝑖𝑛𝜃𝐴𝐵 𝜔𝐴𝐵 𝑖Ƹ 0.2𝑐𝑜𝑠𝜃𝐴𝐵 𝜔𝐴𝐵 𝑗Ƹ

Engr. Mech. for ISE - 03 2016 - 43

 𝜔𝐴𝐵 = 10 𝑟𝑎𝑑
𝑠
𝑘෠ 𝜃𝐴𝐵 = 𝜔𝐴𝐵 𝑡
Solution (cont.) 𝑣Ԧ𝐶 = 𝜔𝐴𝐵 × 𝑟Ԧ𝐵ൗ − 𝜔𝐶𝐵 × 𝑟Ԧ𝐵ൗ y y
𝐴 𝐶 𝜃𝐶𝐵
x x
𝐾1 = 𝑐𝑜𝑠𝜃𝐴𝐵 + 0.2 𝑣𝐶 𝜔𝐴𝐵
0.2𝑐𝑜𝑠𝜃𝐴𝐵 + 0.2
𝐾2 = 0.2 2 𝑠𝑖𝑛 𝑐𝑜𝑠 −1
0.2 2

𝑣Ԧ𝐶 = 𝑣𝐶 𝑗Ƹ
−𝐾2 𝜔𝐶𝐵 𝑖Ƹ + 𝐾1 𝜔𝐶𝐵 𝑗Ƹ
−0.2𝑠𝑖𝑛𝜃𝐴𝐵 𝜔𝐴𝐵 𝑖Ƹ + 0.2𝑐𝑜𝑠𝜃𝐴𝐵 𝜔𝐴𝐵 𝑗Ƹ

0 = −𝐾2 𝜔𝐶𝐵 −0.2𝑠𝑖𝑛𝜃𝐴𝐵 𝜔𝐴𝐵

𝑣𝐶 = 𝐾1 𝜔𝐶𝐵 + 0.2𝑐𝑜𝑠𝜃𝐴𝐵 𝜔𝐴𝐵

−0.2𝑠𝑖𝑛𝜃𝐴𝐵 𝜔𝐴𝐵
𝜔𝐶𝐵 = Find: Plot of v versus t
𝐾2 and vC(max)
−𝐾1 0.2𝑠𝑖𝑛𝜃𝐴𝐵 𝜔𝐴𝐵
𝑣𝐶 = + 0.2𝑐𝑜𝑠𝜃𝐴𝐵 𝜔𝐴𝐵
𝐾2
Engr. Mech. for ISE - 03 2016 - 44
wAB = 10 rad/s
crank 0.2
rod 0.282843
Dt = 0.002
K1 K2
t v wCB qAB acos sin(acos) K2
(s) m/s rad/s Deg Rad sin qAB cosqAB
0.116 -26.0614 -44.8161 66.4631 1.16 0.916803 0.39934 0.59934 0.989482 0.145162 0.144653 0.040914
0.118 -16.8468 -30.3114 67.60902 1.18 0.924606 0.380925 0.580925 0.976461 0.217401 0.215693 0.061007
0.12 -13.0885 -24.563 68.75494 1.2 0.932039 0.362358 0.562358 0.963332 0.271639 0.268311 0.07589
0.122 -10.8855 -21.2874 69.90085 1.22 0.939099 0.343646 0.543646 0.950101 0.317237 0.311942 0.088231
0.124 -9.37981 -19.111 71.04677 1.24 0.945784 0.324796 0.524796 0.936772 0.357506 0.349939 0.098978
0.126 -8.25741 -17.5341 72.19268 1.26 0.95209 0.305817 0.505817 0.923352 0.394075 0.383955 0.108599
0.128 -7.37239 -16.3254 73.3386 1.28 0.958016 0.286715 0.486715 0.909845 0.427886 0.414948 0.117365
0.13 -6.64651 -15.3615 74.48451 1.3 0.963558 0.267499 0.467499 0.896257 0.459539 0.443535 0.125451
0.132 -6.03352 -14.5699 75.63043 1.32 0.968715 0.248175 0.448175 0.882593 0.489446 0.470137 0.132975
0.134 -5.50411 -13.9046 76.77634 1.34 0.973485 0.228753 0.428753 0.868859 0.517903 0.495059 0.140024
0.136 -5.03871 -13.335 77.92226 1.36 0.977865 0.209239 0.409239 0.855061 0.545128 0.518528 0.146662
0.138 -4.62365 -12.8398 79.06818 1.38 0.981854 0.189641 0.389641 0.841203 0.571292 0.540719 0.152939
0.14 -4.24911 -12.4039 80.21409 1.4 0.98545 0.169967 0.369967 0.827292 0.596527 0.561773 0.158893
0.142 -3.90781 -12.0159 81.36001 1.42 0.988652 0.150225 0.350225 0.813332 0.620939 0.5818 0.164558
0.144 -3.59424 -11.6671 82.50592 1.44 0.991458 0.130424 0.330424 0.79933 0.644616 0.600892 0.169958
0.146 -3.30414 -11.351 83.65184 1.46 0.993868 0.11057 0.31057 0.785291 0.66763 0.619126 0.175115
0.148 -3.03417 -11.0624 84.79775 1.48 0.995881 0.090672 0.290672 0.771221 0.690039 0.636567 0.180048
0.15 -2.78168 -10.797 85.94367 1.5 0.997495 0.070737 0.270737 0.757126 0.711895 0.653269 0.184772
Kinematics of Rigid Bodies
Translation
Rotation about a Fixed Axis
Absolute Motion Analysis
Relative-Motion Analysis Using Translating Axes
Velocity
Instantaneous Center of Zero Velocity
Acceleration
Linkage Kinematics
 Instantaneous Center of Zero
Velocity
The velocity of any point B located on a rigid body can be
obtained in a very direct way by choosing the base point A to
be a point that has zero velocity at the instant considered. In
this case vA = 0, and therefore the velocity equation, vB = vA
+ w X rB/A , becomes vB = vA + w X rB/A . For a body having
general plane motion, point A so chosen is called the axis of
zero velocity.
 IC: Dynamics Approach
Dynamics Approach to Locating the IC’s
Basis: The position vector extending from the IC to a point
is always perpendicular to the velocity of the point.

Three Cases (Different known quantities in each case.)

A. The velocity of a point and the angular velocity of the
body
B. The lines of action of two non-parallel velocities
C. The magnitude and direction of two parallel velocities
IC: Dynamics Approach (cont.)

Case A. The velocity of a point and the angular velocity of

the body are known, i.e., vP and w are known.

The IC is located along the line drawn perpendicular to

velocity, such that the distance from the
 point, whose
velocity is known, to the IC is rP  vP
IC
w
IC: Dynamics Approach, Case A (cont.)

IC

1.5 m

w vB

Example

vB  3 m s @120 and w  2 rad s

vB 3 ms
rB IC    1.5 m
w 2 s
rad
IC: Dynamics Approach (cont.)

Case B. The lines of action of two non-parallel velocities

 
are known, i.e., the directions of vP and vQ
are known but the magnitudes are not.

The IC is located at the intersection of the two lines each

drawn perpendicular to one line of action of the non-
parallel velocities .
IC: Dynamics Approach, Case B (cont.)
Example
 
v A and vB


vA
IC


w vB
IC: Dynamics Approach (cont.)

Case C. The magnitude and direction of two parallel

velocities are known.

There are possibilities:

From proportional
C-1: Parallel lines of C-2: Parallel lines of triangles:
action, opposite sense action, same sense vA
v A  w rA IC  w 
A rA IC

vA vB  w rB IC  w 
vB

w w  A rB IC
vA vA v
  B
  B rA IC rB IC
B
vB vB
 vA 
or rA IC  rB IC  
 vB  53
IC: Dynamics Approach: Case C (cont.)
C-1: Parallel lines of action, opposite sense
For a known distance, d, between the points A and B,
 rA IC  rB IC  d  rB IC  d  rA IC
vA
 vA 
A
Recall : rA IC  rB IC  
rA/IC
 vB 
d w IC
 
 vA 
rA IC  d  rA IC  
 vB 
vB rA IC  v A d  rA IC v A
vB rA IC  rA IC v A  v A d
B
 rA IC v A  vB   v A d
vB
vAd
rA IC 
v A  vB
IC: Dynamics Approach: Case C (cont.)
C-2: Parallel lines of action, same sense

IC rB IC  rA IC  d  rB IC  d  rA IC
 vA 
w rA/IC rA IC  rB IC  
 vB 
 A
vA
 B rA IC  
 vA 
 d  rA IC  
d
vB  vB 
vB rA IC  v A d  rA IC v A
vB rA IC  rA IC v A  v A d
rA IC vB  v A   v A d
vAd
rA IC 
vB  v A
IC: Dynamics Approach: Case C (cont.)
Special Motion: Translation, no rotation
vAd
rA IC  vAd
v A  vB 
vA rA IC 
vB  v A IC
A
rA/I
w rA/IC
w
C

d
IC
vA A

d vB B

B
 v A  vB
vB   v A vB
vAd vAd
v Ad v Ad rA IC  
rA IC   vB   vB 0
v A   v A  0
rA IC  
rA IC  
IC: Dynamics Approach (cont.)
Examples

Slider-crank

57
Example
Block D shown moves
with a speed of 3 m/s.
Determine the angular
velocities of links BD
and AB, at the instant
shown.
Given: vD = 3 m/s
Dimensions shown

Find: (a) wBD and (b) wAB at this instant.

Approach: Use instant centers

Engr. Mech. for ISE - 03 2016 - 58

 Solution
Find: (a) wBD

Find: (b) wAB

Engr. Mech. for ISE - 03 2016 - 59

Kinematics of Rigid Bodies
Translation
Rotation about a Fixed Axis
Absolute Motion Analysis
Relative-Motion Analysis Using Translating Axes
Velocity
Instantaneous Center of Zero Velocity
Acceleration
Relative-Motion Analysis Using Rotating Axes
Linkage Kinematics
Summary of Equations: Kinematics of Rigid Bodies

vB  v A  w  rB A

  
 
aB  a A  a  rB A  w  w  rB A 
Example
The slider block B is
moving with an
acceleration
of 2 ft/s2. At the
instant shown, its aB = 2 ft/s2
velocity is 6 ft/s. vB = 6 ft/s
(a) Determine the
angular acceleration
of the link AB and
(b) the acceleration of point A
at this instant.
Sample Problem 2 (cont.)

Approach: Rigid Body Kinematics,

Planar Motion aB = 2 ft/s2
vB = 6 ft/s
We want to find:
(a)
and a AB
(b)
aA
Our equation is:

   

a A  aB  a AB  rA B  w AB  w AB  rA B 

However, a A , w AB , and
area
all unknowns.
AB
Sample Problem 2 (cont.)

Solution
1. Select a coordinate system. aB = 2 ft/s2
2. Describe the motions qualitatively. vB = 6 ft/s
y
Point C is on rod AC and the ground.
Point B is on Rod AB and the slider x
block.
Point A is on rod AC and Rod AB.

Point C does not move.

Point B on Rod AB and the slider
block must move in rectilinear
translation in the x-direction.
Point A on rod AC must move in pure
circular rotation about C.
 y
Sample Problem 2 (cont.)
x

Note that Point A is moving in pure rotation about aB = 2 ft/s2

C. vB = 6 ft/s
Therefore there are normal (centripetal) and
tangential components to its acceleration.

  
a A  a A( n )  a A( t ) Recall: an  w 2 r
 a A( n )  w AC rA C
2

To find wAC, we could use: vifwewknew

r v A

vA
w AC 
rA C
Sample Problem 2 (cont.)

aB = 2 ft/s2
What about Point A on rod AB? vB = 6 ft/s
Point B cannot rotate about any y
point on rod AB due to the limits
x
on the motion of the slider block.
Point A cannot rotate about any
point on rod AB due to the limits B
on its motion by AC. vB
Therefore, Point A and Point B on
rod AB have the same velocity: A
vA = vB
vA

Note: this also means that wAB = 0.

 y
Sample Problem 2 (cont.)
x

vB aB = 2 ft/s2
vB = 6 ft/s

vA vA = vB= 6 ft/s
6 fts
w AC   2 rads
rA C   3ft  ˆj 3 ft
Which direction? w AC  2 rads kˆ
Now, a A( n )  w AC rA C  2 rad 2
 3 ft   12 sft
2
s 2

Which direction? By inspection:  

a A( n )  12 sft2 ˆj
  
a A  a A( n )  a A( t )
 y
Sample Problem 2 (cont.)
x
Alternatively:

Recall, w AC rA C  w AC  w AC  rA C
2
  aB = 2 ft/s2
vB = 6 ft/s

w AC  2kˆ rA C  3 ˆj
iˆ ˆj kˆ iˆ ˆj kˆ iˆ ˆj
w AC  rA C   0 0 2  0 0 2 0 0  0   6iˆ  6iˆ  
0 3 0 0 3 0 0 3
 6iˆ

iˆ ˆj kˆ iˆ ˆj kˆ iˆ ˆj

w AC  w AC  r A
C
  0 0 2  0 0 2 0 0  12 ˆj  0  12 ˆj
6 0 0 6 0 06 0
12 ĵ
 y
Sample Problem 2 (cont.)

 
x
a A( n )  12 sft2 ˆj
aB = 2 ft/s2
   vB = 6 ft/s
a A  a A( n )  a A( t )
  ˆ
 a A  a A(t )i  12 ˆj
0
   

a A  aB  a AB  rA B  w AB  w AB  rA B 
a AB
rA  4iˆ  3 ˆj aB
B

aA(n)
Assume a direction for a AB
Positive.

a AB  a AB kˆ
aA(t)
 y
Sample Problem 2 (cont.)

a A  a A(t )iˆ  12 ˆj
x

 aB = 2 ft/s2
aB  2iˆ vB = 6 ft/s

rA  4iˆ  3 ˆj
 B
  
a AB  a AB kˆ a A  aB  a AB  rA B

One equation, two unknowns?

One 2-D vector equation = two linear equations.

Find: a AB  rand
A
B
then write the linear equations.

iˆ ˆj kˆ iˆ ˆj kˆ iˆ ˆj
a AB 

rA
B
  0 0 a AB  0 0 a AB 0 0  4a AB ˆj   3a AB iˆ
4 3 0 4 3 0 4 3  3a AB iˆ  4a AB ˆj
 3a AB iˆ  4a AB ˆj
 y
Sample Problem 2 (cont.)
 x
a A  a A(t )iˆ  12 ˆj
 aB = 2 ft/s2
aB  2iˆ vB = 6 ft/s
 
a AB  r  3a AB iˆ  4a AB ˆj
A
B

  
a A  aB  a AB  rA B
One 2-D vector equation a A(t )iˆ  12 ˆj  2iˆ  3a AB iˆ  4a AB ˆj
Two linear equations iˆ : a A(t )  2  3a AB
ˆj : 12  4a AB
12
a AB   3
4

a A(t )  2  3a AB  2  3 3  7


a AB   3 rad
s
ˆ
2 k 
 y
Sample Problem 2 (cont.)
x

a A(t )  7iˆ aB = 2 ft/s2


Recall : a A( n )  12 sft2 ˆj  vB = 6 ft/s

  
  
a A  a A(t )  a A( n )   7 sft2 iˆ  12 sft2 ˆj 

aA  a   a 
A( t )
2
A( n )
2
  7   12
2 2

 13.9 sft2
q  60  180  120
1  12 
+12
q  tan    60 Really? 60°
 7
-7

a AB   3 rad 
  ˆ
a A  13.9 sft2 @ 120 s 2k
Kinematics of Rigid Bodies
Translation
Rotation about a Fixed Axis
Absolute Motion Analysis
Relative-Motion Analysis Using Translating Axes
Velocity
Instantaneous Center of Zero Velocity
Acceleration
Relative-Motion Analysis Using Rotating Axes
Linkage Kinematics
Relative-Motion Analysis
Using Rotating Axes
Position

Velocity
Acceleration
Coriolis Acceleration
 Example
Rod AB rotates clockwise such
that it has an angular velocity
wAB = 3 rad/s and angular
acceleration aAB = 4 rad/s2
when q = 45°. Determine the
angular motion of rod DE at
this instant.
The collar at C is pin connected
to AB and slides over rod DE.
Given: wAB = 3 rad/s Find: (a) wDE and (b) aDE
aAB = 4 rad/s2
Approach: rotating coordinate system equations
𝑣𝐶 = 𝑣𝐷 + Ω × 𝑟𝐶ൗ + 𝑣𝐶ൗ
𝐷 𝐷 𝑥𝑦𝑧
𝑎𝐶 = 𝑎𝐷 + Ωሶ × 𝑟𝐶ൗ + Ω × Ω × 𝑟𝐶ൗ + 2Ω × 𝑣𝐶ൗ + 𝑎𝐶ൗ
𝐷 𝐷 𝐷 𝑥𝑦𝑧 𝐷 𝑥𝑦𝑧
Engr. Mech. for ISE - 03 2016 - 84
 Solution 𝑣𝐶 = 𝑣𝐷 + Ω × 𝑟𝐶ൗ + 𝑣𝐶ൗ
𝐷 𝐷 𝑥𝑦𝑧 y
Find: (a) wDE x

There is a pin at C holding the collar to AB. The motion of C is pure

rotation, therefore: 𝑣𝐶 = 𝑣𝐴0+ 𝜔𝐴𝐵 × 𝑟𝐶ൗ = −3 ෠ × 0.4𝑖Ƹ + 0.4𝑗Ƹ
𝑘
𝐴
= 1.2𝑖Ƹ − 1.2𝑗Ƹ
2
𝑎𝐶 = 𝛼Ԧ𝐴𝐵 × 𝑟Ԧ𝐶ൗ − 𝜔𝐴𝐵 𝑟Ԧ𝐶ൗ
𝐴 𝐴
= −4𝑘෠ × 0.4𝑖Ƹ + 0.4𝑗Ƹ − −3 2 0.4𝑖Ƹ + 0.4𝑗Ƹ
= 1.6𝑖Ƹ − 1.6𝑗Ƹ − 3.6𝑖Ƹ + 3.6𝑗Ƹ = −2.0𝑖Ƹ − 5.2𝑗Ƹ
Engr. Mech. for ISE - 03 2016 - 85
 Solution (cont.) Find: (a) wDE
y
x

𝑣𝐶 = 1.2𝑖Ƹ − 1.2𝑗Ƹ
𝑎𝐶 = −2.0𝑖Ƹ − 5.2𝑗Ƹ
0
𝑣𝐶 = 𝑣𝐷 + Ω × 𝑟𝐶ൗ + 𝑣𝐶ൗ
𝐷 𝐷 𝑥𝑦𝑧

𝑎𝐶 = 𝑎𝐷 + Ωሶ × 𝑟𝐶ൗ + Ω × Ω × 𝑟𝐶ൗ + 2Ω × 𝑣𝐶ൗ + 𝑎𝐶ൗ

𝐷 𝐷 𝐷 𝑥𝑦𝑧 𝐷 𝑥𝑦𝑧

1.2𝑖Ƹ − 1.2𝑗Ƹ = −𝜔𝐷𝐸 𝑘෠ × 0.4𝑖Ƹ + 𝑣𝐶ൗ 𝑖Ƹ 1.2𝑖Ƹ = 𝑣𝐶ൗ 𝑖Ƹ

𝐷 𝑥𝑦𝑧 𝐷 𝑥𝑦𝑧

= −0.4𝜔𝐷𝐸 𝑗Ƹ + 𝑣𝐶ൗ 𝑖Ƹ −1.2𝑗Ƹ = −0.4𝜔𝐷𝐸 𝑗Ƹ

𝐷 𝑥𝑦𝑧

𝑣𝐶ൗ = 1.2𝑚
𝑠
𝐷 𝑥𝑦𝑧
−1.2
𝜔𝐷𝐸 = = 3𝑟𝑎𝑑
𝑠
Engr. Mech. for ISE - 03 2016 - 86 −0.4
 Solution (cont.) Find: (b) aDE
y
x

𝑣𝐶ൗ = 1.2𝑚
𝑠
𝐷 𝑥𝑦𝑧
−3𝑟𝑎𝑑
𝑠

𝑣𝐶 = 1.2𝑖Ƹ − 1.2𝑗Ƹ 𝑎𝐶 = −2.0𝑖Ƹ − 5.2𝑗Ƹ

0
𝑎𝐶 = 𝑎𝐷 + Ωሶ × 𝑟𝐶ൗ + Ω × Ω × 𝑟𝐶ൗ + 2Ω × 𝑣𝐶ൗ + 𝑎𝐶ൗ
𝐷 𝐷 𝐷 𝑥𝑦𝑧 𝐷 𝑥𝑦𝑧

−2.0𝑖Ƹ − 5.2𝑗Ƹ = −𝛼𝐷𝐸 𝑘෠ × 0.4𝑖Ƹ + −3𝑘෠ × −3𝑘෠ × 0.4𝑖Ƹ + 2 −3𝑘෠ × 1.2𝑖Ƹ + 𝑎𝐶ൗ 𝑖Ƹ
𝐷 𝑥𝑦𝑧
−0.4𝛼𝐷𝐸 𝑗Ƹ 𝑖Ƹ 𝑗Ƹ 𝑘෠ 𝑖Ƹ 𝑗Ƹ 𝑖Ƹ 𝑗Ƹ 𝑘෠
0 0 −3 0 0 0 0 −6
0.4 0 0 0.4 0 1.2 0 0

−1.2𝑗Ƹ −7.2𝑗Ƹ
𝑖Ƹ 𝑗Ƹ 𝑘෠ 𝑖Ƹ 𝑗Ƹ
0 0 −3 0 0
0 −1.2 0 0 0
Engr. Mech. for ISE - 03 2016 - 87
−3.6𝑖Ƹ
 Solution (cont.) Find: (b) aDE
y
−2.0𝑖Ƹ − 5.2𝑗Ƹ = −0.4𝛼𝐷𝐸 𝑗Ƹ − 3.6𝑖Ƹ − 7.2𝑗Ƹ + 𝑎𝐶ൗ 𝑖Ƹ x
𝐷 𝑥𝑦𝑧

x-direction
−2.0 = −3.6 + 𝑎𝐶ൗ
𝐷 𝑥𝑦𝑧

𝑎𝐶ൗ = 1.6𝑠𝑚2
𝐷 𝑥𝑦𝑧

y-direction
−5.2 = −0.4𝛼𝐷𝐸 − 7.2

−5.2 + 7.2
𝛼𝐷𝐸 = = −5𝑟𝑎𝑑
𝑠2
−0.4

Engr. Mech. for ISE - 03 2016 - 88

Kinematics of Rigid Bodies
Translation
Rotation about a Fixed Axis
Absolute Motion Analysis
Relative-Motion Analysis Using Translating Axes
Velocity
Instantaneous Center of Zero Velocity
Acceleration
Relative-Motion Analysis Using Rotating Axes
Linkage Kinematics
Linkage Kinematic Analysis

Algebraic Solution
Vector Loop Method

Position Analysis
Velocity Analysis
Acceleration Analysis
 Goal
Find the dynamic forces acting on the moving parts of the
mechanism so that the components are properly sized.
Need to know forces to calculate stresses, s (solid
mechanics).
Need to know stresses to select type of material and size of
components (design).
 
Kinetics F a Kinematics

 
Newtonian approach:
a  F  s  Design Selection
Energy methods approach:

v  Kinetic Energy  Design Selection
 
 d x (t )
Analysis (cont.)
2
To get to acceleration, a  2
dt

 d x (t )
v
dt

x (t ) start with position
(displacement).
 Linkages
Y y R3
Fourbar Pin-jointed q3 B
b R4
Linkage A
x
R2 a c q4
q2 d
O2 X
R1 O4

Y B
R3
Fourbar Slider-crank A b
Linkage R2 a
q2
O2
 Y B
Fourbar
Inverted Slider- A

crank Linkage O2 q2
O4 X
 Position Analysis
 1. Algebraic Position Analysis
2. Vector Loop Position Analysis
Review of Algebra of Complex Numbers
Fourbar Pin-jointed Linkage
Fourbar Slider-crank Linkage
Normally given:
Lengths of each link.
Position (angle, q) of input link.
Rotational velocity (w) of input link.
Rotational tangential acceleration (a) of
input link.
 1. Algebraic Position Analysis
Use geometric relationships to derive equations for the
values of q3 and q4 in terms of the lengths and q2.

y
Y 3 x
q3 B
A x 4
2 q4
q2
O2 O4 X
 Vector Loop Representation of Linkages
Concept: Links as position vectors. Note: q1 is
y from R1 to
Y R3 the X-axis.
q3 B
R4
A x
R2 q4
q2
O2 O4 X
R1
Vector Loop Equation: q2 is input angle that has
    known values.
R1  R4  R2  R3 Solve equation for q3
and q4 in terms of q2.
 j
Imaginary
Review of Algebra A
of Complex R RA
j R sinq
Numbers q
Real
R cosq
Representation of vectors:
Polar Rectangular
Cartesian Plane Rq R cosq iˆ  R sinq ˆj
jq
Argand Plane Re R cosq  j R sinq
Algebra of Complex Numbers (cont.) j
Imaginary B
NOTE: j  ˆj 
j   1 is a mathematic al
RB  jR
 
operator RC  j R   R
2
q RA
ˆj and iˆ are unit vecto rs
C A
 Real
The j operator: RD  j R
3

Multiplication of RA by j results in a   jR D
rotation of 90° counter-clockwise.
Multiplication of RB by j results in another rotation of 90° counter-
clockwise. This is equivalent to multiplication of RA by j2 (j2 = 1).
Multiplication of RC by j results in 90° counter-clockwise rotation.
This is equivalent to multiplication of RA by j3 (j3 =  j).
Multiplication of RD by j results in 90° counter-clockwise rotation.
This is equivalent to multiplication of RA by j4 (j4 = 1).
Algebra of Complex Numbers (cont.) j
Imaginary

The Euler Identity: A

j R sinq RA
 jq q
e  cosq  j sinq Real
R cosq

Notice that the natural log function is easily

differentiated and integrated:

de    je
jq
jq

dq
 Position Analysis
Fourbar Pin-jointed Linkage
Analysis of Fourbar Pin-jointed Linkage
y R3 Note: q1 is
Y
from R1 to
q3 b
B
R4
A the X-axis.
x
R2 a c q4
q2 d
O2 O4 X
R1
Preliminaries:
1. All angles are measured at the base of the position vectors.
2. The X (real) axis is along the ground link, that is, Link 1.
3. The Origin of the global coordinate system is taken at one of
the joints to ground.
Fourbar Pin-jointed Linkage (cont.) Y y R3
q3 B R4
A b
x
Write the vector loop R2 a c q4
q2 d
equation
O2 O4 X
(three variations): R1

1. In terms of links:
   
2. In terms of pivot points:* RA  RB  RB  RO  0
4
O A O 2 4 O2

jq 2 jq 3 jq 4 jq1
3. In complex notation: ae  be  ce  de 0
* For simplification, the second subscript    
is commonly dropped if the referent is the RA  RB A  RB O  RO4  0
4
Origin of the global coordinate system:
Three Coordinate Systems
Y y
1. Global (X,Y)
(usually
identified by
capital letters)
w x

2. Local, non- q
rotating (x, y) X
O1

3. Local, rotating (x′, y′)

Fourbar Pin-jointed Linkage (cont.) Y y R3
q3 B R4
A b
x
R2 a c q4
Using the complex q2 d
notation form of the O2
R1 O4 X
equation:
jq 2 jq 3 jq 4 jq1
ae  be  ce  de 0
The lengths (a, b, c, d) of the links (scalar magnitudes of the vectors)
are known.
Of the remaining four variables (q1, q2, q3, q4),
q1 is always zero. Recall: X-axis is along ground (Link 1).
q2 is the independent variable: input.
Thus, we have two unknowns and two independent linear equations:
q3 = f1 (a, b, c, d, q1 , q2) and q4 = f2 (a, b, c, d, q1 , q2)
Fourbar Pin-jointed Linkage (cont.) Y y R3
q3 B R4
Solution: A
x
b
jq 2 jq 3 jq 4 jq1
R2 a c q4
ae  be  ce  de 0 q2 d
O2 O4 X
Rewrite using the Euler R1

Identities:
0  ae jq 2  be jq 3  ce jq 4  de jq1 
acosq 2  j sin q 2   bcosq 3  j sinq 3  1 0
0 0
ccosq 4  j sinq 4   d cosq1  j sinq1 
Recall: q1 = 0 cos q1 = cos 0 = 1 sin q1 = sin 0 = 0
0  acosq 2  j sinq 2   bcosq 3  j sinq 3   ccosq 4  j sinq 4   d
Separate into real and imaginary parts:
0  a cosq 2  b cosq 3  c cosq 4  d
0  aj sinq 2  bj sinq 3  cj sinq 4
 4bar Pin-jointed Solution (cont.) Y y R3
q3 B
1) 0  a cosq
2  b cosq 3  c cosq 4  d
b R4
A
x
2) 0  a sinq 2  b sinq 3  c sinq 4
R2 a c q4
q2 d X
O2 O4
R1

From (1): b cosq 3  a cosq 2  c cosq 4  d (3)

From (2): b sinq 3  a sinq 2  c sinq 4 (4)

Square (3) : b 2 cos 2 q   a cosq  c cosq  d 2 (5)

3 2 4
Square (4): b 2 sin 2 q   a sinq  c sinq 2 (6)
3 2 4

1 Eliminates q3
Add (5) and (6):

 
b 2 sin 2 q 3  cos 2 q 3   a cosq 2  c cosq 4  d    a sinq 2  c sinq 4 
2 2

b 2   a cosq 2  c cosq 4  d    a sinq 2  c sinq 4 

2 2
(7)
Solve (7) for q4
 4bar Pin-jointed Solution (cont.) Y y R3
q3 B R4
A b
(7) x
R2 a c q4
q2 d X
O2 O4
R1

(8) b 2  a 2  c 2  2ad cosq 2  2cd cosq 4

2ac cosq 2  q 4   d 2

0  a 2  b 2  c 2  d 2  2ad cosq 2  2cd cosq 4  2ac cosq 2  q 4 

 a 2  b 2  c 2  d 2  d cosq 2 d cosq 4
(9) 0       cosq 2  q 4 
 2ac  c a
 4bar Pin-jointed Solution (cont.) Y y R3
q3 B R4
 a b c  d 
2 2 2 2 A b
9) 0    R2 a
x
c q4
 2ac  q2 d X
d cosq 2 d cosq 4 O2
  R1 O4
c a
 cosq 2  q 4 
d d
Define the constants: K1  K2 
a c
a2  b2  c2  d 2
K3 
2ac

Write (9) using these constants:

cosq 2  q 4   K3  K 2 cosq 2  K1 cosq 4

4bar Pin-jointed Solution (cont.) Y y R3
q3 B R4
A b
x
R2 a c q4
q2 d X
O2 O4
R1

cosq 2  q 4   K3  K 2 cosq 2  K1 cosq 4 (10)

Equation (10) is “Freudenstein’s Equation.”

 Ferdinand Freudenstein

http://books.google.com/books
 4bar Pin-jointed Solution (cont.) Y y R3
q3 B
cos q 2  q 4 
10) b R4
A
x
 K 3  K 2 cosq 2  K1 cosq 4
R2 a c q4
q2 d X
O2 O4
R1
Equation (10) is “Freudenstein’s Equation.”

The solution to Freudenstein’s Equation is:


  B  B 2
 4 AC 
q 41, 2  2 tan 
1

 2A 
where : A  cosq 2  K1  K 2 cosq 2  K 3
B  2 sin q 2
C  K1  K 2  1 cosq 2  K 3
 4bar Pin-jointed Solution (cont.) Y y R3
q3 B R4
  B  B  4 AC 2 A
x
b
q4 1
 2 tan  
R2 a
q2
c q4
 2A 
1, 2
O2 d X
R1 O4
Discussion:
The two subscripts (1, 2) on q 41, 2 indicate the two possible solutions
to the quadratic formula.
Recall that a quadratic equation has three possible types of solution
as determined by the discriminant:
1. Real and equal B 2  4 AC  0
2. Real and unequal B 2  4 AC  0
3. Complex conjugates B 2  4 AC  0
For complex conjugate result: Either (a) the value of q2 is beyond
the toggle position in a non-Grashof linkage, or (b) the links are not
long enough in any position.
4bar Pin-jointed Solution (cont.) Y y R3
q3 B R4
A b
B 2  4 AC  0 R2 a
x
c q4
q2 d
O2 X
R1 O4
For real and unequal result, there are two values of q4
corresponding to one value of q2 .
These are called "configurations" of the circuit
Crossed configuration

 B 2  4 AC
Open configuration

 B 2  4 AC
4bar Pin-jointed Solution (cont.) Y y R3
q3 B R4
Now solve for q3 A
x
b

Repeat from Eqns. (3) and (4).

R2 a c q4
q2 d X
c cosq 4  a cosq 2  b cosq 3  d O2 O4
R1
c sinq 4  a sinq 2  b sinq 3


  E  E 2
 4 DF 
q 31, 2  2 tan 
1

 2D 
where : D  cosq 2  K1  K 4 cosq 2  K 5
E  B  2 sin q 2
F  K1  K 4  1 cosq 2  K 5
d d c2  d 2  a2  b2
Recall : K1  K4  and K5 
a b 2ab
4bar Pin-jointed Linkage (cont.) Y y R3
q3 B R4
A b
Summary x
R2 a c q4
q2 d X
O2 O4
R1

  B  B 2  4 AC  d d
q 41, 2  2 tan 
1
 K1  K2 
 2A  a c
where : A  cosq 2  K1  K 2 cosq 2  K 3 a2  b2  c2  d 2
K3 
B  2 sin q 2 2ac
C  K1  K 2  1 cosq 2  K 3
4bar Pin-jointed Linkage (cont.) Excel

Sample Calculations
Input link length: 55 Ground length: 27
Coupler length: 45 Rocker length: 45
a
K1 0.6 K2 0.4909
K3 0.75838 K4 0.6
K5 -0.7584
Open Crossed
q2 A B C D E F q3 q4 q3 q4
0 0.667 0.000 -0.133 0.242 0.000 -1.758 139.322 48.034 -139.322 -48.034
1 0.667 -0.035 -0.132 0.241 -0.035 -1.758 140.328 50.548 -138.328 -45.550
2 0.667 -0.070 -0.132 0.241 -0.070 -1.757 141.347 53.088 -137.346 -43.100
3 0.667 -0.105 -0.130 0.239 -0.105 -1.756 142.379 55.647 -136.374 -40.688
355 0.666 0.174 -0.127 0.236 0.174 -1.752 134.463 35.992 -144.486 -60.805
356 0.666 0.140 -0.129 0.238 0.140 -1.754 135.414 38.318 -143.425 -58.222
357 0.667 0.105 -0.130 0.239 0.105 -1.756 136.374 40.688 -142.379 -55.647
358 0.667 0.070 -0.132 0.241 0.070 -1.757 137.346 43.100 -141.347 -53.088
359 0.667 0.035 -0.132 0.241 0.035 -1.758 138.328 45.550 -140.328 -50.548
360 0.667 0.000 -0.133 0.242 0.000 -1.758 139.322 48.034 -139.322 -48.034
 Theta 3

q3 180

140

100

60

20

-20 0 90 180 270 360 450 540 630 720

q2
-60

-100

-140

-180

One revolution One revolution

Fourbar Slider-crank Linkage
 Analysis of Fourbar Slider-crank Linkage
Preliminaries q3 y
B
Only three Y R3 x
vectors (R2, R3,
Rs) are really A b R4
needed for R2 a c
Rs
representation q2 d X
when X-axis is O
2
along ground. R1
But Rs varies in both angle and length. Use four vectors (R1, R2, R3,
R4) with X-axis parallel to the axis along which the slider moves.

R4 is the offset of the slider to ground As previously, q1  0

R4  c
Note: Now q4 is a constant, but d is not. It is an unknown.
q 4  90
Fourbar Slider-crank (cont.) q3 y
B
Y R3 x
A b R4
R2 a c
O2
q2 d
Solution Procedure X
R1

1. Write the vector loop equation.

2. Write in complex number notation.
3. Substitute the Euler Identities.
4. Separate Real and Imaginary parts.
5. Solve simultaneous equations.
4bar Slider-crank Solution (cont.) q3 y
B
Y R3 x
1. Write the vector loop equation.
    A b R4

R2  R3  R4  R1  0 R2
O2
a
q2 d
c
X
R1
2. Write in complex number notation.
jq 2 jq 3 jq 4 jq1
ae  be  ce  de 0
3. Substitute the Euler Identities.

0  acosq 2  j sin q 2   bcosq 3  j sinq 3 

0 1 1 0
ccosq 4  j sinq 4   d cosq1  j sinq1 
q 4  90 sinq 4  1, cosq 4  0
q1  0 sinq1  0, cosq1  1
4bar Slider-crank Solution (cont.) q3 y
0  acosq 2  j sinq 2  Y R3
B
x
bcosq 3  j sinq 3   cj  d A b R4
R2 a c
4. Separate Real and Imaginary O2
q2 d X
parts.
R1

Re 0  a cosq 2  b cosq 3  d
Im 0  aj sinq 2  bj sinq 3  cj 0  a sinq 2  b sinq 3  c

5. Solve simultaneous equations.

From Im:
a sinq 2  c 1  a sin q 2  c 
b sinq 3  a sinq 2  c sinq 3  q 31  sin  
b  b 
 1   a sin q 2  c  
q 32  sin      p
   b  
4bar Slider-crank Solution (cont.) q3 y
Re 0  a cosq 2  b cosq 3  d Y R3
B
x
A b R4
5 (cont.). Solve equations. R2 a c
O2
q2 d
From Re: X

d  a cosq 2  b cosq 3 R1
4bar Slider-crank Solution (cont.) q3 y
Summary Y R3
B
x
 a sinq 2  c  A b
q 31  sin 
1
 R2 a c
R4
 b  q2
O2 d
 1   a sin q 2  c   X
q 32  sin      p R1
   b  

d  a cosq 2  b cosq 3
 Velocity Analysis
Vector Loop Velocity Analysis
Fourbar Pin-jointed Linkage
Fourbar Slider-crank Linkage
 Analytical (Vector Loop) Velocity
Solutions
1. Write the vector loop equations. (Same in position analysis.)
2. Put the vector loop equations in complex notation.
3. Use chain rule and take the first time derivative.
4. Solve for the angular velocities, e.g., w3 and w4.
A. Substitute Euler Identity.
B. Separate Re and Im
C. Solve simultaneous equations.
5. Find the linear velocities, e.g., vA and vB.
The time derivative equation from Step 3 is:
  
v A  vB A  vB  0
 Fourbar Pin-jointed Linkage
y R3
Y
q3 B
R4
A b
x
R2 a c q4
q2
d X
O2 O4
R1
   
1. Write the vector loop equations. R2  R3  R1  R4  0
2. Put the vector loop equations in complex notation.
jq 2 jq 3 jq 4 jq1
ae  be  ce  de 0
jq1
Recall: q1  0, de  de  d0

jq 2 jq 3 jq 4
ae  be  ce d  0
4bar Pin-jointed (cont.) Y y R3
q3 B R4
jq 2 jq 3 jq 4
ae  be  ce d  0 A
x
b
R2 a c q4
q2 d X
Note: all the q ’s are O2 O4
R1
functions of time  
 dR dR dq
3. Use chain rule and take the first time derivative. v  
dt dq dt
jq 2 dq jq 3 dq jq 4 dq dq
d
dq
ae  
dt dq
d

be 
dt dq
d
ce  
dt dq
d

d   0
dt
 
jq 2 dq 2 jq 3 dq 3 jq 4 dq 4
jae  jbe  jce 0  0
dt dt dt
dq
w
dt
jaw 2e jq 2  jbw3e jq3  jcw 4e jq 4  0
4bar Pin-jointed (cont.) Y y R3
q3 B R4
A b
x
R2 a c q4
q2 d X
O2 O4
R1

Notice that this is the same equation as the velocity difference

equation from the graphical method:

jq 2 jq 3 jq 4
jaw 2e  jbw3e  jcw 4e 0

  
v A  vB A  vB  0
4bar Pin-jointed (cont.) Y y R3
jaw 2e jq 2  jbw3e jq3  jcw 4e jq 4  0 q3 B R4
A b
x
R2 a c q4
4. Solve for the angular q2 d X
velocities, e.g., w3 and w4. O2
R1 O4

A. Substitute Euler Identity.

Simplify: j2 = 1

B. Separate Re and Im
Re :  aw 2 sinq 2  bw3 sinq 3  cw 4 sinq 4  0
Im : aw 2 cosq 2  bw3 cosq 3  cw 4 cosq 4  0
 4bar Pin-jointed (cont.) Y y R3
q3 B
Re :  aw 2 sinq 2  bw3 sinq 3  cw 4 sinq 4  0 A b R4
x
Im : aw 2 cosq 2  bw3 cosq 3  cw 4 cosq 4  0
R2 a c q4
q2 d X
O2 O4
R1
C. Solve simultaneous equations for w3 and w4.
(Method of Substitution)
 aw 2 sinq 2  cw 4 sinq 4 (1
From Re: w3 
b sinq 3
Substitute into Im:
  aw 2 sinq 2  cw 4 sinq 4 
aw 2 cosq 2  b  cosq 3  cw 4 cosq 4  0
 b sin q 3 
 aw 2 sinq 2 cosq 3  cw 4 sinq 4 cosq 3
 cw 4 cosq 4  aw 2 cosq 2
sinq 3
Separate terms with w4 onto one side:
cw 4 sinq 4 cosq 3 aw sinq 2 cosq 3
 cw 4 cosq 4  aw 2 cosq 2  2
sinq 3 sinq 3
4bar Pin-jointed (cont.) Y y R3
q3 B
cw 4 sin q 4 cosq 3 b R4
 cw 4 cosq 4 A
x
sin q 3 R2 a c q4
q2
aw sin q 2 cosq 3 d X
 aw 2 cosq 2  2 O2
sin q 3 R1 O4

 sin q 4 cosq 3   sin q 2 cosq 3 

cw 4   cosq 4   aw 2   cosq 2 
 sin q 3   sinq 3 

 sin q 4 cosq 3  cosq 4 sin q 3   sin q 2 cosq 3  cosq 2 sin q 3 


cw 4  
  aw 2  
 sin q 3   sin q 3 
aw 2  sin q 2 cosq 3  cosq 2 sin q 3 
w4   
c  sin q 4 cosq 3  cosq 4 sin q 3 
sin a cos   cosa sin   sina   
aw 2  sinq 2  q 3  
w4   
c  sinq 4  q 3  
 4bar Pin-jointed (cont.) Y y R3
q3 B
aw 2  sinq 2  q 3   A b R4
w4    x
c  sinq 4  q 3   R2 a c q4
q2 d X
 aw 2 sinq 2  cw 4 sinq 4
1) w3  O2 O4
b sinq 3 R1

Substitute for w4 in (1) …

4bar Pin-jointed (cont.) Y y R3
q3 B R4
A b
x
5. Find the linear velocities, R2 a c q4
q2 d
e.g., vA and vB. X
   O2 O4
Use v A  vB  vB  0 R1
A

v A  jaw 2e jq 2  jaw 2 cosq 2  j sinq 2   aw 2  sinq 2  j cosq 2 

vB A  jbw 3e jq 3  jbw 3 cosq 3  j sinq 3   bw 3  sinq 3  j cosq 3 

vB  jcw 4e jq 4  jcw 4 cosq 4  j sinq 4   cw 4  sin q 4  j cosq 4 
4bar Pin-jointed (cont.) Y y R3
q3 B R4
A b
Fourbar Pin- x
R a 2 c q4
jointed Linkage q2 d X
Summary of O2
R1 O4
Equations for
Velocity aw 2  sinq 4  q 2  
w3   
b  sinq 3  q 4  

aw 2  sinq 2  q 3  
w4   
c  sinq 4  q 3  

v A  aw 2  sin q 2  j cosq 2 

vB A  bw 3  sin q 3  j cosq 3 

vB  cw 4  sin q 4  j cosq 4 
Fourbar Slider-crank Linkage
q3 y
B
Y R3 x
A b R4
R2
a c
q2
O2 d X
R1

   
R2  R3  R4  R1  0
jaw 2e jq 2  jbw3e jq 3  d  0
  
v A  vB A  vB  0
 q3 y
B
Fourbar Slider- Y R3 x
crank Linkage A b R4
R2 c
Summary of a
q2
O2 d X
Equations for R1
Velocity
a cosq 2
w3  w2
b cosq 3
d  aw 2 sinq 2  bw3 sinq 3

v A  aw 2  sinq 2  j cosq 2 

vB A  bw 3  sinq 3  j cosq 3 
  
vB  v A  vB A  aw 2  sin q 2  j cosq 2   bw 3  sin q 3  j cosq 3 
 Acceleration Analysis
 Acceleration Analysis Using Complex Notation
Analytical (Vector Loop) Acceleration Solutions
Fourbar Pin-jointed Linkage
Fourbar Slider-crank Linkage
 Acceleration Analysis Using Complex Notation
 
 dv d R 2
Two accelerations: Linear: A   2
dt dt  
w  w
dq 2
v

and Angular: a  2
RAO dt dt
Y 2 A  jq
Linear: RA O  ae
2
a
q

O2 X v A O  jwae jq
2

 d  jwae jq 
AAO 
2
dt
Acceleration in Complex Notation (cont.)

d  jwae 
 jq v
AAO  Product Rule w
dt
a
2
Y A

a

w RAO
2
q
O2 X

1

Tangential Normal
Acceleration in Complex Notation (cont.)
v
w
Y A

Tangential Normal a
 t n 
AA O  AA O  AA O RAO
2
q
2 2 2
O2 X
jq jq
 jaae  aw e 2

 jaa cosq  j sin q   aw 2 cosq  j sin q 

 jaa cosq  aa sin q  aw cosq  jaw sin q
2 2

  
 a w 2 cosq  a sin q  ja a cosq  w 2 sin q 
Re Im
 Acceleration Analysis
 Acceleration Analysis Using Complex Notation
Analytical (Vector Loop) Acceleration Solutions
 Fourbar Pin-jointed Linkage
Fourbar Slider-crank Linkage
 Acceleration Analysis: Fourbar
Pin-jointed Mechanism
y R3
Y
q3 B
R4
A b
x
R2 a c q4
q2
d X
O2
R1    O4
1. Write the vector loop equations. R2  R3  R1  R4  0
2. Put the vector loop equations in complex notation.
jq 2 jq 3 jq 4
ae  be  ce d  0
3. Velocity is the first time derivative.
jq 2 jq 3 jq 4
jaw 2e  jbw3e  jcw 4e 0
 4bar Pin-jointed Acceleration (cont.) Y y R3
Velocity: q3 B R4
A b
jaw 2e jq 2  jbw3e jq3  jcw 4e jq 4  0 x
R2 a c q4
4. Differentiate again for q2 d X
acceleration. O2 O4
R1
d
dt
 jq 2
jw 2 ae 
d
dt
jq 3
jw3be 
d
dt
 jq 4
jw 4ce  0    
dw 2 dw dw
dt

jae jq 2  w 2  d
dt
  
jae jq 2  3 jbe jq 3  w 3
dt
d
dt
  
jbe jq 3  4 jce jq 4  w 4
dt
 d
dt
jce jq 4  0   
dq  jq 3 dq 
 
a 2 jae jq 2  w 2 
d

jae jq 2
dt 

 a jbe 
jq 3
 w
d
 dq jbe 
dt 
 a jce jq 4
 
 dq
3 3 4

dq 
 w4 
d

jce jq 4 0
 dq dt 
jaa 2 e jq 2  w 22 j 2 ae jq 2  jba 3e jq 3  w 32 j 2be jq 3  jca 4 e jq 4  w 42 j 2 ce jq 4  0
jq 2 jq 2 jq 3 jq 3 jq 4 jq 4
jaa 2e  w ae
2
2  jba 3e  w be 2
3  jca 4e  w ce 2
4 0
 4bar Pin-jointed Acceleration (cont.) Y y R3
q3 B R4
A b
This is the linear x
R2 a c q4
q2 d
acceleration difference X
O2 O4
equation. R1

 jaa e
2
jq 2
   
 w22 ae jq 2  jba 3e jq3  w32be jq3  jca 4e jq 4  w42ce jq 4  0 

  
AA  AB A  AB  0
t n
 
t n
 
t n
AA  AA  AB A  AB A  AB  AB  0 
4bar Pin-jointed (cont.) Y y R3
q3 B R4
Fourbar Pin- A
x
b

jointed Linkage R2 a c q4
q2 d X
Summary of O2
R1 O4
Equations for
Angular
Acceleration where :
A  c sin q 4
B  b sin q 3
CD  AF
a3  C  aa 2 sin q 2  aw 22 cosq 2  bw 32 cosq 3  cw 42 cosq 4
AE  BD
D  c cosq 4
CE  BF
a4  E  b cosq 3
AE  BD
F  aa 2 cosq 2  aw 22 sin q 2  bw 32 sin q 3  cw 42 sin q 4
4bar Pin-jointed (cont.) Y y R3
q3 B R4
b
Fourbar Pin- A
x
R2 a c q4
jointed Linkage q2 d X
Summary of O2
R1 O4
Equations for
Linear
Acceleration
Tangential Normal

AA  aa 2  sin q 2  j cosq 2   aw 22 cosq 2  j sin q 2 

AB A  ba 3  sin q 3  j cosq 3   bw 32 cosq 3  j sin q 3 

AB  ca 4  sin q 4  j cosq 4   cw 42 cosq 4  j sin q 4 
 Acceleration Analysis
 Acceleration Analysis Using Complex Notation
Analytical (Vector Loop) Velocity Solutions
 Fourbar Pin-jointed Linkage
 Fourbar Slider-crank Linkage
 Acceleration Analysis: Fourbar
Slider-crank Mechanism
q3 y
B
Y R3 x
A b R4
R2
a c
q2
O2 d X
R1
   
R2  R3  R4  R1  0
Acceleration
 jaa e 2
jq 2
  
 aw 22e jq 2  jba 3e jq 3  bw32e jq 3  d  0
  
AA  AB A  AB  0
 q3 y
Fourbar Slider- B
Y R3 x
crank Linkage
A b
Summary of R2 c
R4
a
Equations for O2
q2 d X
Acceleration R1

aa 2 cosq 2  aw 22 sinq 2  bw 32 sinq 3

a3 
b cosq 3
d  aa 2 sinq 2  aw 22 cosq 2  ba 3 sinq 3  bw32 cosq 3
 t n

AA  AA  AA  jaa 2 e jq 2  aw 22 e jq 2 
 t 

AB A  AB A  A B A  jba 3e jq 3  bw 32 e jq 3 
 t
AB  AB  d