Intermediate Dynamics

Relative Kinematics of Two Points Fixed on a Rigid Body

General Concept
Consider the three-dimensional motion of a rigid
body B as shown in the diagram. The points P and Q
represent two points that are fixed in the body. The
velocities and accelerations of P and Q in the reference
frame R are related as follows
R
vP = R vQ + R vP / Q = R vQ + ( R B  r )
and
R
aP = R aQ + R aP / Q = R aQ + ( R B  r ) + R B  ( R B  r )

These equations are easily verified using “the derivative rule” discussed in previous notes.
Derivation
1. The position vector of point P relative to the reference frame R can be written as p = q + r .

Differentiating this equation and using “the derivative rule” gives

R R
dp dq R
dr
R
vP = = +
dt dt dt
B
dr R
= R vQ + + B  r  vP = vQ + vP /Q = vQ + (B  r P /Q )
dt
= R vQ + RB  r
Here,
R
dr R
= vP /Q = RB  r P /Q (velocity of P relative to Q in R, R vP / Q )
dt
2. Differentiating the velocity equation and again using “the derivative rule” gives
R R R
R
aP =
d R
dt
( vP ) =
dt
d R
( vQ ) +
dt
( B  r )
d R

 Rd   R
dr 
= R aQ +  ( R B )  r  +  R B  
 dt   dt 
= R aQ + ( R B  r ) + R B  ( R B  r )

Kamman – Intermediate Dynamics – Relative Kinematics of Two Points Fixed on a Rigid Body – page: 1/2
or
R
aP = R aQ + R aP / Q = R aQ + ( R B  r ) + R B  ( R B  r )

Here R aP / Q is the acceleration of P with respect to Q in R, and by inspection of the above equation,

it is defined to be
R
( vP /Q ) = ( R B  r ) + RB  ( RB  r )
d R
R
aP / Q =
dt
Notes
1. The above formulae may be applied recursively to calculate motions of remote points within
a mechanical system.
2. Calculation of velocities and accelerations does not require differentiation, only
multiplication and addition.

Kamman – Intermediate Dynamics – Relative Kinematics of Two Points Fixed on a Rigid Body – page: 2/2