Absolute Motion

Department of Applied Mathematics

University of Stellenbosch

Monday, February 13, 2012

Applied Math B224 Absolute Motion

Rolling wheel

Applied Math B224 Absolute Motion

Rolling wheel

Equations
s = rθ
vO = rω
aO = rα

Applied Math B224 Absolute Motion

Motion of point on the rim

x-coordinate y-coordinate
x = s − r sin θ = r(θ − sin θ)

Applied Math B224 Absolute Motion

Motion of point on the rim

x-coordinate y-coordinate
x = s − r sin θ = r(θ − sin θ) y = r−r cos θ = r(1−cos θ)

Applied Math B224 Absolute Motion

Motion of point on the rim

x-coordinate y-coordinate
x = s − r sin θ = r(θ − sin θ) y = r−r cos θ = r(1−cos θ)
ẋ = rθ̇(1 − cos θ) ẏ = rθ̇ sin θ
= vO (1 − cos θ) = vO sin θ
ẍ = v̇O (1 − cos θ) + vO θ̇ sin θ ÿ = v̇O sin θ + vO θ̇ cos θ
= aO (1 − cos θ) + rω 2 sin θ = aO sin θ + rω 2 cos θ

Applied Math B224 Absolute Motion

Motion of point on the rim

x-coordinate y-coordinate
x = s − r sin θ = r(θ − sin θ) y = r−r cos θ = r(1−cos θ)
ẋ = rθ̇(1 − cos θ) ẏ = rθ̇ sin θ
= vO (1 − cos θ) = vO sin θ
ẍ = v̇O (1 − cos θ) + vO θ̇ sin θ ÿ = v̇O sin θ + vO θ̇ cos θ
= aO (1 − cos θ) + rω 2 sin θ = aO sin θ + rω 2 cos θ

At the point of contact with the surface

θ=0
ẋ = 0 and ẏ = 0
ẍ = 0 and ÿ = rω 2

Applied Math B224 Absolute Motion

Example 1 - Problem “5/28" - page 348

Question
The wheel rolls without slipping
with an angular velocity ω. By
allowing the wheel to rotate
through a differential angle dθ
during time dt, find the
(magnitude of the) velocity of P
and state it in terms of the
velocity of O.

Applied Math B224 Absolute Motion

Example 2 - Problem 5/35 - page 350

Question
The telephone cable reel is pushed forward without slipping on
the horizontal surface. If point A on the cable has velocity
vA = 0.8 m/s to the right, compute the velocity of the center O.
(Don’t make the mistake of assuming that the reel rolls to the
left.)

Applied Math B224 Absolute Motion

Suggested Exercises

Review
Section 16/4, pages 329-332

Homework
Ex 16-3, Ex 16-4, Pr 16-39, 16-42, Ex 16.5

Applied Math B224 Absolute Motion