Part A: Week 3 – Acceleration analysis of rigid

bodies to rotating axes

(Chapter 5/7 Meriam, Kraige & Bolton)

In cases where particles or members move on a rotating body, it is convenient

to consider:
- the motion of the member relative to a rotating reference frame fixed to the
rotating body, and
- the motion of the moving reference frame (which will, in general, be both rotating
and translating) with respect to a fixed frame.

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 Consider a collar P which slides at a relative speed vrel along a rod OB rotating at an
angular velocity  about O (fixed).

To analyse the motion of point P – a

moving point on a rotating body OB,
B we need to define a reference point
on the rotating body OB.

𝐯𝑃 = 𝐯𝑃′ + 𝐯𝑃Τ𝑃′

𝐚𝑃 = ?

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 In situations such as this we get an extra component of acceleration of the particle which
moves on the rotating body.

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 For example
A person stands on a rotating disk, initially at point 1.

The person has a velocity 𝑣 1 at point 1

v2

𝑣1 = 𝑟1 
2
Now the person moves from position 1 to
position 2 with a velocity of 𝑣 rel

𝑣2 = 𝑟2 

Since 𝑟2 > 𝑟1 , 𝑣2 > 𝑣1 .

The person must experience a component of acceleration in this direction (i.e.,

tangential direction) – “coriolis acceleration component”

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 In cases where particles or members move on a rotating body, two
references need to be defined.

x-y is a rotating reference frame

fixed to the rotating body

X-Y is a fixed frame

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 • General case

Body S is both translating and rotating

Define two reference systems:

A’
- Red coordinate system (x-y) fixed
to Body S
- Fixed reference X-Y

Define two coincident points A & A’:

- Point A moves with respect to Body
S
- Points B and A’ are fixed to Body S

Point A is moving on a rotating body S

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 The position of point A is expressed as:

𝐫𝐴 = 𝐫𝐵 + 𝐫𝐴/𝐵 (1)

A’
Where rA/B = xi+yj = r

Note that the unit vectors i and j are

rotating with the x-y axes.

The velocity of point A is determined using

𝐯𝐴 = 𝐯𝐴′ + 𝐯𝐴/𝐴′

where 𝐯𝐴′ = 𝐯𝐵 + 𝐯𝐴′/𝐵 and 𝐯𝐴/𝐴′ = 𝐯rel

 𝐯𝐴 = 𝐯𝐵 + 𝐯𝐴′/𝐵 + 𝐯rel (2)

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 • Time derivative of relative velocity equation 𝐯𝐴 = 𝐯𝐵 + 𝐯𝐴′/𝐵 + 𝐯rel (2)
𝑑 𝑑
𝐚𝐴 = 𝐚𝐵 + 𝐯𝐴′/𝐵 + 𝐕𝐴/𝐴′
A’ 𝑑𝑡 𝑑𝑡
𝑑 𝑑
= 𝐚𝐵 + 𝑑𝑡
(𝛚 × 𝐫) + 𝑑𝑡
𝐯𝐫𝐞𝐥

𝐚𝐴 = 𝐚𝐵 + 𝛚ሶ × 𝐫 + 𝛚 × 𝐫ሶ + 𝐯ሶ 𝐫𝐞𝐥 (3)

• Reminder from relative velocity

• Substitute and rewrite the third term (𝛚 × 𝐫ሶ )

• Investigate the fourth term (𝐯rel = 𝑥𝐢ሶ + 𝑦𝐣ሶ )

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 𝐚𝐴 = 𝐚𝐵 + 𝛚ሶ × 𝐫 + 𝛚 × 𝐫ሶ + 𝐯ሶ 𝐫𝐞𝐥 (3)

A’
Substitute and collect terms

Physical Interpretation
• The term 𝛚ሶ × r is the tangential component of acceleration
of the coincident point A’ in its circular motion with respect
to B. Its magnitude is r 𝜃ሷ (=rα) and it is directed
perpendicular to r.

• The term ω × (ω × r) is the normal component of

acceleration of the coincident point A’ in its circular motion
with respect to B. Its magnitude is rω2 and it is directed
from A’ toward B.

• Together, the terms 𝛚ሶ × r and ω × (ω × r) are written as

aA’/B.

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 Physical Interpretation (cont.)

• The acceleration of A relative to the plate along the

path, arel, may be expressed in rectangular, normal
and tangential, or polar coordinates in the rotating
system. If n- and t-components are used, these A’
components are depicted in the figure.

• The term 2ω × vrel is the Coriolis acceleration, and

represents the difference between the acceleration of
A relative to A’ as measured from nonrotating axes
and from rotating axes. It is always normal to the
vector vrel and its sense is established by the right-
hand rule for the cross product.

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 The acceleration of point A is:
A’

𝐚𝐴 = 𝐚𝐵 + 𝐚𝐴′/𝐵 + 2𝛚 × 𝐯rel + 𝐚rel

Summary of the terms:

aA : acceleration of point A
aB : acceleration of point B
aA’/B = aA’/Bn + aA’/Bt represents the acceleration of the coincident point
A’ in its circular motion with respect to point B
arel : acceleration of point A relative to the plate along the path

2𝛚 × 𝐯rel = 2ω 𝐯A/A’ = 𝐚cor : Coriolis acceleration

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 𝐚𝐴 = 𝐚𝐵 + 𝐚𝐴′/𝐵 + 𝐚cor + 𝐚rel

If the point of rotation is fixed (eg, A’

point B is fixed), then aB = 0

aA’

In this equation, point A’ must be selected as

the point on the body coincident with A at
the instant of analysis.

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 Consider a collar P which slides at a relative speed vrel along a rod OB rotating at an
angular velocity  about O (fixed).

To analyse the motion of point P – a

moving point on a rotating body OB,
B we need to define a reference point
on the rotating body OB.

𝐯𝑃 = 𝐯𝑃′ + 𝐯𝑃Τ𝑃′

𝐚𝑃 = 𝐚𝑃′ + 𝐚cor + 𝐚rel

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 Example 1
The collar P slides from A towards B along a semi-circular rod AB of radius 200 mm.
The rod rotates about the pin at A, and the speed of the collar P relative to the rod is
constant at 120 mm/s. When the system is in the position shown, the angular velocity
of the rod is AB = 0.8 rad/s counter clockwise and the angular acceleration of the rod
AB = 0.5 rad/s2 clockwise. Determine the acceleration of P at the instant shown.

constant

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 Example 2
Water entering the curved pipe at A is discharged at D. The pipe is rotating about A
at the constant angular velocity ɷ = 10 rad/s, and the water has a constant speed of
3.6 m/s relative to the pipe. Determine the acceleration of the water when it travels
to the midpoint of the curved pipe, that is, at point E.

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 Example 3
At the instant shown bar AB has a constant angular velocity of 3 rad/s in the
clockwise direction.

(a) Using relative velocity analysis, determine the angular velocity (magnitude and
direction) of the plate rotating about point C and the velocity (magnitude and
direction) of point B relative to the plate at the instant shown.
(b) Find the angular acceleration of the plate and the acceleration of point B relative
to the plate at the instant shown.

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 Example 4
For the Geneva mechanism shown below, the driving disk (link 2) rotates with a
constant angular velocity ω2 = 10 rad/s. Find the angular acceleration of link 3 and
the velocity of the pin relative to link 3.

 = 30
O2A = 50 mm
O2O3 = 70.7 mm

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