ITESM Campus Cd.

Juárez

Chapter 16: Planar

Kinematics of a Rigid Body
PART III
Dr. Humberto García
División de Profesional
jhg@itesm.mx EXT 2810
Oficina: 3er piso AULAS III 1
Part III Objectives
RELATIVE VELOCITIES AND ACCELERATIONS

For 2D RB rotation
RELATIVE VELOCITIES AND ACCELERATIONS

For 2D rotation
𝑽𝟐 = 𝑽𝟏 + 𝒘 𝒙 𝒓𝟏𝟐

𝒂𝟐 = 𝒂𝟏 + ∝ 𝒙 𝒓𝟏𝟐 − 𝒘𝟐 𝒓𝟏𝟐

CAUTION!!
1. Points 1 and 2 belong to the same RB
𝟐. 𝒘 = ±𝒘𝒌෡ (ALWAYS!!)
3. 𝒓𝟏𝟐 𝒗𝒆𝒄𝒕𝒐𝒓 𝒈𝒐𝒆𝒔 𝒇𝒓𝒐𝒎 𝒑𝒐𝒊𝒏𝒕 𝟏 𝒕𝒐 𝒑𝒐𝒊𝒏𝒕 𝟐
4. 𝒂𝒊 is the TOTAL vectorial acceleration
Find point A acceleration
 One
homework
per team
 MATHEMATICA
Resolve next 6 problems using the RELATIVE ACCELERATION
algorithm in MATHEMATICA
Get the velocity and acceleration of point A
 INSTANTANEOUS CENTER OF ZERO VELOCITY (IC) 𝑽𝑰𝑪 = 0

IC Technique main features: ONLY

1. It is applied to RBs in general movement
2. helps to calculate relative velocities, not accelerations
3. will be used when not having enough information to apply
the 7 STEPS PROCEDURE
THREE DIFFERENT CASES OF IC LOCATION PROCEDURE (𝑽𝑰𝑪 = 0)
 IC CASE b) LOCATION PROCEDURE (𝑽𝑰𝑪 = 0)

𝑽𝑨 = 𝒘 𝒓𝑰𝑪/𝑨 𝑽𝑩 = 𝒘 𝒓𝑰𝑪/𝑩
 INSTANTANEOUS CENTER OF ZERO VELOCITY CASES

Case b)

Case c)
 Submitt a written homework for
the solution of this set of six
problems. Use the concept of IC
Team task, next week
INSTANTANEOUS CENTER OF ZERO VELOCITY