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MEC420 - 4 - Kinematics of RB
MEC420 - 4 - Kinematics of RB
15 DYNAMICS
Ferdinand P. Beer
E. Russell Johnston, Jr. Kinematics of
Lecture Notes:
Rigid Bodies
J. Walt Oler
Texas Tech University
Kinematics Kinetics
Particle Particle
Rectilinear motion Newton’s 2nd law
Curvilinear motion Work and Energy
Relative motion
Impulse and Momentum
Dependent motion
Contents
Introduction Absolute and Relative Acceleration in Plane
Translation Motion
Rotation About a Fixed Axis: Velocity Analysis of Plane Motion in Terms of a
Rotation About a Fixed Axis: Acceleration Parameter
Rotation About a Fixed Axis: Representative Sample Problem 15.6
Slab Sample Problem 15.7
Equations Defining the Rotation of a Rigid Sample Problem 15.8
Body About a Fixed Axis Rate of Change With Respect to a Rotating
Sample Problem 5.1 Frame
General Plane Motion Coriolis Acceleration
Absolute and Relative Velocity in Plane Sample Problem 15.9
Motion Sample Problem 15.10
Sample Problem 15.2 Motion About a Fixed Point
Sample Problem 15.3 General Motion
Instantaneous Center of Rotation in Plane Sample Problem 15.11
Motion Three Dimensional Motion. Coriolis
Sample Problem 15.4 Acceleration
Sample Problem 15.5 Frame of Reference in General Motion
Sample Problem 15.15
Introduction
• Kinematics of rigid bodies: relations between
time and the positions, velocities, and
accelerations of the particles forming a rigid
body.
• Classification of rigid body motions:
- translation:
• rectilinear translation
• curvilinear translation
- rotation about a fixed axis
- general plane motion
- motion about a fixed point
- general motion
Translation
• Consider rigid body in translation:
- direction of any straight line inside the
body is constant,
- all particles forming the body move in
parallel lines.
• For any two particles in the body,
rB rA rB A
• Differentiating with respect to time,
rB rA rB A rA
vB v A
All particles have the same velocity.
• Differentiating with respect to time again,
rB rA rB A rA
aB a A
All particles have the same acceleration.
© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 5
Vector Mechanics for Engineers: Dynamics
Edition
Seventh
• Uniform Rotation, a = 0:
0 t
v r
D 0 0
aD t r
vD 0 12 aD t 9
0 4 rad s 3 rad s 2
r 3 r 3
• Apply the relations for uniformly accelerated rotation to
determine velocity and angular position of pulley after 2 s.
0 t 4 rad s 3 rad s 2 2 s 10 rad s
0t 12 t 2 4 rad s 2 s 12 3 rad s 2 2 s 2
14 rad
1 rev
N 14 rad number of revs N 2.23 rev
2 rad
vB r 5 in.10 rad s vB 50 in. s
y B r 5 in.14 rad y B 70 in.
© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 11
Vector Mechanics for Engineers: Dynamics
Edition
Seventh
aD aD t2 aD 2n
92 482 aD 48.8 in. s 2
aD n
tan
aD t
48
9 79.4
vB vA vA
tan cos
vA v B A l
v B v A tan vA
l cos
© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 15
Vector Mechanics for Engineers: Dynamics
Edition
Seventh
• Selecting point B as the reference point and solving for the velocity vA of end
A and the angular velocity w leads to an equivalent velocity triangle.
• vA/B has the same magnitude but opposite sense of vB/A. The sense of the
relative velocity is dependent on the choice of reference point.
• Angular velocity w of the rod in its rotation about B is the same as its rotation
about A. Angular velocity is not dependent on the choice of reference point.
© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 16
Vector Mechanics for Engineers: Dynamics
Edition
Seventh
xA
x A r1
2 r 2
y
Differentiate to relate the translational and angular
velocities.
x
v A r1
vA 1.2 m s
k 8 rad s k
r1 0.150 m
The crank AB has a constant • The directions of the absolute velocity vD
clockwise angular velocity of 2000 and the relative velocity v D B are
rpm. determined from the problem geometry.
For the crank position indicated, • The unknowns in the vector expression
determine (a) the angular velocity of are the velocity magnitudes v D and v D B
the connecting rod BD, and (b) the which may be determined from the
velocity of the piston P. corresponding vector triangle.
• The angular velocity of the connecting
rod is calculated from v D B .
© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 20
Vector Mechanics for Engineers: Dynamics
Edition
Seventh
vD B l BD
vD v B v D B vD B 495.9 in. s
BD
l 8 in.
62.0 rad s BD 62.0 rad s k
d
B
rB
x
vB
IC
vA rA
(c)
A
rD 0.15 m 2 0.2121 m
vD rD 0.2121 m 8 rad s
vD 1.697 m s
vD 1.2i 1.2 j m s
a B A t k rB A a B A t r
aB A 2 rB A a B A n r 2
n
v A x A v B y B
l cos l sin
l cos l sin
a A x A a B y B
l 2 sin l cos l 2 cos l sin
l 2 sin l cos l 2 cos l sin
x A r1
v A r1 r1
vA 1 .2 m s
8 rad s
r1 0.150 m
a A r1 r1
aA 3 m s2
r1 0.150 m
2
k 20 rad s k
aB a A a B A a A a B A aB A
t n
a A k rB A 2 rB A
2
3 m s i 20 rad s k 0.100 m j 8 rad s 0.100 m j
2 2
2
2
3 m s i 2 m s i 6.40 m s j
2
aB 5 m s 2 i 6.40 m s 2 j aB 8.12 m s 2
2
aC a A aC A a A k rC A rC A
2
3 m s i 20 rad s k 0.150 m j 8 rad s 2 0.150 m j
2
3 m s 2 i 3 m s 2 i 9.60 m s 2 j
ac 9.60 m s j2
aD a A aD A a A k rD A 2 rD A
2
3 m s i 20 rad s k 0.150 m i 8 rad s 2 0.150m i
2
3 m s 2 i 3 m s 2 j 9.60 m s 2 i
2
aD 12.6 m s i 3 m s j 2
aD 12.95 m s 2
© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 38
Vector Mechanics for Engineers: Dynamics
Edition
Seventh
• The directions of the accelerations aD , aD
B t , and
a D B n
are determined from the geometry.
aD aD i
y components:
0 10,962 sin 40 2563 sin 13.95 0.667 BD cos13.95
BD 9940 rad s 2 k
aD 9290 ft s 2 i
BD 29.33 rad s k DE 11 .29 rad s k
© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 44
Vector Mechanics for Engineers: Dynamics
Edition
Seventh
• Frame Oxyz rotates about
fixed axisOA with angular • If Q were fixed within Oxyz then Q OXYZ is
velocity equivalent to velocity of a point in a rigid
body
attached to Oxyz and Q x i Q y j Qz k Q
• Vector function Q t varies
in direction and magnitude. • With respect to the fixed OXYZ frame,
Q Q
OXYZ
Q
Oxyz
© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 46
Vector Mechanics for Engineers: Dynamics
Edition
Seventh
Coriolis Acceleration
• Frame OXY is fixed and frame Oxy rotates with angular
velocity .
• Position vector rP for the particle P is the same in both
frames but the rate of change depends on the choice of
frame.
• The absolute velocity of the particle P is
v P r OXY r r Oxy
Coriolis Acceleration
• Absolute acceleration for the particle P is
d
a P r r OXY r Oxy
dt
but, r OXY r r Oxy
d
dt
r Oxy r Oxy r Oxy
a P F r
Oxy
Coriolis Acceleration
• Consider a collar P which is made to slide at constant
relative velocity u along rod OB. The rod is rotating at
a constant angular velocity w. The point A on the rod
corresponds to the instantaneous position of P.
• Absolute acceleration of the collar is
a P a A a P F ac
where
aA r r
a A r 2
a P F r Oxy 0
ac 2 v P F ac 2u
Coriolis Acceleration
• Change in velocity over Dt is represented by the
sum of three vectors
v RR TT T T
• TT is due to change in direction of the velocity
of point A on the rod,
TT
lim lim v A r r 2 a A
t 0 t t 0 t
recall, a r r
a r 2
at t , v vA u A A
at t t , v v A u • RR and T T result from combined effects of
relative motion of P and rotation of the rod
RR T T r
lim lim u
t 0 t t t 0 t t
u u 2u
recall, ac 2 v P F ac 2u
© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 50
Vector Mechanics for Engineers: Dynamics
Edition
Seventh
vP 500 mm s
aP aP n aP t
aP n r S cos 42.4i sin 42.4 j
2
aP t r S sin 42.4i cos 42.4 j
aP t S 37.1mm sin 42.4i cos 42.4 j
note: a S may be positive or negative
© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 55
Vector Mechanics for Engineers: Dynamics
Edition
Seventh
• The relative acceleration aP s must be parallel to
the slot.
General Motion
• For particles A and B of a rigid body,
vB v A vB A
2 2
2
a 3.54 m s i 1.50 m s j 1.80 m s k
1 0.30 j 2 0.50k
r 10.39i 6 j
v P v A rP A rP A
Axyz
v P v P F
a P a A rP A rP A
Consider:
- fixed frame OXYZ,
2 rP A rP A
- translating frame AX’Y’Z’, and
Axyz Axyz
- translating and rotating frame Axyz
or F. a P a PF a c
a P r 1 j 1Lk 1 Li
2
a P F D F D F rP A
2
2 k 2 R i 2 R j
ac 2 v P F
21 j 2 R i 21 2 Rk
2 2
a P 1 L i 2 Rj 21 2 Rk
• Angular velocity and acceleration of the disk,
D F 1 j 2 k
F
1 j 1 j 2 k
1 2 i
© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 66