Kinematics of Rigid Body

 General Plane Motion

(Relative-Motion Analysis using Rotating Axes)

Dr. Mohammad Ilias Inam

Professor
Department of Mechanical Engineering & Technology

Khulna University of Engineering & Technology


 In the previous sections the
relative-motion analysis for
velocity and acceleration was
described using a translating
coordinate system.
 This type of analysis is useful for
determining the motion of points
on the same rigid body, or the
motion of points located on
several pin-connected bodies.
 In some problems, however, rigid bodies
(mechanisms) are constructed such that sliding will
occur at their connections.
 The kinematic analysis for such cases is best
performed if the motion is analyzed using a
coordinate system which both translates and rotates.
Which known as:
Relative-Motion Analysis using Rotating Axes
 Furthermore, this frame of reference is useful for
analyzing the motions of two points on a mechanism
which are not located in the same body.
 Useful also for specifying the kinematics of particle
motion when the particle moves along a rotating
path.
 We can write,
⃗ 𝝎 𝑨𝑫 × ⃗𝒓 𝑫/ 𝑨
𝑽 𝑫 =⃗
𝟐
⃗
𝒂𝑫= ⃗
𝜶 𝑨 𝑫 × ⃗𝒓 𝑩/ 𝑨 −𝝎 𝑨𝑫 𝒓⃗ 𝑫 / 𝑨
We consider here D is a part of AD not CB.

 You cannot write similar equation for D by

considering it is a part of CB, since D is sliding on
CB.

Can you relate velocity or acceleration between point D

& B or C & D from your previous knowledge?

⃗ 𝝎 𝑨𝑩 × ⃗𝒓 𝑫/ 𝑪
𝑽𝑫≠⃗
𝟐
⃗
𝒂𝑫 ≠ ⃗
𝜶 𝑨 𝑩 × 𝒓⃗ 𝑫 /𝑪 − 𝝎 𝑨𝑩 𝒓⃗ 𝑫 / 𝑪
Similarly, our previous knowledge is not useful to
analyze point B since it is not part of the disk.
 Y We know,
y
Fixed Moving & rotating
x Velocity 𝒓⃗ 𝑩/ 𝑨 =𝒙 𝑩 𝒊+ 𝒚 𝑩 𝒋

( )( )
X 𝒅 ⃗𝒓 𝑩/ 𝑨 𝒅 𝒙 𝑩 𝒅𝒊 𝒅𝒚𝑩 𝒅𝒋
= 𝒊+ 𝒙 𝑩 + 𝒋+ 𝒚 𝑩
𝒅𝒕 𝒅𝒕 𝒅𝒕 𝒅𝒕 𝒅𝒕

=(
𝒅𝒕 ) (
𝒅 ⃗𝒓 𝑩/ 𝑨 𝒅𝒙 𝒅𝒚
⃗
𝜴 = Angular Velocity of x , y axis
˙
𝒅𝒕 𝒅𝒕
𝑩
𝒊+ 𝒋 + 𝒙 𝑩
𝑩
𝒅𝒊
𝒅𝒕
+ 𝒚 𝑩
𝒅𝒋
𝒅𝒕 )
⃗
𝜴 = Angular Acceleration of x , y axis

𝒓⃗ 𝑩 =⃗
𝒓 𝑨 + 𝒓⃗ 𝑩/ 𝑨 Where,
( 𝒙𝑩
𝒅𝒊
𝒅𝒕 )
+𝒚 𝑩
𝒅𝒋 ⃗
𝒅𝒕
=𝛀 × ⃗
𝒓 𝑩/ 𝑨

⃗
𝑽 𝑩 =⃗
𝑽 𝑨+
𝒅 𝒓⃗ 𝑩 / 𝑨
𝒅𝒕 ( 𝒅𝒕 𝒊+ 𝒅𝒕 𝒋 )= (⃗𝑽
𝒅𝒙 𝒅𝒚𝑩 𝑩
)
𝑩/ 𝑨 𝒙𝒚𝒛

So,
𝒅⃗
𝒓 𝑩/ 𝑨 ⃗ ⃗×⃗
=( 𝑽 𝑩/ 𝑨 ) 𝒙𝒚𝒛 + 𝛀 𝒓 𝑩/ 𝑨
⃗
𝑽 𝑩 =⃗
𝑽 𝑨 +⃗ ⃗ )
𝛀 × 𝒓⃗ 𝑩/ 𝑨 + (𝑽 𝒅𝒕
𝑩/ 𝑨 𝒙𝒚𝒛
 ( 𝒙𝑩
𝒅𝒊
𝒅𝒕
+𝒚 𝑩
𝒅𝒋 ⃗
𝒅𝒕 )
= 𝜴 × 𝒓⃗ 𝑩/ 𝑨

𝒅𝒊 𝒅 𝜽
= 𝒋= 𝜴 𝒋=⃗
𝜴×𝒊 𝒅𝒊=|𝒊| 𝒅 𝜽 𝒋
𝒅𝒕 𝒅𝒕

𝒅 𝒋 𝒅𝜽
= ( −𝒊 )=− 𝜴 𝒊=⃗
𝜴×𝐣 𝒅𝒋=| 𝒋| 𝒅 𝜽 ( − 𝒊 )
𝒅𝒕 𝒅𝒕

(⃗
𝜴 × 𝒙𝑩𝒊 +⃗
𝜴 × 𝒚 𝑩 𝒋 )= ⃗
𝜴×⃗
𝒓 𝑩/ 𝑨
 When frame are rotating: When frame are not rotating:

⃗
𝑽 𝑪 =⃗ ⃗ × ⃗𝒓 + (𝑽
𝑽 𝑫 +𝛀 ⃗ ) ⃗
𝑽 𝑪 =⃗ 𝝎 × ⃗𝒓 𝑪 / 𝑫
𝑽 𝑫 +⃗
𝑪/ 𝑫 𝑪 / 𝑫 𝒙𝒚𝒛

Replace by . Relative velocity of C respect of D in rotating frame.

Relation among C & D like as a rigid body. Step to remember:

i. Write equation between C & D
y like as a rigid body.
Moving & rotating
x ii. Assume rotating frame on point
written in the right side equation.
iii. Replace by .
iv. Add relative velocity term in
rotating frame.
v. Results could be express on fixed
or rotating frame.
⃗
𝑽 𝑩 =⃗
𝑽 𝑨 +⃗
𝜴 × 𝒓⃗ 𝑩/ 𝑨 + ( ⃗
𝑽 𝑩/ 𝑨 )𝒙𝒚𝒛 Acceleration
𝒅⃗
𝑽 𝑩 𝒅⃗
𝑽𝑨 𝒅⃗ 𝒅 ⃗
𝒓 𝒅 ( ⃗
𝑽 𝑩/ 𝑨 ) 𝒙𝒚𝒛
𝜴 ⃗ 𝑩/ 𝑨 From previous slide,
= + × 𝒓⃗ 𝑩/ 𝑨 + 𝜴 × +
𝒅𝒕 𝒅𝒕 𝒅𝒕 𝒅𝒕 𝒅𝒕 𝒅⃗
𝒓 𝑩/ 𝑨 ⃗
=( 𝑽 𝑩/ 𝑨 ) 𝒙𝒚𝒛 + ⃗
𝜴×⃗
𝒓 𝑩/ 𝑨
𝒅𝒕
⃗
𝒂𝑩 ⃗ ˙
𝒂𝑨 ⃗ (⃗
𝑽 𝑩/ 𝑨 ) 𝒙𝒚𝒛 + ⃗
𝜴× ⃗𝒓 𝑩/ 𝑨
𝜴
( ⃗𝒂𝑩/ 𝑨) 𝒙𝒚𝒛 + ⃗
𝜴 ×(⃗
𝑽 𝑩/ 𝑨 )𝒙𝒚𝒛
Assume,

(⃗
𝑽 𝑩/ 𝑨) 𝒙𝒚𝒛 =( 𝒗 𝑩/ 𝑨 ) 𝒙 𝒊+ ( 𝒗 𝑩/ 𝑨 ) 𝒚 𝒋

𝒅 (⃗
𝑽 𝑩/ 𝑨 )𝒙𝒚𝒛
𝒂 𝑩/ 𝑨 ) 𝒙𝒚𝒛 + ⃗
=( ⃗ 𝜴 ×(⃗
𝑽 𝑩/ 𝑨 )𝒙𝒚𝒛
𝒅𝒕
 ˙
⃗
⃗
𝒂 𝑩= ⃗ 𝒓 𝑩/ 𝑨 + ⃗
𝒂 𝑨+ 𝜴 × ⃗ 𝜴 ×(⃗
𝜴 × 𝒓⃗ 𝑩/ 𝑨 ) +𝟐 ⃗
𝜴 ×(⃗
𝑽 𝑩/ 𝑨 )𝒙𝒚𝒛 + ( ⃗𝒂 𝑩/ 𝑨 ) 𝒙𝒚𝒛

Coriolis acceleration

Relation among A & B like as a rigid body.

Relative acceleration of B respect of A in rotating frame.

Remember:
i. First write equation for rigid body.
ii. Than add Coriolis acceleration.
iii. Than add relative acceleration on rotating
frame.
 Procedure for Analysis
Coordinate Axes.
• Choose an appropriate location for the
origin and proper orientation of the axes
for both fixed X, Y, Z and moving x, y, z
reference frames.
• Most often solutions are easily obtained
if at the instant considered:
1. the origins are coincident
2. the corresponding axes are collinear
3. the corresponding axes are parallel
• The moving frame should be selected
fixed to the body or device along which
the relative motion occurs.
Kinematic Equations.
• After defining the origin A of the moving
reference and specifying the moving point
B, Equations should be written in symbolic
form:
• The Cartesian components of all these
vectors may be expressed along either the
X, Y, Z axes or the x, y, z axes. The choice is
arbitrary provided a consistent set of unit
vectors is used.
 Given,
⃗
𝑽 𝑶 =𝟎
⃗
𝛀 =−𝟑 rad / s 𝒌
We know, 𝒓⃗ 𝑪 / 𝑶 =𝟎 . 𝟐 𝒊
⃗
𝑽 𝑪 =⃗
𝑽 𝑶 +⃗
𝛀 × ⃗𝒓 𝑪 / 𝑶 + ( ⃗
𝑽 𝑪 / 𝑶 )𝒙𝒚𝒛
Assume rotating and
fixed frame on point O. (⃗𝑽 ) =𝟐 𝒊
𝑪 / 𝑶 𝒙𝒚𝒛
⃗
𝑽 𝑪 =𝟎 −𝟑 𝒌 × ( 𝟎 .𝟐 𝒊 )+𝟐 𝒊
Y,y ⃗
𝑽 𝑪 =−𝟎 . 𝟔 𝒋 +𝟐 𝒊
Ans. Given,
We know, ⃗
𝒂𝑶 =𝟎
⃗˙ 𝟐
𝜴 =−𝟐 rad / s 𝒌

( ⃗𝒂 𝑪 / 𝑶 ) 𝒙𝒚𝒛 =𝟑 𝒊

⃗
𝒂𝑪 =− 𝟎 .𝟒 𝒋 −𝟏 . 𝟖 𝒊 −𝟏𝟐 𝒋+𝟐 𝒊
⃗
𝒂𝑪 =𝟏 . 𝟐 𝒊 −𝟏𝟐. 𝟒 𝒋
X,x Ans.
 First, where will take rotating and fixed frame.
Given,
⃗
𝑽 𝑶 =𝟎
⃗
𝛀 =𝟔 rad / s 𝒌
We know,
𝒓⃗ 𝑩/ 𝑶 =𝟎 . 𝟒 𝒊
⃗
𝑽 𝑩 =⃗ ⃗ × ⃗𝒓 + (𝑽
𝑽 𝑶 +𝛀 ⃗ )
𝑩/ 𝑶 𝑩/ 𝑶 𝒙𝒚𝒛 (⃗𝑽 ) =𝟎. 𝟔 𝒊
𝑩/ 𝑶 𝒙𝒚𝒛
⃗
𝑽 𝑩 =𝟎 +𝟔 𝒌 × ( 𝟎 . 𝟒 𝒊 ) + 𝟎 .𝟔 𝒊
⃗
𝑽 𝑩 =𝟐 . 𝟒 𝒋 +𝟎 . 𝟔 𝒊
Ans.
We know, Given,
⃗
𝒂𝑶 =𝟎
⃗˙ 𝟐
𝜴 =𝟑 rad / s 𝒌

( ⃗𝒂𝑪 / 𝑶 ) 𝒙𝒚𝒛 =𝟎.𝟏𝟓 𝒊

⃗
𝒂𝑪 =𝟏 . 𝟐 𝒋 − 𝟏𝟒. 𝟒 𝒊+𝟕 . 𝟐 𝒋 +𝟎 .𝟏𝟓 𝒊
⃗
𝒂𝑪 =− 𝟏𝟒 .𝟐𝟓 𝒊+𝟖 . 𝟒 𝒋
Ans.
 Given

Given

𝒓⃗ 𝑩/ 𝑨=−𝟔𝟎𝒄𝒐𝒔 𝟑𝟎° 𝒊+𝟔𝟎 𝒔𝒊𝒏 𝟑𝟎° 𝒋

We know,
( ⃗𝑽 𝑩/ 𝑨) 𝒙𝒚𝒛 =−𝟎.𝟓𝒄𝒐𝒔 𝟑𝟎° 𝒊+𝟎.𝟓𝒔𝒊𝒏 𝟑𝟎° 𝒋
⃗
𝑽 𝑩 =⃗
𝑽 𝑨 +⃗ ⃗ )
𝛀 × 𝒓⃗ 𝑩/ 𝑨+ (𝑽 𝑩/ 𝑨 𝒙𝒚𝒛

Y, y
⃗
𝑽 𝑩 =𝟎+ ( −𝟎.𝟎𝟐𝒌 ) × ( − 𝟔𝟎𝒄𝒐𝒔 𝟑𝟎° 𝒊+𝟔𝟎 𝒔𝒊𝒏𝟑𝟎° 𝒋 )+ ( −𝟎.𝟓𝒄𝒐𝒔 𝟑𝟎° 𝒊+𝟎.𝟓𝒔𝒊𝒏 𝟑𝟎° 𝒋 )
X. x

⃗
𝑽 𝑩 =𝟏. 𝟎𝟒 𝒋+𝟎. 𝟔𝒊 −𝟎. 𝟒𝟑𝒊 +𝟎. 𝟐𝟓 𝒋

⃗
𝑽 𝑩 =𝟎 . 𝟏𝟕𝒊+𝟏 .𝟐𝟗 𝒋

𝑽 𝑩 =𝟏 . 𝟑
Ans.
 We know,
⃗
𝑽 𝑨 =𝟎
⃗ ⃗
𝑽 𝑩 =⃗
𝑽 𝑨 +⃗ ⃗ )
𝛀 × 𝒓⃗ 𝑩/ 𝑨+ (𝑽 𝑩/ 𝑨 𝒙𝒚𝒛
𝛀 =− 𝟎.𝟎𝟐 𝒌𝒓𝒂𝒅 / 𝒔
𝒓⃗ 𝑩/ 𝑨 =𝟔𝟎 𝒋
x
X.

⃗
𝑽 𝑩 =𝟎 + ( −𝟎 . 𝟎𝟐 𝒌 ) × ( 𝟔𝟎 𝒋 )+𝟎 .𝟓 𝒋
(⃗
𝑽 𝑩/ 𝑨) 𝒙𝒚𝒛 =𝟎. 𝟓 𝒋
y
Y,

⃗
𝑽 𝑩 =𝟏 . 𝟐 𝒊+𝟎 . 𝟓 𝒋

𝑽 𝑩 =𝟏 . 𝟑
Ans.
 We know,
⃗
𝒂 𝑨 =𝟎
˙
⃗ 𝟐
𝜴=−𝟎. 𝟎𝟏𝒌 𝒓𝒂𝒅 / 𝒔
𝒓⃗ 𝑩/ 𝑨 =𝟔𝟎 𝒋
x
X.

(⃗
𝑽 𝑩/ 𝑨) 𝒙𝒚𝒛 =𝟎. 𝟓 𝒋
y
Y,

( ⃗𝒂 𝑩/ 𝑨) 𝒙𝒚𝒛 =𝟎
⃗𝒂 𝑩=𝟎.𝟔𝒊− 𝟎.𝟎𝟐𝟒 𝒋 +𝟎. 𝟎𝟐𝒊
⃗𝒂 𝑩=𝟎.𝟔𝟐 𝒊− 𝟎. 𝟎𝟐𝟒 𝒋

𝒂 𝑩=𝟎 .𝟔𝟐𝟎𝟒
Ans.
 ⃗
𝑽 𝑨 =𝟎 (Since point A is fixed point.)
⃗
𝜴 =𝟑 rad / s 𝒌 (Given)
Y, y
𝒓⃗ 𝑪 / 𝑨=𝟎.𝟒 𝒊+𝟎.𝟒 𝒋
X. x ( ⃗𝑽 𝑪 / 𝑨 )𝒙𝒚𝒛 = ( 𝑽 𝑪 / 𝑨) 𝒙𝒚𝒛 𝒄𝒐𝒔 𝟒𝟓° 𝒊+( 𝑽 𝑪/ 𝑨 ) 𝒙𝒚𝒛 𝒔𝒊𝒏𝟒𝟓° 𝒋
Assume, ⃗
𝑽 𝑪 =−𝑽 𝑪 𝒊
𝟗𝟎°

We know,

⃗
𝑽 𝑪 =⃗
𝑽 𝑨+ ⃗ ⃗ )
𝜴× ⃗𝒓 𝑪/ 𝑨 + (𝑽 𝑪 / 𝑨 𝒙𝒚𝒛
𝑽 𝑪 =𝟐 . 𝟒𝟎𝒎/ 𝒔 Ans.

( 𝑽 𝑪/ 𝑨 ) 𝒙𝒚𝒛 =−𝟏.𝟔𝟗𝟕𝒎/ 𝒔
 𝟐
𝑪 𝑽
⃗𝒂𝑪=( 𝒂𝑪)𝒕 𝒊+( 𝒂𝑪)𝒏 𝒋=( 𝒂𝑪 )𝒕 𝒊− 𝒋=( 𝒂𝑪)𝒕 𝒊−𝟏𝟒.𝟒𝒋
Y, y 𝝆
⃗
𝒂 𝑨 =𝟎 (Since point A is fixed point.)
X. x ˙
⃗
𝜴=𝟎 (Since angular velocity is constant .)
We know, ⃗
𝜴 =𝟑 rad / s 𝒌 (Given)
𝟗𝟎°
𝒓⃗ 𝑪 / 𝑨=𝟎.𝟒 𝒊+𝟎.𝟒 𝒋

( 𝒂𝑪 / 𝑨 ) 𝒙𝒚𝒛 =− 𝟓.𝟎𝟗𝒎/ 𝒔 𝟐 ⃗(𝒂𝑪/𝑨)𝒙𝒚𝒛=(𝒂𝑪/𝑨)𝒙𝒚𝒛 𝒄𝒐𝒔𝟒𝟓°𝒊+(𝒂𝑪/𝑨)𝒙𝒚𝒛 𝒔𝒊𝒏𝟒𝟓°𝒋

( 𝒂 𝑪 )𝒕 =𝟎
Ans.
 (Given)
We know,
⃗
𝑽 𝑩 =⃗
𝑽 𝑨 +⃗ ⃗ )
𝛀 × 𝒓⃗ 𝑩/ 𝑨+ (𝑽 (Given)
𝑩/ 𝑨 𝒙𝒚𝒛

𝟕 𝒊=−𝟖 𝒊 +𝟖 𝒌 × ( 𝟐 𝒋 ) + ( ⃗
𝑽 𝑩/ 𝑨 ) 𝒙𝒚𝒛
⃗
𝑽 𝑨 =⃗
𝛀 × ⃗𝒓 𝑨/ 𝑶
Y, y
𝟕 𝒊=−𝟖 𝒊 − 𝟏𝟔𝒊+ ( ⃗
𝑽 𝑩/ 𝑨 )𝒙𝒚𝒛 −𝟖𝒊=𝛀 𝒌× 𝒋
X. x
𝛀 =𝟖
⃗
𝛀 =𝟖 𝒌
O (⃗
𝑽 𝑩/ 𝑨) 𝒙𝒚𝒛 =𝟑𝟏𝒊
Ans.
𝒓⃗ 𝑩/ 𝑨 =𝟐 𝒋
 We know, 𝟐
𝑽 𝟐
⃗𝒂𝑩= ( 𝒂𝑩)𝒕 𝒊+ ( 𝒂𝑩)𝒏 𝒋=𝟒𝒊− 𝒋=𝟒𝒊− 𝟕 𝒋
𝑩
𝝆 𝟎.𝟓
𝟐
𝑽𝑨
⃗𝒂𝑨= ( 𝒂 𝑨 )𝒕 𝒊+( 𝒂 𝑨 )𝒏 𝒋=−𝟔𝒊− 𝒋
𝟏
˙
Y, y 𝒂 𝑨 ) 𝒕 =⃗
(⃗ 𝜴 × 𝒓⃗ 𝑨/ 𝑶
𝟔 𝒊=𝛀 ˙ 𝒌× 𝒋
˙ =−𝟔
𝛀
X. x ˙
⃗
𝜴 =−𝟔 𝒌
O
𝒓⃗ 𝑩/ 𝑨 =𝟐 𝒋
⃗
𝛀 =𝟖 𝒌 ( ⃗𝒂𝑩/ 𝑨) 𝒙𝒚𝒛 =−𝟏𝟒𝒊− 𝟐𝟎𝟔 𝒋
(⃗
𝑽 𝑩/ 𝑨) 𝒙𝒚𝒛 =𝟑𝟏𝒊
Ans.
Y, y
⃗
𝑽 𝑩 =⃗
𝑽 𝑨 +⃗ ⃗ )
𝛀 × 𝒓⃗ 𝑩/ 𝑨+ (𝑽 𝑩/ 𝑨 𝒙𝒚𝒛
X. x

⃗
𝑽 𝑨 =𝟎
⃗ ⃗
𝛀 =−𝟔 𝒌
𝑽 𝑩 =𝟎 + ( −𝟔 𝒌 ) × ( − 𝟎 .𝟒𝟓 𝒋 ) −𝟓 𝒊
𝒓⃗ 𝑩/ 𝑨=−𝟎. 𝟒𝟓 𝒋
⃗
𝑽 𝑩 =− 𝟐. 𝟕 𝒊 −𝟓 𝒊
⃗
𝑽 𝑩 =− 𝟕. 𝟕 𝒊 (⃗
𝑽 ) =−𝟓 𝒊
𝑩/ 𝑨 𝒙𝒚𝒛

𝑽 𝑩 =𝟕 . 𝟕
 ( 𝑽 𝑩/ 𝑨 ) 𝒙𝒚𝒛𝟐 𝟓𝟐
[ ( 𝒂𝑩/ 𝑨 ) 𝒙𝒚𝒛 ]𝒏= 𝝆
=
𝟎.𝟐
=𝟏𝟐𝟓

Y, y

X. x
⃗
𝒂 𝑨 =𝟎
˙
⃗
𝛺=−𝟑 𝒌
𝒓⃗ 𝑩/ 𝑨=−𝟎. 𝟒𝟓 𝒋
(⃗
𝑽 ) =−𝟓 𝒊
𝑩/ 𝑨 𝒙𝒚𝒛

( ⃗𝒂𝑩/ 𝑨) 𝒙𝒚𝒛 =−𝟏.𝟓𝒊+𝟏𝟐𝟓 𝒋

𝟐
⃗
𝒂 𝑩=𝟎+ ( −𝟑 𝒌 ) × ( −𝟎 . 𝟒𝟓 𝒋 ) − 𝟔 × ( −𝟎 . 𝟒𝟓 𝒋 ) +𝟐 × ( −𝟔 𝒌 ) × ( −𝟓 𝒊 ) −𝟏 . 𝟓 𝒊+𝟏𝟐𝟓 𝒋
⃗𝒂 𝑩=−𝟏.𝟑𝟓 𝒊+𝟏𝟔. 𝟐 𝒋 +𝟔𝟎 𝒋 −𝟏.𝟓𝒊 +𝟏𝟐𝟓 𝒋
⃗ 𝑩=−𝟐 .𝟖𝟓 𝒊+𝟐𝟎𝟏. 𝟐 𝒋
𝒂
𝒂 𝑩=𝟐𝟎𝟏.𝟐
 ⃗
𝑽 𝑫 =⃗ ⃗ × ⃗𝒓 + (𝑽
𝑽 𝑪 +𝛀 ⃗ )
𝑫/ 𝑪 𝑫/ 𝑪 𝒙𝒚𝒛

⃗
𝑉 𝐷 =⃗ 𝜔 𝐴𝐵 × 𝑟⃗ 𝐷 / 𝐴=4 𝑘 ×0.2 𝑗=−0.8 𝑖
Chotha p-70,same as 16.147 𝑟⃗ 𝐷 /𝐶 =0.3 cos30 ° 𝑖+0.3 sin 30 ° 𝑗
( ⃗𝑉 𝐷 /𝐶 )𝑥𝑦𝑧 =− ( 𝑉 𝐷 / 𝐶 )𝑥𝑦𝑧 cos30 ° 𝑖− ( 𝑉 𝐷 / 𝐶) 𝑥𝑦𝑧 sin 30 ° 𝑗
𝟑𝟎 °
Y, y
(⃗
𝑽 𝑫 / 𝑪 )𝒙𝒚𝒛 −𝟎.𝟖𝒊=𝟎+𝛀𝒌×(𝟎.𝟑cos𝟑𝟎°𝒊+𝟎.𝟑sin 𝟑𝟎°𝒋 )− (𝑽 𝑫/𝑪)𝒙𝒚𝒛 cos𝟑𝟎°𝒊−(𝑽 𝑫/𝑪)𝒙𝒚𝒛 sin 𝟑𝟎°𝒋
X. x

−𝟎.𝟖𝒊=𝟎.𝟑𝛀cos𝟑𝟎°𝒋−𝟎.𝟑𝛀 sin𝟑𝟎°𝒊−(𝑽 𝑫/𝑪)𝒙𝒚𝒛 cos𝟑𝟎°𝒊−(𝑽 𝑫/𝑪)𝒙𝒚𝒛sin𝟑𝟎°𝒋

Equate j component:
Equate i component:
𝟎=𝟎.𝟑 𝛀 cos𝟑𝟎° − ( 𝑽 𝑫/𝑪 ) 𝒙𝒚𝒛 sin 𝟑𝟎° −𝟎.𝟖=−𝟎.𝟑 𝛀 sin𝟑𝟎° − ( 𝑽 𝑫/𝑪 ) 𝒙𝒚𝒛 cos𝟑𝟎°
( 𝑽 𝑫/ 𝑪 ) 𝒙𝒚𝒛 =𝟎.𝟑 𝛀 cot 𝟑𝟎° −𝟎.𝟖=−𝟎.𝟑 𝛀 sin 𝟑𝟎° − ( 𝟎.𝟑 𝛀 cot 𝟑𝟎° ) cos𝟑𝟎°
( 𝑽 𝑫/ 𝑪 ) 𝒙𝒚𝒛 =𝟎.𝟔𝟗 𝛀 =𝟏. 𝟑𝟑rad / s Ans.
 𝑟⃗ 𝐷 /𝐶 =0.3 cos30 ° 𝑖+0.3 sin 30 ° 𝑗 ⃗
𝒂𝑶 =𝟎
( ⃗𝑉 ) =− ( 𝑉 ) cos30 ° 𝑖− ( 𝑉
𝐷 /𝐶 𝑥𝑦𝑧 𝐷 / 𝐶 𝑥𝑦𝑧 ) sin 30 ° 𝑗
𝐷 / 𝐶 𝑥𝑦𝑧 ⃗˙ ˙
𝜴 =𝛀 𝒌
( ⃗𝑎𝐷 /𝐶 ) 𝑥𝑦𝑧 =− ( 𝑎𝐷 /𝐶 ) 𝑥𝑦𝑧 cos 30° 𝑖− ( 𝑎𝐷 /𝐶 ) 𝑥𝑦𝑧 sin 30 ° 𝑗
Y, y 𝟑𝟎 °
⃗ 𝐷=𝑎
𝑎 ⃗ 𝐴 + 𝛼 𝐴𝐷 × 𝑟⃗ 𝐷 / 𝐴 − 𝜔2𝐴𝐷 𝑟⃗ 𝐷 / 𝐴
(⃗
𝑽 𝑫 / 𝑪 )𝒙𝒚𝒛
⃗ 𝐷 =0 +0 × 𝑟
𝑎 ⃗ 𝐷 / 𝐴 − 4 2 × 0.2 𝑗
⃗2 𝛺×(⃗𝑉 ) =2× (1.33𝑘) ×(− 0.69cos30°𝑖−0.69sin 30° 𝑗)
X. x 𝐷/𝐶 𝑥𝑦𝑧
⃗
𝒂 𝑫 =−𝟑 . 𝟐 𝒋
2⃗
𝛺× ( ⃗
𝑉 𝐷 / 𝐶 )𝑥𝑦𝑧 =− 1.59 𝑗 +0.92 𝑖

˙−𝟑.𝟐𝒋=𝟎.𝟑𝛀cos𝟑𝟎°𝒋−𝟎.𝟑𝛀˙sin𝟑𝟎°𝒊−𝟎.𝟒𝟔𝒊−𝟎.𝟐𝟔𝒋+(−𝟏.𝟓𝟗𝒋+𝟎.𝟗𝟐𝒊)+−(𝒂𝑫/𝑪) cos𝟑𝟎°𝒊−(𝒂𝑫/𝑪) sin𝟑𝟎°𝒋 )

𝒙𝒚𝒛 𝒙𝒚𝒛
 𝟎=−𝟎.𝟑 𝛀˙ sin 𝟑𝟎° −𝟎.𝟒𝟔+ ( 𝟎.𝟗𝟐 ) + (− ( 𝒂 𝑫/ 𝑪 ) 𝒙𝒚𝒛 cos𝟑𝟎°
−𝟎.𝟒𝟔=− 𝟎.𝟑 𝛀˙ sin 𝟑𝟎° − ( 𝒂 𝑫 / 𝑪 ) 𝒙𝒚𝒛 cos𝟑𝟎°
𝟎 . 𝟓𝟑=𝟎 .𝟏𝟕𝟑 𝛀 + ( 𝒂˙𝑫 / 𝑪 ) 𝒙𝒚𝒛

−𝟑.𝟐=+𝟎.𝟑 𝛀˙ cos𝟑𝟎° −𝟎.𝟐𝟔+ ( − 𝟏.𝟓𝟗 )+ (− ( 𝒂 𝑫/ 𝑪 ) 𝒙𝒚𝒛 sin 𝟑𝟎° )

−𝟏.𝟑𝟓=𝟎.𝟑 𝛀˙ cos𝟑𝟎° − ( 𝒂 𝑫 / 𝑪 ) 𝒙𝒚𝒛 sin 𝟑𝟎°
−𝟐.𝟕=𝟎.𝟓𝟐 𝛀˙ − ( 𝒂 𝑫/ 𝑪 ) 𝒙𝒚𝒛

˙ =− 𝟑 . 𝟏
𝛀
Ans.
 ⃗
𝑽 𝑨 =⃗
𝑽 𝑪+⃗
𝛀 × 𝒓⃗ 𝑨/ 𝑪 + ( ⃗
𝑽 𝑨/ 𝑪 )𝒙𝒚𝒛

(⃗
𝑽 𝑨/ 𝑪 )𝒙𝒚𝒛 =𝟐𝟕𝒊+𝟐𝟓 𝒋
Ans.

Y, y
⃗
𝑽 𝑨 =𝟐𝟓 𝒋
X. x
⃗
𝑽 𝑪 =−𝟏𝟓 cos𝟒𝟓° 𝒊 −𝟏𝟓sin 𝟒𝟓° 𝒋
⃗ 𝟏𝟓
𝛀 =− 𝒌=−𝟎 . 𝟎𝟔 𝒌
𝟐𝟓𝟎

𝒓⃗ 𝑨/ 𝑪=− 𝟐𝟓𝟎sin 𝟒𝟓° 𝒊− (𝟐𝟎𝟎+𝟐𝟓𝟎− 𝟐𝟓𝟎cos 𝟒𝟓° ) 𝒋

𝒓⃗ 𝑨/ 𝑪=− 𝟏𝟕𝟔.𝟕𝟖𝒊−𝟐𝟕𝟑 .𝟑𝟑 𝒋
 ⃗
𝒂 𝑨 =𝟐𝟓 𝒋
Y, y ⃗
𝜴 =−
𝟏𝟓
𝟐𝟓𝟎
𝒌=−𝟎 . 𝟎𝟔 𝒌 ⃗𝒂𝑪=(𝒂𝑪)𝒕×(−𝒄𝒐𝒔𝟒𝟓°𝒊−𝒄𝒐𝒏𝒔𝟒𝟓°𝒋)+(𝒂𝑪)𝒏×(−𝒄𝒐𝒔𝟒𝟓°𝒊+𝒄𝒐𝒏𝒔𝟒𝟓°𝒋)
X. x
Where,

˙ =(
𝒂𝑪 )𝒕 𝟑 ( 𝒂 𝑪 )𝒕 =𝟑𝟐
𝜴 = =𝟎 .𝟎𝟏𝟐 𝑽 𝑩 𝟏𝟓 𝟐
˙ 𝝆 𝟐𝟓𝟎 ( 𝒂 𝑪 )𝒏 = 𝝆 = 𝟐𝟓𝟎 𝒋
⃗
𝜴=−𝟎 . 𝟎𝟏𝟐 𝒌
⃗𝒂𝑪 =− 𝟐.𝟕𝟓𝟖 𝒊− 𝟏.𝟒𝟖𝟓 𝒋
𝒓⃗ 𝑨/ 𝑪=− 𝟏𝟕𝟔.𝟕𝟖𝒊−𝟐𝟕𝟑 .𝟑𝟑 𝒋
(⃗
𝑽 𝑨/ 𝑪 )𝒙𝒚𝒛 =𝟐𝟕𝒊+𝟐𝟓 𝒋
( ⃗𝒂 𝑨/ 𝑪 ) 𝒙𝒚𝒛 =𝟐.𝟒𝒊− 𝟎.𝟑𝟖 𝒋
Ans.
 ⃗
𝑽 𝑩 =⃗
𝑽 𝑪+⃗
𝛀 × 𝒓⃗ 𝑩/ 𝑪 + ( ⃗
𝑽 𝑩/ 𝑪 )𝒙𝒚𝒛

(⃗
𝑽 𝑨/ 𝑪 )𝒙𝒚𝒛 =𝟎
Ans.

Y, y
⃗
𝑽 𝑩 =𝟐𝟓 𝒋
X. x
⃗
𝑽 𝑪 =−𝟏𝟓 cos𝟒𝟓° 𝒊 −𝟏𝟓sin 𝟒𝟓° 𝒋
⃗ 𝟏𝟓
𝛀 =− 𝒌=−𝟎 . 𝟎𝟔 𝒌
𝟐𝟓𝟎

𝒓⃗ 𝑩/ 𝑪=−𝟐𝟓𝟎sin 𝟒𝟓° 𝒊 − ( 𝟐𝟓𝟎−𝟐𝟓𝟎 cos𝟒𝟓° ) 𝒋

𝒓⃗ 𝑩/ 𝑪=−𝟏𝟕𝟔.𝟕𝟖𝒊−𝟕𝟑 .𝟑𝟑 𝒋
 𝟐
⃗𝒂𝑩=− ( 𝒂𝑩)𝒕 𝒊+( 𝒂𝑩)𝒏 𝒋=−𝟐𝒊+ 𝟏𝟓 𝒋
Y, y
⃗
𝜴 =−
𝟏𝟓
𝒌=−𝟎 . 𝟎𝟔 𝒌
𝟐𝟓𝟎
⃗𝒂𝑪=(𝒂𝑪)𝒕×(−𝒄𝒐𝒔𝟒𝟓°𝒊−𝒄𝒐𝒏𝒔𝟒𝟓°𝒋)+(𝒂𝑪)𝒏×(−𝒄𝒐𝒔𝟒𝟓°𝒊+𝒄𝒐𝒏𝒔𝟒𝟓°𝒋)
𝟐𝟓𝟎
X. x
Where,

˙ =(
𝒂𝑪 )𝒕 𝟑 ( 𝒂 𝑪 )𝒕 =𝟑𝟐
𝜴 = =𝟎 .𝟎𝟏𝟐 𝑽 𝑩 𝟏𝟓 𝟐
˙ 𝝆 𝟐𝟓𝟎 ( 𝒂 𝑪 )𝒏 = 𝝆 = 𝟐𝟓𝟎 𝒋
⃗
𝜴=−𝟎 . 𝟎𝟏𝟐 𝒌
⃗𝒂𝑪 =− 𝟐.𝟕𝟓𝟖 𝒊− 𝟏.𝟒𝟖𝟓 𝒋

𝒓⃗ 𝑩/ 𝑪=−𝟏𝟕𝟔.𝟕𝟖𝒊−𝟕𝟑 .𝟑𝟑 𝒋

(⃗
𝑽 𝑨/ 𝑪 )𝒙𝒚𝒛 =𝟎 ( ⃗𝒂 𝑨/ 𝑪 ) 𝒙𝒚𝒛 =𝒊
Ans.
 ⃗
𝑽 𝑩 =⃗
𝑽 𝑨 +⃗ ⃗ )
𝛀 × 𝒓⃗ 𝑩/ 𝑨+ (𝑽 𝑩/ 𝑨 𝒙𝒚𝒛

Y,
−𝟏.𝟖𝒊=𝟎+𝛀 𝒌×𝟎.𝟕𝟓𝒊+( 𝑽 𝑩/ 𝑨) 𝒙𝒚𝒛 𝒊 ⃗

y
𝑽 𝑩 =𝟔 𝒌 × 𝟎 .𝟑 𝒋 =−𝟏 .𝟖 𝒊
X.
x −𝟏.𝟖𝒊=𝟎.𝟕𝟓 𝛀 𝒋+( 𝑽 𝑩/ 𝑨 ) 𝒙𝒚𝒛 𝒊 𝒓⃗ 𝑩/ 𝑨 =𝟎 .𝟕𝟓 𝒊
⃗
𝛀 =𝛀 𝒌
Equate i component:
(⃗
𝑽 𝑩/ 𝑨) 𝒙𝒚𝒛 =( 𝑽 𝑩/ 𝑨 ) 𝒙𝒚𝒛 𝒊
( 𝑽 𝑩/ 𝑨 ) 𝒙𝒚𝒛 =− 𝟏.𝟖𝒊
Equate j component:

𝛀 =𝟎
𝝎 𝑨𝑪 =𝟎 Ans.
 ⃗ 𝐵=𝛼
𝑎 ⃗×⃗ 2
𝑟❑−𝜔 𝑟⃗❑

Y,
y
⃗ 𝐵=10 𝑘 ×0 .3 𝑗 − 62 ×0.3 𝑗
𝑎
X.
x ⃗ 𝐵=3 𝑖 − 10.8 𝑗
𝑎

⃗ ) +( 𝑎 ) 𝑖
˙ 𝑘× 0.75 𝑖 −0 2 × 0.75 𝑖+2 ×0 × (𝑉
3 𝑖 −10.8 𝑗=0 + 𝛺 𝐵/ 𝐴 𝑥𝑦𝑧 𝐵/ 𝐴 𝑥𝑦𝑧

˙ 𝑗 + ( 𝑎𝐵 / 𝐴 ) 𝑖
3 𝑖 −10.8 𝑗=0.75 𝛺 𝑥𝑦𝑧

Equate j component: ˙
⃗
𝛺=Ω̇ 𝑘
˙
−10.8=0.75 𝛺
( ⃗𝒂𝑩/ 𝑨) 𝒙𝒚𝒛 = ( 𝒂𝑩/ 𝑨 ) 𝒙𝒚𝒛 𝒊
˙
𝛺=− 14.4
𝜶 𝑨𝑪 =−𝟏𝟒 .𝟒
 ⃗
𝑽 𝑪 =⃗
𝑽 𝑩+ ⃗
𝛀 × 𝒓⃗ 𝑪 / 𝑩 + ( ⃗
𝑽 𝑪 / 𝑩 )𝒙𝒚𝒛

⃗
𝑽 𝑩 =𝟐𝒌× (𝟏𝟎 𝒄𝒐𝒔𝟑𝟎 °𝒊+𝟏𝟎 𝒔𝒊𝒏𝟑𝟎° 𝒋 ¿ )
⃗
𝑽 =𝟏𝟕. 𝟑 𝒋 − 𝟏𝟎𝒊
𝑩
Y, y

⃗
𝛀 =⃗
𝝎 =𝟐 𝒌
X. x
𝑨𝑩

⃗
( 𝑪 / 𝑩 ) 𝒙𝒚𝒛 × ⃗𝒓 𝑪 / 𝑩
𝑽 = ⃗
𝝎 ′

(⃗𝑽 𝑪 / 𝑩 ) 𝒙𝒚𝒛 =−𝟎. 𝟓𝒌 × ( −𝟐 𝒋 ) =−𝒊

⃗
𝑽 𝑪 =𝟏𝟕.𝟑 𝒋 −𝟏𝟎𝒊+𝟐𝒌× ( −𝟐 𝒋 ) −𝒊
⃗
𝑽 𝑪 =𝟏𝟕.𝟑 𝒋 −𝟏𝟎𝒊+𝟒𝒊− 𝒊
⃗
𝑽 =−𝟏𝟕. 𝟑 𝒋 − 𝟕𝒊
𝑪
 𝟐
⃗
𝒂 𝑩= ⃗
𝜶 𝑨𝑩 × ⃗𝒓 𝑩/ 𝑨 −𝝎 𝑨𝑩 ⃗𝒓 𝑩/ 𝑨
Y, y
⃗𝒂 𝑩=−𝟑𝟗. 𝟔𝟒𝒊−𝟏𝟏. 𝟑𝟒 𝒋

⃗˙
X. x
⃗𝒂𝑪 =− 𝟑𝟖.𝟖𝒊− 𝟔.𝟖𝟒 𝒋 𝜴 =−𝟎 . 𝟔 𝒌
⃗
𝛀 =⃗
𝝎 𝑨𝑩 =𝟐 𝒌
Ans.
𝒓⃗ 𝑪 / 𝑩=−𝟐 𝒋

(⃗
𝑽 𝑪 / 𝑩 ) 𝒙𝒚𝒛 =⃗
𝝎 ′ × ⃗𝒓 𝑪 / 𝑩
(⃗
𝑽 𝑪 / 𝑩 ) 𝒙𝒚𝒛 =−𝟎. 𝟓𝒌 × ( −𝟐 𝒋 ) =−𝒊
𝟐
(⃗
𝒂 𝑪 / 𝑩 ) 𝒙𝒚𝒛 = ⃗ 𝜶 𝑩𝑪 × ⃗ 𝒓 𝑩 / 𝑨 −𝝎 𝑩𝑪 𝒓 ⃗𝑪/
𝟐
⃗
( 𝑪 / 𝑩 ) 𝒙𝒚𝒛
𝒂 =𝟎− 𝟎.𝟓 ×(− 𝟐 𝒋 )
( ⃗𝒂𝑪 / 𝑩 ) 𝒙𝒚𝒛 =− 𝟎.𝟓 𝒋
 ⃗
𝑽 𝑪 =⃗
𝑽 𝑨+ ⃗
𝛀 × 𝒓⃗ 𝑪 / 𝑨 + ( ⃗
𝑽 𝑪 / 𝑨 )𝒙𝒚𝒛
⃗
𝑽 𝑪 =⃗ ⃗
𝝎 ×𝒓

𝒓⃗ =𝟎.𝟎𝟔cos𝟔𝟎𝒊+𝟎.𝟎𝟔sin 𝟔𝟎 𝒋
⃗
𝑽 𝑪 =−𝟎 . 𝟐𝟎𝟖𝒊 +𝟎 . 𝟏𝟐 𝒋

⃗
𝑽𝑪
(⃗
𝑽 𝑪 / 𝑨 )𝒙𝒚𝒛 = ( 𝑽 𝑪 / 𝑨 ) 𝒙𝒚𝒛 𝒊

−𝟎.𝟐𝟎𝟖 𝒊+𝟎.𝟏𝟐 𝒋=𝟎+𝛀 𝒌×𝟎.𝟏𝟖𝒊+( 𝑽 𝑪/ 𝑨 ) 𝒙𝒚𝒛 𝒊

−𝟎 . 𝟐𝟎𝟖 𝒊+𝟎 . 𝟏𝟐 𝒋=𝟎 . 𝟏𝟖 𝛀 𝒋+ ( 𝑽 𝑪 / 𝑨 ) 𝒙𝒚𝒛 𝒊
X. x
Y, y

𝛀 =𝟎. 𝟔𝟔𝟕 ( 𝑽 𝑪/ 𝑨 ) 𝒙𝒚𝒛 =− 0.208

 ⃗ 𝐶 =𝛼
𝑎 ⃗×⃗ ⃗❑
𝑟 ❑ −𝜔2𝑟
⃗ 𝐶 =0 − 42 × ( 0.06 𝑐𝑜𝑠60 𝑖+ 0.06 𝑠𝑖𝑛60 𝑗 )
𝑎
⃗ 𝐶 =− 0.48 𝑖 −0.83 𝑗
𝑎

⃗
𝑽 𝑪 =−𝟎 . 𝟐𝟎𝟖𝒊 +𝟎 . 𝟏𝟐 𝒋

( ⃗𝒂𝑪 / 𝑨 ) 𝒙𝒚𝒛 =( 𝒂𝑪 / 𝑨) 𝒙𝒚𝒛 𝒊

⃗
𝑽𝑪
X. x
Y, y

˙
𝛺=− 3.06