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48640
Machine Dynamics
Dr Dongbin Wei

School of Electrical, Mechanical and Mechatronic Systems
Faculty of Engineering and Information Technology
University of Technology, Sydney
Office: Building 2, Level 6, Room 619
Email: dongbin.wei@uts.edu.au
WEEK 1
Where are we?
Statics:
The study of bodies in
equilibrium.
Dynamics:
1. Kinematics concerned with the
geometric aspects of motion
2. Kinetics concerned with the
forces causing the motion
Mechanics: The study of how bodies react to forces acting on them.
Particle Rigid Body
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Recommended Text Book:
R.C. Hibbeler, Mechanics for
Engineers: Dynamics, SI Edition,
13/E, Prentice Hall
or
R.C. Hibbeler, Engineering
Mechanics: Dynamics in SI Units
Pack, 12 Edition, Prentice Hall
3
Reference:
J.L. Meriam and L.G. Kraige, Engineering Mechanics
Dynamics in SI Version (7th Edition), Wiley
Planar Kinematics of Rigid Body (Chapter 16)
Displacement, Velocity, Acceleration

Planar Kinetics of Rigid Body
Kinetic Equation of Motion (Chapter 17)
Acceleration, Force
Work and Energy (Chapter 18)
Force, Velocity, Displacement
Impulse and Momentum (Chapter 19)
Force, Velocity, Time
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Step 1: Define the problem - Specify required outputs
Step 2: Accumulate data Problem inputs
Free body diagram (very important and useful)
- establishing appropriate coordinate system
Kinematic or kinetics diagram) if necessary
Initial conditions
List and express all known parameters
List and express all unknown parameters
Step 3: Select appropriate theory / principle
Choose useful equations
Recognize the conditions and assumptions
Step 4: Estimate the answer bounds
Step 5: Solve the problem
use SI units (N, mm, MPa and kN, m, kPa)
Step 6: Verify and check results
Procedure for solving problems
Objectives:
Students will be able to:
Analyze the kinematics of a rigid body undergoing planar
translation or rotation about a fixed axis.
Contents:
Types of Rigid-Body Motion
Planar Translation
Rotation about a Fixed Axis
PLANAR RIGID BODY MOTION:
TRANSLATION & ROTATION
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16.1 Planar Rigid-Body Motion
When all the particles of a rigid body move
along paths which are equidistant from a
fixed plane, the body is undergoing planar
motion
Three types of rigid body planar motion:
1) Translation
2) Rotation about a fixed axis
3) General Plane Motion

1) Translation
When every line segment on the body remains
parallel to its original direction during the motion
Rectilinear translation - when two particles
paths of motion are along equidistant
straight lines
Curvilinear translation - when paths of
motion are along curves lines are equidistant
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2) Rotation about a fixed axis
When a rigid body rotates
about a fixed axis, all the
particles of the body,
except on the axis of
rotation, move along
circular paths
3) General Plane Motion
When a body is subjected
to general plane motion,
there is a combination of
translation and rotation
An example of bodies undergoing the three types of motion
rectilinear translation.
rotation about a fixed axis.
curvilinear translation, since it will remain horizontal as it
moves along a circular path.
2
The wheel and crank undergo
The piston undergoes
The connecting rod 1 undergoes



The connecting rod 2 undergoes
general plane motion, as it will both translate and rotate.
v
v
v
v
1
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Passengers on this amusement
ride are subjected to
Does each passenger feel the same acceleration?
If the angular motion of the rotating arms is known, how
can we determine the velocity and acceleration
experienced by the passengers? Why would we want to
know these values?
Applications
curvilinear translation since the
vehicle moves in a circular path
but they always remains upright.
Gears, pulleys and cams, which
rotate about fixed axes, are often
used in machinery to generate
motion and transmit forces. The
angular motion of these
components must be understood
to properly design the system.
To do this design, we need to relate the angular motions
of contacting bodies that rotate about different fixed axes.
How is this different from the analyses we did in dynamics
of a particle?
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16.2 Planar Translation
Position
By vector addition

Velocity
Magnitude of
/
is constant due
to rigid body

Acceleration
Time derivative of velocity
equation yields


A B A B /
r r r

+ =
A B
v v

=
A B
a a

=

x
z
y
O



, and
represent
the unit
vectors
along x, y
and z
respectively
16.3 Rotation about a Fixed Axis
Angular Motion
Only lines or bodies undergo angular
motion. (A point is without dimension
and cannot have angular motion.)
Angular Position
Angular position of r is defined by
Angular Displacement (vector)
Change in the angular position measured
as a differential
Direction: right hand rule
Units: degrees, radians, revolutions
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Angular Velocity (vector)
Time rate of change in the angular position
occurs during an instant of time dt so its
magnitude

Angular Acceleration (vector)
Time rate of change of the
angular velocity
Magnitude
dt
du
e =
( +)
( +)
=

Angular Acceleration
Differential relation between the angular acceleration,
angular velocity and angular displacement is


Only if Angular Acceleration is a constant

e e u o d d =
( +)
) ( 2
2
1
0
2
0
2
2
0 0
0
u u o e e
o e u u
o e e
+ =
+ + =
+ =
c
c
c
t t
t
( +)
( +)
( +)

0
,
0
represent the initial
position and velocity of the
body at t = 0.
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KINEMATIC RELATIONS:
RECTILINEAR MOTION of A particle
Differentiate position to get velocity and acceleration.
v = ds/dt ; a = dv/dt or a = v dv/ds
Integrate acceleration for velocity and position.
s
o
and v
o
represent
the initial position and
velocity of the particle
at t = 0.

Velocity:
} }
=
t
o
v
v o
dt a dv
} }
=
s
s
v
v o o
ds a dv v or
} }
=
t
o
s
s o
dt v ds
Position:
Recall
In the case of CONSTANT ACCELERATION
More generally, using Vector Calculation to determine
magnitude and direction of velocity of P
Motion of Point P on Rigid Body Rotating about A
Fixed Axis
Point P travels along a circular path of radius r and centre
at point O
Position
P is defined by the position vector
Velocity
Magnitude: =
Direction: tangent to circular path (it may be
determined by observation in simple cases)
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=

Right hand rule: from direction of d

-
Thumb tangents to the path in the direction of motion
Vector Calculation - the cross product of vector to
determine magnitude and direction of velocity of P
Acceleration
Acceleration of P

=

=
(

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Acceleration
Acceleration of point P can be expressed
conveniently by Normal and Tangential Components




Vector form


Magnitude of acceleration is
Change direction
of velocity

Change magnitude
of velocity

r a
t
o =
r a
n
2
e =
2 2
n t
a a a + =
Magnitude
of a
t
and a
n
=

12.7 Curvilinear Motion: Normal and Tangential
Components
Acceleration
Acceleration of the particle a can be
written as



Magnitude of acceleration of the particle
a is

2
and or where
v
a vdv ds a v a
u a u a a
n t t
n n t t
= = =
+ =

2 2
n t
a a a + =
Recall
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Procedure for Analysis
Angular Motion
Establish the positive sense of direction along the axis
of rotation
When relationship is known between any two of the
four variables , , and t, we can use
dt
du
e =
dt
de
o =
e e u o d d =
Procedure for Analysis
Angular Motion
When bodys angular acceleration is constant

Sense of , and is determined from algebraic
signs of their numerical quantities
) ( 2
2
1
0
2
0
2
2
0 0
0
u u o e e
o e u u
o e e
+ =
+ + =
+ =
c
c
c
t t
t
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Procedure for Analysis
Motion of Point P
Velocity of P and its two components of acceleration
can be determined from the scalar equations


If geometry of the problem is difficult to visualize, we
use vector equations
r a
t
o =
e r v = r a
n
2
e =
r r a
r r a
r r v



2
) ( e e e
o o
e e
= =
= =
= =
P n
P t
P
Using right hand rule to
determine the direction of
,

and

READING QUIZ
1. If a rigid body is in translation only, the velocity at
points A and B on the rigid body _______ .
A) are usually different
B) are always the same
C) depend on their position
D) depend on their relative position
2. If a rigid body is rotating with a constant angular
velocity about a fixed axis, the velocity vector at point P
is _______.
A) e r
p
B) r
p
e


C) dr
p
/dt D) All of the above.
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CONCEPT QUIZ
2. A Frisbee is thrown and curves to the right. It is experiencing
A) rectilinear translation. B) curvilinear translation.
C) pure rotation. D) general plane motion.
1. A disk is rotating at 4 rad/s. If it is subjected
to a constant angular acceleration of 2 rad/s
2
,
determine the acceleration at B.
A) (4 i + 32 j) m/s
2
B) (4 i - 32 j) m/s
2

C) (- 4 i + 32 j) m/s
2
D) (- 4 i -32 j) m/s
2

O
A
B
x
y
2 m
2 rad/s
2
A cord is wrapped around a wheel
which is initially at rest. If a force is
applied to the cord and gives it an
acceleration a = (4t) m/s
2
, where t is
in seconds, determine as a function of
time (a) the angular velocity of the
wheel, and (b) the angular position of
the line OP in radians.
Example I (Example 16.1)
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Solution
Part (a)
The wheel is subjected to rotation about a fixed axis
passing through point O.
Acceleration of Point P has both tangential and normal
components.
Angular acceleration of the wheel is
2
rad/s 20
) 2 . 0 ( ) 4 (
) (
t
t
r a
t P
=
=
=
o
o
o
+
Solution
Part (a)
Integrating with the initial condition that
= 0, t = 0
+
rad/s 10
20
) 20 (
2
0 0
t
dt t d
t
dt
d
t
=
=
= =
} }
e
e
e
o
e
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Solution
Part (b)
Angular position of OP can be found from
= /dt
Integrating with the initial condition
= 0 at t = 0,

rad 33 . 3
10
) 10 (
3
0
2
0
2
t
dt t d
t
dt
d
t
=
=
= =
} }
u
u
e
u
u
+
Given:
The motor turns gear A with a constant angular
acceleration,
A
= 4.5 rad/s
2
, starting from rest. The cord is
wrapped around pulley D which is rigidly attached to gear
B.
Find:
The velocity of cylinder C and the
distance it travels in 3 seconds.
Example II
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1) The angular acceleration of
gear B (and pulley D) can be
related to
A
.
2) The acceleration of cylinder C
can be determined by using the
equations of motion for a point
on a rotating body since (a
t
)
D
at
point P is the same as a
c
.
3) The velocity and distance of C
can be found by using the
constant acceleration
equations.
Plan:
Solution:
Since gear B and pulley D turn together,
D
=
B
= 1.5 rad/s
2
1) Gear A and B will have the same speed and tangential
component of acceleration at the point where they mesh. Thus,
a
t
=
A
r
A
=
B
r
B
(4.5)(75) =
B
(225)
B
= 1.5 rad/s
2
2) Assuming the cord attached to pulley D is inextensible and does
not slip, the velocity and acceleration of cylinder C will be the
same as the velocity and tangential component of acceleration
along the pulley D.
a
C
= (a
t
)
D
= a
D
r
D
= (1.5)(0.125) = 0.1875 m/s
2
|
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3) Since a
C
will be constant. The constant acceleration
equation for rectilinear motion can be used to determine
the velocity and displacement of cylinder C when t = 3 s
(s
0
= v
0
= 0):
v
c
= v
0
+

a
C
t = 0 + 0.1875 m/s
2
(3 s) = 0.563 m/s |
s
c
= s
0
+

v
0
t

+ (0.5) a
C
t
2

= 0 + 0 + (0.5) 0.1875 m/s
2
(3 s)
2
= 0.844 m |
GROUP PROBLEM SOLVING
Given:
Gear A is given an angular acceleration
A
= 4t
3
rad/s
2
,
where t is in seconds, and (e
A
)
0
= 20 rad/s.
Find:
The angular velocity and angular displacement of gear B
when t = 2 s.

1) Apply the kinematic equation of variable angular
acceleration to find the angular velocity of gear A.
2) Find the relationship of angular motion between gear A and
gear B in terms of time and then use 2 s.
Plan:
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Solution:
1) Motion of Gear A : Applying the kinematic equation
2) Since gear B meshes with gear A,
e
B
= 36

(0.05

/ 0.15) = 12 rad/s
u
B
= 46.4

(0.05

/ 0.15) = 15.5 rad
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ATTENTION QUIZ
1. The fan blades suddenly experience an angular acceleration of 2
rad/s
2
. If the blades are rotating with an initial angular velocity
of 4 rad/s, determine the speed of point P when the blades
have turned 2 revolutions (when = 8.14 rad/s).
A) 4.27 m/s B) 5.31 m/s
C) 6.93 m/s D) 8.0 m/s
2. Determine the magnitude of the acceleration at P when the
blades have turned the 2 revolutions.
A) 0 m/s
2
B) 1.05 m/s
2

C) 34.79 m/s
2
D) 34.80 m/s
2
Three various calculation methods can be adopted to
determine the velocity and/or acceleration of a rigid body
undergoing general plane motion.
Absolute Motion Analysis for determining both
velocity and acceleration
Relative Motion Analysis
Velocity
Acceleration
Instantaneous Centre (IC) of zero velocity for
determining velocity
Two or more methods may be applicable for a certain
problem, however, they have various difficulties.
PLANAR RIGID BODY MOTION:
GENERAL PLANE MOTION
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ABSOLUTE MOTION ANALYSIS
Objective:
Students will be able to:
1. Determine the velocity and acceleration of a rigid body
undergoing general plane motion using an absolute motion
analysis.
Contents:
General Plane Motion
APPLICATIONS
As a part of the design process for the truck, an engineer
had to relate the velocity at which the hydraulic cylinder
extends and the resulting angular velocity of the bin.
The dumping bin on the truck rotates
about a fixed axis passing through the
pin at A. It is operated by the extension
of the hydraulic cylinder BC.

The angular position of the bin can be
specified using the angular position
coordinate u and the position of point
C on the bin is specified using the
coordinate s.
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The large window is opened
using a hydraulic cylinder AB.

The position B of the hydraulic
cylinder rod is related to the
angular position , of the
window.
A designer has to relate the translational velocity at B of
the hydraulic cylinder and the angular velocity and
acceleration of the window? How would you go about the
task?
16.4 Absolute Motion Analysis
A body subjected to general plane motion undergoes
a simultaneous translation and rotation.
One way to define these motions is to use a rectilinear
position coordinate s to locate the point along its path
and an angular position coordinate to specify the
orientation of the line.
= ()
By direct application of the time-differential equations
v = ds/dt = /
a = dv/dt = d/dt
the motion of the point and the angular motion of the line
can be related.
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The position of the piston, s, can be defined as a function
of the angular position of the crank, u. By differentiating s
with respect to time, the velocity of the piston can be
related to the angular velocity, e, of the crank. This is
necessary when designing an engine.
The stroke of the piston is defined as the total distance
moved by the piston as the crank angle varies from 0 to
180. How does the length of crank AB affect the stroke?
s
Procedure for Analysis
Position Coordinate Equation
Locate point P using a position coordinate s, measured
from a fixed origin and along the straight-line path of
motion of point P.
Measure from a fixed reference line the angular
position of a line lying in the body.
s = f()
Time Derivatives
First time derivative of s = f() to get a relationship
between v and ; second time derivative to get a
relationship between a and .
Chain rule of calculus must be used when taking the
derivatives of the position coordinate equation.
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READING QUIZ
1. A body subjected to general plane motion undergoes
a/an
A) translation.
B) rotation.
C) simultaneous translation and rotation.
D) out-of-plane movement.
2. In general plane motion, if the rigid body is
represented by a slab, the slab rotates
A) about an axis perpendicular to the plane.
B) about an axis parallel to the plane.
C) about an axis lying in the plane.
D) None of the above.
CONCEPT QUIZ
1. The position, s, is given as a function of
angular position, u, as s = 10 sin 2u . The
velocity, v, is

A) 20 cos 2u B) 20 sin 2u
C) 20 e cos 2u D) 20 e sin 2u
2. If s = 10 sin 2u, the acceleration, a, is

A) 20 o sin 2u B) 20 o cos 2u 40 e
2
sin 2u
C) 20 o cos 2u D) -40 o sin2u
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The end of rod R maintains contact with the cam by
means of a spring. If the cam rotates about an axis
through point O with an angular acceleration and
angular velocity , determine the velocity and
acceleration of the rod when the cam is in the
arbitrary position .
Example I (Example 16.3)
Solution
Position Coordinate Equation
and x are chosen to relate the rotational motion of OA to
the rectilinear motion of the rod.
Since

Time Derivatives
Using chain rule of calculus
u cos 2r x =
) cos sin ( 2 ) (cos 2 sin 2
sin 2 ) (sin 2
2
u e u o
u
u e u
e
u e
u
u
+ =
|
.
|

\
|
=
= =
r a
dt
d
r
dt
d
r
dt
dv
r v
dt
d
r
dt
dx
u cos r CB OC = =
Fixed origin
i.e. s
-
R: Focused point
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The large window is opened using a
hydraulic cylinder AB. If the cylinder
extends at a constant rate of 0.5 m/s,
determine the angular velocity and
angular acceleration of the window
at the instant = 30
Example II (Example 16.5)
Solution
Position Coordinate Equation
The angular motion of the window can be obtained using
the coordinate and motion along the hydraulic cylinder
is defined using a coordinate s.




When = 30,
u
u
cos 4 5
cos ) 1 )( 2 ( 2 ) 1 ( ) 2 (
2
2 2 2
=
+ =
s
s
(1)
m 239 . 1 = s
Fixed origin
s
B: Focused point
-
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Solution
Time Derivatives
Taking the time derivatives of Eq. 1,




Since v
s
= 0.5 m/s, then at = 30
e u
u
u
) (sin 2 ) (
) sin ( 4 0 2
=
=
s
v s
dt
d
st
ds
s
(2)
rad/s 620 . 0 = e
Solution
Time Derivatives
Taking the time derivatives of Eq. 2 yields,



Since a
s
= dv
s
/dt = 0, then

o u e u
e
u e
u
u
) (sin 2 ) (cos 2
) (sin 2 ) (cos 2
2 2
+ = +
+ = +
s s
s
s
sa v
dt
d
dt
d
dt
dv
s v
dt
ds
2
2 2
rad/s 415 . 0
30 sin 2 ) 620 . 0 ( 30 cos 2 0 ) 5 . 0 (
=
+ = +
o
o

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Given:
A circular cam is rotating clockwise about O with a
constant .
Find:
The velocity and acceleration of the follower rod A as a
function of .
Example III

Set the coordinate x to be the distance between O and the
rod A. Relate x to the angular position u. Then take time
derivatives of the position equation to find the velocity
and acceleration relationships.
Plan:
Solution:
Relate x, the distance
between O and the rod, to .
= +
Take time derivatives of the position to find the velocity
and acceleration.
x
Notice

=-
So

= =

= =
2

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Given:
Crank AB rotates at a constant velocity of = 150 rad/s.
Find:
The velocity of point P when = 30.

Define x as a function of and differentiate with respect
to time.

Example IV
Plan:
v
P
= -0.2(sinu)

+ (0.5)[(0.75)
2

(0.2sinu)
2
]
-0.5
(-2)(0.2sinu)(0.2cosu)

v
P
= -0.2e sinu [0.5(0.2)
2
sin2u e] / (0.75)
2
(0.2 sin u)
2

At u = 30, e = 150 rad/s and v
P
= -18.5 m/s
Solution:
Relate x the distance
between A and P to

= 0.2 + 0.75
2
(0.2)
2

Take time derivatives of the position to find the velocity
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GROUP PROBLEM SOLVING
Given:
The hydraulic cylinder AB
shortens at a constant rate
of 0.15 m/s so that girder G
of a bascule bridge is raised.
Find:
The angular velocity of the bridge girder when = 60.

Set the coordinate s to be distance AB. Then relate s to
the angular position . Take time derivative of this
position relationship to find the angular velocity.
Plan:
Solution:
Relate s, the distance AB, to q
applying the law of cosines to the
geometry.

AB
2
= BC
2
+AC
2
2(BC)(AC) cos(180-u)
s
2


= 3
2
+ 5
2
2 (3) (5) cos (180-u)
= 34 30 cos (180-u)
s
2
= 34 +30 cosu
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ATTENTION QUIZ
2. If v
A
=10 m/s and a
A
=10 m/s
2
, determine
the angular acceleration, o, when u = 30.
A) 0 rad/s
2
B) -50.2 rad/s
2



C) -112 rad/s
2
D) -183 rad/s
2

1. The sliders shown below are confined to move in the
horizontal and vertical slots. If v
A
=10 m/s, determine the
connecting bars angular velocity when u = 30.
A) 10 rad/s B) 10 rad/s


C) 8.7 rad/s D) 8.7 rad/s