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Rigid Bodies
Contents
Introduction Absolute and Relative Acceleration in
Translation Plane Motion
Rotation About a Fixed Axis: Velocity Analysis of Plane Motion in Terms of a
Rotation About a Fixed Axis: Parameter
Acceleration Sample Problem 15.6
Rotation About a Fixed Axis: Sample Problem 15.7
Representative Slab Sample Problem 15.8
Equations Defining the Rotation of a Rate of Change With Respect to a
Rigid Body About a Fixed Axis Rotating Frame
Sample Problem 5.1 Coriolis Acceleration
General Plane Motion Sample Problem 15.9
Absolute and Relative Velocity in Plane Sample Problem 15.10
Motion Motion About a Fixed Point
Sample Problem 15.2 General Motion
Sample Problem 15.3 Sample Problem 15.11
Instantaneous Center of Rotation in Three Dimensional Motion. Coriolis
Plane Motion Acceleration
Sample Problem 15.4 Frame of Reference in General Motion
Sample Problem 15.5 Sample Problem 15.15 15 - 2
Applications
15 - 3
Applications
15 - 4
Applications
Planetary gear systems are used to get high reduction ratios
with minimum weight and space. How can we design the
correct gear ratios?
15 - 5
Applications
Biomedical engineers must determine the velocities and
accelerations of the leg in order to design prostheses.
15 - 6
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
15 - 7
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 ( rB A being constant)
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.
15 - 8
Rotation About a Fixed Axis. Velocity
Consider rotation of rigid body about a
fixed axis AA
Velocity vector v dr dt of the particle P is
tangent to the path with magnitude v ds dt
s BP r sin
ds
v lim r sin r sin
dt t 0 t
15 - 9
Rotation About a Fixed Axis. Acceleration
Differentiating to determine the acceleration,
dv d
a r
dt dt
d dr
r
dt dt
d
r v
dt
d
angular acceleration
dt
k k k
d d
Recall or dt
dt
d d 2 d
2
dt dt d
Uniform Rotation, = 0:
0 t
1 rev
N 14 rad number of revs N 2.23 rev
2 rad
vB r 125 mm 10 rad s vB 1.25m s
yB r 125 mm 14 rad yB 1.75 m
15 - 14
Sample Problem
Evaluate the initial tangential and normal acceleration
components of D.
aD t aC 225mm s2
( aD )t = 225mm s2 ( aD )n =1200mm s2
( 225)2 (1200 )2
aD 1.221m s2
1220.9 mm/s2
aD n
tan
aD t
1200 79.4
225
15 - 15
Example General Plane Motion
The knee has linear velocity and acceleration from both
translation (the runner moving forward) as well as rotation
(the leg rotating about the hip).
15 - 16
General Plane Motion
vB vA vA
tan cos
vA v B A l
v B v A tan vA
l cos
15 - 19
Absolute and Relative Velocity in Plane Motion
Selecting point B as the reference point and solving for the velocity vA of end A
and the angular velocity 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 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.
15 - 20
Sample Problem
SOLUTION:
The displacement of the gear center in
one revolution is equal to the outer
circumference. Relate the translational
and angular displacements. Differentiate
to relate the translational and angular
velocities.
The velocity for any point P on the gear
The double gear rolls on the may be written as
stationary lower rack: the velocity of
its center is 1.2 m/s.
vP v A vP A v A k rP A
Determine (a) the angular velocity of Evaluate the velocities of points B and D.
the gear, and (b) the velocities of the
upper rack R and point D of the gear.
15 - 21
Sample Problem
SOLUTION:
The displacement of the gear center in one revolution is
equal to the outer circumference.
For xA > 0 (moves to right), < 0 (rotates clockwise).
xA
xA r1
2 r1 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
15 - 22
Sample Problem
For any point P on the gear, vP v A vP A v A k rP A
15 - 23
Sample Problem
SOLUTION:
Will determine the absolute velocity of
point D with
vD vB vD B
The velocity v B is obtained from the
given crank rotation data.
The crank AB has a constant clockwise The directions of the absolute velocity v D
angular velocity of 2000 rpm. and the relative velocity v D B are
determined from the problem geometry.
For the crank position indicated,
determine (a) the angular velocity of The unknowns in the vector expression
the connecting rod BD, and (b) the are the velocity magnitudes v D and v D B
velocity of the piston P. which may be determined from the
corresponding vector triangle.
The angular velocity of the connecting
rod is calculated from v D B .
15 - 24
Sample Problem
SOLUTION:
Will determine the absolute velocity of point D with
v D vB v D B
The velocity vB is obtained from the crank rotation data.
( )
2 p rad
w AB = 2000 rev min = 209.4 rad s
min 60s rev
vB = ( AB) w AB = ( 75mm ) ( 209.4 rad s) = 15705 mm/s
15 - 25
Sample Problem
vD B l BD
v D vB v D B vD B 12396 mm s
BD
l 200 mm
62.0 rad s
BD 62.0 rad s k
15 - 26
Instantaneous Center of Rotation in Plane Motion
Plane motion of all particles in a slab can always be
replaced by the translation of an arbitrary point A and a
rotation about A with an angular velocity that is
independent of the choice of A.
The velocity of all other particles in the slab are the same
as originally defined since the angular velocity and
translational velocity at A are equivalent.
15 - 27
Instantaneous Center of Rotation in Plane Motion
If the velocity at two points A and B are known, the
instantaneous center of rotation lies at the intersection
of the perpendiculars to the velocity vectors through A
and B .
15 - 28
Instantaneous Center of Rotation in Plane Motion
The instantaneous center of rotation lies at the intersection of
the perpendiculars to the velocity vectors through A and B .
v v v
A A v B BC l sin A
AC l cos l cos
v A tan
15 - 30
Sample Problem
SOLUTION:
The point C is in contact with the stationary lower rack
and, instantaneously, has zero velocity. It must be the
location of the instantaneous center of rotation.
Determine the angular velocity about C based on the
given velocity at A.
v 1.2 m s
v A rA A 8 rad s
rA 0.15 m
Evaluate the velocities at B and D based on their rotation
about C.
vR vB rB 0.25 m8 rad s
vR 2 m s i
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
15 - 31
Sample Problem
SOLUTION:
Determine the velocity at B from the
given crank rotation data.
The direction of the velocity vectors at B
and D are known. The instantaneous
center of rotation is at the intersection of
the perpendiculars to the velocities
The crank AB has a constant clockwise through B and D.
angular velocity of 2000 rpm. Determine the angular velocity about the
For the crank position indicated, center of rotation based on the velocity
determine (a) the angular velocity of at B.
the connecting rod BD, and (b) the Calculate the velocity at D based on its
velocity of the piston P. rotation about the instantaneous center
of rotation.
15 - 32
Sample Problem
SOLUTION:
From Sample Problem 15.3,
( )
vB = 10095i -12031j ( mm s) vB =15705mm s
b =13.95
The instantaneous center of rotation is at the intersection
of the perpendiculars to the velocities through B and D.
vP vD 13090mm s 1.309m s
15 - 33
Instantaneous Center of Zero Velocity
15 - 35
Absolute and Relative Acceleration in Plane Motion
a B A k rB A
t
a B A r
t
n
a B A 2 rB A
a B A r 2
n
15 - 36
Absolute and Relative Acceleration in Plane Motion
Given a A and v A ,
determine a B and .
aB a A aB A
n
a A aB A aB
A t
Vector result depends on sense of a A and the
n
relative magnitudes of a A and a B A
Write a B a A a B A in terms of the two component equations,
x components: 0 a A l 2 sin l cos
15 - 38
Analysis of Plane Motion in Terms of a Parameter
In some cases, it is advantageous to determine the
absolute velocity and acceleration of a mechanism
directly.
x A l sin y B l cos
v A x A v B y B
l cos l sin
l cos l sin
a A xA a B yB
l 2 sin l cos l 2 cos lsin
l 2 sin l cos l 2 cos l sin
15 - 39
Sample Problem
SOLUTION:
The expression of the gear position as a
function of is differentiated twice to
define the relationship between the
translational and angular accelerations.
15 - 40
Sample Problem
SOLUTION:
The expression of the gear position as a function of
is differentiated twice to define the relationship
between the translational and angular accelerations.
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
k 20 rad s2 k
15 - 41
Sample Problem
The acceleration of each point
is obtained by adding the
acceleration of the gear center
and the relative accelerations
with respect to the center.
The latter includes normal and
tangential acceleration
components.
aB a A aB A a A aB A aB A
t n
a A k rB A 2rB A
2
3 m s i 20 rad s k 0.100 m j 8 rad s 0.100 m j
2 2
3 m s 2 i 2 m s 2 i 6.40 m s 2 j
aB 5 m s 2 i 6.40 m s2 j aB 8.12 m s2
15 - 42
Sample Problem
2
aC a A aC A a A k rC A rC A
3 m s 2 i 20 rad s 2 k 0.150 m j 8 rad s 2 0.150 m j
3 m s 2 i 3 m s 2 i 9.60 m s 2 j
ac 9.60 m s j 2
aD a A aD A a A k rD A 2rD A
3 m s 2 i 20 rad s 2 k 0.150 m i 8 rad s 2 0.150m i
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 s2
15 - 43
Sample Problem
SOLUTION:
The angular acceleration of the
connecting rod BD and the acceleration
of point D will be determined from
t
aD aB aD B aB aD B aD B
n
The acceleration of B is determined from
the given rotation speed of AB.
15 - 44
Sample Problem
SOLUTION:
The angular acceleration of the connecting rod BD and
the acceleration of point D will be determined from
aD aB aD B aB aD B aD B t
n
The acceleration of B is determined from the given rotation
speed of AB.
( )(
aB = 3289 m s2 -cos40i - sin 40 j )
15 - 45
Sample Problem
The directions of the accelerations aD , aD
B t , and a
D B n are
determined from the geometry.
aD aD i
From earlier Problem, BD = 62.0 rad/s, = 13.95o.
2 2
aD B BD BD
200
1000
m 62.0 rad s 768.8m s2
n
(
a BD = 9940 rad s2 k)
aD = - ( 2790 m s2 ) i
15 - 47
Sample Problem
SOLUTION:
The angular velocities are determined by
simultaneously solving the component
equations for
vD vB vD B
15 - 48
Sample Problem
SOLUTION:
The angular velocities are determined by simultaneously
solving the component equations for
v D vB v D B
(
vD = w DE rD = w DE k -340i + 340 j )
= -340w DE i - 340w DE j
(
vB = w AB rB = 20k 160i + 280 j )
= -5600i + 3200 j
(
vD B = w BD rD B = w BD k 240i + 60 j )
= -60w BD i + 240w BD j
x components: 17 DE 280 3 BD
y components: 17 DE 160 12 BD
BD 29.33 rad s k DE 11.29 rad s k
15 - 49
Sample Problem
The angular accelerations are determined by
simultaneously solving the component equations for
aD aB aD B
aD = a DE rD - w DE
2
rD
( )
= a DE k -0.34i + 0.34 j - (11.29) -0.34i + 0.34 j
2
( )
= -0.34a DE i - 0.34a DE j + 43.33i - 43.33 j
aB = a AB rB - w AB
2 2
(
rB = 0 - ( 20) 0.16i + 0.28 j )
= -64i +112 j
aD B = a BD rD/B - w BD
2
rD/B
( )
= a B D k 0.24i + 0.06 j - ( 29.33) 0.24i + 0.06 j
2
( )
= -0.06a B D i + 0.24a B D j - 206.4i - 51.61j