KINEMATICS OF RIGID BODIES

TRANSLATION: all particles have the same velocities and

accelerations at any given instant RATE OF CHANGE OF A VECTOR (with respect to a
ROTATION ABOUT A FIXED AXIS: fixed frame-OXYZ and a rotating one- Oxyz (with Ω ):
r r r r r r r& r& r r
ω = ωk = θ&k α = αk = θ&&k (Q) OXYZ = (Q) Oxyz + Ω × Q
r r r r r r r r r
v =ω×r a = α × r + ω ×ω × r PLANE MOTION OF A PARTICLE RELATIVE TO A
ROTATION OF A SLAB: ROTATING FRAME:
r r r
v = rω a t = rα a n = rω 2 vP = vP' + vP / F
r
UNIFORM ROTATION: v P = absolute vel.
r
α = 0 ω = const. θ = θ 0 + ωt v P ' = vel. of P with the rotating frame
r
UNIFORMLY ACCELERATED ROTATION: v P / F = vel. of P relative to the rotating frame
α = const. ω = ω 0 + αt θ = θ 0 + ω 0 t + 1 / 2αt 2 r r r r
a P = a P ' + a P / F + aC
ω 2 = ω 02 + 2α (θ − θ 0 ) r
a P = absolute acc.
VELOCITIES IN PLANE MOTION (point A translates!): r
r r r r r r a P ' = acc. of P with the rotating frame
v B = v A + v B / A = v A + ωk × rB / A r
a P / F = acc. of P relative to the rotating frame
INSTANTANEOUS CENTER OF ROTATION: the point r r r
about which you can assume a body is rotating at a given aC = Coriolis acc. = 2Ω × v P / F
instant, as you determine the velocities of the points of the
body at that instant.
vIC=0 ; vpoint/IC = ω rpoint/IC ; rpoint/IC ⊥ vpoint/IC
ACCELERATION IN PLANE MOTION:
r r r r r r
a B = a A + a B / A = a A + (a B / A ) t + (a B / A ) n
r r r r r
(a B / A ) t = αk × rB / A (a B / A ) n = −ω 2 rB / A

Noncentroidal Rotation
atG = rGα
Plane Motion of Rigid Bodies: Forces and Accelerations
a ntG = rGω 2
Equations of motion for a rigid body Moment of Inertia, Radius of Gyration
→ →
∑F = ma G I o = I G + mrG2
→ →
•
I G = mk G2
∑M = H G Rolling Motion
Angular Momentum of a rigid body in plane motion balanced disk
→ → Rolling, no slipping
H G = IG ω friction ≤ µ s N ; aG = rGα
•
• Rolling, slipping
→ → →
H G = IG ω = IG α impending friction = µ s N ; aG = rGα
Plane motion of a rigid body. Rolling, slipping friction = µ K N ;
aG and α are independent
∑F x = m a xG ; ∑F y = m a yG
Unbalanced disk
∑M G = IG α ; ∑M o = I oα a 0 = roα
→ → → →
a G = a o + (a G / o )t + (a G / o ) n
Plane Motion of Rigid Bodies: Energy Methods
WORK-ENERGY Principle
T1+U1-2= T2 T= ½ mv2 + ½ Iω2
r r
CONSERVATION OF ENERGY
Principle
U1-2 = ∫ ⋅ dr
F
T1+V1= T2 +V2 U1-2 = ∫ Mdθ U1-2 =M(θ2-θ1)

SYSTEM MOMENTA1
+ L= mv
r
SYST. EXTERNAL IMPULSE1-2
=
Linear impulse= ∫ dt
F

SYSTEM MOMENTA2 H = Iω
r
Angular impulse ∫ M dt