Kinematics of Rigid Bodies

Plane Kinematics of Rigid Bodies

What is meant by a Rigid body:
It is a system of infinite number of particles having constant distance between any
two arbitrary partices irrespective the forces acting on the body. So, the distance
AB remains constant if the body moves from the position at the instant t
1
to the
position at the instant t
2
. As a result all the three angles involved by any triangle
ABC in the rigid body also remain the same during the motion and all lines ( such
AB , BC , CA ) rotate the same angle and in the same direction. The velocity at
which these lines rotate us called ( The angular velocity of the rigid body).









Rigid body motion forms :

1.TRANSLATION (Parallel motion):
In such a motion , all the lines in the body ( such AB) moves with a constant
direction ( does not rotate) so A
1
B
1
B
2
A
2
is a parallelogram and the
displacements ot all the points ( A, B) are equals in magnitudes and have
the same directions. The points of the rigid body either move in straight
lines and the translation in this case is called rectilinear translation , or
A
B
C
t
1
A
B
C
t
2
2c
a
a
B
A
2b
u
B
u
A
2a
B
r A
A
r A
A
B
A'
B'
move along curvilinear paths and the translation in this case is called
curvilinear translation.











Velocity and Acceleration in Translation :








B A
r r A A = ,
t
r
t
r
B A
A
A
A
A
= , u u u =
B A
= , a a a
B A
= =
1a: rectilinear
translation
1
A
1
B
2
A
2
B
1
A
1
B

2
A
2
B
1b:curve-linear
translation
3a
O
1
A

2
A
1
B
2
B

O
1
A

2
A
1
B
2
B

3b
2.Rotation about affixed axis:
All the points ( A ,B , ) move along concentric circles of common centre O at
the fixed centre of rotation. The fixed centre of rotation may be in the rigid body
itself ( Fig. 3a) or outside the rigid body ( Fig. 3b) . In all cases the centre of
rotation lies in the plane of motion.








Angular Velocity:
dt
du
e =
Angular acceleration :
u
e
e
u e
e o
d
d
dt
d
dt
d
2
2
= = = =






O
Q
P
3c
u

e
o
O
e
o
O
3d
3b)
e
o
Accelerating rotation
Decelerating rotation
The direction
of rotation is
anticlockwise
The Velocity of a point :
u r s = , e
u
u r
dt
d
r
dt
ds
= = = , e u r =
The acceleration of a point :
The normal Component :
( ) O in r a
r
r
a
2
n
2 2 2
n
e
e

u
= = =
The tangential Component :
) on accelerati angular the O with about rotates and a to lar perpendicu (
r r a
dt
d
r
dt
s d
a
n
t
2
2
2
2
t
o
o e
u
= = = =


) ( tan , C
, k
a
a
tan , r C r ) ( a a a
2
1 2 4
2
n
t 2 4 2
n
2
t
e
o
o e
e
o
o e

= + =
= = = = + = + =









o
a

P
4 a
u

Q
r
s
O
P
r
r a
t
o
e
=
=

e
e
O
r a
2
n
e =
P
4c 4 b
r e u =
O
P
e

O

Rolling without slipping between two moving surfaces:









The sufficient and necessary conditions for the rolling without slipping between
two moving surfaces:
The tangential components



of the velocities



and the
tangential components



of the accelerations

the points of
tangency on both surfaces are equal in magnitude and having the same direction:

Applications :
Pulley rope weight system:
Velocity relations:




a
1
v
1


v
2

a
2
v
1T
, a
1T
v
2T
, a
2T
Common tangent

A
B C

Acceleration relations:







Example:

A
B C

0.5 m 1.5 m
A
B
O

For the given pulley rope weight system ,
the weight A has the shown velocity and
acceleration. Determine the angular velocity
and angular acceleration of the pulley (O),
and the velocity and acceleration of the
weight (B).
velocity analysis

0.5 m 1.5 m
A
B
O

0.5 m 1.5 m
A
B
O