Dynamics

Kinematics of Rigid Bodies

 Applications
A battering ram is an example of curvilinear translation the
ram stays horizontal as it swings through its motion.
Dynamics

2-2
 Applications
How can we determine the velocity of the tip of a turbine blade?
Dynamics

15 - 3
 Applications
Planetary gear systems are used to get high reduction ratios
with minimum weight and space. How can we design the
correct gear ratios?
Dynamics

2-4
 Applications
Biomedical engineers must determine the velocities and
accelerations of the leg in order to design prostheses.
Dynamics

2-5
 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:
Dynamics

rectilinear translation
curvilinear translation
- rotation about a fixed axis
- general plane motion
- motion about a fixed point
- general motion

15 - 6
 Translation (Movimento de translao)
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,

Dynamics

rB rA rB A

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 - 7
 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
Dynamics

ds
v lim r sin r sin
dt t 0 t

The same result is obtained from

dr
v r
dt

k k angular velocity

15 - 8
 Concept Quiz
What is the direction of the velocity
of point A on the turbine blade?

a) A
Dynamics

b) y
L
c)
x
d)
vA r
vA k Li
vA L j
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
Dynamics

dt

d
angular acceleration
dt

k k k

Acceleration of P is combination of two

vectors,

a r r

r tangential acceleration component

r radial acceleration component
15 - 10
 Rotation About a Fixed Axis. Representative Slab
Consider the motion of a representative slab in
a plane perpendicular to the axis of rotation.

Velocity of any point P of the slab,

v r k r
v r
Dynamics

Acceleration of any point P of the slab,

a r r

k r 2r

Resolving the acceleration into tangential and

normal components,

at k r a t r

an 2 r a n r 2
15 - 11
 Concept Quiz
What is the direction of the normal
acceleration of point A on the turbine
blade?
a) A
Dynamics

b) y
L
c)
x
d)
an r 2

an (Li)
2

2
an L i
15 - 12
 Equations Defining the Rotation of a Rigid Body About a Fixed Axis

Motion of a rigid body rotating around a fixed axis is

often specified by the type of angular acceleration.

d d
Recall or dt
dt
Dynamics

d d 2 d
2
dt dt d

Uniform Rotation, = 0:
0 t

Uniformly Accelerated Rotation, = constant:

0 t
0 0t 12 t 2
2 02 2 0
15 - 13
Dynamics
 Continue
Dynamics
 Sample Problem 1
SOLUTION:
Due to the action of the cable, the
tangential velocity and acceleration of
D are equal to the velocity and
acceleration of C. Calculate the initial
angular velocity and acceleration.
Dynamics

Apply the relations for uniformly

accelerated rotation to determine the
velocity and angular position of the
Cable C has a constant acceleration of
pulley after 2 s.
9 in/s2 and an initial velocity of 12 in/s,
both directed to the right. Evaluate the initial tangential and
normal acceleration components of D.
Determine (a) the number of
revolutions of the pulley in 2 s, (b) the
velocity and change in position of the
load B after 2 s, and (c) the acceleration
of the point D on the rim of the inner
pulley at t = 0. 15 - 16
 Continue
SOLUTION:
The tangential velocity and acceleration of D are equal
to the velocity and accelerationof C.
vD 0 vC 0 12 in. s aD t aC 9 in. s
vD 0 r0 aD t r
vD 0 12 aD t 9
0 4 rad s 3 rad s 2
Dynamics

r 3 r 3
Apply the relations for uniformly accelerated rotation to
determine velocity and angular position of pulley after 2

0 t 4 rad s 3 rad s 2 2 s 10 rad s
s.

0t 12 t 2 4 rad s 2 s 12 3 rad s 2 2 s 2
14 rad
1 rev
N 14 rad number of revs N 2.23 rev
2 rad

vB r 5 in.10 rad s vB 50 in. s
yB r 5 in.14 rad yB 70 in.
15 - 17
 Continue
Evaluate the initial tangential and normal
acceleration components of D.
aD t aC 9 in. s
aD n rD02 3 in.4 rad s 2 48 in s2

aD t 9 in. s2 aD n 48 in. s2
Dynamics

Magnitude and direction of the total acceleration,

aD aD t2 aD 2n
92 482 aD 48.8 in. s 2

aD n
tan
aD t
48

9 79.4
15 - 18
 Group Problem Solving
Evaluate the initial tangential and normal
acceleration components of D.
aD t aC 9 in. s
aD n rD02 3 in.4 rad s 2 48 in s2

aD t 9 in. s2 aD n 48 in. s2
Dynamics

Magnitude and direction of the total acceleration,

aD aD t2 aD 2n
92 482 aD 48.8 in. s 2

aD n
tan
aD t
48

9 79.4
15 - 19
 Sample 2

The motor shown in the photo is used to

turn a wheel and attached blower contained
within the housing. If the pulley A
connected to the motor begins to rotate
Dynamics

from rest with a constant angular

acceleration of = 2 rad/s2, Determine the
magnitudes of the velocity and acceleration
of point P on the wheel, after the pulley has
turned two revolutions. Assume the
transmission belt does not slip on the pulley
and wheel
 Sample 2
Angular Motion. First we will convert the two revolutions to radians. Since
there are 2 rad in one revolution, then
Dynamics
 Continue
Motion of P. As shown on the kinematic
diagram we have
Dynamics
 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).
Dynamics

2 - 23
 General Plane Motion (Movimento geral do slido)
Dynamics

General plane motion is neither a translation nor

a rotation
General plane motion can be considered as the
sum of a translation and rotation.
Displacement of particles A and B to A2 and B2
can be divided into two parts:
- translation to A2 andB1
- rotation ofB1 about A2 to B2
15 - 24
 Absolute and Relative Velocity in Plane
Motion
Dynamics

Any plane motion can be replaced by a translation of an

arbitrary reference point A and a simultaneous rotation
about A.
vB v A vB A

vB A k rB A vB A r

v B v A k rB A
15 - 25
 Absolute and Relative Velocity in Plane Motion
Dynamics

Assuming that the velocity vA of end A is known, wish to determine the

velocity vB of end B and the angular velocity in terms of vA, l, and .
The direction of vB and vB/A are known. Complete the velocity diagram.

vB vA vA
tan cos
vA v B A l
v B v A tan vA

l cos
15 - 26
 Absolute and Relative Velocity in Plane Motion
Dynamics

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 - 27
 Absolute and Relative Velocity in Plane Motion
Dynamics

Assuming that the velocity vA of end A is known, wish to determine the

velocity vB of end B and the angular velocity in terms of vA, l, and .
The direction of vB and vB/A are known. Complete the velocity diagram.

vB vA vA
tan cos
vA v B A l
v B v A tan vA

l cos
15 - 28
 Absolute and Relative Velocity in Plane Motion
Dynamics

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 - 29
Dynamics
 Sample Problem 3
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
Dynamics

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 - 31
 Continue
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).

Dynamics

xA
x A r1
2 r 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 - 32

Continue

For any point P on the gear,vP v A vP A v A k rP A
Dynamics

Velocity of the upper rack is Velocity of the point D:

equal to velocity

of point B:

vR vB v A k rB A vD v A k rD A

1.2 m s i 8 rad s k 0.10 m j 1.2 m s i 8 rad s k 0.150 m i

1.2 m s i 0.8 m s i

vR 2 m s i vD 1.2 m s i 1.2 m s j
vD 1.697 m s
15 - 33
 Sample Problem 4
SOLUTION:
Dynamics
The crank AB has a constant
clockwise angular velocity of 2000
rpm.
For the crank position indicated,
determine (a) the angular velocity of
the connecting rod BD, and (b) the
velocity of the piston P.
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 directions of the absolute velocity v D
and the relative velocity v D B are
determined from the problem geometry.
The unknowns in the vector expression
are the velocity magnitudes vD and vD B
which may be determined from the
corresponding vector triangle.
The angular velocity of the connecting
rod is calculated from v D B .
15 - 34
 continue
SOLUTION:
Will determine the absolute velocity of point D with

vD vB vD B

The velocityvB is obtained from the crank rotation
data. rev min 2 rad
AB 2000 209.4 rad s
min 60 s rev
Dynamics

vB AB AB 3 in.209.4 rad s

The velocity direction is as shown.

The direction of the absolute velocity vD is
v
horizontal. The direction of the relative velocity D B
is perpendicular to BD. Compute the angle between
the horizontal and the connecting rod from the law
of sines. sin 40 sin
13.95
8 in. 3 in.

15 - 35
 continue

Determine the velocity magnitudes vD and vD B

Dynamics

from the vector triangle.

vD vD B 628.3in. s

sin 53.95 sin 50 sin76.05

vD 523.4 in. s 43.6 ft s vP vD 43.6 ft s

vD B 495.9 in. s

vD B l BD
vD vB vD B
vD B 495.9 in. s
BD
l 8 in.

62.0 rad s BD 62.0 rad sk
15 - 36
 Group Problem Solving
In the position shown, bar AB
has an angular velocity of 4 rad/s
clockwise. Determine the angular
velocity of bars BD and DE.
Dynamics

Which of the following is true?

a) The direction of vB is
b) The direction of vD is
c) Both a) and b) are correct

2 - 37
 Group Problem Solving
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
Dynamics

velocities.
The velocity for any point P on the gear
may be written as

vP v A vP A v A k rP A

Evaluate the velocities of points B and D.

In the position shown, bar AB has an
angular velocity of 4 rad/s clockwise.
Determine the angular velocity of bars
BD and DE.

2 - 38
 Group Problem Solving
y Determine the angular velocity of bars
x BD and DE.
How should you proceed?

AB= 4 rad/s Determine vB with respect to A, then work

your way along the linkage to point E.
Dynamics

Write vB in terms of point A, calculate vB.

vB v A AB rB /A

AB (4 rad/s)k

rB/A (7 in.)i vB AB rB/A (4k ) (7i)

vB (28 in./s)j

Does it make sense that vB is in the +j direction?

2 - 39
vD ,

Group Problem Solving

y Determine vD with respect to B.
x
BD BD k rD/B (8 in.)j
vD vB BD rD/B 28 j (BD k ) (8 j)
AB= 4 rad/s vD 28 j 8BD i
Dynamics

Determine vD with respect to E, then

equate it to equation above.

DE DE k rD /E (11 in.)i (3 in.)j

vD DE rD /E (DE k ) (11i 3j)
vD 11DE j 3DE i

Equating components of the two expressions for vD

j: 28 11DE DE 2.5455 rad/s DE 2.55 rad/s

3
i : 8BD 3DE BD BD BD 0.955 rad/s
8
2 - 40
 Instantaneous Center of Rotation in Plane Motion (Centro
instantneo de rotao)
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 same translational and rotational velocities at A are

Dynamics

obtained by allowing the slab to rotate with the same

angular velocity about the point C on a perpendicular to
the velocity at 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.

As far as the velocities are concerned, the slab seems to

rotate about the instantaneous center of rotation C.

15 - 41
 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 .

If the velocity vectors are parallel, the instantaneous

Dynamics

center of rotation is at infinity and the angular velocity

is zero.

If the velocity vectors at A and B are perpendicular to

the line AB, the instantaneous center of rotation lies at
the intersection of the line AB with the line joining the
extremities of the velocity vectors at A and B.

If the velocity magnitudes are equal, the instantaneous

center of rotation is at infinity and the angular velocity
is zero.

15 - 42
 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

The velocities of all particles on the rod are as if they were

Dynamics

rotated about C.
The particle at the center of rotation has zero velocity.
The particle coinciding with the center of rotation changes
with time and the acceleration of the particle at the
instantaneous center of rotation is not zero.
The acceleration of the particles in the slab cannot be
determined as if the slab were simply rotating about C.
The trace of the locus of the center of rotation on the body
is the body centrode and in space is the space centrode.
15 - 43
Dynamics
 Instantaneous Center of Rotation in
Plane Motion
At the instant shown, what is the
approximate direction of the velocity
of point G, the center of bar AB?
Dynamics

a)
G b)
c)
d)

15 - 45
 Sample Problem 5
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
Dynamics

based on the given velocity at A.

Evaluate the velocities at B and D based on
The double gear rolls on the their rotation about C.
stationary lower rack: the velocity
of its center is 1.2 m/s.
Determine (a) the angular velocity
of the gear, and (b) the velocities of
the upper rack R and point D of the
gear.

15 - 46
 continue
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.
Dynamics

v A 1.2 m s
v A rA 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

rD 0.15 m 2 0.2121 m vR 2 m s i
vD rD 0.2121 m 8 rad s
vD 1.697 m s

vD 1.2i 1.2 j m s

15 - 47
 Sample Problem 6
SOLUTION:
Dynamics
The crank AB has a constant
clockwise angular velocity of 2000
rpm.
For the crank position indicated,
determine (a) the angular velocity
of the connecting rod BD, and (b)
the velocity of the piston P.
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
through B and D.
Determine the angular velocity about the
center of rotation based on the velocity
at B.
Calculate the velocity at D based on its
rotation about the instantaneous center
of rotation.
15 - 48
 continue
SOLUTION:
From Sample

Problem

15.3,
vB 403.9i 481.3 j in. s

vB 628.3 in. s
13.95

The instantaneous center of rotation is at the

intersection of the perpendiculars to the velocities
Dynamics

through B and D.
Determine the angular velocity about the center of
B 40 53.95 rotation based on the velocity at B.
D 90 76.05 vB BC BD
vB 628.3 in. s
BD BD 62.0 rad s
BC CD 8 in. BC 10.14 in.

sin 76.05 sin 53.95 sin50
Calculate the velocity at D based on its rotation
about the instantaneous center of rotation.
BC 10.14 in. CD 8.44 in.
vD CD BD 8.44 in.62.0 rad s

vP vD 523in. s 43.6 ft s
15 - 49
 Instantaneous Center of Zero Velocity
Dynamics

What happens to the location of the instantaneous center of

velocity if the crankshaft angular velocity increases from
2000 rpm in the previous problem to 3000 rpm?

What happens to the location of the instantaneous center of

velocity if the angle is 0?
2 - 50
 Group Problem Solving
Dynamics

In the position shown, bar AB has an angular velocity of 4

rad/s clockwise. Determine the angular velocity of bars BD
and DE.

2 - 51
 Group Problem Solving
What is the velocity of B? vB ( AB) AB (0.25 m)(4 rad/s) 1 m/s

What direction is the velocity of B?

What direction is the velocity of D?
Dynamics

AB= 4 rad/s
vB

Find

tan 1
0.06 m
21.8
vD
0.15 m
2 - 52
 Group Problem Solving
Locate instantaneous center C at intersection of lines drawn
perpendicular to vB and vD.
Find distances BC and DC
B 0.1 m 0.1 m
C BC 0.25 m
tan tan 21.8
Dynamics

0.25 m 0.25 m
vB DC 0.2693 m
100 mm cos cos21.8

Calculate BD
D vB ( BC )BD
1 m/s (0.25 m)BD
vD BD 4 rad/s
Find DE
0.25 m 1 m/s 0.15 m
vD ( DC )BD (4 rad/s) vD ( DE )DE ; DE ; DE 6.67 rad/s
cos cos cos
2 - 53
 Absolute and Relative Acceleration in Plane Motion
Cinemtica do movimento relativo)
(
As the bicycle accelerates, a point on the top of the wheel will
have acceleration due to the acceleration from the axle (the
overall linear acceleration of the bike), the tangential
acceleration of the wheel from the angular acceleration, and
the normal acceleration due to the angular velocity.
Dynamics

2 - 54
 Absolute and Relative Acceleration in Plane Motion
Dynamics

Absolute acceleration of a particle of the slab,

aB a A aB A

Relative acceleration a B A associated with rotation about A includes
tangential and normal components,

a B A k rB A
t
a B A r
t

n
a B A 2 rB A aB A n r 2
15 - 55
 Absolute and Relative Acceleration in Plane Motion

Given a A and v A ,

determine a B and .

aB a A aB A
a A a B A a B

A t
Dynamics

Vector result depends on sense of a A and the
relative magnitudes of a A and a B A
n

Must also know angular velocity .

15 - 56
 Absolute and Relative Acceleration in Plane Motion
Dynamics

Write aB a A aB A in terms of the two component equations,

x components: 0 a A l 2 sin l cos

y components: a B l 2 cos l sin

Solve for aB and .

15 - 57
 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
Dynamics

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 - 58
 Concept Question
You have made it to the kickball
championship game. As you try to kick
home the winning run, your mind
naturally drifts towards dynamics.
Which of your following thoughts is
Dynamics

TRUE, and causes you to shank the ball

horribly straight to the pitcher?

A) Energy will not be conserved when I kick this ball

B) In general, the linear acceleration of my knee is equal to
the linear acceleration of my foot
C) Throughout the kick, my foot will only have tangential
acceleration.
D) In general, the angular velocity of the upper leg (thigh)
will be the same as the angular velocity of the lower leg
2 - 59
 Sample Problem 7
SOLUTION:
The expression of the gear position as a
function of is differentiated twice to
define the relationship between the
translational and angular accelerations.
Dynamics

The acceleration of each point on the

gear is obtained by adding the
acceleration of the gear center and the
The center of the double gear has a
relative accelerations with respect to the
velocity and acceleration to the
center. The latter includes normal and
right of 1.2 m/s and 3 m/s2,
tangential acceleration components.
respectively. The lower rack is
stationary.
Determine (a) the angular
acceleration of the gear, and (b) the
acceleration of points B, C, and D.
15 - 60
 Continue
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
Dynamics

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 s 2 k

15 - 61
 Continue
The acceleration of each
point is obtained by adding
the acceleration of the gear
center and the relative
accelerations with respect to
the center.
Dynamics

The latter includes normal

and tangential acceleration
aB a A aB A a A aB A aB Acomponents.
n

t

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

2

2
3 m s i 2 m s i 6.40 m s j2




aB 5 m s 2 i 6.40 m s 2 j aB 8.12 m s 2

15 - 62
 Continue

2
Dynamics

aC a A aC A a A k rC A rC A

2

3 m s i 20 rad s k 0.150 m j 8 rad s 2 0.150 m j
2

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

2

3 m s i 20 rad s k 0.150 m i 8 rad s 2 0.150m i
2

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 s 2
15 - 63
 Sample Problem 7
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
Dynamics

The acceleration of B is determined from

the given rotation speed of AB.

Crank AG of the engine system has a The directions of the accelerations

constant clockwise angular velocity



a D , a D B , and a D B
t n
are
of 2000 rpm. determined from the geometry.
For the crank position shown,
Component equations for acceleration
determine the angular acceleration of
of point D are solved simultaneously for
the connecting rod BD and the
acceleration of D and angular
acceleration of point D.
acceleration of the connecting rod.
15 - 64
 Continue
SOLUTION:
The angular acceleration of the connecting rod BD
and the acceleration of point
D will be determined
fromaD aB aD B aB aD B t aD B n

The acceleration of B is determined from the given

rotation speed of AB.
Dynamics

AB 2000 rpm 209.4 rad s constant

AB 0
aB r AB
2
123 ft 209.4 rad s2 10,962 ft s2

2

aB 10,962 ft s cos 40i sin 40 j

15 - 65
 Continue

aD , aD B , and aD B are

The directions of the accelerations
Dynamics

t n
determined
from the geometry.
aD aD i

From Sample Problem 15.3, BD = 62.0 rad/s, =

a BD 2 8 ft 62.0 rad s2 2563 ft s2
13.95 o.
D B n BD 12

aD B n 2563ft s2 cos13.95i sin 13.95 j

aD B t BD BD 128 ft BD 0.667 BD
The direction of (aD/B)t is known but the sense is not
known,
aD B t 0.667 BD sin 76.05i cos 76.05 j

15 - 66
 Continue

Component equations for acceleration of point D are

Dynamics

solved simultaneously.

aD aB aD B


aB aD

aD B n
B t

x components:
aD 10,962 cos 40 2563cos13.95 0.667 BD sin 13.95

y components:
0 10,962 sin 40 2563sin 13.95 0.667 BD cos13.95

BD 9940 rad s 2 k
aD 9290 ft s i
2

15 - 67
 Sample Problem 8
SOLUTION:
The angular velocities are determined by
simultaneously solving the component
equations for

vD vB vD B
Dynamics

The angular accelerations are determined

by simultaneously solving the component
In the position shown, crank AB has a
equations for
constant angular velocity 1 = 20 rad/s

counterclockwise. aD aB aD B
Determine the angular velocities and
angular accelerations of the connecting
rod BD and crank DE.

15 - 68
 Continue
SOLUTION:
The angular velocities are determined by
simultaneously
solving the component equations for
vD vB vD B

vD DE rD DE k 17i 17 j


17 DE i 17 DE j
Dynamics

vB AB rB 20k 8i 14 j


280i 160 j

vD B BD rD B BDk 12i 3 j


3 BDi 12 BD j

x components: 17 DE 280 3 BD

y components: 17 DE 160 12 BD

BD 29.33 rad sk DE 11.29 rad sk
15 - 69
 Continue
The angular accelerations are determined by
simultaneously
solving the component equations for
aD aB aD B
2
aD DE rD DE rD

DE k 17i 17 j 11.29 17i 17 j
2

17 DE i 17 DE j 2170i 2170 j
Dynamics

2
aB AB rB AB rB 0 20 8i 14 j
2

3200i 5600 j
2
aD B BD rB D BD rB D

B D k 12i 3 j 29.332 12i 3 j

3 B D i 12 B D j 10,320i 2580 j

x components: 17 DE 3 BD 15,690
y components: 17 DE 12 BD 6010

BD
645 rad s k
2

DE
809 rad s k
2

15 - 70
 Group Problem Solving
Knowing that at the instant
shown bar AB has a constant
angular velocity of 4 rad/s
clockwise, determine the angular
Dynamics

acceleration of bars BD and DE.

Which of the following is true?

a) The direction of aD is
b) The angular acceleration of BD must also be constant
c) The direction of the linear acceleration of B is
2 - 71
 Group Problem Solving
SOLUTION:
The angular velocities were determined
in a previous problem by simultaneously
solving the component equations for

vD vB vD B
Dynamics

The angular accelerations are now

determined by simultaneously solving
the component equations for the relative
Knowing that at the instant acceleration equation.
shown bar AB has a constant
angular velocity of 4 rad/s
clockwise, determine the
angular acceleration of bars
BD and DE.
2 - 72
 Group Problem Solving
From our previous problem, we used the relative
velocity equations to find that:

DE 2.55 rad/s BD 0.955 rad/s

AB= 4 rad/s
We can now apply the relative acceleration
Dynamics

equation with AB 0

Analyze a B a A AB rB /A AB
2
rB /A
Bar AB
a B AB
2
rB/A (4)2 (7i) 112 in./s2 i

Analyze Bar BD
a D a B BD rD /B BD
2
rD /B 112i BD k (8j) (0.95455)2 (8j)
a D (112 8 BD )i 7.289 j
2 - 73
 Group Problem Solving
Analyze Bar DE
a D DE rD /E DE
2
rD /E
DE k (11i 3j) (2.5455) 2 (11i 3 j)
AB= 4 rad/s
11 DE j 3 DE i 71.275i 19.439 j
Dynamics

a D (3 DE 71.275)i (11 DE 19.439) j

From previous page, we had: a D (112 8 BD )i 7.289 j

Equate like components of aD

j: 7.289 (11 DE 19.439) DE 2.4298 rad/s2

i: 112 8 BD [(3)(2.4298) 71.275] BD 4.1795 rad/s2

2 - 74
 Concept Question
Dynamics

If the clockwise angular velocity of crankshaft AB is

constant, which of the following statement is true?
a) The angular velocity of BD is constant
b) The linear acceleration of point B is zero
c) The angular velocity of BD is counterclockwise
d) The linear acceleration of point B is tangent to 2the
- 75
path
 Applications
Rotating coordinate systems are often used to analyze mechanisms
(such as amusement park rides) as well as weather patterns.
Dynamics

2 - 76
 Rate of Change With Respect to a Rotating Frame
Dynamics
Frame OXYZ is fixed.
Frame Oxyz rotates about
fixed axis OA with angular
velocity
Vector function Q t varies
in direction and magnitude.
With respect to the rotating Oxyz frame,
Q Q x i Q y j Qz k
Q Oxyz Qx i Q y j Qz k
With respect to the fixed OXYZ frame,
Q OXYZ Qx i Q y j Qz k Qx i Q y j Qz k
Qx i Q y j Qz k Q Oxyz rate of change
with respect to rotating frame.
If Q were fixed within Oxyz then Q OXYZ is
equivalent to velocity of a point in a rigid
body
attached to Oxyz and Qx i Q y j Qz k Q
With respect to the fixed OXYZ frame,
Q OXYZ Q
Q
Oxyz
15 - 77
 Coriolis Acceleration
Definition Coriolis Acceleration is a quantity that must be added vectorially to
the acceleration of a body with respect to another accelerated body to get the
true acceleration of the former

Frame OXY is fixed and frame Oxy rotates with angular

velocity .
Dynamics

Position vector rP for the particle P is the same in both
frames but the rate of change depends on the choice of
frame.
The absolute velocity of the particle P is

vP r OXY r r Oxy

15 - 78
 Coriolis Acceleration
Imagine a rigid slab attached to the rotating frame
Oxy or F for short. Let P be a point on the slab
which corresponds instantaneously to position of
particle P.

vP F r Oxy velocity
Dynamics

of P along its path on the

slab
absolute velocity of point P on the slab
vP'

Absolute velocity for the particle P may be written as

v P v P v P F
 Coriolis Acceleration
Absolute acceleration for the particle P is


a P r r OXY r Oxy
d

dt
but, r OXY r r Oxy

d
dt



r Oxy r Oxy r Oxy
Dynamics

a P r r 2 r Oxy rOxy

v P r r Oxy
Utilizing the conceptual point P on the slab,
v P v P F
a P r r

a P F r

Oxy

Absolute acceleration for the particle P becomes

a P a P a P F 2 r Oxy


a P a P F ac

ac 2 r Oxy 2 v P F Coriolis acceleration

15 - 80
 Coriolis Acceleration
Consider a collar P which is made to slide at constant
relative velocity u along rod OB. The rod is rotating at
a constant angular velocity . The point A on the rod
corresponds to the instantaneous position of P.
Absolute acceleration of the collar is

aP a A aP F ac
Dynamics

where

a A r r

a A r 2

a P F rOxy 0

ac 2 v P F ac 2u

The absolute acceleration consists of the radial and

tangential vectors shown

15 - 81
 Coriolis Acceleration
Change in velocity over t is represented by the
sum of three vectors

v RR TT T T
TT is due to change in direction of the velocity of
point A on the rod,
TT
Dynamics

lim lim v A r r 2 a A
t 0 t t 0 t

recall, a r r

A a r 2
A
at t , v vA u
RR and T T result from combined effects of
at t t , v v A u
relative motion of P and rotation of the rod
RR T T r
lim lim u
t 0 t t t 0 t t
u u 2u

recall, ac 2 v P F ac 2u
15 - 82
 Concept Question
You are walking with a y
constant velocity with
respect to the platform, x
v
which rotates with a constant
angular velocity w. At the
Dynamics

instant shown, in which

direction(s) will you
experience an acceleration
(choose all that apply)?
a) +x

a P r r 2 r Oxy rOxy
b) -x
c) +y
d) -y
e) Acceleration = 0
2 - 83
 Sample Problem 9
SOLUTION:
Dynamics
Disk D of the Geneva mechanism rotates
with constant counterclockwise angular
velocity D = 10 rad/s.
At the instant when = 150o, determine
(a) the angular velocity of disk S, and (b) Solve the vector triangle for the
the velocity of pin P relative to disk S.
The absolute velocity of the point P
may be written as
vP vP vP s
Magnitude and direction of velocity
v P of pin P are calculated from the
radius and angular velocity of disk D.
Direction of velocity v P of point P on
S coinciding with P is perpendicular to
radius OP.
Direction of velocity v P s of P with
respect to S is parallel to the slot.
angular velocity of S and relative
velocity of P.
15 - 84
 Continue
SOLUTION:
The
absolute
velocity of the point P may be written
asvP vP vP s

Magnitude and direction of absolute velocity of pin P

are calculated from radius and angular velocity of disk
D.vP RD 50 mm10 rad s 500 mm s
Dynamics

Direction of velocity of P with respect to S is parallel

to slot.
From the law of cosines,
r 2 R 2 l 2 2 Rl cos 30 0.551R 2 r 37.1 mm
From the law of cosines,
sin sin 30 sin 30
sin 42.4
R r 0.742
The interior angle of the vector triangle is
90 42.4 30 17.6

15 - 85
 Continue
Direction of velocity of point P on S coinciding with
P is perpendicular to radius OP. From the velocity
triangle,
vP vP sin 500 mm s sin 17.6 151.2 mm s
151.2 mm s
r s s
37.1 mm

s 4.08 rad s k
Dynamics

vP s vP cos 500 m s cos17.6

vP s 477 m s cos 42.4i sin 42.4 j

vP 500 mm s

15 - 86
 Sample Problem 10
SOLUTION:
Dynamics
In the Geneva mechanism, disk D
rotates with a constant counter-
clockwise angular velocity of 10
rad/s. At the instant when j = 150o,
determine angular acceleration of
disk S.
The absolute acceleration of the pin P may
be expressed as
a P a P a P s ac
The instantaneous angular velocity of Disk
S is determined as in Sample Problem 15.9.
The only unknown involved in the
acceleration equation is the instantaneous
angular acceleration of Disk S.
Resolve each acceleration term into the
component parallel to the slot. Solve for
the angular acceleration of Disk S.
15 - 87
 Continue
SOLUTION:
Absolute acceleration of the pin P may be

expressed as aP aP aP s ac
From Sample Problem 15.9.

42.4 S 4.08 rad s k

vP s 477 mm s cos 42.4i sin 42.4 j

Dynamics

Considering each term in the acceleration

equation, 2
aP R D 500mm 10 rad s 5000 mm s 2
2

aP 5000 mm s 2 cos 30i sin 30 j

aP aP n aP t

aP n r S cos 42.4i sin 42.4 j
2

aP t r S sin 42.4i cos 42.4 j

aP t S 37.1mm sin 42.4i cos 42.4 j
note: S may be positive or
negative 15 - 88
 continue
The direction of the Coriolis acceleration is
vP s
obtained by rotating the direction of the relative
velocity
90 in the sense of S.
by o
ac 2 S vP s sin 42.4i cos 42.4 j


24.08 rad s 477 mm s sin 42.4i cos 42.4 j
Dynamics

3890 mm s 2 sin 42.4i cos 42.4 j

The relative accelerationaP s must be parallel
to the slot.

Equating components of the acceleration terms

perpendicular to the slot,
37.1 S 3890 5000 cos17.7 0
S 233 rad s

S 233 rad sk

15 - 89
 Group Problem Solving
The sleeve BC is welded to an arm that rotates about stationary point A
with a constant angular velocity = (3 rad/s) j. In the position shown
rod DF is being moved to the left at a constant speed u=16 in./s relative
to the sleeve. Determine the acceleration of Point D.
Dynamics

SOLUTION:
The absolute acceleration of point D may
be expressed as
aD aD ' aD BC ac

Determine the acceleration of the virtual

point D.

Calculate the Coriolis acceleration.

Add the different components to get the
overall acceleration of point D.
15 - 90
 Group Problem Solving
Given: u= 16 in./s, = (3 rad/s) j.
Find: aD

Write overall expression for aD

aD r r 2 r r
Dynamics

Oxy Oxy

Do any of the terms go to zero?

aD r r 2 r Oxy

r
Oxy

Determine the normal acceleration term of the virtual point D

a D r where r is from A to D

(3 rad/s)j (3 rad/s)j [(5 in.)j (12 in.)k ]

(108 in./s 2 )k

2 - 91
 Group Problem Solving

aD r r 2 r Oxy

r
Oxy

Determine the Coriolis acceleration of point D

aC 2 v D /F
(3 rad/s)j (16 in./s)k
Dynamics

(96 in./s2 )i

Add the different components to obtain

the total acceleration of point D

a D a D a D /F aC
(108 in./s2 )k 0 (96 in./s 2 )i

a D (96 in./s2 )i (108 in./s 2 )k

2 - 92
 Group Problem Solving
In the previous problem, u and
were both constant.

What would happen if u was

increasing?
Dynamics

a) The x-component of aD would increase

b) The y-component of aD would increase
c) The z-component of aD would increase
d) The acceleration of aD would stay the same

What would happen if was increasing?

a) The x-component of aD would increase
b) The y-component of aD would increase
c) The z-component of aD would increase
d) The acceleration of aD would stay the same
15 - 93
 Motion About a Fixed Point
The most general displacement of a rigid body with a
fixed point O is equivalent to a rotation of the body
about an axis through O.
With the instantaneous axis of rotation and angular

velocity , the velocity of a particle P of the body is

dr
v r
Dynamics

dt
and the acceleration of the particle P is

d
a r r .
dt

The angular acceleration represents the velocity of
the tip of .

As the vector moves within the body and in space,
it generates a body cone and space cone which are
tangent along the instantaneous axis of rotation.
Angular velocities have magnitude and direction and
obey parallelogram law of addition. They are vectors.
15 - 94
 General Motion
For particles A and B of a rigid body,

vB v A vB A

Particle A is fixed within the body and motion of

the body relative to AXYZ is the motion of a
body with a fixed point

vB v A rB A
Dynamics

Similarly, the acceleration of the particle P is

aB a A aB A



a A rB A rB A
Most general motion of a rigid body is equivalent to:
- a translation in which all particles have the same
velocity and acceleration of a reference particle A, and
- of a motion in which particle A is assumed fixed.
15 - 95
 Concept Question
The figure depicts a model of a
coaster wheel. If both 1 and
2 are constant, what is true
about the angular acceleration
Dynamics

of the wheel?

a) It is zero.
b) It is in the +x direction
c) It is in the +z direction
d) It is in the -x direction
e) It is in the -z direction

15 - 96
 Sample Problem 11
SOLUTION:

With 1 0.30 j 2 0.50k

r 12cos 30i sin 30 j


10.39i 6 j

Angular velocity of the boom,

Dynamics

The crane rotates with a constant 1 2
angular velocity 1 = 0.30 rad/s and the
boom is being raised with a constant Angular acceleration of the boom,

1 2 2 2 Oxyz 2

angular velocity 2 = 0.50 rad/s. The
length of the boom is l = 12 m.
1 2
Determine:
angular velocity of the boom, Velocity of boom tip,

angular acceleration of the boom, v r
velocity of the boom tip, and Acceleration of boom tip,
acceleration of the boom tip.
a r r r v
15 - 97
 Continue
SOLUTION:
Angular velocity of the boom,

1 2

0.30 rad s j 0.50 rad sk
Angular acceleration of the boom,

1 2 2 2 Oxyz 2

Dynamics

1 2 0.30 rad s j 0.50 rad s k


0.15 rad s i 2

Velocity of boom tip,

i j k

v r 0 0.3 0.5
10.39 6 0

v 3. m s i 5.20 m s j 3.12 m s k
1 0.30 j 2 0.50k

r 10.39i 6 j
15 - 98
 continue
Acceleration of boom tip,

a r r r v

i j k i j k

a 0.15 0 0 0 0.30 0.50
10.39 6 0 3 5.20 3.12

Dynamics

0.90k 0.94i 2.60i 1.50 j 0.90k

2 2

a 3.54 m s i 1.50 m s j 1.80 m s k
2

1 0.30 j 2 0.50k

r 10.39i 6 j
15 - 99
 Three-Dimensional Motion. Coriolis Acceleration
With respect to the fixed frame OXYZ and rotating
frame Oxyz,


Q OXYZ Q

Oxyz

Q

Consider motion of particle P relative to a rotating

frame Oxyz or F for short. The absolute velocity can
Dynamics

be expressed as

v P r r Oxyz


v P v P F
The absolute acceleration can be expressed as

a P r r 2 r Oxyz rOxyz


a p a P F ac

ac 2 r Oxyz 2 v P F Coriolis acceleration

15 - 100
 Frame of Reference in General Motion
With respect to OXYZ and AXYZ,

rP rA rP A

vP v A vP A

aP a A aP A

The velocity and acceleration of P relative to

Dynamics

AXYZ can be found in terms of the velocity

and acceleration of P relative to Axyz.

v P v A rP A rP A

Axyz

v P v P F

Consider:
a P a A rP A rP A
- fixed frame OXYZ,


- translating frame AXYZ, and 2 rP A rP A
Axyz Axyz
- translating and rotating frame Axyz
or F. a P a PF a c

15 - 101
 Sample Problem 12
SOLUTION:
Define a fixed reference frame OXYZ at O
and a moving reference frame Axyz or F
attached to the arm at A.
With P of the moving reference frame
Dynamics

coinciding with P, the velocity of the point

P is found from

For the disk mounted on the arm, the vP vP vP F
indicated angular rotation rates are
constant. The acceleration of P is found from

a P a P a P F ac
Determine:
the velocity of the point P, The angular velocity and angular
the acceleration of P, and acceleration of the disk are

angular velocity and angular D F
acceleration of the disk.
F

15 - 102
 Continue
SOLUTION:
Define a fixed reference frame OXYZ at O and
a moving reference frame Axyz or F attached
to the arm at A.

r Li Rj rP A Rj

1 j D F 2k
Dynamics

With P of the moving reference frame

coinciding with P, the velocity of the point P

v P vfrom
is found P v PF

v P r 1 j Li Rj 1L k


v P F D F rP A 2 k Rj 2 R i

v P 2 R i 1L k

15 - 103
 Continue
The acceleration of P is found from

a P a P a P F ac

a P r 1 j 1Lk 1 Li
2

a P F D F D F rP A


2
2 k 2 R i 2 R j
Dynamics

ac 2 v P F

21 j 2 R i 21 2 Rk
2 2
a P 1 L i 2 Rj 21 2 Rk

Angular velocity and acceleration of the

D F
disk, 1 j 2 k

F


1 j 1 j 2 k

1 2i
15 - 104
 Group Problem Solving
The crane shown rotates at the constant rate 1= 0.25 rad/s; simultaneously, the
telescoping boom is being lowered at the constant rate 2= 0.40 rad/s. Knowing
that at the instant shown the length of the boom is 20 ft and is increasing at
the constant rate u= 1.5 ft/s determine the acceleration of Point B.
SOLUTION:
Dynamics

Define a moving reference frame Axyz or

F attached to the arm at A.
The acceleration of P is found from
aB aB ' aB F ac
The angular velocity and angular
acceleration of the disk are
B F
F

15 - 105
 Group Problem Solving
Given: 1= 0.25 rad/s, 2= -0.40 rad/s. L= 20 ft, u= 1.5 ft/s
Find: aB.
Equation of overall acceleration of B

aD r r 2 r
r
Dynamics

Oxy Oxy

Do any of the terms go to zero?

aD r r 2 r Oxy

r
Oxy

Let the unextending portion of the boom AB be a rotating

frame of reference. What are and ?

2 i 1 j 1 j 2 i
(0.40 rad/s)i (0.25 rad/s) j. 12k
(0.10 rad/s 2 )k.
15 - 106
 Group Problem Solving

aD r r 2 r Oxy
r Oxy
Determine the position vector rB/A
rB/ A rB
(20 ft)(sin 30 j cos30k )
Dynamics

(10 ft) j (10 3 ft)k

Find r
i j k
rB 0 0 0.10 (1 ft/s 2 )i
0 10 10 3

Find
r
rB (0.40i 0.25j) (0.40i 0.25j) (10j 10 3k )
15 - 107
 Group Problem Solving

aD r r 2 r Oxy

r
Oxy
Determine the position vector rB/A
rB/ A rB
(20 ft)(sin 30 j cos30k )
Dynamics

(10 ft) j (10 3 ft)k

Find r
i j k
rB 0 0 0.10 (1 ft/s 2 )i
0 10 10 3

Find r
rB (0.40i 0.25 j) (0.40i 0.25 j) (10 j 10 3k )

(1 ft/s2 )i (1.6 ft/s2 ) j (3.8538 ft/s2 )k
15 - 108
 Group Problem Solving

aD r r 2 r Oxy

r
Oxy
Determine the Coriolis acceleration first
define the relative velocity term
v B/F u (sin 30 j cos30k )
Dynamics

(1.5 ft/s)sin 30 j (1.5 ft/s) cos30k

Calculate the Coriolis acceleration

2 v B/F (2)(0.40i 0.25j) (1.5sin 30 j 1.5cos30k )
(0.64592 ft/s2 )i (1.03923 ft/s2 ) j (0.6 ft/s2 )k

Add the terms together

a B (2.65 ft/s2 )i (2.64 ft/s2 ) j (3.25 ft/s 2 )k

15 - 109