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5 Kinematics of
Phillip J. Cornwell
Lecture Notes:
Brian P. Self Rigid Bodies
California Polytechnic State University
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
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McGraw-Hill Companies, Inc. All rights reserved.Sample Problem 15.15 15 - 2
Vector Mechanics for Engineers: Dynamics
Tenth
Applications
Applications
Applications
Planetary gear systems are used to get high reduction ratios
with minimum weight and space. How can we design the
correct gear ratios?
Applications
Biomedical engineers must determine the velocities and
accelerations of the leg in order to design prostheses.
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
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
• 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
Concept Quiz
a) → A
b) ← y
L
c) ↑
x
d) ↓
r r r
v A �r
r
v A kˆ �- Liˆ
r
v A - L ˆj
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Vector Mechanics for Engineers: Dynamics
Tenth
Concept Quiz
r 2ˆ
an L i
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Vector Mechanics for Engineers: Dynamics
Tenth
• Uniform Rotation, = 0:
0 t
vD 0 r0 a D t r
vD 0 12 aD t 9
0 4 rad s 3 rad s 2
r 3 r 3
• Apply the relations for uniformly accelerated rotation to
determine velocity and angular position of pulley after 2 s.
0 t 4 rad s 3 rad s 2 2 s 10 rad 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.
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 16
Vector Mechanics for Engineers: Dynamics
Tenth
aD aD t2 aD 2n
92 482 aD 48.8 in. s 2
aD n
tan
aD t
48
9 79.4
aD n
tan
aD t
48
9 79.4
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Vector Mechanics for Engineers: Dynamics
Tenth
SOLUTION:
• Using the linear velocity and
accelerations, calculate the angular
velocity and acceleration.
Golf Robot
Not ours – maybe Tom Mase has pic? A golf robot is used to test new
equipment. If the angular
velocity of the arm is doubled,
what happens to the normal
acceleration of the club head?
If the arm is shortened to ¾ of its
original length, what happens to
the tangential acceleration of the
club head?
• 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.
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 27
Vector Mechanics for Engineers: Dynamics
Tenth
• 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.
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 29
Vector Mechanics for Engineers: Dynamics
Tenth
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
The crank AB has a constant • The directions of the absolute velocity vD
clockwise angular velocity of 2000 and the relative velocity v D B are
rpm. determined from the problem geometry.
For the crank position indicated, • The unknowns in the vector expression
determine (a) the angular velocity of are the velocity magnitudes v D and v D B
the connecting rod BD, and (b) the which may be determined from the
velocity of the piston P. corresponding vector triangle.
• The angular velocity of the connecting
rod is calculated from v D B .
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Vector Mechanics for Engineers: Dynamics
Tenth
vD B l BD
v D vB vD B vD B 495.9 in. s
BD
l 8 in.
62.0 rad s BD 62.0 rad s k
a) The direction of vB is ↑
b) The direction of vD is →
c) Both a) and b) are correct
AB -(4 rad/s)k
vD ,
a)
G b)
c)
d)
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
AB= 4 rad/s
vB
Find
tan -1
0.06 m
21.8�
vD
0.15 m
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
• 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
relative magnitudes of a A and a B A n
• Must also know angular velocity .
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Vector Mechanics for Engineers: Dynamics
Tenth
• 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
2
y components: - a B -l cos - l sin
v A x A v B y B
l cos -l sin
l cos -l sin
a A x A a B y B
-l 2 sin l cos -l 2 cos - l sin
-l 2 sin l cos -l 2 cos - l sin
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
TRUE, and causes you to shank the ball
horribly straight to the pitcher?
a A -r1 -r1
aA 3 m s2
- -
r1 0.150 m
k - 20 rad s 2 k
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
2
2
3 m s i 2 m s i - 6.40 m s j 2
aB 5 m s 2 i - 6.40 m s 2 j aB 8.12 m s 2
aC a A aC A a A k rC A - 2 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 - 2 rD 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
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 61
Vector Mechanics for Engineers: Dynamics
Tenth
y components:
0 -10,962 sin 40 2563sin 13.95 0.667 BD cos13.95
BD 9940 rad s 2 k
2
aD - 9290 ft s i
BD - 29.33 rad s k DE 11.29 rad s k
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Vector Mechanics for Engineers: Dynamics
Tenth
Analyze a B a A AB �rB /A - AB
2
rB /A
Bar AB
2
a B - AB rB/A -(4)2 (-7i ) 112 in./s 2 i
Analyze Bar BD
2
a D a B BD �rD /B - BD rD /B 112i BD k �(-8j) - (0.95455)2 (-8 j)
a D (112 8 BD )i 7.289 j
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 2 - 71
Vector Mechanics for Engineers: Dynamics
Tenth
Concept Question
Applications
Coriolis Acceleration
• Frame OXY is fixed and frame Oxy rotates with angular
velocity .
• 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
v P r OXY r r Oxy
Coriolis Acceleration
• Absolute acceleration for the particle P is
d
a P r r OXY r Oxy
dt
but, r OXY r r Oxy
d
dt
r Oxy r Oxy r Oxy
a P r r 2 r Oxy r Oxy
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
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
a P a A a P F ac
where
a A r r
a A r 2
a P F r Oxy 0
ac 2 v P F ac 2u
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
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
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Vector Mechanics for Engineers: Dynamics
Tenth
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
instant shown, in which
direction(s) will you
experience an acceleration
(choose all that apply)?
a) +x
b) -x
a P r r 2 r Oxy r Oxy
c) +y
d) -y
e) Acceleration = 0
(a) the angular velocity of disk S, and • Solve the vector triangle for the
(b) the velocity of pin P relative to disk angular velocity of S and relative
S. velocity of P.
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Vector Mechanics for Engineers: Dynamics
Tenth
vP 500 mm s
aP aP n a P 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
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Vector Mechanics for Engineers: Dynamics
Tenth
• The relative acceleration aP s must be parallel to
the slot.
SOLUTION:
• The absolute acceleration of point D may
be expressed as
r r r r
aD aD ' aD BC ac
aC 2 �v D /F
(3 rad/s)j �(16 in./s)k
(96 in./s 2 )i
General Motion
• For particles A and B of a rigid body,
vB v A vB A
Concept Question
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
2
2 2
a - 3.54 m s i - 1.50 m s j 1.80 m s k
1 0.30 j 2 0.50k
r 10.39i 6 j
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 AX’Y’Z’, and 2 rP A rP A
Axyz Axyz
- translating and rotating frame Axyz
or F. a P a PF a c
a P F D F D F rP A
2
2 k - 2 R i - 2 R j
a c 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 disk,
D F 1 j 2 k
F
1 j 1 j 2 k
1 2 i
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Vector Mechanics for Engineers: Dynamics
Tenth
0 10 10 3
r r r
Find
� �r
� �rB (0.40i 0.25 j) ��
(0.40i 0.25 j) �(10 j 10 3k ) �
� �
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Vector Mechanics for Engineers: Dynamics
Tenth
0 10 10 3
r r r
Find � �r
� �rB (0.40i 0.25 j) �� �(0.40i 0.25 j) �(10 j 10 3k ) �
�
(1 ft/s 2 )i - (1.6 ft/s 2 ) j - (3.8538 ft/s2 )k
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 105
Vector Mechanics for Engineers: Dynamics
Tenth