MAE 2600

Ch. 16 Planar Kinematics of a Rigid Body

Section 16A-1 Page 1/2

Ch. 16 Planar Kinematics of a Rigid Body

Section 16A-1: 16.1, 16.2, 16.3
Section 16A-2: 16.4
Section 16A-3: 16.5
Class Note for Section 16A-1:
16.1 Rigid-Body Motion
translation, rotation, general plane motion
16.2 Translation (rectilinear or curvilinear)
rB = rA + rB/A
relative position, rB/A = constant
vB = vA
velocity
aB = aA
acceleration
16.3 Rotation About a Fixed Axis

angular position
d
angular displacement
= d/dt
angular velocity
= d/dt
angular acceleration
d = d
where = f() or = f()
Constant Angular Acceleration, c
= o + c t
= o + o t + c t2
2 = o2 + 2 c ( - o)
Motion of point P (P rotates about the center O)
r: position vector (rOP: a position vector from O to P)
vr = r = 0 (r = constant)
v = v = r = r

v = r

v=xr

v=r

at = dv/dt = d(r)/dt = (d/dt) r = r

an = v2/r = (r)2/r = 2 r
a = dv/dt = d( x r)/dt = (d/dt) x r + x (dr/dt) = x r + x ( x r) = x r - 2 r
where dr/dt = v = x r
2
a = at + an = r ut + r un
at = r

an = 2 r

MAE 2600

a = (at2 + an2)1/2

Ch. 16 Planar Kinematics of a Rigid Body

Section 16A-1 Page 2/2

MAE 2600

Ch. 16 Planar Kinematics of a Rigid Body

Section 16A-1 Page 3/2

Summary of Equations for Section 16A-1:

= d/dt
= d/dt
d = d
2
= o + c t
= o + o t + c t
2 = o2 + 2 c ( - o)
v=r
at = r
an = 2 r
For gears A and B in mesh: A rA = B rB
A rA = B rB
A rA = B rB
Example Problems for Section 16A-1:
EP1. Starting from rest when s = 0, pulley A is given an angular acceleration = (6) rad/s2,
where is in radians. Determine the speed of block B when it has risen s = 6 m. The pulley C
has an inner hub D which is fixed to C and turns with it.
A = (6A) rad/s2
s = rD D 6 = (0.075) D D = 80 rad = C
A rA = C rC
A(0.05) = (80)(0.15) A = 240 rad
For pulley A: d = d

240
0

6 d =

d [32 ]0240 = [(1/2)2 ]0

172800 = (1/2) 2 A = 587.9 rad/s

A rA = C rC (587.9)(0.05) = C(0.15)
C = 196.0 rad/s = D
vB = D rD = (196.0)(0.075) = 14.7 m/s Ans.
EP2. Determine the distance the load W
is lifted in t = 5 s using the hoist.
The shaft of the motor M turns with an
angular velocity = 100(2 + t) rad/s,
where t is in seconds.
= d/dt dA = A dt

A
0

dA =

5
0

100(2 + t) dt

A = 100[2t + 0.5t2] 0
= 100[2(5) + 0.5(5)2] = 2250 rad
5

A rA = B rB
B = (rA/rB)A = (40/225)(2250) = 400 rad
C = B = 400 rad
C rC = D rD D = (rC/rD) C = (30/300)(400) = 40 rad
E = D = 40 rad
sW = rE E = (0.05)(40) = 2 m Ans.
Homework #17 (Section 16A-1)