MAE 2600

Ch. 16 Planar Kinematics of a Rigid Body

Ch. 16 Planar Kinematics of a Rigid Body

Section 16B-1: 16.6
Section 16B-2: 16.7

Section 16B-3: 16.8a

Section 16B-4 Page 1/2

Section 16B-4: 16.8b

Class Note for Section 16B-4:

16.8b Relative-Motion Analysis Using Rotating Axes: Acceleration
Relative-Motion Analysis (A & B are two fixed points on the same body):
vB = vA + x rB/A
aB = aA + x rB/A - 2 rB/A
Relative-Motion Analysis Using Rotating Axes:
vB = vA + x rB/A + (vB/A)xy
x rB/A + x ( x rB/A) + 2 x (vB/A)xy + (aB/A)xy
aB = aA +
measured in XY reference (fixed), and
where xy axes rotate with and

rB/A = x i + y j, (vB/A)xy = (vB/A)x i + (vB/A)y j, (aB/A)xy = (aB/A)x i + (aB/A)y j

measured in xy reference.
Example Problems for Section 16B-4:
EP1. At the instant shown rod AB has an angular
velocity AB = 3 rad/s and an angular acceleration
AB = 5 rad/s. Determine the angular acceleration of
rod CD and the acceleration of the collar measured
relative to the rod AB at this instant. The collar at C is
pin-connected to CD and slides over AB.
(16B-3 EP1) CD = 9

rad/s (CW), (vC/A)xy = 3.897 m/s

For link CD: aC = aD + x rC/D - 2 rC/D

rC/D = - 0.5 cos 60 i + 0.5 sin 60 j = - 0.25 i + 0.433 j
aC = 0 + (CD k) x (- 0.25 i + 0.433 j) - (- 9)2(- 0.25 i + 0.433 j)
= - 0.25CD j - 0.433CD i + 20.25 i - 35.07 j
(1)
x rC/A + x ( x rC/A) + 2 x (vC/A)xy + (aC/A)xy
For link AB: aC = aA +
= 5 k, = 3 k, rC/A = 0.75 i, (vC/A)xy = 3.897 i, (aC/A)xy = aC/A i
aA = 0,
aC = 0 + (5 k) x (0.75 i) + (3 k) x [(3 k) x (0.75 i)] + 2(3 k) x (3.897 i) + aC/A i
= 3.75 j - 6.75 i + 23.38 j + aC/A i (2)

(1) = (2): - 0.25CD j - 0.433CD i + 20.25 i - 35.07 j = 3.75 j - 6.75 i + 23.38 j + aC/A i
For j: - 0.25CD - 35.07 = 27.13 CD = - 248.8 = 249 rad/s2 (CW) Ans.
For i: - 0.433CD + 20.25 = - 6.75 + aC/A aC/A = 135 m/s2
Ans.

MAE 2600

Ch. 16 Planar Kinematics of a Rigid Body

Section 16B-4 Page 2/2

Example Problems for Section 16B-4:

EP2. The gear has the angular motion with = 1.4 rad/s and = 2.6 rad/s2 as shown.
Determine the acceleration (aA/B)xy of the peg A measured relative to the link BC and the angular
acceleration BC of the link BC at this instant, using the x-y coordinates given.

(16B-3 EP2) BC

= 0.504 rad/s (CCW), (vA/B)xy = 1.344 ft/s

For the gear (rolling without slipping):

aO = - r i = - 2.6(0.7) i = - 1.82 i
aA = aO + x rA/O - 2 rA/O
= - 1.82 i + (2.6 k) x (0.5 j) - (1.4)2 (0.5 j)
= - 1.82 i - 1.3 i - 0.98 j = - 3.12 i - 0.98 j
x rA/B + x ( x rA/B) + 2 x (vA/B)xy + (aA/B)xy
For link BC: aA = aB +
= BC k, = 0.504 k, rA/B = 1.6 i + 1.2 j
aB = 0,
(vA/B)xy = vA/B(1.6/2) i + vA/B(1.2/2) j = - 1.075 i - 0.8064 j
(aA/B)xy = aA/B(1.6/2) i + aA/B(1.2/2) j

x rA/B + x ( x rA/B) + 2 x (vA/B)xy + (aA/B)xy

aA = aB +
- 3.12 i - 0.98 j = 0 + (BC k) x (1.6 i + 1.2 j) + (0. 504 k) x [(0. 504 k) x (1.6 i + 1.2 j)]
+ 2(0.504 k) x (- 1.075 i - 0.8064 j) + aA/B(1.6/2) i + aA/B(1.2/2) j

- 3.12 i - 0.98 j
= 1.6BC j - 1.2BC i - 0.4064 i - 0.3048 j - 1.084 j + 0.8129 i + 0.8aA/B i + 0.6aA/B j
For i: - 3.12 = - 1.2BC - 0.4064 + 0.8129 + 0.8aA/B - 3.5265 = - 1.2BC + 0.8aA/B
For j: - 0.98 = 1.6BC - 0.3048 - 1.084 + 0.6aA/B 0.4088 = 1.6BC + 0.6aA/B
Solving, (aA/B)xy = - 2.576 = 2.58 ft/s2
Ans.
2
BC = 1.221 = 1.22 rad/s (CCW) Ans.
Homework #23 (Section 16B-4)