~ Lachure 13.2 Kimeraties f agiol Cuties (Beenlrontten —_ fafa ) Relative motion _(transiating non-rotating axes} Coordinate sysiem OXY is fixed (normally fixed to the earth is adequate) | Coordinate system Qxy can TRANSLATE BUT NOT ROTATE. | Gc. Qx always parallel to OX, and Qy always parallel to OY) P has coordinates x,y in the QXY coordinate system and coordinates (X+x),(7+y) in the OXY coordinate system. ‘The velocity and acceleration components of the point P in the OXY coordinate system ae : y i Y | Mae ° x o xX ‘The velocity and acceleration components of the point Q in the OXY coordinate system are‘The velocity and acceleration components of P as seen by an observer at the origin Q of the non-rotating but translating coordinate system Qxy are 4 3 y 4 : P [fe if these components are known as the velocity and acceleration of of P relative to Q, that is the velocity of P as seen by a non-rotating observer moving with the translating but non-rotating coordinates attached to Q. i.e. ke Presi Gy VP G ay YQ X= Br rentie wg) = BPW yy =AHIQ y mate eg) “Verto = YH Y= Apaate wo yy BP aa = 82/0 yy ‘Therefore, the absolute velocity (acceleration) of P (ie. referred to the fixed set of coordinates OXY) is equal to the absolute velocity (acceleration) of Q plus the velocity of P relative to Q. i. WP YOu TYP a) PPO Vea Vay ¥en FP yy Bag t BPI oy or using veotor notation Ue XotYr0 Ap = Bg trig ‘These are called THE RELATIVE VELOCITY EQUATION and THE RELATIVE ACCELERATION EQUATION and are solved graphically using a VELOCITY DIAGRAM and an ACCELERATION DIAGRAM or algebraically using vector algebra. For two-dimensional problems drawing the velocity diagram is usually casier and - gives.a MUCH.BETTER understanding of the problem-and.its solution. Baste eeteeetastetiOTRS 1) Yy is the absolute velocity of P, ie, referred to the fixed coordinate system OXY. 2, is the absolute acceleration of P, Le. referred to the fixed coordinate system OXY. In practice itis usual to drop the "absolute" and just refer to the velocity of P and the acceleration of P 2) Ng is the (absolute) velocity of Q the moving coordinate origin, a is the (absolute) acceleration of Q the moving coordinate origin. 3). Ypiq is the velocity of P relative to Q, that is the velocity of P as seen by a NON-ROTATING observer moving with the origin Q of the TRANSLATING and NON-ROTATING coordinates Qxy. fy/q is the acceleration of P relative 0 Q, that isthe velocity of P as seen by a NON-ROTATING observer moving with the origin Q of the TRANSLATING and NON-ROTATING coordinates oy. Solution Procedure © Identify two particles (say P and Q) ‘© attach translating but non-rotating axes to one of them (say Q) and decide on fixed coordinate directions «note relative velocity equation relating the motion of P and Q, that is Ye =Yo+¥erg + identify known information about velocities of two particles (P and Q) ‘© identify known information of velocity of P relative to Q, ie. the velocity of P as seen by a non-rotating observer moving with the translating but non-rotating axes attached to Q * solve the relative velocity equation by drawing a Velocity Diagram (to scale, or sketch and solve trigonometry) or using vector algebra. ‘© note relative acceleration equation relating the motion of P and Q, that 4s Bp = 89 * Brig © identify known information about accelerations of two particles (P and gd © note relative acceleration equation relating the motion of P and Q, that is ap =2q+8riq Qe. the the identify known information of acceleration of P relative acceleration of P as seen by 2 non-rotating observer moving translating but non-rotating axes attached to Q ‘© solve the relative acceleration equation by drawing an Acceleration Diagram (to scale, or sketch and solve trigonometry) or using vector algebra.Lodder Problem - Gund Ve, 0, Og andi od Hoase © angular velocity of ladder angular acceleration of ladder, Y 2y are trawl fee 3 exces ith, origi ab A x = : A Yo = Vo + Vek gs Det dy = Ans Dah , + Ooh, Va = Vmjs —> ve: 2 ¢ We fend by coming A ao frced Nobec 2 Ve and Ve are the absolute velocities of Aah & 2 i defined uring a none thakng reference direction 3 doeckions (or Vg and to will be foun fe cretevelocity diagram for celuveg Ye = Va +Veh Vs tine Ven lone Va = vel. hence bs comets eee eae we Yt Vek = Vee cit the then gues Boas id Me C it anki ~clockeisise Gecelerabion Analysis Gas Om/s* —> ase. 24 eh found day considerma, Aas (xed 30 4 Found from velocity analyris K & defined wong anon- robatii * ference Jirechion : EWS almort imposible te guess the Auveckion of of and hence “Gah. chet doechons are shoan, the Baeckions will be fund ch analysis £ Gap, & alsays: directed tooards A ° gNobe hence by geometry, Ap and Ayhy con be found sense of Osh, (a —) geer sense of He C Ca) L quan by Coy Bete protien could we “aotth the follooing model & moving aocis attached 3 3 eqiohoss are e\s pls 7 geAcceleration Fd ceecflerabion of pont ?P Ve and a, are gwen ie = Ve as ° Ye Jers = Qo hen ea as ers 3 ae Cirere are shandard. rents if geek roth otouwk “ike img — ) Use Bp = Bo + Bab = de + Otb, + ip, ag obeys equation. on z * Conbinuous Sertchen since we leno Be = ratt could vse p= Sew Ooh ®for a telling wheel without slipring Conder ang pout FP on aheel and tren pots Dod & veticsl diameter (Vo, Ge guen hence Wa ar shown) or = OV = OF sd Velocity components Cecclerakion componeate hence Vex Vo+ Vpb Ve = Vo +Vob Ve= Vor Veb Veloaky components SoyaeExanp Le Wheel being pulled ale, by cord wrapped around. axle. No Pope take? fiiece Find Vp, ap , 9, at Vp = Im|s —> Oye hem [Pom if cord does not stretch or clip on axle then © Ops Apo + Bp = S66 m/e* ak 4s? A Vo = OC © = O5xk = Jm]s ——> = dee x16 = Sm] & ——> . Ope S66mIt at 45° XO pe lms —E Oe = Bale? anfe—~ w= Ard [sD A= 16 etfs D @Motion oie equilateral sinngula plate ABC in its plane is controled by the livansniie evlinder D. If the piston rod in Uke eylinder is moving ‘upward at the constant rate of (3 u/e daring an interval of is motion, for the instant when = 30° the velocity and acceleration of ‘of the roller A in the horizontal guide and the angular veloeity and saga agceloration of edge CB. 3 Absolute Metod Va = 4 = OBm/s On by geemeliy ats gt eit Affoedating gives Boe +h 24 Baxeshs dyeg= bk se sbemre ys ben © tMes es 44 = - Vln Og- 8 2 82a - yf a WletOsVe = -Vesecto = ve Pr = ber O b ene bee when 8 230° and Ve = O-3 mis Ve =~ 0:3 ban 30 =~ 0-122 ms = O67 Bm)s* Pee sole atop of -Bts 0-178 i]s the acevlerahvove by -0-GT 5m] amailer mokion of BC vo the seme om lime m ABC. Corrdar the Une AB 1 Aifoedia ting ye hsm © gwieo Y= bd ene we 6 = Va = Wee bene® 6 he > = Ve Ouco tne Cate, Va = 0) ® % = Va cec?O tan ® r oF