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BODY
GENARAL
PLANAR KINEMATICS OF A RIGID BODY
There are cases where an object cannot be treated as a
particle. In these cases the size or shape of the body must be
considered. Also, rotation of the body about its center of
mass requires a different approach.
For example, in the design of gears, cams, and links in
machinery or mechanisms, rotation of the body is an
important aspect in the analysis of motion.
= x r P + x ( x r P )
A) (4 i + 32 j) m/s2 B) (4 i - 32 j) m/s2
2m
C) (- 4 i + 32 j) m/s2 D) (- 4 i -32 j) m/s2 B
EXAMPLE 1
Given:The motor M begins rotating at
= 4(1 – e-t) rad/s, where t is in seconds.
The radii of the motor, fan pulleys, and
fan blades are 1 cm, 4 cm, and 16 cm,
respectively.
Find: The magnitudes of the velocity and acceleration at point P
on the fan blade when t = 0.5 s.
Plan: 1) Determine the angular velocity and acceleration
of the motor using kinematics of angular motion.
2) Assuming the belt does not slip, the angular
velocity and acceleration of the fan are related to the
motor's values by the belt.
3) The magnitudes of the velocity and acceleration
of point P can be determined from the scalar equations
of motion for a point on a rotating body.
EXAMPLE 1 (continued)
Solution:
1) Since the angular velocity is given as a function of time,
m = 4(1 – e-t), the angular acceleration can be found by
differentiation.
m = dm/dt = 4e-t rad/s2
When t = 0.5 s,
m = 4(1 – e-0.5) = 1.5739 rad/s, m = 4e-0.5 = 2.4261 rad/s2
(vB)2 = 0 + 2(0.15)(6 – 0)
vB = 1.34 m/s
ATTENTION QUIZ
By geometry, sA = 2 cos
reference
A By differentiating with respect to time,
vA = -2 sin
sA
A) 20 cos 2 B) 20 sin 2
C) 20 cos 2 D) 20 sin 2
= +
vB = vA + x rB/A
vB = vA + x rB/A
vB = 0.2 cos 45
0 = -2 + 0.2 sin 45
Solving:
To locate the IC, we can use the fact that the velocity of a point
on a body is always perpendicular to the relative position vector
from the IC to the point. Several possibilities exist.
= +
aB = aA + rB/A - 2 rB/A
Solution:
At the instant shown, points A and B are both moving
horizontally. Therefore, link AB is translating, meaning
AB = 0.
EXAMPLE 3 (continued)
Where
aAt
By comparing i, j components:
AB
aAn aB = 1.6 + 0.4 sin 30 AB
0 = -1.8 + 0.4 cos 30 AB
Solving:
aB = 2.64 m/s2
AB = 5.20 rad/s2
ATTENTION QUIZ