Chap 15 Dynamic PDF

Seventh Edition
CHAPTER
15
VECTOR MECHANICS FOR ENGINEERS:
DYNAMICS
Ferdinand P. Beer
E. Russell Johnston, Jr.
Lecture Notes:
Kinematics of
Rigid Bodies
J. Walt Oler
Texas Tech University
2003 The McGraw-Hill Companies, Inc. All rights reserved.
Seventh
Edition
Vector Mechanics for Engineers: Dynamics

Contents
Introduction
Translation
Rotation About a Fixed Axis: Velocity
Rotation About a Fixed Axis: Acceleration
Rotation About a Fixed Axis: Representative
Slab
Equations Defining the Rotation of a Rigid
Body About a Fixed Axis
Sample Problem 5.1
General Plane Motion
Absolute and Relative Velocity in Plane
Motion
Sample Problem 15.2
Sample Problem 15.3
Instantaneous Center of Rotation in Plane
Motion
Sample Problem 15.4
Sample Problem 15.5
Absolute and Relative Acceleration in Plane

Motion
Analysis of Plane Motion in Terms of a Parameter
Sample Problem 15.6
Sample Problem 15.7
Sample Problem 15.8
Rate of Change With Respect to a Rotating Frame
Coriolis Acceleration
Sample Problem 15.9
Sample Problem 15.10
Motion About a Fixed Point
General Motion
Three Dimensional Motion. Coriolis Acceleration
Frame of Reference in General Motion
15 - 2
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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
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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
Differentiating with respect to time,

rB = rA + rB A = rA

vB = v A
All particles have the same velocity.
Differentiating with respect to time again,
rB = rA + rB A = rA

aB = a A
All particles have the same acceleration.
15 - 4
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Rotation About a Fixed Axis. Velocity
Consider rotation of rigid body about a fixed
axis AA

Velocity vector v = dr dtof the particle P is
v = ds dt
tangent to the path with magnitude
s = ( BP ) = (r sin )
v=
ds
= lim (r sin )
= r sin
dt t 0
t
The same result is obtained from

dr

v=
= r
dt

= k = k = angular ve locity
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Rotation About a Fixed Axis. Acceleration
Differentiating to determine the acceleration,

dv d
= ( r )
a=
dt dt

d dr
=
r +
dt
dt

d
=
r + v
dt

d
= = angular ac celeration
dt

= k = k = k
Acceleration of P is combination of two vectors,

a = r + r

r = tangentia l accelerati on component

r = radial accelerati on component
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Rotation About a Fixed Axis. Representative Slab
Consider the motion of a representative slab in a
plane perpendicular to the axis of rotation.
Velocity of any point P of the slab,

v = r = k r
v = r
Acceleration of any point P of the slab,

a = r + r

= k r 2r
Resolving the acceleration into tangential and
normal components,

at = k r
a t = r

a n = 2 r
a n = r 2
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Equations Defining the Rotation of a Rigid Body
About a Fixed Axis
Motion of a rigid body rotating around a fixed axis is
often specified by the type of angular acceleration.
d
Recall =
dt
or
dt =
d
d d 2
=
= 2 =
d
dt
dt
Uniform Rotation, = 0:
= 0 + t
Uniformly Accelerated Rotation, = constant:
= 0 +t
= 0 + 0 t + 12 t 2
2 = 02 + 2 ( 0 )
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Sample Problem 15.1
SOLUTION:
Due to the action of the cable, the
tangential velocity and acceleration of D
are equal to the velocity and acceleration
of C. Calculate the initial angular
velocity and acceleration.
Cable C has a constant acceleration of 225

mm/s2 and an initial velocity of
300 mm/s2, both directed to the right.
Determine (a) the number of revolutions of
the pulley in 2 s, (b) the velocity and
change in position of the load B after 2 s,
and (c) the acceleration of the point D on the
rim of the inner pulley at t = 0.
Apply the relations for uniformly

accelerated rotation to determine the
velocity and angular position of the
pulley after 2 s.
Evaluate the initial tangential and normal
acceleration components of D.
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Sample Problem 15.1
SOLUTION:
The tangential velocity and acceleration of D are equal to the
velocity and acceleration of C.

(
)
a
=
a
D t
C = 225 mm s
(vD )0 = (vC )0 = 300 mm s
(vD )0 = r 0
(vD )0
0 =
(a D )t
12
= = 4 rad s
3
= r
(a D )t
r
9
= 3 rad s 2
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
2 rad
v B = r = (125 mm)(10 rad s)

y B = r = (125 mm)(14 rad)
N = 2 .23 rev

v B = 1250 mm s
y B = 1750 mm
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Sample Problem 15.1
Evaluate the initial tangential and normal acceleration
components of D.
(aD )t = aC = 225 mm s 2
(aD )n = rD 02 = (75 mm)(4 rad s)2 = 1200 mm
(aD )t
(aD )n = 1200 mm
= 225 mm s 2
s2
s2
Magnitude and direction of the total acceleration,
(a D )t2 + (a D )n2
aD =
= 225 + 1200
2
a D = 1220.9 mm s 2
(a D )n
tan =
(a D )t
=
1200
225
= 79.4
15 - 11
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General Plane Motion
General plane motion is neither a translation nor a

rotation.
General plane motion can be considered as the sum
of a translation and rotation.
Displacement of particles A and B to A2 and B2 can
be divided into two parts:
- translation to A2 and B1
- rotation of B1about A2 to B2
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Absolute and Relative Velocity in Plane Motion
Any plane motion can be replaced by a translation of an

arbitrary reference point A and a simultaneous rotation about A.

vB = v A + vB A

v B A = k rB A

v B = v A + k rB
vB
= r
A
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Assuming that the velocity vA of end A is known, wish to determine the velocity
vB of end B and the angular velocity in terms of vA, l, and .
The direction of vB and vB/A are known. Complete the velocity diagram.
vB
= tan
vA
v B = v A tan
vA
v
= A = cos
v B A l
vA
l cos
15 - 14
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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.
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Sample Problem 15.2
SOLUTION:
The displacement of the gear center in one
revolution is equal to the outer
circumference. Relate the translational and
angular displacements. Differentiate to
relate the translational and angular
velocities.
The double gear rolls on the stationary
lower rack: the velocity of its center is
1.2 m/s.
Determine (a) the angular velocity of
the gear, and (b) the velocities of the
upper rack R and point D of the gear.
The velocity for any point P on the gear may

be written as

vP = v A + vP

= v A + k rP
Evaluate the velocities of points B and D.
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Sample Problem 15.2
SOLUTION:
The displacement of the gear center in one revolution is
equal to the outer circumference.
For xA > 0 (moves to right), < 0 (rotates clockwise).
xA
=
2 r
2
y
x A = r1
Differentiate to relate the translational and angular

velocities.
x
v A = r1
vA
1 .2 m s
=
r1
0.150 m

= k = (8 rad s )k
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Sample Problem 15.2
For any point P on the gear,

vP = v A + vP
Velocity of the upper rack is equal to

velocity of point B:

v R = v B = v A + k rB A

= (1 .2 m s )i + (8 rad s )k (0 .10 m ) j

= (1 .2 m s )i + (0 .8 m s )i

vR = (2 m s )i

= v A + k rP
Velocity of the point D:

v D = v A + k rD A

= (1 .2 m s )i + (8 rad s )k ( 0 .150 m )i

vD = (1.2 m s )i + (1.2 m s ) j
vD = 1.697 m s
15 - 18
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Sample Problem 15.3
SOLUTION:
The crank AB has a constant clockwise

angular velocity of 2000 rpm.
For the crank position indicated,
determine (a) the angular velocity of the
connecting rod BD, and (b) the velocity
of the piston P.
Will determine the absolute velocity of

point D with

vD = vB + vD B

The velocity v Bis obtained from the given
crank rotation data.

The directions of the absolute velocity v D

and the relative velocity v D Bare
determined from the problem geometry.
The unknowns in the vector expression are
v D and v D B
the velocity magnitudes
which may be determined from the
corresponding vector triangle.
The angular velocity of the connecting rod
vD B .
is calculated from
15 - 19
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Sample Problem 15.3
SOLUTION:
Will determine the absolute velocity of point D with

vD = vB + vD B

The velocity v Bis obtained from the crank rotation data.
AB
rev min 2 rad
= 2000
= 209.4 rad s

min 60 s rev
v B = ( AB ) AB = (0.075 m)(209.4 rad s)

The velocity direction is as shown.

vis
The direction of the absolute velocity
horizontal. The
D
direction of the relative velocity
isvperpendicular
to BD.
D B
Compute the angle between the horizontal and the connecting
rod from the law of sines.
sin 40 sin
=
8 in.
3 in.
= 13 .95
15 - 20
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Sample Problem 15.3
Determine the velocity magnitudes

from the vector triangle.
vD B
vD
15.71m s
=
=
sin 53.95 sin 50 sin76.05
vD = 13.09 m s = 13.09 m s

v D = vB + v D
v D and v D
vP = vD = 13.09 m s
vD B = 12.40 m s
vD B = l BD
B
BD
vD B
12.40 m s
=
=
l
0.2 m
= 62.0 rad s
BD

= (62.0 rad s )k
15 - 21
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Instantaneous Center of Rotation in Plane Motion
Plane motion of all particles in a slab can always be replaced
by the translation of an arbitrary point A and a rotation about
A with an angular velocity that is independent of the choice
of A.
The same translational and rotational velocities at A are
obtained by allowing the slab to rotate with the same angular
velocity about the point C on a perpendicular to the velocity
at A.
The velocity of all other particles in the slab are the same as
originally defined since the angular velocity and translational
velocity at A are equivalent.
As far as the velocities are concerned, the slab seems to
rotate about the instantaneous center of rotation C.
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If the velocity at two points A and B are known, the
instantaneous center of rotation lies at the intersection of
the perpendiculars to the velocity vectors through A and B .
If the velocity vectors are parallel, the instantaneous center
of rotation is at infinity and the angular velocity is zero.
If the velocity vectors at A and B are perpendicular to the
line AB, the instantaneous center of rotation lies at the
intersection of the line AB with the line joining the
extremities of the velocity vectors at A and B.
If the velocity magnitudes are equal, the instantaneous
center of rotation is at infinity and the angular velocity is
zero.
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The instantaneous center of rotation lies at the intersection of the
perpendiculars to the velocity vectors through A and B .
vA
vA
vA
=
=
v B = ( BC ) = (l sin )
AC l cos
l cos
= v A tan
The velocities of all particles on the rod are as if they were
rotated about C.
The particle at the center of rotation has zero velocity.
The particle coinciding with the center of rotation changes with
time and the acceleration of the particle at the instantaneous
center of rotation is not zero.
The acceleration of the particles in the slab cannot be
determined as if the slab were simply rotating about C.
The trace of the locus of the center of rotation on the body is
the body centrode and in space is the space centrode.
15 - 24
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Sample Problem 15.4
SOLUTION:
The point C is in contact with the stationary
lower rack and, instantaneously, has zero
velocity. It must be the location of the
instantaneous center of rotation.
Determine the angular velocity about C based
on the given velocity at A.
The double gear rolls on the
stationary lower rack: the velocity of
its center is 1.2 m/s.
Evaluate the velocities at B and D based on

their rotation about C.
Determine (a) the angular velocity of

the gear, and (b) the velocities of the
upper rack R and point D of the gear.
15 - 25
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Sample Problem 15.4
SOLUTION:
The point C is in contact with the stationary lower rack and,
instantaneously, has zero velocity. It must be the location of
the instantaneous center of rotation.
Determine the angular velocity about C based on the given
velocity at A.
v
1 .2 m s
v A = rA
= A=
= 8 rad s
rA 0.15 m
Evaluate the velocities at B and D based on their rotation
about C.
v R = v B = rB = (0 .25 m )(8 rad s )

v R = (2 m s )i
rD = (0.15 m ) 2 = 0.2121 m
v D = rD = (0 .2121 m )(8 rad s )

v D = 1 .697 m s

v D = (1 .2i + 1 .2 j )(m s )
15 - 26
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Sample Problem 15.5
SOLUTION:
Determine the velocity at B from the given
crank rotation data.
The crank AB has a constant clockwise

angular velocity of 2000 rpm.
For the crank position indicated,
determine (a) the angular velocity of the
connecting rod BD, and (b) the velocity
of the piston P.
The direction of the velocity vectors at B

and D are known. The instantaneous center
of rotation is at the intersection of the
perpendiculars to the velocities through B
and D.
Determine the angular velocity about the
center of rotation based on the velocity at
B.
Calculate the velocity at D based on its
rotation about the instantaneous center of
rotation.
15 - 27
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Sample Problem 15.5
SOLUTION:
From Sample Problem 15.3,

vB = (403.9i 481.3 j )(m s)
vB = 15.71m s
= 13.95
The instantaneous center of rotation is at the intersection of
the perpendiculars to the velocities through B and D.
B = 40 + = 53.95
D = 90 = 76.05
BC
CD
200 mm
=
=
sin 76.05 sin 53.95 sin50
BC = 253.4 mm CD = 211.1 mm
Determine the angular velocity about the center of rotation

based on the velocity at B.
vB = (BC ) BD
BD =
vB 15.71m s
=
BC 253.4 mm
BD = 62.0 rad s
Calculate the velocity at D based on its rotation about the

instantaneous center of rotation.
vD = (CD ) BD = (0.2111 mm)(62.0 rad s)
vP = vD = 13.09 m s = 13.09 m s
15 - 28
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Absolute and Relative Acceleration in Plane Motion
Absolute acceleration of a particle of the slab,

aB = a A + aB A

Relative acceleration a B Aassociated with rotation about A includes
tangential and normal components,

a B A = r
a B A = k rB A
( )t
(a B A )n = 2 rB A
( )t
(a B A )n = r 2
15 - 29
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Given a A and v A ,

determine a B and .

aB = a A + aB A

= a A + aB A + aB
)n (

Vector result depends on sense of
the relative
a and
A
magnitudes of
a A and a B A
)n
Must also know angular velocity .

A t
15 - 30
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Write

a B = a A + a B A in terms of the two component equations,
x components:
y components:
0 = a A + l 2 sin l cos
a B = l 2 cos l sin
Solve for aB and .

15 - 31
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Analysis of Plane Motion in Terms of a Parameter
In some cases, it is advantageous to determine the
absolute velocity and acceleration of a mechanism
directly.
x A = l sin
y B = l cos
v A = x A
= l cos
v B = y B
= l cos
a A = xA
= l sin
= l sin
a B = yB
= l 2 sin + l cos
= l 2 cos l sin
= l 2 sin + l cos
= l 2 cos l sin
15 - 32
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Sample Problem 15.6
SOLUTION:
The expression of the gear position as a
function of is differentiated twice to
define the relationship between the
translational and angular accelerations.
The center of the double gear has a

velocity and acceleration to the right of
1.2 m/s and 3 m/s2, respectively. The
lower rack is stationary.
The acceleration of each point on the gear

is obtained by adding the acceleration of
the gear center and the relative
accelerations with respect to the center.
The latter includes normal and tangential
acceleration components.
Determine (a) the angular acceleration of

the gear, and (b) the acceleration of
points B, C, and D.
15 - 33
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Sample Problem 15.6
SOLUTION:
The expression of the gear position as a function of is
differentiated twice to define the relationship between the
translational and angular accelerations.
x A = r1
v A = r1 = r1
vA
1.2 m s
=
= 8 rad s
r1
0.150 m
a A = r1 = r1
aA
3 m s2
= =
r1
0.150 m

2
= k = 20 rad s k
15 - 34
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Sample Problem 15.6
The acceleration of each point is
obtained by adding the
acceleration of the gear center
and the relative accelerations
with respect to the center.
The latter includes normal and
tangential acceleration
components.
) (

aB = a A + aB A = a A + aB A + aB A
t
n

= a A + k rB A 2rB A

2
2
2
= 3 m s i 20 rad s k (0.100 m ) j (8 rad s ) ( 0.100 m ) j

= 3 m s 2 i + 2 m s 2 i 6.40 m s 2 j
(
(
) (
) (
) (

2
2
aB = (5 m s ) i (6.40 m s ) j
aB = 8.12 m s 2
15 - 35
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Sample Problem 15.6

2
=
a
+
k
rC A
A
A
C A

2
2
2
= 3 m s i 20 rad s k ( 0 .150 m ) j (8 rad s ) ( 0 .150 m ) j
2
2
2
= 3 m s i 3 m s i + 9 .60 m s j

2
ac = (9.60 m s ) j

a D = a A + a D A = a A + k rD A 2 rD A

2
2
2
= 3 m s i 20 rad s k ( 0 .150 m ) i (8 rad s ) ( 0 .150 m ) i
2
2
2
= 3 m s i + 3 m s j + 9.60 m s i

aD = (12.6 m s 2 ) i + (3 m s 2 ) j
aD = 12.95 m s 2

aC = a A + aC
(
(
) (
) (
) (
(
(
) (
) (
) (
15 - 36
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Sample Problem 15.7
SOLUTION:
The angular acceleration of the connecting
rod BD and the acceleration of point D will
be determined from

aD = aB + aD B = aB + aD B + aD B
)t (
The acceleration of B is determined from

the given rotation speed of AB.
Crank AG of the engine system has a
constant clockwise angular velocity of
2000 rpm.
For the crank position shown, determine
the angular acceleration of the connecting
rod BD and the acceleration of point D.
The directions of the accelerations

a D , ( a D B ) t , and ( a D B ) n are determined
from the geometry.
Component equations for acceleration of
point D are solved simultaneously for
acceleration of D and angular acceleration
of the connecting rod.
15 - 37
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Sample Problem 15.7
SOLUTION:
The angular acceleration of the connecting rod BD and the
acceleration of point D will be determined from

aD = a B + a D B = a B + (aD B )t + (aD B ) n
The acceleration of B is determined from the given rotation
speed of AB.
AB = 2000 rpm = 209.4 rad s = constant

AB = 0
a B = r 2AB = (0.075 m)(209.4 rad s) = 3289 m s 2
2

2
aB = (3289 m s ) ( cos 40i sin 40 j )
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Sample Problem 15.7
The directions of the accelerations

determined from the geometry.

aD = aD i

a D , ( a D B ) t , and ( a D Bare
)n
From Sample Problem 15.3, BD = 62.0 rad/s, = 13.95o.
(a )
D B n
2
= (BD ) BD
= (0.2 m)(62.0 rad s ) = 769 m s 2
2

( aD B ) n = 769 m s 2 ( cos13.95i + sin 13.95 j )
( aD B )t = (BD ) BD = (0.2 m) BD = 0.2 BD
The direction of (aD/B)t is known but the sense is not known,

aD B t = (0.2 BD ) ( sin 76.05i cos 76.05 j )
15 - 39
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Sample Problem 15.7
Component equations for acceleration of point D are solved

simultaneously.

aD = aB + aD B = aB + ( aD B )t + ( aD B ) n
x components:
a D = 3289 cos 40 769 cos13.95 + 0.2 BD sin 13.95

y components:
0 = 3289 sin 40 + 769 sin 13.95 + 0.2 BD cos13.95

BD = (9937 rad s ) k

2
aD = (2787 m s ) i
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Sample Problem 15.8
SOLUTION:
The angular velocities are determined by
simultaneously solving the component
equations for

vD = vB + vD B
In the position shown, crank AB has a

constant angular velocity 1 = 20 rad/s
counterclockwise.
The angular accelerations are determined by

simultaneously solving the component
equations for

aD = aB + aD B
Determine the angular velocities and

angular accelerations of the connecting rod
BD and crank DE.
15 - 41
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Sample Problem 15.8
SOLUTION:
The angular velocities are determined by simultaneously
solving the component equations for

v D = vB + v D B

v D = DE rD = DE k ( 425i + 425 j )

= 425 DE i 425 DE j

v B = AB rB = 20k (200i + 350 j )

= 280i + 160 j

v D B = BD rD B = BD k (300i + 75 j )

= 75 BD i + 300 BD j
x components: 425 DE = 280 75 BD
y components: 425 DE = +160 + 200 BD
BD

= (29.33 rad s )k
DE

= (11.29 rad s )k
15 - 42
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Sample Problem 15.8
The angular accelerations are determined by simultaneously
solving the component equations for

aD = aB + aD B

2
a D = DE rD DE
rD

2
= DE k ( 425i + 425 j ) (11.29) ( 425i + 425 j )

3
3
= 425 DE i 425 DE j + 54.210 i 54.210 j

2
2
a B = AB rB AB rB = 0 (20) (200i + 350 j )

3
3
= 80 10 i + 140 10 j

2
a D B = BD rB D BD
rB D

2
= B D k (300i + 75 j ) (29.33) (300i + 75 j )

3
3
= 75 B D i + 300 B D j 258 10 i 64.5 10 j
x components:
425 DE + 75 BD = 392.2 10 3
y components: 425 DE 300 BD = 150.2 10 3

2
2
BD = (645 rad s ) k
DE = (809 rad s ) k
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Rate of Change With Respect to a Rotating Frame
With respect to the rotating Oxyz frame,

Q = Qxi + Q y j + Qz k

Q Oxyz = Q x i + Q y j + Q z k
()
With respect to the fixed OXYZ frame,

Q OXYZ = Q x i + Q y j + Q z k + Q x i + Q y j + Q z k
()
Frame OXYZ is fixed.

Frame Oxyz rotates about
fixed axis OA with angular
velocity

Vector function Q (t varies
in
)
direction and magnitude.
()

Q x i + Q y j + Q z k = Q Oxyz =rate of change with
respect to rotating frame.

If Q were fixed within Oxyz then Q OXYZ
is
equivalent to velocity of a point in a rigid body

attached to Oxyz and Q x i + Q y j + Q z k = Q
()
With respect to the fixed OXYZ frame,

Q
= Q
+ Q
()
OXYZ
()
Oxyz
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Frame OXY
is fixed and frame Oxy rotates with angular
velocity .

Position vector rPfor 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
Imagine a rigid slab attached to the rotating frame Oxy or F
for short. Let P be a point on the slab which corresponds
instantaneously to position of particle P.

v P F = (r )Oxy = velocity of P along its path on the slab

v P ' = absolute velocity of point P on the slab
Absolute velocity for the particle P may be written as

v P = v P + v P F
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Edition

Absolute acceleration for the particle P is

d

(r )Oxy
a P = r + (r )OXY +
dt

but,
(r )OXY = r + (r )Oxy

v P = r + (r )Oxy

= v P + v P F

d

(r )Oxy = (r )Oxy + (r )Oxy
dt

a P = r + ( r ) + 2 (r )Oxy + (r )Oxy
Utilizing the conceptual point P on the slab,

a P = r + ( r )

a P F = (r)
Oxy
Absolute accelerationfor the particle P becomes

a P = a P + a P F + 2 (r )Oxy

= a P + a P F + ac

a c = 2 (r )Oxy = 2 v P F = Coriolis acceleration
15 - 46
Seventh
Edition

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

a c = 2 v P F
ac = 2u
The absolute acceleration consists of the radial and
tangential vectors shown
15 - 47
Seventh
Edition

Change in velocity over t is represented by the sum
of three vectors

v = R R + T T + T T
at t ,
at t + t ,

v = vA + u

v = v A + u
T T 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
t 0 t
t 0

recall, a = r + ( r )
a = r 2
A
R R and T T result from combined effects of

relative motion of P and rotation of the rod
R R T T
r

+
lim
= lim u
+
t t 0 t
t
t 0 t
= u + u = 2 u

ac = 2u
recall, ac = 2 v P F
15 - 48
Seventh
Edition

Sample Problem 15.9
SOLUTION:
The absolute velocity of the point P may
be written as

v P = v P + v P s
Disk D of the Geneva mechanism rotates

with constant counterclockwise angular
velocity D = 10 rad/s.
At the instant when = 150o, determine (a)
the angular velocity of disk S, and (b) the
velocity of pin P relative to disk S.
Magnitude and direction of velocity

v P of pin P are calculated from the
radius and angular velocity of disk D.

Direction of velocity v Pof
point P on S
coinciding with P is perpendicular to
radius OP.

Direction of velocity v P of
s P with
respect to S is parallel to the slot.
Solve the vector triangle for the angular
velocity of S and relative velocity of P.
15 - 49
Seventh
Edition

Sample Problem 15.9
SOLUTION:
The absolute velocity of the point P may be written as

vP = vP + vP s
Magnitude and direction of absolute velocity of pin P are
calculated from radius and angular velocity of disk D.
v P = R D = (50 mm )(10 rad s ) = 500 mm s

Direction of velocity of P with respect to S is parallel to slot.
From the law of cosines,
r 2 = R 2 + l 2 2 Rl cos 30 = 0.551 R 2
From the law of cosines,
sin sin 30
sin 30
=
sin =
R
r
0 .742
r = 37 .1 mm
= 42 .4
The interior angle of the vector triangle is

= 90 42 .4 30 = 17 .6
15 - 50
Seventh
Edition

Sample Problem 15.9
Direction of velocity of point P on S coinciding with P is
perpendicular to radius OP. From the velocity triangle,
v P = v P sin = (500 mm s )sin 17 .6 = 151 .2 mm s

= r s
vP
151 .2 mm s
s =
37 .1 mm

s = ( 4 .08 rad s )k
= v P cos = (500 m s ) cos 17 .6

v P s = (477 m s ) ( cos 42 .4i sin 42 .4 j )
vP = 500 mm s
15 - 51
Seventh
Edition

SOLUTION:
The absolute acceleration of the pin P may be
expressed as

a P = a P + a P s + ac
The instantaneous angular velocity of Disk S
is determined as in Sample Problem 15.9.
The only unknown involved in the
acceleration equation is the instantaneous
angular acceleration of Disk S.
In the Geneva mechanism, disk D

rotates with a constant counterclockwise angular velocity of 10 rad/s. Resolve each acceleration term into the
At the instant when = 150o, determine component parallel to the slot. Solve for the
angular acceleration of Disk S.
angular acceleration of disk S.
15 - 52
Seventh
Edition

SOLUTION:
Absolute acceleration of the pin P may be expressed as

aP = aP + aP s + ac
From Sample Problem 15.9.

= 42 .4
S = ( 4 .08 rad s )k

v P s = (477 mm s )( cos 42 .4 i sin 42 .4 j )
Considering each term in the acceleration equation,
a P = R D2 = (500 mm )(10 rad s )2 = 5000 mm s 2

2
a P = 5000 mm s (cos 30 i sin 30 j )

a P = (a P )n + (a P )t

2
(a P )n = r S ( cos 42 .4i sin 42 .4 j )

(a P )t = (r S )( sin 42 .4i + cos 42 .4 j )

(a P )t = ( S )(37 .1 mm )( sin 42 .4i + cos 42 .4 j )
( )
note: S may be positive or negative

15 - 53
Seventh
Edition

The direction of the Coriolis acceleration is obtained by
vP s
rotating the direction of the relative velocity
by 90o in the sense of S.

ac = 2 S v P s ( sin 42 .4i + cos 42 .4 j )

= 2(4 .08 rad s )(477 mm s ) ( sin 42 .4 i + cos 42 .4 j )

2
= 3890 mm s ( sin 42 .4 i + cos 42 .4 j )
The relative acceleration

slot.

a P must
be parallel to the
s
Equating components of the acceleration terms

perpendicular to the slot,
37 .1 S + 3890 5000 cos 17 .7 = 0
S = 233 rad s

S = ( 233 rad s )k
15 - 54
Seventh
Edition

Motion About a Fixed Point
The most general displacement of a rigid body with a
fixed point O is equivalent to a rotation of the body about
an axis through O.
With the instantaneous axis of rotation and angular

velocity , the velocity of a particle P of the body is

dr

v=
= r
dt
and the acceleration of the particle P is

d
a = r + ( r )
=
.
dt

The angularacceleration represents the velocity of the
.
tip of

As the vector moves within the body and in space, it
generates a body cone and space cone which are tangent
along the instantaneous axis of rotation.
Angular velocities have magnitude and direction and obey
parallelogram law of addition. They are vectors.
15 - 55
Seventh
Edition

General Motion
For particles A and B of a rigid body,

vB = v A + vB A
Particle A is fixed within the body and motion of the
body relative to AXYZ is the motion of a body with
a fixed point

v B = v A + rB A
Similarly, the acceleration of the particle P is

aB = a A + aB A

= a A + rB A + rB A
Most general motion of a rigid body is equivalent to:

- a translation in which all particles have the same velocity
and acceleration of a reference particle A, and
- of a motion in which particle A is assumed fixed.
15 - 56
Seventh
Edition

SOLUTION:

With 1 = 0.30 j 2 = 0.50 k

r = 12 (cos 30 i + sin 30 j )

= 10 .39 i + 6 j
The crane rotates with a constant angular
velocity 1 = 0.30 rad/s and the boom is
being raised with a constant angular
velocity 2 = 0.50 rad/s. The length of
the boom is l = 12 m.
Determine:
angular velocity of the boom,
angular acceleration of the boom,
velocity of the boom tip, and
acceleration of the boom tip.
Angular velocity of the boom,

= 1 + 2
Angular acceleration of the boom,

= 1 + 2 = 2 = ( 2 )Oxyz + 2

= 1 2
Velocity of boom tip,

v =r
Acceleration of boom tip,

a = r + ( r ) = r + v
15 - 57
Seventh
Edition

SOLUTION:
Angular velocity of the boom,

= 1 + 2

= (0.30 rad s ) j + (0 .50 rad s )k
Angular acceleration of the boom,

= 1 + 2 = 2 = ( 2 )Oxyz + 2

= 1 2 = (0 .30 rad s ) j (0 .50 rad s )k

= 0.15 rad s 2 i
Velocity of boom tip,

i

v = r = 0
10 .39

1 = 0.30 j 2 = 0.50k

r = 10.39i + 6 j

j

k
0 .3
0 .5
6
0

v = (3 .54 m s )i + (5.20 m s ) j (3 .12 m s )k
15 - 58
Seventh
Edition

Acceleration of boom tip,

a = r + ( r ) = r + v

i
j
k
i
j
k

a = 0 .15
0
0 + 0
0 .30
0.50
10 .39
6
0 3
5.20
3 .12

= 0.90 k 0.94 i 2 .60 i 1.50 j + 0 .90 k

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
15 - 59
Seventh
Edition

Three-Dimensional Motion. Coriolis Acceleration
With respect to the fixed frame OXYZ and rotating
frame Oxyz,

Q
= Q
+ Q
()
OXYZ
()
Oxyz
Consider motion of particle P relative to a rotating frame

Oxyz or F for short. The absolute velocity can be
expressed as

v P = r + (r )Oxyz

= v P + v P F
The absolute acceleration can be expressed as

a P = r + ( r ) + 2 (r )Oxyz + (r)Oxyz

= a p + a P F + ac

a c = 2 (r )Oxyz = 2 v P F = Coriolis accelerati on
15 - 60
Seventh
Edition

Frame of Reference in General Motion
With respect to OXYZ and AXYZ,

rP = rA + rP A

vP = v A + vP A

aP = a A + aP A
The velocity and acceleration of P relative to
AXYZ can be found in terms of the velocity
and acceleration of P relative to Axyz.
Consider:
- fixed frame OXYZ,
- translating frame AXYZ, and
- translating and rotating frame Axyz or
F.

v P = v A + rP A + rP A
Axyz

= v P + v P F

a P = a A + rP A + ( rP A )

+ 2 (rP A )
+ (rP A )
Axyz
Axyz

= a P + a P F + ac
15 - 61
Seventh
Edition

SOLUTION:
Define a fixed reference frame OXYZ at O
and a moving reference frame Axyz or F
attached to the arm at A.
For the disk mounted on the arm, the

indicated angular rotation rates are
constant.
Determine:
the velocity of the point P,
the acceleration of P, and
angular velocity and angular
acceleration of the disk.
With P of the moving reference frame

coinciding with P, the velocity of the point P
is found from

v P = v P + v P F
The acceleration of P is found from

a P = a P + a P F + ac
The angular velocity and angular
acceleration of the disk are

= +D F

= ( )F +
15 - 62
Seventh
Edition

SOLUTION:
Define a fixed reference frame OXYZ at O and a
moving reference frame Axyz or F attached to the arm
at A.

r = L i + Rj

= 1 j

rP
A
F

= Rj

= 2k
With P of the moving reference frame coinciding with

P, the velocity of the point P is found from

v P = v P + v P F

v P = r = 1 j (L i + R j ) = 1 L k

v P F = D F rP A = 2 k R j = 2 R i

v P = 2 R i 1 L k
15 - 63
Seventh
Edition

The acceleration of P is found from

a P = a P + a P F + ac

2
a P = ( r ) = 1 j ( 1 Lk ) = 1 Li

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

= 1 j + 2 k

= ( )F +

= 1 j (1 j + 2 k )

= 1 2 i
15 - 64

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Seventh Edition

VECTOR MECHANICS FOR ENGINEERS:

2003 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

Absolute and Relative Acceleration in Plane

Vector Mechanics for Engineers: Dynamics

2003 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

Vector Mechanics for Engineers: Dynamics

The same result is obtained from

2003 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

Vector Mechanics for Engineers: Dynamics

Vector Mechanics for Engineers: Dynamics

Vector Mechanics for Engineers: Dynamics

Cable C has a constant acceleration of 225

Apply the relations for uniformly

Vector Mechanics for Engineers: Dynamics

Apply the relations for uniformly accelerated rotation to determine

= 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

v B = r = (125 mm)(10 rad s)

2003 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

(aD )n = rD 02 = (75 mm)(4 rad s)2 = 1200 mm

Magnitude and direction of the total acceleration,

Vector Mechanics for Engineers: Dynamics

General plane motion is neither a translation nor a

Vector Mechanics for Engineers: Dynamics

Any plane motion can be replaced by a translation of an

Vector Mechanics for Engineers: Dynamics

Vector Mechanics for Engineers: Dynamics

Vector Mechanics for Engineers: Dynamics

2003 The McGraw-Hill Companies, Inc. All rights reserved.

The velocity for any point P on the gear may

Evaluate the velocities of points B and D.

Vector Mechanics for Engineers: Dynamics

Differentiate to relate the translational and angular

2003 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

Velocity of the upper rack is equal to

Velocity of the point D:

2003 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

The crank AB has a constant clockwise

Will determine the absolute velocity of

2003 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

rev min 2 rad

v B = ( AB ) AB = (0.075 m)(209.4 rad s)

2003 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

Determine the velocity magnitudes

2003 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

2003 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

Vector Mechanics for Engineers: Dynamics

Vector Mechanics for Engineers: Dynamics

Evaluate the velocities at B and D based on

Determine (a) the angular velocity of

2003 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics