Applied Mechanics -- Dynamics Chapter 15 Kinematics of Rigid Bodies 15.1 Introduction relationship between time, positions, velocities and accelerations of rigid bodies motion may be grouped as follows : 1. translation : if any straight line inside the body deeps the same direction during the motion rectilinear translation : if the paths of motion of the particles are straight line curvilinear translation : if the paths of motion of the particles are curved line 2. rotation about a fixed axis : 4A’ is called the axis of rotation, » and @ are zero if the particle located on this axis it is different from curvilinear translation Hp, (@) Curilinear translationApplied Mechanics ~ Dynamics 3. general plane motion : plane motion : each particle moves in a given plane any plane motion which is neither a rotation nor translation is referred (@) Rolling whet (0) Shing rod to as a general motion 4, motion about a fixed point : the three- dimensional motion of a rigid body attached at a fixed point 5. general motion : any rigid motion does not fall in any of above 15.2 Translation ro = ta + Pow ” aia Must remain constant direction and magnitude Twa = constant Te= Tx Of UB = Ma also ay = ay that means when a rigid body is in translation, all the points of the body have the same velocity and the same acceleration at any given instant 15-2Applied Mechanics -- Dynamics 15.3 Rotation About a Fixed Axis consider a rigid body rotates about a fixed axis Ad’, and let P bea point of the body and r its position vector let B be the projection of P on 44’, then BP = rsin@ = constant P will describe a circle of center at B denote the angle @ the angular coordinate of the body, it is defined the angle between BP and xz plane I revolution = 27 rad = 360° dr ds ve 7 dt de As = BP (AO) = rsin ¢ (A) v = dsidt = rsing d 6 = dOldt 4 depends on the position of P, but @ is independent of P » isa vector 4 the plane containing AA’ and r define @ = 6k the angular velocity of the rigid body v = dridt = @xr a = dvldt = d(@ x ryldt = (dwldt) xr + @ x (drldt) = axr+ @xy where @ = do/dt is called angular acceleration‘Applied Mechanics -- Dynamics a is the sum of two vectors @xr is the tangent to the circle which is the tangential component of a @ x (@ Xr) isa vector triple product, (@ x r) is tangent to the circle, and @ x (@ xr) is directed to the center B, which is normal component of a consider a plane containing the circle of point P, choose xy plane as the reference plane vo @xr and v=ro a=akxr-or=a + a, : where a=akxr a=ar ‘ @,=-or a, = ro 15.4 Equations Defining the Rotation of a Rigid Body About a Fixed Axis the motion of rigid body rotating about a fixed axis is said to be known when 6(0) is known @ = d0/dt a = dwldt = f0/d? a= deo! dt = (da/ d0) (dO / dt) = w (da / dO) two particular cases of rotation are encountered 1. uniform rotation a=0 @ = constant then 0 = 0) + wt 2. uniformly accelerated rotation @ = constant @O=@+at @ = aw + 2a(O- th) O= & + ot + hal‘Applied Mechanics -- Dynamics Sample Problem 15.1 ve = 300mm/s ac = 225 mm/s? determine (a) numbers of revolutions at ¢ = 2s (b) vy and Ayy at f= 2s (©) a at r= 0 (po = (Ve)o = 300 mm/s > (ap) = ae = 225 mm/s? -> (po = Foo (wy = 4 rad/s (avy) = ra a = 3rad/s* atr=2s @ = ww + at=4+ 3x2 = 10rad/s O= att Zar =4x2+ 43x22 = l4rad no. ofrev. = 14/2 = 2.23 rev. Vs = r@ = 125x10 = 1250 mm/s + Aye = r@ = 125x14 = 1750mm at t= 0 (ap), = 225 mm/s* (av), = ro @ = 1200 mm/s* ie. @p = 1220 mm/s* \ 79.4° faye = 1200 nds 15.5 General Plane Motion a general plane motion can always be considered as the sum of a translation and a rotation, as shown in the following examples Plane motion| .Applied Mechanics - Dynamics Fe AA in the general case of motion A,B, => A2B,’ by translation AB,’ => A,B, _ by rotation 15.6 Absolute and Relative Velocity in Plane Motion the absolute velocity vp ofa particle B is obtained Ye = PA + Yaa where Yon = OK x roa vein = 1 @ then Ye = Va + OkX Tan consider the rod AB, assuming that the velocity v4 is known, we want to find vs and take the reference point at 4Applied Mechanics ~ Dynamics % AMfived) lune motion = —Trarwlation with A+ Rotation ahout A varu tian Yo = Va + Van the directions of vq, vs and ypiq are all known Vp = vq tan @ © = Wall = vy/1c0s0 (CCW) take the reference point at B Plane motion = Tranaation with B+ Rotation about B vant on va = Vet Map ve = va tan 0 (same) Va = va cot 8 © = vwn/1 = vo/Isin 8 = vatan/1sin 8 = va/10os@ (same) (CCW) the angular velocity of a rigid body in plane motion is independent of the reference point Sample Problem 15.2 vs = 1.2 ms determine @, ve, and vpApplied Mechanics ~ Dynamics after one revolution of the gear x= an O=2n then xl2nr =-O/2n or x= ond and w= -nO=-n@ 1.2 = -0.15@ = - 8 rad/s Tranation Rotation, : ng Motion Ve = Va = Va + Yon = PA + ORXTwr = 121+ C8k)x (1s = 2i= 2m/s > YD = Va + Yon = 128+ C8HxG 158 = 129+ 125 = 1.697 ns 4. 45° Sample Problem 15.3 small wheels have been attached to rod AB va = 1.5 m/s — determine vp and wApplied Mechanics — Dynamics YB = Va + aa WN60° = 1.5 — + vy 77900 Jaw of sines Va as sin 70° sin 70° ~ Sin 799 then Ys = 1.84 m/s \.60° Ywa = 1.696 m/s_770° but Yan = ABW 1.696 = 0.75 @ = 2.261 rad/s counterclockwise snstantancous Center of Rotation in Plane Motion 5.7 a es ‘ consider the general plane motion in slab, for a given time, the velocities £ the various particles of the slab are the same ° if the slab wer pout 4 certain axis perpendicular to the plane of slal al Te rotating b is called point C, ig stantancous axis of rotation which intersect the slab at a iva, : jled instantaneous center of rotation ca Ya = Va + OKX ray a general plane motion may be described by a translation and le: tation, it may be described by vq ro! d @ Which rotates about C = "s te aus a if vs and a are given, these velocities could be obtained by letting the i Jab rotate with the angular velocity @) about a point C slal located on the srpendicular to vs at distance r = v4 /¢ pel 15-9Applied Mechanics - Dynamics wml AC r=AC=n/o the slab seems to rotate about the instantaneous center C the position of the instantaneous center can be defined in two other ways 1, intersection of two lines ve perpendicular to vq and vp 2.if vy I vp, and AB Lv, C ‘ ' t can be found by intersecting the line AB with the line joining the extremities of the vectors v, and va the instantaneous center C may be located either on or outside the slab e.g. consider the rod AB C can easily to locate (C in not inside 4B) @ = val AC = vp/ BC vp = va BC/ AC = va tan @ if C located on slab (say C”), then ve = 0 at this instant ¢ (only at this given instant) since the instantaneous center will move with time ~Ve= Oat ty but ve #0 at r+Ar thus ac + 0 but the acceleration at this point cannot be determined directly a=a.t+ a, =rai- v/pi, = 0k- 0/04, (no meaning) space centroid : instantaneous center describes one curve in space body centroid : the locus of the position of instantaneous center on the body 15-10Applied Mechanics -- Dynamics two curves are tangent at point C at instant body centroid curve rolls on the space centroid curve during motion of the body Sample Problem 15.4 v= 1.2m/s—> determine , vp, and vp point C is the instantaneous center @ = v\/AC = 1.2/0.15 = 8 rad/s (CW) Ve = Vw = rue = 0.25x8 = 2m/s > YW = row = 0.212x8 = 1.697 m/s 7 45° Sample Problem 15.5 same problem as 15.3 from the given geometry, ZACB = 60° ZABC = 20° + 30° = 50° then ZBAC = 70° AC 750 BC sin 50° sin 60° sin 70° 4 1500 may AC = 663.4mm BC = 813.8 mm v= ACw @ = val AC = 1500/ 663.4 = 2.26 rad/s ve = BC@ 813.8 x 2.26 = 1839 mm/s = 1.84 m/s \60° = q 15-11Applied Mechanics ~ Dynamics 15.8 Absolute and Relative Acceleration in Plane Motion ap = ay + aya dein = (six) + (doin)n (dan) = ak x ron (@uia)n = - © Pwr (aaah = ar (auia)n = 7? thus p= ay + OkX ran - @ Pon Plane motion = . Trandation with A + —Rotation abont A e.g. consider the rod AB, with J, @, va and ay given how to determine ays and as “aMtsed * ‘Translation wih A + ‘Rotation about A 1, 8, vy > vp and cas (method of I. C.) @ap and ran, > (daia)n 4s, (@e)n and the directions of ap, (awa): > magnitudes of ap, (aa), by vector polygon (aa) and 1 > agp in the vector polygon of accelerations ay = ay + (dan) + (aor)n 15-12Applied Mechanics -- Dynamics x-component (0 = aa + Jw? sin 8 - Lacos0 oe Ny, a y-component -ay = -1a@*cos@ - lasin® two unknowns as and a can be solved other three cases of vector polygons can be solved in the similarly way 15.9 Analysis of Plane Motion in Terms of a Parameter consider the same example in section 15.8 xn =Isin@ yn = Ic0s 8 va =n = - 100s 8 ay = vs = -16 sin 0 + 10'cos 0 i vy = yn = -18in 06 Je) ay = vn = -1@cos@ - 10sin 0 @=a0 O=a then w= -Te0s0@ wy = -Isin Bw and @=va/lcos@ and vp = vatand can be solved another two equations a, = -1osin@ + lacos@ ay = -1a cos @ - lasin# two unknowns ap and a can also be solved 15-13Applied Mechanics -- Dynamics Sample Problem 15.6 va. = 12mis—> ay = 3 m/s? determine a, ap, ac and ap x= -n8 VA = -n1@ w = -8rad/s a= -na a = - 20rad/s* Translation ‘ oration - ap = ay + (anh + (aon)n = 3i- OkxO1j- BxO1f a =5i- 64j (ms?) : Ac = Ay + (dein) + (Gcin)n = 34 - 20kx(-0.15/) - 8x 0.15Sf ! = -9.6j (m/s) al: @p = ay + (Ayah + (aoia)n = 34 - 20kx(-0.15i)- 8 x-0.15/) = 12.61 - 3f (mis?) Sample Problem 15.7 xn = 2000 rpm = 209.4 rad/s clockwise ap = 62.0 rad/s counterclockwise B = 13.95° » determine asp and ap ay = «AB = 209.47 x 0.075 = 3289m/s./40° X : 15-14Applied Mechanies -- Dynamics 5075 ony “inne Fa ~p + : nm Plane tion . ‘Tranlation + Rotation aul 2» ay = ay + (apo) + (@on)n ‘ser he 7 B py = ay <> (dom) = 0.2 ann Zor 76.1° A lh a (dom), = 62? x 0.2 = 769 \ 13.95° i ay < = 3289. 40° + 0.2 ann_Z 76.19 + 769% 13.95° x-comp - dy = - 3289 cos 40° - 769 cos 13.95° + 0.2 ann sin 76.1° y-comp 0 = - 3289 sin 40° + 769 sin 13.95° + 0.2 app cos 76.1° solving the equations and obtained a = 9940 rad/s counterclockwise @p = 2787 m/s? — Sample Problem 15.8 linkage ABDE @ = 20k rad/s = constant (CCW) determine cpp, coe, dao and apg @sp = Ok @ve = Opek Tya = 2007 + 3507 (mm) row = 3007 + 757 (mm) To = - 425i + 4257 (mm) Ars =0 Aen = ay k 15-15Applied Mechanics —- Dynamics Yo = Ve + Yow = Ya + Yow ne KX Pon: = Onn KX ran + Onn kX rom with wx» = 20 rad/s, two unknowns wap and wp can be solved by the above vector equation (two scalar equations) aap 29.33 rad/s (clockwise) @pe = 11.29 rad/s (counterclockwise) = ae + Ane = ay + dow yy: KX Poa: - © Fox = - Onn? Tan + Gop kX Pow ~ Onn? row two unknowns dup and apr can be solved by the above vector equation (two scalar equations) Gy = - 645 rad/s* (clockwise) ay = 809 rad/s? (counterclockwise) 15.10 Rate of Change of a Vector with Respect to a Rotating Frame OXYZ : frame of reference Oxyz : rotating frame with rotating axis OA consider a function @ = Q(/) define (Q)xvz : rate of change of @ w.r.t. OXYZ (Quy: rate of change of @ wart. Oxyz O= 214+ 3)+ 08 Oue= i+ Oj + Ook and Onwe= i+ Oj + 64+ 05+ 0,44 0,4 (oe = 0 if @ is fixedon Oxyz 15-16Applied Mechanics -- Dynamics (Ox: a body rigidly attached to the frame Oxyz if @ is fixed on Oxyz : the velocity of particle located at the tip of @ and belonging to di G dk _ Tt G+ Oo = Osve= ed then in general Owve= Oye Qx O the last term @ x @Q is induced by rotation of Oxz 15.11 Plane Motion of a Particle Relative to a R otating Frame, Coriolis Acceleration consider two frames of reference on a plane OXY : fixed frame Oxy : rotating frame let vp = absolute velocity of P thi . : = ve = (oxy = Moy + Qxr a ve: velocity of point P” on the moving frame which coincide with P at the instant vem : velocity of P relative to Oxy let ap be the absolute acceleration ay = hy = Bars Ont Loo) A [Poo] = [Booka = Cow + 2 x Pow = @oxy = Moy + Qxr 15-17Applied Mechanics -- Dynamics then ap = Qxr+Qx (Qx 1) +2Qx Moy + Woy = @r) + Ge) + ae + arr Z ap = ap + ary + ac ay acceleration of point P’ of the moving frame coincide with P at instant py: acceleration of P relative to moving frame ac ac = 20 x Woy = 2Qx (vr) is the complementary or Coriolis acceleration ae 1 Q and ver, ac = 0 when Q or vp = 0 consider a collar P which is made to slide along a rotating rod OB time from ¢ to 1+ Ar vp 4488 rortar ae ie 06> 0+20 b> 6+ 06 ye yt Avy vo > vo+ Avo for the velocity vector polygon r OA = OB = vw = rd OA’ = v,+ Av, OB’ = ve+ Aw = (r+ AND + Ad) = 76+ orb + rad + arad at time ¢ v OA + OB attime ¢+ Af p+ Av = OA’ + OB’ then Av= (OA’ + OA) + (OB + OB) = AA” + A°A’ + BB” + B”B? 15-18“Applied Mechanics ~ Dynamics AA” = OA LD ig = F AD in A’A’ = Avi; BB” = - OB AD in = -r OADi:, BB = (arb + r addin Av = (Ay, - rOA0)i + (FAO + Arb + rAd) in take Ar — 0 eo ec ay = lim = (a bie + Ot b+r ie = (r= r Bi, + (0 + 27 Bin = CrP i + Oi) + ri, + 270%, ay + ame + ac ac = 276 ig inculde two components : 1. the direction of relative velocity changed (4A”) 2. the distance from O is changed, thus the tangential velcoity component changed (B”B’) Sample Problem 15.9 @p = 10 rad/s counterclockwise 6 = 135° R= 50mm when ¢ = 150°, determine cs and vps P= R +P - 2R1cos30° = 0.551 R r= 37.1mm 50. _ 37.1 ie = ae ane ns ee ‘. P is attached on D 15-19Applied Mechanics -- Dynamics vp = Rap = 50x 10 = 500 mm/s “ 60° from dish S Ye = ve + vps 7 = 90° - 30° - 42.4° = 17.6° Ye L vps Mp = vpsiny = 151.2 mm/s |\ 42.4° vps = vp cosy = 477 mm/s ,/ 42.4° and We = ros ws = 4.08 rad/s clockwise Sample Problem 15.10 same condition as state in 15.9 determine as from sample problem 15.9 @s = 4.08 rad/s clockwise B = 42.4° vps = 477 mm/s /“ 42.4° ap = ap + aps + ac ay = (apn = - R wv? in = 5000 mm/s? \, 30° [' @p = constant, (ap), = 0] ay = (ap) + (apn = ras ic = ros? iy = 37.lasi - 618 in aps = aps 7 oF % 42.4° ac = 2s x ves = 2x 4.08 x 447 3890 mm/s “\| 42.4° 0 from the vector polygon diagram 15-20Applied Mechanics ~ Dynamics (ap) = ac + ap cos 17.6° 37.1 as = 3890 + 5000 cos 17.6° as = 233 rad/s? clockwise apis = (ap)n + ap sin 17.6° = 768 mm/s? 7 42.4° 15.12 Motion about a Fixed Point at instant, motion about a fixed point may be considered as a rotation of the body about an axis (called instantaneous axis of rotation) through O consider the body rotates about O (A,B) — (A2B2) but 4\Bi = A2Bz (rigid body) let A at Bi, and let C be the point of intersection of these two bisecting arcs, then A\C = A.C = BC A,B, = A2B2 AA\CB, = AA2CB2 denote 6 = 24,CB, the motion of the sphere during At may be considered as a rotation through AQ about OC let At > 0, OC is called the instantaneous axis of rotation at this instant v dridt=axr a=axrt+ax(@xn where a= da/dt 15-21Applied Mechanics - Dynamics *." @ is change in direction and magnitude with time thus a is not directed along the instantaneous axis of rotation a is tangent to the curve described in the space by the tip of vector w space cone : instantaneous axis of rotation describes on cone in space body cone : the locus of the position of instantaneous axis of rotation in the body spec cone at any instant, two cones are tangent along the ; Boal cone instantaneous axis or rotation, the body cone appears to roll on the space cone the vector « moves within the body as well as in space ° consider a rigid body fixed at O, rotates simultaneously about OA and OB, may be considered equivalent a single rotation of @ O=B +m let point P inside the body of position vector r denote _v,: velocity of P when the body rotates about OA vp: velocity of P when the body rotates about OB then weGxr w= ahxr and ventm=@t&)xr=oxr thus B=B+B 15.13 General Motion general motion = translation + rotation about a fixed point rp = ra + Fon Ya = va + Yaa 15-22Applied Mechanics -- Dynamics = va + @ X Pan where q@ is the angular velocity of the body at instant ay = an + Ayn = ay + aX ton + @ X (@ X Ppa) where a is the angular acceleration of the body at instant Sample Problem 15.11 wr = 0.3 rad/s @2 = 0.5 rad/s relative to the cab (Oxyz) determine wor, dor, vp and ay Wop = @ + or = 0.3f + 0.5k (rad/s) y) 2 = 050 : z Gor = [coorloxvz. = [eoiloxve + [ovrloxve = 0 + (Or)onz + 1 XO 0.37 x 0.5k = 0.15: (rad/s*) Vp = Wop X rp = (0.37 + 0.5) x (10.397 + 6f) = -31 + 5.27 - 312k (m/s) @p = dor X Te + Wop X (Wor X rr) = -3.54i - 1.5j + 1.8k (m/s) Sample Problem 15.12 @, = 12irad/s CD on xy plane determine vg and caps for @ = 0 Va = 1 X ra = 127 x 40k = - 480) (mm/s) Y= Vai Wan = Oxi + aj + Ok 15-23Applied Mechanics ~- Dynamics va = w+ WX Pon ik | y vei = -4807 + | oy @,| mig — 120 9 —} |120 60. -40| ioe ve = = 40 cy - 60.0, (a) = 480 = 40 a, +1200, (2) 0 = 600%, - 1200, ) 3 equations for 4 unknowns (1) x6 + (2)x3 + (3)x(-2) 6 vn = - 1440 Vp = - 2407 . AB rotates about CD, also rotates about an axis 4 plane containing AB and CD «w, 1 BE and AB plane ABE @, . BE and BF plane BEF ie. a // BC x BA @, || BC thus o in on the plane containing vectors (BC x BA) and BC ie. @ 4 BC x (BC x BA) BE /I BC x (BC x BA) thus 1 BE or @+BE=0 (od + yj + oh) (-60j + 40k) = 0 - 60.0, + 400, = 0 (4) from equations (1) to (4), it is obtained @ = 3.699 + 1.846j + 2.77k (rad/s) 15-24Applied Mechanics — Dynamics 15.14 Three-Dimensional Motion of a Particle Relative to a Rotating Frame, Coriolis Acceleration OXYZ : fixed coordinate Onyz : rotating coordinate OA : instantaneous axis of rotation (Qoxvz. = (Done + 2X O Ye = (Noxvz = (Now: + QX Fr = vee + vp ay = ay + ape + ac a= Qx r+ QxQxn arr = owe / ac = 22x (owe — Coriolis acceleration dc 4 Q and vee but Q not 4 vp in general thus ac # 2.Q vpn in general 15.15 Frame of Reference in General Motion OXYZ : fixed coordinate AX’Y’Z’ : translation coordinate Aayz : rotating coordinate Q.: angular velocity of Axyz at instant te = Ta + Porn ve = va + [Palaces = va + (rra)anz + Q X Toa a» = [veloxvz = Ba + [vpalocvz = ay + Ax rn + OX AX ron) + (Fo)aye + 2.2 (rradanre =ayt ap + apa + ac 15-25Applied Mechanics -- Dynamics Sample Problem 15.13 Q = -20j rad/s Q = - 200; rad/s? Yor = 1.25 mvs 260° ar = 1.25 m/s? 260° OD = 200mm determine vp and ap choose OAB as the rotating frame ry = 0.2 (sin 30°F + cos 30°/) = 0.14 + 0.1732j (m) vor = 0.6254 + 1.083 f (m/s) ayy = 7.54 + 12.997 (nvs*) Vo = Vy + Yor = -20j x (0.1 + 0.1732) + (0.6257 + 1.0834) > = 0.625i + 1.0837 + 2k / ferrets Z Gy = ay + ape + ac {2 200 rab ay =Qxrt+Qx(Qxn 200j x (0.1f + 0.1732 J) - 20j x 2k = 40i + 20k ac = 22 x vor = 2(-20/) x (0.6254 + 1.083) =k ay = -32.5i + 12.99f + 45k (mis*) Sample Problem 15.14 a = 03F=2 ay = 05k = on oP = 12m determine vp and ap 15-26Applied Mechanics -- Dynamics y = choose the cab as the rotating coordinate \v 7 then r= 10391 + 67 eae) ! | 6m Q=w = 037 ' I, vp = vp + vp =Qxrt+owxr Uy = 0.37 x (10.394 + 6f) + 05k x (10.39% + 6f) -3i + 5.2j - 3.12k (ms) ap = ap + apy + ac ap=Qxrt+Qx(Qxn veh ok eee Gry = Wp X (War X Fr) = 05k x (-34 + 5.2f) = -26%- 157 ac = 22 x vo = 2(0.3f) x -3i + 52f) = 18k ay = -3.54i - 1.5) + 18k (m/s?) the results are the same as in sample problem 15.11 Sample Problem 15.15 @, and c) are given as constants . determine vp, ap, and w and a of the disk choose Axyz as the rotating coordinate then Q= aj and wpe = ok Ye = Va + von = va + (ria + Predage M4 = on x OA = anf x Li= -onLk ven = x AP = nj x RF =0 Vor = Ook x Rj = -a,Ri -oRi- alk Toots vp 15-27Applied Mechanics -- Dynamics a = [arJoxyz + ape + ae = (ay + ayn) + ape + ac ay + are =QXQAxL|N+0 = aj x (alk) =-oPLi =a, Ape = oy X (ce x AP) = ak x (-@ Ri) = - oF Rj ac = 22 x vow = 2aj x (-@:Ri) = 2aork ay = -P Li -w2Rj + Qorark © = Q + won = orf + ork ay = (Opoxvz = (Op)ayx + QX wy = 0+ wap x (wij + wrk) = ward 15-28