Professional Documents
Culture Documents
Kinematics
16
CHAPTER 2. KINEMATICS 17
P
r
path of particle
r (t )
r (t+ t)
o y
v= lim r = dr = r_
t!0 t dt
(2.3)
a= lim v = dv = v_
t!0 t dt (2.5)
CHAPTER 2. KINEMATICS 18
rP
k
j y
o
i
rP (t) =
x(t)i + y (t)j + z (t)k (2.6)
vP =drP = x_ (t)i + y_ (t)j + z_ (t)k
dt (2.7)
rP=Q = rP rQ (2.9)
vP=Q = vP vQ (2.10)
tangent to the trajectory, and the second along the inward normal to the path. For
this purpose we define two unit vectors n and t respectively along the inward nor-
mal and along the tangent to the path (see Fig. 2.3).
Consider a particle moving along a curved path in a plane shown in Fig. 2.3
y
P(t)
s t
r
n P(t + t)
s+s Path of
r particle
P
j
o i x
k
v= lim r = dr
t!0 t dt
Thus we can write;
v = lim
r s
t!0 s t
and
lim s = ds
t!0 t dt
As t goes to zero, the direction of r approaches the tangent to the trajectory at
position rp (t) and approaches s in magnitude. Consequently, in the limit, r=s
becomes the unit vector t
lim r = t
t!0 s
thus
v = lim
r s
= ds t
t!0 s t dt
Note that ds=dt is the magnitude of the velocity,
v=
ds
dt
CHAPTER 2. KINEMATICS 20
P(t + t )
n
s+s
r t(s+ s)
P
C Center of curvature
j
o i x
k (a)
t (s)
t (s)
(b)
t (s+ s)
Knowing the limiting direction of t, we next evaluate its limiting magnitude. Ac-
cording to Fig. 2.4 (b) we can say that,when s ! :0
jtj ! jtj = ! Rs
thus the magnitude and the direction are established in an approximate manner.
t ! Rs n
dt = lim t = lim (s=R) n = n
and so
ds s!0 s s!0 s R
y
Path of particle P(t )
t at
v
P
n
a R
n a
r(t)
P
C Center of curvature
j
o i
k
Figure 2.5: The acceleration components
a=
d2 s t + (ds=dt)2 n
dt2 R
(2.11)
or
a = at + an = at t + an n (2.12)
where
d2 s = dv
at =
dt2 dt (2.13)
an =
(ds=dt)2 = v2 (2.14)
R R
CHAPTER 2. KINEMATICS 22
rP = OP = R cos i + R sin j
vP
d
= R dt [ sin i + cos j] (2.16)
2 3 2 3
0 R cos
= ddt 4 0 5 4 R sin 5 (2.17)
1 0
i j k
=
0 0 d
dt
(2.18)
R cos R sin 0
= ddt k rP (2.19)
= ! rP (2.20)
v
P
P
j r
P
o i x
k
2.3.1 Translation
A2
A1
B2
B1
A2
A2 B2
A1
A1 B1
B2
B1
A motion is said to be a translation if any straight line defined inside the body
keeps the same direction during the motion. In translation all particles move along
parallel paths. We have rectilinear translation when the paths are straight lines as
in Fig. 2.7 in other cases it is a curvilinear translation as in Fig. 2.8. Referring to
Eq. 2.9, we have;
= +
rB rA rB=A (2.21)
=
where rB=A AB.
Let us differentiate the relation with respect to t. Since the vector rB=A = AB has a
CHAPTER 2. KINEMATICS 24
vB = vA
aB = aA
In a translation all particles of the rigid body have same velocity and same acceler-
ation.
vP
P y
B
k rP
j
o
i
S
(s)
x
(Fig. 2.9) containing the rotation axis and rP . We can write referring, to Eq. 2.19:
or in a condensed form
v=
dr = ! r
dt (2.24)
CHAPTER 2. KINEMATICS 25
And then
vx i =
i
!y !z = i (! z y! )
y z y z
vy j =
j
!x !z = j (! z x! )
x z
x z
vz k =
k
!x !y = k (! y x! )
x y x y
Since
! = _k (2.26)
We have !x =0 , !y =0 =_
, !z and the velocity is completely determined.
The acceleration a of P is now determined as
dvP
aPS=s = dt
S=s
(2.27)
= d ! r
dt S=s P (2.28)
= d!S=s r + ! drP
dt P S=s dt (2.29)
k rP + !S=s !S=s rP
= (2.30)
vB = vA + vB=A (2.31)
=
In relative motion about A , A is fixed (vA=A 0). Thus vB=A can be associated
with the rotation of the body about A and is measured with respect to axes centered
at A
vB=A ! rB=A = (2.32)
CHAPTER 2. KINEMATICS 26
vA vA
A A A
= vB +
B vB B B vB/A
and
vB=A = AB ! (2.33)
! = !k is the angular velocity of the body, we note that rB=A = AB
vB = vA + ! AB (2.34)
A (s) x
an vB
S B at
aB = ddvtB (2.35)
d vA d ! rB=A
= dt + dt (2.36)
= aA + dt rB=A + ! drdBt=A
d! (2.37)
= aA + !_ rB=A + ! ! rB=A (2.38)
CHAPTER 2. KINEMATICS 27
If A is the center of a fixed frame s (see Fig. 2.11) we have aA = 0 and then;
aB = !_ k rB=A ! 2 rB=A (2.39)
= !_ k AB ! 2 AB (2.40)
In the right hand of Eq. 2.40, the first term is perpendicular to AB and the second
is parallel.
Equiprojectivity
For two points A and B of a given rigid body we can write
vA
A
B
vB
vB = vA + ! rB=A
(2.41)
vB rB=A = vA rB=A + ! rB=A rB=A (2.42)
vB rB=A = vA rB=A (2.43)
vB AB = vA AB (2.44)
through B and finding the point in which these two lines intersect.
If the velocities vA and vB are perpendicular to the line AB and if their magnitude
are known, the instantaneous center of rotation can be found by intersecting AB
with the line joining the extremities of the vector (Fig. 2.13, at right).
C C
A A
B B
Kennedys theorem
The Kennedys theorem states that the three instant centers shared by three rigid
bodies in relative planar motion to another (whether or not connected) all lie on the
same straight line.
Application of Kennedys theorem
S2
S1
S3
S0
The figure 2.14 shows four-bar linkage let us locate all instant centers. When the
number of bodies is large, it is helpful to use some kind method to find the instant
S
centers. Note that 0 represents the stationary frame.
S S S
2. Using Kennedys theorem with links 0 , 1 , 2 the instant center 02 must lie I
I I
on the same straight line with 01 , 12 but it must also lie on the line through
I I
23 and 03 . The location is defined by the intersection of the two lines.
3. The same reason can be used to locate the center 13 . I
S0 I02
Revolute Revolute
I12 S2
S3 S1 I23
S1
S3
Revolute Revolute
S2 I01 S0 I03 I13
Z
z
A Y
S
o
y
X
(s)
The most general motion of a rigid body in space is equivalent at any given
instant to the combination of a translation and a rotation (as we have seen for plane
CHAPTER 2. KINEMATICS 30
vP = vA + vP=A (2.45)
dt (2.48)
= aA + !_ AP + !S=s dAP
S=s
dt (2.49)
= aA=s + !_ S=s AP + !S=s !S=s AP (2.50)
The equation 2.50 allows the determination of the acceleration of any point P of a
body S with respect to another frame s, aPS=s , if the following variables are known:
z
Z P Y
S
X
o
y
(s)
Figure 2.17: General motion of a rigid body in space with rotating axis
assume to S and s are two frames, note that here vPS=s represents the velocity of the
frame S with respect to the frame s.
The acceleration is then given by:
vPS=s = vG + !x GP
S=s
vPS=s = 0 + !S=s x GP
CHAPTER 2. KINEMATICS 32
Z
P
z
A Y
o y
X
x G
thus
x y z
vA = ! 0 0 = R! y
0 0 R
2.4 Kinematics of systems of rigid bodies
2.4.1 Mechanism
A mechanism is an collection of rigid bodies connected together by joints. Mecha-
nisms transfer motion and mechanical work from one or more members to others.
When several links are connected by joints,they form a kinematics chain with one
link possibly fixed. The joints permit relative motion in some directions while con-
straining motion in others.
where
nb is the total number of rigid bodies including the fixed link;
nj is the total number of joints possibly including the fixed link
fj degree of freedom of relative motion between the bodies constrained by
the kinematical joint.
For a three-dimensional motion
X
dof = 6 (nb nj ) + fj (2.55)
Rigid 0 rotation
joint 0 translation 0
Revolute 1 rotation
0 translation 1
Prismatic 0 rotation
1 translation 1
Helical 1 rotation
1 translation 1 (right)
(left)
Cylindrical 1 rotation
1 translation 2
Spherical 3 rotations
0 translation 2
Planar 1 rotation
2 translations 3
Cylindrical surface
on a plan
without slipping
1 #
Cylindrical surface on
a plan with
slipping
2
Ball on a plan
without slipping 3 #
Point on a plan
with slipping 5
Name Symbol
s Fixed body
A higher pair joint is one which contact occurs only at isolated points or along
a line segments (see Fig. 2.20)
L
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
O
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
y
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
S1
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
S0
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
S1
A O y
B
S2
x
The velocity vA is the first time derivative of the coordinate zA . We will first
determine the expression of zA .
AB = AO + OB = OB OA
p
= R cos ; +R sin + d; 2 zA
AB 2 = L2 2
= R2 cos + R2 sin + d2 + 2Rd sin + p
2 zA
p 2
2 zA = L2 R2 d2 2Rd sin
p
zA = L2 R2 d2 2Rd sin + 2p
There are two different solutions but the only physically valid solution is
2
zA >p/ .
Determination of vAz
vAz
+ 2 Rd cos ddt
= dt = 2pL2 R2 d2 2Rd sin + 2p ddt
dzA
Figure 2.22: Introduce the parameters values or keep the default values.
trolley S2 y
xxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
45
xxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
P
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
r
xxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
x xxxxx C
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
M
xxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
S xxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
1 xxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxx
xxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxx
xx
N x
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
x
O
support s z
p p p
) vOS =s = !1 r 2k =
v
p2 r
2 k = v p2 k
1
2 r 1+ 2
2 2+ 2 (2.59)
The relative velocities between S1 and s and between S2 and s are known.
Actually: v0S2 =s : (0; 0; )
v and !S2 =s
: (0; 0; 0)p
(S2 =s= translation).
=
and : v0S1 =S2 v0S1 =s v0S =s = 0; 0; 2+
2
v p2
2 v
Now, we also have:
p p !
!S1=S2 = !S1=s !S2 =s = !S1 =s = v 2p ; v: p2 ; 0
r 2+ 2 r 2+ 2 (2.60)
The M ATLAB file concerning this exercise is Kex2.m. After having introduced
the numerical parameters for this exercise (radius of the balls and the velocity of the
trolley), the relative velocity of point O depending on the reference frame s or S2
are computed and displayed on the screen.
S r P
S*
z R
O
x
The gear set is defined by the two wheels s (centre O, radius R) and S (centre C,
radius r), the wheel s being fixed.
A solid rod S connects the two gears at points O and C. The assembly defines
two revolute joints: between s and S at point O and between S and S at point C.
A pure rolling without sliding occurs between S and S .
If the velocity !S =s and the radius R and r are known, determine vPS=s , the
relative velocity of P (attached to S) depending on the reference frame s.
CHAPTER 2. KINEMATICS 41
Rolling without
slipping in M
s
S
R(O)
S* R(C)
The number of degrees of freedom can be determined quite directly (see Fig. 2.26):
(2 bodies 3) - (2 revolute joints 2) - (1 pure rolling constraint 1) = 1.
One can notice that the pure rolling without sliding only introduces one con-
straint (no sliding) since the contact is already defined by S (that cannot be warped).
vPS=s = vC + !S=s CP
S =s
= vC + !S=s CP
S =s
= !S =s OC + |vO{z } +!S=s CP
S =s
=0
) vP = = ! S=s OC + !S=s CP
S s
i j k i j k
= 0 0
+ 0 0 !S=s
!S=s
0 R+r 0
r 0 0
= !S =s(R + r)i + !S=srj
= i !S =s(R + r) + |{z}
!S=s rj
?
One can deduce the relation between !S =s et !S=s from the pure rolling without
sliding that occurs at M
CHAPTER 2. KINEMATICS 42
vMS=s= vC + !S=s CM = 0
S=s (2.61)
= vC + !S=s CM
S =s (2.62)
= !S =s OC + !S=s CM
(2.63)
) !S =s OC + !S=s CM = 0
(2.64)
!S =s : jOCj :i + !S=s :r:i = 0
(2.65)
R+r
!S=s = !S =s : (2.66)
r
) vP = !S =s(R + r)i + !S =s(R + r)j
S=s
(2.67)
) vP ? MP
S=s (2.68)
The M ATLAB file Kex3.m is divided into two parts. The first one is used to cal-
culate the speed of P depending on the reference frames as function of the numerical
parameters introduced by the user: the radii r and R and the angular velocity ! . The
scalar product of the velocity of P and the vector MP is also computed to show that
they are perpendicular. The amplitude of the velocity is plotted when the rod S2
makes a complete revolution around O.
The second part of the M ATLAB file Kex3.m is used to get an animated sketch
of the mechanism and a plot of the velocity of P when the rod S2 covers a number
of turns chosen by the user.
s
S3
S2
C
M
S1
O
s
the cam wheel S2 defining with the piston S3 a revolute joint at point C (centre
of the wheel), a pure rolling without sliding occurring at point M between the
wheel S2 and the came S1 ;
I13 (see Fig. 2.4.4) at the initial time t = 0, and compare it with the results provided
by the Kex4.m file.
Solution
The number of degrees of freedom can be determined quite directly:
(3 bodies 3) - (2 revolute joints) - (1 prismatic joint x 2) - (1 pure rolling without
sliding 2) = 1.
R(O)
s
S1
R(Oy) Rolling without
slipping in M
S3
S2
R(C)
One can notice that the pure rolling without sliding introduces two constraints:
zero normal and tangential velocities.
We have:
vMS1 =s = !S =s OM 1
vMS2 =S1 = 0
coming from the pure rolling without sliding that allows to write:
vMS2 =s + vMs=S1 = 0 ) vM = vM
S2 =s S1 =s
vCS2 =s = vM + !S =s MC
S2 =s 2
vCS3 =s = vC S2 =s
vCS3 =s
| {z }
= |!S =s {z OM} + !| S =s {z MC}
1 2
s
S3
S2 I02
C
M
S1
I13
O
vCS2 =s = !S =s I02C 2
vM = v M
S 1 =s S2 =s
!S =s : jOM j = !S =s : jI02 M j
1 2
!S =s : jOM j
) !S =s =
2
jI02 Mj
1
) vC = !S =s : jjIOMMjj : jI02 Cj
S2 =s 1
02
I13 is the intersection between Ox (horizontal axis including O) and CM (Kennedy
theorem) and the instantaneous centre of rotation between S3 and S1 . We therefore
can write:
vI13S3 =S1 = 0
vI13S3 =s = vI 13S1 =s
vCS3 =s + !S =s I13 = vI
3 13S1 =s
vCS3 =s = vI 13S1 =s
= vO + |!S =s {z OI13}
S =s 1
| {z1 }
=0 ?OI13
The M ATLAB file Kex4.m supposes that the body 1 is a circle with a radius r1 .S
After giving the two radius r1 ,r2 and the angular velocity !S1 =s , we have an anima-
tion of the mechanism where the instantaneous centers of rotation are represented.
CHAPTER 2. KINEMATICS 46
The ground s being the reference frame, the assembly includes three different
bodies:
a solid rod OA (length L) defining with the reference s a revolute joint at point
O;
a solid rod AB (length 2R) defining with the solid OA a revolute joint at point
A.
In the current state, the rod OA and the horizontal axis X define an angle , the
rod AB being vertical and the segment BC being horizontal.
If the instantaneous angular velocity of the rod OA depending on the reference
_
frame s is known (), determine:
1. vDOA=s
2. vAOA=s
3. vBS=s
4. vEAB=s
5. vMS=s
1. vDOA=s
!OA=s = _ k
vDOA=s = vOOA=s + !OA=s OD:
i j k
= 0+ 0
0 _
3 cos 3 sin 0
L L
L L
= _ sin ; _ cos ; 0
3 3
2. vAOA=s
3. vBS=s
P being the instantaneous centre of rotation between S and s, we have:
With the revolute joint at point A between OA and AB, we have: vAOA=s =
vAAB=s
With the revolute joint at point B between AB and S, we have: vBAB=s = vB S=s
( L
_ sin ; L
_ cos ) (0; 2R) = !S=s R; !S=s R (0; 2R)
_ cos 2R =
L !S=s R2R
! !S=s = _ cos
L
R
vAAB=s + vBAB=s
vEAB=s = 2
= _
L
2 (cos sin ) ; L
_ cos ; 0
Other method (we solve the problem at once for !S=s and !AB=s )
CHAPTER 2. KINEMATICS 49
vEAB=s = vA + !AB=sk AE
AB=s
= ( L
_ sin ; L
_ cos ; 0) +
i j k
0 0 L
2R (cos + sin )
_
0 R
0
_
L
= 2 (cos sin ) ; L
_ cos ; 0
5. vMS=s
+
y
S
R C xx
xx
M xx
xx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
x
O
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx s
1. the velocities of S;
2. the accelerations of S
For the following parameters: r = 0 7 m _ = 0 001 rad s
: ,! : = , compute the velocity
and the acceleration at the instant t = 125
and compare it with the results provided
by the Kex6.m file.
Solution
=
Using the fundamental relationship 2.34 v vO ! e, we have: +
vx = v0x !z y (2.69)
vy = v0y + !z x (2.70)
(2.71)
M being the instantaneous centre of rotation between S and s, we have jvC j =
jvMj jf 0 t j j!z j R and !z f 0R(t) .
= () = =
Since vM=S = 0, we have 0 = v0x !z :0 and 0 = v0y + !z f (t).
Expressions that can be simplified in 0 = v0x and v0y = f (t)Rf (t) . 0
The file Kex6.m illustrates this exercise by giving an animation of the wheel
rolling on a fixed ground. First, the geometrical parameters of the system (r , ! )
have to be introduced. Then, the user need to choose between a representation of
the velocity vector or the acceleration vector during the wheel motion. We suppose
in this exercise that, the angular acceleration of the body S is constant.
Figure 2.34: In the animation given by the Kex6.m file we have either the velocity
vector or the acceleration vector of a point of the circle.
vwind
vboat
Using the angles and , we can write (for a ground reference s):
For an unvarying wind (vw=s and ), this last equation (2.81) gives the limit
angle
lim. One can see that, even for dead winds ( < 2 , it is possible to sail
forward.
The file Kex7.m gives a graphical solution of the exercise. First, the parameters
of the system; vw=s , the wind velocity, its angle with respect to the longitudinal
axis and vo=s , the ship velocity have to be introduced. According to the Eq. 2.81
two graphs with respect to
are drawn on the same figure and the required
lim is
CHAPTER 2. KINEMATICS 53
boat path
vwind
given.
The circle s (centre O, radius R) being the reference frame, a wheel S (center
C , radius R) revolves around the horizontal axis PC (this axis being perpendicular
to the wheel reference plane) and rolls without sliding on the ground at point A,
describing the abovementioned circle s.
The axis PC revolves around this vertical axis OP with a known angular veloc-
ity .
The points A, B, C and D being clearly located by the figure:
1. determine vAS=s , vBS=s , vCS=s and vDS=s ;
2. considering a constant velocity
, determine the accelerations aA S=s , aBS=s ,
aCS=s and aDS=s .
CHAPTER 2. KINEMATICS 54
vAS=s = 0
vAS=s = vC + ! CA
S=s
We know that:
vCS=s = vC
PC =s
= R
i
Combining the last two equations we have:
i j p kp
vAS=s = R
i +
0
!S=s 2 !S=s 22
2
0 p0 R
= R
i + R!S=s 22 i = 0
And, as a consequence, p
!S=s = 2
CHAPTER 2. KINEMATICS 55
We also have:
p
p =
AP
! = !S=s =
2 AP
RR 2
If is the instantaneous angle between PC and Ox during the motion, we can
write:
AP = Rk R cos i R sin j
! =
(k cos i sin j) :
d! d
dt
=
(sin i cos j) =
2 (sin i cos j) :
dt
! =
(k j),
d!
dt =
2 i,
and aMS=s =
2 i PM +
2 ((k j) PM)(k j) 2
2 PM.
We finally get:
aAS=s =
2 R (j + k)
aBS=s =
2 R (2i + j)
aCS=s =
2 R (3j + k)
aDS=s =
2 R (2i j)
The M ATLAB file Kex8.m illustrates this exercise by calculating all required ve-
locities and accelerations assume to R the radius of the body S, and the angular
a solid rod S1 of length L defining with the reference frame s a revolute joint
at point O,
A
S1 S2
O B
S3
Figure 2.39: In the animation you can see two velocity vectors vA and vB , their
projections and the center of AB trajectory.
vAS1 =s = vOS1 =s + ! S1 =s OA
vAS1 =s = L!S1 =s sin ; L!S1 =s cos ; 0
The centre of rotation of S2 depending on the reference frame s is the point P
which is at the intersection between OA and the vertical issued from B.
The angular velocity of S2 can be deduced of:
vAS1 =s = vA = !S =s PA = !S =s OA
S2 = s 2 2
!S2 =s = !S =s since PA = OA
1
vBS3 =s = vB S2 =s (2.82)
= !S =s PB
2 (2.83)
= !S =s (0; 2L sin ; 0)
2 (2.84)
= 2L!S =s sin ; 0; 0 1 (2.85)
The file Kex9.m illustrates the exercise. Considering as parameters of the system
!S1 =s , the angular velocity of the rod S1 around the point O and L the length of the
CHAPTER 2. KINEMATICS 58
two rods S1 and S2 have been introduced, the velocities of the points A and B are
calculated. An animation of the mechanism is performed (see Fig. 2.39). The me-
chanical system is shown in different configurations when the solid S1 turns around
the Oz axis. The two velocity vectors and their projection on the AB axis are rep-
resented. Thus the user can see that the relation of equiprojectivity (see Eq. 2.44) is
always verified.
B
L'
S1 L''
A S2
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
h
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
C
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
s
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
The file Kex10.m gives a graphical solution of the exercise. The parameters of
S S
the system are L0 , the length of the body 1 , L00 , the length of the body 2 . We plot
for five given the ratio !1 =!2 with respect to .
Bibliography
[1] J.W. McNabb B.B. Muvdi, A.W. Al-Khafaji. Dynamics For Engineers.
Springer-Verlag, New York, 1997.
[3] E.Russel Johnston JR Ferdinand P. Beer. Vector Mechanics For engineers. Stat-
ics and Dynamics. McGraw-Hill, USA, 1997.
[4] J.J. Uicker J.E. Shigley. Theory of Machines and Mechanics. McGraw-Hill,
New York, 1995.
[6] Kenneth J. Waldron and Gary L. Kinzel. Kinematics, Dynamics and Design of
Machinery. John Wiley and Sons, New York, 1999.