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Dynamics (MEC420)
Chapter 04
Kinematics of Rigid Body

(Planar Motion)
RK
1
Outline Chapter 04
OUTLINE OF KINEMATICS OF RIGID BODY
1. Introduction to rigid body kinematics

• Kinematic chain – mechanism
• Objective of kinematic analysis
• Forces and moment on rigid body
• Types of rigid body motion
• Translation (T)
• Rotation (R)
• General Plane motion (GPM)
2. Kinematics analysis method

• Relative motion analysis method
• Using translating frame
• Using rotating frame
• Instantaneous centre of zero velocity method
• Absolute/Parametric analysis method
3. Kinematics analysis using translating frame
4. Kinematic analysis using rotating frame
1
Chapter Objectives
LEARNING OUTCOME
1. To classify type of rigid-body planar motion.

2. To study rigid body
a. translation
b. rotation about fixed axis
c. general plane motion.
3. To study rigid body motion using
a. relative motion analysis
i. using translating frame
ii. using rotating frame
b. instantaneous centre of rotation method
c. absolute motion analysis
Introduction
MECHANISM
Relative motion
of several bodies
y
How an engineer
VA ‘design’ the motion of the
A inter-connected bodies?
ℬ x
Relate the input and
required output
Y motions?

O ℱ X VB
B
How to?
“Relate motion of RB with
motions of points on the RB”
2
Introduction
Y
Identify
- motions of the bodies
ℱ X - motions of the points
Z - translation?
- rotation?

V
ℬ
Introduction to dynamics of rigid body
RIGID BODY & SYSTEM OF FORCES
• Rigid body
• assumed to be rigid  no/negligible deformation
• size of the body must be considered.
• System of forces on RB
• Forces + Couple Moments
F  Translation
M  Rotation
System of forces Force-Couple system
3
CLASSIFICATION OF RIGID BODY MOTIONS
A2
A. Planar Motion (2D)
1. Rectilinear translation
2. Curvilinear translation
3. Fixed-axis rotation A1
4. General plane motion
A4
B. Spatial Motion (3D)

1. Motion about a fixed point
2. General motion A3
CLASSIFICATION OF RIGID BODY MOTIONS
• Plane motion (2D)

• All parts of RB move in a parallel plane
• Motion is confined to the plane
• Spatial motion (3D)

• Body motion in space
4
TYPES OF RB PLANAR MOTION
1. Translation
• Rectilinear
• Curvilinear
2. Rotation about fixed axis
3. General Plane motion
Rectilinear Translation Curvilinear Translation
Observe!
Paths & Orientation
Fixed-Axis Rotation
General Plane Motion
Rigid Body In Planar Motion (2D)
Relative motion
of several bodies
y y Identify
b2
- motions of the bodies
- motions of the points
ℬ x ℬ x
z z b4
Y Y
b5
b3
ℱ X Z ℱ X
Z
b1 Y
ℱ X b0 (Ground)
Z
10
5
Rigid Body In Space Motion (3D)
Z Relative motion
of several bodies
1 2 Identify
y z - motions of the bodies
- motions of the points
b2
Observation:
Y A b1/b0 {absolute)
O b2/b1 {relative}
b2
Y
b1

ℱ X b0 (Ground)
Z
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KINEMATICS OF RB ANALYSIS METHODS
1. Relative motion analysis methods

• analysis using translating frame
• analysis using rotating frame
2. Instantaneous centre of rotation method
3. Absolute (or parametric) motion method
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6
Kinematics Of Rigid Body
• Objective :
• Relate relative motions of rigid bodies with motions of points/particles on the body
through the geometry of the bodies and their motions.
13
Relative Motion Analysis – Translating Frame (2D)
Analysis Using Translating Frame Analysis Using Rotating Frame

(frame translates but does not rotates) (frame rotates and may translate as well)
Used for kinematic analysis of Used for kinematics analysis of

• motion of two points located on the • motion of two points located on
same body different bodies
• points on pin-connected bodies • bodies with sliding contacts/joints -
(bodies only have relative rotation) slider moving along a rotating slotted
link/plate/etc.
• particle moving along a curved path
• RB moving on another rotating RB -
man walking on a marry-go-round
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7
Relative Motion Analysis Using Translating Frame

- Relative Motion Equation -
VA y “Motions of Rigid Bodies

A Vs.
ℬ x Motions of Points on the bodies”
Y

O ℱ X VB
B
LO:
• Define rigid body kinematics
• Identify three types of RB planar motion
• Derive the relative velocity and acceleration equations for RB planar motion
• Solving for the velocities & acceleration of RB planar motion using relative velocity & acceleration
Equations.
15
RELATIVE MOTION ANALYSIS USING TRANSLATING FRAME
MOTION OF POINT B WRT TOℬ AND ℱ

B
Relative Motion Equation
  
rB  rA  rB/A 
    rB/A
v B  v A  v B/A rB
   j ℬ is translating
a B  a A  a B/A but not rotating
i
Aℬ
J k

rA
O I ℱ = Fixed frame at ground
ℱ ℬ = Body frame attached at A
K
vA = velocity of A wrt ℱ
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8
TRANSLATION MOTION OF RB - 2D & 3D

er
er e
e
Motion of Body : Translation drB = drA B’
Point A motion is B
• Velocity of body = vA
known
• Acceleration of body = aA
rB/A
rB/A y’
Motion of Point B y
rB 
Y 
ℬ x’
   ℬ x drA A’
rB  rA  rB/A z
A z’
  rA
vB  vA O Translation
  ℱ X
aB  aA Z
No Rotation

rB/A  rB/A ê r
During translation; 
• all points move with identical paths. rB/A  rB/A ê r  rB/A θ ê θ  0
• all points have same displacement, velocity & acceleration.
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ROTATION ABOUT A FIXED AXIS – 2D (RAFA) e

V er
at
Motion of Body : Rotation about a fixed-axis at O (Z-axis) Y
• Angular velocity =  rad/s
• Angular acceleration =  rad/s2
a P
an
Motion of Point P r
Rotation about
 fixed axis (z) 
r  rê r
    O ℱ X
v  ω r
         
a  α  r  ω  (ω  r ) a  α  r  ω2 r Z
Fixed Axis
θ  θ k , ω  ωk
• Points motion;
• all points move in circular paths
Only valid for 2D
• all points have same angular motion For 2D motion,

• linear motions depend distance from O ω  ωk̂

α  αk̂
18
9
Rotation About Fixed Axis (2D) Rotation About Fixed Point (3D)
• RB is rotating about fixed axis • RB is rotating about fixed point

•  &  are fixed in one axis (z-axis) •  &  are not fixed in one axis
  
vP  ω  r •  shall includes change in magnitude
      and direction of 
aP  α  r  ω  (ω  r)
Fixed Axis Fixed Axis Rotating Axis
1 2

V
V
P P
r r
O O
X Y
X
Y
19
GENERAL PLANE MOTION (GPM)

vB/A
vA
B
Motion of Body : General Plane Motion vB
y
• Body translation; Rotation about
• linear velocity = vA m/s moving axis (z) rB/A
• linear acceleration = aA m/s2
Y 
• Body rotation; rB
x
• angular velocity =  rad/s A ℬ
rA
• angular acceleration =  rad/s2 vA
O ℱ X
Velocity of point B - Velocity Vectors -
For 2D motion,
   
rB  rA  rB/A ω  ωk̂
   
v B  v A  v B/A α  αk̂
   
v B  v A  (ω  rB/A )
Velocity of B due to rotation
of the body about axis at A
Velocity of B due to linear

motion of point A
20
10
GENERAL PLANE MOTION (GPM)

at
[a.k.a. RAMA] aB/A
B
aA aB an
y
Acceleration of point B
  
a B  a A  a B/A
      
a B  a A  (α  rB/A )  ω  (ω  rB/A ) Y rB

x
at an A ℬ
rA
aA
Acceleration of B due to
rotation of the body about
O ℱ X
axis at A - Acceleration Vectors -
Acceleration of B due to
acceleration of point A
For 2D motion,

ω  ωk̂
   
aB  a A  aB/A α  αk̂
    
aB  a A  (α  rB/A )  (ω2rB/A )
Only valid for 2D
21
Relative Motion Analysis Using Translating Frame
Application
• For bodies with relative rotation with pin joints Identify type of
motion of each RB –
translation?
Relative Motion Equation 2 RB with relative - RAFA?
    rotation (pin joint)
rC  rA  rB/A  rC/B - GPM
   
v C  v A  v B/A  v C/B
   
a C  a A  a B/A  a C/B
22
11
Analysis Procedure – Translating Frame

  
rB  rA  rB/A
1. Identify type of motion of each body   
• Translation? v B  v A  v B/A
• RAFA?    
v B  v A  (ω  rB/A )
• GPM?
Translation of A Rotation @ A
  
2. Select a body - one after another a B  a A  a B/A
• Start with body with known motion       
a B  a A  (α  rB/A )  ω  (ω  rB/A )
• Sketch a diagram showing
Translation of A at an
• the frames of references (fixed or moving)
Rotation @ A
• the position vectors
  
aB  a A  aB/A ONLY FOR 2D
3. Select a point     
aB  a A  (α  rB/A )  (ω2rB/A )
• analyse the types of motions
• Apply relative motion equations
• eliminate the irrelevant terms
23
1. Kinematics Equations
Rotation Linear Motion
dθ ds
ω [1] v [1]
dt dt
dω dv
α [2] a [2]
dt dt
αdθ  ωdω [3] ads  vdv [3]
2. Linearly Accelerated Motion
Rotation Linear Motion

α t2 ac t 2
θ  θ0  ω0t  c [1] s(t)  s0  v 0t  [1]
2 2
ω  ω0  α c t [2] v(t)  v 0  ac t [2]
ω2  ω20  2α c (θ  θ0 ) [3] v 2  v 20  2ac (s  s0 ) [3]
24
12
Example 1
• A disk of radius r equal to 2 m rotates

about point O 120o from the initial
position shown.
• When point P is 60o above the horizontal,

the angular velocity  is 5 rad/s (CCW)
and the angular acceleration  is 3 rad/s2
(CW).
• For this instant, determine the velocity

and acceleration of point P.
25
Example R1
• At the instant shown, the crank arm OA turns about fixed point O with an angular
velocity of 10 rad/s clockwise. Determine the angular velocity of link AB and velocity of
the piston pin B at the instant.
A
4m
OA O
B
3m
26
13
Example R2
• Find the linear acceleration of the translating piston B given OA = 10 rad/sec clockwise,
OA = 5 rad/s2 counterclockwise, and AB = 2.42 rad/sec clockwise.
A AB
4m
B1
Y
OA O
OA ℱ X
B
3m
27
Example R4
• If the collar C slides with linear velocity and acceleration as shown. Determine the
angular velocity and acceleration of rod AB and BC at the instant shown.
C 45o
vC = 2 m/s
aC = 10 m/s2
60o
A
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14
Example R4
Strategy C
• Consider each body
• Start from the known to the unknown vC = 2 m/s
 BC aC = 10 m/s2
• Apply relative motion (acceleration) equation y rC/B
BC
B
ℬ x
rC/A
AB = -2.44 s-1 AC

rB/A AC
BC = -2.59 s-1
AB
AB = 5.96 s-2 AB Y
BC = 24.00 s-2
A ℱ X
29
Sample Problem 15.1

• Load B is connected to a double pulley by SOLUTION:
one of the two inextensible cables shown.
• Due to the action of the cable, the
• The motion of the pulley is controlled by tangential velocity and
cable C, which has a constant acceleration of D are equal to the
acceleration of 225 mm/s2 and an initial velocity and acceleration of C.
velocity of 300 mm/s, both directed to Calculate the initial angular
the right. velocity and acceleration.
• Determine; • Apply the relations for uniformly
a) the number of revolutions of the pulley accelerated rotation to determine
in 2 s, the velocity and angular position
b) the velocity and change in position of of the pulley after 2 s.
the load B after 2 s, and • Evaluate the initial tangential and
c) the acceleration of the point D on the normal acceleration components
rim of the inner pulley at t = 0. of D.
30
15
Example 2
• If the system starts from rest and the motor rotates with a constant angular acceleration
of 2 rad/s2, determine how much the weight W has been lifted after the motor has turned
one revolution. Assume the best and rope don’t slip.
31
Sample Problem 15.2

SOLUTION:
• The displacement of the gear center
• The double gear rolls on the stationary in one revolution is equal to the outer
lower rack: the velocity circumference. Relate the translational
of its center is 1.2 m/s. and angular displacements. Differentiate
• Determine (a) the angular velocity of the to relate the translational and angular
gear, and (b) the velocities of the upper velocities.
rack R and point D of the gear.
• The velocity for any point P on the gear

may be written as
     
v P  v A  v P A  v A  k  rP A
Evaluate the velocities of points B and D.
32
16
Sample Problem 15.3 SOLUTION:

• Will determine the absolute velocity of
• The crank AB has a constant clockwise point D with   
angular velocity of 2000 rpm. vD  vB  vD B
• For the crank position indicated, 
determine • The velocity v B is obtained from the
given crank rotation data.
• (a) the angular velocity of the connecting
rod BD, 
• (b) the velocity of the piston P. • The directions of the absolute
 velocity v D
and the relative velocity v D B are deter-
mined from the problem geometry.
• The unknowns in the vector expression

are the velocity magnitudes v D and v D B
which may be determined from the
corresponding vector triangle.
• The angular velocity of the connecting

rod is calculated from v D B .
33

• Determine the velocity at B from the given
crank rotation data.
• 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.
The crank AB has a constant clockwise
angular velocity of 2000 rpm.
• Determine the angular velocity about the
For the crank position indicated, center of rotation based on the velocity at B.
determine (a) the angular velocity of the
connecting rod BD, and (b) the velocity of
the piston P. • Calculate the velocity at D based on its
rotation about the instantaneous center of
rotation.
34
17

• 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 n
  
• The acceleration of B is determined from the
given rotation speed of AB.
• The directions of the accelerations

Crank AG of the engine system has a
constant clockwise angular velocity of
 
 t
 
a D , a D B , and a D B 
n
are
2000 rpm. determined from the geometry.
For the crank position shown,
determine the angular acceleration of • Component equations for acceleration of
the connecting rod BD and the point D are solved simultaneously for
acceleration of point D. acceleration of D and angular acceleration
of the connecting rod.
35
Sample Problem 15.8

SOLUTION:
• The angular velocities are determined by
simultaneously solving the component
equations for
  
vD  vB  vD B
• The angular accelerations are determined by

simultaneously solving the component
equations for
  
aD  aB  aD B
In the position shown, crank AB has a
constant angular velocity 1 = 20 rad/s
counterclockwise.
Determine the angular velocities and
angular accelerations of the connecting
rod BD and crank DE.
36
18
Instantaneous Centre of Rotation Method
VA y
“GPM reduces to pure
A
rotation about the IC
ℬ x
at the instant”
Y

O ℱ X VB
B
LO:
• Define the instantaneous centre of zero velocity
• Locate the IC on RB undergoing planar motion
• Solving problem using IC method
37
Instantaneous Centre Of Zero Velocity (IC)
• Definition
• IC is ‘a point about which a body seems to be rotating at a given instant’
• It has zero velocity
• There is only one IC per body, per instant of time
• The location of the IC can be on or off the body (extended body)
• Techniques for locating IC

1. Point of zero velocity on RB
2. Intersection of the perpendicular lines (rP/IC) to the velocity vectors (vP)
3. Geometry (similar triangles)
38
19
y
Instantaneous Centre Of Rotation (IC) Method vB
For a rigid body in GPM, B

D
   vC
v B  v A  v B/A vD
  
IF at an instant, VA = 0  v B  ω  rB/A C
A ℬ x
• RB is in pure rotation about A 
• all points on RB are rotating about point A Rotation about A
On the same principle, for an arbitrary point P y

vP
• Point A is the instantaneous centre of zero velocity (IC)
• GPM reduces to pure rotation about IC at the instant
    P
v P  v P/IC  ω  rP/IC D
vC
  vD
v P  rP/IC
  C
v P α rP/IC Property of IC
 IC x
Rotation about IC
39
Techniques for locating IC 
1. Point of zero velocity on RB c vC
IC
Rolling without slipping
d vd
vb
b
c e
va rb vC ve O
a re

IC
vi = ir B
40
20
Techniques for locating IC
vC C vB B
CD BC
Body in GPM Body in GPM
D C
AB B vA
A A
vB
Observe directions
and magnitudes of
the velocities
... at the instant!
41
vC C vB B
rC/IC
D C
BC
B vA
rB/IC IC
A A
vB
No IC... at
Observe directions this instant
and magnitudes of
the velocities
... at the instant!
42
21
3. Intersection of perpendicular lines (rP/IC) to the velocity vectors (vP) (Geometry

similar triangles)
vA vA vA A
A A
B B
vB vB B vB
Observe directions
and magnitudes of
the velocities
... at the instant!
43
3. Geometry (similar triangles)
vA vA vA A
A A
rA/IC rA/IC
rA/IC AB AB

IC IC
rB/IC rB/IC
B B
vB vB B vB
rB/IC
AB
Observe directions
IC and magnitudes of
the velocities
... at the instant!
44
22
Exercise R2
• At the instant shown, the crank arm OA turns about fixed point O with an angular
velocity of 10 rad/s clockwise.
• Determine the velocity of the piston pin B at the instant using the instantaneous centre of
zero velocity method
A
4m
O
B
3m
45
Exercise R2 - Solution
3m 9.4 m
A vA
4m
O
vB
B
12.5 m
rA/IC
rB/IC
AB
IC
46
23
Absolute Motion Method
Absolute/Parametric Motion Method
“Same concept as
dependent motion”
47
Absolute Motion Method
Absolute (Or Parametric) Motion Method
Derive the absolute velocity and acceleration from the geometry (parameters)
x A  lsinθ
 A  l (cosθ  θ )
x
B
 lωcosθ
x A  lθ 2sinθ  lθcosθ

 lω 2sinθ  lαcosθ  
y B  lcosθ yB l
y B  l (-sinθ  θ )
 lωsinθ
y B  lθ 2cosθ  lθsinθ
 lω 2cosθ  lαsinθ
xA A
48
24
49
Relative Motion Analysis – Rotating Frame (2D)
Relative Motion Analysis Using Rotating Frame

- Relative Motion Equation -
VB
Y
1
ℱ X
B C
2
Y
y x
ℬ
A ℱ X
50
25
RELATIVE MOTION ANALYSIS USING ROTATING FRAME
VB
Y
1
ℱ X
B C
2
Y
y x
ℬ
A ℱ X
51
VB
  rB/A
Vrel 
B C

Y
y x
ℬ
A ℱ X
26
Analysis Using Rotating Frame Analysis Using Translating Frame

(frame rotates and may translate as well) (frame translates but does not rotates)
Used for kinematics analysis of Used for kinematic analysis of

• motion of two points located on • motion of two points located on the
different bodies same body
• bodies with sliding contacts/joints - • points on pin-connected bodies
slider moving along a rotating slotted (bodies only have relative rotation)
link/plate/etc.
• particle moving along a curved path
• RB moving on another rotating RB -
man walking on a marry-go-round
53
OMEGA THEOREM PHYSICAL INTERPRETATION

• Is the ‘rate of change of a vector defined Z
in ℬ and changing in ℬ as seen in ℱ ‘
z
• For vector A expressed in ℬ
ℬ y
AB  Ax i  Ay j AF  Ax I  Ay J dA Y
 )  (A
 ) A Omega A dt
(A F B Theorem  x
X
Y
y
A F  ZA B  A x i  A y j
  
dA
dt F  dA x
dt i  Ax
Y
di
dt 
dA y
dt j  Ay dj
dt
A
ℬ
x X  
dA x
dt
ℱ
i
dA y
 
j A di
bdt0 (Ground)x dt  Ay
dj
dt 
  dA
  Ω  A 
O dt B
ℱ X
 Is rotation of ℬ/ℱ
54
27
Rate Of Change Of Unit Vectors Of ℬ wrt ℱ
• i and j are unit vectors of rotating frame, ℬ

î  1cosθ Î  1sinθĴ
ĵ  1sinθ Î  1cosθĴ
• When ℬ rotate with K wrt ℱ
dî  d ĵ 
   î &    ĵ
dt dt
• In general, for a unit vector e
de
dt  e    e
55
MOTION OF POINT B WRT TOℬ AND ℱ
B
Relative Motion Equation
  
rB  rA  rB/A 
    rB/A
v B  v A  v B/A rB
  
a B  a A  a B/A j i 
ℬ
A
J k
 ℬ is translating
rA and rotating
O I
ℱ = Fixed frame at ground
ℱ
K ℬ = Body frame attached at A
 = Rotation of ℬ wrt ℱ
56
28
Body in General Plane Motion
MOTION OF BODY
• Body translation; A & B are on
B
different RB
• linear velocity = vA
• linear acceleration = aA ℬ is translating
& rotating
• Body rotation; y
rB/A
• angular velocity = 
x
• angular acceleration = ሶ j ℬ
Y rB i
MOTION OF POINT B WRT TOℬ AND ℱ A
   rA 
rB  rA  rB/A J
   O I ℱ X
v B  v A  v B/A
   j J
a B  a A  a B/A ℱ = Fixed frame i

ℬ = Body frame fixed at A ℬ
 = Rotation of ℬ wrt ℱ 
ℱ I
57
Rotation About A Fixed Axis (RAFA) Vrel

r
Body motion; Y
• Angular velocity =  P
• Angular acceleration = ሶ Point P is on

different RB
y
Motion of point P ℬ is translating r
& rotating x
ℬ
• Velocity of P rp is defined in ℬ
 O X
rP  rê r
ℱ
    , ሶ
v P  (Ω  r )  v rel
Velocity of P due to relative
motion of P wrt the RB
j J
Velocity of P due to
rotation of the RB @ O i
ℬ

I
ℱ
58
29
Relative Motion Analysis – Rotating Frame (2D
Rotation About A Fixed Axis (RAFA) at

Y
acor P
Body motion;
• Angular velocity = 
• Angular acceleration = ሶ y
arel an
x
ℬ
Acceleration of P
O ℱ X
        
a P  (Ω  r )  Ω  (Ω  r )  2Ω  v rel  a rel , ሶ
Acc. of P due to relative
motion of P wrt RB
Coriolis acceleration
Normal acc. of P due to

rotation of the RB @ O
Tangential acc. of P due to

rotation of the RB @ O
59
Rigid Body in General Plane Motion Vrel

MOTION OF BODY r
• Body translation;
• linear velocity = vA A & B are on B
different RB
• linear acceleration = aA
• Body rotation; ℬ is translating
& rotating y
• angular velocity =  rB/A
• angular acceleration = ሶ x
ℬ
Y rB
VELOCITY OF POINT B A
  
v B  v A  v B/A rA Va
     , ሶ
v B  v A  [(  rB/A )  v rel ] O ℱ X
Velocity of P due to relative

motion of P wrt the RB
j J
Velocity of B due to
ℱ = Fixed frame
rotation of the RB @ A
ℬ = Body frame fixed at A i
Velocity of B due to  = Rotation of ℬ wrt ℱ ℬ
translation of the RB 
I
ℱ
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30
Rigid Body in General Plane Motion
ACCELERATION OF POINT B
         
a B  a A  (Ω  rB/A )  Ω  (Ω  rB/A )  2Ω  v rel  a rel
Acc. of B due to relative
motion of P wrt RB
Coriolis acceleration
Normal acc. of B due to

Tangential acc. of B due to

Use cross product to
Acc. of B due to translation
of the RB
determine the acceleration
directions
61
62
31
Example R1
• At the instant  = 60o, the rod has an angular velocity of 3 rad/s and an angular
acceleration of 2 rad/s2. At this instant, the collar C is travelling outward along the rod
such that when x= 0.2 m, the velocity is 2 m/s and the acceleration is 3 m/s 2, both
measured relative to the rod. Determine the Coriolis acceleration and the velocity and
acceleration of the collar at this instant.
63
64
32
65
Example R2
Pin A of the hinged link AC is confined to move in the rotating slot of link OD. The angular
velocity of OD is  = 2 rad/s clockwise and is constant for the interval of motion
concerned. For the position where  = 45o with AC horizontal, determine the velocity of
pin A and the velocity of A relative to the rotating slot in OD.
66
33
Example R2
Pin A of the hinged link AC is confined to move in the rotating slot of link OD. The angular
velocity of OD is  = 2 rad/s clockwise and is constant for the interval of motion
concerned. For the position where  = 45o with AC horizontal, determine angular
acceleration of AC and the acceleration of A relative to the rotating slot in OD.
67
Example R4 (Q5/162 Meriam’s 7th. Ed)

• The disk rolls without slipping on the horizontal surface, and at the instant is
represented, the centre O has the velocity and acceleration shown in the figure. For the
instant, the particle A has the indicated speed u and time time-rate-of-change of speed ů,
both relative to the disk. Determine the absolute velocity and acceleration of particle A.
68
34
Coriolis Acceleration = 2 X Vrel
• Represent the difference between acceleration

measured from nonrotating axes and rotating axes.
• Composed of two physical effects;

• Change in direction of Vrel
• Change in magnitude of x
• Direction of coriolis acceleration is perpendicular to

both  & Vrel.
69
Coriolis Motion
• What?
• Coriolis effect occurs in non-inertial reference frame. (e.g. Rotating & accelerating frame)
• Coriolis effect causes deflection of path in opposite direction of rotation in rotating frame
• It behaves like a real force - causes acceleration. Coriolis force is a consequence of inertia.
Straight motion will curve sideways in opposite direction of rotation of rotating frame.
• Why bother to analyse coriolis effect?

• So that we can use Newton Second Law by including the coriolis force (i.e. Fictitious/pseudo
force/inertial force”
Treat the fictitious forces like real forces, and pretend you are in an inertial frame.
— Louis N. Hand, Janet D. Finch Analytical Mechanics, p. 267
Obviously, a rotating frame of reference is a case of a non-inertial frame. Thus the particle in addition to
the real force is acted upon by a fictitious force...The particle will move according to Newton's second
law of motion if the total force acting on it is taken as the sum of the real and fictitious forces.
— HS Hans & SP Pui: Mechanics; p. 341
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35
71
End
Next lecture:
Kinematics of Rigid Body 3D
Class dismissed
72
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Dynamics (MEC420)

Kinematics of Rigid Body

OUTLINE OF KINEMATICS OF RIGID BODY

1. Introduction to rigid body kinematics

2. Kinematics analysis method

1. To classify type of rigid-body planar motion.

Introduction to dynamics of rigid body

RIGID BODY & SYSTEM OF FORCES

System of forces Force-Couple system

CLASSIFICATION OF RIGID BODY MOTIONS

B. Spatial Motion (3D)

Introduction to dynamics of rigid body

CLASSIFICATION OF RIGID BODY MOTIONS

• Plane motion (2D)

• Spatial motion (3D)

TYPES OF RB PLANAR MOTION

Introduction to dynamics of rigid body

Rigid Body In Planar Motion (2D)

Rigid Body In Space Motion (3D)

Introduction to dynamics of rigid body

KINEMATICS OF RB ANALYSIS METHODS

1. Relative motion analysis methods

Kinematics Of Rigid Body

Relative Motion Analysis – Translating Frame (2D)

Analysis Using Translating Frame Analysis Using Rotating Frame

Used for kinematic analysis of Used for kinematics analysis of

Relative Motion Analysis Using Translating Frame

VA y “Motions of Rigid Bodies

Relative Motion Analysis – Translating Frame (2D)

RELATIVE MOTION ANALYSIS USING TRANSLATING FRAME

MOTION OF POINT B WRT TOℬ AND ℱ

TRANSLATION MOTION OF RB - 2D & 3D

Relative Motion Analysis – Translating Frame (2D)

ROTATION ABOUT A FIXED AXIS – 2D (RAFA) e

• RB is rotating about fixed axis • RB is rotating about fixed point

Relative Motion Analysis – Translating Frame (2D)

GENERAL PLANE MOTION (GPM)

Velocity of B due to linear

GENERAL PLANE MOTION (GPM)

Only valid for 2D

Relative Motion Analysis – Translating Frame (2D)

Relative Motion Analysis Using Translating Frame

Analysis Procedure – Translating Frame

Relative Motion Analysis – Translating Frame (2D)

2. Linearly Accelerated Motion

Rotation Linear Motion

• A disk of radius r equal to 2 m rotates

• When point P is 60o above the horizontal,

• For this instant, determine the velocity

Relative Motion Analysis – Translating Frame (2D)

Relative Motion Analysis – Translating Frame (2D)

AB = -2.44 s-1 AC

Relative Motion Analysis – Translating Frame (2D)

Sample Problem 15.1

Relative Motion Analysis – Translating Frame (2D)

Sample Problem 15.2

• The velocity for any point P on the gear

Evaluate the velocities of points B and D.

Sample Problem 15.3 SOLUTION:

• The unknowns in the vector expression

• The angular velocity of the connecting

Relative Motion Analysis – Translating Frame (2D)

Sample Problem 15.5 SOLUTION: