INTRODUCTION TO DYNAMICS

Kinematics of Rigid Bodies

Ferdinand P. Beer
Late of Lehigh University
E. Russell Johnston, Jr.
F. University of Connecticut

DECEM 1
 INTRODUCTION TO DYNAMICS

Rotating coordinate systems are often used to analyze mechanisms

(such as amusement park rides) as well as weather patterns.

DECEM 2
 INTRODUCTION TO DYNAMICS

Rate of Change With Respect to a Rotating Frame

• With respect to the rotating Oxyz frame,
   
Q = Qx i + Q y j + Qz k
()







Q Oxyz = Qx i + Q y j + Qz k

• With respect to the fixed OXYZ frame,

()






   
Q OXYZ = Qx i + Q y j + Qz k + Qx i + Q y j + Qz k

• Frame OXYZ is fixed.







()

• Qx i + Q y j + Qz k = Q Oxyz = rate of change
with respect to rotating frame.
• Frame Oxyz rotates about
fixed axis OA with angular

()

• If Q were fixed within Oxyz then Q OXYZ is
equivalent to velocity of a point in a rigid
 body
velocity   
 attached to Oxyz and Qx i + Q y j + Qz k =   Q
• Vector function Q(t ) varies • With respect to the fixed OXYZ frame,
in direction and magnitude.
()
Q

OXYZ ()
= Q

Oxyz
 
+ Q
DECEM 3
 INTRODUCTION TO DYNAMICS

Coriolis Acceleration
• Frame OXY is fixed and frame Oxy rotates with angular
velocity  .

• Position vector rP for 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
DECEM 4
 INTRODUCTION TO DYNAMICS

Coriolis Acceleration
• Absolute acceleration for the particle P is
   

a P =   r +   (r )OXY + (r )Oxy
 d 

  dt
but, (r )OXY =   r + (r )Oxy



d 
dt


 
(r )Oxy = (r )Oxy +   (r )Oxy
      
a P =   r +   (  r ) + 2  (r )Oxy + (r)Oxy
    
v P =   r + (r )Oxy
  • Utilizing point P’ on the slab,
= v P + v P F 
the conceptual
 
   r +   (  r )
a P = 
a P F = (r)
 
Oxy
• Absolute acceleration  for the particle P becomes
a P = a P + a P F + 2  (r )Oxy
  
  
= a P + a P F + ac
   
ac = 2  (r )Oxy = 2  v P F = Coriolis acceleration
 
DECEM 5
 INTRODUCTION TO DYNAMICS

Coriolis Acceleration
• 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 w. 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 = rw 2

a P F = (r)Oxy = 0
 

  
ac = 2  v P F ac = 2wu

• The absolute acceleration consists of the radial and

tangential vectors shown

DECEM 6
 INTRODUCTION TO DYNAMICS

Coriolis Acceleration• Change in velocity over t is represented by the

sum of three vectors

v = RR + TT  + T T 

• TT  is due to change in direction of the velocity of

point A on the rod,
TT  
lim = lim v A = rww = rw 2 = a A
t →0 t t →0 t
    
recall, a =   r +   (  r )

   A a = rw 2
A
at t , v = vA + u
   • RR  and T T  result from combined effects of
at t + t , v  = v A + u  relative motion of P and rotation of the rod
 RR T T    r 
lim  +  = lim  u +w 
t →0 t t  t →0 t t 
  = uw + wu = 2wu
recall, ac = 2  v P F ac = 2wu
DECEM 7
 INTRODUCTION TO DYNAMICS

Motion about 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 w , the velocity of a particle P of the body is

 dr  
v= =w r
dt
and the acceleration of the particle P is

       dw
a =   r + w  (w  r ) = .
dt

• The angular acceleration  represents the velocity of
the tip of w .

• As the vector w 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.
DECEM 8
 INTRODUCTION TO DYNAMICS

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 AX’Y’Z’ is the motion of a
body with a fixed point
   
v B = v A + w  rB A

• Similarly, the acceleration of the particle P is

  
aB = a A + aB A
  
(
  
= a A +   rB A + w  w  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.
DECEM 9
 INTRODUCTION TO DYNAMICS

Three-Dimensional Motion. Coriolis Acceleration

• With respect to the fixed frame OXYZ and rotating
frame Oxyz,
()

Q OXYZ = Q()
  
+ Q
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
   
ac = 2  (r )Oxyz = 2  v P F = Coriolis acceleration
 
DECEM 10
 INTRODUCTION TO DYNAMICS

Frame of Reference in General Motion

• With respect to OXYZ and AX’Y’Z’,
  
rP = rA + rP A
  
vP = v A + vP A
  
aP = a A + aP A

• The velocity and acceleration of P relative to

AX’Y’Z’ can be found in terms of the velocity
and acceleration of P relative to Axyz.

( )
    
v P = v A +   rP A + rP A
Axyz
 
= v P + v P F
( )
Consider:       
a P = a A +   rP A +     rP A
- fixed frame OXYZ,
( ) ( )
  
- translating frame AX’Y’Z’, and + 2  rP A + rP A
Axyz Axyz
- translating and rotating frame Axyz   
or F. = a P + a PF + a c
DECEM 11
 INTRODUCTION TO DYNAMICS

15.111 Dos varillas giratorias se conectan por medio del bloque deslizante P. La
varilla unida en B gira con una velocidad angular constante ωB. Con los datos
siguientes, determine para la posición que semuestra a)la velocidad angular de la
varilla unida en A, b)la velocidad relativa del bloque deslizante P con respecto a la
varilla sobre la cual se desliza b=200 mm ωB= 9 rad/s

Beer Johnston Ed 3

DECEM 12
INTRODUCTION TO DYNAMICS

Beer Johnston Ed 9

DECEM 13
INTRODUCTION TO DYNAMICS

Beer Johnston Ed 9

DECEM 14
INTRODUCTION TO DYNAMICS

Meriam Ed 6

DECEM 15
INTRODUCTION TO DYNAMICS

Meriam Ed 3

DECEM 16
INTRODUCTION TO DYNAMICS

DECEM 17