3007432: Dinámica

TALLER II: CINEMÁTICA DE CUERPO RÍGIDO

Cinemática de cuerpo rígido sin ejes rotativos

MOVEMENT TYPE MATEMATICAL FORMULATION
Apply all the kinematic of particle’s principles
Translation

Constant Angular Acceleration

Rotation about a fixed
axis
Motion of Point P

Absolute-Motion Analysis
Relate 𝑆𝑆 as a function of 𝜃𝜃, 𝑆𝑆 = 𝑓𝑓(𝜃𝜃), using geometry and/or trigonometry. Then, take
the time derivatives to find 𝑣𝑣 and 𝑎𝑎. Apply chin-rule if necessary.
Relative-Motion Analysis

Location of the IC
To locate the IC, it is used the fact that velocity of a point is always perpendicular to
the relative position vector directed from the IC. There are three possibilities:
 The velocity vA of a point A on the body and the angular velocity 𝝎𝝎 are known.

General plane motion

Note that the IC lies up and to the right of
A since 𝛚𝛚 = 𝐫𝐫𝐀𝐀/𝐈𝐈𝐈𝐈 𝐱𝐱 𝐯𝐯𝐀𝐀 .

 The lines of action of two nonparallel velocities vA and vB are known.

Construct line segments at points A and B

that are perpendicular to 𝐯𝐯𝐀𝐀 and 𝐯𝐯𝐁𝐁 . The
intersection of these segments is the
location of IC
3007432: Dinámica
 The magnitude and directions of two parallel velocities vA and vB are known.

The location of IC is
determined by
proportional triangles.

Ejercicio: Análisis de movimiento relativo: Velocidad. Fuente: Hibbeler.

Ejercicio: Velocidad relativa con ubicación del centro instantáneo de velocidad cero. Fuente: Hibbeler.
3007432: Dinámica

Ejercicio: Análisis de movimiento relatico: Aceleración. Fuente: Hibbeler.