Instituto Tecnológico y de Estudios Superiores de Monterrey

Campus Ciudad de México

PLANAR KINEMATICS OF
RIGID BODIES
Gabriel Ascanio

Dynamics M1005 Term: 2016-1

 Kinematics of rigid bodies
Rigid body: Non-deformable body

Types of motion
Kinematics of rigid bodies
 Kinematics of rigid bodies
Translation
Position
rB  rA  rB / A

Velocity
drB drA drB / A
 
dt dt dt
v A  vB

Acceleration
d 2 rB d 2 rA d 2 rB / A
2
 2 
dt dt dt 2
a A  aB
 Kinematics of rigid bodies
Rotation
Angular velocity
d
 (rad / s ) (1)
dt
Angular acceleration
d
 (rad / s 2 ) (2)
dt

It is posible to express  as
Angular position
d 2
 (rad )  2 (rad / s 2 ) (3)
dt

Angular displacement Solving for dt from (1) and (2)

d (rad )
 d   d (4)
 Kinematics of rigid bodies

From the rectilinar motion (constant angular acceleration) (   c )

  0   c t
1
   0  0 t   c t 2
2
 2  02  2 c    0 

Analogy with the particle kinematics

v  v0  ac t
1
s  s0  v0t  ac t 2
2
v 2  v02  2ac s  s0 
 Kinematics of rigid bodies

16-2. Just after the fan is turned on, the motor gives the blade an angular
acceleration  = (20e-0.6t) rad/s2, where t is in seconds. Determine the
speed of the tip P of one of the blades when t = 3 s. How many revolutions
has the blade turned in 3 s? When t = 0 the blade is at rest.
 Kinematics of rigid bodies
16-6. The mechanism for a car window winder is shown is the figure. Here
the handle turns the small cog, which rotates the spur gear S, thereby
rotating the fixed-connected lever AB which raises track D in which the
window rests. The window is free to slide on the track. If the handle is
wound at 0.5 rad/s, determine the speed of points A and E and the speed
vw of the window at the instant  = 30.
 Kinematics of rigid bodies
16-15. The 50 mm-radius pulley A of the clothes dryer rotates with an
angular acceleration of A = (27A1/2) rad/s2, where A is in radians.
Determine its angular acceleration when t = 1 s, starting from the rest.