Seventh Edition

CHAPTER VECTOR MECHANICS FOR ENGINEERS:

DYNAMICS
15 Ferdinand P. Beer
E. Russell Johnston, Jr. Kinematics of
Lecture Notes:
Rigid Bodies
J. Walt Oler
Texas Tech University

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Seventh
Vector Mechanics for Engineers: Dynamics
Contents
Introduction Absolute and Relative Acceleration in Plane
Translation Motion
Rotation About a Fixed Axis: Velocity Analysis of Plane Motion in Terms of a Parameter
Rotation About a Fixed Axis: Acceleration Sample Problem 15.6
Rotation About a Fixed Axis: Representative Sample Problem 15.7
Slab Sample Problem 15.8
Equations Defining the Rotation of a Rigid Rate of Change With Respect to a Rotating Frame
Body About a Fixed Axis Coriolis Acceleration
Sample Problem 5.1 Sample Problem 15.9
General Plane Motion Sample Problem 15.10
Absolute and Relative Velocity in Plane Motion About a Fixed Point
Motion General Motion
Sample Problem 15.2 Sample Problem 15.11
Sample Problem 15.3 Three Dimensional Motion. Coriolis Acceleration
Instantaneous Center of Rotation in Plane Frame of Reference in General Motion
Motion Sample Problem 15.15
Sample Problem 15.4
Sample Problem 15.5

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Vector Mechanics for Engineers: Dynamics
Introduction
• Kinematics of rigid bodies: relations between
time and the positions, velocities, and
accelerations of the particles forming a rigid
body.
• Classification of rigid body motions:
- translation:
• rectilinear translation
• curvilinear translation
- rotation about a fixed axis
- general plane motion
- motion about a fixed point
- general motion

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Vector Mechanics for Engineers: Dynamics
Translation
• Consider rigid body in translation:
- direction of any straight line inside the body
is constant,
- all particles forming the body move in
parallel lines.
• For any two particles in the body,




rB = rA + rB A
• Differentiating with respect to time,





rB = rA + rB A = rA



vB = v A
All particles have the same velocity.
• Differentiating with respect to time again,
r
B = r
A + r
B A = r
A



aB = a A
All particles have the same acceleration.
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Seventh
Vector Mechanics for Engineers: Dynamics
Rotation About a Fixed Axis. Velocity
• Consider rotation of rigid body about a fixed
axis AA’

• Velocity vector v = dr dtof the particle P is
tangent to the path with magnitude v = ds dt
∆ s = ( BP )∆ θ = (r sin φ )∆ θ
ds ∆θ
v= = lim (r sin φ ) = rθ sin φ
dt ∆t → 0 ∆t

• The same result is obtained from

dr


v= =ω ×r
dt




ω = ω k = θ k = angular ve locity


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Vector Mechanics for Engineers: Dynamics
Rotation About a Fixed Axis. Acceleration
• Differentiating to determine the acceleration,



dv d 

a= = (ω × r )
dt dt



dω

dr
= ×r +ω ×
dt dt


dω



= ×r +ω ×v
dt


dω

• = α = angular ac celeration
dt




= α k = ω k = θ k


• Acceleration of P is combination of two vectors,

a = α × r + ω ×ω × r



α × r = tangentia l accelerati on component




ω × ω × r = radial accelerati on component
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Vector Mechanics for Engineers: Dynamics
Rotation About a Fixed Axis. Representative Slab
• Consider the motion of a representative slab in a
plane perpendicular to the axis of rotation.

• Velocity of any point P of the slab,

v = ω × r = ωk × r
v = rω

• Acceleration of any point P of the slab,

a = α × r + ω ×ω × r




= α k × r − ω 2r

• Resolving the acceleration into tangential and

normal components,




at = αk × r a t = rα



a n = −ω 2 r a n = rω 2
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Vector Mechanics for Engineers: Dynamics
Equations Defining the Rotation of a Rigid Body
About a Fixed Axis
• Motion of a rigid body rotating around a fixed axis is
often specified by the type of angular acceleration.

dθ dθ
• Recall ω = or dt =
dt ω
d ω d 2θ dω
α= = 2 =ω
dt dt dθ

• Uniform Rotation, α = 0:
θ = θ0 + ωt

• Uniformly Accelerated Rotation, α = constant:

ω = ω0 +αt
θ = θ 0 + ω 0 t + 12 α t 2
ω 2 = ω 02 + 2α (θ − θ 0 )
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Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.1
SOLUTION:
• Due to the action of the cable, the
tangential velocity and acceleration of D
are equal to the velocity and acceleration
of C. Calculate the initial angular
velocity and acceleration.
• Apply the relations for uniformly
accelerated rotation to determine the
velocity and angular position of the
Cable C has a constant acceleration of 225
pulley after 2 s.
mm/s2 and an initial velocity of
300 mm/s2, both directed to the right. • Evaluate the initial tangential and normal
acceleration components of D.
Determine (a) the number of revolutions of
the pulley in 2 s, (b) the velocity and
change in position of the load B after 2 s,
and (c) the acceleration of the point D on the
rim of the inner pulley at t = 0.
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Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.1
SOLUTION:
• The tangential velocity and acceleration of D are equal to the
velocity and acceleration of C.
(vD )0 = (vC )0 = 300 mm s →


(a


)
D t =


a C = 225 mm s →

(vD )0 = rω 0 (a D )t = rα
(vD )0 12 (a D )t 9
ω0 = = = 4 rad s α= = = 3 rad s 2
r 3 r 3
• Apply the relations for uniformly accelerated rotation to determine
velocity and angular position of pulley after 2 s.
( )
ω = ω 0 + αt = 4 rad s + 3 rad s 2 (2 s) = 10 rad s
( )
θ = ω 0t + 12 αt 2 = (4 rad s)(2 s) + 12 3 rad s 2 (2 s)2
= 14 rad
 1 rev 
N = (14 rad )   = number of revs N = 2 .23 rev
 2π rad 


v B = rω = (125 mm)(10 rad s) v B = 1250 mm s ↑
∆y B = rθ = (125 mm)(14 rad) ∆y B = 1750 mm
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Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.1
• Evaluate the initial tangential and normal acceleration
components of D.
(a
D )t = a
C = 225 mm s 2 →
(aD )n = rDω 02 = (75 mm)(4 rad s)2 = 1200 mm s2

(a
D )t = 225 mm s 2 → (a
D )n = 1200 mm s2 ↓

Magnitude and direction of the total acceleration,

aD = (a D )t2 + (a D )n2
= 225 + 1200
2 2
a D = 1220.9 mm s 2
(a D )n
tan φ =
(a D )t
1200
= φ = 79.4°
225
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Vector Mechanics for Engineers: Dynamics
General Plane Motion

• General plane motion is neither a translation nor a

rotation.
• General plane motion can be considered as the sum
of a translation and rotation.
• Displacement of particles A and B to A2 and B2 can
be divided into two parts:
- translation to A2 and B1′
- rotation of B1′about A2 to B2
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Vector Mechanics for Engineers: Dynamics
Absolute and Relative Velocity in Plane Motion

• Any plane motion can be replaced by a translation of an

arbitrary reference point A and a simultaneous rotation about A.

vB = v A + vB A




v B A = ω k × rB A vB A = rω





v B = v A + ω k × rB A

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Vector Mechanics for Engineers: Dynamics
Absolute and Relative Velocity in Plane Motion

• Assuming that the velocity vA of end A is known, wish to determine the velocity
vB of end B and the angular velocity ω in terms of vA, l, and θ.
• The direction of vB and vB/A are known. Complete the velocity diagram.

vB vA v
= tan θ = A = cosθ
vA v B A lω
v B = v A tan θ vA
ω=
l cosθ
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Seventh
Vector Mechanics for Engineers: Dynamics
Absolute and Relative Velocity in Plane Motion

• Selecting point B as the reference point and solving for the velocity vA of end A and
the angular velocity ω leads to an equivalent velocity triangle.
• vA/B has the same magnitude but opposite sense of vB/A. The sense of the relative
velocity is dependent on the choice of reference point.
• Angular velocity ω of the rod in its rotation about B is the same as its rotation about
A. Angular velocity is not dependent on the choice of reference point.
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Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.2
SOLUTION:
• The displacement of the gear center in one
revolution is equal to the outer
circumference. Relate the translational and
angular displacements. Differentiate to
relate the translational and angular
velocities.
• The velocity for any point P on the gear may
The double gear rolls on the stationary be written as
lower rack: the velocity of its center is






vP = v A + vP A = v A + ω k × rP A
1.2 m/s.
Determine (a) the angular velocity of Evaluate the velocities of points B and D.
the gear, and (b) the velocities of the
upper rack R and point D of the gear.

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Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.2
SOLUTION:
• The displacement of the gear center in one revolution is
equal to the outer circumference.
For xA > 0 (moves to right), ω < 0 (rotates clockwise).
xA θ
=− x A = − r1θ
2π r 2π

y
Differentiate to relate the translational and angular
velocities.
x
v A = − r1ω
vA 1 .2 m s



ω =− =− ω = ωk = −(8 rad s )k
r1 0.150 m

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Vector Mechanics for Engineers: Dynamics
Sample Problem 15.2







• For any point P on the gear, vP = v A + vP A = v A + ω k × rP A

Velocity of the upper rack is equal to Velocity of the point D:

velocity of point B:










v R = v B = v A + ω k × rB A v D = v A + ω k × rD A







= (1 .2 m s )i + (8 rad s )k × (0 .10 m ) j = (1 .2 m s )i + (8 rad s )k × (− 0 .150 m )i



= (1 .2 m s )i + (0 .8 m s )i






vR = (2 m s )i vD = (1.2 m s )i + (1.2 m s ) j
vD = 1.697 m s

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Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.3
SOLUTION:
• Will determine the absolute velocity of
point D with




vD = vB + vD B


• The velocity v Bis obtained from the given
crank rotation data.


The crank AB has a constant clockwise • The directions of the absolute velocity v D


angular velocity of 2000 rpm. and the relative velocity v D Bare
determined from the problem geometry.
For the crank position indicated,
determine (a) the angular velocity of the • The unknowns in the vector expression are
connecting rod BD, and (b) the velocity the velocity magnitudes v D and v D B
of the piston P. which may be determined from the
corresponding vector triangle.
• The angular velocity of the connecting rod
is calculated from vD B .
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Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.3
SOLUTION:
• Will determine the absolute velocity of point D with




vD = vB + vD B


• The velocity v Bis obtained from the crank rotation data.
 rev   min   2π rad 
ω AB =  2000     = 209.4 rad s
 min  60 s  rev 

v B = ( AB )ω AB = (0.075 m)(209.4 rad s)
The velocity direction is as shown.


• The direction of the absolute velocity vis horizontal. The

D
direction of the relative velocity isvperpendicular
D B to BD.
Compute the angle between the horizontal and the connecting
rod from the law of sines.
sin 40 ° sin β
= β = 13 .95 °
8 in. 3 in.

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Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.3

• Determine the velocity magnitudes v D and v D B

from the vector triangle.
vD vD B 15.71m s
= =
sin 53.95° sin 50° sin76.05°
vD = 13.09 m s = 13.09 m s vP = vD = 13.09 m s
vD B = 12.40 m s
vD B = lω BD




v D = vB + v D B vD B 12.40 m s
ω BD = =
l 0.2 m



= 62.0 rad s ω BD = (62.0 rad s )k

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Seventh
Vector Mechanics for Engineers: Dynamics
Instantaneous Center of Rotation in Plane Motion
• Plane motion of all particles in a slab can always be replaced
by the translation of an arbitrary point A and a rotation about
A with an angular velocity that is independent of the choice
of A.

• The same translational and rotational velocities at A are

obtained by allowing the slab to rotate with the same angular
velocity about the point C on a perpendicular to the velocity
at A.

• The velocity of all other particles in the slab are the same as
originally defined since the angular velocity and translational
velocity at A are equivalent.

• As far as the velocities are concerned, the slab seems to

rotate about the instantaneous center of rotation C.

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Vector Mechanics for Engineers: Dynamics
Instantaneous Center of Rotation in Plane Motion
• If the velocity at two points A and B are known, the
instantaneous center of rotation lies at the intersection of
the perpendiculars to the velocity vectors through A and B .

• If the velocity vectors are parallel, the instantaneous center

of rotation is at infinity and the angular velocity is zero.

• If the velocity vectors at A and B are perpendicular to the

line AB, the instantaneous center of rotation lies at the
intersection of the line AB with the line joining the
extremities of the velocity vectors at A and B.

• If the velocity magnitudes are equal, the instantaneous

center of rotation is at infinity and the angular velocity is
zero.

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Seventh
Vector Mechanics for Engineers: Dynamics
Instantaneous Center of Rotation in Plane Motion
• The instantaneous center of rotation lies at the intersection of the
perpendiculars to the velocity vectors through A and B .
vA vA vA
ω= = v B = ( BC )ω = (l sin θ )
AC l cosθ l cosθ
= v A tan θ

• The velocities of all particles on the rod are as if they were

rotated about C.
• The particle at the center of rotation has zero velocity.
• The particle coinciding with the center of rotation changes with
time and the acceleration of the particle at the instantaneous
center of rotation is not zero.
• The acceleration of the particles in the slab cannot be
determined as if the slab were simply rotating about C.
• The trace of the locus of the center of rotation on the body is
the body centrode and in space is the space centrode.
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Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.4
SOLUTION:
• The point C is in contact with the stationary
lower rack and, instantaneously, has zero
velocity. It must be the location of the
instantaneous center of rotation.
• Determine the angular velocity about C based
on the given velocity at A.
• Evaluate the velocities at B and D based on
The double gear rolls on the their rotation about C.
stationary lower rack: the velocity of
its center is 1.2 m/s.
Determine (a) the angular velocity of
the gear, and (b) the velocities of the
upper rack R and point D of the gear.

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Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.4
SOLUTION:
• The point C is in contact with the stationary lower rack and,
instantaneously, has zero velocity. It must be the location of
the instantaneous center of rotation.
• Determine the angular velocity about C based on the given
velocity at A.
v 1 .2 m s
v A = rAω ω= A= = 8 rad s
rA 0.15 m
• Evaluate the velocities at B and D based on their rotation
about C.
v R = v B = rBω = (0 .25 m )(8 rad s )



v R = (2 m s )i

rD = (0.15 m ) 2 = 0.2121 m
v D = rDω = (0 .2121 m )(8 rad s )
v D = 1 .697 m s



v D = (1 .2i + 1 .2 j )(m s )

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Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.5
SOLUTION:
• 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
The crank AB has a constant clockwise and D.
angular velocity of 2000 rpm. • Determine the angular velocity about the
For the crank position indicated, center of rotation based on the velocity at
determine (a) the angular velocity of the B.
connecting rod BD, and (b) the velocity • Calculate the velocity at D based on its
of the piston P. rotation about the instantaneous center of
rotation.

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Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.5
SOLUTION:
• From Sample Problem 15.3,



vB = (403.9i − 481.3 j )(m s)


vB = 15.71m s
β = 13.95°
• The instantaneous center of rotation is at the intersection of
the perpendiculars to the velocities through B and D.

• Determine the angular velocity about the center of rotation

based on the velocity at B.
γ B = 40° + β = 53.95°
γ D = 90° − β = 76.05°
vB = (BC )ω BD
vB 15.71m s
BC CD 200 mm ω BD = = ω BD = 62.0 rad s
= = BC 253.4 mm
sin 76.05° sin 53.95° sin50°
• Calculate the velocity at D based on its rotation about the
instantaneous center of rotation.
BC = 253.4 mm CD = 211.1 mm
vD = (CD )ω BD = (0.2111 mm)(62.0 rad s)
vP = vD = 13.09 m s = 13.09 m s
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Seventh
Vector Mechanics for Engineers: Dynamics
Absolute and Relative Acceleration in Plane Motion

• Absolute acceleration of a particle of the slab,

aB = a A + aB A


• Relative acceleration a B Aassociated with rotation about A includes
tangential and normal components,


( )t



a B A = α k × rB A a B A = rα ( )t
(a
B A )n = −ω 2 r
B A (a B A )n = rω 2
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Seventh
Vector Mechanics for Engineers: Dynamics
Absolute and Relative Acceleration in Plane Motion

• Given a A and v A ,



determine a B and α .




aB = a A + aB A


(

)n (
= a A + aB A + aB


A t )

• Vector result depends on sense of a and the relative
( )n
A
magnitudes of a A and a B A

• Must also know angular velocity ω.

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Seventh
Vector Mechanics for Engineers: Dynamics
Absolute and Relative Acceleration in Plane Motion

• Write a B = a A + a B A in terms of the two component equations,
+
→ x components: 0 = a A + lω 2 sin θ − lα cos θ

+ ↑ y components: − a B = − lω 2 cos θ − lα sin θ

• Solve for aB and α.

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Seventh
Vector Mechanics for Engineers: Dynamics
Analysis of Plane Motion in Terms of a Parameter
• In some cases, it is advantageous to determine the
absolute velocity and acceleration of a mechanism
directly.
x A = l sin θ y B = l cos θ

v A = x A v B = y B
= lθ cos θ = −lθ sin θ
= lω cos θ = −lω sin θ

a A = xA a B = yB
= − lθ 2 sin θ + lθ cos θ = − lθ 2 cos θ − lθ sin θ
= − lω 2 sin θ + lα cos θ = − lω 2 cos θ − lα sin θ

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Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.6
SOLUTION:
• The expression of the gear position as a
function of θ is differentiated twice to
define the relationship between the
translational and angular accelerations.

• The acceleration of each point on the gear

is obtained by adding the acceleration of
the gear center and the relative
The center of the double gear has a
accelerations with respect to the center.
velocity and acceleration to the right of
The latter includes normal and tangential
1.2 m/s and 3 m/s2, respectively. The
acceleration components.
lower rack is stationary.
Determine (a) the angular acceleration of
the gear, and (b) the acceleration of
points B, C, and D.

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Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.6
SOLUTION:
• The expression of the gear position as a function of θ is
differentiated twice to define the relationship between the
translational and angular accelerations.

x A = − r1θ
v A = − r1θ = − r1ω
vA 1.2 m s
ω =− =− = −8 rad s
r1 0.150 m

a A = − r1θ = − r1α

aA 3 m s2
α =− =−
r1 0.150 m



( )
α = α k = − 20 rad s k
2

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Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.6
• The acceleration of each point is
obtained by adding the
acceleration of the gear center
and the relative accelerations
with respect to the center.
The latter includes normal and
tangential acceleration
components.

(

aB = a A + aB A = a A + aB A + aB A
t
) (
n
)





= a A + α k × rB A − ω 2rB A
( 2

) (

)


= 3 m s i − 20 rad s k × (0.100 m ) j − (8 rad s ) (− 0.100 m ) j
2 2

(

) (

) (

= 3 m s 2 i + 2 m s 2 i − 6.40 m s 2 j )

2
2

aB = (5 m s ) i − (6.40 m s ) j aB = 8.12 m s 2

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Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.6

2

aC = a A + aC A = a A + α k × rC A − ω rC A
( 2

) ( )


= 3 m s i − 20 rad s k × (− 0 .150 m ) j − (8 rad s ) (− 0 .150 m ) j
2 2

( 2

) ( 2

) (
= 3 m s i − 3 m s i + 9 .60 m s j ) 2

2

ac = (9.60 m s ) j








a D = a A + a D A = a A + α k × rD A − ω 2 rD A
( 2

) ( )


= 3 m s i − 20 rad s k × (− 0 .150 m ) i − (8 rad s ) (− 0 .150 m ) i
2 2

( 2

) ( 2

) (
= 3 m s i + 3 m s j + 9.60 m s i ) 2

aD = (12.6 m s 2 ) i + (3 m s 2 ) j aD = 12.95 m s 2
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Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.7
SOLUTION:
• 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.

Crank AG of the engine system has a • The directions of the accelerations

constant clockwise angular velocity of



a D , ( a D B ) t , and ( a D B ) n are determined
2000 rpm. from the geometry.
For the crank position shown, determine
• Component equations for acceleration of
the angular acceleration of the connecting
point D are solved simultaneously for
rod BD and the acceleration of point D.
acceleration of D and angular acceleration
of the connecting rod.

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Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.7
SOLUTION:
• The angular acceleration of the connecting rod BD and the
acceleration of point D will be determined from







aD = a B + a D B = a B + (aD B )t + (aD B ) n

• The acceleration of B is determined from the given rotation

speed of AB.

ω AB = 2000 rpm = 209.4 rad s = constant

α AB = 0
a B = rω 2AB = (0.075 m)(209.4 rad s) = 3289 m s 2
2

aB = (3289 m s ) ( − cos 40°i − sin 40° j )
2

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Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.7

• The directions of the accelerations

a D , ( a D B ) t , and ( a D Bare
)n
determined from the geometry.



aD = ∓ aD i

From Sample Problem 15.3, ωBD = 62.0 rad/s, β = 13.95o.

(a )
D B n = (BD )ω BD
2
= (0.2 m)(62.0 rad s ) = 769 m s 2
2

( )


( aD B ) n = 769 m s 2 (− cos13.95°i + sin 13.95° j )

( aD B )t = (BD )α BD = (0.2 m)α BD = 0.2 α BD

The direction of (aD/B)t is known but the sense is not known,

( )


aD B t = (0.2 α BD ) (± sin 76.05°i ± cos 76.05° j )

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Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.7

• Component equations for acceleration of point D are solved

simultaneously.







aD = aB + aD B = aB + ( aD B )t + ( aD B ) n

x components:
− a D = −3289 cos 40° − 769 cos13.95° + 0.2α BD sin 13.95°
y components:
0 = −3289 sin 40° + 769 sin 13.95° + 0.2α BD cos13.95°

α BD = (9937 rad s ) k
2

2

aD = −(2787 m s ) i

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 40

Edition
Seventh
Vector Mechanics for Engineers: Dynamics
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
In the position shown, crank AB has a
equations for
constant angular velocity ω1 = 20 rad/s




counterclockwise. aD = aB + aD B
Determine the angular velocities and
angular accelerations of the connecting rod
BD and crank DE.

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Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.8
SOLUTION:
• The angular velocities are determined by simultaneously
solving the component equations for




v D = vB + v D B




v D = ω DE × rD = ω DE k × (− 425i + 425 j )







= −425ω DE i − 425ω DE j




v B = ω AB × rB = 20k × (200i + 350 j )







= −280i + 160 j




v D B = ω BD × rD B = ω BD k × (300i + 75 j )







= −75ω BD i + 300ω BD j

x components: − 425ω DE = −280 − 75ω BD

y components: − 425ω DE = +160 + 200 ω BD





ω BD = −(29.33 rad s )k ω DE = (11.29 rad s )k
© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 42
Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.8
• The angular accelerations are determined by simultaneously
solving the component equations for




aD = aB + aD B



2

a D = α DE × rD − ω DE rD






= α DE k × (− 425i + 425 j ) − (11.29) (− 425i + 425 j )
2

= −425α DE i − 425α DE j + 54.2×10 i − 54.2×10 j
3 3



a B = α AB × rB − ω AB rB = 0 − (20) (200i + 350 j )



2
2

= −80 × 10 i + 140 × 10 j
3 3

2

a D B = α BD × rB D − ω BD rB D






= α B D k × (300i + 75 j ) − (29.33) (300i + 75 j )
2

= −75α B D i + 300α B D j − 258 × 10 i − 64.5 × 10 j
3 3

x components: − 425α DE + 75α BD = −392.2 × 10 3

y components: − 425α DE − 300α BD = −150.2 × 10 3





α BD = −(645 rad s ) k
2
α DE = (809 rad s ) k
2

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Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Rate of Change With Respect to a Rotating Frame
• With respect to the rotating Oxyz frame,





Q = Qxi + Q y j + Qz k
()





Q Oxyz = Q x i + Q y j + Q z k

• With respect to the fixed OXYZ frame,


() 











Q OXYZ = Q x i + Q y j + Q z k + Q x i + Q y j + Q z k

• Frame OXYZ is fixed.

()


• Q x i + Q y j + Q z 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
velocity Ω equivalent to velocity of a point in a rigid
body







attached to Oxyz and Q x i + Q y j + Q z k = Ω × Q
• Vector function Q (t varies
) in
direction and magnitude. • With respect to the fixed OXYZ frame,


Q () = Q
OXYZ


()Oxyz



+ Ω×Q
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Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Coriolis Acceleration
• Frame OXY
is fixed and frame Oxy rotates with angular
velocity Ω .


• Position vector rPfor 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 = Ω × 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
© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 45
Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Coriolis Acceleration
• Absolute acceleration for the particle P is





a P = Ω × r + Ω × (r )OXY +


dt
[
d

(r )Oxy]


but, (r
 )OXY = Ω × r
+ (r
 )Oxy
d

dt
[ ]


(r )Oxy = (r )Oxy + Ω × (r )Oxy











a P = Ω × r + Ω × (Ω × r ) + 2Ω × (r )Oxy + (r )Oxy






v P = Ω × r + (r )Oxy  



= v P′ + v P F • Utilizing the conceptual point P’ on the slab,






a P ′ = Ω × r + Ω × (Ω × r )

a P F = (r)



Oxy

• Absolute acceleration
for the particle P becomes

a P = a P ′ + a P F + 2Ω × (r )Oxy









= a P′ + a P F + ac




a c = 2Ω × (r )Oxy = 2 Ω × v P F = Coriolis acceleration


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Edition
Seventh
Vector Mechanics for Engineers: 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 ω. 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 = Ω × r + Ω × (Ω × r )


a A = rω 2
a P F = (r )Oxy = 0








a c = 2Ω × v P F ac = 2ωu

• The absolute acceleration consists of the radial and

tangential vectors shown

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Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Coriolis Acceleration
• Change in velocity over ∆t is represented by the sum
of three vectors


∆ v = R R ′ + T T ′′ + T ′′T ′
• T T ′′is due to change in direction of the velocity of
point A on the rod,
TT ′′ ∆θ
lim = lim v A = rωω = rω 2 = a A
∆t → 0 ∆ t ∆t → 0 ∆t






recall, a = Ω × r + Ω × (Ω × r )





a = rω 2
at t , v = vA + u A A




at t + ∆ t , v ′ = v A′ + u ′ • R R ′ and T ′′T ′result from combined effects of
relative motion of P and rotation of the rod
 R R ′ T ′′T ′   ∆θ ∆r 
lim   + 
 = lim  u +ω 
∆ t → 0 ∆ t ∆ t  ∆ t → 0 ∆ t ∆t 
= uω + ω u = 2ω u




recall, ac = 2Ω × v P F ac = 2ωu
© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 48
Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.9
SOLUTION:
• The absolute velocity of the point P may
be written as




v P = v P′ + v P s

• Magnitude and direction of velocity

Disk D of the Geneva mechanism rotates
with constant counterclockwise angular
velocity ωD = 10 rad/s.
At the instant when φ = 150o, determine (a)
the angular velocity of disk S, and (b) the
velocity of pin P relative to disk S.


v P of pin P are calculated from the
radius and angular velocity of disk D.


• Direction of velocity v Pof ′ point P’ on S
coinciding with P is perpendicular to
radius OP.


• Direction of velocity v P of s P with
respect to S is parallel to the slot.
• Solve the vector triangle for the angular
velocity of S and relative velocity of P.

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 49

Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.9
SOLUTION:
• The absolute velocity of the point P may be written as




vP = vP′ + vP s

• Magnitude and direction of absolute velocity of pin P are

calculated from radius and angular velocity of disk D.
v P = R ω D = (50 mm )(10 rad s ) = 500 mm s

• Direction of velocity of P with respect to S is parallel to slot.

From the law of cosines,
r 2 = R 2 + l 2 − 2 Rl cos 30 ° = 0.551 R 2 r = 37 .1 mm

From the law of cosines,

sin β sin 30 ° sin 30 °
= sin β = β = 42 .4°
R r 0 .742
The interior angle of the vector triangle is
γ = 90 ° − 42 .4 ° − 30 ° = 17 .6 °

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 50

Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.9
• Direction of velocity of point P’ on S coinciding with P is
perpendicular to radius OP. From the velocity triangle,

v P ′ = v P sin γ = (500 mm s )sin 17 .6 ° = 151 .2 mm s

151 .2 mm s
= rω s ωs =
37 .1 mm



ω s = (− 4 .08 rad s )k

vP s = v P cos γ = (500 m s ) cos 17 .6 °

v P s = (477 m s ) (− cos 42 .4°i − sin 42 .4 ° j )

vP = 500 mm s

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 51

Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.10
SOLUTION:
• The absolute acceleration of the pin P may be
expressed as





a P = a P′ + a P s + ac

• The instantaneous angular velocity of Disk S

is determined as in Sample Problem 15.9.

• The only unknown involved in the

acceleration equation is the instantaneous
In the Geneva mechanism, disk D angular acceleration of Disk S.
rotates with a constant counter-
clockwise angular velocity of 10 rad/s. • Resolve each acceleration term into the
At the instant when ϕ = 150o, determine component parallel to the slot. Solve for the
angular acceleration of disk S. angular acceleration of Disk S.

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Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.10
SOLUTION:
• Absolute acceleration of the pin P may be expressed as





aP = aP′ + aP s + ac

• From Sample Problem 15.9.

β = 42 .4° ω S = (− 4 .08 rad s )k



v P s = (477 mm s )(− cos 42 .4 °i − sin 42 .4 ° j )

• Considering each term in the acceleration equation,

a P = R ω D2 = (500 mm )(10 rad s )2 = 5000 mm s 2
( )

a P = 5000 mm s (cos 30 °i − sin 30 ° j )

2

a P ′ = (a P ′ )n + (a P ′ )t

( )


(a P ′ )n = rω S (− cos 42 .4°i − sin 42 .4° j )

2

(a P ′ )t = (rα S )(− sin 42 .4°i + cos 42 .4° j )





(a P ′ )t = (α S )(37 .1 mm )(− sin 42 .4°i + cos 42 .4° j )

note: αS may be positive or negative

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 53
Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.10
• The direction of the Coriolis acceleration is obtained
by
rotating the direction of the relative velocity vP s
by 90o in the sense of ωS.
( )


ac = 2ω S v P s (− sin 42 .4°i + cos 42 .4 j )





= 2(4 .08 rad s )(477 mm s ) (− sin 42 .4 °i + cos 42 .4 j )
( )

= 3890 mm s (− sin 42 .4 °i + cos 42 .4 j )
2

• The relative acceleration a P must
s be parallel to the
slot.

• Equating components of the acceleration terms

perpendicular to the slot,
37 .1α S + 3890 − 5000 cos 17 .7 ° = 0
α S = − 233 rad s



α S = (− 233 rad s )k

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Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Motion About a 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 ω , the velocity of a particle P of the body is



dr


v= =ω ×r
dt
and the acceleration of the particle P is









dω
a = α × r + ω × (ω × r ) α= .
dt


• The angular
acceleration αrepresents the velocity of the
tip of ω.


• As the vector ω 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.
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Edition
Seventh
Vector Mechanics for Engineers: 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 + ω × rB A

• Similarly, the acceleration of the particle P is

aB = a A + aB A




(




= a A + α × rB A + ω × ω × 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.

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Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.11
SOLUTION:





With ω1 = 0.30 j ω 2 = 0.50 k



r = 12 (cos 30 °i + sin 30 ° j )





= 10 .39 i + 6 j

• Angular velocity of the boom,

The crane rotates with a constant angular ω = ω1 + ω 2
velocity ω1 = 0.30 rad/s and the boom is
being raised with a constant angular • Angular acceleration of the boom,



α = ω1 + ω 2 = ω 2 = (ω 2 )Oxyz + Ω × ω 2






velocity ω2 = 0.50 rad/s. The length of
the boom is l = 12 m.


= ω1 × ω 2
Determine:
• angular velocity of the boom, • Velocity of boom tip,




• angular acceleration of the boom, v =ω×r
• velocity of the boom tip, and • Acceleration of boom tip,
• acceleration of the boom tip.










a = α × r + ω × (ω × r ) = α × r + ω × v
© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 57
Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.11
SOLUTION:
• Angular velocity of the boom,




ω = ω1 + ω 2




ω = (0.30 rad s ) j + (0 .50 rad s )k
• Angular acceleration of the boom,



α = ω1 + ω 2 = ω 2 = (ω 2 )Oxyz + Ω × ω 2











= ω1 × ω 2 = (0 .30 rad s ) j × (0 .50 rad s )k


( )


α = 0.15 rad s 2 i
• Velocity of boom tip,




i j k




v =ω ×r = 0 0 .3 0 .5
10 .39 6 0










ω1 = 0.30 j ω 2 = 0.50k v = − (3 .54 m s )i + (5.20 m s ) j − (3 .12 m s )k




r = 10.39i + 6 j

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 58

Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.11
• Acceleration of boom tip,











a = α × r + ω × (ω × r ) = α × r + ω × v







i j k i j k


a = 0 .15 0 0 + 0 0 .30 0.50
10 .39 6 0 −3 5.20 − 3 .12






= 0.90 k − 0.94 i − 2 .60 i − 1.50 j + 0 .90 k

2
2
2


a = −(3.54 m s ) i − (1.50 m s ) j + (1.80 m s ) k

ω1 = 0.30 j ω 2 = 0.50k




r = 10.39i + 6 j

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Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Three-Dimensional Motion. Coriolis Acceleration
• With respect to the fixed frame OXYZ and rotating
frame Oxyz,
Q()


= Q
OXYZ


()


+ Ω×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 = Ω × r + (r )Oxyz





= v P′ + v P F
• The absolute acceleration can be expressed as








a P = Ω × r + Ω × (Ω × r ) + 2 Ω × (r )Oxyz + (r)Oxyz







= a p′ + a P F + ac





a c = 2Ω × (r )Oxyz = 2 Ω × v P F = Coriolis accelerati on



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Edition
Seventh
Vector Mechanics for Engineers: 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 + Ω × rP A + rP A
Axyz



= v P′ + v P F

a P = a A + Ω × rP A + Ω × (Ω × rP A )
Consider:







- fixed frame OXYZ,
+ 2Ω × (rP A ) + (rP A )




- translating frame AX’Y’Z’, and
Axyz Axyz
- translating and rotating frame Axyz or



F. = a P′ + a P F + ac

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Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.15
SOLUTION:
• Define a fixed reference frame OXYZ at O
and a moving reference frame Axyz or F
attached to the arm at A.
• With P’ of the moving reference frame
coinciding with P, the velocity of the point P
is found from




For the disk mounted on the arm, the v P = v P′ + v P F
indicated angular rotation rates are
constant. • The acceleration of P is found from





a P = a P′ + a P F + ac
Determine:
• the velocity of the point P, • The angular velocity and angular
• the acceleration of P, and acceleration of the disk are




• angular velocity and angular ω = Ω +ωD F
acceleration of the disk.


α = (ω )F + Ω × ω




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Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.15
SOLUTION:
• Define a fixed reference frame OXYZ at O and a
moving reference frame Axyz or F attached to the arm
at A.






r = L i + Rj rP A = Rj





Ω = ω1 j ωD F = ω 2k

• With P’ of the moving reference frame coinciding with

P, the velocity of the point P is found from




v P = v P′ + v P F







v P ′ = Ω × r = ω1 j × (L i + R j ) = −ω1 L k









v P F = ω D F × rP A = ω 2 k × R j = −ω 2 R i




v P = −ω 2 R i − ω1 L k

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Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.15
• The acceleration of P is found from





a P = a P′ + a P F + ac


a P′ = Ω × (Ω × r ) = ω1 j × (− ω1 Lk ) = −ω1 Li





2

(

a P F = ω D F × ω D F × rP A


)


2

= ω 2 k × (− ω 2 R i ) = −ω 2 R j




a c = 2Ω × v P F




= 2ω1 j × (− ω 2 R i ) = 2ω1ω 2 Rk

2
2


a P = −ω1 L i − ω 2 Rj + 2ω1ω 2 Rk
• Angular velocity and acceleration of the disk,







ω = Ω +ωD F ω = ω1 j + ω 2 k



α = (ω )F + Ω × ω





= ω1 j × (ω1 j + ω 2 k )





α = ω1ω 2 i
© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 64