AE2103 Kinematics and Dynamics

Planar Kinematics of a Rigid Body

Module 4 Relative Motion Analysis
Ref: Engineering Mechanics: Dynamics, R.C. Hibbeler, 12th Ed. Chapter 16

L. Gunawan
Aerospace Engineering - FMAE ITB
2020
 Planar Kinematics of a Rigid Body
Objectives Study Material
To classify the various types of rigid-body planar motion. - Planar Kinematics Module 1
- Hibbeler Sect 16.1
To investigate rigid-body translation and angular motion about a - Planar Kinematics Module 2
fixed axis. - Hibbeler Sect 16.2, 16.3
To study planar motion using an absolute motion analysis. - Planar Kinematics Module 3
- Hibbeler Sect 16.4
To provide a relative motion analysis of velocity and acceleration - Planar Kinematics Module 4
using a translating frame of reference. - Hibbeler Sect 16.5, 16.7
To determine the velocity of a point on a body by using the - Planar Kinematics Module 5
instantaneous center of zero velocity. - Hibbeler Sect 16.6
To provide a relative-motion analysis of velocity and acceleration - Planar Kinematics Module 6
using a rotating frame of reference. - Hibbeler Sect 16.8
Relative Motion Analysis : Velocity

• General Planar Motion of a rigid body =

translation + rotation
• The relative motion analysis uses two coordinate
systems to distinguish the two motions:
 Fixed coordinate system xy, to measure the
position of every point of the rigid body
 Translating coordinate system x’y’, with its origin
attached to a reference point, to describe the
orientation of the rigid body with respect to the
reference point (in this case A).
Position, Displacement, Velocity
• Position: /

• Displacement: /

Due to rotation wrt A

Due to translation equals to that at A
Displacement of point B

• Velocity: /

/
/
Note 1: Characteristics of relative velocity between two points of a rigid
body

vB
vB/A
rB/A
/

vA
/

rB
rA
Relative velocity of B to A, / :
- Direction: perpendicular to AB
- Magnitude: angular velocity of the
w rigid body x length of AB
O
 Note 2: Reference point in relative motion analysis

• Any point of a rigid body can be used as a reference, as long as its velocity is known.

VB= 4 m/s w=3 rad/s

B B B B
VB= 4 m/s

1.33 m
L= AB = 2 m
w=3 rad/s
w=3 rad/s
VIC=0
A
VA = 2 m/s VA = 2 m/s

Link AB with known velocity at A and B. Ref point: A Ref point: B Ref point: C
The angular velocity of this link:
Motion of link AB can be represented as translation at ref A, B,
𝜔 = (𝑉 − 𝑉 )/𝐿 = 3 rad/s
or C, and the link rotates to that reference.
Summary

Motion of Point B = Translation measured at A + Rotation wrt to A

Velocity of point B = Velocity of point A + Relative velocity of B to A

Example 1
The link AC is guided by two blocks at A
and B, which move in the fixed slots. If
the velocity of A is 2 m/s downward,
determine the velocity of B at the
instant  = 450.
Solution method 1: Vector analysis
• Block A moves downward with velocity 2 m/s, and block B moves
horizontally
• The velocity of point A of the link is downward 2 m/s. The velocity of
point B is not yet known but its direction is horizontal (for this
example it is easy to see that the direction is to the right).
• Hence the AC link moves downward at A and rotates wrt A such that
point B moves horizontally to the right.

• Velocity equation:
𝒗 =𝒗 +𝒗 / =𝒗 +𝝎×𝒓 /

𝑣 𝒊 = − 2 𝒋 + 𝜔𝒌 × (0.2 sin 45 𝒊 − 0.2 cos 45 𝒋)

𝑣 𝒊 = − 2 𝒋 + 0.2𝜔 sin 45 𝒋 + 0.2𝜔 cos 45 𝒊)
• Hence:

0𝒋 = − 2 𝒋 + 0.2𝜔 sin 45 𝒋 𝜔 = 14.1 𝑟𝑎𝑑/𝑠

𝑣 𝒊 = 0.2𝜔 cos 45 𝒊 𝑣 = 2 𝑚/𝑠
Solution method 2: Scalar Analysis

• Relative velocity equation:

𝒗 =𝒗 +𝒗 /

• is a vector with magnitude 2 m/s, downward

• / is a vector with magnitude , with
direction perpendicular to AB, or 45o to horizontal line
• is a vector with unknown magnitude, with
direction to the right
𝑣 2 𝑚/𝑠 𝜔(0.2𝑚)
= +
→ ↓ ↗ (45°)

→ 𝑣 = 0 + 𝜔 0.2 cos 45° 𝜔 = 14.1 𝑟𝑎𝑑/𝑠

↑ 0 = −2 + 𝜔 0.2 sin 45° 𝑣 = 2 𝑚/𝑠
Solution method 3: Velocity diagram
Relative velocity equation: /

Vector diagram of the relative velocity equation:

, horizontal
45o

∟
= 2 m/s
vertical /
45o

By using trigonometry, magnitude of VB and VB/A can be determined.

𝑣 = 2 𝑚/𝑠
𝑣 / = 2 2 𝑚/𝑠
𝑣 / 𝑟𝑎𝑑
Angular velocity of link AB: 𝜔= = 14.1 .
0.2 𝑠
Solution using absolute motion analysis
Coord x represents position of piston B from a fixed ref.
Coord y represents position of piston A from a fixed ref.

Position equation:
Velocity equation:

y y
At  = 45o: 𝑥 = 𝑦 = 0.2 sin 45o

Velocity of A = 2 m/s downward, hence: 𝑦̇ = −2 m/s

x
x Velocity of B :

An equation for 𝜃 can be setup and similar

procedure can be performed to find 𝜃̇.
Example 2
Point B of an isosceles triangle component
ABC is constrained to move only in
horizontal direction, and point A is
attached to the end of an hydraulic
actuator that can extend only in vertical
direction with constant speed of 0.3 m/s.
For  = 30o, determine (using relative
motion method):
1. Velocity and acceleration of B
2. Angular velocity and acceleration of BC
edge.
Example 2
Relative velocity equation: /

Vector diagram of the relative velocity equation:

= 0.3 m/s 30
o

/
vertical

60o 𝑣 = 0.3 tan 30 = 0.173 𝑚/𝑠

0.3
, horizontal 𝑣 / = = 0.346 𝑚/𝑠
cos 30
𝑣 / 𝑟𝑎𝑑
𝜔= = 1.73 .
0.2 𝑠
Relative Motion Analysis : Acceleration

= +

/ 𝒕 / 𝒏

/ 𝐧 /
/ / 𝟐
/
Relative acceleration equation in vector form

= +

/ 𝒕 / 𝒏
Example
• The collar C moves downward with an
acceleration of 1 m/s2. At the instant
shown, it has a speed of 2 m/s which
gives links CB and AB an angular
velocity wAB=wCB=10 rad/s. Determine
the angular acceleration of CB and AB
at this instant.
 The information of the motion of the
mechanism includes already the velocity data.
Relative acceleration equation:
𝑩/𝑪

𝒏 𝒕 / 𝒏 / 𝒕
(𝒂𝑩 ) = −𝜔 𝒓 = −10 × (−0,2𝑗) = 20 𝒋
(𝒂 ) = 𝜶 × 𝒓 = 𝛼 𝒌 × −0,2𝒋 = 0,2𝛼 𝒊
All a in
m/s2.
𝒂𝐂 = −1𝒋
(𝑎 / ) = −𝜔 𝒓 = −10 × 0,2𝒊 − 0,2𝒋 = −20𝒊 + 20𝒋
(𝑎 / ) = 𝜶 ×𝒓 / = 𝛼 𝒌 × 0,2𝒊 − 0,2𝒋 = 0,2𝛼 𝒊+𝒋
Note that the unknown angular
accelerations, and are Hence, the relative acceleration equation becomes:
assumed in positive z directions
(+ unit vector k) 20𝒋 + 0,2 𝛼 𝒊 = −1𝒋 − 20𝒊 + 20𝒋 + 0,2𝛼 𝒊 + 0,2𝛼 𝒋

CCW
0,2 𝛼 = −20 + 0,2𝛼 𝛼 = 5 𝑟𝑎𝑑/𝑠
20 = −1 + 20 + 0,2𝛼 𝛼 = −95 𝑟𝑎𝑑/𝑠 CW