AE2103 Kinematics and Dynamics

Planar Kinematics of a Rigid Body

Module 3 Absolute 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
 Absolute Motion Analysis

Motion of a rigid body can be analyzed by:

- Modelling its position as a function of translation and/or angular motion, for
example by using coordinate x(t) for translation and q(t) for angular motion.
- Taking the time derivative of the position to determine its velocity,
- Taking the time derivative of velocity, or the second time derivative of
position, to determine its acceleration.
Example 1
At a given instant, the
cylinder of radius r has an
angular velocity and
angular acceleration .
Determine the velocity and
acceleration of its centre G if
the cylinder rolls without
slipping.
 • Initially, wheel centre is located at G and its contact
with the floor is at A.
• If the wheel rotates without slipping, after a certain
amount of time, its new centre is at G’, its new point
of contact is at B, and the point at wheel that
initially coincides with A moves to A’
• Since the wheel moves without slipping, length GG’
= length AB = arch length A’B
sG = AB = arc length A’B

Displacement of wheel center, G:

Velocity of G:

Acceleration of G:
Example 2
The large window is opened
using a hydraulic cylinder AB. If
the cylinder extends at a
constant rate of 0.5 m/s,
determine the angular velocity
and angular acceleration of the
window at the instant .
• The window is opened by extending actuator AB,
• Window position, q(t), depends on actuator length s(t),
• Cosine Rule is used to state the relation between s(t)
and q(t):
𝑠 = 2 + 1 − 2 2 1 𝑐𝑜𝑠𝜃
𝑠 = 5 − 4𝑐𝑜𝑠𝜃
• Velocity is obtained by taking time derivative of
position:

2𝑠 𝑑𝑠⁄𝑑𝑡 = 4𝑠𝑖𝑛𝜃 𝑑𝜃⁄𝑑𝑡

𝑠
𝑑𝜃⁄𝑑𝑡 = ( ) 𝑑𝑠⁄𝑑𝑡
2𝑠𝑖𝑛𝜃
• Acceleration is obtained by taking time derivative
of velocity:
For q = 30o:
𝑠 = 5 − 4𝑐𝑜𝑠30 = 1.239
(𝑑𝑠⁄𝑑𝑡) +𝑠 𝑑 𝑠⁄𝑑𝑡 = 2𝑐𝑜𝑠𝜃(𝑑𝜃/𝑑𝑡) +2𝑠𝑖𝑛𝜃 𝑑 𝜃⁄𝑑𝑡
.
(𝑑𝑠⁄𝑑𝑡) +𝑠 𝑑 𝑠⁄𝑑𝑡 − 2𝑐𝑜𝑠𝜃(𝑑𝜃/𝑑𝑡) 𝑑𝜃⁄𝑑𝑡 = 0.5=0.6197 rad/s
𝑑 𝜃⁄𝑑𝑡 =
2𝑠𝑖𝑛𝜃 (0.5) +(1.239)(0) − 2𝑐𝑜𝑠30(0.6197)
𝑑 𝜃⁄𝑑𝑡 =
2𝑠𝑖𝑛30
= −0.415 𝑟𝑎𝑑/𝑠
Example 3
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 q = 30o, determine:
1. Velocity and acceleration of B
2. Angular velocity and acceleration of BC
edge.
Position equation:
𝑥 +𝑦 =𝑏
Velocity:
2𝑥𝑥̇ + 2𝑦𝑦̇ = 0
Acceleration:
2𝑥̇ 𝑥̇ + 2x𝑥̈ + 2𝑦̇ 𝑦̇ + 2𝑦𝑦̈ = 0

Since 𝑦 = 𝑏 sin 𝜃, 𝑥 = 𝑏 cos 𝜃, and 𝑑 𝑦⁄𝑑𝑡 = 0, then:

Velocity:
𝑦
𝑣 = 𝑥̇ = − 𝑦̇ = −𝑣 𝑡𝑎𝑛𝜃
𝑥
Acceleration:
𝑥̇ 𝑥̇ + 𝑦̇ 𝑦̇ 𝑣 𝑡𝑎𝑛𝜃 + 𝑣 𝑣
𝑎 = 𝑥̈ = − =− = − 𝑠𝑒𝑐 𝜃
𝑥 𝑏𝑠𝑖𝑛𝜃 𝑏

By introducing vA = 0.3 m/s and q = 30o, it is obtained:

𝑣 = −0.3𝑡𝑎𝑛30 = −0.1732 𝑚/𝑠 Negative sign indicates that vB and aB directions

are to the right.
0.3
𝑎 =− 𝑠𝑒𝑐 30 = −0.693 𝑚/𝑠
0.2
Since ABC is a rigid body, its angular motion, velocity, and acceleration are the same all over the
body. Hence the angular velocity and acceleration of CB equal to those of AB:

By introducing the values of q, b and vA:

0.3
ω= = 1.732 𝑟𝑎𝑑/𝑠
0.2 𝑐𝑜𝑠30
0.3
𝛼= sec 30 𝑡𝑎𝑛30 = 1.732 𝑟𝑎𝑑/𝑠
0.2