Civil Engineering Mechanics

CVG2149

LEC12

Kinematics of Rigid Bodies

(CH. 15)

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

1
 Definition formulas
Chapter 11:

dx
Velocity: v
dt
dv d  dx  d 2 x
Acceleration
a a    2
dt dt  dt  dt

v  cst
Equation of Uniform Motion
a0

Equation Uniformly Accelerated Motion a  cst

Equations Defining the Rotation of a Rigid Body

About a Fixed Axis

d Angular d
Angular  displacement 
Angular
 
Velocity: dt Acceleration dt

2
 Rotation About a Fixed Axis.

 dr  
v r
dt
  
   k  k  angular velocity
 
v  k  r

d 
   angular acceleration
dt

• Acceleration: • Acceleration of P is combination of two

 vectors,
     
 dv d  
a    r  a    r     r
dt dt tangentia l accelerati on component

d   
 r v radial accelerati on component
dt

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    r  k  r
v  r

• Acceleration of any point P of the slab,

     
a    r     r
  
  k  r   2r

• Resolving the acceleration into tangential and

normal components,
  
at  k  r a t  r
 2
an   r an  r 2

3
 a t  r
a n  r 2
v  r
Application
75mm
Cable C has a constant acceleration of
225 mm/s2 and an initial velocity of 300
mm/s, both directed to the right.
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.
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
pulley after 2 s.
• Evaluate the initial tangential and
normal acceleration components of
D.
4
 SOLUTION:
• The tangential velocity and acceleration of D are equal to the
velocity and acceleration of C.

aD t  aC  225 mm s 

aD t  r
aD t 225
   3 rad s 2
r 75
• Apply the relations for uniformly accelerated rotation to
determine velocity and angular position of pulley after 2 s.

= 2.23 rev

• Load B

• Evaluate the initial tangential and normal acceleration

components of D.

Magnitude and direction of the total acceleration,

5
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   k  rB A v B A  r
   
v B  v A   k  rB A

Absolute and Relative Velocity in Plane Motion

6
 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  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  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.

Application
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
The double gear rolls on the may be written as
stationary lower rack: the velocity of      
vP  v A  vP A  v A  k  rP A
its center is 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.

7
 SOLUTION:
• The displacement of the gear center in one revolution is
equal to the outer circumference.
For xA > 0 (moves to right),  < 0 (rotates clockwise).
xA 
 x A  r1
2 r 2

y
Differentiate to relate the translational and angular
velocities.
x
v A  r1
vA 1.2 m s   
     k  8 rad s k
r1 0.150 m

     
• For any point P on the gear, vP  v A  vP A  v A  k  rP A

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

velocity of point B:  
      
vR  vB  v A  k  rB A vD  v A  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