Chapter 15

Kinematics of Rigid Bodies

All figures taken from Vector Mechanics for Engineers: Dynamics, Beer
and Johnston, 2004

1
Comparison between Kinematics and Dynamics:

Kinematics Dynamics

A study that describes the

motion of points, bodies
A study of forces and
(objects) and systems of
Definition torque and its effect on
bodies (groups of objects)
motion
without consideration of
the causes of motion

Applied mathematics,
robotics, mechanical
Applied mathematics,
Area of study used in engineering, robotics,
mechanical engineering
biomechanics and
astrophysics
Concerned with
Concerned with the
properties of motion only,
analysis of the forces
Properties such as velocity,
operating upon any
displacement, and
moving body
acceleration
2
Recap

3
RIGID BODY CONCEPT

4
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

5
Motion of the plate: is it translation or rotation?

Curvilinear translation Rotation

6
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,
   
rB  rA  rB A  rA
 
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.
7
Rotation About a Fixed Axis
When a body rotates about a fixed axis, any
point P in the body travels along a circular path.
The angular position of P is defined by .
The change in angular position, d, is called the
angular displacement, with units of either
radians or revolutions. They are related by
1 revolution = 2 radians
Angular velocity, , is obtained by taking the
time derivative of angular displacement:
 = d/dt (rad/s) +
Similarly, angular acceleration is
 = d2/dt2 = d/dt or  = (d/d) + rad/s2

8
Rotation About a Fixed Axis: Velocity
• Consider rotation of rigid body about a
fixed axis AA’

 
• Velocity vector v  dr dt of the particle P is
tangent to the path with magnitude v  ds dt
s  BP   r sin  
ds 
v  lim r sin    r sin 
dt t 0 t

• The same result is obtained from


 dr  
v  r
dt
  

   k   k  angular velocity

9
Rotation About a Fixed Axis: Acceleration
• Differentiating to determine the acceleration,

 dv d  
a    r 
dt dt
 
d   dr
 r  
dt dt

d   
 r  v
dt

d 
•    angular acceleration
dt
  

  k   k   k

• Acceleration of P is combination of two

vectors,
     
a    r     r
 
  r  tangential acceleration component
  
    r  radial acceleration component
10
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
 
an   2 r an  r 2
11
 Tangential and Normal Component of
Acceleration

The normal component of acceleration is also called the centripetal component of

acceleration or sometimes the radial component of acceleration. To understand centripetal
acceleration, suppose you are traveling in a car on a circular track at a constant speed. Then,
as we saw earlier, the acceleration vector points toward the center of the track at all times.
As a rider in the car, you feel a pull toward the outside of the track because you are
constantly turning. This sensation acts in the opposite direction of centripetal acceleration.
The same holds true for non-circular paths. The reason is that your body tends to travel in a
straight line and resists the force resulting from acceleration that push it toward the side.
12
 Tangential and Normal Component of
Acceleration

The tangential acceleration is a measure of the rate of change in the magnitude of

the velocity vector, i.e. speed, and the normal acceleration are a measure of the rate
of change of the direction of the velocity vector.

13
Examples

14
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.

d d
• Recall   or dt 
dt 
d d 2 d
  2 
dt dt d

• Uniform Rotation,  = 0:
   0  t

• Uniformly Accelerated Rotation,  = constant:

  0  t
   0   0t  12  t 2
 2   02  2    0 
15
Sample Problem 5.1

Cable C has a constant acceleration of 9 in/s2 and an initial

velocity of 12 in/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.

16
Sample Problem 5.1
• The tangential velocity and acceleration of D are equal to the
velocity and acceleration of C.
 
 
v   v   12 in. s 
D 0 C 0
a 
D t  aC  9 in. s 

vD 0  r0 aD t  r

vD 0 aD t 9
0 
12
  4 rad s    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.
 
  0  t  4 rad s  3 rad s2 2 s   10 rad s
 
   0t  12 t 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
 2 rad 

vB  r  5 in.10 rad s  vB  50 in. s 
yB  r  5 in.14 rad  yB  70 in.
17
Sample Problem 5.1
• Evaluate the initial tangential and normal acceleration
components of D.
aD t  aC  9 in. s 
aD n  rD02  3 in.4 rad s2  48 in s2

aD t  9 in. s2  aD n  48 in. s2 

Magnitude and direction of the total acceleration,

aD  aD t2  aD 2n

 92  482 aD  48.8 in. s2

aD n
tan  
aD t
48

9   79.4

18
19
20
vB  23.5 in / s
vB / A  16.64 in / s

  vB / A 30  0.55 rad / s
21
22
 Does Spiderman violate the laws of dynamics?
In one of his movies, he keeps pace with a speeding police
car by swinging like a pendulum on the end of a line of
spider silk of length L as shown below. Find the average
horizontal velocity using this means of transport.

23
Free body diagram of spider man

24
 Solution:
We write Newton’s second law for the θ coordinate.

 F  ma

d 2
mg cos  mL
dt 2
We can rewrite this result as
d g d
 cos 
dt L dt
Next, we use the chain rule of calculus to rewrite this again as
d d d d g
   cos
dt dt d d L
This is now in a form where we can separate variables and integrate.

  g g Again, we separate variables and integrate over one 180° arc.


0
d  
0 L
cosd   2 / 2  sin 
L
 d 2g t 2g
Solving for ω and setting ω=dθ/dt gives

0
sin 

L 0
dt  5.08  t
L

d 2 g sin 

dt L
Solving for the time to complete the arc gives. L
t  5.08
2g
The horizontal distance traveled during this time is 2L. Therefore, the average horizontal velocity is given as v  2L  0.557 Lg
horz
t
25
Assignmnet

26
General Plane Motion
A combination of translation & rotation

27
 General Plane Motion

Pure translation, followed by rotation about A2 (to move B'1 to B' 2)

Motion of B w.r.t. A is pure rotation, i.e. B draws a circle centered at A

Any plane motion can be represented as a translation of an

arbitrary reference point A and a rotation about A.
28
 Absolute and Relative Velocity
For any two points lying on the same rigid body: vB  vA  vB A

Note: vB A  r r = distance from A to B

   
vB A  k  rB / A v B  v A   k  rB A
Equation can be represented graphically by a velocity diagram
29
 Absolute and Relative Velocity
Assuming that the velocity vA of end A is known, determine
the velocity vB of end B and the angular velocity .
Locus for vB

Locus
for vB/A
vA
vB 
vB/A

vB  vA  vB A
The direction of vB and vB/A are known. Complete the velocity diagram.
vB
tan    vB  v A tan 
vA
vB A  cos 
vB A vA
vB A  l       
l l  cos  l cos 30
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.
31
Rolling Motion
Consider a circular disc that rolls without slipping on a flat surface

O1 O2
r
A2 
From geometry: s  r
A1 s
s = displacement of center

v  r  r

32
Sample Problem 15.2

The double gear rolls on the 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.

33
Sample Problem 15.2
vD/A vB/A
vA  ArA

v A 1.2
A    8 rad / s
rA 0.15

     
For any point P on the gear: vP  v A  vP A  v A  k  rP A
For point B: vB  v A  vB A  1.2   8  0.1  2 m / s 
vR  vB  2 m / s 

For point D: vD  vA  vD A  1.2i  8  0.15 j  1.2i  1.2 j

34
Sample Problem 15.3

The crank AB has a constant clockwise angular velocity of

2000 rpm. For the crank position indicated, determine (a) the
angular velocity of the connecting rod BD, and (b) the velocity
of the piston P.

35
Sample Problem 15.3

  
vD  vB  vD B

• The velocity vB is obtained from the crank rotation data.
rev  min  2 rad 
 AB   2000     209.4 rad s
 min  60 s  rev 
vB   AB  AB  3 in.209.4 rad s 

Locus for vD/B 

• The direction of the absolute velocity vD is horizontal.

The direction of the relative velocity vD B is
Locus for vD perpendicular to BD.

36
Sample Problem 15.3

• Determine the velocity magnitudes vD and vD B

from the vector triangle drawn to scale.

vD  523.4 in. s  43.6 ft s

vD B  495.9 in. s

   vD B  l BD
vD  vB  vD B
vD B 495.9 in. s
 BD  
l 8 in.
 62.0 rad s
37
 Instantaneous Center of Rotation
For any body undergoing planar motion, there always exists a
point in the plane of motion at which the velocity is
instantaneously zero (if it were rigidly connected to the body).

This point is called the instantaneous center of

rotation, or C.
It may or may not lie on the body!

If the location of this point can be determined, the velocity

analysis can be simplified because the body appears to rotate
about this point at that instant.
38
 Instantaneous Center of Rotation
To locate the C, we use the fact that the velocity of a point on a
body is always perpendicular to the position vector from C to that
point.
If the velocity at two points A and B are
known, C lies at the intersection of the
perpendiculars to the velocity vectors
through A and B .

If the velocity vectors at A and B

are perpendicular to the line AB,
C 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 vectors are equal & parallel, C is at infinity and the angular
velocity is zero (pure translation)
39
Instantaneous Center of Rotation

If the velocity vA of a point A on the body and

the angular velocity  of the body are
known, C is located along the line drawn
perpendicular to vA at A, at a distance
r = vA/ from A. Note that the C lies up and
to the right of A since vA must cause a
clockwise angular velocity  about C.

40
Velocity Analysis using Instantaneous Center
The velocity of any point on a body undergoing general plane
motion can be determined easily if the instantaneous center
is located.
Since the body seems to rotate about
the IC at any instant, the magnitude of
velocity of any arbitrary point is v =  r,
where r is the radial distance from the IC
to that point. The velocity’s line of action
is perpendicular to its associated radial
line. Note the velocity has a direction
which tends to move the point in a
manner consistent with the angular
rotation direction.

41
Velocity Analysis using Instantaneous Center

42
 Instantaneous Center of Rotation

C lies at the intersection of the

perpendiculars to the velocity
vectors through A and B .
vA vA
 
AC l cos 
vA
v B  BC   l sin  
l cos 
 v A tan 

The velocity of any point on the rod can be obtained.

Accelerations cannot be determined using C.

43
Sample Problem 15.4, using instantaneous center

The double gear rolls on the 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.

44
Sample Problem 15.4
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.

vA 1.2
vA  rA      8rad s
rA 0.15

vR  vB  rB  8 0.25

 
vR  2 m s i
rD   0.15
 2  0.2121 m
vD  rD  8 0.2121
vD  1.697 m s
  
vD  1.2i  1.2 j m s 
45
 Sample Problem 15.5 using instantaneous center

Crank-slider mechanism

The crank AB has a constant clockwise angular velocity of

2000 rpm. For the crank position indicated, determine (a) the
angular velocity of the connecting rod BD, and (b) the velocity
of the piston P.

46
 Sample Problem 15.5

C is at the intersection of the perpendiculars to the velocities through B and D.

vB   AB  AB   BD  BC 

BD 
vB vD  BD  CD 
BC
47
Absolute and Relative Acceleration

  
Absolute acceleration of point B: a B  a A  a B A

Relative acceleration a B A includes tangential and normal components:

 aB A   r
t
 B A
a 
n
r 2

48
Absolute and Relative Acceleration

   
• Given a A and v A , determine a B and  .
  
aB  a A  aB A

 
n  
 a A  aB A  aB A t

• Vector result depends on sense of a A and the

relative magnitudes of a A and a B A n
• Must also know angular velocity .
49
Absolute and Relative Acceleration

Draw acceleration diagram to scale:

50
Sample Problem 15.6

The center of the double gear has a velocity and acceleration

to the right of 1.2 m/s and 3 m/s2, respectively. The lower rack
is stationary.
Determine (a) the angular acceleration of the gear, and (b) the
acceleration of points B, C, and D.
51
 Sample Problem 15.6
v A 1.2
vA  r      8 rad / s
r 0.15
a 3
aA   r    A   20 rad / s 2
r 0.15

aB  a A  aB A aC  a A  aC A

 3i   2 r ( j )   ri  3i   2 r ( j )   r (i )
 3i  (8) 2 (0.1) j  (20)(0.1)i  3i  (8) 2 (0.15) j  (20)(0.15)i
 5i  6.4 j  9.6 j
aD  a A  aD A
 3i   2 r (i )   rj
 3i  (8) 2 (0.15)i  (20)(0.15) j
 12.6i  3 j
52
Sample Problem 15.7

Crank AG of the engine system has a constant clockwise

angular velocity of 2000 rpm.
For the crank position shown, determine the angular
acceleration of the connecting rod BD and the acceleration
of point D.

53
Sample Problem 15.7

  
aD  aB  aD B


 aB  aD  
B t

 aD 
B n

 AB  2000 rpm  209.4rad s  constant

 AB  0
aB  r  ft   209.4rad s   10,962ft s 2
2 3 2
AB 12

From Sample Problem 15.3, BD = 62.0 rad/s, b = 13.95o.

54
 Sample Problem 15.7
Draw acceleration diagram:
  
aD  aB  aD B


 aB  aD 
B t  a

D B n
aD B n  BD  BD
2
 12
8 ft 62.0 rad s 2  2563 ft s2

aD B t  BD  BD  128 ft  BD  0.667 BD

Drawn to scale

55
Sample Problem 15.8

Four-bar mechanism
In the position shown, crank AB has a constant angular velocity
1 = 20 rad/s counterclockwise. Determine the angular
velocities and angular accelerations of the connecting rod BD
and crank DE.

56
 Sample Problem 15.8
vB vD Velocities
  
vD  vB  vD B

vB  1 ( AB)
Velocity diagram
vD/B vB

vD/B
vD
vD B  BD ( BD)
Shown here not to scale
vD  DE ( DE )
   
 BD  29.33 rad s k  DE  11.29 rad s k
57
 Sample
a Problem 15.8D/B t aD/E t
Accelerations
  
aD  aB  aD B
aD/B n

aD/E n
Acceleration diagram
aB
aD/E n
aB   ( AB) 2
AB
aB
 D B  BD (BD)
a  n
2

a    2 aD/B n
D E n DE ( DE )
aD/E t
a   
D E t DE ( DE )

 BD  
  645 rad s k 2
 
 DE  
 809 rad s k
2
 Shown here not to scale

58
 Higher-Order Kinematics of Rigid
Bodies. A Tensors Algebra Approach
The problem of determining the tensors and the vector
invariants that describe the vector field of the nth order
accelerations is generally avoided in rigid body kinematics.

Using the tensor calculus and the dual numbers algebra,

a computing method for studying the nth order acceleration field
properties is proposed for the case of the general motion of the
rigid body. This approach uses the isomorphism between the
Lie group of the rigid displacements SE and the Lie group
3

of the orthogonal dual tensors SO .

3

59
60
61
62
Does the superhero Hancock violate the laws of dynamics? In the
movie, he brings a moving train to an abrupt stop using his bare hands.
Find the force required to bring a 200ton locomotive traveling at
20mph to a complete stop in one second as shown below.

Solution:
We begin by writing the impulse-momentum relation for the
locomotive subjected to a force in the x-direction.

 F dt  mv
x x  end  mv x  start
63
To make the integration simple, let’s assume that the force Fx is
constant. This gives
Fx t  mvxstart  Fx  mvxstart / t

For this case we have m=12,422slugs, vx-start=-29.3ft/s, and t=1s.

This gives Fx=364,000lb. Let’s now draw a free body diagram of
Hancock, assuming he weighs 200lb.

64
The horizontal force of 364,000lb must be transmitted into the ground to
keep Hancock motionless as shown in the movie. If this were done by
friction, it would require μN=364,000lb. This results in a coefficient of
friction μ=1820. This is not possible. Perhaps he braces his feet against
a railroad tie. Can a 6inX10inX72in wooden beam carry a 364,000lb
force?

65
A bar with length L is released from the position shown with θ=30°.
Find the acceleration of the contact point if the surface is
frictionless

66
Considering force equilibrium in the x-direction gives

F x  macx  0  macx
Since ω=0 for the initial position, the accelerations of points c and o
are related through the rigid-body kinematic relation
L
acx  aox   sin 
2
Combining this with the previous equation, we conclude that
L
aox   sin 
2
Considering moment equilibrium about point o gives

L 1 L
 M oz  I o  m( xc aoy  yc a0 x )  mg 2
cos  mL2  m sin aox
3 2
Combining this equation with the previous one gives

g
 sin  cos
aox  2  12.9 ft / s 2
2 1 2
 sin 
3 2

67
 Rate of Change With Respect to a Rotating
Frame • With respect to the rotating Oxyz frame,
   
Q  Qx i  Q y j  Qz k








Q Oxyz  Qx i  Q y j  Qz k

• With respect to the fixed OXYZ frame,








   
Q OXYZ  Qx i  Q y j  Qz k  Qx i  Q y j  Qz k

• Frame OXYZ is fixed.









• Qx i  Q y j  Qz 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  equivalent to velocity of a point in a rigid
   body
 attached to Oxyz and Qx i  Q y j  Qz k    Q
• Vector function Qt  varies
in direction and magnitude. • With respect to the fixed OXYZ frame,


Q OXYZ  Q
  
 Q
Oxyz
15 - 68
Coriolis Acceleration
• Frame OXY is fixed and frame Oxy rotates with angular
velocity  .

• Position vector rP for 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    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.
 
vP 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
15 - 69
Coriolis Acceleration
• Absolute acceleration for the particle P is
    

a P    r    r OXY  r Oxy
  
d 
dt


but, r OXY    r  r Oxy

dt

d 
  
r Oxy  r Oxy    r Oxy

      
a P    r      r   2  r Oxy  rOxy
    
v P    r  r Oxy
 
 v P  v P F • Utilizing the conceptual point P’ on the slab,
    
a P    r      r 

 
a P F  rOxy

• Absolute acceleration  for the particle P becomes

  
a P  a P  a P F  2  r Oxy
  
 a P  a P F  ac
    
ac  2  r Oxy  2  v P F  Coriolis acceleration

15 - 70
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 . 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    r      r 

a A  r 2
 
aP F  rOxy  0
  
ac  2  vP F ac  2u

• The absolute acceleration consists of the radial and

tangential vectors shown

15 - 71
 Coriolis Acceleration
• Change in velocity over t is represented by the
sum of three vectors

v  RR  TT   T T 
• TT  is due to change in direction of the velocity of
point A on the rod,
TT  
lim  lim v A  r  r 2  a A
t 0 t t 0 t
    
recall, a    r      r 

at t ,
 
v  vA  u
 A a  r 2
A
  
at t  t , v   v A  u  • RR and T T  result from combined effects of
relative motion of P and rotation of the rod
 RR T T    r 
lim     lim  u  
t 0 t t  t 0 t t 
 u  u  2u
  
recall, ac  2  vP F ac  2u
15 - 72
 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


v P of pin P are calculated from the
radius and angular velocity of disk D.

• Direction of velocity v P of point P’ on
S coinciding with P is perpendicular to
Disk D of the Geneva mechanism rotates
radius OP.
with constant counterclockwise angular
velocity D = 10 rad/s. 
• Direction of velocity v P s of P with
At the instant when  = 150o, determine respect to S is parallel to the slot.
(a) the angular velocity of disk S, and (b) • Solve the vector triangle for the
the velocity of pin P relative to disk S. angular velocity of S and relative
velocity of P.
15 - 73
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.
vP  R 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  0.551R 2 r  37.1 mm

From the law of cosines,

sinb sin 30 sin 30
 sin b  b  42.4
R r 0.742
The interior angle of the vector triangle is
  90  42.4  30  17.6

15 - 74
Sample Problem 15.9
• Direction of velocity of point P’ on S coinciding with P is
perpendicular to radius OP. From the velocity triangle,

vP  vP sin   500 mm s sin 17.6  151.2 mm s

151.2 mm s
 r s s 
37.1 mm
 
s   4.08 rad s k

vP s  vP cos   500 m s cos17.6

  
vP s  477 m s  cos 42.4i  sin 42.4 j 

vP  500 mm s

15 - 75
 Sample Problem 15.10
In the Geneva mechanism, disk D
rotates with a constant counter-
clockwise angular velocity of 10
rad/s. At the instant when j = 150o,
determine angular acceleration of
disk S.
SOLUTION:
• The absolute acceleration of the pin P may
be expressed as
   
a P  a P  a P s  a c
• 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
angular acceleration of Disk S.
• Resolve each acceleration term into the
component parallel to the slot. Solve for
the angular acceleration of Disk S.
15 - 76
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.

 
b  42.4  S   4.08 rad s k
  
 
vP s  477 mm s  cos 42.4i  sin 42.4 j 

• Considering each term in the acceleration equation,

aP  R D 2
 500mm 10 rad s 2  5000 mm s 2

  
aP  5000 mm s cos 30i  sin 30 j 
2



  
aP  aP n  aP t

  
aP n  r S  cos 42.4i  sin 42.4 j 
2 
 
aP t  r S  sin 42.4i  cos 42.4 j 
 
aP t   S 37.1mm  sin 42.4i  cos 42.4 j 
note: S may be positive or negative
15 - 77
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 S.
 

 
ac  2 S vP 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 2  sin 42.4i  cos 42.4 j 



• The relative acceleration aP s must be parallel to
the slot.

• Equating components of the acceleration terms

perpendicular to the slot,
37.1 S  3890  5000 cos17.7  0
 S  233 rad s
 
 S   233 rad s k

15 - 78
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  , the velocity of a particle P of the body is

 dr  
v  r
dt
and the acceleration of the particle P is

       d
a    r      r   .
dt

• The angular acceleration  represents the velocity of
the tip of  .

• As the vector  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.
15 - 79
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    rB A

• Similarly, the acceleration of the particle P is

  
aB  a A  aB A
  

  
 a A    rB A      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.

15 - 80
 Sample Problem 15.10
SOLUTION:
   
With 1  0.30 j  2  0.50k
  

r  12 cos 30i  sin 30 j 
 
 10.39i  6 j

• Angular velocity of the boom,

  
The crane rotates with a constant   1   2
angular velocity 1 = 0.30 rad/s and the
boom is being raised with a constant • Angular acceleration of the boom,
      
angular velocity 2 = 0.50 rad/s. The   1   2   2   2 Oxyz     2
length of the boom is l = 12 m.  
 1   2
Determine:
• angular velocity of the boom, • Velocity of boom tip,
  
• angular acceleration of the boom, v  r
• velocity of the boom tip, and • Acceleration of boom tip,
• acceleration of the boom tip.          
a    r      r     r    v
15 - 81
Sample Problem 15.10
SOLUTION:
• Angular velocity of the boom,
  
  1  2  

  0.30 rad s  j  0.50 rad s k
• Angular acceleration of the boom,
      
  1   2   2   2 Oxyz     2
   
 1   2  0.30 rad s  j  0.50 rad s k

 
2 
  0.15 rad s i
• Velocity of boom tip,
  
i j k
  
v  r  0 0.3 0.5
10.39 6 0
      

1  0.30 j  2  0.50k v  3.54 m s i  5.20 m s  j  3.12 m s k
  
r  10.39i  6 j
15 - 82
Sample Problem 15.10
• Acceleration of boom tip,
         
a    r      r     r    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
    
 0.90k  0.94i  2.60i  1.50 j  0.90k


  
2  2 
 
a   3.54 m s i  1.50 m s j  1.80 m s k
2



   
1  0.30 j  2  0.50k
  
r  10.39i  6 j
15 - 83
Three-Dimensional Motion. Coriolis
Acceleration
• With respect to the fixed frame OXYZ and rotating
frame Oxyz,


Q OXYZ  Q

Oxyz
 
 Q

• Consider motion of particle P relative to a rotating

frame Oxyz or F for short. The absolute velocity can
be expressed as
   
v P    r  r Oxyz
 
 v P  v P F
• The absolute acceleration can be expressed as
      
a P    r      r   2  r Oxyz  rOxyz
 
  
 a p  a P F  ac
    
ac  2  r Oxyz  2  v P F  Coriolis acceleration


15 - 84
 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    rP A  rP A 
  
Axyz
 
 v P  v P F
    
a P  a A    rP A      rP A 
Consider:  
- fixed frame OXYZ,  
 2  rP A   rP A 

- translating frame AX’Y’Z’, and
Axyz Axyz
- translating and rotating frame Axyz   
or F.  a P  a P F  ac

15 - 85
 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
• The acceleration of P is found from
constant.    
a P  a P  a P F  a c
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    D F
   
   F    
acceleration of the disk.

15 - 86
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  Li  Rj rP A  Rj
   
  1 j D F  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    r  1 j  Li  Rj   1L k
     
v P F   D F  rP A   2 k  Rj   2 R i
  
v P   2 R i  1L k

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Sample Problem 15.15
• The acceleration of P is found from
   
a P  a P  a P F  a c
     2 
 
aP      r   1 j   1Lk  1 Li

 
 
a P F   D F   D F  rP A


  2 
  2 k    2 R i    2 R j
  
ac  2  v P F
  
 21 j    2 R i   21 2 Rk
 2  2  
aP  1 L i   2 Rj  21 2 Rk
• Angular velocity and acceleration of the disk,
     
   D F   1 j   2 k
   
   F    
   
 1 j  1 j   2 k 

  1 2i
15 - 88