Mechanical Engineering

CHAPTER DYNAMICS

5
Dynamics

 R.C. Hibbeler
 Ferdinand P. Beer
E. Russell Johnston, Jr.

Lecture Notes:
Prof. Dr. Kinematics of Rigid Bodies
O. Ersel Canyurt
Gazi University

Prof. Dr. Ersel Canyurt 5-1

Mechanical Engineering
Kinematics of Rigid Bodies

Prof. Dr. Ersel Canyurt 5-2

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Prof. Dr. O. Ersel Canyurt
 Mechanical Engineering
Kinematics of Rigid Bodies

Prof. Dr. Ersel Canyurt 5-3

Mechanical Engineering

APPLICATIONS

Rotating the small gears inside the gear wheel.

These gears may have a different rotational speeds.
Prof. Dr. Ersel Canyurt 5-4

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Prof. Dr. O. Ersel Canyurt
 Mechanical Engineering
Introduction Classification of rigid body motions:
• TRANSLATION (Öteleme)

Consider 2 point on the body

A2
A1

B2
Direction of any straight line inside the body is constant, B1

All particles forming the body move in parallel lines

• If trajectory (yörünge) is linear • If trajectory is curved

rectilinear translation curvilinear translation

• Velocity
• Acceleration
of all particles forming the body is same A2
A1

B2
B1

Prof. Dr. Ersel Canyurt 5-5

Mechanical Engineering
Giriş - rotation about a fixed axis:
B

- general plane motion:

A

vB qo

q1
vB
vA vA
A

- motion about a fixed point:

- general motion:
Prof. Dr. Ersel Canyurt 5-6

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Prof. Dr. O. Ersel Canyurt
 Mechanical Engineering
Rotation About a Fixed Axis. Velocity
• ROTATION about Center O
w
• Velocity vector of the particle P is
vP
P Vector product of
r
O • Position vector r
• and Angular velocity w

vP = w x r

Prof. Dr. Ersel Canyurt 5-7

Mechanical Engineering
Rotation About a Fixed Axis. Acceleration

w
vP = w x r
vP • Differentiating to determine the acceleration
P
r   
O  dv dw   dr
a   r w 
dt dt dt
   
 α r  w v
    
 α  r  w  (w  r )
•  : Angular acceleration

vector triple product

at : tangential component
of acceleration
Prof. Dr. Ersel Canyurt
an : normal component
of acceleration
(merkezsel ivme)
5-8

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Prof. Dr. O. Ersel Canyurt
 Mechanical Engineering
Rotation of a Representative Slab (Levha)
• Take a slab rotating about point O with angular velocity of 2 rad/s

vP • the velocity of any given point P of the slab is

P(4,3) Vector product of
y r ^
w • Angular velocity w= 2 k
^ ^
O(0,0) x • and position vector r = 4 i +3 j

vP = w x r
^ ^ ^ ^ ^ ^
k x j = –i = 2 k x (4 i +3 j )
vP
^ ^ ^ ^ ^
kxi= j vP = – 6 i + 8 j 8
6
Prof. Dr. Ersel Canyurt 5-9

Mechanical Engineering
Rotation of a Representative Slab ^
r = 4 i +3 j
^

• a slab rotating with angular velocity of 2 rad/s and angular acceleration of 5 rad/s2
• the acceleration of any given point P of the slab is
at Vectoral sum of at and an
P(4,3)
y
tangential acceleration at =  x r
r
 an normal acceleration an = w x (w x r)
w an= – w 2 • r
O(0,0) x
normal acceleration
tangential acceleration opposite to position
an = w x (w x r )
at =  x r vector, r

^
= – w2 • r
^ ^
= 5 k x (4 i +3 j ) ^ ^
= – 22 • (4 i +3 j ) r
^ ^
at = – 15 i + 20 j ^ ^ an
Prof. Dr. Ersel Canyurt
an = – 16 i – 12 j
5 - 10

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Prof. Dr. O. Ersel Canyurt
 Mechanical Engineering
Uniformly Rotation
x x
• Remember
• Uniform Linear Motion A B C D
a0 O x

v  v0 Displacement is same
(Yerdeğiştirme miktarları)
y  y0  v0  t
C
B
• Uniform Rotation A Initial
 0 q0
Position

w  w0 O

q  q0  w0  t
Sweep up same angle
Prof. Dr. Ersel Canyurt 5 - 11

Mechanical Engineering
Uniformly Accelerated Rotation
• Uniform Accelerated Linear Motion  x1 x2 x3

a  constant A B C D
O x
v  v0  a  t
Displacement is different
1
y  y0  v0  t  a  t 2
2
C B
• Uniform Accelerated Rotation
A Initial
  constant Position
q0
w  w0    t
O
D
1
q  q 0  w0  t    t 2
2
Sweep up different angle
Prof. Dr. Ersel Canyurt 5 - 12

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Prof. Dr. O. Ersel Canyurt
 Mechanical Engineering
Problem 5.1
m

Cable C has a constant acceleration of 9 m/s2 () and an initial velocity

of 12 m/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

Prof. Dr. Ersel Canyurt 5 - 13

Mechanical Engineering
• the velocity of point D is equal to the velocity of point C and
• the tangential component of the acceleration of D is equal to the acceleration of C.
 
v  vD 0   vC 0  12 m s 
C
 vD 0  r  w0 wo = 4 [rad/s]
5m 3m  
 aD t  aC  9 ms 
2

 aD t  r   o = 3 [rad/s2]
• Uniform Accelerated Rotation
B vB
• t=2s w= wo +  • t w =10 [rad/s]
q= wo • t + ½ •  • t2 q =14 [rad]

 1 devir 
• Number of revolutions N  14 rad    N = 2.23 [revolutions]
 2 rad 

• Velocity of B vB = r • w vB = 50 [m/s]
• Change in
position of B yB = r • q yB = 70 [m]
Prof. Dr. Ersel Canyurt 5 - 14

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Prof. Dr. O. Ersel Canyurt
 Mechanical Engineering
• Evaluate the initial tangential and normal acceleration components of D
 
(aD)t
 aD t  aC  9 m s2 
(aD)n aC
 aD n  rD  w02

aD)n = 48 [m/s2]

The magnitude and direction of the total acceleration

B aB

(aD)t =9 m/s2
D aD  92  482 aD = 48.8 [m/s2]


(aD)n =48 m/s2

9
cos    =79.4
48.8
Prof. Dr. Ersel Canyurt 5 - 15

Mechanical Engineering
General Plane Motion Body final position
A2
B2

Body initial position

A1

B1

Prof. Dr. Ersel Canyurt 5 - 16

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Prof. Dr. O. Ersel Canyurt
 Mechanical Engineering
General Plane Motion Body final position
A2
B2

Body initial position

A1

B1

ROTATION
TRANSLATION about A
with A
B2

’
A2
A1

B2
B1

Prof. Dr. Ersel Canyurt 5 - 17

Mechanical Engineering
General Plane Motion Body final position
A2
B2

Body initial position

A1

B1
ROTATION
about B
ROTATION
TRANSLATION about A ’
TRANSLATION
with A A2 with B
B2
A2
B2’

A2 A2
A1 A1

B2 B2
B1 B1

Prof. Dr. Ersel Canyurt 5 - 18

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Prof. Dr. O. Ersel Canyurt
 Mechanical Engineering
Absolute and Relative Velocity in Plane Motion
vA vA

A A
A vB w
= vA + vB/A
rB/A
B B
B
TRANSLATION ROTATION
vB/A
vB/A= w x rB/A
vA vB

vB = vA + vB/A

Prof. Dr. Ersel Canyurt 5 - 19

Mechanical Engineering
Problem 5.2

The double gear rolls on the stationary lower rack (kremayer): the
velocity of its center is 1.2 m/s.
Determine
(a) the angular velocity of the gear, and
(b) the velocities of point B and point D of the gear.

Prof. Dr. Ersel Canyurt 5 - 20

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Prof. Dr. O. Ersel Canyurt
 Mechanical Engineering

• Angular velocity of gear:

• Gear is Rolling on the stationary lower rack

vA =1.2 m/s
vA = vC + vA/C vC = 0

vA= w x rA/C
^ ^ ^
rA/C = 0.15 j vA= w k x 0.15 j
y
^ ^
+ x 1.2 i = – 0.15 w i

^ ^ ^
k x j = –i
^
Prof. Dr. Ersel Canyurt w = – 8 k [rad/s ] 5 - 21

Mechanical Engineering

^ ^
rB/A = 0.1 j rD/A =– 0.15 i

D
A 0.1
0.15

C
Velocity of point D
Velocity of point B
vD = vA + vD/A
vB = vA + vB/A

^
vB= 2 i [m/s]
Prof. Dr. Ersel Canyurt ‫׀‬vD ‫ = ׀‬1.69 [m/s] 5 - 22

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Prof. Dr. O. Ersel Canyurt
 Mechanical Engineering
Problem 5.3

8m
3m
B
w AB

A 40o 
D

The crank AB has a constant clockwise (saat yönü) angular velocity of 2000
rpm (dev/dak).
For the crank position indicated, determine
(a) the angular velocity of the connecting rod (biyel) BD, and
(b) the velocity of the piston P.
Prof. Dr. Ersel Canyurt 5 - 23

Mechanical Engineering
Problem 5.3 ANALITIC SOLUTION
B Angular velocity of Crank AB
w AB revolution
1 min 2  rad
wAB = 2000
min 60 sn 1 revolution
A 40o
wAB = 209.4 [rad/s]
^ ^
rB/A = 3 cos 40 i + 3 sin 40 j • The velocity B is obtained from
the given crank rotation
^ ^
rB/A = 2.30 i + 1.93 j
vB = vA + vB/A vA =0

vB= wAB x rB/A

^ ^
Prof. Dr. Ersel Canyurt vB= 403.9 i – 481.3 j [m/s] 5 - 24

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Prof. Dr. O. Ersel Canyurt
 Mechanical Engineering
Problem 5.3
B
AB=3 m BD=8 m

40o 
A D

Compute the angle  between the connecting rod and the horizontal

Using Sinus Theorem sin 40 sin 

=
8 3

 = 14o

Connecting rod BD: We consider this motion as a general plane motion

Prof. Dr. Ersel Canyurt 5 - 25

Mechanical Engineering
Problem 5.3
Angular Velocity of connecting rod, BD
B w BD ^
wBD = wBD k

14o D • Velocity of point D

^ ^
rD/B = 8 cos 14 i – 8 sin 14 j vD = vB + vD/B

^
rD/B = 7.76 i – 1.94 j
^ vD= vB + wBD x rD/B

^
vD i = 403.9 ^i – 481.3 j^ +1.94 w BD ^i + 7.76 wBD j^
Prof. Dr. Ersel Canyurt 5 - 26

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Prof. Dr. O. Ersel Canyurt
 Mechanical Engineering
Problem 5.3
^
vD i =403.9 ^i – 481.3 j^ +1.94 w BD ^i + 7.76 wBD j^

y- direction :

wBD = 62 [rad/s]
x- direction :

vD = 523.4 [m/s]
Prof. Dr. Ersel Canyurt 5 - 27

Mechanical Engineering
Problem 5.3 GRAFIC SOLUTION

AB=3 m B 40o • Velocity of point B, vB

w AB vB = |AB| wAB
50o
A 40o
vB

50o

vB = 628.2 [m/s] vB
B BD=8 m
vD/B
w BD • vD/B Relative Velocity

14o 76o vD/B = |BD| wBD

vD/B
D
vD/B = (8) (wBD) 76o

Prof. Dr. Ersel Canyurt 5 - 28

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Prof. Dr. O. Ersel Canyurt
 Mechanical Engineering
Problem 5.3 GRAFIC SOLUTION vD/B
vB = 628.2 [m/s] 50o vD/B = (8) (wBD) 76o

vB=628.2 • Velocity of point D

B
vD/B vD = vB + vD/B
50o

vB vD • Sinus Theorem
76o
vB=628.2 vD vD/B
D = =
vD/B – dir. sin 76 sin 54 sin 50
vD vD= 523 [m/s]
76o
vD – dir.
50o
|vD/B| = 496 [m/s]
vB vD/B
54o
76o vD/B
wBD = wBD = 62 [rad/s]
|BD|
Prof. Dr. Ersel Canyurt 5 - 29

Mechanical Engineering
Instantaneous Center of Rotation (Ani Dönme Merkezi)
• Plane motion of all particles in a slab can be
r=vA/w C
• replaced by the translation of an arbitrary point A

• and a rotation about A with an angular velocity

w
A
vA • instantaneous center of rotation C
• perpendicular () to velocity at A (vA)

• Distance, r=vA/w
• As far as the velocities are concerned, the slab seems to rotate about
the instantaneous center of rotation C

Prof. Dr. Ersel Canyurt 5 - 30

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Prof. Dr. O. Ersel Canyurt
 Mechanical Engineering
Instantaneous Center of Rotation
• If the velocity at two points A and B are known;
• the instantaneous center of rotation C lies
at the intersection of the perpendiculars to the velocity vectors through
A (vA) and B (vB).
the instantaneous center of rotation
C

B
vB
A

vA

It seems: Any given instant the velocities of the various particles of the
slab were rotating about the instantaneous center of rotation
Prof. Dr. Ersel Canyurt 5 - 31

Mechanical Engineering
Instantaneous Center of Rotation
C
If the velocity vectors at A and B
• are perpendicular to the line AB and
• Magnitudes are different B

vB
A

The instantaneous center of rotation C lies at vA

• the intersection of the line AB
• with the line joining the extremities (uzantı) of the velocity vectors at
A and B.

• If the velocity are parallel and magnitudes are equal,

• The instantaneous center of rotation C is at infinity (sonsuz)
 w the angular velocity is zero, Body TRANSLATES (Ötelenir)
Prof. Dr. Ersel Canyurt 5 - 32

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Prof. Dr. O. Ersel Canyurt
 Mechanical Engineering
Instantaneous Center of Rotation

The instantaneous center of rotation C lies

Co • at the intersection of the perpendiculars to the
B velocity vectors through A (vA) and B (vB).
w
vBo qo • The velocities of all particles on the rod
l
C1 are as if they were rotated about C.
• The particle at the center of
q1 rotation (C) has zero velocity
İz Eğrisi
vB1
vAo vA1
A
• With known velocity, angular velocity can be determined

• Velocity of any particles on the rod can be found according to the

instantaneous center of rotation

Prof. Dr. Ersel Canyurt 5 - 33

Mechanical Engineering
Problem 5.4 (5.2)

Solve Sample Prob. 15.3, using the method of the instantaneous center of
rotation?
The double gear rolls on the stationary lower rack (kremayer): the velocity
of its center is 1.2 m/s.
Determine
(a) the angular velocity of the gear, and
(b) the velocities of point B and point D of the gear.
Prof. Dr. Ersel Canyurt 5 - 34

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Prof. Dr. O. Ersel Canyurt
 Mechanical Engineering
Problem 5.4 Since the gear rolls on the stationary lower rack, the point of
contact C of the gear with the rack has no velocity

The particle at the center of rotation has zero velocity perpendicular to velocity vA
The instantaneous center of rotation is point C
vA = |AC| • w

vB
B
0.25 w = 8 [rad/s]
A vA
0.15 Angular velocity
Velocity of point B
C
w vB = |BC| • w

vB = 2 [m/s]
Prof. Dr. Ersel Canyurt 5 - 35

Mechanical Engineering
Problem 5.4
|DC| = 0.152 + 0.152
0.15
|DC| =0.212 [m]
vD
vB
B
0.25 Velocity of point D
D
A vA
0.15 vD = |DC| w

C
w

vD = 1.69 [m/s]
Prof. Dr. Ersel Canyurt 5 - 36

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Prof. Dr. O. Ersel Canyurt
 Mechanical Engineering
Problem 5.5 (5.3)
8m
3m
B
w AB

A 40o 
D

Solve Sample Prob. 15.3, using the method of the instantaneous center of
rotation?
The crank AB has a constant clockwise (saat yönü) angular velocity of 2000
rpm (dev/dak).
For the crank position indicated, determine
(a) the angular velocity of the connecting rod (biyel) BD, and
(b) the velocity of the piston P.
Prof. Dr. Ersel Canyurt 5 - 37

Mechanical Engineering
Problem 5.3
5.5
• Velocity of point B
AB=3 m B 40o vB= |AB| wAB = vB = 628.2 [m/s]
w AB
50o
A 40o •  Perpendicular to velocity vB
vB
•  Perpendicular to velocity vD
C
• vB hızı
vB  50o  Intersections of lines gives the
instantaneous center of rotation, C
B 40o 54o
14o vD 
50o

76o • vD hızı
BD=8 m
vB
14o vD
Prof. Dr. Ersel Canyurt D 5 - 38

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Prof. Dr. O. Ersel Canyurt
 Mechanical Engineering
Problem 5.3
5.5
|BC| = 10.14 [m]
• Sinus Theorem

|BD|=8 |BC| |CD| |CD| = 8.44 [m]

= =
sin 50 sin 76 sin 54
vB
wBD =
|BC|
C

vB  50o wBD wBD = 62 [rad/s]

B 40o
Velocity of point D
54o
14o vD  vD = |CD| w
50o

76o
BD=8 m
vB
14o vD
D
vD = 523 [m/s]
Prof. Dr. Ersel Canyurt 5 - 39

Mechanical Engineering
Absolute and Relative Acceleration
TRANSLATION with A ROTATION about A
A aA A aA A 
w
aB
anB/A
rB/A atB/A
= aA +
B B
B

aB = aA + atB/A + anB/A

aB anB/A
atB/A=  x rB/A

atB/A anB/A= – w2 • rB/A

aA
Prof. Dr. Ersel Canyurt 5 - 40

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Prof. Dr. O. Ersel Canyurt
 Absolute and Relative Acceleration Mechanical Engineering
ROTATION about A
TRANSLATION with A
aA
B B atB/A B
anB/A
qo
aB qo l
rB/A 
= + w
aA
aB doğ. aA
A A A
aA
t
aB = aA + anB/A + atB/A
anB/A a B/A doğ.
aB qo
anB/A= – w2 • rB/A
atB/A
atB/A=  x rB/A
Prof. Dr. Ersel Canyurt 5 - 41

Mechanical Engineering
Absolute and Relative Acceleration
• Depend on aA and magnitude of (aB/A)n , different polygon can ve obtained
• In order to determine aB and , aA and q are not enough
• Must also know angular velocity, w
B

aA aB atB/A
anB/A
(aB/A)n
(aB/A)t


w

aA aA aA
aB

(aB/A)n (aB/A)n A
aB

(aB/A)t

(aB/A)t
Prof. Dr. Ersel Canyurt 5 - 42

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Prof. Dr. O. Ersel Canyurt
 Mechanical Engineering
Problem 5.6

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 (kremayer) is
stationary.
Determine
(a) the angular acceleration of the gear, and
(b) the acceleration of points B, C, and D.

Prof. Dr. Ersel Canyurt 5 - 43

Mechanical Engineering

• Example 5.2, 5.4 angular velocity was found

w = 8 [rad/s]

vA =1.2 m/s

at =3 m/s2
at=  x rA/C
^ ^
^ at=  k x 0.15 j
rA/C = 0.15 j
y

+ x

^ ^ ^
k x j = –i
^
Prof. Dr. Ersel Canyurt  = – 20 k [rad/s2] 5 - 44

22
Prof. Dr. O. Ersel Canyurt
 Rolling motion of Gear Mechanical Engineering

Translation with A Rotation about A General Motion

(aB/A) t
B aA B
(aB/A)n
aA w
A
+ A
 = A

C C
Acceleration of B
^
rB/A = 0.1 j
aB = aA + anB/A + atB/A

Acceleration of B

aA

(aB/A)n aB

(aB/A) t
^ ^
= 5 i – 6.4 j aB = 8.12 [m/s2]
Prof. Dr. Ersel Canyurt 5 - 45

Rolling motion of Gear Mechanical Engineering

Translation with A Rotation about A General Motion

B B

aA
A
+
A

w
= A

(aC/A)n C
C aA Acceleration of C
(aC/A) t
^
rC/A = – 0.15 j
aC = aA + anC/A + atC/A

Acceleration of C
(aC/A) t

aC (aC/A)n

aA
^ ^
= 0 i +9.6 j aC = 9.6 [m/s2]
Prof. Dr. Ersel Canyurt 5 - 46

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Prof. Dr. O. Ersel Canyurt
 Mechanical Engineering
Problem 5.7

8m
3m
B
w AB

A 40o 
D

Crank AB of the engine system shown in Figure has a constant

clockwise angular velocity of 2000 rpm.
For the crank position shown,
a) Determine the angular acceleration of the connecting rod BD
b) Determine the acceleration of point D?

Prof. Dr. Ersel Canyurt 5 - 47

Mechanical Engineering

From Problem 5.3,

3m
8m  = 14o
B
w AB wBD = 62 [rad/s]

A 40o 
D were determined

wAB = 209.4 [rad/s] = constant AB= 0

Prof. Dr. Ersel Canyurt 5 - 48

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Prof. Dr. O. Ersel Canyurt
 Mechanical Engineering
ANALYTICAL SOLUTION
B ^ ^
rB/A = 3 cos 40 i + 3 sin 40 j
w AB
^ ^
A 40o rB/A = 2.30 i + 1.93 j

Acceleration of B

aB = aA + anB/A + atB/A

40o
aB ^ ^
Prof. Dr. Ersel Canyurt aB = – 100851 i – 84627 j 5 - 49

Mechanical Engineering
Angular velocity of connecting rod BD ^
wBD = 62 k
B w BD
BD ^ ^
rD/B = 8 cos 14 i – 8 sin 14 j
^ ^
14o D rD/B = 7.76 i – 1.94 j

• Acceleration of D
^ ^
aD = aB + anD/B + atD/B aB = – 100851 i – 84627 j

anD/B= – wBD2 • rD/B atD/B = BD x rD/B

^ ^ ^ ^
anD/B = – 29829 i + 7457 j atD/B=1.94 BD i + 7.76 BD j
Prof. Dr. Ersel Canyurt 5 - 50

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Prof. Dr. O. Ersel Canyurt
 Mechanical Engineering
^
B w BD aB = – 100851 i – 84627 ^j
40o BD
atD/B ^ ^
anD/B = – 29829 i + 7457 j
aB anD/B
aD ^ ^
14o D atD/B = 1.94 BD i + 7.76 BD j
• Acceleration of D • y - components

aD = aB + anD/B + atD/B

BD= 9945 [rad/s2]

• x - components

aD= – 111387 [m/s2]

Prof. Dr. Ersel Canyurt 5 - 51

Mechanical Engineering
Problem 5.8 D

3 cm

B
14 cm
17 cm
w AB

A E

8 cm 12 cm 17 cm

The linkage ABDE moves in the vertical plane.

Knowing that in the position shown crank AB has a constant
angular velocity w1 = 20 rad/s counterclockwise,
Determine the angular velocities and angular accelerations of
the connecting rod BD and of the crank DE.

Prof. Dr. Ersel Canyurt 5 - 52

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Prof. Dr. O. Ersel Canyurt
 Mechanical Engineering
ANALYTICAL SOLUTION
B
The angular velocity of AB, Link (1)
w AB
wAB = 20 [rad/s]
A

 Velocity of B
^ ^
rB/A = 8 i + 14 j vA =0
vB = vA + vB/A

^ ^
Prof. Dr. Ersel Canyurt
vB= – 280 i + 160 j [cm/s]
5 - 53

Mechanical Engineering
The angular velocity of DE, Link (3)
D
^
wDE = wDE k
w DE E

^ ^  Velocity of D
rD/E = – 17 i + 17 j
vD = vE + vD/E vE =0

vD= wDE x rD/E

^ ^
Prof. Dr. Ersel Canyurt vD= – 17 wDE i – 17 wDE j [cm/s] 5 - 54

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Prof. Dr. O. Ersel Canyurt
 Mechanical Engineering
The angular velocity of BD, Link (2)

w BD D
^
vD/B= wBD x rD/B
B wBD = wBD k
^ ^ ^
=(wBD k ) x (12 i + 3 j )
^ ^
rD/B = 12 i + 3 j ^ ^
vD/B = – 3 w BD i + 12 wBD j
 Velocity of D
vD = vB + vD/B

• x-component – 17 wDE = – 280 – 3 w BD

– –
• y-component +
– 17 wDE =+ 160 + 12 wBD
w BD = – 29.3 [rad/s]
Prof. Dr. Ersel Canyurt 5 - 55

Mechanical Engineering

w BD D

^ ^
rD/B = 12 i + 3 j

Put it into Eqn 2

– 17 wDE =+ 160+ 12 wBD

Prof. Dr. Ersel Canyurt

w DE =11.29 [rad/s]
5 - 56

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Prof. Dr. O. Ersel Canyurt
 Mechanical Engineering

B • Acceleration of B
w AB
aB = aA + anB/A + atB/A
A

^ ^
rB/A = 8 i + 14 j

^ ^
aB = – 3200 i – 5600 j
Prof. Dr. Ersel Canyurt 5 - 57

Mechanical Engineering
The angular velocity of DE, Link (3) The angular Acceleration
D ^
^
wDE = 11.29 k DE = DE k
 DE
w DE ^ ^
E rD/E = – 17 i + 17 j

• Acceleration of D

aD = aE + anD/E + atD/E

^ ^ ^ ^
aD = + 2170 i – 2170 j – 17 DE i – 17 DE j
Prof. Dr. Ersel Canyurt 5 - 58

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Prof. Dr. O. Ersel Canyurt
 Mechanical Engineering
BD Link (2) Angular velocity The angular acceleration
BD ^ ^
wBD D wBD = – 29.33 k BD = BD k
B • Acceleration of D

aD = aB + anD/B + atD/B
^ ^
rD/B = 12 i + 3 j

anD/B= – wBD2 • rD/E atD/B= BD x rD/B

^ ^ ^ ^
anD/B= –10320 i – 2580 j atD/B= – 3 BD i + 12 BD j
Prof. Dr. Ersel Canyurt 5 - 59

Mechanical Engineering

BD D
wBD
• Acceleration of D
B

aD = aB + anD/B + atD/B
^ ^ ^ ^ ^ ^
+ 2170 i – 2170 j – 17 DE i – 17 DE j = – 3200 i – 5600 j
^ ^
– 10320 i – 2580 j
^ ^
– 3 BD i + 12 BD j

• x-Component: + 2170 – 17 DE = – 3200 – 10320 – 3 BD

• y-Component: – 2170 – 17 DE = – 5600 – 2580 + 12 BD

anD/B=
Prof. Dr. Ersel Canyurt

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Prof. Dr. O. Ersel Canyurt
 Mechanical Engineering

– 17 DE + 3 BD = – 15690

+ + +
– 17 DE – 12 BD = – 6010

 BD = – 645.3 [rad/s2]

17 DE = 3 BD + 15690

17 DE = 3 (– 645.3)+ 15690

 DE = + 809 [rad/s2]
Prof. Dr. Ersel Canyurt 5 - 61

Mechanical Engineering

Plane Motion of A Particle Relative To A Rotating Frame. Coriolis Acceleration

• Point B1 is fixed on the body,
• Velocity of Point B
y
• Velocity of Point A (translation)
B1 u
2

x • Rotation of BODY
z • Slipping between frame XYZ and
A
w frame xyz coordinates (Kayma)
Y rotation
slip
vB = vA + vB/A + vB/A

O X vB = vA + w x rB/A + vB/A)xyz
Z

vB/A)xyz = vB2/B1 = u
• Point B2 is not fixed on the body

Prof. Dr. Ersel Canyurt 5 - 62

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Prof. Dr. O. Ersel Canyurt
 Mechanical Engineering

Plane Motion of A Particle Relative To A Rotating Frame. Coriolis Acceleration

•Point B2 is not fixed on the body
• ACCELERATION of Point B
y • Acceleration of Point A (translation)
B2 • Rotation of BODY
x
 Central (normal) Acceleration
z
A  Tangential Acceleration
Y
w • Rotation + Slip
 Coriolis Acceleration

• Slipping between frame XYZ and

O X frame xyz coordinates (Kayma)
Z

aB = aA + anB/A + atB/A + acB/A + aB/A

slip

aB = aA + wx(w x rB/A) +  x rB/A + 2 w x vB/A) + aB/A)xyz

xyz
Prof. Dr. Ersel Canyurt 5 - 63

Mechanical Engineering
Problem 5.9

A
60o 0.2 m
wAB
AB

At the instant q = 60°, the rod in Figure has an angular velocity of

wAB=3 rad/s and an angular acceleration of AB=2 rad/s2.
At this same instant, collar B travels outward along the rod such that
when x = 0.2 m the velocity is 2 m/s and the acceleration is 3 m/s2,
both measured relative to the rod.
Determine the Coriolis acceleration and the velocity and acceleration of
the collar at this instant.

Prof. Dr. Ersel Canyurt 5 - 64

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Prof. Dr. O. Ersel Canyurt
 Mechanical Engineering
Coordinate System
y vA = 0
• Velocity of B
A slip rotation
wAB
60o vB = vA + vB/A + vB/A

vB = wAB x rB/A + vB/A)xyz

B
^
wAB = – 3 k
^
rB/A = 0.2 i x

^ ^
vB= 2 i – 0.6 j [m/s]
Prof. Dr. Ersel Canyurt 5 - 65

Mechanical Engineering
ACCELERATION of Point B
y
aA = 0 aB = aA + anB/A + atB/A + acB/A + aB/A
kayma

A 60o
wAB

slip ^
aB/A =3i B
^
wAB = – 3 k anB/A = – w2AB • rB/A
^
rB/A = 0.2 i x
anB/A = – 1.8 i
^

atB/A = AB x rB/A acB/A = 2 wAB x vB/A)xyz

^
atB/A= – 0.4 j ^
Prof. Dr. Ersel Canyurt acB/A= – 12 j 5 - 66

33
Prof. Dr. O. Ersel Canyurt
 Mechanical Engineering
ACCELERATION of Point B
y
aB = aA + anB/A + atB/A + acB/A + aB/A
slip

A 60o
wAB

aA = 0 ^ ^
aB= 1.2 i – 12.4 j
^ x
anB/A = – 1.8 i
^
atB/A= – 0.4 j
^
acB/A= – 12 j
slip ^
aB/A =3i
Prof. Dr. Ersel Canyurt 5 - 67

Mechanical Engineering
Problem 5.10
0.4 m
B
wDE DE
D
A E
C
0.4 m AB
wAB
45o

Rod AB, shown in Figure, rotates clockwise such that it has an angular
velocity wAB= 2 rad/s and angular acceleration AB= 4 rad/s2 when q = 45°,
Determine the angular motion of rod DE at this instant (wDE) (DE) .

The collar at C is pin connected to AB and slides over rod DE.

Prof. Dr. Ersel Canyurt 5 - 68

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Prof. Dr. O. Ersel Canyurt
 Mechanical Engineering
ANALYTICAL SOLUTION
Angular velocity of Rod AB
B wAB = 2 [rad/s]
C
w AB
• According to Rod AB, velocity of point C
• Point C is FIXED to Rod AB
A
vC = vA + vC/A vA =0
^ ^
rC/A = 0.4 i + 0.4 j
vC= wAB x rC/A

^ ^
Prof. Dr. Ersel Canyurt
vC= 0.8 i – 0.8 j [m/s]
5 - 69

Mechanical Engineering
•Point C is not FIXED on Rod DE
According to Rod DE, velocity of point C
vD = 0
wDE
E rotation
slip
vC = vD + vC/D + vC/D
D C

rC/D = 0.4 i
^ vC = wDE x rC/D + vC/D)xyz
^
wDE = wDE k
• According to Rod AB,
velocity of point C
^ ^ ^ ^
vC= 0.8 i – 0.8 j = vC= vC/D)xyz i + 0.4 wDE j

• x- Bileşeni : 0.8 = vC/D) xyz

• y- Bileşeni : – 0.8 = 0.4 wDE wDE = – 2 [rad/s]
Prof. Dr. Ersel Canyurt 5 - 70

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Prof. Dr. O. Ersel Canyurt
 Mechanical Engineering
B

C
 AB
w AB
^ ^ • Point C is FIXED to Rod AB
rC/A = 0.4 i + 0.4 j
A • According to Rod AB, acceleration of point C

aC = aA + anC/A + atC/A
0
= aA – wAB2 • rC/A + AB x rC/A

^
Prof. Dr. Ersel Canyurt aC = – 3.2 j 5 - 71

Mechanical Engineering
According to Rod DE, acceleration of point C
^ • Point C is not FIXED on Rod DE
rC/D = 0.4 i
D aC = aD + anC/D + atC/D + acC/D + aC/D
slip

E
wDE DE C
^ anC/D = – w2CD • rC/D
wDE = – 2 k
^ ^
DE = DE k anC/D = – 1.6 i

atC/D = DE x rC/D acC/D = 2 wDE x vC/D)xyz

^ ^
atC/D= 0.4 DE j acC/D= – 3.2 j
^
aD = 0 slip
aC/D = aC/D)xyz i
Prof. Dr. Ersel Canyurt 5 - 72

36
Prof. Dr. O. Ersel Canyurt
 Mechanical Engineering
According to Rod DE, acceleration of point C

aC = aD + anC/D + atC/D + acC/D + aC/D

slip

E
wDE DE C

^
aC =– 1.6 + aC/D)  ^i + (0.4 DE – 3.2) j
aD = 0 xyz

^
anC/D = – 1.6 i
slip ^
atC/D= 0.4 DE j
^
acC/D= – 3.2 j
^ aC/D = aC/D)xyz i
5 - 73
Prof. Dr. Ersel Canyurt

Mechanical Engineering
According to Rod DE, acceleration of point C

aC = aD + anC/D + atC/D + acC/D + aC/D

slip

E
wDE DE C

• According to Rod AB,

acceleration of point C
^
aC = – 3.2 j = aC =– 1.6 + aC/D)  ^i + (0.4 DE – 3.2) j
^
xyz

• x- Bileşeni : aC/D)xyz= 1.6 [m/s2]

• y- Bileşeni :
DE = 0 [rad/s2]
Prof. Dr. Ersel Canyurt 5 - 74

37
Prof. Dr. O. Ersel Canyurt
 Mechanical Engineering

Prof. Dr. Ersel Canyurt 2 - 75

38
Prof. Dr. O. Ersel Canyurt