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Today’s Objectives:
a) Locate the instantaneous In-Class Activities:
center (IC) of zero velocity.
b) Use the IC to determine the • Reading quiz
velocity of any point on a • Applications
rigid body in general plane • Location of the IC
motion.
• Velocity analysis
• Concept quiz
• Group problem solving
• Attention quiz
APPLICATIONS
To locate the IC, we can use the fact that the velocity of a point
on a body is always perpendicular to the relative position vector
from the IC to the point. Several possibilities exist:
vB = wBD rB/IC
B 2v
CONCEPT QUIZ
C vB
Link AB:
vC B
Link CD:
0.6 m
1.2 m
wCD = 6 rad/s wAB= ?
D 30°
vC = 0.6(6) = 3.6 m/s A
I From triangle CBI:
Link BC: 60°
IC = 0.6 tan 60° =0.346 m
vB vE wBC IB = 0.6/sin 60° = 0.693 m
E vC = (IC) wBC
C
B wBC = vC/IC = 3.6/0.346
30° 0.6 m vC = 3.6 m/s
wBC = 10.39 rad/s
PROBLEM (continued)
vB
vB = (IB) wBC = 0.693 (10.39) = 7.2 m/s Link AB: B
1.2 m
From link AB, vB is also equal to 1.2 wAB.
wAB
30°
Therefore, 7.2 = 1.2 wAB => wAB = 6 rad/s A