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Ch. 15 Kinematics of Rigid Bodies: R R R R
Ch. 15 Kinematics of Rigid Bodies: R R R R
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
1
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
2
Rotation About a Fixed Axis. Representative Slab
• Consider the motion of a representative slab in
a plane perpendicular to the axis of rotation.
d d
• Recall or dt
dt
d d d
2
2
dt dt d
• Uniform Rotation, = 0:
0 t
3
Sample Problem 5.1
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
Cable C has a constant acceleration of 9
pulley after 2 s.
in/s2 and an initial velocity of 12 in/s,
both directed to the right. • Evaluate the initial tangential and
normal acceleration components of D.
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.
4
Sample Problem 5.1
• Evaluate the initial tangential and normal acceleration
components of D.
aD t aC 9 in. s
aD n rD02 3 in.4 rad s 2 48 in s2
aD n
tan
aD t
48
9 79.4
Example Problem
• Evaluate the initial tangential and normal
acceleration components of D.
aD t aC 9 in. s
aD n rD02 3 in.4 rad s 2 48 in s2
aD n
tan
aD t
48
9 79.4
5
Example Problem
SOLUTION:
• Using the linear velocity and
accelerations, calculate the angular
velocity and acceleration.
Example Problem
Find the angular velocity of the idler v= 15 in/s B at= 9 in/s2
pulley using the linear velocity at B.
v r
15 in./s (6 in.) 2.50 rad/s
6
Example Problem
B at= 9 in/s2 Find the total acceleration of the
machine component at point B.
7
Absolute and Relative Velocity in Plane Motion
vB vA v
tan A cos
vA v B A l
v B v A tan vA
l cos
8
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.
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
xA r1
2 r 2
The double gear rolls on the
stationary lower rack: the velocity of Differentiate to relate the translational and
its center is 1.2 m/s. angular velocities.
Determine (a) the angular velocity of k 8 rad s k
the gear, and (b) the velocities of the v A r1
upper rack R and point D of the gear.
vA 1 .2 m s
y
r1 0.150 m
x
9
Sample Problem 15.2
• For any point P on the gear, vP v A vP A v A k rP A
10
Sample Problem 15.3
SOLUTION:
• Will determine the absolute velocity of point D with
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
The velocity direction is as shown.
• The direction of the absolute velocity vD is horizontal.
The direction of the relative velocity vD B is
perpendicular to BD. Compute the angle between the
horizontal and the connecting rod from the law of sines.
sin 40 sin
13.95
8 in. 3 in.
vD B l BD
vD vB vD B vD 495.9 in. s
BD
B
l 8 in.
62.0 rad s BD 62.0 rad s k
11
Example Problem
Determine vB with respect to A, then work
your way along the linkage to point E.
AB (4 rad/s)k
vD ,
Example Problem
y Determine vD with respect to B.
x
BD BD k rD/B (8 in.)j
vD vB BD rD/B 28 j (BD k ) (8 j)
AB= 4 rad/s vD 28 j 8BD i
Determine vD with respect to E, then
equate it to equation above.
12
Instantaneous Center of Rotation in Plane Motion
• Plane motion of all particles in a slab can always be
replaced by the translation of an arbitrary point A and a
rotation about A with an angular velocity that is
independent of the choice of A.
• The velocity of all other particles in the slab are the same
as originally defined since the angular velocity and
translational velocity at A are equivalent.
13
Instantaneous Center of Rotation in Plane Motion
• The instantaneous center of rotation lies at the intersection of
the perpendiculars to the velocity vectors through A and B .
v v v
A A v B BC l sin A
AC l cos l cos
v A tan
vD 1.697 m s
vD 1.2i 1.2 j m s
14
Sample Problem 15.5
SOLUTION:
• Determine the velocity at B from the
given crank rotation data.
• The direction of the velocity vectors at B
and D are known. The instantaneous
center of rotation is at the intersection of
the perpendiculars to the velocities
The crank AB has a constant clockwise through B and D.
angular velocity of 2000 rpm. • Determine the angular velocity about the
For the crank position indicated, center of rotation based on the velocity
determine (a) the angular velocity of at B.
the connecting rod BD, and (b) the • Calculate the velocity at D based on its
velocity of the piston P. rotation about the instantaneous center
of rotation.
15
Instantaneous Center of Zero Velocity
Example Problem
16
Example Problem
What is the velocity of B? vB ( AB ) AB (0.25 m)(4 rad/s) 1 m/s
AB= 4 rad/s
vB
Find
tan 1
0.06 m
21.8
vD
0.15 m
Example Problem
Locate instantaneous center C at intersection of lines drawn
perpendicular to vB and vD.
Find distances BC and DC
B 0.1 m 0.1 m
C BC 0.25 m
tan tan 21.8?
0.25 m 0.25 m
vB DC 0.2693 m
100 mm cos cos21.8?
Calculate BD
D vB ( BC )BD
1 m/s (0.25 m) BD
vD BD 4 rad/s
Find DE
0.25 m 1 m/s 0.15 m
vD ( DC )BD (4 rad/s) vD ( DE )DE ; DE ; DE 6.67 rad/s
cos cos cos
17
Problem 15.40
aB A k rB A a B A r
t t
aB
A n
2 rB A a B A n r 2
18
Absolute and Relative Acceleration in Plane Motion
• Given a A and v A ,
determine a B and .
aB a A aB A
a A a B A a B
n A t
• Vector result depends on sense of a A and the
relative magnitudes of a A and a B A
n
• Write a B a A a B A in terms of the two component equations,
x components: 0 a A l 2 sin l cos
19
Analysis of Plane Motion in Terms of a Parameter
• In some cases, it is advantageous to determine the
absolute velocity and acceleration of a mechanism
directly.
x A l sin y B l cos
v A x A v B y B
l cos l sin
l cos l sin
a A xA a B yB
l sin l cos
2 l 2 cos lsin
l 2 sin l cos l 2 cos l sin
x A r1
v A r1 r1
vA 1.2 m s
The center of the double gear has a 8 rad s
velocity and acceleration to the right of r1 0.150 m
1.2 m/s and 3 m/s2, respectively. The
lower rack is stationary. a A r1 r1
Determine (a) the angular acceleration
aA 3 m s2
of the gear, and (b) the acceleration of
r1 0.150 m
points B, C, and D.
k 20 rad s 2 k
20
Sample Problem 15.6
• The acceleration of each point
is obtained by adding the
acceleration of the gear center
and the relative accelerations
with respect to the center.
The latter includes normal and
tangential acceleration
components.
a B a A aB A a A a B A aB A
t n
2
a A k rB A rB A
3 m s 2 i 20 rad s 2 k 0.100 m j 8 rad s 2 0.100 m j
3 m s 2 i 2 m s 2 i 6.40 m s 2 j
aB 5 m s 2 i 6.40 m s 2 j aB 8.12 m s 2
aC a A aC a A k rC A 2 rC A
A
3 m s 2 i 20 rad s 2 k 0.150 m j 8 rad s 2 0.150 m j
3 m s 2 i 3 m s 2 i 9.60 m s 2 j
ac 9.60 m s 2 j
aD a A aD A a A k rD A 2 rD A
3 m s 2 i 20 rad s 2 k 0.150 m i 8 rad s 2 0.150m i
3 m s 2 i 3 m s 2 j 9.60 m s 2 i
aD 12.6 m s 2 i 3 m s 2 j
aD 12.95 m s 2
21
Sample Problem 15.7
SOLUTION:
• The angular acceleration of the
connecting rod BD and the acceleration
of point D will be determined from
aD aB aD B aB aD B aD B
t n
• The acceleration of B is determined from
the given rotation speed of AB.
22
Sample Problem 15.7
y components:
0 10,962 sin 40 2563 sin 13.95 0.667 BD cos13.95
BD 9940 rad s 2 k
aD 9290 ft s 2 i
23
Example
SOLUTION:
• The angular velocities were determined
in a previous problem by simultaneously
solving the component equations for
vD vB vD B
Example
From our previous problem, we used the relative
velocity equations to find that:
Analyze a B a A AB rB /A AB
2
rB /A
Bar AB
a B AB
2
rB/A (4)2 (7i ) 112 in./s 2 i
Analyze Bar BD
a D a B BD rD /B BD
2
rD /B 112i BD k (8 j) (0.95455) 2 (8 j)
a D (112 8 BD )i 7.289 j
24
Example
Analyze Bar DE
a D DE rD /E DE
2
rD /E
DE k (11i 3j) (2.5455) 2 (11i 3j)
AB= 4 rad/s
11 DE j 3 DE i 71.275i 19.439 j
Problem 15.124
25
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 Q x i Q y j Q z k
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
26
Coriolis Acceleration
• Absolute acceleration for the particle P is
aP
d
r r OXY r Oxy
dt
but, r OXY r r Oxy
d
dt
r Oxy rOxy r Oxy
r r 2 r Oxy rOxy
v P r r Oxy aP
v P v P F • Utilizing the conceptual point P’ on the slab,
r r
a P
a P F r
Oxy
27
General Motion
• For particles A and B of a rigid body,
vB v A vB A
28
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
29