❖ Chapter 1: Basic Definitions

➢ Rigid body

➢ Types of rigid body motion

➢ Plane motion

➢ Space motion

➢ Rotation

➢ General motion

➢ Rotation about a fixed axis

➢ Angular velocity

➢ Angular acceleration
 Rigid body - RB

A rigid body is defined as a body on which the distance between two points never
changes whatever be the force applied on it.
A rigid body is usually considered as a continuous distribution of mass
(Wikipedia).
The distance between two points 𝐴 and 𝐵 can be defined as

𝑑 = 𝐴𝐵 (1)

after the motion of the rigid body, the distance between two pints 𝐴∗ and 𝐵∗ is
defined by

𝑑 ∗ = 𝐴∗ 𝐵∗ (2)
therefore, the definition of the rigid body, we get

𝑑 = 𝑑∗ (3)

Consequently, the distance between any two points in rigid body remain
constants after motion of rigid body or due to any applied force.
 Types of rigid body motion

Plane motion

Rectangular motion

Curvilinear motion
Space motion

Space motion is a movement of rigid body in space, where velocities are

perpendicular to the plane of the rigid body
 Rotation

❖ The rotation of a rigid body is by the angular velocity 𝜔

❖ All particles in the body rotate through the same angle during the same time
interval.

❖ Thus, all particles have the same angular velocity and angular acceleration.
The angular velocity
𝑑𝜃
𝜔= = 𝜃ሶ (4)
𝑑𝑡

The angular acceleration

𝑑𝜔 𝑑 2 𝜃
𝛼= = 2 = 𝜃ሷ (5)
𝑑𝑡 𝑑𝑡
Eliminate the time from (4), (5)
𝜔𝑑𝜔 = 𝛼𝑑𝜃 (6)
Integrate eq. (5)
𝜔 𝑡
𝑑𝜔
𝛼= 𝑑𝜔 = 𝛼𝑑𝑡 න 𝑑𝜔 = 𝛼 න 𝑑𝑡
𝑑𝑡
𝜔0 0

𝜔 = ω0 + 𝛼𝑡 (7)

Integrate eq. (6)

𝜔 𝜃

න 𝜔𝑑𝜔 = 𝛼 න 𝑑𝜃
𝜔0 𝜃0

𝜔2 = 𝜔02 + 2𝛼 𝜃 − 𝜃0 (8)

Where 𝛼0 and 𝜔0 are angular velocity and angular acceleration at 𝑡 = 0.

From (4)
𝑡 𝜃
𝑑𝜃
𝜔= 𝜔𝑑𝑡 = 𝑑𝜃 න 𝜔𝑑𝑡 = න 𝑑𝜃
𝑑𝑡
0 𝜃0

Use eq. (6) 𝜔 = ω0 + 𝛼𝑡

𝑡 𝜃

න ω0 + 𝛼𝑡 𝑑𝑡 = න 𝑑𝜃
0 𝜃0

𝛼 2
𝜃 = 𝜃0 + 𝜔0 + 𝑡 (9)
2

Finally, we get
𝛼 2
𝜃 = 𝜃0 + 𝜔0 + 𝑡
2
𝜔2 = 𝜔02 + 2𝛼 𝜃 − 𝜃0
𝜔 = ω0 + 𝛼𝑡
General plane motion

❖ The body undergoes both translation and rotation

❖ Translation occurs within a plane and rotation occurs about an axis

perpendicular to this plane.

example of general plane motion

Slider-Crank Mechanism:
This common mechanism (𝐴𝐵 is the “crank”, 𝐶 is the slider, and 𝐵𝐶 is the
connecting rod) illustrates all three motions: Rotation, General Plane, and
Translation.
Rotation about a fixed axis

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 𝜃

The change in angular position, 𝑑𝜃, is called the angular displacement, with units of
either radians or revolutions

1 Revolution = 2𝜋 Radians
Angular velocity

The angular velocity is obtained by taking the time derivative of angular

displacement:

𝑑𝜃 ∙
𝜔= =𝜃 𝑟𝑎𝑑/𝑠 (10)
𝑑𝑡
Consider rotation of rigid body about a fixed axis 𝐴𝐴′, as in the figure

𝛥𝑠 = 𝐵𝑃 𝛥𝜃 = 𝑟 𝑠𝑖𝑛 𝜙 𝛥𝜃 (11)
 𝑑𝑠 𝛥𝑠 𝛥𝜃 ∙
𝑣= = 𝑙𝑖𝑚 = 𝐵𝑃 𝑙𝑖𝑚 = 𝑟 𝑠𝑖𝑛 𝜙 𝜃 (12)
𝑑𝑡 𝛥𝑡→0 𝛥𝑡 𝛥𝑡→0 𝛥𝑡

Finally, from equation (12), one can get

𝑣 =𝜔×𝑟 (13)

where 𝜔 = 𝜔𝑘 angular velocity.

Angular acceleration
Differentiate eq. (13)

𝑑𝑣 𝑑
𝑣 =𝜔×𝑟 𝑎= = 𝜔×𝑟
𝑑𝑡 𝑑𝑡

𝑑𝜔 𝑑𝑟
= ×𝑟+𝜔×
𝑑𝑡 𝑑𝑡
𝑑𝜔
= ×𝑟+𝜔×𝑣
𝑑𝑡
𝑑𝜔
𝑎= ×𝑟+𝜔×𝑣
Use eq. (13) 𝑑𝑡

𝑎 =𝛼×𝑟+𝜔×𝜔×𝑟
use the relation
𝜔×𝜔×𝑟 =𝜔 𝜔∙𝑟 − 𝜔∙𝜔 𝑟

𝑎 =𝛼×𝑟+𝜔 𝜔∙𝑟 − 𝜔∙𝜔 𝑟

 But
𝜔∙𝑟 =0 𝜔 ∙ 𝜔 = 𝜔2

then
𝑎 = 𝛼 × 𝑟 − 𝜔2 𝑟 (14)

Finally

𝑣 =𝜔×𝑟

𝑎 = 𝛼 × 𝑟 − 𝜔2 𝑟
The following figure shows that the acceleration consist of two components

➢ 𝛼 × 𝑟 Tangential acceleration 𝑎𝑡 = 𝛼𝑟

➢ −𝜔2 𝑟 Normal acceleration 𝑎𝑛 = −𝜔2 𝑟