Chapter Objectives: Planar Rigid-Body Motion

Chapter Objectives
 Classify various types of rigid-body planar motion

 Investigate rigid-body translation and analyze motion about
a fixed axis
 Study planar motion using an absolute motion analysis
 Analysis of velocity and acceleration using a translating
frame of reference
Engineering Mechanics:
 Find the instantaneous center of zero velocity and
Dynamics in SI Units, 12e determine the velocity of a point on a body using this
method
 Provide a relative-motion analysis of velocity and
Chapter 16 acceleration using a rotating frame of reference
Planar Kinematics of a Rigid Body
Copyright © 2010 Pearson Education South Asia Pte Ltd Copyright © 2010 Pearson Education South Asia Pte Ltd
Chapter Outline 16.1 Planar Rigid-Body Motion
 When all the particles of a rigid body move along

1. Rigid-Body Motion paths which are equidistant from a fixed plane,
2. Translation the body is undergoing planar motion
3. Rotation about a Fixed Axis  3 types of rigid body planar motion:
4. Absolute Motion Analysis
5. Relative-Motion Analysis: Velocity 1) Translation
6. Instantaneous Center of Zero Velocity  When every line segment on the body remains
7. Relative-Motion Analysis: Acceleration parallel to it original direction during the motion
8. Relative-Motion Analysis Using Rotating Axis
16.1 Planar Rigid-Body Motion 16.1 Planar Rigid-Body Motion
1) Translation 2) Rotation about a fixed axis

 Rectilinear translation - when two particles paths  When a rigid body rotates about a fixed axis, all
of motion are along equidistant straight lines the particles of the body, except on the axis of
 Curvilinear translation - when paths of motion are rotation, move along circular paths
along curves lines are equidistant 3) General Plane Motion
 When a body is subjected to general plane
motion, there is a combination of translation and
rotation
1
16.2 Translation 16.3 Rotation about a Fixed Axis
Position Angular Motion

 By vector addition,rB  rA  rB / A  Only lines or bodies undergo angular motion
Velocity
 Since magnitude of rB/A is constant due to rigid Angular Position
body, v B  v A  Angular position of r is defined by θ
Acceleration
 Time derivative of Angular Displacement
velocity equation yields a B  a A  Change in the angular position
measured as a differential dθ
16.3 Rotation about a Fixed Axis 16.3 Rotation about a Fixed Axis
Angular Velocity Angular Acceleration

 Time rate of change in the angular position  Differential relation between the angular
 Since dθ occurs during an instant of time dt, acceleration, angular velocity and angular
displacement is
( +)   d  d   d ( +)
dt
Angular Acceleration Constant Angular Acceleration
 Time rate of change of the ( +)   0   ct
angular velocity 1
( +)   0  0t   ct 2
 Magnitude of vector is  
d d 2 2
 2 ( +)
dt dt 2 2
( +)   0  2 c (   0 )
Motion of Point P Acceleration

 Point P travels along a circular path of radius r  Acceleration of P can be expressed as
and center at center at point O at  r ; an   2t
Position  For acceleration in vector form,
 P is defined by the position vector r a  at  a n    r   2r
Velocity  Magnitude of acceleration is
 The velocity of P is v  r
a  an2  at2
 By using the cross product,
v    rp
2
Procedure for Analysis Procedure for Analysis

Angular Motion Angular Motion
 Establish the positive sense of direction along  When body’s angular acceleration is constant,
the axis of rotation   0   ct
 When relationship is known between any two of
1
the four variables α, ω, θ and t, we can use   0  0t   ct 2
2

d

d
 d   d  2  02  2 c (   0 )
dt dt
 Sense of α, ω and θ is determined from algebraic
signs of their numerical quantities
16.3 Rotation about a Fixed Axis Example 16.1
Procedure for Analysis A cord is wrapped around a wheel which is initially at

Motion of P rest. If a force is applied to the cord and gives it an
 Velocity of P and its two components of
acceleration a = (4t) m/s2, where t is in seconds,
acceleration can be determined from the scalar determine as a function of time (a) the angular
velocity of the wheel, and (b) the angular position of
equations
a n   2t
the line OP in radians.
v  r at   r
 If geometry of the problem is difficult to visualize,
we use v   r   r P
at    rP    r
an    (  rP )   2r
Example 16.1 Example 16.1
Solution Solution
Part (a) Part (a)
The wheel is subjected to rotation about a fixed axis Integrating with the initial condition that ω = 0, t = 0,
passing through point O. d
+
Acceleration of Point P has both tangential and   (20t )
dt
normal components.  t
 d   20t dt
Angular acceleration of the wheel is 0 0
+ ( aP ) t   r   10t 2 rad/s
( 4t )   (0.2)
  20t rad/s 2
3
Example 16.1 16.4 Absolute Motion Analysis
Solution  A body subjected to general plane motion

Part (b) undergoes a simultaneous translation and
Angular position θ of OP can be found from rotation
ω = dθ/dt  One way to define these motions is to use a
Integrating with the initial condition θ = 0 at t = 0, rectilinear position coordinate s to locate the
point along its path and an angular position
d
+    (10t 2 ) coordinate θ to specify the orientation of the line
dt
 t
 By direct application of the time-differential
 d   10t 2 dt equations v = ds/dt, a = dv/dt, ω = dθ/dt, α =
0 0
dω/dt, the motion of the point and the angular
  3.33t 3rad motion of the line can be related.
16.4 Absolute Motion Analysis 16.4 Absolute Motion Analysis

Position Coordinate Equation Time Derivatives
 Locate point P using a position coordinate s,  Use first derivative of s = f(θ) w.r.t time to get a
measured from a fixed origin and along the relationship between v and ω
straight-line path of motion of point P  Use second derivative to get a relationship
 Measure from a fixed reference line the angular between a and α
position θ of a line lying in the body.  In each case the chain rule of calculus must be
 From the dimensions of the body, used when taking the derivatives of the position
relate s to θ, s = f(θ) coordinate equation.
The end of rod R maintains contact with the cam by Solution

means of a spring. If the cam rotates about an axis Position Coordinate Equation
through point O with an angular acceleration α and θ and x are chosen to relate the rotational motion of
angular velocity ω, determine the velocity and OA to the rectilinear motion of the rod.
acceleration of the rod when the cam is in the Since OC = CB = r cos θ, x  2r cos
arbitrary position θ.
Time Derivatives
Using chain rule of calculus,
dx d
 2r (sin  )  v  2r sin 
dt dt
dv  d  d
 2r   sin   2r (cos )  a  2r ( sin    2 cos  )
dt  dt  dt
4
The large window is opened using a hydraulic Solution

cylinder AB. If the cylinder extends at a constant rate Position Coordinate Equation
of 0.5 m/s, determine the angular velocity and The angular motion of the window can be obtained
angular acceleration of the window at the instant θ = using the coordinate θ and motion along the
30° hydraulic cylinder is defined using a coordinate s.
s 2  (2)2  (1)2  2(2)(1) cos

(1)
s 2  5  4 cos
When θ = 30°,
s  1.239 m
Solution Solution
Time Derivatives Time Derivatives
Taking the time derivatives of Eq. 1, Taking the time derivatives of Eq. 2 yields,
ds d ds dv d d
2s  0  4( sin  ) vs  s s  2(cos  )   2(sin  )
dt dt dt dt
st dt
vs2  sas  2(cos  ) 2  2(sin  )
s (vs )  2(sin  ) (2)
Since as = dvs/dt = 0, then
Since vs = 0.5 m/s, then at θ = 30° (0.5) 2  0  2 cos 30 (0.620) 2  2 sin 30 
  0.620 rad/s   0.415 rad/s 2
16.5 Relative-Motion Analysis: Velocity 16.5 Relative-Motion Analysis: Velocity
 The general plane motion of a rigid body can be Position

a combination of translation and rotation  Position vector rA specifies the location of the
 We use a relative-motion analysis involving two “base point” A, and the rB/A locates point B with
sets of coordinate axes respect to point A
 X’, Y’ coordinate system has a known motion  By vector addition, the position of B is
rB  rA  rB / A
 The axes of this coordinate
system will only be allowed Displacement
to translate with respect to  A and B undergo
the fixed frame displacements drA and drB
5
Displacement Velocity
 Due to the rotation about A, drB/A = rB/A dθ, and  To determine the relationship between the
the displacement of B is velocities of points A and B,
drB  drA  drB / A drB drA drB / A
 
dt dt dt
due to rotation about A
due to translation about A
due to translation and rotation
Velocity Velocity
 vB/A has a magnitude of vB/A = ωrB/A and a  vB is determined by considering the entire body
direction which is perpendicular to rB/A to translate with a velocity of vA, and rotate about
vB  v A  vB / A A with an angular velocity ω
 Vector addition of these two effects, applied to B,
yields vB
 vB/A represents the effect of circular motion,
about A. It can be expressed by the cross
product
v B  v A    rB / A
Velocity Procedure for Analysis

 Point A on link AB must move along a horizontal VECTOR ANALYSIS
path, whereas point B moves on a circular path Kinematics Diagram
 Establish directions of the fixed x, y coordinates
and draw kinematics diagram of the body
 When magnitude of vA, vB or ω are unknown, the
sense of the direction may be assumed
 The wheel rolls without slipping
where point A can be
selected at the ground
6

VECTOR ANALYSIS SCALAR ANALYSIS
Velocity Equation Kinematics Diagram
 To apply vB = vA + ω x rB/A, express the vectors  If the velocity equation is to be applied in scalar
in Cartesian vector form and substitute them into form, then the magnitude and direction of the
the equation relative velocity vB/A must be established.
 If the solution is negative answer for an unknown  Draw a kinematics diagram, which shows the
magnitude, it indicates the sense of direction of relative motion. Since the body is considered to
the vector is opposite be “pinned” momentarily at the base point A, the
magnitude is vB/A = ωrB/A

SCALAR ANALYSIS SCALAR ANALYSIS
Velocity Equation Kinematics Diagram
 Write v B  v A  v B / A in symbolic form, and  The sense of the direction of vB/A is established
underneath each of the terms represent the from the diagram, such that vB/A acts
vectors graphically by showing their magnitudes perpendicular to rB/A in accordance with the
and directions. The scalar equations are rotational motion ω of the body.
determined from the x and y components of
these vectors
The link is guided by two block A and B, which move Solution

in the fixed slots. If the velocity of A is 2 m/s Vector Analysis
downward, determine the velocity of B at the instant Kinematic Diagram
θ = 45°. Since points A and B are restricted to move and vA
is directed downward, vB must be directed
horizontally to the right.
7
Solution Solution
Vector Analysis Vector Analysis
Kinematic Diagram Velocity Equation
This motion causes the link to rotate CCW We have v B  v A    rB / A
Apply the velocity equation v B  v A  v B / A to points vB i  2 j  [k  (0.2 sin 45 i  0.2 cos 45 j)]
A and B in order to solve for the two unknown vB i  2 j  0.2 sin 45 j  0.2 cos 45 i
magnitudes vB and ω
Equating the i and j components gives
vB  0.2 cos 45
0  2  0.2 sin 45    14.1 rad/s , vB  2 m/s 
The link is guided by two block A and B, which move Solution

in the fixed slots. If the velocity of A is 2 m/s Vector Analysis
downward, determine the velocity of B at the instant Kinematic Diagram
θ = 45°. CB and AB rotate counterclockwise.
Velocity Equation
Link CB (general plane motion):
v B  v C  CB  rB / C
v B i  2 j  CB k  (0.2i  0.2 j)
v B i  2 j  0.2CB j  0.2CB i
v B  0.2CB
0  2  0.2CB
CB  10 rad/s and v B  2 m/s 
Example 16.6 16.6 Instantaneous Center of Zero Velocity
Solution  Velocity of any point B located on a rigid body

Velocity Equation can be obtained if base point A has zero velocity
Link AB (rotation about a fixed axis)  Since vA = 0, therefore vB = ω x rB/A.
v B   AB  rB  Point A is called the instantaneous center of zero
2i   AB k  (0.2 j) velocity (IC) and it lies on the instantaneous axis
2  0.2 AB of zero velocity
 Magnitude of vB is ωrB/IC
 AB  10 rad/s
 Due to circular motion,
direction of vB must be
Same results can be obtained using Scalar Analysis. perpendicular to rB/IC
8
16.6 Instantaneous Center of Zero Velocity 16.6 Instantaneous Center of Zero Velocity
 For wheel rolling without slipping, the point of Location of the IC

contact with the ground has zero velocity  Construct A and B line segments that are
 Hence this point represents the IC for the wheel perpendicular to vA and vB.
Location of the IC  Extending these perpendicular to their point of
 Velocity of a point on the body is always intersection as shown locates the IC
perpendicular to the relative-position vector  IC is determined by proportional triangles
extending from the IC to the point
 IC is located along the line
drawn perpendicular to vA,
distance from A to the IC
is rA/IC = vA/ω
16.6 Instantaneous Center of Zero Velocity Example 16.10
Procedure for Analysis Show how to determine the location of the

 Motion can be determined with reference to instantaneous center of zero velocity for (a) member
instantaneous center of zero velocity BC shown in (a); and (b) the link CB shown in (b).
 The body is imagined as “extended and pinned”
at the IC where it rotates about this pin with its ω
 Magnitude of velocity can be
determined by using v = ωr
 Velocity has a sense of direction
Solution Solution
Part (a) Part (b)
vB is caused by the clockwise rotation of link AB. Points B and C follow circular paths of motion since
vB is perpendicular to AB and acts at an angle θ from rods AB and DC are each subjected to rotation
the horizontal. about a fixed axis.
Motion of point B causes the Since the velocity is tangent to the path, vC and vB
piston to move horizontally are directed vertically downward, along CB.
with a velocity vC.
When the line are drawn rC / IC   rB / IC  
perpendicular to vB and vC,  CB  (vC / rC / IC )   0
the intersect at the IC.
9
Solution The cylinder rolls without slipping between the two

Part (b) moving plates E and D. Determine the angular
As a result, rod CB momentarily translates. velocity of the cylinder and the velocity of its center
CB will move and cause the instantaneous center to C at the instant shown.
move to some finite location.
Solution Solution
Since no slipping, A and B on the cylinder have the Dividing one equation into the other eliminates ω
same velocities as E and D. and yields
vA and vB are parallel, by the proportionally of the v 0.4
 B   2.60 rad / s
right triangles the IC is located at a point on line AB. x 0.154
Angular velocity of the cylinder is
vB   x; 0.4   x
0.4(0.25  x)  0.25x  x  0.154 m
v A   (0.25  x); 0.25   (0.25  x)
The velocity of point C is
vC   rC / IC  2.6(0.154  0.125)  0.0750 m/s 
16.7 Relative-Motion Analysis:Acceleration 16.7 Relative-Motion Analysis:Acceleration
 An equation that relates the accelerations of two  The terms can be represented graphically
points on a rigid body subjected to general plane
motion,
d vB d v A d vB/ A
 
dt dt dt
= +
 aB/A can be expressed in terms of its tangential
and normal components of motion
a B  a A  (a B / A )t  (a B / A ) n
a B  a A    rB / A   2rB / A
10
Velocity Analysis. Acceleration Equation.

 Determine the angular velocity ω of the body by  To apply aB = aA + α x rB/A – ω2rB/A express the
using a velocity analysis vectors in Cartesian vector form and substitute
VECTOR ANALYSIS them into the equation
Kinematics Diagram  When solution yields a negative answer for an
 Establish the directions of the fixed x, y

unknown magnitude, it indicates that the sense
coordinates and draw the kinematics diagram of direction of the vector is opposite
 If points A and B move along curved paths, their
tangential and normal accelerations components
should be indicated
SCALAR ANALYSIS SCALAR ANALYSIS

Kinematics Diagram Acceleration Equation.
 If the equation a B  a A  (a B / A )t  (a B / A ) n is  Represent the vectors in
applied, then the magnitudes and directions of
the relative-acceleration components (aB/A)t and a B  a A  (a B / A )t  (a B / A ) n
(aB/A)n must be established.
 To do this, draw a kinematic diagram.
graphically by showing their magnitudes and
directions underneath each term. The scalar
equations are determined from the x and y
components of these vectors
The rod AB is confined to move along the inclined Solution

planes at A and B. If point A has an acceleration of 3 (Vector Analysis)
m/s2 and a velocity of 2 m/s, both directed down the We can obtain ω = 0.283 rad/s using the velocity
plane at the instant the rod becomes horizontal, equation or the method of instantaneous centers.
determine the angular acceleration of the rod at this
instant.
Kinematic Diagram. A and B have no components
of acceleration normal to the paths.
Two unknowns, aB and α.
11
Solution The spool unravels from the cord, such that at the
Acceleration Diagram instant shown it has an angular velocity of 3 rad/s
We have and an angular acceleration of 4 rad/s2. Determine
a B  a A    rB / A   2rB / A the acceleration of point B.
aB cos 45 i  aB sin 45 j  3 cos 45 j  (k )  (10i)  (0.238) 2 (10i )
Carrying out the cross product and equating the i
and j components yields
aB cos 45  3 cos 45  (0.283) 2 (10)
aB sin 45  3 sin 45   (10)
aB  1.87 m / s 2 and   0.344 rad/s 2
Solution Solution
Vector Analysis Acceleration Equation
The acceleration of point G is a B  aG    rB / G   2rB / G
aG = αr = (4)(0.15) = 0.6 m/s2
( aB ) x i  (aB ) y j  600 j  (4k )  ( 225 j)  (3) 2 (225 j)
Kinematic Diagram Equating the i and j terms, the component equations

Point B acceleration will be are
represented by its x and y
( aB ) x  4( 225)  900 mm/s 2  0.9 m/s 2 
components.
( aB ) y  600  2025  2625 mm/s 2  2.625 m/s 2 
Solution The crankshaft AB of an engine turns with a

Acceleration Equation clockwise angular acceleration of 20 rad/s2.
The magnitude and direction of aB are therefore Determine the acceleration of the piston at this
instant AB is in the shown. At this instant ωAB = 10
aB  (0.9)2  (2.625)2  2.775 m / s 2 rad/s and ωBC = 2.43 rad/s.
2.625
  tan 1  71.1
θ
0.9
12
Solution Solution
Kinematic Diagram Crankshaft AB (rotational about a fixed axis):
aC is vertical since C moves along a straight-line 2
a B   AB  rB   AB rB
path.  (20k )  (0.177i  0.177 j)  (10) 2 ( 0.177i  0.177 j)
Acceleration Equation
 {21.21i  14.14 j} m/s 2
Expressing each of the position
vectors in Cartesian vector form Connecting Rod BC (general plane motion):
rB  {0.25 sin 45 i  0.25 cos 45 j} m 2
a C  a B   BC  rC / B   BC rC / B
 {0.177i  0.177 j} m aC j  21.21i  14.14 j  ( CBk )  (0.176i  0.729 j)  (2.43) 2 (0.176i  0.729 j)
  0  20.17  0.729 BC  aC  0.176 BC  18.45
rC / B  {0.75 sin 13.6 i  0.75 cos13.6 j} m
 {0.176i  0.729 j} m  BC  27.7 rad/s 2 and aC  13.6 m/s 2
16.8 Relative-Motion Analysis using Rotating 16.8 Relative-Motion Analysis using Rotating
Axes Axes
 Translating coordinate system  Coordinate system
 describes relative motion analysis for velocity  use for kinematics analysis
and acceleration  use for analyzing motion of two points on a
 determines the motion of the points on the same mechanism which are not located in the same
rigid body rigid body
 determines the motion of points located on  use for specifying kinematics of particle motion
several pin-connected rigid bodies when the particle is moving along a rotating path
 Rigid bodies are constructed such that sliding
occur at their connections
16.8 Relative-Motion Analysis using Rotating 16.8 Relative-Motion Analysis using Rotating
Axes Axes
Position Velocity
 Consider A and B, whose location are specified  For velocity of point B,
by rA and rB, measured from the fixed X, Y, Z drB / A
coordinate system vB  v A 
dt
 If B has coordinates (xB, yB)
 Using the derivative property of the vector cross
rB / A  xBi  yB j product
 Using vector addition,
v B  v A    rB / A  ( v B / A ) xyz
rB  rA  rB / A
13
16.8 Relative-Motion Analysis using Rotating
Example 16.19
Axes
Acceleration At the instant θ = 60°, the rod has an angular
 Acceleration of B may be expressed in terms of velocity of 3 rad/s and an angular acceleration of 2
its motion measured with respect to the rotating rad/s2. At the same instant, the collar C is travelling
or moving system of coordinates by taking the outward along the rod such that when x = 2 m the
time derivative velocity is 2 m/s and the acceleration is 3 m/s2, both
measure relative to the rod.
  rB / A    drB / A d ( v B / A ) xyz Determine the Coriolis
aB  a A   
dt dt acceleration and the velocity
 Rearranging terms, and acceleration of the collar
  rB / A    (  rB / A )
aB  a A   at the instant.
 2  ( v B / A ) xyz  (a B / A ) xyz
Solution Solution
Coordinate Axes Kinematic Equations
The origin of both coordinate systems is located at It will be simpler to express the data in terms of i, j, k
point O. The moving x, y, z frame of reference is component vectors rather than I, J, K components.
attached to the rod.
Motion of moving Motion of C with respect
reference to moving reference
Kinematic Equations vO  0 rC / O  0.2im
vC  vO    rC / O  ( vC / O ) xyz aO  0 ( vC / O ) xyz  2im / s
  rC / O    (  rC / O )  2  ( vC / O ) xyz  (aC / O ) xyz
aC  aO  
   3krad / s (aC / O ) xyz  3im / s 2
   2krad / s

Solution Two planes A and B are flying at the same elevation

Kinematic Equations and have the motions as shown. Determine the
The velocity and acceleration of the collar are velocity and acceleration of A as measured by the
determined by substituting the data in the previous 2 pilot of B.
equations and evaluating the cross products,
vC  v O    rC / O  ( v C / O ) xyz
 0  (3k )  (0.2i )  2i
 2i  0.6 jm / s
  rC / O    (  rC / O )  2  ( vC / O ) xyz  (aC / O ) xyz
aC  aO  
 0  (2k )  (0.2i )  (3k )  (3k )  (0.2i )  2(3k )  (2i )  3i
 1.20i  12.4 jm / s 2
14
Solution Solution
Coordinate Axes. Kinematic Equations
Origin B coincides with the origin of the fixed X,Y, Z Motion of Moving Reference:
frame. v B  600 jkm / h
2 2
   
Kinematic Equations. aB n   vB    600 900km / h
2
    400 
v A  v B    rA / B  ( v A / B ) xyz (1) a B  aB n  a B t  900i  100 jkm / h 2
  r    (  r )  2  ( v )  (a ) (2)
aA  aB   A/ B A/ B A / B xyz A / B xyz vB 600
   1.5rad / h
 400
 aB t 100
   0.25rad / h 2
 400
Solution Solution
Kinematic Equations Kinematic Equations
Motion of A with Respect to Moving Reference: Thus

rA / B   4ikm a A  a B   rA / B      rA / B   2  v A / B xyz  a A / B xyz
Substituting the data into Eqs. 1 and 2,

50 j  900i  100 j  0.25k    4i 
v A  vB    rA / B  v A / B xyz   1.5k    1.5k   4i   2 1.5k   94 j  a A / B xyz
700 j  600 j   1.5k   4i   v A / B xyz
v A / B xyz  94 jkm / h a A / B xyz   1191i  151jkm / h 2
15

Chapter Objectives: Planar Rigid-Body Motion

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Chapter Objectives: Planar Rigid-Body Motion

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Chapter Objectives

 Classify various types of rigid-body planar motion

Chapter Outline 16.1 Planar Rigid-Body Motion

 When all the particles of a rigid body move along

16.1 Planar Rigid-Body Motion 16.1 Planar Rigid-Body Motion

1) Translation 2) Rotation about a fixed axis

Position Angular Motion

Angular Velocity Angular Acceleration

Motion of Point P Acceleration

Procedure for Analysis Procedure for Analysis

16.3 Rotation about a Fixed Axis Example 16.1

Procedure for Analysis A cord is wrapped around a wheel which is initially at

Example 16.1 Example 16.1

Solution  A body subjected to general plane motion

16.4 Absolute Motion Analysis 16.4 Absolute Motion Analysis

Procedure for Analysis Procedure for Analysis

Example 16.3 Example 16.3

The end of rod R maintains contact with the cam by Solution

The large window is opened using a hydraulic Solution

s 2  (2)2  (1)2  2(2)(1) cos

Example 16.5 Example 16.5

16.5 Relative-Motion Analysis: Velocity 16.5 Relative-Motion Analysis: Velocity

 The general plane motion of a rigid body can be Position

16.5 Relative-Motion Analysis: Velocity 16.5 Relative-Motion Analysis: Velocity

16.5 Relative-Motion Analysis: Velocity 16.5 Relative-Motion Analysis: Velocity

Velocity Procedure for Analysis

Procedure for Analysis Procedure for Analysis

16.5 Relative-Motion Analysis: Velocity 16.5 Relative-Motion Analysis: Velocity

Procedure for Analysis Procedure for Analysis

Example 16.6 Example 16.6

The link is guided by two block A and B, which move Solution

Example 16.8 Example 16.6

The link is guided by two block A and B, which move Solution

Example 16.6 16.6 Instantaneous Center of Zero Velocity

Solution  Velocity of any point B located on a rigid body

 For wheel rolling without slipping, the point of Location of the IC

16.6 Instantaneous Center of Zero Velocity Example 16.10

Procedure for Analysis Show how to determine the location of the

Example 16.10 Example 16.10

Solution The cylinder rolls without slipping between the two

Example 16.12 Example 16.12

16.7 Relative-Motion Analysis:Acceleration 16.7 Relative-Motion Analysis:Acceleration

Velocity Analysis. Acceleration Equation.

 Establish the directions of the fixed x, y

16.7 Relative-Motion Analysis:Acceleration 16.7 Relative-Motion Analysis:Acceleration

SCALAR ANALYSIS SCALAR ANALYSIS

Example 16.14 Example 16.14

The rod AB is confined to move along the inclined Solution

Example 16.16 Example 16.16

Kinematic Diagram Equating the i and j terms, the component equations

Example 16.16 Example 16.18

Solution The crankshaft AB of an engine turns with a

Example 16.19 Example 16.19

Example 16.19 Example 16.21

Solution Two planes A and B are flying at the same elevation

Example 16.21 Example 16.21

rA / B   4ikm a A  a B   rA / B      rA / B   2  v A / B xyz  a A / B xyz

Substituting the data into Eqs. 1 and 2,

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