Part 2: Kinematics

Kinematics is second part of mechanics book. In

which, we study mechanical motion of bodies in
term of geometry, do not care about reasons
causing motion as well as reasons causing the
change of motion.

1
Chapter 6.2 (further reference): Kinematics of a
particle
6.2.1) Survey motion of particle with vector method
6.2.1.1) Equation of motion
Consider point M moving in reference system Oxyz.→
Position of point M is determined by vector r = OM .
z
Point M moves, hence
r = r (t)
M
r
O y

x 2
6.2.1.2) Velocity of motion
dr •
v= =r
dt
6.2.1.3) Acceleration of motion
dv d 2 r ••
a= = 2 =r
dt dt

3
6.2.2) Survey motion of
particle with Descartes z
coordinates method
6.2.2.1) Equation of motion
Position of point M is M
identified by 3 coordinates
x, y, z in Descartes k r
coordinates Oxyz. z
j y
r = x.i + y. j + z.k i
O
Equations of motion of
x
particle have form x y

x = x ( t ); y = y ( t ); z = z (t )

4
6.2.2.2) Velocity of motion
dx • dy • dz •
vx = = x; v y = = y; v z = =z
dt dt dt
•2 •2 •2
v= v = v +v +v = x +y +z
2
x
2
y
2
z

vx vy vz
cos ( Ox, v ) = ;cos ( Oy, v ) = ;cos ( Oz, v ) =
v v v
6.2.2.3) Acceleration of motion
dv x •• dv y •• dv z ••
ax = = x;a y = = y;a z = =z
dt dt dt
•• 2 •• 2 •• 2
a = a = a 2x + a 2y + a z2 = x + y + z
ax ay az
cos ( Ox, a ) = ;cos ( Oy, a ) = ;cos ( Oz, a ) =
a a a
5
6.2.3) Survey motion of particle with natural coordinates
method
6.2.3.1) Equation of motion
Assume knowing trajectory (C) of
particle in a spatial reference
system. Choose a point O as
origin, choose positive sense
on orbit. Position of point M is
defined by algebraic length of
arc OM = s .
Equation of motion (C)

s = s (t) _O M t
+

b
6
6.2.3.3) Velocity of motion
ds •
v= =s
dt
6.2.3.4) Acceleration of motion
a = at + an
t
a is tangential acceleration, representing variability of
magnitude of velocity:
dv t
a =
t

dt
n
a is normal acceleration, representing variability of
direction of velocity:
2
v
a =
n


7
Chapter 7: Planar kinematics of rigid body
In this chapter, we survey 2 simplest types of
motion of rigid body: translation and rotation about
a fixed axis. All types of motion of rigid body can
be analyzed to these simple types of motion.

8
7.1) Translation of rigid body
7.1.1) Definition and example
Definition: translation of rigid body is motion in which
every segment of straight line of body is always
parallel to its original position.

Examples of translation:
Bodyshell translates Bar AB translates, O1A = O2B
A B

O1 O2
9
7.1.2) Properties of
motion
Theorem: when rigid
body translates, then
trajectory, velocity,
acceleration of
particles of body are
the same.
Take 2 points A, B of
body translating
→
rB = rA + AB
→
AB = const
vB = vA
aB = aA 10
7.2) Rotation about a fixed axis
Motion of rigid body which has 2 fixed points is called
rotation about a fixed axis. There is an axis going
through these 2 fixed points called rotational axis of
body.

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7.2.1) Survey motion of body
1) Equation of motion
 =  ( t ) rad
2) Angular velocity of body
d
= =  rad / s
dt
3) Angular acceleration of body
d d 2
 = = 2 = rad / s 2
dt dt

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5) Angular velocity vector and angular acceleration
vector
Angular velocity vector  of solid body rotating about
fixed axis is a vector lying on rotational axis, has
sense satisfying the condition: when look from tip to
origin of vector  , we will see the body rotating
counterclockwise, the vector has magnitude  = 
If k is unit vector of rotational axis z, we have:
 = .k

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Angular acceleration vector  of solid body rotating
about fixed axis is equal to derivative of angular
velocity vector  with respect to time:
d d
= = k =  .k
dt dt
Hence, angular acceleration vector  also lies on
rotational axis; its sense and magnitude is identified
by sign and magnitude of  .

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7.2.2) Survey motion of particles on body
Consider motion of a particle M (on rigid body) which
has a distance IM=R to rotational axis z.
1) Equation of motion of particle M
Choose point O on plane PO as reference origin.
Position of point M is identified by arc OM
s = R ( t )
2) Velocity of particles
• •
v = s = R  = R PO
O I v
v=ω×R 
M P

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3) Acceleration of particles
a=a t +a n =α×R-ω2 R at
Normal acceleration directs from M a
to center I
2 I M
v
a =
n
= R2 n
a

Tangential acceleration has sense
suitable with sense of angular
acceleration t •
a = v = R

at
tg = n = 2
a 
a= (a )
t 2
+ (a )
n 2
= R 4 +  2

sM vM a M a nM a M rM
= =  = n = =
s N v N a N a N a N rN 16
7.3) Simple transmissions

1 r2
=
2 r1

17
1 r2
=−
2 r1

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7.4) General plane motion
7.4.1) Definition
General plane motion of rigid body is motion in which
every particle of body always move inside an identified
plane parallel to selected reference plane.

P x
O
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7.4.2) Model of general plane motion
Surveying general plane motion of rigid body  in space is
brought back to problem of surveying plane motion of
section S in plane P.

Examples of general plane motion:


Bar AB, O1A O2B Roller C

B
A

O1 O2

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7.5) Survey motion of rigid
body
7.5.1) Decompose general
plane motion to basic motions
General plane motion of rigid
body always can be
decomposed to 2 basic
motions: relative rotating
motion of body about pole A
with respect to kinetic
reference system Ax’y’, and
translating motion of kinetic
reference system Ax’y’ with
respect to fixed reference
system Oxy.
7.5.2) Equation of motion of body
x A = x A ( t ) ; yA = yA ( t ) ;  =  ( t )
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7.6) Survey motion of
particles on body
7.6.1) Equation of motion

rB = rA + AB
rB / A = AB

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7.6.2) Velocity of particles
Theorem 1: Velocity of point B on flat shape S in general
plane motion is equal to vector sum of velocity of pole A
and velocity of point B in rotating motion of flat shape S
about pole A.
vB = vA + vBA = vA +   rB / A
vBA has:
+ direction ⊥ BA
+ sense suitable to sense
of 
+ magnitude vBA = . AB

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Theorem 2: Velocity projections of 2 arbitrary points of
flat shape S in general plane motion on the line
connecting those 2 points are equal.
hcAB vB = hcAB vA

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3) Instantaneous center of zero velocity
Definition: Point P (on flat shape S) which, at the time
of survey, has 0 speed is called instantaneous
center of zero velocity.

Theorem 3: At each time if   0, there is a sole point

(belonging to flat shape S) which has 0 speed.

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4) Velocity distribution of particles
Choose instantaneous center of zero velocity as pole.
Consider point M on S
vM = vP + vMP = vMP ; vP = 0
v M has direction perpendicular to MP, has sense
suitable with rotational sense of  , has magnitude
vMP = .MP
When   0 , instantaneous velocity of flat shape S
distributes as if S is rotating about instantaneous
center of zero velocity with angular velocity  .

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5) Practical rule to find instantaneous center of zero
velocity
P is instantaneous center of zero velocity.

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 7.6.3) Acceleration of particles
Theorem 4: acceleration of arbitrary point B of flat
shape S in general plane motion is equal to vector sum
of acceleration of pole A and acceleration of point B in
rotating motion of flat shape S about pole A.
aB = a A + aBA = a A + aBA
t
+ aBA
n
= a A +   rB / A −  2 rB / A

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 t
Tangential acceleration a has direction perpendicular
BA
to AB, has sense suitable to sense of , has magnitude
a t
BA = .AB
n
Normal acceleration a directs from B to pole A, has
BA
magnitude a nBA = 2 .AB .

tg = 2


29
7.7) Identify angular velocity, angular acceleration of
flat solid body with Willis method
Flat differential structure has 3 bodies in motion, including
gear 1 (or gear O), swivel rod OA, and gear 2. Two gears 1
and 2 roll without sliding together, and have radii r1 and r2.
Find angular velocity, angular acceleration of gear 2?

30
Flat differential structure has 3 bodies in motion.
Gear 1 rotates about fixed axis going through O
Swivel rod OA rotates about axis going through O.
Gear 2 is in general plane motion
Structure has 2 degrees of freedom.

31
Choose swivel rod OA as moving reference system.
Pair of gears 1 and 2 (fitting outside) rotate about axes
going through O and A with relative angular velocities
1r and 2r .
According to theorem of union of 2 rotations about 2
parallel axes, we have 1r = 1 − 0 ; 2r = 2 − 0.

32
Relative transmissive ratio between 2 gears is
1r 1 − 0 r2 z2
= =− =−
2r 2 − 0 r1 z1
In which z1 and z2 are cogs of gears 1 and 2.
The above formula is called Willis formula.

33
From Willis formula, we infer
r1 + r2 r1
2 = 0 − 1
r2 r2
This expression is always proper for every position of
structure. Taking the derivatives of this expression
r1 + r2 r1
2 = 0 − 1
r2 r2

34
7.8) Relative-motion analysis using rotating axes
(or complex motion of particle)
In previous parts, we survey motion of particle with
respect to fixed reference system. In practical, many
times, we have to survey motion of particle w.r.t. a
reference system but this reference system moves
w.r.t. a fixed reference system.

35
An ant is crawling on a ball, the ball is rolling on ground. Motion of ant
compared to ground (reference system) is complex motion of
particle (ant). Reference system attached to train or ball is called
moving reference system or moving system. Reference system
attached to rail or ground is called fixed reference system or fixed
system.
36
7.8.1) Definition about
categories of motion
7.8.1.1) Model of problem
Particle M moves w.r.t.
moving reference system
Oxyz. Normally, moving
reference system Oxyz is
attached to a rigid body S.
Moving reference system
Oxyz moves w.r.t. fixed
reference system O1x1y1z1.
Problem is surveying motion
of particle M w.r.t. moving
reference system Oxyz which
is moving w.r.t fixed
reference system O1x1y1z1.

37
7.8.1.2) Definitions of absolute motion, relative motion,
and espousing (dragging-on) motion
1) Absolute motion
Motion of particle M with respect to fixed reference
system O1x1y1z1 is called absolute motion.
→ → →
O1M = O1O + OM
→
d O1M dr
va = =
dt dt
→
2 2
d O1M d r
aa = 2
= 2
dt dt

38
2) Relative motion
Motion of particle M with respect to moving reference
system Oxyz is called relative motion.
→
OM = x.i + y. j + z.k
→
d OM dx dy dz
vr = = i+ j+ k
dt dt dt dt
→
d 2 OM d 2 x d2 y d2z
ar = 2
= 2 i + 2 j+ 2 k
dt dt dt dt

39
3) Espousing (dragging-on) motion
Motion of moving reference system Oxyz with respect
to fixed reference system O1x1y1z1 is called
espousing (dragging-on) motion.
In order to establish expression of espousing veclocity
and espousing acceleration, we introduce concept
of coinciding point M*.

40
Call M* (belonging to moving reference system) which,
at the time of surveying, has the same position with
particle M is coinciding point of particle M at that
time. Absolute velocity and acceleration of M* at the
time of surveying are called espousing velocity and
espousing acceleration of particle M at that time.

→ → → →
O1M* = O1O+ OM* = O1O + x * i + y* j + z*k
→ →
d O1M* d O1O * di * dj * dk
ve = v M* = = +x +y +z
dt dt dt dt dt
→ →
2 * 2 2 2 2
d O1M d O1O d i d j d k
a e = a M* = 2
= 2
+x 2 +y 2 +z
* * *

dt dt dt dt dt 2
41
7.9) Theorems of relative-motion analysis using
rotating axes
7.9.1) Theorem of relative-velocity analysis using
rotating axes (or theorem of complex velocity)

42
43
At each time, absolute velocity of particle is equal to
sum of vectors of its relative velocity and espousing
velocity.

va = vr + ve
va = vB
vr = ( vB / A ) xyz
ve = vA +  rB / A

44
7.9.2) Theorem of relative-acceleration analysis using
rotating axes (or theorem of complex acceleration)

45
At each time, absolute acceleration of particle is equal
to sum of vectors of relative acceleration, espousing
acceleration, and Coriollis acceleration.
aa = ar + ae + aC
aa = aB
ar = ( aB / A ) xyz

(
ae = a A +   rB / A +     rB / A )
aC = 2  ( vB / A ) xyz = 2e  vr

46
Notice: we can use practicing rule to determine
Coriollis acceleration:
If e ⊥ vr , we rotate vector v r an angle 90o
according to rotational sense of e we will get
direction and sense of Coriollis acceleration a C .
Magnitude:  e
a C = 2e vr
e

aC

vr 47
If e not perpendicular to v r , project v r
onto a plane which is perpendicular to e
we obtain v 'r . Rotate v 'r an angle 90o
according to rotational sense of e we
obtain direction and sense of Coriollis
acceleration a C . Magnitude:
e
v'r = vr sin 
a C = 2e v = 2e v r sin 
'
r
vr  e

'
vr
aC
48