Chapter 16

Planar Kinematics of a
Rigid Body (VI)
Impulse and Momentum
by

Dr. Toh Hoong Thiam

RELATIVE MOTION ANALYSIS
USING ROTATING AXES

by

Dr. Toh Hoong Thiam

Objectives:

Determine the velocity and acceleration of a point on a rigid

body using a coordinate system that translates and rotates.
 Translating coordinate system
 The equations used in the relative motion analysis for velocity &
acceleration in translating coordinate system are

vԦB = vԦA + vԦB/A

= vԦA + 𝜔 × 𝑟ԦB/A
and

aB = aA + (aB/A)t + (aB/A)n
= aA + 𝛼Ԧ ×ԦrB/A + 𝜔 × (𝜔 × rԦB/A )
= aA + 𝛼Ԧ ×ԦrB/A − w 2 rԦB/A

 These equations can only be used for determining the motion of

 points on the same rigid body
 points located on several pin-connected rigid bodies (without
sliding).
 Moving coordinate system (translates & rotates)

 A moving coordinate system which both translates and rotates

is required for
 analyzing the motions of 2 points on a mechanism which
are not located in the same body.

 analyzing the motions of rigid bodies that involve

connected members that slide relative to one another.
 specifying the kinematics of particle motion when the
particle moves along a rotating path.
 Position

 Let
መ 𝐽,
X, Y, Z : a fixed coordinate system (the unit vectors are 𝐼, መ 𝐾)
෡

x, y, z : a coordinate system with origin at A (the unit vectors

෠ that is both translating and rotating with
are 𝑖,Ƹ 𝑗,Ƹ 𝑘)
respect to the X, Y, Z system.

𝛺: angular velocity of the x, y, z system w.r.t the

X, Y, Z system.

ሶ
𝛺: angular acceleration of the x, y, z system w.r.t the
X, Y, Z system.
 Consider two points A & B, whose
location are specified by rԦA and rԦB,
measured from the fixed XYZ
coordinate system.

 If the coordinates of B in the x, y,

system is (xB, yB), then the position
vector of B w.r.t. the rotating xyz
system is

𝑟ԦB/A = xB 𝑖Ƹ + yB 𝑗Ƹ

 The absolute position vector of B w.r.t . the XY system is related to

the relative position vector of B w.r.t. the rotating xy system by

𝑟ԦB = 𝑟ԦA + 𝑟ԦB/A (1)

 Velocity
 The velocity of point B is determined by taking the time
derivative of Eq. (1),

d rB d rA d rB/A
= +
dt dt dt

or
d rB/A (2)
vԦB = vԦA +
dt

where
d rB
vԦB = = absolute velocity of point B
dt

d rA
vԦA = = absolute velocity of point A
dt
 drB/A d xB i + y B j 
  
=
dt dt
 
dx  di dy B  dj
= B i + xB + j + yB
dt dt dt dt
 
 dxB  dy B    di dj 
= i+ j  +  xB + y B 
 dt dt   dt dt 

   
= vB/A  x i + vB/A  y j  + xB Ω  i  + y B Ω  j 
 

  
= vB/A xyz + Ω  xB i + y B j 


 
drB/A  
∴ = vB/A xyz + Ω  rB/A (3)
dt
  
d    
di
= j = Ω j or
di
= Ω i
dt dt dt

 
d j d    
=  i  = Ω i or
dj
= Ω j
dt dt dt
 Substituting Eq. (3) into Eq. (2), we have
    
vB = v A + Ω  rB/A + vB/A xyz (4)
where
vԦB = absolute velocity of B, measured from the fixed X, Y, Z
reference frame
vԦA = absolute velocity of the origin A of the rotating x, y, z
reference frame, measured from the fixed X, Y, Z frame
(ԦvB/A)xyz = relative velocity of “B with respect to A,” as measured by
an observer attached to the rotating x, y, z reference frame
𝛺 = angular velocity of the x, y, z reference frame, measured
from the fixed X, Y, Z reference frame
rԦB/A = relative position of B with respect to A, measured from
the rotating x, y, z reference frame
 Acceleration
 The acceleration of point B observed from the X, Y, Z coordinate
system is obtained by taking the time derivative of Eq. (4),
 
vB  = v A + Ω  rB/A + vB/A xyz 
d  d  
dt dt


   B/A xyz
dvB dv A
dt
=
dt
+
d
dt


Ω  rB/A +
d

v
dt
 
 
dvB dv A dΩ   
drB/A d v B/A xyz
= +  rB/A + Ω  +
dt dt dt dt dt

or
 B/A xyz
  
   
  
aB = a A + Ω  rB/A + Ω  vB/A xyz + Ω  rB/A + 
d v
dt
… (5)
where

d vB/A xyz   
d vB/A x i + vB/A  y j 
=
xyz

dt dt
 
 d v   di   d v   dj 
=  B/A x i + vB/A x  +  j + vB/A  y 
B/A y

 dt dt   dt dt 

 
 d vB/A x  d vB/A  y   di dj 
= i+ j  +  vB/A x + vB/A  y 
 dt dt   dt dt 

  
   
  
 
= aB/A x i + aB/A  y j + vB/A x Ω  i + vB/A  y Ω  j 


  
= aB/A xyz + Ω  vB/A x i + vB/A  y j 

d vB/A xyz   
∴ = aB/A xyz + Ω  vB/A xyz … (6)
dt
 Substituting Eq. (6) into Eq. (5), we have
     
 
 
 
aB = a A + Ω  rB/A + Ω  Ω  rB/A + 2Ω  vB/A xyz + aB/A xyz
… (7)
where

aB = absolute acceleration of B, measured from the fixed X, Y, Z

reference frame
aA = absolute acceleration of the origin A of the rotating x, y, z
reference frame, measured from the fixed X, Y, Z frame

(aB/A)xyz, = relative acceleration & velocity of “B with respect to A,”

(ԦvB/A)xyz measured from the rotating x, y, z frame
ሶ
𝛺, 𝛺 = angular acceleration & angular velocity of the x, y, z
reference frame, measured from the fixed X, Y, Z frame
rԦB/A = relative position of B with respect to A, measured from
the rotating x, y, z reference frame
Note:
• The term 2 𝛺 ⨯ (ԦvB/A)xyz is called the Coriolis acceleration,
representing the difference in the acceleration of B as measured
from the non-rotating and rotating x , y, z axes.

• As indicated by the vector cross-product, the Coriolis

acceleration is always perpendicular to both 𝛺 and (ԦvB/A)xyz
PROCEDURE FOR ANALYSIS
 Coordinate Axes
 Choose an appropriate location for the origin and proper
orientation of the axes for both the fixed X, Y, Z & moving
x, y, z reference frames.

 Recommended choices:
 The origins are coincident.
 The corresponding axes are collinear
 The corresponding axes are parallel

 The moving frame should be selected fixed to the body or

device along which the relative motion occurs.
 Kinematic Equations
 After defining the origin A of the moving frame & specifying
the moving parts, write the relative equations in symbolic form.

    
vB = v A + Ω  rB/A + vB/A xyz

      
 
  
aB = a A + Ω  rB/A + Ω  Ω  rB/A + 2Ω  vB/A xyz + aB/A xyz

 The Cartesian components of these vectors may be expressed

along either the X, Y, Z axes or the x, y, z axes.

The choice is arbitrary provided a consistent set of unit vectors

is used.
EXAMPLE 1
Given:
• At the instant θ = 60°, the rod has an
angular velocity of 3 rad/s and an
angular acceleration of 2 rad/s2.

• At the same instant, the collar C is

travelling outward along the rod
such that when x = 0.2 m the
velocity is 2 m/s and the
acceleration is 3 m/s2, both measure
relative to the rod.

Find:
Determine the Coriolis acceleration, the velocity and acceleration of
the collar at this instant.
Solution:
Coordinate Axes
 The origin of the fixed X, Y, Z &
moving x, y, z coordinate system is
located at point O.

 The moving x, y, z coordinate

system is attached to the rod.

Kinematic Equations
    
vC = vO + Ω  rC/O + vC/O xyz
     
 
 
 
aC = aO + Ω  rC/O + Ω  Ω  rC/O + 2Ω  vC/O xyz + aC/O xyz
 All vectors will be expressed in terms of the unit
vectors in the moving frame (Oxyz).

 Motion of moving frame (Oxyz):

vԦO = 0
aO = 0
𝛺 = − 3 𝑘෠ rad/s
ሶ
𝛺 = − 2 𝑘෠ rad/s2

 Motion of the collar C w.r.t. the moving frame (Oxyz):


rC/O = 0.2 i  m


 
vC/O xyz = 2 i  m/s

aC/O xyz = 3 i  m/s 2

 The Coriolis acceleration is
  
aCor = 2Ω  vC/O xyz


 

= 2  3k  2i xyz

aCor =  12 j  m/s 2


 Velocity of the collar C

    
vC = vO + Ω  rC/O + vC/O  xyz
 
   
= 0 +  3k  0.2i  + 2i
 
= 2i  0.6 j  m/s
 Acceleration of the collar C
     
 
 
 
aC = aO + Ω  rC/O + Ω  Ω  rC/O + 2Ω  vC/O xyz + aC/O xyz

  
   
  
 

= 0 +  2k  0.2i  +  3k   3k  0.2i 

   
+ 2  3k  2i  + 3i

    
= 0  0.4 j  1.80 i  12 j + 3i

 
aC = 1.20 i  12.4 j  m/s 2

EXAMPLE 2
Given:

• The rod AB rotates clockwise

such that it has an angular
velocity wAB = 3 rad/s and
angular acceleration aAB = 4
rad/s2 when  = 45o.

• The collar at C is pin connected to

AB and slides over rod DE.

Find:
Determine the angular motion of rod DE at this instant.
Solution:
Coordinate Axes
 The origin of the fixed X, Y, Z &
moving x, y, z coordinate system is
located at point D.

 The moving x, y, z coordinate

system is attached to the rod DE.

Kinematic Equations

    
vC = vD + Ω  rC/D + vC/D xyz
      
 
  
aC = aD + Ω  rC/D + Ω  Ω  rC/D + 2Ω  vC/D xyz + aC/D xyz
 All vectors will be expressed in terms of the unit vectors in the
moving frame (Dxyz).
 Motion of moving frame (Dxyz):
vԦD = 0
aD = 0

𝛺 = − wDE 𝑘෠ rad/s
ሶ
𝛺 = − aDE 𝑘෠ rad/s2

 Motion of the collar C w.r.t. the moving frame (Dxyz):


rC/D =  0.4 i  m


 
vC/D xyz = vC/D xyz i m/s
 
aC/O xyz = aC/D xyz i m/s2
Rod AB
 Point C is undergoing pure rotation about A.

 Velocity of point C
   
vC = v A + w AB  rC/A
 
= 0 +  3k   0.4i + 0.4 j 
 
 
= 1.2 i  1.2 j  m/s

 Acceleration of point C
    2 
aC = a A + a AB  rC/A  w AB  rC/A
 
= 0 +  4k  0.4i + 0.4 j   3 0.4i + 0.4 j 
  2
 
 
=  2 i  5.2 j  m/s 2
Rod DE
 Velocity of the collar C
    
vC = vD + Ω  rC/D + vC/D xyz
  

   
1.2 i  1.2 j = 0 +  w DE k  0.4i  + vC/D xyz i
   
1.2 i  1.2 j = vC/D xyz i  0.4w DE j (1)

Comparing 𝑖Ƹ , 𝑗Ƹ components in Eq (1), we have


i: 1.2 = vC/D xyz  (vC/D)xyz = 1.2 m/s

j:  1.2 =  0.4w DE  𝜔DE = 3 rad/s
 Acceleration of the collar C
     
  
  
aC = aD + Ω  rC/D + Ω  Ω  rC/D + 2Ω  vC/D xyz + aC/D xyz

 
  
  

 
 

 2 i  5.2 j = 0 +  a DE k  0.4i  +  3k   3k  0.4i 

   
+ 2  3k  1.2i  + aC/D xyz i
     
 2 i  5.2 j =  0.4a DE j  3.6 i  7.2 j + aC/D xyz i (2)

Comparing 𝑖Ƹ , 𝑗Ƹ components in Eq (2), we have


i :  2 = 3.6 + aC/D  xyz  (aC/D)xyz = 1.6 m/s2

j :  5.2 =  0.4a DE  7.2  aDE = − 5 rad/s2
aDE = 5 rad/s2
EXAMPLE 3

Given:
Two planes A and B are
flying at the same
elevation and have the
motions shown in the
figure.

Find:
Determine the velocity and acceleration of A as measured by the pilot
of B.
Solution:
Coordinate Axes
 Since the relative motion of A w.r.t. B is being sought, the moving x, y,
z frame is attached to B.
 At the instant considered, the origin B coincides with the
origin of the fixed X, Y, Z frame.

Kinematic Equations
    
v A = vB + Ω  rA/B + v A/B xyz (1)

     
 
 
 
a A = aB + Ω  rA/B + Ω  Ω  rA/B + 2Ω  v A/B xyz + a A/B xyz (2)
 ෠
 Express all vectors in terms of the unit vectors 𝑖,Ƹ 𝑗,Ƹ 𝑘.
 Motion of moving frame (Bxyz):

vB =  600 j  km/h


  
aB = aB n + aB t
vB2  
= i + aB t j

6002  
= i  100 j
400
 
= 900 i  100 j  km/h 2
 
 Ω =  1.5 k  rad/h
vB
600
Ω= = = 1.5 rad/h
 400
aB t 100  

Ω=

=
400
= 0.25 rad/h  
 Ω = 0.25 k rad/h 2
 Motion of A w.r.t. the moving frame (Bxyz):

rA/B =   4 i  km



v A/B xyz = ?

a A/B xyz = ?

 Velocity
Substituting the data into Eq. (1), we have
    
v A = vB + Ω  rA/B + v A/B xyz

700 j = 600 j +  1.5 k   4i  + v A/B xyz
   
   
700 j = 600 j + 6 j + v A/B xyz

v A/B xyz =  94 j  km/h

∴
 Acceleration
Substituting the data into Eq. (2), we have
     
 
 
 
a A = aB + Ω  rA/B + Ω  Ω  rA/B + 2Ω  v A/B xyz + a A/B xyz

 
50 j =  900i  100 j 

 
+ 0.25 k    4i 


  
 
 
+  1.5k   1.5k   4i 


  
+ 2  1.5k   94 j  + a A/B xyz


   
50 j =  900 + 282 i +   100  1 j + a A/B xyz
 
a A/B xyz =   1191 i + 151 j  km/h 2

∴