In Two Steps

•These two equations can be written for any two arbitrary points
that belong to the same rigid body undergoing general plane
motion
•For using these two equations a reference point need to be
chosen.
•Lets consider point A as reference point
•If we consider point B as reference point

From here we can write the two equations that will enable us to
find the linear velocity and linear acceleration of specific point
If points belongs to more than one rigid body (e.g. incase of joints)
In given figure point A belongs to not only rigid body AB but also rigid body AC
Therefore the linear velocity and linear acceleration can also be written as;
Note:
The word instantaneous indicates that point A only has a zero
velocity at this instant
And at this instant alone it can be considered as the center of
rotation
If we can identify the instantaneous center of zero velocity for a
rigid body at a given instant then the general plane motion
reduces to pure rotation which is a lot easier in terms of
calculation
Sometimes the instantaneous center of zero velocity can be
determined through observation
As the wheel is rolling without slipping
therefore the point of contact with the
ground should have the same velocity
of the ground (which is a zero)
therefore this contacting point is our
instantaneous center of zero velocity

The general plane motion of this wheel

can now be reduced to a pure rotation
about this point.
Case 1
Case 2

Case 3
Case 1 Case 2 Case 3
Suggested Problems

R.C. Hibbler
Chapter 16 :
Example 16-8
All other related Examples and Problems
Thank You.