16.

8 RELATIVE-MOTION ANALYSIS USING ROTATING AXES 38 9

16.8 Relative-Motion Analysis using

Rotating Axes
In the previous sections the relative-motion analysis for velocity and
acceleration was described using a translating coordinate system. This
type of analysis is useful for determining the motion of points on the
same rigid body, or the motion of points located on several pin-connected
bodies. In some problems, however, rigid bodies (mechanisms) are
constructed such that sliding will occur at their connections. The
kinematic analysis for such cases is best performed if the motion is
analyzed using a coordinate system which both translates and rotates.
Furthermore, this frame of reference is useful for analyzing the motions
of two points on a mechanism which are not located in the same body
and for specifying the kinematics of particle motion when the particle
moves along a rotating path.
In the following analysis two equations will be developed which relate
the velocity and acceleration of two points, one of which is the origin of a
moving frame of reference subjected to both a translation and a rotation 16
in the plane.*

Position. Consider the two points A and B shown in Fig. 16–32a. Y

Their location is specified by the position vectors rA and rB , which are .
measured with respect to the fixed X, Y, Z coordinate system. As shown
y
in the figure, the “base point” A represents the origin of the x, y, z xB B x
coordinate system, which is assumed to be both translating and rotating yB
with respect to the X, Y, Z system. The position of B with respect to A is rB/A
specified by the relative-position vector rB>A . The components of this
rB
vector may be expressed either in terms of unit vectors along the X, Y A
axes, i.e., I and J, or by unit vectors along the x, y axes, i.e., i and j. For
rA
the development which follows, rB>A will be measured with respect to
the moving x, y frame of reference. Thus, if B has coordinates (xB , yB),
X
Fig. 16–32a, then
(a)
rB>A = xBi + yBj Fig. 16–32

Using vector addition, the three position vectors in Fig. 16–32a are
related by the equation

rB = rA + rB>A (16–21)

At the instant considered, point A has a velocity vA and an acceleration

aA , while the angular# velocity and angular acceleration of the x, y axes
are (omega) and = d >dt, respectively.

*The more general, three-dimensional motion of the points is developed in Sec. 20.4.
 39 0 C H A P T E R 16 P L A N A R K I N E M AT I C S OF A RIGI D B ODY

Velocity. The velocity of point B is determined by taking the time

derivative of Eq. 16–21, which yields

drB>A
vB = vA + (16–22)
dt

The last term in this equation is evaluated as follows:

drB>A d
= (x i + yB j)
dt dt B
dxB di dyB dj
= i + xB + j + yB
dt dt dt dt
dxB dyB di dj
= a i + jb + a xB + yB b (16–23)
dt dt dt dt

16 The two terms in the first set of parentheses represent the components
of velocity of point B as measured by an observer attached to the
moving x, y, z coordinate system. These terms will be denoted by vector
(vB>A)xyz . In the second set of parentheses the instantaneous time rate
of change of the unit vectors i and j is measured by an observer located
in the fixed X, Y, Z coordinate system. These changes, di and dj, are due
only to the rotation du of the x, y, z axes, causing i to become i = i + di
and j to become j = j + dj, Fig. 16–32b. As shown, the magnitudes of
both di and dj equal 1 du, since i = i = j = j = 1. The direction of di
is defined by + j, since di is tangent to the path described by the
arrowhead of i in the limit as t S dt. Likewise, dj acts in the -i
y
direction, Fig. 16–32b. Hence,
du dj
du x
j i¿ dj
j¿ di di du du
i
= (j) = j = ( -i) = - i
j 1 dt dt dt dt
i 1

Viewing the axes in three dimensions, Fig. 16–32c, and noting that
(b) = k, we can express the above derivatives in terms of the cross
product as
z
di dj
= * i = * j (16–24)
dt dt
x
k Substituting these results into Eq. 16–23 and using the distributive
i property of the vector cross product, we obtain
y
j
(c) drB>A
= (vB>A)xyz + * (xBi + yB j) = (vB>A)xyz + * rB>A (16–25)
Fig. 16–32 (cont.) dt
 16.8 RELATIVE-MOTION ANALYSIS USING ROTATING AXES 39 1

Hence, Eq. 16–22 becomes

vB = vA + * rB>A + (vB>A)xyz (16–26)

where

vB = velocity of B, measured from the X, Y, Z reference

vA = velocity of the origin A of the x, y, z reference, measured
from the X, Y, Z reference

(vB>A)xyz = velocity of “B with respect to A,” as measured by an

observer attached to the rotating x, y, z reference
= angular velocity of the x, y, z reference, measured from the
X, Y, Z reference
rB>A = position of B with respect to A
16

Comparing Eq. 16–26 with Eq. 16–16 (vB = vA + * rB>A), which is

valid for a translating frame of reference, it can be seen that the only
difference between these two equations is represented by the
term (vB>A)xyz .
When applying Eq. 16–26 it is often useful to understand what each of
the terms represents. In order of appearance, they are as follows:

absolute velocity of B motion of B observed

vB e f
from the X, Y, Z frame

(equals)

absolute velocity of the

vA e
origin of x, y, z frame

(plus) motion of x, y, z frame

y observed from the
angular velocity effect caused X, Y, Z frame
* rB>A e
by rotation of x, y, z frame

(plus)

velocity of B motion of B observed

(vB>A)xyz e f
with respect to A from the x, y, z frame
 39 2 C H A P T E R 16 P L A N A R K I N E M AT I C S OF A RIGI D B ODY

Acceleration. The acceleration of B, observed from the X, Y, Z

coordinate system, may be expressed in terms of its motion measured
with respect to the rotating system of coordinates by taking the time
derivative of Eq. 16–26.

dvB dvA d drB>A d(vB>A)xyz

= + * rB>A + * +
dt dt dt dt dt
# drB>A d(vB>A)xyz
aB = aA + * rB>A + * + (16–27)
dt dt
#
Here = d >dt is the angular acceleration of the x, y, z coordinate#
system. Since is always perpendicular to the plane of motion, then
measures only the change in magnitude of . The derivative drB>A >dt is
defined by Eq. 16–25, so that
drB>A
* = * (vB>A)xyz + * ( * rB>A) (16–28)
dt

16 Finding the time derivative of (vB>A)xyz = (vB>A)xi + (vB>A)y j,

d(vB>A)xyz d(vB>A)x d(vB>A)y di dj

= c i + j d + c (vB>A)x + (vB>A)y d
dt dt dt dt dt
The two terms in the first set of brackets represent the components of
acceleration of point B as measured by an observer attached to the
rotating coordinate system. These terms will be denoted by (aB>A)xyz . The
terms in the second set of brackets can be simplified using Eqs. 16–24.
d(vB>A)xyz
= (aB>A)xyz + * (vB>A)xyz
dt
Substituting this and Eq. 16–28 into Eq. 16–27 and rearranging terms,

#
aB = aA + * rB>A + * ( * rB>A) + 2 * (vB>A)xyz + (aB>A)xyz

(16–29)
where
aB = acceleration of B, measured from the X, Y, Z
reference
aA = acceleration of the origin A of the x, y, z reference,
measured from the X, Y, Z reference
(aB>A)xyz , (vB>A)xyz = acceleration and velocity of B with respect to A, as
measured by an observer attached to the rotating x,
y, z reference
#
, = angular acceleration and angular velocity of the
x, y, z reference, measured from the X, Y, Z reference
rB>A = position of B with respect to A
 16.8 RELATIVE-MOTION ANALYSIS USING ROTATING AXES 39 3

If Eq. 16–29 # is compared with Eq. 16–18, written in the form

aB = aA + * rB>A + * ( * rB>A), which is valid for a translating
frame of reference, it can be seen that the difference between these two
equations is represented by the terms 2 * (vB>A)xyz and (aB>A)xyz . In
particular, 2 * (vB>A)xyz is called the Coriolis acceleration, named after
the French engineer G. C. Coriolis, who was the first to determine it. This
term represents the difference in the acceleration of B as measured from
nonrotating and rotating x, y, z axes. As indicated by the vector cross
product, the Coriolis acceleration will always be perpendicular to both
and (vB>A)xyz . It is an important component of the acceleration which must
be considered whenever rotating reference frames are used. This often
occurs, for example, when studying the accelerations and forces which act
on rockets, long-range projectiles, or other bodies having motions whose
measurements are significantly affected by the rotation of the earth.
The following interpretation of the terms in Eq. 16–29 may be useful
when applying this equation to the solution of problems.

16
motion of B observed
aB e absolute acceleration of B f
from the X, Y, Z frame
(equals)

absolute acceleration of the

aA e
origin of x, y, z frame
(plus)
motion of
angular acceleration effect x, y, z frame
#
* rB>A c caused by rotation of x, y, z y observed from
frame the X, Y, Z frame
(plus)

angular velocity effect caused

* ( * rB>A) e
by rotation of x, y, z frame
(plus)

combined effect of B moving

2 * (vB>A)xyz c relative to x, y, z coordinates s interacting motion
and rotation of x, y, z frame
(plus)

acceleration of B with motion of B observed

(aB>A)xyz e f
respect to A from the x, y, z frame
 39 4 C H A P T E R 16 P L A N A R K I N E M AT I C S OF A RIGI D B ODY

Procedure for Analysis

Equations 16–26 and 16–29 can be applied to the solution of problems

involving the planar motion of particles or rigid bodies using the
following procedure.

Coordinate Axes.
Choose an appropriate location for the origin and proper
orientation of the axes for both fixed X, Y, Z and moving x, y, z
reference frames.

Most often solutions are easily obtained if at the instant considered:

1. the origins are coincident
2. the corresponding axes are collinear
3. the corresponding axes are parallel

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

16 along which the relative motion occurs.

Kinematic Equations.
After defining the origin A of the moving reference and specifying
the moving point B, Eqs. 16–26 and 16–29 should be written in
symbolic form
vB = vA + * rB>A + (vB>A)xyz
#
aB = aA + * rB>A + * ( * rB>A) + 2 * (vB>A)xyz + (aB>A)xyz

The Cartesian components of all 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.

Motion
# of the moving reference is expressed by vA , aA , , and
; and motion of B with respect to the moving reference is
expressed by rB>A , (vB>A)xyz , and (aB>A)xyz .

y
The rotation of the dumping bin of the
B truck about point C is operated by the
x extension of the hydraulic cylinder AB.
To determine the rotation of the bin
due to this extension, we can use the
equations of relative motion and fix
C the x, y axes to the cylinder so that the
relative motion of the cylinder’s
A
extension occurs along the y axis.
(© R.C. Hibbeler)
 16.8 RELATIVE-MOTION ANALYSIS USING ROTATING AXES 39 5

EXAMPLE 16.18
At the instant u = 60 , the rod in Fig. 16–33 has an angular velocity of
3 rad>s and an angular acceleration of 2 rad>s2. At this same instant,
collar C travels 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 measured relative Y
to the rod. Determine the Coriolis acceleration and the velocity and
acceleration of the collar at this instant. y

SOLUTION
x 0.2 m
Coordinate Axes. The origin of both coordinate systems is located O X
at point O, Fig. 16–33. Since motion of the collar is reported relative to 3 rad/s u 60
the rod, the moving x, y, z frame of reference is attached to the rod. 2 rad/s2

Kinematic Equations. C
vC = vO + * rC>O + (vC>O)xyz (1) 3 m/s2
30 2 m/s
#
aC = aO + * rC>O + * ( * rC>O) + 2 * (vC>O)xyz + (aC>O)xyz aCor
(2) x 16
It will be simpler to express the data in terms of i, j, k component Fig. 16–33
vectors rather than I, J, K components. Hence,
Motion of Motion of C with respect
moving reference to moving reference
vO = 0 rC>O = 5 0.2i 6 m
aO = 0 (vC>O)xyz = 5 2i 6 m>s
= 5 -3k 6 rad>s (aC>O)xyz = 5 3i 6 m>s2
#
= 5 -2k 6 rad>s2
The Coriolis acceleration is defined as
aCor = 2 * (vC>O)xyz = 2( -3k) * (2i) = 5 -12j 6 m>s2 Ans.

This vector is shown dashed in Fig. 16–33. If desired, it may be resolved

into I, J components acting along the X and Y axes, respectively.
The velocity and acceleration of the collar are determined by
substituting the data into Eqs. 1 and 2 and evaluating the cross products,
which yields
vC = vO + * rC>O + (vC>O)xyz
= 0 + (-3k) * (0.2i) + 2i
= 5 2i - 0.6j 6 m>s Ans.
#
aC = aO + * rC>O + * ( * rC>O) + 2 * (vC>O)xyz + (aC>O)xyz
= 0 + (-2k) * (0.2i) + (-3k) * [( -3k) * (0.2i)] + 2(-3k) * (2i) + 3i
= 0 - 0.4j - 1.80i - 12j + 3i
= 5 1.20i - 12.4j 6 m>s2 Ans.