Ch.5 Kinematics of R.B - 2020

Part II
Dynamics of Rigid Body

(Planar or Space Motion)
Prof. Imam Morgan

Dean of EMS – MCTR dept. (1)
Contents
Ch. 1 …. Kinematics of a Particle (Rectilinear)
Ch. 2 …. Kinematics of a Particle (Curvilinear)
Ch. 3 …. Kinetics of a Particle
Part I ● Accelerating Force
Dynamics of Particle Ch. 4 …. Kinetics of a Particle
● Impulse and Momentum Report
● Energy Approach
Ch. 5 …. Kinematics of R.B.

● Translation
Part II
● Rotation about a fixed axis ( 2D & 3D)
Dynamics of R.B
● General Plane Motion
● Rotation about a fixed point
(Spherical Motion)
Ch. 6 …. Simultaneous Motion (Coriolis effect)
Ch. 7 …. Kinetics of Rigid Body
● Accelerating Force
Ch. 8 …. Kinetics of Rigid Body
● Energy Approach
Prof. Imam Morgan
Dean of EMS – MCTR dept. (2 )
Chapter 5
Kinematics of Rigid Body

►(5.1) Introduction
►(5.2) Translation Part A
►(5.3) Rotation about Fixed Axis
(Space and Plane)
►(5.4) General Plane Motion
3
You may be asked:
■ to determine the motion
of a specified gear in the
shown Gear train system
if the motion of another
gear is defined.
■To determine the
relation between the
input and output
rotations of the whole
Gear train.
These, besides & others,
are the objectives of this
part.
Prof. Imam Morgan

Horizontal axis
Vertical axis
Wind Turbine rotates about fixed axis

with variable angular motion
Prof. Imam Morgan
Rigid Body that rotates about a moving axis
Prof. Imam Morgan

D
E
C Extracting Oil Mechanism
Prof. Imam Morgan

5.1 Introduction
A Basic Definitions
constant
► Rigid Body (R.B.) ?

The body dimensions are introduced into the analysis.
Condition of Rigidity: as stated before (Introductory Lecture) the
body is considered rigid one when the distance between any two
points A and B is kept constant.
Prof. Imam Morgan

► Kinematics of R.B. ?
Our interest is devoted to the study of the motion of the body
without considering the applied forces.
Re qired :
 
  and  ..... For the body
 
 v P and a P ..... For po int P
 
 

aP 
vP
 ●
● rP P
A
Prof. Imam Morgan

► Motion ?
The R.B. is said to be in motion if the position of any particle of the
body is changed with time. On the other hand, it will be at rest if and only
if the velocity and acceleration of any point on it are both equal to zero.
A Path of A
A
B
Path of B B
The R..B. is said to be in Plane motion if each particle remains at a

constant distance from a fixed reference plane. Thus, the motion can be
analyzed as taking place in a single plane.
Prof. Imam Morgan

B Types of Motion
Translation Rotation General Plane

about a fixed axis Motion
a b
Rotation General Space

about a fixed point Motion
Prof. Imam Morgan

● Example (a) Rotation Rotation
Translation
(Curvilinear trans.)
● Example (b)
Rotation
Prof. Imam Morgan

● Example (c)
G.P.M
Translation
Rotation
G.P.M
● Example (d)
Rotation Rotation
Prof. Imam Morgan

● Example (e) Translation
G.P.M
● Example (f)
Prof. Imam Morgan

5.2
Rigid Body in Translation
Prof. Imam Morgan

Translation
I Motion of a Rigid Body
5.2.1 ● Position of the Rigid Body

● Degrees of Freedom ?
● Velocity of a Point
● Acceleration of a Point
Final Conclusion:
From point of view of Kinematics, the rigid body
in translation may be treated as a particle.
Prof. Imam Morgan

Translation of R.B.
(INTRODUCTION)
Definition: The R.B. is said to be in translation, if any

line of the body keeps the same direction
during the motion.
Rectilinear Translation: Curvilinear Translation:

The paths of all points are The paths of all points are
parallel straight lines. mutually displaced identical
(Ex.c and Ex.e in previous slides) curves. (see Ex. a)
Prof. Imam Morgan
Rectilinear Curvilinear
Translation Translation
Prof. Imam Morgan

5.2.1 ● Position of the Rigid Body
● Degrees of Freedom ?
● Velocity of a Point
● Acceleration of a Point
►Position

The position of point A is defined by rA
while the position of B is given by the
relation:   
r  r r
B A B/ A
  
rB  But,
rA  rB / A is known vector (magnitude
and direction). So, the position of the yA
R.B. is completely defined by knowing
the position of a chosen arbitrary point, zA
xA
Assume that :
e.g., point A.

Assume
rA that
x A t: î  y A t  ˆj  z A t  k̂

rA  x A t  î  y A t  ˆj  z A t  k̂
 x A  x A t 
 yx A  yx A tt  1 Displacement-time
A A
equations
Prof. Imam Morgan
zy A  zy Att
A A
1 3 DOF
Dean of EMS – MCTR dept. z  z t  (19)
Degrees Of Freedom ??
It is the minimum number of independent coordinates
Assume that
necessary :
to specify the position of the system under

investigation
rA  x A t(one
 î  yR.B. in
ˆ our case).
A t  j  z A t  k̂
So,
 x A  x A t 
y A  y A t  1 3 D.O.F. for space curvilinear
Assume that : translation
z A  z A t 
rA  x A t  î  y A t  ˆj  z A t  k̂
 x A  x A t 
Assume y A t:
y A that 1 2 D.O.F. for plane curvilinear
 translation
r x 
z AA  z AAt 
 t  î  y A t  ˆ
j  z A t  k̂
 x A  x A t  1 D.O.F. for rectilinear

y A  y A t  1 translation
Prof. Imam Morgan
z
Dean of EMS – MCTRzdept. t  (20)
Motion of a Point on R.B. in Translation
A Velocity of P
●For any two particles in the body,
  
rB  rA  rB A
●Differentiating with respect to time,
   
rB  rA  rB A  rA
 
vB  v A All particles have
the same velocity.
B Acceleration of P
●Differentiating with respect to time again,
rB  rA  rB A  rA
 
aB  a A All particles have the
same acceleration.
So, it is sufficient to study the motion

of only one point of the body.
It is not the case in Kinetics
Prof. Imam Morgan
5.3
Rotation about a Fixed Axis
Prof. Imam Morgan

Rotation about a fixed Axis
(INTRODUCTION)
Definition: The R.B. is said to be in rotation about a fixed axis,
if only one line of the body is continuously (constantly) at rest
during motion.
L
►This fixed axis L is called the axis
of rotation. Axis of
►Any point (as A or B) on the body rotation L
moves along a circular path. Each
circle lies in a plane perpendicular
to the axis of rotation.
Prof. Imam Morgan

Planar Rotation
Prof. Imam Morgan

Space Rotation
Prof. Imam Morgan

Rotation
5.3.1 Position of the Rigid Body
5.3.2 Angular velocity (ω)
5.3.3 Angular acceleration (α)
Prof. Imam Morgan

Axis of
rotation
Assume that BP was coinciding with the
dashed line that is parallel to the
reference axis. Then, after time (t ), BP
will make an angle θ w.r.to the ref. line.
So, the position of the body will be
completely defined by:
Reference
line
   t  1 Displacement-time
equation
● θ is the angular displacement (rad.).

● +ve CCW when viewed from A’.
● does not give the direction of motion.
As the position is defined by one
coordinate, then the body has 1 DOF.
Prof. Imam Morgan
5.3.2 Angular velocity (ω)
The angular velocity ω is

defined as the rate of change
of the angular displacement.
d
 2 rad/s
dt
Notes: ◙ It is positive in CCW direction

when viewed from A’.

◙ It can be represented as a vector 
directed along the axis of rotation
according to the right hand rule.
Prof. Imam Morgan

Notes: (cont.)
◙ In practice, the angular velocity
may be expressed in terms of rpm.
2 n

60
rad/s rpm
◙ The sense of ω will give the

direction of rotation of the body
Prof. Imam Morgan

5.3.3 Angular acceleration (α)
A’
The time rate of the angular velocity is called the

angular acceleration of the body:
d d 2
  2 3 rad / s 2
dt dt
Notes: ◙ It is positive in CCW direction when

viewed from A’.

◙ It can be represented as a vector 
directed along the axis of rotation
according to the right hand rule.
◙ Its sense does not indicate the

direction of rotation, but it specifies
whether ω will increase or decrease.
Prof. Imam Morgan

Constant Angular Acceleration
ω
t
ω and α can be obtained from θ using
equations (2) and (3). However, for the
case when α = constant, then you can constant
apply directly the following relations: α θ
  o   t
 2   o2  2  ωo
1
  o t   t 2 t=0
2
Constant Angular Velocity ω = const

θ = ωt
In this case, α = 0, then: θ = ωt
Prof. Imam Morgan

Example (1)
A grinding wheel is rotating CCW at the rate of 1500

rpm when the power is cut off. Due to friction in the
bearing, the angular velocity of the wheel decelerates
at a constant rate and comes to rest after execution of
500 revolutions. Determine the angular acceleration
and the time T at which the wheel comes to rest.
Solution:
2 1500
Given: o   50 rad / s Required:  , and
60
T for   0
  cons. and  0
as   const .   2   o2  2 α is assumed opposite to ω
For   2 500  rad  0  50   2 2  500 
2
So ,   3.93 rad / s 2
Also ,    o  t
 0  50  3.93T T  40 sec .
Prof. Imam Morgan
Rotation
II Motion of a Point on the R.B
5.3.4 Position of a Point
5.3.5 Velocity of a Point
5.3.6 Acceleration of a Point
Prof. Imam Morgan

Po
5.3.4 Position of a Point
● The point (P) on the body moves along

a circular path. The initial location of P

(at t = 0) is shown as point Po. r
● The position of P at time t is defined by

the vector r from any chosen point on
the axis of rotation to the point.
5.3.5 Velocity of a Point
● The distance traveled by P during t is:

s   Po P    BP 
 r sin  
ds
but , v 
dt This is the magnitude of v
. and we know that its
 v  r  sin  direction is tangent to the
Prof. Imam Morgan circle.
.
v  r  sin 
Magnitude of v
R
R
Perpendicular to 
plane containing AA’ r
Direction of v
and R. Then v is also

perpendicular to r
►The same result is obtained from


 dr  
v  r (4)
dt
The position vector of

The velocity in The angular P. It is drawn from
vector form velocity in any point on the axis 
vector form of rotation to point P. r
along the axis
of rotation
Prof. Imam Morgan
   ✓
In general vB    r
D●
Any point on
axis of rotation (xB , yB , zB)
 B ✓

 
A r vB
y (xA , yA , zA)
✓
✓
C●
C & D any two

ĵ chosen points on
x axis of rotation
k̂
z
Prof. Imam Morgan

5.3.6 Acceleration of a Point
Differentiating to determine the acceleration,


 dv d  
a    r 
dt dt
 
d   dr
 r 
dt dt
   
  r v
    
a   r v
  (5)
 at  a n
Tangential Acceleration Normal Acceleration

It is tangent to the path It must be directed
(with or opposite to v) towards the axis of
rotation
(point of rotation)
Prof. Imam Morgan

Example (2)
The assembly shown consists of the straight rod

ABC which passes through and is welded to the
rectangular plate DEFH. The assembly rotates
about the axis AC with a constant angular
velocity of 9 rad/s. The motion is CCW when
viewed from C. Determine the velocity and the
acceleration of the corner F.
Solution:
►Velocity Analysis
  
vF    r
 (0, 0.1, 0)
   ê where ê is unit vector from A to C 

 0.35  0 î   0.1  0.1ˆj  0.2  0 k̂  
r
 9 
 0.45  F
 7î  4 ˆj  4k̂ rad / s  (0, 0, 0.2)

r  0  0.1ˆj  0.2k̂ m
(0.35, -0.1, 0.2) m
Prof. Imam Morgan

î ˆj k̂   7iˆ  4 ˆj  4kˆ

  
vF    r  7  4  4 r  0  0.1 ˆj  0.2kˆ
0  0.1 0.2
 0.4î  1.4 ˆj  0.7 k̂ m / s  (0, 0.1, 0)


Find: ● the magnitude and direction cosines 
r
of the velocity.
● the perpendicular distance from F to F
AC axis.
● try to find the velocity vector using
another position vector r . (0.35, -0.1, 0.2) m
►Acceleration Analysis
    
aF    r    vF Determine the magnitude
and direction of the total
î ˆj k̂ acceleration
0  7 4 4 Prove that v and a are
perpendicular. Why?
 0.4  1.4  0.7
 8.4î  3.3 ˆj  11.4k̂ m / s 
2
Prof. Imam Morgan

Representative Slab
All points
We have: Also, all points on this line
 on this line
 dr   have the
v  r have the same same
dt velocity and R2 velocity and
same B R1 same
One can conclude that the velocity acceleration acceleration
of all points that lie on a straight
line parallel to the axis of rotation
are the same. Also, these points
have the same acceleration.
    
a   r v
 
 at  a n
Hence, it is possible to replace the original

body, given in three dimensions, by its
projection (slab) on a plane perpendicular to R2
the axis of rotation. Each point on this slab B
represent a line in the R. B. O R1 v
Projection of the body
on plane perpendicular P
Prof. Imam Morgan to axis of rotation
Note that r from
now replaces R in ►The velocity v of any point P on the slab:
previous slides v
v r ● perpendicular to r and in
sense of ω
P or, in vector form:
ω r    
v    r  k̂  r
O
►The acceleration a of P is divided into
ˆj
two components:
î ● at is perpendicular to
r and in sense of α.
at = αr
vector form:    
at    r  k̂  r
P ● an is directed, always, towards
ω r an   2 r the center of rotation
α
vector form:  
O an   2 r
Prof. Imam Morgan

Important Notes
Note (1)
vC = ωrC vB = ωrB (at)C =αrC (at)B =αrB

B B
C C
β D
γ D
O O
rB = OB
rC = OC
β = tan-1 ω γ = tan-1 α
Velocities and tangential accelerations

are perpendicular to line OB
Prof. Imam Morgan

Note (2)
■ The total acceleration (a) of all
aB points on the same line OB are
β B parallel and linearly proportional
aC to radius of rotation (r).
β C
aD ■ Prove that tan β = ( α/ω2 )
D ■ The direction and the magnitude
of the total acceleration does not
O
depend on the sense of ω
   
v B  v B / O    rB
Note (3)  
    rB / O
vB / O
►The shown notations are used to
B write down the velocity in vector
 
rB  rB / O
form when we have to compare
this velocity with the velocity of
O another point. Same notations
are valid for acceleration
Prof. Imam Morgan
Note (4) Two connected bodies
rB
αB
ωB
pinion
R
rA
r
a
rack ωA
αA
● At point of contact ●At point of contact between

between the two: the two gears:
v R  A rA   B rB
a  R  A rA   B rB
Find vP and aP Find vD and aD
Prof. Imam Morgan

Example (3) vC
Cable C has a constant acceleration of 0.225 m/s2 r aC

and an initial velocity of 0.3 m/s, both directed to
the right. Determine: R
(a) the number of revolutions of the pulley in 2 s,
(b) the velocity and change in position of the load
B after 2 s, and R = 125 mm
(c) the acceleration of the point D on the rim of r = 75 mm
the inner pulley at t = 0.
Solution:
(a) Motion of Pulley:
The velocity and tangential acceleration of D are
equal to the velocity and acceleration of C.
v D 0  vC 0  0.3 m s 
v D 0  r0
v D 0 0.3
0    4 rad s
r 0.075
Prof. Imam Morgan
a D t  aC  0.225 m s 2  vC
a D t  r aC
a D t 0.225
   3 rad s 2
r 0.075
Apply the relations for uniformly accelerated
rotation to determine velocity and angular position
of pulley after 2 s. (Note: α = constant). R = 125 mm
   0  t r = 75 mm
 4  32   10 rad s
  0t  12 t 2
 42   12 32  14 rad
2
 14 N  2.23 rev
number of revs  N    2.23 rev ◄
2 2
(b) Motion of block B:
v B  R  10 0.125  1.25 m / s v B  1.25 m s 
◄
y B  R  0.12514  1.75 m y B  1.75 m 
Prof. Imam Morgan
(c) aD on the rim:
Evaluate the initial tangential and normal
acceleration components of D.
aD t  aC  0.225 m s 2 
aD n  02 r  42 0.075  1.22 m / s 2
Magnitude and direction of the total R = 125 mm
acceleration, r = 75 mm
aD  a D t2  a D 2n
2 aD t  0.225
2
 0.225  1.22 2 a D  1.24 m s ◄
a D n
tan  
a D t   79.6 ◄
1.22

0.225
aD n  1.22

Note : a D  0.225 î  1.22 ˆj
Prof. Imam Morgan
Example (4)
The large window is opened using a hydraulic

cylinder AB. If the cylinder extends at a
constant rate of 0.5 m/s, determine at the
instant θ = 30°:
(a) the angular velocity of the window, vr
(b) its angular acceleration, and
(c) the velocity and acceleration of C. ●C
Solution: Given : vr = s = 0.5 m/s = const.

s 2 s22
2 2221 12222212cos
2 2
(a) Angular velocity:   
s  22  1  22 1 cos  1 cos
s s22554cos   a a 
s  5  4 cos  4 cos a 
ds ds
then ; 2 s ds4sin    
then ;
then; dt 22 s dt  4sin  
s 4 sin
dt
svsr v2sin      b b 
svrr   2sin  
2 sin b 
andand
ds
; ; ds ds
anddt; dt vrr   svrr   22cos
 
vr v svsr v2cos    2
2sin  
cos 2 sin
 
sin
dt2
vrv 222cos    

2
 222sin    c c 
Prof. Imam Morgan vr   2cos   2sin   c 
r
2 cos 2 sin
dt 2
s 2  2   1  22 1 cos 
2
sv ds  2sin    b 
then; 2rss 2 54sin 
4 cos  a 
and ;
ds dt
vrsds 
 svr   2 cos    sin  
2

then; 2 s vr 42sin
dt sin b 
2 dt
 
ds      sin 2  sin
c  
2
v 
and ; svvr  2 coss2vsin 2cos
 2
r
dt r
 r  b 
vr ds 2
and ; vrvr  2s vcos
dt

r   2cos
2
 2sin
 2sin  c 
ω = 0.62 2
●C vr O  2cos   2sin  
2
c 
α = 0.416
θ = 30o
Numerical values: at θ = 30o

●C
From
From aa  ss 11..239
239 m m
From
From bb  11..239 0 .5  
239 0.5  2 sin 30 o 
 2 sin 30  o


 00..62
62 rad rad // ss ►
From cc  cos 30 0.62  2 sin 30 o 
00..5522  22cos o 0.622  2sin 30 o
o 2
From 30 
  0. 416 rad / s
  0.416 rad / s 2
2
►
Prof. Imam Morgan
(c) Velocity and acceleration of C:
ω = 0.62
O
vC vC   r  0.622  1.24 m/ s
in the direction shown  α = 0.416 r = 2m
   θ= 30o
or , vC    r vC
Vector   
  0.62kˆ  2 sin 30 0 iˆ  2 cos 30 o ˆj  vy = 0.62
30o
Notation
 1.07 iˆ  0.62 ˆj  vC  1.24 m / s C v = 1.07
x
aC Two components:
aCtt   r  0.4162   0.832 m / s 22
aC   r  0.4162   0.832 m / s O
ω = 0.62
aCnn   22 r  0.622 2   0.769 m / s 22

2
α = 0.416
aC   r  0.62 2   0.769 m / s r = 2mt
aC  0.832
θ= 30o
Recommended: Prove that aCn  0.769
 ˆ ˆ
Vector aC  1.105 i  0.25 j
Notation 30o C
Prof. Imam Morgan

aCt  0.832
Dean of EMS – MCTR dept. n (50)
Part II (Cont.)
Dynamics of Rigid Body
(Planar or Space Motion)
Prof. Imam Morgan

Chapter 5
Kinematics of Rigid Body

►Introduction
►Translation
►Rotation about Fixed Axis
►General Plane Motion Part B
52
5.4
General Plane Motion
(G.P.M)
Prof. Imam Morgan

General Plane Motion (G.P.M.)
(INTRODUCTION)
A
Definition: The R.B. is said to kA
be in General Plane Motion σA
with respect to a given frame
of reference if all its points
describe plane curves lying in
parallel planes. kB C
kC
σB,C B
● Body ABC moving
between two parallel
planes σA and σB,C . y
kA is the path of A, and Reference Plane
kB ,kC , for B and C. (fixed plane) C’
B’
● The body is represented
by its projection A’B’C’ σref A’
O x
on the reference parallel
plane σref . Representative Slab:
Projection of body ABC
Prof. Imam Morgan on a reference plane
Dean of EMS – MCTR dept. (moving plane) (54)
■ General plane motion is neither a translation nor a rotation.
■ General plane motion (G. P. M.) can be considered as the
sum of a translation and rotation.
■ Displacement of particles A1 and B1 to A2 and B2 can be

divided into two parts:
- translation to A2 and B1
- rotation of B1 about A2 to B2
Prof. Imam Morgan

Resolution of General Plane Motion (More)
Rotation CCW
Point P is
reference
Or,
Prof. Imam Morgan

Point Q is Rotation CCW
reference
Or,
Prof. Imam Morgan

Examples
Sliding rod
The two
motions occur
simultaneously
Rolling Wheel
Prof. Imam Morgan

G. P. M.
5.4.2 ●Angular velocity (ω)

of R.B.
●Angular acceleration (α)
Prof. Imam Morgan

y’
y ● x’
●
A θ

rA
yA
x
O
xA
►Oxy is the reference fixed frame. Ax’y’ is the moving frame (fixed to the body).
Point A is chosen arbitrary.
►The position of
 the body is
specified by rA and θ. x A  x A t  Displacement time
So, we need to specify: y A  y A t  (6) equations.
( 3DOF )
   t 
Prof. Imam Morgan
5.4.2 ●Angular velocity (ω)
of R.B. α
●Angular acceleration (α)
ω
As in case of rotation, the instantaneous angular velocity and
angular acceleration of the body are given by:
θ
A
d
 rad / s (7)
dt O
d d 2
  2 rad / s 2 (8)
dt dt
Notes:
● Both ω and α does not depend on the choice of A (Proof !!)
● In vector form:
CCW
CW
  k̂   k̂
Prof. Imam Morgan

G. P. M
II Motion of a Point on the R.B
5.4.3 Velocity Analysis

[Absolute and Relative Velocities]
5.4.4 Velocity Analysis Using

Instantaneous Center of Rotation ( I. C. R.)
5.4.5 Acceleration Analysis Using

[Absolute and Relative Velocities]
Prof. Imam Morgan

Any plane motion can be
5.4.3 Velocity Analysis replaced by a translation of an
[Absolute and Relative Velocities] arbitrary reference point A and
a simultaneous rotation about A.
✓
ω ?
✓
  
vB  v A  vB A (9)
Absolute velocity Velocity of B about A

of B. (as if A is point of rotation)
Absolute velocity  
of A. v B A   k̂  rB A v B A   AB 
Prof. Imam Morgan
Y
Important Note y
x
θ ω
iˆ  Iˆ cos   Jˆ sin 
Ĵ
ˆj iˆ   IˆIˆsin
cosJˆJˆcossin
ĵ 𝑖
iˆˆj  Iˆ cos
ˆ  Jˆ Jsin 
ˆ cos θ
ˆ I sin
 IIˆˆ sin  
di
ˆj sin  JJˆˆ cos
cos  X
dt diˆ Î
ˆ ˆ Iˆ sin   Jˆ cos  
  I sin   Jˆ cos  
ddti j ˆ

dt  dˆjiˆ 
or ,   ˆj    iˆ
dt diˆ 
or , ˆ    iˆ Rate of change of rotating unit
Similarly :ddti  ˆ
or ,   i vector is another vector obtained
Similarly dˆj dt:  ˆ
Similarly :   j from cross product of angular
dt dˆj  velocity of rotation and the
ˆ    ˆj vector itself.
d j
dt    ˆj
dt
Prof. Imam Morgan


Proof of velocity (eq. 9)  is vector of constant
magnitude
  
rB  rA   y
   Y B
drB drA d ●
● x
   
dt dt dt   rB / A ●
   r ˆ xiˆ ˆ yˆj ĵ
  rB / AB /A xi  yj A iˆ θ

d rB
d  ˆxiˆ ˆ yˆj  dxiˆdiˆ  dyˆj dˆj 
 xi  y j    x dt
dt  y dt
dt  dt dt   
d rA X
d  xˆ iˆ   y ˆ ˆj 
 x  i   y   j 
O
dt dt 
  xiˆxiˆ yˆj yˆj 
   
Therefore v B  v A    rB / A
Therefore : :
d   or ,
d       
dt vB  v A  vB / A
dt
The same conclusion

 obtained before in
condition that  has constant magnitude
Prof. Imam Morgan
Notes:
► You must keep the order of A and B
 
► The two absolute velocities v B and v A are different. They can not be equal
in magnitude and direction except the case corresponding to ω = 0
► The previous equation can be written in different forms:
  
vB  v A  vB A
 
vB / A  v A / B
  
v A  vB  v A / B
Prof. Imam Morgan

Example (5)
The end B of the rod AB is pulled with

vB = 0.9 m/s to the right. For the position
shown, determine: ●D
(a)the angular velocity of the rod and
the velocity of end A,
(b) The velocity of D (mid point of AB)
Solution:   
v A  vB  v A / B ˆj
(a) ω and vA :
Write each term in vector form and then O î
equate the components in î and ˆj directions

 v A  0  v A ˆj

 v B  0.9î  0
   A
 v A / B    rA / B

 k̂   4î  3 ˆj  rA / B
3 ˆj
 4 k̂  î   3 k̂  ˆj 
B
Prof. Imam Morgan  3î  4ˆj  4î
we have:    
 v A  0  v A ˆj v A  vB  v A / B

 v B  0.9î  0
   
 v A / B  3î  4ˆj vD  vB  vD / B ●D

 v B  0.9 iˆ  0
Equating î components: 0 = 0.9 - 3ω (1)  
 v D / B    rD / B
Equating ˆj components: -vA = 0 -4ω (2) 
rD / B  2 iˆ  1.5 ˆj
  0.3 rad / s ....CCW
Two equations in two unknowns;
v A  1.2
ˆ 
v D  0.9 i  0  0.3 kˆ   2 iˆ  1.5 ˆj 
m / s .... 

(a) vD :  0.9 i  0   0.45 iˆ  0.6 ˆj 
ˆ
   
vD  vB  vD / B So, v D  0.45 iˆ  0.6 ˆj

 v B  0.9 iˆ  0 v D  0.75 m / s
  
 v D / B    rD / B 1  0.6 
   tan  0.45   53. 13 o
rD / B  2 iˆ  1.5 ˆj

v D  0.9 iˆ  0  0.3 kˆ   2 iˆ  1.5 ˆj 

 0.45
 0.9 iˆ  0   0.45 iˆ  0.6 ˆj  β 0.6

So, v D  0.45 iˆ  0.6 ˆj
Prof. Imam Morgan v  0.75 m / s
D
Example (7)
r
The crank AB has a constant clockwise l =800 mm
300 mm
angular velocity of 2000 rpm. For the
crank position indicated, determine:
(a) the angular velocity of the connecting ωAB
rod BD, and
(b) the velocity of the piston P.
2 n 2 2000
Solution:  AB    209.4 rad / s
60 60
Connecting rod BD performs G.P.M. So, for points B and D we have:
  
vD  vB  vD / B
►Velocity ►Velocity of B. ►It is obtained from

of Slider P. It is obtained analysis of connecting
Assume to from crank AB. rod BD.
the right (as point on AB ).
Con. rod BD
Piston Crank AB
Prof. Imam Morgan
  
vD  vB  vD / B 
 rD / B
rB / A
Now, we write each term in vector form: l =800 mm

► D  vD î  0
v  Assumed  r =300 mm
   
► B v  v B/ A   AB  rB/ A
 ωAB
rB / A is the vector from A to B
 209.4kˆ  0.3 cos 40iˆ  0.3 sin 40 ˆj  vD= vP
 209.4kˆ  0.23iˆ  0.19 ˆj 

 39.8iˆ  48.2 ˆj m / s 
  
v
► D/B   BD  rD/B

rD / B is the vector from B to D
  BD kˆ  0.8 cos iˆ  0.8 sin ˆj   BD is assumed CCW
r l
To find  :     14 o
sin  sin 40
  BD kˆ  0.78iˆ  0.19 ˆj 
 0.19 BD iˆ  0.78 BD  ˆj m / s 
Prof. Imam Morgan
Finally we have the following:
  
vD  vB  vD / B

vD  vD iˆ  0  Assumed 

vB  39.8iˆ  48.2 ˆj

v D / B  0.19 BD  iˆ  0.78 BD  ˆj
Equating î components: vD = 39.8 + 0.19ωBD (1)
Equating ˆj components: 0 = -48.2 + 0.78ωBD (2)
So, ωBD = + 62 rad/s

vD = +52 m/s
Prof. Imam Morgan

Important: Pure rolling of a wheel
Prof. Imam Morgan

Important: Pure rolling of a wheel (more details)
B1
A2 Condition for pure

rolling:
xC xC  R (10)
C1 C2
θ
R R Differentiate with
B2 respect to time:
A1
xC  R
v=0 or , v C  R
(11)
and aC  R
Prof. Imam Morgan

Note (1) α
ω
aC vC = ωR
C
vC
aC = αR
ω v=ω(2R)
Note (2) R
v=ω(R+r)
v=ω(R)
r
v=ω(R-r)
Prof. Imam Morgan

Example (6)
The double gear rolls on the stationary lower rack: the velocity of its center is
1.2 m/s. Determine:
(a) the angular velocity of the gear, and
(b) the velocities of the upper rack R and point D of the gear.
Solution:
(a) Angular velocity of the gear;
From condition of pure rolling we write:
vA = ωr1
1.2 = ω(0.15) ω = 8 r/s CW
Prof. Imam Morgan

ω = 8 rad/s
(b) Velocity of upper rack and vD
Also, from rolling we write: ω
vR = vB = ω(r1 + r2)
= 8 (0.15 + 0.1)
vR = 2 m/s
►Velocity of point D: ω
   vD
vD  v A  vD / A vD/A
 v A  1.2 m / s  β vA
D vA A
 v D / A  r1  8  0.15  1.2 m / s 

v D  1.2î  1.2 ˆj v D  1.7 m / s
  45o
Prof. Imam Morgan

    
► Note: For any point P on the gear: v P  v A  v P A  v A  kˆ  rP A
Try to find the velocity of all points on the gear. You can observe that
all points will have different velocities (must be). It may be happened
that two velocities have the same magnitudes but different directions
or vice versa.
Prof. Imam Morgan
5.4.4 Velocity Analysis Using
Instantaneous Center of Rotation ( I. C. R.)
The Instantaneous Center of Rotation (I.C.R) of rigid body

Definition:
in general plane motion is that point belonging to the body
and its velocity is zero, instantaneously.
► For R.B. in G.P.M, each point has

its own velocity that is differ in ω
vA B
magnitude and/or direction than
the velocity of any other point. vB
Therefore, one can expect that A
y
there is a point whose velocity is vC = 0 D
zero. C ●
vD
► This point is denoted by point C . E
vE
x
O
Prof. Imam Morgan

Determination of the I. C. R.
►If the velocity at two points A and B are known, vA B

the instantaneous center of rotation (point C) lies vB
at the intersection of the perpendiculars to the A
velocity vectors through A and B . rA rB
C ●
►So, in each position of R.B, there is only vA=ωrA
one I.C.R. Logic. Why? vB =ωrB
►C may lie inside or outside the contour of the body.
Prof. Imam Morgan

Importance of I. C. R.
►The I.C.R., is sometimes called “Pole of velocity”. Once, C is found, then:

the G.P.M. of R.B. is transformed into Instantaneous rotation about C.
ω B
vA vA B
A vB vB
A rB
rA rB rA
rD D
C ● C ●
ω vD
G.P.M Instantaneous
Rotation about C
So, assume known vA , then:
ω = (vA) /rA
Further vB = ω rB
and vD = ω rD ……. etc
Prof. Imam Morgan
Important notes
I Two Parallel velocities; C ?

►If the velocity vectors at A and B are perpendicular to
the line AB, the instantaneous center of rotation lies at
the intersection of the line AB with the line joining the
extremities of the velocity vectors at A and B.
vA vA ω
ω A
A vB
B ●C
B
●C vB
II Although the velocity of C is zero instantaneously, its acceleration

should not be zero;
vC  0 but aC  0
Prof. Imam Morgan
Example (8)
Solve problem (5) using the Instantaneous

center of rotation:
Given: vB = 0.9 m/s, Find: vA , ω ●
D
Find also the velocity of point D, in the
middle of the rod.
Solution:
At first, find C.
v B   rB
0.9   3    0.3 rad / s CCW rA C
then, v A   rA rD ω
●
 0.34   v A  1.2 m / s  vA D β β rB
For v D , connect C to D vD
v D   rD
 0.32.5  v D  0.75 m/ s
v D is perpendicular to rD . tan β = (4/3) ……. β = 53.13o
Prof. Imam Morgan

Prof. Imam Morgan
Example (9) Solution of example (6) using C.
The double gear rolls on the stationary

lower rack: the velocity of its center is
1.2 m/s. Determine:
(a) the angular velocity of the gear, and
(b) the velocities of the upper rack R
and point D of the gear.
SOLUTION:
• The point C is in contact with the stationary
lower rack and, instantaneously, has zero
velocity. It must be the location of the
instantaneous center of rotation.
• Determine the angular velocity of the body
based on the given velocity at A.
• Evaluate the velocities at B and D based on
their rotation about C.
Prof. Imam Morgan
►Determine the angular velocity of the body
based on the given velocity at A.
vA 1.2
v A  rA    8 rad s
rA 0.15
►Evaluate the velocities at B and D based on their

rotation about C.
 
vR  vB  rB  0.25 8 v R  2i  0
rD  0.15  2  0.2121 m
v D  rD  0.2121 8 m/ s
v D  1.697 m s
 
v D  1.2i  1.2 j  m / s


Prof. Imam Morgan

Prof. Imam Morgan
Analytical Determination of I.C.R (Pole of Velocity)
Given: ✓
R.B performs G.P.M with given ω, and y ω
Velocity of defined point, e.g. A
Find: vA ✓
Coordinates of the I.C.R ( xC , yC ) A
Solution: Compare vC and vA ✓

   rA rC/A
vC  0  v A  vC / A
  
 v A    rC / A ● C
Pre-multiply cross product by ω;
     rC ? x
   v A    (  rC / A )  0
       
  v A     rC / A   rC / A      0
  iˆ ˆj kˆ triple product :
   vA 1         
rC / A   20 0  A  B  C   BA  C   C A  B 
2 
v A, x v A, y 0
Prof. Imam Morgan

Determination of I.C.R. … Cont. ✓
y ω
vA ✓
  iˆ ˆj kˆ
   vA 1 A
rC / A   20 0 
2  ✓
v A, x v A, y 0 rA rC/A
 v A, y  ˆ  v A, x  ˆ ● C
   i   j
     
  
But : rC  rA  rC / A rC ? x
v A, y
 xC  x A 
  xC   x A  1  v A, y 
v A, x y   y     v 
yC  y A   C   A  A, x 

Prof. Imam Morgan

Example (10) Solution of example (7) using C.
The crank AB has a constant clockwise l =800 mm

angular velocity of 2000 rpm. r =300 mm
For the crank position indicated, determine;
(a) the angular velocity of the connecting
rod BD, and ωAB
(b) the velocity of the piston P.
SOLUTION:
• Determine the velocity at B from the given crank
rotation data.
• The direction of the velocity vectors at B and D are known.
The instantaneous center of rotation is at the intersection of
the perpendiculars to the velocities through B and D.
• Determine the angular velocity about the center of rotation based
on the velocity at B.
• Calculate the velocity at D based on its rotation about the

instantaneous center of rotation.
Prof. Imam Morgan
v B   AB  AB 
β = 14o
 209.40.3 (see Ex.7)
 62.82 m / s ωBD
Find C for connecting rod :

Assuming C as point of rotation for BD:
then, ωBD is CCW as shown.
v B   BC  BD ωAB
v B 62.82
 BD    BD  62.82 rad s Geometry
BC 1
 B  40    54
Then, find vD :
 D  90    76
vD  vP  CD  BD  0.8262.8 BC CD 0.8
 
vP  vD  51.5 m/ s sin 76 sin 54 sin50
BC  1 m
CD  0.84 m
Prof. Imam Morgan
Example (11)
Find the coordinates of C
y
l =800 mm
r =300 mm
x
ωAB
   
vB  vB / A   AB  rB / A  xC   xB  1  vB , y 
y   y     v 
 39.8iˆ  48.2 ˆj m / s   C  B BD  B,x 

rB  0.3 cos 40iˆ  0.3 sin 40 ˆj  xC  0.23 1   48.2 
 y   0.19  62.82  39.8 
 0.23iˆ  0.19 ˆj ( m)  C    
 BD  62.82 rad s xC  1 (m)
yC  0.83 (m)
Prof. Imam Morgan

Additional
Use two approaches
Prob. (a)
The link is guided by two block A and B, which move in the fixed slots.
If the velocity of A is 2 m/s downward, determine the velocity of B at the
instant θ = 45°.
Prof. Imam Morgan

Prob. (c) …. Similar to an example in Ass (2).
At the instant shown, the slider block B moves with a velocity vB and an
acceleration aB both directed to the right.
•Using the I. C. R., determine the angular velocity (ω) of the rod AB and the
velocity (vA) of the end A.
•Using vector analysis, determine the acceleration (aA) of the end A.
Prof. Imam Morgan

5.4.5 Acceleration Analysis Using
[Absolute and Relative Accelerations]
✓ ✓ = +
  
aB  a A  aB A (12)
Acceleration of B about A
(as if A is point of rotation)
Absolute accele-
ration of B. It consists of two components:
Absolute accele- 

aB 
A t
 
  k  rB A a B A t  r
ration of A.


aB A n

  2 rB A a B A n  r 2
Prof. Imam Morgan
Example (11)
ω 
End B of the rod given in Ex.4 and Ex.7 is rA / B
moving with constant speed of 0.9 m/s. In the
shown position, find the acceleration of end A
and the angular acceleration of the rod.
Solution:
From velocity analysis we have;   0.3 rad / s CCW
    ˆ ˆ
a A  aB  a A / B rA / B  4i  3 j

 a A  0  a A ˆj

 a B  0  A is moving in straight line with v  const.
  
 a A / B  a A / B n  a A / B t
a A / B n   2 rA / B   0.32  4iˆ  3 ˆj   0.36iˆ  0.27 ˆj
a A / B     rA / B  kˆ   4iˆ  3 ˆj   3iˆ  4ˆj α
t
 0  0.36  3   0.12 rad / s CCW

 a A  0.27  4
a A  0.75 m / s 2 
Prof. Imam Morgan
Example (12)
The center of the double gear has a

velocity and acceleration to the right of 1.2
m/s and 3 m/s2, respectively. The lower
rack is stationary. Determine:
(a) the angular acceleration of the gear,and
(b) the acceleration of points B, D, and C.
Solution:
From pure rolling:
v A 1.2
v A   r1    8 rad / s CW
r1 0.15
aA 3
a A   r1    20 rad / s 2 CW
r1 0.15
Then, find the components of acceleration for each point
Prof. Imam Morgan

ω
α
►Point B:
a Bn / A   2 r2  8 0.1  6.4 
2
m / s2
a Bt / A   r2  20  0.1  2 m / s2 
aA  3 m / s 2 

a B  5iˆ  6.4 ˆj a B  8.12 m / s2
►Point D:
a Dn / A   2 r1  8 0.15  9.6 m / s 2 

2
a Dt / A   r1  20  0.15  3 m / s 2 
aA  3 m / s2 

a D  12.3iˆ  3 ˆj a D  12.95 m / s 2
Prof. Imam Morgan
ω
α
►Point C:
aCn / A   2 r1  8 0.15  9.6 
2
m / s2
aCt / A   r1  20  0.15  3 m / s2 
aA  3 m / s 2 

aC  0  9.6 ˆj aC  9.6 m / s2
Note that although C is the I.C.R., however it has an

acceleration that is always perpendicular to the travel velocity
of the pole !!!
Prof. Imam Morgan

Example (13) Important one
In the position shown, crank AB has a

constant angular velocity:
1 = ωAB = 20 rad/s CCW.
Determine the angular velocities and
angular accelerations of the connecting
rod BD and crank DE.
►Velocity Analysis:
The angular velocities are determined by

simultaneously solving the component equations for
  
vD  v B  vD B
Prof. Imam Morgan

y
ωBD
x
ωDE
 
   rB  rB / A  8iˆ  14 ˆj
vD   DE  rD   DE k   17i  17 j 
    
     rD  rD / E  17iˆ  17 ˆj
vD  v B  vD B  17 DE i  17 DE j 
   rD / B  12iˆ  3 ˆj
vB   AB  rB  20k  8i  14 j 
  
 
 280i  160 j
  
vD B   BD  rD B   BDk  12i  3 j 
  
ωDE and ωBD are
 
 3 BDi  12 BD j assumed CCW
x components:  17 DE  280  3 BD

y components:  17 DE  160  12 BD
   
Prof. Imam Morgan
 BD  29.33 rad s k  DE  11.29 rad s k
►Acceleration Analysis:
The angular accelerations are determined
by simultaneously solving the component ωBDαBD
equations for    αDE
aD  aB  aD B
ωDE
   2 
aD   DE  rD   DE rD
    
  DE k   17i  17 j   11.292  17i  17 j 
   
 17 DE i  17 DE j  2170i  2170 j
𝑎𝐵 = 𝛼𝐴𝐵 × 𝑟𝐵/𝐴 − 𝜔2𝐴𝐵 𝑟𝐵/𝐴 = 0 − 20 2 8𝑖 + 14𝑗

= −3200𝑖 − 5600𝑗 y
   2 
aD B   BD  rB D   BD rB D x
    
  B D k  12i  3 j   29.33 12i  3 j 
2
     
 3 B D i  12 B D j  10,320i  2580 j rB  rB / A  8iˆ  14 ˆj
 
rD  rD / E  17iˆ  17 ˆj
x components:  17 DE  3 BD  15,690

y components:  17 DE  12 BD  6010 rD / B  12iˆ  3 ˆj
Prof. Imam Morgan


 BD  2

  645 rad s k  
 DE  
2
 809 rad s k 

Ch.5 Kinematics of R.B - 2020

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Part II

Dynamics of Rigid Body

Prof. Imam Morgan