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
Lecture 10 ● 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. (1 )
 Ch. 6
Simultaneous Motion of a Particle
(Composed Motion)
(Motion of a Particle or a Body Relative to
a Moving Body)

6.1 Simultaneous Motion of a Particle or R.B.

✓
(INTRODUCTION)

6.2 Rate of Change of a Vector

Proof
with respect to a Rotating Frame

6.3 Velocity of a Point in Simultaneous Motion ✓

6.4 Acceleration of a Point in Simultaneous Motion

✓
(Coriolis Component)

Prof. Imam Morgan

Dean of EMS – MCTR dept. (2 )
 6.1 Simultaneous Motion of a Particle or R.B.
(INTRODUCTION)

In many practical problems, a slider (Particle) or a body can move inside or

outside another body called base body, however, the latter (base body ) is
moving with respect to the fixed frame.
Fig. 1 Fig. 2
Base Body

Slider A
Particle B
Base Body

A particle is moving inside a moving Base Body

Prof. Imam Morgan

Dean of EMS – MCTR dept. (3 )
 Fig. 3 Fig. 4

Base Body Base Body

Particle

Particle

Base Body B

A particle is moving outside a moving Base Body or Bodies

Prof. Imam Morgan

Dean of EMS – MCTR dept. (4 )
 Base Body
Fig. 5 Particle

Therefore, the base body can perform any kind of space or plane motion:
► Translation (Fig.1)
►Rotation (Fig.2, 3, and 4)
►or G. P. M. (Fig.5)

Prof. Imam Morgan

Dean of EMS – MCTR dept. (5 )
 Fig. 6

Base Body
Body M

A Rigid Body M is
moving relative to a
moving Base Body

Fig. 7 Body M
Base Body

Part of
Robot Arm

Prof. Imam Morgan

Dean of EMS – MCTR dept. (6 )
 Motion Description
B2
𝐴 …on link 4

3 B1
A2
3 ●
3
A1≡ 𝐴 4
2
θ2
O4 4
● ● O2 2 A ..on link 2
and/or 3
1 1 ●

Details of Slider 3

Prof. Imam Morgan

Dean of EMS – MCTR dept. (7 )
 Motion Description ►The slider 3 (particle A)
moves w. r. to the fixed frame
O2XY along a circle of radius r2
relative and centered at O2. This motion
absolute is called “absolute motion”.
motion x
motion
base body absolute motion is
3
Base A the motion w. r. to
y
motion Y
the fixed frame
4
2
►The slider 3 moves w. r. to the
O4 ● O2 ●
X moving body 4 (or, frame O4xy)
along a straight line.This motion
1 1
is called “Relative motion”.
O2XY .. Fixed Frame Relative motion is
O4xy .. Moving Frame the motion w. r. to
(attached to 4) the moving frame
Thus, the slider 3, or particle A, performs two
►The body 4 is called the base
simultaneous motions; the first is its motion
body and its motion is called
relative to the base body, and the second is
“base motion”.
its motion with the base body.
Prof. Imam Morgan
Dean of EMS – MCTR dept. (8 )
 General Case of Simultaneous
Motion (Particle)
XY fixed frame
xy moving frame
►The general case of
(fixed to base
plane simultaneous body)
motion of P is shown
(plane case is Y P
considered for its y ω
simplicity) x
● 
 r ●
►Note that vector r is
variable in magnitude
ĵ iˆ
and direction. So, it is
important to specify its A
derivative w. r. to time.
This derivative is base
Ĵ body
simplified if the Iˆ
following steps are X
executed.

Prof. Imam Morgan

Dean of EMS – MCTR dept. (9 )
 6.2 Rate of Change of a Vector
with respect to a Rotating Frame
repeated Slide in G.P.M
y Y’ ω
A Rotating Unit Vector
x
Both iˆ and ˆj rotates with ● θ
angular velocity ω ●
iˆiˆiˆ cos IˆIˆIˆsin
cos
cos sin JˆJˆJˆ
sin ĵ
Ĵ iˆ
θ
ˆj sin
ˆjˆj sinIˆIˆIˆcos
sin JˆJˆJˆ
cos
cos A Iˆ
X’
iˆ  cos Iˆ  sin  Jˆ
ddiˆiˆdiˆ
dtdtdt
  
ˆj sin
sinIˆIˆIˆcos
sin
sin cos
cos
cos  
JˆJˆJˆJ
ˆ

ˆj ˆj sin  Iˆ  cos Jˆ 

diˆ
ˆj
dt
  dˆjdiˆiˆdiˆ  ˆ
or ,, ,
oror  iiˆ iˆ (13a) Rate of change of rotating unit
dtdtddtiˆ  vector is another vector obtained
or ,    iˆ
ddiˆiˆdtdiˆ
iˆiˆ ˆ from cross product of angular

ˆj   i velocity of rotation and the
dtdtddt (13b)
and    ˆj vector itself.
dt

Prof. Imam Morgan

Dean of EMS – MCTR dept. (10 )
 B Vector of constant magnitude

■ P’ is located on the base body.

  y P’ ω
■ Then, r  rP / A is a vector of
x
constant magnitude but ● y  x
rotating with ω. r ●

 r  ˆxiˆ  ˆyˆj iˆ
r xi  yj ĵ
r  xiˆ  yˆjdiˆ dˆj 
dr  ˆxi ˆy j    xdi  ydj  
dr ˆ ˆ ˆ ˆ
dt xi dyrj    x dt y  dtdiˆ
A
dˆj 
dt  x ˆ
i 
 dt ˆ   ˆ  dt
dt 
y ˆ
j   dtx  y
 x ˆ i   y ˆ j   dt 
 x  i ˆ y    ˆj 
 
j  i  y   j
 ˆ
  ˆxixˆy ˆ
   xi  yj
dr      xiˆ  yˆj 
dr   r
dt   rdr   The same concept stated
Therefore,
dt  r (14a) in the previous slide
dt

dr
Note:  v P / A (14b)
dt
Prof. Imam Morgan
Dean of EMS – MCTR dept. (11 )
 C Vector – variable in magnitude & direction
Located on the
moving base body

■ The vector r joins A and particle
particle P. P ≡ P’
■ So, this vector is variable y ω
(magnitude & direction) x x
●  y
 r ●
r  xiˆ  yˆj

 ˆ ˆj  iˆ
 xiˆ  yˆj    x  y 
dr d i d ĵ
dt  dt dt  A
 r Axy is fixed    rP / A 
  

 driˆ , ˆj are
base
  fixed     Coordinates x,y
r AXY rrAxy Axyisfixed
  rP /A  r  body
dt are fixed (pt. P’ )
drrAXY rr Axy  r r 
P  / A As if P is fixed on the
r AXY  r Axy  vP / A

dt Axy is fixed
moving base body
r AXY  r Axy    rP / A 
 
As if the base
r AXY  r Axy  vP / A
  
body is fixed

Prof. Imam Morgan

Dean of EMS – MCTR dept. (12 )
 6.3 Velocity of a Point in Simultaneous Motion XY fixed frame
xy moving frame
(fixed to base
   Y P
rP  rA  r body)
rP  rA r y ω
 dr
vP  drP x
v P  dtP ● 
  r ●
ddt
rA dr
 dr  dr
 dtA  dt iˆ
 
ĵ

 vdt   rPAxy
dt   
 rAr  r 

 
r
 vA  r Axy   r 
A rP
 vA  vp / p drvP p / A 
A
  vA  vpP/ p dtvp / A 
v  
vP  vA  v p / A   rA
v P  v A  v p / AdrA vp d/ pr
 v p / p Ĵ
dt dt O X

Then, the absolute 
 v A velocity 
r Axy for  ˆ
  r  I 
the particle P may
 bewritten
  as
 v A  v p / p  v p / A  In text book:
  
 

vP  v A  v p  / A  v p / p    
v P  v P  v P F
   (15)   
Or, vP  vP  vP / P v P Where
v P  v P F is the velocity of
P relative to the Frame Axy
Prof. Imam Morgan
Dean of EMS – MCTR dept. (13 )
 Simpler Approach
  
vb  v P  P’ vr P
ω


vA
Y Y
● ●
A A

X X
►base body is moving ►base body is fixed
►particle is fixed on ►particle is moving
the base body relative to the base body
P
base    relative
velocity v P  v P  v P / P velocity •
P’

  
at P : va  vb  vr A•
ω
absolute Is the velocity of P w. r. to
Prof. Imam Morgan velocity the fixed frame
Dean of EMS – MCTR dept. (14 )
 Illustrative Examples
  
va  vb  vr

Absolute velocity base velocity Relative velocity

It is the velocity of A Is the velocity of A as if A is It is the velocity of A as if the
with respect to the fixed held fixed on the base body. base body is held fixed while
frame I.e., A is considered as point the particle A is moving
on the base body relative to it
Example (a)
va= ω2 r2 vb= ω4 r4
90o vr
90o
3 ●
ω4 A’
4 A 4
ω2 A 3
✓
2 4
O4 ● O2 ● O4 ●
O4 ●
1 1 1
vr 1

vb   
va va  vb  vr
Prof. Imam Morgan
Dean of EMS – MCTR dept. (15 )
 Example (b) Example (c)

base body

1 vb 1 va
base body A vr B
4 4 vr
●
3 3
va vb
2 2
● ●

1 1

Prof. Imam Morgan

Dean of EMS – MCTR dept. (16 )
 Example (6.1)

Two rotating rods 2 & 4 are connected by

slider block P. Link 2 rotates with constant 3

angular velocity of ω2 = 6 rad/s CCW. ω4

Determine for the position shown: ω2 4
2
(a) the angular velocity of link 4,
(b) the relative velocity of the slider
w. r. to link 4, 200 mm
(c) the magnitude of the Coriolis
acceleration of the slider and show its
direction on the figure. (Later)
Solution: P≡P’

At first find r2 ≡ PA and r4 ≡ P’B 40o r4

r2 r4 200 r2 120o
  20o
sin 20 o sin 120 o sin 40 o
r2  106.42 mm A 200 mm B

r4  269.46 mm
Prof. Imam Morgan
Dean of EMS – MCTR dept. (17 )
 r2 r4 200
 
P≡P’ sin 20o sin120o sin 40o 3
 r2  106.42 mm ω4
r4
r4  269.46 mm
o
 40 ω2 4
r2 120o 2
20o

A 200 mm B
 200 mm
r2  53.21iˆ  92.16 ˆj

r4  253.21iˆ  92.16 ˆj
   P
Velocity Analysis: at P : va  vb  vr
v a   2  r2  6kˆ   53.21iˆ  92.16 ˆj 
   va 2
ω2
 552.96iˆ  319.26 ˆj
v b   4  r4   4 kˆ   253.21iˆ  92.16 ˆj 
   P’
A B
vb ● ω4
  92.16 4 iˆ  253.21 4  ˆj 4
3
 
vr  v P / P '  vr cos 20 o iˆ  vr sin 20 o ˆj 4 B
vr
  0.94vr iˆ  0.34vr  ˆj
B
Prof. Imam Morgan
Dean of EMS – MCTR dept. (18 )
 
v a  552.96iˆ  319.26 ˆj

v b   92.164 iˆ  253.214  ˆj

vr   0.94vr iˆ  0.34vr  ˆj

► iˆ Components :  552
 
96 
552..96 92
92..16 4 
16  0
0..94
94 vvr ((a
a))
4 r
 319
 
26 
319..26 253 21
253..21 4 0
0..34
34 vvr ((bb))
► ˆj Components : 4 r

ω4 = 1.81 rad/s
vr = 410.57 mm/s

vr   385.94iˆ  139.59 ˆj mm / s
vr
Coriolis Acceleration: P
ωb
bbvvr r
cor 22
aacor
22 4vvr 2211.81
.81410 .57
4
410.57 acor
4 r

cor 1486
aacor 1486.26
.26 mm//ss22
mm A B

Prof. Imam Morgan

Dean of EMS – MCTR dept. (19 )
 6.4 Acceleration of a Point in Simultaneous Motion
(Coriolis Component)
  
rrP rrA rr   
P A
 P r  rA r P
  d r 
vvP vvA  dr   d r Y y ω
P A dt
v  v 
dt
 
vvA  rrrrAxy dt
P A
   x
A

 v A    r  r Axy
Axy  
  ● 
r ●
      dd  
rrdt rrAxy

aaP aaA rr  iˆ
Axy
P A 
 a  a    r   

 d 
r  r  ĵ
      
dt Axy  
 
P A
 rP
aaA rrrrrrAxy
dt
A
      
   
   
   A α
 
Axy
a r r r
 rrAxy rrAxy
  A Axy


aaA 
    
Axy

 r      r 
 
Axy

  r Axy  r Axy Ĵ

 rA

A   r     r    
a A    r     r 
 

rrAxy  rrAxy   
Axy  rAxy

X
  Iˆ
r
   r Axy    r Axy  r Axy
Axy  
Axy  
 r  r Axy
  
aaA aaP / A rrAxy 22rrAxy
  d r
Remember :  
a A  aP /A  rAxy  2  r Axy
A P / A Axy Axy   dt
 
aaA aaP / A aar 22vvr     
  
 r  vr
  A  P /A  ar A  a P / Ar  a r  2  vr
aaa aab aar aacor    𝑑
So,a b
at P: r
a acor ab  a r  acor So, 𝑟 =𝜔× 𝑟 + 𝑟
𝑑𝑡 𝐴𝑥𝑦 𝐴𝑥𝑦 𝐴𝑥𝑦
Prof. Imam Morgan
Dean of EMS – MCTR dept. (20 )
 So, the acceleration of P is composed of three components:
   
aa  ab  ar  acor


Absolute acc.
relative acc.
It is the base acc. Coriolis acc
acceleration of P It is the acceleration of
with respect to P as if the base body
Is the acceleration of acor is always known
the fixed frame is held fixed while the
P as if P is held fixed in magnitude and
particle P is moving
on the base body. I.e., direction, and given
relative to it
P is considered as a by:
point on the base body
  
(acceleration of P’) acor  2 (b  vr )

ωb is the angular
velocity of the
base body
vr is the relative
velocity
The Coriolis Component appears due to the
►Magnitude
simultaneous motions: namely; the base acor = 2ωb vr
motion and the relative one. ►Direction:
Prof. Imam Morgan perpendicular to vr
Dean of EMS – MCTR dept. (21 )
 Direction of acor depends on direction of vr and sense of ωb

acor
90o vr
𝑗 vr

90o
𝑖   
acor  2b  vr
ωb acor
✓✓ ωb

acor

In all cases:
90o
● turn vr by 90o
in sense of ω
vr acor ● acor= 2ωbvr vr
90o ωb
ωb

Prof. Imam Morgan

Dean of EMS – MCTR dept. (22 )
 Example (6.2)

Four pins slide in four separate slots cut in a circular plate as shown. When
the plate is at rest, each pin has a velocity directed as shown and of the
same constant magnitude u. If each pin maintains the same velocity
relative to the plate when the plate rotates about O with a constant CCW
angular velocity ω, determine the velocity and the acceleration of each pin.

Prof. Imam Morgan

Dean of EMS – MCTR dept. (23 )
 At P1, P2, P3, and P4 :

● vr = u (assume ω = 0)
vb u P2
● vb = ω r (assume u = 0)

vr vb
r vr
ω u
u
vr
P1
P3

vb

vb 
P4 v P1  u iˆ   r ˆj
u vr 
v P2   r iˆ  u ˆj

v P3  0  u   r  ˆj

v P4  u   r  iˆ  0

Prof. Imam Morgan

Dean of EMS – MCTR dept. (24 )
 At P1, P2, P3, and P4 :
● acor  2  u
● ab   r
u P2 acor n 2

abt  0 as   0
ω r abn u2
At P3 : ● arn 
u r
u arn
abn acor
P1
abn P3

acor abn acor


P4 a P1   2 r iˆ  2 u ˆj
u 
a P2  2 u iˆ   2 r ˆj
  u2 
a P3     r  2 u  iˆ  0
2

 r 


a P4  0   2 r  2 u ˆj 
Prof. Imam Morgan
Dean of EMS – MCTR dept. (25 )
 Example (6.3)

The motion of blade D is controlled by the robot

arm ABC. At the instant shown the arm is rotating
vr
CW at the constant rate ω = 1.8 rad/s and the
length of portion BC of the arm is being decreased
at the constant rate of 250 mm/s. Determine:
(a) the velocity of D, and
(b) the acceleration of D.
Solution:
Velocity Analysis:
at D: 𝑣𝑎 = 𝑣𝑏 + 𝑣𝑟
vr
𝑣𝑏 = 𝜔 × 𝑟 = −1.8𝑘 × 322𝑖 − 240𝑗
= −430𝑖 − 576𝑗 𝑟
𝑣𝑟 = − 250𝑐𝑜𝑠25 𝑖 + 250𝑠𝑖𝑛25 𝑗
= −226.58𝑖 + 105.65𝑗

So, 𝑣𝑎 = 𝑣𝐷 = −656.58𝑖 − 470.35𝑗

𝑟 = 322𝑖 − 240𝑗
Prof. Imam Morgan
Dean of EMS – MCTR dept. (26 )
 Acceleration Analysis:
𝑟 = 322𝑖 − 240𝑗
𝑎𝑎 = 𝑎𝑏 + 𝑎𝑟 + 𝑎𝑐𝑜𝑟
𝜔𝑏 = 𝜔
𝑎𝑏 = 𝑎𝑏,𝑡 + 𝑎𝑏,𝑛
= 𝛼 × 𝑟 − 𝜔2 𝑟
= 0 − 1.8 2 322𝑖 − 240𝑗
= −1036.8𝑖 + 777.6𝑗 vr

𝑎𝑟 = 0 𝑟
(𝑏𝑒𝑐𝑎𝑢𝑠𝑒 𝑣𝑟 𝑖𝑠 𝑙𝑖𝑛𝑒𝑎𝑟 𝑎𝑛𝑑 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡)

𝑎𝑐𝑜𝑟 = 2𝜔𝑏 × 𝑣𝑟
= 2 −1.8𝑘 × −226.58𝑖 + 105.65𝑗
= 380.34𝑖 + 815.69𝑗

So, 𝑎𝑎 = 𝑎𝐷 = −656.46𝑖 + 1593.29𝑗

Prof. Imam Morgan

Dean of EMS – MCTR dept. (27 )
Example (6.4)
A disk of 180 mm radius rotates at the constant rate
ω2 = 4 rad/s with respect to the bent arm CD, which
itself rotates at the constant rate ω1 = 3 rad/s about
the Y axis. Determine:
(a) the velocity of point A on the rim of the disk,
(b) The acceleration of A.
E
Additional requirements (not recommended from
your side): Determine the angular velocity and
angular acceleration of the disk.

Solution:
Velocity Analysis:
at D: 𝑣𝑎 = 𝑣𝑏 + 𝑣𝑟
𝑟𝑏
● 𝑣𝑏 =? In this case ω2 = 0 and
the disk rotates with the
arm with ω1 E

𝑣𝑏 = 𝜔1 × 𝑟𝑏
 𝑣𝑏 = 𝜔1 × 𝑟𝑏 where, 𝑟𝑏 is from O to A.

𝑖 𝑗 𝑘 𝑟𝑏
𝑣𝑏 = 0 3 0
150 180 −360
O ×
= −1080𝑖 + 0 − 450𝑘 E
E

● 𝑣𝑟 =? In this case ω1 = 0 and the disk rotates

with ω2 about the axis EC while the arm
DEC is kept fixed

𝑣𝑟 = 𝜔2 × 𝑟𝑟 where, 𝑟𝑟 is from any point on EC to A.

𝑖
𝑣𝑟 = 0
𝑗
0
𝑘
4
×
𝑟𝑟
0 180 −360
= −720𝑖 + 0 + 0
E

Therefor, 𝑣𝐴 = 𝑣𝑎 = 𝑣𝑏 + 𝑣𝑟
= −1800𝑖 + 0 − 450𝑘 mm/s
Acceleration Analysis: 𝑎𝑎 = 𝑎𝑏 + 𝑎𝑟 + 𝑎𝑐𝑜𝑟
● 𝑎𝑏 =?
𝑎𝑏 = 𝛼1 × 𝑟𝑏 + 𝜔1 × 𝑣𝑏
𝑖 𝑗 𝑘 𝑟𝑏
= 0 + 0 3 0
−1080 0 −450
O ×
= −1350𝑖 + 0 + 3240𝑘 E

● 𝑎𝑟 =?
𝑎𝑟 = 𝛼2 × 𝑟𝑟 + 𝜔2 × 𝑣𝑟
𝑖 𝑗 𝑘
= 0 + 0 0 4
−720 0 0
= 0 − 2880𝑗 + 0

● 𝑎𝑐𝑜𝑟 =?
×
𝑎𝑐𝑜𝑟 = 2𝜔𝑏 × 𝑣𝑟 = 2𝜔1 × 𝑣𝑟 𝑟𝑟
O
𝑖 𝑗 𝑘
=2 0 3 0 E
−720 0 0
= 0 + 0 + 2160𝑘

Therefor, 𝑎𝐴 = 𝑎𝑎 = 𝑎𝑏 + 𝑎𝑟 + 𝑎𝑐𝑜𝑟
= −1350𝑖 − 2880𝑗 + 5400𝑘 mm/s2
 Additional

Problem (1) … Very important

For the same system given in example (6.1), carry out the acceleration
analysis to determine:
(a) The angular acceleration of link 4,
(b) The relative acceleration of the slider w. r. to link 4.

3
ω4
ω2 4
2

200 mm

Prof. Imam Morgan

Dean of EMS – MCTR dept. (31 )