DYNAMICS

BDA 20103 – KINEMATICS OF RIGID BODY

LECTURE 11
Dr. MOHD AZHAR B HARIMON
Universiti Tun Hussein Onn Malaysia
 Kinematic of Rigid Body
• Objectives
• Classify the types of rigid body
• Investigate rigid body translation
• Analyze motion about a fixed axes
• Study motion using absolute motion analysis
• Determine velocity using instantaneous center of zero velocity
• Study relative motion analysis of velocity and acceleration.
• Investigate relative motion analysis using a rotating frame of reference

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 TEST 2
• Date: 03/01/23 (Tuesday), 8.00-9.30 pm.
• Venue: F2 ATAS
• Q1: (Chapter 3 – Force, Mass and Acceleration/
Work and Energy)
• Q2: (Chapter 3 – Conservation of Energy)
• Q3: (Chapter 3 – Impulse and Momentum)

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 Assignment 2

⚫ Due date: 31/12/23 (Saturday), 11.55 pm.

⚫ Please answer all questions.
⚫ The individual assignment 2 consists of 3
questions that relate to Chapter 3 (Kinetics of
Particle).

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 Rigid Body

A rigid body is a system of particles for

which the distances between the
particles remain unchanged

If each particle of such a body is located

by a position vector from reference axes
attached to and rotating with the body,
there will be no change in any position
vector as measured from these axes

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 When a body cannot be replaced by a particle

Replace by a particle (no rotation involved)

The body motion cannot be replaced by a particle

(rotation involved)

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 Types of Rigid-Body Plane Motion:
Rectilinear Translation
There is no rotation of any
line in the body

All particles (points) in the body

move in parallel straight lines

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 Types of Rigid-Body Plane Motion:
Curvilinear Translation
All points move on congruent curves

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 Types of Rigid-Body Plane Motion:
General Plane Motion

General plane motion as a

combination of translation
and rotation

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 Types of Rigid-Body Plane Motion:
Fixed-Axis Rotation

All particles in a rigid body

Fixed axis move in an angular motion

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 General Plane Motion

translation

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 General Plane Motion
• General plane motion is not either a translation or a
rotation

• General plane motion can always be considered as

the sum of a translation and a rotation

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 Application…
• The inline –type cylinder engine

Rectilinear
translation
Rotation about
fixed axis

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 Application….
• Steam Locomotive Engine

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 Angular-Motion Equations

It can be developed from rectangular motions,

by modifying:
ds d
v= → = =
v → dt dt
s → dv d
a= =v=s → = = =
dt dt
v dv = a ds →  d =  d
v = v0 + at →  = 0 +  t
v 2 = v0 2 + 2a(s − s0 ) →  2 = 02 + 2 ( − 0 )
1 2 1
s = s0 + v0t + (at ) →  = 0 + 0 + ( t 2 )
2 2
All graphical relationships may be used for θ, ω and α

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 Check for understanding….
1.Identify the types of motion of the following ;-

a. b.

c. d.

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 Check for understanding….
2.Curvilinear translation is concern about the rotation of all particles along
the circular path (yes/no)
3. General plane motion refer to the combination of rectilinear translation
and curvilinear translation (yes/no)
4. All particles in a body subject to the rectilinear motion move with same
velocity and acceleration ( yes/no)
5. Write the symbol/abbreviation and its unit of the following
a. position, velocity, acceleration
b. angular position, angular velocity, angular
acceleration.

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 Rotation about a Fixed Axis: Velocity

velocity

vt=rω
t

vt = r

r n

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 Rotation about a Fixed Axis: Acceleration

t direction
acceleration

at=rα at = r = r = r
t

an=rω2 n direction
n
r vt 2
ω
α an = = r 2 = r 2
r

a = at 2 + an 2

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 Rotation about a Fixed Axis
Velocity and Acceleration expressed in x-y system

velocity acceleration t acceleration n

vt at
vty θ t aty θ
anx
vtx atx any θ

r n an
r r
α α
ω y ω ω
θ θ θ
x

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 Rotation about a Fixed Axis
x-y velocity vector

vtx 
velocity v = vt =  
vt vty 
vty θ t
−r sin ( ) 
v= 
( ) 
vtx
 r cos 
r n

ω y
θ
Magnitude v
x

( −r sin ( )) + ( r cos ( ))

2 2
v=

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 Rotation about a Fixed Axis
x-y acceleration vector

acceleration t
at
aty θ
atx 
t at =  
aty 
atx

n −r sin ( ) 
α
r at =  
y ω
θ  r cos ( ) 
x

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 Rotation about a Fixed Axis
x-y acceleration vector
anx 
an =  
acceleration n any 

−r 2 cos ( ) 
t
anx
an =  
any θ  − r 2
sin ( ) 

n an
r
α
y ω
θ a = at + an
x
Magnitude a

( r ) ( )
2
a= + r
2 2

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 Example 1

A cord is wrapped around a wheel which is

initially at rest. If a force is applied to the
cord and gives it an acceleration a = (4t)
m/s2, where t is in seconds, determine as a
function of time (a) the angular velocity of
the wheel, and (b) the angular position of
the line OP in radians.

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 Example 1

Solution
Part (a). The wheel is subjected to rotation
about a fixed axis passing through point O. Thus,
point P on the wheel has a motion about a circular
path, and the acceleration of this point has both
tangential and normal components. The tangential
component is (aP)t = (4t) m/s2, since the cord is
wrapped around the wheel and moves tangent to it.

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 Example 1

Hence the angular acceleration of the wheel is

+ ( a P )t =  r
(4t ) =  (0.2)
 = 20t rad / s 2
Using this result, the wheel’s angular velocity ω
can now be determine from α = dω/dt

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 Example 1

Integrating, with the initial condition that ω = 0, t = 0,

d
+ = = (20t )
dt
 t
0 d = 0 20t dt
 = 10t 2rad / s

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 Example 1

Using this result, the angular position θ of OP can

be found from ω = dθ/dt, since this equation relates
θ, ω, and t.
Integrating, with the initial condition θ = 0 at t = 0,
d
=  = (10t 2 )
+ dt
 t
0 d =  10t 2 dt
0
 = 3.33t 3rad
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 Example 2

The motor is used to turn a wheel and

attached blower contained with the housing.
If the pulley A connected to the motor
begins rotating from rest with an angular
acceleration of αA = 2 rad/s2, determine the
magnitudes of the velocity and acceleration
of point P on the wheel, after the wheel B
has turned one revolution.

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 Example 2

View Free Body Diagram

Angular Motion. Converting revolution to radians,

 B = 2 = 6.283 rad
Since the belt does not slip, an equivalent length of
belt s must be unraveled from both the pulley and
wheel at all times. Thus,
s =  ArA =  B rB ;  A (0.15) = 6.283(0.4)
 A = 16.76 rad

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 Example 2

Since αA is constant, the angular velocity of pulley A

is therefore,
+  2 = 02 + 2 c ( − 0 )
 A2 = 0 + 2(2)(16.76 − 0)
 A = 8.188 rad / s

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 Example 2

The belt has the same speed and tangential

component of acceleration as it passes over the
pulley and wheel. Thus,
v =  ArA = B rB  B = 3.070 rad / s
at =  ArA =  B rB   B = 0.750 rad / s 2

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 Example 2

Motion of P. As shown in the diagram, we have,

vP =  B rB = 1.23 m / s
(aP )t =  B rB = 0.3m / s 2

(aP ) n =  r = 3.77m / s
2
B B
2

Thus,
aP = (0.3) 2 + (3.77) 2 = 3.78m / s 2

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 See you again in…LECTURE 12

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