Lesson 2

 Coriolis’ Law

Coriolis’ Law
States that when a particle is moving along a path which is also in motion the
absolute linear acceleration of this particle is the vector sum of (1) the acceleration
which the particle would have if the path were fixed and the particle moved only along
the path, (2) the acceleration which the particle would have if the particle were fixed
to the path and the path moved, and (3) a compound supplementary acceleration called
Coriolis’ acceleration. This compound supplementary acceleration is equal to twice the
product of the velocity of the particle relative to the path and the angular velocity of
the path.
A distinct notation will be used. Also only one set of units will be used. In Figure
below, the particle P is moving outward along the path m whose center of curvature is
at O. The path m rotates about the fixed axis Q.
 = the absolute angular velocity of the path, radians per second
 = the absolute angular acceleration of the path, radians per second
per second
 = the relative angular velocity of the radius OP, radians per second =
the relative angular acceleration of the radius OP, radians per
second per second
r = the radius of the path, feet
 = the instantaneous straight-line distance from the axis of rotation
Q and the position of the particle P on path m, feet
u = the velocity of P relative to O and due only to  , feet per second

Figure 2.1

Stated in equation form Coriolis’ law is

 AP  Ar  Am  2u --------» equation (a)
where AP = the absolute linear acceleration of the particle P
Ar = the linear acceleration of P relative to O
Am = the absolute linear acceleration of P about Q
2u = the compound supplementary acceleration

2u is a normal acceleration and is, therefore, due to the changes of the directions of
the velocity of P.

Ar  Ar  Ar
n t

u2
Ar   r   u, is parallel to PO and is from P toward O
n 2

r
Ar   r , is perpendicular to PO and in a sense consistent with 
t

Am  Am  Am
n t

2
V pq
Am      V pq  , is parallel to PQ and is from P toward Q
n 2


Am  , is perpendicular to PQ and in a sense consistent with 
t

Equation (a) may now be written

Ap  Ar  Ar  Am  Am  2u ----------» (b)
n t n t

A rule for the direction-sense of 2u follows. 2u is always parallel to PO and,
therefore, perpendicular to u. Assume 2u to be a force placed at the head of the
vector u. Then give this force a sense to cause the vector u to tend to rotate about P
with the same sense as  . This sense is the sense of 2u .
Each of the vectors of equation (b) is drawn from the point P in Figure 2.1 and
the vector solution of the equation is shown in the acceleration polygon. Using the
above rule for determining the direction-sense of 2u , assume 2u placed at the end
of u . Since  is clockwise, 2u must be to the right in order to cause u to tend to
rotate about P in a clockwise sense.
There may be some confusion as to when to use Coriolis’ Law and when the use
the relative acceleration method which was developed in the previous lesson. Hence,
a rule will be helpful. Whenever a particle is moving on a body which is moving relative
to the earth, use Coriolis’ Law. When applying Coriolis’ Law, the relative angular
velocity and acceleration of the line joining the particle and the center of curvature
must be used. When applying the relative acceleration of the line joining the two points
must be used.
Example 1
In figure below, the curved path m represents the blade of a fan. It is desired
to find the absolute linear acceleration of a particle of air P which

Is moving outward at the instant shown. The absolute angular velocity of the blade is
120 rpm clockwise and the absolute angular acceleration is 100 rad/sec² clockwise. At
the instant under consideration the relative angular velocity of the radius of curvature
r of the blade is 100 rpm counter clockwise and the relative angular acceleration is 300
rad/sec².
Solution.
Applying equation (b)
Ap  Ar  Ar  Am  Am  2u
n t n t

where:
 2 x 100  5
2

Ar   r    x  45.7 ft / sec , parallel to PO and from po int P

n 2 2

 60  12
toward O.
Ar  r  300 x 125  125 ft / sec 2 , perpendicular to PO and up
t

 2 x 120  6
2

Am       x  78.8 ft / sec , parallel to PQ and from P

n 2 2

 60  12
toward Q.
100 x 6
Am      50 ft / sec 2 , perpendicular to PQ and toward the right
t

12
2 x 100 x 5
u  r   4.36 fps, perpendicular to OP and up
60 x 12
2 x120
  12.57 rad / sec
60
2u  2 x 4.3612.57  109.3 ft / sec 2 , parallel to OP and to right.
These acceleration vectors are drawn to scale of Ka = 100 ft/sec² and Ap
determined as shown in the polygon.
Ap = 0.66 x 100 = 66 ft/sec²
Example 2
The crank 2 (Q₂A) of the turning block mechanism in figure below,

rotates uniformly counterclockwise at 100 rpm. Q₂Q₃ = 3 inches; Q₂A = 7 inches; and
Q₃B = 4 inches. When the crank 2 makes an angle of 60º with the horizontal, determine
the absolute linear acceleration of B and the absolute angular velocity and acceleration
of crank Q₃A.
Solution.
Basically this problem deals with the acceleration of two coincident points, A on
link 2 and A on link 3. Since these two points are not on the same link, the method of
relative accelerations cannot be used and recourse must be had to Coriolis’ law. Either
A on 2 or on 3 could be chosen as the point but a much simpler solution will be afforded
if A on 2 is chosen as the point moving along the straight path, link 3. The absolute
linear acceleration of A on 2, Aa 2 is known and the acceleration equation is
Aa 2  Ar  Ar  Am  Am  2u
n t n t

where:
Aa 2  Aa 2  Aa 2
n t

 2N   2 x 100 
2 2
7
Aa 2    x Q2 A    x  63.96 ft / sec 2 , parallel to AQ2
n

 60   60  12
from A toward Q2
Aa 2  0, crank 2 rotates uniformly
t

Ar  0, no changein direction of the velocity of a po int rotating

n

about inf inity

Ar    , unknown in magnitude but direction along AQ3
t

Draw the velocity polygon, as shown, to a velocity scale of Kv = 5 fps.

 Va3  2 qa3 x Kv2 1.16 x 52
Am     45.3 ft / sec 2 , parallel to AQ3 and from
n

Q3 A Q3 A 8.9
12

A toward Q3
Am   x Q3 A, unknown in magnitude but perpendicular to AQ3
t

u  Va 2 a 3  a 2a3 x kv  .37 x5  1.85 fps, parallel to AQ3 and outward

Va 3 qa3 x Kv 1.16 x 5
  3     7.82 rad / sec, counterclockwise
Q3 A Q3 A 8.9
12

2u  2 x 1.85 x 7.82  28.9 ft / sec 2 , perpendicular to Q3 A and toward

the left
Draw the acceleration polygon to the acceleration scale of
Ka = 25 ft/sec² and in the following order. (1) Draw qa2 = Aa 2 , remembering this is the
n

resultant acceleration. (2) Draw 2u with its vector head to the vector head of qa2. (3)
Draw Am from q. (There are only two other vectors, namely, Am and Ar , appearing in
n t t

the polygon. Neither vector is known in magnitude but the polygon may be completed
since their directions are known.) (4) Draw a line, representing the direction of Am ,
t

perpendicular to Am and from the head of vector Am . (5) Draw a line, representing
n n

the direction of Ar , parallel to Q₃A and from the origin of 2u .

t

At the intersection of these last two lines locate a₃. The qa₃ is the acceleration
image of Q₃A. Locate b, the image of B, on the acceleration polygon by making
qa x Q3 B 1.86 x 4
qb  3   0.836 inch.
Q3 A 8.9
Ab  qb x K a  0.836 x 25  20.9 ft / sec 2
The absolute angular velocity of the crank Q₃A,  3 , has been obtained by the use
of the velocity polygon as previously shown and is 7.82 rad/sec counterclockwise.
t
Am 0.4 x 25
The angular acceleration of crank Q₃A,  3    13.48 rad / sec 2 .
Q3 A 8.9
12

Problem 1.
LEARNING ACTIVITY

The particle P moves on the path m which in turn, rotates about Q. The velocities
and accelerations are as shown in the sketch. Find the absolute linear acceleration of
the point P.

Problem 2.
Q₂F = 1 ft 3-inches, BQ₄ = 1ft 2-inches, Q₄D = 0 ft 6-inches. The crank Q₄D is
rotating uniformly counterclockwise at 150 rpm. The sketch is to be drawn ¼ size. Find
the absolute instantaneous linear velocity in feet per second of point F and slide E; the
absolute instantaneous linear acceleration in feet per second per second of the slide E;
and the absolute instantaneous angular velocity in revolutions per minute of the

variable-length crank Q₂F. Indicate the direction-sense of the velocities and

acceleration. Give the space, velocity and acceleration scales.