Example Y

P 𝑣 = 10 𝑚/𝑠 constant
A particle P is moving to the right with a constant velocity 10 m/s. At the 𝑃

instant when θ = 300 , determine 𝑅ሶ 𝑂𝑃 , 𝜃ሶ𝑂𝑃 , 𝑅ሷ 𝑂𝑃 , 𝜃ሷ𝑂𝑃 using vector method.

𝑅 𝑦 = 10 𝑚 contant
𝜃
O 𝑥 X

Steps (Velocity) The position P relative to point O and its unit vector:
𝑅𝑃/𝑂 = 𝑅𝑢 = 20(cos 𝜃𝑖 + sin 𝜃𝑗) = 20(cos 300 𝑖 + sin 300 𝑗) = 20(0.866𝑖 + 0.5𝑗)
1) Establish the reference axis = 17.32𝑖 + 10𝑗
𝑢 = 0.866𝑖 + 0.5𝑗
2) Come up with the kinematic equations
The angular velocity:
3) Define the position of the particle and its unit 𝜃ሶ𝑂𝑃 = 𝜔𝑂𝑃 𝑘 (Assume in CCW)
vector
The velocity P relative to O (From eqn (i)):
4) Define the angular velocity of the particle based on the 𝑖
reference axis 𝑣𝑃/𝑂 = 𝑅ሶ 𝑂𝑃 0.866𝑖 + 0.5𝑗 + (𝜔𝑂𝑃 𝑘 Λ (17.32𝑖 + 10𝑗))
𝑘 + 𝑗
5) Solve the problems by using velocity formula. Equating
𝑣𝑃/𝑂 = 10𝑖 = 0.866𝑅ሶ 𝑂𝑃 − 10𝜔𝑂𝑃 𝑖 + (0.5𝑅ሶ 𝑂𝑃 + 17.32𝜔𝑂𝑃 ) 𝑗
the terms in 𝑖 and 𝑗.
Equating the terms:
The velocity of P relative to point O : 𝑗: 0 = 0.5𝑅ሶ 𝑂𝑃 + 17.32𝜔𝑂𝑃 (ii)
𝑣𝑃/𝑂 = 10𝑖 = 𝑅ሶ 𝑂𝑃 𝑢 + (𝜔𝑂𝑃 𝑘 Λ 𝑅𝑃/𝑂 ) (i) 𝑖: 10 = 0.866𝑅ሶ 𝑂𝑃 − 10𝜔𝑂𝑃 (iii)

Solving eqn (ii) and (iii) simultaneously gives:

𝜔𝑂𝑃 = 𝜃ሶ 𝑂𝑃 = −0.25 rad/s (CW) 𝑅ሶ 𝑂𝑃 = 8.66 𝑚/𝑠 (Extending)
 (Cont…)ExamplE Y

P 𝑣 = 10 𝑚/𝑠 constant
A particle P is moving to the right with a constant velocity 10 m/s. At the 𝑃

instant when θ = 300 , determine 𝑅ሶ 𝑂𝑃 , 𝜃ሶ𝑂𝑃 , 𝑅ሷ 𝑂𝑃 , 𝜃ሷ𝑂𝑃 using vector method. 𝑖

𝑅 𝑦 = 10 𝑚 contant
𝑘 + 𝑗
𝜃
O 𝑥 X

Steps (Acceleration) The acceleration P relative to O (From eqn (iv)):

𝑎𝑃/𝑂 = 0 = 𝑅ሷ 𝑂𝑃 0.866𝑖 + 0.5𝑗 + 2 −0.25 𝑘 Λ 8.66 0.866𝑖 + 0.5𝑗 +

1) Come up with the kinematic equations (𝛼𝑂𝑃 𝑘 Λ (17.32𝑖 + 10𝑗)) + (−0.25)𝑘 Λ ((−0.25)𝑘 Λ (17.32𝑖 + 10𝑗))

2) Define the angular acceleration of the particle based on the 𝑎𝑃/𝑂 = 0 = 0.866𝑅ሷ 𝑂𝑃 − 10𝛼𝑂𝑃 − 3.2475 𝑖 + 0.5𝑅ሷ 𝑂𝑃 + 17.32𝛼𝑂𝑃 − 4.375 𝑗
reference axis
Equating the terms:
3) Solve the problems by using acceleration 𝑖: 0 = 0.866𝑅ሷ 𝑂𝑃 − 10𝛼𝑂𝑃 + 1.0825 (v)
formula. Equating the terms in 𝑖 and 𝑗.
𝑗: 0 = 0.5𝑅ሷ 𝑂𝑃 + 17.32𝛼𝑂𝑃 − 4.375 (vi)

The acceleration of P relative to point O : Solving eqn (v) and (vi) simultaneously gives:
𝑎𝑃/𝑂 = 0 = 𝑅ሷ 𝑂𝑃 𝑢 + (2𝜔𝑂𝑃 𝑘 Λ 𝑅ሶ 𝑂𝑃 𝑢) + (𝛼𝑂𝑃 𝑘 Λ 𝑅𝑃/𝑂 ) + 𝛼𝑂𝑃 = 𝜃ሷ𝑂𝑃 = 0.2165 rad/s2 (CCW-Decelerating)
(𝜔𝑂𝑃 𝑘 Λ (𝜔𝑂𝑃 𝑘 Λ 𝑅𝑃/𝑂 )) (iv)
Recall back the position and its unit vector:
𝑅ሷ 𝑂𝑃 = 1.25 m/s2 (Accelerating)
𝑅𝑃/𝑂 = 17.32𝑖 + 10𝑗 𝑢 = 0.866𝑖 + 0.5𝑗

The angular acceleration:

𝜃ሷ𝑂𝑃 = 𝛼𝑂𝑃 𝑘 (Assume in CCW)