MAE 2600 Ch.

16 Planar Kinematics of a Rigid Body Section 16A-3 Page 1/1

Ch. 16 Planar Kinematics of a Rigid Body

Section 16A-1: 16.1, 16.2, 16.3 Section 16A-2: 16.4 Section 16A-3: 16.5
Class Note for Section 16A-3:
16.5  = AB k (CCW: +, CW: -)
rB/A = x i + y j
kxi=j kxj=-i
Relative-Motion Analysis: Velocity
rB = rA + rB/A
vB = vA + vB/A  vB = vA +  x rB/A

Example Problems for Section 16A-3:

EP1. The angular velocity of link AB is AB = 4 rad/s.
Determine the velocity of the collar at C and the angular
velocity of link CB at the instant  = 60 and  = 45.
For link AB:
vB = vA +  x rB/A
= 0 + (4 k) x (0.5 cos 60 i + 0.5 sin 60 j)
= - 2 sin 60 i + 2 cos 60 j
For link CB:
vC = vB +  x rC/B
vC = - vC cos 45 i - vC sin 45 j  = CB k rC/B = - 0.35 i
- vC cos 45 i - vC sin 45 j = (- 2 sin 60 i + 2 cos 60 j) + (CB k) x (- 0.35 i)
= - 2 sin 60 i + 2 cos 60 j - 0.35CB j
For i: - vC cos 45 = - 2 sin 60  vC = 2.450 = 2.45 m/s Ans.
For j: - 2.45 sin 45 = 2 cos 60 - 0.35 CB  CB = 7.81 rad/s (CCW) Ans.

EP2. The crankshaft AB is rotating at a constant angular velocity of  = 8 rad/s.

Determine the velocity of the piston P and the angular velocity of the connecting link BP
at the instant  = 30 by the relative-motion analysis.
For link AB:  = 8 k
vB = vA +  x rB/A
= 0 + (8 k) x (3 cos 30 i + 3 sin 30 j)
= - 12 i + 20.78 j
For link BP: BC = 3 sin 30 = 1.5, CP = [(10)2 - (1.5)2](1/2) = 9.887
rP/B = 9.887 i - 1.5 j, vP = vP i,  = BP k,
vP = vB +  x rP/B = - 12 i + 20.78 j + (BP k) x (9.887 i - 1.5 j)
vP i = - 12 i + 20.78 j + 9.887 BP j + 1.5 BP i
For j: 0 = 20.78 + 9.887 BP  BP = - 2.102 = 2.10 rad/s (CW) Ans.
MAE 2600 Ch. 16 Planar Kinematics of a Rigid Body Section 16A-3 Page 2/1

For i: vP = - 12 + 1.5 BP = - 12 + 1.5(- 2.102) = - 15.15 = 15.2 ft/s  Ans.

Homework #19 (Section 16A-3)