MAE 2600 Ch.

16 Planar Kinematics of a Rigid Body Section 16B-2 Page 1/1

Ch. 16 Planar Kinematics of a Rigid Body

Section 16B-1: 16.6 Section 16B-2: 16.7 Section 16B-3: 16.8a Section 16B-4: 16.8b

Class Note for Section 16B-2:

16.7
 = AB k (CCW: +, CW: -)
rB/A = x i + y j
kxi=j kxj=-i
Relative-Motion Analysis: Acceleration

vB = vA +  x rB/A

aB = aA +  x rB/A - 2 rB/A

Example Problems for Section 16B-2:

EP1. The disk is moving to the left such that it has an angular acceleration  = 8 rad/s2 and
angular velocity  = 3 rad/s at the instant shown. If it does not slip at A, determine the
acceleration of point A, B and C.
Acceleration at C (aC): (by Absolute-Motion Analysis)
aC =  r = (8)(0.5) = 4  aC = - 4 i m/s2 Ans.

Acceleration at A (aA): (by Relative-Motion Analysis)

aA = aC +  x rA/C - 2 rA/C
= - 4 i + (8 k) x (- 0.5 j) - (3)2(- 0.5 j)
= - 4 i + 4 i + 4.5 j = 4.5 j m/s2 Ans.

Acceleration at B (aB): (by Relative-Motion Analysis)

aB = aC +  x rB/C - 2 rB/C
= - 4 i + (8 k) x (- 0.5 cos 30 i - 0.5 sin 30 j) - (3)2 (- 0.5 cos 30 i - 0.5 sin 30 j)
= - 4 i - 8(0.5 cos 30) j + 8(0.5 sin 30) i + (3)2(0.5 cos 30) i + (3)2(0.5 sin 30) j
= ( 1.90 i - 1.21 j ) m/s2 Ans.

Notes:
Velocity at C (vC):
Absolute-Motion Analysis: sC =  r  vC =  r = (3)(0.5) = 1.5  vC = - 1.5 i m/s
IC Method: (vA = 0, IC at A) vC =  rC/IC = (3)(0.5) = 1.5  vC = - 1.5 i m/s
Relative-Motion Analysis: vC = vA +  x rC/A = 0 + (3 k) x (0.5 j) = - 1.5 i m/s

Velocity at E (vE):
MAE 2600 Ch. 16 Planar Kinematics of a Rigid Body Section 16B-2 Page 2/1

IC Method: (IC at A) vE =  rE/IC = (3)(1) = 3  vE = - 3 i m/s

Relative-Motion Analysis: vE = vA +  x rE/A = 0 + (3 k) x (1 j) = - 3 i m/s
vE = vC +  x rE/C = - 1.5 i + (3 k) x (0.5 j) = - 3 i m/s
MAE 2600 Ch. 16 Planar Kinematics of a Rigid Body Section 16B-2 Page 3/1

Example Problems for Section 16B-2:

EP2. The flywheel rotates with an angular velocity  = 4 rad/s and an angular acceleration
 = 3 rad/s2. Determine the angular acceleration of links AB and BC at this instant.

For flywheel: vA = vO +  x rA/O = 0 + (4 k) x (0.3 j) = - 1.2 i

For link BC: vB = vC +  x rB/C = 0 + (BC k) x (0.4 j) = - 0.4BC i
For link AB:  = tan-1(1.5 / 4) = 20.56
rB/A = 0.5 cos 20.56 i - 0.5 sin 20.56 j = 0.4682 i - 0.1756 j
vB = vA +  x rB/A
- 0.4BC i = - 1.2 i + (AB k) x (0.4682 i - 0.1756 j) = - 1.2 i + 0.4682AB j + 0.1756AB i
For j: 0 = 0.4682AB  AB = 0
For i: - 0.4BC = - 1.2 + 0.1756AB  BC = 1.2 / 0.4 = 3 rad/s (CCW)
OR For flywheel: vA = w rw = (4)(0.3) = 1.2 m/s 
For link AB: Since vA and vB are parallel, the IC for link AB is at .
AB = vA/ = 0, vB = vA = 1.2 m/s 
For link BC: vB = BC rBC  BC = vB / rBC = 1.2 / 0.4 = 3 rad/s (CCW)
For flywheel: aA = aO +  x rA/O - 2 rA/O = 0 + (3 k) x (0.3 j) - (4)2(0.3 j) = - 0.9 i - 4.8 j
For link BC: aB = aC +  x rB/C - 2 rB/C = 0 + (CB k) x (0.4 j) - (3)2(0.4 j) = - 0.4CB i - 3.6 j
OR For flywheel: (aA)t = w rw = (3)(0.3) = 0.9 m/s2 
(aA)n = w2 rw = (4)2(0.3) = 4.8 m/s2  aA = - 0.9 i - 4.8 j
For link BC: (aB)t = BC rBC = 0.4 BC 
(aB)n = BC2 rBC = (3)2(0.4) = 3.6 m/s2  aB = - 0.4CB i - 3.6 j
For link AB: aB = aA +  x rB/A - 2 rB/A
- 0.4BC i - 3.6 j = - 0.9 i - 4.8 j + (AB k) x (0.4682 i - 0.1756 j) - 0
- 0.4BC i - 3.6 j = - 0.9 i - 4.8 j + 0.4682AB j + 0.1756AB i
For j: - 3.6 = - 4.8 + 0.4682 AB  AB = 2.563 = 2.56 rad/s2 (CCW) Ans.
For i: - 0.4BC = - 0.9 + 0.1756 AB  BC = 1.564 = 1.56 rad/s2 (CCW) Ans.

Homework #21 (Section 16B-2)