MAE 2600 Ch.

16 Planar Kinematics of a Rigid Body Section 16B-4 Page 1/2

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-4:

16.8b Relative-Motion Analysis Using Rotating Axes: Acceleration

Relative-Motion Analysis:
vB = vA +  x rB/A

aB = aA +  x rB/A - 2 rB/A

Rotation about a fixed axis at A (vA = 0, aA = 0):

vB =  x rB/A v=r
aB =  x rB/A - 2 rB/A at =  r a n = 2 r

Relative-Motion Analysis Using Rotating Axes:

vB = vA +  x rB/A + (vB/A)xy

aB = aA + x rB/A +  x ( x rB/A) + 2 x (vB/A)xy + (aB/A)xy

where xy axes rotate with  and measured in XY reference (fixed).

rB/A = x i + y j measured in xy reference
(vB/A)xy = (vB/A)x i + (vB/A)y j measured in xy reference
(aB/A)xy = (aB/A)x i + (aB/A)y j measured in xy reference

2 x (vB/A)xy : Coriolis acceleration

Summary of Equations for Sections 16B-3 & 16B-4:

vB = vA +  x rB/A
aB = aA +  x rB/A - 2 rB/A

vB = vA +  x rB/A + (vB/A)xy
aB = aA + x rB/A +  x ( x rB/A) + 2 x (vB/A)xy + (aB/A)xy
MAE 2600 Ch. 16 Planar Kinematics of a Rigid Body Section 16B-4 Page 2/2

Example Problems for Section 16B-4:

EP1. The ball B of negligible size rolls through the
tube such that at the instant shown it has a velocity of
3 ft/s and an acceleration of 5 ft/s2, measured relative
to the tube. If the tube has an angular velocity of
 = 3 rad/s and an angular acceleration of  = 5 rad/s2
at this same instant, determine the velocity and
acceleration of the ball.
vO = 0,  = 3 k rad/s
rB/O = 2 i ft, (vB/O)xy = 3 i ft/s
vB = vO +  x rB/O + (vB/O)xy
= 0 + (3 k) x (2 i) + (3 i) = (3 i + 6 j) ft/s Ans.
aB = aO + x rB/O +  x ( x rB/O) + 2 x (vB/O)xy + (aB/O)xy
aO = 0, = (5 k) rad/s2, (aB/O)xy = (5 i) ft/s2
aB = 0 + (5 k) x (2 i) + (3 k) x [(3 k) x (2 i)] + 2(3 k) x (3 i) + 5 i
= 10 j - 18 i + 18 j + 5 i = (- 13 i + 28 j) ft/s2 Ans.

EP2. At the instant shown rod AB has an angular

velocity AB = 3 rad/s and an angular acceleration
AB = 5 rad/s. Determine the angular acceleration of
rod CD and the acceleration of the collar measured
relative to the rod AB at this instant. The collar at C is
pin-connected to CD and slides over AB.
(From Section 16B-3 EP2)
rC/D = (- 0.25 i + 0.433 j) m
CD = 9 rad/s (CW)
(vC/A)xy = 3.897 m/s
For link CD: aC = aD + CD x rC/D - CD2rC/D
aC = 0 + (CD k) x (- 0.25 i + 0.433 j) - (- 9)2(- 0.25 i + 0.433 j)
= - 0.25CD j - 0.433CD i + 20.25 i - 35.07 j (1)
For link AB: aC = aA + x rC/A +  x ( x rC/A) + 2 x (vC/A)xy + (aC/A)xy
aA = 0, = 5 k,  = 3 k, rC/A = 0.75 i, (vC/A)xy = 3.897 i, (aC/A)xy = aC/A i
aC = 0 + (5 k) x (0.75 i) + (3 k) x [(3 k) x (0.75 i)] + 2(3 k) x (3.897 i) + aC/A i
= 3.75 j - 6.75 i + 23.38 j + aC/A i (2)
(1) = (2): - 0.25CD j - 0.433CD i + 20.25 i - 35.07 j = 3.75 j - 6.75 i + 23.38 j + aC/A i
For j: - 0.25CD - 35.07 = 27.13  CD = - 248.8 = 249 rad/s2 (CW) Ans.
For i: - 0.433CD + 20.25 = - 6.75 + aC/A  aC/A = 135 m/s2 Ans.

Homework #23 (Section 16B-4)