Engineering Mechanics-II: Dynamics

Lecture 10
 RELATIVE VELOCITY

vA = vB + vA/B [2/20]

articles A and B.

o Rotation
Relative velocity equation of particles
points on the same rigid body for our two parti-
of this choice is that the motion of one point as
anslating with the other point must be circular
e to the observed point from the reference point
 motion about A considered fixed a
RELATIVE VELOCITY DUE TO ROTATION

A′
∆rA/B
y′ r A′′
∆θ A′
∆rA ∆rB
B′ x′
Y y r A
∆rB ∆θ
r
B x B

X
 fixed-axis used just
rotation as
about well,
B with in
A which
executing case we
circular would
motion as
ment of our nonrotating reference axes x-y. Point A could have
observe
empha- B to h
sized in motion
Fig. 5RELATIVE
/5b. Therefore,
VELOCITY DUE TOthe
about A consideredrelationships
ROTATION
fixed developed
as
used just as well, in which case we would observe shown for
incircular
Fig. 5 /5c.
B to haveWeci
motion in Arts. 2motion
/5 and about
5 /2 and cited as Eqs. 2 /11 and 5 /2 (or 5 /3) de-
A considered fixed as shown in Fig. 5 /5c. We see th
scribe the relative portion of the motion of point A.
Point A′B was arbitrarily chosen as the reference point for attach-
A′
∆rA/B ∆r reference axes x-y. Point A could have been
ment of our nonrotating A/B
y′ r y′ just asr well,
used A′′ in which case we would observe B to have circular
A′′
motion
∆θ about
∆ θ A considered fixed as shown in Fig.
∆r A′
A′ 5 /5c. We see that the
∆rA ∆rBA ∆rB ∆r∆r
A/B
B′ x′ A/B
B′ Y
x′ A
yA′ A
Y y ∆rB ∆rA/B r ∆θ A
r A r r
∆rB y′ r ∆θ ∆θ
B A′′ x B r B r
∆θ A′ ∆
∆rA xB
∆r B ∆rA/B B
B ∆rB/A
B′ x′ X B′
Y y A A
∆rB r A
∆θ Motion relative to B ∆rB/AMotion relative to A
X r r ∆θ B′(c)
(a) (b)
B x B B
Motion relative to B Figure 5/5 Motion rela
X (a) (b) ∆rB/A B′ (c)

Motion relative to B Motion relative to A

(a) (b)
Figure 5/5
(c)
 used just as well, in which case we would observe B to h
∆rA = ∆rB + ∆rA/B
motion about A considered
RELATIVE VELOCITY DUE TO ROTATION
∆rA =fi∆r
xed
B + as shown in Fig. 5 /5c. We
∆rA/B

where !r A /B has the magnitude r!! as !! approaches

where !rA/B has the magnitude r!! as !! approaches zero. We note zero. We
A′
that the
that therelative linearmotion
relative linear motion !rA!r
/B is
A /B is accompanied
accompanied by the by the
absolute ab
angular∆rA/B
angular motion asseen
!!, as
motion !!, seenfrom
from
thethe translating
translating axesDividing
axes x′-y′. x′-y′. Di
y′ r thethe expression
expression
A′′ for
for !r
!r A by
bythe corresponding
the corresponding time interval
time and
interval
!t pass-
!t and
A
∆θ ing to the limit, we obtain the relative-velocity equation
ing
∆rA to the limit, we obtain the relative-velocity
A′ equation
∆rB ∆rA/B
B′ x′ vA = vB + vA/B (5/4)
Y vA = vB + v
A A/B
y r AThis expression is the same as Eq. 2 /20, with the one restriction that
∆rB ∆θ
the distance between and r remains constant. The magnitude r of ∆
This expression is the same as Eq. 2 /20, with the one restriction
r A B
B x the relative B
velocity is thus seen to be
the distance r between A and B remains constant. vA /B = lim B
(|!r |/!t)
The magnitu
A /B =
∆tS0
lim (r∆!/∆t) which, with " = !˙, becomes
relative velocity is thus seen to be vA/B = lim (|!rA/B|/
the∆tS0
∆r ∆tS0
X lim (r∆!/∆t) which, with " =v !˙, = becomes
r"
B/A
B′ (5/5)
∆tS0 A/B

Motionthe
Using r to represent relative
vector to
rv B
A/B
A /B =
fromr"
the first of Eqs. 5 Motion
/3, we rela
may
(a) (b)as the vector
write the relative velocity (c)
Using r to represent the vector rA/B from the first of Eqs. 5 /3, w
×r
vA/B = !Figure 5/5 (5/6)
write the relative velocity as the vector
where ! is the angular-velocity vector normal to the plane of the mo-
components are emphasized INTERPRETATION
in Fig. 5OF/6, which shows a rigid body in
RELATIVE VELOCITY EQUATION

vA

vB
vA/B

vA/B
A A A
vB vB vA
r = + ω r
vB
B B B
Path
Path of A
of B

Figure 5/6

Please go through all sample problems. 5/7———5/10

 Ifvisualized
taneous also as
wecenter lying
know
need not on
bean
the a imaginary
fi xed pointextension
magnitude of
in the
the of the
velocity
body or abody.
fi of
xedThe
one instan-
of
point inthe
INSTANTANEOUS CENTRE OF ZERO VELOCITY
points,
taneous center need not be a fixed point in the body or a fixed point in
say, , we may easily obtain the angular velocity ! of the body and the
thevplane.
Athe plane.
linearIf velocity
we also know
of the magnitude
every point in ofthe
thebody.
velocity of one
Thus, of the
the points,velocity of
angular
If we also know the magnitude of the velocity of one of the points,
say, vA, we may easily obtain the angular velocity ! of the body and the
the body,
say, vFig.
A, we5/7a, is obtain the angular velocity ! of the body and the
may easily
linear velocity of every point in the body. Thus, the angular velocity of
linear velocity of every point in the body. Thus, the angular velocity of
the body, Fig. 5/7a, is vA
the body, Fig. 5/7a, is
!=
vA v rA
! =! = A
rA r
which, of course, is also the angular velocity of every line in the body.
A

which, of course,
which, of is also
course, is the the
also angular
angularvelocity of every
velocity of lineline
every in in
thethe
body.
body.instanta-
Therefore, the velocity of B is vB = rB ! = (rB /rA)vA. Once the
Therefore, the velocity
Therefore, of BofisBvBis=vBrB=!r=
the velocity !(r
= B /r
(rA )v
/rA .
)v Once
. Oncethe instanta-
the instanta-
neous
neous center
center isislocated,
located,thethe direction
direction of theof
B
the instantaneous
B A A
instantaneous velocity ofvelocity of
neous center is located, the direction of the instantaneous velocity of

A vA v v A vA
A Av A A A vA
A vA vA A A
A
vA A
vB vB
B B C C
rA rA vB B B vB
BvB B C
rA vB B B
v
vB B
rB rB B
vB
C rCB C C

(a) (a) (b) (b) (c) (c)

CPoint C is the instantaneous center C of zero velocity and may lie on or off the body.
Figure 5/7
Figure 5/7
(a) (b) (c)
 Home Assignment
Please go through Section 5/6 (Relative Acceleration)
before next lecture

You can always ask question (in of ce) if you do not

understand the above topic

fi
5/68 The magnitude of the absolute velocity of point A on
the automobile tire is 12 m/s when A is in the posi-
tion shown. What are the corresponding velocity vO
of the car and the angular velocity ! of the wheel?
(The wheel rolls without slipping.)

A
30°
30 O vO
650 mm
5/79 The rotation of the gear is controlled by the hori-
zontal motion of end A of the rack AB. If the piston
rod has a constant velocity ẋ = 300 mm/s during
a short interval of motion, determine the angular
velocity !0 of the gear and the angular velocity !AB
of AB at the instant when x = 800 mm.

200 mm A

x
 5/98 At a certain instant vertex B of the right-triangular
plate has a velocity of 200 mm/s in the direction
shown. If the instantaneous center of zero velocity
for of
Kinematics theRigid
plateBodies
is 40 mm from point B and if the angu-
lar velocity of the plate is clockwise, determine the
speed of
counterclockwise point veloc-
angular D.
D
onstruct the velocity vectors for
he bar and specify their magni- m m
40
aneous center of zero velocity for 30 mm
(b) at C2, and (c) at C3.
A

B
3″ C2
vB
B