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Understanding Generic Plane Motion

The document discusses generic plane motion, which is a combination of rotation and translation. It defines the velocity of a point A on a rigid body as the velocity of another point B on the body plus the velocity of A relative to B. The motion of A relative to B is a circular motion, with the velocity given by the angular velocity times the distance between A and B. It also discusses locating the instantaneous center of zero velocity for a rigid body undergoing plane motion by knowing the velocities of two points.

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Muntoia
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17 views11 pages

Understanding Generic Plane Motion

The document discusses generic plane motion, which is a combination of rotation and translation. It defines the velocity of a point A on a rigid body as the velocity of another point B on the body plus the velocity of A relative to B. The motion of A relative to B is a circular motion, with the velocity given by the angular velocity times the distance between A and B. It also discusses locating the instantaneous center of zero velocity for a rigid body undergoing plane motion by knowing the velocities of two points.

Uploaded by

Muntoia
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd

Generic plane motion

IT'S A COMBINATION OF ROTATION AND TRANSLATION

Δϑ
A'
y
Δ r( ⃗A/ B)
The motion of a
generic point of A''
the body with B' μ
⃗
Δ r⃗A Δ r⃗
respect to B
another point of
the body itself is Δ r⃗B A ⃗λ
⃗l
A CIRCULAR
MOTION B

x
Generic plane motion
 rA= rB  r  A/ B  r  A/ B≈l  
Dividing by Dt and doing the limit as Dt->0
Δϑ
y A'
Δ r( ⃗A/ B)
VA=VB V A/ B A''
B' μ
⃗
Δ r⃗A Δ r⃗
FUNDAMENTAL B
LAW OF
Δ r⃗B A ⃗λ
KINEMATICS ⃗l
B

x
Generic plane motion

VA=VB V A/ B
NB: represents a
Velocity of A equals the velocity of B plus, counter-clockwise
VECTORIALLY, the velocity of A relative to B, rotation
given A and B, points of the same rigid body

Δϑ
y A'
!! The motion of A with respect to B Δ r( ⃗A/ B)
is a circular motion!!
B' A''
Δ r⃗A Δ r⃗ μ
⃗
V A/ B= l 
 B
⃗λ
Δ r⃗B ⃗l A
B
x
Generic plane motion: Rivals
Similar expression may be written for accelerations:

aA= aB  aA/ B but:

aA/ B= a A/
 Bn a A/
 Bt
2
a A/ 
 Bn=− l  Δϑ
NORMAL component y A'
from A towards B
Δ r( ⃗A/ B)
a A/
 Bt =̇ l  B' A'' μ⃗
Δ r⃗A Δ r⃗
B
TANGENTIAL component
Perpendicular to AB Δ r⃗B ⃗λ
Direction consistent with ̇
⃗l A
B
x
Generic plane motion

Similarly: NB: counter-clockwise


rotation too
 rB = rA  r  B/ A
 r  B/ A≈l  
Δ r( ⃗B / A) A'
y
B''
VA=VB V A/ B
Δϑ B' Δ r⃗A μ
⃗

Δ r⃗A Δ r⃗B ⃗λ
⃗l A

x
Generic plane motion: example
The wheel rolls without slipping on the floor; Its center B has a
velocity VB. Calculate the velocity of A, A1, A2, A3and A4.

VA=0 Because the floor is fixed

VA= VB V A / B=0  V A/ B=−VB =− r i

VB (clockwise)
=
r

VA1 =VB V  A1/ B =VB  r j


Generic plane motion: example

In general:
Instantaneous center of zero velocity

Given a rigid body in plane motion, it may be considered to


be in pure rotation about an axis, normal to the plane of
motion, passing through a point which momentarily has zero
velocity, named instantaneous center of zero velocity.

The body may be considered in pure rotation


about C with angular velocity w

USUALLY IT'S NOT FIXED, BUT IT MOVES


Locating the instantaneous center
It can be located knowing the velocity of two points of the
body.
C =∞

Only Magnitudes
directions and directions
Instantaneous center of zero velocity

Given C, we know also rA ed rB:

VA VB
= =
rA rB

NB: in general the C acceleration is not null


Generic plane motion: Example

The point on the rim of


the wheel in contact
with the ground has no VA1 = A1 C
velocity: it's the C. VA2 = 2r
Then:
VB VA3 = A3 C
=
r

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