Module-­‐9

 (Part-­‐2)  
Kinema5cs  Of  Rigid  Bodies  
 
General  Plane  Mo5on  Of    
2D  Rigid  Body    
 translation plus
General  Plane  Mo5on  Of  2D  Rigid  
rotation Body  
about

A2
A1
B2

B'1
B1

General   plane  Fig. mo+on  15.14

is   a   combina+on   of   a  
General plane transla+on  
motion plus   a   is
fixed-­‐axis  
a
rota+on.  To  an  observer  moving  with  A  but  not  rota+ng,  point  B  appears  to  
combination of a translation plus a fixed-axis
travel  in  a  circle  centered  at  A.    
rotation. To an observer moving with A but
not rotating, particle B appears to travel in a
Figure  taken  from  Beer  &  Johnston,  11  Ed.  
 B1 B'1 B'1
B1 B1 B'1 B'1

= +
B2
B2

= +
B2
B2

A1 A2 A2
A1 A2
A1 A2 A2
A1
Plane motion A2 = Translation with A + Rotation about A

Plane motion = Translation

(a) with A + Rotation about A

(a)  a  horizontal  transla+on  plus  (a)a  fixed-­‐axis  rota+on  about  A    

B1 B1

B1 B1

B2 = B2 + B2

B2 = B2 + B2

A1 A2

A1 A2 A1 A2

Figure  taken  from   A1 A2

Beer  &  Johnston,   A'1 A'1
11  Ed.  
A'1 A'1 B
Plane motion = Translation with B + Rotation about

(b)  a  ver+cal  
Plane transla+on  
motion and  a  fi=xed-­‐axis   rota+on  
Translation(b) withabout  
B B.  Both  
+ the  results  
Rotation are  
about iden+cal.  
B  
General  Plane  Mo5on  Of  2D  Rigid  Body  
B'1
B1 B1 B'1

A1
A2
= A1 A2
+ A2
B2 B2

Plane motion = Translation with A + Rotation about A

Fig. 15.12 The general plane motion of a rolling wheel can be analyzed as a combination
The   general  plane  
of translation plusmao+on   of  a  rrotation.
fixed-axis olling  wheel  can  be  analyzed  as  a  combina+on  of  transla+on  
plus  a  fixed-­‐axis  rota+on.    
Another example of plane motion is shown in Fig. 15.13, which
represents a rod whose ends slide along a horizontal and a vertical track.
We can replace this motion using a horizontal translation and a rotation
about A (Fig. 15.13a) or using a vertical translation and a rotation about
B (Fig. 15.13b).
In the general case of plane motion, we consider a small displace-
ment that brings two particles A and B of a representative rigid body,
respectively, from A1 and B1 into A2 and B2 (Fig. 15.14). We can divide
this displacement into two parts: in one, the particles move into A2 and
B91 while the line AB maintains the same direction; in the other, B moves
into B2 while A remains fixed. The first part ofFigure  
the tmotion
aken  from  
is Bclearly
eer  &  Johnston,  
a 11  Ed.  
General  Plane  Mo5on  Of  2D  Rigid  Body  

!
α rABn
!
rABn ! 2
ω rAB
! B
rAB
!
Aω, α ω rABn
General  Plane  Mo5on  Of  2D  Rigid  Body  
General  Plane  Mo5on  Of  2D  Rigid  Body  
!
rABn
! !
! 2 ! ( aB/A )t = α rABn
! B
( aB/A )n = (−ω rAB )
rAB c!

A
ω, α !
b! aB/A
!
b v! = ω r! aB a!
B/A ABn
! o! !
vB ! rAB
! aA
vA a
!!!" " !!!" " !!!" "
! o!a! = aA o!b! = aB a!b! = aB/A
o rAB !!!" " !
!!" " !!" " a c = ( aB/A )t = α rABn
! !
oa = vA ob = vB !!!" " 2 !
!!" " ! c a = ( aB/A )n = (−ω rAB )
! !
ab = vB/A = ω rAB
(b) Acceleration Polygon
(a) Velocity Polygon
 15.2 General Plane Motion: Ve
(Fig. 15.22). We denote the position vector of B relative to A by rB/A and
General  
the angular Plane  
velocityMo5on   Of  2D  acceleration
and angular Rigid  Body  of the rigid body with respect
vA respectively. Then we have y'
to axes ofvAfixed orientation by vk and αk,
vB)t 5 αk 3 rB/A wk
(aB/A (aB/A ) t 5 rα
A
(15.22) vB/A
A (aB/A)n 5 2v2rB/A (aB/A)n 5 rv2 (fixed) x'
A
= +
vA
where r is the distance from A to B. Substituting the expressions obtained forrB/A vA vB
the tangential and normal components of aB/A into Eq. (15.21), we also have vB/A

Relative acceleration for two B

B B
points on a rigid body
Plane motion
aB 5=aA 1 αk 3 rB/A 2
Translation
v2r
with A B/A +
(15.219)
Rotation about A vB = vA + vB/A

Fig. 15.15 y'

A pictorial representation of the vector equation relating the velocity of two points on a rigid
body undergoing general plane motion.

A A wk A (fixed)
where r is the a A for vB/A from Eq. ak
a Adistance from A to B. Substituting (15.18)
a B/A x'

= +
into Eq. (15.17), we also have rB/A aB
(a B/A)n
Relative velocity for two a B/A
aB (a B/A)n (a B/A)t
points Bon a rigid body B aA (a B/A) t
aA B
vB 5 vA 1 vk 3 rB//A
B/A
B (15.179)

As anmotion
Plane example, let =us again consider
Translationrod
withABA of Fig.
+ 15.13. Assuming
Rotation about A
that we know the velocity vA of end
Fig. 15.22 Pictorial representation
A, we propose to find the velocity vB
of the vector equation relating the acceleration of two points on a rigid
of
body end B and
A  pictorial  
undergoing the angular
representa+on  
general plane o velocity v of the rod in terms of the velocity
f  the  vector  equa+on  rela+ng  the  velocity  and  accelera+on  of  
motion.
vA, the length l, and the angle θ. Choosing A as a reference point, the
two   points  on  a  rigid  body  undergoing  general  plane  mo+on.    
given motion is equivalent to a translation of A and a simultaneous rotation Photo 15.4 Planetary gear syste
about A (Fig. 15.16). The absolute velocity of B therefore Figure  
musttaken   from  Bineer  
be equal &  Johnston,  
applications 11  Ed.  a large r
requiring
 relationship in Eq. (15.179). Recognizing that point A is constrained to
General  Plane  Mo5on  OEquating components
f  2D  Rigid   Body   in the y direction, we obtain
vA
B B vB 5 vl sin θ 5 a B b l sin θ 5 vA tan θ ! ! !
vA vB/A l cos θ vB = v A + v B/A
These are the same results as we obtained in Eq. 15.19. We obtain the
q
same result by using B as a point of reference. Resolving the given vmotion
q A

= +
vB q
l l l
into a translation of B and a simultaneous rotation about Bv (Fig. 15.17),
q
B
we have the equation vB/A
w
vA 5 vB 1 vA/B 5 vB 1 vk 3 rA/B (15.20)
A
vA
whichvAis represented graphically
A Note that vA/B and vB/A have
in Fig. 15.17.A (fixed)
Plane motion the same
= magnitude lv Abut opposite
Translation with sense.
+ Rotation about The
A sense ofvBthe
= vArelative
+ vB/A
velocity depends, therefore, upon the point of reference that we have
Fig. 15.16 Pictorial representation of Eq. (15.17) for a sliding rod. The relative velocity vB/A is
selected and should be carefully ascertained from the appropriate diagram
perpendicular to the line connecting A and B.
(Fig. 15.16 or 15.17).
B (fixed)
ω
B
B
! ! !
v A = v B + v A/B
θ
θ
bee87342_ch15_977-1106.indd 999 vA
l vB l l

= +
vB
vB θ
vA/B

A A vA/B
vA A
vB
Plane motion = Translation with B + Rotation about B vA = vB + vA/B
Fig. 15.17 Pictorial representation of Eq. (15.20) for a sliding rod. The relative velocity vA/B is
perpendicular to the line connecting A and B. Figure  taken  from  Beer  &  Johnston,  11  Ed.  
 General  Plane  Mo5on  Of  2D  Rigid  Body  

)t
aB a /A
B B ( B
aA
B

θ (a B/A)n
l l
= +
α
A A
ω
aA aA
A (fixed)
Plane motion = Translation with A + Rotation about A
Fig. 15.23 For a sliding rod in general plane motion, the acceleration of
point B relative to point A may have a tangential component in either direction
perpendicular to the rod. The normal acceleration of B relative to A will always
point toward A.
n

As an example, let us again consider the rod AB whose ends slide

along a horizontal and a vertical track Figure  
(Fig.taken   from  B
15.23). eer  &  Johnston,  
Assuming that11  we
Ed.  
 Fig. 15.23(a B/A
For
)t a sliding rod in general plane mo
s
General  Plane  Mo5on  Of  2D  Rigid  Body  
point B relative to point A may have a tangential
(c)
perpendicular to the rod. The normal accelerationd
aA
a A A.
point toward
q
m
(a B/A)n
aB d
As an example, let us again considet
(a B/A)t along
q a horizontal and a vertical track (Fm
know the velocity vA and the acceleration aAo
(a) the acceleration aB of B and the angular acce
A as a referencea B point, the given motion is v
(a B/Aa)n rotation about A. The absolute act
A and
(a B/A)n
to the sum w
aA aB

(a B/A)t aB 5 aA 1 aB/A y
5 a A 1 (aB/A)n 1 1
q (d)
(b)
where (aB/A)n has magnitude
(a B/A )t lv2 and is direa
aA the magnitude lα and is perpendicular to t
aB to tell
Fig. 15.24 whether
Four possible thevector
tangential component
polygons for (i
(a B/A)n to the right,
the acceleration andsliding
of the therefore, rod.both possible dirt
q
indicated in Fig. 15.23. Similarly, both poss
(a B/A)t
since we do not know whether point B is ac
We can illustrate Eq. (15.23) geometr
(c)
different vector
Figure  taken   polygons,
from   depending
Beer  &  Johnston,   upon
11  Ed.  
 we can obtain the components of the velocity and of the acceleration of
General  
a given Ppoint
lane  M
byo5on   Of  2D  Rigid  
differentiating the Body:   Parametric  
coordinates x and Analysis     point.
y of that
sis of Plane Motion in
Let us consider
In analyzing again the rod
some mechanisms, it isAB whosetoends
possible expressslide, respectively, in xA A
a the
horizontal
coordinates andx and
a vertical
y of all the track (Fig. 15.25).
significant points of We can express the
s of a Parameter
coordinates xA and
the mechanism B of the
byymeans of ends
simple ofanalytic
the rod expressions
B
in terms of the angle θ that
Fig. 15.25 The co
the rod may be ex
thecontaining
rod formsa with singlethe vertical:
parameter. parameter θ.
anisms, it is possible to express the coordinates
xA 5 l sin θ yB 5 l cos θ (15.24)
ant points of the mechanism by means of simple q
Differentiating these(15.24)
Eqs. twicewith
withrespect
ntaining Differentiating
a single these twice
parameter. Itrespect to t, we
t have y
is tosometimes
time
B
l
case to determinevA the 5 ẋAabsolute
5 lθ̇ cos θ velocity and the
he various points aof A 5 5 2lθ̇ 2 sin θ 1directly,
theẍA mechanism lθ̈ cos θ since
onents of the velocity and of the acceleration of
vB 5 ẏB 5 2lθ̇ sin θ
tiating the coordinates aB 5 ÿB x5 and ofθ 2
2lθ̇ 2 ycos that point.
lθ̈ sin θ
ain the rod AB whose ends slide, respectively, in xA A
tical trackthat(Fig.
Recalling θ̇ 5 v15.25).
and θ̈ 5 αWe , we can
obtain express the Fig. 15.25 The coordina
the endsv of the rod in terms of vthe5 angle θ that the(15.25)
rod may be expresse
A 5 lv cos θ B 2lv sin θ
ertical: 2 2
parameter θ.
aA 5 2lv sin θ 1 lα cos θ aB 5 2lv cos θ 2 lα sin θ
5 l sin θ yB 5 l cos θ (15.24) (15.26)
Note that a positive sign for v or a indicates that the velocity vA or the
24)acceleration
twice with a is directed to the right; have
respect to A
t, we A
a positive sign for v
A B or aB indicates
Figure  taken  from  Beer  &  Johnston,  11  Ed.  
that v or a is directed upward. We can use Eqs. (15.25) to determine,
General  Plane  Mo5on  Of  2D  Rigid  Body:  Example  Problem  1  
Sample Prob
Collars A and B are
fixed rods. Knowing
300 mm
D 0.9 m/s to the right
(b) the velocity of p

300 mm
B STRATEGY: Use
of two points on th
60° directions of the vel
60°
A points to relate.

MODELING and A
Fromrods.  
Collars   A   and   B   are   pin-­‐connected   to   bar   ABD   and   can   slide   along   fixed   kinematics
Knowing   you
that   at   the   instant   shown   the   constant   velocity   of   A   is   0.9   m/s   to   the   right,   determine   (a)  
the  angular  velocity  and  accelera+on  of  ABD,  (b)  the  velocity  and  accelera+on  of  point  D.    vB 5

D Substituting in know
vB you
y

x vB cos 60°i 1 vB
B
General  Plane  Mo5on  Of  2D  Rigid  Body:  Example  Problem  1  
Sample Prob
Collars A and B are
fixed rods. Knowing
300 mm
D 0.9 m/s to the right
(b) the velocity of p

300 mm
B STRATEGY: Use
of two points on th
60° directions of the vel
60°
A points to relate.

MODELING and A
From kinematics you
v_(B/A)  =  w*300  
v_B   vB 5

60   60   D Substituting in know
vB you
v_A   y

x vB cos 60°i 1 vB
B
a_B  =  a_A  +  a_(B/A)   Sample Prob
Collars A and B are
(a_(B/A))_t   300 mm
fixed rods. Knowing
(a_(B/A))_n   D 0.9 m/s to the right
(b) the velocity of p
a_B  
300 mm
B STRATEGY: Use
of two points on th
60° directions of the vel
60°
A -­‐w^2*300   points to relate.
a_A  
MODELING and A
a_B  =  0  +  (a_(B/A))_n  +  (a_(B/A))_t   From kinematics you
(a_(B/A))_n  
vB 5

a_D  =  a_A  +  a_(D/A)   a_B  D Substituting in know

=  a_A  +  (a_(D/A)_n  +  (a_(D/A))_t   y vB
(a_(B/A))_t   you

x vB cos 60°i 1 vB
B
General  Plane  Mo5on  Of  2D  Rigid  Body:  Example  Problem  2   Sample Pro
R The double gear s
B
its center A is 1.
vA = 1.2 m/s velocity of the ge
D of the gear.
A

r1 = 150 mm C
r2 = 100 mm STRATEGY: T
rigid body kinem
motions: a transla
The  double  gear  shown  rolls  on  the  sta+onary  lower  rack;  the  velocity  In the
of  its   translation,
center   A  is  
1.2  m/s  and  an  accelera+on  of  3  m/s2  directed  to  the  right.  Determine   In(a)  the
the  arotation,
ngular   ea
velocity  and  accelera+on  of  the  gear,  (b)  the  veloci+es  and  accelera+on  of  the  upper  
velocity vP/A 5 v
rack  R  and  of  point  D  of  the  gear,  (c)  the  accelera+on  of  points  B  and  C.    
to A.

B
vA
A
D
General  Plane  Mo5on  Of  2D  Rigid  Body:  Example  Problem  3   Sample
In the engin
l = 8 in.
B
velocity of
r = 3 in.
G angular velo
40° b
A P
STRATEGY
D rigid-body
piston P is
In   the   engine   system   shown,   the   crank   AB   has   a   constant   clockwise   angular  of theoconn
velocity   f  
2000   rpm.   For   the   crank   posi+on   shown,   determine   (a)   the   angular   velocity   and  
accelera+on  of  the  connec+ng  rod  BD,  (b)  the  velocity  and  accelera+on  of  the  piston  P.    
MODELIN
Motion o
3 in. vAB in rad/s
B
wAB 50°
40°
A vB
General  Plane  Mo5on  Of  2D  Rigid  Body:  Example  Problem  4   Sample
3 in.
The linkage A
D position show
B
counterclockw
17 in.
14 in. of the connec

ω1 E
A STRATEGY:
Use multiple
8 in. 12 in. 17 in. motions of ea
in Sample Pro
In   the   posi+on   shown,   bar   AB   has   an   angular   velocity   of   20   rad/s   clockwise.  vecto
position
y
Determine  the  angular   velocity  and  accelera+on  of  bars  BD  and  DE.    
D
B rD/B MODELING
rD
rB Velocities.
A E counterclockw
x
v 5