LEE

Applied Mechanics II
應用力學(二)

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Topic: Chapter 16: Planar Kinematics of a Rigid Body

李昌駿
Chang-Chun Lee
Department of Power Mechanical Engineering
National Tsing Hua University
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16.1 Rigid-Body Motion

Planar motion
All the particles of a rigid body move along paths which are equidistant from
a fixed plane

3 types of rigid body planar motion

Translation
Every line segment on the body remains parallel to its original direction during
the motion
NTH

Rectilinear translation Curvilinear translation

Any two particles of body moves alone Any two particles of body moves alone
equidistant straight line equidistant curved line

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16.1 Rigid-Body Motion
3 types of rigid body planar motion
Rotation about a fixed axis
All the particles of the body, except those which lie on
the axis of rotation, move along circular paths

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General plane motion
A combination of translation and rotation

Example

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16.2 Translation
Position
Points A & B in the body are defined from the fixed x, y reference frame by
using position vector rA & rB

Note: translating x’, y’ coordinate

system is fixed in the body

The position of B with respect to A:

Relative-position vector rB/A

rB  rA  rB / A
NTH

Base point
Velocity
Taking the time derivative of the position equation
v B  v A  drB / A / dt vA & vB: Absolute velocities

Since the magnitude of rB/A is constant  drB / A / dt  0

vB  vA
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16.2 Translation
Acceleration
Taking the time derivative of the velocity equation
The instantaneous accelerations of A & B:

aB  aA

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Important concept
All points in a rigid body subjected to either rectilinear or curvilinear
translation move with the same velocity & acceleration

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16.3 Rotation About a Fixed Axis

Rotation about a fixed axis
Any point P in the body travels along a circular path

Angular motion
A point has no angular motion
Only lines or bodies undergo angular motion Reference line

Angular position
Angular position of r is defined by the angle  , measured between
NTH

a fixed reference line & r

Angular displacement
A change in angular position  d  called as angular displacement
Unit: degree, radian, or revolution (rev)
d direction  determined by right-hand rule 1 rev  2 rad

Ex. Both  & d are directed counterclockwise  the thumb points outward from the page
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16.3 Rotation About a Fixed Axis
Angular velocity
The time rate of change in the angular position

d
 (16-1)
dt

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Unit: rad/s
Direction: Along the axis of rotation (the same direction as d )
When indicating the angular motion in the shade plane:
 counterclockwise rotation as positive

Angular acceleration
The time rate of change in the angular velocity

d d 2
 (16-2) or  (16-3)
dt dt 2
The line of action of  is the same that for 
Direction: depends on whether  is increasing or decreasing
If  ↓  is called an angular deceleration & direction is opposite to 
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16.3 Rotation About a Fixed Axis

By eliminating dt from Eq. (16-1) & Eq. (16-2):

d  d (16-4)

Constant angular acceleration

The angular acceleration of the body is constant

  c
NTH

Integrating Eq. (16-1), Eq. (16-2) & Eq. (16-4):

  0   c t (16-5)
1
  0  0 t   c t 2 (16-6)
2
2  02  2 c    0  (16-7)

0 : Initial angular position 0 : Initial angular velocity

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16.3 Rotation About a Fixed Axis
Motion of point P:
Rigid body rotate point P
Along a circular path of radius r & center at point O

Position:
Defined by the position vector r (from O to P)

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Velocity:
Magnitude is found by polar coordinate components

0
v r  r v  r   r (16-8)
∵ r=constant Direction of v is tangent to path

By using the cross product of  & rp

v    rp (16-9) rp is directed from any point on the
axis of rotation to point P

rp      rp v is established by the right-hand rule In-plane motion

Magnitude of v: v   rp sin  r  rp sin  v   r (16-10)

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16.3 Rotation About a Fixed Axis

Motion of point P:
Acceleration:
Magnitude is found by normal & tangential components
By using

dv r
at 
dt v  r a t  r (16-11)
Where
2
v d
an   a n  2 r (16-12)
 dt

Tangential component
NTH

The time rate of change in the velocity magnitude

v of point P ↑ Direction of at & v are the same
v of point P ↓ Direction of at & v are opposite
v=constant  at =0

Normal component
The time rate of change in the velocity direction
Direction of an are toward O, the center of the circular path
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16.3 Rotation About a Fixed Axis
Motion of point P:
Acceleration:
By using the cross product

v    rp (16-9) Taking the time derivative

E CC
dv d dr
a   rp   p
dt dt dt
Recall:
d drp
 and  v   rp
dt dt

a    rp     rp  (16-13)

Magnitude a t  rp sin   r a n  2 rp sin 

Rewrite Eq. (16-13)
a  at  an
Direction Tangential direction of path -r direction (16-14)
(use 2 times right-hand rule)    r  2 r
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16.5 Relative-Motion Analysis: Velocity

General plane motion of a rigid body:

Translation
Combine
Rotation

Relative-motion analysis

Use 2 sets of coordinate axes

x, y coordinate system
 absolute position (point A, B)
NTH

x’, y’ coordinate system

 the origin is attached to “base point” A (a known motion)
 do not rotate with the body & just translate with respect to the fixed frame

Position:
“Base point” A:  position vector rA
Point B:  Relative-position vector rB/A
Position of B: rB  rA  rB/ A

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16.5 Relative-Motion Analysis: Velocity
Displacement:
During an instant of time dt:
Point A: drA
Displacement
Point B: drB

Consider general plane motion:

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1. Entire body first translates by an amount drA

 “Base point” A moves to final position

& Point B moves to point B’

2. Rotate about A by an amount dθ

 B’ undergoes a relative displacement drB/A
& Point B moves to final position

drB / A  rB / A d
3. Displacement of B:

drB  drA  drB/A

Due to translation & rotation Due to rotation about A
Due to translation about A
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16.5 Relative-Motion Analysis: Velocity

Velocity:
Divide displacement eq. by dt:
Absolute velocities of points A & B:
drB drA drB/A drB drA
   vB  vA
dt dt dt dt dt
The magnitude of relative velocity vB/A:
d
rB / A  rB / A   rB / A 
dt
The angular velocity of the body

Body is rigid  the observer only sees point B moves along a circular arc
 a radius of curvature rB/A
NTH

The body appears to move as if it were rotating with an angular velocity ω about the z’ axis
passing through A

v B  v A  v B/A (16-15)

1. Magnitude: v B / A  rB/ A
2. Direction: perpendicular to rB / A
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16.5 Relative-Motion Analysis: Velocity
Velocity:
Expressed by the cross product:
Since relative velocity vB/A represents the effect of circular motion:

v B / A   rB/ A

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v B  v A   rB/A (16-16)

Example 01: Example 02:

v A  A r
v B  BC l

The directions of vA &

vB are always tangent to
their paths of motion

vA  0 (ground does not move)

vB is horizontal
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
NTH

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16.6 Instantaneous Center of

Zero Velocity
Base point A has zero velocity:
vA  0
Consider velocity equation: 0
v B  v A   rB/ A
v B   rB / A
Point A is called:
Instantaneous center of zero velocity (IC)
Lie on: Instantaneous axis of zero velocity (perpendicular to plane of motion)
NTH

Pont B moves about the IC in a circular path

 rotate about the instantaneous axis

Magnitude of vB: v B  rB / IC

Direction of vB: always be perpendicular to rB/IC

Example (Fig.b):
Contact point (IC) with the ground has zero velocity
Without slipping
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16.6 Instantaneous Center of
Zero Velocity
Location of the IC:
The velocity of a point on the body is always
perpendicular to the relative position vector
extending from the IC to the point

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Condition 01 (Fig a):
Given vA &  :
rA / IC  v A / 
Note: IC lies up & to the right of A since vA must cause a
clockwise angular velocity ω about the IC

Condition 02 (Fig b):

Given the lines of action of 2 nonparallel velocity v A & v B :

Construct at points A & B line segments that are perpendicular to vA & vB

Extending these perpendiculars to their point of intersection as shown locates the IC

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16.6 Instantaneous Center of

Zero Velocity
Location of the IC:
Condition 03 (Fig c,d ):
Given the magnitude & direction of
2 parallel velocities v A & v B :

Determined by
proportional triangles

rA / IC  v A / 
rB / IC  v B / 
NTH

Note: d is a known distance between points A & B

(1) Fig. c: rA / IC  rB/ IC  d

(2) Fig. d: rB / IC  rA / IC  d

Special case:
Body is translating  vA  vB rA / IC  rB/ IC  
  (v A / rA / IC )  (v B / rB/ IC )  0
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16.6 Instantaneous Center of
Zero Velocity
The point chosen as the instantaneous center of zero velocity
for the body can only be used for an instant of time

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Cenrode:
The locus of points which define the location of the
IC during the body’s motion

IC does not have zero acceleration

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NTH

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NTH

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16.7 Relative-Motion Analysis:
Acceleration
Accelerations of 2 points on a rigid body:
Divided by dt for vB  vA  vB / A

dv B dv A dv B/ A
 
dt dt dt

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Absolute accelerations of points A & B:

dv B dv A
 aB  aA
dt dt
The magnitude of relative acceleration aB/A:

Point B moves along a circular arc

A radius of curvature rB/A

aB/A is expressed as:

1. Tangential
2. Normal
a B / A  (a B / A ) t  (a B / A ) n

(a B/ A ) t  rB / A (a B/ A ) n  2 rB / A
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16.7 Relative-Motion Analysis:

Acceleration
Relative-acceleration equation:

a B  a A   a B/ A  t   a B/A n (16-17)

 a B / A t : relative tangential acceleration com. of “B/A”

1. magnitude:  a B / A  t  rB / A
2. direction: Perpendicular to rB/A

 a B / A n : relative normal acceleration com. of “B/A”

1. magnitude:  a B / A n  2 rB / A
NTH

2. direction: Always from B toward A

Consider acceleration of B:
1. Fig. a  translate with an acceleration aA
2. Fig. b  rotate about the base point A with an
angular velocity ω & angular acceleration α
Vector addition (Fig. d)
Kinematic diagrams
Obtain aB
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16.7 Relative-Motion Analysis:
Acceleration
Since the relative-acceleration components represent the effect of circular
motion observed from translating axes having their origin at the base
point A

a B  a A    rB/A  2 rB/A (16-18)

E CC
 a B / A t    r B/ A
 a B/ A n  2 rB/ A
Example 01:

Point B lying on either rod AB or BC of the crack mechanism has the same acceleration
End of rod BC point C moves along a straight-line path  acis horzontal
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16.8 Relative-Motion Analysis: Using

Rotation Axes
1. Velocity Described
Relative-motion analysis Translating coordinate
2. Acceleration

For the same rigid body

For sliding problems Coordinate with translates & rotates

NTH

Two points motion are Not For the same rigid body

Purpose:
Two equations are developed which relate the velocity & acceleration of 2 points

One is the origin of a moving frame of reference subjected to both a

translation & a rotation in the plane

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16.8 Relative-Motion Analysis: Using
Rotation Axes
Position: Perpendicular to motion plane

“Base point” A :
 the origin of x,y,z coordinate system

Assume both translating & rotating are

E CC
performed with respect to X,Y,Z system

Position vector rB/A:

Express by unit vectors I & J (X,Y axes)
Express by unit vectors i & j (X,Y axes)
Point B (use x, y frame of reference)

rB/A  x Bi  y B j
rB  rA  rB/A (16-19)
Point A:
Velocity: vA Acceleration: aA
In xyz system  Angular velocity:  Angular acceleration:   d / dt

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16.8 Relative-Motion Analysis: Using

Rotation Axes
Velocity:
Velocity of point B :

drB/A (16-20)
vB  vA 
dt
Last term of eq.(16-20):
drB/A d
  x Bi  y B j
dt dt
dx di dy dj
 B i  x B  B j  yB (16-21)
dt dt dt dt
NTH

 dx dy   di dj 
  B i  B j   x B  yB 
 dt dt   dt dt 

Velocity of point B as measured by an Instantaneous time rate of change of the unit

observer attached to the moving x,y,z vector i & j (XYZ coordinate system)
coordinate system  rotate dθ for xyz axes
magnitude Direction
i '  i  di di  1(d) +j
(v B / A ) xyz j'  j  dj dj  1(d) -i
i  i '  j  j'  1
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16.8 Relative-Motion Analysis: Using
Rotation Axes
Velocity:
drB/A d
  x B i  y B j
dt dt
dx B di dy dj
 i  x B  B j  yB (16-21)
dt dt dt dt
 dx dy   di dj 
  B i  B j    x B  yB 

E CC
 dt dt   dt dt 

Instantaneous time rate of change of the unit

vector i & j (XYZ coordinate system)

 rotate dθ for xyz axes

magnitude Direction
i '  i  di di  1(d) +j
j'  j  dj dj  1(d) -i
i  i '  j  j'  1

di d dj d
 ( j)  j  (i)  i
dt dt dt dt
di dj
Since   k
Express cross product
 i   j (16-22)
dt dt
Substitute into eq. (16-21) (16-24)
drB/ A
  v B/A  xyz     x Bi  y B j   v B/A  xyz    rB/ A (16-23) v B  v A    rB / A   v B / A xyz
dt
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16.8 Relative-Motion Analysis: Using

Rotation Axes
Acceleration:
Acceleration of point B :

v B  v A    rB / A   v B / A xyz (16-24)
Taking the time derivative:
dv B dv A d dr d  v B/A  xyz
   rB/A    B/A 
dt dt dt dt dt

  r   drB/A d  v B/A  xyz

aB  aA   B/A  (16-25)
dt dt
NTH

drB/ A
  v B/ A  xyz     x Bi  y B j   v B/ A  xyz    rB/ A
By using Eq. (23) dt

drB/A
     v B/A xyz       rB/A  (16-26)
 vB / A xyz  (vB/ A ) x i  (vB/ A ) y j dt
Taking the time derivative:
di dj
 i   j
d  v B/A xyz  d  B/A  d  B/A  y   di dj 
dt dt
 x
i j   B/A  x   B/A  y  d  v B/A  xyz
dt  dt dt   dt dt 
= v    a B/A  xyz     v B/ A  xyz
dt B/ A xyz

 B/ A xyz :Acceleration of point B measured by an observer attached to the moving coordinate system
a
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16.8 Relative-Motion Analysis: Using
Rotation Axes
Acceleration:
Acceleration of point B :
d  v B/A  xyz
  r    drB/A 
aB  aA   (16-25)
B/A
dt dt

E CC
drB/A
     v B/A  xyz       rB/A  (16-26)
dt

d  v B/A xyz  d  B/A  d  B/A  y   di dj 

 x
i j   B/A  x   B/A  y  d  v B/A  xyz
dt  dt dt   dt dt 
= v    a B/A  xyz     v B/ A  xyz
B/ A xyz
dt
 a B/ A xyz
Rewrite eq. (16-25):
  r       r   2   v    a 
aB  aA   (16-27)
B/A B/A B/A xyz B/A xyz

Coriolis acceleration: 2  (v B / A ) xyz

Coriolis acceleration will always be perpendicular to both  and (v B / A ) xyz
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