ME101: (3 1 0 8)

KINEMATICS OF RIGID
BODIES
LECTURE: 31-33

1
 Contents
Introduction
Translation
Rotation About a Fixed Axis:
Velocity
Rotation About a Fixed Axis:
Acceleration
Rotation About a Fixed Axis:
Representative Slab
Equations Defining the
Rotation of a Rigid Body About
a Fixed Axis
Sample Problem 1
General Plane Motion
Absolute and Relative Velocity
in Plane Motion
Sample Problem 2
Instantaneous Center of
Rotation in Plane Motion
Sample Problem 3
Absolute and Relative
Acceleration in Plane Motion
Analysis of Plane Motion in
Terms of a Parameter
Sample Problem 4
Sample Problem 5
Sample Problem 6
Rate of Change With
Respect to a Rotating Frame
Coriolis Acceleration
Sample Problem 7
Sample Problem 8
Motion About a Fixed Point
General Motion
Sample Problem 9
Three Dimensional Motion.
Coriolis Acceleration
Frame of Reference in
General Motion
Sample Problem 10
2
Introduction
• Kinematics of rigid bodies: relations between
time and the positions, velocities, and
accelerations of the particles forming a rigid
body.
• Classification of rigid body motions:
- translation:
• rectilinear translation
• curvilinear translation
- rotation about a fixed axis
- general plane motion
- motion about a fixed point
- general motion

3
Translation
• Consider rigid body in translation:
- direction of any straight line inside the
body is constant,
- all particles forming the body move in
parallel lines.
• For any two particles in the body,
rB = rA + rB A ( rB A being constant)
• Differentiating with respect to time,
   
rB = rA + rB A = rA
 
vB = v A
All particles have the same velocity.
• Differentiating with respect to time again,
rB = rA + rB A = rA
 
aB = a A
All particles have the same acceleration. 4
Rotation About a Fixed Axis. Velocity
• Consider rotation of rigid body about a
fixed axis AA’

 
• Velocity vector v = dr dt of the point P is
tangent to the blue circle with magnitudev = ds dt
s = (BP ) = (r sin  )
ds 
v= = lim (r sin  ) = r sin 
dt t →0 t

• The same result is obtained from


 dr  
v= = r
dt
  
 =  k =  k = angular velocity


5
Rotation About a Fixed Axis.: Acceleration
• Differentiating to determine the acceleration,

 dv d  
a= = (  r )
dt dt
 
d   dr
= r + 
dt dt

d   
= r + v
dt

d 
• =  = angular acceleration
dt
  
=  k =  k =  k


• Acceleration of P is combination of two

vectors,
a =   r +   (  r )
  r = tangential acceleration component
  (  r ) = radial acceleration component 6
Rotation About a Fixed Axis.: Representative Slab
• Consider the motion of a representative slab in
a plane perpendicular to the axis of rotation.

• Velocity of any point P of the slab,

    
v =   r = k  r
v = r

• Acceleration of any point P of the slab,

     
a =   r +    r
  
=  k  r −  2r

• Resolving the acceleration into tangential and

normal components,
  
at = k  r a t = r
 
an = − 2 r a n = r 2
7
Equations Defining the Rotation of a Rigid Body About a Fixed Axis

• Motion of a rigid body rotating around a fixed axis is

often specified by the type of angular acceleration.

d d
• Recall  = or dt =
dt 
d d 2 d
= = 2 =
dt dt d

• Uniform Rotation,  = 0:
 =  0 + t

• Uniformly Accelerated Rotation,  = constant:

 = 0 + t
 =  0 +  0t + 12  t 2
 2 =  02 + 2 ( −  0 ) 8
Sample Problem 1
Cable C has a constant acceleration of
225 m/s2 and an initial velocity of
300 mm/s, both directed to the right.
Determine (a) the number of revolutions
of the pulley in 2 s, (b) the velocity and
change in position of the load B after 2 s,
and (c) the acceleration of the point D on
the rim of the inner pulley at t = 0.
SOLUTION:
• Due to the action of the cable, the
tangential velocity and acceleration of
D are equal to the velocity and
acceleration of C. Calculate the initial
angular velocity and acceleration.
• Apply the relations for uniformly
accelerated rotation to determine the
velocity and angular position of the
pulley after 2 s.
• Evaluate the initial tangential and
normal acceleration components of D.
9
Sample Problem 1
SOLUTION:
• The tangential velocity and acceleration of D are equal to the
velocity and acceleration of C.

• Apply the relations for uniformly accelerated rotation to

determine velocity and angular position of pulley after 2 s.
( )
 = 0 + t = 4 rad s + 3 rad s 2 (2 s ) = 10 rad s
(
 = 0 t + 12  t 2 = ( 4 rad s )( 2 s ) + 12 3rad s 2 ) ( 2 s )2
= 14 radii

 1 rev 
N = (14 rad )  = number of revs N = 2.23 rev
 2 rad 
vB = r = (125 mm )(10 rad s ) vB = 1.25 m s 
 yB = r = (125 mm )(14 rad ) yB = 1.75 m 
10
Sample Problem 1
• Evaluate the initial tangential and normal acceleration
components of D.
( aD )t = aC = 225 mm s 2 →

( aD )n = rD w02 = ( 75mm) ( 4rad s)

2
=1200 mm s2

( aD )t = 225mm s2 ® ( aD )n =1200mm s2 ¯

Magnitude and direction of the total acceleration,

aD = (aD )t2 + (aD )2n
= ( 225)2 + (1200 )2
aD = 1.221m s2
= 1220.9 mm/s2

( aD ) n
tan  =
( aD )t
=
1200  = 79.4
225 11
General Plane Motion

• General plane motion is neither a translation nor

a rotation.
• General plane motion can be considered as the
sum of a translation and rotation.
• Displacement of particles A and B to A2 and B2
can be divided into two parts:
- translation to A2 and B1
- rotation of B1 about A2 to B2
12
Absolute and Relative Velocity in Plane Motion

• Any plane motion can be replaced by a translation of an

arbitrary reference point A and a simultaneous rotation
about A.   
vB = v A + vB A
  
v B A =  k  rB A v B A = r
   
v B = v A +  k  rB A
13
Absolute and Relative Velocity in Plane Motion

• Assuming that the velocity vA of end A is known, wish to determine the

velocity vB of end B and the angular velocity  in terms of vA, l, and .
• The direction of vB and vB/A are known. Complete the velocity diagram.

vB vA vA
= tan  = = cos 
vA v B A l
v B = v A tan  vA
=
l cos 
14
Absolute and Relative Velocity in Plane Motion

• Selecting point B as the reference point and solving for the velocity vA of end A
and the angular velocity  leads to an equivalent velocity triangle.
• vA/B has the same magnitude but opposite sense of vB/A. The sense of the
relative velocity is dependent on the choice of reference point.
• Angular velocity  of the rod in its rotation about B is the same as its rotation
about A. Angular velocity is not dependent on the choice of reference point.
15
Sample Problem 2
SOLUTION:
• The displacement of the gear center in
one revolution is equal to the outer
circumference. Relate the translational
and angular displacements. Differentiate
to relate the translational and angular
velocities.
• The velocity for any point P on the gear
The double gear rolls on the may be written as
stationary lower rack: the velocity of      
vP = v A + vP A = v A + k  rP A
its center is 1.2 m/s.
Determine (a) the angular velocity of Evaluate the velocities of points B and D.
the gear, and (b) the velocities of the
upper rack R and point D of the gear.

16
Sample Problem 2
SOLUTION:
• The displacement of the gear center in one revolution is
equal to the outer circumference.
For xA > 0 (moves to right),  < 0 (rotates clockwise).
xA 
=− x A = − r1
2 r1 2

y
Differentiate to relate the translational and angular
velocities.
x
v A = −r1
vA 1.2 m s   
 =− =−  = k = −(8 rad s )k
r1 0.150 m

17
Sample Problem 2
     
• For any point P on the gear, vP = v A + vP A = v A + k  rP A

Velocity of the upper rack is equal to Velocity of the point D:

velocity of point B:
        
vR = vB = v A + k  rB A vD = v A + k  rD A
     
= (1.2 m s )i + (8 rad
= 1.2Ԧ𝑖 + −8𝑘 × 0.1Ԧ𝑗 s )k  (0.10 )
m/s j
m = (1 .2 m s )i + (8 rad
= 1.2Ԧ𝑖 + −8𝑘 × −0.15Ԧ𝑖 s )k  (− 0. 150 m
m/s )i
 
= (1.2 m s )i + (0.8 m s )i
    
vR = (2 m s )i vD = (1.2 m s )i + (1.2 m s ) j
vD = 1.697 m s
18
Instantaneous Center of Rotation in Plane Motion

• Plane motion of all particles in a slab can always be

replaced by the translation of an arbitrary point A and a
rotation about A with an angular velocity that is
independent of the choice of A.

• The same translational and rotational velocities at A are

obtained by allowing the slab to rotate with the same
angular velocity about the point C on a perpendicular to
the velocity at A.

• The velocity of all other particles in the slab are the same
as originally defined since the angular velocity and
translational velocity at A are equivalent.

• As far as the velocities are concerned, the slab seems to

rotate about the instantaneous center of rotation C.

19
Instantaneous Center of Rotation in Plane Motion

• If the velocity at two points A and B are known, the

instantaneous center of rotation lies at the intersection
of the perpendiculars to the velocity vectors through A
and B .
• If the velocity vectors at A and B are perpendicular to
the line AB, the instantaneous center of rotation lies at
the intersection of the line AB with the line joining the
extremities of the velocity vectors at A and B.
• If the velocity vectors are parallel at A and B and they
are not perpendicular to line AB, the instantaneous
center of rotation is at infinity and the angular velocity
is zero.
• If the velocity vectors at A and B are perpendicular to
the line AB but the velocity magnitudes are equal, the
instantaneous center of rotation is at infinity and the
angular velocity is zero.
20
Instantaneous Center of Rotation in Plane Motion
• The instantaneous center of rotation lies at the intersection of
the perpendiculars to the velocity vectors through A and B .
v v v
= A = A v B = (BC ) = (l sin  ) A
AC l cos  l cos 
= v A tan 

• The velocities of all particles on the rod are as if they were

rotated about C.
• The particle at the center of rotation has zero velocity.

21
Sample Problem 3
SOLUTION:
• The point C is in contact with the stationary
lower rack and, instantaneously, has zero
velocity. It must be the location of the
instantaneous center of rotation.
• Determine the angular velocity about C
based on the given velocity at A.
• Evaluate the velocities at B and D based on
The double gear rolls on the their rotation about C.
stationary lower rack: the velocity
of its center is 1.2 m/s.
Determine (a) the angular velocity
of the gear, and (b) the velocities of
the upper rack R and point D of the
gear.
22
Sample Problem 3
SOLUTION:
• The point C is in contact with the stationary lower rack
and, instantaneously, has zero velocity. It must be the
location of the instantaneous center of rotation.
• Determine the angular velocity about C based on the
given velocity at A.
v 1.2 m s
v A = rA = A= = 8 rad s
rA 0.15 m
• Evaluate the velocities at B and D based on their rotation
about C.
vR = vB = rB = (0.25 m )(8 rad s )
 
vR = (2 m s )i

rD = (0.15 m ) 2 = 0.2121 m
vD = rD = (0.2121 m )(8 rad s )
vD = 1.697 m s
 
vD = (1.2i + 1.2 j )(m s )

23
Absolute and Relative Acceleration in Plane Motion

• Absolute acceleration of a particle of the slab,

  
aB = a A + aB A

• Relative acceleration a B A associated with rotation about A includes
tangential and normal components,

(aB A )t =  k  rB A (aB A )t = r
(aB A )n = − 2 rB A (aB A )n = r 2

24
Absolute and Relative Acceleration in Plane Motion

 
• Given a A and v A ,
 
determine a B and  .
  
aB = a A + aB A
= a A + (a B A ) + (a B )
  
n A t


• Vector result depends on sense of a A and the
relative magnitudes of a A and (a B A )
n

• Must also know angular velocity .

25
Absolute and Relative Acceleration in Plane Motion

  
• Write a B = a A + a B A in terms of the two component equations,
+
→ x components: 0 = a A + l 2 sin  − l cos 

+ y components: − a B = −l 2 cos  − l sin 

• Solve for aB and .

26
Analysis of Plane Motion in Terms of a Parameter

• In some cases, it is advantageous to determine the

absolute velocity and acceleration of a mechanism
directly.
x A = l sin  y B = l cos 

v A = x A v B = y B
= l cos  = −l sin 
= l cos  = −l sin 

a A = xA a B = yB
= −l 2 sin  + l cos  = −l 2 cos  − lsin 
= −l 2 sin  + l cos  = −l 2 cos  − l sin 

27
Sample Problem 4
SOLUTION:
• The expression of the gear position as a
function of  is differentiated twice to
define the relationship between the
translational and angular accelerations.

• The acceleration of each point on the

gear is obtained by adding the
acceleration of the gear center and the
The center of the double gear has a
relative accelerations with respect to the
velocity and acceleration to the right of
center. The latter includes normal and
1.2 m/s and 3 m/s2, respectively. The
tangential acceleration components.
lower rack is stationary.
Determine (a) the angular acceleration
of the gear, and (b) the acceleration of
points B, C, and D.
28
Sample Problem 4
SOLUTION:
• The expression of the gear position as a function of 
is differentiated twice to define the relationship
between the translational and angular accelerations.
x A = −r1
v A = −r1 = −r1
vA 1.2 m s
 =− =− = −8 rad s
r1 0.150 m

a A = −r1 = −r1

aA 3 m s2
 =− =−
r1 0.150 m
 
(
 =  k = − 20 rad s 2 k)

29
Sample Problem 4
• The acceleration of each point
is obtained by adding the
acceleration of the gear center
and the relative accelerations
with respect to the center.
The latter includes normal and
tangential acceleration
components.

𝑎Ԧ 𝐵 = 𝑎Ԧ𝐴 + 𝑎Ԧ𝐵Τ𝐴 = 𝑎Ԧ𝐴 + 𝑎Ԧ𝐵Τ𝐴 𝑡

+ 𝑎Ԧ𝐵Τ𝐴 𝑛
= 𝑎Ԧ𝐴 + 𝛼𝑘 × 𝑟Ԧ𝐵Τ𝐴 − 𝜔2 𝑟Ԧ𝐵Τ𝐴
= 3 mΤs2 𝑖Ԧ − 20 radΤs2 𝑘
× 0.100m 𝑗Ԧ
− 8 radΤs 2 0.100m 𝑗Ԧ
= 3 mΤs2 𝑖Ԧ + 2 mΤs2 𝑖Ԧ − 6.40 mΤs2 𝑗Ԧ


( 
) ( 
aB = 5 m s 2 i − 6.40 m s 2 j ) aB = 8.12 m s 2

30
Sample Problem 4

      2
aC = a A + aC A = a A +  k  rC A −  rC A

( ) (
2 
)   
= 3 m s i − 20 rad s k  (− 0.150 m ) j − (8 rad s )2 (− 0.150 m ) j
2

( ) (
 
) ( )
= 3 m s 2 i − 3 m s 2 i + 9.60 m s 2 j



(
ac = 9.60 m s j )
2 

      
aD = a A + aD A = a A +  k  rD A −  2 rD A
( ) (
2 
)  
= 3 m s i − 20 rad s k  (− 0.150 m )i − (8 rad s )2 (− 0.150m )i
2 

( ) (

) (

= 3 m s 2 i + 3 m s 2 j + 9.60 m s 2 i) 


( ) (
2 
aD = 12.6 m s i + 3 m s j )2 
aD = 12.95 m s 2
31
Sample Problem 5
SOLUTION:
• The angular acceleration of the
connecting rod BD and the acceleration
of point D will be determined from
   
(
)t (
aD = aB + aD B = aB + aD B + aD B

)n
• The acceleration of B is determined from
the given rotational speed of AB.

Crank AB of the engine system has a • The directions of the accelerations

constant clockwise angular velocity of 
(
) (
)
a D , a D B , and a D B are
t n
2000 rpm. determined from the geometry.
For the crank position shown,
• Component equations for acceleration
determine the angular acceleration of
of point D are solved simultaneously for
the connecting rod BD and the
acceleration of D and angular
acceleration of point D.
acceleration of the connecting rod.
32
Sample Problem 5
𝝎𝐴𝐵 = −2000 𝒌 ෡ rpm
= − 209.44 ෡𝒌 rad/s
𝒓𝐵 = 0.075 (cos 40 𝒊Ƹ + sin 40 𝒋෡ )
= 0.0574 𝒊Ƹ + 0.0482 𝒋Ƹ

𝒗𝐵 = 𝝎𝐴𝐵 × 𝒓𝐵
= -12.033𝒋Ƹ + 10.097 𝒊Ƹ
From geometry,
𝒗𝐷 = 𝑣𝐷 𝒊Ƹ 0.075 sin 40 = 0.2 sin 𝛽 ֜𝛽 = 13.95
𝒓𝐷/𝐵 = 0.2(cos 𝛽 𝒊Ƹ − sin 𝛽 𝒋Ƹ )
𝝎𝑫𝑩 = 𝜔𝐷𝐵 𝒌෡
∴ 𝒓𝐷/𝐵 = 0.194𝒊Ƹ − 0.048𝒋Ƹ 𝒗𝐷 = 𝒗𝐵 + 𝝎𝐷𝐵 × 𝒓𝐷/𝐵 = 𝒗𝐵 + 𝒗𝐷/𝐵

෡ × (0.194𝒊Ƹ − 0.048𝒋)Ƹ
𝑣𝐷 𝒊Ƹ = 10.097𝒊Ƹ − 12.033𝒋Ƹ + 𝜔𝐷𝐵 𝒌
𝑣𝐷 𝒊Ƹ = 10.097𝒊Ƹ − 12.033𝒋Ƹ + 0.194 𝜔𝐷𝐵 𝒋Ƹ + 0.048 𝜔𝐷𝐵 𝒊Ƹ

From 𝒋Ƹ component, 𝜔𝐷𝐵 = 62.026

Then from 𝒊Ƹ component, 𝑣𝐷 = 13.074 . 33
 Sample Problem 5
Acceleration :
𝜶𝐴𝐵 = 0 (∴ 𝜔𝐴𝐵 is constant )
𝒂𝐵 = 𝜶𝐴𝐵 × 𝒓𝐵 + 𝝎𝐴𝐵 × 𝝎𝐴𝐵 × 𝒓𝐵
= −209.44 𝒌 ෡ × −209.44 𝒌෡ ×
(0.0574 𝒊Ƹ + 0.0482 𝒋Ƹ )
= −2520.197 𝒊Ƹ − 2114.7 𝒋Ƹ
𝒂𝐷 = 𝑎𝐷 𝒊Ƹ
From 𝒋Ƹ component,
𝒂𝐷 = 𝒂𝐵 + (𝒂𝐷/𝐵 )t +(𝒂𝐷/𝐵 )n
𝛼𝐵𝐷 = 9944.36 rad/s2
= 𝒂𝐵 + 𝛼𝐵𝐷 ෡𝒌 × 𝒓𝐷/𝐵 +
෡ × 𝜔𝐵𝐷 𝒌
𝜔𝐵𝐷 𝒌 ෡ × 𝒓𝐷/𝐵 From 𝒊Ƹ component,
𝑎𝐷 = −2789.62
𝑎𝐷 𝒊Ƹ
෡
= −2520.197 𝒊Ƹ − 2114.7 𝒋Ƹ + 𝛼𝐵𝐷 𝒌 ∴ 𝜶𝐵𝐷 = 9944.36 ෡𝒌 rad/s2
2
× 0.194𝒊Ƹ − 0.048𝒋Ƹ − 𝜔𝐵𝐷 (0.194𝒊Ƹ 𝒂𝐷 = −2789.62 𝒊Ƹ m/s2
− 0.048𝒋Ƹ )
𝑎𝐷 𝒊Ƹ = −2520.197 𝒊Ƹ − 2114.7 𝒋Ƹ +
0.194𝛼𝐵𝐷 𝒋Ƹ + 0.048𝛼𝐵𝐷 𝒊Ƹ −
746.75𝒊Ƹ + 185.494𝒋Ƹ 34
Sample Problem 6

SOLUTION:
• The angular velocities are determined by
simultaneously solving the component
equations for
  
vD = vB + vD B

• The angular accelerations are determined

by simultaneously solving the component
In the position shown, crank AB has a
equations for
constant angular velocity 1 = 20 rad/s
  
counterclockwise. aD = aB + aD B
Determine the angular velocities and
angular accelerations of the connecting
rod BD and crank DE.

35
 Sample Problem 6
𝝎𝐴𝐵 = 20𝒌෡
෡
𝒓𝐵 = 0.16 𝒊Ƹ +0.28 𝒌
𝜶𝐴𝐵 = 0

𝒗𝐵 = 𝝎𝐴𝐵 × 𝒓𝐵
෡ × ( 0.16𝒊Ƹ + 0.28𝒋Ƹ )
= 20 𝒌
= 3.2 𝒋Ƹ − 5.6 𝒊Ƹ
෡ × 𝒓𝐷/𝐸
𝒗𝐷 = 𝜔𝐷𝐸 𝒌
𝒂𝐵 = 𝜶𝐴𝐵 × 𝒓𝐵 + 𝝎𝐴𝐵 × 𝝎𝐴𝐵 × 𝒓𝐵 ෡ × ( -0.34 𝒊Ƹ +0.34𝒋Ƹ )
= 𝜔𝐷𝐸 𝒌
𝒂𝐵 = −202 (0.16 𝒊Ƹ + 0.28 𝒋Ƹ )
= −0.34 𝜔𝐷𝐸 𝒋Ƹ − 0.34𝜔𝐷𝐸 𝒊Ƹ
= −64 𝒊Ƹ − 112 𝒋Ƹ

𝒗𝐷 = 𝒗𝐵 + 𝒗𝐷/𝐵 = 𝒗𝐵 + 𝜔𝐵𝐷 𝒌 ෡ × 𝒓𝐷/𝐵 = 𝒗𝐵 + 𝜔𝐵𝐷 𝒌 ෡ × 0.24𝒊Ƹ + 0.06𝒋Ƹ

−0.34 𝜔𝐷𝐸 𝒋Ƹ − 0.34𝜔𝐷𝐸 𝒊Ƹ = 3.2 𝒋Ƹ − 5.6𝒊Ƹ + 0.24𝜔𝐵𝐷 𝒋Ƹ − 0.06𝜔𝐵𝐷 𝒊Ƹ

Equating 𝒊Ƹ & 𝒋Ƹ components, Solving we get, 𝜔𝐵𝐷 = −29.333

0.34 𝜔𝐷𝐸 − 0.06𝜔𝐵𝐷 = 5.6 𝜔𝐷𝐸 = 11.294
0.34 𝜔𝐷𝐸 + 0.24𝜔𝐵𝐷 = −3.2 ∴ 𝝎𝐵𝐷 = −29.333𝒌 ෡ rad/s
෡ rad/s
𝝎𝐷𝐸 = 11.294 𝒌 36
 Sample Problem 6
෡ × 𝒓𝐷/𝐸 + 𝜔𝐷𝐸 𝒌
𝒂𝐷 = 𝛼𝐷𝐸 𝒌 ෡ × 𝜔𝐷𝐸 𝒌 ෡ × 𝒓𝐷/𝐸
෡ × ( −0.34 𝒊Ƹ + 0.34𝒋Ƹ ) −𝜔𝐷𝐸
= 𝛼𝐷𝐸 𝒌 2
( −0.34 𝒊Ƹ +
0.34𝒋Ƹ )
= −0.34𝛼𝐷𝐸 𝒋Ƹ − 0.34𝛼𝐷𝐸 𝒊Ƹ + 43.368𝒊Ƹ − 43.368𝒋Ƹ

෡ × 𝒓𝐷/𝐵 + 𝜔𝐷𝐵 𝒌
𝒂𝐷/𝐵 = 𝛼𝐵𝐷 𝒌 ෡ × 𝜔𝐷𝐵 𝒌 ෡ × 𝒓𝐷/𝐵
෡ × 0.24𝒊Ƹ + 0.06𝒋Ƹ − 𝜔𝐵𝐷
= 𝛼𝐵𝐷 𝒌 2
(0.24𝒊Ƹ + 0.06𝒋)Ƹ
= 0.24 𝛼𝐵𝐷 𝒋Ƹ − 0.06𝛼𝐵𝐷 𝒊Ƹ − 206.51𝒊Ƹ − 51.625𝒋Ƹ

𝑎Ԧ𝐷 = 𝑎Ԧ𝐵 + 𝑎Ԧ𝐷/𝐵

−0.34𝛼𝐷𝐸 𝒋Ƹ − 0.34𝛼𝐷𝐸 𝒊Ƹ + 43.368𝒊Ƹ − 43.368𝒋Ƹ = −64 𝒊Ƹ − 112 𝒋Ƹ + 0.24 𝛼𝐵𝐷 𝒋Ƹ −
0.06𝛼𝐵𝐷 𝒊Ƹ − 206.51𝒊Ƹ − 51.625𝒋Ƹ
Solving we get,
Equating 𝒊Ƹ components 𝛼𝐵𝐷 = −645.398
0.06𝛼𝐵𝐷 −0.34𝛼𝐷𝐸 = −313.878 𝛼𝐷𝐸 = 809.276
Equating 𝒋Ƹ components
∴Angular accelerations are
0.24𝛼𝐵𝐷 + 0.34𝛼𝐷𝐸 = 120.2585
𝜶𝐷𝐵 = −645.398 rad/s2
𝜶𝐷𝐸 = 809.276 rad/s2 37
Rate of Change With Respect to a Rotating Frame
• With respect to the rotating Oxyz frame,
   
Q = Qx i + Q y j + Qz k
()







Q Oxyz = Qx i + Q y j + Qz k

• With respect to the fixed OXYZ frame,

()






   
Q OXYZ = Qx i + Q y j + Qz k + Qx i + Q y j + Qz k

• Frame OXYZ is fixed.







()

• Qx i + Q y j + Qz k = Q Oxyz = rate of change
with respect to rotating frame.
• Frame Oxyz rotates about
fixed axis OA with angular

()

• If Q were fixed within Oxyz then Q OXYZ is
equivalent to velocity of a point in a rigid
 body
velocity   
 attached to Oxyz and Qx i + Q y j + Qz k =   Q
• Vector function Q(t ) varies
in direction and magnitude. • With respect to the fixed OXYZ frame,
()

Q OXYZ = Q()
  
+ Q
Oxyz
38
Coriolis Acceleration
• Frame OXY is fixed and frame Oxy rotates with angular
velocity  .

• Position vector rP for the particle P is the same in both
frames but the rate of change depends on the choice of
frame.
• The absolute velocity of the particle P is
 
v P = (r )OXY =   r + (r )Oxy
 

• Imagine a rigid slab attached to the rotating frame Oxy

or F for short. Let P’ be a point on the slab which
corresponds instantaneously to position of particle P.
vP F = ( r ) = velocity of P along its path on the slab
Oxy

v P ' = velocity of point P’ on the slab

• Absolute velocity for the particle P may be written as

vP = vP¢ + vP F 39
Coriolis Acceleration
• Absolute acceleration for the particle P is
   

a P =   r +   (r )OXY + (r )Oxy
 d 

  dt
but, (r )OXY =   r + (r )Oxy



d 
dt


 
(r )Oxy = (r )Oxy +   (r )Oxy
      
a P =   r +   (  r ) + 2  (r )Oxy + (r)Oxy
    
v P =   r + (r )Oxy
  • Utilizing the conceptual point P’ on the slab,
= v P + v P F     
a P =   r +   (  r )


a P F = (r)
 
Oxy

• Absolute acceleration  for the particle P becomes

a P = a P + a P F + 2  (r )Oxy
  
  
= a P + a P F + ac
   
ac = 2  (r )Oxy = 2  v P F = Coriolis acceleration
 
40
Coriolis Acceleration
• Consider a collar P which is made to slide at constant
relative velocity u along rod OB. The rod is rotating at
a constant angular velocity . The point A on the rod
corresponds to the instantaneous position of P.
• Absolute acceleration of the collar is
aP = aA + aP F + ac
where
    
a A =   r +   (  r )

a A = r 2

()
aP F = r
Oxy
=0

ac = 2  vP F ac = 2u

• The absolute acceleration consists of the radial and

tangential vectors shown

41
Coriolis Acceleration
• Change in velocity over t is represented by the
sum of three vectors

v = RR + TT  + T T 
• TT  is due to change in direction of the velocity of
point A on the rod,
TT  
lim = lim v A = r = r 2 = a A
t →0 t t →0 t
    
recall, a =   r +   (  r )

   A a = r 2
A
at t , v = vA + u
   • RR  and T T  result from combined effects of
at t + t , v  = v A + u 
relative motion of P and rotation of the rod
 RR T T    r 
lim  +  = lim  u + 
t →0 t t  t →0 t t 
= u + u = 2u
recall, ac = 2  vP F ac = 2u
42
Sample Problem 7
SOLUTION:
• The absolute velocity of the point P
150 may be written as
  
v P = v P + v P s
• Magnitude and direction of velocity

v P of pin P are calculated from the
radius and angular velocity of disk D.

• Direction of velocity v P of point P’
on S coinciding with P is
Disk D of the Geneva mechanism rotates
perpendicular to radius OP.
with constant counterclockwise angular
velocity D = 10 rad/s. 
• Direction of velocity v P s of P with
At the instant when  = 150o, determine respect to S is parallel to the slot.
(a) the angular velocity of disk S, and (b) • Solve the vector triangle for the
the velocity of pin P relative to disk S. angular velocity of S and relative
velocity of P. 43
Sample Problem 7
SOLUTION:
• The absolute velocity of the point P may be written as
  
vP = vP  + vP s

• Magnitude and direction of absolute velocity of pin P are

calculated from radius and angular velocity of disk D.
vP = R D = (50 mm )(10 rad s ) = 500 mm s

• Direction of velocity of P with respect to S is parallel to slot.

From the law of cosines,
r 2 = R 2 + l 2 − 2 Rl cos 30 = 0.551R 2 r = 37.1 mm

From the law of cosines,

sin sin 30 sin 30
= sin  =  = 42.4
R r 0.742
The interior angle of the vector triangle is
 = 90 − 42.4 − 30 = 17.6
44
Sample Problem 7
• Direction of velocity of point P’ on S coinciding with P is
perpendicular to radius OP. From the velocity triangle,

vP = vP sin  = (500 mm s )sin 17.6 = 151.2 mm s

151.2 mm s
= r s s =
37.1 mm
 
 s = (− 4.08 rad s )k

vP s = vP cos  = (500 m s )cos 17.6

 
(
vP s = 477 m s − cos 42.4i − sin 42.4 j )

( )

vP = 500 mm s

45
Sample Problem 8
150
In the Geneva mechanism, disk D
rotates with a constant counter-
clockwise angular velocity of 10
rad/s. At the instant when j = 150o,
determine angular acceleration of
disk S.
SOLUTION:
• The absolute acceleration of the pin P may
be expressed as
   
a P = a P + a P s + a c
• The instantaneous angular velocity of Disk
S is determined as in previous Problem.
• The only unknown involved in the
acceleration equation is the instantaneous
angular acceleration of Disk S.
• Resolve each acceleration term into the
component parallel to the slot. Solve for
the angular acceleration of Disk S.
46
Sample Problem 8
SOLUTION:
• Absolute acceleration of the pin P may be expressed as
   
aP = aP + aP s + ac

• From previous Problem.

 
 = 42.4  S = (− 4.08 rad s )k
 
vP s = (477 mm s )(− cos 42.4i − sin 42.4 j )


• Considering each term in the acceleration equation,

2
𝑎𝑃 = 𝑅𝜔𝐷 = 5000 mm/s2
𝑎𝑃 = 5000(Cos30Ԧ𝑖 − Sin30Ԧ𝑗)mm/s 2
  
aP = (aP )n + (aP )t
( ) 
(aP )n = r S (− cos 42.4i − sin 42.4 j )
 2 
 
(aP )t = (r S )(− sin 42.4i + cos 42.4 j )
 
(aP )t = ( S )(37.1mm )(− sin 42.4i + cos 42.4 j )
note: S may be positive or negative
47
Sample Problem 8
• The direction of the Coriolis acceleration is obtained

by rotating the direction of the relative velocity vP s
by 90o in the sense of S.
( )  
ac = 2 S vP s (− sin 42.4i + cos 42.4 j )

 
= 2(4.08 rad s )(477 mm s )(− sin 42.4i + cos 42.4 j )
( ) 
= 3890 mm s 2 (− sin 42.4i + cos 42.4 j )



• The relative acceleration aP s must be parallel to
the slot.

• Equating components of the acceleration terms

perpendicular to the slot,
37.1𝛼𝑠 − 3890 = 5000Cos 17.7
𝛼𝑠 = 233
𝜶𝒔 = −233 rad/s2 𝒌

48
Motion About a Fixed Point
• The most general displacement of a rigid body with a
fixed point O is equivalent to a rotation of the body
about an axis through O.
• With the instantaneous axis of rotation and angular

velocity  , the velocity of a particle P of the body is

 dr  
v= = r
dt
and the acceleration of the particle P is

       d
a =   r +   (  r ) = .
dt

• The angular acceleration  represents the velocity of
the tip of  .

• As the vector  moves within the body and in space,
it generates a body cone and space cone which are
tangent along the instantaneous axis of rotation.
• Angular velocities have magnitude and direction and
obey parallelogram law of addition. They are vectors.
49
General Motion
• For particles A and B of a rigid body,
  
vB = v A + vB A

• Particle A is fixed within the body and motion of

the body relative to AX’Y’Z’ is the motion of a
body with a fixed point
   
v B = v A +   rB A

• Similarly, the acceleration of the particle P is

  
aB = a A + aB A
= a A +   rB A +   (  rB A )
     

• Most general motion of a rigid body is equivalent to:

- a translation in which all particles have the same
velocity and acceleration of a reference particle A, and
- of a motion in which particle A is assumed fixed.
50
Sample Problem 9
SOLUTION:
   
With 1 = 0.30 j  2 = 0.50k
 
(
r = 12 cos 30i + sin 30 j )

 
= 10.39i + 6 j

• Angular velocity of the boom,

  
The crane rotates with a constant  = 1 +  2
angular velocity 1 = 0.30 rad/s and the
boom is being raised with a constant • Angular acceleration of the boom,
 
 = 1 +  2 =  2 = ( 2 )Oxyz +    2
    
angular velocity 2 = 0.50 rad/s. The
length of the boom is l = 12 m.  
= 1   2
Determine:
• angular velocity of the boom, • Velocity of boom tip,
  
• angular acceleration of the boom, v = r
• velocity of the boom tip, and • Acceleration of boom tip,
• acceleration of the boom tip.          
a =   r +   (  r ) =   r +   v
51
Sample Problem 9
SOLUTION:
• Angular velocity of the boom,
  
 = 1 +  2  

 = (0.30 rad s ) j + (0.50 rad s )k
• Angular acceleration of the boom,
 
 = 1 +  2 =  2 = ( 2 )Oxyz +    2
    
   
( ) (
= 1   2 = 0.30 rad s j  0.50 rad s k)

( 2 
 = 0.15 rad s i )
• Velocity of boom tip,
  
i j k
  
v = r = 0 0.3 0.5
10.39 6 0
   
1 = 0.30 j  2 = 0.50k
   𝒗 = −3Ԧ𝒊 + 5.2Ԧ𝑗 − 3.12𝒌 m/s
r = 10.39i + 6 j
52
Sample Problem 9
• Acceleration of boom tip,
         
a =   r +   (  r ) =   r +   v
     
i j k i j k

a = 0.15 0 0+ 0 0.30 0.50
10.39 6 0 −3 5.20 − 3.12
    
= 0.90k − 0.94i − 2.60i − 1.50 j + 0.90k


( ) (
2  2 
) (
a = − 3.54 m s i − 1.50 m s j + 1.80 m s k
2

)

   
1 = 0.30 j  2 = 0.50k
  
r = 10.39i + 6 j
53
Three-Dimensional Motion. Coriolis Acceleration

• With respect to the fixed frame OXYZ and rotating

frame Oxyz,
()

Q OXYZ = Q()

Oxyz
 
+ Q

• Consider motion of particle P relative to a rotating

frame Oxyz or F for short. The absolute velocity can
be expressed as
  
v P =   r + (r )Oxyz

 
= v P + v P F
• The absolute acceleration can be expressed as
      
a P =   r +   (  r ) + 2  (r )Oxyz + (r)Oxyz
 
  
= a p + a P F + ac
   
ac = 2  (r )Oxyz = 2  v P F = Coriolis acceleration
 

54
Frame of Reference in General Motion
• With respect to OXYZ and AX’Y’Z’,
  
rP = rA + rP A
  
vP = v A + vP A
  
aP = a A + aP A

• The velocity and acceleration of P relative to

AX’Y’Z’ can be found in terms of the
velocity and acceleration of P relative to Axyz.

v P = v A +   rP A + (rP A )
    
Axyz
 
= v P + v P F

( )
Consider:       
a P = a A +   rP A +     rP A
- fixed frame OXYZ,
( ) ( )
  
- translating frame AX’Y’Z’, and + 2  rP A + rP A
Axyz Axyz
- translating and rotating frame Axyz   
or F. = a P + a PF + a c
55
Sample Problem 10
SOLUTION:
• Define a fixed reference frame OXYZ at O
and a moving reference frame Axyz or F
attached to the arm at A.
• With P’ of the moving reference frame
coinciding with P, the velocity of the point
P is found from
  
For the disk mounted on the arm, the v P = v P + v P F
indicated angular rotation rates are
constant. • The acceleration of P is found from
   
a P = a P + a P F + a c
Determine:
• the velocity of the point P, • The angular velocity and angular
• the acceleration of P, and acceleration of the disk are
  
• angular velocity and angular  =  +D F
acceleration of the disk.  
 = ( )F +   
 
56
Sample Problem 10
SOLUTION:
• Define a fixed reference frame OXYZ at O and a
moving reference frame Axyz or F attached to the
arm at A.
    
r = L i + Rj rP A = Rj
   
 = 1 j D F = 2k

• With P’ of the moving reference frame coinciding

with P, the velocity of the point P is found from
  
v P = v P + v P F
     
v P =   r = 1 j  (Li + Rj ) = −1L k

     
v P F =  D F  rP A =  2 k  Rj = − 2 R i
  
v P = − 2 R i − 1L k

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Sample Problem 10
• The acceleration of P is found from
   
a P = a P + a P F + a c

a P =   (  r ) = 1 j  (− 1Lk ) = −1 Li
     2 

 
( 
a P F =  D F   D F  rP A )

  2 
=  2 k  (−  2 R i ) = − 2 R j
  
ac = 2  v P F
  
= 21 j  (−  2 R i ) = 21 2 Rk
 2  2  
a P = −1 L i −  2 Rj + 21 2 Rk
• Angular velocity and acceleration of the disk,
     
 =  +D F  = 1 j +  2 k
 
 = ( )F +   
 

= 1 j  (1 j +  2 k )
   
 = 1 2 i
58