應用力學(二)

Applied Mechanics (II)

CH 16剛體平面運動學
Planar Kinematics of a Rigid Body
動力學 Dynamics
蔡尚南 Tsai, Shang-Nan
Department of Mechanical and Electro-Mechanical Engineering
National Sun Yat-Sen University 1
Homework
• 16-43 (P.343), 16-114 (P.385), 16-141 (P.400)

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Chapter Objectives
• To classify the various types of rigid-body planar motion
• 介紹剛體平面運動的種類
• To investigate rigid-body translation and angular motion
about a fixed axis
• 探討剛體平移及繞固定軸旋轉的運動
• To study planar motion using an absolute motion analysis
• 以絕對運動分析平面運動

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• To provide a relative motion analysis of velocity and
acceleration using a translating frame of reference
• 以平移參考座標分析相對運動的速度與加速度
• To show how to find the instantaneous center of zero
velocity and determine the velocity of a point on a body
using this method
• 說明如何求得零速度瞬時中心，並運用此方法求解剛體上某一
點的速度
• To provide a relative-motion analysis of velocity and
acceleration using a rotating frame of reference
• 以旋轉參考座標分析相對運動的速度與加速度
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16.1 Planar Rigid-Body Motion 剛體平面運動
• Rigid Body 剛體：a solid body in which deformation is zero or
so small it can be neglected 沒有變形或變形可以忽略的固體
• When all the particles of a rigid body move along paths which
are equidistant from a fixed plane, the body is undergoing
planar motion
• 3 types of rigid body planar motion:
Translation 平移
• When every line segment on the body remains parallel to it original
direction during the motion
• 物體上任意線段在此運動期間維持與原來的方向平行 6
Translation 平移
• Rectilinear translation 直線平移- when the paths of motion for any
two points on the body are parallel lines
• 運動路徑為平行的直線
• Curvilinear translation 曲線平移- when paths of motion are along
curves lines
• 運動路徑為平行的曲線

Fig. 16-1
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Rotation about a fixed axis 繞固定軸旋轉
• When a rigid body rotates about a fixed axis, all the particles of the
body, except on the axis of rotation, move along circular paths
• 剛體繞著某固定軸旋轉時，除了轉軸上的質點外，
物體上所有的質點均作圓形路徑的移動。

General Plane Motion 一般平面運動

• When a body is subjected to general
plane motion, it undergoes a combination
of translation and rotation
• 當剛體作一般平面運動時，
運動的型式包含平移和旋轉。

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Fig. 16-1
 曲線平移
一般平面運動

直線平移 繞固定軸旋轉
Fig. 16-2

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16.2 Translation 平移
Position
• Defined by vector addition,
rB = rA + rB / A
Velocity
• v B = v A + drB / A / dt & drB / A / dt = 0
• Magnitude of rB/A is constant Fig. 16-3
due to rigid body motion → v B = v A
Acceleration
• Time derivative of velocity equation yields : a B = a A 10
16.3 Rotation about a Fixed Axis
繞固定軸旋轉
Angular Motion 角運動
• Only lines or bodies undergo angular motion
• 只有線或物體作角運動，
點沒有尺寸大小因此沒有角運動。
Angular Position 角位置
• Angular position of r is defined by θ, measured
from a reference line to r
• r 的角位置由角度 θ 表示，
θ 為固定基準線到 r 之間的角度。 Fig. 16-4 11
Angular Displacement 角位移
• The change in the angular position
measured as a differential dθ
• 角位置的變化，以微小量dθ表示
Angular Velocity 角速度
Fig. 16-4

• Time rate of change in the angular position, ω (omega)

• Since dθ occurs during an instant of time dt
• 角位置對時間的變化率稱為角速度 ω d
( +)  =
• 因為 dθ 是在dt 時間內所走的角度 dt (16-1)

• 單位通常以rad/s 表示，與 dθ同方向 (rad:弧度/徑度, 1 rad = 180°/π)

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Angular Acceleration 角加速度
• Measures the time rate of change
of the angular velocity
• 角速度對時間的變化率 Fig. 16-4

• The Magnitude of vector is :

d d 2
( +)  = dt = 2
dt (16-3)
(16-2)

• Differential relation between the angular acceleration,

angular velocity and angular displacement is
( +)  d =  d (16-4)

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• Constant Angular Acceleration

( +)  = 0 +  c t (16-5)

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( +)  =  0 + 0 t +  c t 2 (16-6)
2
( +)  2 = 02 + 2 c ( −  0 ) (16-7)

Constant Angular Accerleration

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Motion of Point P 剛體上P點的運動
• Point P travels along a circular path
of radius r and center at point O
Position and Displacement
• P is defined by the position vector r
• 此向量自O 點指向 P 點。
如果物體轉動 dθ 角，則 P 點移動 ds = rdθ 。
Velocity
• The velocity of P is : v = r (16-8)

• P 點速度的大小，可由 ds = rdθ 除以 dt 而得
• By using the cross product, v =   rp (16-9)
• rP 是由旋轉軸上任意點指向P 點的位置向量
Fig. 16-4 15
Velocity
• 特例：位置向量 r 可選擇從原點 O 指向 P 點，
則 r在運動平面上，故 P 點的速度可表示為 v = ω  r
Acceleration 應用 at = d/ dt 及 an = 2 / ，式中
 = r、  = ωr 及 α = dω / dt
• Acceleration of P can be expressed as
at = r (16-11)
an =  r2
(16-12)

• P can be expressed in terms of the

vector cross product, a = α  rp + ω  (ω  rp )
(16-13)

a = a t + a n =   r −  2r (16-14)

• Magnitude of acceleration is a = an2 + at2

Fig.
16 16-4
Acceleration
• If two rotating bodies contact one
another, then the points in contact
move along different paths
• The velocity and tangential
components of acceleration will be
the same
• 速度和切線加速度會相同
• The normal components of
acceleration will not be the same
• 法線加速度不會相同
Fig. 16-5 17
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 向量積Vector product
外積Cross product
i × j = k (+z) j × i = -k (-z)
j × k = i (+x) k × j = -i (-x)
k × i = j (+y) i × k = -j (-y)
使用右手定則確定外積的方向

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16.4 Absolute Motion Analysis 絕對運動分析
• 一質點或一物體的運動情況以固定座標系來表示的時候，
此運動稱為絕對運動。
• A body subjected to general plane motion undergoes a
simultaneous translation and rotation
• 物體在一般平面運動的時候同時有平移跟旋轉運動
• One way to define these motions is to use a rectilinear
position coordinate s to locate the point along its path and
an angular position coordinate θ to specify the orientation
of the line
• 定義該運動時可使用某一點沿著運動路徑的直線位置座標s
以表示該點的位置，和以角位置座標 θ 表示某直線的方位。25
• By direct application of the time-differential equations v =
ds/dt, a = dv/dt, ω = dθ/dt, α = dω/dt, the motion of the
point and the angular motion of the line can be related.
• 藉由使用速度、加速度、角速度、角加速度的微分公式，可以
找出點的運動跟直線的角運動之間的關係

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16.5 Relative-Motion Analysis: Velocity
相對運動分析：速度
• The general plane motion of a rigid body can be described as a
combination of translation and rotation
• use a relative-motion analysis involving two sets of coordinate axes
• x’ , y’ coordinate system has
a known motion
• x , y 座標系統的原點固定在基準點A 上
• The axes of this coordinate system
will only be allowed to translate
with respect to the fixed frame
• x , y座標系統可平移不能選轉
Fig. 16-11 34
Position
• Position vector rA specifies the location of the “base point”
A, and the rB/A locates point B with respect to point A
• 以位置向量 rA 表示“基準點”A 的位置，而以相對位置向量
rB / A 表示 B 點相對於 A 點的位置向量。
• By vector addition, the
position of B is rB = rA + rB / A

Fig. 16-11 35
Displacement
• During dt, A and B undergo displacements drA and drB
• Due to the rotation about A, drB/A = rB/A dθ,
the displacement of B is
drB = drA + drB / A
due to rotation about A
due to translation of A
due to translation and rotation

Fig. 16-11 36
 Velocity
• To determine the relation between the velocities of points
A and B, drB = drA + drB / A
dt dt dt
• vB/A has a magnitude of vB/A = ωrB/A and a direction which is
perpendicular to rB/A
v B = v A + v B / A (16-15)

Fig. 16-11 37
Velocity
• vB is determined by considering the entire bar to translate with a
velocity of vA, and rotate about A with an angular velocity ω
• B的速度vB可以視為整根棒子以vA的速度平移，再加上B相對於A
以角速度ω旋轉
• Vector addition of these two effects, applied to B, yields vB
• vB/A represents the effect of circular motion, about A. It can be
expressed by the cross product : vB/A = ω  rB/A
• 相對速度 vB / A 為圓周運動，由平移座標系統的基準點 A 觀察得到
v B = v A + v B / A (16-15) → v B = v A + ω  rB/A (16-16)
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• Point A on link AB must move
along a horizontal path,
whereas point B moves on a
circular path
• The wheel rolls without slipping
where point A can be selected
at the ground Fig. 16-12

Fig. 16-13 39
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 2.25
𝜃= tan −1 = 38.3°
2.85

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16.6 Instantaneous Center of Zero Velocity
零速度瞬時中心
• Velocity of any point B located on a rigid body can be
obtained if base point A has zero velocity 0
vB = v A + vB / A
• Since vA = 0, therefore vB = ω  rB/A.
• Point A is called the instantaneous center of zero velocity
(IC, 零速度瞬時中心) and it lies on the instantaneous axis
of zero velocity
• Magnitude of vB is : vB = ω rB/IC
• Due to circular motion, the direction of vB must be
perpendicular to rB/IC
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• The IC for the bicycle wheel is at the contact point with the
ground.
• The radial distances shown in the photo must be
determined from the geometry of the wheel.

Fig. 16-17
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Location of the IC
• Velocity of a point on the body is always perpendicular to the
relative-position vector extending from the IC to the point
• 物體上的點的速度永遠垂直於從IC指向點的相對位置的向量

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• Several possibilities exist :
1) The IC is located along the line drawn
perpendicular to vA, the distance from
A to the IC is rA/IC = vA/ω
已知物體中 A 點的速度 vA 及角速度ω ，
IC 位於垂直 vA 且經過 A 點的直線上，
而 A 到 IC 的距離 rA/ IC = A / ω。
vA 必須對 IC 以角速度 ω 作順時針旋轉，
故 IC 位於 A 點的右邊 Fig. 16-18

• IC 位置的軌跡稱為瞬心線 centrode，如圖所示。
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Location of the IC
2) Construct at points A and B line
segments that are perpendicular to
vA and vB.
已知兩非平行速度 vA 及 vB 的作用線，
從 A 及 B 點上畫出和速度vA 及 vB垂直
的線，延伸這兩條線的交點即為此時
IC 的位置。

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3) Extending these perpendicular to their point
of intersection as shown locates the IC
已知兩平行速度 vA 及 vB 的大小及方向，
IC 的位置可經由三角形的比例關係求得。

如圖中顯示出 rA/ IC = A / ω 和 rB/ IC = B / ω 。

如果 A 和 B 點間的距離 d 已知，
圖 16-18(c) 中: rA/ IC + rB/ IC = d
圖 16-18(d) 中: rB/ IC − rA/ IC = d

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Fig. 16-19

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Fig. 16-19

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16.7 Relative-Motion Analysis:Acceleration
相對運動分析：加速度
• An equation that relates the accelerations of two points on
a rigid body subjected to general plane motion,
d vB d v A d vB/ A
= +
dt dt dt
• aB/A can be expressed in terms of its tangential and normal
components a B = a A + (a B / A )t + (a B / A ) n
(16-17)

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 • The terms can be represented graphically :

= +

Fig. 16-24

a B = a A + (a B / A )t + (a B / A ) n (16-17)

a B = a A +   rB / A −  rB / A 2
(16-18)
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• The motion of B is along a circular path, so that aB can be
expressed in terms of its tangential and normal components.

Fig. 16-25
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• Consider a disk that rolls without slipping
• The velocity of the mass center G is :
v G = v A + ω rG / A = 0 + ( −k )  ( rj )
So that
vG = r (16-19)

• This same result can also be determined

using the IC method where point A is the IC.

Fig. 16-26 66
• Since G moves along a straight line, its acceleration in this
case can be determined from the time derivative of its
velocity. dvG d
= r
dt dt
aG = r (16-20)
• These two important results were also obtained in
Example 16-4. They apply as well to any circular object,
such as a ball, gear, wheel, etc, that rolls without slipping.

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 16.8 Relative-Motion Analysis using Rotating Axes
使用旋轉座標作相對運動分析
• Translating coordinate system 平移座標系統
➢ describes relative motion analysis for velocity and acceleration
描述速度和加速度的相對運動
➢ determines the motion of the points on the same rigid body
求得在同一個剛體不同的點的運動
➢ determines the motion of points located on several pin-
connected rigid bodies
求得由多個插銷連接的鋼體上的點的運動
• Rigid bodies are constructed such that sliding occur at their
connections 剛體的構造使得在它們的連接處發生滑動 78
• Coordinate system
➢ use for kinematics analysis
座標系統用於運動學分析
➢ use for analyzing motions of two points on a mechanism
which are not located in the same body
用於分析機構上不在同一個物體上的兩點的運動。
➢ use for specifying kinematics of particle motion when the
particle moves along a rotating path
用於指定當質點沿旋轉路徑移動時，質點運動的運動學

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Position
• Consider A and B, their location is specified by rA and rB,
measured from the fixed X, Y, Z coordinate system
• 基準點 A 為x , y , z (小寫)座標系統的原點，此系統假設相對
於 X, Y, Z (大寫)座標系統作平移與旋轉運動。也就是x , y , z
座標系統是移動的座標系統。
*前面幾節的移動座標系統只能平移不能旋轉。
• If B has coordinates (xB, yB) on
x, y, z coordinate, then :
rB / A = xB i + y B j
• Using vector addition,
rB = rA + rB / A (16-21)
Fig. 16-32 80
Velocity
• The velocity of point B is determined by
drB / A
vB = v A +
dt (16-22)

• The last term in this equation is evaluated as follows:

drB / A d
= ( xB i + y B j )
dt dt
dxB di dyB dj
= i + xB + j + yB
dt dt dt dt
 dxB dyB   di dj 
= i+ j  +  xB + yB 
 dt dt   dt dt  (16-23)

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 由三維座標觀察而得 Ω = k
Velocity k×i=j
k × j = -i
• Express these derivatives in
terms of the cross product as

(16-24)

• Eq. 16-23 becomes

drB / A
= ( v B / A ) xyz + Ω  ( xB i + y B j)
dt
= ( v B / A ) xyz + Ω  rB / A (16-25)
Fig. 16-32 82
Velocity
• Using the derivative property of the vector cross product,
Eq. 16-22 becomes
v B = v A + Ω  rB / A + ( v B / A ) xyz (16-26)

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Velocity
• In order of appearance, they are as follows:

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Acceleration
• Acceleration of B may be expressed in terms of its motion
measured with respect to the rotating system of
coordinates by taking the time derivative
 drB / A d ( v B / A ) xyz
a B = a A + Ω  rB / A + Ω  +
dt dt (16-27)

• By
drB / A
Ω = Ω  ( v B / A )xyz + Ω  ( Ω  rB / A ) (16-28)
dt
d ( v B / A ) xyz  d ( B / A ) x d ( B / A ) y   dj 
• also
di
(vB / A )xyz = (B / A )x i + (B / A ) y j = i+ j + ( B / A ) x + ( B / A ) y 
dt  dt dt   dt dt 

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Acceleration
• Rearranging terms,
  r + Ω  (Ω  r ) + 2Ω  ( v ) + (a )
aB = a A + Ω B/ A B/ A B / A xyz B / A xyz (16-29)

• 2Ω  ( vB / A )xyz is called Coriolis acceleration (科氏加速度)

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   r + Ω  (Ω  r ) + 2Ω  ( v ) + (a )
aB = a A + Ω B/ A B/ A B / A xyz B / A xyz (16-29)

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• Coriolis acceleration (科氏加速度)
https://youtu.be/xmqjokCwNQs
• Coriolis Force 科氏力 https://youtu.be/59phxpjaefA
• 對旋轉體系中進行直線運動的質點，
由於慣性相對於旋轉體系產生偏移
的一種描述。
• Foucault pendulum傅科擺
傅科擺在南半球時運動的動畫
• tropical cyclone 熱帶氣旋 (旋轉方向不同) （註：此圖只是示意圖，對於
真實擺，必須具五米以上才能
觀察到目視可見的偏轉）
https://commons.wikimedia.org/wiki/File:Foucault_pen
dulum_animated.gif

北半球 南半球
颱風尼伯特 氣旋溫斯頓 88
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 v B = v A + Ω  rB / A + ( v B / A ) xyz (16-26)

 r
aB = a A + Ω B / A + Ω  (Ω  rB / A ) + 2Ω  ( v B / A ) xyz + (a B / A ) xyz
(16-29)

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此刻剛好xy跟XY重疊，方向一樣

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