ME-210
Engineering
Dynamics
Lecture 11
Kinematics of rigid bodies
• Relative velocities
• Instantaneous Center of Zero
Velocity
Dr. Tayyab Zafar
tayyab.zafar@ceme.nust.edu.pk
Relative Velocity
• In relative velocity method we determine the velocity of a
point on rigid body in plane by adding the relative velocity
due to rotation about a convenient reference point
𝐯A = 𝐯B + 𝐯A/B
Relative Velocity
Graphical interpretation
Rolling without Slipping: https://www.youtube.com/watch?v=r_yqJ2HXoC0
Instantaneous center of zero velocity
In relative velocity method we determined the velocity of a
point on rigid body in plane by adding the relative velocity due
to rotation about a convenient reference point
We will now solve the problem by choosing a unique point
which momentarily has zero velocity
The body may be considered to be in pure rotation about an
axis, normal to the plane of motion, passing through this point
which is called instantaneous axis and center of zero velocity
Instantaneous center of zero
velocity
A point
The location
about which
There is one of the IC can
a body
It has a zero IC per body, be on or off
seems to be
velocity per instant the body
rotating at a
of time (extended
given
body)
instant
Methods of locating IC
Point of zero velocity
Perpendicular to the
velocity vectors
Geometry (Similar Triangles)
Locating the ICs
• Non-Parallel velocities direction
• Parallel velocities direction
Practice Problems
Relative velocity: 5/52, 5/55, 5/57, 5/64, 5/69, 5/70
IC of Zero V: 5/83, 5/88, 5/94, 5/95
