RELATIVE MOTION

TRANSLATING AXES

INSTRUCTOR : WG CDR M BABAR SAEED

COURSE: 74 (A) E/C
WEEK NO : 9
R E F E R E N C E : T E X T B O O K ( 4 TH E D I T I O N )
ARTICLE 2/8
PA G E 9 0
D AT E : 12 JUL, 2010
 LEARNING OJECTIVE

 What is absolute reference system

 What is inertial reference system
 Translating and non rotating axes
 Vector solution of trans axes
 Relative position, velocity and acceleration vectors
 Mathematical formulations
 Review of trigonometry for solution of vectors
 RELATIVE MOTION

 Up till now we have described particle motion using

coordinates that were referred to fixed reference
axes.
 The displacements , velocity and accelerations so
determined are termed absolute.
 But it is always not possible or convenient to use a
fixed set of axes for the observation of motion, and
there are many engineering problems for which the
analysis of motion is simplified by using
measurements made with respect to a moving
reference system.
 RELATIVE MOTION

 These measurement when combined with the

absolute motion of the moving coordinate system,
permit us to determine the absolute motion in
question.
 This approach is known as a relative-motion
analysis.
 RELATIVE MOTION

 The motion of the moving coordinate system is

specified with respect to a fixed coordinate system.
 Strictly speaking, this fixed system in Newtonian
mechanics is the primary inertial system that is
assumed to have no motion in space.
 For engineering purposes the fixed system may be
taken as any system whose absolute motion is
negligible for the problem at hand.
 RELATIVE MOTION

 For the most earthbound engineering problems, it is

sufficiently precise to take for the fixed reference
system a set of axes attached to the earth, in which
case we neglect the motion of the earth.
 For the motion of the satellites around the earth, a
non-rotating coordinate system with origin on the
earth’s axis of rotation is chosen.
 For inter planetary travel, a non-rotating coordinate
system fixed to the sun would be used.
 Hence, the choice of the fixed system depends on
the type of problem involved.
 RELATIVE MOTION

 We will confine our attention in this article to moving

reference systems which translates but do not rotate.
 Motion measured in rotating systems will be
discussed in later part of this course.
 We will also confine our attention here to relative
motion analysis for plane motion.
 RELATIVE MOTION

 Consider now two particle A and B that may have

separate curvilinear motions in a given plane or in
parallel planes. y
A
Y
j

rA rA/B
i x
B
rB

O X
 RELATIVE MOTION

 The position vector of A as measured relative to the

frame x-y is rA/B=xi+yj, where subscript notation A/B
means “A relative to B” or “A with respect to B”.
 The unit vectors along the x- and y- axes are i and j,
and x and y are coordinates of A measured in x-y.
 The absolute position of B is defined by the vector rB
measured from the origin of the fixed axes X-Y.
 The absolute position of A is seen, therefore, to be
determined by the vector
rA=rB+rA/B
 RELATIVE MOTION

 We now differentiate this vector once with respect to time

to obtain velocities and twice to obtain accelerations.
Thus,
  
r A  r B  r A / B or v A  v B  v A / B    (2 / 20)
  
r A  r B  r A / B or a A  a B  a A / B    (2 / 21)
 In Eqn 2/20 the velocity with which we observe A to have
from our position at B attached to the moving axes x-y is
  
r A/ B  v A/ B  x i  y j
 This term is the velocity of A with respect to B.
 RELATIVE MOTION

 Similarly, in Eq 2/21 the acceleration that we observe

A to have from our non-rotating position on B is
   
r A / B  v A / B  x i  yj

 This term is the acceleration of A with respect to B.

 We note carefully that unit vectors i and j have no
derivatives because their direction as well as
magnitudes remain unchanged.
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 In words, Eq 2/20 and 2/21 states that the

absolute velocity (or acceleration) of A equals
the absolute velocity (or acceleration) of B
plus, vectorially, the velocity (or acceleration)
of A relative to B.

 The relative term is the velocity (or acceleration)

measurement which an observer attached to the
moving coordinate system x-y would make.
 RELATIVE MOTION

 We may express the relative motion terms in

whatever coordinate system is convenient –
rectangular, normal and tangential, or polar – and
the formulations in the preceding articles may be
used for this purpose.
 The appropriate fixed system of the previous articles
becomes the moving system in the present article.
 RELATIVE MOTION
y

 The selection of the

moving point B for
attachment of the A x
reference coordinate Y
system is arbitrary. As
shown in the fig, point
A could be used just
as well for the
attachment of the
moving system, in rA rB/A
which case the three
corresponding
relative motion B
equations for rB
position, velocity and
accelerations are O X
given on next slide.
 RELATIVE MOTION

rB  r A  rB/ A
vB  v A  vB/ A
aB  a A  aB/ A
It is seen, therefore, that
rB / A  rA / B
v B / A  v A/ B
a B / A  a A / B
 RELATIVE MOTION

 An important observation to be made in relative-motion

analysis is that the acceleration of a particle as observed
in a translating system x-y is the same as that observed
in a fixed system X-Y if the moving system has a
constant velocity.
 This conclusion broadens the application of Newton’s
second law of motion, treated in Chapter 3.
 We conclude, consequently, that a set of axes that has a
constant absolute velocity may be used in place of a
“fixed” system for the determination of accelerations. A
translating reference system which has no acceleration is
known as an inertial system.
 CONCLUSION

 An absolute reference system is only relative to the

nature of the problem
 A non accelerating reference system is also called
an inertial reference system
 Velocities measured from a non accelerating
translating and non rotating axes can be considered
as absolute velocities
 Relative motion can be measured by using vector
relations
 QUIZ No 5
Marks 10-Time : 10 min – Course 74 E/C-Date: 16 July, 2010
 Plane A travels with a constant speed vA=1200 kph along the
straight line at an altitude of 10000 m. The pilot of plane B, also
flying at 10000 m, anticipates a mid air collision at point C and
decreases the plane speed of 900 kph at a rate of 30 m/s2.
Determine the velocity and acceleration of the plane A relative to
plane B.
y
C 15˚

x A

60˚