PLANE MOTION

of RIGID BODIES

Relation between the forces which act upon the bodies

from sources external and the corresponding translation
and rotation motions of the bodies.

FREE-BODY DIAGRAMS

Tadeusz Majewski
 Definition of plane motion:

All points of the body move in the planes

parallel to the reference plane

Translation Translation
Plane
Rotation Rotation motion
 PLANE MOTION EQUATIONS
    
F  F ma  F   F
i i
i i
F2 M  M
F1 C I   M M
i C C i
i i
F3 F
MC
ε aC
C C
C

F4

Fi
Free-Body Equivalent Kinematic
diagram Force-Couple diagram
diagram
 PLANE MOTION EQUATIONS
1. Rectangular coordinates  1. 𝑚 𝑥
¨ = 𝐹 𝑥 =𝐹𝑐𝑜𝑠 𝛼
y a
α 2. 𝑚 𝑦¨ =𝐹 𝑦 =𝐹𝑠𝑖𝑛 𝛼
 
ε
C  3 . 𝐼 θ̈= 𝑀 𝐶
Ft
x P t
2. Natural coordinates

Fn F

φ
P0 n r
F
P(φ,ρ)
r
3. Polar coordinates ω, ε
0 φ
φ
0
Unconstrained and constrained motion

Constrained motion
Unconstrained
motion
Vertical and horizontal guides for the end of the
bar impose a kinematical relationship between
the acceleration components of the mass center
and the angular acceleration of the bar
1. TRANSLATION MOTION

2. FIXED-AXIS ROTATION
Centroidal rotation

Non-Centroidal rotation

3. GENERAL PLANE MOTION -

-translation with rotation
The wheel rolls on a rough surface without slipping subjected
to a known torque T. Determine the acceleration of the mass
center C, friction force and the maximum torque for which
there is no slip.
Given: m= 20 kg, r=0.2 m, T=3 Nm

T
C

x
Given the mass m1=10 kg , the radius of gyration of the pulley is
k=0.1 m and the mass of the block is mA=5 kg. At the beginning the
mass mA does not move.
Determine the acceleration of the mass mA, its velocity and the
position after 4 s.
Rolling without slipping - examples

Tadeusz Majewski
Given: m=5 kg, r=0.2m, R=2r, P=20 N, k=r (k-radius of gyration of the pulley)
Tadeusz Majewski
Given:
M=10 NM, m=5 kg, r=0.2m, R=2r,, k=r (k-radius of gyration of the pulley)
Tadeusz Majewski
Example
Tadeusz Majewski
Tadeusz Majewski
 La Sociedad Mexicana de Ingeniería Mecánica A. C.
Y

El Instituto Tecnológico Superior de Coatzacoalcos

Convocan
A los estudiantes de Ingeniería a que participen en las actividades que se llevarán a
cabo durante el XXI Congreso Anual de la SOMIM a realizarse en el Centro de
Convenciones de Coatzacoalcos, Veracruz, del 22 al 25 de septiembre de 2015.
Concurso de diseño rápido 2015
Concurso de carteles
Concurso de fotografía
Torneo de futbol 7
Torneo de Futbolito de mesa
Torneo de tiro de tres puntos
Torneo de Voleibol
Las convocatorias y las cédulas de inscripción se encuentran disponibles en la
página del congreso http://www.somim.org.mx/congreso2015/index.html en la
sección Actividades Estudiantiles.