ENGINEERING MECHANICS

PART 2: DYNAMICS
MPE 4151

CHAPTER NO 16
(SECTIONS 16.1-16.6)
Planar Kinematics of a Rigid Body

Lecturer: Muhammad Awais

 OBJECTIVES
• To classify the various types of rigid-body planar motion.
• To investigate rigid-body translation and angular motion about a fixed
axis.
• To study planar motion using an absolute motion analysis.
• To provide a relative motion analysis of velocity and acceleration using
a translating frame of reference.
• To show how to find the instantaneous center of zero velocity and
determine the velocity of a point on a body using this method.
16.1: Planar Rigid-Body Motion

The planar kinematics of a rigid body will be discussed. This study is

important for the design of gears, cams, and mechanisms used for many
mechanical operations. Once the kinematics is thoroughly understood,
then we can apply the equations of motion, which relate the forces on the
body to the body's motion.

The planar motion of a body occurs when all the particles of a rigid
body move along paths which are equidistant from a fixed plane. There
are three types of rigid body planar motion, in order of increasing
complexity.
 Types of rigid body planar motion

General
Path of plane
rectilinear motion
translation
Path of
curvilinear
translation Rotation
about a
fixed axis
 Translation:
This type of motion occurs when a line in the body remains parallel
to its original orientation throughout the motion.
Rectilinear translation:
When the paths of motion for any two points on the body are parallel
lines, the motion is called rectilinear translation.

Path of rectilinear translation

Curvilinear translation:
If the paths of motion are along curved lines which are equidistant,
the motion is called curvilinear translation.

Path of curvilinear translation

Rotation about a fixed axis:

When a rigid body rotates about a fixed axis, all the particles of the
body, except those which lie on the axis of rotation, move along
circular paths.
General plane motion.
When a body is subjected to general plane motion, it undergoes a
combination of translation and rotation. The translation occurs within
a reference plane, and the rotation occurs about an axis perpendicular to
the reference plane.
 Y’

Y B

r’B r
AB

A
X’

r'A
B

rB

rA
FIXED COORDINATE SYSTEM X
16.2: Translation
Velocity :
A relation between the instantaneous velocities of A and B is obtained
by taking the time derivative of this equation,

r
Since the magnitude of B/A is constant by definition of a
rigid body, and because the body is translating the direction Of
rB/A is also constant.
Acceleration :
16.3: Rotation about a Fixed Axis

When a body rotates about a fixed axis, any point P located in the body
travels along a circular path. To study this motion it is first necessary to
discuss the angular motion of the body about the axis.
Angular Motion. Since a point is without
dimension, it cannot have angular motion. Only Angular Velocity.
lines or bodies undergo angular motion. the The time rate of change in the angular position
angular motion of a radial line r located within is called the angular velocity ω (omega). Since
the shaded plane. dθ occurs during an
instant of time dt, then,

Angular Position: At the instant

 
shown, the angular position of r is
defined by the angle , measured from a fixed
reference line to r.
Angular Acceleration. The
angular acceleration α (alpha)
measures the time rate of change of the
angular velocity. The magnitude
of this vector is

Angular Displacement. The

 
change in the angular position, which
can be measured as a differential d, is
called the angular displacement.
θ
As the rigid body rotates,
point P travels along a
circular path of radius r
with center at point O.
This path is contained
within the shaded plane.
The position of P is defined
by the position vector r,
which extends from 0 to P.
a ds = v dv
Motion of Point P.
dθ
r
r ds = r dθ
φ   =r
  𝒓𝒑
 
Sinφ =
 𝒂𝒕
Tangential acceleration  
Normal acceleration 𝒂𝒏
 
 𝒂𝒕
 

𝒂𝒏
 
  
PROBLEM No 1:
A cord is wrapped around a wheel which is initially at rest when
= 0. If a force is applied to the cord and gives it an acceleration a
= (4t) m/, where t is in seconds, determine, as a function of time,
(a) the angular velocity of the wheel, and (b) the angular
position of line OP in radians.
 ASSIGNMENT PROBLEMS:

EXAMPLE: 16.2

EXERCISE PROBLEMS: 16.3, 16.5, 16.6-16.10, 16.18, 16.22, 16.26

16.4: Absolute Motion Analysis
A body subjected to general plane motion undergoes a simultaneous
translation and rotation.
If the body is represented by a thin slab, the slab translates in the plane
of the slab and rotates about an axis perpendicular to this plane. The
motion can be completely specified by knowing both the angular
rotation of a line fixed in the body and the motion of a point on the
body.
The dumping bin on the truck rotates about a
fixed axis passing through the pin at A. It is
operated by the extension of the hydraulic
cylinder BC. The angular position of the bin can
be specified using the angular position
coordinate θ, and the position of point C on the
bin is specified using the rectilinear position
coordinate s. Since a and b are fixed lengths,
then the two
coordinates can be related by the cosine
law

The time derivative of this equation relates the

speed at which the hydraulic cylinder extends to
the angular velocity of the bin.
 PROBLEM No 2:
The end of rod R maintains contact with the cam by means of a spring. If
the cam rotates about an axis passing through point O with an angular
acceleration α and angular velocity ω , determine the velocity and
acceleration of the rod when the cam is in the arbitrary position θ.
 r
Ɵ

OC=CB

Using the chain rule of

calculus
Product rule of derivation
 ASSIGNMENT PROBLEMS:

EXAMPLE: 16.5 (VERY IMPORTANT!)

EXERCISE PROBLEMS: 16.36, 16.41-42, 16.51

• Relative-Motion Analysis: Velocity
• Position
• Vector addition
• Displacement
• As slider block A moves horizontally to the left with a velocity vA , i t causes crank CB t o
rotate counterclockwise, such that VB is directed tangent to its circular path, i.e., upward
to the left. The connecting rod AB is subjected to general plane motion, and at the instant
shown it has an angular velocity ω .
• Velocity
• Since the relative displacement is caused by a rotation, the magnitude of the third term is
This axis is always perpendicular to the plane of motion, and the intersection of the
axis with this plane defines the location of the IC.
16.6: Instantaneous Center of Zero Velocity
The velocity of any point B located on a rigid body can be obtained in a very direct way
by choosing the base point A to be a point that has zero velocity at the instant considered.

For a body having general plane motion, point A so chosen is called the

instantaneous center of zero velocity (IC), and it lies on the instantaneous

axis of zero velocity.
Location of the IC
The lines of action of two nonparallel velocities vA and vB are
known
• The magnitude and direction of two parallel velocities vA and VB are known
• The magnitude and direction of two parallel velocities vA and VB are known
 As the board slides downward to
the
left it is subjected to general plane
motion. Since the directions of the
velocities of its ends A and B are
known, the IC is located as shown.
At
this instant the board will
momentarily
rotate about this point. Draw the
board
in several other positions and
establish
the IC for each case.
PROBLEM:
Block D moves with a speed of 3 m/s. Determine the angular
velocities of links BD and AB, at the instant shown.
ASSIGNMENT PROBLEMS:
16-89, 16-93, 16-101, 16-104-105