Chapter 4.

3
Planar Kinematics of a Rigid Body

Mechanical Engineering
Dynamics DAM10903/20903/13903
 4.3 INSTANTANEOUS CENTER OF ZERO VELOCITY

• The velocity of any point B located on a rigid body can be obtained by

choosing the base point A to be a point that has zero velocity at the
instant considered.
𝑣 𝐵 =𝑣 𝐴+ 𝜔 ×𝑟 𝐵 / 𝐴 )
𝑣𝐵= 𝜔 × 𝑟 𝐵/ 𝐴
• Point A is called the instantaneous center of zero velocity (IC), and it lies
on the instantaneous axis of zero velocity.
𝑣 𝐵 = 𝜔 ×𝑟 𝐵 / 𝐼𝐶
• direction of is perpendicular to .
 Question from example 1-slide 4.2
The link shown in figure is guided by two blocks at A and B, which move in
the fixed slots. If the velocity of A is 2 m/s downward, determine the
velocity of B at the instant θ = 45°.

rA / IC  0.2 sin 45o  0.14142m

rB / IC  0.2 cos 45o  0.14142m
To find angular velocity AB : To find angular velocity VB :
v A can be obtained by choosing the v B can be obtained by choosing the
base point B to be a point that has zero base point A to be a point that has
velocity at the instant considered: zero velocity at the instant considered:

v A  vB   AB  rA / IC vB  v A   AB  rB / IC
v A   AB  rA / IC vB   AB  rB / IC
2   AB  0.14142 vB  14.142  0.14142
 AB  14.142rad / s v B  2m / s
 Example 1

Block D shown in figure moves with a speed of 3 m/s. Determine the angular
velocities of links BD and AB, at the instant shown.
① To find the angular velocity
𝑣 𝐷 = 𝜔 𝐵𝐷 × 𝑟 𝐷 / 𝐼𝐶
3 =𝜔 𝐵𝐷 × 0.5657
𝜔 𝐵𝐷 =5.30 𝑟𝑎𝑑 / 𝑠
𝑟 𝐵 / 𝐼𝐶 =0.4 tan 45
0.4
② To find the velocity 𝑟 𝐷/ 𝐼𝐶 = =
tan 45 °
𝑣 𝐵 = 𝜔 𝐵𝐷 × 𝑟 𝐵 / 𝐼𝐶 𝑣 𝐷 =3 𝑚
¿ 5.30 × 0 .4
¿ 2.12 𝑚 / 𝑠

③ To find the angular velocity

𝑣 𝐵 = 𝜔 𝐴𝐵 × 𝑟 𝐵/ 𝐴
2 .12= 𝜔 𝐴𝐵 × 0 .4
𝜔 𝐴𝐵 =5.30 𝑟𝑎𝑑 / 𝑠
𝑟 𝐵 / 𝐴 =
 Example 2

The cylinder shown in figure rolls without slipping between the two moving plates E
and D. Determine the angular velocity of the cylinder and the velocity of its center C.
IC must lies in line AB, we take dimension x as its location
𝑣𝐵= 𝜔 × 𝑥
0 .4 = ①
𝜔 × 𝑥
𝑣 𝐴 =𝜔 × ( 0.25 − 𝑥 )
0 .25 =𝜔 × (
②0.25 − 𝑥 )

① divide by ② to eliminate
𝑥
The velocity of the point C
1 .6 =
( 0.25 − 𝑥 )
𝑣 𝐶= 𝜔 × (𝑥 − 0
𝑥 =0.1538𝑣𝑚
𝐶 =2.6 ×( 0.1538 −

From ① ¿ 0.075 𝑚

0 .4 = 𝜔 × 0.1538
𝜔 =2.60 𝑟𝑎𝑑 / 𝑠