ENGD1106

Mechanical Principles-Dynamics

Lecture 9
Relative Motion
Dr. Hassan Ali

Based on Materials of
Dr Meisam Abdi
School of Engineering and Sustainable Development
De Montfort University
meisam.abdi@dmu.ac.uk
 Main topics and skills

 Kinematical analysis of moving objects, for example, machines

and mechanisms, is heavily based on the use of vectors and
the rules of vector algebra
 The prerequisite knowledge about vector algebra from
Engineering mathematics are mandatory
 “Meaningful learning” versus “rote learning” : avoid
memorizing particular solutions, try to understand the
essence of the material

2
 Revision of vectors

 Definition 1: A quantity that has magnitude as well as direction is called a

vector
 The point O from where the vector OA starts is called its initial point, and
the point A where it ends is called its terminal point. The distance between
initial and terminal points of a vector is called the magnitude (or length) of
the vector, denoted as |OA|, or a. The arrow indicates the direction of the
vector.

Z
A
z
O Y
x
y
X

3
 The triangle law of vector addition

 A vector signifies the displacement from point to point . And a

vector signifies displacement from point to point .
 Consider an object moving from point to point and then from point
to point . The net displacement made the object from point to
point is given by a new vector . So, we can express this net
displacement using addition operation for two vectors

4
 The parallelogram law of vector addition

 We can represent two vectors and , starting from the common

point , as the adjacent sides of a parallelogram, then their sum
is represented in magnitude and direction by the diagonal of the
parallelogram .

5
 How do we describe motion of a body?

 Translation, Rotation, and Deformation (change of shape in solid bodies)

 All these motions and deformations are described by vectors

6
Vector Kinematics: displacement

 In two or three dimensions, the

displacement is a vector:

7
Vector Kinematics: velocity

 As Δt and Δr become smaller and smaller, the

average velocity approaches the instantaneous
velocity.

8
Vector Kinematics: acceleration

 The instantaneous acceleration is in the

direction of

ΔV = V2 – V1

and is given by:

9
Unit Vectors

 Unit vectors have magnitude 1.

 Using unit vectors, any vector can be written in

terms of its components:

   
r  xi  yj  zk

10
 Kinematics in One Dimension

 The main concepts of translational linear motion

 Displacement
 Velocity
 Acceleration
V A  VB  V A / B

11
 Quiz
What is the velocity of the man relative to the girl (VQ/P)?

a) +5
b) +2
c) -1
d) +1

12
 Quiz
What is the velocity of the man relative to the girl (VQ/P)?

13
 Quiz

What is the velocity of the red car relative to the green car?

a) 25 VRed = VGreen + VRed/Green

b) -10 VRed/Green = VRed – VGreen
c) +10 VRed/Green = 25 – (-35) = 60
d) 60

14
 Quiz

What is the magnitude of velocity of the green car relative to the red car?

a) 60 VGreen/Red = VGreen – VRed

b) 43
c) 10
d) 24

15
Types of Rigid-Body Plane Motion

Translation is defined as any

motion in which every line in the
body remains parallel to its
original position at all times

Rotation about a fixed axis is

the angular motion about this
axis. All particles move in
circular paths about the axis of
rotation
General plane motion of a rigid
body is a combination of
translation and rotation

16
 Rotation about a fixed axis

Angular motion variables:

displacement angle, angular velocity
and angular acceleration

d 
 
dt
d d 2 
   or   2  
dt dt

Linear and angular variables connection:

v  r
v linear/tangential velocity 2v2

angular velocity a n  r   v
 r
angular acceleration
at  at  r
an 
tangential acceleration
normal/radial acceleration
17
 The principal of relative motion

Rigid body motion AB  A' B ' is decomposed on

on translation AB  A" B ' rB
" ' ' '
and rotation A B  A B rA / B

18
 Relative velocity equation

V A  VB  V A / B where VA / B    r or V A / B  r

19
Relative acceleration (B is a fixed point)

20
 Relative acceleration (B is a fixed point)

The relative-acceleration relationship may be obtained from the equation for

relative velocities using non-rotating reference axes by differentiation with
respect to time

V A  VB  V A / B  a A  aB  a A / B

The relative acceleration can be decomposed on the radial and tangential ones

v 2A / B
(a A / B ) n   r 2
a A  a B  (a A / B ) n  (a A / B ) t where r
(a A / B ) t  v A / B  r

21
 Two moving objects (2D or 3D space)

 Using vector algebra rules we can conduct a comprehensive analysis of A

and B objects motion

 Applying the relative motion principle to A and B

 Performing the kinematical analysis of B with respect to A

22
 Two moving objects (2D or 3D space)

 Consider graphical solution (analytical solution using cartesian coordinates

x,y,z are also possible and the answer will be identical)

a) The velocity (magnitude and direction)

of object A relative to object B?

b) The shortest distance BC between

the two objects as they continue
moving from their initial position?

c) The time required to travel from

y their initial position to the point of
the closest proximity C:

23
 Two moving objects (2D space)

 First we draw the vector of relative velocity VA/B of object A with respect to
object B:
a) The velocity (magnitude and direction)
of object A relative to object B?

b) The shortest distance BC between

the two objects as they continue
moving from their initial position?

c) The time required to travel from

their initial position to the point of
the closest proximity C:

x
Hint: a) draw graphically the space and velocity diagrams to scale
b) measure distances AC and BC, and also relative velocity VA/B

ENGD2005 De Montfort University 24

 Example 1

Helicopter rotor blades of length 10.5 m rotate at angular speed 240 rpm in

clockwise direction when viewed from above.

a) Calculate the velocity of the blade tip (point A) if the helicopter is not
moving.

When the helicopter flies forward with the constant speed V=200 km/h
determine

b) the positions of blade OA with maximum and minimum relative velocity

of point A with respect to the ground.

c) the velocity of point A relative to the ground when blade OA is in position

at 60 degrees measured in clockwise direction from the longitudinal axis
of the helicopter.

d) the expression for the absolute velocity V(r,f) of a point on the blade on
distance r from centre O when position of the blade with respect to the
longitudinal axis of the helicopter is defined by angle f.

25
 Example 1. Solution a) and b)

a) Calculate the velocity of the blade tip (point A) if the

helicopter is not moving.
VA
w = 2p/60*240 rpm = 25.133 rad/s
VA/O VO
VA/O = w*R = 263.89 m/s
VO
When the helicopter flies forward with the
constant speed V=200 km/h
b) determine the positions of blade OA with VA/O
maximum and minimum relative velocity of
point A with respect to the ground.

VA max = V0+VA/O = 319.45 m/s

VA min = V0-VA/O = -208.34 m/s

26
 Example 1. Solution c)

When the helicopter flies forward with the

constant speed V=200 km/h determine VO
VA
c) the velocity of point A relative to the ground
when blade OA is in position at 60 degrees VA/O VO
measured in clockwise direction from the
longitudinal axis of the helicopter.
f = 60o
f Vo = 55.6 m/s
90o VA/O = 263.89 m/s
VA
f using cos theorem:
y
VA2= V2A/O+ VO2 - 2VA/O VO cos(30)  VA=217.5 m/s
O VO
VA/O Angle between VA and VA/O can be found using sin theorem:
90-f
sin(y) = Vo /VA sin(30) =263.89/217.5*0.5 = 0.607
y=37.34o and the angle between VA and the blade is 90+37.34=127.34o

27
 Example 1. Solution d)
VO
VA
When the helicopter flies forward with the
constant speed V=200 km/h determine VA/O VO
d) the expression for the absolute velocity V(r,f)
of a point on the blade on distance r from
centre O when position of the blade with
respect to the longitudinal axis of the
helicopter is defined by angle f.
using cos theorem:
f
90o VA2= V2A/O+ VO2 - 2VA/O VO cos(90o-f) = (wR)2+ VO2 - 2wRVO sin(f)
f
VA
y
Angle between VA and VA/O can be found using sin theorem:
O VA/O VO sin(y) = (Vo /VA) sin(90o-f) = (Vo /VA) cos(f)
90-f
and the angle between VA and the blade is 90o+y

28
Relative motion and mechanisms

29
 What is Mechanical Machine?

1. A mechanical apparatus or device performing a complete functional

motion for doing work, as an automobile or a jackhammer, together
with its power source and auxiliary equipment.
2. An assembly consisting of fixed and moving parts that modifies
mechanical energy and transmits it in a more useful form.
3. A machine is a tool used to make work easier.
4. Machines are composed from elementary mechanisms, as the lever,
wheel and axel, pulley, screw, wedge, etc

30
 What is a mechanism?

A mechanism is used to produce

mechanical transformations in machines.
This transformation may convert:
 One force or torque to another force or
torque (i.e. force into torque, torque into
force, etc.)
 One linear or angular motion to another
linear or angular motion (i.e. angular
motion into linear motion, linear motion
into angular motion, etc.)

J.L.Meriam,L.G.Kraige “Engineering Mechanics”

31
Examples of Mechanical Machines
Mechanical press machine Mechanical Sewing machine

Propeller Gearbox (Bristol Centaurus Engine)

32
 Four-bar Linkage (Chain)

The simplest linkage that allows large relative motion is called a four-bar linkage,
since it consists of four links connected by four joints, with each joint connecting
two of the links.
coupler
follower
(or rocker)
Types of 4-bar linkages output
crank member
input
Crank-rocker member
Double crank
Double rocker (fixed frame)
ground

A crank-rocker because the input link, the crank, rotates in a complete circle
while the output link oscillates, or rocks.

33
 Four-bar Linkage (Chain)

coupler
follower
(or rocker)
output
crank member
input
member

(fixed frame)
ground

Slider-crank mechanism

connecting rod

crank

slider

ground

34
Velocity Vector Diagram for 4-bar-linkage

  
VC / D  VB / A  VC / B

35
Acceleration Vector Diagram for 4-bar-linkage

     
aC  a B  aC / B  a B  aC / B n  aC / B t
   
aC  aC / B  aC / D n  aC / D t

36
 Double Slider

Elliptical Trammel Double Slider Crank

37
 Double slider mechanism
LAB = 1m
VA = 1m/s
aa = 12m/s2
LAG = LGA = 0.5m

VB - ? aB - ?
B
wAB - ? aAB - ?

A
q=30o

VA, aA
Velocity diagram (7)
VA = 1m/s VB/A=10cm

Scale:
5cm / 1m/s = 1:20

VB = VA + VB/A
VB =8.6cm
VB/A=10cm * 20 = 2 m/s

VB =8.6cm = 1.72 m/s

B VA
wBA = VB/A/LAB = 2m/s / 1m = 1 rad/s G
VB/A line

A q=30o

VA (1m/s=5cm)
Acceleration diagram (6)
aB = aA + (aB/A)n + (aB/A)t
aB line
Scale:
4cm / 12m/s2 = 1 : 300

aA = 4cm * 300 = 12 m/s2 aB

(aB/A)t
(aB/A)n = wBA2 LAB = (2 rad/s)2 *1m = 4 m/s2
4 m/s2 / 300 = 1.67 cm

aB = 3.8 cm*300 = 11.4 m/s2

B aA
(aB/A)n
G

(aB/A)t line

A q=30o

aA