Kinematics and dynamics

Chapter 2 Kinematics 2.1 Basic Concepts Kinematics describes the motion of mechanical
systems, without considering the forces that produce that motion. Kinematics deals with
velocities and accelerations, which are defined for points of interest on the mechanical systems.
The description of motion is relative in nature. Velocities and accelerations are therefore defined
with respect to a reference frame. 2.2 Kinematics of a particle. Rectilinear and curvilinear motion
The particle is classically represented as a point placed somewhere in space. A rectilinear
motion is a straight-line motion. A curvilinear motion is a motion along a curved path. 2.2.1
Position vector. Velocity vector. Acceleration vector The position vector r(t) (see Fig. 2.1) of the
particle P at a given instant of time t refers to its location relative to some reference point usually
taken as the origin of a coordinate system. Note that every vector considered in section 2.2 may
be projected onto the coordinate frame oxyz. As the particle moves along its straightline path, its
position changes with time. By definition the displacement r of the particle during a time interval
t is given by the change of its position during this time interval. r = r(t + t) r(t) (2.1) 1 CHAPTER
2. KINEMATICS 17 x y z P r( )t r( ) t+ t path of particle o r Figure 2.1: Position vector 2.2.2
Average and instantaneous velocities The average velocity during the time interval t is defined
as vav = r t (2.2) The instantaneous velocity is given by v = lim t!0 r t = dr dt = r_ (2.3) 2.2.3
Average and instantaneous acceleration We need to learn how the velocity varies with time ,we
define average acceleration by aav = v t (2.4) and the instantaneous acceleration is defined by
letting the time interval t approach zero in the limit: a = lim t!0 v t = dv dt = v_ (2.5) CHAPTER 2.
KINEMATICS 18 2.2.4 Absolute frame Let us express the position vector rP to point P on the
path of the particle in terms of x, y, z components (see Fig. 2.2) x y z r P o P i j k Figure 2.2:
Absolute frame rP(t) = x(t)i + y(t)j + z(t)k (2.6) vP = drP dt = x_ (t)i + y_ (t)j + z_(t)k (2.7) aP =
dvP dt = x•(t)i + •y(t)j + •z(t)k (2.8) thus we have the magnitudes vP = p x_ 2 + y_ 2 + z_2 and
aP = p x•2 + •y2 + •z2 . The velocity and acceleration vectors are obtained by successive
time differentiation of position vector. Let us state now some notations which will be used. rP
and rQ being the position vectors of two points P and Q, we have; rP=Q = rP rQ (2.9) vP=Q =
vP vQ (2.10) 2.2.5 Tangential and normal coordinates In many plane problems dealing with the
motion of a particle along a curve, it is convenient to express the acceleration in term of two
components; one along t CHAPTER 2. KINEMATICS 19 tangent to the trajectory, and the
second along the inward normal to the path. For this purpose we define two unit vectors n and t
respectively along the inward normal and along the tangent to the path (see Fig. 2.3). Consider
a particle moving along a curved path in a plane shown in Fig. 2.3 Path of particle y ∆ ∆ ∆ i x k r
P s P( )t t t o P( + ) s+ s r j t n Figure 2.3: Plane motion of a particle As we have seen above; v =
lim t!0 r t = dr dt Thus we can write; v = lim t!0 r s s t and lim t!0 s t = ds dt As t goes to zero, the
direction of r approaches the tangent to the trajectory at position rp(t) and approaches s in
magnitude. Consequently, in the limit, r=s becomes the unit vector t lim t!0 r s = t thus v = lim t!0
r s s t = ds dt t Note that ds=dt is the magnitude of the velocity, v = ds dt CHAPTER 2.
KINEMATICS 20 Let calculate now the two components of the acceleration a = dv dt = d dt ds
dt t a = d2s dt 2 t + ds dt dt dt = d2s dt 2 t + ds dt dt ds ds dt Let evaluate the derivation of t with
respect to s. Consider now the unit vector t at two positions s and s + s (see Fig. 2.4 (a)) Path of
particle Center of curvature y ∆ ∆ ∆φ ∆φ ∆ ∆ ∆ i x k r n t t t t t P C s s s s+ s ( )s ( ) ( ) ( ) ( ) t t t
P( ) o P( + ) s+ s s+ s j (a) (b) Figure 2.4: Plane motion of a particle dt ds = lim s!0 t(s + s) t(s) s
= lim s!0 t s In the limit as s goes to zero, the vector t ends up in the plane normal to the path at
s and directed toward the center of curvature, it is the direction of the unit vector n (see Fig. 2.4
(b)) CHAPTER 2. KINEMATICS 21 Knowing the limiting direction of t, we next evaluate its
limiting magnitude. According to Fig. 2.4 (b) we can say that,when s ! 0: jtj!jtj - = - ! s R thus the
magnitude and the direction are established in an approximate manner. t ! s R n and so dt ds =
lim s!0 t s = lim s!0 (s=R) n s = n R Path of particle Center of curvature y i k r n t v a a a P ( ) P t
n R C t t P( ) o j Figure 2.5: The acceleration components then the acceleration can be
evaluated by: a = d2s dt 2 t + (ds=dt) 2 R n (2.11) or a = at + an = att + ann (2.12) where at =
d2s dt 2 = dv dt (2.13) an = (ds=dt) 2 R = v 2 R (2.14) CHAPTER 2. KINEMATICS 22 For a
plane curve y = y(x), the radius R of curvature is given by; R = 1 + dy dx 2 3 2 d2y dx2
 (2.15) 2.2.6 Rotation around a fixed point in a plane The center O of the fixed frame (see Fig.
2.6) is the center of rotation; the instantaneous position and velocity of the point P are given by;
rP = OP = R cos i + R sin j vP = R d dt [ sin i + cos j] (2.16) = d dt 2 4 0 0 1 3 5 2 4 R cos R sin
0 3 5 (2.17) = i j k 0 0 d dt R cos R sin 0 (2.18) = d dt k rP (2.19) = ! rP (2.20) y i x k o j v
r P P P θ Figure 2.6: Rotation of a particle around a fixed poi CHAPTER 2. KINEMATICS 23 2.3
Kinematics of a rigid body The description of motion is relative. Any velocity or acceleration is
expressed with regard to a specific reference frame. This fact induces specific notations that
must be understood: vPS=s denotes the instantaneous velocity of the point P attached to the
body S, relatively to the body s. A rigid body is considered to be composed of continuous of
distribution of particles having fixed distances between each others. There are various types of
rigid-body motion but the most important of them are translations and rotations. 2.3.1
Translation A1 B1 A2 B2 Figure 2.7: Rectilinear translation A1 A2 B2 B1 A1 A2 B1 B2 Figure
2.8: Curvilinear translation A motion is said to be a translation if any straight line defined inside
the body keeps the same direction during the motion. In translation all particles move along
parallel paths. We have rectilinear translation when the paths are straight lines as in Fig. 2.7 in
other cases it is a curvilinear translation as in Fig. 2.8. Referring to Eq. 2.9, we have; rB = rA +
rB=A (2.21) where rB=A = AB. Let us differentiate the relation with respect to t. Since the vector
rB=A = AB has a CHAPTER 2. KINEMATICS 24 constant direction and a constant magnitude,
its time derivative is zero: vB = vA aB = aA In a translation all particles of the rigid body have
same velocity and same acceleration. 2.3.2 Rotation about a fixed axis If a part of a rigid body,
or a hypothetical extension of the body, has zero velocity to some reference, the body is said to
be in rotation. The axis of rotation is the line of stationary particles. Since the velocity of P is a
vector perpendicular to the plane x y z o i j k v P S (s) P P B r Figure 2.9: Rotation about fixed
axis (Fig. 2.9) containing the rotation axis and rP. We can write referring, to Eq. 2.19: vPS=s =
drP dt (2.22) = !S=s rP (2.23) or in a condensed form v = dr dt = ! r (2.24) CHAPTER 2.
KINEMATICS 25 Note that the vector product can be computed as the determinant: v = vxvy
vz
= i j k !x !y !z x y z (2.25) And then vxi = i !y !z y z
= i (!yz y!z) vy j = j !x !z x z
= j (!xz x!z ) vzk = k !x !y x y
 = k (!xy x!y) Since ! = _k (2.26) We have !x = 0, !y = 0, !z = _ and the velocity is completely
determined. The acceleration a of P is now determined as aPS=s = dvPS=s dt (2.27) = d dt
!S=s rP (2.28) = d!S=s dt rP + !S=s drP dt (2.29) = • k rP + !S=s !S=s rP (2.30) 2.3.3 Particular
case: Motion in plane A Plane Motion is a motion in which all particles of the body move in
parallel planes. Velocity in plane motion Given two particles A and B of a rigid body in plane
motion the velocity vB of B is obtained from the velocity formula (referring to Eq. 2.10) vB = vA +
vB=A (2.31) In relative motion about A , A is fixed (vA=A = 0). Thus vB=A can be associated
with the rotation of the body about A and is measured with respect to axes centered at A vB=A
= ! rB=A CHAPTER 2. KINEMATICS 26 = + v v v v B B v A A A B B B/A A B A Figure 2.10:
Plane motion and vB=A = AB ! (2.33) ! = !k is the angular velocity of the body, we note that rB=A
= AB vB = vA + ! AB (2.34) Acceleration in plane motion S B (s) B t n v a a A x y Figure 2.11:
Plane motion aB = dvB dt (2.35) = dvA dt + d ! rB=A dt (2.36) = aA + d! dt rB=A + ! drB=A dt
(2.37) = aA + !_ rB=A + ! ! rB=A (2.3 CHAPTER 2. KINEMATICS 27 If A is the center of a fixed
frame s (see Fig. 2.11) we have aA = 0 and then; aB = !_ k rB=A !2rB=A (2.39) = !_ k AB !2AB
(2.40) In the right hand of Eq. 2.40, the first term is perpendicular to AB and the second is
parallel. Equiprojectivity For two points A and B of a given rigid body we can write A A B B v v
Figure 2.12: Equiprojectivity vB = vA + ! rB=A (2.41) vB rB=A = vA rB=A + ! rB=A rB=A (2.42)
vB rB=A = vA rB=A (2.43) vB AB = vA AB (2.44) Instantaneous center of rotation Considering
a general plane motion of a body, at given instant, the velocities of various particles of the body
could be expressed as the result of a rotation whose axis is perpendicular to the plane. This axis
intersects the plane at a point called the instantaneous center of rotation. The position of this
particular point can be defined in many ways. If the directions of the velocities of two particles A
and B are known and if they are different, (Fig. 2.13, at left) the instantaneous center of rotation
is obtained by drawing the perpendicular to vA through A and the perpendicular to CHAPTER 2.
KINEMATICS 28 through B and finding the point in which these two lines intersect. If the
velocities vA and vB are perpendicular to the line AB and if their magnitude are known, the
instantaneous center of rotation can be found by intersecting AB with the line joining the
extremities of the vector (Fig. 2.13, at right). A B C B A C Figure 2.13: Instantaneous center of
rotation Kennedy’s theorem The Kennedy’s theorem states that the three instant centers shared
by three rigid bodies in relative planar motion to another (whether or not connected) all lie on the
same straight line. Application of Kennedy’s theorem S S S 0 1 2 3 S Figure 2.14: Four-bar
linkage The figure 2.14 shows four-bar linkage let us locate all instant centers. When the
number of bodies is large, it is helpful to use some kind method to find the instant centers. Note
that S0 represents the stationary frame. 1. By inspection ,determine as many centers as
possible, in the exemple the instant centers I01, I12, I23, I03 are easily placed. CHAPTER 2.
KINEMATICS 29 2. Using Kennedy’s theorem with links S0, S1, S2 the instant center I02 must
lie on the same straight line with I01, I12 but it must also lie on the line through I23 and I03. The
location is defined by the intersection of the two lines. 3. The same reason can be used to
locate the center I13. S S S S 0 3 2 1 Revolute Revolute Revolute Revolute S S S S I I I I I I 0 3
2 1 03 13 23 02 12 01 Figure 2.15: Locating instant center 2.3.4 General motion in space x y z Z
X Y o A P (s) S Figure 2.16: General motion in space without rotating axis The most general
motion of a rigid body in space is equivalent at any given instant to the combination of a
translation and a rotation (as we have seen for plane CHAPTER 2. KINEMATICS 30 motion).
Considering two particles A and P of the rigid body S, we have: vP = vA + vP=A (2.45) Where
 vP=A is the velocity of P relative to a frame attached to A, thus vP=A = !S=s rP=A or vP=A =
!S=s AP where ! is the angular velocity of the body S relative to the fixed frame s. The absolute
velocity of a particle P belong to S is given by from above: vPS=s = vAS=s + !S=s AP (2.46)
The equation 2.46 allows the determination of the velocity of any point P of a body S with
respect to another frame s, vPS=s , if the following variables are known: vAS=s : velocity of a
point A of the body S with respect to s. !S=s : angular velocity of S with respect to s. AP:
position of the particle P with respect to A. The acceleration of P is obtained by differentiating
the equation with respect to time. aPS=s = dvP dt (2.47) = dvAP=s dt + d !S=s AP dt (2.48) =
aAS=s + !_ AP + !S=s dAP dt (2.49) = aA=s + !_ S=s AP + !S=s !S=s AP (2.50) The equation
2.50 allows the determination of the acceleration of any point P of a body S with respect to
another frame s, aPS=s , if the following variables are known: aAS=s : acceleration of the point
A of the body S with respect to s. !S=s : angular velocity of S with respect to s. !_ S=s : angular
acceleration of S with respect to s. AP: position of the particle P with respect to A. In some
cases, (Fig. 2.17) it is needed to express either the velocity either the acceleration in different
frames. then the following equation can be used: For velocity: vP=s = vP=S + vPS=s (2.5
CHAPTER 2. KINEMATICS 31 x y z Z X Y o A P (s) S Figure 2.17: General motion of a rigid
body in space with rotating axis assume to S and s are two frames, note that here vPS=s
represents the velocity of the frame S with respect to the frame s. The acceleration is then given
by: aP=s = aP=S + aPS=s + acor (2.52) where acor is the Coriolis acceleration: acor = 2!S=s
vP=S (2.53) The Coriolis acceleration has a zero value if: the point P has no relative velocity
with respect to S (vP=S = 0); the relative velocity vP=S = 0 is parallel to the angular velocity
!S=s . (see [2] for demonstration) 2.3.5 Rolling without slipping The point of contact G between
a cylinder and a the flat ground has instantaneously zero velocity (vG = 0) if the cylinder rolls
without slipping (Fig. 2.18). vPS=s = vGS=s + !x GP vPS=s = 0 + !S=sx GP CHAPTER 2.
KINEMATICS 32 o x y z P A X Y Z G Figure 2.18: Rolling without slipping In particular for the
center A of the cylinder we get from above vAS=s = vGS=s !S=sx GA vAS=s = 0 !S=sx GA thus
vA = x y z ! 0 0 0 0 R = R!y 2.4 Kinematics of systems of rigid bodies 2.4.1 Mechanism A
mechanism is an collection of rigid bodies connected together by joints. Mechanisms transfer
motion and mechanical work from one or more members to others. When several links are
connected by joints,they form a kinematics chain with one link possibly fixed. The joints permit
relative motion in some directions while constraining motion in others. 2.4.2 Degrees of freedom
The types of motion permitted are related to the degree of freedom (dof) also called mobility.
This represents the number of input parameters which can be controlled independently in order
to bring the device in a particular position. It is possible to determine the mobility of a
mechanism by counting the number of links (including the fixed one) and the degrees of
freedom constrained by each joint. For a plan motion, we have: dof = 3(nb nj ) +X fj (2
CHAPTER 2. KINEMATICS 33 where nb is the total number of rigid bodies including the fixed
link; nj is the total number of joints possibly including the fixed link fj degree of freedom of
relative motion between the bodies constrained by the kinematical joint. For a three-dimensional
motion dof = 6(nb nj ) +X fj (2.55) 2.4.3 Lower pairs and higher pairs Name j Rigid joint Revolute
Prismatic Helical Cylindrical Spherical Planar 0 rotation 0 translation 1 rotation 0 translation 0
rotation 1 translation 1 rotation 1 translation 1 rotation 1 translation (right) (left) 3 rotations 0
translation 1 rotation 2 translations 0 1 1 1 2 2 3 Relative motion Degree of freedom (f ) Skecth
symbol Other view Figure 2.19: Lower pair joints We divide joints joints into two groups: A lower
 pair joint is one in which contact two rigid bodies occurs at every points of one or more surface
segments (see Fig. 2.19) CHAPTER 2. KINEMATICS 34 Description Cylindrical surface on a
plan without slipping Cylindrical surface on a plan with slipping Ball on a plan without slipping j
Point on a plan with slipping 1 2 3 5 Degree of freedom (f ) Typical form # # Figure 2.20: Higher
pair joints s Fixed body Name Symbol A higher pair joint is one which contact occurs only at
isolated points or along a line segments (see Fig. 2.20) # represents that there is not slipping on
the plane. CHAPTER 2. KINEMATICS 35 2.4.4 Kinematics exercises The MATLAB file Kexx.m
can be executed by typing Kexx in the interactive window of MATLAB . It provides an interface
where the user may examine the numerical aspects of the exercises simply by pressing
command buttons, corresponding to the various kinematics exercises. Each button calls the
corresponding MATLAB file with an illustration of the exercise solution. It is also possible to see
the solution of each exercise by calling the corresponding file, directly from the command line.
Exercise 2.4.1 Piston connected to a nut (see Fig. 2.21) Kex1.m A single-threaded screw S0,
defining a pitch p (translation of the nut along the screw axis for one turn), supports a nut S1. A
solid rod AB (length L) connects the nut (point B) and to a piston S3 (point A). The piston S3
can only slide along the Az axis in a straight slot (this axis is parallel to the screw axis Oz). The
distance between the two axes is d.
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xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx d A L z y S1 S0 ω O S2 y x ω A O B S3 S2
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Figure 2.21: Piston connected to a nut. CHAPTER 2. KINEMATICS 36 The coordinates of A are
(0; d; zA). The coordinates of B are (R cos
; R sin
; p=2
). If the nut rotates at the constant angular speed ! = d
=dt, what is the vertical velocity vA of the piston? For the following parameters :R = 30 mm, d =
50 mm, L = 10 mm, p = 100 mm, ! = 1 rad=s, compute the vertical velocity, with respect to
and compare it with the results provided by the Kex1.m file. Solution The velocity vA is the first
time derivative of the coordinate zA. We will first determine the expression of zA. AB = AO + OB
= OB OA = R cos
; +R sin
+ d; p 2zA AB2 = L2 = R2 cos
+ R2 sin
+ d 2 + 2Rd sin
+p
2zA2 p
2zA2 = L2 R2 d 2 2Rd sin
zA = p L2 R2 d2 2Rd sin
+ p 2There are two different solutions but the only physically valid solution is zA>p
/2. Determination of vAz vAz = dzA dt = + 2Rd cos
d
dt 2p L2 R2 d2 2Rd sin
+ p 2d
dt vAz = !Rd sin
p L2 R2 d2 2Rd sin
+ p 2 ! Another way to solve the problem is presented here. First, the velocity vB is determined.
vB = vO + ! OB ) vO = p 2 ! ) vB = 0; 0; p 2 ! + i j k 0 0 ! R cos
R sin
0 vB = !R sin
; ! CHAPTER 2. KINEMATICS 37 Equiprojectivity along AB is then used: AB vAAB=s = AB
vBAB=s with vBAB=s = vBS1=s = R sin
!; R cos
!; p 2 ! AB = R cos
; R sin
+ d; p 2zA vAAB=s = (0; 0; vAz) ) vAz p 2zA = R2 sin
cos
! + R2 sin
cos
! + Rd cos
! + p 2 ! ) vAz = Rd cos
!p2
zA + p 2 ! (2.56) ) vAz = Rd cos
!p2
 p2
p L2 R2 d2 2Rd sin
+ p 2! (2.57) ) vAz = p 2 ! Rd cos
! p L2 R2 d2 2Rd sin
(2.58) The file Kex1.m illustrates the exercise. First, the geometrical parameters of the system
(R, d, L, p), the angular velocity and the number of rotations for S1 have to be introduced (see
Fig. 2.22). Then, the vertical coordinates and the velocity of the point A are calculated and
plotted. An animation of the mechanism is performed (see Fig. 2.23). The mechanical system is
shown in different configurations when the solid S1 turns around the Oz axis. Exercise 2.4.2
Rolling trolley (see Fig. 2.24) Kex2.m A trolley S2, supported by multiple rigid steel balls S1
(radius r), can only have a rectilinear motion along the conductor rail s (z axis). It is assumed
that there is no sliding at the contact points M, N et P (see Fig. 2.24). If the velocity v = vk of the
trolley is known, and if O is considered as a point of S1, determine, with respect to parameters v
and r: 1. the relative velocity of the point O depending on the reference frame s; 2. the relative
velocity of the point O depending on the reference frame S2. For the following parameters: r =
10 mm, v = 10 m=s, compute the relative velocities of O depending on the reference frame s,
and depending on the reference frame S2 compare them with the results provided by the
Kex2.m f CHAPTER 2. KINEMATICS 38 Figure 2.22: Introduce the parameters values or keep
the default values. Figure 2.23: Animation of the piston in two views. 1. Motion of S1 depending
on the reference frame s. As there is no sliding at points M and N: vMS1=s = 0 and vNS1=s = 0.
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xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx C r M N P S1 trolley S2 support s O x z xx x x y
45˚ Figure 2.24: Rolling trolley. With s as a reference, we note that MN defines the
instantaneous axis of rotation for the motion of S1. This implies that !S1=s lies on the axis MN.
!S1=s = !1:uNM with !1 > 0. Since there is no sliding at point P: vPS1 =S2 = 0 ) vPS1 =s = vPS2
=s Now, we also have: vPS2 =s = vk and vPS1 =s = !1 (distance between P and the
instantaneous axis of rotation MN) | {z } r+r p 2 2 k ) v = !1(r + r p 2 2 ) ) !1 = v r 1+ p 2 2 Thus:
!S1=s = v r 1+ p 2 2 :uNM = v r 1+ p 2 2 p 1 2 ; p 1 2 ; 0 = v:p 2 r(2+p 2) ; v:p 2 r(2+p 2) ; 0
vOS1=s = !1 (distance between O and the instantaneous axis of rotation MN) | {z } r p 2 2 k )
vOS1=s = !1r p 2 2 k = v r 1 + p 2 2 r p 2 2 k = vp 2 2 + p 2 k (2.59) 2. Motion of S1 depending
on the reference frame CHAPTER 2. KINEMATICS 40 The relative velocities between S1 and s
and between S2 and s are known. Actually: v0S2=s : (0; 0; v) and !S2=s : (0; 0; 0) (S2=s =
translation). and : v0S1=S2 = v0S1=s v0S2=s = 0; 0; vp 2 2+p 2 v Now, we also have: !S1=S2 =
!S1=s !S2=s = !S1=s = vp 2 r 2 + p 2 ; v:p 2 r 2 + p 2 ; 0! (2.60) The MATLAB file concerning
this exercise is Kex2.m. After having introduced the numerical parameters for this exercise
(radius of the balls and the velocity of the trolley), the relative velocity of point O depending on
the reference frame s or S2 are computed and displayed on the screen. Exercise 2.4.3 Gear set
(see Fig. 2.25) Kex3.m r s R P M S S* O y z x Figure 2.25: Gear set. The gear set is defined by
the two wheels s (centre O, radius R) and S (centre C, radius r), the wheel s being fixed. A solid
rod S connects the two gears at points O and C. The assembly defines two revolute joints:
between s and S at point O and between S and S at point C. A pure rolling without sliding
occurs between S and S . If the velocity !S=s and the radius R and r are known, determine
vPS=s , the relative velocity of P (attached to S) depending on the reference fr CHAPTER 2.
KINEMATICS 41 For the following parameters: R = 50 mm, r = 10mm, ! = 1rad=s, compute the
amplitude of the velocity of P give the graph with respect to the time t and compare it with the
results provided by the Kex3.m file. Solution s S S* Rolling without slipping in M R(C) R(O)
Figure 2.26: Kinematical chain. The number of degrees of freedom can be determined quite
directly (see Fig. 2.26): (2 bodies 3) - (2 revolute joints 2) - (1 pure rolling constraint 1) = 1. One
can notice that the pure rolling without sliding only introduces one constraint (no sliding) since
the contact is already defined by S (that cannot be warped). vPS=s = vCS=s + !S=s CP =
vCS=s + !S=s CP = !S=s OC + vOS=s | {z } =0 +!S=s CP ) vPS=s = !S=s OC + !S=s CP = ij
k 0 0 !S=s 0 R + r 0 + i j k 0 0 !S=s r 0 0
 = !S=s(R + r)i + !S=srj = i !S=s(R + r) + !S=s |{z} ? rj One can deduce the relation between !S=s
et !S=s from the pure rolling without sliding that occurs a CHAPTER 2. KINEMATICS 42 vMS=s
= vCS=s + !S=s CM = 0 (2.61) = vCS=s + !S=s CM (2.62) = !S=s OC + !S=s CM (2.63) ) !S=s
OC + !S=s CM = 0 (2.64) !S=s: jOCj :i + !S=s:r:i = 0 (2.65) !S=s = !S=s :R + r r (2.66) ) vPS=s =
!S=s(R + r)i + !S=s(R + r)j (2.67) ) vPS=s ? MP (2.68) The MATLAB file Kex3.m is divided into
two parts. The first one is used to calculate the speed of P depending on the reference frames
as function of the numerical parameters introduced by the user: the radii r and R and the
angular velocity !. The scalar product of the velocity of P and the vector MP is also computed to
show that they are perpendicular. The amplitude of the velocity is plotted when the rod S2
makes a complete revolution around O. The second part of the MATLAB file Kex3.m is used to
get an animated sketch of the mechanism and a plot of the velocity of P when the rod S2 covers
a number of turns chosen by the user. Figure 2.27: Animation of the gear se CHAPTER 2.
KINEMATICS 43 s C O M S S S s 3 2 1 Figure 2.28: Cam Exercise 2.4.4 Cam (see Fig. 2.28)
Kex4.m The ground s being the reference frame, the assembly includes three different bodies:
the cam S1 defining with the reference s a revolute joint at point O; the cam wheel S2 defining
with the piston S3 a revolute joint at point C (centre of the wheel), a pure rolling without sliding
occurring at point M between the wheel S2 and the came S1; the piston S3 defining with the
reference frame a prismatic joint. To set things clear, we have, in terms of motion: a rotation of
S1 with respect to s, a rotation S2 with respect to S3 and a pure rolling without sliding of S2 on
S1, a translation of S3 with respect to s. We ask to determine vCS3 as a function of !S1=s . For
the following parameters: !S1=s = 1 rad=s, r1 = 0:2 m, r2 = 0:1 m, the S3 length = 0:5 m, the
length Le = 0:1 m, compute the coordinates of the instant center CHAPTER 2. KINEMATICS 44
I13 (see Fig. 2.4.4) at the initial time t = 0, and compare it with the results provided by the
Kex4.m file. Solution The number of degrees of freedom can be determined quite directly: (3
bodies 3) - (2 revolute joints) - (1 prismatic joint x 2) - (1 pure rolling without sliding 2) = 1. s S1
S3 Rolling without slipping in M R(C) R(O) S2 R(Oy) Figure 2.29: Kinematical chain relative to
exercise 2.4.4. One can notice that the pure rolling without sliding introduces two constraints:
zero normal and tangential velocities. We have: vMS1=s = !S1=s OM vMS2=S1 = 0 coming
from the pure rolling without sliding that allows to write: vMS2=s + vMs=S1 = 0 ) vMS2=s =
vMS1=s vCS2=s = vMS2=s + !S2=s MC vCS3=s = vCS2=s vCS3=s | {z } vertical = !S1=s OM |
{z } known + !S2=s MC | {z } ?MC ) !S1=s OM = vCS3=s !S2=s MC ICR S3 S2 S1 s S3 ? C I13
Px(1) S2 C ? M I02 S1 I13 M ? O s Px(1) I02 O ? I02 is the intersection between Cx (horizontal
axis including C) and OM (Kennedy’s theorem). We therefore can write CHAPTER 2.
KINEMATICS 45 s s C O M S I I S S 3 02 13 2 1 Figure 2.30: Kinematical sketch relative to
exercise 2.4.4. vCS2=s
= !S2=s I02C vMS1=s = vMS2=s
!S1=s
: jOMj =
!S2=s
: jI02Mj )
!S2=s
=
!S1=s
: jOMj jI02Mj ) vCS2=s
=
!S1=s
 : jOMj jI02Mj : jI02Cj I13 is the intersection between Ox (horizontal axis including O) and CM
(Kennedy theorem) and the instantaneous centre of rotation between S3 and S1. We therefore
can write: vI13S3 =S1 = 0 vI13S3 =s = vI13S1 =s vCS3=s + !S3=s I13 = vI13S1 =s vCS3=s =
vI13S1 =s = vOS1=s | {z } =0 + !S1=s OI13 | {z } ?OI13 The MATLAB file Kex4.m supposes that
the body S1 is a circle with a radius r1. After giving the two radius r1,r2 and the angular velocity
!S1=s, we have an animation of the mechanism where the instantaneous centers of rotation are
represented. CHAPTER 2. KINEMATICS 46 Figure 2.31: Animation of the system of cam.
Exercise 2.4.5 Assembly of 3 bodies (see Fig. 2.32) Kex5.m Figure 2.32: Assembly of bodies
The ground s being the reference frame, the assembly includes three different bodies: a solid
rod OA (length L) defining with the reference s a revolute joint at point O; a wheel S (centre C;
radius R) defining with the solid rod AB a revolute joint at point B (BC = R), a pure rolling without
sliding occuring at point P CHAPTER 2. KINEMATICS 47 between the wheel S and the ground
s; a solid rod AB (length 2R) defining with the solid OA a revolute joint at point A. In the current
state, the rod OA and the horizontal axis X define an angle
, the rod AB being vertical and the segment BC being horizontal. If the instantaneous angular
velocity of the rod OA depending on the reference frame s is known (
_ ), determine: 1. vDOA=s 2. vAOA=s 3. vBS=s 4. vEAB=s 5. vMS=s For the following
parameters: OA = 50 mm, the radius of S R = 10 mm, ! = 1 rad=s,
= 30o , compute the velocities according to corresponding equations and compare them with
the results provided by the Kex5.m file. Solution 1. vDOA=s !OA=s =
_ k vDOA=s = vOOA=s + !OA=s OD: = 0 + ijk00
_ L 3 cos
L 3 sin
0
 = _ L 3 sin
;
_ L 3 cos
; 0 2. vAOA=s vAOA=s = vOOA=s + !OA=s OA: = 0 + ijk00
_ L cos
L sin
0
 = ( L_ sin
;
L_ cos
; CHAPTER 2. KINEMATICS 48 3. vBS=s P being the instantaneous centre of rotation between
S and s, we have: vBS=s = vPS=s | {z } =0 +!S=s PB = !S=s k PB = i j k 0 0 !S=s R R 0
 = !S=sR; !S=sR; 0 With the revolute joint at point A between OA and AB, we have: vAOA=s =
vAAB=s With the revolute joint at point B between AB and S, we have: vBAB=s = vBS=s Using
the property 2.44, we have: vAAB=s AB = vBAB=s AB and then vAOA=s AB = vBS=s AB ( L_
sin
;
L_ cos
) (0; 2R) = !S=sR; !S=sR (0; 2R)
L_ cos
2R = !S=sR2R ! !S=s =
L_ cos
R Finally, we get: vBS=s = (_
L cos
;
L_ cos
; 0) 4. vEAB=s vEAB=s = vAAB=s + vBAB=s 2 =
L_ 2 (cos
sin
);
L_ cos
; 0Other method (we solve the problem at once for !S CHAPTER 2. KINEMATICS 49 vBS=s =
vBAB=s = vAAB=s + !AB=sk AB !S=sR; !S=sR; 0 = ( L_ sin
;
L_ cos
; 0) + i j k 0 0 !AB=s 0 2R 0
 = L_ sin
+ !AB=s2R;
L_ cos
; 0 Projection along the X axis:
L_ cos
= L_ sin
+ !AB=s2R. Projection along the Y axis: !S=sR =
L_ cos
! !S=s = L_ cos
R ! !AB=s =
L_2R (cos
+ sin
). vEAB=s = vAAB=s + !AB=sk AE = ( L_ sin
;
L_ cos
; 0) + ijk00
L_2R (cos
+ sin
)0R0
 =
L_ 2 (cos
sin
);
L_ cos
; 0 5. vMS=s vMS=s = vPS=s | {z } =0 +!S=s PM = !S=sk PM = 0 + i j k 0 0 L_ cos
R 0 2R 0
 = (2 _
L cos
; 0) The file Kex5.m illustrates the exercise. First, the geometrical parameters of the system (R,
d, L, p), and the angular velocity of S1 have to be introduced. Then, the five velocities vDOA=s ,
vAOA=s , vBS=s , vEAB=s , vMS=s are calculated. Exercise 2.4.6 Wheel (see Fig. 2.33 )
Kex6.m The wheel S (centre C, radius R) defines with the horizontal axis Ox (ground reference
s) a pure rolling without sliding at point M. The displacement of point M is described by the law:
xM = f( CHAPTER 2. KINEMATICS 50
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Figure 2.33: Wheel 1. the velocities of S; 2. the accelerations of S For the following parameters:
r = 0:7 m, !_ = 0:001 rad=s, compute the velocity and the acceleration at the instant t = 125 and
compare it with the results provided by the Kex6.m file. Solution Using the fundamental
relationship 2.34 v = vO + ! e, we have: vx = v0x !zy (2.69) vy = v0y + !zx (2.70) (2.71) M being
the instantaneous centre of rotation between S and s, we have jvCj = jvMj = jf 0(t)j = j!z j R and
!z = f 0 (t) R . Since vM=S = 0, we have 0 = v0x !z :0 and 0 = v0y + !zf (t). Expressions that can
be simplified in 0 = v0x and v0y = f (t)f 0 (t) R . As a consequence, the velocities of S are: vx = f
0(t) y R ; vy = f 0(t) R (f (t) CHAPTER 2. KINEMATICS 51 Coming from these, the accelerations
are: ax = v0x dt !z dt y !zv0y !2 z x; (2.72) ay = v0y dt + !z dt x !zv0x !2 z y; (2.73) ax = f 00(t) R y
+ f 0(t) R f (t)f 0(t) R f 02(t) R2 x; (2.74) ay = f 02(t) + f (t)f 00(t) R f 00(t) R x f 02(t) R2 y; (2.75)
ax = f 02(t) R2 f f 02(t) R2 x + f 00(t) R y; (2.76) ay = f 02 + f f 00 R f 00 R x f 02 R2 y: (2.77) The
file Kex6.m illustrates this exercise by giving an animation of the wheel rolling on a fixed ground.
First, the geometrical parameters of the system (r, !) have to be introduced. Then, the user need
to choose between a representation of the velocity vector or the acceleration vector during the
wheel motion. We suppose in this exercise that, the angular acceleration of the body S is
constant. Figure 2.34: In the animation given by the Kex6.m file we have either the velocity
vector or the acceleration vector of a point of the circle. Exercise 2.4.7 Ship motion (see Fig.
2.35) Kex7.m A sailing O ship purely moves forward along its longitudinal axis (this axis can be
seen as the intersection between the longitudinal symmetry plane of the ship and the surface of
the sea). For such a motion to occur, the wind w should blow in the backward face of the sail. If
is the angle between the longitudinal axis and the wind direction and the angle between the
longitudinal axis and the sail orientation (see Fig. 2.35), determine the limit angle lim so that a
longitudinal motion of the ship still o CHAPTER 2. KINEMATICS 52 γ α vwind vboat Figure 2.35:
Ship motion how it is possible to sail forward with dead winds. For the following parameters:
vw=s = 10 m=s,
= 10o , vo=s = 20 m=s, draw the two functions y1 = vw=s sin(
) = y1( ) and y2 = vo=s sin( ) = y2( ), with respect to on the same figure and find lim, compare it
with the results provided by the Kex7.m file. Solution If we take the ship O as a reference, it will
still sail forward only if the relative velocity of the wind vw=o shows a positive component along
the longitudinal axis: vw=o uno > 0 (2.78) Using the angles
and , we can write (for a ground reference s): vw=o = vw=s vo=s = vw=s vo=s = (vw=s cos
vo=s)i vw=s sin
 j (2.79) uno = sin i cos j (2.80) By replacing in Eq. 2.78: vw=o uno > 0 vw=s cos
sin vo=s sin + vw=s cos sin
> 0 vw=s sin(
) vo=s sin > 0 (2.81) For an unvarying wind (vw=s and
), this last equation (2.81) gives the limit angle lim. One can see that, even for dead winds (
< 2 , it is possible to sail forward. The file Kex7.m gives a graphical solution of the exercise.
First, the parameters of the system; vw=s , the wind velocity,
its angle with respect to the longitudinal axis and vo=s , the ship velocity have to be introduced.
According to the Eq. 2.81 two graphs with respect to are drawn on the same figure and the requi
CHAPTER 2. KINEMATICS 53 α α vwind boat path Figure 2.36: Ship motion. given. Exercise
2.4.8 (see Fig. 2.37) Kex8.m Figure 2.37: Circle around horizontal axis The circle s (centre O,
radius R) being the reference frame, a wheel S (center C , radius R) revolves around the
horizontal axis PC (this axis being perpendicular to the wheel reference plane) and rolls without
sliding on the ground at point A, describing the abovementioned circle s. The axis PC revolves
around this vertical axis OP with a known angular velocity . The points A, B, C and D being
clearly located by the figure: 1. determine vAS=s , vBS=s , vCS=s and vDS=s ; 2. considering a
constant velocity , determine the accelerations aAS=s , aBS=s , aCS=s and aDS=s . CHAPTER
2. KINEMATICS 54 For the following parameters: R = 30 m, = 0:1 rad=s compute all required
velocities and accelerations according to the adequate formulas and compare the values with
the results provided by the Kex8.m file. Solution 1. Since a pure rolling without sliding occurs at
point A between S and s, we have: vAS=s = 0 vAS=s = vCS=s + ! CA We know that: vCS=s =
vCPC=s = R i Combining the last two equations we have: vAS=s = R i + i j k 0 !S=s p 2 2
!S=s p 2 2 0 0 R
 = R i + R!S=s p 2 2 i = 0 And, as a consequence, !S=s = CHAPTER 2. KINEMATICS 55 The
other velocities are easily determined as shown here below: vBS=s = vCS=s + ! CB = R i + i
jk0R00
= R i + R j + R k vCS=s = vCS=s + ! CC = R i + ijk000R
= R i R i = 2R i vDS=s = vCS=s + ! CD = R i + ijk0R00
 = R i R j R k 2. Quite logically, we have: aPS=s = 0 M being a point randomly selected on S, we
have: aMS=s = d! dt PM + ! (! PM) ; M 2 S We also have: ! = !S=s = p 2 AP Rp 2 = AP R If
is the instantaneous angle between PC and Ox during the motion, we can write: AP = Rk R cos
i R sin
j ! = (k cos
i sin
j) : d! dt = (sin
i cos
j) d
dt = 2 (sin
i cos
j) : For the current position, w CHAPTER 2. KINEMATICS 56 ! = (k j), d! dt = 2 i, and aMS=s = 2
i PM + 2 ((k j) PM) (k j) 2 2PM. We finally get: aAS=s = 2R (j + k) aBS=s = 2R (2i + j) aCS=s =
2R (3j + k) aDS=s = 2R (2i j) The MATLAB file Kex8.m illustrates this exercise by calculating all
required velocities and accelerations assume to R the radius of the body S, and the angular
velocity of PC around the vertical axis OP, are known. Exercise 2.4.9 Slider-crank mechanism
(see Fig. 2.38) Kex9.m The mechanism includes: a solid rod S1 of length L defining with the
reference frame s a revolute joint at point O, a solid rod S2 of length L defining with the S1 a
revolute joint at point P, a piston S3 defining with the reference frame a prismatic joint. In the
configuration represented at Fig. 2.38, we want to determine the relative velocity of point B of
S3 depending on the reference frame s as a function of !S1=s . O S S S 1 2 3 A P B Figure
2.38: Slider-crank mec CHAPTER 2. KINEMATICS 57 Figure 2.39: In the animation you can
see two velocity vectors vA and vB, their projections and the center of AB trajectory. For the
following parameters: !S1=s = 1 rad=s, L =1m plot the magnitude of vBS3=s with respect to
and compare it with the results provided by the Kex9.m file. Solution The velocity of the point A
of S1 depending on the reference frame s is determined by: vAS1=s = vOS1=s + !S1=s OA
vAS1=s = L!S1 =s sin
; L!S1=s cos
; 0 The centre of rotation of S2 depending on the reference frame s is the point P which is at the
intersection between OA and the vertical issued from B. The angular velocity of S2 can be
deduced of: vAS1=s = vAS2=s = !S2=s PA = !S2=s OA !S2=s = !S1=s since PA = OA And
finally, the velocity of B is determined by: vBS3=s = vBS2=s (2.82) = !S2=s PB (2.83) = !S2=s
(0; 2L sin
; 0) (2.84) = 2L!S1=s sin
; 0; 0 (2.85) The file Kex9.m illustrates the exercise. Considering as parameters of the system
!S1=s, the angular velocity of the rod S1 around the point O and L the length CHAPTER 2.
KINEMATICS 58 two rods S1 and S2 have been introduced, the velocities of the points A and B
are calculated. An animation of the mechanism is performed (see Fig. 2.39). The mechanical
system is shown in different configurations when the solid S1 turns around the Oz axis. The two
velocity vectors and their projection on the AB axis are represented. Thus the user can see that
the relation of equiprojectivity (see Eq. 2.44) is always verified. Exercise 2.4.10 Excavator (see
Fig. 2.40) Kex10.m An excavator works with two handles S1 and S2 of respective lengths L0
and L00 . As shown on the Fig. 2.40, the problem includes two revolute joints: one at point A
and the other at point B.
is the angle between S1 and the vertical axis and
is the angle between the two handles S1 and S2. The ground s being the reference, find the
ratio (d
=dt)=(d
 =dt) so that the claws of the shovel (point C) describes a horizontal motion.
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xxxxxxxxxxxxxxxxxxxxxx α β A B C h L'' L' s S2 S1 Figure 2.40: Excavator. For the following
parameters: L0 =3m, L00 =5m,
= 30o plot for five given
the ratio !1=!2 versus
and compare it with the results provided by the Kex10.m file. Solution We successively get the
following equations: vCS2=s = vBS2=s + !S2=s BC vBS2=s = !S1=s AB vCS2=s = !S1=s AB +
!S2=s BC = !S1=s AB + !S2=S1 + !S1=s BC = !S1=s (AB + BC) | {z } =AC +!S2=S1 B
BIBLIOGRAPHY 59 AC = [L0 sin
+ L00 sin (
)] i + [L0 cos
L00 cos (
)] j BC = [L00 sin (
)] i + [L00 cos (
)] j !S1=s AC = i j k 0 0 !1 L0 sin
+ L00 sin (
) L0 cos
L00 cos (
)0
= !1 [L0 cos
L00 cos (
)] i + !1 [L0 sin
+ L00 sin (
)] j !S2=S1 BC = i j k 0 0 !2 L00 sin (
) L00 cos (
)0
= !2L00 cos (
) i !2L00 sin (
) j Still vCS2=s has to be parallel to the horizontal axis i, we can write: !2:L00 sin (
) = !1 [L0 sin
+ L00 sin (
)] !2 !1 = [L0 sin
+ L00 sin (
)] L00 sin (
)d
dt d
dt = !1 !2 = 1 1 + L0 sin
L00 sin(
) The file Kex10.m gives a graphical solution of the exercise. The parameters of the system are
L0 , the length of the body S1, L00 , the length of the body S2. We plot for five given
the ratio !1=!2 with respect to
. Bibliography [1] J.W. McNabb B.B. Muvdi, A.W. Al-Khafaji. Dynamics For Engineers. Springer-
Verlag, New York, 1997. [2] Serge Boucher. Mécanique Rationnelle. Editions des étudiants de
la Faculté Polytechnique de Mons, Mons, Belgium, 1999. (in French, 7 volumes). [3] E.Russel
Johnston JR Ferdinand P. Beer. Vector Mechanics For engineers. Statics and Dynamics.
McGraw-Hill, USA, 1997. [4] J.J. Uicker J.E. Shigley. Theory of Machines and Mechanics.
McGraw-Hill, New York, 1995. [5] Irving H. Shames. Engineering Mechanics. Statics and
Dynamics. Prentice Hall, Upper Saddle Riv BIBLIOGRAPHY 60 [6] Kenneth J. Waldron and
Gary L. Kinzel. Kinematics, Dynamics and Design of Machinery. John Wiley and Sons, New
York, 1999.