5-5 Motion Relative

to Rotating Axes

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5.5 Motion Relative to Rotating Axes
1. Introduction
„ In the previous section [5.4 relative acceleration], the reference axes
(x-y) at the observer is not rotating. However, many times, it is easier
or even required to use rotating reference axes to describe relative
velocity and relative acceleration. For this case, we use concepts of
“motion relative to rotating axes.”
„ Usually, these concepts are used when there is a rigid body moving on
another rotating rigid body.
„ Examples:
… The movement of a fluid particle along the curved vane of a
centrifugal pump, where the path relative to the vanes of the
impeller is known or being designed.
… A man walking on a rotating plane
… A slider is moving along a rotating slotted link/plate/etc.

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5.5 Motion Relative to Rotating Axes
1. Introduction

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5.5 Motion Relative to Rotating Axes
2. Relative Position

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5.5 Motion Relative to Rotating Axes
3. Time Derivatives of Unit Vectors

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5.5 Motion Relative to Rotating Axes
4. Relative Velocity

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5.5 Motion Relative to Rotating Axes
5. Visualization of Velocity Terms

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5.5 Motion Relative to Rotating Axes
6. Relative Acceleration

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5.5 Motion Relative to Rotating Axes
7. Visualization of Acceleration Terms

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5.5 Motion Relative to Rotating Axes
7. Visualization of Acceleration Terms

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5.5 Motion Relative to Rotating Axes
7. Visualization of Acceleration Terms

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5.5 Motion Relative to Rotating Axes
Example 1: Rotating Slotted Disk
The disk is rotating about point O with a counterclockwise
angular velocity of 4 rad/s which is decreasing at the rate of
10 rad/s2. The motion of slider A is controlled to have
r = 150 mm
r& = 125 mm/s
r&& = 2025 mm/s 2
Find the acceleration of A.

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5.5 Motion Relative to Rotating Axes
Example 2: Slotted Link
The pin A of the hinged link AC is confined to move in the slot
of link OD. The angular velocity of OD is constant at 2 rad/s
CW. For the position shown where θ = 45 degrees with AC
horizontal, determine the velocity of A and the velocity of A
relative to rotating slot in OD.

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5.5 Motion Relative to Rotating Axes
Example 3: Slotted Link

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5.5 Motion Relative to Rotating Axes
Example 4:
The rod AB rotates counterclockwise with constant angular
velocity ω = 3 rad/s. Determine the velocity and acceleration
of point C located on the double collar when at the position
shown (θ = 45 degrees). The collar consists of two pin-
connected slider blocks which are constrained to move along
the circular path and the rod AB.

-2.4i m/s, -14.4j m/s2

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