1 DYNAMICS
5
Ferdinand P. Beer
E. Russell Johnston, Jr. Kinematics of
Lecture Notes:
Rigid Bodies
J. Walt Oler
Texas Tech University
Contents
Introduction Absolute and Relative Acceleration in Plane Mo
Translation Analysis of Plane Motion in Terms of a Paramet
Rotation About a Fixed Axis: Velocity Sample Problem 15.6
Rotation About a Fixed Axis: Acceleration Sample Problem 15.7
Sample Problem 15.8
Rotation About a Fixed Axis: Representative Slab
Equations Defining the Rotation of a Rigid Body
Rate
About
of Change
a FixedWith
AxisRespect to a Rotating Fram
Sample Problem 5.1 Coriolis Acceleration
General Plane Motion Sample Problem 15.9
Absolute and Relative Velocity in Plane MotionSample Problem 15.10
Sample Problem 15.2 Motion About a Fixed Point
Sample Problem 15.3 General Motion
Sample Problem 15.11
Instantaneous Center of Rotation in Plane Motion
Sample Problem 15.4 Three Dimensional Motion. Coriolis Acceleratio
Sample Problem 15.5 Frame of Reference in General Motion
Sample Problem 15.15
Introduction
• Kinematics of rigid bodies: relations between
time and the positions, velocities, and
accelerations of the particles forming a rigid
body.
• Classification of rigid body motions:
- translation:
• rectilinear translation
• curvilinear translation
- rotation about a fixed axis
- general plane motion
- motion about a fixed point
- general motion
Translation
• Consider rigid body in translation:
- direction of any straight line inside the
body is constant,
- all particles forming the body move in
parallel lines.
• For any two particles in the body,
rB = rA + rB A
• Differentiating with respect to time,
rB = rA + rB A = rA
vB = v A
All particles have the same velocity.
• Differentiating with respect to time again,
rB = rA + rB A = rA
aB = a A
All particles have the same acceleration.
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Vector Mechanics for Engineers: Dynamics
Edition
Seventh
• Velocity vector v = dr dt of the particle P is
tangent to the path with magnitude v = ds dt
∆s = ( BP ) ∆θ = ( r sin φ ) ∆θ
ds ∆θ
v= = lim ( r sin φ ) = rθ sin φ
dt ∆t →0 ∆t
• Uniform Rotation, α = 0:
θ = θ 0 + ωt
( vD ) 0 = rω0 ( aD ) t = rα
( vD ) 0 12 ( aD ) t 9
ω0 = = = 4 rad s α= = = 3 rad s 2
r 3 r 3
• Apply the relations for uniformly accelerated rotation to
determine velocity and angular position of pulley after 2 s.
( )
ω = ω 0 + αt = 4 rad s + 3 rad s 2 ( 2 s ) = 10 rad s
( )
θ = ω 0t + 12 αt 2 = ( 4 rad s )( 2 s ) + 12 3 rad s 2 ( 2 s ) 2
= 14 rad
1 rev
N = (14 rad ) = number of revs N = 2.23 rev
2π rad
vB = rω = ( 5 in.)(10 rad s ) vB = 50 in. s ↑
∆y B = rθ = ( 5 in.)(14 rad ) ∆y B = 70 in.
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Vector Mechanics for Engineers: Dynamics
Edition
Seventh
aD = ( aD ) t2 + ( aD ) 2n
= 92 + 482 aD = 48.8 in. s 2
( aD ) n
tan φ =
( aD ) t
48
=
9 φ = 79.4°
• Selecting point B as the reference point and solving for the velocity vA of end
A and the angular velocity ω leads to an equivalent velocity triangle.
• vA/B has the same magnitude but opposite sense of vB/A. The sense of the
relative velocity is dependent on the choice of reference point.
• Angular velocity ω of the rod in its rotation about B is the same as its rotation
about A. Angular velocity is not dependent on the choice of reference point.
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Vector Mechanics for Engineers: Dynamics
Edition
Seventh
y
Differentiate to relate the translational and angular
velocities.
x
v A = − r1ω
vA 1.2 m s
ω =− =− ω = ωk = −( 8 rad s ) k
r1 0.150 m
The crank AB has a constant • The directions of the absolute velocity vD
clockwise angular velocity of 2000 and the relative velocity v D B are
rpm. determined from the problem geometry.
For the crank position indicated, • The unknowns in the vector expression
determine (a) the angular velocity of are the velocity magnitudes v D and v D B
the connecting rod BD, and (b) the which may be determined from the
velocity of the piston P. corresponding vector triangle.
• The angular velocity of the connecting
rod is calculated from v D B .
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Vector Mechanics for Engineers: Dynamics
Edition
Seventh
vD B = lω BD
vD = vB + vD B vD B 495.9 in. s
ω BD = =
l 8 in.
= 62.0 rad s ω BD = ( 62.0 rad s ) k
rD = ( 0.15 m ) 2 = 0.2121 m
vD = rDω = ( 0.2121 m )( 8 rad s )
vD = 1.697 m s
vD = (1.2i + 1.2 j ) ( m s )
• Given a A and v A ,
determine a B and α .
aB = a A + aB A
(
)n (
= a A + aB A + aB
A t)
• Vector result depends on sense of a A and the
relative magnitudes of a A and a B A ( )n
• Must also know angular velocity ω.
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Vector Mechanics for Engineers: Dynamics
Edition
Seventh
• Write a B = a A + a B A in terms of the two component equations,
+
→ x components: 0 = a A + lω 2 sin θ − lα cosθ
2
+↑ y components: − a B = −lω cosθ − lα sin θ
v A = x A v B = y B
= lθ cosθ = −lθ sin θ
= lω cosθ = −lω sin θ
a A = x A a B = y B
= −lθ 2 sin θ + lθ cosθ = −lθ 2 cosθ − lθ sin θ
= −lω 2 sin θ + lα cosθ = −lω 2 cosθ − lα sin θ
a A = −r1θ = −r1α
aA 3 m s2
α =− =−
r1 0.150 m
( )
α = α k = − 20 rad s 2 k
aB = a A + aB A = a A + aB A + aB A
t
(
n
) ( )
= a A + α k × rB A − ω 2 rB A
( 2
) (
)
= 3 m s i − 20 rad s k × ( 0.100 m ) j − ( 8 rad s ) ( − 0.100 m ) j
2 2
( 2
) ( 2
= 3 m s i + 2 m s i − 6.40 m s j 2
) ( )
(
) (
aB = 5 m s 2 i − 6.40 m s 2 j ) aB = 8.12 m s 2
aC = a A + aC A = a A + α k × rC A − ω 2 rC A
(
) (
)
= 3 m s 2 i − 20 rad s 2 k × ( − 0.150 m ) j − ( 8 rad s ) 2 ( − 0.150 m ) j
(
) (
) (
= 3 m s 2 i − 3 m s 2 i + 9.60 m s 2 j
)
(
ac = 9.60 m s j 2
)
aD = a A + aD A = a A + α k × rD A − ω 2rD A
( 2
) (
)
= 3 m s i − 20 rad s k × ( − 0.150 m ) i − ( 8 rad s ) 2 ( − 0.150m ) i
2
(
) (
) (
= 3 m s 2 i + 3 m s 2 j + 9.60 m s 2 i
)
(
2
aD = 12.6 m s i + 3 m s j ) (
2
)
aD = 12.95 m s 2
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Vector Mechanics for Engineers: Dynamics
Edition
Seventh
• The directions of the accelerations aD , aD ( )
B t , and (
a D B ) n are
determined from the geometry.
aD = aD i
y components:
0 = −10,962 sin 40° + 2563 sin 13.95° + 0.667α BD cos13.95°
(
α BD = 9940 rad s 2 k)
( )
2
aD = − 9290 ft s i
ω BD = −( 29.33 rad s ) k ω DE = (11.29 rad s ) k
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Vector Mechanics for Engineers: Dynamics
Edition
Seventh
Coriolis Acceleration
• Frame OXY is fixed and frame Oxy rotates with angular
velocity Ω .
• Position vector rP for the particle P is the same in both
frames but the rate of change depends on the choice of
frame.
• The absolute velocity of the particle P is
v P = ( r ) OXY = Ω × r + ( r ) Oxy
Coriolis Acceleration
• Absolute acceleration for the particle P is
d
[
a P = Ω × r + Ω × ( r ) OXY + ( r ) Oxy
dt
]
but, ( r ) OXY = Ω × r + ( r ) Oxy
d
dt
[ ]
( r ) Oxy = ( r ) Oxy + Ω × ( r ) Oxy
a P = Ω × r + Ω × ( Ω × r ) + 2Ω × ( r ) Oxy + ( r ) Oxy
v P = Ω × r + ( r ) Oxy
= v P′ + v P F • Utilizing the conceptual point P’ on the slab,
a P′ = Ω × r + Ω × ( Ω × r )
a P F = ( r )
Oxy
Coriolis Acceleration
• Consider a collar P which is made to slide at constant
relative velocity u along rod OB. The rod is rotating at
a constant angular velocity ω. The point A on the rod
corresponds to the instantaneous position of P.
• Absolute acceleration of the collar is
a P = a A + a P F + ac
where
a A = Ω × r + Ω × (Ω × r )
a A = rω 2
a P F = ( r ) Oxy = 0
ac = 2Ω × v P F ac = 2ωu
Coriolis Acceleration
• Change in velocity over ∆t is represented by the
sum of three vectors
∆v = RR ′ + TT ′′ + T ′′T ′
• TT ′′ is due to change in direction of the velocity of
point A on the rod,
TT ′′ ∆θ
lim = lim v A = rωω = rω 2 = a A
∆t → 0 ∆ t ∆t → 0 ∆t
recall, a = Ω × r + Ω × ( Ω × r )
a = rω 2
at t , v = vA + u A A
at t + ∆t , v ′ = v A′ + u ′ • RR ′ and T ′′T ′ result from combined effects of
relative motion of P and rotation of the rod
RR ′ T ′′T ′ ∆θ ∆r
lim + = lim u +ω
∆t →0 ∆t ∆t ∆t →0 ∆t ∆t
= uω + ωu = 2ωu
recall, ac = 2Ω × v P F ac = 2ωu
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Vector Mechanics for Engineers: Dynamics
Edition
Seventh
(a) the angular velocity of disk S, and • Solve the vector triangle for the
(b) the velocity of pin P relative to disk angular velocity of S and relative
S. velocity of P.
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Vector Mechanics for Engineers: Dynamics
Edition
Seventh
vP = 500 mm s
aP′ = ( aP′ ) n + ( aP′ ) t
( )
( aP′ ) n = rω S ( − cos 42.4°i − sin 42.4° j )
2
( aP′ ) t = ( rα S ) ( − sin 42.4°i + cos 42.4° j )
( aP′ ) t = (α S )( 37.1mm ) ( − sin 42.4°i + cos 42.4° j )
note: αS may be positive or negative
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Vector Mechanics for Engineers: Dynamics
Edition
Seventh
• The relative acceleration aP s must be parallel to
the slot.
General Motion
• For particles A and B of a rigid body,
vB = v A + vB A
( ) (
2
) (
2 2
a = − 3.54 m s i − 1.50 m s j + 1.80 m s k
)
ω1 = 0.30 j ω 2 = 0.50k
r = 10.39i + 6 j
( )
v P = v A + Ω × rP A + rP A
Axyz
= v P′ + v P F
( )
Consider:
a P = a A + Ω × rP A + Ω × Ω × rP A
- fixed frame OXYZ,
( ) ( )
- translating frame AX’Y’Z’, and + 2Ω × rP A + rP A
Axyz Axyz
- translating and rotating frame Axyz
or F. = a P′ + a PF + a c
(
a P F = ω D F × ω D F × rP A
)
2
= ω 2 k × ( − ω 2 R i ) = −ω 2 R j
ac = 2Ω × v P F
= 2ω1 j × ( − ω 2 R i ) = 2ω1ω 2 Rk
2 2
a P = −ω1 L i − ω 2 Rj + 2ω1ω 2 Rk
• Angular velocity and acceleration of the disk,
ω = Ω +ωD F ω = ω1 j + ω 2 k
α = (ω ) F + Ω × ω
= ω1 j × (ω1 j + ω 2 k )
α = ω1ω 2 i
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