Академический Документы
Профессиональный Документы
Культура Документы
5
Plane Kinematics of
Rigid Bodies
fixed
The plane motion:
1. Rectilinear translation
A A
B B
2. Curvillinear translation
A A
B B
Jump to first page
■ 3. Fixed axis rotation :
Fixed axis
A A
■ 4. General plane motion :
A
A
B B
Also
ωdω = αdθ
θ ⇔s ; ω ⇔v ; α ⇔a
A
vA
vB
rA / B
B
ω
ω × rA / B
vB
vA
Jump to first page
Instantaneous Centre of
zero velocity
vA vB
ω= = vA and vB in
rA rB proportional length
A vA
A vA
A vA
rA
rA B rA
vB C
C rB B vB rB
rB
B
C vB
C-Instantaneous centre of zero velocity
Jump to first page
Problem on Plane Kinematics of rigid
body
(2), (7), (8), (9), (10), (11)
■ Relative acceleration A'
v A = vB + v A / B t
a A = aB + a A / B B' v A/ B
v A2 / B
a A / B = v A / B t + n r A
r B ω ,α
■ However n
v A / B = rω O
∴ v A / B = rω = r α
2
∴ a A / B = rα t + rω n
Jump to first page
2
∴ a A = a B + rα t + rω n
rα t = α × r
2
rω n = ω × (ω × r )
∴ a A = a B + α × rA / B + ω × (ω × rA / B )
aA
aB r αt
aA/ B
aB A
aB A A
B
= + rω n 2
B B
aA
rαt
aA/ B
rω 2 n a B
Jump to first page
Exam
■ Let s be the displacement of 0 to 0'.
ple ■ Then s = r θ rolling without slipping
(a) v = s i = rθ i = rω i
y, j ■
0 #
■
a0 = v 0 = rω i = rα i#
r s O' ■ (b) for the new position C' from C :
O ωα
C ' sθ x = s - rsinθ
■
x, i y = r - rcosθ
x
■
C
r sin θ ∴ x = rθ (1 − cos θ ) = rω (1 − cos θ )
y = rθ sin θ = rω sin θ
∴ vc = x i + y j
= rω (1 − cosθ ) i + (rω sin θ ) j #
aC = xi + yj
■ When t = 0, θ = 0
vc = 0 # , ac = r ω j
2
#
vc = ω CD ⋅ rC / D (− j )
vB = vB (i ) , ω BC = ω BC (−k )
vB = vc + ω BC × rB / C
vB i = 2 × 0.075(− j ) + ω BC (− k ) × [−0.175 i + 0.05 j ]
⇒ vB , ω BC
ω AB = vB / rB / A
Jump to first page
Examp
le 0.3m / s
0.5m / s 2 0.1m / s 2 y
A B
rG / A G 1m x
ω α 1m z
D
2m 2m C
■
Find and
aG α
a B = a A + α × rB / A + ω × (ω × rB / A )
a A = 0.5 j , aB = 0.1 j
rB / A = 4 i , α = α (− k )
ω = ω (−k )
Jump to first page
ω can be found by :
vB = v A + ω × rB / A
− 0.3 j = −0.3 j + (−ω k ) × 4 i
∴ ω =0
∴ aB = a A + α × rB / A
∴ 0.1 j = 0.5 j + (−αk ) × (4 i )
= 0.5 j − α 4 j
∴ α = 0.1 rad / s 2
ˆ
∴ α = −0.1 k (rad / s )
2
#