Dynamics: Kinematics of Rigid Bodies

Seventh Edition
CHAPTER VECTOR MECHANICS FOR ENGINEERS:
15
DYNAMICS
Ferdinand P. Beer
E. Russell Johnston, Jr. Kinematics of
Lecture Notes:
Rigid Bodies
J. Walt Oler
Texas Tech University
© 2003 The McGraw-Hill Companies, Inc. All rights reserved.

Edition
Seventh
Vector Mechanics for Engineers: Dynamics

Contents
Introduction Absolute and Relative Acceleration in Plane
Translation Motion
Rotation About a Fixed Axis: Velocity Analysis of Plane Motion in Terms of a
Rotation About a Fixed Axis: Acceleration Parameter
Rotation About a Fixed Axis: Sample Problem 15.6
Representative Slab Sample Problem 15.7
Equations Defining the Rotation of a Rigid Sample Problem 15.8
Body About a Fixed Axis Rate of Change With Respect to a Rotating
Sample Problem 5.1 Frame
General Plane Motion Coriolis Acceleration
Absolute and Relative Velocity in Plane Sample Problem 15.9
Motion Sample Problem 15.10
Sample Problem 15.2 Motion About a Fixed Point
Sample Problem 15.3 General Motion
Instantaneous Center of Rotation in Plane Sample Problem 15.11
Motion Three Dimensional Motion. Coriolis
Sample Problem 15.4 Acceleration
Sample Problem 15.5 Frame of Reference in General Motion
Sample Problem 15.15
© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 2
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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

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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,
r r r
rB = rA + rB A
• Differentiating with respect to time,
r r r r
r&B = r&A + r&B A = r&A
r r
vB = v A
All particles have the same velocity.
• Differentiating with respect to time again,
&rr&B = &rr&A + &rr&B A = r&r&A
r r
aB = a A
All particles have the same acceleration.
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Rotation About a Fixed Axis. Velocity
• Consider rotation of rigid body about a
fixed axis AA’
r r
• 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
• The same result is obtained from

r
r dr r r
v= =ω ×r
dt
r r r
ω = ω k = θ&k = angular velocity

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Rotation About a Fixed Axis. Acceleration
• Differentiating to determine the acceleration,
r
r dv d v r
a= = (ω × r )
dt dt
r r
dω r r dr
= ×r +ω ×
dt dt
r
dω r r r
= ×r +ω ×v
dt
r
dω r
• = α = angular acceleration
dt
r r r
= α k = ω& k = θ&&k
• Acceleration of P is combination of two

vectors,
r r r r r r
a = α × r + ω × (ω × r )
r r
α × r = tangential acceleration component
r r r
ω × (ω × r ) = radial acceleration component
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Rotation About a Fixed Axis. Representative Slab
• Consider the motion of a representative slab in
a plane perpendicular to the axis of rotation.
• Velocity of any point P of the slab,

r r r r r
v = ω × r = ωk × r
v = rω
• Acceleration of any point P of the slab,

r r r r r r
a = α × r + ω × (ω × r )
r r r
= α k × r − ω 2r
• Resolving the acceleration into tangential and

normal components,
r r r
at = αk × r a t = rα
r 2r
an = −ω r a n = rω 2
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Equations Defining the Rotation of a Rigid Body
About a Fixed Axis
• Motion of a rigid body rotating around a fixed axis is
often specified by the type of angular acceleration.
dθ dθ
• Recall ω = or dt =
dt ω
dω d θ 2
dω
α= = 2 =ω
dt dt dθ
• Uniform Rotation, α = 0:
θ = θ 0 + ωt
• Uniformly Accelerated Rotation, α = constant:

ω = ω0 + αt
θ = θ 0 + ω 0t + 12 α t 2
ω 2 = ω 02 + 2α (θ − θ 0 )
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Sample Problem 5.1
SOLUTION:
• Due to the action of the cable, the
tangential velocity and acceleration of
D are equal to the velocity and
acceleration of C. Calculate the initial
angular velocity and acceleration.
• Apply the relations for uniformly
accelerated rotation to determine the
velocity and angular position of the
Cable C has a constant acceleration of 9
pulley after 2 s.
in/s2 and an initial velocity of 12 in/s,
both directed to the right. • Evaluate the initial tangential and
normal acceleration components of D.
Determine (a) the number of revolutions
of the pulley in 2 s, (b) the velocity and
change in position of the load B after 2 s,
and (c) the acceleration of the point D on
the rim of the inner pulley at t = 0.
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Sample Problem 5.1
SOLUTION:
• The tangential velocity and acceleration of D are equal to the
velocity and acceleration of C.
(vr ) = (vr ) = 12 in. s →
D 0 C 0
(arD )t = arC = 9 in. s →
(vD )0 = rω0 (aD )t = rα
(vD )0 (aD )t 9
ω0 = =
12
= 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 0 t + 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 ⎠
r
vB = rω = (5 in.)(10 rad s ) vB = 50 in. s ↑
∆yB = rθ = (5 in.)(14 rad ) ∆yB = 70 in.
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Sample Problem 5.1
• Evaluate the initial tangential and normal acceleration
components of D.
(arD )t = arC = 9 in. s →
(aD )n = rDω02 = (3 in.)(4 rad s )2 = 48 in s2
(arD )t = 9 in. s2 → (arD )n = 48 in. s2 ↓
Magnitude and direction of the total acceleration,
aD = (aD )t2 + (aD )2n

= 92 + 482 aD = 48.8 in. s 2
(aD )n
tan φ =
(aD )t
48
=
9 φ = 79.4°

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General Plane Motion
• General plane motion is neither a translation nor

a rotation.
• General plane motion can be considered as the
sum of a translation and rotation.
• Displacement of particles A and B to A2 and B2
can be divided into two parts:
- translation to A2 and B1′
- rotation of B1′ about A2 to B2
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Absolute and Relative Velocity in Plane Motion
• Any plane motion can be replaced by a translation of an

arbitrary reference point A and a simultaneous rotation
about A.
r r r
vB = v A + vB A
r r r
v B A = ω k × rB A v B A = rω
r r r r
v B = v A + ω k × rB A

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• Assuming that the velocity vA of end A is known, wish to determine the

velocity vB of end B and the angular velocity ω in terms of vA, l, and θ.
• The direction of vB and vB/A are known. Complete the velocity diagram.
vB vA v
= tan θ = A = cosθ
vA v B A lω
v B = v A tan θ vA
ω=
l cosθ
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• 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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Sample Problem 15.2
SOLUTION:
• The displacement of the gear center in
one revolution is equal to the outer
circumference. Relate the translational
and angular displacements. Differentiate
to relate the translational and angular
velocities.
• The velocity for any point P on the gear
The double gear rolls on the may be written as
stationary lower rack: the velocity of r r r r r r
vP = v A + vP A = v A + ωk × rP A
its center is 1.2 m/s.
Determine (a) the angular velocity of Evaluate the velocities of points B and D.
the gear, and (b) the velocities of the
upper rack R and point D of the gear.
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Sample Problem 15.2
SOLUTION:
• The displacement of the gear center in one revolution is
equal to the outer circumference.
For xA > 0 (moves to right), ω < 0 (rotates clockwise).
xA θ
=− x A = − r1θ
2π r 2π
y
Differentiate to relate the translational and angular
velocities.
x
v A = − r1ω
vA 1.2 m s r r r
ω =− =− ω = ωk = −(8 rad s )k
r1 0.150 m

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Sample Problem 15.2
r r r r r r
• For any point P on the gear, vP = v A + vP A = v A + ωk × rP A
Velocity of the upper rack is equal to Velocity of the point D:

velocity of point B:
r r r r r r r r r
vR = vB = v A + ωk × rB A vD = v A + ωk × rD A
r r r r r r
= (1.2 m s )i + (8 rad s )k × (0.10 m ) j = (1.2 m s )i + (8 rad s )k × (− 0.150 m )i
r r
= (1.2 m s )i + (0.8 m s )i
r r r r r
vR = (2 m s )i vD = (1.2 m s )i + (1.2 m s ) j
vD = 1.697 m s
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Absolute and Relative Acceleration in Plane Motion
• Absolute acceleration of a particle of the slab,

r r r
aB = a A + aB A
r
• Relative acceleration a B A associated with rotation about A includes
tangential and normal components,
(arB A ) = α k × rrB A (a B A ) = rα
r
t t
(r
aB )
A n =
r
−ω 2 rB A (a B A )n = rω 2
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r r
• Given a A and v A ,
r r
determine a B and α .
r r r
aB = a A + aB A
= a A + (a B A ) + (a B )
r r r
n A t
r
• 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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r r r
• 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 cos θ
+ ↑ y components: − a B = −lω 2 cos θ − lα sin θ
• Solve for aB and α.

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Analysis of Plane Motion in Terms of a Parameter
• In some cases, it is advantageous to determine the
absolute velocity and acceleration of a mechanism
directly.
x A = l sin θ y B = l cos 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
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Instantaneous Center of Rotation in Plane Motion
• Plane motion of all particles in a slab can always be
replaced by the translation of an arbitrary point A and a
rotation about A with an angular velocity that is
independent of the choice of A.
• The same translational and rotational velocities at A are

obtained by allowing the slab to rotate with the same
angular velocity about the point C on a perpendicular to
the velocity at A.
• The velocity of all other particles in the slab are the same
as originally defined since the angular velocity and
translational velocity at A are equivalent.
• As far as the velocities are concerned, the slab seems to

rotate about the instantaneous center of rotation C.

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• If the velocity at two points A and B are known, the
instantaneous center of rotation lies at the intersection
of the perpendiculars to the velocity vectors through A
and B .
• If the velocity vectors are parallel, the instantaneous

center of rotation is at infinity and the angular velocity
is zero.
• If the velocity vectors at A and B are perpendicular to

the line AB, the instantaneous center of rotation lies at
the intersection of the line AB with the line joining the
extremities of the velocity vectors at A and B.
• If the velocity magnitudes are equal, the instantaneous

center of rotation is at infinity and the angular velocity
is zero.
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• The instantaneous center of rotation lies at the intersection of
the perpendiculars to the velocity vectors through A and B .
v v v
ω= A = A v B = ( BC )ω = (l sin θ ) A
AC l cosθ l cosθ
= v A tan θ
• The velocities of all particles on the rod are as if they were

rotated about C.
• The particle at the center of rotation has zero velocity.
• The particle coinciding with the center of rotation changes
with time and the acceleration of the particle at the
instantaneous center of rotation is not zero.
• The acceleration of the particles in the slab cannot be
determined as if the slab were simply rotating about C.
• The trace of the locus of the center of rotation on the body
is the body centrode and in space is the space centrode.
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Sample Problem 15.4
SOLUTION:
• The point C is in contact with the stationary
lower rack and, instantaneously, has zero
velocity. It must be the location of the
instantaneous center of rotation.
• Determine the angular velocity about C
based on the given velocity at A.
• Evaluate the velocities at B and D based on
The double gear rolls on the their rotation about C.
stationary lower rack: the velocity
of its center is 1.2 m/s.
Determine (a) the angular velocity
of the gear, and (b) the velocities of
the upper rack R and point D of the
gear.
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Sample Problem 15.4
SOLUTION:
• The point C is in contact with the stationary lower rack
and, instantaneously, has zero velocity. It must be the
location of the instantaneous center of rotation.
• Determine the angular velocity about C based on the
given velocity at A.
v 1.2 m s
v A = rAω ω= A= = 8 rad s
rA 0.15 m
• Evaluate the velocities at B and D based on their rotation
about C.
vR = vB = rBω = (0.25 m )(8 rad s )
r r
vR = (2 m s )i
rD = (0.15 m ) 2 = 0.2121 m
vD = rDω = (0.2121 m )(8 rad s )
vD = 1.697 m s
r r
vD = (1.2i + 1.2 j )(m s )
r

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Sample Problem 15.5
SOLUTION:
• Determine the velocity at B from the
given crank rotation data.
• The direction of the velocity vectors at B
and D are known. The instantaneous
center of rotation is at the intersection of
the perpendiculars to the velocities
The crank AB has a constant clockwise through B and D.
angular velocity of 2000 rpm. • Determine the angular velocity about the
For the crank position indicated, center of rotation based on the velocity
determine (a) the angular velocity of at B.
the connecting rod BD, and (b) the • Calculate the velocity at D based on its
velocity of the piston P. rotation about the instantaneous center
of rotation.
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Sample Problem 15.5
SOLUTION:
• From Sample Problem 15.3,
r r
vB = (403.9i − 481.3 j )(in. s )
r
vB = 628.3 in. s
β = 13.95°
• The instantaneous center of rotation is at the intersection
of the perpendiculars to the velocities through B and D.
• Determine the angular velocity about the center of

rotation based on the velocity at B.
γ B = 40° + β = 53.95°
γ D = 90° − β = 76.05° vB = (BC )ω BD
vB 628.3 in. s
ω BD = = ω BD = 62.0 rad s
BC CD 8 in. BC 10.14 in.
= =
sin 76.05° sin 53.95° sin50°
• Calculate the velocity at D based on its rotation about
the instantaneous center of rotation.
BC = 10.14 in. CD = 8.44 in.
vD = (CD )ω BD = (8.44 in.)(62.0 rad s )
vP = vD = 523 in. s = 43.6 ft s

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Sample Problem 15.6
SOLUTION:
• The expression of the gear position as a
function of θ is differentiated twice to
define the relationship between the
translational and angular accelerations.
• The acceleration of each point on the

gear is obtained by adding the
acceleration of the gear center and the
The center of the double gear has a
relative accelerations with respect to the
velocity and acceleration to the right of
center. The latter includes normal and
1.2 m/s and 3 m/s2, respectively. The
tangential acceleration components.
lower rack is stationary.
Determine (a) the angular acceleration
of the gear, and (b) the acceleration of
points B, C, and D.
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Sample Problem 15.6
SOLUTION:
• The expression of the gear position as a function of θ
is differentiated twice to define the relationship
between the translational and angular accelerations.
x A = − r1θ
v A = − r1θ& = − r1ω
vA 1.2 m s
ω =− =− = −8 rad s
r1 0.150 m
a A = − r1θ&& = − r1α
aA 3 m s2
α =− =−
r1 0.150 m
r r
(
α = α k = − 20 rad s 2 k)r

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Sample Problem 15.6
• The acceleration of each point
is obtained by adding the
acceleration of the gear center
and the relative accelerations
with respect to the center.
The latter includes normal and
tangential acceleration
components.
r r r r r
( r
a B = a A + aB A = a A + a B A + aB A
t n
) ( )
r r r r
= a A + α k × rB A − ω 2 rB A
( r
) ( r
) r r
= 3 m s 2 i − 20 rad s 2 k × (0.100 m ) j − (8 rad s )2 (− 0.100 m ) j
( r
) ( r
) (
= 3 m s 2 i + 2 m s 2 i − 6.40 m s 2 j
r
)
r
( r
) ( r
aB = 5 m s 2 i − 6.40 m s 2 j ) aB = 8.12 m s 2
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Sample Problem 15.6
r r r r r r r
aC = a A + aC = a A + α k × rC A − ω 2 rC A
A
( r
) ( r
) r r
= 3 m s 2 i − 20 rad s 2 k × (− 0.150 m ) j − (8 rad s )2 (− 0.150 m ) j
( r
) ( r
) (
= 3 m s 2 i − 3 m s 2 i + 9.60 m s 2 j
r
)
r
(
ac = 9.60 m s 2 j
r
)
r r r r r r r
aD = a A + aD A = a A + α k × rD A − ω 2 rD A
( r
) ( r
) r r
= 3 m s 2 i − 20 rad s 2 k × (− 0.150 m ) i − (8 rad s )2 (− 0.150m ) i
( r
) ( r
) (
= 3 m s 2 i + 3 m s 2 j + 9.60 m s 2 i
r
)
r
( r
) (
aD = 12.6 m s 2 i + 3 m s 2 j
r
) aD = 12.95 m s 2
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Sample Problem 15.3
SOLUTION:
• Will determine the absolute velocity of
point D with
r r r
vD = vB + vD B
r
• The velocity v B is obtained from the
given crank rotation data.
The crank AB has a constant clockwise • The directions of the absolute velocity vrD
r
angular velocity of 2000 rpm. and the relative velocity v D B are
determined from the problem geometry.
For the crank position indicated,
determine (a) the angular velocity of • The unknowns in the vector expression
the connecting rod BD, and (b) the are the velocity magnitudes v D and v D B
velocity of the piston P. which may be determined from the
corresponding vector triangle.
• The angular velocity of the connecting
rod is calculated from v D B .
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Sample Problem 15.3
SOLUTION:
• Will determine the absolute velocity of point D with
r r r
vD = vB + vD B
r
• The velocity vB is obtained from the crank rotation data.
rev ⎞⎛ min ⎞⎛ 2π rad ⎞
ω AB = ⎛⎜ 2000 ⎟⎜ ⎟⎜ ⎟ = 209.4 rad s
⎝ min ⎠⎜⎝ 60 s ⎟⎠⎝ rev ⎠
vB = ( AB )ω AB = (3 in.)(209.4 rad s )
The velocity direction is as shown.

r
• The direction of the absolute velocity vD is horizontal.
r
The direction of the relative velocity vD B is
perpendicular to BD. Compute the angle between the
horizontal and the connecting rod from the law of sines.
sin 40° sin β
= β = 13.95°
8 in. 3 in.

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Sample Problem 15.3
• Determine the velocity magnitudes vD and vD B

from the vector triangle.
vD vD B 628.3 in. s
= =
sin 53.95° sin 50° sin76.05°
vD = 523.4 in. s = 43.6 ft s vP = vD = 43.6 ft s

vD B = 495.9 in. s
r r r vD B = lω BD
vD = vB + vD B vD B 495.9 in. s
ω BD = =
l 8 in. r
r
= 62.0 rad s ω BD = (62.0 rad s )k
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Sample Problem 15.7
SOLUTION:
• The angular acceleration of the
connecting rod BD and the acceleration
of point D will be determined from
r r r r r
(
aD = aB + aD B = aB + aD B + aD B
r
)t ( )n
• The acceleration of B is determined from
the given rotation speed of AB.
Crank AG of the engine system has a • The directions of the accelerations

constant clockwise angular velocity of r
(r
) r
(
a D , a D B , and a D B are
t n
)
2000 rpm. determined from the geometry.
For the crank position shown,
• Component equations for acceleration
determine the angular acceleration of
of point D are solved simultaneously for
the connecting rod BD and the
acceleration of D and angular
acceleration of point D.
acceleration of the connecting rod.

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Sample Problem 15.7
SOLUTION:
• The angular acceleration of the connecting rod BD and
the acceleration of point D will be determined from
r r r r r
(
a D = a B + aD B = aB + aD B + aD B
r
)t ( )n
• The acceleration of B is determined from the given rotation
speed of AB.
ω AB = 2000 rpm = 209.4 rad s = constant

α AB = 0
aB = rω AB
2
= (123 ft )(209.4 rad s)2 = 10,962 ft s2
( ) r r
aB = 10,962 ft s 2 (− cos 40°i − sin 40° j )
r
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Sample Problem 15.7
r r
• The directions of the accelerations aD , aD ( )
B t , and (arD B )n are
determined from the geometry.
r r
aD = m aDi
From Sample Problem 15.3, ωBD = 62.0 rad/s, β = 13.95o.
(aD B )n = (BD )ω BD
2
= (12
8 ft )(62.0 rad s )2 = 2563 ft s 2
(arD B )n = (2563 ft s2 )(− cos13.95°ir + sin13.95° rj )

(aD B )t = (BD )α BD = (128 ft )α BD = 0.667α BD
The direction of (aD/B)t is known but the sense is not known,
( )t r r
aD B = (0.667α BD )(± sin 76.05°i ± cos 76.05° j )
r

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Sample Problem 15.7
• Component equations for acceleration of point D are solved

simultaneously.
r r r r r
( r
a D = a B + aD B = aB + aD B + aD B)t ( )n
x components:
− aD = −10,962 cos 40° − 2563 cos13.95° + 0.667α BD sin 13.95°
y components:
0 = −10,962 sin 40° + 2563 sin 13.95° + 0.667α BD cos13.95°
r
(
α BD = 9940 rad s 2 k )r
aD = −(9290 ft s 2 ) i
r r
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Sample Problem 15.8
SOLUTION:
• The angular velocities are determined by
simultaneously solving the component
equations for
r r r
vD = vB + vD B
• The angular accelerations are determined

by simultaneously solving the component
In the position shown, crank AB has a
equations for
constant angular velocity ω1 = 20 rad/s
r r r
counterclockwise. aD = aB + aD B
Determine the angular velocities and
angular accelerations of the connecting
rod BD and crank DE.

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Sample Problem 15.8
SOLUTION:
• The angular velocities are determined by simultaneously
solving the component equations for
r r r
vD = vB + vD B
r r r
vD = ω DE × rD = ω DE k × (− 17i + 17 j )
r r r
r r
= −17ω DE i − 17ω DE j
r r r
vB = ω AB × rB = 20k × (8i + 14 j )
r r r
r r
= −280i + 160 j
r r r
vD B = ω BD × rD B = ω BD k × (12i + 3 j )
r r r
r r
= −3ω BD i + 12ω BD j
x components: − 17ω DE = −280 − 3ω BD

y components: − 17ω DE = +160 + 12ω BD
r r r r
ω BD = −(29.33 rad s )k ω DE = (11.29 rad s )k
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Sample Problem 15.8
• The angular accelerations are determined by
simultaneously solving the component equations for
r r r
aD = aB + aD B
r r r 2 r
aD = α DE × rD − ω DE rD
r r r r r
= α DE k × (− 17i + 17 j ) − (11.29 )2 (− 17i + 17 j )
r r r r
= −17α DE i − 17α DE j + 2170i − 2170 j
r r
rB = 0 − (20 )2 (8i + 14 j )
r r r 2 r
aB = α AB × rB − ω AB
r r
= −3200i + 5600 j
r r r 2 r
aD B = α BD × rB D − ω BD rB D
r r r r r
= α B D k × (12i + 3 j ) − (29.33)2 (12i + 3 j )
r r r r
= −3α B D i + 12α B D j − 10,320i − 2580 j
x components: − 17α DE + 3α BD = −15,690
y components: − 17α DE − 12α BD = −6010
r
( r
α BD = − 645 rad s 2 k )
r
( r
α DE = 809 rad s 2 k )
Edition
Seventh

Motion About a Fixed Point
• The most general displacement of a rigid body with a
fixed point O is equivalent to a rotation of the body
about an axis through O.
• With the instantaneous axis of rotation and angular
r
velocity ω , the velocity of a particle P of the body is
r
r dr r r
v= =ω×r
dt
and the acceleration of the particle P is
r
r r r r r r r dω
a = α × r + ω × (ω × r ) α= .
dt
r
• The angularr acceleration α represents the velocity of
the tip of ω .
r
• As the vector ω moves within the body and in space,
it generates a body cone and space cone which are
tangent along the instantaneous axis of rotation.
• Angular velocities have magnitude and direction and
obey parallelogram law of addition. They are vectors.
22
Edition
Seventh
General Motion
• For particles A and B of a rigid body,
r r r
vB = v A + vB A
• Particle A is fixed within the body and motion of

the body relative to AX’Y’Z’ is the motion of a
body with a fixed point
r r r r
v B = v A + ω × rB A
• Similarly, the acceleration of the particle P is

r r r
aB = a A + aB A
= a A + α × rB A + ω × (ω × rB A )
r r r r r r
• Most general motion of a rigid body is equivalent to:

- a translation in which all particles have the same
velocity and acceleration of a reference particle A, and
- of a motion in which particle A is assumed fixed.
23

Dynamics: Kinematics of Rigid Bodies

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Seventh Edition

CHAPTER VECTOR MECHANICS FOR ENGINEERS:

© 2003 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 3

Vector Mechanics for Engineers: Dynamics

• The same result is obtained from

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 5

Vector Mechanics for Engineers: Dynamics

• Acceleration of P is combination of two

• Velocity of any point P of the slab,

• Acceleration of any point P of the slab,

• Resolving the acceleration into tangential and

Vector Mechanics for Engineers: Dynamics

• Uniformly Accelerated Rotation, α = constant:

Vector Mechanics for Engineers: Dynamics

(arD )t = 9 in. s2 → (arD )n = 48 in. s2 ↓

Magnitude and direction of the total acceleration,

aD = (aD )t2 + (aD )2n

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 11

Vector Mechanics for Engineers: Dynamics

• General plane motion is neither a translation nor

• Any plane motion can be replaced by a translation of an

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 13

Vector Mechanics for Engineers: Dynamics

• Assuming that the velocity vA of end A is known, wish to determine the

Vector Mechanics for Engineers: Dynamics

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 16

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 17

Vector Mechanics for Engineers: Dynamics

Velocity of the upper rack is equal to Velocity of the point D:

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 18

• Absolute acceleration of a particle of the slab,

Vector Mechanics for Engineers: Dynamics

• Must also know angular velocity ω.

+ ↑ y components: − a B = −lω 2 cos θ − lα sin θ

• Solve for aB and α.

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 21

Vector Mechanics for Engineers: Dynamics

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 22

• The same translational and rotational velocities at A are

• As far as the velocities are concerned, the slab seems to

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 23

Vector Mechanics for Engineers: Dynamics

• If the velocity vectors are parallel, the instantaneous

• If the velocity vectors at A and B are perpendicular to

• If the velocity magnitudes are equal, the instantaneous

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 24

• The velocities of all particles on the rod are as if they were

Vector Mechanics for Engineers: Dynamics

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 26

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 27

Vector Mechanics for Engineers: Dynamics

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 28

• Determine the angular velocity about the center of

vP = vD = 523 in. s = 43.6 ft s

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 29

Vector Mechanics for Engineers: Dynamics

• The acceleration of each point on the

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 30

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 31

Vector Mechanics for Engineers: Dynamics

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 32