Chapter 16 : Planar Kinematics of a Rigid Body

Chapter Objectives
To classify the various types of To provide a relative motion rigid-body planar motion. analysis of velocity and acceleration using a translating To investigate rigid-body frame of reference. translation and show how to analyze motion about a fixed To show how to find the axis. instantaneous center of zero velocity and determine the To study planar motion using an velocity of a point on a body absolute motion analysis. using this method. To provide a relative-motion analysis of velocity and acceleration using a rotating frame of reference.

CHAPTER REVIEW
Rigid-Body Planar Motion translation, rotation about a fixed axis and general plane motion.

CHAPTER REVIEW
Translation rectilinear translation, all the particles of the body travel along straight-line paths. curvilinear translation, if all the particles of the body travel along the paths having the same radius of curvature.

CHAPTER REVIEW
Rotation about a Fixed Axis
all of the particles moves along circular paths all segments in the body undergo the same angular displacement, angular velocity and angular acceleration.

d / dt

d / dt

d d

CHAPTER REVIEW
If the angular acceleration is constant, = c, then these equations can be integrated and become

0 ct
1 2 0 0t ct 2
2 2 0 2 c ( 0 )

CHAPTER REVIEW
Once the angular motion of the body is known, then the velocity of any particle a distance r from the axis of rotation is
v r or v r

The acceleration of the particle has two components. The tangential component accounts for the change in the magnitude of the velocity
at r or at r

CHAPTER REVIEW
The normal component accounts for the change in the velocity direction
an 2r or a n 2r

General Plane Motion

When a body undergoes general plane motion, it simultaneously translates and rotates.

*16.4 Absolute Motion Analysis

1. A body subjected to general plane motion undergoes a simultaneous translation and rotation.
2. One way to define these motions is to use a rectilinear position coordinate s to locate the point along its path and an angular position coordinate to specify the orientation of the line. 3. By direct application of the time-differential equations v = ds/dt, a = dv/dt, = d/dt, = d/dt, the motion of the point and the angular motion of the line can be related.

PROCEDURE FOR ANALYSIS

Position Coordinate Equation.
Locate point P using a position coordinate s, which is measured from a fixed origin and is directed along the straight-line path of motion of point P.

Measure from a fixed reference line the angular position of a line lying in the body.
From the dimensions of the body, relate s to , s = f(), using geometry and/or trigonometry.

PROCEDURE FOR ANALYSIS

Position Coordinate Equation.
Take the first derivative of s = f() w.r.t time to get a relationship between v and . Take the second derivative to get a relationship between a and . In each case the chain rule of calculus must be used when taking the derivatives of the position coordinate equation.

Example 16.5
The large window is opened using a hydraulic cylinder AB. If the cylinder extends at a constant rate of 0.5 m/s, determine the angular velocity and angular acceleration of the window at the instant = 30

Example 16.5
Position Coordinate Equation. The
angular motion of the window can be obtained using the coordinate , whereas the extension or motion along the hydraulic cylinder is defined using a coordinate s, which measures the length from the fixed point A to moving point B. These coordinates can be related using the law of cosines, namely,

s 2 (2) 2 (1) 2 2(2)(1) cos s 2 5 4 cos

(1)

Example 16.5
When = 30,

s 1.239 m

Time Derivatives. Taking

the time derivatives of Eq. 1,

ds d 2 s 0 4( sin ) st dt s (vs ) 2(sin ) (2)

Since vs = 0.5 m/s, then at = 30

0.620 rad / s

Example 16.5
Taking the time derivatives of Eq. 2 yields,

ds dv d d vs s s 2(cos ) 2(sin ) dt dt dt dt
2 vs sas 2(cos ) 2 2(sin )

Since as = dvs/dt = 0, then

(0.5) 2 0 2 cos 30 (0.620) 2 2 sin 30

0.415 rad / s 2

16.5 RelativeMotion Analysis: Velocity

The general plane motion of a rigid body can be described as a combination of translation and rotation.
To view these component motions separately, we use a relative-motion analysis involving two sets of coordinate axes. The x, y coordinate system is fixed and measures the absolute position of two points A and B on the body.

16.5 RelativeMotion Analysis: Velocity

The origin of the x, y coordinate system will be attached to the selected base point A, which generally has a known motion. The axes of this coordinate system do not rotate with the body; rather they will only be allowed to translate with respect to the fixed frame.

16.5 RelativeMotion Analysis: Velocity

Position. The position vector rA specifies the location of the base point A, and the relative-position vector rB/A locates point B with respect to point A. By vector addition, the position of B is

rB rA rB / A

16.5 RelativeMotion Analysis: Velocity

Displacement. During an instant of time dt, point A and B undergo displacements drA and drB. If we consider the general plane motion by its component parts then the entire body first translates by an amount drA so that A, the base point, moves to its final position and point B to B.

16.5 RelativeMotion Analysis: Velocity

The body is then rotated about A by an amount d so that B undergoes a relative displacement drB/A and thus moves to its final position B.

16.5 RelativeMotion Analysis: Velocity

Due to the rotation about A, drB/A = rB/A d, and the displacement of B is
drB drA drB / A

due to rotation about A due to translation about A

due to translation and rotation

16.5 RelativeMotion Analysis: Velocity

Velocity. To determine the relationship between the velocities of points A and B, it is necessary to take the time derivative of the position equation, or simply divide the displacement equation by dt. This yields, The terms drB/dt = vB and drA/dt = vA are measured from the fixed x, y axes and represent the absolute velocities of points A and B, respectively. The body appears to move as if it were rotating with an angular velocity about the z axis passing through A

drB drA drB / A dt dt dt

16.5 RelativeMotion Analysis: Velocity

vB/A has a magnitude of vB/A = rB/A and a direction which is perpendicular to rB/A.

vB v A vB / A

 The velocity of B is determined by considering the entire body to translate with a velocity of vA, and rotate about A with an angular velocity .
Vector addition of these two effects, applied to B, yields vB.

v B / A rB / A

The relative velocity vB/A represents the effect of circular motion, about A. It can be expressed by the cross product

16.5 RelativeMotion Analysis: Velocity

Hence,
v B v A rB / A

Example 16.9
The bar AB of the linkage has a clockwise angular velocity of 30 rad/s when = 60. Determine the angular velocities of member BC and the wheel at this instant.

Example 16.9
Solution (Vector Analysis)
Kinematics Diagram. the velocities of point B and C are defined by the rotation of link AB and the wheel about their fixed axes

Example 16.9
Velocity Equation.
Link AB (rotation about fixed axis):

v B AB rB (30k ) (0.2 cos 60 i 0.2 sin 60 j) {5.20i 3.0 j} m / s

Example 16.9
Link BC (general plane motion):

vC v B BC rC / B vC i 5.20 i 3.0 j (BC k ) (0.2i ) vC i 5.20 i (0.2BC 3.0) j vC 5.20 m / s 0 0.2BC 3.0

BC 15 rad / s

Example 16.9
Wheel (rotation about fixed axis):

vC D rC 5.20i ( Dk ) (0.1j) 5.20 0.1 D

D 52 rad / s

16.6 Instantaneous Center of Zero Velocity

The velocity of any point B located on a rigid body can be obtained in a very direct way if one choose the base point A to be a point that has zero velocity at the instant considered. Since vA = 0, therefore vB = x rB/A. Point A is called the instantaneous center of zero velocity (IC) and it lies on the instantaneous axis of zero velocity.

16.6 Instantaneous Center of Zero Velocity

This axis is always perpendicular to the plane of motion and the intersection of the axis with this plane defines the location of the IC. Since point A is coincident with the IC, then vB = x rB/A and so point B moves momentarily anout the IC in a circular path. The magnitude of vB is vB = rB/IC. Due to the circular motion, the direction of vB must always be perpendicular to rB/IC

16.6 Instantaneous Center of Zero Velocity

Consider the wheel as shown, if it rolls without slipping, then the point of contact with the ground has zero velocity.
Hence this point represents the IC for the wheel.

16.6 Instantaneous Center of Zero Velocity

If it is imagined that the wheel is momentarily pinned at this point, the velocities of points B, C, O and so on, can be found using v = r. The radial distance rB/IC, rC/IC and rO/IC must be determined from the geometry of the wheel. Location of the IC. To locate the IC, we use the fact that the velocity of a point on the body is always perpendicular to the relative-position vector extending from the IC to the point. Several possibilities exist:

16.6 Instantaneous Center of Zero Velocity

Given the velocity vA of a point A on the body, and the angular velocity of the body. In this case, the IC is located along the line drawn perpendicular to vA at A, such that the distance from A to the IC is rA/IC = vA/. Note that the IC lies up to the right of A since vA must cause a clockwise angular velocity about the IC.

16.6 Instantaneous Center of Zero Velocity

Given the line of action of two nonparallel velocities vA and vB. Construct at points A and B line segments that are perpendicular to vA and vB. Extending these perpendicular to their point of intersection as shown locates the IC at the instant considered.

16.6 Instantaneous Center of Zero Velocity

Given the magnitude and direction of two parallel velocities vA and vB. Here the location of the IC is determined by proportional triangles.

16.6 Instantaneous Center of Zero Velocity

In both cases rA/IC = vA/ and rB/IC = vB/. If d is a known distance between point A and B, then rA/IC + rB/IC = d for first diagram, and rB/IC - rA/IC = d for second diagram. As a special case, note that if the body is translating, vA = vB, then the IC would be located at infinity, in which case rA/IC = rB/IC . This being the case, = (vA/rA/IC) = (vA/rA/IC) 0, as expected.

Example 16.11
Block D moves with a speed of 3 m/s. Determine the angular velocities of links BD and AB, at the instant shown.

Example 16.11
Solution
As D moves to the right, it causes arm AB to rotate clockwise about point A. Hence vB is directed perpendicular to AB. The instantaneous center of zero velocity for BD is located at the intersection of the line segments drawn perpendicular to vB and vD

Example 16.11
From the geometry,
rB / IC 0.4 tan 45 0.4 m rD / IC 0. 4 cos 45 0.566 m

Since the magnitude of vD is known, the angular velocity of link BD is vD 3 BD 5.30 rad / s rD / IC 0.566

Example 16.11
The velocity of B is therefore
vB BD (rB / IC ) 5.30(0.4) 2.12 m / s
45

From the figure, the angular velocity of AB is

AB

vB rB / A

2.12 5.30 rad / s 0.4

16.7 Relative-Motion Analysis: Acceleration

An equation that relates the accelerations of two points on a rigid body subjected to general plane motion, d vB d v A d vB / A dt dt dt
The terms dvB/dt = aB and dvA/dt = aA are measured from a set of fixed x, y axes and represent the absolute accelerations of points B and A.

16.7 Relative-Motion Analysis: Acceleration

The last term represents the acceleration of B w.r.t A as measured by an observer fixed to translating x, y axes which have their origin at the base point A. To this observer, point B appears to move along a circular arc that has a radius of curvature rB/A.
aB/A can be expressed in terms of its tangential and normal components of motion
a B a A (a B / A )t (a B / A ) n

16.7 Relative-Motion Analysis: Acceleration

16.7 Relative-Motion Analysis: Acceleration

Since points A and B move along curved paths, the accelerations of these points will have both tangential and normal components.
The relative-acceleration components represent the effect of circular motion observed from translating axes having their origin at the base point A, and can be expressed as (aB/A)t = x rB/A and (aB/A)n = -2rB/A
a B a A rB / A 2rB / A

Example 16.17
The collar is moving downward with an acceleration of 1 m/s2. At the instant shown, it has a speed of 2 m/s which gives links CB and AB an angular velocity AB = CB = 10 rad/s. Determine the angular accelerations of CB and AB at this instant.

Example 16.17
Solution (Vector Analysis)
The kinematic diagrams of both links AB and CD are as shown. To solve, we will apply the appropriate kinematic equation to each link.

Example 16.17
Acceleration Equation.
Link AB (rotation about to a fixed axis):
2 a B AB rB AB rB

a B ( ABk ) (0.2 j) (10) 2 (0.2 j) a B 0.2 AB i 20 j

Note that aB has two components since it moves along a curved path.

Example 16.17
Link BC (general plane motion):
2 a B aC CB rB / C CB rB / C

0.2 AB i 20 j 1j ( CBk ) (0.2i 0.2 j) (10)2 (0.2i 0.2 j) 0.2 AB i 20 j 1j 0.2 CB j 0.2 CBi 20i 20 j
Thus,

0.2 AB 0.2 CB 20 20 1 0.2CB 20

Example 16.17
Solving,

CB 5 rad / s 2 AB 95 rad / s 2 95 rad / s 2

CHAPTER REVIEW
Relative Velocity Analysis
General plane motion can also be analyzed using a relative-motion analysis between two points A and B. This method considers the motion in parts; first a translation of the selected base point A, then a relative rotation of the body about point A, measured from a translating axis.

CHAPTER REVIEW
The velocities of the teo points A and B are then related using
vB v A vB / A

This equation can be applied in Cartesian vector form, written as

v B v A rB / A

CHAPTER REVIEW
In similar manner, for acceleration,
a B a A (a B / A )t (a B / A ) n

or
a B a A rB / A 2rB / A

Since the relative motion is viewed as circular motion bout the base point, point B will have a velocity vB/A, that is tangent to the circle.

CHAPTER REVIEW
It also has two components of acceleration, (aB/A)t, and (aB/A)n.
It is important to also realize that aA and aB may have two components if these points move along curved paths.

CHAPTER REVIEW
Instantaneous Center of Zero Velocity If the base point A is selected as having zero velocity, then the relative velocity equation becomes v B rB / A In this case, motion appears as if the body is rotating about an instantaneous axis.

CHAPTER REVIEW
The instantaneous center of rotation (IC) can be established provided the directions of the velocities of any two points on the body are known.
Since the radial line r will always be perpendicular to each velocity, then the IC is at the point of intersection of these two radial lines. Its measured location is determined from the geometry of the body.

CHAPTER REVIEW
Once it is established, then the velocity of any point P on the body can be determined from v = r, where r extends from IC to point P.