King Fahd University of Petroleum &

Minerals
Mechanical Engineering
Dynamics ME 201
BY
Dr. Meyassar N. Al-Haddad
Lecture # 23

Course coverage
Kinematics of particle in various motion. (Chapter 12)
Force and acceleration. (Chapter 13)
Work and energy relations. (Chapter 14)
Impulse and Momentum. (Chapter 15)
Kinematics of a rigid bodies. (Chapter 16)
Force and acceleration of a rigid bodies . (Chapter 17)
Work and energy relations of a rigid bodies. (Chapter 18)
Impulse and Momentum of a rigid bodies (Chapter 19)

Chapter 16 Planar Kinematics of a Rigid Body

Objective
To classify the various types of rigid-body.
To investigate rigid-body translation and
show how to analyze motion about a fixed
axis.

Rigid-Body Motion
Types of rigid body planar motion:
Translation
Rotational about fixed axis
General plane motion

Translation

Every line segment on the body remains parallel to its original direction
during the motion

Rotation about fixed axis

All particles of the body move along circular paths

except those which lie on the axis of rotation

General plane motion

Combination of translation and rotation

Example
General plane motion

Rectilinear translation

Curvilinear translation

Rotation about a fixed axis

Translation
Position

rB rA rB / A
Velocity

v B v A d rB / A / dt
rB / A const.
vB v A

Acceleration

aB aA
All points move with same velocity and acceleration

Summary chapter 12

Time dependent acceleration

s (t )
ds
v
dt
2
dv d s
a
2
dt dt

a ds v dv

Constant acceleration

v v0 ac t
1 2
s s0 v0t ac t
2

v v 2 ac ( s s 0 )
2

2
0

Rotation About a Fixed axis

For Line
Angular Position (
Defined by the angle measured between a fixed
reference line and r
Measured in rad
Angular Displacement
Measured as d
Vector quantity
Measured in radians or revolutions
rev = 2 rad 1

Angular velocity (
the time rate of change in the angular position

dt

Angular acceleration
the time rate of change of the angular velocity

dt

d 2
2
dt

= f

d d

Constant Angular Acceleration

0 c t
1
2
0 0 t c t
2

0 2 c ( 0 )
2

Comparison
s (t )

ds
v
dt

dv d 2 s
a
2
dt dt

a ds v dv

v v0 ac t

1 2
s s0 v0t ac t
2

v v 2 ac ( s s 0 )
2

2
0

(t )

dt

d d 2

2
dt
dt

d d

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

Motion of Point P
:Position
Is defined by the position vector r
The arc-length is

s r

Velocity

vt

ds
d
d
r
r
dt
dt
dt

tangent to the path

v x rP

Acceleration

at d d r r d r
dt
dt

dt

rate of change in the velocitys magnitude

2 ( r ) 2
2
an

r
r
r
rate of change in the velocitys direction

Direction of an is always toward O

at2 ar2 r 2 r 2 r 2 4
2

r1

r2

r1

S 1r1 2 r2
1r1 2 r2
a 1r1 2 r2

s , v, a

r2

Example 16-1
Rest
at = 4t m/s2
=?
=?

(aP )t r
(4t ) (0.2)

20t rad / s 2

20 t
dt

10 t 2
dt

d 20t dt

10t 2

3.33t 3 rad

rad / s

2
d

10
t

dt