2D Motion of a particle using Plan-Polar

Coordinates

v  r
v r  r
P
r

θ
O

Velocity components
2D Motion of a particle using Plan-Polar
Coordinates

a  r  2 r
Coriolis’ a r  r  r
  2

component P Centripetal
r comp. of
acceleration
θ
O

Acceleration components
2D Motion of a particle using Plan-Polar
Coordinates

Coriolis’ component
of acceleration
2 r

Centripetal comp.
of acceleration  r 2
 Δer e
θ

eθ’ er’
Δeθ
eθ
er
er Δθ
r P
θ
x
O

Unit vectors
er (radial), e (transverse)
de r de
 e   er
d d
i .e . e r  e e    e r

Velocity;
d
v   re r   re r  re r
dt
 
 r  e r  r e
Acceleration;

dv
dt

d
dt

re r  re 
 2
  
 r  r e r  r  2r e

Example1
The searchlight shown in Figure-1 casts
a spot of light along the face of a wall
that is located 100m from the
searchlight.

Determine the magnitude of the velocity

and acceleration at which the spot
appears to travel across the wall at the
instant θ=450. The searchlight is rotating
at a constant rate of = 4rad/s.
 wall

100 m
r
θ

searchlight
  4rad / s

Figure 2
Example 2
The motion of cutting tool B is controlled
by the robot arm OAB as shown in the
figure. At the instant shown, the arm
rotates anticlockwise at uniform angular
speed ω=15rev/min and the length of
portion AB decreases at the uniform rate
of 200mm/s. If the length of OB at this
instant is 500mm, determine the velocity
and acceleration of B.
 v=200mm/s B

ω =15rev/min 500mm

O 600
Kinetics of a Particle
m= mass of a particle ΣF = sum of the forces acting
on the particle,
Newton’s second law of motion ΣF=ma
a= acceleration

linear momentum = L= mv ,
ma= L (rate of change of momentum) ΣF = L

Angular momentum of a particle relative to O

= HO = moment of momentum about O.
H o  r  mv  r  L
the sum of moments of forces about O
= ΣMO = H O
Kinematics of Rigid Bodies,
Instantaneous Centre of Rotation
and 2D Link Mechanisms
B’
B

A’ Translation + Rotation
A
(general 2D motion)
v B  v A    rB / A
2
a B  a A    rB / A   rB / A

Instantaneous Centre of Rotation
VB

B VA = (AI).ω
VA
VB = (BI).ω

A
ω

I
Inst. Centre of rotation
Finding velocity of a third point, C
VB

B VC
VC = (CI).ω
VA
C
A

Inst. Centre of rotation

Example 3
A helicopter flies horizontally forward
at 82km/hr while its rotor spins at
150rev/min clockwise when viewed
from above. Assuming the blades
rotate in a horizontal plane, locate
their instantaneous centre.
Kinematics of 2D link Mechanisms

Mechanism is an assembly of (rigid) bodies or

links formed and connected in such a manner
that they move upon each other with definite
relative motion

Example
Slider-Crank Mechanism, as used in an IC
engine

The various parts of the mechanism are called

links or elements
Slider-Crank Mechanism (used in an IC engine)

Crank pin
Crank arm
Connecting rod
θ Cylinder x

Gudgeon pin Piston

Crankshaft
 Big-end

Small-end

A connecting rod
Connecting rods
 Cylinder

Cylinder head

Cooling fins

Gudgeon
pin

Piston rings
Piston
Circlips
 Crank pins

Main shaft

Crank arms

Crankshaft
Cam-shafts
 Inlet & outlet
valves
Spark plug

Fuel Compressed
and air fuel and air

Connecting rods
Pistons

Crank shaft
Crank arms

Crankshaft piston
assembly
 Inlet valve Cam Outlet
valve
cover
Spark plug
Inlet port
Outlet port
Cylinder head

Piston
Cooling passage

Crank

Crank case Main

bearing

Sump
Oil bath
4 Stroke Engine
Kinematic pair

Two links in contact and between which relative

motion is possible, are known as a kinematic
pair.

The nature of the contact between the two elements or

links defines the type of the pair.

i.e. the relative motion which the links are permitted.

Lower pairs
Between links, two surfaces are in contact.
The relative motion is restricted to have a single
degree of freedom between the links.

Higher pairs
combination of sliding and rolling, a point,
or a line of contact between the two links.
Thus , the elements have a two degree-of-
freedom.
Lower pairs

Link 2
(guide,
slot)
Link 1
(slider)

sliding pair

1 2

Turning
pair
Higher pairs

2
(follower)

1 (cam)
Kinematic chain
An arbitrary collection of links (forming a closed
chain) that is capable of relative motion and that
can be made into a rigid structure by addition of a
single link.

Four-bar chain
The four-bar chain shown in the figure below
consists of four links and four turning pairs. The
link AD is shown as fixed and it can be seen that
for the lengths of links chosen, continuous
rotation of link CD is possible, giving an
oscillatory angular motion to link AB.
 Four bar mechanism

Link 1 is fixed B
3 C

2
4

A
D

1 1
(1:2), (2:3), (3:4), (4:1) - Turning pairs
Wheel assembly
wishbones

chassis

double-wishbone independent front suspension

4 bar chain
4 bar chain (3D spherical)
10 bar steering
mechanism
14 bar steering
mechanism
Convertible hood
mechanism
Inversion
Different mechanisms can be formed
by inversion
by fixing in turn the other links, (one
at a time) while keeping the same set
of kinematic pairs.
 Inversions of Slider-crank Mechanism

Connecting rod Piston

Crank 2 3 4
r

Cylinder 1
Main bearing 1
(fixed)
(fixed)
Stroke length (L=2r)

IDC ODC

Slider crank mechanism (link-1 is fixed)

 2
3

1
4

Link 2 is fixed
 4 Inversion 2
3
(link-2 is fixed)

1 Whitworth quick-return
2 mechanism or
Gnome aircraft engine
 2 3

1
4

Link 3 is fixed
 3

2
4
1

Inversion 3
(link-3 is fixed)

The oscillating cylinder engine

Foot pump
 2
3

1
4

Link 4 is fixed
 2

1 Inversion 4
(link- 4 is fixed)
3

4 Hand-pump
Degrees of Freedom of Planar
Mechanisms

The definition of the degrees of freedom

of a mechanism is the number of
independent relative motions among the
rigid bodies.
Grubler's Equation

A rigid body is constrained by a lower

pair, which allows only rotational or
sliding movement.
It has one degree of freedom, and the two
degrees of freedom are lost.

When a rigid body is constrained by a

higher pair,
it has two degrees of freedom: translating along
the curved surface and turning about the
instantaneous contact point.
N - number of kinematic elements including
the fixed member.

L - number of lower pairs in the mechanism

H - the number of higher pairs in the

mechanism
Then,
the resultant number of degrees of freedom in
the mechanism (this should be one)

F = 3(N-1) - 2L – H = 1,

which gives

3N - 2L - H = 4

This is known as Grubler’s Equation.