Chapter Objectives: Planar Rigid-Body Motion
Chapter Objectives: Planar Rigid-Body Motion
Chapter Objectives: Planar Rigid-Body Motion
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16.2 Translation 16.3 Rotation about a Fixed Axis
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16.3 Rotation about a Fixed Axis 16.3 Rotation about a Fixed Axis
16.3 Rotation about a Fixed Axis 16.3 Rotation about a Fixed Axis
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16.3 Rotation about a Fixed Axis 16.3 Rotation about a Fixed Axis
Solution Solution
Part (a) Part (a)
The wheel is subjected to rotation about a fixed axis Integrating with the initial condition that ω = 0, t = 0,
passing through point O. d
+
Acceleration of Point P has both tangential and (20t )
dt
normal components. t
d 20t dt
Angular acceleration of the wheel is 0 0
+ ( aP ) t r 10t 2 rad/s
( 4t ) (0.2)
20t rad/s 2
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Example 16.1 16.4 Absolute Motion Analysis
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Example 16.5 Example 16.5
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Solution Solution
Time Derivatives Time Derivatives
Taking the time derivatives of Eq. 1, Taking the time derivatives of Eq. 2 yields,
ds d ds dv d d
2s 0 4( sin ) vs s s 2(cos ) 2(sin )
dt dt dt dt
st dt
vs2 sas 2(cos ) 2 2(sin )
s (vs ) 2(sin ) (2)
Since as = dvs/dt = 0, then
Since vs = 0.5 m/s, then at θ = 30° (0.5) 2 0 2 cos 30 (0.620) 2 2 sin 30
0.620 rad/s 0.415 rad/s 2
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16.5 Relative-Motion Analysis: Velocity 16.5 Relative-Motion Analysis: Velocity
Displacement Velocity
Due to the rotation about A, drB/A = rB/A dθ, and To determine the relationship between the
the displacement of B is velocities of points A and B,
drB drA drB / A drB drA drB / A
dt dt dt
due to rotation about A
due to translation about A
due to translation and rotation
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Velocity Velocity
vB/A has a magnitude of vB/A = ωrB/A and a vB is determined by considering the entire body
direction which is perpendicular to rB/A to translate with a velocity of vA, and rotate about
vB v A vB / A A with an angular velocity ω
Vector addition of these two effects, applied to B,
yields vB
vB/A represents the effect of circular motion,
about A. It can be expressed by the cross
product
v B v A rB / A
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16.5 Relative-Motion Analysis: Velocity 16.5 Relative-Motion Analysis: Velocity
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Example 16.6 Example 16.6
Solution Solution
Vector Analysis Vector Analysis
Kinematic Diagram Velocity Equation
This motion causes the link to rotate CCW We have v B v A rB / A
Apply the velocity equation v B v A v B / A to points vB i 2 j [k (0.2 sin 45 i 0.2 cos 45 j)]
A and B in order to solve for the two unknown vB i 2 j 0.2 sin 45 j 0.2 cos 45 i
magnitudes vB and ω
Equating the i and j components gives
vB 0.2 cos 45
0 2 0.2 sin 45 14.1 rad/s , vB 2 m/s
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16.6 Instantaneous Center of Zero Velocity 16.6 Instantaneous Center of Zero Velocity
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Solution Solution
Part (a) Part (b)
vB is caused by the clockwise rotation of link AB. Points B and C follow circular paths of motion since
vB is perpendicular to AB and acts at an angle θ from rods AB and DC are each subjected to rotation
the horizontal. about a fixed axis.
Motion of point B causes the Since the velocity is tangent to the path, vC and vB
piston to move horizontally are directed vertically downward, along CB.
with a velocity vC.
When the line are drawn rC / IC rB / IC
perpendicular to vB and vC, CB (vC / rC / IC ) 0
the intersect at the IC.
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Example 16.10 Example 16.12
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Solution Solution
Since no slipping, A and B on the cylinder have the Dividing one equation into the other eliminates ω
same velocities as E and D. and yields
vA and vB are parallel, by the proportionally of the v 0.4
B 2.60 rad / s
right triangles the IC is located at a point on line AB. x 0.154
Angular velocity of the cylinder is
vB x; 0.4 x
0.4(0.25 x) 0.25x x 0.154 m
v A (0.25 x); 0.25 (0.25 x)
The velocity of point C is
vC rC / IC 2.6(0.154 0.125) 0.0750 m/s
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An equation that relates the accelerations of two The terms can be represented graphically
points on a rigid body subjected to general plane
motion,
d vB d v A d vB/ A
dt dt dt
= +
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
a B a A rB / A 2rB / A
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16.7 Relative-Motion Analysis:Acceleration 16.7 Relative-Motion Analysis:Acceleration
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Example 16.14 Example 16.16
Solution The spool unravels from the cord, such that at the
Acceleration Diagram instant shown it has an angular velocity of 3 rad/s
We have and an angular acceleration of 4 rad/s2. Determine
a B a A rB / A 2rB / A the acceleration of point B.
aB cos 45 i aB sin 45 j 3 cos 45 j (k ) (10i) (0.238) 2 (10i )
Carrying out the cross product and equating the i
and j components yields
aB cos 45 3 cos 45 (0.283) 2 (10)
aB sin 45 3 sin 45 (10)
aB 1.87 m / s 2 and 0.344 rad/s 2
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Solution Solution
Vector Analysis Acceleration Equation
The acceleration of point G is a B aG rB / G 2rB / G
aG = αr = (4)(0.15) = 0.6 m/s2
( aB ) x i (aB ) y j 600 j (4k ) ( 225 j) (3) 2 (225 j)
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Example 16.18 Example 16.18
Solution Solution
Kinematic Diagram Crankshaft AB (rotational about a fixed axis):
aC is vertical since C moves along a straight-line 2
a B AB rB AB rB
path. (20k ) (0.177i 0.177 j) (10) 2 ( 0.177i 0.177 j)
Acceleration Equation
{21.21i 14.14 j} m/s 2
Expressing each of the position
vectors in Cartesian vector form Connecting Rod BC (general plane motion):
rB {0.25 sin 45 i 0.25 cos 45 j} m 2
a C a B BC rC / B BC rC / B
{0.177i 0.177 j} m aC j 21.21i 14.14 j ( CBk ) (0.176i 0.729 j) (2.43) 2 (0.176i 0.729 j)
0 20.17 0.729 BC aC 0.176 BC 18.45
rC / B {0.75 sin 13.6 i 0.75 cos13.6 j} m
{0.176i 0.729 j} m BC 27.7 rad/s 2 and aC 13.6 m/s 2
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16.8 Relative-Motion Analysis using Rotating 16.8 Relative-Motion Analysis using Rotating
Axes Axes
Translating coordinate system Coordinate system
describes relative motion analysis for velocity use for kinematics analysis
and acceleration use for analyzing motion of two points on a
determines the motion of the points on the same mechanism which are not located in the same
rigid body rigid body
determines the motion of points located on use for specifying kinematics of particle motion
several pin-connected rigid bodies when the particle is moving along a rotating path
Rigid bodies are constructed such that sliding
occur at their connections
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16.8 Relative-Motion Analysis using Rotating 16.8 Relative-Motion Analysis using Rotating
Axes Axes
Position Velocity
Consider A and B, whose location are specified For velocity of point B,
by rA and rB, measured from the fixed X, Y, Z drB / A
coordinate system vB v A
dt
If B has coordinates (xB, yB)
Using the derivative property of the vector cross
rB / A xBi yB j product
Using vector addition,
v B v A rB / A ( v B / A ) xyz
rB rA rB / A
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16.8 Relative-Motion Analysis using Rotating
Example 16.19
Axes
Acceleration At the instant θ = 60°, the rod has an angular
Acceleration of B may be expressed in terms of velocity of 3 rad/s and an angular acceleration of 2
its motion measured with respect to the rotating rad/s2. At the same instant, the collar C is travelling
or moving system of coordinates by taking the outward along the rod such that when x = 2 m the
time derivative velocity is 2 m/s and the acceleration is 3 m/s2, both
measure relative to the rod.
rB / A drB / A d ( v B / A ) xyz Determine the Coriolis
aB a A
dt dt acceleration and the velocity
Rearranging terms, and acceleration of the collar
rB / A ( rB / A )
aB a A at the instant.
2 ( v B / A ) xyz (a B / A ) xyz
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Solution Solution
Coordinate Axes Kinematic Equations
The origin of both coordinate systems is located at It will be simpler to express the data in terms of i, j, k
point O. The moving x, y, z frame of reference is component vectors rather than I, J, K components.
attached to the rod.
Motion of moving Motion of C with respect
reference to moving reference
Kinematic Equations vO 0 rC / O 0.2im
vC vO rC / O ( vC / O ) xyz aO 0 ( vC / O ) xyz 2im / s
rC / O ( rC / O ) 2 ( vC / O ) xyz (aC / O ) xyz
aC aO
3krad / s (aC / O ) xyz 3im / s 2
2krad / s
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Example 16.21 Example 16.21
Solution Solution
Coordinate Axes. Kinematic Equations
Origin B coincides with the origin of the fixed X,Y, Z Motion of Moving Reference:
frame. v B 600 jkm / h
2 2
Kinematic Equations. aB n vB 600 900km / h
2
400
v A v B rA / B ( v A / B ) xyz (1) a B aB n a B t 900i 100 jkm / h 2
r ( r ) 2 ( v ) (a ) (2)
aA aB A/ B A/ B A / B xyz A / B xyz vB 600
1.5rad / h
400
aB t 100
0.25rad / h 2
400
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Solution Solution
Kinematic Equations Kinematic Equations
Motion of A with Respect to Moving Reference: Thus
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