Dynamics - Chapter 15

Ninth Edition
CHAPTER VECTOR MECHANICS FOR ENGINEERS:
15 DYNAMICS
Ferdinand P. Beer
E. Russell Johnston, Jr.
Kinematics of
Lecture Notes:
J. Walt Oler Rigid Bodies
Texas Tech University
2010 The McGraw-Hill Companies, Inc. All rights reserved.

Edition
Ninth
Vector Mechanics for Engineers: Dynamics
Contents
Introduction Absolute and Relative Acceleration in
Translation Plane Motion
Rotation About a Fixed Axis: Velocity Analysis of Plane Motion in Terms of a
Rotation About a Fixed Axis: Parameter
Acceleration Sample Problem 15.6
Rotation About a Fixed Axis: Sample Problem 15.7
Representative Slab Sample Problem 15.8
Equations Defining the Rotation of a Rate of Change With Respect to a
Rigid Body About a Fixed Axis Rotating Frame
Sample Problem 5.1 Coriolis Acceleration
General Plane Motion Sample Problem 15.9
Absolute and Relative Velocity in Plane Sample Problem 15.10
Motion Motion About a Fixed Point
Sample Problem 15.2 General Motion
Sample Problem 15.3 Sample Problem 15.11
Instantaneous Center of Rotation in Three Dimensional Motion. Coriolis
Plane Motion Acceleration
Sample Problem 15.4 Frame of Reference in General Motion
Sample Problem 15.5 Sample Problem 15.15
2010 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 2
Edition
Ninth
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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Ninth
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,

rB rA rB A
Differentiating with respect to time,

rB rA rB A rA

vB v A
All particles have the same velocity.
Differentiating with respect to time again,
rB rA rB A rA

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

Velocity vector v dr dt of the particle P is
tangent to the path with magnitude v ds dt
s BP r sin
ds
v lim r sin r sin
dt t 0 t
The same result is obtained from

dr
v r
dt

k k angular velocity


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Ninth
Rotation About a Fixed Axis. Acceleration
Differentiating to determine the acceleration,

dv d
a r
dt dt

d dr
r
dt dt

d
r v
dt

d
angular acceleration
dt

k k k

Acceleration of P is combination of two

vectors,

a r r

r tangential acceleration component

r radial acceleration component
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Ninth
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,

v r k r
v r
Acceleration of any point P of the slab,

a r r

k r 2r
Resolving the acceleration into tangential and

normal components,

at k r a t r

an 2 r a n r 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.
d d
Recall or dt
dt
d d 2 d
2
dt dt d
Uniform Rotation, = 0:
0 t
Uniformly Accelerated Rotation, = constant:

0 t
0 0t 12 t 2
2 02 2 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.

v v 12 in. s
D 0 C 0
a
D t aC 9 in. s
vD 0 r0 aD t r
vD 0 aD t 9
0
12
4 rad s 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.

0 t 4 rad s 3 rad s 2 2 s 10 rad s

0t 12 t 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
2 rad

vB r 5 in.10 rad s vB 50 in. s
yB r 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.
aD t aC 9 in. s
aD n rD02 3 in.4 rad s 2 48 in s2
aD t 9 in. s2 aD 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
aD t
48

9 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.

vB v A vB A

vB A k rB A vB A r

v B v A 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 in terms of vA, l, and .
The direction of vB and vB/A are known. Complete the velocity diagram.
vB vA vA
tan cos
vA v B A l
v B v A tan vA

l cos
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Selecting point B as the reference point and solving for the velocity vA of end A
and the angular velocity 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 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
its center is 1.2 m/s.
vP v A vP A v A k rP A
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), < 0 (rotates clockwise).
xA
x A r1
2 r 2
y
Differentiate to relate the translational and angular
velocities.
x
v A r1
vA 1.2 m s
k 8 rad s k
r1 0.150 m

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Ninth
Sample Problem 15.2

For any point P on the gear, vP v A vP A v A k rP A
Velocity of the upper rack is equal to Velocity of the point D:

velocity of point B: vD v A k rD A

vR vB v A k rB A 1.2 m s i 8 rad s k 0.150 m i

1.2 m s i 8 rad s k 0.10 m j

1.2 m s i 0.8 m s i

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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Ninth
Sample Problem 15.3
SOLUTION:
Will determine the absolute velocity of
point D with

vD vB vD B

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 v D

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 vD and vD 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

vD vB vD B

The velocity vB is obtained from the crank rotation data.
rev min 2 rad
AB 2000 209.4 rad s
min 60 s rev
vB AB AB 3 in.209.4 rad s
The velocity direction is as shown.

The direction of the absolute velocity vD is horizontal.

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
13.95
8 in. 3 in.

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

from the vector triangle.
vD vD B 628.3in. 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
vD B l BD
vD vB vD B
vD B 495.9 in. s
BD
l 8 in.

62.0 rad s BD 62.0 rad sk
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Ninth
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
A A v B BC l sin A
AC l cos l cos
v A tan
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.

Edition
Ninth
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 rA A 8 rad s
rA 0.15 m
Evaluate the velocities at B and D based on their rotation
about C.
vR vB rB 0.25 m8 rad s

vR 2 m s i
rD 0.15 m 2 0.2121 m
vD rD 0.2121 m 8 rad s
vD 1.697 m s

vD 1.2i 1.2 j m s


Edition
Ninth
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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Ninth
Sample Problem 15.5
SOLUTION:
From Sample Problem 15.3,

vB 403.9i 481.3 j in. s

vB 628.3 in. s
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.
B 40 53.95
D 90 76.05 vB BC BD
vB 628.3 in. s
BD 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 BD 8.44 in.62.0 rad s
vP vD 523in. s 43.6 ft s

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Absolute and Relative Acceleration in Plane Motion
Absolute acceleration of a particle of the slab,

aB a A aB A

Relative acceleration a B A associated with rotation about A includes
tangential and normal components,

a B A k rB A
t
a B A r
t

n
a B A 2 rB A aB A n r 2
Edition
Ninth

Given a A and v A ,

determine a B and .

aB a A aB A
a A a B A a B

n A t

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 .

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Ninth

Write aB a A aB A in terms of the two component equations,

x components: 0 a A l 2 sin l cos
y components: a B l 2 cos l sin
Solve for aB and .

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Ninth
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 y B l cos
v A x A v B y B
l cos l sin
l cos l sin
a A xA a B yB
l 2 sin l cos l 2 cos lsin
l 2 sin l cos l 2 cos l sin

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Ninth
Sample Problem 15.6
SOLUTION:
The expression of the gear position as a
function of 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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Ninth
Sample Problem 15.6
SOLUTION:
The expression of the gear position as a function of
is differentiated twice to define the relationship
between the translational and angular accelerations.
x A r1
v A r1 r1
vA 1.2 m s
8 rad s
r1 0.150 m
a A r1 r1
aA 3 m s2

r1 0.150 m

k 20 rad s 2 k

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Ninth
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.

aB a A aB A a A aB A aB A
t n

a A k rB A 2rB A
2

3 m s i 20 rad s k 0.100 m j 8 rad s 0.100 m j
2 2
2
2
3 m s i 2 m s i 6.40 m s j
2

aB 5 m s 2 i 6.40 m s 2 j aB 8.12 m s 2

Edition
Ninth
Sample Problem 15.6
2
aC a A aC A a A k rC A rC A
2

3 m s i 20 rad s k 0.150 m j 8 rad s 2 0.150 m j
2

3 m s 2 i 3 m s 2 i 9.60 m s 2 j

ac 9.60 m s j2

aD a A aD A a A k rD A 2rD A
2

3 m s i 20 rad s k 0.150 m i 8 rad s 2 0.150m i
2

3 m s 2 i 3 m s 2 j 9.60 m s 2 i

2
aD 12.6 m s i 3 m s j 2

aD 12.95 m s 2
Edition
Ninth
Sample Problem 15.7
SOLUTION:
The angular acceleration of the
connecting rod BD and the acceleration
of point D will be determined from

t
aD aB aD B aB aD B aD B

n
The acceleration of B is determined from
the given rotation speed of AB.
Crank AB of the engine system has a The directions of the accelerations

constant clockwise angular velocity of

a D , a D B , and a D B
t
n
are
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.

Edition
Ninth
Sample Problem 15.7
SOLUTION:
The angular acceleration of the connecting rod BD and
the acceleration of point D will be determined from

aD aB aD B aB aD B aD B t

n
The acceleration of B is determined from the given rotation
speed of AB.
AB 2000 rpm 209.4 rad s constant

AB 0
aB r AB
2
123 ft 209.4 rad s2 10,962 ft s2

2

aB 10,962 ft s cos 40i sin 40 j

Edition
Ninth
Sample Problem 15.7
The directions of the accelerations aD , aD

B t , and a

D B n are
determined from the geometry.

aD aD i
From Sample Problem 15.3, BD = 62.0 rad/s, = 13.95o.
aD B n BD BD
2
12
8 ft 62.0 rad s 2 2563 ft s 2
aD B n 2563ft s2 cos13.95i sin 13.95 j

aD B t BD BD 128 ft BD 0.667 BD
The direction of (aD/B)t is known but the sense is not known,

aD B t 0.667 BD cos 76.05i sin 76.05 j
Edition
Ninth
Sample Problem 15.7
Component equations for acceleration of point D are solved

simultaneously.

t

aD aB aD B aB aD B aD B n
x components:
aD 10,962 cos 40 2563cos13.95 0.667 BD sin 13.95
y components:
0 10,962 sin 40 2563sin 13.95 0.667 BD cos13.95

BD 9940 rad s 2 k
aD 9290 ft s i
2


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Ninth
Rate of Change With Respect to a Rotating Frame
With respect to the rotating Oxyz frame,

Q Q x i Q y j Qz k

Q Oxyz Qx i Q y j Qz k
With respect to the fixed OXYZ frame,

Q OXYZ Qx i Q y j Qz k Qx i Q y j Qz k
Frame OXYZ is fixed.

Qx i Q y j Qz k Q Oxyz rate of change
with respect to rotating frame.
Frame Oxyz rotates about
fixed axis OA with angular

If Q were fixed within Oxyz then Q OXYZ is
velocity equivalent to velocity of a point in a rigid
body
attached to Oxyz and Qx i Q y j Qz k Q
Vector function Q t varies
in direction and magnitude. With respect to the fixed OXYZ frame,

Q Q
OXYZ

Q
Oxyz
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Ninth
Coriolis Acceleration
Frame OXY is fixed and frame Oxy rotates with angular
velocity .

Position vector rP for the particle P is the same in both
frames but the rate of change depends on the choice of
frame.
The absolute velocity of the particle P is

vP r OXY r r Oxy

Imagine a rigid slab attached to the rotating frame Oxy

or F for short. Let P be a point on the slab which
corresponds instantaneously to position of particle P.
v P F r Oxy velocity of P along its path on the slab

v P ' absolute velocity of point P on the slab
Absolute velocity for the particle P may be written as

vP vP vP F
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Ninth
Absolute acceleration for the particle P is

d
dt

a P r r OXY r Oxy

but, r OXY r r Oxy

d
dt

r Oxy r Oxy r Oxy

a P r r 2 r Oxy rOxy

v P r r Oxy

v P v P F Utilizing the conceptual point P on the slab,

a P r r

a P F r

Oxy
Absolute acceleration for the particle P becomes

a P a P a P F 2 r Oxy

a P a P F ac

ac 2 r Oxy 2 v P F Coriolis acceleration

Edition
Ninth
Consider a collar P which is made to slide at constant
relative velocity u along rod OB. The rod is rotating at
a constant angular velocity . The point A on the rod
corresponds to the instantaneous position of P.
Absolute acceleration of the collar is

aP a A aP F ac
where

a A r r

a A r 2
a P F rOxy 0

ac 2 v P F ac 2u
The absolute acceleration consists of the radial and

tangential vectors shown

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Ninth
Change in velocity over t is represented by the
sum of three vectors

v RR TT T T
TT is due to change in direction of the velocity of
point A on the rod,
TT
lim lim v A r r 2 a A
t 0 t t 0 t

recall, a r r

a r 2
at t , v vA u A A

at t t , v v A u RR and T T result from combined effects of
relative motion of P and rotation of the rod
RR T T r
lim lim u
t 0 t t t 0 t t
u u 2u

recall, ac 2 v P F ac 2u
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Ninth
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

velocity , the velocity of a particle P of the body is

dr
v r
dt
and the acceleration of the particle P is

d
a r r .
dt

The angular acceleration represents the velocity of
the tip of .

As the vector 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.
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Ninth
General Motion
For particles A and B of a rigid body,

vB v A vB A
Particle A is fixed within the body and motion of

the body relative to AXYZ is the motion of a
body with a fixed point

vB v A rB A
Similarly, the acceleration of the particle P is

aB a A aB A

a A rB A rB A
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.

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Ninth
Sample Problem 15.11
SOLUTION:

With 1 0.30 j 2 0.50k

r 12cos 30i sin 30 j

10.39i 6 j
Angular velocity of the boom,

The crane rotates with a constant 1 2
angular velocity 1 = 0.30 rad/s and the
boom is being raised with a constant Angular acceleration of the boom,

1 2 2 2 Oxyz 2

angular velocity 2 = 0.50 rad/s. The
length of the boom is l = 12 m.
1 2
Determine:
angular velocity of the boom, Velocity of boom tip,

angular acceleration of the boom, v r
velocity of the boom tip, and Acceleration of boom tip,
acceleration of the boom tip.
a r r r v
Edition
Ninth
SOLUTION:
Angular velocity of the boom,

1 2

0.30 rad s j 0.50 rad sk
Angular acceleration of the boom,

1 2 2 2 Oxyz 2

1 2 0.30 rad s j 0.50 rad s k

2
0.15 rad s i
Velocity of boom tip,

i j k

v r 0 0.3 0.5
10.39 6 0

1 0.30 j 2 0.50k v 3.54 m s i 5.20 m s j 3.12 m s k

r 10.39i 6 j

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Ninth
Acceleration of boom tip,

a r r r v

i j k i j k

a 0.15 0 0 0 0.30 0.50
10.39 6 0 3 5.20 3.12

0.90k 0.94i 2.60i 1.50 j 0.90k

2

2
a 3.54 m s i 1.50 m s j 1.80 m s k
2

1 0.30 j 2 0.50k

r 10.39i 6 j

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Ninth
Frame of Reference in General Motion
With respect to OXYZ and AXYZ,

rP rA rP A

vP v A vP A

aP a A aP A
The velocity and acceleration of P relative to

AXYZ can be found in terms of the velocity
and acceleration of P relative to Axyz.
v P v A rP A rP A

Axyz

v P v P F

Consider:
a P a A rP A rP A
- fixed frame OXYZ,

- translating frame AXYZ, and 2 rP A rP A
Axyz Axyz
- translating and rotating frame Axyz
or F. a P a PF a c

Edition
Ninth
SOLUTION:
Define a fixed reference frame OXYZ at O
and a moving reference frame Axyz or F
attached to the arm at A.
With P of the moving reference frame
coinciding with P, the velocity of the point
P is found from

For the disk mounted on the arm, the vP vP vP F
indicated angular rotation rates are
constant. The acceleration of P is found from

a P a P a P F ac
Determine:
the velocity of the point P, The angular velocity and angular
the acceleration of P, and acceleration of the disk are

angular velocity and angular D F
acceleration of the disk.
F


Edition
Ninth
SOLUTION:
Define a fixed reference frame OXYZ at O and a
moving reference frame Axyz or F attached to the
arm at A.

r Li Rj rP A Rj

1 j D F 2k
With P of the moving reference frame coinciding

with P, the velocity of the point P is found from

v P v P v P F

v P r 1 j Li Rj 1L k

v P F D F rP A 2 k Rj 2 R i

v P 2 R i 1L k

Edition
Ninth
The acceleration of P is found from

a P a P a P F ac

a P r 1 j 1Lk 1 Li
2

a P F D F D F rP A

2
2 k 2 R i 2 R j

ac 2 v P F

21 j 2 R i 21 2 Rk
2 2
a P 1 L i 2 Rj 21 2 Rk
Angular velocity and acceleration of the disk,

D F 1 j 2 k

F

1 j 1 j 2 k

1 2i

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Ninth Edition

CHAPTER VECTOR MECHANICS FOR ENGINEERS:

2010 The McGraw-Hill Companies, Inc. All rights reserved.

2010 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 3

The same result is obtained from

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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

Motion of a rigid body rotating around a fixed axis is

Uniformly Accelerated Rotation, = constant:

Magnitude and direction of the total acceleration,

2010 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 11

General plane motion is neither a translation nor

Any plane motion can be replaced by a translation of an

2010 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 13

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

2010 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 16

2010 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 17

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

2010 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 18

The velocity direction is as shown.

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Determine the velocity magnitudes vD and vD B

vD 523.4 in. s 43.6 ft s vP vD 43.6 ft s

The same translational and rotational velocities at A are

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

2010 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 22

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

2010 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 23

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

2010 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 25

2010 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 26

2010 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 27

Determine the angular velocity about the center of

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Absolute acceleration of a particle of the slab,

Must also know angular velocity .

y components: a B l 2 cos l sin

Solve for aB and .

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2010 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 32

The acceleration of each point on the

2010 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 33

2010 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 34

2010 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 35

Crank AB of the engine system has a The directions of the accelerations

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AB 2000 rpm 209.4 rad s constant

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The directions of the accelerations aD , aD

aD B n 2563ft s2 cos13.95i sin 13.95 j

Component equations for acceleration of point D are solved

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With respect to the fixed OXYZ frame,

Frame OXYZ is fixed.

Imagine a rigid slab attached to the rotating frame Oxy