CHAPTER-16
PLANAR KINEMATICS OF A
RIGID BODY
PLANAR KINEMATICS OF A RIGID BODY
• Planar Rigid Body Motion
• Translation
• Rotation About a Fixed Axis
• General Plane Motion
• Velocity Analysis of a Rigid Body
• Relative Velocity Method
• Instantaneous Center Method
• Acceleration Analysis of a Rigid Body
ROTATION ABOUT A FIXED AXIS
• When a body is rotating about a fixed axis, any point P
located in the body travels along a circular path.
Angular Motion:
• Since a point is without dimension, it has no angular
motion
• Only lines and bodies undergo angular motion
• Consider the body shown in the figure and the angular
motion of a radial line r.
Angular Position:
• At any instant, the angular position of r is defined by the
angle θ measured between a fixed reference line and r.
Angular Displacement:
• The change in angular position, which can be measured as
a differential dθ, is called the angular displacement.
ROTATION ABOUT A FIXED AXIS
Angular Velocity:
• The time rate of change in the angular position is called
the angular velocity ω
• Its magnitude is:
ω = dθ / dt -----------------------------(1)
Angular Acceleration:
• The angular acceleration α measures the time rate of
change of the angular velocity.
• Its magnitude is:
α = dω / dt -------------------------------(2)
or α = d2θ / dt2 ------------------------------(3)
• The line of action of α is same as that for ω, however, its
sense of direction depends on whether ω is increasing or
decreasing with time.
ROTATION ABOUT A FIXED AXIS
• By eliminating dt from equations (1) and (2), we get:
α dθ = ω dω ----------------------------(4)
• Similarity between the differential relations for angular motion and those
developed for rectilinear motion of a particle
Constant angular acceleration:
• If the angular acceleration of the body is constant, α = αc, then eq (1), (2) and (4)
when integrated, yield a set of formulas which relate the body’s angular velocity,
angular position and time. The results are:
ω = ω0 + αct -----------------------------------(5)
θ = θ0 + ω0t + (1/2) αct2 ----------------------(6)
ω2 = ω02 + 2 αc (θ – θ0 ) ------------------------(7)
ROTATION ABOUT A FIXED AXIS
Motion of Point P:
• As the rigid body rotates, point P travels along a circular path of radius r
and center at point O.
Position:
• The position of P is defined by the position vector r, which extends from
O to P.
ROTATION ABOUT A FIXED AXIS
Velocity:
• The velocity of P has a magnitude which can be
determined from the circular motion of P using its
polar coordinate components vr = r0 and vθ = rθ0
• Since r is constant, the radial component vr = 0,
so that v = vθ = rθ0
• Because ω = θ0, therefore:
v = ωr
• The direction of v is tangent to the circular path.
• Both the magnitude and direction of v can also be
found by using the cross product of w and r:
v=ωxr
ROTATION ABOUT A FIXED AXIS
Acceleration:
• The acceleration of P can be expressed in terms of its
normal and tangential components
• Using at = dv /dt, an = v2 / ζ, noting that ζ = r, v = ω r,
and α = dω /dt, we have:
at = α r
an = ω2 r
• The tangential component of acceleration represents
the time rate of change in the velocity’s magnitude. If
the speed of P is increasing, then at acts in the same
direction as v; if the speed is decreasing, at acts in the
opposite direction of v; and if the speed is constant
at = 0
• The normal component of acceleration represents the
time rate of change in the velocity’s direction. The
direction of an is always towards O, the center of the
circular path
ROTATION ABOUT A FIXED AXIS
Acceleration:
• Like the velocity, the acceleration of point P may be
expressed in terms of the vector cross product.
• Since dω/dt = α and dr/dt = v = ω x r, so the above
equation becomes:
a = α x r + ω x (ω x r )
• In terms of the components, a can be expressed as:
a = at + an
a = α x r – ω2 r
ROTATION ABOUT A FIXED AXIS
Examples:
16.1, 16.2
Fundamental Problems:
F16.1, F16.3, F16.5
Practice Problems:
16.3, 16.5, 16.18, 16.21,
16.29, 16.30
EXAMPLE 16-1
A cord is wrapped around a wheel which is initially at rest as shown. If a
force is applied to the cord and gives it an acceleration a = (4t) m/s2, where ‘t’
is in seconds, determine as a function of time (a) the angular velocity of the
wheel (b) the angular position of the line OP in radians
Solution of Example 16-1
EXAMPLE 16-2
The motor shown in the photo is used to turn a wheel and attached blower contained
within the housing. The details of the design are shown in Fig. If the pulley A
connected to the motor begins to rotate from rest with a constant angular acceleration
of αA = 2 rad/s2, determine the magnitudes of the velocity and acceleration of point P
on the wheel, after the pulley A has turned two revolutions. Assume the transmission
belt does not slip on the pulley and wheel.
Solution of Example 16-2
PROBLEM 16-18
Gear A is in mesh with gear B as shown. If A starts from rest and has a
constant angular acceleration of αA = 2 rad/s2, determine the time needed for
B to attain an angular velocity of ωB = 50 rad/s
Solution of Problem 16-18
PROBLEM 16-30
If the operator initially drives the pedals at 20 rev/min, and then begins an angular
acceleration of 30 rev /min2, determine the angular velocity of the flywheel F when t =
3s. Note that the pedal arm is fixed connected to the chain wheel A, which in turn
drives the sheave B using the fixed connected clutch gear D. The belt wraps around the
sheave then drives the pulley E and fixed connected flywheel.
Solution of Problem 16-30
PLANAR KINEMATICS OF A RIGID BODY
• Planar Rigid Body Motion
• Translation
• Rotation About a Fixed Axis
• General Plane Motion
• Velocity Analysis of a Rigid Body
• Relative Velocity Method
• Instantaneous Center Method
• Acceleration Analysis of a Rigid Body
RELATIVE MOTION ANALYSIS: VELOCITY
• General plane motion consists of a combination of translation and rotation
• So it is often convenient to view these components separately using a relative-
motion analysis.
• Two set of coordinate axes will be used to do this
• The x, y coordinate system is fixed and will be used to measure the absolute
positions, velocities and accelerations of two points A and B on the body
• 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 are not fixed to the body, rather they will be
allowed to translate with respect to the fixed frame
RELATIVE MOTION ANALYSIS: VELOCITY
POSITION:
• The position vector rA (above figure) specifies the location of the base point A,
whereas the relative position vector rB/A locates point B on the body with respect to
A.
• By vector addition, the position of B is then:
rB = rA + rB/A
RELATIVE MOTION ANALYSIS: VELOCITY
DISPLACEMENT:
• During an instant dt, points A and B undergo displacements drA and drB as shown.
• The entire body first translates by an amount drA so that A, the base point, moves to its final
position and B moves to B’.
• The body is then rotated by an amount dθ about A, so that B’ undergoes a relative displacement
drB/A and thus moves to its final position B.
• Since the body is rigid, rB/A has a fixed magnitude, and thus drB/A accounts only for a change in
the direction of rB/A
• Due to rotation about A the magnitude of the relative displacement is drB/A = rB/A dθ, and the
displacement of B is thus:
drB = drA + drB/A
RELATIVE MOTION ANALYSIS: VELOCITY
VELOCITY:
• To determine the relationship between the velocities of points A and B, it is necessary
to take the time derivative of position equation, i.e.
(drB / dt) = (drA /dt) + (drB/A /dt)
• Since (drB / dt) = vB, and (drA /dt) = vA,
• The magnitude of the third term is (rB/A dθ /dt) = rB/A θ0 = rB/A ω
• We therefore have:
vB = vA + vB/A
vB = vA + ω x rB/A
RELATIVE MOTION ANALYSIS: VELOCITY
Examples:
16.6, 16.7, 16.8, 16.9
Fundamental Problems:
F16.7. F16.9, F16.10
Practice Problems:
16.62, 16.68, 16.70, 16.73, 16.81
EXAMPLE 16-6
The link shown is guided by two blocks A and B which move in the
fixed slots. If the velocity of A is 2 m/s downward, determine the
velocity of B at the instant θ = 45º
Solution of Example 16-6
