Lecture Slides in ENSC 12
(Dynamics of Rigid Bodies)
Asst. Prof. Ariel U. Glorioso
MS Agricultural Engineering
THIRD LONG EXAM COVERAGE:
PLANAR KINEMATICS
OF A RIGID BODY
COVERAGE OUTLINE:
• Introduction
• Types of Rigid Body Planar Motion
o Translation
Rectilinear Translation
Curvilinear Translation
o Rotation about a fixed axis
o General plane motion
RMA: v method
IC method
RMA: a method
INTRODUCTION
When all the particles of
a rigid body move along
paths which are
equidistant from a fixed
plane, the body is said to
undergo planar motion.
3 types of rigid body
planar motion:
Translation – every line
segment on the body
remains parallel to its
original direction
during the motion.
TYPES OF TRANSLATION:
Rectilinear translation – paths of motion for any
two particles of the body are along equidistant
straight lines.
TYPES OF TRANSLATION:
Curvilinear translation – paths of motion are
along curved lines which are equidistant.
3 types of rigid body
planar motion:
Rotation about a fixed
axis – all particles of
the body except those
which lie on the axis of
rotation, move along
circular paths.
3 types of rigid body planar motion:
General plane motion – the body undergoes a combination
of translation and rotation. The translation occurs within a
reference plane, and the rotation occurs about an axis
perpendicular to the reference plane.
Take note that in translation, all
points in a rigid body subjected
to either rectilinear or
curvilinear translation move
with the same velocity and
acceleration. As a result, the
kinematics of particle motion
can also be used to specify the
kinematics of points located in a
translation rigid body.
Rotation about a fixed axis:
Angular position θ, measured from
a fixed reference line.
Angular displacement dθ, change
in the angular position; measured
in degrees, radians or revolutions,
where 1 rev = 2π rad.
Angular velocity ω, time change in
the angular position.
𝑑𝜃
↺+ 𝜔=
𝑑𝑡
Rotation about a fixed axis:
Angular acceleration α, time rate
change of the angular velocity.
𝑑 2 𝜃 𝑑𝜔
↺+ 𝛼= =
𝑑𝑡 𝑑𝑡
↺ + 𝛼𝑑𝜃 = 𝜔𝑑𝜔
Constant Angular acceleration α = αc
↺ + 𝜔 = 𝜔0 + 𝛼𝑐 𝑡
1
↺ + 𝜃 = 𝜃0 + 𝜔0 𝑡 + 𝛼𝑐 𝑡 2
2
↺ + 𝜔2 = 𝜔02 + 2𝛼𝑐 𝜃 − 𝜃0
Rotation about a fixed axis:
Motion of Point P
Displacement: 𝑠 = 𝑟𝜃
𝑑𝑠
Velocity: 𝑣= = 𝜔𝑟
𝑑𝑡
Acceleration:
𝑑𝑣
𝑎𝑡 = = 𝛼𝑟 (tangential)
𝑑𝑡
𝑣2 𝜔𝑟 2
𝑎𝑛 = = = 𝜔2 𝑟 (normal)
𝜌 𝑟
Take note that r is not the radius but the
distance of the point to the fixed axis.
Motor M is rotating with an
angular velocity ωM = 10 rad/s and
an angular acceleration of αA = 2
rad/s2. Determine the vertical
displacement of A after 5 seconds.
GIVEN: Figure, (ωM)0 = 10
rad/s, αM = 2
rad/s2, t = 5s
REQUIRED: yA
General Plane Motion
• Simultaneous translation and rotation
• Can be completely specified by knowing both the angular
rotation of a line fixed in the body and the motion of a
point on the body
Technique in Solving
General Plane Motion:
Relative-Motion
Analysis: Velocity
Relative-Motion Analysis: Velocity
Position: 𝑟𝐵 = 𝑟𝐴 + 𝑟𝐵/𝐴
Velocity: 𝑣𝐵 = 𝑣𝐴 + 𝑣𝐵/𝐴
Where:
𝑣𝐵 = velocity of point B
𝑣𝐴 = velocity of base point A
𝑣𝐵/𝐴 = relative velocity of “B with
respect to A”
• This relative motion is circular, the
magnitude is 𝑣𝐵/𝐴 = 𝜔𝑟𝐵/𝐴 and
the direction is perpendicular to
𝑟𝐵/𝐴 .
Instantaneous Center
of Zero Velocity
The velocity of any point located
on a rigid body can be obtained
in a very direct way if one
chooses the base point to be a
point that has a zero velocity at
the instant discovered.
e.g. wheel which rolls without
slipping.
Location of the IC
• Given vAand ω
𝑣𝐴
𝑟𝐴/𝐼𝐶 =
𝜔
Location of the IC
• Given the line of
action of two
nonparallel
velocities vA and vB
Location of the IC
• Case 1: Given the
magnitude and
direction of two
parallel velocities vA
and vB
𝑑 = 𝑟𝐴/𝐼𝐶 + 𝑟𝐵/𝐼𝐶
Location of the IC
• Case 2: Given the
magnitude and
direction of two
parallel velocities vA
and vB
𝑑 = 𝑟𝐵/𝐼𝐶 − 𝑟𝐴/𝐼𝐶
SAMPLE PROBLEMS:
Problem 3.7
If flywheel A is rotating with
an angular velocity of wheel
ωA = 10 rad/s, determine the
angular velocity of wheel B at
the instant shown.
GIVEN: Figure
REQUIRED: ωB
Relative motion Analysis: Acceleration
𝑑𝑣𝐵 𝑑𝑣𝐴 𝑑𝑣𝐵/𝐴
= + 𝑎𝐵 = 𝑎𝐴 + 𝑎𝐵/𝐴 + 𝑎𝐵/𝐴
𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑡 𝑡
where 𝑎𝐵 = acceleration of point B, 𝑎𝐴 = acceleration of point A
• 𝑎𝐵/𝐴 = relative tangential
𝑡
acceleration component of “B with
respect to A.” The magnitude is
𝑎𝐵/𝐴 = α𝑟𝐵/𝐴 , and the
𝑡
direction is perpendicular to rB/A
• 𝑎𝐵/𝐴 = relative
𝑡
normalacceleration component of
“B with respect to A.” The
magnitude is 𝑎𝐵/𝐴 = 𝜔2 𝑟𝐵/𝐴 ,
𝑛
and the direction is always from B
towards A.
SAMPLE PROBLEMS:
Problem 3.9
At a given instant, the cylinder of
radius “r” has an angular velocity
“ω”, & angular acceleration “α”.
Determine the velocity &
acceleration of its center “G” if it
rolls w/out slipping.
GIVEN: Figure
REQUIRED: vG, aG
Problem 3.12
At a given instant, the gear
has the angular motion
shown. Determine the
accelerations of points A and
B on the link and the link’s
angular acceleration at this
instant.
GIVEN: Figure
REQUIRED: aA, aB, αAB
Problem 3.13
The gear at A is subjected
to the angular motion
shown. Determine the
angular velocity and
angular acceleration of
link CD at this instant.
GIVEN: Figure
REQUIRED: ωCD, αCD
References:
• Beer, F. P. and E. Johnston. 1996.
Vector Mechanics for
Engineers: Dynamics. 6th
ed. New York: McGraw-Hill.
• Hibbeler, R. C. 2010. Engineering
Mechanics: Dynamics. 12th
ed. New Jersey: Prentice-
Hall.
• Meriam, J. L. and L. G. Kraige.
1986. Engineering
Mechanics. Canada: Wiley
and Sons.
