Chapter 16:
Planar Kinematics of a Rigid Body
(16.1)
(16.2, 16.3)
(16.4)
(16.5, 16.7)
(16.6)
(16.8)
16.1: Planar Kinematics of a Rigid Body
Application
Passengers on this amusement ride are subjected to
curvilinear translation since the vehicle moves in a
circular path but always remains upright.
If the angular motion of the rotating arms is known, how
can we determine the velocity and acceleration
experienced by the passengers?
Does each passenger feel the same acceleration?
16.2: Translation
Note: A and B are just 2 different points on a Rigid Body
(Only Pure Translation)
Takeaway!!!!
All Kinematic equations of Chapter 12 are valid
Note: if A and B were two different Rigid Bodies then the situation would have been of
section 12.10
16.3: Rotation about a Fixed axis (Pure Rotation)
Circular Motion
Sense of direction
16.4: Absolute Motion Analysis (of General Planar Motion)
Discussion is valid for both scenarios:
1. A complete system of rigid bodies may have General Planar Motion (One object is having Translation while the other one
Rotation
2. A single object can have General Planar Motion (Translation + Rotation)
Rotation
Translation
General Planar Motion General Planar Motion
16.4: Absolute Motion Analysis (Cont.)
1. Locate the that point that undergoes Translation.
2. Locate fixed Origin for Translatory Point. Show Position Coordinate (s) +ve in the direction of point from the origin
3. From geometry of the figure, build a relation in the form of
4. The direction of the angular velocity will be defined at the end.
+ve
+ve
16.5: Relative Motion Analysis: Velocity (Using Translating frame of reference)
Example
EXAMPLE II
Given: Crank rotates OA
with an angular velocity of
12 rad/s.
Find: The velocity of piston B
and the angular velocity
of rod AB.
Plan: Notice that point A moves on a circular
path. The directions of vA is tangent to its path
of motion.
Draw a kinematic diagram of rod AB and use
vB = vA + AB × rB/A.
EXAMPLE II (continued)
Solution:
Kinematic diagram of
AB: Since crack OA rotates with an
angular velocity of 12 rad/s, the
velocity at A will be: vA = -0.3(12)
i = -3.6 i m/s
Rod AB.
Write the relative-velocity equation:
vB = vA + AB × rB/A
vB j = -3.6 i + AB k × (0.6cos30° i −
0.6sin30° j )
vB j = -3.6 i + 0.5196 AB j + 0.3 AB i
i:
By0comparing
= -3.6 + 0.3 AB = 12 rad/s
thei,ABj components:
j: vB = 0.5196 AB vB = 6.24 m/s
Example
Given: The shaper
mechanism is designed to
give a slow
cutting stroke and a quick return to a
blade attached to the
slider at C. The link AB is rotating at AB
= 4 rad/s.
Find: The velocity of the slider block
C when = 60°.
Plan: Notice that link AB rotates about a fixed point A. The
directions of vB is tangent to its path of motion. Draw
a kinematic diagram of rod BC. Then, apply the
relative velocity equations to the rod and solve for
unknowns.
Example (continued)
Solution:
Since link AB is rotating at AB = 4 rad/s, the
velocity at point B will be:
vB = 4 (300) = 1200 mm/s
At = 60°, vB = -1200 cos 30° i + 1200 sin
30° j
= (-1039 i + 600 j) mm/s
Draw a kinematic diagram of rod BC
C
vC
BC
Notice that the slider
y rC/B
x block C has a horizontal
45° B
30°
motion.
vB
Example(continued)
Solution continued:
Apply the relative velocity equation C vC
in order to find the velocity at C.
vC = vB + BC × rC/B BC
y rC/B
x 45° B
vC i = (- 1039 i + 600 j) vB 30°
+ BC k × (-125 cos 45° i + 125 sin 45° j)
vC i = (1039 125 BC sin 45°)i + (600 125 BC cos 45°)j
Equating the i and j components
yields: vC = 1039 125 BC sin 45°
0 = 600 125 BC cos 45°
BC = 4.8 rad/s
vC = 1639 mm/s = 1639 mm/s
The instantaneous center (IC) of zero velocity for this bicycle wheel is at
the point in contact with ground. The velocity direction at any point on the
rim is perpendicular to the line connecting the point to the IC.
For any body undergoing planar motion, there always exists a point in the plane of
motion at which the velocity is instantaneously zero (if it were rigidly connected to the
body).
This point is called the instantaneous center of zero velocity, or IC. It may or may not lie
on the body!
If the location of this point can be determined, the velocity analysis can be simplified
because the body appears to rotate about this point at that instant.
Location of center of zero velocity
To locate the IC, we can use the fact that the velocity of a point on a body is
always perpendicular to the relative position vector from the IC to the point.
Several possibilities exist.
First, consider the case when velocity vA of a
point A on the body and the angular velocity w of
the body are known.
In this case, the IC is located along the line
drawn perpendicular to vA at A, a distance rA/IC =
vA/w from A. Note that the IC lies up and to the
right of A since vA must cause a clockwise angular
velocity w about the IC.
Location of center of zero velocity continues
A second case is when the lines of
action of two non-parallel velocities,
vA and vB, are known.
First, construct line segments from A
and B perpendicular to vA and vB.
The point of intersection of these two
line segments locates the IC of the
body.
Location of center of zero velocity continues
A third case is when the magnitude and direction of two parallel velocities
at A and B are known.
Here the location of the IC is determined by proportional triangles. As a
special case, note that if the body is translating only (vA = vB), then the IC
would be located at infinity. Then w equals zero, as expected.
IC
IC
=𝛚 × 𝒓
𝐵 =𝛚 × 𝒓
𝑽 𝑽 𝐵 𝑩 / ¿ 𝑰𝑪 ¿
𝑩 / ¿ 𝑰𝑪 ¿
Problem
Problem
Given: The collar at C is moving downward to
the left at m/sec.
Find: Determine the angular velocity of link AB at
the instant shown
Plan: Locate the IC of the disk using geometry and trigonometry.
Then calculate the angular velocity.
Problem (continues)
Solution:
m
𝑣𝐵
m 𝑣 𝐶C 45 ° 60 °
B
rad/sec 𝑟𝐶/𝐼 𝐶 𝑟 𝐵 / 𝐼𝐶
m/sec 75 °
rad/sec
IC
16.7: Relative Motion Analysis: Acceleration (Using Translating frame of reference)
Graphically: aB = aA + (aB/A)t + (aB/A)n
= +
The relative tangential acceleration component (aB/A)t is ( x rB/A) and
perpendicular to rB/A.
The relative normal acceleration component (aB/A)n is (-2 rB/A) and the
direction is always from B towards A.
Procedure of analysis (16.7)
1. Establish a fixed coordinate system.
2. Draw the kinematic diagram of the body.
3. Indicate on it aA, aB, , , and rB/A. If the points A and B move along
curved paths, then their accelerations should be indicated in terms of
their tangential and normal components, i.e., aA = (aA)t + (aA)n and aB
= (aB)t + (aB)n.
4. Apply the relative acceleration equation:
aB = aA + rB/A - 2 rB/A
5. If the solution yields a negative answer for an unknown magnitude, it
indicates the sense of direction of the vector is opposite to that shown
on the diagram.
Rolling motion (16.7)
Problem
Given: The ball rolls without
slipping.
Find: The accelerations of points A
and B at this instant.
Plan: Follow the solution procedure.
Solution: Since the ball is rolling without slip, aO is directed to the left
with a magnitude of:
aO = r = (4 rad/s2)(0.5 ft) = 2 ft/s2
Problem (continues)
Now, apply the relative acceleration equation between points O and B.
aB = aO + a x rB/O – w2rB/O
aB = -2i + (4k) x (0.5i) – (6)2(0.5i)
= (-20i + 2j) ft/s2
Now do the same for point A.
aA = aO + a x rA/O – w2rA/O
aA = -2i + (4k) x (0.5j) – (6)2(0.5j)
= (-4i – 18j) ft/s2
Problem
Given: Wheel is rotating with the
angular motions shown.
Find: Determine the acceleration of
the collar at A at this instant.
A 𝑣𝐴
Solution:
m
↻ 30 °
B
𝑣𝐵
IC
Problem (continues)
rad/sec
𝑎𝐴
↻
60 °
𝑎 𝐵𝑡 𝑎 𝐵𝑛
16.8: Relative Motion Analysis Using Rotating Axes
16.8: Relative Motion Analysis Using Rotating Axes
Velocity
y
x
X
16.8: Cont.
Distributive Property
16.8: Cont.
16.8: Relative Motion Analysis Using Rotating Axes (Acceleration)
16.8: Cont.
16.8: Cont.
+y
+x
2
2
5
