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Plane: Kinematics
Plane: Kinematics
Kinematics
I (Pure) Translation
II (Pure) Rotation
(Pure) Translation
Definition: A line between two points in the body remains
parallel through out the motion.
Treat it as a particle
4
Types of Plane Motions (cont.)
Fixed-axis (Pure) Rotation:
Rotation axis
motion plane
Rotation Axis
Motion Plane
Types of Plane Motions (cont.)
6
Angle between any two lines on “rigid” object
5/2 Rigid Body’s Rotation
does not change during the time
angular velocity
+
angular acceleration
+
any Reference
2) Graphical meanings
1) Integrals Calculation
9
a=4t a=4t a=4t
CCW:+
w = - 60p w= + 203.50
w=0
10
Fixed-Axis (Pure) Rotation
(scalar notation)
Can we find?
rw
Rigid P points
whole body (rigid body)
body rww
ra
O
Point P
w a
n-t coord:
Fixed-Axis
(Pure) Rotation Only !
11
The pinion A of the hoist motor drives gear B, which is attached to the
the hoisting drum. The load L is lifted from its rest position and
acquires an upward velocity of 2 m/s in a vertical rise of 0.8 m with
constant acceleration. As the load passes this position, compute
(a) the acceleration of point C on the cable in contact with the drum
(b) the angular velocity and angular acceleration of the pinion A.
w,a
12
CCW CCW
n
n
t
t
floor- fixed
Non-slipping
Non-slipping
share
the Why? share =0
same the
same =0
Without gear teeth, the ball is not guaranteed to roll without slipping.
Think in 3D Vector
We consider only Plane
motion of rigid body
The cross product can be used to
establish the direction:
15
Fixed Axis Rotation (vector notation)
Differentiating the velocity with respect to time:
We consider Direction
only “Plane
motion” of depends
rigid body on
Direction:
16
Fixed-Axis (Pure) Rotation (vector notation)
17
The rectangular plate rotates clockwise.
If edge BC has a constant angular
velocity of 6 rad/s. Determine the vector
expression of the velocity and
acceleration of point A, using coordinate
as given.
Rigid body
18
Equations Review:
(Pure) Translation
Movement of one point describes movement of the whole body.
(Pure) Rotation
rotation of one line describes rotation of the whole body.
Whole body shares the same “angular” quantities.
in e
yl
an
+
Reference
Absolute motion
General Plane Motion Relative motion 19
5/3 Absolute Motion (of General Plane Motion)
Use geometric constraint (which define the configuration of the body
to obtain the velocity and acceleration (in general motion)
Idea: write a (position) constraint equation which always applies
regardless of the system’s configuration, then differentiate the
equation to get velocity and acceleration.
w?
22
motion constraint
SP5/4 A wheel of radius r rolls on a flat surface without slipping.
Determine angular motion of the wheel in terms of the linear
motion of its center O. Also determine the acceleration of a point
on the rim of the wheel as the points comes into contact with the
surface on which the wheel rolls
Point O:
rectilinear motion
23
SP5/4 A wheel of radius r rolls on a flat surface without slipping.
Determine angular motion of the wheel in terms of the linear
motion of its center O. Also determine the acceleration of a point
on the rim of the wheel as the points comes into contact with the
surface on which the wheel rolls
Acceleration in the
O direction of axis x = 0
O
O
C’’
Analogy
No slipping
Rel. vel. =0
Rel acc. = 0
25
Non-slipping Condition
t C’’
floor- fixed
“no slipping” implies:
1) Contact point { C , C’ } on two body has no
relative velocity.
2) Contact point { C, C’ } on two body has same
tangential component of acceleration
27
Each cables do not slip. Load-supporting pulleys are rigid body.
A O B
28
29
General Plane Motion of Rigid Body
- Introduction นิยามการเคลื่อนที่ของวัตถุเกร็ ง
- Rotation วิธีอธิบายการเคลื่อนที่แบบหมุน
Wait!
B really sees A moving circularly?
B sees A has no movement !?!?!? 31
O
Applying the Which one?
A
A
B A
same?
Only when
non-rotating observer
(see next page)
Observer at B see A moving
in a circle around it
Observer O detects: 33
Observer B detects:
Translating observer see same w,a as absolute Observer
The rotating of rigid body same w
= The rotating of line compared with
“fixed” reference axis
same a
B
B’s reference
line
34
Translating-Rotating observer sees different w,a
with absolute Observer
The rotating of rigid body
= The rotating of line compared with different
“fixed” reference axis w
different a
B
B’s reference
line
w
P
G
w
w of observer at G P
= w (of rigid body) G
of observer at O
37
Velocity at A A, B on the same rigid body (bar AB)
is key point to find w
Solved by
Vector Analysis
38
From
i
k + j
A
B C
3D vector calculation (i,j,k):
Sign indicates angular direction
(right hand rule)
y O +
x 39
A, B on the same rigid body (bar AB)
M ? ?
Solved by Graphical Method
CW
CW
41
Note: relative velocity technique
Non-rotating
B A
B A
42
43
D
M ? ?
wABC
CCW
Graphical solution
44
vB
D
M ? ?
vA
Vector solution
Direction?
CW
45
46
Relative Velocity (Part 2)
A
Another usage of the B
relative velocity equation
A on OD
D
2 points need not be in the same rigid body
B on
screw
parerell
For constrained sliding contact
between two links in a mechanism.
Pick points A and B as coincident points,
one on each link some reason later!
(the points may be imaginary).
The observer on B no longer see A moving
around it in a circle.
47
c.c.w.
48
P
0.175
B q f O
0.175cosq 0.4-0.175cosq
D ? ?
CW
Ans 49
50
w=?
Q on slot C
0
D
C y
b
x
vQ
vP
200
? ?
q
vQ/P Plus
100
vO O
CCW 51
5/6 relative
Relative acceleration Different
Acceleration concept viewpoint
Wait!
B really sees A moving circularly?
B sees A has no movement !?!?!? 52
O
Relative Acceleration (non-rotating observer)
We use: non-rotating observer (frame) attached to B
same?
Only when
non-rotating observer
(see the proof at relative
velocity part)
Observer at B see A moving in a
circle around it
55
Given : (constant)
Find : (at this instant)
ANS
ANS
56
Find : (at this instant)
57
5/124 The center O of the disk has the velocity and acceleration shown
in the figure. If the disk rolls without slipping on the horizontal surface,
determine the velocity of A and the acceleration of B for the instant
represented. Non-slipping condition
You can
a calculate using
w point O and D.
60
61
v A vE
wOA
vA
wBD
vD
62
aOA
wOA=20
63
64
General Plane Motion Cross-Vector Approach Graphical Approach
(non-rotating observer)
any point: A, B (on same rigid body moving in GPM) New technique
I.C.Z.V
B is special point : I.C.Z.V
65
Note: relative velocity technique
Non-rotating
B A
B A
66
Checkpoint: circular motion
Don’t know it is ?
Fixed-point rotation fixed-point rotation
(Rotation) or not
(General Motion)
valid method?
from rotation Yes! but show your reason!
point 67
I.C.Z.V concept
General
Plane 5/5 Instantaneous Center of Zero Velocity
motion Extension theory using relative velocity.
A B
P w of observer at C
= w of rigid body
Z (in Absolute Observer’s
perception)
w
Z is called I.C.Z.V (the point where its velocity at that instant is zero)
- can find w easily by geometry each point on the body can
be though of as rotating
- can find velocity and its direction around point Z.
of any points easily by geometry
For calculating v and w only68
Finding not a “instantaneous”
Translational motion
rigid body
an I.C.Z.V.
z
B A
General Plane motion
I.C.Z.V at Inf.
A
A B
B
B z A B A
z z
z
Arm OB of the linkage has a clockwise angular velocity of 10 rad/s in the
position shown where = 45°. Determine the velocity of A, the velocity of
D, and the angular velocity of link AB for the instant shown.
w of what? OA, AB, BO solved by
relative
I.C.Z.V velocity
D
350
381 M ? ?
71
72
a
q rC
vC ICZV
y
q
x vB q
vA
Vector Diagram rB
CCW
73
Non-slipping motion
ICZV of P1
CW
ICZV of sun
ICZV of A
CW
ICZV of P2
ICZV
75
Non-slipping condition I.C.Z.V
Absolute
motion
rectilinear
I.C.Z.V
n
circle
5/140 76
I.C.Z.V
77
VD1
vC1
8 rad/s
I
vC1 CW
II
4 rad/s
=8r d
ICZV III ICZV
vH2
VD2
vH2 vH3
= 8r
VD0
vH3 vC2
vC2 VD3
CCW
Practice Before Rotating Observer
79
5/134 The sliding collar moves up and down the shaft, causing an
oscillation of crank OB. If the velocity of A is not changing as it passes the
null position where AB is horizontal and OB is vertical, determine the
angular acceleration of OB in that position.
CCW
ICZV
of AB
CW
80
5/134 The sliding collar moves up and down the shaft, causing an
oscillation of crank OB. If the velocity of A is not changing as it passes the
null position where AB is horizontal and OB is vertical, determine the
angular acceleration of OB in that position.
CCW
ICZV
of AB
=0
CW
81
82
ICZV of DAB
is at infinite
CW
3D vector solution
CW
Graphical solution
83
84
middle link
85
86
87
5/134 The sliding collar moves up and down the shaft, causing an
oscillation of crank OB. If the velocity of A is not changing as it passes the
null position where AB is horizontal and OB is vertical, determine the
angular acceleration of OB in that position.
CCW
ICZV
of AB
=0
CW
88
ICZV at inf. AB translational.
CW
CW
89
CCW
CCW
90