Plane Kinematics of Rigid Bodies

 Kinematics

study of body motion without reference to force.

 Rigid Body

 It has dimensions. (particle doesn’t have it).

 distance between 2 points in the body remains unchanged.
 assumption validity? i.e. there is no real rigid body.
 Plane Motion

 Definition: All parts of the body move in parallel planes.

1
 Plane Motion
Definition:
All parts (points) of the body move in parallel
planes.
Movement of one cutting face (corresponding
Motion Plane to its motion plane) describes movement of
the whole body.

Treat the body as

thin slab object.
Any slab object (cutting face) C.G.
is okay,
But we usually use the plane
where the object’s C.G.is in.

All corresponding points in other motion plane

2
have the same velocity and acceleration
 Rigid-Body Plane Motion

I (Pure) Translation

II (Pure) Rotation

III General Motion

3
Type of Plane motion
C.G.

 (Pure) Translation
Definition: A line between two points in the body remains
parallel through out the motion.

Motion of one Rectilinear

Translation
point can be used
to describe
motion of the
Curvilinear
whole body. C.G.
Translation

Treat it as a particle
4
Types of Plane Motions (cont.)
 Fixed-axis (Pure) Rotation:

All , move along

circular path with Not having the same velocity
and acceleration (depends on
center at circle radius r)

Use techniques for particle (circular) motion (n-t, r-)

Important Property of Fixed-Axis Rotation

Rotation axis
motion plane

Rotation Axis

Motion Plane
Types of Plane Motions (cont.)

 General Plane motion:

 need new techniques in this chapter

6
 Angle between any two lines on “rigid” object
5/2 Rigid Body’s Rotation
does not change during the time

“Rotating” concept is basically

same a concept on rotation of “line”.
w,a? a concept on (whole) rigid body.
il ne
b anay Define  angular position (+/-)

angular velocity
+

any Reference angular acceleration

Any lines on a rigid body in its plane of

motion have the same angular
0 displacement, velocity and acceleration

for rigid body 7

 (a) Angular Motion Relations
Define  angular position (+/-)
in e
y l angular velocity
an

angular acceleration
+

any Reference

Similar to rectilinear motion

Sign convention of all variables must be consistent!

8
 Angular Motion Relations

 Observed the similarity with the linear motion

2) Graphical meanings

1) Integrals Calculation

9
 a=4t a=4t a=4t
CCW:+
w = - 60p w= + 203.50
w=0

A flywheel rotating freely at 1800 rev/min clockwise is subjected to a variable

counterclockwise torque which is first applied at time t = 0. The torque
produces a counterclockwise angular acceleration  = 4t rad/ss, Determine the
total number of revolutions, clockwise plus counterclockwise, turned by the
flywheel during the first 14 seconds of torque application.

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.

Two possible motion: If it do really roll without slipping,

It should have some “motion constraint”.
- roll without slipping
[ fixed relation between w and v ]
- roll with slipping.
(Next session: we will find out this)
In case of No gear-teeth 13
14
 Fixed-Axis (Pure) Rotation (vector notation)

 The body rotating about the O axis

 Represent “angular velocity” w as

Vector
 Direction: “Right-hand rule”

 From the last section, the magnitude of

the velocity is

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?

for complex constraint method of relative motion may be 20

 w?

Define the displacement and its positive direction.

The variable must be measured from the fixed
reference point or line.
Find the equation of constraint motion.
Equation must be true all during the motion.
21
Differentiate it to find (angular) velocity and acceleration.
5/56. Express the angular velocity and angular acceleration
of the connecting rod AB in terms of the crank angle
for a given constant .

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

Point C’s trajectory

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

Not depend on a(t), w(t) are!

velocity
=0

Acceleration in the
O direction of axis x = 0

D When Point D comes to contact

the surface,
It also has a velocity (=0), and
24
C’’ acc. as above.
 velocity Acceleration in the
direction of axis x = 0
=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

O and L has same vertical velocity & acceleartion

28
29
 General Plane Motion of Rigid Body
- Introduction นิยามการเคลื่อนที่ของวัตถุเกร็ ง

- Rotation วิธีอธิบายการเคลื่อนที่แบบหมุน

- Calculation methods usually for any t

- Absolute motion ใช้ค ำนวณ V A using constraint equation

- Relative velocity ใช้ค ำนวณ V Observer is

using its
at the point Translati
of rigid body geometric
Instantaneous Center of ng-only
shape at
ใช้ค ำนวณ V where its observer
Zero Velocity (ICZV) velocity = 0 that
instant
- Relative acceleration ใช้ค ำนวณ V A usually for
Translating some t
Motion relative to
ใช้ค ำนวณ V A and rotating (instant)
rotating axes Observer
30
5/4
Relative relative
velocity
Velocity concept
Different
viewpoint

 General Plane Motion = Translation + Rotation “simultaneous”

Motion of point (observer) B, detected by O
= Motion of plate moving “translationally”
Since the distant between the two
points on a rigid body is constant,
an observer at one point will see
the other point move in a circular
motion around it!

Wait!
B really sees A moving circularly?
B sees A has no movement !?!?!? 31
O
Applying the Which one?

relative concept Only this case

 Observer B is on the plate  Observer B is sitting on the

magic carpet.
Rotating observer (attached to B) non-rotating observer (attached to B)
Rotating frame
non-rotating frame

A
A
B A

B see A no moving at all B see A

having a velocity
perpendicular with its 32
 Relative Velocity (non-rotating observer)
 We use: non-rotating observer (frame) attached to B

Absolute world: Relative world:

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

O O’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

O The rotating B’s “reference line”,

observed by absolute observer.
O’s reference line
35
 Understanding the equation

absolute absolute absolute Non-rotating, Non-rotating,

Moving with B Moving with B

Hint on solving problems

Important key:
 Identify the on
Any 2 points known
the and unknown
same rigid body A
 Above equation (2D: “3D-fake”) can be always
solved when there are at most 2 unknown perpendicular to line
scalar quantities B AB. Its direction can
 Above equations usually contains 5 scalar be deduced from 
quantities (not including position vector r)

Also works with A as the observer 36

Relative Vector Analysis Fixed-Axis (Pure)
Rotation
on General Plane Motion
w P

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

need to find the angular direction from the figure 40

middle link

41
 Note: relative velocity technique

 Direction is simply found:

 graphical solution: simplest, be careful about sign /

 3D (i, j, k) vector: complicated, automatic sign indication

 : same in absolute and relative world

Non-rotating

 To know of the rigid body

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

V=1.5 q=30 Non-slipping

condition

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

 General Plane Motion = Translation + Rotation “simultaneous”

Motion of point (observer) B, detected by O
= Motion of plate moving “translationally”
Since the distant between the two
points on a rigid body is constant,
an observer at one point will see
the other point move in a circular
motion around it!

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

Absolute world: Relative world:

same?
Only when
non-rotating observer
(see the proof at relative
velocity part)
Observer at B see A moving in a
circle around it

Observer O detects: Observer B detects: 53

Understanding Equations
Non-rotating

: the same both in absolute and relative (translation-only) world

Hint on solving problems

 Identify the known and unknown
 Above equation (2D: “3D-fake”) can be solved
when there are at most 2 unknown scalar quantities

 Above equations usually contains 6 scalar quantities

(not including position vector r) 54
 = +

Given : (constant) Find :

55
Given : (constant)
Find : (at this instant)

ANS

ANS

56
Find : (at this instant)

Find velocity first,

Before acceleration

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.

You can calculate

using point O and
D and D.
I.C.Z.V

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

 Direction is simply found:

 graphical solution: simplest, be careful about sign /

 3D (i, j, k) vector: complicated, automatic sign indication

 : same in absolute and relative world

Non-rotating

 To know of the rigid body

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

I.C.Z.V for calculating

w of observer at C instantaneous velocity only
A = w of rigid body
(in your perception)
az usually  0 (Even vz = 0)
D B

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 ? ?

Direction of (absolute) velocity

of two point in the same rigid body
w
Thus, we can locate the
You have to find instantaneous center of velocity,
Direction yourself which is point C

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

Sun Gear: Fixed-Axis (Pure) rotation

CCW
74
Planet Gear: general Plane motion
 100 mm
ICZV

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