KINENAMITCS OF RIGID

BODY

GENARAL

PLANAR KINEMATICS OF A RIGID BODY

There are cases where an object cannot be treated as a
particle. In these cases the size or shape of the body must be
considered. Also, rotation of the body about its center of
mass requires a different approach.
For example, in the design of gears, cams, and links in
machinery or mechanisms, rotation of the body is an
important aspect in the analysis of motion.
We will now start to study rigid body motion. The analysis
will be limited to planar motion.
A body is said to undergo planar motion when all parts of
the body move along paths equidistant from a fixed plane.

PLANAR RIGID BODY MOTION

There are three types of planar rigid body motion.

Translation: Translation occurs if every line segment on the

body remains parallel to its original direction during the
motion. When all points move along straight lines, the motion
is called rectilinear translation. When the paths of motion are
curved lines, the motion is called curvilinear translation.

PLANAR RIGID BODY MOTION (continued)

Rotation about a fixed axis. In this case, all
the particles of the body, except those on
the axis of rotation, move along circular
paths in planes perpendicular to the axis of
rotation.

General plane motion. In this case, the

body undergoes both translation and
rotation. Translation occurs within a
plane and rotation occurs about an axis
perpendicular to this plane.

PLANAR RIGID BODY MOTION (continued)

An example of bodies undergoing
the three types of motion is shown
in this mechanism.

D
B
A

C
The wheel and crank (A and B)
undergo rotation about a fixed axis. In this case, both axes of
rotation are at the location of the pins and perpendicular to the plane
of the figure.
The piston (C) undergoes rectilinear translation since it is
constrained to slide in a straight line. The connecting rod (D)
undergoes curvilinear translation, since it will remain horizontal as
it moves along a circular path.
The connecting rod (E) undergoes general plane motion, as it will
both translate and rotate.

TRANSLATION AND
ROTATION ABOUT A
FIXED AXIS

RIGID-BODY MOTION: TRANSLATION

The positions of two points A and B
on a translating body can be related by
rB = rA + rB/A
where rA & rB are the absolute position
vectors defined from the fixed x-y
coordinate system, and rB/A is the
relative-position vector between B and
A.
The velocity at B is vB = vA+ drB/A/dt .
Now drB/A/dt = 0 since rB/A is constant. So, vB = vA, and by
following similar logic, aB = aA.
Note, all points in a rigid body subjected to translation
move with the same velocity and acceleration.

RIGID-BODY MOTION: ROTATION ABOUT A FIXED AXIS

When a body rotates about a fixed axis, any
point P in the body travels along a circular
path. The angular position of P is defined by .
The change in angular position, d, is called the
angular displacement, with units of either
radians or revolutions. They are related by
1 revolution = 2 radians
Angular velocity, , is obtained by taking the
time derivative of angular displacement:

= d/dt (rad/s) +
Similarly, angular acceleration is
= d2/dt2 = d/dt or = (d/d) +

rad/s2

RIGID-BODY MOTION: ROTATION ABOUT A FIXED AXIS

(continued)
If the angular acceleration of the body is
constant, = C, the equations for angular
velocity and acceleration can be integrated
to yield the set of algebraic equations
below.
= O + Ct
= O + Ot + 0.5 Ct2
2 = (O)2 + 2 C ( O)
O and O are the initial values of the bodys
angular position and angular velocity. Note
these equations are very similar to the
constant acceleration relations developed for
the rectilinear motion of a particle.

RIGID-BODY ROTATION: VELOCITY OF POINT P

Using polar coordinates, radial and
transverse components of velocity of P
can be expresses as
vr = r = 0 and v = r
As = ; therefore,
v = r
In the vector formulation, the magnitude
and direction of v can be determined
from the cross product of and rp .
Here rp is a vector from any point on the
axis of rotation to P.
v = x rp = x r

The direction of v is determined by the

right-hand rule.

RIGID-BODY ROTATION: ACCELERATION OF POINT P

The acceleration of P is expressed in terms of
its normal (an) and tangential (at) components
at = dv/dt and an =v2/
but = r ; v = r and = d/dt
Therefore,

at= r and an= 2r

The tangential component, at, represents the

time rate of change in the velocity's
magnitude. It is directed tangent to the path of
motion.
The normal component, an, represents the time
rate of change in the velocitys direction. It is
directed toward the center of the circular path.

RIGID-BODY ROTATION: ACCELERATION OF POINT P

(continued)
Using the vector formulation, the acceleration
of P can also be defined by differentiating the
velocity.
a = dv/dt = d/dt x rP + x drP/dt
= x rP + x ( x rP )
It can be shown that this equation reduces to
a = x r 2r
= at + an
The magnitude of the acceleration vector is a = (at)2 + (an)2

ROTATION ABOUT A FIXED AXIS: PROCEDURE

Establish a sign convention along the axis of rotation.
If a relationship is known between any two of the variables (,
, , or t), the other variables can be determined from the
equations: = d/dt = d/dt d = d
If is constant, use the equations for constant angular
acceleration.
To determine the motion of a point, the scalar equations v = r,
at = r, an = 2r , and a = (at)2 + (an)2 can be used.
Alternatively, the vector form of the equations can be used
(with i, j, k components).
v = x rP = x r
a = at + an = x rP + x ( x rP) = x r 2r

EXAMPLE 1
Given: Starting from rest when s = 0, pulley
A (rA = 50 mm) is given a constant
angular acceleration, A = 6 rad/s2.
Pulley C (rC = 150 mm) has an inner
hub D (rD = 75 mm) which is fixed
to C and turns with it.
Find: The speed of block B when it has risen s = 6 m.
Plan: 1) The angular acceleration of pulley C (and hub D) can be
related to A if it is assumed the belt is inextensible and
does not slip.
2) The acceleration of block B can be determined by using
the equations for motion of a point on a rotating body.
3) The velocity of B can be found by using the constant
acceleration equations.

EXAMPLE 1 (continued)
Solution:
1) Assuming the belt is inextensible and does not slip, it will have
the same speed and tangential component of acceleration as it
passes over the two pulleys (A and C). Thus,
at = ArA = CrC => (6)(50) = C(150) => C = 2 rad/s2
Since C and D turn together, D = C = 2 rad/s2
2) Assuming the cord attached to block B is inextensible and
does not slip, the speed and acceleration of B will be the same
as the speed and tangential component of acceleration along
the outer rim of hub D:
aB = (at)D = DrD = (2)(0.075) = 0.15 m/s2

EXAMPLE 1 (continued)
3) Since A is constant, D and aB will be constant. The constant
acceleration equation for rectilinear motion can be used to
determine the speed of block B when s = 6 m (so = vo = 0):
(vB)2 = (vo)2 + 2aB(s so) +
(vB)2 = 0 + 2(0.15)(6 0)
vB = 1.34 m/s

GENERAL PLANE MOTION

Absolute Motion Analysis

Absolute Motion Analysis

PROCEDURE FOR ANALYSIS
The absolute motion analysis method (also called the
parametric method) relates the position of a point, P, on a
rigid body undergoing rectilinear motion to the angular
position, (parameter), of a line contained in the body.
(Often this line is a link in a machine.) Once a relationship
in the form of sP = f() is established, the velocity and
acceleration of point P are obtained in terms of the angular
velocity, , and angular acceleration, , of the rigid body by
taking the first and second time derivatives of the position
function. Usually the chain rule must be used when taking
the derivatives of the position coordinate equation.

EXAMPLE 2
Given:Two slider blocks are connected
by a rod of length 2 m. Also,
vA = 8 m/s and aA = 0.
Find: Angular velocity, , and
angular acceleration, , of the
rod when = 60.
Plan: Choose a fixed reference point and define the position of
the slider A in terms of the parameter . Notice from the
position vector of A, positive angular position is
measured clockwise.

EXAMPLE 2 (continued)
Solution:
By geometry, sA = 2 cos
reference

By differentiating with respect to time,

vA = -2 sin

sA
Using = 60 and vA = 8 m/s and solving for :
= 8/(-2 sin 60) = - 4.62 rad/s
(The negative sign means the rod rotates counterclockwise as
point A goes to the right.) Differentiating vA and solving for ,
aA = -2 sin 22 cos = 0
= - 2/tan = -12.32 rad/s2

Relative motion analysis

RELATIVE MOTION ANALYSIS: DISPLACEMENT

When a body is subjected to general plane motion, it undergoes a
combination of translation and rotation.

=
Point A is called the base point in this analysis. It generally has a
known motion. The x-y frame translates with the body, but does not
rotate. The displacement of point B can be written:
Disp. due to translation
drB =

drA +

Disp. due to translation and rotation

drB/A
Disp. due to rotation

RELATIVE MOTION ANALYSIS: VELOCITY

The velocity at B is given as : (drB/dt) = (drA/dt) + (drB/A/dt) or

vB = vA + vB/A
Since the body is taken as rotating about A,
vB/A = drB/A/dt = x rB/A
Here will only have a k component since the axis of rotation
is perpendicular to the plane of translation.

RELATIVE MOTION ANALYSIS: VELOCITY (continued)

vB = vA + x rB/A (16-16)

When using the relative velocity equation, points A and B

should generally be points on the body with a known motion.
Often these points are pin connections in linkages.
Here both points A and B have
circular motion since the disk and
link BC move in circular paths.
The directions of vA and vB are
known since they are always
tangent to the circular path of
motion.

RELATIVE MOTION ANALYSIS: VELOCITY (continued)

ROLLING WITHOUT SLIPPING

vB = vA + x rB/A

When a wheel rolls without slipping, point A is often selected

to be at the point of contact with the ground. Since there is no
slipping, point A has zero velocity.
Furthermore, point B at the center of the wheel moves along a
horizontal path. Thus, vB has a known direction, e.g., parallel
to the surface.

PROCEDURE FOR ANALYSIS

The relative velocity equation can be applied using either a
Cartesian vector analysis or by writing scalar x and y component
equations directly.
Vector Analysis:
1. Establish the fixed x-y coordinate directions and draw the
kinematic diagram of the body, showing the vectors vA, vB,
rB/A and . If the magnitudes are unknown, the sense of
direction may be assumed.
2. Express the vectors in Cartesian vector form and substitute
into vB = vA + x rB/A. Evaluate the cross product and
equate respective i and j components to obtain two scalar
equations.
3. If the solution yields a negative answer, the sense of
direction of the vector is opposite to that assumed.

PROCEDURE FOR ANALYSIS (continued)

Scalar Analysis:
1. Establish the fixed x-y coordinate directions and draw a
kinematic diagram for the body. Then establish the
magnitude and direction of the relative velocity vector vB/A.
2. Write the equation vB = vA + vB/A and by using the kinematic
diagram, underneath each term represent the vectors
graphically by showing their magnitudes and directions.
3. Write the scalar equations from the x and y components of
these graphical representations of the vectors. Solve for
the unknowns.

Example 3: Determining Velocities

and Angular Velocities
Question
Bar AB in the figure below rotates with a
clockwise angular velocity of 10 rad/s.
Determine the angular velocity of bar BC
and the velocity of point C.

Example 3: Determining Velocities

and Angular Velocities
Strategy
Bar AB rotates about the fixed point A with
a known angular velocity, so we can
determine the velocity of B. Then, by
expressing the horizontal velocity of C in
terms of the velocity of B and the angular
velocity of bar BC, we can obtain two
equations in terms of the velocity of C and
the angular velocity of bar BC.

Example 3: Determining Velocities

and Angular Velocities
Solution
Because the angular velocity of bar AB is
given and point A is stationary, we can
use Eq. 16-16 to determine the velocity of
point B. From Fig a, the position vector of
B relative to A is rB/A = 0.4i + 0.4j (m).
Fig a

Example 3: Determining Velocities

and Angular Velocities
The angular velocity vector of bar AB is AB
= -10k (rad/s), so the velocity of B is
v B = v A + rB / A
j
k
i
= 0+ 0
0 10

0.4 0.4 0
= 4 i 4 j m/s

Example 3: Determining Velocities

and Angular Velocities
We can use Eq. 16-16 to express the velocity of
point C in terms of the velocity of point B. Let BC
be the counterclockwise angular velocity of bar
BC (Fig b), so that the angular velocity vector of
bar BC is BC = BC k. Because point C is
moving horizontally, we can write its velocity as
vC = vC i.
Fig b

Example 3: Determining Velocities

and Angular Velocities
Therefore, we have

vC = v B + BC rC / B
j
k
i
BC
vC i = 4 i 4 j + 0
0

0
0.8 0.4
= (4 + 0.4BC )i (4 0.8 BC ) j

Example 3: Determining Velocities

and Angular Velocities
Equating the i and j components in this
equation, we obtain
vC = 4 + 0.4BC ,
0 = 4 0.8 BC
Solving it, we have vC = 6 m/s and BC = 5 rad/s.
the angular velocity of bar BC is BC = 5k (rad/s),
and the velocity of point C is vC = 6i m/s.

INSTANTANEOUS CENTER
(IC) OF ZERO VELOCITY

INSTANTANEOUS CENTER OF ZERO VELOCITY

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 THE INSTANTANEOUS CENTER

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
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/ from A. Note that the IC lies up
and to the right of A since vA must cause a
clockwise angular velocity about the IC.

LOCATION OF THE INSTANTANEOUS CENTER

(continued)
A second case is when the
lines of action of two nonparallel 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 THE INSTANTANEOUS CENTER

(continued)

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 equals zero, as expected.

VELOCITY ANALYSIS
The velocity of any point on a body undergoing general plane
motion can be determined easily once the instantaneous center
of zero velocity of the body is located.
Since the body seems to rotate about the
IC at any instant, as shown in this
kinematic diagram, the magnitude of
velocity of any arbitrary point is v = r,
where r is the radial distance from the IC
to the point. The velocitys line of action
is perpendicular to its associated radial
line. Note the velocity has a sense of
direction which tends to move the point in
a manner consistent with the angular
rotation direction.

Example 4: Linkage Analysis by

Instantaneous Centers
Question
Bar AB in the Figure rotates with a
counterclockwise angular velocity of 10
rad/s. what are the angular velocities of
bars BC and CD?

Example 4: Linkage Analysis by

Instantaneous Centers
Strategy
Because bars AB and CD rotate about
fixed axes, we know the directions of
motion of points B & C so we can locate
the instantaneous center of bar BC.
Beginning with bar AB, we can use the
instantaneous centers of the bars to
determine both the velocities of the points
where they are connected and their
angular velocities.

Example 4: Linkage Analysis by

Instantaneous Centers
Solution
The velocity of B due to the rotation of bar
AB about A (Fig a) is
vB = (2 m )(10 rad/s ) = 20 m/s

Fig a

Example 4: Linkage Analysis by

Instantaneous Centers
Drawing lines perpendicular to the
directions of motion of B & C, we locate the
instantaneous center of bar BC (Fig b). The
velocity of B is equal to the product of its
distance from the instantaneous center of
bar BC and the angular velocity BC:
vB = 20 m/s = (2 m )BC

Hence, BC = 10 rad/s with bar BC rotating

in the clockwise direction.

Example 4: Linkage Analysis by

Instantaneous Centers

Fig b

Example 4: Linkage Analysis by

Instantaneous Centers
Using the instantaneous center of bar BC
and its angular velocity BC, we can
determine the velocity of point C:
vC = ( 8 m ) BC = 10 8 m/s

Lastly is to use the velocity of C to determine the

angular velocity of bar CD about point D (Fig c).
We have
vC = 10 8 m/s = ( 8 m )CD

CD = 10 rad/s counterclockwise

Example 4: Linkage Analysis by

Instantaneous Centers

Fig c

ATTENTION QUIZ

2. Point A on the rod has a velocity of 8 m/s to the right.

Where is the IC for the rod?
A) Point A.

B) Point B.
C) Point C.
D) Point D.

RELATIVE MOTION ANALYSIS:

ACCELERATION

RELATIVE MOTION ANALYSIS: ACCELERATION

The equation relating the accelerations of two points on the
body is determined by differentiating the velocity equation
with respect to time.
dvB
dvA
dv
=
+ B/ A
dt
dt
dt

These are absolute accelerations

of points A and B. They are
measured from a set of fixed
x,y axes.

This term is the acceleration

of B with respect to A.
It will develop tangential
and normal components.

The result is aB = aA + (aB/A)t + (aB/A)n

RELATIVE MOTION ANALYSIS: ACCELERATION

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.

RELATIVE MOTION ANALYSIS: ACCELERATION

(continued)
Since the relative acceleration components can be expressed
as (aB/A)t = rB/A and (aB/A)n = - 2 rB/A the relative
acceleration equation becomes
aB = aA + rB/A - 2 rB/A

(16-18)

Note that the last term in the relative acceleration

equation is not a cross product. It is the product of a
scalar (square of the magnitude of angular velocity,
2) and the relative position vector, rB/A.

APPLICATION OF RELATIVE ACCELERATION

EQUATION
In applying the relative acceleration equation, the two points used in the
analysis (A and B) should generally be selected as points which have a
known motion, such as pin connections with other bodies.

In this mechanism, point B is known to travel along a circular path, so

aB can be expressed in terms of its normal and tangential components.
Note that point B on link BC will have the same acceleration as point B
on link AB.
Point C, connecting link BC and the piston, moves along a straight-line
path. Hence, aC is directed horizontally.

PROCEDURE FOR ANALYSIS: RELATIVE

ACCELERATION ANALYSIS
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.

Example 5: Acceleration of a Point

Question
The rolling disk in the Figure below has
counterclockwise angular velocity and
counterclockwise angular acceleration .
What is the acceleration of point A?

Example 5: Acceleration of a Point

Strategy
We know that the magnitude of the
acceleration of the center of the disk is the
product of the radius and the angular
acceleration. Therefore, we can express
the acceleration of A as the sum of the
acceleration of the center of the disk and
the acceleration of A relative to the center.

Example 5: Acceleration of a Point

Solution
First Method. In terms of the coordinate
system in Fig a, the acceleration of the
center B is aB = -Ri. As motion in a
circular path of radius R relative to B
results in the tangential and normal
components of relative acceleration shown
in fig b:
2
a A / B = R i + R j

Example 5: Acceleration of a Point

The acceleration of A is
a A = a B + a A / B = R i 2 R i + R j

2
(
= R R )i + R j

Fig a

Fig b

Example 5: Acceleration of a Point

Second Method. The angular acceleration vector
of the disk is = k, and the position of A relative
to B is rA/B = Ri (Fig c).

Fig c

Example 5: Acceleration of a Point

From equation of acceleration, the
acceleration of A is
a A = a B + rA / B 2 rA / B
= R i + (k ) ( Ri ) 2 ( Ri )

= R 2 R i + R j

Example 6: Angular Accelerations of

Members of a Linkage
Question
Bar AB in the figure below has a
counterclockwise angular velocity of 10 rad/s
and a clockwise angular acceleration of 300
rad/s2. What are the angular accelerations of
bars BC and CD?

Example 6: Angular Accelerations of

Members of a Linkage
Strategy
Since we know the angular velocity of bar
AB, we can determine the velocity of point
B. We can apply Eq. 16-16 to points C & D
to obtain an equation for vC in terms of the
angular velocity of bar CD. We can repeat
the procedure to points B & C to obtain an
equation for vC in terms of the angular
velocity of bar BC.

Example 6: Angular Accelerations of

Members of a Linkage
By equating the two expressions for vC, we
will obtain a vector equation in two
unknowns: the angular velocities of bars
BC and CD. Then, by following the same
sequence of steps, but using formula for
acceleration (Eq. 16-18) we can obtain the
angular accelerations of bars BC and CD.

Example 6: Angular Accelerations of

Members of a Linkage
Solution
The velocity of B is
v B = v A + AB rB / A
= 0 + (10 k ) (2 j)

= 20 i (m/s )

Fig a

Example 6: Angular Accelerations of

Members of a Linkage

Fig b

Example 6: Angular Accelerations of

Members of a Linkage
Let CD be the unknown angular velocity of
bar CD (Fig b). The velocity of C in terms of
the velocity of D is
vC = v D + CD rC / D
i
= 0+ 0

0 CD

2 2

= 2CD i 2CD j

Example 17.6: Angular Accelerations

of Members of a Linkage

Fig c

Example 6: Angular Accelerations of

Members of a Linkage
Defining the angular velocity of bar BC by
BC (Fig c), we obtain the velocity of C in
terms of the velocity of B:
vC = v B + BC rC / B

= 20 i + (BC k ) (2 i )

= 20 i + 2BC j
Equating both eqns for vC yields

2CD i 2CD j = 20 i + 2BC j

Example 6: Angular Accelerations of

Members of a Linkage
Equating the i and j components, we obtain
CD = 10 rad/s and BC = -10 rad/s.
Using the same sequence to determine the
angular accelerations, the acceleration of B is
(Fig a) is
2
a B = a A + AB rB / A AB
rB / A

= 0 + ( 300 k ) (2 j) (10 )2 (2 j)
= 600 i 200 j (m/s)

Example 6: Angular Accelerations of

Members of a Linkage
The acceleration of C in terms of the
acceleration of D is (Fig b)
2
a C = a D + CD rC / D CD
rC / D

i
= 0+ 0

0 CD (10 )2 ( 2 i + 2 j)

2 2

= (200 2 CD )i (200 + 2 CD ) j (m/s)

Example 6: Angular Accelerations of

Members of a Linkage
The acceleration of C in terms of the
acceleration of B is (Fig c)
2
a C = a B + BC rC / B BC
rC / B

= 600 i 200 j + ( BC k ) (2 i ) ( 10)2 (2 i )

= 400 i (200 2 BC ) j (m/s)

Example 6: Angular Accelerations of

Members of a Linkage
Equating the expressions for aC, we obtain

(200 2CD )i (200 + 2CD ) j = 400 i (200 2 BC ) j

Equating i and j components, we obtain the
angular accelerations BC = 100 rad/s2 and CD =
-100 rad/s2 .

ATTENTION QUIZ
1. Two bodies contact one another without
slipping. If the tangential component of
the acceleration of point A on gear B is
100 cm/sec2, determine the tangential
component of the acceleration of point
A on gear C.
A) 50 cm/sec2

B) 100 cm/sec2

C) 200 cm/sec2

D) None of above.

2m

1m

2. If the tangential component of the acceleration of point A on

gear B is 100 cm/sec2, determine the angular acceleration of
gear B.
A) 50 rad/sec2
B) 100 rad/sec2
C) 200 rad/sec2
D) None of above.