CH 15

Ninth
Edition
Ninth Edition
Vector Mechanics for Engineers: Dynamics

Contents
CHAPTER
VECTOR MECHANICS FOR ENGINEERS:
Introduction
Translation
Rotation About a Fixed Axis: Velocity
Rotation About a Fixed Axis:
Acceleration
Rotation About a Fixed Axis:
Representative Slab
Equations Defining the Rotation of a
Rigid Body About a Fixed Axis
Sample Problem 5.1
General Plane Motion
Absolute and Relative Velocity in Plane
Motion
Sample Problem 15.2
Sample Problem 15.3
Instantaneous Center of Rotation in
Plane Motion
Sample Problem 15.4
Sample Problem 15.5
15 DYNAMICS
Ferdinand P. Beer
E. Russell Johnston, Jr.

Lecture Notes:
J. Walt Oler
Kinematics of
Rigid Bodies
Texas Tech University
2010 The McGraw-Hill Companies, Inc. All rights reserved.
Introduction
Ninth
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Absolute and Relative Acceleration in

Plane Motion
Analysis of Plane Motion in Terms of a
Parameter
Sample Problem 15.6
Sample Problem 15.7
Sample Problem 15.8
Rate of Change With Respect to a
Rotating Frame
Coriolis Acceleration
Sample Problem 15.9
Sample Problem 15.10
Motion About a Fixed Point
General Motion
Three Dimensional Motion. Coriolis
Acceleration
Frame of Reference in General Motion
15 - 2

Translation
Kinematics of rigid bodies: relations between

time and the positions, velocities, and
accelerations of the particles forming a rigid
body.
Classification of rigid body motions:
Consider rigid body in translation:

- direction of any straight line inside the
body is constant,
- all particles forming the body move in
parallel lines.
For any two particles in the body,

rB rA rB A
- translation:
rectilinear translation
Differentiating with respect to time,
rB rA rB A rA
vB v A
curvilinear translation
- rotation about a fixed axis
- general plane motion
All particles have the same velocity.
- motion about a fixed point
Differentiating with respect to time again,

rB rA rB A rA
aB a A
- general motion
All particles have the same acceleration.

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Rotation About a Fixed Axis. Velocity
Rotation About a Fixed Axis. Acceleration

Differentiating to determine the acceleration,
dv d
a
w r
dt dt
dw dr
r w
dt
dt
dw
r w v
dt
dw
a angular acceleration
dt
a k w k qk
Consider rotation of rigid body about a

fixed axis AA
Velocity vector v dr dt of the particle P is

tangent to the path with magnitude v ds dt
Ds BP Dq r sin f Dq
v
ds
Dq
lim r sin f
rq sin f
dt Dt 0
Dt
The same result is obtained from
dr
v
wr
dt
w w k qk angular velocity
Acceleration of P is combination of two

vectors,

a a r w w r

a r tangential acceleration component

w w r radial acceleration component
15 - 5
Rotation About a Fixed Axis. Representative Slab
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Equations Defining the Rotation of a Rigid Body About a Fixed Axis
Consider the motion of a representative slab in

a plane perpendicular to the axis of rotation.
Velocity of any point P of the slab,

v w r wk r
v rw
Motion of a rigid body rotating around a fixed axis is

often specified by the type of angular acceleration.
Recall w
dq
dt
or
dt
dq
a
Acceleration of any point P of the slab,

a a r w w r

a k r w 2r
dw d q
dw
2 w
dt
dq
dt
Uniform Rotation, a = 0:
q q 0 wt
Resolving the acceleration into tangential and

normal components,

at ak r
a t ra
an w 2 r
an rw 2
15 - 6
15 - 7
Uniformly Accelerated Rotation, a = constant:

w w0 at
q q 0 w 0t 12 a t 2
w 2 w 02 2a q q 0
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Sample Problem 5.1

Sample Problem 5.1
SOLUTION:
The tangential velocity and acceleration of D are equal to the
velocity and acceleration of C.
aD t aC 9 in. s
v v 12 in. s
SOLUTION:
Due to the action of the cable, the
tangential velocity and acceleration of
D are equal to the velocity and
acceleration of C. Calculate the initial
angular velocity and acceleration.
D 0
w0
Apply the relations for uniformly

accelerated rotation to determine the
velocity and angular position of the
pulley after 2 s.
Cable C has a constant acceleration of 9

in/s2 and an initial velocity of 12 in/s,
both directed to the right.
Sample Problem 5.1
12
4 rad s
3
9
3 rad s 2
3
w 0 t 12 at 2
4 rad s 2 s 12 3 rad s 2 2 s 2
14 rad
1 rev
N 14 rad
number of revs
2 rad
vB rw 5 in.10 rad s
vB 50 in. s
DyB rq 5 in.14 rad
DyB 70 in.
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w w 0 at 4 rad s 3 rad s 2 2 s 10 rad s
15 - 9
aD t ra
aD t
Apply the relations for uniformly accelerated rotation to

determine velocity and angular position of pulley after 2 s.
Evaluate the initial tangential and

normal acceleration components of D.
Determine (a) the number of revolutions

of the pulley in 2 s, (b) the velocity and
change in position of the load B after 2 s,
and (c) the acceleration of the point D on
the rim of the inner pulley at t = 0.
C 0
vD 0 rw 0
vD 0
N 2.23 rev
15 - 10

General Plane Motion
Evaluate the initial tangential and normal acceleration

components of D.
aD t aC 9 in. s
aD n rDw 02 3 in.4 rad s2 48 in
aD t
9 in. s 2
s2
aD n 48 in. s 2
Magnitude and direction of the total acceleration,
General plane motion is neither a translation nor

a rotation.
aD t2 aD 2n
aD
92 482
tan f
aD 48.8 in. s 2
aD n
aD t
48
9
General plane motion can be considered as the

sum of a translation and rotation.
Displacement of particles A and B to A2 and B2
can be divided into two parts:
- translation to A2 and B1
- rotation of B1 about A2 to B2
f 79.4
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Absolute and Relative Velocity in Plane Motion
Assuming that the velocity vA of end A is known, wish to determine the

velocity vB of end B and the angular velocity w in terms of vA, l, and q.
Any plane motion can be replaced by a translation of an

arbitrary reference point A and a simultaneous rotation
about A.
vB v A v B A

v B A w k rB A
v B A rw

v B v A w k rB A
The direction of vB and vB/A are known. Complete the velocity diagram.
v B v A tan q
15 - 13
vA
l cosq
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vA
v
A cosq
v B A lw
vB
tan q
vA

Sample Problem 15.2
SOLUTION:
The displacement of the gear center in
one revolution is equal to the outer
circumference. Relate the translational
and angular displacements. Differentiate
to relate the translational and angular
velocities.
Selecting point B as the reference point and solving for the velocity vA of end A
and the angular velocity w leads to an equivalent velocity triangle.
The double gear rolls on the

stationary lower rack: the velocity of
its center is 1.2 m/s.
The velocity for any point P on the gear

may be written as
Determine (a) the angular velocity of

the gear, and (b) the velocities of the
upper rack R and point D of the gear.
vA/B has the same magnitude but opposite sense of vB/A. The sense of the
relative velocity is dependent on the choice of reference point.
vP v A vP
v A wk rP
Evaluate the velocities of points B and D.
Angular velocity w of the rod in its rotation about B is the same as its rotation
about A. Angular velocity is not dependent on the choice of reference point.
15 - 15
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Sample Problem 15.2

Sample Problem 15.2
For any point P on the gear, vP v A vP
SOLUTION:
v A wk rP
The displacement of the gear center in one revolution is

equal to the outer circumference.
For xA > 0 (moves to right), w < 0 (rotates clockwise).
xA
q
2 r
2
y
x A r1q
Differentiate to relate the translational and angular

velocities.
v A r1w
v
1.2 m s
w A
r1
0.150 m
Velocity of the point D:
Velocity of the upper rack is equal to

velocity of point B:

vR vB v A wk rB A
1.2 m s i 8 rad s k 0.10 m j
1.2 m s i 0.8 m s i
vR 2 m s i
w wk 8 rad s k
vD v A wk rD A
1.2 m s i 8 rad s k 0.150 m i
vD 1.2 m s i 1.2 m s j
vD 1.697 m s
15 - 17
Sample Problem 15.3
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15 - 18

Sample Problem 15.3
SOLUTION:
Will determine the absolute velocity of
point D with
vD vB vD B
The velocity v B is obtained from the

given crank rotation data.
velocity v D
The crank AB has a constant clockwise The directions of the absolute
v
and
the
relative
velocity
are
D B
angular velocity of 2000 rpm.
determined from the problem geometry.
For the crank position indicated,
The unknowns in the vector expression
determine (a) the angular velocity of
are the velocity magnitudes v D and v D B
the connecting rod BD, and (b) the
which may be determined from the
velocity of the piston P.
corresponding vector triangle.
The angular velocity of the connecting
rod is calculated from v D B .
15 - 19
SOLUTION:
Will determine the absolute velocity of point D with
vD vB vD B
The velocity vB is obtained from the crank rotation data.
w AB 2000
rev min 2 rad
209.4 rad s
min 60 s rev
vB AB w AB 3 in.209.4 rad s
The velocity direction is as shown.
The direction of the absolute velocity vD is horizontal.
The direction of the relative velocity vD B is

perpendicular to BD. Compute the angle between the
horizontal and the connecting rod from the law of sines.
sin 40 sin b
8 in.
3 in.
b 13.95
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Sample Problem 15.3

Instantaneous Center of Rotation in Plane Motion
Plane motion of all particles in a slab can always be
replaced by the translation of an arbitrary point A and a
rotation about A with an angular velocity that is
independent of the choice of A.
Determine the velocity magnitudes vD and v D

from the vector triangle.
The same translational and rotational velocities at A are

obtained by allowing the slab to rotate with the same
angular velocity about the point C on a perpendicular to
the velocity at A.
vD B
vD
628.3in. s
sin 53.95 sin 50 sin76.05

vD 523.4 in. s 43.6 ft s
vD vB vD
vD
495.9 in. s
vD
lw BD
w BD
vD
495.9 in. s
l
8 in.
62.0 rad s
As far as the velocities are concerned, the slab seems to

rotate about the instantaneous center of rotation C.
w BD 62.0 rad s k
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15 - 22

If the velocity at two points A and B are known, the

instantaneous center of rotation lies at the intersection
of the perpendiculars to the velocity vectors through A
and B .
If the velocity vectors are parallel, the instantaneous
center of rotation is at infinity and the angular velocity
is zero.
If the velocity vectors at A and B are perpendicular to
the line AB, the instantaneous center of rotation lies at
the intersection of the line AB with the line joining the
extremities of the velocity vectors at A and B.
If the velocity magnitudes are equal, the instantaneous
center of rotation is at infinity and the angular velocity
is zero.
The velocity of all other particles in the slab are the same
as originally defined since the angular velocity and
translational velocity at A are equivalent.
vP vD 43.6 ft s
15 - 23
The instantaneous center of rotation lies at the intersection of

the perpendiculars to the velocity vectors through A and B .
v
v
v
vB BC w l sin q A
w A A
l cosq
AC l cosq
v A tan q
The velocities of all particles on the rod are as if they were
rotated about C.
The particle at the center of rotation has zero velocity.
The particle coinciding with the center of rotation changes
with time and the acceleration of the particle at the
instantaneous center of rotation is not zero.
The acceleration of the particles in the slab cannot be
determined as if the slab were simply rotating about C.
The trace of the locus of the center of rotation on the body
is the body centrode and in space is the space centrode.
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Sample Problem 15.4

Sample Problem 15.4
SOLUTION:
The point C is in contact with the stationary lower rack
and, instantaneously, has zero velocity. It must be the
location of the instantaneous center of rotation.
Determine the angular velocity about C based on the
given velocity at A.
v
1.2 m s
v A rAw
w A
8 rad s
rA 0.15 m
SOLUTION:
The point C is in contact with the stationary
lower rack and, instantaneously, has zero
velocity. It must be the location of the
instantaneous center of rotation.
Determine the angular velocity about C
based on the given velocity at A.
The double gear rolls on the
stationary lower rack: the velocity
of its center is 1.2 m/s.
Evaluate the velocities at B and D based on their rotation

about C.
Evaluate the velocities at B and D based on

their rotation about C.
vR vB rBw 0.25 m 8 rad s
rD 0.15 m 2 0.2121 m
Determine (a) the angular velocity

of the gear, and (b) the velocities of
the upper rack R and point D of the
gear.
vD rDw 0.2121 m 8 rad s
vD 1.697 m s
vD 1.2i 1.2 j m s
15 - 25
Sample Problem 15.5

Sample Problem 15.5
SOLUTION:
From Sample Problem 15.3,
vB 403.9i 481.3 j in. s
SOLUTION:
Determine the velocity at B from the
given crank rotation data.
For the crank position indicated,

determine (a) the angular velocity of
the connecting rod BD, and (b) the
velocity of the piston P.
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The crank AB has a constant clockwise

angular velocity of 2000 rpm.
vR 2 m s i
The direction of the velocity vectors at B

and D are known. The instantaneous
center of rotation is at the intersection of
the perpendiculars to the velocities
through B and D.
Determine the angular velocity about the
center of rotation based on the velocity
at B.
Calculate the velocity at D based on its
rotation about the instantaneous center
of rotation.
vB 628.3 in. s
b 13.95
The instantaneous center of rotation is at the intersection
of the perpendiculars to the velocities through B and D.
B 40 b 53.95
D 90 b 76.05
BC
CD
8 in.
sin 76.05 sin 53.95 sin50

BC 10.14 in. CD 8.44 in.
Determine the angular velocity about the center of

rotation based on the velocity at B.
vB BC w BD
w BD
vB 628.3 in. s
BC 10.14 in.
w BD 62.0 rad s
Calculate the velocity at D based on its rotation about

the instantaneous center of rotation.
vD CD w BD 8.44 in.62.0 rad s

vP vD 523 in. s 43.6 ft s
15 - 27
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Absolute and Relative Acceleration in Plane Motion

Given a A and v A ,
determine a B and a .
aB a A aB A
a A aB A aB
A t
Absolute acceleration of a particle of the slab,
aB a A aB A
Relative acceleration a B A associated with rotation about A includes

tangential and normal components,

a B A t ra
a B A a k rB A
t
a B A n rw 2
a B A w 2 rB A
Vector result depends on sense of a A and the

relative magnitudes of a A and a B A
Must also know angular velocity w.

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15 - 30

Analysis of Plane Motion in Terms of a Parameter
In some cases, it is advantageous to determine the
absolute velocity and acceleration of a mechanism
directly.
x A l sin q
y B l cosq
v A x A
lq cosq
v B y B
lw cosq
Write a B a A a B
x components:

a A xA
in terms of the two component equations,
lw sin q la cosq
2
y components: a B lw cos q la sin q
lw sin q
a B yB
lq 2 sin q lq cosq
0 a A lw 2 sin q la cos q
lq sin q
lq 2 cosq lqsin q
lw 2 cosq la sin q
Solve for aB and a.

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Sample Problem 15.6

Sample Problem 15.6
SOLUTION:
The expression of the gear position as a function of q
is differentiated twice to define the relationship
between the translational and angular accelerations.
SOLUTION:
The expression of the gear position as a
function of q is differentiated twice to
define the relationship between the
translational and angular accelerations.
The center of the double gear has a

velocity and acceleration to the right of
1.2 m/s and 3 m/s2, respectively. The
lower rack is stationary.
x A r1q
v A r1q r1w
The acceleration of each point on the

gear is obtained by adding the
acceleration of the gear center and the
relative accelerations with respect to the
center. The latter includes normal and
tangential acceleration components.
vA
1.2 m s
8 rad s
r1
0.150 m
a A r1q r1a
aA
3 m s2
r1
0.150 m
Determine (a) the angular acceleration

of the gear, and (b) the acceleration of
points B, C, and D.
a a k 20 rad s 2 k
15 - 33
Sample Problem 15.6
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15 - 34

Sample Problem 15.6
The acceleration of each point

is obtained by adding the
acceleration of the gear center
and the relative accelerations
with respect to the center.
The latter includes normal and
tangential acceleration
components.
aB a A a B A a A aB A aB A
t
n
a A a k rB A w 2rB A
3 m s 2 i 20 rad s 2 k 0.100 m j 8 rad s 2 0.100 m j
3 m s 2 i 2 m s 2 i 6.40 m s 2 j
aB 5 m s 2 i 6.40 m s 2 j
aB 8.12 m s 2
a A a k rC A w 2 rC A
3 m s 2 i 20 rad s 2 k 0.150 m j 8 rad s 2 0.150 m j
3 m s 2 i 3 m s 2 i 9.60 m s 2 j
ac 9.60 m s 2 j

aD a A a D A a A a k rD A w 2rD A
3 m s 2 i 20 rad s 2 k 0.150 m i 8 rad s 2 0.150m i
3 m s 2 i 3 m s 2 j 9.60 m s 2 i
aD 12.6 m s 2 i 3 m s 2 j
a D 12.95 m s 2
aC a A aC
15 - 35
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Sample Problem 15.7

Sample Problem 15.7
SOLUTION:
The angular acceleration of the connecting rod BD and
the acceleration of point D will be determined from
aD aB aD B a B a D B aD B
SOLUTION:
The angular acceleration of the
connecting rod BD and the acceleration
of point D will be determined from
aD aB aD B aB aD B aD B
For the crank position shown,

determine the angular acceleration of
the connecting rod BD and the
acceleration of point D.
w AB 2000 rpm 209.4 rad s constant

a AB 0
The directions of the accelerations
a D , a D B , and a D B are
t
n
determined from the geometry.
2
aB rw AB
123 ft 209.4 rad s2 10,962 ft s2
aB 10,962 ft s 2 cos 40i sin 40 j
Component equations for acceleration

of point D are solved simultaneously for
acceleration of D and angular
acceleration of the connecting rod.
15 - 37
Sample Problem 15.7
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Sample Problem 15.7
The directions of the accelerations aD , aD

determined from the geometry.
aD aD i
B t , and
aD B n are
aD B n BD 62.0 rad s 2563 ft s

aD B n 2563 ft s2 cos13.95i sin 13.95 j
aD B t BD a BD 128 ft a BD 0.667a BD
2
w BD
8 ft
12
Component equations for acceleration of point D are solved

simultaneously.
aD aB a D B aB aD B aD B
From Sample Problem 15.3, wBD = 62.0 rad/s, b = 13.95o.

2
aD 10,962 cos 40 2563 cos13.95 0.667a BD sin 13.95

y components:
0 10,962 sin 40 2563 sin 13.95 0.667a BD cos13.95
aD 9290 ft s 2 i
a BD 9940 rad s2 k
x components:
The direction of (aD/B)t is known but the sense is not known,
aD B 0.667a BD sin 76.05i cos 76.05 j
The acceleration of B is determined from the given rotation

speed of AB.
The acceleration of B is determined from

the given rotation speed of AB.
Crank AG of the engine system has a
constant clockwise angular velocity of
2000 rpm.
15 - 39
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Sample Problem 15.8

Sample Problem 15.8
SOLUTION:
The angular velocities are determined by simultaneously
solving the component equations for
vD vB vD B
SOLUTION:
The angular velocities are determined by
simultaneously solving the component
equations for
vD v B v D B
In the position shown, crank AB has a

constant angular velocity w1 = 20 rad/s
counterclockwise.
vD w DE rD w DE k 17i 17 j
17w DE i 17w DE j
vB w AB rB 20k 8i 14 j
280i 160 j
v D B w BD rD B w BD k 12i 3 j
3w BDi 12w BD j
The angular accelerations are determined

by simultaneously solving the component
equations for
aD aB aD B
Determine the angular velocities and

angular accelerations of the connecting
rod BD and crank DE.
x components:
17w DE 280 3w BD
y components:
17w DE 160 12w BD
w BD 29.33 rad s k
15 - 41
Sample Problem 15.8

Rate of Change With Respect to a Rotating Frame
The angular accelerations are determined by

simultaneously solving the component equations for
aD a B aD B
With respect to the rotating Oxyz frame,
Q Qxi Q y j Qz k
Q Oxyz Q x i Q y j Q z k
2
aD a DE rD w DE
rD
a DE k 17i 17 j 11.29 2 17i 17 j
17a DE i 17a DE j 2170i 2170 j
2
aB a AB rB w AB
rB 0 202 8i 14 j
3200i 5600 j
2
aD B a BD rB D w BD
rB D
a B D k 12i 3 j 29.332 12i 3 j
3a B D i 12a B D j 10,320i 2580 j
With respect to the fixed OXYZ frame,
Q OXYZ Q x i Q y j Q z k Q x i Q y j Q z k
Frame OXYZ is fixed.
x components: 17a DE 3a BD 15,690

y components: 17a DE 12a BD 6010
a BD 645 rad s 2 k
a DE 809 rad s 2 k
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w DE 11.29 rad s k
15 - 43
Frame Oxyz rotates about

fixed axis OA with angular
velocity
Vector function Qt varies

in direction and magnitude.
Q x i Q y j Q z k Q Oxyz rate of change

with respect to rotating frame.
If Q were fixed within Oxyz then Q OXYZ is

equivalent to velocity of a point in a rigid
body
attached to Oxyz and Qx i Q y j Qz k Q
With respect to the fixed OXYZ frame,

Q
Q
Q
OXYZ
Oxyz
15 - 44
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Absolute acceleration for the particle P is

d
aP
r r OXY r Oxy
dt

r r
but, r
Frame OXY
is fixed and frame Oxy rotates with angular
velocity .
Position vector rP for the particle P is the same in both

frames but the rate of change depends on the choice of
frame.
OXY
vP r r Oxy
v P v P F
Imagine a rigid slab attached to the rotating frame Oxy

or F for short. Let P be a point on the slab which
corresponds instantaneously to position of particle P.
v P F r Oxy velocity of P along its path on the slab
v P ' absolute velocity of point P on the slab
15 - 45
Utilizing the conceptual point P on the slab,

a P
r r
a P F rOxy
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Absolute acceleration
for the particle P becomes
a P a P a P F 2 r Oxy
a P a P F ac
ac 2 r Oxy 2 v P F Coriolis acceleration
Absolute velocity for the particle P may be written as
v P v P v P F
Oxy
d
r Oxy rOxy r Oxy
dt

aP
r r 2 r Oxy rOxy
The absolute velocity of the particle P is

v P r OXY r r Oxy
15 - 46

Consider a collar P which is made to slide at constant

relative velocity u along rod OB. The rod is rotating at
a constant angular velocity w. The point A on the rod
corresponds to the instantaneous position of P.
Change in velocity over Dt is represented by the

sum of three vectors
Dv RR TT T T
Absolute acceleration of the collar is
a P a A a P F ac
where

aA
r r
a A rw 2
a P F rOxy 0

ac 2 v P F
ac 2wu
at t ,
at t Dt ,
The absolute acceleration consists of the radial and

tangential vectors shown
v vA u

v v A u
TT is due to change in direction of the velocity of

point A on the rod,
TT
Dq
lim
lim v A
rww rw 2 a A
Dt
Dt 0 Dt
Dt 0

r r
a A rw 2
recall, a A
R R and T T result from combined effects of
relative motion of P and rotation of the rod
RR T T
Dq
Dr
lim u
lim
w
Dt
Dt Dt 0 Dt
Dt
Dt 0
uw wu 2wu

ac 2wu
recall, ac 2 v P F
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Sample Problem 15.9

Sample Problem 15.9
SOLUTION:
The absolute velocity of the point P may be written as
vP vP vP s
SOLUTION:
The absolute velocity of the point P
may be written as
v P v P v P s
Magnitude and direction of absolute velocity of pin P are

calculated from radius and angular velocity of disk D.
Magnitude and direction of velocity
v P of pin P are calculated from the

radius and angular velocity of disk D.
Direction of velocity v P of point P on

S coinciding with P is perpendicular to
Disk D of the Geneva mechanism rotates
radius OP.
with constant counterclockwise angular
velocity wD = 10 rad/s.
Direction of velocity v P s of P with
respect to S is parallel to the slot.
At the instant when f = 150o, determine
(a) the angular velocity of disk S, and (b) Solve the vector triangle for the
the velocity of pin P relative to disk S.
angular velocity of S and relative
velocity of P.
vP Rw D 50 mm 10 rad s 500 mm s
Direction of velocity of P with respect to S is parallel to slot.
From the law of cosines,
r 2 R 2 l 2 2 Rl cos 30 0.551R 2
From the law of cosines,
sinb sin 30
sin 30
sin b
R
r
0.742
Sample Problem 15.9
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b 42.4
The interior angle of the vector triangle is

90 42.4 30 17.6
15 - 49
r 37.1 mm
15 - 50

SOLUTION:
Direction of velocity of point P on S coinciding with P is

perpendicular to radius OP. From the velocity triangle,
The absolute acceleration of the pin P may

be expressed as
a P a P a P s ac
vP vP sin 500 mm s sin 17.6 151.2 mm s

rw s
ws
151.2 mm s
37.1 mm
The instantaneous angular velocity of Disk

S is determined as in Sample Problem 15.9.
w s 4.08 rad s k
vP s vP cos 500 m s cos17.6
vP s 477 m s cos 42.4i sin 42.4 j
In the Geneva mechanism, disk D

rotates with a constant counterclockwise angular velocity of 10
rad/s. At the instant when j = 150o,
determine angular acceleration of
disk S.
vP 500 mm s
15 - 51
The only unknown involved in the

acceleration equation is the instantaneous
angular acceleration of Disk S.
Resolve each acceleration term into the
component parallel to the slot. Solve for
the angular acceleration of Disk S.
15 - 52
13
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SOLUTION:
Absolute acceleration of the pin P may be expressed as
aP aP aP s ac
The direction of the Coriolis acceleration is obtained
by rotating the direction of the relative velocity vP s

by 90o in the sense of wS.
ac 2w S vP s sin 42.4i cos 42.4 j
24.08 rad s 477 mm s sin 42.4i cos 42.4 j
3890 mm s 2 sin 42.4i cos 42.4 j
From Sample Problem 15.9.
b 42.4
w S 4.08 rad s k
vP s 477 mm s cos 42.4i sin 42.4 j
Considering each term in the acceleration equation,
15 - 53
15 - 54

General Motion
The most general displacement of a rigid body with a

fixed point O is equivalent to a rotation of the body
about an axis through O.
With the instantaneous axis of rotation and angular
velocity w , the velocity of a particle P of the body is
dr
v
w r
dt
and the acceleration of the particle P is

dw
a a r w w r
a
.
dt
The angular acceleration a represents the velocity of

the tip of w .
As the vector w moves within the body and in space,

it generates a body cone and space cone which are
tangent along the instantaneous axis of rotation.
Angular velocities have magnitude and direction and
obey parallelogram law of addition. They are vectors.
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Ninth
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Motion About a Fixed Point
must be parallel to
37.1a S 3890 5000 cos17.7 0

a S 233 rad s
a S 233 rad s k
note: aS may be positive or negative
Equating components of the acceleration terms

perpendicular to the slot,
The relative acceleration aP

the slot.
2
aP Rw D
500mm 10 rad s 2 5000 mm s 2
aP 5000 mm s 2 cos 30i sin 30 j
aP aP n aP t
aP n rw S2 cos 42.4i sin 42.4 j
aP t ra S sin 42.4i cos 42.4 j
aP t a S 37.1mm sin 42.4i cos 42.4 j
15 - 55
For particles A and B of a rigid body,
vB v A v B A
Particle A is fixed within the body and motion of
the body relative to AXYZ is the motion of a
body with a fixed point

v B v A w rB A
Similarly, the acceleration of the particle P is
aB a A aB A

a A a rB A w w rB A
Most general motion of a rigid body is equivalent to:
- a translation in which all particles have the same
velocity and acceleration of a reference particle A, and
- of a motion in which particle A is assumed fixed.
15 - 56
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SOLUTION:
Angular velocity of the boom,

w w1 w 2
w 0.30 rad s j 0.50 rad s k
SOLUTION:
With w1 0.30 j w 2 0.50k
r 12cos 30i sin 30 j
10.39i 6 j
Angular acceleration of the boom,

a w1 w 2 w 2 w 2 Oxyz w 2

w1 w 2 0.30 rad s j 0.50 rad s k
a 0.15 rad s 2 i
Angular velocity of the boom,

The crane rotates with a constant

w w1 w 2
angular velocity w1 = 0.30 rad/s and the
Angular acceleration of the boom,
boom is being raised with a constant

angular velocity w2 = 0.50 rad/s. The

a w1 w 2 w 2 w 2 Oxyz w 2
length of the boom is l = 12 m.

w1 w 2
Determine:
Velocity of boom tip,
angular velocity of the boom,

v w r
angular acceleration of the boom,
velocity of the boom tip, and
Acceleration of boom tip,
acceleration of the boom tip.

a a r w w r a r w v
r 10.39i 6 j
15 - 58
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Ninth
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w1 0.30 j w 2 0.50k
15 - 57

Three-Dimensional Motion. Coriolis Acceleration
Acceleration of boom tip,

a a r w w r a r w v
i
j
k
i
j
a 0.15
0
0 0
0.30
With respect to the fixed frame OXYZ and rotating

frame Oxyz,

Q
Q
Q
k
0.50
OXYZ
10.39
6
0 3
5.20
3.12
0.90k 0.94i 2.60i 1.50 j 0.90k
a 3.54 m s 2 i 1.50 m s 2 j 1.80 m s 2 k
r 10.39i 6 j
Velocity of boom tip,
i
j
k

v w r 0
0.3
0.5
10.39
6
0
v 3.54 m s i 5.20 m s j 3.12 m s k
Oxyz
Consider motion of particle P relative to a rotating

frame Oxyz or F for short. The absolute velocity can
be expressed as

vP r r Oxyz
v P v P F
The absolute acceleration can be expressed as

aP
r r 2 r Oxyz rOxyz
a p a P F ac

ac 2 r Oxyz 2 v P F Coriolis acceleration
w1 0.30 j w 2 0.50k
15 - 59
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Frame of Reference in General Motion

With respect to OXYZ and AXYZ,

rP rA rP A
vP v A v P A
a P a A aP A
SOLUTION:
Define a fixed reference frame OXYZ at O
and a moving reference frame Axyz or F
attached to the arm at A.
With P of the moving reference frame
coinciding with P, the velocity of the point
P is found from
v P v P v P F
For the disk mounted on the arm, the
indicated angular rotation rates are
The acceleration of P is found from
constant.
a P a P a P F ac
Determine:
the velocity of the point P,
The angular velocity and angular
the acceleration of P, and
acceleration of the disk are

angular velocity and angular
w wD F

acceleration of the disk.
a w F w
The velocity and acceleration of P relative to

AXYZ can be found in terms of the velocity
and acceleration of P relative to Axyz.
Consider:
- fixed frame OXYZ,
- translating frame AXYZ, and
- translating and rotating frame Axyz
or F.
v P v A rP A rP A
Axyz
v P v P F

aP a A
rP A rP A

2 rP A
rP A
Axyz
Axyz
a P a P F a c
15 - 61
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15 - 62

SOLUTION:
Define a fixed reference frame OXYZ at O and a
moving reference frame Axyz or F attached to the
arm at A.
r L i Rj
w1 j
rP
Rj
a P a P a P F ac
a P r w1 j w1 Lk w12 Li
a P F w D F w D F rP A
w 2 k w 2 R i w 22 R j

ac 2 v P F
2w1 j w 2 R i 2w1w 2 Rk
a P w12 L i w 22 Rj 2w1w 2 Rk
w D F w 2k
With P of the moving reference frame coinciding

with P, the velocity of the point P is found from
v P v P v P F
v P r w1 j Li Rj w1 L k
v P F w D F rP A w 2 k Rj w 2 R i
v P w 2 R i w1L k
The acceleration of P is found from
15 - 63
Angular velocity and acceleration of the disk,
w wD F
w1 j w1 j w 2 k
a w F w
w w1 j w 2 k
a w1w 2 i
15 - 64
16

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Ninth

Vector Mechanics for Engineers: Dynamics

VECTOR MECHANICS FOR ENGINEERS:

E. Russell Johnston, Jr.

Texas Tech University

2010 The McGraw-Hill Companies, Inc. All rights reserved.

2010 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

Absolute and Relative Acceleration in

Vector Mechanics for Engineers: Dynamics

Kinematics of rigid bodies: relations between

Consider rigid body in translation:

Differentiating with respect to time,

All particles have the same velocity.

- motion about a fixed point

Differentiating with respect to time again,

All particles have the same acceleration.

2010 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

Rotation About a Fixed Axis. Acceleration

Consider rotation of rigid body about a

Velocity vector v dr dt of the particle P is

The same result is obtained from

2010 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

Acceleration of P is combination of two

Rotation About a Fixed Axis. Representative Slab

Vector Mechanics for Engineers: Dynamics

Vector Mechanics for Engineers: Dynamics

Consider the motion of a representative slab in

Motion of a rigid body rotating around a fixed axis is

Resolving the acceleration into tangential and

2010 The McGraw-Hill Companies, Inc. All rights reserved.

Uniformly Accelerated Rotation, a = constant:

Vector Mechanics for Engineers: Dynamics

Vector Mechanics for Engineers: Dynamics

Apply the relations for uniformly

Cable C has a constant acceleration of 9

Sample Problem 5.1

DyB rq 5 in.14 rad

2010 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

w w 0 at 4 rad s 3 rad s 2 2 s 10 rad s

2010 The McGraw-Hill Companies, Inc. All rights reserved.

Apply the relations for uniformly accelerated rotation to

Evaluate the initial tangential and

Determine (a) the number of revolutions

Vector Mechanics for Engineers: Dynamics

Evaluate the initial tangential and normal acceleration

aD n rDw 02 3 in.4 rad s2 48 in

Magnitude and direction of the total acceleration,

General plane motion is neither a translation nor

2010 The McGraw-Hill Companies, Inc. All rights reserved.

General plane motion can be considered as the

2010 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

Absolute and Relative Velocity in Plane Motion

Assuming that the velocity vA of end A is known, wish to determine the

Any plane motion can be replaced by a translation of an

Vector Mechanics for Engineers: Dynamics

Absolute and Relative Velocity in Plane Motion

2010 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics