Ken I Matics

Chapter 2
Kinematics
2.1 Basic Concepts
Kinematics describes the motion of mechanical systems, without considering the
forces that produce that motion. Kinematics deals with velocities and accelerations,
which are defined for points of interest on the mechanical systems. The description
of motion is relative in nature. Velocities and accelerations are therefore defined
with respect to a reference frame.
2.2 Kinematics of a particle. Rectilinear and curvilinear motion

The particle is classically represented as a point placed somewhere in space. A
rectilinear motion is a straight-line motion. A curvilinear motion is a motion along
a curved path.
2.2.1 Position vector. Velocity vector. Acceleration vector
()
The position vector r t (see Fig. 2.1) of the particle P at a given instant of time
t refers to its location relative to some reference point usually taken as the origin
of a coordinate system. Note that every vector considered in section 2.2 may be
projected onto the coordinate frame oxyz. As the particle moves along its straightline path, its position changes with time. By definition the displacement r of the
particle during a time interval t is given by the change of its position during this
time interval.
r rt
t rt
(2.1)

= ( + )
16
()
CHAPTER 2. KINEMATICS
17
z
P
r
path of particle
r (t )
r (t+ t)
y
Figure 2.1: Position vector
2.2.2 Average and instantaneous velocities

The average velocity during the time interval
t is defined as
= rt
(2.2)
r = dr = r_
lim
t!0 t dt
(2.3)
vav
The instantaneous velocity is given by
v=
2.2.3 Average and instantaneous acceleration

We need to learn how the velocity varies with time ,we define average acceleration
by
aav
= vt
and the instantaneous acceleration is defined by letting the time interval

proach zero in the limit:
a=
v = dv = v_
lim
t!0 t
dt
(2.4)
t ap(2.5)
18
2.2.4 Absolute frame

Let us express the position vector rP to point P on the path of the particle in terms
of x, y , z components (see Fig. 2.2)
z
P
rP
k
j
Figure 2.2: Absolute frame
rP (t)
=
=
=
x(t)i + y (t)j + z (t)k

(2.6)
drP = x_ (t)i + y_ (t)j + z_ (t)k
vP
(2.7)
dt
dvP = x(t)i + y(t)j + z(t)k
aP
(2.8)
dt
p
p
thus we have the magnitudes vP = x_ 2 + y_ 2 + z_ 2 and aP = x2 + y2 + z2 . The
velocity and acceleration vectors are obtained by successive time differentiation of

position vector. Let us state now some notations which will be used. rP and rQ
being the position vectors of two points P and Q, we have;
rP=Q
vP=Q
=
=
rP
vP
rQ
vQ
(2.9)
(2.10)
2.2.5 Tangential and normal coordinates

In many plane problems dealing with the motion of a particle along a curve, it is
convenient to express the acceleration in term of two components; one along the
19
tangent to the trajectory, and the second along the inward normal to the path. For
this purpose we define two unit vectors n and t respectively along the inward normal and along the tangent to the path (see Fig. 2.3).
Consider a particle moving along a curved path in a plane shown in Fig. 2.3
y
P(t)
s
r
n
r
P
P(t + t)
s+s Path of
particle
o
k
Figure 2.3: Plane motion of a particle
As we have seen above;
v=
Thus we can write;
r = dr
lim
t!0 t dt

r

s
v = lim
t!0 s
t
and
s = ds
lim
t!0 t dt
As t goes to zero, the direction of r approaches the tangent to the trajectory at
position rp (t) and approaches s in magnitude. Consequently, in the limit, r=s
becomes the unit vector t
r = t
lim
t!0 s
thus

r

s
ds t
v = lim
=
t!0 s
t dt
Note that ds=dt is the magnitude of the velocity,
ds
v=
dt
20
Let calculate now the two components of the acceleration

d
v
d
d
s
a=
dt = dt dt t
d2 s ds dt = d2 s t + ds dt ds
a = 2t+
dt dt dt dt2 dt ds dt
Let evaluate the derivation of t with respect to s.

Consider now the unit vector t at two positions s and s
y
Path of particle
P(t)
s
t (s)
P(t + t )
s+s
r
P
o
k
+ s (see Fig. 2.4 (a))
t(s+ s)
Center of curvature
(a)
t (s)
t (s)
(b)
t (s+ s)
Figure 2.4: Plane motion of a particle
dt = lim t(s + s)

ds s!0
s
t(s)
t
= lim
s!0 s
In the limit as s goes to zero, the vector t ends up in the plane normal to the
path at s and directed toward the center of curvature, it is the direction of the unit
vector n (see Fig. 2.4 (b)).
21
Knowing the limiting direction of t, we next evaluate its limiting magnitude. According to Fig. 2.4 (b) we can say that,when s ! :
0
jtj ! jtj = ! Rs
thus the magnitude and the direction are established in an approximate manner.
t ! Rs n
and so
dt = lim t = lim (s=R) n = n

ds s!0 s s!0 s
R
y
Path of particle
P(t )
at
v
P
n
a
r(t)
P
Center of curvature
Figure 2.5: The acceleration components
then the acceleration can be evaluated by:
a=
or
where
d2 s t + (ds=dt)2 n
dt2
R
a = at + an = at t + an n
d2 s = dv
dt2 dt
(ds=dt)2 = v2
an =
R
R
at =
(2.11)
(2.12)
(2.13)
(2.14)
For a plane curve y
22
= y(x), the radius R of curvature is given by;

R=
1+
dy 2
dx
3
2

d2 y
dx2
(2.15)
2.2.6 Rotation around a fixed point in a plane

The center O of the fixed frame (see Fig. 2.6) is the center of rotation; the instantaneous position and velocity of the point P are given by;
rP = OP = R cos i + R sin j

vP

d

= R dt [ sin i + cos j]
2 3 2
3
0
R
cos

= ddt 4 0 5 4 R sin 5
1
0

0
0
R cos R sin 0
= ddt k rP
= ! rP
d
dt
(2.19)
(2.20)
v
P
P
o
k
(2.17)
(2.18)
(2.16)
Figure 2.6: Rotation of a particle around a fixed point
23
2.3 Kinematics of a rigid body

The description of motion is relative. Any velocity or acceleration is expressed with
regard to a specific reference frame. This fact induces specific notations that must
be understood: vPS=s denotes the instantaneous velocity of the point P attached to
the body S, relatively to the body s.
A rigid body is considered to be composed of continuous of distribution of particles
having fixed distances between each others. There are various types of rigid-body
motion but the most important of them are translations and rotations.
2.3.1 Translation
A2
A1
B2
B1
Figure 2.7: Rectilinear translation
A2
A2
B2
A1
A1
B2
B1
B1
Figure 2.8: Curvilinear translation

A motion is said to be a translation if any straight line defined inside the body
keeps the same direction during the motion. In translation all particles move along
parallel paths. We have rectilinear translation when the paths are straight lines as
in Fig. 2.7 in other cases it is a curvilinear translation as in Fig. 2.8. Referring to
Eq. 2.9, we have;
rB rA rB=A
(2.21)
= +
where rB=A AB.

Let us differentiate the relation with respect to t. Since the vector rB=A
= AB has a
24
constant direction and a constant magnitude, its time derivative is zero:
vB
aB
=
=
vA
aA
In a translation all particles of the rigid body have same velocity and same acceleration.
2.3.2 Rotation about a fixed axis

If a part of a rigid body, or a hypothetical extension of the body, has zero velocity
to some reference, the body is said to be in rotation. The axis of rotation is the line
of stationary particles. Since the velocity of P is a vector perpendicular to the plane
z
vP
P
B
k
rP
o
i
S
(s)
Figure 2.9: Rotation about fixed axis

(Fig. 2.9) containing the rotation axis and rP . We can write referring, to Eq. 2.19:
vPS=s
or in a condensed form
v=
= ddrtP
= !S=s rP
(2.22)
dr = ! r
dt
(2.24)
(2.23)
25
Note that the vector product can be computed as the determinant:
v=
And then
vx i =
vy j =
vz k =

vx

vy

vz

i

j

k
!y
y
!x
x
!x
x
Since
=0
=_
=0
!x !y !z
x y z
(2.25)
!z = i (! z y! )
y
z
z

!z = j (! z x! )
x
z
z

!y = k (! y x! )
x
y
y
! = _k
(2.26)
, !y
, !z and the velocity is completely determined.
We have !x
The acceleration a of P is now determined as
aPS=s
=
=
=
=
dvP
dt
d ! r
dt S=s P
d!S=s r + ! drP
P
S=s dt
dt

k rP + !S=s !S=s rP
S=s
(2.27)
(2.28)
(2.29)
(2.30)
2.3.3 Particular case: Motion in plane

A Plane Motion is a motion in which all particles of the body move in parallel
planes.
Velocity in plane motion
Given two particles A and B of a rigid body in plane motion the velocity vB of B is
obtained from the velocity formula (referring to Eq. 2.10)
vB = vA + vB=A
(2.31)
In relative motion about A , A is fixed (vA=A 0). Thus vB=A can be associated
with the rotation of the body about A and is measured with respect to axes centered
at A
vB=A ! rB=A
(2.32)
26
vA
vA
vB +
=
vB
vB/A
Figure 2.10: Plane motion
and
vB=A = AB !
! = !k is the angular velocity of the body, we note that rB=A = AB

vB = vA + ! AB
(2.33)
(2.34)
Acceleration in plane motion
A
S
(s)
an
vB
at
Figure 2.11: Plane motion
aB
= ddvtB

d
vA d ! rB=A
= dt +
dt
d
!
= aA + dt rB=A + ! drdBt=A
= aA + !_ rB=A + ! ! rB=A
(2.35)
(2.36)
(2.37)
(2.38)
27
If A is the center of a fixed frame s (see Fig. 2.11) we have aA
= !_ k rB=A
= !_ k AB
aB
! 2 rB=A
! 2 AB
= 0 and then;
(2.39)
(2.40)
In the right hand of Eq. 2.40, the first term is perpendicular to AB and the second
is parallel.
Equiprojectivity
For two points A and B of a given rigid body we can write
vA
A
B
vB
Figure 2.12: Equiprojectivity
vB
vB rB=A
vB rB=A
vB AB
=
=
=
=
vA + ! rB=A

vA rB=A + ! rB=A rB=A
vA rB=A
vA AB
(2.41)
(2.42)
(2.43)
(2.44)
Instantaneous center of rotation

Considering a general plane motion of a body, at given instant, the velocities of
various particles of the body could be expressed as the result of a rotation whose
axis is perpendicular to the plane. This axis intersects the plane at a point called the
instantaneous center of rotation. The position of this particular point can be defined
in many ways. If the directions of the velocities of two particles A and B are known
and if they are different, (Fig. 2.13, at left) the instantaneous center of rotation is
obtained by drawing the perpendicular to vA through A and the perpendicular to vB
28
through B and finding the point in which these two lines intersect.
If the velocities vA and vB are perpendicular to the line AB and if their magnitude
are known, the instantaneous center of rotation can be found by intersecting AB
with the line joining the extremities of the vector (Fig. 2.13, at right).
C
A
B
Figure 2.13: Instantaneous center of rotation
Kennedys theorem
The Kennedys theorem states that the three instant centers shared by three rigid
bodies in relative planar motion to another (whether or not connected) all lie on the
same straight line.
Application of Kennedys theorem
S2
S1
S3
S0
Figure 2.14: Four-bar linkage
The figure 2.14 shows four-bar linkage let us locate all instant centers. When the
number of bodies is large, it is helpful to use some kind method to find the instant
centers. Note that 0 represents the stationary frame.
1. By inspection ,determine as many centers as possible, in the exemple the

instant centers 01 , 12 , 23 , 03 are easily placed.
I I I I
29
S S S
2. Using Kennedys theorem with links 0 , 1 , 2 the instant center 02 must lie
on the same straight line with 01 , 12 but it must also lie on the line through
23 and 03 . The location is defined by the intersection of the two lines.
I I
3. The same reason can be used to locate the center 13 .
I02
S0
Revolute
Revolute
I12
S3
S1
S2
I23
S1
S3
Revolute
Revolute
I01
S2
I03
S0
I13
Figure 2.15: Locating instant center
2.3.4 General motion in space

Z
z
P
Y
A
S
o
y
X
(s)
x
Figure 2.16: General motion in space without rotating axis
The most general motion of a rigid body in space is equivalent at any given
instant to the combination of a translation and a rotation (as we have seen for plane
30
motion). Considering two particles A and P of the rigid body S, we have:
vP = vA + vP=A
(2.45)
Where vP=A is the velocity of P relative to a frame attached to A, thus vP=A

!S=s rP=A or vP=A !S=s AP where ! is the angular velocity of the body
S relative to the fixed frame s. The absolute velocity of a particle P belong to S is
given by from above:
vPS=s vAS=s !S=s AP
(2.46)
The equation 2.46 allows the determination of the velocity of any point P of a body
S with respect to another frame s, vPS=s , if the following variables are known:
vA = : velocity of a point A of the body S with respect to s.

!S=s : angular velocity of S with respect to s.
AP: position of the particle P with respect to A.
S s
The acceleration of P is obtained by differentiating the equation with respect to

time.
aPS=s
= ddvtP

d
vA
d
!S=s AP
= dt +
dt
= aA + !_ AP + !S=s dAP
dt
= aA=s + !_ S=s AP + !S=s !S=s AP
P=s
S=s
(2.47)
(2.48)
(2.49)
(2.50)
The equation 2.50 allows the determination of the acceleration of any point P of a
body S with respect to another frame s, aPS=s , if the following variables are known:
aA = : acceleration of the point A of the body S with respect to s.

!S=s : angular velocity of S with respect to s.
!_ S=s : angular acceleration of S with respect to s.
AP: position of the particle P with respect to A.
S s
In some cases, (Fig. 2.17) it is needed to express either the velocity either the acceleration in different frames. then the following equation can be used:
For velocity:
vP=s vP=S vPS=s
(2.51)
31
z
Z
A
S
X
(s)
x
Figure 2.17: General motion of a rigid body in space with rotating axis
assume to S and s are two frames, note that here vPS=s represents the velocity of the
frame S with respect to the frame s.
The acceleration is then given by:
aP=s = aP=S + aPS=s + acor
(2.52)
where acor is the Coriolis acceleration:
acor = 2!S=s vP=S
(2.53)
The Coriolis acceleration has a zero value if:

the point P has no relative velocity with respect to S (vP=S

the relative velocity vP=S
= 0);
= 0 is parallel to the angular velocity !S=s .
(see [2] for demonstration)
2.3.5 Rolling without slipping

The point of contact G between a cylinder and a the flat ground has instantaneously
zero velocity (vG 0) if the cylinder rolls without slipping (Fig. 2.18).
vPS=s
vPS=s
= vG + !x GP
= 0 + !S=s x GP
S=s
32
Z
P
z
A
y
Figure 2.18: Rolling without slipping
In particular for the center A of the cylinder we get from above
vAS=s
vAS=s
=
=
thus
vA =
vGS=s !S=s x GA
0 !S=s x GA
y z
! 0 0 = R! y
0 0 R
2.4 Kinematics of systems of rigid bodies

2.4.1 Mechanism
A mechanism is an collection of rigid bodies connected together by joints. Mechanisms transfer motion and mechanical work from one or more members to others.
When several links are connected by joints,they form a kinematics chain with one
link possibly fixed. The joints permit relative motion in some directions while constraining motion in others.
2.4.2 Degrees of freedom

The types of motion permitted are related to the degree of freedom (dof) also called
mobility. This represents the number of input parameters which can be controlled
independently in order to bring the device in a particular position. It is possible to
determine the mobility of a mechanism by counting the number of links (including
the fixed one) and the degrees of freedom constrained by each joint. For a plan
motion, we have:
X
nb nj
fj
(2.54)
dof = 3 (
)+
33
where
nb is the total number of rigid bodies including the fixed link;

nj is the total number of joints possibly including the fixed link
fj degree of freedom of relative motion between the bodies constrained by
the kinematical joint.
For a three-dimensional motion
dof = 6 (nb
nj ) +
fj
(2.55)
2.4.3 Lower pairs and higher pairs

Name
Relative
motion
Degree of
freedom (f j)
Rigid
joint
0 rotation
0 translation
Revolute
1 rotation
0 translation
Prismatic
0 rotation
1 translation
Helical
1 rotation
1 translation
Cylindrical
1 rotation
1 translation
Spherical
3 rotations
0 translation
Planar
1 rotation
2 translations
Skecth
symbol
Other
view
(right)
(left)
Figure 2.19: Lower pair joints

We divide joints joints into two groups:
A lower pair joint is one in which contact two rigid bodies occurs at every
points of one or more surface segments (see Fig. 2.19).
Description
34
Typical
form
Degree of freedom
(f )
j
Cylindrical surface
on a plan
without slipping
Cylindrical surface on
a plan with
slipping
Ball on a plan
without slipping
Point on a plan
with slipping
5
Figure 2.20: Higher pair joints
Name
Symbol
s Fixed body
A higher pair joint is one which contact occurs only at isolated points or along
a line segments (see Fig. 2.20)
# represents that there is not slipping on the plane.
35
2.4.4 Kinematics exercises

The M ATLAB file Kexx.m can be executed by typing Kexx in the interactive window
of M ATLAB . It provides an interface where the user may examine the numerical
aspects of the exercises simply by pressing command buttons, corresponding to the
various kinematics exercises. Each button calls the corresponding M ATLAB file
with an illustration of the exercise solution. It is also possible to see the solution of
each exercise by calling the corresponding file, directly from the command line.
Exercise 2.4.1 Piston connected to a nut (see Fig. 2.21)
A single-threaded screw S0 , defining a pitch p (translation of the nut along the
screw axis for one turn), supports a nut S1 . A solid rod AB (length L) connects the
nut (point B) and to a piston S3 (point A). The piston S3 can only slide along the
Az axis in a straight slot (this axis is parallel to the screw axis Oz). The distance
between the two axes is d.
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S3
S2
z
L
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y
S1
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S0
S1
A
S2
Figure 2.21: Piston connected to a nut.
Kex1.m
36
(0; ; )
( cos ; sin ; 2 )
The coordinates of A are

d zA .
The coordinates of B are R
R p= .
If the nut rotates at the constant angular speed !
= t, what is the vertical
velocity vA of the piston?
For the following parameters :R
,d
,L
,p
,
!
= , compute the vertical velocity, with respect to and compare it with
the results provided by the Kex1.m file.
Solution
=d d
= 30 mm = 50 mm = 10 mm = 100 mm
= 1 rad s

The velocity vA is the first time derivative of the coordinate zA . We will first
determine the expression of zA .
AB
AB 2
p
zA
2
2
zA
= AO + OB = OB OA

p
= R cos ; +R sin + d; 2 zA
= L2

= R2 cos + R2 sin + d2 + 2Rd sin + p
2
= L2 R2 d2 2Rd sin
p
= L2 R2 d2 2Rd sin + 2p
2
There are two different solutions but the only physically valid solution is
zA >p/ .
Determination of vAz
vAz
vAz

+
2
Rd cos ddt
d
zA
= dt = 2pL2 R2 d2 2Rd sin + 2p ddt
= pL2 R2!Rdd2sin 2Rd sin + 2p !
Another way to solve the problem is presented here.
zA
First, the velocity vB is determined.
vB
) vO
) vB
vB
= vO + ! OB
= 2p !

p
= 0; 0; 2 ! +
=
0
0 !
R cos R sin 0
p
!R sin ; !R cos ; !
2
37
Equiprojectivity along AB is then used:
AB vAAB=s
with vBAB=s
AB
vAAB=s
= AB vB

= vB = R sin !; R cos !; 2p !

= R cos ; R sin + d; 2p zA
= (0; 0; vAz )
AB=s
S1 =s

) vAz 2p zA = R2 sin cos ! + R2 sin cos !
cos ! p
) vAz = Rd
p z + 2 !
) vAz =
2
p
2
p
2
) vAz = 2p ! p 2
L
+ Rd cos ! + 2p !
pRd2 cos !
2
(2.56)
p
+
2Rd sin 2 ! (2.57)
L R d2
Rd cos !
R2 d2 2Rd sin
(2.58)
The file Kex1.m illustrates the exercise. First, the geometrical parameters of the
system (R, d, L, p), the angular velocity and the number of rotations for S1 have to
be introduced (see Fig. 2.22). Then, the vertical coordinates and the velocity of the
point A are calculated and plotted. An animation of the mechanism is performed
(see Fig. 2.23). The mechanical system is shown in different configurations when
the solid S1 turns around the Oz axis.
Exercise 2.4.2 Rolling trolley (see Fig. 2.24)
Kex2.m
A trolley S2 , supported by multiple rigid steel balls S1 (radius r ), can only have
a rectilinear motion along the conductor rail s (z axis).
It is assumed that there is no sliding at the contact points M, N et P (see Fig. 2.24).
If the velocity v v k of the trolley is known, and if O is considered as a point
of S1 , determine, with respect to parameters v and r :
1. the relative velocity of the point O depending on the reference frame s;

2. the relative velocity of the point O depending on the reference frame S2 .
= 10 mm = 10 m s
For the following parameters: r

,v
= , compute the relative velocities of O depending on the reference frame s, and depending on the reference
frame 2 compare them with the results provided by the Kex2.m file.
Solution
38
Figure 2.22: Introduce the parameters values or keep the default values.
Figure 2.23: Animation of the piston in two views.
1. Motion of S1 depending on the reference frame s.

As there is no sliding at points M and N: vMS1 =s 0 and vNS1 =s
= 0.
39
trolley S2
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1
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x
45
O
z
support s
Figure 2.24: Rolling trolley.
With s as a reference, we note that MN defines the instantaneous axis of rotation for the motion of S1 . This implies that !S1 =s lies on the axis MN.
!S1 =s = !1:uNM with !1 > 0.

Since there is no sliding at point P: vPS1 =S2
= 0 ) vP
S1 =s
= vP
S2 =s
Now, we also have: vPS2 =s v k and

vPS1 =s !1 (distance between P and the instantaneous axis of rotation MN) k
{z
p
r+r 22
) v = !1(r + r 22 ) ) !1 = r1+v p
2
2

p
p2
2
v:
= r(2+p2) ; r(2+p2) ; 0
= r 1+ 2
Thus: !S1 =s =
r 1+ 22
2
between O and the instantaneous axis of rotation MN) k
vOS1 =s = !1 (distance
|
{z
}
v p :uNM
) vOS =s = !1 r
1
vp
p12 ; p12 ; 0
r
2k =
2
1+
v:
p2 r
2
2
p
2 k = v p2 k
2
2+ 2
2. Motion of S1 depending on the reference frame S2 .
(2.59)
40
The relative velocities between S1 and s and between S2 and s are known.
Actually: v0S2 =s
v and !S2 =s
(S2 =s= translation).

: (0; 0; )
and : v0S1 =S2 v0S1 =s

Now, we also have:
: (0; 0; 0)p
v p2
v0S =s = 0; 0; 2+
2
2
!S1=S2 = !S1=s !S2 =s = !S1 =s =
!
p
2p ; v: p2 ; 0
2+ 2 r 2+ 2
(2.60)
The M ATLAB file concerning this exercise is Kex2.m. After having introduced
the numerical parameters for this exercise (radius of the balls and the velocity of the
trolley), the relative velocity of point O depending on the reference frame s or S2
are computed and displayed on the screen.
Exercise 2.4.3 Gear set (see Fig. 2.25)
Kex3.m
M
S*
R
z
O
Figure 2.25: Gear set.
The gear set is defined by the two wheels s (centre O, radius R) and S (centre C,
radius r), the wheel s being fixed.
A solid rod S connects the two gears at points O and C. The assembly defines
two revolute joints: between s and S at point O and between S and S at point C.
A pure rolling without sliding occurs between S and S .
If the velocity !S =s and the radius R and r are known, determine vPS=s , the
relative velocity of P (attached to S) depending on the reference frame s.
41
= 50 mm = 10mm = 1rad s
For the following parameters: R

,r
,!
= , compute the
amplitude of the velocity of P give the graph with respect to the time t and compare
it with the results provided by the Kex3.m file.
Solution
Rolling without
slipping in M
S
R(O)
R(C)
S*
Figure 2.26: Kinematical chain.
The number of degrees of freedom can be determined quite directly (see Fig. 2.26):
(2 bodies 3) - (2 revolute joints 2) - (1 pure rolling constraint 1) = 1.
One can notice that the pure rolling without sliding only introduces one constraint (no sliding) since the contact is already defined by S (that cannot be warped).
vPS=s
= vC + !S=s CP
= vC + !S=s CP
= !S =s OC + |vO{z } +!S=s CP
S =s
S =s
S =s
=0
) vP = = ! S=s OC + !S=s CP

S s
k
!S=s
i j
+ 0 0 !S=s
= 0 0
r 0 0
0 R+r 0
= !S =s(R + r)i + !S=srj
= i !S =s(R + r) + |{z}
!S=s rj
One can deduce the relation between !S =s et !S=s from the pure rolling without
sliding that occurs at M
42
= vC + !S=s CM = 0
= vC + !S=s CM
= !S =s OC + !S=s CM
)
!S =s OC + !S=s CM = 0
!S =s : jOCj :i + !S=s :r:i = 0
R+r
!S=s = !S =s :
r
) vP = !S =s(R + r)i + !S =s(R + r)j
) vP ? MP
vMS=s
S=s
S =s

S=s
S=s
(2.61)
(2.62)
(2.63)
(2.64)
(2.65)
(2.66)
(2.67)
(2.68)
The M ATLAB file Kex3.m is divided into two parts. The first one is used to calculate the speed of P depending on the reference frames as function of the numerical
parameters introduced by the user: the radii r and R and the angular velocity ! . The
scalar product of the velocity of P and the vector MP is also computed to show that
they are perpendicular. The amplitude of the velocity is plotted when the rod S2
makes a complete revolution around O.
The second part of the M ATLAB file Kex3.m is used to get an animated sketch
of the mechanism and a plot of the velocity of P when the rod S2 covers a number
of turns chosen by the user.
Figure 2.27: Animation of the gear set.
43
s
S3
S2
C
M
S1
O
s
Figure 2.28: Cam
Exercise 2.4.4 Cam (see Fig. 2.28)

The ground s being the reference frame, the assembly includes three different
bodies:

the cam S1 defining with the reference s a revolute joint at point O;
the piston S3 defining with the reference frame a prismatic joint.
the cam wheel S2 defining with the piston S3 a revolute joint at point C (centre
of the wheel), a pure rolling without sliding occurring at point M between the
wheel S2 and the came S1 ;
To set things clear, we have, in terms of motion:

a rotation of S1 with respect to s,

a rotation S2 with respect to S3 and a pure rolling without sliding of S2 on S1 ,
a translation of S3 with respect to s.
We ask to determine vCS3 as a function of !S1 =s .

For the following parameters: !S1 =s
= , r1
: , r2
: , the 3
length = :
, the length Le
: , compute the coordinates of the instant center
05m
=01m
= 1 rad s
= 02m
= 01m
Kex4.m
44
I13 (see Fig. 2.4.4) at the initial time t = 0, and compare it with the results provided
by the Kex4.m file.
Solution
The number of degrees of freedom can be determined quite directly:
(3 bodies 3) - (2 revolute joints) - (1 prismatic joint x 2) - (1 pure rolling without
sliding 2) = 1.
R(O)
s
S1
R(Oy)
Rolling without
slipping in M
S3
S2
R(C)
Figure 2.29: Kinematical chain relative to exercise 2.4.4.
One can notice that the pure rolling without sliding introduces two constraints:
zero normal and tangential velocities.
We have:
= !S =s OM
= 0
vMS1 =s
vMS2 =S1
coming from the pure rolling without sliding that allows to write:
vMS2 =s + vMs=S1
= 0 ) vM = vM
S2 =s
S1 =s
vCS2 =s
vCS3 =s
vCS3 =s
| {z }
vertical
= vM + !S =s MC
= vC
= |!S =s {z OM} + !| S =s {z MC}
S2 =s
S3
?
C
I13
Px
(1)
known
?MC
!S1=s OM = vCS3 =s !S2 =s MC
ICR
S3
S2
S1
s
S2 =s
S2 S1
s
C I13 Px (1)
? M
I02
M
I02
?
O
O
?
I02 is the intersection between Cx (horizontal axis including C) and

theorem). We therefore can write:
OM (Kennedys
45
s
S3
S2
I02
C
M
S1
I13
O
s
Figure 2.30: Kinematical sketch relative to exercise 2.4.4.

vCS2 =s
= !S =s I02C
vM
= v M

!S =s : jOM j = !S =s : jI02 M j

!S =s : jOM j

) !S =s =
jI02 Mj

) vC = !S =s : jjIOMMjj : jI02 Cj
2
S 1 =s
S2 =s
S2 =s
02
I13 is the intersection between Ox (horizontal axis including O) and CM (Kennedy

theorem) and the instantaneous centre of rotation between S3 and S1 . We therefore
can write:
vI13S3 =S1
vI13S3 =s
vCS3 =s
vCS3 =s
= 0
= vI
+ !S =s I13 = vI
= vI
= vO + |!S =s {z
OI13}
13S1 =s
3
13S1 =s
13S1 =s
S =s
| {z1 }
=0
?OI13
The M ATLAB file Kex4.m supposes that the body 1 is a circle with a radius r1 .
After giving the two radius r1 ,r2 and the angular velocity !S1 =s , we have an animation of the mechanism where the instantaneous centers of rotation are represented.
46
Figure 2.31: Animation of the system of cam.
Exercise 2.4.5 Assembly of 3 bodies (see Fig. 2.32)
Figure 2.32: Assembly of bodies
The ground s being the reference frame, the assembly includes three different
bodies:
a solid rod OA (length L) defining with the reference s a revolute joint at point
O;
a wheel S (centre C; radius R) defining with the solid rod AB a revolute

joint at point B (BC = R), a pure rolling without sliding occuring at point P
Kex5.m
47
between the wheel S and the ground s;
a solid rod AB (length 2R) defining with the solid OA a revolute joint at point
A.
In the current state, the rod OA and the horizontal axis X define an angle , the
rod AB being vertical and the segment BC being horizontal.
If the instantaneous angular velocity of the rod OA depending on the reference
frame s is known (), determine:
1. vDOA=s
2. vAOA=s
3. vBS=s
4. vEAB=s
5. vMS=s
OA = 50 mm
= 10 mm
For the following parameters:

, the radius of S R
,
o
!
= ,
, compute the velocities according to corresponding equations
and compare them with the results provided by the Kex5.m file.
Solution
= 1 rad s = 30
1. vDOA=s
!OA=s = _ k
vDOA=s
=
=
vOOA=s + !OA=s OD:

i
j
k

0 _
0+ 0

3 cos 3 sin
0
L
L
_ sin ; _ cos ; 0
3
3
L
2. vAOA=s
vAOA=s
=
=
vOOA=s + !OA=s OA:

i
j
k

0 _
0 + 0
= (
L cos L sin 0
L
_ sin ; L
_ cos ; 0)

48
3. vBS=s
P being the instantaneous centre of rotation between S and s, we have:
vBS=s
=
=
=
vPS=s +!S=s PB = !S=s k PB
| {z }
=0
i

R
0 0
!S=s
R 0

!S=s R; !S=s R; 0
With the revolute joint at point A between OA and AB, we have: vAOA=s
vAAB=s
With the revolute joint at point B between AB and S, we have: vBAB=s
= vB
Using the property 2.44, we have:
vAAB=s AB = vBAB=s AB
and then vAOA=s AB = vBS=s AB
( L
_ sin ; L
_ cos ) (0; 2R) =
L
_ cos 2R =
! !S=s =
Finally, we get: vBS=s
(0; 2R)
= (L
_ cos ; L
_ cos ; 0)
4. vEAB=s
vEAB=s
!S=s R; !S=s R
!S=s R2R
L
_ cos
R
=
=
vAAB=s + vBAB=s

2

_ cos ; 0
2 (cos sin ) ; L
L
_
Other method (we solve the problem at once for !S=s and !AB=s )
S=s
49
vBS=s
vBAB=s
= vA
AB=s
+ !AB=sk AB

= ( L
_ sin ; L
_ cos ; 0) + 0 0
0 2R
= L
_ sin + !AB=s2R; L
_ cos ; 0
!S=s R; !S=s R; 0
_ cos = L
_ sin + !AB=s2R.
= L
_ cos ! !S=s =
Projection along the X axis: L

Projection along the Y axis: !S=s R
_
!AB=s L

.
2R
= (cos + sin )
vEAB=s
= vA + !AB=sk AE
= ( L
_ sin ; L
_ cos ; 0) +

!AB=s

L
_ cos
R
AB=s
i

_
0 0 L
2R (cos + sin )
0 R
0

L
_
= 2 (cos sin ) ; L
_ cos ; 0
5. vMS=s
vMS=s
vPS=s +! S=s PM = !S=s k PM

| {z }
=0

0

= + 0 0
0 2R
= (2L
_ cos ; 0)

L
_ cos
R

The file Kex5.m illustrates the exercise. First, the geometrical parameters of the
system (R, d, L, p), and the angular velocity of S1 have to be introduced. Then, the
five velocities vDOA=s , vAOA=s , vBS=s , vEAB=s , vMS=s are calculated.
Exercise 2.4.6 Wheel (see Fig. 2.33 )
The wheel S (centre C, radius R) defines with the horizontal axis Ox (ground
reference s) a pure rolling without sliding at point M.
The displacement of point M is described by the law: xM
t
Determine:
= f( )
Kex6.m
50
+
y
S
R C
xx
xx
xx
xx
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
Figure 2.33: Wheel
1. the velocities of S;
2. the accelerations of S
= 0 7 m _ = 0 001 rad s
= 125
For the following parameters: r

: ,!
:
= , compute the velocity
and the acceleration at the instant t
and compare it with the results provided
by the Kex6.m file.
Solution
Using the fundamental relationship 2.34 v vO ! e, we have:
vx
vy
=
=
v0x !z y
v0y + !z x
(2.69)
(2.70)
(2.71)
M being the instantaneous centre of rotation between S and s, we have jvC j

jvMj jf 0 t j j!z j R and !z f 0R(t) .
= () =
=
Since vM=S = 0, we have 0 = v0x
!z :0 and 0 = v0y + !z f (t).
Expressions that can be simplified in
0 = v0x and v0y = f (t)Rf (t) .
As a consequence, the velocities of S are:
vx
vy
y
f 0 (t) ;
R
0
f (t)
(f (t) x) :
R
51
Coming from these, the accelerations are:
ay
=
=
ax
ay
ax
ay
ax
v0x !z
y !z v0y !z2 x;
dt dt
v0y !z
+ x !z v0x !z2y;
dt dt
f 00 (t)
f 0 (t) f (t)f 0 (t) f 0 2 (t)
y+
x;
R
R
R
R2
f 0 2 (t) + f (t)f 00 (t) f 00 (t)
f 0 2 (t)
x
y;
R
R
R2
f 0 2 (t)
f 0 2 (t)
f 00 (t)
f
x
+
y;
R2
R2
R
f 02
f 0 2 + ff 00 f 00
x
y:
R
R
R2
(2.72)
(2.73)
(2.74)
(2.75)
(2.76)
(2.77)
The file Kex6.m illustrates this exercise by giving an animation of the wheel
rolling on a fixed ground. First, the geometrical parameters of the system (r , ! )
have to be introduced. Then, the user need to choose between a representation of
the velocity vector or the acceleration vector during the wheel motion. We suppose
in this exercise that, the angular acceleration of the body S is constant.
Figure 2.34: In the animation given by the Kex6.m file we have either the velocity
vector or the acceleration vector of a point of the circle.
Exercise 2.4.7 Ship motion (see Fig. 2.35)

A sailing O ship purely moves forward along its longitudinal axis (this axis can
be seen as the intersection between the longitudinal symmetry plane of the ship and
the surface of the sea). For such a motion to occur, the wind w should blow in the
backward face of the sail.
If is the angle between the longitudinal axis and the wind direction and the
angle between the longitudinal axis and the sail orientation (see Fig. 2.35), determine the limit angle lim so that a longitudinal motion of the ship still occurs. Show
Kex7.m
52
vwind
vboat
Figure 2.35: Ship motion
how it is possible to sail forward with dead winds.

o , vo=s
For the following parameters: vw=s
=,
= , draw the
two functions y1
vw=s
y1 and y2 vo=s
y2 , with
respect to on the same figure and find lim, compare it with the results provided
by the Kex7.m file.
Solution
If we take the ship O as a reference, it will still sail forward only if the relative
velocity of the wind vw=o shows a positive component along the longitudinal axis:
= 10 m s = 10
)= ( )
=
sin(
= 20 m s
sin( ) = ( )
vw=o uno > 0
(2.78)
Using the angles and , we can write (for a ground reference s):
vw=o = vw=s
= vw=s
=(
vo=s
vo=s
vw=s cos vo=s )i vw=s sin j
uno = sin i
cos j
(2.79)
(2.80)
By replacing in Eq. 2.78:
vw=s cos sin
vw=o uno > 0
vo=s sin + vw=s cos sin > 0

vw=s sin( ) vo=s sin > 0
(2.81)
For an unvarying wind (vw=s and ), this last equation (2.81) gives the limit
angle lim. One can see that, even for dead winds ( < 2 , it is possible to sail
forward.
The file Kex7.m gives a graphical solution of the exercise. First, the parameters
of the system; vw=s , the wind velocity, its angle with respect to the longitudinal
axis and vo=s , the ship velocity have to be introduced. According to the Eq. 2.81
two graphs with respect to are drawn on the same figure and the required lim is
53
boat path
vwind
Figure 2.36: Ship motion.
given.
Exercise 2.4.8 (see Fig. 2.37)
Kex8.m
Figure 2.37: Circle around horizontal axis

The circle s (centre O, radius R) being the reference frame, a wheel S (center
C , radius R) revolves around the horizontal axis PC (this axis being perpendicular
to the wheel reference plane) and rolls without sliding on the ground at point A,
describing the abovementioned circle s.
The axis PC revolves around this vertical axis OP with a known angular velocity .
The points A, B, C and D being clearly located by the figure:
1. determine vAS=s , vBS=s , vCS=s and vDS=s ;

2. considering a constant velocity
aCS=s and aDS=s .
, determine the accelerations aA
S=s
, aBS=s ,
54
= 30 m
= 0 1 rad s
For the following parameters: R

,
:
= compute all required
velocities and accelerations according to the adequate formulas and compare the
values with the results provided by the Kex8.m file.
Solution
1. Since a pure rolling without sliding occurs at point A between S and s, we
have:
vAS=s
vAS=s
We know that:
vCS=s
= 0
= vC + ! CA
S=s
= vC
PC =s
R
i
Combining the last two equations we have:
vAS=s
R
i +
j p
kp
2
!S=s 2 !S=s 22
0
0 p0
= R
i + R!S=s 22 i = 0
And, as a consequence,
!S=s =
55
The other velocities are easily determined as shown here below:
vBS=s
R
i +
S=s
0

0 0 R
= R
i R
i = 2R
i
= vC + ! CD
=
vDS=s

R 0 0
= R
i + R
j + R
k
= vC + ! CC
=
vCS=s
vCS=s + ! C B
R
i +
S=s

R 0 0
= R
i R
j R
k
=
2. Quite logically, we have:
R
i +
aPS=s
=0
M being a point randomly selected on S, we have:
aMS=s
We also have:
= dd!t PM + ! (! PM) ; M 2 S
p
p =
AP
! = !S=s =
2 AP
R
R
If is the instantaneous angle between PC and Ox during the motion, we can

write:
= Rk R cos i R sin j
! =
(k cos i sin j) :
d!
d
=
(sin
i cos j) =
2 (sin i cos j) :
dt
dt
AP
For the current position, we have:

2 ,
! =
(k
d!
dt
=
2 i,
56
j),
2 i PM
and aMS=s
We finally get:
+
2 ((k j) PM)(k j) 2
2 PM.
aAS=s
aBS=s
aCS=s
aDS=s
=
=
=
=
2 R (j + k)
2 R (2i + j)
2 R (3j + k)
2 R (2i j)
The M ATLAB file Kex8.m illustrates this exercise by calculating all required velocities and accelerations assume to R the radius of the body S, and the angular
velocity of PC around the vertical axis OP, are known.
Exercise 2.4.9 Slider-crank mechanism (see Fig. 2.38)

The mechanism includes:
a solid rod S1 of length L defining with the reference frame s a revolute joint
at point O,

a solid rod S2 of length L defining with the S1 a revolute joint at point P,

a piston S3 defining with the reference frame a prismatic joint.
In the configuration represented at Fig. 2.38, we want to determine the relative

velocity of point B of S3 depending on the reference frame s as a function of !S1 =s .
P
S1
A
S2
B
S3
Figure 2.38: Slider-crank mechanism.
Kex9.m
57
Figure 2.39: In the animation you can see two velocity vectors vA and vB , their
projections and the center of AB trajectory.
= 1 rad s = 1 m
For the following parameters: !S1 =s

= ,L
plot the magnitude of
vBS3 =s with respect to and compare it with the results provided by the Kex9.m file.
Solution
The velocity of the point A of S1 depending on the reference frame s is determined
by:
vAS1 =s
vAS1 =s
=
=
vOS1 =s + ! S1 =s OA
L!S1 =s sin ; L!S1 =s cos ; 0
The centre of rotation of S2 depending on the reference frame s is the point P

which is at the intersection between OA and the vertical issued from B.
The angular velocity of S2 can be deduced of:
vAS1 =s
!S2 =s
= vA = !S =s PA = !S =s OA
= !S =s since PA = OA
2
S2 = s
And finally, the velocity of B is determined by:
vBS3 =s
= vB
= !S =s PB
= !S =s (0; 2L sin ; 0)
= 2L!S =s sin ; 0; 0
S2 =s
2
2
(2.82)
(2.83)
(2.84)
(2.85)
The file Kex9.m illustrates the exercise. Considering as parameters of the system
!S1 =s , the angular velocity of the rod S1 around the point O and L the length of the
58
two rods S1 and S2 have been introduced, the velocities of the points A and B are
calculated. An animation of the mechanism is performed (see Fig. 2.39). The mechanical system is shown in different configurations when the solid S1 turns around
the Oz axis. The two velocity vectors and their projection on the AB axis are represented. Thus the user can see that the relation of equiprojectivity (see Eq. 2.44) is
always verified.
Exercise 2.4.10 Excavator (see Fig. 2.40)
An excavator works with two handles S1 and S2 of respective lengths L0 and L00 .
As shown on the Fig. 2.40, the problem includes two revolute joints: one at point A
and the other at point B. is the angle between S1 and the vertical axis and is the
angle between the two handles S1 and S2 .
The ground s being the reference, find the ratio = t = = t so that the
claws of the shovel (point C) describes a horizontal motion.
(d d ) (d d )
B
L'
S1
L''
S2
xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
Figure 2.40: Excavator.
=3m
= 5 m = 30
o plot for five given

For the following parameters: L0
, L00
,
the ratio !1 =!2 versus and compare it with the results provided by the Kex10.m
file.
Solution
We successively get the following equations:
vCS2 =s
vBS2 =s
vCS2 =s
=
=
=
=
=
vBS2 =s + !S2 =s BC
!S1 =s AB
!S1 =s AB + !S2=s BC

!S1 =s AB + !S2 =S1 + !S1=s BC
!S1 =s (AB + BC) +!S2=S1 BC
|
{z
=AC
Kex10.m
BIBLIOGRAPHY
AC
BC
59
= [L0 sin + L00 sin( )] i + [L0 cos L00 cos (

= [ L00 sin( )] i + [ L00 cos ( )] j
!S1=s AC =
=
!S2=S1 BC =
)] j

0
0
!1
L0 sin + L00 sin( ) L0 cos L00 cos ( ) 0
! [L0 cos L00 cos ( )] i + !1 [L0 sin
+ L00 sin ( )] j

1

i
j
k

L00 sin( )
!2 L00 cos ( ) i
0
!2
00
L cos ( ) 0
! L00 sin( ) j

Still vCS2 =s has to be parallel to the horizontal axis i, we can write:
!2 :L00 sin(
)
!2
!1
d
dt
d
dt
= !1 [L0 sin + L00 sin( )]

0
00
= [L sinL00 +sinL(sin() )]
= !!1 = 1 + L1 sin
2
L sin( )
00
The file Kex10.m gives a graphical solution of the exercise. The parameters of
the system are L0 , the length of the body 1 , L00 , the length of the body 2 . We plot
for five given the ratio !1 =!2 with respect to .
Bibliography
[1] J.W. McNabb B.B. Muvdi, A.W. Al-Khafaji.
Springer-Verlag, New York, 1997.
Dynamics For Engineers.
[2] Serge Boucher. Mcanique Rationnelle. Editions des tudiants de la Facult

Polytechnique de Mons, Mons, Belgium, 1999. (in French, 7 volumes).
[3] E.Russel Johnston JR Ferdinand P. Beer. Vector Mechanics For engineers. Statics and Dynamics. McGraw-Hill, USA, 1997.
[4] J.J. Uicker J.E. Shigley. Theory of Machines and Mechanics. McGraw-Hill,
New York, 1995.
[5] Irving H. Shames. Engineering Mechanics. Statics and Dynamics. Prentice
Hall, Upper Saddle River, New Jersey, USA, 1996.
BIBLIOGRAPHY
60
[6] Kenneth J. Waldron and Gary L. Kinzel. Kinematics, Dynamics and Design of
Machinery. John Wiley and Sons, New York, 1999.

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Chapter 2

2.2 Kinematics of a particle. Rectilinear and curvilinear motion

2.2.1 Position vector. Velocity vector. Acceleration vector

Figure 2.1: Position vector

2.2.2 Average and instantaneous velocities

2.2.3 Average and instantaneous acceleration

and the instantaneous acceleration is defined by letting the time interval

2.2.4 Absolute frame

Figure 2.2: Absolute frame

x(t)i + y (t)j + z (t)k

velocity and acceleration vectors are obtained by successive time differentiation of

2.2.5 Tangential and normal coordinates

Figure 2.3: Plane motion of a particle

As we have seen above;

Let calculate now the two components of the acceleration

Let evaluate the derivation of t with respect to s.

+ s (see Fig. 2.4 (a))

Figure 2.4: Plane motion of a particle

dt = lim  t(s + s)

dt = lim  t  = lim  (s=R) n  = n

Figure 2.5: The acceleration components

then the acceleration can be evaluated by:

= y(x), the radius R of curvature is given by;

2.2.6 Rotation around a fixed point in a plane

Figure 2.6: Rotation of a particle around a fixed point

2.3 Kinematics of a rigid body

Figure 2.7: Rectilinear translation

Figure 2.8: Curvilinear translation

where rB=A AB.

constant direction and a constant magnitude, its time derivative is zero:

2.3.2 Rotation about a fixed axis

Figure 2.9: Rotation about fixed axis

Note that the vector product can be computed as the determinant:

2.3.3 Particular case: Motion in plane

Figure 2.10: Plane motion

! = !k is the angular velocity of the body, we note that rB=A = AB

Acceleration in plane motion

Figure 2.11: Plane motion

If A is the center of a fixed frame s (see Fig. 2.11) we have aA

Instantaneous center of rotation

Figure 2.13: Instantaneous center of rotation

Figure 2.14: Four-bar linkage

1. By inspection ,determine as many centers as possible, in the exemple the

3. The same reason can be used to locate the center 13 .

Figure 2.15: Locating instant center

2.3.4 General motion in space

Figure 2.16: General motion in space without rotating axis

motion). Considering two particles A and P of the rigid body S, we have:

Where vP=A is the velocity of P relative to a frame attached to A, thus vP=A

 vA = : velocity of a point A of the body S with respect to s.

The acceleration of P is obtained by differentiating the equation with respect to

 aA = : acceleration of the point A of the body S with respect to s.

aP=s = aP=S + aPS=s + acor

where acor is the Coriolis acceleration:

acor = 2!S=s vP=S

The Coriolis acceleration has a zero value if:

the point P has no relative velocity with respect to S (vP=S

= 0 is parallel to the angular velocity !S=s .

(see [2] for demonstration)

2.3.5 Rolling without slipping

Figure 2.18: Rolling without slipping

In particular for the center A of the cylinder we get from above

dt = lim t(s + s)

dt = lim t = lim (s=R) n = n

vA = : velocity of a point A of the body S with respect to s.

aA = : acceleration of the point A of the body S with respect to s.

nb is the total number of rigid bodies including the fixed link;