Kinematics of planar rigid body motion analysis using translating axes

Hibbeler chapter 16
May 11, 2011 lecture

Objective of kinematic analysis using translating axes

Establish:
a) relationships between the motion (velocity & acceleration) of points on the same rigid body; b) relationships between the motion (velocity & acceleration) of points on rigid bodies connected with non-slipping joints.

Last lecture
Established relationships between the motion (velocity & acceleration) of points on the same rigid body:
r r r vB = r A + r B/ A r r r r r = v A + rB / A = v A + v B / A

Black vectors absolute motion of A & B (seen from the fixed frame). r r r r r r aB = v A + rB / A + r B / A r r r Green vectors relative r r r = aA + rB / A + ( rB / A ) motion of B w.r.t. the axes r r r r r translating with A (motion of = aA + at ,B / A + an,B / A = aA + aB / A B seen from the frame that translates with A).

Today
Use velocity & acceleration equations from last lecture to:
a) Illustrate problem solving procedure. b) Analyze particular rigid body motions: Translation. Rotation about a fixed axis. c) Establish relationships between the motion (velocity & acceleration) of points on rigid bodies connected with nonslipping joints.

Problem solving procedure

1. Identify body connections:
they provide kinematic constraints (relationships that velocities & accelerations must obey).

2. Write velocity & acceleration equations: connect point with known

3.

Example 1. Joints: sliders at A & B. Write corresponding kinematic constraints. direction of velocity (locally 2. Point with known motion: A. known path) to point with 3. Point with known direction of known velocity & acceleration. velocity: B. 4. Write velocity & acceleration of B Solve for the unknowns. w.r.t. A. 5. Solve.

Slider (joint) B imposes that:

v B OB A. r an,B OB r v A Ox B. r aA Ox
r v B AB C. r an,B AB

r r v B OB v A Ox D. r r an,B OB aA Ox

Translation
Definition: any line of the body remains parallel to itself throughout the motion.
0
r def r = 0 r r v B v A r r aB aA r

Translation important notes.

All points on a translating rigid body move on parallel paths, with the same velocity and the same acceleration. The paths of points on a translating rigid body are determined by the bodys connections (kinematic constraints). A rigid body in planar translation has 2DOF (translation is fully described by the displacement of one r r point rA = rA (t ) ).

Rectilinear translation

Curvilinear translation

Translation

Rotation about a fixed axis

Definition: a line/axis of the body is at rest throughout the motion.
r = k = k r r = = k = k = k

Choose O on axis of rotation:

r v O 0 r aO 0

Rotation about a fixed axis velocity equation

r r r r v P rP / O v P / O v P

if

r r r, rPr/ O
rP / O

rP / O

In the plane of motion (perpendicular on the fixed axis of rotation). Perpendicular on the distance from P to the axis of rotation.

Rotation about a fixed axis acceleration equation

r r r r r r aP rP / O + ( rP / O ) r r r aP / O at ,P + an,P

r r at ,P = r P / O at ,P

r r , rP / O
if r P / O

rP / O

In the plane of motion. Perpendicular on the distance from P to the axis of rotation. In the plane of motion. From P to the axis of rotation.

r r r r an,P = ( rP / O )

if

r r rP / O

r rP / O
2

Rotation about a fixed axis important notes

All points on a rigid body rotating about a fixed axis move on circular paths centered on the axis of rotation. Points further away from the fixed axis of rotation move faster than points closer to it. A rigid body in rotation about a fixed axis has 1DOF (rotation about a fixed axis is fully described by the angular displacement about the axis of rotation = (t )).

Rotation about a fixed axis

Examples: bodies pinned to the ground.

Rotation about a fixed axis

Examples (2): bodies pinned to the ground.

Rotation about a fixed axis

Examples (3): bodies pinned to the ground.

A. B rotates about A. B. A translates with B and rotates about B. C. A does not move. D. All of the above. E. B rotates about A and A does not move.

Rotation about a fixed axis

Rotation about a fixed axis