Chapter 16 : Planar Kinematics of a

Rigid Body
Chapter Objectives
To classify the various types of
rigid-body planar motion.
To investigate rigid-body
translation and show how to
analyze motion about a fixed
axis.
To study planar motion using an
absolute motion analysis.
To provide a relative motion
analysis of velocity and
acceleration using a translating
frame of reference.
To show how to find the
instantaneous center of zero
velocity and determine the
velocity of a point on a body
using this method.
To provide a relative-motion
analysis of velocity and
acceleration using a rotating
frame of reference.
Position
Consider 2 points A and B, whose location are
specified by r
A
and r
B
, measured from the fixed X,
Y, Z coordinate system
16.8 Relative-Motion Analysis Using
Rotating Axes
Base point A represent the origin of the
x, y, z coordinate system assumed to be
both translating and rotating with
respect to X, Y and Z system
Position of B with respect to A is
specified by the relative position vector
r
B/A
Components of this vector can either
be expressed in unit vectors along the X,
Y axes i.e. I, J or by unit vectors along
the x, y axes i.e. i and j
16.8 Relative-Motion Analysis Using
Rotating Axes
For developed r
B/A
will be measured
relative to the moving x, y frame of
reference
If B has coordinates (x
B
, y
B
)
j i r
B B A B
y x + =
/
Using vector addition,
A B A B /
r r r + =
16.8 Relative-Motion Analysis Using
Rotating Axes
At the instant considered, point A
has a velocity v
A
and an
acceleration a
A
, while angular
velocity and angular acceleration
of the x, y and z axes are and
respectively
All these vectors are measured
from the X, Y and Z axes of
reference although they may be
expressed in terms of either I, J
and K or i, j or k components
dt d / O = O

16.8 Relative-Motion Analysis Using

Rotating Axes
Since planar motion is specified, by the right hand
rule, and are always directed perpendicular to
the reference plane of motion whereas v
A
and a
A

lie on this plane
Velocity
For velocity of point B,
O O

dt
d
A B
A B
/
r
v v + =
16.8 Relative-Motion Analysis Using
Rotating Axes
The last term of this equation is evaluated as
|
.
|

\
|
+ +
|
.
|

\
|
+ =
+ + + =
+ =
dt
d
y
dt
d
x
dt
dy
dt
dx
dt
d
y
dt
dy
dt
d
x
dt
dx
y x
dt
d
dt
d
B B
B B
B
B
B
B
B B
A B
j i
j i
j
j
i
i
j i
r
) (
/
16.8 Relative-Motion Analysis Using
Rotating Axes
The two terms in the first set of parentheses
represent the components of velocity of point B as
measured by an observer attached to the moving x,
y and z coordinate system, being denoted by
vector (v
B/A
)
xyz

In the second set of parentheses, the
instantaneous time rate of change of unit vectors i
and j is measured by an observer located in a fixed
X, Y and Z system
16.8 Relative-Motion Analysis Using
Rotating Axes
These changes di and dj are due to only an
instantaneous rotation d of the x, y and z axes,
causing i to become i = i + di and j to become
j = j + dj
Magnitudes of both di and dj = 1
(d) since i = i = j = j =1
The direction of di is defined by +j
since di is tangent to the path
described by the arrowhead of i in
the limit as t dt
16.8 Relative-Motion Analysis Using
Rotating Axes
Likewise, dj acts in the i direction, hence
i i
j
j j
i
O = = O = = ) ( ) (
dt
d
dt
d
dt
d
dt
d u u
Viewing the axes in 3D, noting that = k,
j
j
i
i
O = O =
dt
d
dt
d
16.8 Relative-Motion Analysis Using
Rotating Axes
Using the derivative property of the vector cross
product
A B xyz A B B B xyz A B
A B
y x
dt
d
/ / /
/
) ( ) ( ) ( r v j i v
r
O + = + O + =
Hence
xyz A B A B A B
) (
/ /
v r v v + O + =
16.8 Relative-Motion Analysis Using
Rotating Axes
Acceleration
Acceleration of B, observed from the X, Y and Z
coordinate system, may be expressed in terms of
its motion measured with respect to the rotating or
moving system of coordinates by taking the time
derivative
dt
d
dt
d
xyz A B
A B
A B A B
) (
/
/
/
v
r
r a a + O + O + =

16.8 Relative-Motion Analysis Using
Rotating Axes
Here is the angular acceleration of the
x, y, z coordinate system
For planar motion, is always perpendicular to
the plane of motion and therefore measures only
the change in the magnitude of
For the derivative of dr
B/A
/dt,
dt d / O = O

) ( ) (
/ /
/
A B xyz A B
A B
dt
d
r v
r
O O + O = O
16.8 Relative-Motion Analysis Using
Rotating Axes
Finding the time derivative of (v
B/A
)
xyz
= (v
B/A
)
x
i +
(v
B/A
)
y
j
(

+ +
(

+ =
dt
d
dt
d
dt
d
dt
d
dt
d
y A B x A B
y A B
x A B
xyz A B
j
v
i
v
j
v
i
v
v
) ( ) (
) (
) (
) (
/ /
/
/
/
16.8 Relative-Motion Analysis Using
Rotating Axes
The first two terms in the first set of brackets
represent the components of acceleration of point
B as measured by an observer attached to the
moving coordinate system, as denoted by (a
B/A
)
xyz
xyz A B xyz A B
xyz A B
dt
d
) ( ) (
) (
/ /
/
v a
v
O + =
The terms in the second bracket can be simplified
by
16.8 Relative-Motion Analysis Using
Rotating Axes
xyz A B xyz A B
A B A B A B
) ( ) ( 2
) (
/ /
/ /
a v
r r a a
+ O +
O O + O + =

Rearranging terms,
The term 2 x (v
B/A
)
xyz
is called the Coriolis
acceleration, representing the difference in the
acceleration of B as measured from the non-
rotating and rotating x, y, z axes
16.8 Relative-Motion Analysis Using
Rotating Axes
As indicated by the vector cross-product, the
Coriolis acceleration will always be perpendicular
to both and (v
B/A
)
xyz
16.8 Relative-Motion Analysis Using
Rotating Axes
Example 16.19
At the instant = 60, the rod has an angular
velocity of 3 rad/s and an angular acceleration of 2
rad/s
2
. At the same instant, the collar C is travelling
outward along the rod such that when x = 2 m the
velocity is 2 m/s and the acceleration is 3 m/s
2
,
both measure relative to the rod. Determine the
Coriolis acceleration and the velocity and
acceleration of the collar at the instant.
Coordinate Axes. The origin of both coordinate
systems is located at point O. Since motion of the
collar is reported relative to the rod, the moving x,
y, z frame of reference is attached to the rod.
Kinematic Equations
xyz O C xyz O C O C O C O C
xyz O C O C O C
) ( ) ( 2 ) (
) (
/ / / /
/ /
a v r r a a
v r v v
+ O + O O + O + =
+ O + =

Example 16.19
It will be simpler to express the data in terms of i, j,
k component vectors rather than I, J, K
components. Hence,
{ }
{ }
{ } { }
{ } s rad
s m s rad
s m
m
xyz O C
xyz O C O
O C O
/ 2
/ 3 ) ( / 3
/ 2 ) ( 0
2 . 0 0
2
/
/
/
k
i a k
i v a
i r v
= O
= = O
= =
= =

Motion of moving
reference
Motion of C with respect
to moving reference
Example 16.19
Therefore Coriolis acceleration is defined as
{ }
2
/
/ 12 ) 2 ( ) 3 ( 2 ) ( 2 s m
xyz O C Cor
j i k v a = = O =
This vector is shown in figure. If desired, it may be
resolved in I, J components acting along the X
and Y respectively.
Example 16.19
The velocity and acceleration of the collar are
determined by substituting the data in the previous
2 equations and evaluating the cross products,
which yields,
{ }
| |
{ }
2
/ / / /
/ /
/ 4 . 12 20 . 1
3 ) 2 ( ) 3 ( 2 ) 2 . 0 ( ) 3 ( ) 3 ( ) 2 . 0 ( ) 2 ( 0
) ( ) ( 2 ) (
/ 6 . 0 2
2 ) 2 . 0 ( ) 3 ( 0
) (
s m
s m
xyz O C xyz O C O C O C O C
xyz O C O C O C
j i
i i k i k k i k
a v r r a a
j i
i i k
v r v v
=
+ + + + =
+ O + O O + O + =
=
+ + =
+ O + =

Example 16.19
Example 16.20
The rod AB, shown in Fig. 1634, rotates clockwise such
that it has an angular velocity and angular
acceleration when . Determine the
angular motion of rod DE at this instant. The collar at C
is pin connected to AB and slides over rod DE.
s rad w
AB
/ 3 =
2
/ 4 s rad
AB
= o
= 45 u
Solution
Coordinate Axes.
The origin of both the fixed and moving frames
of reference is located at D, Fig. 1634. Furthermore,
the x, y, z reference is attached to and rotates with
rod DE so that the relative motion of the collar is easy
to follow.
Kinematic Equations.

xyz D C xyz D C D C D C O C
xyz D C D C O C
) ( ) ( 2 ) (
) (
/ / / /
/ /
a v r r a a
v r v v
+ O + O O + O + =
+ O + =

Example 16.20
(1)
(2)
All vectors will be expressed in terms of i, j, k
components.
{ }
k
i a a k
i v a
i r v
DE
xyz D C xyz D C DE
xyz D C xyz D C D
D C D
w
v
m
o = O
= = O
= =
= =

) ( ) (
) ( ) ( 0
4 . 0 0
/ /
/ /
/
Motion of moving
reference
Motion of C with respect
to moving reference
Example 16.20
Motion of C: Since the collar moves along a circular
path, its velocity and acceleration can be determined
using Eqs. 169 and 1614.
{ }
{ }
2
/
2
/
/
/ 2 . 5 2
/ 2 . 1 2 . 1
s m
s m
A C
AB
A C AB
A C AB C
i i r r a
j i r v
C
= =
= =
e o
e
Example 16.20
Substituting the data into Eqs. 1 and 2, we have
( )
( ) ( ) ( )
( )
s rad
s m v
v
DE
xyz
D C
xyz
D C DE
xyz
D C D C D C
/ 3
/ 2 . 1
4 . 0 0 2 . 1 2 . 1
/
/
/ /
=
=
+ + =
+ O + =
e
e i i k j i
v r v v
Example 16.20
( ) ( ) ( )
( ) ( ) ( ) ( ) ( ) | |
( ) ( ) ( )
( )
2 2
2
/
/
/ / / /
/ 5 / 5
/ 6 . 1
2 . 1 3 2
4 . 0 3 3 4 . 0 0 2 . 5 2
2
s rad s rad
s m a
DE
xyz
D C
xyz
D C
DE
xyz
D C
xyz
D C D C D C D C
= =
=
+ +
+ + =
+ O + O O + O + =
-
o
o
i a i k
i k k i k j i
a v r r a a
Example 16.21
Two planes A and B are flying at the same elevation and
have the motions shown in Fig. 1635. Determine the
velocity and acceleration of A as measured by the pilot
of B.
Solution
Coordinate Axes.
Since the relative motion of A with respect to the pilot
in B is being sought, the x, y, z axes are attached to
plane B, Fig. 1635. At the instant considered, the
origin B coincides with the origin of the fixed X,Y, Z
frame.

Kinematic Equations.
xyz B A xyz B A B A B A B A
xyz B A B A B A
) ( ) ( 2 ) (
) (
/ / / /
/ /
a v r r a a
v r v v
+ O + O O + O + =
+ O + =

Example 16.21
(1)
(2)
Solution
Motion of Moving Reference:

{ }
( )
( ) ( ) { }
( )
2
2
2
2 2
/ 25 . 0
400
100
/ 5 . 1
400
600
/ 100 900
/ 900
400
600
/ 600
h rad
a
h rad
v
h km j i a a a
h km
v
a
h km
t B
B
t B n B B
B
n B
b
= = = O
= = = O
= + =
|
|
.
|

\
|
=
|
|
.
|

\
|
=
=
-

j v
Example 16.21
Relative Motion Using Rotating Axes
Problems that involve connected members that
slide relative to one another, or points not located
on the same body, can be analysed using a relative
motion analysis referenced from a rotating frame.
CHAPTER REVIEW
The equations of relative motion are



In particular, the term 2 x (v
B/A
)
xyz
is called the
Coriolis Acceleration.
xyz A B A B A B
) (
/ /
v r v v + O + =
xyz A B xyz A B
A B A B A B
) ( ) ( 2
) (
/ /
/ /
a v
r r a a
+ O +
O O + O + =

CHAPTER REVIEW