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i xB
j yB
dt
dt dt
dt
dxB
dyB
di
dj
i
j xB y B
dt
dt
dt
dt
( j) j
dt dt
dj d
(i ) i
dt dt
dj
j
dt
dt
dt
( v B / A ) xyz ( rB / A )
dt
d (v B / A ) y
d (v B / A )x
i
dt
dt
di
dj
(v B / A )x (v B / A ) y
dt
dt
(a B / A ) xyz ( v B / A ) xyz
Example 16.19
At the instant = 60, the rod has an angular
velocity of 3 rad/s and an angular acceleration of 2
rad/s2. 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.
Example 16.19
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
vC vO rC / O ( vC / O ) xyz
rC / O ( rC / O ) 2 ( v C / O ) xyz (aC / O ) xyz
a C aO
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,
Motion of moving
Motion of C with respect
reference
to moving reference
vO 0
aO 0
3k rad / s
2k rad / s
rC / O 0.2i m
( vC / O ) xyz 2i m / s
(aC / O ) xyz 3i m / s 2
Example 16.19
Therefore Coriolis acceleration is defined as
aCor 2 ( vC / O ) xyz 2(3k ) (2i ) 12 j m / s 2
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,
vC v O rC / O ( vC / O ) xyz
0 (3k ) (0.2i ) 2i
2i 0.6 j m / s
rC / O ( rC / O ) 2 ( vC / O ) xyz (aC / O ) xyz
aC a O
0 (2k ) (0.2i ) (3k ) (3k ) (0.2i ) 2(3k ) (2i ) 3i
1.20i 12.4 j m / s 2
CHAPTER REVIEW
Rigid-Body Planar Motion
A rigid body undergoes three types of planar
motion: translation, rotation about a fixed axis and
general plane motion.
Translation
When a body has rectilinear translation, all the
particles of the body travel along straight-line
paths.
CHAPTER REVIEW
If the paths have the same radius of curvature,
then curvilinear translation occurs. Provided we
know the motion of one particles, then the motion
of all others is also known.
CHAPTER REVIEW
Rotation about a Fixed Axis
For this type of motion, all of the particles moves
along circular paths
Here, all segments in the body undergo the same
angular displacement, angular velocity and angular
acceleration.
The differential relationships between these
kinematic quantities are
d / dt
d / dt
d d
CHAPTER REVIEW
If the angular acceleration is constant, = c,
then these equations can be integrated and
become
t
0
1 2
0 0t ct
2
2 02 2 c ( 0 )
CHAPTER REVIEW
Once the angular motion of the body is known,
then the velocity of any particle a distance r from
the axis of rotation is
v r
or
v r
or
at r
CHAPTER REVIEW
The normal component accounts for the change
in the velocity direction
an 2r
or
a n 2r
CHAPTER REVIEW
Absolute Motion Analysis
If the motion of a point on a body or the angular
motion of a line is known, then it may possible to
relate this motion to that of another point or line
using an absolute motion analysis
To do so, linear position coordinates s or angular
position coordinates are established (measured
from a fixed point or line).
CHAPTER REVIEW
These position coordinates are then related using
the geometry of the body .
The time derivative of this equation gives the
relationship between the velocities and/or the
angular velocities
A second time derivative relates the accelerations
and/or the angular accelerations.
CHAPTER REVIEW
Relative Velocity Analysis
General plane motion can also be analyzed using
a relative-motion analysis between two points A
and B.
This method considers the motion in parts; first a
translation of the selected base point A, then a
relative rotation of the body about point A,
measured from a translating axis.
CHAPTER REVIEW
The velocities of the teo points A and B are then
related using
vB v A vB / A
This equation can be applied in Cartesian vector
form, written as
v B v A rB / A
CHAPTER REVIEW
In similar manner, for acceleration,
a B a A (a B / A )t (a B / A ) n
or
2
a B a A rB / A rB / A
Since the relative motion is viewed as circular
motion bout the base point, point B will have a
velocity vB/A, that is tangent to the circle.
CHAPTER REVIEW
It also has two components of acceleration, (aB/A)t,
and (aB/A)n.
It is important to also realize that aA and aB may
have two components if these points move along
curved paths.
CHAPTER REVIEW
Instantaneous Center of Zero Velocity
If the base point A is selected as having zero
velocity, then the relative velocity equation
becomes
v B rB / A
In this case, motion appears as if the body is
rotating about an instantaneous axis.
CHAPTER REVIEW
The instantaneous center of rotation (IC) can be
established provided the directions of the velocities
of any two points on the body are known.
Since the radial line r will always be perpendicular
to each velocity, then the IC is at the point of
intersection of these two radial lines.
Its measured location is determined from the
geometry of the body.
CHAPTER REVIEW
Once it is established, then the velocity of any
point P on the body can be determined from v = r,
where r extends from IC to point P.
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
v B v A rB / A ( v B / A ) xyz
rB / A ( rB / A )
aB a A
2 ( v B / A ) xyz (a B / A ) xyz
In particular, the term 2 x (vB/A)xyz is called the
Coriolis Acceleration.