Tenth Edition

CHAPTER VECTOR MECHANICS FOR ENGINEERS:

15 DYNAMICS
Ferdinand P. Beer
E. Russell Johnston, Jr.
Phillip J. Cornwell Kinematics of
Lecture Notes:
Brian P. Self Rigid Bodies
California Polytechnic State University

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Tenth
Vector Mechanics for Engineers: Dynamics
Contents
Introduction Absolute and Relative Acceleration in
Translation Plane Motion
Rotation About a Fixed Axis: Velocity Analysis of Plane Motion in Terms of a
Rotation About a Fixed Axis: Parameter
Acceleration Sample Problem 15.6
Rotation About a Fixed Axis: Sample Problem 15.7
Representative Slab Sample Problem 15.8
Equations Defining the Rotation of a Rate of Change With Respect to a
Rigid Body About a Fixed Axis Rotating Frame
Sample Problem 5.1 Coriolis Acceleration
General Plane Motion Sample Problem 15.9
Absolute and Relative Velocity in Plane Sample Problem 15.10
Motion Motion About a Fixed Point
Sample Problem 15.2 General Motion
Sample Problem 15.3 Sample Problem 15.11
Instantaneous Center of Rotation in Three Dimensional Motion. Coriolis
Plane Motion Acceleration
Sample Problem 15.4 Frame of Reference in General Motion
Sample Problem
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Tenth
Vector Mechanics for Engineers: Dynamics
Applications

How can we determine the velocity of the tip of a turbine blade?

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Tenth
Vector Mechanics for Engineers: Dynamics
Introduction
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:
- translation:
rectilinear translation
curvilinear translation
- rotation about a fixed axis
- general plane motion
- motion about a fixed point
- general motion

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Tenth
Vector Mechanics for Engineers: Dynamics
Translation
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

Differentiating with respect to time,

rB rA rB A rA

vB v A
All particles have the same velocity.
Differentiating with respect to time again,
rB rA rB A rA

aB a A
All particles have the same acceleration.
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Tenth
Vector Mechanics for Engineers: Dynamics
Rotation About a Fixed Axis. Velocity
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
s BP r sin
ds
v lim r sin r sin
dt t 0 t

The same result is obtained from

dr
v r
dt

k k angular velocity

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Tenth
Vector Mechanics for Engineers: Dynamics
Concept Quiz

What is the direction of the velocity

of point A on the turbine blade?

a) A
b) y
L
c)
x
d)
vA r
vA k Li
vA L j
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Tenth
Vector Mechanics for Engineers: Dynamics
Rotation About a Fixed Axis. Acceleration
Differentiating to determine the acceleration,

dv d
a r
dt dt

d dr
r
dt dt

d
r v
dt

d
angular acceleration
dt

k k k

Acceleration of P is combination of two

vectors,

a r r

r tangential acceleration component

r radial acceleration component
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Tenth
Vector Mechanics for Engineers: Dynamics
Rotation About a Fixed Axis. Representative Slab
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 r k r
v r

Acceleration of any point P of the slab,

a r r

k r 2r

Resolving the acceleration into tangential and

normal components,

at k r a t r

an 2 r a n r 2
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Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Concept Quiz

What is the direction of the normal

acceleration of point A on the turbine
blade?
a) A
b) y
L
c)
x
d)
an r 2

an (Li) 2

2
an L i
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Tenth
Vector Mechanics for Engineers: Dynamics
Equations Defining the Rotation of a Rigid Body About a Fixed Axis

Motion of a rigid body rotating around a fixed axis is

often specified by the type of angular acceleration.

d d
Recall or dt
dt
d d 2 d
2
dt dt d

Uniform Rotation, = 0:
0 t

Uniformly Accelerated Rotation, = constant:

0 t
0 0t 12 t 2
2 02 2 0
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Tenth
Vector Mechanics for Engineers: Dynamics
Sample Problem 5.1
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.
Apply the relations for uniformly
accelerated rotation to determine the
velocity and angular position of the
Cable C has a constant acceleration of 9
pulley after 2 s.
in/s2 and an initial velocity of 12 in/s,
both directed to the right. 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.
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Tenth
Vector Mechanics for Engineers: Dynamics
Sample Problem 5.1
SOLUTION:
The tangential velocity and acceleration of D are equal to the
velocity and acceleration of C.


v v 12 in. s
D 0 C 0
a
D t aC 9 in. s

vD 0 r0 aD t r
vD 0 aD t 9
0
12
4 rad s 3 rad s 2
r 3 r 3
Apply the relations for uniformly accelerated rotation to
determine velocity and angular position of pulley after 2 s.

0 t 4 rad s 3 rad s 2 2 s 10 rad s

0t 12 t 2 4 rad s 2 s 12 3 rad s 2 2 s 2
14 rad
1 rev
N 14 rad number of revs N 2.23 rev
2 rad

vB r 5 in.10 rad s vB 50 in. s
yB r 5 in.14 rad yB 70 in.
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Tenth
Vector Mechanics for Engineers: Dynamics
Sample Problem 5.1
Evaluate the initial tangential and normal acceleration
components of D.
aD t aC 9 in. s
aD n rD02 3 in.4 rad s 2 48 in s2

aD t 9 in. s2 aD n 48 in. s2

Magnitude and direction of the total acceleration,

aD aD t2 aD 2n
92 482 aD 48.8 in. s 2

aD n
tan
aD t
48

9 79.4

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Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Group Problem Solving

SOLUTION:
Using the linear velocity and
accelerations, calculate the angular
velocity and acceleration.

Using the angular velocity,

determine the normal acceleration.
A series of small machine components
being moved by a conveyor belt pass over Determine the total acceleration
a 6-in.-radius idler pulley. At the instant using the tangential and normal
shown, the velocity of point A is 15 in./s to acceleration components of B.
the left and its acceleration is 9 in./s2 to the
right. Determine (a) the angular velocity
and angular acceleration of the idler pulley,
(b) the total acceleration of the machine
component at B.

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Tenth
Vector Mechanics for Engineers: Dynamics
Group Problem Solving
Find the angular velocity of the idler v= 15 in/s B at= 9 in/s2
pulley using the linear velocity at B.
v r
15 in./s (6 in.) 2.50 rad/s

Find the angular velocity of the idler

pulley using the linear velocity at B.
a r
1.500 rad/s2
9 in./s (6 in.)
2

Find the normal acceleration of point B. What is the direction of

the normal acceleration
an r 2 of point B?
an 37.5 in./s2
(6 in.)(2.5 rad/s)2 Downwards, towards
the center

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Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Group Problem Solving
B at= 9 in/s2 Find the total acceleration of the
machine component at point B.

an= 37.5 in./s2 at 9.0 in./s2 an 37.5 in./s2

Calculate the magnitude

a 9.02 37.52 38.6 in./s2

at= 9 in/s2 Calculate the angle from

the horizontal
37.5
arctan 76.5o

9.0
Combine for a final answer
aB
a B 38.6 in./s2 76.5
an= 37.5 in/s2
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Tenth
Vector Mechanics for Engineers: Dynamics
Example General Plane Motion
The knee has linear velocity and acceleration from both
translation (the runner moving forward) as well as rotation
(the leg rotating about the hip).

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Edition
Tenth
Vector Mechanics for Engineers: Dynamics
General Plane Motion

General plane motion is neither a translation nor

a rotation.
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
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Tenth
Vector Mechanics for Engineers: Dynamics
Absolute and Relative Velocity in Plane Motion

Any plane motion can be replaced by a translation of an

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

vB A k rB A vB A r

v B v A k rB A
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Tenth
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

velocity vB of end B and the angular velocity in terms of vA, l, and .
The direction of vB and vB/A are known. Complete the velocity diagram.

vB vA vA
tan cos
vA v B A l
v B v A tan vA

l cos
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Tenth
Vector Mechanics for Engineers: Dynamics
Absolute and Relative Velocity in Plane Motion

Selecting point B as the reference point and solving for the velocity vA of end A
and the angular velocity leads to an equivalent velocity triangle.
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.
Angular velocity 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.
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Edition
Tenth
Vector Mechanics for Engineers: Dynamics
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.

The crank AB has a constant clockwise The directions of the absolute velocity v D

angular velocity of 2000 rpm. and the relative velocity v D B are
determined from the problem geometry.
For the crank position indicated,
determine (a) the angular velocity of The unknowns in the vector expression
the connecting rod BD, and (b) the are the velocity magnitudes vD and vD B
velocity of the piston P. which may be determined from the
corresponding vector triangle.
The angular velocity of the connecting
rod is calculated from v D B .
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Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.3
SOLUTION:
Will determine the absolute velocity of point D with

vD vB vD B

The velocity vB is obtained from the crank rotation data.
rev min 2 rad
AB 2000 209.4 rad s
min 60 s rev
vB AB 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
13.95
8 in. 3 in.

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Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.3

Determine the velocity magnitudes vD and vD B

from the vector triangle.
vD vD B 628.3in. s

sin 53.95 sin 50 sin76.05

vD 523.4 in. s 43.6 ft s vP vD 43.6 ft s

vD B 495.9 in. s

vD B l BD
vD vB vD B
vD B 495.9 in. s
BD
l 8 in.

62.0 rad s BD 62.0 rad sk
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Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Group Problem Solving

In the position shown, bar AB

has an angular velocity of 4 rad/s
clockwise. Determine the angular
velocity of bars BD and DE.

Which of the following is true?

a) The direction of vB is
b) The direction of vD is
c) Both a) and b) are correct

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Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Group Problem Solving
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.
The velocity for any point P on the gear
may be written as

vP v A vP A v A k rP A

Evaluate the velocities of points B and D.

In the position shown, bar AB has an
angular velocity of 4 rad/s clockwise.
Determine the angular velocity of bars
BD and DE.

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Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Group Problem Solving
y
Determine the angular velocity of bars
x BD and DE.
How should you proceed?

AB= 4 rad/s Determine vB with respect to A, then work

your way along the linkage to point E.

Write vB in terms of point A, calculate vB.

vB v A AB rB /A

AB (4 rad/s)k

rB/A (7 in.)i vB AB rB/A (4k ) (7i)

vB (28 in./s)j

Does it make sense that vB is in the +j direction?

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Edition
Tenth
Vector Mechanics for Engineers: Dynamics
vD ,

Group Problem Solving

y Determine vD with respect to B.
x
BD BD k rD/B (8 in.)j
vD vB BD rD/B 28 j (BD k ) (8 j)
AB= 4 rad/s vD 28 j 8BD i
Determine vD with respect to E, then
equate it to equation above.

DE DE k rD /E (11 in.)i (3 in.)j

vD DE rD /E (DE k ) (11i 3j)
vD 11DE j 3DE i

Equating components of the two expressions for vD

j: 28 11DE DE 2.5455 rad/s DE 2.55 rad/s

3
i : 8BD 3DE BD BD BD 0.955 rad/s
8
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Edition
Tenth
Vector Mechanics for Engineers: Dynamics
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.

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.

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.

As far as the velocities are concerned, the slab seems to

rotate about the instantaneous center of rotation C.

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Tenth
Vector Mechanics for Engineers: Dynamics
Instantaneous Center of Rotation in Plane Motion
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.

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Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Instantaneous Center of Rotation in Plane Motion
The instantaneous center of rotation lies at the intersection of
the perpendiculars to the velocity vectors through A and B .
v v v
A A v B BC l sin A
AC l cos l cos
v A tan

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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Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Instantaneous Center of Rotation in Plane Motion

At the instant shown, what is the

approximate direction of the velocity
of point G, the center of bar AB?

a)
G b)
c)
d)

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Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.5
The crank AB has a constant clockwise
angular velocity of 2000 rpm.
For the crank position indicated,
determine (a) the angular velocity of
the connecting rod BD, and (b) the
velocity of the piston P.
SOLUTION:
Determine the velocity at B from the
given crank rotation data.
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.

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Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.5
SOLUTION:
From Sample Problem 15.3,

vB 403.9i 481.3 j in. s

vB 628.3 in. s
13.95
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.
B 40 53.95
D 90 76.05 vB BC BD
vB 628.3 in. s
BD BD 62.0 rad s
BC CD 8 in. BC 10.14 in.

sin 76.05 sin 53.95 sin50
Calculate the velocity at D based on its rotation about
the instantaneous center of rotation.
BC 10.14 in. CD 8.44 in.
vD CD BD 8.44 in.62.0 rad s

vP vD 523in. s 43.6 ft s

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Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Group Problem Solving

In the position shown, bar AB has an angular velocity of 4

rad/s clockwise. Determine the angular velocity of bars BD
and DE.

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Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Group Problem Solving
What is the velocity of B? vB ( AB) AB (0.25 m)(4 rad/s) 1 m/s

What direction is the velocity of B?

What direction is the velocity of D?

AB= 4 rad/s
vB

Find

tan 1
0.06 m
21.8
vD
0.15 m

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Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Group Problem Solving
Locate instantaneous center C at intersection of lines drawn
perpendicular to vB and vD.
Find distances BC and DC
B 0.1 m 0.1 m
C BC 0.25 m
tan tan 21.8
0.25 m 0.25 m
vB DC 0.2693 m
100 mm cos cos21.8

Calculate BD
D vB ( BC )BD
1 m/s (0.25 m)BD
vD BD 4 rad/s
Find DE
0.25 m 1 m/s 0.15 m
vD ( DC )BD (4 rad/s) vD ( DE )DE ; DE ; DE 6.67 rad/s
cos cos cos

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Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Absolute and Relative Acceleration in Plane Motion

As the bicycle accelerates, a point on the top of the wheel will

have acceleration due to the acceleration from the axle (the
overall linear acceleration of the bike), the tangential
acceleration of the wheel from the angular acceleration, and
the normal acceleration due to the angular velocity.

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Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Absolute and Relative Acceleration in Plane Motion

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 k rB A
t
a B A r
t

n
a B A 2 rB A aB A n r 2
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Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Absolute and Relative Acceleration in Plane Motion

Given a A and v A ,

determine a B and .

aB a A aB A
a A a B A a B

n A t

Vector result depends on sense of a A and the
relative magnitudes of a A and a B A
n

Must also know angular velocity .

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Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Absolute and Relative Acceleration in Plane Motion

Write aB a A aB A in terms of the two component equations,

x components: 0 a A l 2 sin l cos

y components: a B l 2 cos l sin

Solve for aB and .

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Edition
Tenth
Vector Mechanics for Engineers: Dynamics
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 y B l cos

v A x A v B y B
l cos l sin
l cos l sin

a A xA a B yB
l 2 sin l cos l 2 cos lsin
l 2 sin l cos l 2 cos l sin

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Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.7
SOLUTION:
The angular acceleration of the
connecting rod BD and the acceleration
of point D will be determined from


t
aD aB aD B aB aD B aD B

n
The acceleration of B is determined from
the given rotation speed of AB.

Crank AG of the engine system has a The directions of the accelerations

constant clockwise angular velocity of


a D , a D B , and a D B
t
n
are
2000 rpm. determined from the geometry.
For the crank position shown,
Component equations for acceleration
determine the angular acceleration of
of point D are solved simultaneously for
the connecting rod BD and the
acceleration of D and angular
acceleration of point D.
acceleration of the connecting rod.

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Edition
Tenth
Vector Mechanics for Engineers: Dynamics
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 aB aD B aD B t

n
The acceleration of B is determined from the given rotation
speed of AB.

AB 2000 rpm 209.4 rad s constant

AB 0
aB r AB
2
123 ft 209.4 rad s2 10,962 ft s2

2

aB 10,962 ft s cos 40i sin 40 j

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Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.7

The directions of the accelerations aD , aD

B t , and a

D B n are
determined from the geometry.

aD aD i
From Sample Problem 15.3, BD = 62.0 rad/s, = 13.95o.
aD B n BD BD
2
12
8 ft 62.0 rad s 2 2563 ft s 2

aD B n 2563ft s2 cos13.95i sin 13.95 j

aD B t BD BD 128 ft BD 0.667 BD
The direction of (aD/B)t is known but the sense is not known,
t
aD B 0.667 BD sin 76.05i cos 76.05 j

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Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.7

Component equations for acceleration of point D are solved

simultaneously.

t

aD aB aD B aB aD B aD B n
x components:
aD 10,962 cos 40 2563cos13.95 0.667 BD sin 13.95
y components:
0 10,962 sin 40 2563sin 13.95 0.667 BD cos13.95

BD 9940 rad s 2 k
aD 9290 ft s i
2

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Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Group Problem Solving

Knowing that at the instant

shown bar AB has a constant
angular velocity of 4 rad/s
clockwise, determine the angular
acceleration of bars BD and DE.

Which of the following is true?

a) The direction of aD is
b) The angular acceleration of BD must also be constant
c) The direction of the linear acceleration of B is
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Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Group Problem Solving
SOLUTION:
The angular velocities were determined
in a previous problem by simultaneously
solving the component equations for

vD vB vD B

The angular accelerations are now

determined by simultaneously solving
the component equations for the relative
Knowing that at the instant acceleration equation.
shown bar AB has a constant
angular velocity of 4 rad/s
clockwise, determine the
angular acceleration of bars
BD and DE.

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Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Group Problem Solving
From our previous problem, we used the relative
velocity equations to find that:

AB= 4 rad/s
DE 2.55 rad/s BD 0.955 rad/s

We can now apply the relative acceleration

equation with AB 0

Analyze a B a A AB rB /A AB
2
rB /A
Bar AB
a B AB
2
rB/A (4)2 (7i) 112 in./s2 i

Analyze Bar BD
a D a B BD rD /B BD
2
rD /B 112i BD k (8j) (0.95455)2 (8j)
a D (112 8 BD )i 7.289 j
2013 The McGraw-Hill Companies, Inc. All rights reserved. 2 - 50
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Group Problem Solving
Analyze Bar DE
a D DE rD /E DE
2
rD /E
DE k (11i 3j) (2.5455) 2 (11i 3 j)
AB= 4 rad/s
11 DE j 3 DE i 71.275i 19.439 j

a D (3 DE 71.275)i (11 DE 19.439) j

From previous page, we had: a D (112 8 BD )i 7.289 j

Equate like components of aD

j: 7.289 (11 DE 19.439) DE 2.4298 rad/s2

i: 112 8 BD [(3)(2.4298) 71.275] BD 4.1795 rad/s2

2013 The McGraw-Hill Companies, Inc. All rights reserved. 2 - 51