Chapter 16: Planar Kinematics of A Rigid Body

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.
©2007 Pearson Education South Asia Pte Ltd

Chapter Objectives
• 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.

Chapter Outline
• Rigid-Body Motion
• Translation
• Rotation about a Fixed Axis
• Absolute General Plane Motion Analysis
• Relative-Motion Analysis: Velocity
• Instantaneous Center of Zero Velocity
• Relative-Motion Analysis: Acceleration
• Relative-Motion Analysis Using Rotating Axis
16.1 Rigid Body Motion
• When all the particles of a rigid body move

along paths which are equidistant from a fixed
plane, the body is said to undergo planar motion.
• There are three types of rigid body planar
motion:
1)Translation – This type of motion occurs if every
line segment on the body remains parallel to it
original direction during the motion.

Rectilinear translation occurs when the paths of

motion for any two particles of the body are along
equidistant straight lines.
Curvilinear translation occurs when the paths of
motion are along curves lines which are
equidistant.
2) Rotation about a fixed axis – When a rigid body

rotates about a fixed axis, all the particles of the
body, except those which lie on the axis of rotation,
move along circular paths.

4) General plane motion – When a body is

subjected to general plane motion, it undergoes a
combination of translation and rotation. The
translation occurs within a reference plane, and the
rotation occurs about an axis perpendicular to the
reference plane.

16.2 Translation
• Consider a rigid body which is subjected to either

rectilinear or curvilinear translation in the x-y plane.

16.2 Translation
Position. The locations of points A and B in the body
are defined from the fixed x, y reference frame by using
position vectors rA and rB.
The translating x’, y’ coordinate system is fixed in the
body and has its origin located at A, hereafter referred
to as the base point.
The position of B with respect to A is denoted by the
relative-position vector rB/A. By vector addition,
rB  rA  rB / A

16.2 Translation
Velocity. A relationship between the
instantaneous velocities A and B is obtained by
taking the time derivative of the position equation,
which yields vB = vA + drB/A/dt
The term drB/A/dt = 0, since the magnitude of rB/A is
constant by definition of a rigid body. Therefore,
vB  vA
16.2 Translation
Acceleration. Taking time derivative of the

velocity equation yields a similar relationship
between the instantaneous accelerations of A and
B:
aB  a A
It indicate that all points in a rigid body subjected
to either rectilinear or curvilinear translation move
with the same velocity and acceleration.

16.3 Rotation About a Fixed Axis
When a body is rotating about a fixed axis,

any point P located in the body travels
along a circular path.
Angular Motion. A point is without
dimension, and so it has no angular
motion. Only lines or bodies undergo
angular motion. Consider the body shown
and the angular motion of a radial line r
located with the shaded plane and
directed from point O on the axis of
rotation to point P.

Angular Position.
At the instant shown in the figure, the angular position
of r is defined by the angle θ, measured between a
fixed reference line and r.
Angular Displacement.
The change in the angular position, which can be
measured as a differential dθ, is called the angular
displacement.

Angular Velocity. The time rate of change in the

angular position is called the angular velocity ω. Since
dθ occurs during an instant of time dt, then,
( +) d

dt

Angular Acceleration.
The angular acceleration α measure the time rate
of change of the angular velocity. The magnitude of
this vector may be written as
d d 2
( +)   2
dt dt
The line of action of α is the same as that for ω.
However, it sense of direction depends on
whether ω is increasing or decreasing.

In particular, if ω is decreasing, then α is called angular

deceleration and it therefore has a sense of direction
which is opposite to ω.
By eliminating the two equations, we obtain a
differential relation between the angular acceleration,
angular velocity and angular displacement,
( +)  d   d

Constant Angular Acceleration. If the angular

acceleration of the body is constant, α = αc,
( +)   0   ct
1 2
( +)   0  0t   ct
2
( +)  2  02  2 c (  0 )
Constant Angular Acceleration

Motion of Point P. As the rigid body

rotates, point P travels along a circular
path of radius r and center at point O.
This path is contained within the shaded
plane

Position. The position of P is defined by the

position vector r, which extends from O to P.
Velocity. The velocity of P has a magnitude
v  r

The direction of v is tangent to the circular path.
Both the magnitude and direction of v can also be
accounted for by using the cross product of ω and
rp. Here rp is directed from any point on the axis of
rotation to point P
v    rp

Acceleration. The acceleration of P can be

expressed in terms of its normal and tangential
components
at  r
an   tr
2
The tangential component of acceleration

represents the time rate of change in the velocity’s
magnitude.

If speed of P increases => at same direction as v

If speed of P decreases => at opposite direction as v
If speed of P constant => at is zero

The normal component of acceleration represents the

time rate of change in the velocity’s direction. The
direction of an is always toward O, the center of the
circular path.
The acceleration of point P may be expressed in terms
of the vector cross product.
dv d drp
a   rp   
dt dt dt
   rp    (  rp )

The first term on the R.H.S has a magnitude of

at   rP sin    r
By the right-hand rule, α x rP is in the direction of at.
The second term has a magnitude
an   rP sin    r
2 2
Applying right-hand rule twice, first to determine the

result vP = ω x rP then ω x rP , it can be seen that this
result is in the same direction as an which is also in
the same direction as –r, which lies in the same plane
of motion.
Therefore,
a  at  a n
   r   2r
Since at and an are perpendicular to one another,

if needed the magnitude of acceleration can be
determined from the Pythagorean theorem,
a  an2  at2

PROCEDURE FOR ANALYSIS
Angular Motion.
• Establish the positive sense of direction along the
axis of rotation and show it alongside each
kinematics equation as it is applied.
• If a relationship is known between any two of the
four variables α, ω, θ and t, then a third variable
can be obtained by using one of the following
kinematics equations which relates all three
variables

d d
   d   d
dt dt
• If the body’s angular acceleration is constant,
then the following equations can be used:
  0   ct
1 2
  0  0t   ct
2
 2  02  2 c (  0 )

• Once the solution is obtained, the sense of α, ω

and θ is determined from algebraic signs of their
numerical quantities.
Motion of P.
• In most cases the velocity of P and its two
components of acceleration can be determined
from the scalar equations
v  r at   r an   2tr

• If the geometry of the problem is difficult to

visualize, the following vector equations should be
used:
v    rP    r
at    rP    r
a n    (  rP )   2r

Example 16.1
A cord is wrapped around a wheel which is initially

at rest. If a force is applied to the cord and gives it
an acceleration a = (4t) m/s2, where t is in seconds,
determine as a function of time (a) the angular
velocity of the wheel, and (b) the angular position
of the line OP in radians.

Example 16.1
Solution
Part (a). The wheel is subjected to rotation
about a fixed axis passing through point O. Thus,
point P on the wheel has a motion about a circular
path, and the acceleration of this point has both
tangential and normal components. The tangential
component is (aP)t = (4t) m/s2, since the cord is
wrapped around the wheel and moves tangent to it.

Example 16.1
Hence the angular acceleration of the wheel is

+ ( a P )t   r
(4t )   (0.2)
  20t rad / s 2
Using this result, the wheel’s angular velocity ω
can now be determine from α = dω/dt

Example 16.1
Integrating, with the initial condition that ω = 0, t =

0,
d 
+   (20t )
dt
 t
0 d  0 20t dt
  10t 2rad / s

Example 16.1
Using this result, the angular position θ of OP can

be found from ω = dθ/dt, since this equation relates
θ, ω, and t.
Integrating, with the initial condition θ = 0 at t = 0,
d
+    (10t 2 )
dt
 t
0 d   10t 2 dt
0
  3.33t 3rad
Example 16.2
The motor is used to turn a wheel and

attached blower contained with the
housing. If the pulley A connected to
the motor begins rotating from rest with
an angular acceleration of αA = 2 rad/s2,
determine the magnitudes of the
velocity and acceleration of point P on
the wheel, after the wheel B has turned
one revolution.

Example 16.2
View Free Body Diagram
Angular Motion. Converting revolution to

radians,  B  6.283 rad
Since the belt does not slip, an equivalent length of
belt s must be unraveled from both the pulley and
wheel at all times. Thus,
s   ArA   B rB ;  A (0.15)  6.283(0.4)
 A  16.76 rad

Example 16.2
Since αA is constant, the angular velocity of pulley

A is therefore
+  2  02  2 c (  0 )
 A2  0  2(2)(16.76  0)
 A  8.188 rad / s

Example 16.2
The belt has the same speed and tangential

component of acceleration as it passes over the
pulley and wheel. Thus,
v   ArA  B rB  B  3.070 rad / s
at   ArA   B rB   B  0.750 rad / s 2

Example 16.2
Motion of P. As shown in the diagram, we

have,
vP   B rB  1.23 m / s
(a P ) t   B rB  0.3m / s 2
(a P ) n   B2 rB  3.77 m / s 2
Thus,
a P  (0.3)  (3.77)  3.78m / s
2 2 2

*16.4 Absolute Motion Analysis
• A body subjected to general plane motion undergoes

a simultaneous translation and rotation.
• One way to define these motions is to use a
rectilinear position coordinate s to locate the point
along its path and an angular position coordinate θ to
specify the orientation of the line.
• By direct application of the time-differential equations
v = ds/dt, a = dv/dt, ω = dθ/dt, α = dω/dt, the motion of
the point and the angular motion of the line can be
related.

Position Coordinate Equation.

• Locate point P using a position coordinate s,
which is measured from a fixed origin and is
directed along the straight-line path of motion of
point P.
• Measure from a fixed reference line the angular
position θ of a line lying in the body.
• From the dimensions of the body, relate s to θ, s =
f(θ), using geometry and/or trigonometry.

Position Coordinate Equation.

• Take the first derivative of s = f(θ) w.r.t time to get
a relationship between v and ω.
• Take the second derivative to get a relationship
between a and α.
• In each case the chain rule of calculus must be
used when taking the derivatives of the position
coordinate equation.

Example 16.3
The end of rod R maintains contact with the cam by

means of a spring. If the cam rotates about an axis
through point O with an angular acceleration α and
angular velocity ω, determine the velocity and
acceleration of the rod when the cam is in the arbitrary
position θ.

Example 16.3
Position Coordinate Equation. Coordinates θ
and x are chosen in order to relate the rotational
motion of the line segment OA on the cam to the
rectilinear motion of the rod. These coordinates are
measured from the fixed point O and may be related to
each other using trigonometry.
Since OC = CB = r cos θ, x  2r cos 

Example 16.3
x  2r cos 
Time Derivatives. Using chain rule of calculus,
we have,
dx d
 2r (sin  )
dt dt
v  2r sin 
dv  d  d
 2r   sin   2r (cos  )
dt  dt  dt
a  2r ( sin    2 cos  )

Example 16.4
At a given instant, the cylinder of radius r, has an
angular velocity ω and angular acceleration α.
Determine the velocity and acceleration of its
center G if the cylinder rolls without slipping.

Example 16.4
Position Coordinate Equation. By inspection, point G
moves horizontally to the left from G to G’ as the cylinder
rolls. Its new location G’ will be specified by the horizontal
position coordinate sG, which is measured from the original
position (G) of the cylinder’s center.
As the cylinder rolls, points on its surface contact the
ground such that the arc length A’B of contact must be
equal to the distant sG.

Example 16.4
Consequently, the motion requires the radial line GA to

rotate θ to position G’A’. Since the arc A’B = rθ, then G
travels a distance
sG  r
Time Derivatives. Taking successive time derivatives of
this equation, realizing that r is constant, ω = dθ/dt, and α =
dω/dt, gives the necessary relationships:
sG  r vG  r aG  r
Example 16.5
The large window is opened using a hydraulic
cylinder AB. If the cylinder extends at a constant
rate of 0.5 m/s, determine the angular velocity and
angular acceleration of the window at the instant θ
= 30°

Example 16.5
Position Coordinate Equation. The angular motion of the
window can be obtained using the coordinate θ, whereas
the extension or motion along the hydraulic cylinder is
defined using a coordinate s, which measures the length
from the fixed point A to moving point B. These coordinates
can be related using the law of cosines, namely,
s 2  (2)2  (1)2  2(2)(1) cos 

s 2  5  4 cos 
(1)

Example 16.5
s  (2)  (1)  2(2)(1) cos 
2 2 2
s 2  5  4 cos 
When θ = 30°,
s  1.239 m
Time Derivatives. Taking the time derivatives
of Eq. 1,
ds d
2s  0  4( sin  )
st dt
s (vs )  2(sin  ) (2)
Since vs = 0.5 m/s, then at θ = 30°
  0.620 rad / s
Example 16.5
Taking the time derivatives of Eq. 2 yields,

ds dvs d d
vs  s  2(cos  )   2(sin  )
dt dt dt dt
vs2  sas  2(cos  ) 2  2(sin  )
Since as = dvs/dt = 0, then
(0.5) 2  0  2 cos 30 (0.620) 2  2 sin 30 

  0.415 rad / s 2
16.5 Relative–Motion Analysis: Velocity
• The general plane motion of a rigid body can be

described as a combination of translation and rotation.
• To view these “component” motions separately, we
use a relative-motion analysis involving two sets of
coordinate axes.
• The x, y coordinate system is fixed and measures the
absolute position of two points A and B on the body.

• The origin of the x’, y’ coordinate system will be

attached to the selected “base point” A, which generally
has a known motion.
• The axes of this coordinate system do not rotate with
the body; rather they will only be allowed to translate
with respect to the fixed frame.

Position.
• The position vector rA specifies the location of the
“base point” A, and the relative-position vector rB/A
locates point B with respect to point A.
• By vector addition, the position of B is

Displacement.
• During an instant of time dt, point A and B undergo
displacements drA and drB.
• If we consider the general plane motion by its
component parts then the entire body first translates
by an amount drA so that A, the base point, moves to
its final position and point B to B’.

• The body is then rotated about A by an amount

dθ so that B’ undergoes a relative displacement
drB/A and thus moves to its final position B.

• Due to the rotation about A, drB/A = rB/A dθ, and

the displacement of B is
drB  drA  drB / A
due to rotation about A

due to translation about A
due to translation and rotation

Velocity.
• To determine the relationship between the velocities
of points A and B, it is necessary to take the time
derivative of the position equation, or simply divide the
displacement equation by dt. This yields,
drB drA drB / A

 
dt dt dt

drB drA drB / A

 
dt dt dt
• The terms drB/dt = vB and drA/dt = vA are
measured from the fixed x, y axes and represent
the absolute velocities of points A and B,
respectively.
• The body appears to move as if it were rotating
with an angular velocity ω about the z’ axis passing
through A

• vB/A has a magnitude of vB/A = ωrB/A and a

direction which is perpendicular to rB/A.
vB  v A  vB / A

• The velocity of B is determined by considering the

entire body to translate with a velocity of vA, and rotate
about A with an angular velocity ω.
• Vector addition of these two effects, applied to B,
yields vB.
• The relative velocity vB/A represents the effect of

circular motion, about A. It can be expressed by the
cross product
v B / A    rB / A
• Hence, v B  v A    rB / A
due to rotation about A

due to translation about A
due to translation and rotation
VECTOR ANALYSIS
Kinematics Diagram.
• Establish the directions of the fixed x, y coordinates
and draw a kinematics diagram of the body. Indicate on
it the velocities vA, vB of points A and B, the angular
velocity ω, and the relative-position vector rB/A
• If the magnitudes of vA, vB or ω are unknown, the
sense of the direction of these vectors may be
assumed.

Velocity Equation.
• To apply vB = vA + ω x rB/A, express the vectors in
Cartesian vector form and substitute them into the
equation. Evaluate the cross product and then equate
the respectively i and j components to obtain two
equations.
• If the solution yields a negative answer for an
unknown magnitude, it indicates the sense of direction
of the vector is opposite to that shown on the
kinematics diagram.

SCALAR ANALYSIS
Kinematics Diagram.
• If the velocity equation is to be applied in scalar form,
then the magnitude and direction of the relative velocity
vB/A must be established.
• Draw a kinematics diagram, which shows the relative
motion. Since the body is considered to be “pinned”
momentarily at the base point A, the magnitude is vB/A
= ωrB/A.

• The sense of the direction of vB/A is established from

the diagram, such that vB/A acts perpendicular to rB/A in
accordance with the rotational motion ω of the body.
Velocity Equation.
• Write v B  v A  v B / A in symbolic form, and
underneath each of the terms represent the vectors
graphically by showing their magnitudes and directions.
The scalar equations are determined from the x and y
components of these vectors.

Example 16.6
The link is guided by two block A and B, which move in

the fixed slots. If the velocity of A is 2 m/s downward,
determine the velocity of B at the instant θ = 45°.

Example 16.6
Solution (Vector Analysis)
Kinematic Diagram.
• Since points A and B are restricted to move along the
fixed slots and vA is directed downward, the velocity vB
must be directed horizontally to the right.

Example 16.6
• This motion causes the link to rotate CCW; by

right-hand-rule the angular velocity ω is directed
outward, perpendicular to the plane of plane.
• Knowing the magnitude and direction of vA and
the lines of action of vB and ω, it is possible to
apply the velocity equation v B  v A  v B / A to
points A and B in order to solve for the two
unknown magnitudes vB and ω.

Example 16.6
Velocity Equation.
v B  v A    rB / A
vB i  2 j  [k  (0.2 sin 45 i  0.2 cos 45 j)]
vB i  2 j  0.2 sin 45 j  0.2 cos 45 i
Equating the i and j components gives
vB  0.2 cos 45 0  2  0.2 sin 45
   14.1rad / s
vB  2 m / s 
Example 16.7
The cylinder rolls without slipping on the surface of
a conveyor belt which is moving at 2 m/s.
Determine the velocity of point A. The cylinder has
a clockwise angular velocity ω = 15 rad/s at the
instant.

Example 16.7

Kinematics Diagram.
• Since no slipping occurs, point B on the cylinder
has the same velocity as the conveyor.
• The angular velocity of the cylinder is known, so
we can apply the velocity equation to B, the base
point, and A to determine vA.

Example 16.7
Velocity Equation.
v A  v B    rB / A
(v A ) x i  (v A ) y j  2i  (15k )  (0.5i  0.5 j)]
(v A ) x i  (v A ) y j  2i  7.50 j  7.50i
So that
(v A ) x  2  7.50  9.50 m / s
(v A ) y  7.50 m / s

Example 16.7
Thus,
v A  (9.50) 2  (7.50) 2  12.1m / s
1 7.50
  tan  38.3
9.50
Same results can be obtained using Scalar
Analysis.

Example 16.8
The collar C is moving downward with a velocity of

2 m/s. Determine the angular velocities of CB and
AB at this instant.

Example 16.8

Kinematics Diagram.
• The downward motion of C causes B to move to
the right.
• CB and AB rotate counterclockwise, to solve, we
will write the appropriate kinematics equation for
each link.

Example 16.8
Velocity Equation.
Link CB (general plane motion):
v B  vC  CB  rB / C
vB i  2 j  CB k  (0.2i  0.2 j)
vB i  2 j  0.2CB j  0.2CB i
vB  0.2CB
0  2  0.2CB
CB  10 rad / s
vB  2 m / s 
Example 16.8
Link AB (rotation about a fixed axis):

v B   AB  rB
2i   ABk  (0.2 j)
2  0.2 AB
 AB  10 rad / s
Same results can be obtained using Scalar
Analysis.

Example 16.9
The bar AB of the linkage has a clockwise angular

velocity of 30 rad/s when θ = 60°. Determine the
angular velocities of member BC and the wheel at
this instant.

Example 16.9

Kinematics Diagram.
• the velocities of point B and C are defined by the
rotation of link AB and the wheel about their fixed
axes

Example 16.9
Velocity Equation.
Link AB (rotation about fixed axis):
v B   AB  rB
 (30k )  (0.2 cos 60 i  0.2 sin 60 j)
 {5.20i  3.0 j} m / s

Example 16.9
Link BC (general plane motion):

vC  v B   BC  rC / B
vC i  5.20 i  3.0 j  ( BC k )  (0.2i )
vC i  5.20 i  (0.2 BC  3.0) j
vC  5.20 m / s
0  0.2 BC  3.0
 BC  15 rad / s
Example 16.9
Wheel (general plane motion):

vC   D  rC
5.20i  ( Dk )  (0.1j)
5.20  0.1 D
D  52 rad / s

16.6 Instantaneous Center of Zero Velocity
• The velocity of any point B located on a rigid body

can be obtained in a very direct way if one choose
the base point A to be a point that has zero velocity
at the instant considered.
• Since vA = 0, therefore vB = ω x rB/A.
• Point A is called the instantaneous center of zero
velocity (IC) and it lies on the instantaneous axis of
zero velocity.

• This axis is always perpendicular to the plane of

motion and the intersection of the axis with this
plane defines the location of the IC.
• Since point A is coincident with the IC, then vB =
ω x rB/A and so point B moves momentarily about
the IC in a circular path.
• The magnitude of vB is vB = ωrB/IC.
• Due to the circular motion, the direction of vB
must always be perpendicular to rB/IC

• Consider the wheel as shown, if it rolls without

slipping, then the point of contact with the ground
has zero velocity.
• Hence this point represents the IC for the wheel.

• If it is imagined that the wheel is momentarily pinned

at this point, the velocities of points B, C, O and so on,
can be found using v = ωr.
• The radial distance rB/IC, rC/IC and rO/IC must be
determined from the geometry of the wheel.
Location of the IC.

To locate the IC, we use the fact that the velocity of a
point on the body is always perpendicular to the
relative-position vector extending from the IC to the
point. Several possibilities exist:

• Given the velocity vA of a point A on the body, and the

angular velocity ω of the body. In this case, the IC is
located along the line drawn perpendicular to vA at A,
such that the distance from A to the IC is rA/IC = vA / ω.
Note that the IC lies up to the right of A since vA must
cause a clockwise angular velocity ω about the IC.

• Given the line of action of two nonparallel velocities

vA and vB. Construct at points A and B line segments
that are perpendicular to vA and vB. Extending these
perpendicular to their point of intersection as shown
locates the IC at the instant considered.

• Given the magnitude and direction of two parallel

velocities vA and vB. Here the location of the IC is
determined by proportional triangles.

In both cases rA/IC = vA / ω and rB/IC = vB / ω . If d is a

known distance between point A and B, then rA/IC +
rB/IC = d for first diagram, and rB/IC - rA/IC = d for
second diagram. As a special case, note that if the
body is translating, vA = vB, then the IC would be
located at infinity, in which case rA/IC = rB/IC → ∞.
This being the case, ω = (vA/rA/IC) = (vA/rA/IC) → 0,
as expected.

Note:
• the point chosen as the instantaneous center of
zero velocity for the body can only be used for an
instant of time since the body changes its position
from one instant to the next.
• The locus of points which define the location of
the IC during the body’s motion is called a
centrode, and so each point on the centrode acts
as the IC for the body only for an instant.

• Although the IC may be used to determine the

velocity of any point in a body, it generally does not
have zero acceleration and therefore it should not
be used for finding the accelerations of points on a
body

The velocity of a point on a body which is subjected to

general plane motion can be determined with reference
to its instantaneous center of zero velocity provided the
location of IC is first established using one of the three
methods described in previous segment.
• As shown in the diagram, the body is imagined as
“extended and pinned” at the IC such that, at the
instant considered, it rotates about this pin with its
angular velocity ω.

• The magnitude of velocity for each of

the arbitrary points A, B and C on the
body can be determined by using the
equation v = ωr, where r is the radial
distance from the IC to each point.
• The line of action of each velocity vector v is

perpendicular to its associated radial line r, and the
velocity has a sense of direction which tends to move the
point in a manner consistent with the angular rotation ω
of the radial line.

Example 16.10
Show how to determine the location of the

instantaneous center of zero velocity for (a)
member BC shown in (a); and (b) the link CB
shown in (b).

Example 16.10
Solution
Part (a).
• Point B has a velocity vB, which is caused by the
clockwise rotation of link AB.
•Point B moves in a circular path such that vB is
perpendicular to AB, and so it acts at an angle θ
from the horizontal as shown.

Example 16.10
• The motion of point B causes the piston to move
forward horizontally with a velocity vC
• When the line are drawn perpendicular to vB and vC,
the intersect at the IC.
Part (b).
• Points B and C follow circular paths of motion since
rods AB and DC are each subjected to rotation about a
fixed axis.

Example 16.10
• Since the velocity is always tangent to the

path, at the instant considered, vC on rod
DC and vB on rod AB are both directed
vertically downward, along the axis of link
CB.
• Radial lines drawn perpendicular to these two
velocities form parallel lines which intersect at “infinity”.
rC / IC   rB / IC  
 CB  (vC / rC / IC )   0
Example 16.10
• As a result, rod CB momentarily translates.

• At an instant later, however, CB will move to a
tilted position, causing the instantaneous center to
move to some finite location.

Example 16.11
Block D moves with a speed of 3 m/s. Determine

the angular velocities of links BD and AB, at the
instant shown.

Example 16.11
Solution
• As D moves to the right, it causes arm AB to rotate
clockwise about point A. Hence vB is directed
perpendicular to AB.
• The instantaneous center of zero velocity for BD is
located at the intersection of the line segments drawn
perpendicular to vB and vD

Example 16.11
From the geometry,


rB / IC  0.4 tan 45  0.4 m
0.4
rD / IC  
 0.566 m
cos 45
Since the magnitude of vD is known, the angular
velocity of link BD is
vD 3
BD    5.30 rad / s
rD / IC 0.566
Example 16.11
The velocity of B is therefore

vB  BD (rB / IC )  5.30(0.4)  2.12 m / s
45°
From the figure, the angular velocity of AB is

vB 2.12
 AB    5.30 rad / s
rB / A 0.4

Example 16.12
The cylinder rolls without slipping between the two

moving plates E and D. Determine the angular
velocity of the cylinder and the velocity of its center
C at the instant shown.

Example 16.12
Solution
• Since no slipping occurs, the contact points A and B
on the cylinder have the same velocities as the plate E
and D, respectively.
• The velocities vA and vB are parallel, so that by the
proportionally of the right triangles the IC is located at a
point on line AB.

Example 16.12
Assuming this point to be a distance x form B, we have

vB   x; 0.4   x
v A   (0.25  x); 0.25   (0.25  x)
Dividing one equation into the other eliminates ω and

yields
0.4(0.25  x)  0.25 x
0. 1
x  0.154 m
0.65
Example 16.12
Hence the angular velocity of the cylinder is

vB 0.4
   2.60 rad / s
x 0.154
The velocity of point C is therefore
vC   rC / IC  2.6(0.154  0.125)
 0.0750 m / s 

16.7 Relative-Motion Analysis: Acceleration
• An equation that relates the accelerations of two

points on a rigid body subjected to general plane
motion,
d vB d v A d vB / A
 
dt dt dt
• The terms dvB/dt = aB and dvA/dt = aA are

measured from a set of fixed x, y axes and
represent the absolute accelerations of points B
and A.

• The last term represents the acceleration of B w.r.t A

as measured by an observer fixed to translating x’, y’
axes which have their origin at the base point A.
• To this observer, point B appears to move along a
circular arc that has a radius of curvature rB/A.
• aB/A can be expressed in terms of its tangential and
normal components of motion
a B  a A  (a B / A )t  (a B / A )n

= +

• Since points A and B move along curved paths, the
accelerations of these points will have both tangential
and normal components.
• The relative-acceleration components represent the
effect of circular motion observed from translating axes
having their origin at the base point A, and can be
expressed as (aB/A)t = α x rB/A and (aB/A)n = -ω2rB/A
a B  a A    rB / A   rB / A
2

Velocity Analysis.
• Determine the angular velocity ω of the body by
using a velocity analysis as discuss in previous
section. Also determine the velocities vA and vB of
points A and B if these points moves along curved
paths.

VECTOR ANALYSIS
Kinematics Diagram.
• Establish the directions of the fixed x, y coordinates
and draw the kinematics diagram of the body. Indicate
on it aA, aB, ω, α, rB/A.
• If points A and B move along curved paths, then their
accelerations should be indicated in terms of their
tangential and normal components.

Acceleration Equation.
• To apply aB = aA + α x rB/A – ω2rB/A express the
vectors in Cartesian vector form and substitutide them
into the equation. Evaluate the cross product and then
equate the respective i and j components to obtain two
scalar equations.
• If the solution yields a negative answer for an
unknown magnitude, it indicates that the sense of
direction of the vector is opposite to that shown on the
kinematics diagram.

SCALAR ANALYSIS
Kinematics Diagram.
• If the equation a B  a A  (a B / A )t  (a B / A ) n is
applied, then the magnitudes and directions of the
relative-acceleration components (aB/A)t and (aB/A)n
must be established.
• To do this, draw a kinematic diagram.

• Since the body is considered to

be momentarily “pinned” at the
base point A, the magnitudes are
(aB/A)t = αrB/A and (aB/A)n = ω2rB/A.
• Their sense of direction is
established from the diagram such
that (aB/A)t acts perpendicular to
rB/A, in accordance with the
rotational motion α of the body,
and (aB/A)n is directed from B
towards A.

• Represent the vectors in a B  a A  (a B / A )t  (a B / A )n
graphically by showing their magnitudes and
directions underneath each term. The scalar
equations are determined from the x and y
components of these vectors.

Example 16.13
The rod AB is confined to move along the inclined
planes at A and B. If point A has an acceleration of 3
m/s2 and a velocity of 2 m/s, both directed down the
plane at the instant the rod becomes horizontal,
determine the angular acceleration of the rod at this
instant.

Example 16.13

• We can obtain ω = 0.283 rad/s using either the
velocity equation or the method of instantaneous
centers.
Kinematic Diagram. Since points A and B both
move along straight-line paths, they have no
components of acceleration normal to the paths. There
are two unknowns, aB and α.

Example 16.13
a B  a A    rB / A   2rB / A
aB cos 45 i  aB sin 45 j  3 cos 45 j 
(k )  (10i )  (0.238) 2 (10i )
Carrying out the cross product and equating the i
and j components yields
aB cos 45  3 cos 45  (0.283)2 (10)
aB sin 45  3sin 45   (10)
Example 16.13
Solving, we have
aB  1.87 m / s 2
  0.344 rad / s 2

Example 16.14
At a given instant, the cylinder of radius r has an

angular velocity ω and angular acceleration α.
Determine the velocity and acceleration of its center G
if it rolls without slipping.

Example 16.14
• As the cylinder rolls, point G moves along a straight
line, and point A, located on the rim of the cylinder,
moves along a curved path called a cycloid.
• We will apply the velocity and acceleration equations
to these two points.

Example 16.14
Velocity Analysis. Since no slipping occurs, at
the instant A contacts the ground, vA = 0. Thus,
from the kinematic diagram,
vG  v A    rG / A
vG i  0  (k )  (rj)
vG  r
Note the same result can also be obtained directly

by noting that point A represents the
instantaneous center of zero velocity

Example 16.14
Kinematic Diagram.
• The acceleration of point G is horizontal since it
moves along a straight-line path.
• Just before point A touches the ground, its velocity is
directly downward along the y axis, just after contact,
its velocity is directed upward.
• Therefore, point A begins to accelerate upward when
it leaves the ground at A.
• The magnitudes of aA and aG
are unknown.

Example 16.14
aG  a A    rG / A   2rG / A
aG i   a A j  (k )  (rj)   2 (rj)
Evaluating the cross product and equating the i
and j components yields
aG   r
a A   2r

Example 16.15
The ball rolls without slipping and has the angular

motion shown in figure. Determine the acceleration
of point B and point A at this instant.

Example 16.15

Kinematic Diagram. Using the results of the
previous example, the center of the ball has an
acceleration of aO = αr = (4)(0.15) = 0.6 m/s2. We apply
the acceleration equation to points O and B and points
O and A.

Example 16.15
For point B,
a B  aO    rB / O   rB / O
2
a B  0.6i  (4k )  (0.15i )  (6)2 (0.15i )

a B  {6i  0.6 j} m / s 2

Example 16.15
For point A,
a A  aO    rA / O   rA / O
2
a A  0.6i  (4k )  (0.15 j)  (6)2 (0.15 j)

a A  {1.2i  5.4 j} m / s 2

Example 16.16
The spool unravels from the cord, such that at the

instant shown it has an angular velocity of 3 rad/s and
an angular acceleration of 4 rad/s2. Determine the
acceleration of point B.

Example 16.16

• The spool “appear” to be rolling downward without
slipping at point A. The acceleration of point G is aG =
αr = (4)(0.15) = 0.6 m/s2.
Kinematic Diagram. Point B

moves along a curved path having an
unknown radius of curvature. Its
acceleration will be represented by its
unknown x and y components as
shown.

Example 16.16
a B  aG    rB / G   rB / G
2
(aB ) x i  (aB ) y j  600 j  (4k )  (225j)  (3) 2 (225j)

Equating the i and j terms, the component equations
are
(aB ) x  4(225)  900 mm / s  0.9 m / s 
2 2
(aB ) y  600  2025  2625 mm / s 2  2.625 m / s 2 

Example 16.16
The magnitude and direction of aB are therefore
aB  (0.9)  (2.625)  2.775 m / s

2 2 2
1 2.625
  tan  71.1 θ
0.9

Example 16.17
The collar is moving downward with an acceleration of

1 m/s2. At the instant shown, it has a speed of 2 m/s
which gives links CB and AB an angular velocity ωAB =
ωCB = 10 rad/s. Determine the angular accelerations of
CB and AB at this instant.

Example 16.17

• The kinematic diagrams of both links AB and CB are
as shown. To solve, we will apply the appropriate
kinematic equation to each link.

Example 16.17
Link AB (rotation about to a fixed axis):
a B   AB  rB   AB
2
rB
a B  ( ABk )  (0.2 j)  (10)2 (0.2 j)
a B  0.2 ABi  20 j
Note that aB has two components since it moves
along a curved path.

Example 16.17
Link BC (general plane motion):

a B  aC   CB  rB / C  CB
2
rB / C
0.2 ABi  20 j  1j  ( CB k )  (0.2i  0.2 j)
 (10) 2 (0.2i  0.2 j)
0.2 ABi  20 j  1j  0.2 CB j  0.2 CB i  20i  20 j
Thus,
0.2 AB  0.2 CB  20
20  1  0.2 CB  20
Example 16.17
Solving,
CB  5 rad / s 2
 AB  95 rad / s 2  95 rad / s 2

Example 16.18
The crankshaft AB of an engine turns with a clockwise

angular acceleration of 20 rad/s2. Determine the
acceleration of the piston at this instant AB is in the
shown. At this instant ωAB = 10 rad/s and ωBC = 2.43
rad/s.

Example 16.18
Kinematic Diagram. The kinematic diagrams of
both AB and BC are as shown. Here aC is vertical since
C moves along a straight-line path.

Example 16.18
Acceleration Equation. Expressing each of

the position vectors in Cartesian vector form
rB  {0.25 sin 45 i  0.25 cos 45 j} m
 {0.177i  0.177 j} m
rC / B  {0.75 sin 13.6 i  0.75 cos 13.6 j} m
 {0.176i  0.729 j} m

Example 16.18
Crankshaft AB (rotational about a fixed axis):
a B   AB  rB   ABrB
2
 (20k )  (0.177i  0.177 j)  (10) 2 (0.177i  0.177 j)

 {21.21i  14.14 j} m / s 2

Example 16.18
Connecting Rod BC (general plane motion):

aC  a B   BC  rC / B  BC
2
rC / B
aC j  21.21i  14.14 j  ( CB k )
 (0.176i  0.729 j)  (2.43) 2 (0.176i  0.729 j)
0  20.17  0.729 BC
aC  0.176 BC  18.45
Solving yields  BC  27.7 rad / s 2
aC  13.6 m / s 2

Chapter 16: Planar Kinematics of A Rigid Body

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Chapter 16: Planar Kinematics of A Rigid Body

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Chapter 16 : Planar Kinematics of a

• To classify the various types of rigid-body planar

©2007 Pearson Education South Asia Pte Ltd

• To provide a relative motion analysis of velocity and

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• When all the particles of a rigid body move

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Rectilinear translation occurs when the paths of

2) Rotation about a fixed axis – When a rigid body

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4) General plane motion – When a body is

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• Consider a rigid body which is subjected to either

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Acceleration. Taking time derivative of the

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When a body is rotating about a fixed axis,

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©2007 Pearson Education South Asia Pte Ltd

Angular Velocity. The time rate of change in the

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In particular, if ω is decreasing, then α is called angular

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Constant Angular Acceleration. If the angular

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Motion of Point P. As the rigid body

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Position. The position of P is defined by the

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©2007 Pearson Education South Asia Pte Ltd

Acceleration. The acceleration of P can be

The tangential component of acceleration

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If speed of P increases => at same direction as v

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The normal component of acceleration represents the

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The first term on the R.H.S has a magnitude of

Applying right-hand rule twice, first to determine the

Since at and an are perpendicular to one another,

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©2007 Pearson Education South Asia Pte Ltd

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• Once the solution is obtained, the sense of α, ω

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• If the geometry of the problem is difficult to

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A cord is wrapped around a wheel which is initially

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©2007 Pearson Education South Asia Pte Ltd

Hence the angular acceleration of the wheel is

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Integrating, with the initial condition that ω = 0, t =

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Using this result, the angular position θ of OP can

The motor is used to turn a wheel and

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View Free Body Diagram

Angular Motion. Converting revolution to

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Since αA is constant, the angular velocity of pulley