CH 15

Ninth Edition
CHAPTER
1 5
VECTOR MECHANICS FOR ENGINEERS:
DYNAMICS
Ferdinand P. Beer E. Russell Johnston, Jr. Lecture Notes: J. Walt Oler Texas Tech University
Kinematics of Rigid Bodies
2010 The McGraw-Hill Companies, Inc. All rights reserved.
Vector Mechanics for Engineers: Dynamics

Contents
Ninth Edition
Absolute and Relative Acceleration in Plane Introduction Analysis of Plane Motion in Terms of a Para Translation Sample Problem 15.6 Rotation About a Fixed Axis: Velocity Rotation About a Fixed Axis: Acceleration Sample Problem 15.7 Sample Rotation About a Fixed Axis: Representative Slab Problem 15.8 Equations Defining the Rotation of a Rigid Rate of Change With Respect to a Rotating Body About a Fixed Axis Coriolis Acceleration Sample Problem 5.1 Sample Problem 15.9 General Plane Motion Sample Problem 15.10 Absolute and Relative Velocity in Plane Motion Motion About a Fixed Point Sample Problem 15.2 General Motion Sample Problem 15.3 Instantaneous Center of Rotation in Plane Sample Problem 15.11 Motion Three Dimensional Motion. Coriolis Accelera Sample Problem 15.4 Frame of Reference in General Motion Sample Problem 15.5 Sample Problem 15.15
15 - 2

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
Ninth Edition
15 - 3

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, = A + A = A rB r rB r aB = a A All particles have the same acceleration.
Ninth Edition
15 - 4

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 = angular velocity = k =
Ninth Edition
15 - 5

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 = tangentia l acceleration component r = radial acceleration component
Ninth Edition
15 - 6

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
Ninth Edition
15 - 7

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 or dt = Recall = dt d d 2 d = = 2 = dt d dt Uniform Rotation, = 0:
Ninth Edition
= 0 + t
Uniformly Accelerated Rotation, = constant: = 0 + t
= 0 + 0t + 1 t 2 2
2 2 = 0 + 2 ( 0 )
15 - 8

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 pulley after 2 s. Evaluate the initial tangential and normal acceleration components of D.
Ninth Edition
Cable C has a constant acceleration of 9 in/s2 and an initial velocity of 12 in/s, both directed to the right. 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.
15 - 9

Sample Problem 5.1
SOLUTION: The tangential velocity and acceleration of D are equal to the velocity and acceleration of C. ( aD ) t = aC = 9 in. s ( v ) = ( v ) = 12 in. s
Ninth Edition
( vD ) 0 = r0 ( vD ) 0
0 =
r
D 0
C 0
12 = = 4 rad s 3
( aD ) t = r ( aD ) t
=
r
9 = 3 rad s 2 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 + 1 t 2 = ( 4 rad s )( 2 s ) + 1 3 rad s 2 ( 2 s ) 2 2 2
= 14 rad
1 rev N = (14 rad ) = number of revs 2 rad vB = r = ( 5 in.)(10 rad s ) y B = r = ( 5 in.)(14 rad )
N = 2.23 rev vB = 50 in. s y B = 70 in.

15 - 10

Sample Problem 5.1
Evaluate the initial tangential and normal acceleration components of D. ( aD ) t = aC = 9 in. s
2 ( aD ) n = rD0 = ( 3 in.)( 4 rad s ) 2 = 48 in
Ninth Edition
s2
( aD ) t = 9 in.
s2
( aD ) n = 48 in.
s2
Magnitude and direction of the total acceleration, aD =
( aD ) t2 + ( aD ) 2 n
aD = 48.8 in. s 2
= 92 + 482 tan = =
( aD ) n ( aD ) t
48 9
= 79.4
15 - 11

General Plane Motion
Ninth Edition
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
15 - 12

Absolute and Relative Velocity in Plane Motion
Ninth Edition
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 v B A = k rB A v B A = r v B = v A + k rB A
15 - 13

Ninth Edition
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 = tan vA v B = v A tan vA vA = = cos v B A l
vA l cos
15 - 14

Ninth Edition
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.
15 - 15

Sample Problem 15.2
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 double gear rolls on the stationary lower rack: the velocity of its center is 1.2 m/s. Determine (a) the angular velocity of the gear, and (b) the velocities of the upper rack R and point D of the gear. The velocity for any point P on the gear may be written as
vP = v A + vP
A
Ninth Edition
= v A + k rP
Evaluate the velocities of points B and D.
15 - 16

Sample Problem 15.2
SOLUTION: The displacement of the gear center in one revolution is equal to the outer circumference. For xA > 0 (moves to right), < 0 (rotates clockwise). xA = 2 r 2 y x x A = r1
Ninth Edition
Differentiate to relate the translational and angular velocities. v A = r1 vA 1.2 m s = r1 0.150 m = k = ( 8 rad s ) k
15 - 17

Sample Problem 15.2
For any point P on the gear, vP = v A + vP
A
Ninth Edition
= v A + k rP
Velocity of the upper rack is equal to velocity of point B: vR = vB = v A + k rB A = (1.2 m s ) i + ( 8 rad s ) k ( 0.10 m ) j = (1.2 m s ) i + ( 0.8 m s ) i vR = ( 2 m s ) i
Velocity of the point D: vD = v A + k rD A = (1.2 m s ) i + ( 8 rad s ) k ( 0.150 m ) i vD = (1.2 m s ) i + (1.2 m s ) j vD = 1.697 m s
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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 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. The directions of the absolute velocity v D and the relative velocity v D B are determined from the problem geometry. The unknowns in the vector expression are the velocity magnitudes v D and v D B which may be determined from the corresponding vector triangle. The angular velocity of the connecting rod is calculated from v D B .
Ninth Edition
15 - 19

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 60 s rev = 209.4 rad s min 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 vDperpendicular to direction of the relative velocity is B BD. Compute the angle between the horizontal and the connecting rod from the law of sines. sin 40 sin = 8 in. 3 in.
Ninth Edition
= 13.95
15 - 20

Sample Problem 15.3
Ninth Edition
Determine the velocity magnitudes vD and vD B from the vector triangle.

vD B vD 628.3 in. s = = sin 53.95 sin 50 sin76.05 vD = 523.4 in. s = 43.6 ft s vD vD = vB + vD vD
B B B
vP = vD = 43.6 ft s
= 495.9 in. s = l BD 495.9 in. s l 8 in. = 62.0 rad s

B
BD =
vD
BD = ( 62.0 rad s ) k
15 - 21

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.
Ninth Edition
15 - 22

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.
Ninth Edition
15 - 23

The instantaneous center of rotation lies at the intersection of the perpendiculars to the velocity vectors through A and B . vA v v = = A v B = ( BC ) = ( l sin ) A l cos AC 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.
Ninth Edition
15 - 24

Sample Problem 15.4
SOLUTION: The point C is in contact with the stationary lower rack and, instantaneously, has zero velocity. It must be the location of the instantaneous center of rotation. Determine the angular velocity about C based on the given velocity at A. The double gear rolls on the stationary lower rack: the velocity of its center is 1.2 m/s. Determine (a) the angular velocity of the gear, and (b) the velocities of the upper rack R and point D of the gear. Evaluate the velocities at B and D based on their rotation about C.
Ninth Edition
15 - 25

Sample Problem 15.4
SOLUTION: The point C is in contact with the stationary lower rack and, instantaneously, has zero velocity. It must be the location of the instantaneous center of rotation. Determine the angular velocity about C based on the given velocity at A. v 1.2 m s v A = rA = A= = 8 rad s rA 0.15 m Evaluate the velocities at B and D based on their rotation about C. vR = vB = rB = ( 0.25 m )( 8 rad s ) rD = ( 0.15 m ) 2 = 0.2121 m vR = ( 2 m s ) i
Ninth Edition
vD = rD = ( 0.2121 m )( 8 rad s ) vD = 1.697 m s vD = (1.2i + 1.2 j ) ( m s )

15 - 26

Sample Problem 15.5
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.
Ninth Edition
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.
15 - 27

Sample Problem 15.5
SOLUTION: From Sample Problem 15.3, vB = ( 403.9i 481.3 j ) ( in. s ) vB = 628.3 in. s
Ninth Edition
= 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. vB = ( BC ) BD vB 628.3 in. s = BC 10.14 in.
B = 40 + = 53.95 D = 90 = 76.05
BC CD 8 in. = = sin 76.05 sin 53.95 sin50 BC = 10.14 in. CD = 8.44 in.
BD =
BD = 62.0 rad s
Calculate the velocity at D based on its rotation about the instantaneous center of rotation. vD = ( CD ) BD = ( 8.44 in.)( 62.0 rad s ) vP = vD = 523 in. s = 43.6 ft s
15 - 28

Absolute and Relative Acceleration in Plane Motion
Ninth Edition
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 = r a B A = k rB A t t a B A = r 2 a B A = 2 rB A n
( (
) )n
( (
) )
15 - 29

Given a A and v A , determine a B and . aB = a A + aB A = a A + aB A + aB
Ninth Edition
)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 .

15 - 30

Ninth Edition
Write a B = a A + a B
in terms of the two component equations, 0 = a A + l 2 sin l cos
+ x components:
+
2 y components: a B = l cos l sin
Solve for aB and .

15 - 31

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 vA = xA = l cos = l cos a A = A x = l 2 sin + l cos = l 2 sin + l cos y B = l cos vB = y B = l sin = l sin a B = B y = l 2 cos l sin = l 2 cos l sin
Ninth Edition
15 - 32

Sample Problem 15.6
SOLUTION: The expression of the gear position as a function of is differentiated twice to define the relationship between the translational and angular accelerations. The acceleration of each point on the gear is obtained by adding the acceleration of the gear center and the relative accelerations with respect to the center. The latter includes normal and tangential acceleration components.
Ninth Edition
The center of the double gear has a velocity and acceleration to the right of 1.2 m/s and 3 m/s2, respectively. The lower rack is stationary. Determine (a) the angular acceleration of the gear, and (b) the acceleration of points B, C, and D.
15 - 33

Sample Problem 15.6
SOLUTION: The expression of the gear position as a function of is differentiated twice to define the relationship between the translational and angular accelerations. x A = r1 v A = r1 = r1
Ninth Edition
vA 1.2 m s = = 8 rad s r1 0.150 m
a A = r1 = r1 aA 3 m s2 = = r1 0.150 m = k = 20 rad s 2 k
15 - 34

Sample Problem 15.6
The acceleration of each point is obtained by adding the acceleration of the gear center and the relative accelerations with respect to the center. The latter includes normal and tangential acceleration components. aB = a A + aB A = a A + aB A + aB A t n = a A + k rB A 2 rB A 2 2 2 = 3 m s i 20 rad s k ( 0.100 m ) j ( 8 rad s ) ( 0.100 m ) j 2 2 2 = 3 m s i + 2 m s i 6.40 m s j
Ninth Edition
) (
( (
) ( ) (
) (
aB = 5 m s 2 i 6.40 m s 2 j
) (
aB = 8.12 m s 2
15 - 35

Sample Problem 15.6
Ninth Edition
= a A + k rC A 2 rC A A = 3 m s 2 i 20 rad s 2 k ( 0.150 m ) j ( 8 rad s ) 2 ( 0.150 m ) j = 3 m s 2 i 3 m s 2 i + 9.60 m s 2 j 2 ac = 9.60 m s j aD = a A + aD A = a A + k rD A 2rD A 2 2 = 3 m s i 20 rad s k ( 0.150 m ) i ( 8 rad s ) 2 ( 0.150m ) i = 3 m s 2 i + 3 m s 2 j + 9.60 m s 2 i 2 2 aD = 12.6 m s i + 3 m s j aD = 12.95 m s 2 aC = a A + aC
( (
) ( ) (
) ( )
( (
) ( ) (
) (
) (
15 - 36

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
Ninth Edition
)t (
)n
The acceleration of B is determined from the given rotation speed of AB. Crank AG of the engine system has a constant clockwise angular velocity of 2000 rpm. For the crank position shown, determine the angular acceleration of the connecting rod BD and the acceleration of point D. The directions of the accelerations a D , a D B , and a D B are
determined from the geometry. Component equations for acceleration of point D are solved simultaneously for acceleration of D and angular acceleration of the connecting rod.
15 - 37
)t
)n

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
Ninth Edition
)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

2 aB = r AB =
2 aB = 10,962 ft s ( cos 40i sin 40 j )
3 (12 ft )( 209.4 rad s) 2 = 10,962 ft s2
15 - 38

Sample Problem 15.7
Ninth Edition
The directions of the accelerations aD , aD determined from the geometry. aD = aD i
)t , and ( aD B )n are B
From Sample Problem 15.3, BD = 62.0 rad/s, = 13.95o.

2 8 ( aD B )n = ( BD ) BD = (12 ft )( 62.0 rad s ) 2 = 2563 ft ( aD B )n = (2563 ft s2 )( cos13.95i + sin 13.95 ) j 8 ( aD B )t = ( BD ) BD = (12 ft ) BD = 0.667 BD
s2
The direction of (aD/B)t is known but the sense is not known, aD B = ( 0.667 BD ) ( sin 76.05i cos 76.05 j )
)t
15 - 39

Sample Problem 15.7
Ninth Edition
Component equations for acceleration of point D are solved simultaneously. aD = aB + aD B = aB + aD B + aD B
)t (
)n
x components: aD = 10,962 cos 40 2563 cos13.95 + 0.667 BD sin 13.95 y components: 0 = 10,962 sin 40 + 2563 sin 13.95 + 0.667 BD cos13.95 BD = 9940 rad s 2 k 2 aD = 9290 ft s i
( (
15 - 40

Sample Problem 15.8
SOLUTION: The angular velocities are determined by simultaneously solving the component equations for vD = vB + vD B The angular accelerations are determined by simultaneously solving the In the position shown, crank AB has a component equations for constant angular velocity 1 = 20 rad/s aD = aB + aD B counterclockwise. Determine the angular velocities and angular accelerations of the connecting rod BD and crank DE.
Ninth Edition
15 - 41

Sample Problem 15.8
SOLUTION: The angular velocities are determined by simultaneously solving the component equations for vD = vB + vD B vD = DE rD = DE k ( 17i + 17 j ) = 17 DE i 17 DE j vB = AB rB = 20 k ( 8i + 14 j ) = 280i + 160 j vD B = BD rD B = BD k (12i + 3 j ) = 3 BD i + 12 BD j x components: y components: 17 DE = 280 3 BD 17 DE = +160 + 12 BD DE = (11.29 rad s ) k
15 - 42
Ninth Edition
BD = ( 29.33 rad s ) k

Sample Problem 15.8
The angular accelerations are determined by simultaneously solving the component equations for aD = aB + aD B 2 aD = DE rD DE rD 2 = DE k ( 17i + 17 j ) (11.29 ) ( 17i + 17 j ) = 17 DE i 17 DE j + 2170 i 2170 j 2 2 aB = AB rB AB rB = 0 ( 20 ) ( 8i + 14 j ) = 3200i + 5600 j 2 aD B = BD rB D BD rB D = B D k (12i + 3 j ) ( 29.33) 2 (12i + 3 j ) = 3 B D i + 12 B D j 10,320i 2580 j x components: 17 DE + 3 BD = 15,690 y components: 17 DE 12 BD = 6010 2 2 BD = 645 rad s k DE = 809 rad s k
Ninth Edition
15 - 43

Rate of Change With Respect to a Rotating Frame
With respect to the rotating Oxyz frame, Q = Qx i + Q y j + Qz k x i + Q y j + Qz k Q Oxyz = Q
Ninth Edition
( )
With respect to the fixed OXYZ frame, x i + Q y j + Qz k + Qx i + Q y + Qz k Q OXYZ = Q j
( )
Frame OXYZ is fixed. Frame Oxyz rotates about fixed axis OA with angular velocity Vector function Q( t ) varies in direction and magnitude.
x i + Q y j + Qz k = Q Q Oxyz = rate of change with respect to rotating frame. If Q were fixed within Oxyz then Q OXYZ is equivalent to velocity of point in a rigid a body attached to Oxyz and Qx i + Q y + Qz k = Q j
( )
( )
With respect to the fixed OXYZ frame, Q = Q + Q
( )
OXYZ
( )
Oxyz
15 - 44

Coriolis Acceleration
Frame OXY is fixed and frame Oxy rotates with angular velocity . Position vector rP for the particle P is the same in both frames but the rate of change depends on the choice of frame. The absolute velocity of the particle P is ) OXY = r + ( r ) Oxy vP = ( r Imagine a rigid slab attached to the rotating frame Oxy or F for short. Let P be a point on the slab which corresponds instantaneously to position of particle P. v P F = ( r ) Oxy = velocity of P along its path on the slab v P ' = absolute velocity of point P on the slab Absolute velocity for the particle P may be written as v P = v P + v P F
Ninth Edition
15 - 45

Absolute acceleration for the particle P is r + (r ) OXY + d ( r ) Oxy aP = dt but, ( r ) OXY = r + ( r ) Oxy
Ninth Edition
v P = r + ( r ) Oxy = v P + v P F
d ) ) ( r Oxy = ( r Oxy + ( r ) Oxy dt r + ( r ) + 2 ( r ) Oxy + ( ) Oxy aP = r Utilizing the conceptual point P on the slab, a P = r + ( r ) a P F = ( ) r
Oxy
Absolute acceleration for the particle P becomes a P = a P + a P F + 2 ( r ) Oxy = a P + a P F + ac ) ac = 2 ( r Oxy = 2 v P F = Coriolis acceleration 15 - 46

Consider a collar P which is made to slide at constant relative velocity u along rod OB. The rod is rotating at a constant angular velocity . The point A on the rod corresponds to the instantaneous position of P. Absolute acceleration of the collar is a P = a A + a P F + ac where a A = r + ( r ) a A = r 2 a P F = ( ) Oxy = 0 r ac = 2 v P F ac = 2u The absolute acceleration consists of the radial and tangential vectors shown
Ninth Edition
15 - 47

Change in velocity over t is represented by the sum of three vectors v = RR + TT + T T TT is due to change in direction of the velocity of point A on the rod, TT lim = lim v A = r = r 2 = a A t t 0 t t 0 a = r 2 recall, a = r + ( r )
A A
Ninth Edition
at t , at t + t ,
v = vA + u v = v A + u
RR and T T result from combined effects of relative motion of P and rotation of the rod RR T T r = lim u lim + + t t 0 t t t 0 t = u + u = 2u ac = 2u recall, ac = 2 v P F
15 - 48

Sample Problem 15.9
SOLUTION: The absolute velocity of the point P may be written as v P = v P + v P s Magnitude and direction of velocity v P of pin P are calculated from the radius and angular velocity of disk D. Direction of velocity v P of point P on S coinciding with P is Disk D of the Geneva mechanism rotates perpendicular to radius OP. with constant counterclockwise angular velocity D = 10 rad/s. Direction of velocity v P s of P with respect to S is parallel to the slot. o At the instant when = 150 , determine (a) the angular velocity of disk S, and (b) Solve the vector triangle for the the velocity of pin P relative to disk S. angular velocity of S and relative velocity of P.
Ninth Edition
15 - 49

Sample Problem 15.9
SOLUTION: The absolute velocity of the point P may be written as vP = vP + vP s Magnitude and direction of absolute velocity of pin P are calculated from radius and angular velocity of disk D. vP = R D = ( 50 mm )(10 rad s ) = 500 mm s Direction of velocity of P with respect to S is parallel to slot. From the law of cosines, r 2 = R 2 + l 2 2 Rl cos 30 = 0.551R 2 From the law of cosines, sin sin 30 sin 30 = sin = R r 0.742 r = 37.1 mm
Ninth Edition
= 42.4
The interior angle of the vector triangle is = 90 42.4 30 = 17.6

15 - 50

Sample Problem 15.9
Direction of velocity of point P on S coinciding with P is perpendicular to radius OP. From the velocity triangle, vP = vP sin = ( 500 mm s ) sin 17.6 = 151.2 mm s = r s
Ninth Edition
s =
151.2 mm s 37.1 mm
s = ( 4.08 rad s ) k
vP s = vP cos = ( 500 m s ) cos17.6 vP s = ( 477 m s ) ( cos 42.4i sin 42.4 j )
vP = 500 mm s
15 - 51

Sample Problem 15.10
SOLUTION: The absolute acceleration of the pin P may be expressed as a P = a P + a P s + ac The instantaneous angular velocity of Disk S is determined as in Sample Problem 15.9. The only unknown involved in the acceleration equation is the instantaneous angular acceleration of Disk S.
Ninth Edition
In the Geneva mechanism, disk D rotates with a constant counter Resolve each acceleration term into the clockwise angular velocity of 10 component parallel to the slot. Solve for rad/s. At the instant when = 150o, the angular acceleration of Disk S. determine angular acceleration of disk S.
15 - 52

SOLUTION: Absolute acceleration of the pin P may be expressed as aP = aP + aP s + ac From Sample Problem 15.9. = 42.4 S = ( 4.08 rad s ) k vP s = ( 477 mm s ) ( cos 42.4i sin 42.4 j ) Considering each term in the acceleration equation,
2 aP = R D = ( 500 mm )(10 rad s ) 2 = 5000 mm s 2 2 aP = 5000 mm s ( cos 30i sin 30 j ) aP = ( aP ) n + ( aP ) t 2 ( aP ) n = r S ( cos 42.4i sin 42.4 j ) ( aP ) t = ( r S ) ( sin 42.4i + cos 42.4 j ) ( aP ) t = ( S )( 37.1mm ) ( sin 42.4i + cos 42.4 j )
Ninth Edition
( )
note: S may be positive or negative

15 - 53

The direction of the Coriolis acceleration is obtained by vP s rotating the direction of the relative velocity by 90o in the sense of S. ac = 2 S vP s ( sin 42.4i + cos 42.4 j ) = 2( 4.08 rad s )( 477 mm s ) ( sin 42.4i + cos 42.4 j ) = 3890 mm s 2 ( sin 42.4i + cos 42.4 j )
Ninth Edition
The relative acceleration aP s must be parallel to the slot.

Equating components of the acceleration terms perpendicular to the slot, 37.1 S + 3890 5000 cos17.7 = 0
S = 233 rad s
S = ( 233 rad s ) k
15 - 54

Motion About a Fixed Point
The most general displacement of a rigid body with a fixed point O is equivalent to a rotation of the body about an axis through O. With the instantaneous axis of rotation and angular velocity , the velocity of a particle P of the body is dr v= = r dt and the acceleration of the particle P is d a = r + ( r ) = . dt The angular acceleration represents the velocity of . the tip of As the vector moves within the body and in space, it generates a body cone and space cone which are tangent along the instantaneous axis of rotation. Angular velocities have magnitude and direction and obey parallelogram law of addition. They are vectors.
Ninth Edition
15 - 55

General Motion
For particles A and B of a rigid body, vB = v A + vB A Particle A is fixed within the body and motion of the body relative to AXYZ is the motion of a body with a fixed point v B = v A + rB A Similarly, the acceleration of the particle P is aB = a A + aB A = a A + rB A + rB A
Ninth Edition
Most general motion of a rigid body is equivalent to: - a translation in which all particles have the same velocity and acceleration of a reference particle A, and - of a motion in which particle A is assumed fixed.
15 - 56

SOLUTION: With 1 = 0.30 j 2 = 0.50k ( cos 30i + sin 30 j ) r = 12 = 10.39i + 6 j The crane rotates with a constant angular velocity 1 = 0.30 rad/s and the boom is being raised with a constant angular velocity 2 = 0.50 rad/s. The length of the boom is l = 12 m. Determine: angular velocity of the boom, angular acceleration of the boom, velocity of the boom tip, and acceleration of the boom tip. Angular velocity of the boom, = 1 + 2 Angular acceleration of the boom, 1 + 2 = 2 = ( 2 ) = Oxyz + 2 = 1 2 Velocity of boom tip, v = r Acceleration of boom tip, a = r + ( r ) = r + v
15 - 57
Ninth Edition

SOLUTION: Angular velocity of the boom, = 1 + 2 ( 0.30 rad s ) j + ( 0.50 rad s ) k = Angular acceleration of the boom, 1 + 2 = 2 = ( 2 ) = Oxyz + 2 = 1 2 = ( 0.30 rad s ) j ( 0.50 rad s ) k 2 = 0.15 rad s i
Ninth Edition
1 = 0.30 j 2 = 0.50k r = 10.39i + 6 j
Velocity of boom tip, i j k v = r = 0 0.3 0.5 10.39 6 0 v = ( 3.54 m s ) i + ( 5.20 m s ) j ( 3.12 m s ) k
15 - 58

Acceleration of boom tip, a = r + ( r ) = r + v i j k i j k a = 0.15 0 0+ 0 0.30 0.50 10.39 6 0 3 5.20 3.12 = 0.90k 0.94i 2.60i 1.50 j + 0.90k 2 2 2 a = 3.54 m s i 1.50 m s j + 1.80 m s k
Ninth Edition
) (
) (
1 = 0.30 j 2 = 0.50k r = 10.39i + 6 j

15 - 59

Three-Dimensional Motion. Coriolis Acceleration
With respect to the fixed frame OXYZ and rotating frame Oxyz, Q = Q + Q
Ninth Edition
( )
OXYZ
( )
Oxyz
Consider motion of particle P relative to a rotating frame Oxyz or F for short. The absolute velocity can be expressed as v P = r + ( r ) Oxyz = v P + v P F The absolute acceleration can be expressed as r + ( r ) + 2 ( r ) aP = + ( ) Oxyz r Oxyz = a p + a P F + ac ) ac = 2 ( r Oxyz = 2 v P F = Coriolis acceleration
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Frame of Reference in General Motion
With respect to OXYZ and AXYZ, rP = rA + rP A vP = v A + vP A aP = a A + aP A The velocity and acceleration of P relative to AXYZ can be found in terms of the velocity and acceleration of P relative to Axyz. v P = v A + rP A + rP A Axyz = v P + v P F Consider: r + r aP = a A + P A P A - fixed frame OXYZ, - translating frame AXYZ, and + 2 rP A + P A r Axyz Axyz - translating and rotating frame Axyz = a P + a P F + ac or F.
Ninth Edition
15 - 61

SOLUTION: Define a fixed reference frame OXYZ at O and a moving reference frame Axyz or F attached to the arm at A. With P of the moving reference frame coinciding with P, the velocity of the point P is found from v P = v P + v P F The acceleration of P is found from a P = a P + a P F + ac The angular velocity and angular acceleration of the disk are = +D F ) + = ( F
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Ninth Edition
For the disk mounted on the arm, the indicated angular rotation rates are constant. Determine: the velocity of the point P, the acceleration of P, and angular velocity and angular acceleration of the disk.

SOLUTION: Define a fixed reference frame OXYZ at O and a moving reference frame Axyz or F attached to the arm at A.
Ninth Edition
r = Li + Rj = 1 j
rP A = Rj D F = 2k
With P of the moving reference frame coinciding with P, the velocity of the point P is found from
v P = v P + v P F v P = r = 1 j ( Li + Rj ) = 1 L k v P F = D F rP A = 2 k Rj = 2 R i v P = 2 R i 1 L k
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The acceleration of P is found from
Ninth Edition
a P = a P + a P F + ac 2 a P = ( r ) = 1 j ( 1 Lk ) = 1 Li a P F = D F D F rP A 2 = 2 k ( 2 R i ) = 2 R j ac = 2 v P F = 21 j ( 2 R i ) = 21 2 Rk 2 2 a P = 1 L i 2 Rj + 21 2 Rk
Angular velocity and acceleration of the disk,
= +D F ) + = ( F = 1 j (1 j + 2 k )
= 1 j + 2 k = 1 2 i
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Ninth Edition

VECTOR MECHANICS FOR ENGINEERS:

Kinematics of Rigid Bodies

2010 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

2010 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

2010 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

2010 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

2010 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

2010 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

2010 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

Vector Mechanics for Engineers: Dynamics

2010 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

= 0 + t = 4 rad s + 3 rad s 2 ( 2 s ) = 10 rad s

N = 2.23 rev vB = 50 in. s y B = 70 in.

Vector Mechanics for Engineers: Dynamics

Magnitude and direction of the total acceleration, aD =

2010 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

Vector Mechanics for Engineers: Dynamics

Vector Mechanics for Engineers: Dynamics

2010 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

Vector Mechanics for Engineers: Dynamics

Evaluate the velocities of points B and D.

2010 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

2010 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

Velocity of the point D: vD = v A + k rD A = (1.2 m s ) i + ( 8 rad s ) k ( 0.150 m ) i vD = (1.2 m s ) i + (1.2 m s ) j vD = 1.697 m s

2010 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

2010 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

2010 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

Determine the velocity magnitudes vD and vD B from the vector triangle.

= 495.9 in. s = l BD 495.9 in. s l 8 in. = 62.0 rad s

2010 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

2010 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

2010 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

2010 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

2010 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

vD = rD = ( 0.2121 m )( 8 rad s ) vD = 1.697 m s vD = (1.2i + 1.2 j ) ( m s )

Vector Mechanics for Engineers: Dynamics

2010 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

2010 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

2010 The McGraw-Hill Companies, Inc. All rights reserved.