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48640
Machine Dynamics
Dr Dongbin Wei

School of Electrical, Mechanical and Mechatronic Systems
Faculty of Engineering and Information Technology
University of Technology, Sydney
Office: Building 2, Level 6, Room 619
Email: dongbin.wei@uts.edu.au
WEEK 2
Based on Copyright Materials of Pearson Education South Asia Pte Ltd
Planar Kinematics of Rigid Body (Chapter 16)
Displacement, Velocity, Acceleration

Planar Kinetics of Rigid Body
Kinetic Equation of Motion (Chapter 17)
Acceleration, Force
Work and Energy (Chapter 18)
Force, Velocity, Displacement
Impulse and Momentum (Chapter 19)
Force, Velocity, Time
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Three various calculation methods can be adopted to
determine the velocity and/or acceleration of a rigid body
undergoing general plane motion.
Absolute Motion Analysis for determining both
velocity and acceleration
Relative Motion Analysis
Velocity
Acceleration
Instantaneous Centre (IC) of zero velocity for
determining velocity
Two or more methods may be applicable for a certain
problem, however, they have various difficulties.
PLANAR RIGID BODY MOTION:
GENERAL PLANE MOTION
Objectives:
Students will be able to:
1. Describe the velocity of a rigid body in terms of translation
and rotation components.
2. Perform a relative-motion velocity analysis of a point on the
body.
RELATIVE MOTION ANALYSIS: VELOCITY
Contents:
Translation and Rotation
Components of Velocity
Relative Velocity Analysis
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APPLICATIONS
As the slider block A moves horizontally to the left with
v
A
, it causes the link CB to rotate counterclockwise. Thus
v
B
is directed tangent to its circular path.
Which link is undergoing general plane motion? Link AB
or link BC?
How can the angular velocity, e, of link AB be found?
Planetary gear systems are used in
many automobile automatic
transmissions. By locking or releasing
different gears, this system can
operate the car at different speeds.
How can we relate the angular velocities of the
various gears in the system?
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16.5 Relative-Motion Analysis: Velocity
The general plane motion of a rigid body can be a
combination of translation and rotation
We use a relative-motion analysis involving two sets
of coordinate axes
x - y coordinate system has a known motion
The axes of this coordinate
system will only be allowed
to translate with respect to
the fixed frame
Here x - y is translating
coordinate system (or frame
or reference)
Position
Position vector r
A
specifies the location of the base
point A, and the r
B/A
locates point B with respect to
point A
By vector addition, the position of B is

Displacement
A and B undergo
displacements dr
A
and dr
B
A B A B /
r r r

+ =
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Point A is called the base point in this analysis. It generally
has a known motion. The x'- y frame translates with the
body, but does not rotate. The displacement of point B
A B A B
d d d
/
r r r

+ =
due to
rotation
about A
due to
translation
about A
due to translation
and rotation
x-y frame provides
significant convenience
to study the rotation of
point B about A.
Velocity
Relationship between the velocities of points A and B
dt
d
dt
d
dt
d
A B A B /
r r r

+ =
A B A B /
v v v

+ =
Since the body AB is taken as rotating about A,

Here only has a k component since the axis of rotation is
perpendicular to the plane of translation.
or
A B A B A B
r dt r d
/ / /
/

= = e v
Sometimes it
may be
impossible to
adopt this
equation
directly and
we have to go
back to
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When using the relative velocity equation, points A and B
should generally be points on the body with a known
motion. Often these points are pin connections in
linkages.
Point A on link AB must move along
a horizontal path, whereas point B
moves on a circular path.
The directions of

and

are
known since they are always tangent
to their paths of motion.
Case A
v
B
= v
A
+ e r
B/A

Furthermore, point B at the center of the wheel moves
along a horizontal path. Thus,

has a known direction,

e.g., parallel to the surface.
When a wheel rolls without slipping, point A is often
selected to be at the point of contact with the ground.

Since there is no slipping, point A has zero velocity.
A B A B /
r v v

+ = e
Case B
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3. If the solution yields a negative answer, the sense of
direction of the vector is opposite to that assumed.
2. Express the vectors in Cartesian vector form (CVN) and
substitute them into v
B
= v
A
+ r
B/A
. Evaluate the
cross product and equate respective i and j
components to obtain two scalar equations.
1. Establish the fixed x - y coordinate directions and draw
the kinematic diagram of the body, showing
the vectors v
A
, v
B
, r
B/A
and . If the magnitudes are
unknown, the sense of direction may be assumed.
Procedure for Analysis
VECTOR ANALYSIS
It is possible to determine the directions of some
parameters by observation even their magnitudes are
unknown.

It is OK to show the observed correct directions in the
kinematic diagram.

However, when we do vector analysis, we can always
assume the direction of these parameters that have
unknown parameters (no matter how we express them
in the kinematic diagram). The final answer from the
vector analysis can show the correct sense
automatically.
VECTOR ANALYSIS
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3. Write the scalar equations from the x and y
components of these graphical representations of the
vectors. Solve for the unknowns.
1. Establish the fixed x-y coordinate directions and draw a
kinematic diagram for the body. Then establish
the magnitude and direction of the relative velocity
vector
/
.
2. Write the equation v
B
= v
A
+ v
B/A
. In the kinematic
diagram, represent the vectors graphically by showing
their magnitudes and directions underneath each
term.
Procedure for Analysis
SCALAR ANALYSIS
Kinematic Diagram(s)
Must Be Presented
in Solution
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READING QUIZ
1. When a relative-motion analysis involving two sets of coordinate
axes is used, the x - y coordinate system will
A) be attached to the selected point for analysis.
B) rotate with the body.
C) not be allowed to translate with respect to the fixed frame.
D) None of the above.
2. In the relative velocity equation, v
B/A
is
A) the relative velocity of B with respect to A.
B) due to the rotational motion.
C) e r
B/A
.
D) All of the above.
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 = 45.
Example I (Example 16.6)
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Solution
Vector Analysis
Kinematic Diagram
Since points A and B are restricted to move and v
A
is
directed downward, v
B
must be directed horizontally to
the right.
This motion causes the link to
rotate CCW
Apply the velocity equation


to points A and B in order to
solve for the two unknown
magnitudes v
B
and
A B A B /
v v v

+ =
Solution
Vector Analysis
Velocity Equation
We have



Equating the i and j components gives

i j j i
j i k j i
r v v





45 cos 2 . 0 45 sin 2 . 0 2
)] 45 cos 2 . 0 45 sin 2 . 0 ( [ 2
/
e e
e
e
+ + =
+ =
+ =
B
B
A B A B
v
v
= = + =
=
m/s 2 , rad/s 1 . 14 45 sin 2 . 0 2 0
45 cos 2 . 0
B
B
v
v
e e
e

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The collar C is moving downward with a velocity of 2 m/s.
Determine the angular velocity of CB at this instant.
Example II (Example 16.8)
Only know

Two unknown

and
so two equations expected
Solution
Vector Analysis
Kinematic Diagram
CB and AB rotate counterclockwise.
Velocity Equation
Link CB (general plane motion):
= =
+ =
=
+ + =
+ =
+ =
m/s 2 and rad/s 10
2 . 0 2 0
2 . 0
2 . 0 2 . 0 2
) 2 . 0 2 . 0 ( 2
/
B CB
CB
CB B
CB CB B
CB B
C B CB C B
v
v
v
v
e
e
e
e e
e
e
i j j i
j i k j i
r v v



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Solution
Velocity Equation
Link AB (rotation about a fixed axis)





rad/s 10
2 . 0 2
) 2 . 0 ( 2
=
=
=
=
AB
AB
AB
B AB B
e
e
e
e
j k i
r v


1. Which equation could be used to find
the velocity of the center of the gear, C,
if the velocity v
A
is known?

A) v
B
= v
A
+ e
gear
r
B/A
B) v
A
= v
C
+ e
gear
r
A/C

C) v
B
= v
C
+ e
gear
r
C/B
D) v
A
= v
C
+ e
gear
r
C/A
v
A
2. If the bars velocity at A is 3 m/s, what
base point (first term on the RHS of the
velocity equation) would be best used to
simplify finding the bars angular velocity
when u = 60?
A) A B) B
C) C D) No difference.
A
4 m
B
u
C
CONCEPT QUIZ
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Given:
Roller A is moving to the right at 3
m/s.
Find:
The velocity of B at the instant u
= 30.

1. Establish the fixed x-y directions and draw a kinematic
diagram of the bar and rollers.
2. Express each of the velocity vectors for A and B in
terms of their i, j, k components and solve
Example III
A B A B /
r v v

+ = e
Plan:
Equating the i and j components gives:
0 = 3 0.75
-v
B
= 1.299
Express the velocity vectors in CVN
v
B
= v
A
+ r
B/A
-v
B
j

= 3 i + [ k
(-1.5cos30i +1.5sin 30j)]
-v
B
j

= 3 i 1.299 j 0.75 i
Solution:

Solving: = 4 rad/s or

= 4 rad/s k
v
B
= 5.2 m/s or v
B
= -5.2 m/s j
y
Kinematic diagram:
y
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Given:
Crank rotates OA with an
angular velocity of 12 rad/s.
Find:
The velocity of piston B and the
angular velocity of rod AB.

Notice that point A moves on a circular path. The
directions of v
A
is tangent to its path of motion.
Draw a kinematic diagram of rod AB and use
v
B
= v
A
+
AB
r
B/A

Example IV
Plan:
By comparing the i, j components:
i: 0 = -3.6 + 0.3
AB

AB
= 12 rad/s
j: v
B
= 0.5196
AB
v
B
= 6.24 m/s
Rod AB. Write the relative-velocity equation:
v
B
= v
A
+
AB
r
B/A
Since crank OA rotates with an
angular velocity of 12 rad/s, the
velocity at A will be:

v
A
= -0.3(12) i = -3.6 i m/s
Kinematic diagram of AB
v
B
j

= -3.6 i +
AB
k (0.6cos30 i 0.6sin30 j )
v
B
j

= -3.6 i + 0.5196
AB
j + 0.3
AB
i
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GROUP PROBLEM SOLVING
Given:
The shaper mechanism is designed to
give a slow cutting stroke and a quick
return to a blade attached to the
slider at C. The link AB is rotating at

AB
= 4 rad/s.

Notice that link AB rotates about a fixed point A. The
directions of v
B
is tangent to its path of motion. Draw a
kinematic diagram of rod BC. Then, apply the relative
velocity equations to the rod and solve for unknowns.
Find:
The velocity of slider block C when u = 60.
Plan:
Solution:
Draw a kinematic diagram of rod BC

Since link AB is rotating at
AB
= 4 rad/s,
the velocity at point B will be:
v
B
= 4 (300) = 1200 mm/s
At u = 60, v
B
= -1200 cos 30 i + 1200 sin 30 j
= (-1039 i + 600 j) mm/s
Notice that the slider
block C has a
horizontal motion.
x
y
v
B

v
C

r
C/B

e
BC

45
30
B
C
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Apply the relative velocity equation in order to find the
velocity at C.
v
C
= v
B
+
BC
r
C/B

BC
= 4.8 rad/s
v
C
= 1639 mm/s = 1639 mm/s
x
y
v
B

v
C

r
C/B

w
BC

45
30
B
C
v
C
i = (- 1039 i + 600 j)
+
BC
k (-125 cos 45 i + 125 sin 45 j)
v
C
i = (1039 125
BC
sin 45)i + (600 125
BC
cos 45)j
Equating the i and j components yields:
v
C
= 1039 125
BC
sin 45
0 = 600 125
BC
cos 45
1. If the disk is moving with a velocity at
point O of 15 m/s and e = 2 rad/s,
determine the velocity at A.
A) 0 m/s B) 4 m/s
C) 15 m/s D) 11 m/s
2. If the velocity at A is zero, then determine the
angular velocity, e.
A) 30 rad/s B) 0 rad/s
C) 7.5 rad/s D) 15 rad/s
2 m
V=15 m/s
e
A
O
ATTENTION QUIZ