Dinamika

TKM 2302 / 3 SKS

Dr. Indraswari Kusumaningtyas
27-10-2014

Jurusan Teknik Mesin dan Industri, Fakultas Teknik, Universitas Gadjah Mada

1 Kinematika Benda Tegar

Rigid body is a system of particles which distances between
them do not change.
Kinematics of a rigid body discusses the relations between time
and the positions, velocities and accelerations of the particles
forming a rigid body.
A rigid body undergoes a plane motion if all parts of the body
moves in parallel planes. Then the motion plane is the plane that
has the centre of mass, and we can assume the body to be 2D.

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Types of Rigid Body Motion

1. Translation
Any straight line inside the body keeps the same direction during
the motion.
All the particles forming the body move along parallel paths.

Rectilinear Translation
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Curvilinear Translation
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Types of Rigid Body Motion

2. Rotation about a fixed axis
The particles forming the rigid body move in parallel planes along
circles centered on the same fixed axis.
If this axis of rotation intersects the rigid body, the particles located
on the axis have zero velocity and zero acceleration.
See the difference

Curvilinear Translation
- Parallel Circles
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Rotation
- Concentric circles

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Types of Rigid Body Motion

3. General plane motion
All the particles of the body move in parallel planes.
Any plane motion which is neither a rotation nor a translation is
referred to as a general plane motion.

A
B

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Types of Rigid Body Motion

4. Motion about a fixed point
The three-dimensional motion of a rigid body attached at a fixed
point O

Not a plane motion 3D

Any motion of a rigid body which does not fall in any of the
categories above is referred to as a general motion.
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Translation
Consider a rigid body in translation:
The 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:

Because A and B belong to the same rigid

body, then rB/A is constant in direction and
magnitude. Its derivative with respect to
time is zero.

rB
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Translation
Differentiating with respect to time,

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rB rA rB

with rB

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Translation

When a rigid body is in translation, all the points of the body have
the same velocity and the same acceleration at any given instant.
Rectilinear translation: all particles of the body move along
parallel straight lines, and their velocity and acceleration keep
the same direction during the entire motion.
Curvilinear translation: velocity and acceleration change in
direction as well as in magnitude at every instant.
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Rotation about a Fixed Axis

Consider the rotation of a rigid body about a fixed axis AA. The
angle is the angular coordinate of the position of P.

The length s of the arc described by P when

the body rotates through an angle is

Hence, the magnitude of the velocity is

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Rotation about a Fixed Axis

The vector of the velocity is

Where

is the angular velocity

Acceleration

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Rotation about a Fixed Axis

The vector of the acceleration is

Where

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is the angular acceleration

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Rotation of a Representative Slab

The rotation of a rigid body about a fixed
axis can be defined by the motion of a
representative slab in a reference plane
perpendicular to the axis of rotation.

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Rotation of a Representative Slab

Position of line 2 with respect to
line 1:

2 = 1 +
= constant in a rigid body

Hence, derivative with respect

to time:
1 = 2

and

1 = 2

All lines on a rigid body in its plane of motion have the same
angular position, angular velocity and angular acceleration.
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Equations for Rotation

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Contoh 1

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Contoh 1

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Contoh 1

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Contoh 1

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Contoh 1

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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 a rotation

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General Plane Motion

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General Plane Motion

Consider the general motion of a
representative slab which displaces
particles A1 and B1 to A2 and B2.
The motion can be divided into two
parts:
Translation from A1-B1 to A2-B1
Rotation of B1 to B2 about A2
Relative motion of a particle with respect to a moving frame:
To an observer moving with A but not rotating, particle B will
appear to describe an arc of circle centered at A.
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Absolute and Relative Velocity

Any plane motion can be replaced by a translation of an arbitrary
reference point A and a simultaneous rotation about A.

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Absolute and Relative Velocity

Assuming the velocity vA of end A is known, determine the velocity vB

of end B and the angular velocity of the rod in terms of vA, l, and .
The direction of vB and vB/A are known. Complete the velocity diagram
to find the magnitude.
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Absolute and Relative Velocity

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Absolute and Relative Velocity

Selecting point B as the reference point and solving for vA and
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.

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Absolute and Relative Velocity

Angular velocity of the rod in its rotation about B is the same as
in its rotation about A.
Angular velocity is not dependent on the choice of reference point.

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Contoh 2

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Contoh 2

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Contoh 2

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Contoh 2

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Contoh 3

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Contoh 3

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Contoh 3

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Contoh 3

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