MAE 364

Kinematics and
Dynamics of Machines
Dr. Jagadeep Thota

Chapter 2:
Motion

Overview
In this chapter we will be studying
motion of bodies AND motion of points
on the bodies.
Linear and angular displacement.
Linear and angular velocity.
Linear and angular acceleration.
Normal and tangential acceleration.
Relative motion
Line of transmission.
MAE 364: Motion

JT

***Note***

Points (even on a rotating body) will

ONLY have linear motion.
Bodies can have linear OR angular
motion.
Very Important. You will need to remember
this through out the semester.
MAE 364: Motion

JT

Linear Displacement
Displacement of a point is the change of its position and is a
vector quantity.
Consider the motion of point
P along the path MN from
position B to position C.
This is linear displacement of
point P.
This can be expressed as a
vector equation,

=
Magnitude of the above
vector (linear displacement),

()2 + ()2

Direction of the vector w.r.t

x-axis,

MAE 364: Motion

JT

Angular Displacement
Consider a body rotating about the fixed axis O and let P be
a point fixed in the body.

As P moves to P, the
angular displacement
of the line OP or the
body itself is,
=

MAE 364: Motion

JT

Linear Velocity
Linear velocity is the time rate of change of linear
displacement.

Let us assume point P

moves from position B to
position C in time .
The average velocity during
this time interval is,

The instantaneous linear

velocity of point P, when it
is at position B is,

Linear velocity is directed

tangent to the path of
motion.
MAE 364: Motion

JT

Angular Velocity
Consider a body rotating about the fixed axis O and let P be
a point fixed in the body.
Angular displacement of the
body (or line OP) is .
Let us assume the angular
displacement of the body
occurs in a time .
Then, the average angular
velocity of the body during this
time interval is,

=
The instantaneous angular velocity of the body for the position OP is,

=
MAE 364: Motion

JT

Relation Between Linear and Angular Velocity

Point P has a radius of rotation R equal to length OP.
V is the linear velocity of point P and is tangent to the path PP`.
Hence, perpendicular to the radius R.
Angular displacement, , is very small
and is expressed in radians.
Therefore, the arc length PP` is,

= .
But, the arc length PP` is the linear
displacement of point P.

= = .
Linear velocity is given as,

Therefore, the linear velocity is related to

the angular velocity as shown,

=
=
=

= =

MAE 364: Motion

JT

Example 1: Linear Velocity

Determine the velocity of point P if the square plate is
rotating at a rate of 80 rpm clockwise. Magnitude & Direction!

Solution:

Convert from rpm to rad/s,

2
2(80 )
=
=
= 8.38 /
60
60

Find the radius of rotation, which is distance between

the fixed point in the body about which the body is
rotating to the point of interest which is P.

=
= =

22 + 22 =

8 = 2 2

2 2
=
=
2
2

Velocity of point P,
= =
MAE 364: Motion

2 8.38 = 11.85 /

Direction?
Linear velocity is always
tangent to the path of
motion OR perpendicular to
radius of rotation.
Therefore, direction is

JT

Linear Acceleration
Linear acceleration is the time rate of change of linear velocity.
Let the initial velocity of a point be Vo and the velocity after a time
interval be V.
Then, the average linear acceleration during the time interval is,

=
=

The instantaneous linear acceleration is,

2
=
=

2
MAE 364: Motion

JT

Angular Acceleration
Angular acceleration is the time rate change of angular
velocity,

=


=

Angular displacement, velocity, and acceleration are either

CW (clockwise) or CCW (counter-clockwise).

Throughout this course, CCW is considered +ve, and CW

as ve.
MAE 364: Motion

JT

Normal and Tangential Acceleration

A point can have acceleration in a direction either
normal, tangential, or both to its path of motion.

If a point has curvilinear motion, it will have a

normal acceleration resulting from a change in
direction of its linear velocity.
If the magnitude of the linear velocity changes, the point will
have a tangential acceleration.

A point having rectilinear motion has no normal

acceleration since its linear velocity does not
change direction.
It will have a tangential acceleration if the linear velocity
changes in magnitude.
MAE 364: Motion

JT

Velocity Diagram
Velocity is tangent to path

MAE 364: Motion

JT

Tangential Acceleration
The tangential acceleration of a point is the time rate
change of the magnitude of its linear velocity.

=
()

, =

=
MAE 364: Motion

JT

, =

Normal Acceleration
Normal acceleration of a point is the time rate of change of
its velocity in a direction normal to the path.

From figure,

= .
=

= 2

, =

MAE 364: Motion

JT

, =

Resultant Acceleration
Magnitude of the resultant acceleration,

A (A ) (A )
n 2

t 2

Direction of the resultant acceleration,

t

A
tan n
A

A
tan t
A

MAE 364: Motion

JT

Example 2: Acceleration
The square body is rotating about its center as shown. The body is
rotating at a rate of 20 rad/s CW and it is speeding up at the rate of 400
rad/s/s. Determine the acceleration of point P. Magnitude and Direction!
Solution:

At
Ap

Given,
= 20 /

= 400 /

An

Since the path of point P is going to be curvilinear and the

body is subjected to angular acceleration, the point P will
have both normal and tangential acceleration.
Normal acceleration,
Acceleration magnitude,

2
2
= . = 2 20 = 566 2
=

Tangential acceleration,
= . =

2 (400) = 566 2

Acceleration direction,
= 1

= /
MAE 364: Motion

+ = 800

JT

1 1 = 45
=

Absolute Motion
Absolute motion is the motion of a body/point in relation to
some other body/point which is at rest.

In the previous slides, we considered the motion of a point

in relation to some fixed point.
Thus we have been discussing absolute motion till now.
In mechanics and kinematics, we assume earth to be fixed.
Hence, the motion of a body in relation to the earth or
ground is absolute motion.
In vector form it is represented as,
=

MAE 364: Motion

JT

Relative Motion
Motion of a body or point as observed from another point or
body.
The other body or point may be stationary.
The other body or point may be moving.

A body has motion relative to another body only if there is

difference in their absolute motions.
The velocity of a body M relative to a body N is the absolute velocity of M
minus the absolute velocity of N.

/ =

= /

The absolute motion can also be written in relative motion format as shown

= /
The above equation represents absolute velocity of point B relative to a fixed or stationary point O.
Usually, when writing absolute motion we neglect the relative or second subscript term.
MAE 364: Motion

JT

Relative Motion illustration

Consider two automobiles A and B travelling with velocities
of 60 km/h and 40 km/h.
= 60 /

= 40 /

Let and denote the absolute velocities of A and B

respectively.
The velocity of automobile A relative to automobile B is
given as,
/ = = = 60 40 = 20 /
In vector diagram form,

/ = 20 /

MAE 364: Motion

+O

JT

Relative Motion illustration

So, in the previous illustration, the velocity of A relative to B
is the velocity that A would appear to have to an observer in
B if the observer were to imagine that B were at rest.
To the observer in B, then A would appear to be moving to
the left at 20 km/h.

Now, let us look at the velocity of B relative to A,

/ = = = 40 60 = 20 /
In vector diagram format,
O+

/ = 20 /

To an observer in A, the car B would appear to be moving to

the right at 20 km/h.
MAE 364: Motion

JT

Vector Concept
In a vector equation, terms can be transposed, provided
their signs are changed.
/ =

= /
= /

If the subscripts are reversed on a vector in a vector

equation, the sign of the vector must be changed.
/ =
= /
= /

MAE 364: Motion

JT

Example 3: Relative Motion

Determine the velocity of P relative to point Q if the plate is
rotating at the rate of 100 rad/s CW. Magnitude & Direction!

Solution:
Given, = 100 /
Find the absolute velocity of point P,
= / = = . = 2 100 = 141.4 /

45

Find the absolute velocity of point Q,

= / = = . = 2 100 = 141.4 /

135

Velocity of P relative to Q,
/ = = =

/ = 200

MAE 364: Motion

2 + 2 = 200 /
+

JT

Example 4: Relative Motion

Same question as Example 3.
Solution:
This is an alternate procedure for solving the previous example.
Since, we need to find the velocity of P relative to Q, the point Q can be
assumed to be a stationary point relative to P.
Then can be taken as the radius of rotation R.
Then using the relationship between linear and angular velocity, the
velocity of P relative to Q can be computed,
VP/Q

/ = . = = 2 100 = 200 /
Direction: The linear velocity of a point is always
perpendicular to its R.

/ = 200

MAE 364: Motion

JT

Mechanisms
In the below mechanisms,
Link 2 is called the driver as input motion is given to this link.
Link 4 is the driven member (output motion), and hence called the follower.
Link 3 is called the coupler, as it transmits motion from the driver to the
follower.

Coupler link is Flexible

No Coupler link;
Direct Contact

Coupler link is Rigid

MAE 364: Motion

JT

Line of Transmission
Motion is transmitted from the driver to the follower along
the line of transmission.

Line of Transmission

Line of Centers

MAE 364: Motion

JT

Angular Velocity Ratio

O4

O2

P is outside line segment O2O4 2 and 4 have SAME directions

P is inside line segment O2O4 2 and 4 have OPPOSITE directions
MAE 364: Motion

JT

Example 5: Angular Velocity Ratio

For the below mechanism, the angular velocity of the driver
is given to be 200 rpm CW. Find the angular velocity of the
follower.
Solution:

4 O2 P 32

2
2 O4 P 16
MAE 364: Motion

O4

O2

4 2 2 400 rpm CW
JT

Line of Transmission
Common
Tangent

Point of
Contact
Line of Transmission

Line of Centers

MAE 364: Motion

JT

Example 6: Angular Velocity Ratio

Determine 4 ? Given, 2 = 200 .

1.
2.
3.
4.
5.
6.
MAE 364: Motion

JT

200 rpm cw
200 rpm ccw
800 rpm cw
800 rpm ccw
50 rpm cw

50 rpm ccw

Conclusion
Homework 4
Text book problems 2-2, 7, 11, 15, 16, 19, 20
Due 10/02/2014

Exam 1
On 10/07/2014
Covers chapters 17, 19, 1, 2 & 3

Quiz on Chapter 3 next class (09/30/2014)

MAE 364: Motion

JT