KMEM 1168 Engineering Mechanics

Lecture 12: Kinematic of Rigid Bodies

12.1 Introduction

Kinematics of rigid bodies: study of 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

12.2 Translation

For any two particles in the body,

Differentiating with respect to time,

rB = rA + rB A

rB = rA + rB A = rA




vB = v A
All particles have the same velocity.

Chapter 12

Page 82

Differentiating with respect to time again,

r
 = r
 + r
 = r


B
A
B A
A




aB = a A
All particles have the same acceleration.

12.3 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 =  k = angular velocity

12.4 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

= = tangential angular acceleration
dt






= k =  k = k

Acceleration of P is combination of two vectors,

a = r + r
Where,



r = tangential acceleration component




r = radial acceleration component

Chapter 12

Page 83

12.5 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,







vector form
v = r = k r
scalar form
v = r

Acceleration of any point P of the slab,

a = r + r
vector form



2

scalar form
= k r r

Resolving the acceleration into tangential and

normal components,





at = k r
a t = r


2

an = r
a n = r 2

12.6 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.
Recall,
d
d
or
dt =
=
dt

2
d d
d
= 2 =
=
dt
dt
d

Uniform Rotation, = 0:
= 0 + t

Uniformly Accelerated Rotation, = constant:

= 0 + t

= 0 + 0t + 12 t 2
2 = 02 + 2 ( 0 )

Chapter 12

Page 84

12.7 Sample Problem 15.5

When the power to an electric motor is turned on, the motor reaches
its rated speed of 2400 rpm in 4 s, and when the power is turned off,
the motor coasts to rest in 40 s. Assuming uniformly accelerated
motion, determine the number of revolutions that the motor
executes (a) in reaching its rated speed, (b) in coasting to rest.
Solution:

a) To reach the rated speed:

b) To come to rest

12.8 General Plane Motion

General plane motion is neither a pure translation nor a pure 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:

Chapter 12

translation to A2 and B1

rotation of B1 about A2 to B2

Page 85

12.9 Absolute and Relative Velocity in Plane Motion

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

v B = v A + vB A





v B A = k rB A







v B = v A + k rB

vB

= r

Assuming that the velocity vA of end A is known, and we wish to determine the velocity vB of end B and the
angular velocity w in terms of vA, l, and .
The direction of vB and vB/A are known. Complete the velocity diagram.
vA
v
= A = cos
vB
= tan
v B A l
vA
v
vB = v A tan
= A
l cos

Chapter 12

Page 86

Selecting point B as the reference point and solving for the velocity vA of end A and the angular velocity w 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 w 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.

12.10 Sample Problem 15.63

In the position shown, bar AB has an angular velocity of 4 rad/s clockwise. Determine the angular velocity of bars BD and
DE.

You can solve the problem by using vector or scalar method. The common equation to solve is:

 =
 +
/
By using vector method,
Bar AB - rotation about A:

 =
 +
/
But A is not moving,
 = 0

 =
/ =  / = 4 0.25 = 
Chapter 12

Page 87

Bar ED rotation about E:

 =
 +
/
 is not moving,
 = 0

 =
/ =   / =   0.075 0.15 = 0.15   0.075  
Bar BD Translation with B + Rotation about B:

/ =   / =   0.2 = 0.2  
Now,

 =
 +
/
0.15   0.075   =  + 0.2  

By equating coefficients:
i =>
0.15  = 1.00
 = 6.67/
i =>

0.075  = 0.2 
 = 2.50/

 = 6.67/

clockwise

 = 2.50/

anticlockwise

12.11 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 is 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.

Chapter 12

Page 88

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.

The instantaneous center of rotation lies at the intersection of the perpendiculars to the velocity vectors
through A and B.

vA
vA
=
AC l cos

vB = ( BC ) = ( l sin )

vA
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.

Chapter 12

Page 89

12.12 Problem 15.84

An overhead door is guided by wheels at A and B that roll in horizontal and vertical tracks. Knowing that when 40o the
velocity of wheel B is 0.6 m/s upward, determine (a) the angular velocity of the door, (b) the velocity of end D of the
door.

Chapter 12

Page 90