Lecture 8 (General Plane Motion - Instantaneous Center of Rotation in Plane Motion)

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Department of Mechanical & Industrial Engineering
Dynamics (ENGR 243)

Lecture 8
Dr. Hany Gomaa , Assistant Professor
Email: hany.gomaa@concordia.ca
Office: EV-3.269
Office Hours: Vector Mechanics for Engineers Dynamics, by F.P. Beer, E.R. Johnston, Jr., & P.J. Cornwell, Tenth Edition in SI Units, McGraw-Hill, 2013
Tuesday 1:30 pm - 2:30 pm and Friday 10:30 am 11:30 am.

Web Site: Access from your My Concordia portal Moodle
Class : Tuesday/Thursday, 11:45am-1:00pm, FG-C070
Resources Used:
1. Vector Mechanics for Engineers Dynamics, by F.P. Beer, E.R. Johnston, Jr., &
P.J. Cornwell, Tenth/ Eleventh Edition in , McGraw-Hill, 2013 / 2016 &
2. Hibbeler Engineering Mechanics: Dynamics, Fourteenth Edition, Pearson, 2016
February 2nd, 2017 Dr. Hany Gomaa
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Course Information
Vector Mechanics for Engineers Dynamics by F.P. Beer, et al.
Topics Chapters
1. Chapter 11 Introduction to Dynamics (Kinematics of Particles)
Rectilinear Motion of Particles - Curvilinear Motion of Particles
2. Chapter 12 Kinetics of Particles
Newtons Second Law
3. Chapter 13 Kinetics of Particles
Energy and Momentum Methods
4. Chapter 15 Kinematics of Rigid Bodies
Translation (Rectilinear Curvilinear)
Rotation around a fixed axis
General Plane Motion (Velocity analysis)
5. Chapter 16 Plane Motion of Rigid Bodies
Forces and Acceleration
6. Chapter 17 Plane Motion of Rigid Bodies Vector Mechanics for Engineers Dynamics,
Energy and Momentum Methods by F.P. Beer, E.R. Johnston, Jr., & P.J. Cornwell, Tenth Edition in SI Units, McGraw-Hill, 2013
Vector Mechanics for Engineers Dynamics, by F.P. Beer, E.R. Johnston, Jr., & P.J. Cornwell, Tenth Edition in SI Units, McGraw-Hill, 2013 Dr. Hany Gomaa
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REVIEW
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Course Information
General Plane Motion
Velocity analysis
Translation + Rotation Instantaneous Center of Rotation
Acceleration analysis
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Review
There are three types of planar rigid body motion.
http://virtual.cvut.cz/cemlibmodules/qZz+IQlBFfkOIKI+.png Dr. Hany Gomaa

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1) Translation
The relative position of point B
relative to point A
rB = rA + rB/A
Engineering Mechanics Dynamics by Hibbeler.R.C., 12thedition
since rB/A is constant.

As a result, all points forming a rigid body
Therefore vB = vA, and aB = aA. have the same velocity and acceleration,
when subjected to translation motion.
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2) Rotation
q: Angular position
q rad
q
w: Angular velocity
rad/s
a: Angular acceleration
Engineering Mechanics Dynamics by Hibbeler.R.C., 12thedition
rad/s2
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2) Rotation
Fundamental equations
Linear Motion Angular Motion
dx
v Similarly
dt
dv
a Similarly
dt
adx vdv Similarly
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2) Rotation
Moving with Constant Acceleration
x x0 v0t at 1
2
2
v v0 at
v v 2ax x0
2 2
0
Particles of a rigid body generally moves

in a curvilinear motion as the body rotates.
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2) Rotation
Rotation around z-axis
q
q qk
w wk
a ak V
P at
+
q r P
an
Recall,
curvilinear
motion:
an = v2/r
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ROTATION ABOUT A FIXED AXIS:
PROBLEM SOLVING STEPS
Establish a sign convention along the axis of rotation.
If a relationship is known between any two of the variables (a,

w, q, or t), the other variables can be determined from the
equations: w = dq/dt a = dw/dt a dq = w dw
If a is constant, use the equations for constant angular
acceleration.
To determine the motion of a point, the scalar equations

v = w r, at = a r, an = w2r , and a = (at)2 + (an)2 are used.
Alternatively, the vector form of the equations can be used

(with i, j, k components).
v = w rP = w r
a = at + an = a rP + w (w rP) = a r w2r
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Formula Sheet
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RELATIVE MOTION ANALYSIS
When a body is subjected to general plane motion, it undergoes a

combination of translation and rotation.
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 can be written:
Disp. due to translation
drB = drA + drB/A
Disp. due to Disp. due to rotation

translation and rotation Dr. Hany Gomaa
Disp. due to translation Disp. due to translation 17
and rotation drB = drA + drB/A
Disp. due to rotation
The velocity at B is given as : (drB/dt) = (drA/dt) + (drB/A/dt) or

vB = vA + vB/A
Since the body is taken as rotating about A,

vB/A = drB/A/dt = w rB/A
Here w will only have a k component since the axis of rotation is perpendicular to the
plane of translation.
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PROCEDURE FOR ANALYSIS 18
The relative velocity equation can be applied using

1. SCALAR x and y component equations or via
2. a CARTESIAN VECTOR analysis.
1. Scalar Analysis:
1. Establish the fixed x-y coordinate directions and draw a Kinematic
Diagram for the body.
2. Then establish the magnitude and direction of the relative velocity
vector vB/A.
3. Write the equation vB = vA + vB/A. In the kinematic diagram,
represent the vectors graphically by showing their magnitudes and
directions underneath each term.
4. Write the scalar equations from the x and y components of these

graphical representations of the vectors. Solve for the unknowns.
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PROCEDURE FOR ANALYSIS (continued)
2. Vector Analysis:
1. Establish the fixed x - y coordinate directions and draw the
Kinematic Diagram of the body, showing the vectors vA, vB, rB/A
and w. If the magnitudes are unknown, the sense of direction
may be assumed.
2. Express the vectors in Cartesian vector form (CVN) and
substitute them into vB = vA + w rB/A.
Evaluate the cross product and equate respective i and j
components to obtain two scalar equations.
3. If the solution yields a negative answer, the sense of direction of
the vector is opposite to that assumed.
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SOLVED EXAMPLES
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GROUP PROBLEM SOLVING

Given: Rod AB is rotating with
an angular velocity of
wAB = 60 rad/s.
Find: The velocity of the slider block C when

q = 60 and = 45.
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Given: Rod AB is rotating with
an angular velocity of
wAB = 60 rad/s.
Find: The velocity of the

slider block C when
q = 60 and = 45.
Plan:
1. Notice that rod AB rotates about a fixed point A.
2. The directions of vB is tangent to its path of motion.
3. Draw a kinematic diagram of rod BC.
4. Apply the relative velocity equations to the rod and solve for
unknowns. Dr. Hany Gomaa
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Solution:
vB
60
Link AB: Since link AB is rotating at wAB = 60 rad/s,
the velocity at point B will be: y
x
vB = wAB rAB
At q = 60,
vB = 60 k ( 0.3 sin 60 i + 0.3 cos 60 j )
= (-9 i 15.59 j) m/s vB
Rod BC : Draw a kinematic diagram of rod BC. 45

wBC
y rC/B
slider block C has a vertical motion. x
vC
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vB
60
y
x
vB = (-9 i 15.59 j) m/s

Apply the relative velocity equation in
vB
order to find the velocity at C.
vC = vB + wBC rC/B
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- vC j = (-9 i 15.59 j) wBC

rC/B
+ wBC k (-0.6 sin 45 i 0.6 cos 45 j)
y
x
Equating the i and j components yields: vC

0 = - 9 + wBC (0.6) cos 45
- vC = - 15.59 wBC (0.6) sin 45
wBC = 21.2 rad/s

vC = 24.59 m/s = 24.6 m/s Dr. Hany Gomaa
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 The directions of the absolute velocity v D

angular velocity of 2000 rpm. and the relative velocity v D B are
determined from the problem geometry.
For the crank position indicated,
determine (a) the angular velocity of The unknowns in the vector expression
the connecting rod BD, and (b) the are the velocity magnitudes v D and v D B
velocity of the piston P. which may be determined from the
corresponding vector triangle.
The angular velocity of the connecting
15 - 25 rod is calculated from v D B .
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
w AB 2000 209.4 rad s
min 60 s rev
vB AB w AB 3 in.209.4 rad s
The velocity direction is as shown.

The direction of the absolute velocity vD is horizontal.

The direction of the relative velocity vD B is
perpendicular to BD. Compute the angle between the
horizontal and the connecting rod from the law of sines.
sin 40 sin
13.95
8 in. 3 in.
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Sample Problem 15.3
Determine the velocity magnitudes vD and vD B

from the vector triangle.
vD vD B 628.3in. s

sin 53.95 sin 50 sin76.05
vD 523 .4 in. s 43.6 ft s vP vD 43.6 ft s

vD B 495 .9 in. s
vD B lw BD
vD vB vD B vD 495.9 in. s
B
w BD
l 8 in.

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62.0 rad s w BD 62.0 rad s k
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16_005a
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16_005b
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E
D
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D E
33
16_005c
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E
D
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E
D
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2) Rotation
Moving with Constant Acceleration
x x0 v0t at 1
2
2
v v0 at
v v 2ax x0
2 2
0
Particles of a rigid body generally moves in a curvilinear motion as the

body rotates.
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Vector Mechanics for Engineers Dynamics, by F.P. Beer, E.R. Johnston, Jr., & P.J. Cornwell, Tenth Edition in SI Units, McGraw-Hill, 2013
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continued on next slide
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PROCEDURE FOR ANALYSIS 52
The relative velocity equation can be applied using

1. SCALAR x and y component equations or via
2. a CARTESIAN VECTOR analysis.
1. Scalar Analysis:
1. Establish the fixed x-y coordinate directions and draw a Kinematic
Diagram for the body.
2. Then establish the magnitude and direction of the relative velocity
vector vB/A.
3. Write the equation vB = vA + vB/A. In the kinematic diagram,
represent the vectors graphically by showing their magnitudes and
directions underneath each term.
4. Write the scalar equations from the x and y components of these

graphical representations of the vectors. Solve for the unknowns.
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PROCEDURE FOR ANALYSIS (continued)
2. Vector Analysis:
1. Establish the fixed x - y coordinate directions and draw the
Kinematic Diagram of the body, showing the vectors vA, vB, rB/A
and w. If the magnitudes are unknown, the sense of direction
may be assumed.
2. Express the vectors in Cartesian vector form (CVN) and
substitute them into vB = vA + w rB/A.
Evaluate the cross product and equate respective i and j
components to obtain two scalar equations.
3. If the solution yields a negative answer, the sense of direction of
the vector is opposite to that assumed.
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INSTANTANEOUS
CENTER
OF ZERO VELOCITY
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Course Information
Velocity analysis
Translation + Rotation Instantaneous Center of Rotation
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Instantaneous Center of
Rotation in Plane Motion
15 - 66
http://www.sdcpublications.com/multimedia/978-1-58503-767-4/files/krb/ic_fig1.png
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Instantaneous Center of
Rotation in Plane Motion
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INSTANTANEOUS CENTER OF ZERO VELOCITY
For any body undergoing planar motion, there always exists a

point in the plane of motion at which the velocity is
instantaneously zero (if it is rigidly connected to the body).
This point is called the instantaneous center (IC) of zero

velocity. It may or may not lie on the body!
If the location of this point can be determined, the velocity

analysis can be simplified because the body appears to rotate
about this point at that instant.
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How to Find the Instantaneous Center

of Rotation in Plane Motion?
1) By simple Observation
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How to Find the Instantaneous Center

of Rotation in Plane Motion?
1) By simple Observation
2) By applying the IC of zero velocity condition
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LOCATION OF THE INSTANTANEOUS CENTER
To locate the IC, we use the fact that the velocity of a point on a
body is always perpendicular to the relative position vector from
the IC to the point. Several possibilities exist.
Case 1 First, consider the case when velocity vA
of a point A on the body and the angular
velocity w of the body are known.
In this case, the IC is located along the

line drawn perpendicular to vA at A, a
distance rA/IC = vA/w from A.
Note that the IC lies up and to the right
of A since vA must cause a clockwise
angular velocity w about the IC.
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Case 2
A second case occurs when the
lines of action of two non-
parallel velocities, vA and vB,
are known.
First, construct line segments
from A and B perpendicular to
vA and vB. The point of
intersection of these two line
segments locates the IC of the
body.
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Case 3
A third case is when the magnitude and direction of two parallel

velocities at A and B are known. Here the location of the IC is
determined by proportional triangles.
As a special case, note that if the body is translating only
(vA = vB), then the IC would be located at infinity. Then w
equals zero, as expected.
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VELOCITY ANALYSIS
The velocity of any point on a body undergoing general plane

motion can be determined easily, often with a scalar approach,
once the instantaneous center of zero velocity of the body is
located.
Since the body seems to rotate about
the IC at any instant, as shown in this
kinematic diagram, the magnitude of
velocity of any arbitrary point is
v = w r, where r is the radial distance
from the IC to the point.
The velocitys line of action is
perpendicular to its associated radial
line.
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ATTENTION QUIZ
1. The wheel shown has a radius of 15 in and rotates clockwise

at a rate of w = 3 rad/s. What is vB?
A) 5 in/s B) 15 in/s
C) 0 in/s D) 45 in/s
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ATTENTION QUIZ
1. The wheel shown has a radius of 15 in and rotates clockwise

at a rate of w = 3 rad/s. What is vB?
A) 5 in/s B) 15 in/s
C) 0 in/s D) 45 in/s
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ATTENTION QUIZ
2. Point A on the rod has a velocity of 8 m/s to the right.

Where is the IC for the rod?
A) Point A. C
B) Point B.
C) Point C.
D) Point D. D
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ATTENTION QUIZ
2. Point A on the rod has a velocity of 8 m/s to the right.

Where is the IC for the rod?
A) Point A. C
B) Point B.
C) Point C.
VB
D) Point D. D
VA
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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.
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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.
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The instantaneous center of rotation lies at the intersection of
the perpendiculars to the velocity vectors through A and B .
vA v
w A
AC l cos q
vA
v B BC w l sin q
l cos q
v A tan q
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.
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SOLVED EXAMPLES
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EXAMPLE I
Given: A linkage undergoing
motion as shown. The
velocity of the block, vD,
is 3 m/s.
Find: The angular velocities

of links AB and BD.
Plan: Locate the instantaneous center of zero velocity of link
BD and then solve for the angular velocities.
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EXAMPLE I (continued)
Solution: Since D moves to the right, it causes link AB to

rotate clockwise about point A. The instantaneous center of
velocity for BD is located at the intersection of the line
segments drawn perpendicular to vB and vD. Note that vB is
perpendicular to link AB. Therefore we can see that the IC is
located along the extension of link AB.
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EXAMPLE I (continued)
Using these facts,
rB/IC = 0.4 tan 45 = 0.4 m
rD/IC = 0.4/cos 45 = 0.566 m
Since the magnitude of vD is known,
the angular velocity of link BD can be
found from vD = wBD rD/IC .
wBD = vD/rD/IC = 3/0.566 = 5.3 rad/s
Link AB is subjected to rotation about A.
wAB = vB/rB/A = (rB/IC)wBD/rB/A = 0.4(5.3)/0.4 = 5.3 rad/s
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EXAMPLE II
Given: The center O of the gear set rolls with vO = 6 m/s.

The gear rack B is fixed.
Find: The velocity of point A on the outer gear.
Plan: Locate the IC of the smaller gear. Then calculate the

velocities at A.
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EXAMPLE II (continued)
Solution:
Note that the gear rolls without
slipping. Thus, the IC is at the
contact point with the gear rack
B.
The angular velocity of the wheel can be found from

w = vO/rO/IC = 6/0.3 = 20 rad/s ( or CW)
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Given: Rod CD is rotating
with an angular
velocity wCD = 4 rad/s
CCW.
Find: The angular velocities
of rods AB and BC.
Plan: This is an example of the second case in the lecture notes.

Since the direction of Point Bs velocity must be
perpendicular to AB, and Point Cs velocity must be
perpendicular to CD, the location of the instantaneous
center, I, for link BC can be found.
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Case 2
A second case occurs when the
lines of action of two non-
parallel velocities, vA and vB,
are known.
First, construct line segments
from A and B perpendicular to
vA and vB. The point of
intersection of these two line
segments locates the IC of the
body.
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Rod CD is rotating with an angular
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Find: The angular velocities velocity wCD = 4 rad/s CCW.
of rods AB and BC.
Solution:
Draw kinematic diagrams for Link
CD and Link AB:
Link CD:
Link AB:
vC
rCD wAB
wCD = 4 rad/s rAB
vC = wCD (rCD) vB
= 4 (0.5) vB = wAB (rAB) m/s
= 2 m/s Dr. Hany Gomaa
Rod CD is rotating with an angular
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Find: The angular velocities velocity wCD = 4 rad/s CCW.
of rods AB and BC.
Solution: Kinematic diagram for Link BC:
Draw kinematic diagrams for Link
CD and Link AB:
vC
wBC rC/IC
vB rB/IC
30 IC
Link CD:
Link AB:
vC
rCD wAB
wCD = 4 rad/s rAB
vC = wCD (rCD) vB
= 4 (0.5) vB = wAB (rAB) m/s
= 2 m/s Dr. Hany Gomaa
Find: The angular velocities 93
of rods AB and BC.
With the results of vB and vC, the IC for link BC can be located.
Kinematic diagram for Link BC:

rC/IC = (0.4) tan30
vC rC/IC = 0.2309 m
wBC rC/IC rB/IC = 0.4 / cos30
vB rB/IC
rB/IC = 0.4619 m
30 IC
Then, the kinematics gives:

vC = wBC (rC/IC) 2.0 = wBC (0.2309 )
wBC = 8.66 rad/s
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Find: The angular velocities With the results of vB and vC94,
of rods AB and BC. the IC for link BC can be
located.
Kinematic diagram for Link BC: rC/IC = (0.4) tan30
rC/IC = 0.2309 m
vC rB/IC = 0.4 / cos30

rB/IC = 0.4619 m
wBC rC/IC
vB rB/IC Then, the kinematics gives:
30 IC vC = wBC (rC/IC) 2.0 = wBC (0.2309 )
wBC = 8.66 rad/s
Link AB:
vB = wBC (rB/IC) = wAB (rAB)

8.66 (0.4619 ) = wAB (1) wAB
wAB = 4.0 rad/s rAB
vB = wAB (rAB) m/s vB

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Velocity analysis methods comparison
Velocity analysis
1) General plane motion = Instantaneous Center of Rotation

Translation + Rotation
(i.e. transformed into pure rotation)
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Sample Problem 15.2
Recall
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 velocity for any point P on the gear
The double gear rolls on the may be written as
stationary lower rack: the velocity of
vP v A vP A v A wk rP A
its center is 1.2 m/s.
Determine (a) the angular velocity of Evaluate the velocities of points B and D.
the gear, and (b) the velocities of the
upper rack R and point D of the gear.
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Sample Problem 15.2
Recall
SOLUTION:
The displacement of the gear center in one revolution is
equal to the outer circumference.
For xA > 0 (moves to right), w < 0 (rotates clockwise).
xA q
x A r1q
2 r 2
y
Differentiate to relate the translational and angular
velocities.
x
v A r1w
vA 1 .2 m s
w w wk 8 rad s k
r1 0.150 m
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Sample Problem 15.2
Recall
For any point P on the gear, vP v A vP A v A wk rP A
Velocity of the upper rack is equal to Velocity of the point D:

velocity of point B:

vR vB v A wk rB A vD v A wk rD A

1.2 m s i 8 rad s k 0.10 m j 1.2 m s i 8 rad s k 0.150 m i

1.2 m s i 0.8 m s i

vR 2 m s i vD 1.2 m s i 1.2 m s j
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vD 1.697 m s
Sample Problem 15.4
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.
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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.
Evaluate the velocities at B and D based on their rotation about C.
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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 rAw w A 8 rad s
rA 0.15 m
Evaluate the velocities at B and D based on their rotation
about C.
vR vRvB vB rBrBww 00.25 mm

.25 8srad
8 rad s

vR 2 m s i

vR 2 m s i
vD rDw
rD 0.15 m 2 0.2121 m
vD rDw 0.2121 m 8 rad s
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vD 1.2i 1.2 j m s Dr. Hany Gomaa

Sample Problem 15.3
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.
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110
The crank AB has a constant

SOLUTION: clockwise angular velocity of
2000 rpm.
Will determine the absolute velocity of
point D with For the crank position
indicated, determine (a) the
vD vB vD B
angular velocity of the

The velocity v B is obtained from the connecting rod BD, and (b)
given crank rotation data. 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 .
Sample Problem 15.3
(a) the angular velocity of the connecting rod BD, and
(b) the velocity of the piston P.
SOLUTION:
Will determine the absolute velocity of point D with

vD vB vD B

rev min 2 rad
w AB 2000 209.4 rad s
min 60 s rev
vB AB w AB 3 in.209.4 rad s
The velocity direction is as shown.

The direction of the absolute velocity vD is horizontal.

The direction of the relative velocity vD B is
perpendicular to BD. Compute the angle between the
horizontal and the connecting rod from the law of sines.
sin 40 sin
13.95
8 in. 3 in.
15 - 111
Sample Problem 15.3

vD vD B 628.3in. s

sin 53.95 sin 50 sin76.05
vD 523 .4 in. s 43.6 ft s vP vD 43.6 ft s

vD B 495 .9 in. s
vD B lw BD
vD vB vD B vD 495.9 in. s
B
w BD
l 8 in.

15 - 112
62.0 rad s w BD 62.0 rad s k
Sample Problem 15.5
For the crank position indicated, determine
15 - 113
114
For the crank position indicated, determine (a) the angular velocity of the connecting
rod BD, and (b) the velocity of the piston P.
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.
Conversions and Geometrical Analysis 115

rev min 2 rad
w AB 2000 209.4 rad s
min 60 s rev
vB AB w AB 3 in.209.4 rad s 628.3in / s
sin 40 sin
13.95
8 in. 3 in.
vD vD B 628.3in. s
vP vD 43.6 ft s
sin 53.95 sin 50 sin76.05
vD 523 .4 in. s 43.6 ft s
vD B 495 .9 in. s
vD B lw BD
vD 495.9 in. s
62.0 rad s k
B
w BD w BD
l 8 in.
62.0 rad s Dr. Hany Gomaa
Sample Problem 15.5
SOLUTION:
From Sample Problem 15.3,
vB 628.3 in. s
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.
B 40 53.95
D 90 76.05 vB BC w BD
vB 628.3 in. s
w BD w BD 62.0 rad s
BC CD 8 in. BC 10.14 in.

sin 76.05 sin 53.95 sin50
Calculate the velocity at D based on its rotation about
the instantaneous center of rotation.
BC 10.14 in. CD 8.44 in.
vD CDw BD 8.44 in.62.0 rad s
15 - 116
vP vD 523in. s 43.6 ft s

Lecture 8 (General Plane Motion - Instantaneous Center of Rotation in Plane Motion)

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Lecture 8 (General Plane Motion - Instantaneous Center of Rotation in Plane Motion)

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1

Department of Mechanical & Industrial Engineering

Dynamics (ENGR 243)

Tuesday 1:30 pm - 2:30 pm and Friday 10:30 am 11:30 am.

Class : Tuesday/Thursday, 11:45am-1:00pm, FG-C070

Dr. Hany Gomaa

Dr. Hany Gomaa

Translation + Rotation Instantaneous Center of Rotation

http://virtual.cvut.cz/cemlibmodules/qZz+IQlBFfkOIKI+.png Dr. Hany Gomaa

Engineering Mechanics Dynamics by Hibbeler.R.C., 12thedition

since rB/A is constant.

Dr. Hany Gomaa

Linear Motion Angular Motion

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Particles of a rigid body generally moves

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If a relationship is known between any two of the variables (a,

To determine the motion of a point, the scalar equations

Alternatively, the vector form of the equations can be used

Dr. Hany Gomaa

Dr. Hany Gomaa

Dr. Hany Gomaa

RELATIVE MOTION ANALYSIS

When a body is subjected to general plane motion, it undergoes a

Point A is called the base point in this analysis. It generally has a

Disp. due to Disp. due to rotation

and rotation drB = drA + drB/A

Disp. due to rotation

The velocity at B is given as : (drB/dt) = (drA/dt) + (drB/A/dt) or

Since the body is taken as rotating about A,

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The relative velocity equation can be applied using

4. Write the scalar equations from the x and y components of these

PROCEDURE FOR ANALYSIS (continued)

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Dr. Hany Gomaa

GROUP PROBLEM SOLVING

Find: The velocity of the slider block C when

Dr. Hany Gomaa

GROUP PROBLEM SOLVING

Find: The velocity of the

Rod BC : Draw a kinematic diagram of rod BC. 45

vB = (-9 i 15.59 j) m/s

- vC j = (-9 i 15.59 j) wBC

Equating the i and j components yields: vC

wBC = 21.2 rad/s

Determine the velocity magnitudes vD and vD B

vD 523 .4 in. s 43.6 ft s vP vD 43.6 ft s

Dr. Hany Gomaa

Dr. Hany Gomaa

Dr. Hany Gomaa

Particles of a rigid body generally moves in a curvilinear motion as the

Dr. Hany Gomaa

continued on next slide

Dr. Hany Gomaa

continued on next slide

Dr. Hany Gomaa

Dr. Hany Gomaa

Dr. Hany Gomaa

continued on next slide

Dr. Hany Gomaa

continued on next slide

Dr. Hany Gomaa

continued on next slide