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RIGID BODIES
In rigid body kinematics, we use the relationships governing the
displacement, velocity and acceleration, but must also account for the
rotational motion of the body.
Description of the motion of rigid bodies is important for two reasons:
1. Translation
2. Rotation
3. General Motion
1. TRANSLATION
It is any motion in which every line in the body remains parallel to its original
position at all times. In translation, there is no rotation of any line in the body.
In each of the two cases of translation, the motion of the body is completely
specified by the motion of any point in the body, since all the points have the
same motion.
2. Fixed Axis Rotation
Rotation about a fixed axis is the angular motion about the axis. All particles
in a rigid body move in circular paths about the axis of rotation and all lines in
the body rotate through the same angle at the same time.
A A′
B B′
C C′
3. General Plane Motion
A′
A
B′
B
Crank (Krank)
(Rotation)
Piston
(Translation)
ω
O
hinge
The rotation of a rigid body is described by its angular
motion. The figure shows a rigid body which is rotating.
The angular positions of any two lines 1 and 2 attached
to the body are specified by θ1 and θ2 measured from
any convenient fixed reference direction.
All lines on a rigid body have the same angular displacement, the
same angular velocity and the same angular acceleration.
The angular velocity ω and angular acceleration α of a rigid body in plane
rotation are, respectively, the first and second time derivatives of the angular
position coordinate θ of any line in the plane of motion of the body. These
definitions give
dθ dω d 2θ
ω= =θ ⇒ α= = ω or α= = θ
dt dt dt 2
ωdω = αdθ or θdθ = θdθ
ω = ω 0 + 2α (θ − θ 0 )
1 2
ω = ω 0 + αt 2 2
θ = θ 0 + ω 0 t + αt
2
Rotation About a Fixed Axis
When a rigid body rotates about a fixed axis, all points move in concentric
circles about the fixed axis. Thus, for the rigid body in the figure rotating about a
fixed axis through point O, any point such as A moves in a circle of radius r. So
the velocity and the acceleration of point A can be written as
v = rω
an = rω = v / r = vω
2 2
a t = rα
These quantities may be expressed using the cross product
relationship of vector notation, ω = ωk , α = αk
v = r =ω×r
d d dω dr
a = (v ) = (ω × r ) = ×r +ω× =α
×r +ω
× (
ω r)
×
dt dt dt dt
at
an
α v =ω ×r
PROBLEMS
1. The circular disk rotates about its center O. For the instant
represented, the velocity of A is v A = 200 j mm / s and the tangential
acceleration of B is (a B )t = 150i mm / s 2 . Write the vector expressions for
the angular velocity ω and angular acceleration α of the disk. Also
determine the acceleration of point C.
PROBLEMS
2. The angular velocity of a gear is controlled according to ω = 12 – 3t2,
where ω in rad/s and t is the time in seconds. Find the net angular
displacement ∆θ from the time t = 0 to t = 3 s. Also find the total
number of revolutions N through which the gear turns during the three
seconds.
SOLUTION
dθ
=ω ⇒ dθ = ωdt
dt
∫ (12 − 3t )dt
3
θ
= 12(3) − 33 = 9 rad
3
∫
3 3
dθ = 2
, θ = 12t − t
0 0 3 0
∆θ = 9 rad
SOLUTION
ω = 12 − 3t 2 = 0 12 = 3t 2 t = 2 s (it stops at t = 2 s )
∫ (12 − 3t )dt
2
θ1
= 12(2) − 2 3 = 16 rad
2
∫
3
dθ = 2
⇒ θ1 = 12t − t 3
0 0 3 0
∫ (12 − 3t )dt
3
θ2 3
∫
3
dθ = 2
⇒ θ 2 = 12t − t 3 = −7 rad
0 2 3 2
16 + − 7 = 23 rad
1 revolution 2π rad
N revolutions 23 rad ⇒ N = 3.66 revolutions
PROBLEMS
3. The belt-driven pulley and attached disk are rotating with increasing angular
velocity. At a certain instant the speed v of the belt is 1.5 m/s, and the total
acceleration of point A is 75 m/s2. For this instant determine (a) the angular
acceleration a of the pulley and disk, (b) the total acceleration of point B, and
(c) the acceleration of point C on the belt.
SOLUTION
vC = 1.5 m / s a A = 75 m / s 2 a) α = ? b) a B = ? c) a C = ?
vC 1.5
ω= = = 20 rad / s
r 0.075
a An = ω 2 R = 20 2 0.15 = 60 m / s 2
a At = 75 2 − 60 2 = 45 m / s 2
a At
45
α= = = 300 rad / s 2
R 0.15
a Bn = ω 2 ⋅ r = 20 2 ⋅ 0.075 = 30 m / s 2
ωA 6
dω A
αA = t +2 ⇒ αA =
dt
⇒ ∫πdω
20
A = ∫ (t + 2)dt
t =2
6
2
t
ω A − 20π = + 2t ⇒ ω A = 86.83 rad / s (at t = 6 s )
2
2
s = rθ (θ is in radians )
x y
x = s − r sin θ = rθ − r sin θ = r (θ − sin θ ) y = r − r cos θ = r (1 − cos θ )
( )
x = r θ − θ cos θ = rθ(1 − cos θ ) θ sin θ = vo sin θ
y = r
x = vo (1 − cos θ ) rω = v o
x = rθ − rθ cos θ + rθ 2 sin θ y = rθ 2 cos θ + rθ sin θ
α − r
x = r α cos θ + rω 2 sin θ y = rω 2 cos θ + r
α sin θ
ao ao ao
x = ao (1 − cos θ ) + rω sin θ
2
y = rω 2 cos θ + ao sin θ
For the desired instant of contact, θ = 0
x = y = 0 ⇒ vc = 0 2
(the point of contact has zero velocity)
a C = rω j
x = 0 , y = rω 2
Relative Motion
The second approach to rigid body kinematics uses the principles of relative
motion. In kinematics of particles for motion relative to translating axes, we
applied the relative velocity equation
v A = vB + v A / B
to the motions of two particles A and B.
We now choose two points on the same rigid body for our two particles. The
consequence of this choice is that the motion of one point as seen by an
observer translating with the other point must be circular since the radial
distance to the observed point from the reference point does not change.
The figure shows a rigid body moving in the plane of the figure from
position AB to A´B´ during time ∆t. This movement may be visualized as
occurring in two parts. First, the body translates to the parallel position
A´´B´ with the displacement ∆rB. Second, the body rotates about B´ through
the angle ∆θ, from the nonrotating reference axes x´-y´ attached to the
reference point B´, giving rise to the displacement ∆rA / B of A with respect
to B.
∆rA / B
With B as the reference point, the total displacement of A is
∆rA = ∆rB + ∆rA / B
Where ∆rA / B has the magnitude r∆θ as ∆θ approaches zero. Dividing the
time interval ∆t and passing to the limit, we obtain the relative velocity
equation
v A = vB + v A / B
v A / B = rω
Using r to represent the vector rA / B , we may write the relative
velocity as the vector
vA/ B = ω × r
Therefore, the relative velocity equation becomes
v A = vB + ω × r
Here, ω is the angular velocity vector normal to the plane of the motion in the
sense determined by the right hand rule.
It should be noted that the direction of the relative velocity will always be
perpendicular to the line joining the points A and B.
(a A / B )n = v A / B 2 / r = rω 2
(a A / B )t = v A / B = rα
In vector notation the acceleration components are
(a A / B )n = ω × (ω × r )
(a A / B )t = α × r
The relative acceleration equation, thus, becomes
a A = a B + ω × (ω × r ) + α × r
The figure shows the acceleration of A to be composed of two parts: the
acceleration of B and the acceleration of A with respect to B.
Solution of the Relative Acceleration Equation