INTRODUCTION The kinematics of rigid bodies will be considered.

You will investigate the relations existing between the time, the position , the velocities, and the accelerations of the various particles forming a rigid body. As you will see, the various types of rigid-body motion can be conveniently grouped as follows:

1. Translation. A motion is said to be a translation if any straight line inside the body keeps
the same direction during the motion. It can also be observed that in a translation all the titles forming the body move along parallel paths. If these paths are straight lines, the motion is said to be a rectilinear translation if the paths are curved lines, the motion is a curvilinear translation

2. Rotation about a Fixed Axis. In this motion, the particles forming the rigid body move in
parallel planes along circles centered on the same fixed axis . If this axis, called the axis of rotation, intersects the rigid body, the particles located on the axis have zero velocity and zero acceleration. Rotation should not be confused with certain types of curvilinear translation. For example, the plate shown in is in curvilinear translation, with all its particles moving along parallel circles, while the plate shown in is in rotation, with all its particles moving along concentric circles. In the first case, any given straight line drawn on the plate will maintain the same direction, whereas in the second case, point 0 remains fixed. Because each particle moves in a given plane, the rotation of a body about a fixed axis is said to be a plane motion.

3. General Plane Motion. There are many other types of plane motion, that is, motions in
which 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. Two examples of general plane motion.

4. Motion about a Fixed Point. The three-dimensional motion of a rigid body attached at a
fixed point 0, for example, the motion of a top on a rough floor , is known as motion about a fixed point. 5. General Motion. Any motion of a rigid body which does not fall in any of the categories above is referred to as a general motion. After a brief discussion in of the motion of translation, rotation of a rigid body about a fixed axis is considered in Sec. The angular velocity and the angular acceleration of a rigid body about a fixed axis will be defined, and you will learn to express the velocity and the acceleration of a given point of the body in terms of its position vector and the angular velocity and angular acceleration body. The following sections are devoted to the study of the general motion of a rigid body and to its application to the analysis of mechanisms such as gears, connecting rods, and pin-connected

link- ages. Resolving the plane motion of a slab into a translation and a rotation , we will then express the velocity of a point the slab as the sum of the velocity of a reference point A and of velocity of B relative to a frame of reference translating with A is. moving with A but not rotating). The same approach is used to express the acceleration of B in terms of the acceleration of A and of the acceleration of B relative to a frame translating with A. An alternative method for the analysis of velocities in plane motion, based on the concept of instantaneous center of rotation, is given in and still another method of analysis, based on the use of parametric expressions for the coordinates of a given point. The motion of a particle relative to a rotating frame of reference, and the concept of Coriolis acceleration , and the results obtained are applied to the analysis of the plane motion of mechanisms containing parts which slide on each other. The remaining part of the chapter is devoted to the analysis of the three dimensional motion of a rigid body, namely, the motion a rigid body with a fixed point and the general motion of a rigid body. TRANSLATION Consider a rigid body in translation (either rectilinear or curvilinear translation), and let A and B be any two of its particles Denoting, respectively, by rA and rB the position vectors of A and E with respect to a fixed frame of reference and by rB/A the vector joining A and B, we write rB = rA + rB/A Let us differentiate this relation with respect to t. We note that from the very definition of a translation, the vector rB/A must maintain a constant direction; its magnitude must also be constant, since A and B belong to the same rigid body. Thus, the derivative of rB/A is zero and we have vB = vA Differentiating once more, we write aB = aA Thus, 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 . In the case of curvilinear translation, the velocity and acceleration change in direction as well as in magnitude at every instant. In the case of 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.

ROTATION ABOUT A FIXED AXIS Consider a rigid body which rotates about a fixed axis AA'. Let P be a point of the body and r its position vector with respect to a fixed frame of reference. For convenience, let us assume that the

frame is centered at point 0 on AA' and that the z axis coincides with AA' . Let B be the projection of P on AA'; since P must remain at a constant distance from B, it will describe a circle of center B and radius r sin , where denotes the angle formed by r and AA'. The position of P and of the entire body is completely defined by the angle the line BP forms with the zx plane. The angle is known as the angular coordinate of the body and is defined as positive when viewed as counterclockwise from A'. The angular coordinate will be expressed in radians (rad) or, occasionally, in degrees () or revolutions (rev). We recall that I rev = 27T rad = 360' We recall from that the velocity v = dr/dt of a particle P is a vector tangent to the path of P and of magnitude v = ds/dt. Observing that the length s of the arc described by P when the body rotates through is s = (BP) = (r sin ) And dividing both members by t, we obtain at the limit, as t approaches zero, ds v= dt/ds =r sin where denotes the time derivative of . (Note that the angle depends on the position of P within the body, but the rate of change is itself independent of P.) We conclude that the velocity v of P is

Objective

 To produce Engineer that have capability to find the problems and solved it without
hesitation To fulfill one of the term for course work of this subject

To help students on revision and improving their knowledge on kinematics of rigid bodies
section in dynamics subject To find its application in modern day To teach student on problem base learning To find velocity and acceleration on rotational component

QUESTION The motor shown in the photo used to turn a wheel and attached blower contained within the housing. If the Pulley A connected to the motor begins rotating from rest with an angular acceleration of A = 2 rad/s, determine the magnitudes of the velocity and acceleration of points P on the wheel, after the wheel B has turned one revolution. Assume the transmission belt does not slip on the pulley and wheel. Solution : Angular Motion. First we will convert the one revolution to radians. Since there are 2 rad in one revolution, then r = 0.8 = 150 150 x /180 = 2.617

We can find the angular velocity of pulley A provided we first find its angular displacement. Since the belt does not slip , an equivalent length of belt s must be unraveled from both the pulley and wheel at all times. Thus,

S = A r A = B rB A r A = B rB A ( 0.15) = 2.617 ( 0.8) 0.15 A = 2.0936 A = 13.95

Since A is constant, the angular velocity of pulley A is therefore = + 2c ( - 0 ) A A = 0 + 2 ( 2) ( 13.95 -0 ) = 4 ( 13.95 -0 ) = 55.80 = 7.469 rad/s

The belt has the same speed and tangential component of acceleration as it passed over the pulley and wheel. Thus, V = A rA = B rB A rA = B rB ( 7.469) ( 0.15) = B ( 0.8) 1.1204 = 0.8 B B = 1.4 rad/s at = A rA = B rB A rA = B rB ( 2 ) ( 0.15) = B ( 0.8 ) B = 0.375 rad/s

Motion Of P

VP = B rB = ( 1.4) ( 0.8 ) = 1.12 ( ap)t = B rB = ( 0.375)( 0.8) = 0.3 m/s ( ap)n = B rB = ( 1.4) ( 0.8) = 1.568 ( ap) = ( 0.3) + ( 1.568) = 1.59644

r = 0.8 0 30 60 90 120 150 180 210 240 270 300 330 360 A 0 0.4188 0.8377 8.3733 11.1701 13.95 16.75 19.547 22.341 25.131 27.93 30.72 33.49 A rad/s 0 1.29 1.83 5.7873 6.6843 7.469 8.18 8.842 9.453 10.03 10.57 11.09 11.57 B rad/s 0 0.2426 0.343 1.0851 1.253 1.4 1.538 1.658 1.772 1.931 1.98 2.08 2.175 A rad/s 2.0 2.0 2.0 2.0 2.0 2.0 2.0 2.0 2.0 2.0 2.0 2.0 2.0 B rad/s 0.38 0.38 0.38 0.375 0.375 0.375 0.375 0.375 0.375 0.375 0.38 0.38 0.38 VP m/s 0 0.501 0.708 0.8681 1.0024 1.12 1.2264 1.3264 1.418 1.545 1.58 1.66 1.74 ( ap)t m/s 0.3 0.3 0.3 0.3 0.3 0.30 0.30 0.30 0.30 0.30 0.30 0.30 0.30 ( ap)n m/s 0 0.047 0.094 0.942 1.256 1.568 1.88 2.1992 2.512 2.983 3.136 3.46 3.78 ( ap) m/s 0.3 0.4339 0.501 0.9886 1.2913 1.59644 1.9037 2.2195 2.53 2.998 3.15 3.47 3.79

r = 0.8

1.8 1.6 1.4 1.2 1 0.8 0.6 0.4 0.2 0 0 60 120 180 240 300 360 velocity m/s

4 3.5 3 2.5 2 1.5 1 0.5 0 0 60 120 180 240 300 360 acceleration m/s

Solution :

Angular Motion. First we will convert the one revolution to radians. Since there are 2 rad in one revolution, then r = 0.4 Angel, = 300o 300 x = 5.236 rad 180

We can find the angular velocity of pulley A provided we first find its angular displacement. Since the belt does not slip , an equivalent length of belt s must be unraveled from both the pulley and wheel at all times. Thus, S = A r A = B rB A (0.15) A = 5.236(0.4) = 13.96

Since A is constant, the angular velocity of pulley A is therefore A2 = o2 + 2c ( o) = 0 + 2(2rad/s2) (13.96-0) = 55.85 = 7.47 rad/s

The belt has the same speed and tangential component of acceleration as it passed over the pulley and wheel. Thus, V = ArA = BrB 7.47 (0.15) = B (0.4) B = 1.12 0.4 = 2.80 rad/s

at = A rA = B rB t = ArA = BrB 2(0.15) = B (0.4) B = 0.75

Motion Of P Vp = BrB = 2.80 ( 0.4) = 1.12 m/s (ap)t = BrB = 0.75 x 0.4 = 0.3 m/s2 (ap)n = B2rB = (2.80)2 x 0.4 = 3.136 m/s2 ap = (0.3)2 + (3.136)2 = 3.15 m/s2

r = 0.4 0 30 60 90 120 150 180 210 240 270 300 330 360 A rad/s 0 1.396 2.7925 4.187 5.5851 6.978 8.37 9.774 11.1706 12.565 13.96 15.36 16.76 A rad/s 0 2.36 3.342 4.092 4.7266 5.2832 5.789 6.253 6.685 7.084 7.47 7.84 8.19 B rad/s 0 0.886 1.253 1.5345 1.7725 1.9812 2.170 2.345 2.507 2.657 2.80 2.94 3.07 A rad/s 2.0 2.0 2.0 2.0 2.0 2.0 2.0 2.0 2.0 2.0 2.0 2.0 2.0 B rad/s 0 0.75 0.75 0.75 0.75 0.75 0.75 0.75 0.75 0.75 0.75 0.75 0.75 VP m/s 0 0.3544 0.5013 0.6138 0.709 0.79248 0.868 0.9379 1.003 1.063 1.12 1.176 1.23 ( ap)t m/s2 0.3 0.3 0.3 0.3 0.3 0.3 0.3 0.3 0.3 0.3 0.3 0.3 0.3 ( ap)n m/s2 0 0.314 0.628 0.9419 1.2567 1.5700 1.883 2.1996 2.514 2.824 3.136 3.457 3.77 ( ap) m/s2 0.3 0.43 0.696 0.9885 1.2920 1.598 1.903 2.22 2.532 2.84 3.15 3.47 3.78

r = 0.4

1.4 1.2 1 0.8 0.6 0.4 0.2 0 0 60 120 180 240 300 360 velocity m/s

4 3.5 3 2.5 2 1.5 1 0.5 0 0 60 120 180 240 300 360 acceleration m/s

Discussion

a) The velocity on the rotational is influent by angle, if the angle became large the velocity
become more faster

b) The velocity on the rotational is influent by radius, if the radius resize the velocity will
become more faster

c) This problem will become kinematics of rigid body when two rotational component on
constant rotate.

d) From the charts above we know that velocity direct rate with angle and radius.
e) To find an acceleration is equal to acceleration normal plus tangential. f) Alpha rate for all angle is constant or same

g) All formula for angle and kinematics are applied in this problem

Conclusion

From the problem that we solved it we know that many thing use kinematics of rigid body on the modern day one of them is this problem. Although there are many thing use this application like people riding bicycle, rotational gear, engine and many other thing. In this problem we can see how to solve the problem and when we can applied the theory to the question. We can improve our current knowledge on this section and make it as revision before our final exam. This problem also teach us how to evaluate the question to find the correct answer. All objectives are achieve.