Unidad II Cinematica de Cuerpo Rígido Beer - Dinamica - 8e - Presentaciones - c15

VECTOR MECHANICS FOR ENGINEERS:
DYNAMICS
Eighth Edition
Ferdinand P. Beer
E. Russell Johnston, Jr.

Lecture Notes:
J. Walt Oler
Texas Tech University
CHAPTER
2007 The McGraw-Hill Companies, Inc. All rights reserved.
15
Cinemtica de
Cuerpo rigido
Vector Mechanics for Engineers: Dynamics
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15 - 2
Contenidos
Introduccin
Translacin
Rotacin alrededor de un eje fijo: Velocidad
Rotacin alrededor de un eje fijo:
Aceleracin
Rotacin alrededor de un eje fijo: Placa
representativa
Ecuaciones que definen la rotacin de un
cuerpo rgido alrededor de un eje fijo
Problema resuelto 5.1
Movimiento plano General
Velocidad absoluta y relativa en el
movimiento plano general
Centro de rotacin instantneo en el
movimiento plano
Aceleracin absoluta y relativa en el
movimiento plano
Analisis del movimiento plano en trminos de
un parmetro
Razn de cambio con respecto a un sistema de
referencia en rotacin.
Aceleracin de coriolis
Movimiento alrededor de un punto fijo
Movimiento general.
Movimiento tridimensional. Aceleracin de
Coriolis
Sistema de referencia en movimiento general.
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Introduction
Cinemtica de cuerpo rgido: relaciones entre
el tiempo y la posicin, velocidad y
aceleracin de la partcula que forma un
cuerpo rgido.
Clasificacin del movimiento un cuerpo:
- Movimiento general
- Movimiento alrededor de un punto fijo
- Movimiento plano general
- Rotacin alrededor de un eje fijo
Traslacin curvilnea
Traslacin rectilnea
- Traslacin:
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15 - 4
Traslacin
Considere un cuerpo rgido en traslacin:
- La direccin de toda lnea recta dentro de
un cuerpo es constante,
- Toda partcula que constituyen el cuerpo
se mueven a lo largo de lneas paralela.
Para dos partculas en el cuerpo,
A B A B
r r r

+ =
Diferenciando con respecto al tiempo,
A B
A A B A B
v v
r r r r

=
= + =
Las partculas tienen la misma velocidad.
A B
A A B A B
a a
r r r r

=
= + =
Diferenciando con respecto al tiempo,
Las particulas tienen la misma aceleracin.
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15 - 5
Rotacin Alrededor de un eje fijo. Velocidad
Considere rotacin de un cuerpo rgido
alrededor de un eje fijo AA
Vector Velocidad de la partcula P
tangente a la trayectoria de magnitud
dt r d v

=
dt ds v =
( ) ( )
( ) | u
u
|
u | u
sin sin lim
sin
0

r
t
r
dt
ds
v
r BP s
t
=
A
A
= =
A = A = A
A
locity angular ve k k
r
dt
r d
v
= = =
= =
u e e
e
El mismo resultado se obtiene de
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15 - 6
Rotacin Alrededor de un eje fijo. Aceleracin
Diferenciando la aceleracin,
( )
v r
dt
d
dt
r d
r
dt
d
r
dt
d
dt
v d
a

+ =
+ =
= =
e
e
e
e
e

k k k
celeration angular ac
dt
d
u e o
o
e
= = =
= =
component on accelerati radial
component on accelerati l tangentia
=
=
+ =
r
r
r r a

e e
o
e e o
La aceleracin de P es la combinacin de dos
vectores,
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15 - 7
Rotacin alrededor de un eje fijo. Placa representativa
Considere el movimiento de una placa
representativa en un plano perpendicular al eje
de rotacin.
La Velocidad de un punto P de la placa es,
e
e e
r v
r k r v
=
= =

La Acceleration de un punto P de la placa,
r r k
r r a

2
e o
e e o
=
+ =
Resolviendo la aceleracin en componentes
tangencial y componentes normal,
2 2
e e
o o
r a r a
r a r k a
n n
t t
= =
= =


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15 - 8
Definiendo la ecuacin de rotacin de un cuerpo rgido
Alrededor de un eje fijo
El Movimiento de un cuerpo rgido rotando
alrededor de un eje fijo esta especificado por el tipo
de aceleracin angular.
u
e
e
u e
o
e
u u
e
d
d
dt
d
dt
d
d
dt
dt
d
= = =
= =
2
2
or Recordando
Rotacin uniforme, o = 0:
t e u u + =
0
Rotacin uniformemente acelerado, o = constant:
( )
0
2
0
2
2
2
1
0 0
0
2 u u o e e
o e u u
o e e
+ =
+ + =
+ =
t t
t
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15 - 9
Sample Problem 5.1
Cable C has a constant acceleration of 9
in/s
2
and an initial velocity of 12 in/s,
both directed to the right.
Determine (a) the number of revolutions
of the pulley in 2 s, (b) the velocity and
change in position of the load B after 2 s,
and (c) the acceleration of the point D on
the rim of the inner pulley at t = 0.
SOLUTION:
Due to the action of the cable, the
tangential velocity and acceleration of
D are equal to the velocity and
acceleration of C. Calculate the initial
angular velocity and acceleration.
Apply the relations for uniformly
accelerated rotation to determine the
velocity and angular position of the
pulley after 2 s.
Evaluate the initial tangential and
normal acceleration components of D.
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15 - 10
Sample Problem 5.1
SOLUTION:
The tangential velocity and acceleration of D are equal to the
velocity and acceleration of C.
( ) ( )
( )
( )
s rad 4
3
12
s in. 12
0
0
0
0
0 0
= = =
=
= =
r
v
r v
v v
D
D
C D
e
e

( )
( )
( )
2
s rad 3
3
9
s in. 9
= = =
=
= =
r
a
r a
a a
t
D
t
D
C
t
D
o
o

Apply the relations for uniformly accelerated rotation to
determine velocity and angular position of pulley after 2 s.
( )( ) s rad 10 s 2 s rad 3 s rad 4
2
0
= + = + = t o e e
( )( ) ( )( )
rad 14
s 2 s rad 3 s 2 s rad 4
2 2
2
1
2
2
1
0
=
+ = + = t t o e u
( ) revs of number
rad 2
rev 1
rad 14 =
|
.
|
\
|
=
t
N rev 23 . 2 = N
( )( )
( )( ) rad 14 in. 5
s rad 10 in. 5
= = A
= =
u
e
r y
r v
B
B
in. 70
s in. 50
= A
| =
B
B
y
v

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15 - 11
Sample Problem 5.1
Evaluate the initial tangential and normal acceleration
components of D.
( ) = = s in. 9
C
t
D
a a

( ) ( )( )
2 2 2
0
s in 48 s rad 4 in. 3 = = = e
D
n
D
r a
( ) ( ) + = =
2 2
s in. 48 s in. 9
n
D
t
D
a a

Magnitude and direction of the total acceleration,
( ) ( )
2 2
2 2
48 9 + =
+ =
n
D
t
D D
a a a
2
s in. 8 . 48 =
D
a
( )
( )
9
48
tan
=
=
t
D
n
D
a
a
|
= 4 . 79 |
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15 - 12
Movimiento Plano General
Movimiento plano general no es ni rotacin ni
traslacin.
El movimiento plano general puede considerares
como la suma de traslacin y rotacin.
El desplazamiento de partculas A and B a A
2
y
B
2
pueden ser divida en dos partes:
- traslacin de A
2
and
- rotacin de alrededor de A
2
a B
2

1
B'
1
B'
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15 - 13
Velocidad Absoluta y Relativa en el movimiento Plano
Cualquier movimiento plano puede ser reemplazado por una
traslacin mediante el movimiento de un punto de referencia
arbitrario A y una rotacin simultaneo alrededor de A.
A B A B
v v v

+ =
e e r v r k v
A B A B A B
= =

A B A B
r k v v

+ = e
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15 - 14
Velocidad Absoluta y Relativa en el movimiento Plano
Asumiendo que la velocidad v
A
del extremo A es conocida, se propone determinar
la velocidad v
B
del extremo B y la velocidad angular e en termino de v
A
, l, and u.
La direccin de v
B
y v
B/A
son conocidos. Completando el diagrama velocidad.
u
u
tan
tan
A B
A
B
v v
v
v
=
=
u
e
u
e
cos
cos
l
v
l
v
v
v
A
A
A B
A
=
= =
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15 - 15
Velocidad Absoluta y Relativa en el Movimiento plano
Seleccionando el punto B como el punto de referencia y resolviendo para la
velocidad v
A
en el extremo A y la velocidad angular e lleva a una velocidad
equivalente en el triangulo.
v
A/B
tiene la misma magnitud pero sentido opuesto al de v
B/A
. El sentido de la
velocidad relativa depende del punto de referencia escogido.
La velocidad angular e de la varilla en su rotacin alrededor de B es la misma
que su rotacin alrededor de A. La velocidad angular no depende del punto de
referencia escogida.
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15 - 16
Sample Problem 15.2
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.
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
may be written as

Evaluate the velocities of points B and D.
A P A A P A P
r k v v v v

+ = + = e
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15 - 17
Sample Problem 15.2
x
y
SOLUTION:
The displacement of the gear center in one revolution is
equal to the outer circumference.
For x
A
> 0 (moves to right), e < 0 (rotates clockwise).
u
t
u
t
1
2 2
r x
r
x
A
A
= =
Differentiate to relate the translational and angular
velocities.
m 0.150
s m 2 . 1
1
1
= =
=
r
v
r v
A
A
e
e
( )k k

s rad 8 = =e e
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15 - 18
Sample Problem 15.2
For any point P on the gear,
A P A A P A P
r k v v v v

+ = + = e
Velocity of the upper rack is equal to
velocity of point B:
( ) ( ) ( )
( ) ( )i i
j k i
r k v v v
A B A B R

s m 8 . 0 s m 2 . 1
m 10 . 0 s rad 8 s m 2 . 1
+ =
+ =
+ = = e
( )i v
R

s m 2 =
Velocity of the point D:
( ) ( ) ( )i k i
r k v v
A D A D

m 150 . 0 s rad 8 s m 2 . 1 + =
+ = e
( ) ( )
s m 697 . 1
s m 2 . 1 s m 2 . 1
=
+ =
D
D
v
j i v


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15 - 19
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.
SOLUTION:
Will determine the absolute velocity of
point D with
B D B D
v v v

+ =
The velocity is obtained from the
given crank rotation data.
B
v
The directions of the absolute velocity

and the relative velocity are
determined from the problem geometry.
D
v
B D
v
The unknowns in the vector expression

are the velocity magnitudes
which may be determined from the
corresponding vector triangle.
B D D
v v and
The angular velocity of the connecting
rod is calculated from .
B D
v
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15 - 20
Sample Problem 15.3
SOLUTION:
Will determine the absolute velocity of point D with
B D B D
v v v

+ =
The velocity is obtained from the crank rotation data.
B
v
( ) ( )( ) s rad 4 . 209 in. 3

s rad 4 . 209
rev
rad 2
s 60
min
min
rev
2000
= =
=
|
.
|
\
|
|
|
.
|
\
|
|
.
|
\
|
=
AB B
AB
AB v e
t
e
The velocity direction is as shown.
The direction of the absolute velocity is horizontal.
The direction of the relative velocity is
perpendicular to BD. Compute the angle between the
horizontal and the connecting rod from the law of sines.
D
v
B D
v
= =
95 . 13
in. 3
sin
in. 8
40 sin
|
|
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15 - 21
Sample Problem 15.3
Determine the velocity magnitudes
from the vector triangle.
B D D
v v and
B D B D
v v v

+ =
=
sin76.05
s in. 3 . 628
50 sin 95 . 53 sin
B D
D
v
v
s in. 9 . 495
s ft 6 . 43 s in. 4 . 523
=
= =
B D
D
v
v
s rad 0 . 62
in. 8
s in. 9 . 495
=
= =
=
l
v
l v
B D
BD
BD B D
e
e
s ft 6 . 43 = =
D P
v v
( )k
BD

s rad 0 . 62 = e
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15 - 22
Centro Instantneo de Rotacin en Movimiento Plano
El movimiento plano de las partculas en una placa
puede ser reemplazada la traslacin de un punto
arbitrario A y su rotacin alrededor de A con una
velocidad angular que es independiente del punto A.
La traslacin y rotacin de la velocidad de A son obtenida
y que permite que la placa rote con la misma velocidad
angular alrededor del punto C y es perpendicular a la
velocidad de A.
La velocidad de todas las dems partculas de una placa
son las mismas y estn originalmente definida por la
velocidad angular y la velocidad y traslacional de A .
Tal como las velocidades estn involucradas . La placa
parece rotar alrededor de un centro instantneo de
rotacin C.
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15 - 23
Si son conocidas la velocidad de dos partculas A y B,
el centro instantneo de rotacin depende de la
interseccin de las perpendiculares de los vectores
velocidades a travs de las partculas A y B .
Si los vectores velocidad A y B son perpendiculares a la
lnea AB, el centro instantneo de rotacin se encuentra
en la interseccin de la lnea AB con la lnea que se
junta con los extremos de los vectores velocidad A y B.
Si los vectores velocidad son paralelos, el centro
instantneo de rotacin es infinito y la velocidad
angular es cero.
Si las magnitudes de las velocidades son iguales, el
centro instantneo de rotacin es infinito y la velocidad
angular es cero.
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15 - 24
El centro instantneo de rotacin se determina por la
interseccin de la perpendicular de los vectores velocidad A y B
.
u
e
cos l
v
AC
v
A A
= = ( ) ( )
u
u
u e
tan
cos
sin
A
A
B
v
l
v
l BC v
=
= =
La velocidad de todas las partculas de la varilla son las
mismas cuando rotan alrededor de C.
La partcula con centro de rotacin en la placa la velocidad
es cero.
La partcula coincidente con el centro de rotacin cambian
con el tiempo y la aceleracin en el centro instantneo de
rotacin no es cero.
Las aceleracin de las partculas de la placa no pueden
determinarse como si la placa simplemente rotara en C.
El trazo en lugar del centro de rotacin del cuerpo es el
centrodo y en el espacio el centrodo espacial.
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15 - 25
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.
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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15 - 26
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.
s rad 8
m 0.15
s m 2 . 1
= = = =
A
A
A A
r
v
r v e e
Evaluate the velocities at B and D based on their rotation
about C.
( )( ) s rad 8 m 25 . 0 = = = e
B B R
r v v
( )i v
R

s m 2 =
( )
( )( ) s rad 8 m 2121 . 0
m 2121 . 0 2 m 15 . 0
= =
= =
e
D D
D
r v
r
( )( ) s m 2 . 1 2 . 1
s m 697 . 1
j i v
v
D
D

+ =
=
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15 - 27
Sample Problem 15.5
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.
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.
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15 - 28
Sample Problem 15.5
SOLUTION:
From Sample Problem 15.3,
( )( )
=
= =
95 . 13
s in. 3 . 628 s in. 3 . 481 9 . 403
|
B B
v j i v

The instantaneous center of rotation is at the intersection

of the perpendiculars to the velocities through B and D.
= =
= + =
05 . 76 90
95 . 53 40
|
|
D
B
=
sin50
in. 8
95 . 53 sin 05 . 76 sin
CD BC
in. 44 . 8 in. 14 . 10 = = CD BC
Determine the angular velocity about the center of
rotation based on the velocity at B.
( )
in. 10.14
s in. 3 . 628
= =
=
BC
v
BC v
B
BD
BD B
e
e
Calculate the velocity at D based on its rotation about
the instantaneous center of rotation.
( ) ( )( ) s rad 0 . 62 in. 44 . 8 = =
BD D
CD v e
s ft 6 . 43 s in. 523 = = =
D P
v v
s rad 0 . 62 =
BD
e
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15 - 29
Aceleracin Absoluta y Relativa en Movimiento Plano
La aceleracin absoluta de una partcula en la placa,
A B A B
a a a

+ =
La aceleracin relativa asociada con la rotacin alrededor de A
incluye las componentes tangencial y normal,
A B
a
( )
( )
A B
n
A B
A B
t
A B
r a
r k a

2
e
o
=
=
( )
( )
2
e
o
r a
r a
n
A B
t
A B
=
=
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15 - 30
dado
determine
, and
A A
v a

. and o

B
a
( ) ( )
t
A B
n
A B A
A B A B
a a a
a a a

+ + =
+ =
El vector resultante del sentido y de las
magnitudes relativas de ( )
n
A B A
a a and
A
a
Debe conocerse tambin la velocidad angular e.

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15 - 31
+
x componentes: u o u e cos sin 0

2
l l a
A
+ =
| +
y componentes: u o u e sin cos
2
l l a
B
=
Resolviendo para a
B
yo.
Escribiendo en trminos de ecuacin de dos
componentes,
A B A B
a a a

+ =
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15 - 32
Anlisis de Movimiento Plano en Trminos de un Parametro
En algunos casos, este es una ventaja para determinar
la velocidad y aceleracin absoluta directamente de
un mecanismo.
u sin l x
A
= u cos l y
B
=
u e
u u
cos
cos
l
l
x v
A A
=
=
=
u e
u u
sin
sin
l
l
y v
B B
=
=
=
u o u e
u u u u
cos sin
cos sin
2
2
l l
l l
x a
A A
+ =
+ =
=

u o u e
u u u u
sin cos
sin cos
2
2
l l
l l
y a
B B
=
=
=

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15 - 33
Sample Problem 15.6
The center of the double gear has a
velocity and acceleration to the right of
1.2 m/s and 3 m/s
2
, respectively. The
lower rack is stationary.
Determine (a) the angular acceleration
of the gear, and (b) the acceleration of
points B, C, and D.
SOLUTION:
The expression of the gear position as a
function of u is differentiated twice to
define the relationship between the
translational and angular accelerations.
The acceleration of each point on the
gear is obtained by adding the
acceleration of the gear center and the
relative accelerations with respect to the
center. The latter includes normal and
tangential acceleration components.
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15 - 34
Sample Problem 15.6
SOLUTION:
The expression of the gear position as a function of u
is differentiated twice to define the relationship
between the translational and angular accelerations.
e u
u
1 1
1
r r v
r x
A
A
= =
=
s rad 8
m 0.150
s m 2 . 1
1
= = =
r
v
A
e
o u
1 1
r r a
A
= =

m 150 . 0
s m 3
2
1
= =
r
a
A
o
( )k k

2
s rad 20 = =o o
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15 - 35
Sample Problem 15.6
( ) ( )
( ) ( ) ( ) ( ) ( )
( ) ( ) ( )j i i
j j k i
r r k a
a a a a a a
A B A B A
n
A B
t
A B A A B A B

2 2 2
2 2 2
2
s m 40 . 6 s m 2 s m 3
m 100 . 0 s rad 8 m 100 . 0 s rad 20 s m 3
+ =
=
+ =
+ + = + =
e o
( ) ( )
2 2 2
s m 12 . 8 s m 40 . 6 m 5 = =
B B
a j i s a

The acceleration of each point

is obtained by adding the
acceleration of the gear center
and the relative accelerations
with respect to the center.
The latter includes normal and
tangential acceleration
components.
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15 - 36
Sample Problem 15.6
( ) ( ) ( ) ( ) ( )
( ) ( ) ( )j i i
j j k i
r r k a a a a
A C A C A A C A C

2 2 2
2 2 2
2
s m 60 . 9 s m 3 s m 3
m 150 . 0 s rad 8 m 150 . 0 s rad 20 s m 3
+ =
=
+ = + = e o
( )j a
c

2
s m 60 . 9 =
( ) ( ) ( ) ( ) ( )
( ) ( ) ( )i j i
i i k i
r r k a a a a
A D A D A A D A D

2 2 2
2 2 2
2
s m 60 . 9 s m 3 s m 3
m 150 . 0 s rad 8 m 150 . 0 s rad 20 s m 3
+ + =
=
+ = + = e o
( ) ( )
2 2 2
s m 95 . 12 s m 3 m 6 . 12 = + =
D D
a j i s a


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15 - 37
Sample Problem 15.7
Crank AG of the engine system has a
constant clockwise angular velocity of
2000 rpm.
For the crank position shown,
determine the angular acceleration of
the connecting rod BD and the
acceleration of point D.
SOLUTION:
The angular acceleration of the
connecting rod BD and the acceleration
of point D will be determined from
( ) ( )
n
B D
t
B D B B D B D
a a a a a a

+ + = + =
The acceleration of B is determined from
the given rotation speed of AB.
The directions of the accelerations
are
determined from the geometry.
( ) ( )
n
B D
t
B D D
a a a

and , ,
Component equations for acceleration
of point D are solved simultaneously for
acceleration of D and angular
acceleration of the connecting rod.
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15 - 38
Sample Problem 15.7
The acceleration of B is determined from the given rotation
speed of AB.
SOLUTION:
The angular acceleration of the connecting rod BD and
the acceleration of point D will be determined from
( ) ( )
n
B D
t
B D B B D B D
a a a a a a

+ + = + =
( )( )
2 2
12
3
2
AB
s ft 962 , 10 s rad 4 . 209 ft
0
constant s rad 209.4 rpm 2000
= = =
=
= = =
AB B
AB
r a e
o
e
( )( ) j i a
B

= 40 sin 40 cos s ft 962 , 10

2
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15 - 39
Sample Problem 15.7
The directions of the accelerations are
determined from the geometry.
( ) ( )
n
B D
t
B D D
a a a

and , ,
From Sample Problem 15.3, e
BD
= 62.0 rad/s, | = 13.95
o
.
( ) ( ) ( )( )
2 2
12
8
2
s ft 2563 s rad 0 . 62 ft = = =
BD
n
B D
BD a e
( ) ( )( ) j i a
n
B D

+ = 95 . 13 sin 95 . 13 cos s ft 2563

2
( ) ( ) ( )
BD BD BD
t
B D
BD a o o o 667 . 0 ft
12
8
= = =
The direction of (a
D/B
)
t
is known but the sense is not known,
( ) ( )( ) j i a
BD
t
B D

= 05 . 76 cos 05 . 76 sin 667 . 0 o

i a a
D D

=
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15 - 40
Sample Problem 15.7
( ) ( )
n
B D
t
B D B B D B D
a a a a a a

+ + = + =
Component equations for acceleration of point D are solved
simultaneously.
x components:
+ = 95 . 13 sin 667 . 0 95 . 13 cos 2563 40 cos 962 , 10
BD D
a o
+ + = 95 . 13 cos 667 . 0 95 . 13 sin 2563 40 sin 962 , 10 0
BD
o
y components:
( )
( )i a
k
D
BD
2
2
s ft 9290
s rad 9940
=
= o
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15 - 41
Sample Problem 15.8
In the position shown, crank AB has a
constant angular velocity e
1
= 20 rad/s
counterclockwise.
Determine the angular velocities and
angular accelerations of the connecting
rod BD and crank DE.
SOLUTION:
The angular velocities are determined by
simultaneously solving the component
equations for
B D B D
v v v

+ =
The angular accelerations are determined
by simultaneously solving the component
equations for
B D B D
a a a

+ =
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15 - 42
Sample Problem 15.8
SOLUTION:
The angular velocities are determined by simultaneously
solving the component equations for
B D B D
v v v

+ =
( )
j i
j i k r v
DE DE
DE D DE D

e e
e e
17 17
17 17
=
+ = =
( )
j i
j i k r v
B AB B

160 280
14 8 20
+ =
+ = =e
( )
j i
j i k r v
BD BD
BD B D BD B D

e e
e e
12 3
3 12
+ =
+ = =
BD DE
e e 3 280 17 =
x components:
BD DE
e e 12 160 17 + + =
y components:
( ) ( )k k
DE BD

s rad 29 . 11 s rad 33 . 29 = = e e
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15 - 43
Sample Problem 15.8
The angular accelerations are determined by
simultaneously solving the component equations for
B D B D
a a a

+ =
( ) ( ) ( )
j i j i
j i j i k
r r a
DE DE
DE
D DE D DE D

2170 2170 17 17
17 17 29 . 11 17 17
2
2
+ =
+ + =
=
o o
o
e o
( ) ( )
j i
j i r r a
B AB B AB B

5600 3200
14 8 20 0
2 2
+ =
+ = = e o
( ) ( ) ( )
j i j i
j i j i k
r r a
D B D B
D B
D B BD D B BD B D

2580 320 , 10 12 3
3 12 33 . 29 3 12
2
2
+ =
+ + =
=
o o
o
e o
x components:
690 , 15 3 17 = +
BD DE
o o
y components: 6010 12 17 =
BD DE
o o
( ) ( )k k
DE BD

2 2
s rad 809 s rad 645 = = o o
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15 - 44
Rapidez de cambio con respecto a un Sistema de Rotacion
Sistema fijo OXYZ .
Sistema Oxyz rotando
alrededor del eje fijo OA
con una velocidad angular O
La funcin del vector

vara en direccin y
magnitud.
( ) t Q
( ) k Q j Q i Q Q
z y x Oxyz

+ + =
Con respecto al sistema fijo OXYZ ,
( ) k Q j Q i Q k Q j Q i Q Q
z y x z y x OXYZ

+ + + + + =
Rapidez de
cambio con respecto al sistema de rotacin.
( ) = = + +
Oxyz z y x
Q k Q j Q i Q

Si donde esta fijo dentro de Oxyz

entonces esto es equivalente a la velocidad de un
punto en un cuerpo rgido Oxyz y
( )
OXYZ
Q
Q k Q j Q i Q
z y x

O = + +
Q
Con respecto al sistema de rotacin Oxyz

k Q j Q i Q Q
z y x

+ + =
Con respecto al sistema fijo OXYZ ,
( ) ( ) Q Q Q
Oxyz OXYZ

O + =
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15 - 45
Coriolis Acceleration
Frame OXY is fixed and frame Oxy rotates with angular
velocity . O
Position vector for the particle P is the same in both

frames but the rate of change depends on the choice of
frame.
P
r
The absolute velocity of the particle P is

( ) ( )
Oxy OXY P
r r r v

+ O = =
Imagine a rigid slab attached to the rotating frame Oxy
or F for short. Let P be a point on the slab which
corresponds instantaneously to position of particle P.
( ) = =
Oxy P
r v

F
velocity of P along its path on the slab
=
' P
v
absolute velocity of point P on the slab

Absolute velocity for the particle P may be written as
F P P P
v v v

+ =
'
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15 - 46
( )
F P P
Oxy P
v v
r r v

+ =
+ O =
'
Absolute acceleration for the particle P is
( ) ( ) | |
Oxy OXY P
r
dt
d
r r a

+ O + O =
( ) ( ) ( )
Oxy Oxy P
r r r r a

+ O + O O + O = 2
( ) ( )
( ) | | ( ) ( )
Oxy Oxy Oxy
Oxy OXY
r r r
dt
d
r r r
O + =
+ O = but,
( )
( )
Oxy P
P
r a
r r a

=
O O + O =
'
F
Utilizing the conceptual point P on the slab,
Absolute acceleration for the particle P becomes
( )
( ) 2 2
2
= O = O =
+ + =
O + + =
'
'
F
F
F
P Oxy c
c P P
Oxy P P P
v r a
a a a
r a a a

Coriolis acceleration
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15 - 47
Consider a collar P which is made to slide at constant
relative velocity u along rod OB. The rod is rotating at
a constant angular velocity e. The point A on the rod
corresponds to the instantaneous position of P.
c P A P
a a a a

+ + =
F
Absolute acceleration of the collar is
( ) 0 = =
Oxy P
r a

F
u a v a
c P c
e 2 2 = O =
F
The absolute acceleration consists of the radial and

tangential vectors shown
( )
2
e r a r r a
A A
= O O + O =

where
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15 - 48
u v v t t
u v v t
A
A
'
+ =
'
A +
+ =
'

, at
, at
Change in velocity over At is represented by the
sum of three vectors
T T T T R R v
' ' '
+
' '
+
'
= A
( )
2
e r a r r a
A A
= O O + O =

recall,
is due to change in direction of the velocity of
point A on the rod,
A A
t t
a r r
t
v
t
T T
= = = =
' '

2
0 0
lim lim e ee
A
u A
A A A
T T
' '
result from combined effects of
relative motion of P and rotation of the rod
T T R R
' ' ' '
and
u u u
t
r
t
u
t
T T
t
R R
t t
e e e
A
A
e
A
u A
A A A A
2
lim lim
0 0
= + =
|
.
|
\
|
+ =
|
|
.
|
\
| ' ' '
+
'

u a v a
c P c
e 2 2 = O =
F
recall,
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15 - 49
Sample Problem 15.9
Disk D of the Geneva mechanism rotates
with constant counterclockwise angular
velocity e
D
= 10 rad/s.
At the instant when | = 150
o
, determine
(a) the angular velocity of disk S, and (b)
the velocity of pin P relative to disk S.
SOLUTION:
The absolute velocity of the point P
may be written as
s P P P
v v v

+ =
'
Magnitude and direction of velocity
of pin P are calculated from the
radius and angular velocity of disk D.
P
v
Direction of velocity of point P on

S coinciding with P is perpendicular to
radius OP.
P
v
'
Direction of velocity of P with

respect to S is parallel to the slot.
s P
v
Solve the vector triangle for the

angular velocity of S and relative
velocity of P.
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15 - 50
Sample Problem 15.9
SOLUTION:
The absolute velocity of the point P may be written as
s P P P
v v v

+ =
'
Magnitude and direction of absolute velocity of pin P are
calculated from radius and angular velocity of disk D.
( )( ) s mm 500 s rad 10 mm 50 = = =
D P
R v e
Direction of velocity of P with respect to S is parallel to slot.
From the law of cosines,
mm 1 . 37 551 . 0 30 cos 2
2 2 2 2
= = + = r R Rl l R r
From the law of cosines,
=
= 4 . 42
742 . 0
30 sin
sin
30 sin
R
sin
| |
|
r
= = 6 . 17 30 4 . 42 90
The interior angle of the vector triangle is
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15 - 51
Sample Problem 15.9
Direction of velocity of point P on S coinciding with P is
perpendicular to radius OP. From the velocity triangle,
( )
mm 1 . 37
s mm 2 . 151
s mm 2 . 151 6 . 17 sin s mm 500 sin
= =
= = =
'
s s
P P
r
v v
e e
( )k
s

s rad 08 . 4 = e
( ) = = 6 . 17 cos s m 500 cos
P s P
v v
( )( ) j i v
s P

= 4 . 42 sin 4 . 42 cos s m 477

s mm 500 =
P
v
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15 - 52
Sample Problem 15.10
In the Geneva mechanism, disk D
rotates with a constant counter-
clockwise angular velocity of 10
rad/s. At the instant when = 150
o
,
determine angular acceleration of
disk S.
SOLUTION:
The absolute acceleration of the pin P may
be expressed as
c s P P P
a a a a

+ + =
'
The instantaneous angular velocity of Disk
S is determined as in Sample Problem 15.9.
The only unknown involved in the
acceleration equation is the instantaneous
angular acceleration of Disk S.
Resolve each acceleration term into the
component parallel to the slot. Solve for
the angular acceleration of Disk S.
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15 - 53
SOLUTION:
Absolute acceleration of the pin P may be expressed as
c s P P P
a a a a

+ + =
'
From Sample Problem 15.9.
( )
( )( ) j i v
k
s P
S

=
= =
4 . 42 sin 4 . 42 cos s mm 477
s rad 08 . 4 4 . 42 e |
Considering each term in the acceleration equation,
( )( )
( )( ) j i a
R a
P
D P

=
= = =
30 sin 30 cos s mm 5000
s mm 5000 s rad 10 mm 500
2
2 2 2
e
( ) ( )
( ) ( )( )
( ) ( )( )
( ) ( )( )( ) j i a
j i r a
j i r a
a a a
S
t
P
S
t
P
S
n
P
t
P
n
P P

+ =
+ =
=
+ =
'
'
'
' ' '
4 . 42 cos 4 . 42 sin mm 1 . 37
4 . 42 cos 4 . 42 sin
4 . 42 sin 4 . 42 cos
2
o
o
e
note: o
S
may be positive or negative
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15 - 54
The relative acceleration must be parallel to
the slot.
s P
a

s P
v
The direction of the Coriolis acceleration is obtained

by rotating the direction of the relative velocity
by 90
o
in the sense of e
S.

( )( )
( )( )( )
( )( ) j i
j i
j i v a
s P S c

4 . 42 cos 4 . 42 sin s mm 3890

4 . 42 cos 4 . 42 sin s mm 477 s rad 08 . 4 2
4 . 42 cos 4 . 42 sin 2
2
+ =
+ =
+ = e
Equating components of the acceleration terms
perpendicular to the slot,
s rad 233
0 7 . 17 cos 5000 3890 1 . 37
=
= +
S
S
o
o
( )k
S

s rad 233 = o
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15 - 55
Motion About a Fixed Point
The most general displacement of a rigid body with a
fixed point O is equivalent to a rotation of the body
about an axis through O.
With the instantaneous axis of rotation and angular
velocity the velocity of a particle P of the body is , e
r
dt
r d
v

= = e
and the acceleration of the particle P is
( ) .
dt
d
r r a
e
o e e o

= + =
Angular velocities have magnitude and direction and
obey parallelogram law of addition. They are vectors.
As the vector moves within the body and in space,
it generates a body cone and space cone which are
tangent along the instantaneous axis of rotation.
e
The angular acceleration represents the velocity of

the tip of
. e

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15 - 56
General Motion
For particles A and B of a rigid body,
A B A B
v v v

+ =
Particle A is fixed within the body and motion of
the body relative to AXYZ is the motion of a
body with a fixed point
A B A B
r v v

+ = e
Similarly, the acceleration of the particle P is
( )
A B A B A
A B A B
r r a
a a a

+ + =
+ =
e e o
Most general motion of a rigid body is equivalent to:
- a translation in which all particles have the same
velocity and acceleration of a reference particle A, and
- of a motion in which particle A is assumed fixed.
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15 - 57
The crane rotates with a constant
angular velocity e
1
= 0.30 rad/s and the
boom is being raised with a constant
angular velocity e
2
= 0.50 rad/s. The
length of the boom is l = 12 m.
Determine:
angular velocity of the boom,
angular acceleration of the boom,
velocity of the boom tip, and
acceleration of the boom tip.
Angular acceleration of the boom,
( )
2 1
2 2 2 2 1
e e
e O e e e e o

=
+ = = + =
Oxyz
Velocity of boom tip,
r v

= e
Acceleration of boom tip,
( ) v r r r a

+ = + = e o e e o
SOLUTION:
With

Angular velocity of the boom,
2 1
e e e

+ =
( )
j i
j i r
k j

6 39 . 10
30 sin 30 cos 12
50 . 0 30 . 0
2 1
+ =
+ =
= = e e
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15 - 58
j i r
k j

6 39 . 10
50 . 0 30 . 0
2 1
+ =
= = e e
SOLUTION:
Angular velocity of the boom,
2 1
e e e

+ =
( ) ( )k j

s rad 50 . 0 s rad 30 . 0 + = e
Angular acceleration of the boom,
( )
( ) ( )k j
Oxyz

s rad 50 . 0 s rad 30 . 0
2 1
2 2 2 2 1
= =
+ = = + =
e e
e O e e e e o
( )i
2
s rad 15 . 0 = o
Velocity of boom tip,
0 6 39 . 10
5 . 0 3 . 0 0
k j i
r v

= =e
( ) ( ) ( )k j i v

s m 12 . 3 s m 20 . 5 s m 54 . 3 + =
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15 - 59
j i r
k j

6 39 . 10
50 . 0 30 . 0
2 1
+ =
= = e e
Acceleration of boom tip,
( )
k j i i k
k j i k j i
a
v r r r a

90 . 0 50 . 1 60 . 2 94 . 0 90 . 0
12 . 3 20 . 5 3
50 . 0 30 . 0 0
0 6 39 . 10
0 0 15 . 0
+ =

+ =
+ = + = e o e e o
( ) ( ) ( )k j i a

2 2 2
s m 80 . 1 s m 50 . 1 s m 54 . 3 + =
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15 - 60
Three-Dimensional Motion. Coriolis Acceleration
With respect to the fixed frame OXYZ and rotating
frame Oxyz,
( ) ( ) Q Q Q
Oxyz OXYZ

O + =
Consider motion of particle P relative to a rotating
frame Oxyz or F for short. The absolute velocity can
be expressed as
( )
F P P
Oxyz P
v v
r r v

+ =
+ O =
'
The absolute acceleration can be expressed as
( ) ( ) ( )
( ) on accelerati Coriolis 2 2
2
= O = O =
+ + =
+ O + O O + O =
'
F
F
P Oxyz c
c P p
Oxyz Oxyz P
v r a
a a a
r r r r a

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15 - 61
Frame of Reference in General Motion
Consider:
- fixed frame OXYZ,
- translating frame AXYZ, and
- translating and rotating frame Axyz
or F.
With respect to OXYZ and AXYZ,
A P A P
A P A P
A P A P
a a a
v v v
r r r

+ =
+ =
+ =
The velocity and acceleration of P relative to
AXYZ can be found in terms of the velocity
and acceleration of P relative to Axyz.
( )
F P P
Axyz
A P A P A P
v v
r r v v

+ =
+ O + =
'
( )
( ) ( )
c P P
Axyz
A P
Axyz
A P
A P A P A P
a a a
r r
r r a a

+ + =
+ O +
O O + O + =
' F
2
E
i
g
h
t
h

E
d
i
t
i
o
n

15 - 62
For the disk mounted on the arm, the
indicated angular rotation rates are
constant.
Determine:
the velocity of the point P,
the acceleration of P, and
angular velocity and angular
acceleration of the disk.
SOLUTION:
Define a fixed reference frame OXYZ at O
and a moving reference frame Axyz or F
attached to the arm at A.
With P of the moving reference frame
coinciding with P, the velocity of the point
P is found from
F P P P
v v v

+ =
'
The acceleration of P is found from
c P P P
a a a a

+ + =
' F
The angular velocity and angular
acceleration of the disk are
( ) e O e o
e O e
+ =
+ =
F
F D
E
i
g
h
t
h

E
d
i
t
i
o
n

15 - 63
SOLUTION:
Define a fixed reference frame OXYZ at O and a
moving reference frame Axyz or F attached to the
arm at A.
j
j R i L r

1
e O =
+ =
k
j R r
D
A P
2
e e =
=
F
With P of the moving reference frame coinciding
with P, the velocity of the point P is found from
( )
i R j R k r v
k L j R i L j r v
v v v
A P D P
P
P P P

2 2
1 1
e e e
e e O
= = =
= + = =
+ =
'
'
F F
F
k L i R v
P

1 2
e e =
E
i
g
h
t
h

E
d
i
t
i
o
n

15 - 64
The acceleration of P is found from
c P P P
a a a a

+ + =
' F
( ) ( ) i L k L j r a
P

2
1 1 1
e e e O O = = =
'
( )
( ) j R i R k
r a
A P D D P

2
2 2 2
e e e
e e
= =
=
F F F
( ) k R i R j
v a
P c
2 1 2 1
2 2
2
e e e e
O
= =
=
F
k R j R i L a
P

2 1
2
2
2
1
2 e e e e + =
Angular velocity and acceleration of the disk,
F D
e O e

+ = k j

2 1
e e e + =
( )
( ) k j j

2 1 1
e e e
e O e o
+ =
+ =
F
i
2 1
e e o =

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VECTOR MECHANICS FOR ENGINEERS:

2007 The McGraw-Hill Companies, Inc. All rights reserved.

2007 The McGraw-Hill Companies, Inc. All rights reserved.

2007 The McGraw-Hill Companies, Inc. All rights reserved.

The directions of the absolute velocity

The unknowns in the vector expression

( ) ( )( ) s rad 4 . 209 in. 3

The instantaneous center of rotation is at the intersection

Debe conocerse tambin la velocidad angular e.

x componentes: u o u e cos sin 0

The acceleration of each point

2007 The McGraw-Hill Companies, Inc. All rights reserved.

= 40 sin 40 cos s ft 962 , 10

+ = 95 . 13 sin 95 . 13 cos s ft 2563

= 05 . 76 cos 05 . 76 sin 667 . 0 o

La funcin del vector

Si donde esta fijo dentro de Oxyz

Con respecto al sistema de rotacin Oxyz

Position vector for the particle P is the same in both

The absolute velocity of the particle P is

absolute velocity of point P on the slab

The absolute acceleration consists of the radial and

Direction of velocity of point P on

Direction of velocity of P with

Solve the vector triangle for the

= 4 . 42 sin 4 . 42 cos s m 477

Sample Problem 15.10

The direction of the Coriolis acceleration is obtained

4 . 42 cos 4 . 42 sin s mm 3890

The angular acceleration represents the velocity of

2007 The McGraw-Hill Companies, Inc. All rights reserved.

2007 The McGraw-Hill Companies, Inc. All rights reserved.

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