Beruflich Dokumente
Kultur Dokumente
Chapter 15
Kinematics of Rigid Bodies
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
Uniform Rotation, = 0:
0 t
vD 0 r0 a D t r
vD 0 12 aD t 9
0 4 rad s 3 rad s 2
r 3 r 3
Apply the relations for uniformly accelerated rotation to
determine velocity and angular position of pulley after 2 s.
0 t 4 rad s 3 rad s 2 2 s 10 rad s
0t 12 t 2 4 rad s 2 s 12 3 rad s 2 2 s 2
14 rad
1 rev
N 14 rad number of revs N 2.23 rev
2 rad
vB r 5 in.10 rad s vB 50 in. s
yB r 5 in.14 rad yB 70 in.
Sample Problem 5.1
Evaluate the initial tangential and normal acceleration
components of D.
aD t aC 9 in. s
aD n rD02 3 in. 4 rad s 2 48 in s2
aD t 9 in. s2 aD n 48 in. s2
aD aD t2 aD 2n
92 482 aD 48.8 in. s 2
aD n
tan
aD t
48
9 79.4
General Plane Motion
A combination of translation & rotation
General Plane Motion
r
Note: vB A r r = distance from A to B
r r r
vB A k rB / A v B v A k rB A
Equation can be represented graphically by a velocity diagram
Absolute and Relative Velocity
Assuming that the velocity vA of end A is known, determine
the velocity vB of end B and the angular velocity
Locus for vB
Locus
for vB/A
vA
vB
vB/A
r r r
vB v A vB A
The direction of vB and vB/A are known. Complete the velocity diagram.
vB
tan vB v A tan
vA
vB A cos
vB A vA
vB A l
l l cos l cos
Absolute and Relative Velocity in Plane Motion
Selecting point B as the reference point and solving for the velocity vA of end
A and the angular velocity 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 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.
Rolling Motion
Consider a circular disc that rolls without slipping on a flat surface
O1 O2
r
A2
From geometry: s r
A1 s
s = displacement of center
v r& r
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.
Sample Problem 15.2
vD/A vB/A
v A ArA
v A 1.2
A 8 rad / s
rA 0.15
For any point P on the gear: vP v A vP A v A k rP A
r r r
For point B: vB v A vB A 1.2 8 0.1 2 m / s
r r
v R vB 2 m / s
r r r r r r r
For point D: vD v A vD A 1.2i 8 0.15 j 1.2i 1.2 j
Sample Problem 15.3
vD vB vD B
The velocity vB is obtained from the crank rotation data.
rev min 2 rad
AB 2000 209.4 rad s
min 60 s rev
vB AB AB 3 in. 209.4 rad s
vD B l BD
v D vB vD B
vD B 495.9 in. s
BD
l 8 in.
62.0 rad s
Instantaneous Center of Rotation
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 were rigidly connected to the body).
If the velocity vectors are equal & parallel, C is at infinity and the angular
velocity is zero (pure translation)
Instantaneous Center of Rotation
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.
Sample Problem 15.4
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.
v A 1.2
v A rA 8rad s
rA 0.15
vR vB rB 8 0.25
vR 2 m s i
rD 0.15 2 0.2121 m
vD rD 8 0.2121
vD 1.697 m s
vD 1.2i 1.2 j m s
Sample Problem 15.5 using instantaneous center
Crank-slider mechanism
vB AB AB BD BC
BD
vB vD BD CD
BC
Absolute and Relative Acceleration
Absolute acceleration of point B: aB a A aB A
Relative acceleration a B A includes tangential and normal components:
aB A r
t
B A
a
n
r 2
Absolute and Relative Acceleration
Given a A and v A , determine a B and .
aB a A aB A
n
a A aB A aB A t
Vector result depends on sense of a A and the
relative magnitudes of a A and a B A n
Must also know angular velocity .
Absolute and Relative Acceleration
r r r r r r
aB a A a B A aC a A aC A
r r r r r r
3i r ( j ) ri
2
3i r ( j ) r ( i )
2
r r r r r r
3i (8) (0.1) j (20)(0.1)i
2
3i (8) (0.15) j (20)(0.15)i
2
r r r
5i 6.4 j 9.6 j
r r r
aD a A aD A
r r r
3i r (i ) rj
2
r r r
3i (8) (0.15)i (20)(0.15) j
2
r r
12.6i 3 j
Sample Problem 15.7
aD aB aD B
aB aD
B t
aD
B n
aD B t BD BD 128 ft BD 0.667 BD
Drawn to scale
Sample Problem 15.8
Four-bar mechanism
In the position shown, crank AB has a constant angular velocity
1 = 20 rad/s counterclockwise. Determine the angular
velocities and angular accelerations of the connecting rod BD
and crank DE.
Sample Problem 15.8
vB vD Velocities
vD vB vD B
vB 1 ( AB)
Velocity diagram
vD/B vB
vD/B
r vD
vD B BD ( BD)
Shown here not to scale
r
vD DE ( DE )
BD 29.33 rad s k DE 11.29 rad s k
Sample
a Problem 15.8
D/B t aD/E t
Accelerations
aD aB aD B
aD/B n
aD/E n
Acceleration diagram
aB
r aD/E n
aB AB
2
( AB )
r aB
D B BD ( BD)
a
n
2
r aD/B n
D E n DE ( DE )
a 2
aD/E t
r
aD E DE ( DE )
t
2
BD 645 rad s k
2
DE 809 rad s k
Shown here not to scale