Lecdue Us Kinematics of gorticler: dx’ righ loodties ‘Yector representation of velocities A velocity can be represented graphically by a line in the same direction and with 2 Jength proportional to the magnitude. This is often called a vector. Vectors can be added using the parallelogram or triangle Taw. eg C=A+B io diredion of & given by Frnshing pomt GF) Lits rom sanceSP- bo—Sameee EP o> RUS (im a cobtnuous tress) ORelative motion _(translating non-rotating axes) ry 3 Coordinate system OXY is fixed (normally fixed to the earth is adequate) Coordinate system Quy can TRANSLATE BUT NOT ROTATE. (ie. Qx always parallel to OX, and Qy always parallel to OY), P has coordinates x,y in the QXY coordinate system end coordinates (Xx),(Y+-y) in the OXY coordinate system. Ya Yes ‘The velocity components of the point P P Kae in the OXY coordinate system are é 3 x Y 4 7 Y The velocity components of the point Q in the OXY coordinate system are oe oo a _ a x‘The velocity components ofP as seen by an observer at the origin Q of the non-rotating but ‘translating coordinate system Qxy are ‘these components ate known as the velocity of P relative to Q, that is the velocity of P as seen by a non-rotating observer moving with the translating but non-rotating coordinates attached to Q. i.e, Be = Vrelasvet Qa) = VPr1Q oy = VP/O Ge Y = YP relative w Q yy VrrdQ gy = VP/0 gy ‘Therefore, the absolute velocity of P (Le. referred to the fixed set of coordinates OXY) is equal fo the absolute velocity of Q plus the velocity of P relative to Q. ic VP ey = VQ) TYP Ve oy VO yy F YP yy or using vector notation Vp =Yqt¥prg This is called THE RELATIVE VELOCITY EQUATION and is solved graphically using a VELOCITY DIAGRAM or algebraically using vector algebra. For two-dimensional problems drawing the velocity diagram is usually easier and gives a MUCH BETTER understanding of the problem and its solution.‘NOTES 1) Vp is the absolute velocity of P, i.e. referred to the fixed coordinate system i OXY. In practice it is usual to drop the “absolute” and just refer to the velocity | of P. 2) Yq is the (ebsolute) velocity of Q the moving coordinate origin, 3) Ypiq is the velocity of P relative to Q, that is the velocity of P as seen by a NON-ROTATING observer tioving with the origin Q of the TRANSLATING and NON-ROTATING coordinates Quy. Solution Procedure Identify two particles (say P and Q) é attach translating but non-rotating axes to one of them (say Q) and | decide on fixed coordinate directions ‘+ note relative velocity equation relating the motion of P and Q that is Yo = Yq tng ‘© identify known information about velocities of two particles (P and Q) ‘© identify known information of velocity of P relative to Q, i.e. the velocity of P as seen by a non-rotating observer moving with the translating but non-rotating axes attached to Q ‘solve the relative velocity equation by drawing a Velocity Diagram (to scale, or sketch and solve trigonometry) or using vector algebra.3 8 Vas tOm/s —— é 4 A Ve? oct ee? # = \ Ve=Va+ Vea Vele cakes diagram Ven Wme.Passengers in the jet transport A flying east at a speed of 800 ku/b ‘observe a second jl plane B which passes under the transport in hor tal ight. Alchough the nose of B f pointed in the 45° northeast direction, plane appears to the passengers in A to be moving away from the transport at the 60° angle as shown. Determine the true velocity of B. ew anes are te A and ca yeh ia wr a particle i by sre mile Ae = Va sim bo sR TS Ve = Va siaGO = 900 slo = TIT kmh sm 75 son 15 odeviby of jek & & U7 tenPLANE. TICS OF RIG) Ss xigid body - all points are a fixed distance apart a) b) e) a T @ Rectilinear translation Rocket test sled @) Curvilinear translation Parallel-link ewinging plate CO) Fixed-axis rotation Compound pendulum (a Se General ‘ plane motion Connecting rods in a reciprocating engine rectilinear translation no rotation of any line in the body - all points nove in identical straight Lines curvilinear translation no rotation of any line in the body ~ all points move in identical curved lines fixed axis rotation angular motion about a fixed axis - all points nove in circular lines about the axis of rotation - all lines in the body rotate through the same angle in a given time general plane notion combination of rotation and translation - all lines in thé body rotate through the same angle in a given timewre relating veloc © daveloped | qartides , link eek ius freed pork om a senghe nqet boda asthe poticles. attach mowey acces te ALodder Problem GRounp Van Sound Be comndering A ao fined. Moh elo Vaz Vas —e — Gund Ve, w © a angular velocity of ladder %y are bermnlabing huk non —robakin. sees ech origin ak AL Noles 2 Va andl Ve are the absolute vebctties of Aand & BW in defmed usin ee tolaking veference direckion 3 Gea fer Van and to will be found im anolysis