Applied Mathematics B224

Prof GJF (Francois) Smit

Tel 808 4219
Email: fsmit@sun.ac.za
A 222 General engineering building
SUNLearn

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 Timetable Semester 1: 2020: Prof Francois Smit

Monday Tuesday Wednesday Thursday Friday

08:00 MSc

09:00 CFD

Projects

10:00 CFD

TW B224 Gr3
11:00 (Eng)
A403B
TW B224
TW B224 Gr3 (Eng)
12:00 Gr3 (Eng)
A303B
A303B
NOT
AVAILABLE
12:50-
14:00

14:00-
Projects
15:00

TW B 224
15:00-
A203 & Project meetings
16:00
A204

16:00-
17:00

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 Tutorial
Venue: (Mechanical, Mechatronics, Chem. Eng.): A203 & A204
Time: 14:00 to 16:15
Tut test: 16:15 to 16:40

Tut test: COMPULSORY (Repeating students that have clashes,

please send an email to me: fsmit@sun.ac.za)

Every week there will be a written test.

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 Tutorial on 4 February:
(The idea is to revise aspects from AM B124 and AM B154 that is
applicable to and important for AM B224

• Dot and cross products

• Force moments (scalar method and with the use of cross products)
• Centre of mass, gravity and centroids
• Area moment of inertia (AM B124)
• Relative motion (AM B154)

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 Block 1
Part 1 – Plane Kinematics of Rigid Bodies
• Planar rigid body movement # 16.1
• Translation # 16.2
• Rotation about a fixed axis # 16.3
• Absolute motion # 16.4
• Relative motion: velocity # 16.5
• Instantaneous centre of zero velocity # 16.6
• Relative motion: acceleration # 16.7

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 Block 1 (continue)
Part 2 – Plane kinetics of Rigid Bodies
• Moment of inertia # 17.1
• Planar kinetics equations of motion # 17.2
• Equations of motion: Translation # 17.3
• Equations of motion: Rotation about a fixed axis # 17.4
• Equations of motion: General plane motion # 17.5

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 IMPORTANT NOTICE
• My slides are NOT a summary of the text book
• You MUST study the theory and additional material in the text book

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 PLANAR RIGID BODY MOTION:
TRANSLATION & ROTATION
Objectives :
Students will be able to:
1. Analyze the kinematics of a rigid body undergoing planar
translation or rotation about a fixed axis.
 READING QUIZ

1. If a rigid body is in translation only, the velocity at

points A and B on the rigid body _______ .
A) are usually different
B) are always the same
C) depend on their position
D) depend on their relative position

2. If a rigid body is rotating with a constant angular

velocity about a fixed axis, the velocity vector at point
P is _______.
A)   rp B) rp 
C) drp/dt D) All of the above.
APPLICATIONS
17
 RIGID BODY MOTION (Section 16.1)
• Objects cannot always be treated as a particle:
– The size or shape of the body must be considered
– Rotation of the body about its center of mass requires a different approach
• Examples: design of gears, cams, and links in machinery or
mechanisms, rotation of the body
• Rigid body motion:
– Our module we will only consider planar motion
• Planar motion: all parts of the body move along paths equidistant
from a fixed plane

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Applied Mathematics B224

Prof GJF (Francois) Smit

Tel 808 4219
Email: fsmit@sun.ac.za
A 222 General engineering building
SUNLearn

19
 PLANAR RIGID BODY MOTION

There are three types of planar rigid body motion.

II
III
 PLANAR RIGID BODY MOTION

There are three types of planar rigid body motion.

II
III
 PLANAR RIGID BODY MOTION

There are three types of planar rigid body motion.

II
III
 PLANAR RIGID BODY MOTION

There are three types of planar rigid body motion.

II
III
 PLANAR RIGID BODY MOTION
(continued)

Translation: Translation occurs if every line segment on

the body remains parallel to its original direction during the
motion.
• When all points move along straight lines, the motion is
called rectilinear translation.
• When the paths of motion are curved lines, the motion is
called curvilinear translation.
PLANAR RIGID BODY MOTION
(continued)

Rotation about a fixed axis: All the

particles of the body, except those on the
axis of rotation, move along circular paths
in planes perpendicular to the axis of
rotation.

General plane motion: The body

undergoes both translation and
rotation.

Translation occurs within a plane and

rotation occurs about an axis
perpendicular to this plane.
 PLANAR RIGID BODY MOTION
(continued)

2
4

3 1

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 RIGID-BODY MOTION:
TRANSLATION (Section 16.2)

Position:
/

Velocity:

Acceleration:
NB: Vectors: ≡ ≡

Note, all points in a rigid body subjected to translation move with the same
velocity and acceleration.
 RIGID-BODY MOTION:
ROTATION ABOUT A FIXED AXIS (Section 16.3)

Rotation: 2-D and 3D

Angular position:  rad
Angular displacement: Magnitude
AND direction

Angular velocity:

Magnitude: rad/s

Direction: Right hand rule

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ROTATION ABOUT A FIXED AXIS

Angular acceleration:

Magnitude: rad/s2

or

Direction: Right hand rule

d  d
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Rotation Translation

(rad) (m)

(rad/s) (m/s)

(rad/s2) (m/s2)

≡ ≡

≡ ≡

Constant angular acceleration and
acceleration Rotation Translation

Rotation Translation (rad) (m)

(rad/s) (m/s)
Δ Δ
(rad/s2) (m/s2)
1 1
Δ Δ Δ Δ
2 2 ≡ ≡

≡ ≡
2 2

 CONSTANT ACCELERATION

d
c 
dt

d 1
 Δ Δ
dt 2

 
d  d  d   c  d  2  02  2 c    0 
0 0

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RIGID-BODY ROTATION:
VELOCITY OF POINT P

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RIGID-BODY ROTATION:
VELOCITY OF POINT P

Velocity of point P:

(Appendix B)

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 RIGID-BODY ROTATION:
VELOCITY OF POINT P

Velocity of point P: Speed of point P:

(Appendix B) 35
 RIGID-BODY ROTATION:
ACCELERATION OF POINT P

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 RIGID-BODY ROTATION:
ACCELERATION OF POINT P

Acceleration of point P:

aP t  r
/

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 RIGID-BODY ROTATION:
ACCELERATION OF POINT P

Acceleration of point P:
a P  n      r 
a P  t    r
a P    r      r 

NB: Take note of vectors

aP  aP t2  aP 2n

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 RIGID-BODY ROTATION:
ACCELERATION OF POINT P
Only for planar motion!

Acceleration of point P:
a P  n      r    2 r
a P  t    r
a P    r      r 
   r 2r

NB: Take note of vectors

aP  aP t2  aP 2n

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 Velocity of point

v A  v A
Acceleration of point

a A t  a A t

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 CONCEPT QUIZ
y
2 rad/s2
1. A disk is subjected to a constant angular acceleration of 2 rad/s2
(clockwise), determine the acceleration at B if it is rotating at 4
rad/s at this moment. O x
A) (4 i + 32 j) m/s2 B) (2 i - 32 j) m/s2 2m
C) (- 4 i + 32 j) m/s2 D) (- 4 i -32 j) m/s2
B

2. A Frisbee is thrown and curves to the right. It is experiencing

A) rectilinear translation. B) curvilinear translation.
C) pure rotation. D) general plane motion.
 Quick fire questions for Friday
What can one catch that is not thrown? A cold.
If it takes eight men ten hours to build a wall, how long would it take four men?
No time, because the wall is already built.
Is it legal for a man to marry his widow’s sister?
Since he is dead it would be hard to do so.

How could a man go outside in the pouring rain without protection, and not have a hair on his head get wet?
He was bald.

Some months have 31 days, others have 30 days, but how many have 28 days?
All the months have 28 days.

Uncle Bill’s farm had a terrible storm and all but seven sheep were killed. How many sheep are still alive?
Seven

What do you sit on, sleep on, and brush your teeth with?
A chair, a bed, and a toothbrush, respectively
First obtain expression for vector:
The direction of is:

0.3 0.2 0.6 3 2 6

0.3 0.2 0.6 7 7 7

3 2 6
∴ 14 6 4 12 rad/s
7 7 7
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 6 4 12 rad/s
is constant ⇒
Choose: 0.3 0.4 m

∴ 6 4 12 0.3 0.4

∴ 4.8 3.6 1.2 m/s

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 6 4 12 rad/s
is constant ⇒
Choose: 0.3 0.4 m
∴

6 4 12 6 4 12 0.3 0.4
38.4 64.8 40.8 m/s

For this problem, why is: ?

Pg. 320: “… planar motion occurs when all the particles of a rigid body moves along
paths which are equidistance from a fixed plane.” 45
Determine the velocity and acceleration of point C at this instant.

5 8

0.4 0.3

46
 Determine the velocity and acceleration of point C at this instant.
5 8 0.4 0.3

∴ 5 0.4 0.3

∴ 1.5 2 m/s

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Determine the velocity and acceleration of point C at this instant.
5 8 0.4 0.3

8 0.4 0.3 5 5 0.4 0.3

12.4 4.3 m/s

OR
∴ 8 0.4 0.3 5 0.4 0.3

12.4 4.3 m/s 48

2 ATTENTION QUIZ

1. The fan blades suddenly experience an angular acceleration

of 2 rad/s2. If the blades are rotating with an initial angular
velocity of 4 rad/s, determine the speed of point P when the
blades have turned 2 revolutions
(when  rad/s).
A) 4.27 m/s B) 5.31 m/s
C) 6.93 m/s D) 8.0 m/s

2. Determine the magnitude of the acceleration at P when the

blades have turned the 2 revolutions.
A) 0 m/s2 B) 1.05 m/s2
C) 34.79 m/s2 D) 34.81 m/s2 aP  aP t2  aP 2n
 Problem 1

2 4
0.4 0.3
2 0.4 0.3

0.6 0. m/
Problem 1

2 4 0.4 0.3

2 .4 0.3
1.6 1.2 m/s

4 0.4 0.3
1.2 1.6 m/s

2.8 0.4 m/s

v A  r

a A n   2r
a A t  r

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 5 2

10

When 0.5 s: 3.25 rad/s

5 rad/s
3.25 0.8 2.60 m/s

5 0.8 4 m/s
3.25 0.8 8.45 m/s

∴ 4 8.45

∴ 9.35 m/s 53
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 2

5 2 6 2 2 0
13.2588 rad/s

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13.2588 rad/s

0.05
: 13.2588 16.5735 rad/s
0.04
0.05
: 6 7.5 rad/s
0.04

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 16.5735 rad/s 7.5 rad/s
Motion of point B:
7.5 0.06 0.450 m/s NOTE:

16.5735 0.06 16.4809 m/s NOTE:

∴ 0.450 16.4809 16.5 m/s

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58
 D
B
A

E E’ C
F F’
∴ ∴

∴
 D
B ∴
A

E E’ C
F F’ 20 30
∴
80 120

∴ 0.0625
and
4
0.0625
4 ⇒ 4

4 ⇒ 33

⇒ 0.0625 0.0625 33 0.150 rad/s

Acceleration of point P:

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16 16

0.3
At 1 rev 2 rad:
0.3 0.3 2 1

3.584 rad/s
1 0.3
2 2 0.3 2 0.4 0.7540 m/s

3.584 0.4 5.137 m/s

∴ 0.3 1
0.7540 5.137 5.19 m/s
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Problem 3

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 1.8 4.8

For this particular situation: 1.8

∴ 0.3 1.8 ⇒ 6 rad/s CCW

4.8
4.8
∴ 16 ⇒ 4 rad/s CCW
0.3
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16 18

66
16 18

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 Block 1
Part 1 – Plane Kinematics of Rigid Bodies
• Planar rigid body movement # 16.1
• Translation # 16.2
• Rotation about a fixed axis # 16.3
• Absolute motion # 16.4
• Relative motion: velocity # 16.5
• Instantaneous centre of zero velocity # 16.6
• Relative motion: acceleration # 16.7

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 ABSOLUTE MOTION ANALYSIS

Objective:
Students will be able to:
1. Determine the velocity and
acceleration of a rigid body
undergoing general plane motion
using an absolute motion analysis.
APPLICATIONS (continued)

The large window is opened using a

hydraulic cylinder AB.

The position B of the hydraulic

cylinder rod is related to the angular
position,  of the window.

A designer has to relate the translational

velocity at B of the hydraulic cylinder
and the angular velocity and acceleration
of the window? How would you go
about the task?
 APPLICATIONS (continued)

The position of the piston, x, can be defined as a function of

the angular position of the crank, . By differentiating x with
respect to time, the velocity of the piston can be related to the
angular velocity, , of the crank. This is necessary when
designing an engine.
The stroke of the piston is defined as the total distance moved
by the piston as the crank angle varies from 0 to 180°. How
does the length of crank AB affect the stroke?
 ABSOLUTE MOTION ANALYSIS (Section 16.4)

The figure below shows the window using a hydraulic cylinder AB.

The absolute motion analysis method relates

the position of a point, B, on a rigid body
undergoing rectilinear motion to the angular
position, , of a line contained in the body.
 Once a relationship in the form of sB = f () is
established, the velocity and acceleration of
point B are obtained in terms of the angular
velocity and angular acceleration of the rigid
body by taking the first and second time
derivatives of the position function.
Usually the chain rule must be used when taking the derivatives
of the position coordinate equation.
 PROCEDURE FOR ABSOLUTE MOTION ANALYSIS

The velocity and acceleration of a point undergoing rectilinear

motion can be related to the angular velocity and angular
acceleration of a line contained within a body using the
following procedure.
1. Locate point on the body using position coordinate s, which
is measured from a fixed origin.
2. From a fixed reference line, measure the angular position 
of a line lying in the body. Using the dimensions of the
body, relate s to , e.g., s = f().
3. Take the first time derivative of s = f() to get a
relationship between v and .
4. Take the second time derivative to get a relationship
between a and .
 Absolute motion: Example 16.4
NB: Rolls without slipping

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 Absolute motion: Example 16.4
NB: Rolls without slipping

sG  r
vG  r
aG  r
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(OB16-51)