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2
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
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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
4
Rotation should not be confused with certain types of curvilinear
translation. For example, the plate shown in Fig. (a) is in
curvilinear translation, with all its particles moving along parallel
circles, while the plate shown in Fig.(b) is in rotation, with all its
particles moving along concentric circles.
5
3. General Plane Motion
Any plane motion which is neither a rotation nor a translation is
referred to as a general plane motion.
• 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 .
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Rotation About a Fixed Axis: Velocity
• Consider rotation of rigid body about a
fixed axis AA’
• 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
9
Rotation About a Fixed Axis: Acceleration
• Differentiating to determine the acceleration,
dv d
a r
dt dt
d dr
r
dt dt
d
r v
dt
d
• angular acceleration
dt
k k k
d d
• Recall or dt
dt
d d 2 d
2
dt dt d
• Uniform Rotation, = 0:
0 t
13
• The tangential velocity and acceleration of D are equal to the
velocity and acceleration of C.
aD n
tan
aD t
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9 79.4
15
The motion of a rotor is defined by the relation θ =8t3 − 6(t − 2)2 ,
where θ and t are expressed in radians and seconds, respectively.
Determine (a) when the angular acceleration is zero, (b) the angular
coordinate and angular velocity at that time
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17
A flywheel executes 1800 revolutions while it coasts to rest from
speed of 6000 rpm. Assuming uniformly accelerated motion,
determine (a) the time required for the flywheel to coast to rest, (b)
the time required for the flywheel to execute the first 900 revolutions.
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General Plane Motion
A combination of translation & rotation
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Absolute and Relative Velocity
For any two points lying on the same rigid body: vB vA vB A
Locus
for vB/A
vA
vB
vB/A
vB vA vB A
The direction of vB and vB/A are known. Complete the velocity diagram.
vB
tan vB vA tan
vA
vB A cos
vB A vA
vB A l
l l cos l cos 24
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. 25
• Most mechanism consist not of one but several moving parts.
When various parts of mechanism are pin-connected, the
analysis of the mechanism can be carried out by considering
each part as a rigid body.
• points where two parts are connected must have same
absolute velocity.
• A similar analysis can be used when gears are involved, since
teeth in contact must also have the same absolute velocity.
• However, when a mechanism contains parts which slide on
each other, the relative velocity of the parts in contact must be
taken into a account.
26
Example:
The double gears shown in fig. rolls on the stationary lower rack;
the velocity of its center A is 1.2 m/s directed to the right. Determine
(a) the angular velocity of the gear, and (b) the velocities of the
upper rack R and point D of the gear.
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v A ArA
vD/A vB/A vA 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
For point D: V V V
D A D/ A
V A K r B / A
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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).
This point is called the instantaneous center of
rotation, or C.
It may or may not lie on the body!
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Instantaneous Center of Rotation
To locate the C, we use the fact that the velocity of a point on a body is
always perpendicular to the position vector from C to that point.
1. If the velocity at two points A
and B are known, C lies at the
intersection of the perpendiculars
to the velocity vectors through A
and B .
2. If the velocity vectors at A
and B are perpendicular to
the line AB, C lies at the
intersection of the line AB
with the line joining the
extremities of the velocity
vectors at A and B.
3. If the velocity vectors are equal & parallel, C is at infinity and the
angular velocity is zero (pure translation) 31
Drawing the perpendicular to VA through A and
the perpendicular to VB through B, we obtain the
instantaneous center C. At the instant considered,
the velocities of all the particles of the link are
thus the same as if the link rotated about C.
Now, if the magnitude VA of the velocity of A is
known, the magnitude ω of the angular velocity of
the link can be obtained
VA V A
AC lCos
V B ( BC ) lSin V A
V A tan
lCos
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Concluding Remarks:
• The instantaneous center of a slab in plane motion can be located
either on the slab or outside the slab.
• It should be noted that the instantaneous center of rotation is valid
only at a given instant.
• Thus, the particle C of the slab which coincides with the
instantaneous center at time t will generally not coincide with the
instantaneous center at time t + Άt; while its velocity is zero at time
t, it will probably be different from zero at time t+ Άt.
• This means that, in general, the particle C does not have zero
acceleration and, therefore, that the acceleration of the various
particles of the slab cannot be determined as if the slab were
rotating about C. 33
Velocity Analysis using Instantaneous Center
The velocity of any point on a body undergoing general plane
motion can be determined easily if the instantaneous center is
located.
Since the body seems to rotate about the IC
at any instant, the magnitude of velocity of
any arbitrary point is v = ω r, where r is the
radial distance from the IC to that point. The
velocity’s line of action is perpendicular to
its associated radial line.
34
Example using instantaneous center
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.
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Example:
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.
vA 1.2
vA rA 8rad s
rA 0.15
36
A helicopter moves horizontally in the x direction at a speed
of 180 km/h. Knowing that the main blades rotate clockwise
with an angular velocity of 180 rpm, determine the
instantaneous axis of rotation of the main blades.
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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)t k r B / A
a
B A t r a B A n r 2
( a B / A) n
2
r
aB a A (k r B / A r
B/ A 2
B/ A
)
39
Absolute and Relative Acceleration
• Given a A and v A , determine a B and .
aB a A aB A
a A a B A a B A
n t
• Vector result depends on sense of a A and the
relative magnitudes of a A and a B A
n
41
There is no way to tell whether the tangential component (a B/A)t is
directed to the left or to the right
Similarly, both possible senses for aB are indicated, since it is not
known whether point B is accelerated upward or downward.
42
• In this example considered here, the extremities A and B of the rod
were moving along straight tracks, and the diagrams drawn were
relatively simple. If A and B had moved along curved tracks, it
would have been necessary to resolve the accelerations aA and a B
The center of the double gear has a velocity and acceleration to the
right of 1.2 m/s and 3 m/s2, respectively. The lower rack is stationary.
Determine (a) the angular acceleration of the gear, and
(b) the acceleration of points B, C, and D.
44
vA 1.2
vA r 8 rad / s
r 0.15
aA 3
aA r 20 rad / s 2
r 0.15
aB a A aB A aC a A aC A
3i 2 r ( j ) ri 3i 2 r ( j ) r (i )
3i (8) (0.1) j (20)(0.1)i
2 3i (8) 2 (0.15) j (20)(0.15)i
5i 6.4 j 9.6 j
aD a A aD A
3i 2 r (i ) rj
3i (8)2 (0.15)i (20)(0.15) j
12.6i 3 j
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Kinetics of rigid bodies-Plane motion-
D'Alembert's Principle
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Equations of Motion for a Rigid Body
• Consider a rigid body acted upon
by several external forces.
• Assume that the body is made of
a large number of particles.
• For the motion of the mass center
G of the body with respect to the
Newtonian frame Oxyz,
F ma
• For the motion of the body with
respect to the centroidal frame
Gx’y’z’,
M G H G
• System of external forces is
equipollent to the system
consisting of ma and H G .
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Angular Momentum of a Rigid Body in Plane Motion
• Angular momentum of the slab may be
computed by
n
H G ri viΔmi
i 1
n
ri riΔmi
i 1
ri 2 Δmi
I
• After differentiation,
H G I I
Fx ma x Fy ma y M G I
to ma.
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Problems Involving the Motion of a Rigid Body
• The techniques for solving problems of
static equilibrium may be applied to solve
problems of plane motion by utilizing
- d’Alembert’s principle, or
51
Example
v 2 v02 2a x x0
m
a 6.67
2
m
m 0 10 2a 7.5 m
v0 10 x 7.5m s s
s
• Apply the corresponding scalar equations.
F Fyeffective
y
N A NB W 0
FA +FB = µk ( NA+NB) = µk mg = µk W
F Fxeffective
x
FA FB m a
kW W g a
a 6.66
k 0.67
g 32.2 53
Example:
• Apply the corresponding scalar equations.
M A
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SOLUTION:
• Draw the free-body-diagram equation expressing the
equivalence of the external and effective forces on the
disk.
• Solve the three scalar equilibrium equations.
Fx Fx eff
0 max ax 0
Fy Fy eff
T W ma y
ay
T W 180 N - 15 kg 9.81m s 2
m 15 kg
a y 2.19 m s 2
M G M G eff
Tr I 12 mr 2
2T 2180 N
48.0 rad s 2
mr 15 kg 0.5 m
56
• Determine the acceleration of the cord by
evaluating the tangential acceleration of the point
A on the disk.
acord a A t a a A G t
2.19 m s 2 0.5 m 48 rad s 2
acord 26.2 m s 2
ax 0 a y 2.19 m s 2
48.0 rad s 2
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Plane Motion of Rigid Bodies: Energy and
Momentum Methods
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Introduction
T1 U12 T2
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Principle of Work and Energy for a Rigid Body
• Method of work and energy is well adapted to
problems involving velocities and displacements.
Main advantage is that the work and kinetic energy
are scalar quantities.
• Assume that the rigid body is made of a large
number of particles.
T1 U12 T2
T1 , T2 initial and final total kinetic energy of
particles forming body
U12 total work of internal and external forces
acting on particles of body.
• Internal forces between particles A and B are equal
and opposite.
• In general, small displacements of the particles A
and B are not equal but the components of the
displacements along AB are equal.
• Therefore, the net work of internal forces is zero.
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Work of Forces Acting on a Rigid Body
• Work of a force during a displacement of its
point of application,
A2 s
2
U12 F dr F cos ds
A1 s1
• Consider the net work of two forces
F and F
forming a couple of moment M during a
displacement of their points of application.
dU F dr1 F dr1 F dr2
F ds2 Fr d
M d
2
U12 M d
1
M 2 1 if M is constant.
61
Kinetic Energy of a Rigid Body in Plane Motion
• Consider a rigid body of mass m in plane motion.
T 12 mv 2 12 Δmi vi 2
12 mv 2 12 ri 2 Δmi 2
12 mv 2 12 I 2
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Power
64
A 240-lb block is suspended from an inextensible cable which is wrapped around
a drum of 1.25-ft radius rigidly attached to a flywheel. The drum and flywheel
have a combined centroidal moment of inertia I=10.5 lb. ft. s2. At the instant
shown, the velocity of the block is 6 ft/s directed downward. Knowing that the
bearing at A is poorly lubricated and that the bearing friction is equivalent to a
couple M of magnitude 60 lb.ft, determine the velocity of the block after it has
moved 4 ft downward.
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Gear A has a mass of 10 kg and a radius of gyration of 200 mm; gear
B has a mass of 3 kg and a radius of gyration of 80 mm. The system
is at rest when a couple M of magnitude 6 N - m is applied to gear B.
Neglecting friction, determine (a) the number of revolutions executed
by gear B before its angular velocity reaches 600 rpm,
(b) the tangential force which gear B exerts on gear A.
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Principle of Impulse and Momentum
• Method of impulse and momentum:
- well suited to the solution of problems involving time
and velocity
- the only practicable method for problems involving
impulsive motion and impact.
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Principle of Impulse and Momentum
72
Principle of Impulse and Momentum
• Principle of impulse and momentum for the plane motion of a rigid slab
or of a rigid body symmetrical with respect to the reference plane
expressed as a free-body-diagram equation,
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Principle of Impulse and Momentum
• Noncentroidal rotation:
- The angular momentum about O
I O I mv r
I mr r
I mr 2
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Systems of Rigid Bodies
• Motion of several rigid bodies can be analyzed by applying the
principle of impulse and momentum to each body separately.
• For problems involving no more than three unknowns, it may be
convenient to apply the principle of impulse and momentum to
the system as a whole.
• For each moving part of the system, the diagrams of momenta
should include a momentum vector and/or a momentum couple.
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Conservation of Angular Momentum
• When no external force acts on a rigid body or a system of rigid bodies, the
system of momenta at t1 is equipollent to the system at t2. The total linear
momentum and angular momentum about any point are conserved,
L1 L2 H 0 1 H 0 2
• When the sum of the angular impulses pass through O, the linear momentum may
not be conserved, yet the angular momentum about O is conserved,
H 0 1 H 0 2
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Example:
Gear A has a mass of 10 kg and a radius of gyration of 200 mm, and gear B has a
mass of 3 kg and a radius of gyration of 80 mm. The system is at rest when a
couple M of magnitude 6 N-m is applied to gear B. (These gears were considered
in Sample Prob. 17.2.) Neglecting friction, determine (a) the time required for the
angular velocity of gear B to reach 600 rpm, (b) the tangential force which gear B
exerts on gear A.
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Example:
A uniform sphere of mass m and radius r is projected along a rough horizontal
surface with a linear velocity V1 and no angular velocity. Denoting by µk the
coefficient of kinetic friction between the sphere and the surface, determine (a) the
time t2 at which the sphere will start rolling without sliding, (b) the linear and
angular velocities of the sphere at time t2.
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