Unit-5

Kinematics of Rigid Bodies

Introduction:
The kinematics of rigid bodies will be considered. You will
investigate the relations existing between the time, the positions, the
velocities, and the accelerations of the various particles forming a
rigid body.

1. Translation: A motion is said to be a translation if any straight

line inside the body keeps the same direction during the motion

• It can also be observed that in a translation all the particles forming

the body move along parallel paths.

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

Rectilinear Translation Curvilinear Translation

3
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.

4. Motion about a Fixed Point

The three-dimensional motion of a rigid body attached at a fixed
point O.
5. General Motion:
Any motion of a rigid body which does not fall in
any of the categories above is referred to as a
general motion.
6
Translation
• Consider rigid body in translation:
- direction of any straight line inside the
body is constant,
- all particles forming the body move in
parallel lines.
• For any two particles in the body,
  
rB  rA  rB A
• Differentiating with respect to time,
   
rB  rA  rB A  rA
 
vB  v A
All particles have the same velocity.
• Differentiating with respect to time again,
rB  rA  rB A  rA
 
aB  a A
All particles have the same acceleration.
7
Concluding Remark:

• 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 .

• In the case of curvilinear translation, the velocity and acceleration

change in direction as well as in magnitude at every instant.

• In the case of rectilinear translation, all particles of the body move

along parallel straight lines, and their velocity and acceleration keep
the same direction during the entire motion.

8
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

• The same result is obtained from


 dr  
v  r
dt
  
   k   k  angular velocity


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


• Acceleration of P is combination of two

vectors,
     
a    r     r
 
  r  tangential acceleration component
  
    r  radial acceleration component
10
Rotation About a Fixed Axis: Representative Slab
• Consider the motion of a representative slab in
a plane perpendicular to the axis of rotation.

• Velocity of any point P of the slab,

    
v    r  k  r
v  r
• Acceleration of any point P of the slab,
     
a    r     r
  
  k  r   2r
• Resolving the acceleration into tangential
and normal components,
  
at  k  r a t  r
 
an   2 r a n  r 2
The normal component an always points in the
direction opposite to that r, that is, toward O.
11
Equations Defining the Rotation of a Rigid Body
About a Fixed Axis
• Motion of a rigid body rotating around a fixed axis is
often specified by the type of angular acceleration.

d d
• Recall   or dt 
dt 
d d 2 d
  2 
dt dt d

• Uniform Rotation,  = 0:
   0  t

• Uniformly Accelerated Rotation,  = constant:

  0  t
   0   0t  12  t 2
 2   02  2    0 
12
Example:

Cable C has a constant acceleration of 9 m/s2 and an initial

velocity of 12 m/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.

13
• The tangential velocity and acceleration of D are equal to the
velocity and acceleration of C.

vD 0  vC 0  12 m s  aD t  aC  9 m s 2 

vD 0  r0 aD t  r
vD 0 aD t 9
0  
12
 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 m 10 rad s  vB  50 m s 
yB  r  5 m 14 rad  yB  60 m
14
• Evaluate the initial tangential and normal acceleration
components of D.
aD t  aC  9 m s 
aD n  rD02  3 m4 rad s2  48 m s2
aD t  9 m s2  aD n  48 m s2 

Magnitude and direction of the total acceleration,

aD  aD t2  aD 2n

 9  482 2 aD  48.8 m s 2

aD n
tan  
aD t
48

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

16
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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19
20
General Plane Motion
A combination of translation & rotation

A general plane motion can always be considered as the sum of

translation and a rotation.

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22
 Absolute and Relative Velocity
For any two points lying on the same rigid body: vB  vA  vB A

Note: vB A   r r = distance from A to B

   
vB A  k  rB / A vB  v A   k  rB A
Equation can be represented graphically by a velocity diagram
23
 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

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.

27
 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 B: vB  v A  vB A  1.2   8  0.1  2 m / s 

vR  vB  2 m / s 

For point D: V  V V
D A D/ A
 V A  K  r B / A

vD  vA  vD A  1.2i  8  0.15 j  1.2i  1.2 j

VD = 1.697 m/s at 450

28
 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!

If the location of this point can be determined, the velocity analysis

can be simplified because the body appears to rotate about this point at
that instant.
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We first recall that the plane motion of a slab can always be replaced
by a translation defined by the motion of an arbitrary reference point
A and by a rotation about A.
Now let us assume that VA and ω are known and that they are both
different from zero. (If VA = 0, point A is itself the instantaneous
center of rotation, and if ω = 0, all the particles have the same velocity
VA , means only translation.
These velocities could be obtained by letting the slab rotate with the
angular velocity ω about a point C located on the perpendicular to
VA at a distance r = VA/ ω from A as shown in Fig.

30
 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

32
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.

35
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

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 


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.

37
38
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

• Must also know angular velocity .

40
Absolute and Relative Acceleration

where (a B/A)n has the magnitude lω2 and

is directed toward A, while (aB/A)t has the
magnitude lα and is perpendicular to AB.

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.

Four different vector polygons can be obtained, depending upon the

sense of aA and the relative magnitude of a A and (a B/A)n.

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

into normal and tangential components and the solution of the

problem would have involved six different vectors.

• When a mechanism consists of several moving parts which are pin-

connected, the analysis of the mechanism can be carried out by
considering each part as a rigid body, keeping in mind that the points
at which two parts are connected must have the same absolute
acceleration
43
 Example:

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

45
Kinetics of rigid bodies-Plane motion-
D'Alembert's Principle

46
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 .
47
Angular Momentum of a Rigid Body in Plane Motion
• Angular momentum of the slab may be
computed by
 n  
H G   ri viΔmi 
i 1
n  
  ri   riΔmi 
i 1


   ri 2 Δmi 

 I
• After differentiation,
 
H G  I  I

• Results are also valid for plane motion

• Consider a rigid slab of bodies which are symmetrical with
in plane motion. respect to the reference plane.
• Results are not valid for asymmetrical
bodies or three-dimensional motion.
48
Plane Motion of a Rigid Body: D’Alembert’s Principle

• Motion of a rigid body in plane motion is

completely defined by the resultant and moment
resultant about G of the external forces.

 Fx  ma x  Fy  ma y  M G  I

• d’Alembert’s Principle: The external forces acting on a rigid

body are equivalent to the effective forces of the various particles
forming the body.
49
 Translation: In the case of a body in translation, the
angular acceleration of the body is identically equal to
zero and its effective forces reduce to the vector ma
attached at G as shown in Fig. Thus, the resultant of the

Translation external forces acting on a rigid body in translation

passes through the mass center of the body and is equal

to ma.

Since the acceleration a is identically equal to zero, the

effective forces of the body reduce to the couple Iα.
Thus, the external forces acting on a body in centroidal
rotation are equivalent to a couple of moment Iα.
Centroidal Rotation

50
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

- principle of dynamic equilibrium

• These techniques may also be applied to

problems involving plane motion of
connected rigid bodies by drawing a free-
body-diagram equation for each body and
-ma = Inertia vector solving the corresponding equations of
-Iα = Inertia Couple motion simultaneously.

51
 Example

At a forward speed of 10 m/s, the truck brakes were suddenly

applied, causing all four wheels to stop rotating. It was observed
that the truck to skidded to rest in 7.5 m. Determine the magnitude of
the normal reaction and the friction force at each wheel as the truck
skidded to rest. The truck has a mass of 3000 kg.
52
Example:
SOLUTION:
• Calculate the acceleration during the skidding
stop by assuming uniform acceleration.

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

 1.6 m W  4 m N B  1.2 m ma

 (3000kg)(9.81m / s )(1.6m)  NB( 4m)  (3000kg)(6.67 m / s 2)(1.2m)
NB  17.78kN
FB  (0.680)(17.78kN )  12.09kN
NA  NB  W  0
NA  17.78kN  29.43kN  0
NA  11.65kN
FA  7.92kN
NFrount  8.89kN , N Re ar  5.83kN
FFrount  6.05kN , Frear  3.96kN
54
 Example:

A cord is wrapped around a homogeneous disk of mass 15 kg. The

cord is pulled upwards with a force T = 180 N. Determine:
(a) the acceleration of the center of the disk, (b) the angular
acceleration of the disk, and (c) the acceleration of the cord.

55
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 2180 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

57
Plane Motion of Rigid Bodies: Energy and
Momentum Methods

58
 Introduction

• Method of work and energy and the method of impulse and

momentum will be used to analyze the plane motion of rigid bodies
and systems of rigid bodies.

• Principle of work and energy is well suited to the solution of

problems involving displacements and velocities.

T1  U12  T2

59
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  U12  T2
T1 , T2  initial and final total kinetic energy of
particles forming body
U12  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.
60
Work of Forces Acting on a Rigid Body
• Work of a force during a displacement of its
point of application,
A2  s
 2
U12   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
U12   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

• Kinetic energy of a rigid body can be separated

into:
- the kinetic energy associated with the
translation motion of the mass center G and
- the kinetic energy associated with the rotation
of the body about G.

• In the particular case of a body in translation ( ω = 0), while in case of

centrodial rotation ( V =0)
62
Systems of Rigid Bodies

• For problems involving systems consisting of several rigid

bodies, the principle of work and energy can be applied to each
body.

• We may also apply the principle of work and energy to the

entire system,
T1  U12  T2 T1 ,T2 = arithmetic sum of the kinetic energies of
all bodies forming the system
U12 = work of all forces acting on the various
bodies, whether these forces are internal
or external to the system as a whole.

63
Power

• Power = rate at which work is done

 
• For a body acted upon by force F and moving v
with
velocity, dU  
Power   F v
dt

• For a rigid body rotating with an angular velocity 
and acted upon by a couple of moment M parallel
to the axis of rotation,
dU M d
Power    M
dt dt

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.

65
66
67
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.
68
69
70
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.

Sys Momenta1 + Sys Ext Imp1-2 = Sys Momenta2

71
Principle of Impulse and Momentum

• The momenta of the particles of a system may be reduced to

a vector attached to the mass center equal to their sum,
  
L   vi Δmi  mv
and a couple equal to the sum of their moments about the
mass center,   
H G   ri  vi Δmi

• For the plane motion of a rigid slab or of a rigid body

symmetrical with respect to the reference plane,

H G  I

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,

• Leads to three equations of motion:

- summing and equating momenta and impulses in the x and y
directions
- summing and equating the moments of the momenta and impulses
with respect to any given point

73
Principle of Impulse and Momentum

• Noncentroidal rotation:
- The angular momentum about O
I O  I   mv r
 I   mr  r
 
 I  mr 2 

- Equating the moments of the momenta and

impulses about O,
t2
I O1    M O dt  I O 2
t1

74
 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.

• Internal forces occur in equal and opposite pairs of vectors and

do not generate nonzero net impulses.

75
 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

• Two additional equations may be written by summing x and y components of

momenta and may be used to determine two unknown linear impulses, such as
the impulses of the reaction components at a fixed point.

76
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.

77
78
79
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.

80
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82