Planar Kinematics of Rigid Body Notes

Kinematics of Rigid Body
Slide 1
Review
Particle Versus Rigid Body
Particle: A & B have the same motion
Rigid body: A and B may have different motions
Slide 2
Planar motion – Scientific Definition
All particles of a rigid body move along paths

which are equidistant from a fixed plane, the
body is said to undergo planar motion
A body system consists of several rigid bodies.

When all rigid bodies undergo planar motion,
the system is said to undergo planar motion
Slide 3
Rigid Bodies and Types of Motion
• If a brick is thrown (Fig. a), we can determine
the motion of its center of mass w/o having to
be concerned about its rotational motion. The
only significant force is the weight of the
brick, and Newton’s 2nd law determines the
acceleration of its center of mass.
Slide 4
Suppose the brick is standing on the floor and it is
being tipped over (Fig. b). We want to determine
the motion of its center of mass as it falls. In this
case, it is subjected to its weight and a force
exerted by the floor. We cannot determine either
the force exerted or the motion of the brick’s
center of mass without considering its rotational
motion.
Slide 5
• Before analyzing such motions, we must consider
how to describe them. A brick is an example of an
object whose motion can be modeled as a rigid body.
A rigid body is an idealized model of an object that
does not deform or change shape. For example a
twirler’s baton (Fig. a) can be modeled as a rigid
body but a fishing rod cannot (Fig. b).
Slide 6
• Describing the motion of a rigid body requires a
reference frame relative to which the motions of the
points of the rigid body and its angular motion are
measured. For convenience, a reference frame fixed
w.r.t earth is often used, as the one in previous Fig.
where earth-fixed reference frame is used to
describe the motion of the center of mass and the
angular motion of the brick. Subsequently, some of
the types of rigid-body motions relative to a given
reference frame will be described.
Slide 7
Translation
• If a rigid body in motion relative to a given reference
frame does not rotate, it is said to be in translation
(Fig. a). The child’s swing in Fig. b is designed so
that the horizontal bar to which the seats are
attached is in translation. Although each point of the
bar moves in a circular path, the bar does not rotate
and it remains horizontal to ensure the children’s
safety.
Slide 8
Every point of a rigid body in translation has the
same velocity and acceleration, so we describe
the motion of a rigid body completely if we
describe the motion of a single point.
Slide 9
Rotation about a fixed axis
• After translation, the simplest type of rigid-body
motion is rotation about an axis that is fixed relative
to a given reference frame (Fig. a). Each point of the
rigid body on the axis is stationary, and each point
not on the axis moves in a circular path about the
axis as the rigid body rotates. Fig. b shows the
example of a rotor of an electric motor rotating about
its fixed axis.
Slide 10
The motion of a ship’s propeller relative to the ship
is rotation about a fixed axis.
Slide 11
Planar Motion
• Consider a plane that is fixed relative to a given
reference frame and a rigid body intersected by the
plane (Fig. a). If the rigid body undergoes a motion in
which the points intersected by the plane remain in
the plane, the body is said to be in 2-D or planar
motion. We refer the fixed plane as the plane of
motion. Rotation of a rigid body about a fixed axis is
a special case of planar motion.
Slide 12
Another example is shown in Fig. b where when a
car moves in a straight path, its wheels are in
planar motion:
Slide 13
- The components of an internal combustion engine
illustrate these types of motion (next Fig.). Relative
to a reference frame that is fixed with respect to the
engine, the pistons translate within the cylinders.
The connecting rods are in general planar motion,
and the crankshaft rotates about a fixed axis.
- Subsequently, we will analyze more of the rigid-
body motion with respect to rotation about a fixed
axis, general planar motion and relations to relate
the velocities and acceleration of these rigid bodies.
Slide 14
Slide 15
Rigid Body Motion
• When all the particles of a rigid body move along
paths which are equidistant from a fixed plane, the
body is said to undergo planar motion.
• There are three types of rigid body planar motion:
1. Translation – This type of motion occurs if every line
segment on the body remains parallel to it original
direction during the motion.
Slide 16
Rigid Body Motion
•Rectilinear translation occurs when the paths of motion

for any two particles of the body are along equidistant
straight lines.
•Curvilinear translation occurs when the paths of motion
are along curves lines which are equidistant.
Slide 17
Rigid Body Motion
2. Rotation about a fixed axis – When a rigid body rotates
about a fixed axis, all the particles of the body, except
those which lie on the axis of rotation, move along
circular paths.
Slide 18
Rigid Body Motion
3. General plane motion – When a body is subjected to
general plane motion, it undergoes a combination of
translation and rotation. The translation occurs within a
reference plane, and the rotation occurs about an axis
perpendicular to the reference plane.
Slide 19
Slide 20
Translation
• Consider a rigid body which is subjected to either
rectilinear or curvilinear translation in the x-y plane.
Slide 21
Translation
Position: The locations of points A and B in the body are
defined from the fixed x, y reference frame by using
position vectors rA and rB.
•The translating x’, y’ coordinate system is fixed in the
body and has its origin located at A, hereafter referred to
as the base point.
•The position of B with respect to A is denoted by the
relative-position vector rB/A. By vector addition,
rB  rA  rB / A
Slide 22
Translation
Velocity: A relationship between the instantaneous
velocities A and B is obtained by taking the time derivative
of the position equation, which yields vB = vA + drB/A/dt
The term drB/A/dt = 0, since the magnitude of rB/A is
constant by definition of a rigid body. Therefore,
vB  vA
Slide 23
Translation
Acceleration. Taking time derivative of the velocity
equation yields a similar relationship between the
instantaneous accelerations of A and B:
aB  a A
It indicate that all points in a rigid body subjected to either
rectilinear or curvilinear translation move with the same
velocity and acceleration.
Slide 24
Rotation About a Fixed Axis
When a body is rotating about a fixed
axis, any point P located in the body
travels along a circular path.
Angular Motion. A point is without
dimension, and so it has no angular
motion. Only lines or bodies undergo
angular motion. Consider the body
shown and the angular motion of a
radial line r located with the shaded
plane and directed from point O on the
axis of rotation to point P.
Slide 25
Angular Position. At the instant shown in the figure, the
angular position of r is defined by the angle θ, measured
between a fixed reference line and r.
Angular Displacement. The change in the angular
position, which can be measured as a differential dθ, is
called the angular displacement.
Slide 26
Angular Velocity. The time rate of change in the angular
position is called the angular velocity ω. Since dθ occurs
during an instant of time dt, then,
d
( +) 
dt
Slide 27
Angular Acceleration: The angular acceleration α
measure the time rate of change of the angular velocity.
The magnitude of this vector may be written as
d d 2
( +)
  2
dt dt
The line of action of α is the same as that for ω.
However, it sense of direction depends on whether ω is
increasing or decreasing.
Slide 28
In particular, if ω is decreasing, then α is called angular
deceleration and it therefore has a sense of direction
which is opposite to ω.
By eliminating the two equations, we obtain a differential
relation between the angular acceleration, angular
velocity and angular displacement,
( +)  d   d
Slide 29
Constant Angular Acceleration: If the angular acceleration
of the body is constant, α = αc,
( +)   0   ct
1 2
( +)   0  0t   ct
2
( +)
 2  02  2 c (  0 )
Constant Angular Acceleration
Slide 30
Motion of Point P: As the rigid body rotates,
point P travels along a circular path of
radius r and center at center at point O.
This path is contained within the shaded
plane.
Slide 31
Position: The position of P is defined by the position
vector r, which extends from O to P.
Velocity: The velocity of P has a magnitude which can be
found from its polar coordinate components vr  r and
v  r . Since r is constant, the radial components
v  r  0 and so vr  r  0.
v  r
Slide 32
•The direction of v is tangent to the circular path.
•Both the magnitude can direction of v can also be
accounted for by using the cross product of ω and rp.
Here rp is directed from any point on the axis of rotation
to point P. v   r p
Acceleration: The acceleration of P can be expressed in
terms of its normal and tangential components
at  r
an   2 r
•The tangential component of acceleration represents the
time rate of change in the velocity’s magnitude.
Slide 33
•If speed of P increases => at same direction as v
•If speed of P decreases => at opposite direction as v
•If speed of P constant => at is zero
Slide 34
•The normal component of acceleration represents the
time rate of change in the velocity’s direction. The
direction of an is always toward O, the center of the
circular path.
•The acceleration of point P may be expressed in terms
of the vector cross product.
dv d drp
a   rp   
dt dt dt
   rp    (  rp )
Slide 35
•The first term on the R.H.S has a magnitude of
at   rP sin    r
•By the right-hand rule, α x rP is in the direction of at. The
second term has a magnitude
an   2rP sin    2r
•Applying right-hand rule twice, first to determine the
result vP = ω x rP then ω x rP , it can be seen that this
result is in the same direction as an which is also in the
same direction as –r, which lies in the same plane of
motion.
Slide 36
Therefore,
a  at  a n
   r   2r
•Since at and an are perpendicular to one another, if
needed the magnitude of acceleration can be determined
from the Pythagorean theorem,
a  an2  at2
Slide 37
Slide 38
Slide 39
Absolute Motion Analysis
• A body subjected to general plane motion undergoes a
simultaneous translation and rotation.
• One way to define these motions is to use a rectilinear
position coordinate s to locate the point along its path
and an angular position coordinate θ to specify the
orientation of the line.
• By direct application of the time-differential equations v
= ds/dt, a = dv/dt, ω = dθ/dt, α = dω/dt, the motion of the
point and the angular motion of the line can be related.
Slide 40
Relative–Motion Analysis: Velocity
• Thegeneral plane motion of a rigid body can be
described as a combination of translation and rotation.
• To view these “component” motions separately, we use
a relative-motion analysis involving two sets of
coordinate axes.
• The x, y coordinate system is fixed and measures the
absolute position of two points A and B on the body.
Slide 41
• The origin of the x’, y’ coordinate system will be attached
to the selected “base point” A, which generally has a
known motion.
• The axes of this coordinate system do not rotate with
the body; rather they will only be allowed to translate with
respect to the fixed frame.
Slide 42
Position: The position vector rA specifies the location of
the “base point” A, and the relative-position vector rB/A
locates point B with respect to point A.
• By vector addition, the position of B is rB  rA  rB / A .
Displacement: During an instant of time dt, point A and B
undergo displacements drA and drB.
• If we consider the general plane motion by its
component parts then the entire body first translates by
an amount drA so that A, the base point, moves to its final
position and point B to B’.
Slide 43
•The body is then rotated about A by an amount dθ so

that B’ undergoes a relative displacement drB/A and thus
moves to its final position B.
Slide 44
• Due to the rotation about A, drB/A = rB/A dθ, and the
displacement of B is
drB  drA  drB / A
due to rotation about A

due to translation about A
due to translation and rotation
Slide 45
Velocity: To determine the relationship between the
velocities of points A and B, it is necessary to take the
time derivative of the position equation, or simply divide
the displacement equation by dt. This yields,
drB drA drB / A
 
dt dt dt
•The terms drB/dt = vB and drA/dt = vA are measured
from the fixed x, y axes and represent the absolute
velocities of points A and B, respectively.
• The body appears to move as if it were rotating with an
angular velocity ω about the z’ axis passing through A.
Slide 46
has a magnitude of vB/A = ωrB/A and a direction
• vB/A
which is perpendicular to rB/A.
vB  v A  vB / A
Slide 47
• The velocity of B is determined by considering the entire
body to translate with a velocity of vA, and rotate about A
with an angular velocity ω.
• Vector addition of these two effects, applied to B, yields
vB.
• The relative velocity vB/A represents the effect of circular

motion, about A. It can be expressed by the cross product
v B / A    rB / A
• Hence,
v B  v A    rB / A
Slide 48
Instantaneous Center of Zero Velocity
• The velocity of any point B located on a rigid body can
be obtained in a very direct way if one choose the base
point A to be a point that has zero velocity at the instant
considered.
• Since vA = 0, therefore vB = ω x rB/A.
• Point A is called the instantaneous center of zero
velocity (IC) and it lies on the instantaneous axis of zero
velocity.
Slide 49
• This axis is always perpendicular to the plane of motion
and the intersection of the axis with this plane defines the
location of the IC.
• Since point A is coincident with the IC, then vB = ω x rB/A
and so point B moves momentarily about the IC in a
circular path.
• The magnitude of vB is vB = ωrB/IC .
• Due to the circular motion, the direction of vB must
always be perpendicular to rB/IC .
Slide 50
• Considerthe wheel as shown, if it rolls without slipping,
then the point of contact with the ground has zero
velocity.
• Hence this point represents the IC for the wheel.
Slide 51
• If it is imagined that the wheel is momentarily pinned at
this point, the velocities of points B, C, O and so on, can
be found using v = ωr.
• The radial distance rB/IC, rC/IC and rO/IC must be
determined from the geometry of the wheel.
Location of the IC: To locate the IC, we use the fact that
the velocity of a point on the body is always perpendicular
to the relative-position vector extending from the IC to the
point. Several possibilities exist:
Slide 52
• Given the velocity vA of a point A on the body, and the
angular velocity ω of the body. In this case, the IC is
located along the line drawn perpendicular to vA at A,
such that the distance from A to the IC is rA/IC = vA /ω.
Note that the IC lies up to the right of A since vA must
cause a clockwise angular velocity ω about the IC.
Slide 53
• Given the line of action of two nonparallel velocities vA
and vB. Construct at points A and B line segments that
are perpendicular to vA and vB. Extending these
perpendicular to their point of intersection as shown
locates the IC at the instant considered.
Slide 54
• Given the magnitude and direction of two parallel
velocities vA and vB. Here the location of the IC is
determined by proportional triangles.
Slide 55
• In both cases rA/IC = v /ω and rB/IC = v /ω . If d is a
A B
known distance between point A and B, then rA/IC + rB/IC =

d for first diagram, and rB/IC - rA/IC = d for second diagram.
As a special case, note that if the body is translating, vA =
vB, then the IC would be located at infinity, in which case
rA/IC = rB/IC → ∞. This being the case, ω = (vA/rA/IC) =
(vA/rA/IC) → 0, as expected.
Slide 56
Note:
• the point chosen as the instantaneous center of zero
velocity for the body can only be used for an instant of
time since the body changes its position from one instant
to the next.
• The locus of points which define the location of the IC
during the body’s motion is called a centrode, and so
each point on the centrode acts as the IC for the body
only for an instant.
• Although the IC may be used to determine the velocity of
any point in a body, it generally does not have zero
acceleration and therefore it should not be used for finding
the accelerations of points on a body.
Slide 57
Relative-Motion Analysis: Acceleration
• An equation that relates the accelerations of two points
on a rigid body subjected to general plane motion,
d vB d v A d vB / A
 
dt dt dt
• The terms dvB/dt = aB and dvA/dt = aA are measured
from a set of fixed x, y axes and represent the absolute
accelerations of points B and A.
Slide 58
• The last term represents the acceleration of B with
respect to A as measured by an observer fixed to
translating x’, y’ axes which have their origin at the base
point A.
• To this observer, point B appears to move along a
circular arc that has a radius of curvature rB/A.
• aB/A can be expressed in terms of its tangential and
normal components of motion
a B  a A  (a B / A )t  (a B / A )n
Slide 59
= +
Slide 60
• Since points A and B move along curved paths, the
accelerations of these points will have both tangential
and normal components.
• The relative-acceleration components represent the
effect of circular motion observed from translating axes
having their origin at the base point A, and can be
expressed as (aB/A)t = α x rB/A and (aB/A)n = -ω2rB/A
a B  a A    rB / A   2rB / A
Slide 61
Relative-Motion Analysis Using Rotating
Axes
• Translating coordinate system
 describes relative motion analysis for velocity and
acceleration
 determines the motion of the points on the same rigid
body
 determines the motion of points located on several pin-
connected rigid bodies
• Rigid bodies are constructed such that sliding occur at
their connections
Slide 62
Axes
• Coordinate system
 Use for kinematics analysis
 use for analyzing motion of two points on a mechanism
which are not located in the same rigid body
 use for specifying kinematics of particle motion when
the particle is moving along a rotating path
Slide 63
Axes
• In the following analysis, 2 equations are developed to
relate the velocity and acceleration of 2 points, one of
which is the origin of a moving frame of reference
subjected to both a translation and rotation in the plane.
• The 2 points can represent either 2 points moving
independently of one another or 2 points located on the
same (or different rigid bodies).
Slide 64
Axes
Position: Consider 2 points A and B, whose location are
specified by rA and rB, measured from the fixed X, Y, Z
coordinate system.
Slide 65
Axes
• Basepoint A represent the origin of the x, y, z coordinate
system assumed to be both translating and rotating with
respect to X, Y and Z system.
• Position of B with respect to A is specified by the
relative position vector rB/A .
• Components of this vector can either be expressed in
unit vectors along the X, Y axes i.e. I, J or by unit vectors
along the x, y axes i.e. i and j.
Slide 66
Axes
• For developed rB/A will be measured relative to the
moving x, y frame of reference
• If B has coordinates (xB, yB)
rB / A  xB i  yB j
• Using vector addition,
rB  rA  rB / A
Slide 67
Axes
• At the instant considered, point A has a velocity vA and
an acceleration aA, while angular velocity and angular
acceleration of the x, y and z axes are Ω and    d / dt
respectively.
• All these vectors are measured from the X, Y and Z
axes of reference although they may be expressed in
terms of either I, J and K or i, j or k components.
• Since planar motion is specified, by the right hand
rule,  and  are always directed perpendicular to the
reference plane of motion whereas vA and aA lie on this
plane.
Slide 68
Axes
Velocity: For velocity of point B,
drB / A
vB  v A 
dt
•The last term of this equation is evaluated as
drB / A d
 ( xB i  yB j)
dt dt
dxB di dyB dj
 i  xB  j  yB
dt dt dt dt
 dxB
i
dyB   di
j    xB  y B 
dj 
 dt dt   dt dt 
Slide 69
Axes
• The two terms in the first set of parentheses represent
the components of velocity of point B as measured by an
observer attached to the moving x, y and z coordinate
system, being denoted by vector (vB/A)xyz .
• In the second set of parentheses, the instantaneous
time rate of change of unit vectors i and j is measured by
an observer located in a fixed X, Y and Z system.
Slide 70
Axes
• These changes di and dj are due to only an
instantaneous rotation dθ of the x, y and z axes, causing i
to become i’ = i + di and j to become j’ = j + dj .
• Magnitudes of both di and dj = 1 (dθ)
since i = i’ = j = j’ =1
• The direction of di is defined by +j
since di is tangent to the path
described by the arrowhead of i in the
limit as Δt →dt.
Slide 71
Axes
• Likewise, dj acts in the –i direction, hence
di d dj d
 ( j)  j  (i)  i
dt dt dt dt
• Viewing the axes in 3D, noting that Ω = Ωk,
di dj
 i   j
dt dt
Slide 72
Axes
• Using the derivative property of the vector cross product
drB / A
 ( v B / A ) xyz    ( xBi  yB j)  ( v B / A ) xyz    rB / A
dt
• Hence v B  v A    rB / A  ( v B / A ) xyz
Slide 73
Axes
Acceleration: Acceleration of B, observed from the X, Y
and Z coordinate system, may be expressed in terms of
its motion measured with respect to the rotating or
moving system of coordinates by taking the time
derivative
dr d ( v B / A ) xyz
aB  a A  
  rB / A    B / A 
dt dt
Slide 74
Axes
• Here 
  d / dt is the angular acceleration of the x, y, z
coordinate system.
• For planar motion, Ω is always perpendicular to the
plane of motion and therefore  measures only the
change in the magnitude of Ω.
• For the derivative of drB/A/dt,
drB / A
    ( v B / A ) xyz    (  rB / A )
dt
Slide 75
Axes
• Finding the time derivative of (vB/A)xyz = (vB/A)xi + (vB/A)yj
d ( v B / A ) xyz d (vB / A )x d (v B / A ) y 
 i j
dt  dt dt 
 di dj 
 ( v B / A ) x  ( v B / A ) y 
 dt dt 
Slide 76
Axes
• The first two terms in the first set of brackets represent
the components of acceleration of point B as measured
by an observer attached to the moving coordinate
system, as denoted by (aB/A)xyz .
• The terms in the second bracket can be simplified by
d ( v B / A ) xyz
 (a B / A ) xyz    ( v B / A ) xyz
dt
Slide 77
Axes
• Rearranging terms,
aB  a A  
  rB / A    (  rB / A )
 2  ( v B / A ) xyz  (a B / A ) xyz
• The term 2Ω x (vB/A)xyz is called the Coriolis
acceleration, representing the difference in the
acceleration of B as measured from the non-rotating and
rotating x, y, z axes.
• As indicated by the vector cross-product, the Coriolis
acceleration will always be perpendicular to both Ω and
(vB/A) xyz .
Slide 78
Suggested Readings
• Engineering Mechanics R.C.Hibbeler (Dynamics any
edition) – Planar Kinematics of Rigid Body
• Engineering Mechanics J.L Meriam and L.G. Kraige
(Dynamics any edition) – Planar Kinematics of Rigid
Body
Slide 79

Planar Kinematics of Rigid Body Notes

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Kinematics of Rigid Body

Particle: A & B have the same motion

Rigid body: A and B may have different motions

All particles of a rigid body move along paths

A body system consists of several rigid bodies.

•Rectilinear translation occurs when the paths of motion

•The body is then rotated about A by an amount dθ so

drB  drA  drB / A

due to rotation about A

due to translation and rotation

• The relative velocity vB/A represents the effect of circular

known distance between point A and B, then rA/IC + rB/IC =

• The terms in the second bracket can be simplified by

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