Plane Motion: Analysis

of a Rigid Body in
Translation, Rotation
Introduction
 motion
It is the change in
position of an object
over time.

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Types of motion
 1. Translation
The motion by which a
body shifts from one
point in space to
another.

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 a. Rectilinear Translation

Motion with
constant
velocity (uniform
motion)

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 a. Curvilinear Translation
Projectile motion
follows a parabolic
trajectory. The vertical
component of projectile
is under constant
gravitational
acceleration and the
horizontal component is
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at constant velocity.
 2. Rotation
This occurs if every
particle in the body
moves in a circle about
a single line.

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 a. Centroidal

⬗  Centroidal – will
give a 360 degree
or complete
revolution.

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 a. Non-Centroidal
⬗ Non-centroidal – will not
give a complete
revolution.

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 3. General Plane Motion
This is the
combination of
translation and
rotation motion.

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 3. General Plane Motion

This is the
combination of
translation and
rotation motion.

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 Definition and
analysis

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 Interpretation of
kinematic
equations

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 Relationship between
translation and
rotation for freely
rolling disks and
spheres
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Sample Problem

The wheel of 3-ft radius shown in Fig. 13.8 rolls

freely to the right of the given position, ω = 3rads
and α = 5 rads2 , both clockwise. Compute the
velocity and acceleration of the point B which is 2
ft from the center A of the wheel.
Solution:
 
Sample Problem
Solution:
 
Sample Problem
Solution:
 
 Instantaneous
center and axis of
rotation

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 Instant center
does not have zero
acceleration
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Instant Center

⬗ For rigid bodies experiencing general plane

motion, the concept of instant center allows
one to conveniently calculate the unknown
angular velocity of the rigid body, or
unknown linear velocities of points on the
rigid body.
Instant Center

⬗ The instant center is also called the

instantaneous center of zero velocity (IC). It
lies on an imaginary axis of zero velocity,
about which the body appears to rotate at a
given instant. This axis is always
perpendicular to the plane of motion.
There are three basic cases to consider when solving
problems using the instant center approach.
Case 1 – Consider a rigid body rotating in a plane. Determine the velocity of a point
A given the known velocity of another point B. The directions of the velocities are
non-parallel.

 Where:
- velocity of point A
- velocity of point B
- intersection of the lines
ω - angular velocity
⬗ 
⬗
The velocity of point A :

⬗ The velocity of point B :

⬗  
⬗ Combine equations to eliminate the
variable ω :

⬗ Equations can be used to solve for

any two unknowns in the equations,
with the remaining variables known.
Example Problem for Case 1

⬗ Find the velocity of point B in the direction shown.

The information is given in the figure.
Solution
By geometry, the distance OA is given by:

𝑶𝑨=
  𝑳 𝐜𝐨𝐬𝜶+𝒓 𝐜𝐨𝐬𝜽
Also,

𝑳  𝐬𝐢𝐧 𝜶=𝒓 𝐬𝐢𝐧 𝜽

𝜶  = 𝐬𝐢𝐧
−𝟏
( 𝒓𝑳 𝐬𝐢𝐧 𝜽 )
Substitute:

 
𝑶𝑨= 𝑳 𝐜𝐨𝐬( 𝐬𝐢𝐧
−𝟏
( 𝒓𝑳 𝐬𝐢𝐧 𝜽 )¿ )+𝒓 𝐬𝐢𝐧𝜽 ¿
The points O, A, and IC form a right-angled
triangle. Therefore we can use trigonometry to
solve for and .
 
 𝒓 𝑨
𝑶𝑨
=𝐭𝐚𝐧 𝜽 𝒓  𝑨 =𝑶𝑨 𝐭𝐚𝐧 𝜽

𝑶𝑨   𝑶𝑨
𝒓  𝑩 +𝒓 = 𝒓𝑩 = −𝒓
𝐜𝐨𝐬 𝜽 𝐜𝐨𝐬 𝜽
 
Therefore,
 Note: When θ = 0, = ∞. This is because = 0. The
  𝑶𝑨 −𝒓 𝐜𝐨𝐬 𝜽 angle θ = 0 is an example of a degenerate case
𝒗 𝑩=𝒗 𝑨 where the instant center approach cannot be used
𝑶𝑨 𝐬𝐢𝐧 𝜽 to solve the problem.
Case 2 – Consider a rigid body rotating in a plane. Determine the angular velocity of
the rigid body given points A and B. These velocities are parallel and pointing in the
same direction. The figure below illustrates the set up of the problem.

 Note that IC is the intersection of the line passing

through points A and B, and the line joining the tip of
the vectors and .

The distance between points A and B is d.

 
By similar triangles:

 𝒗 𝑩 − 𝒗 𝑨 𝒗𝑩 𝒗
= = 𝑨
𝒅 𝒓𝑩 𝒓𝑨

The velocity of point A is given by : 𝒗  𝑨 =𝝎 𝒓 𝑨

The velocity of point B is given by : 𝒗  𝑩=𝝎 𝒓 𝑩

Combining equations it follows that the angular velocity is :

  𝒗 𝑩− 𝒗 𝑨
𝝎=
𝒅
Example Problem for Case 2

A wheel of radius R has velocities as shown at points A and B. Determine the angular velocity of the wheel.

Solution :

The distance between points A and B is 2R. From equation, the angular
velocity is :

  𝒗 𝑩− 𝒗 𝑨
𝝎=
𝟐𝑹
Case 3 – Determine the angular velocity of the rigid body
given the points A and B. These velocities are pointing in
parallel, but opposite directions. The figure below
illustrates the set-up of the problem.
 

Note : Unlike the previous case, the IC lies in between points A

and B.

The distance between points A and B is d.

  𝒗 𝑩 + 𝒗 𝑨 𝒗𝑩 𝒗𝑨
By similar triangles: = =
𝒅 𝒓𝑩 𝒓𝑨

The velocity of point A is given by : 𝒗  𝑨 =𝝎 𝒓 𝑨

The velocity of point B is given by : 𝒗  𝑩=𝝎 𝒓 𝑩

Combining equations it follows that the angular velocity is :

  𝒗 𝑩 +𝒗 𝑨
𝝎=
𝒅
Example Problem for Case 3
A wheel of radius R has velocities as shown at points A and B. Determine the angular velocity of the wheel.

Solution :

The distance between points A and B is 2R. From equation, the angular velocity
is:

  𝒗 𝑩 +𝒗 𝑨
𝝎=
𝟐𝑹
In Closing

⬗ Note that the spatial location of the instant center can change
with time.
⬗ In general, its use only applies at the instant considered.
⬗ In general, if the velocities of points A and B change, and/or their
directions change, a new instant center must be calculated to
solve for the (new) unknown linear velocities, or angular
velocities.
⬗ In general, the instant center approach should not be used for
finding the acceleration of points in a rigid body. This is because
the instant center (IC) does not generally have zero acceleration.
 Equations of
plane motion

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Sample problem:
 
Solution:
A body starts
Solution:
from rest Here, Final velocity v = 20 m/s
accelerate to a and initial velocity u = 0 m/s (the body was at
rest yo!).
velocity of 20
m/s in a time of Therefore, Time taken t = 10 s.
10 s. Determine Hence, using the equation
v = u +at.
the
a = (v-u )/t = (20 – 0 ) /10 = 2 m/s2
acceleration of Hence the acceleration of the body is 2 m/s2.
the boy.
 Rolling Bodies

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 “
⬗ Let us consider now the
application of Eq. (13-4)
to rolling bodies,
postponing the discussion
of other cases of plane
motion to the next
article.
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 “
⬗ The case of the rolling
wheel is simplified by
the fact that its
geometric center has a
rectilinear translation
parallel to the surface on
which it rolls.
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 “
⬗ Consequently, for a
homogenous rolling
wheel having its gravity
center coinciding with
its geometric center as in
Fig. 13-27, the direction
of d is known.
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 FORMULA:
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 ΣX
  =
ΣY = 0
ΣḾ = Iα
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 Dynamic
equilibrium in
plane motion
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MEMBERS: Calupig, Jon Bennet
Cosejo, Charlenne
Albrando, Misael Jon Raquel, Christopher
Par, Daniela Pilar, Edmar
Purio, John Andrew Mendoza, Katrina
Merjilla. Arvin Napagal, Mark Angelo
Padin, Arvy Ronel Mendoza, Mark Darwin
Quirante, Audrey Melca Tanganim, Vince