Chapter

5
Plane Kinematics of
Rigid Bodies

Jump to first page

 ■ Rigid body : A body in which the distances
between particles are unchanged.
■ For simplicity, only the motion on a single
plane is considered.

fixed
The plane motion:
1. Rectilinear translation
A A
B B
2. Curvillinear translation
A A
B B
Jump to first page
■ 3. Fixed axis rotation :
Fixed axis

A A
■ 4. General plane motion :

A
A
B B

Jump to first page

Rotation : ω = θ
(angular velocity)
α = ω = θ
θ (angular acceleration)

Also
ωdω = αdθ
θ ⇔s ; ω ⇔v ; α ⇔a

Jump to first page

  
 v =ω ×r
v
v = ω r = θ r

r Direction of ω , use right hand
O 
rule. 
  
 
 
 a = v = ω ×r +ω ×r
ω    
∴ a = ω × (ω × r ) + α × r
  

k ω ,α 
an at

v      
O

r ω =θ k ;α =θ k
an at v2
an = = rω 2
r
at = r α
  2    
a = (r − rθ )er + (rθ + 2rθ )eθ
Jump to first page
 General plane
motion :

A' ∆rA / B
  
A" ∆rA / B = ∆rA − ∆rB
B'     
∆rA ∆rB

∆rB ∴ v A / B = v A − vB
 A  
B rA / B  v A / B = ω × rA / B
  
O ∴ v A = vB + v A / B
A'    

∆rA / B i.e. v A = vB + ω × rA / B
∆θ A"
B' rA / B
Jump to first page
Example :

A 
 vA
vB 
rA / B
B

ω

 
 ω × rA / B
vB

vA
Jump to first page
Instantaneous Centre of
zero velocity
vA vB
ω= = vA and vB in
rA rB proportional length

 A vA
A vA 
A vA
rA
rA B  rA
vB  C
C rB B vB rB
rB
 B
C vB
C-Instantaneous centre of zero velocity
Jump to first page
Problem on Plane Kinematics of rigid
body
(2), (7), (8), (9), (10), (11)
■ Relative acceleration A'
   
v A = vB + v A / B t
   
a A = aB + a A / B B' v A/ B
  v A2 / B  
a A / B = v A / B t + n r A
r B ω ,α
■ However n
v A / B = rω O

∴ v A / B = rω = r α
  2 
∴ a A / B = rα t + rω n
Jump to first page
    2 
∴ a A = a B + rα t + rω n
 
rα t = α × r
2    
rω n = ω × (ω × r )
    
∴ a A = a B + α × rA / B + ω × (ω × rA / B )

aA 

aB  r αt
 aA/ B
aB A 
aB A A

B
= + rω n 2

B B

 aA
rαt
aA/ B  
rω 2 n a B
Jump to first page
Exam
■ Let s be the displacement of 0 to 0'.
ple ■ Then s = r θ rolling without slipping
    
(a) v = s i = rθ i = rω i
y, j ■
0 #
■
   
a0 = v 0 = rω i = rα i#
r s O' ■ (b) for the new position C' from C :
O ωα
C ' sθ  x = s - rsinθ
■

x, i y = r - rcosθ
x
■
C
r sin θ ∴ x = rθ (1 − cos θ ) = rω (1 − cos θ )
y = rθ sin θ = rω sin θ
  
∴ vc = x i + y j
 
= rω (1 − cosθ ) i + (rω sin θ ) j #

Jump to first page

■ Also
x = rω (1 − cosθ ) + rωθ sin θ
= rα (1 − cosθ ) + rω sin θ
2

y = rω sin θ + rωθ cosθ

= rα sin θ + rω cosθ
2

  
aC = xi + yj
■ When t = 0, θ = 0
  
vc = 0 # , ac = r ω j
2
#

Jump to first page

 
Exam vP / O 
vP / O 
ple ω vP
60 o
−1 60 o 
P vo = 3ms P
O vo
R
O
R = 0.3m , OP = 0.2m
    
vP / O vP vP = vo + vP / O
o ω vP / O = 0.2 ω
P 60 −1
O v −1
vo = 3ms ω = o = 3 m s
r = 10 rad / s
R 0.3 0.3 m
C ∴ vP2 = v02 + vP2 / O + 2v0 vP / O cos 60o = 19
vo
ω= vp = ω r ∴ v P = 4.26 m s −1
#
R
Jump to first page
 Examp 0.25m ω CD = 2rad / s
le B
C rC / D = 0.075m
E D
0.05m rB / A = 0.1m
■ Find : ω AB ,ω BC.
A
■ BE = 0.05 m, CE = 0.25m - 0.075m= 0.175 m

 
vc = ω CD ⋅ rC / D (− j )
   
vB = vB (i ) , ω BC = ω BC (−k )
   
vB = vc + ω BC × rB / C
    
vB i = 2 × 0.075(− j ) + ω BC (− k ) × [−0.175 i + 0.05 j ]
⇒ vB , ω BC
ω AB = vB / rB / A
Jump to first page
Examp
le 0.3m / s

0.5m / s 2 0.1m / s 2 y
A B
rG / A G 1m x
ω α 1m z
D
2m 2m C
■
Find and

aG α
    
a B = a A + α × rB / A + ω × (ω × rB / A )
   
a A = 0.5 j , aB = 0.1 j
   
rB / A = 4 i , α = α (− k )
 
ω = ω (−k )
Jump to first page
ω can be found by :
  
vB = v A + ω × rB / A
   
− 0.3 j = −0.3 j + (−ω k ) × 4 i
∴ ω =0
  
∴ aB = a A + α × rB / A
   
∴ 0.1 j = 0.5 j + (−αk ) × (4 i )
 
= 0.5 j − α 4 j

∴ α = 0.1 rad / s 2

 ˆ
∴ α = −0.1 k (rad / s )
2
#

Jump to first page

     
aG = a A + α × rG / A + ω × (ω × rG / A )
ω =0 
rG / A
    
∴ aG = 0.5 j + (−0.1) k × (2 i − j )
  
= 0.5 j − 0.2 j − 0.1 i
 
= −0.1 i + 0.3 j (m / s ) #
2

Jump to first page