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CH 16

1) The document discusses planar kinematics of rigid bodies, including translation, rotation about a fixed axis, and general plane motion. 2) Translation involves bodies moving such that a line remains parallel throughout motion. Rotation involves bodies rotating about a fixed axis, with points traveling in circular paths. 3) General plane motion involves a combination of translation and rotation, with the translation occurring in a reference plane and rotation about an axis perpendicular to that plane.

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Abdallah Odeibat
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32 views

CH 16

1) The document discusses planar kinematics of rigid bodies, including translation, rotation about a fixed axis, and general plane motion. 2) Translation involves bodies moving such that a line remains parallel throughout motion. Rotation involves bodies rotating about a fixed axis, with points traveling in circular paths. 3) General plane motion involves a combination of translation and rotation, with the translation occurring in a reference plane and rotation about an axis perpendicular to that plane.

Uploaded by

Abdallah Odeibat
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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PHILADELPHIA UNIVERSITY

Department of Civil Engineering

Dynamics
(620212)
CHAPTER 16
PLANAR KINEMATICS OF A
RIGID BODY
1
Instructor:
Eng. Abdallah Odeibat
Civil Engineer, Structures , M.Sc.
16.1 PLANAR RIGID-BODY MOTION
 There are cases where an object cannot be treated as a
particle. In these cases the size or shape of the body
must be considered. Rotation of the body about its
center of mass requires a different approach.

 This study is important for the design of gears, cams,


and mechanisms used for many mechanical operations.

 The planar motion of a body occurs when all the


particles of a rigid body move along paths which are
equidistant from a fixed plane. There are three types of
rigid body planar motion, in order of increasing
complexity, they are 2
 Translation. This type of motion occurs when a line in the
body remains parallel to its original orientation throughout
the motion. When the paths of motion for any two points on
the body are parallel lines, the motion is called rectilinear
translation. If the paths of motion are along curved lines
which are equidistant, the motion is called curvilinear
translation.

 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.

 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. 3
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16.2 TRANSLATION

 Position. The positions of


two points A and B on a
translating body can be
related by

where rA & rB are the absolute


position vectors defined from
the fixed x-y coordinate system,
and rB/A is the relative-position
vector between B and A.

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 Velocity. A relation between the instantaneous
velocities of A and B is obtained by taking the time
derivative of this equation, which yields.

Here vA and vB denote absolute velocities since these


vectors are measured with respect to the x, y axes.

The above two equations indicate that all points in a


rigid body subjected to either rectilinear or curvilinear
translation move with the same velocity and acceleration. 7
16.3 ROTATION ABOUT A FIXED AXIS
 When a body rotates about a fixed axis, any
point P located in the body travels along a
circular path.

 Angular Motion. Since a point is without


dimension, it cannot have angular motion.
Only lines or bodies undergo angular motion.

 Angular Position. At the instant shown,


the angular position of r is defined by the
angle θ, measured from a fixed reference line
to r.
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 Angular Displacement. The change in the
angular position, which can be measured as a
differential dθ, is called the angular displacement.

 Angular Velocity. The time rate of change in the


angular position is called the angular velocity ω
(omega). Since dθ occurs during an instant of time
dt, then

This vector has a magnitude which is often measured


in rad/s
9
 Angular Acceleration. The angular acceleration
(alpha) measures the time rate of change of the angular
velocity. The magnitude of this vector is

The line of action of is the same as that for ω, however,


its
sense of direction depends on whether ω is increasing or
decreasing. If ω is decreasing, then is called an angular
deceleration and therefore has a sense of direction which
is opposite to ω.
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 Constant Angular Acceleration.

q0 and w0 are the initial values of the body’s angular


position and angular velocity.

Note these equations are very similar to the constant


acceleration relations developed for the rectilinear motion
of a particle. 11
 Motion of Point P. As the rigid
body rotates, point P travels along a
circular path of radius r with center
at point O.

 Position and Displacement. The


position of P is defined by the
position vector r, which extends
from O to P. If the body rotates dθ
then P will displace ds = r dθ.

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 Velocity. The velocity of P has a magnitude which can
be found by dividing ds = r dθ by dt so that

Both the magnitude and direction of v can also be


accounted for by using the cross product of w and rp
Here, rp is directed from any point on the axis of rotation
to pointP. We have

13
 Acceleration. The acceleration of P can be
expressed in terms of its normal and
tangential components. Since at = dv/dt and
an = v2/r, where v = ωr, and = dω/dt, we have

The tangential component of acceleration,


represents the time rate of change in the
velocity's magnitude.

The normal component of acceleration


represents the time rate of change in the
velocity's direction. The direction of an is always 14
toward O, the center of the circular path.
magnitude of acceleration

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16.4 ABSOLUTE MOTION ANALYSIS
 The figure below shows the window
using a hydraulic cylinder AB.

 The absolute motion analysis method


relates the position of a point, B, on a
rigid body undergoing rectilinear motion
to the angular position, q , of a line
contained in the body.

 Once a relationship in the form of sB =


f(q) is established, the velocity and
acceleration of point B are obtained in
terms of the angular velocity and
angular acceleration of the rigid body by
taking the first and second time
derivatives of the position function. 18
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16.5 RELATIVE-MOTION ANALYSIS: VELOCITY
 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 then

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 Displacement. During an instant of time dt, points A
and B undergo displacements drA and drB. If we
consider the general plane motion by its component
parts then the entire bar first translates by an amount
drA so that A, the base point, moves to its final
position and point B moves to B'. The bar 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. Due to the rotation about A, drB/A = rB/A dθ,
and the displacement of B is

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 Velocity

since the relative velocity vB/A represents the effect of


circular motion, about A

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 When using the relative velocity
equation, points A and B should
generally be points on the body
with a known motion. Often
these points are pin connections
in linkages.

 For example, point A on link AB


must move along a horizontal
path, whereas point B moves on
a circular path.
 The directions of vA and vB are
known since they are always
tangent to their paths of motion.
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16.6 INSTANTANEOUS CENTER OF ZERO
VELOCITY
 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 is
rigidly connected to the body).

 This point is called the instantaneous center (IC)


of zero velocity. 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. 36
 To locate the IC, we can use the fact that the velocity of
a point on a body is always perpendicular to the
relative position vector from the IC to the point.
Several possibilities exist.

First, consider the case when velocity vA


of a point A on the body and the angular
velocity w of the body are known.

In this case, the IC is located along the


line drawn perpendicular to vA at A, a
distance rA/IC = vA/w from A.
Note that the IC lies up and to the right
of A since vA must cause a clockwise
angular velocity w about the IC. 37
A second case is when the lines
of action of two non-parallel
velocities, vA and vB, are
known.
First, construct line segments
from A and B perpendicular to
vA and vB. The point of
intersection of these two line
segments locates the IC of the
body.

38
 A third case is when the magnitude and
direction of two parallel velocities at A and B are
known. Here the location of the IC is determined
by proportional triangles.
 As a special case, note that if the body is
translating only (vA = vB), then the IC would be
located at infinity. Then w equals zero, as 39
expected.
 The velocity of any point on a body undergoing general
plane motion can be determined easily once the
instantaneous center of zero velocity of the body is
located.

Since the body seems to rotate about


the IC at any instant, as shown in this
kinematic diagram, the magnitude of
velocity of any arbitrary point is v = w
r, where r is the radial distance from
the IC to the point.
The velocity’s line of action is
perpendicular to its associated radial
line.
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16.7 RELATIVE-MOTION ANA LYSIS:
ACCELERATION

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