DYNAMICS

Planar Kinematics of a Rigid Body

(Translation and Rotation)
by:
Dr. Mohd Hasnun Arif HASSAN
Faculty of Manufacturing Engineering
[email protected]
 Translation and Rotation
• Aims
– To revise on the position vector.
– To introduce about the types of planar motion of rigid body.
– To discuss about translation and rotation about a fixed axis.
– To analyse the motion of a particular point on a rigid body.
• Expected Outcomes
– Students are able to determine the position vector of a point on a rigid
body.
– Students are able to distinguish different types of planar motion of a rigid
body.
– Students are able to calculate the velocity and acceleration of a
particular point on a rigid body.
• References
– Engineering Mechanics: Dynamics 12th Edition, RC Hibbeler, Prentice Hall
 Content

• Introduction
• Position Vector
• Planar Motion of a Rigid Body
• Translation
• Rotation about a Fixed Axis
• Conclusions
 Introduction

Engineering Mechanics

Rigid Body Deformable Body Fluid Mechanics

Statics Dynamics

Kinematics Kinetics

Planar Kinematics - Translation Planar Kinetics – Force and Acceleration

Planar Kinematics – Rotation about a fixed axis Planar Kinetics – Work and Energy

Planar Kinematics – General plane motion Planar Kinetics – Impulse and Momentum
Session 2016/2017
02
Outcome: Ability to determine position vectors of a planar mechanism.
Position Vector
Knowledge:

Position
Posit vector
ion vect or isisa avect
vector thatrepresent
or t hat represents saa directed
d ir line
e ct e d lin e
between
bet ween t two points.
w o point Graphically,ititisisananarrow
s. Graphically, arrowwitwith headand
h head
tand tail.exam
ail. For For ple,
example, referring
referring t o t he to the mechanism
m echanism below we below
we represent
represent the position
t he posit or ⃗r B / A𝑟⃗𝐵/𝐴
ion vect vector as: as:

𝑟⃗𝐵/𝐴 = 0.3 𝑖Ƹ + 0.4𝑗Ƹ m m

The 𝑖Ƹi^and
The and𝑗Ƹ are
^j the
are unit vectors
t he unit vectalong the 𝑥t he
ors along and 𝑦 axis
x and y axis
respectively.
respect Weread
ively. We readt he
theabove
aboveequat
equation liket he
ion like thefollowing:
following:

Theposit
The position vector
ion vect or ofofpoint
pointBBrelat
relative
ive t otopoint
pointAAisis0.3
0.3mmt otot he
the positive x-axis
plus ive
posit 0.4x-axis
meterplus
to the
0.4positive
m et er t y-axis.
o t he posit ive y-axis.

Not ice t he di$ erence bet ween ⃗r A / B wit h ⃗r B / A . It is

opposit e t o each ot her. Therefore ⃗r A / B is:
of point B relat ive t o point A is 0.3 m t o t he

Position Vector
0.4 m eter t o t he posit ive y-axis.

nce bet w een r⃗ A / B wit h ⃗r B / A . It is

⃗r A / B is: between 𝑟⃗𝐴/𝐵 with 𝑟⃗𝐵/𝐴 . It is opposite to each
Notice the difference
ot her. Therefore
other. Therefore 𝑟⃗𝐴/𝐵 is:

𝑟𝐴/𝐵 = −0.3መ𝑖 − 0.4෠𝑗

w hichAlways
one is remember which
t he head and oneone
which is the
is thead and which one is the tail.
he t ail.

Sometimes, we use the angle of the vector and the distance

between the points in order to determine the 𝑥 and 𝑦
components of the vector.

𝑟⃗𝐵/𝐴𝐵 = 𝑙𝐴𝐵 cos𝜃1 𝑖Ƹ + 𝑙𝐴𝐵 sin𝜃1 𝑗Ƹ

se t he angle of t he vect or and t he dist ance bet w een t he point s in
e t he x and y com ponent sInofthis
t he practice,
vect or. you must identify the position vectors on a
^
os θ1 i+l ^
AB sin θ1 j mechanism. We must know the position vector in order to
determine the velocity and acceleration of moving rigid
bodies.
ou m ust ident ify t he posit ion vect ors on a m echanism . We m ust
vect or in order t o det erm ine t he velocit y and accelerat ion of
es. Pract ice t he problem s below.
 Planar Motion of a Rigid Body

• • •
Translation •

• • •
The path of 2 points
•
remains parallel
Path of rectilinear translation Path of curvilinear translation

Rotation about a fixed axis

The body rotates about a fixed axis, all points
on the body except for those on the line of
rotation moves along a circular path.

General plane motion

Combination of translation and rotation
 Translation
y'

𝑟⃗𝐵 = 𝑟⃗𝐴 + 𝑟⃗𝐵/𝐴

• 𝑣⃗𝐵 = 𝑣⃗𝐴
B
𝑎⃗𝐵 = 𝑎⃗𝐴
y rB/A
• x'
rB A Translating coordinate system

rA

x
O
Fixed coordinate system
 Rotation about a fixed axis

For rigid body planar

motion, rotation is limited
A to the x-y plane.

The rigid body is actually

O B rotating about z-axis that
O
passes through Point O.
y

C That is why this motion is

x
called rotation about a
fixed axis.
The path of motion of any point (particle) on
the rigid body is ALWAYS CIRCULAR
Rotation about a fixed axis

O B

C
 Rotation about a fixed axis
Linear motion Angular motion

𝜃  angular position [rad]

𝑑𝜃
= 𝜔  angular velocity [rad/s]
𝑑𝑡

𝑑𝜔 𝑑2 𝜃
= = 𝛼  angular acceleration [rad/s2]
𝑑𝑡 𝑑𝑡 2

𝛼 𝑑𝜃 = 𝜔 𝑑𝜔
 Rotation about a fixed axis
Linear motion Angular motion

Motion with constant acceleration

Linear motion Angular motion

 Rotation about a fixed axis
α
Counter-clockwise rotation = +ve
ω

O
A particle can NEVER ROTATE.

In rigid body rotation, all particles undergo curvilinear

y
motion.

x
The rigid body has angular velocity and angular
acceleration,
but the particles (points) have linear velocity and linear
acceleration.
 Curvilinear motion of Point P
t The direction of 𝑣⃗ is ALWAYS TANGENT to the path

RECALL ∆𝑟⃗
𝑟′
⃗ P’
∆𝑟⃗ 𝑣⃗ =
𝑣⃗ ∆𝑡
𝑟⃗ 𝑟⃗ P
O P If ∆𝑡 → 0,
𝑟⃗ and 𝑟′
⃗ almost fall on the same line.

𝑑𝑟⃗ is perpendicular to 𝑟,
⃗
 d𝑟⃗ is tangent to the path.

∴ the direction of instantaneous

velocity 𝑣⃗ is always tangent to the
curved path.
Curvilinear motion of Point P
t
RECALL: tangential and normal component
t
𝑣⃗ n curvilinear
𝑟⃗ path
O P

t : tangential axis – tangent to the path

n : normal axis – point towards the centre of the arc

Unit vector:

t-axis : 𝑢ො 𝑡
n-axis : 𝑢ො 𝑛
Curvilinear motion of Point P
t
Linear velocity of Point P

𝑣⃗
𝑟⃗
O P
 Curvilinear
t
motion of Point P
Linear acceleration of Point P

𝑣⃗ Using product rule:

𝑟⃗
O P

Use vector triple product:

with the angle between 𝑟⃗ and 𝜔

 90°

Vector dot product:

at an
Direction similar to 𝑣⃗ Direction opposite to 𝑟⃗
Curvilinear motion of Point P
t
Linear acceleration of Point P

𝑣⃗
𝑟⃗
O P
In scalar format:
 Conclusions

• Position vector of a point on a plane is written in 𝑖Ƹ and 𝑗Ƹ

unit vector form.
• There are 3 type of rigid body motion: translation, rotation
about a fixed axis and general plane motion.
• In the case of rotation, any point on the body undergoes
motion in a circular path.
• The direction of instantaneous velocity 𝑣⃗ is always
tangent to the curved path.
 Planar Kinematics of a Rigid Body
(Translation and Rotation)

“Gravity explains the motions of the planets, but it

cannot explain who sets the planets in motion.”

– Sir Isaac Newton