Part A Dynamics

Kinematics – Velocity and acceleration analysis of rigid bodies

Week 1: Velocity analysis of rigid bodies to a fixed reference (review)
Velocity analysis of rigid bodies to rotating axes
Week 2: Instantaneous centre of zero velocity
Acceleration analysis of rigid bodies to a fixed reference (review)
Week 3: Acceleration analysis of rigid bodies to rotating axes – Coriolis problem

Kinetics of rigid bodies

Week 4: General equations of motion
Work-energy method
Week 5: Summary
Part A: Week 1 Lecture 1 - Velocity analysis of rigid
bodies to a fixed reference (review)
(Chapter 5/1-5/4 Meriam, Kraige & Bolton)

Learning objective:
• We need to know how to analyse the motion
(velocity) of linkages and other components.
General plan motion of a rigid body
(Chapter 5/1-5/4 Meriam, Kraige & Bolton)
Plane motion
Categories of Plane Motion
a) Rectilinear Translation –
all points move in straight
lines. There is no rotation.
b) Curvilinear Translation –
all points move in
congruent curves. There is
no rotation.
c) Fixed-Axis Rotation – all
points move in circular
paths about the rotation
axis.
d) General Plane Motion –
motion of the body is a
combination of translation
and rotation.
Translation
• Defined as any motion in which every line in the body remains parallel to its
original position at all times.
(a) Rectilinear translation

• Translation occurs if every Rectilinear translation

line segment on the body
remains parallel to its 𝑃𝑃′
original direction during the 𝑃𝑃
motion 𝑂𝑂′
𝑂𝑂

• Rectilinear translation occurs

when the paths of motion for
any two particles of the body
are along straight lines Courtesy of Dr Pietro Borghesani
(b) Curvilinear translation

• Curvilinear translation Curvilinear translation

occurs when the paths of
motion are along curved 𝑃𝑃′
lines 𝑃𝑃
𝑂𝑂′
𝑂𝑂
• Note: the motion is still
translation if the body
does not rotate or twist or
turn Courtesy of Dr Pietro Borghesani
(c) Rotation
• All particles in a rigid body move in circular paths about the axis of
rotation, and all lines in the body which are perpendicular to the axis of
rotation rotate through the same angle in the same time.
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

Courtesy of Dr Pietro Borghesani

(d) General plane motion
• A combination of translation and rotation
General plane motion of a rigid body
𝑃𝑃

𝐯𝐯𝑶𝑶
𝐣𝐣 𝑂𝑂

𝜔𝜔
𝑃𝑃
𝑂𝑂 𝐢𝐢
𝐯𝐯𝑶𝑶
𝐣𝐣 𝑂𝑂 𝜔𝜔
𝑃𝑃

𝑂𝑂 𝐢𝐢 𝐣𝐣 𝑂𝑂

Courtesy of Dr Pietro Borghesani

𝑂𝑂 𝐢𝐢
 𝑃𝑃

𝑂𝑂

Courtesy of Dr Pietro Borghesani

• When a body is subjected to general plane motion, it undergoes a

combination of translation and rotation.
• The translation occurs within a reference plane.
• The rotation occurs about an axis perpendicular to the reference
plane.
• We’ll use the principles we derived for relative motion to describe
this case.
Velocity analysis of rigid bodies to a fixed frame
(Chapter 5/1-5/4 Meriam, Kraige & Bolton)

Points A and B are fixed on a rigid body.

The position of 𝐵𝐵 with respect to 𝐴𝐴 is
denoted by the relative-position vector 𝐫𝐫𝐵𝐵/𝐴𝐴

𝐫𝐫𝐵𝐵 = 𝐫𝐫𝐴𝐴 + 𝐫𝐫𝐵𝐵/𝐴𝐴

Taking the time derivative of the above

r equation, the velocity of point B is:
𝐯𝐯B = 𝐯𝐯A + 𝐯𝐯B/A

(or 𝑣𝑣⃗𝐵𝐵 = 𝑣𝑣⃗𝐴𝐴 + 𝑣𝑣⃗𝐵𝐵/𝐴𝐴 , 𝑣𝑣𝐵𝐵 = 𝑣𝑣𝐴𝐴 + 𝑣𝑣𝐵𝐵/𝐴𝐴 )

𝐯𝐯𝐵𝐵/𝐴𝐴 = 𝜔𝜔𝜔𝜔𝒆𝒆𝑡𝑡 = ω x r
Right hand rule

The definition v = ω x r gives the direction of v. It is at right angles to both ω

and r is in the right-handed sense. If you put your right thumb in the direction
of ω and your forefinger in the direction of r, your right middle finger points
in the direction of v.
Interpretation of the Relative-Velocity Equation
• Separate translation and rotation components

• Comment: Relative velocity term is always perpendicular to the line

joining the two points fixed on a rigid body.
Example 1
When the rod AB is in the horizontal position shown, the velocity of collar A is
vA = 1.2 m/s, directed as shown. In the position shown, find:
(a) the velocity of collar B,
(b) the angular velocity of the rod.
Example 2
The disk shown in the figure below rotates with a constant angular
velocity ω = 5 rad/s.
Determine:
(a) the velocity (magnitude and direction) of point A, and
(b) the angular velocities ωAB and ωBC of links AB and BC.
 Part A: Week 1 Lecture 2 - Velocity analysis of
rigid bodies to rotating axes
(Chapter 5/7 Meriam, Kraige & Bolton)

Motion relative to a rotating reference frame

Example 1

Consider a collar P which slides at a

relative speed vrel along a rod OB
rotating at an angular velocity ω
about O (fixed).

1
 Example 2

Animation to be shown in the lecture

2 https://en.wikipedia.org/wiki/Rotating_reference_frame#/media/File:Corioliskraftanimation.gif
 Example 3

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 Example 4

Geneva mechanism to translate a continuous rotation to intermittent rotary motion

Applications: used in mechanical watches, movie projectors and movie cameras

https://en.wikipedia.org/wiki/Geneva_drive
 B
To analyse the motion of point P – a
moving point on a rotating body OB,
we need to define a reference point
on the rotating body OB.

𝐯𝐯𝑃𝑃 = 𝐯𝐯𝑃𝑃′ + 𝐯𝐯𝑃𝑃⁄𝑃𝑃′

O

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 General case
Body S has translational and rotational motion.
Point A is moving on body S with a velocity relative to the body.

Define two coincident points A & A’:

- Point A moves with respect to body S;
- Points B and A’ are fixed to body S, and point B is the reference point (eg,
the centre of rotation of body S).

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 A

Define two reference systems:

- Red coordinate system fixed to body S

- Fixed reference X-Y

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 The position of point A is expressed as:

𝐫𝐫𝐴𝐴 = 𝐫𝐫𝐵𝐵 + 𝐫𝐫𝐴𝐴/𝐵𝐵 (1)

A
Where rA/B = xi+yj = r

Note that
(a) the length of rA/B = r is changing as
point A is moving on body S, and

(b) the unit vectors i and j are rotating

with the x-y axes.

To find velocity of point A, differentiate Eq. (1) with respect to time

𝑑𝑑
𝐫𝐫𝐴𝐴̇ = 𝐫𝐫𝐵𝐵̇ + 𝑥𝑥𝐢𝐢 + 𝑦𝑦𝐣𝐣
𝑑𝑑𝑑𝑑
𝑑𝑑𝐢𝐢 𝑑𝑑𝐣𝐣
= 𝐫𝐫𝐵𝐵̇ + 𝑥𝑥 + 𝑦𝑦 + 𝑥𝑥𝐢𝐢̇ + 𝑦𝑦𝐣𝐣̇
𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑

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 Question: What are the time derivatives of i and j?
While the unit vectors in the x- and y-directions are constant in magnitude,
they undergo a change in direction as the coordinate axes attached to body
S, which has transitional and rotational motion. Therefore, their time
derivatives are not zero and must be evaluated.

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Time derivative of i and j
• The unit vector i will rotate through a
differential angle dθ in a differential amount of
time dt.
• The vector difference di has a magnitude equal
to the arclength i dθ = 1 dθ = dθ, and points in
the positive j direction. Thus, di = dθ j.
• Similarly, the unit vector j will rotate through a
differential angle dθ in a differential amount of
time dt.
• The vector difference dj has a magnitude equal
to the arclength j dθ = 1 dθ = dθ, and points in
the negative i direction. Thus, dj = -dθ i.
• Dividing each vector difference by dt and
substituting dθ/dt = ω yields

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Cross Product Formulation

• Observe that ω × i = ωj and ω × j = -ωi

• Therefore,

• Thus, the time derivatives of the rotating unit vectors i and j are
simply equal to the angular velocity of the rotating coordinate frame
crossed into the unit vectors. This is a very important result in
mechanics.

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 In summary, the reference system fixed to body S is rotating with body S –
a rotating frame.
Thus,
𝑑𝑑𝐢𝐢 = 𝑑𝑑𝑑𝑑𝐣𝐣 = 𝜔𝜔𝐣𝐣

𝑑𝑑𝐣𝐣 = −𝑑𝑑𝑑𝑑𝐢𝐢 = −𝜔𝜔𝐢𝐢

When the cross product is introduced, we have

𝛚𝛚 × 𝐢𝐢 = 𝜔𝜔𝐣𝐣

𝛚𝛚 × 𝐣𝐣 = −𝜔𝜔𝐢𝐢

Therefore
𝑑𝑑𝐢𝐢 = 𝛚𝛚 × 𝐢𝐢 = 𝜔𝜔𝐣𝐣

𝑑𝑑𝐣𝐣 = 𝛚𝛚 × 𝐣𝐣 = −𝜔𝜔𝐢𝐢

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 Continue on finding velocity of point A by differentiating (1) with respect to time

𝐫𝐫𝐴𝐴 = 𝐫𝐫𝐵𝐵 + 𝐫𝐫𝐴𝐴/𝐵𝐵 (1)

𝑑𝑑
𝐫𝐫𝐴𝐴̇ = 𝐫𝐫𝐵𝐵̇ + 𝑥𝑥𝐢𝐢 + 𝑦𝑦𝐣𝐣
𝑑𝑑𝑑𝑑 𝑑𝑑𝐢𝐢 = 𝜔𝜔𝐣𝐣 = 𝛚𝛚 × 𝐢𝐢
𝑑𝑑𝐢𝐢 𝑑𝑑𝐣𝐣
= 𝐫𝐫𝐵𝐵̇ + 𝑥𝑥 + 𝑦𝑦 + 𝑥𝑥𝐢𝐢̇ + 𝑦𝑦𝐣𝐣̇
𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑
𝑑𝑑𝐣𝐣 = −𝜔𝜔𝐢𝐢 = 𝛚𝛚 × 𝐣𝐣
𝑑𝑑𝐢𝐢 𝑑𝑑𝐣𝐣
𝑥𝑥 + 𝑦𝑦 = 𝛚𝛚 × 𝑥𝑥𝐢𝐢 + 𝛚𝛚 × 𝑦𝑦𝐣𝐣 = 𝛚𝛚 × 𝑥𝑥𝐢𝐢 + 𝑦𝑦𝐣𝐣 = 𝛚𝛚 × 𝒓𝒓
𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑

Since the observer in x-y measures velocity components 𝑥𝑥̇ and 𝑦𝑦̇ , we see that
𝑥𝑥𝐢𝐢̇ + 𝑦𝑦𝐣𝐣̇ = 𝐯𝐯rel , which is the velocity relative to the x-y frame of reference.

Thus, 𝑥𝑥𝐢𝐢̇ + 𝑦𝑦𝐣𝐣̇ = 𝐯𝐯rel is the velocity of point A relative to the rotating frame
x-y
𝐫𝐫𝐴𝐴̇ = 𝐫𝐫𝐵𝐵̇ + 𝛚𝛚 × 𝐫𝐫 + 𝐯𝐯rel

(2)

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 Interpretation of Relative Velocity Equation

• Consider the motion of particle A along a slot

in a rotating plate.

• The velocity of A as measured relative to the

plate, vrel, would be tangent to the path fixed in
the plate and would have a magnitude 𝑠𝑠,̇ where
s is measured along the curved path.
A’
A’
• This velocity may also be viewed as the
velocity vA/A’ relative to point A’ attached to
the plate and coincident with A at the instant
under consideration.

• The term ω × r has a magnitude of r𝜃𝜃̇ and a

direction normal to r and is the velocity of
point A’ relative to B as seen from nonrotating
axes attached to B.

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Comparison of Equation Forms
(a)

A’/B A/A’ (b)

VA’ A/A’ (c)

• In the second equation, the term vA’/B is the velocity of

points A’ relative to point B, and vA’/B = 𝛚𝛚 × 𝐫𝐫. The term
vA/A’ is the same as vrel and is the velocity of A as measured
in the x-y frame.
• In the third equation, vA’ is the absolute velocity of A’ and
represents the effect of the moving coordinate system, both
translational and rotational.

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 Special case when the centre of rotation is fixed

𝐫𝐫𝐴𝐴 = 𝐫𝐫𝐵𝐵 + 𝐫𝐫𝐴𝐴/𝐵𝐵

𝐫𝐫𝐴𝐴̇ = 𝐫𝐫𝐵𝐵̇ + 𝛚𝛚 × 𝐫𝐫 + 𝐯𝐯rel or

When point B is fixed 𝐫𝐫𝐵𝐵̇ = vB = 0

𝐯𝐯𝐴𝐴 = 𝛚𝛚 × 𝐫𝐫 + 𝐯𝐯rel A (A’)

Where 𝛚𝛚 × 𝐫𝐫 = 𝐯𝐯𝐴𝐴′/𝐵𝐵 = 𝐯𝐯𝐴𝐴′

𝐯𝐯𝐴𝐴 = 𝐯𝐯𝐴𝐴𝐴 + 𝐯𝐯rel

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 Lecture 2 - Example 1
Crank AB of the quick-return mechanism shown below rotations
counterclockwise with a constant angular velocity ɷAB = 6 rad/s.
When the mechanism is in the position shown, find:
(a) the velocity of the slider B relative to arm DE, and
(b) the angular velocity of arm DE.

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 Lecture 2 - Example 2

The collar P slides from A towards B along a semi-circular rod AB of radius

200 mm. The rod rotates about the pin at A, and the speed of the collar P
relative to the rod is constant at 120 mm/s. When the system is in the position
shown, the angular velocity of the rod is ωAB = 0.8 rad/s counterclockwise.
Determine the velocity of P at the instant shown.

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What have we learned in week 1’s lectures?
• Relative-velocity equation
B

P’
P’ (on link
OB)
AO

𝐯𝐯B= 𝐯𝐯A + 𝐯𝐯B/A 𝐯𝐯𝑃𝑃 = 𝐯𝐯𝑃𝑃′ + 𝐯𝐯𝑃𝑃⁄𝑃𝑃′

= 𝐯𝐯𝑃𝑃′ + 𝐯𝐯𝑟𝑟𝑟𝑟𝑟𝑟
𝐯𝐯𝐵𝐵/𝐴𝐴 = 𝜔𝜔𝑅𝑅𝒆𝒆𝑡𝑡 = ω x R = 𝐯𝐯A + 𝐯𝐯P’/A +𝐯𝐯𝑟𝑟𝑟𝑟𝑟𝑟

Lecture 1 Lecture 2
What have we learned in week 1’s lectures?
• Relative-velocity equation
 Two points on the same rigid body
 A moving point on a rotating body
• Sketch the vector polygon paying close attention to the head-to-tail
combination of the vectors to ensure it agrees with the equation. From this
sketch, you can write scalar component equations by projecting the vectors
along convenient directions. Simultaneous equations can be avoided by a
careful choice of the projections.
• Alternatively, each term in the relative-motion equation may be written in
terms of its i- and j-components, from which you will obtain two scalar
equations when the equality is applied, separately, to the coefficients of the
i- and j-terms.