Dynamics of Rigid Body (MMB 333)

Kinematics of rigid body

A. E. Alemu (PhD)

August 2024
A.E. Alemu (PhD) 1
 Contents

▪ Introduction
▪ Velocity diagram
▪ Instantaneous centre of zero velocity
▪ Application in planar mechanisms

A.E. Alemu (PhD) 2

 General Plane Motion
.

A’
Y y
2

B’

1
A
r

x
B

A.E. Alemu (PhD) 3

 Introduction (cont’d)
.

Position of a rigid body

A.E. Alemu (PhD) 4

 General Plane Motion (cont’d)
➢ Pure translation
Motion from 1 to 2:
(from BA to B’A” in which
both B and A have the same
y
A’ displacement ΔrB) and
Y
2 ΔrAB ➢ Pure rotation
r A” (about B’ from B’A” to B’A’
Δθ during which the line BA
ΔrA
B’ ΔrB
rotates through a small
1
angle Δθ and A moves along
ΔrB A the arc of a circle of radius
r

x BA from A” to A’)
B
From the vector triangle:
X
r A = rB + r AB
Differentiating:
v A = v B + v AB 5
A.E. Alemu (PhD)
 General Plane Motion (cont’d)
.

If vectors vB and vA are known, it is possible to find velocity of point A

relative to B.
vA

vB
vAB
vAB
vB A A
A
vB
vA
r
r
= + r vB

ω
B B
Path B
of A
Path
of B

➢ Vector vAB - velocity of point A relative to point B.

➢ Its direction - the same as displacement ΔrAB, perpendicular to BA.
➢ It is also velocity point A would have if the body were rotating with
its actual angular velocity ω about B as a fixed point.
➢ Note - any component of vAB along BA would mean that BA would
change its length with time. This is not possible for a rigid body.
6
A.E. Alemu (PhD)
 General Plane Motion (cont’d)
.

vA vA y’

vB (fixed)
vA x’
A A A rB/A
vBA
B
B B
Plane motion = Translation with A + Rotation about A
The general plane motion of a rigid body can be considered as the sum
of a translation and a rotation. The body shown can be assumed to
translate with point A, while simultaneously rotating about A.
It follows that the velocity of any point B of the body can be expressed
as:
vB = vA + vBA

where vA is the velocity of A and vBA is the relative velocity of B with

respect to A. 7
A.E. Alemu (PhD)
 General Plane Motion (cont’d)
.
vBA
vA vA y’

vB (fixed) vA vB
vA x’
A A A rB/A
vBA
B B B
Plane motion = Translation with A + Rotation about A
vB = vA + vBA
Denoting by rB/A the position of B relative to A, we note that
vBA = (rBA ) = r or more precisely:
The fundamental equation relating the absolute velocities of points A
and B and the relative velocity of B with respect to A can be expressed
in the form of a vector diagram and used to solve problems involving
the motion of various types of mechanisms. 8
A.E. Alemu (PhD)
 Velocity Diagram (cont’d)
.

➢ In the proceeding chapters on kinematics, displacement,

velocities and accelerations have all been absolute, that is, they
have been measured from a stationary reference.
➢ In fact, there is no point completely at rest and all velocities have
been measured relative to the surface of the earth which itself is
in permanent motion (rotates around its axis and the earth's center
is in motion around the sun).
➢ In a similar way any moving point A may be regarded as "fixed"
and the velocity of any other point B measured relative to the
point A.

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A.E. Alemu (PhD)
 Velocity Diagram (cont’d)
.

▪ Velocity of B is obtained as it would appear to an observer

moving with point A.
▪ The velocity of B relative to the earth, absolute velocity or just
"velocity of B" is then made up of two parts:
1) vBA, the velocity of B relative to A (as if A were at rest),
2) vA, the velocity of A.
➢ Account must be taken of direction as well as magnitude.
➢ The velocities vA, vB and vBA are each vectors.
➢ Thus the velocity of B is the vector sum of the velocity of A and the
velocity of B relative to A:
vB = vA + vBA
The same result could be obtained from analytical approach.

10
A.E. Alemu (PhD)
 Velocity Diagram (cont’d)
.

➢ Consider two points A and B whose displacements from a fixed

origin O are rA and rB respectively.
➢ Then the displacement of B relative to A is the vector difference,
that is

y B rBA = rB – rA
Therefore
rBA rB = rA + rBA
rB
A Differentiating
rA x vB = vA + vBA
O

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A.E. Alemu (PhD)
 Velocity Diagram (cont’d)
.

➢ Simple case - two bodies moving in the same straight line.

➢ Assume - they are moving in the same direction.
➢ To find the velocity of B relative to that of A the procedure is as
follows:

➢ Choose a point O to represent a

fixed point (reference) usually at
rest relative to earth.
o vA a ➢ From O draw a line oa to
vB b
represent vA in magnitude and
direction.
➢ Similarly from the same point O
draw a line ob to represent vB.

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A.E. Alemu (PhD)
 Velocity Diagram (cont’d)
.

➢ Line ab, taken in the sense a to b, represents vBA, the velocity of B

relative to A, i.e. it is as if A were the fixed point and a represents a
point at rest.
➢ Similarly, ba, taken in the sense b to a represents vAB, the velocity
of A relative to B, in both magnitude and direction.

o a vBA
b
vAB

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A.E. Alemu (PhD)
 Velocity Diagram (cont’d)
.

➢ If the bodies are moving in opposite directions in the same straight

line then the vector diagram is shown below, and

➢ vBA = ab vAB = ba

a o vBA
b
vAB

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A.E. Alemu (PhD)
 Velocity Diagram (cont’d)
.

Velocity diagram extended for body in general plane motion.

Consider element in plane motion with absolute velocities of two
points A and B being vA and vB.
Velocity of B relative to A, vBA:

v B = v A + v BA hence v BA = v B − v A
AB is a fixed length
➢vBA - perpendicular to AB
vA a
ω vA
and of magnitude ABω.
A
o vBA ➢vBA - vector ab (in the sense
vB a to b)
b
➢vAB - vector ba (in the sense
B vB b to a)

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A.E. Alemu (PhD)
 Velocity Diagram (cont’d)
.

Consider a third point C on the body.

Working relative to points whose velocity is already known:

v C = v A + v CA vCA - line through point a perpendicular to AC v C = v A + v CA

One underline (one value known - direction)
⊥ AC
vBA - line through point a perpendicular to AC
v C = v B + v CB v C = v B + v BA
One underline (one value known - direction)
⊥ AB
Velocity vA is underlined twice as we now this vector entirely

Set of two vector equations with 4 unknowns:

A
➢ direction and magnitude of velocity vC and C

➢ magnitudes of vectors vCA and vBA.

B
It can be solved graphically
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A.E. Alemu (PhD)
 Velocity Diagram (cont’d)
.
⊥AC
ω vA
a

A
C
o

⊥BC
b c
B
vB

v C = v A + v CA Triangles ABC and abc are geometrically similar

⊥ AC abc is called velocity image.
Any number of points on the space diagram that
v C = v B + v CB bear a fixed relationship to each other, will
⊥ BC appear as a geometrically similar image on the
velocity diagram.

Same rules as apply for the acceleration diagrams 17

A.E. Alemu (PhD)
 Velocity Diagram (cont’d)
.

Example: A slider-crank mechanism has a crank radius of

160mm and connecting link 500mm long.
The crank rotates at a steady speed of 4500 rev/min.
Find the velocity and acceleration of a point on the connecting
link 360mm from the slider, when the crank has turned through
on angle of 40o measured from the position where the slider is
furthers from the crank axis (outer dead-centre position).

B
4500
rev/min D
C
A 40
o

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A.E. Alemu (PhD)
 Velocity Diagram (cont’d)
.
⊥BC
1. Construct space diagram
2. Calculate angular velocity ⊥AB
4500𝜋 4500
B 100 mm
𝜔= = 471.24 rad/s rev/min D
30
C
3. Calculate linear velocity of B A 40
o

vB = ωAB = 471.24·0.16 = 75.40 m/s (⊥AB) ║AC

4. Start Velocity Diagram –origin, scale

b 20 m/s
5. Draw velocity b (point b) d
6. Write equation for velocity vC
v C = v B + v CB
AC ⊥ CB
7. Draw above equation c a
8. Measure vC and vCB
vC = ac = 60.2 m/s ; vCB = bc = 59.02 m/s
9. Find position of d from Velocity Image
CD cd CD
= cd = cb
CB cb CB 19
A.E. Alemu (PhD)
 Velocity Diagram (cont’d)
.

⊥BC
10.Determine vD (magnitude and
direction by measuring ad). ⊥AB
B 100 mm
vD = 66.5 m/s 4500
rev/min D ω2
11.Determine ω2 A 40
C

Magnitude ║AC

vCB = bc = BC ω b 20 m/s
v 59.02 d
2 = CB = = 118 rad/s
CB 0 .5

Direction: Clockwise
c a

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A.E. Alemu (PhD)
 Instantaneous centre of zero velocity
.

Another approach to the solution of problems involving the velocities of

the points of a rigid body in plane motion is based on determination of
the instantaneous center of rotation C of the body.
C

vB B
B
vB
A vA A
vA
A.E. Alemu (PhD) 21
 Instantaneous centre of zero velocity (cont’d)
.
1. Construct space diagram
ICR=“O”
2. Calculate angular velocity
n 4500
= = = 417.24 rad/s
30 30
3. Calculate linear velocity of B ⊥AB ⊥AC
vB = ωOB = 417.24·0.16 = 75.40 m/s (⊥AB)
vB B v ω2
4. Draw velocity vB 4500 D 100 mm
rev/min D
5. Draw a line along AB and another line C
perpendicular to AC A
40 o

6. At the intersection: ICR vC

7. Measure (or calculate) distances BO and CO
BO = 0.64 m, CO = 0.51 m
8. Calculate angular velocity ω2 9. Using ω2 find vC
vC = ω2 OC=118·0.51=60.2 m/s
vB 75.40 10.The same way find velocity of
2 = = = 118 rad/s
BO 0.64 point D
vD = ω2 OD=66.5 m/s
22
A.E. Alemu (PhD)
 Application in planar mechanisms
.

Example: Assume that OA rotates with 10 rad/s anticlockwise direction,

find:
▪ Velocity of point D
▪ Angular velocity of CD
▪ Angular velocity of AB

Answer:

1.125 m/s, 5 rad/s (ccw), 5 rad/s (ccw)

A.E. Alemu (PhD) 23

 Application in planar mechanisms (cont’d)
.

Example: The hydraulic cylinder produces a limited horizontal

motion of point A.
If vA = 4 m/s when θ = 45o, determine the magnitude of the velocity of
points B & D and the angular velocity of link ABD for this position.

Answer: 3.79 m/s, 4.50 m/s, 7.48 rad/s (ccw)

24
A.E. Alemu (PhD)
 Application in planar mechanisms (cont’d)
.

b
VD
71.2 VBA
VB
63.8
45
C O a
VA
VD ⊥OB
ω (4 m/s) ⊥ AB

VB
E
26.2

26.2 45

VA

25
 Application in planar mechanisms (cont’d)
.

Example: In the four-bar linkage control link OA has a

counterclockwise angular velocity ωo=10 rad/s during a short interval of
motion.
When link OA is at an angle of 135o to the horizontal determine the
angular velocities of AB and BC.

135o

Answer: 3.45 rad/s (ccw), 5.91 rad/s (ccw)

A.E. Alemu (PhD) 26
 Application in planar mechanisms (cont’d)
.

Example: If the velocity of point C is 0.5 m/s what are the angular
velocities of links AB and BC?

150 mm 512.14 mm

45o

150 mm
30o

Answer: 3.07 rad/s (cw), 0.72 rad/s (cw)

A.E. Alemu (PhD) 27

 .

Thank You !

A.E. Alemu (PhD) 28