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Module 6 - 3D Dynamics

This document provides information about a course on dynamics of three dimensional motion taught in the School of Mechanical Engineering. The course is an advanced study of bodies in motion as applied to engineering systems and structures. One module focuses on solving for angular acceleration for a body expressed in multiple reference frames. The addition theorem shows that angular acceleration involves an additional "gyroscopic term" not seen with angular velocity. An example is provided to demonstrate solving for angular acceleration of a wheel on a retractable landing gear in different reference frames.

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Ramón Martínez
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39 views

Module 6 - 3D Dynamics

This document provides information about a course on dynamics of three dimensional motion taught in the School of Mechanical Engineering. The course is an advanced study of bodies in motion as applied to engineering systems and structures. One module focuses on solving for angular acceleration for a body expressed in multiple reference frames. The addition theorem shows that angular acceleration involves an additional "gyroscopic term" not seen with angular velocity. An example is provided to demonstrate solving for angular acceleration of a wheel on a retractable landing gear in different reference frames.

Uploaded by

Ramón Martínez
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Advanced Engineering

Systems in Motion:
Dynamics of Three
Dimensional (3D) Motion
Dr. Wayne Whiteman
Director of the Office of Student Services
and Senior Academic Professional
School of Mechanical Engineering

This course is an advanced study of bodies in motion as applied to


engineering systems and structures.

School of Mechanical Engineering

Module 6 Learning Outcome

Solve for the angular acceleration for a body


expressed in a series of multiple reference
frames.

Recall the Addition Theorem for Angular Velocities

C / F C / B B / F
Angular Acceleration

C / F C / B B / F B / F C / B
Gyroscopic Term

F
J

k I k
i j C

B
i

- The Addition Theorem does not hold for


Angular Acceleration
- There is an extra Gyroscopic Term
3

Recall

C / F C / B B / F

C / F 1i 2 j
j

C / F C / B B / F

F
j
K

C
r

B 2

For the retractable


landing gear shown, 1
and 2 are constant.
Solve for the angular
acceleration of the wheel
C with respect to the
ground F.
Used with permission from Engineering
Mechanics: Dynamics, McGill/King, 4th Ed, 2003

B / F C / B
k

Worksheet: Find the angular acceleration of the bucket with respect to the base of the cherry
picker machine shown below.

Worksheet: The base of the cherry picker machine shown (body F) is stationery with respect to the ground.
- Body E is undergoing a constant angular velocity with respect to body D of:

0.1 k rad / sec


-

Body D is undergoing a constant angular velocity with respect to body C of:

Body C is undergoing a constant angular velocity with respect to body B of:

Body B is undergoing an angular velocity with respect to Body F of:

E/D

D / C 0.1 k rad / sec

C / B 0.05 k rad / sec

B / F 0.1 j rad / sec

B / F 0.02 j rad / sec2

and an angular acceleration of body B with respect to body F of:


During the duration of the motion being analyzed, the

k, k, k

axes are all parallel.

Find the angular acceleration of Body E with respect to Body F.

F
K

C
i

D
k

I
6

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