16.5 Relative-Motion Analysis: Velocity ‘The general plane motion of a rigid body can be described as a combination of translation and rotation. To view these “component” notions separately we will use a relative-motion analysis involving two ets of coordinate axes. The x, coordinate system is fixed and measures the absolute position of two points A and B on the body, Fig. 16-104, ‘Te origin of the x’, y’ coordinate system will be attached to the selected pase point” A, which generally has a known motion. The axes of this coordinate system do not rotate with the body; rather they will only be allowed to translate with respect to the fixed frame. Position. The position vector r, in Fig. 16-10 specifies the location ‘of the “base point” A, and the relative-position vector r4 locates point B with respect to point A. By vector addition, the position of B is then tea tat ena Displacement. During an instant of time dé, points A and B undergo displacements dr, and dg as shown in Fig. 16-106. If we consider the general plane motion by its component parts then the entire body first translates by an amount dry so that A, the base point, moves to its final position and point B moves to B’. Fig, 16-10c. The body is then rotated about A by an amount dé so that B’ undergoes a relative displacement dite and thus moves tits final Dostion #5, Due to the rotation about ‘Avdro4 = 5/ad0, and the displacement of B is dry = dts + dean dhe to rotation about A due to translation of A due to translation and rotation se ee « 1610316 thapter 16 As the slider block A moves horizontally to the left witha velocity vit eases the link C49 rotate counterclockwise, sich that ¥p is directed tangent to its circular path, ie ‘upward tothe left The connecting fod AB is subjected to general plane motien and a the instant shown it has an angular velocity ax Planar of a Rigid Body Velocity. ‘To determine the relationship between the velocities points A and B, itis necessary to take the time derivative of the posit, equation, or simply divide the displacement equation by de. This yiel dey _ deg, atoia ata a ‘The terms drp/dt = vq and dra/dt = v4 are measured from the fix: x, y axes and represent the absolute velocities of points A and respectively. The magnitude of the third term is rp/4d@/dt = road rpjat, Where is the angular velocity of the body at the insta considered, We will denote this term as the relative velocity ¥pa, sin it represents the velocity of B with respect to A as measured by « observer fixed to the translating x’, y' axes. Since the body is righ realize that this observer only sees point B move along a circular a that has a radius of curvature rp/,. In other words, the body appea ve as if it were rotating with an angular velocity @ about the axis passing through A. Consequently, vp has a magnitude of Yq ‘ra/a anda direction which is perpendicular to rps. We theretor have VaR Va + Yaya (16-1 velocity of point B velocity of the base point A Yaya = relative velocity of “B with respect to A’ This relative motion is circular, the magnitude is vy ‘arg/4 and the direction is perpendicular to tp wherePat of pit Genera plane motion Translation Rotation abou the oy ase point © 0 ® eee Bach of the three terms in Eq, 16-15 is represented graphically on the kinematic diagrams in Figs. 16-Ie, 16-10f, and 16-10g, Here itis seen that the velocity of B, Fig, 16-10e, is determined by considering the entire body to translate with a velocity of v, Fig. 16—10f, and rotate about A with an angular velocity Fig, 16—10g. Vetor adition ofthese two effects applied oi/f to B, yields ¥p, as shown in Fig. 16-10h, Pe ‘Since the relative velocity v4 represents the effect of circular motion, about A, this term ean be expressed by the cross product Yaya =@* aya, Bq, 16-9. Hence, for application, we can also write Eq. 16-15 as : Va = Vat @X toys (6-16) where Bet v= velosity of B aa va velocity of the base point = FO M5, «a= angular velodty ofthe body aya = relatve-position vector drawn from A to B _ ‘The velocity equation 16-15 or 16-16 may be used in a practical manner to study the general plane motion of rigid body which is either Me tot pin-connected to or in contact with other moving bodies. When applying this equation, points A and B should generally be selected as points on the body which are pin-connected to other bodies, or as points in contact a th adjacent bodies which have a known motion. For example, both eo) points A and B on link AB, Fig, 6-L1a, have circular paths of motion Since the wheel and link CB move in circular paths. The directions of v4 —] land vp can therefore be established since they are always tangent o their Wi \ paths of motion, Fig, 16-110 Inthe case of the whee! in Fig. 16-12, which rolls without slipping, point A can be selected at the ground. Here A (momentarily) has zer0 velocity since the ground does not move Furthermore, the center of the wheel, B, moves along a horizontal path acd so that ¥p is horizontal. BatenEXAMPLE QQRMRRnER ‘At a given instant, the cylinder of radius r, shown in Fig. 16-7, has a angular velocity « and angular acceleration a. Determine the velocit and acceleration of its center G ifthe eylinder rolls without slipping Solution Position Coordinate Equation. By inspection, point G moves ‘horizonially to the right from G to G’ as the eylinder rolls, Fig. 16-7 Consequently its new location G’ will be specified by the horizontal position coordinate sc, which is measured from the original position (G) of the cylinder’s center. Notice also, that as the eylinder rolls (without slipping), points on its surface contact the ground such that the arc length AB of contact must be equal to the distance so. Consequently, the motion requires the radial line GB to rotate 0 to the position G'C. Since the are AB = r0, then G travels a distance So= 18 Time Derivatives. Taking successive time derivatives of this equation, realizing that ris constant, w = d0/de, and a = de/dr, gives the necessary relationships: Ars, Remember that these relationships are valid only ifthe eylinder (disk, wheel, ball, ete.) rolls without slipping.gl Ce) ab hilly, ke } a a \ L 2 y =° ina a an wey ¢ jg # tdnke ealon ty 4 A whepette © ie ( cix & a Daaw cy weer Wg Mee sew e)xenj > ae ae yw Ci) Vaye2 tee)aa = “> Vays Wry eG eC) no (exp) Vue ee Ce) = ew |KAMP LE RS ‘he collar C in Fig. 16-15e is movirg downward with a velocity of mm/s Determine the angular velocities of CB and AB at this instant ‘olution I (VECTOR ANALYSIS) Ginematie Diagram. The downward motion of C causes B to move 6 the right. Also, CB and AB rotate counterclockwise. To solve, we vill write the appropriate kinematic equation for each link. Velocity Equation -ink CB (general plane motion): See Fig. 16-156, vot Wen Xtc 2) + weak x (0.24 - 0.29) 2 + 02dex§ + O2menh ogi = tp = O2acp ay 0= 2+ 02wen @ wea = 10 d/s} Ans, vp=2mis > ink AB (rotation about a fixed axis) See Fig. 16-15c, dank x (—0.2)) 12ers 0 rad/s) Ans, Solution TT (SCALAR ANALYSIS) The scalar component equations of vq = ve + Vac can be obtained airectly. The kinematic diagram in Fig. 16-15d shows the relative “circular” motion Vpyc. We have Ye = Vet Vare “| eS ii | ie ee 2v2 | Bele) ae Resolving these vectors in the x and y directions yields () GT) 0 + sicg(0.2 V2 c0s 45°) =2 + teu(2 V2sin 45°) which is the same as Eqs 1 and 2, nest A | : wctor Wee ; Ne. 02m so ? . — eeEXAMPLE CORRE ‘The link shown in Fig. 16-130 guided by two blocks at A and B, which move inthe fixed slot Ifthe velocity of A is? m/s downward, determine the velocity of B atthe instant 8 = 45°. eam Solution (vxctoK ANALYSIS) Kinematic Diagram, Since points A and B are restricted to move ‘long the fixed slots and v, is directed downward, the velocity vp must_ 945%) be directed horizontally to the sight, Fig. 16-136. This motion causes the link to rotate counterclockwise; that is, by the right-hand rule the : aR angular velocity «is directed outward, perpendicular to the plane of ‘motion. Knowing the magnitude and direction of v4 and the lines of action of Vp and 4 it is possible to apply the velocity equation o Vp = Va + @X pa to points A and B in order to solve for the two unknown magnitudes 2p and «Since ry,4 is needed, it is also shown, in Fig. 16-130, Velocity Equation, Expressing each of the vectors in Fig. 16—13b in terms of their i,j, k components and applying Eq. 16-16 to A, the base point, and B, we have veo vat oxXtaya 6” asd ° ~2j + [ok x (02 sin 4554-02008 45°] yf ph = ~2j + 0.2u sin 45°j + 0.20 cos 45% a Equating the i and j components gives vp = 02a 008 45° 0= -2 + 0.20 sin 45° ee © Fig 6-18 Thus, w= 14d rad/s vp=2m/s > Ans. Since both results are positive, the directions of vp and w are indeed correct as shown in Fig, 16-13. It should be emphasized that these results are valid only at the instant = 45°, A recalculation for 0 = 44° yields vp = 2.07 m/s and @= 144 rad/s; whereas when @= 46", ‘vp = 193 m/s and @ = 13.9 rad/s, et. "Now that the velocity of a point (A) on the link and the angular velocity are known, the velocity of any other point on the link can be determined. As an exercise, see if you can apply Eq. 16-16 to points 5 ‘A and C or to points B and C ard show that when when # = 45°, vc ) 3.16 m/s, ditected at 6= 18.4” ap from the horizontal320 Chapter 16 Planar Kinematis of a Rigid Body EXAMPLE Camm a= 15nds ™ Reinve mation > © wv Fipieis ‘The eylinder shown in Fig. 16-14a rolls without slipping on the surfac of a conveyor belt which is moving at 2 ft/s. Determine the velocit of point A. The cylinder has a clockwise angular velocity = 15 rad/ at the instant shown, Solution T (VECTOR ANALYSIS) Kinematic Diagram. Since no slipping occurs, point B on th cylinder has the same velocity as the conveyor, Fig. 16-146. Also, th angular velocity of the cylinder is known, so we can apply the velocit, equation to B, the base point, and A to determine v4. Velocity Equation Vas Vat OX tap (waded + (0a)yi = 21+ (-15K) x (-0.54 + 059) (ond + (Oa)gi = 21+ 7.50) + 7501 so that (ade =2 + 7.50 = 9.50 ft/s a (ony = 750 ft/s @ ‘Thus An An Solution II (SCALAR ANALYSIS) ‘As an alternative procedure, the scalar components of v4 = Vs + Ya; ‘can be obtained directly. From the kinematic diagram showing th relative “circular” motion v/a, Fig. 16-14, we have ost cos 45 oy = orn = 5/9) = 106 H/s 2 Va = e+ Vain {aber eres Equaéing the x and y components gives the same results as befor narfely, @) 2+ 10.6 cos 45° = 9.50 ft/s Gt = 7.50 ft/s322 Chapter 16 Planar Kinematics ofa Rigid Body EXAMPLE CREO ‘The bar AB of the linkage shown in Fig. 16-16a has a clockwise angular velocity of 30 rad/s when @= 60°. Determine the angular velocities of member BC and the wheel at this instant. Sol jon (VECTOR ANALYSIS) Kinematic Diagram. By inspection, the velocities of points B and Care defined by the rotation of link AB and the wheel about their fixed axes. The position vectors and the angular velocity of each member are shown on the kinematic diagram in Fig, 16-166. To solve, We will write the appropriate kinematic equation for each member. Velocity Equation Link AB (rotation about a fixed axis) 30k) x (0.2 cos 60° (5.204 — 3.0§) m/s +02 sin 60 Link BC (general plane motion): Yo= Vn * @scXtcyn ek = 5.204 — 3.0) + (wack) x (0.28) vei = 5.204 + (O2upc ~ 30)j Uc = 5.20 m/s 0 = 02up¢ ~ 30 Ye done = 15 rad/s Ans. Wheel (rotation about a fixed axis) : 5.201 = (wok) x (0.9) ” 5.20 = O.lop Vig, 16-16 fp = S2rad/s Ans, Note that, by inspection, Fig. 16-16a, vp = (0.2)(30) = 6 m/s, =" and vc is directed to the right. As an exercise, use this information and ty to obtain wyc by applying c= Vp + ¥eya using scalar ‘components,—_— 5 Instantaneous Center of Zero Velocity locity of any point B located on a rigid body can be obtained in } direct way if one chooses the base point A to be a point that has ‘elocity at the instant considered, In this case, v4 = 0, and therefore Slocity equation, vp = Va + «X'p/s, becomes Vg = @% tava. For iy having general plane motion, point A so chosen is called the taneous center of zero velocity (IC), and it lies on the instantaneous If zero velocity. This axis is always perpendicular to the plane ction, and the intersection of the axis with this plane defines seation of the IC. Since point A is coincident with the IC, then ‘aX tayic and so point B moves momentarily about the C in a lar path; in other words, the body appears to rotate about the taneous axis. The magnitude of vp is simply Up = orn/rcs Whete © angular velocity of the body. Due to the circular motion, the tion of ¥p must always be perpendicular to t/1c example, consider the wheel in Fig. 16-17a. If it rolls without ing, then the point of contact with the ground has zero velocity. te this point represents the JC for the wheel, Fig. 16-17b. If itis ined that the wheel is momentarily pinned at this point, the “ties of points B, C, O, and so on, cen be found using v = or. Here ‘adial distances rayne Feyice ANd Fojrc Shown in Fig. 16-175, must termined from the geometry of the wheel. ‘There ‘elocities “the [Cor thisbiycle wheel is atthe ground? spokes are somewhat visible, ‘whereas atthe top ofthe wheel they become Dlusred. Note also how poiats on the side portions ofthe wheel move as shown by their @Chapter 16 Planar Kinematics ofa Figld Body Cento, 1G 4c 0 a= ( je Lecaton of 1 Location of knowing and ‘owing he ines of aton of yan yy « » Pig 16-18, Location of the IC. To locate the /C we ean use the fact that the relocity of a point on the body is always perpendicular to the relative. position vector extending from the IC to the point. Several possibilities exist * Given the velocity vq of a point A on the body, and the angular velocity of the body, Fig. 16-184, In this case, the IC is located along the line drawn perpendicular to v4 at A,sueh thatthe distance from A to the IC is rajrc = v4/w. Note that the IC lies up and to the right of A since v4 must cause a clockwise angular velocity « about the IC, + Given the lines of action of two nonparallel velocities ¥4 and vy, Fig. 16-185. Construct at points A and B line segments that are perpendicular to v4 and vp. Extending these perpendiculars to their ‘point of intersection as shown locates the [Cat the instant considered. * Given the magnitude and direction of two parallel velocities v4 and vp. Here the location of the 1C is determined by proportional triangles. Examples are shown in Fig. 16-18 and d. In both cases rane = vale and rere = va/o. If d is a known distance between points A and B, then in Fig. 16-18c, rajrc + Fayre = d and in Fig 16-184, rare ~ rayic = 4. AS a special case, note that if the body translating, v4 = Vp, then the IC would be located at infinity, in which case Tac = Tauc— ®. This being the case, w= (va/rajc) (va/rej1c) > 0, as expected.Location of knowing yt © © Fig. 118 Realize that the point chosen as the instantaneous center of zero velocity for the body can only be used for an instant of time since the body changes its position from one instant to the next. The locus of points which define the location of the IC during the body's motion is called a sentrode, Fig. 16~18a, and so each point on the centrode acts as the IC for the body only for an instant. ‘Although the IC may be conveniently used to determine the velocity of any point in a body, it generally does not have zero acceleration and therefore it should nor be used for finding the accelerations of points in 2 body. Procedure for Analysis ‘The velocity of a point on a body which is subjected to general plane motion can be determined with reference to its instantaneous center ‘of zero velocity provided the location of the [C is first established using. cone of the three methods described above. * As shown on the kinematic diagram in Fig. 16-19, the body is imagined as “extended and pinned” at the IC such that, at the instant considered, it rotates about this pin with its angular velocity «. ‘+ The magnitude of velocity for cach of the arbitrary points A, B, and C on the body can be determined by using the equation v = ar, ‘where ris the radial line drawn from the /C to each point, ‘+ The line of action of each velocity vector v is perpendicular to its associated radial line r, and the velocity has a sense of direction which tends to move the point in a manner consistent with the angular rotation « of the radial lin, Fig. 16-19, [As the boo sides downward tothe left is subjected to general plane motion. Sinc the directions ofthe velocities of its ends - and B are know, the ICs located a5 shows At this instant the board will momentaril Totate about this point. Draw the board i Several other postions establish the IC fe teach ease and sketch the centrode32. Chapter 16 Planar Kinematics ofa Rigid Body EXAMPLE SURRY Show how to determine the location of the instantaneous center of zer0 velocity for (a) member BC shown in Fig, 16-20a; and (6) the link CB shown in Fig, 16-200. » Pig 16-20 Solution Part (a). As shown in Fig. 16-202, point B has a velocity vj, which is caused by the clockwise rotation of link AB. Point B moves in a circular path such that vj is perpendicular to AB, and so it acts at an angle 0 from the horizontal as shown in Fig. 16-20c. The motion of point B causes the piston to move forward horizontally with a velocity vc. When lines are drawn perpendicular to vg and ¥c, Fig, 16-20c, they intersect at the IC. Part (b)._ Points B and C follow circular paths of motion since rods AB and DC are each subjected 10 rotation about a fixed axis, Fig 16-200, Since the velocity is always tangent to the path, atthe instant considered, vc on rod DC and vp on rod AB are both directed vertically downward, along the axis of link CB, Fig. 16-20d, Radial lines drawn perpendicular to these two velocities form parallel lines which intersect at “infinity.” key rojo ® and rire, Thus bes = (We/rejte) = 90.48 a result, tod CB momentarily translates, ‘An instant later, however, CB will move to a tilted position, causing the instantaneous center fo move to some finite location,V+ (Del WeAD foe ee Sig THEE POAT pe TUNS INSTT