MEAM 211

Rotating Reference Frames

and Relative Motion

Sections 6.3-6.4

University of Pennsylvania 1
 MEAM 211

Any Vector fixed to S

If a vector is fixed in S
r = r1 b1 + r2 b2

r1 , r2 are constant. Why? S

dr db db P Q
= r1 1 + r2 2 r
dt dt dt b2
Rate of change of a unit vector
b1
db i
=ω × b i
dt

dr N
= ω× r
dt

University of Pennsylvania 2
 MEAM 211

Differentiation of a Vector not fixed to S

dr dr1 dr2 db1 db 2

= b1 + b 2 + r1 + r2
dt N dt dt dt N dt N
S
dr
dr dr1 dr2 db1 db 2
= b1 + b 2 + r1 + r2 O dt S
dt S dt dt dt S dt S
b2

dr dr b1
= + ω× r
dt N dt S
r P
dr
r can be any vector N
dt N

University of Pennsylvania 3
 MEAM 211
Example The point P travels in an elliptical
slot attached to body S with major
and minor axes 2a and 2b
S P respectively so that φ = γt where γ is
r a constant. The angular velocity of
O
b2 φ B is given by ωk.
θ
b1 r = a cos γtb1 + a sin γtb 2
j
Find the velocity of P as seen by an
i
observer attached to an inertial frame

University of Pennsylvania 4
 MEAM 211
Example
r = a cos γtb1 + b sin γtb 2
S P
r dr
O = − aγ sin γtb1 + bγ cos γtb 2
b2 φ dt S
θ
b1

= [− aγ sin γtb1 + bγ cos γtb 2 ]

j dr
dt N
i
+ ωk × (a cos γtb1 + b sin γtb 2 )
N

= −(aγ sin γt + ωb sin γt )b1 + (bγ cos γt + ωa cos γt )b 2

dr
dt N
University of Pennsylvania 5
 MEAM 211
Vectors are independent of choice of unit vectors used to
write the vectors
Absolute velocity dr
z velocity measured in some designated inertial frame dt N

Relative velocity dr
z velocity measured in some other (moving) frame dt S

Components of absolute velocity

= (L)i + (L)j
dr
z along unit vectors fixed to the designated inertial frame
dt N

= (L)b1 + (L)b 2
z along unit vectors fixed to some other (moving) frame dr
dt N
Components of relative velocity
= (L)i + (L)j
dr
z along unit vectors fixed to the designated inertial frame
dt S

= (L)b1 + (L)b 2
z along unit vectors fixed to some other (moving) frame dr
dt S
University of Pennsylvania 6
 MEAM 211
Notation

drQ / P
vrel derivative of rQ/P measured by an observer in S
dt Q
S

S
drQ/ P r
vQ/P derivative of rQ/P measured by an
dt observer fixed to an inertial frame N P
d
( )
N dt S
b2
dvQ / P derivative of vQ/P measured by an observer
arel dt in S b1
S

dvQ/ P derivative of vQ/P measured by an

aQ/P dt observer fixed to an inertial frame N
d
( )
N
N dt N

University of Pennsylvania 7
 MEAM 211
Example b1
y b2 rQ / P = αb1 + βb 2
Q
P
The carousel rotates about
x an axis perpendicular to
the plane of this paper
O
G passing through O at a
j
ω constant rate of ω
rads/sec. Your friend is
moving in radial direction
i Carousel outward relative to the
carousel at point Q at the
rate of s m/sec, while
vrel = accelerating at a m/sec2
(also in a radial
vQ/P = direction). You are
standing at P fixed to the
arel = carousel.
University of Pennsylvania 8
 MEAM 211

Recall…
Differentiation of a Vector not fixed to S

Take r to be any S
vector dr
O dt S
b2

dr dr b1
= + ω×r
dt N dt S r P
dr
N
dt N

University of Pennsylvania 9
 MEAM 211

Velocity and Acceleration equations

Let r be the position vector PQ
d rQ / P d rQ / P
= + ω × rQ / P Q
dt N
dt S
S
P and Q, and therefore rQ/P P
are fixed to S b2
drQ/ P
v Q/ P = = ω × rQ/ P b1
dt N

What if we replace r by the velocity vQ/P?

dv Q / P dv Q / P N
a Q/ P = = + ω × v Q/ P
dt N
dt S

University of Pennsylvania 10
 MEAM 211

Velocity and Acceleration equations (continued)

rQ/P is the position vector PQ

drQ/ P Q
v Q/ P = = ω × rQ/ P
So far… dt S
N
P
dv Q / P d v Q/ P ω
a Q/ P = = + ω × v Q/ P b2
dt N
dt S

0 b1
dv Q / P dω drQ/ P N
= × rQ/ P + ω ×
dt S
dt S dt S
dω dω
Define α , the angular acceleration of S α= =
dt N dt S
University of Pennsylvania 11
 MEAM 211
Summary: Velocity and Acceleration equations for
P and Q fixed to a moving body S

v Q − v P = ω × rQ/ P Q
S

(
a Q − a P = α × rQ/ P + ω × ω × rQ/ P ) P
b2

dω dω b1
α= =
dt N dt S

N
α is the angular acceleration of S

University of Pennsylvania 12
 MEAM 211
Example
The wheel rolls to the right with
clockwise angular velocity ω and a
clockwise angular acceleration α. Find
P the velocity and acceleration of points
C, G, and P.

University of Pennsylvania 13