Civil Engineering Mechanics

CVG2149

LEC13

Kinematics of Rigid Bodies (CH. 15)

General Plane Motion

• General plane motion is neither a translation nor

a rotation.
• General plane motion can be considered as the
sum of a translation and rotation.
• Displacement of particles A and B to A2 and B2
can be divided into two parts:
- translation to A2 and B1
- rotation of B1 about A2 to B2

1
 Absolute and Relative Acceleration in Plane Motion

• Absolute acceleration of a particle of the slab,

  
   aB  a A  aB A
aB  a A  aB A

 
n
 
 a A  aB A  aB A  
t

• Relative acceleration a B A associated with rotation about A includes
tangential and normal components,

 t
  
a B A   k  rB A  t
a B A  r

aB A n   2 rB A aB A n  r 2

Absolute and Relative Acceleration in Plane Motion

  
aB  a A  aB A
 a A  a B A   a B 
• Write    in terms of the two component equations,
n A t

 x components: 0  a A  l 2 sin   l cos 

 y components:  a B  l 2 cos   l sin 

• Solve for aB and .

2
Absolute and Relative Acceleration in Plane Motion
• In some cases, it is advantageous to determine the
absolute velocity and acceleration of a mechanism
directly.
x A  l sin  y B  l cos 

v A  x A v B  y B
 l cos   l sin 
 l cos   l sin 

a A  xA a B  yB
 l sin   l cos 
2  l 2 cos   lsin 
 l 2 sin   l cos   l 2 cos   l sin 

SOLUTION:
• The expression of the gear position as a
function of  is differentiated twice to
define the relationship between the
translational and angular accelerations.

• The acceleration of each point on the

gear is obtained by adding the
acceleration of the gear center and
The center of the double gear has a
the relative accelerations with respect
velocity and acceleration to the right of
to the center. The latter includes normal
1.2 m/s and 3 m/s2, respectively. The
and tangential acceleration components.
lower rack is stationary.
Determine (a) the angular
acceleration of the gear, and (b) the
acceleration of points B, C, and D.

3
 SOLUTION:
• The expression of the gear position as a function of 
is differentiated twice to define the relationship
between the translational and angular accelerations.
• For xA > 0 (moves to right),  < 0 (rotates clockwise).

x A  r1
v A  r1  r1
xA 
 x A  r1
2 r 2
vA 1.2 m s
    8 rad s
r1 0.150 m

a A  r1  r1

aA 3 m s2
  
r1 0.150 m
 

   k   20 rad s 2 k 

• The acceleration of each point

is obtained by adding the
acceleration of the gear center
and the relative accelerations
with respect to the center.
The latter includes normal and
tangential acceleration
components.

aB  a A  aB A  a A  aB A t  aB A n
     
   
 a A   k  rB A   2 rB A
   
 3 m s2 i  20 rad s2 k  0.100 m  j  8 rad s  0.100 m  j
• Vector products of Cartesian unit vectors, 2
ii  0 j i  - k k i  j   
 3 m s2 i  2 m s2 i  6.40 m s2  j
i j  k j j  0 k j  i
i  k - j jk  i k k  0

 
  
aB  5 m s 2 i  6.40 m s 2 j  aB  8.12 m s 2

4
       
aC  a A  aC  a A   k  rC A   2 rC A
A

  


  
 3 m s 2 i  20 rad s 2 k   0.150 m  j  8 rad s 2  0.150 m  j
  
 
 
 3 m s 2 i  3 m s 2 i  9.60 m s 2 j  



ac  9.60 m s 2 j


      
aD  a A  aD A  a A   k  rD A   2 rD A
 
  
 
 3 m s 2 i  20 rad s 2 k   0.150 m i  8 rad s 2  0.150m i


 
  
 
 3 m s 2 i  3 m s 2 j  9.60 m s 2 i 


  

aD  12.6 m s 2 i  3 m s 2 j

 aD  12.95 m s 2

General Motion
• For particles A and B of a rigid body,
  
vB  v A  vB A

• Particle A is fixed within the body and motion of

the body relative to AX’Y’Z’ is the motion of a
body with a fixed point
   
v B  v A    rB A

• Similarly, the acceleration of the particle B is

  
aB  a A  aB A
     

 a A    rB A      rB A 
• Most general motion of a rigid body is equivalent to:
- a translation in which all particles have the same
velocity and acceleration of a reference particle A, and
- of a motion in which particle A is assumed fixed.

5
Instantaneous Center of Rotation in Plane Motion

• Plane motion of all particles in a slab can always be

replaced by the translation of an arbitrary point A and a
rotation about A with an angular velocity that is
independent of the choice of A.

• The same translational and rotational velocities at A are

obtained by allowing the slab to rotate with the same
angular velocity about the point C on a perpendicular
to the velocity at A.

• The velocity of all other particles in the slab are the same
as originally defined since the angular velocity and
translational velocity at A are equivalent.

• As far as the velocities are concerned, the slab seems

to rotate about the instantaneous center of rotation C.

Instantaneous Center of Rotation in Plane Motion

• If the velocity at two points A and B are known, the
instantaneous center of rotation lies at the intersection
of the perpendiculars to the velocity vectors through A
and B .

• If the velocity vectors are parallel or if velocities

have the same magnitude, the instantaneous center
of rotation is at infinity and the angular velocity is
zero.

• If the velocity vectors at A and B are perpendicular to

the line AB, the instantaneous center of rotation lies at
the intersection of the line AB with the line joining the
extremities of the velocity vectors at A and B.

6
 Instantaneous Center of Rotation in Plane Motion
• The instantaneous center of rotation lies at the intersection of
the perpendiculars to the velocity vectors through A and B .
v v v
 A  A v B   BC   l sin   A
AC l cos  l cos 
 v A tan 

• The velocities of all particles on the rod are as if they were

rotated about C.
• The particle at the center of rotation has zero velocity.
• The particle coinciding with the center of rotation changes
with time and the acceleration of the particle at the
instantaneous center of rotation is not zero.
• The acceleration of the particles in the slab cannot be
determined as if the slab were simply rotating about C.

SOLUTION:
• The point C is in contact with the stationary
lower rack and, instantaneously, has zero
velocity. It must be the location of the
instantaneous center of rotation.
• Determine the angular velocity about C
based on the given velocity at A.
• Evaluate the velocities at B and D based on
The double gear rolls on the their rotation about C.
stationary lower rack: the
velocity of its center is 1.2 m/s.
Determine (a) the angular
velocity of the gear, and (b) the
velocities of the upper rack R
and point D of the gear.

7
 SOLUTION:
• The point C is in contact with the stationary lower rack
and, instantaneously, has zero velocity. It must be the
location of the instantaneous center of rotation.
• Determine the angular velocity about C based on the
given velocity at A.
v 1.2 m s
v A  rA  A  8 rad s
rA 0.15 m
• Evaluate the velocities at B and D based on their rotation
about C.
vR  vB  rB  0.25 m 8 rad s 
 
vR  2 m s i

rD  0.15 m  2  0.2121 m
vD  rD  0.2121 m 8 rad s 
vD  1.697 m s
 
vD  1.2i  1.2 j m s 


Equations of Motion for a Rigid Body (CH16)

• Consider a rigid body acted upon
by several external forces.

• For the motion of the mass center

 
 F  ma

• For the motion of the body with

respect to the centroidal frame
 
 M G  H G

• System of external forces is equipollent to the system

consisting of  
ma and H  .
G

8
 Angular Momentum of a Rigid Body in Plane Motion
• Angular momentum of the slab may be
determined by
 n  
H G   ri viΔmi 
i 1
n  
  ri   riΔmi 
i 1


   ri 2 Δmi 

 I
• After differentiation,
    
H G  I   I   M G  H G
I m  r 2m • Results are also valid for plane motion of bodies
• Consider a rigid slab in which are symmetrical with respect to the
plane motion. reference plane.
• Results are not valid for asymmetrical bodies
or three-dimensional motion.

Moment of Inertia of a Mass

(Measure of inertia of • Angular acceleration about the axis AA’ of the
the system) small mass Dm due to the application of a couple
is proportional to r2Dm.

r2Dm = moment of inertia of the mass

Dm with respect to the axis AA’

I AA '_ mass   r 2 dm
• For a body of mass m the resistance to
rotation about the axis AA’ is

I  r12 Dm  r22 Dm  r32 Dm  

  r 2 dm  mass moment of inertia
• The radius of gyration for a concentrated mass
with equivalent mass moment of inertia is
I
I  k 2m k
m

9
 Moment of Inertia of a Mass
• Moment of inertia with respect to the y coordinate
axis is

I y   r 2 dm   z 2  x 2 dm
• Similarly, for the moment of inertia with respect to
the x and z axes,

 
I x   y 2  z 2 dm
I z   x 2  y 2 dm
• In SI units,
Concentrated mass or
the usual mass, both 
I   r 2 dm  kg  m 2 
would react in the same
way to a rotation
(=gyration) about AA’.

Parallel Axes Theorem

• For the rectangular axes with origin at O and parallel
centroidal axes,

   
I x   y 2  z 2 dm    y   y 2   z   z 2 dm
  y  2  z  2 dm  2 y  y dm  2 z  z dm  y 2  z 2  dm

I x  I x  my 2  z 2  Relation between moments

I y  I y  mz  x 
2 2 of inertia and system of
coordinates x,y,z
I z  I z  mx 2  y 2 

• Generalizing for any axis AA’ and a parallel centroidal

axis,

I  I  md 2

10
 Parallel-axes theorem

I x    y ' z ' dm  y 2  z 2  dm
2


I x  I x'  m y 2  z 2  
I y  I y'  m z 2  x 2 

I z  I z'  m x 2  y 2 
Relation between moment of inertia and centroidal moment of inertia

radii of gyration:
k2  k 2  d2
k – radius of gyration of the body about AA’
– radius of gyration of the body about BB’ (centroidal axis )
d – distance between AA’ and BB’

Moment of inertia thin plates

A thin plate of uniform thickness t, and homogeneous material
density r with an axis AA’ contained in its plane

I AA '_ mass   r 2 dm
Since: dm  rtdA

I AA '_ mass  rt  r 2 dA
Mass moment Area moment
of inertia of inertia

I AA'_ mass  rtI AA'_ area

Relation between mass and area
moments of inertia r is the density of the material

11
 Similar for :

I BB '_ mass  rtI BB '_ area

And

I CC '_ mass  rtJC _ area

Where CC‘ is an axis perpendicular to the plate in the

intersection point of AA’with BB’

J C  I AA '  I BB '

I CC '  I AA '  I BB ' For thin plate

Moments of Inertia of Thin Plates

• For the principal centroidal axes on a rectangular plate,

 
I AA  r t I AA,area  r t 12
1 a 3b  1 ma 2
12

I BB  r t I BB,area  r t 12

1 ab 3   1 mb 2
12

I CC   I AA,mass  I BB,mass  12 1 ma 2  b 2 

( rabt  m)

• For centroidal axes on a circular plate,

 
I AA  I BB  r t I AA,area  r t 14  r 4  14 mr 2

I CC   I AA  I BB  12 mr 2
( r r 2t  m)

12
 CVG Dictionary
• Mass moment of inertia
• Radius of gyration
k2  k 2  d2
 
I x   y 2  z 2 dm
 
I y   r 2 dm   z 2  x 2 dm
I z   x 2  y 2 dm

• Central mass moment of inertia

• Relationship between the mass moments of inertia:
(Parallel axes theorem)

I x  I x  m y 2  z 2 
I  I  md 2 I y  I y  mz 2  x 2 
I z  I z  mx 2  y 2 

Plane Motion of a Rigid Body: D’Alembert’s Principle

• Motion of a rigid body in plane motion is
completely defined by the resultant and moment
resultant about G of the external forces.
 Fx  ma x  Fy  ma y  M G  I 
• The external forces and the collective effective
(internal) forces of the slab particles are
equipollent (reduce to the same resultant and
moment resultant) and equivalent (have the same
effect on the body).
• d’Alembert’s Principle: The external forces acting on a rigid body are
equivalent to the effective forces of the various particles forming the
body.
• The most general motion of a rigid body that is symmetrical with respect to
the reference plane can be replaced by the sum of a translation and a
centroidal rotation.

13
The thin plate of mass 8 kg is held in
place as shown.
Neglecting the mass of the links,
determine immediately after the wire
has been cut (a) the acceleration of
the plate, and (b) the force in each
link.

SOLUTION:
• Note that after the wire is cut, all particles of the
plate move along parallel circular paths of radius
150 mm. The plate is in curvilinear translation.
• Draw the free-body-diagram equation expressing
the equivalence of the external and effective
forces.
• Resolve the diagram equation into components
parallel and perpendicular to the path of the mass
center.
 Ft   Ft eff
W cos 30  ma
mg cos 30  ma

 
a  9.81m/s 2 cos 30

a  8.50 m s2
 Fn   Fn eff
FAE  FDF  W sin 30  0

14
 • Solve the component equations and the moment
equation for the unknown acceleration and link
forces.

 M G   M G eff
FAE sin 30250 mm   FAE cos 30100 mm  
FDF sin 30250 mm   FDF cos 30100 mm   0
38.4 FAE  211.6 FDF  0
FDF  0.1815 FAE

 Fn   Fn eff
a  8.50 m s 2
FAE  FDF  W sin 30  0
FAE  0.1815 FAE  W sin 30  0

FAE  0.6198 kg  9.81m s 2  FAE  47.9 N T

FDF  0.1815 47.9 N  FDF  8.70 N C

15