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Module 3

This document provides an overview of plane motion, including: 1) Definitions of relative motion and how to calculate relative velocity and displacement. 2) Examples of rolling wheels and how to determine angular and linear velocities of different points. 3) The concept of an instantaneous center of rotation, which is the point about which all velocities appear tangential for an object undergoing plane motion. 4) Examples of using the instantaneous center to solve problems involving objects with both rotational and translational motion.

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Trushank Patel
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26 views

Module 3

This document provides an overview of plane motion, including: 1) Definitions of relative motion and how to calculate relative velocity and displacement. 2) Examples of rolling wheels and how to determine angular and linear velocities of different points. 3) The concept of an instantaneous center of rotation, which is the point about which all velocities appear tangential for an object undergoing plane motion. 4) Examples of using the instantaneous center to solve problems involving objects with both rotational and translational motion.

Uploaded by

Trushank Patel
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Module 3:

Plane Motion

Dynamics 24859
Sheridan Institute of Technology and Advanced Learning
Outline

Review of Module 6 – Kinematics of Angular Motion


Module 7 – Plane Motion
• Relative Motion
• The Rolling Motion
• Instantaneous Center of Rotation
• Summary of Module 7.
• Assessment/Homework
• Next Class
Plane Motion

Critical Learning Outcomes:

Upon completion of the lesson the students will be able to:

• Solve for Linear values of Displacement, Velocity or Acceleration in


either Absolute or Relative Terms.

• Define and Locate an Instantaneous Center of an Object or Mechanism.

• Determine both Linear and Angular Velocities of Various Mechanisms


by means of Instantaneous Centers.
Review of Kinematics
of Angular Motion

Angular Velocity: ω = Δθ/Δt

when “n” is in rpm: ω = 2πn/60

Angular Acceleration: α = Δω/Δt

Rectilinear Angular
--------------------------------------------------------------------------------------------------------------------------------------------

S = V0t+½at2 θ = ω0t+ ½ αt2

V = v0 + at ω = ω0 + αt

V2 = v02 + 2as ω2 = ω02 + 2αθ


Review of Kinematics
of Angular Motion

Relationship between Rectilinear and Angular Motion:


S=rθ
V=rω and
a =r α

Tangential Acceleration = Velocity Change (Magnitude)

Normal Acceleration = Velocity Change (Direction)


Relative Motion – Real Life Applications
General Plane Motion
General Plane Motion
Plane Motion

• What is Relative Motion?

• A body in motion may have


• Displacement
• Velocity
• Acceleration
Plane Motion
• What is absolute velocity?

• Since the earth is considered stationary, a velocity


measured with respect to earth is an absolute velocity.

• What is Relative Velocity?

• When a velocity of one object is related to that of another


reference object that is also moving, then the velocity is
known as relative velocity.
• A relative velocity has no meaning unless the reference or
point to which the velocity is relative is stated.
Plane Motion
• Notations to be used:

• VA = Velocity of A
• VB = Velocity of B

• VB/A = Velocity of B with respect to A


• VA/B = Velocity of A with respect to B
• and
• Relationships:
• VB = VA + VB/A
• VA = VB + VA/B
Plane Motion
• What is a plane motion?
• Let us look at the relative motion between two points on the
same object. This will occur when an object moves with
general plane motion: simultaneous translation and rotation.

• Example Fig 12-5, 12-6 and 12-7


• Example-Plane Motion

• Plane Motion = Translation + Rotation

• Translation: A moving downward and B moving to the


Right.
• Rotation: Bar rotates counter clockwise direction about its
centre.
Plane Motion
Plane Motion – Example 12-2
Solving Problems
by Relative Velocity Method
• We employ relative velocity method to solve problems:

• Relative displacement SA/B = rθ


• Relative velocity VA/B = rω
• “r” = AB

• While solving problems, we will employ vector addition-


tip-to-tail.

• Relative velocity is always perpendicular to the rotating


link.
Solving Problems
by Relative Velocity Method

• While solving problems, we will employ


vector addition- tip-to-tail.
• VA = VB + VA/B

• In the above equation there are three magnitudes and three


directions, out of which four of them must be known before the
Problem could be solved.
Plane Motion – Example 12-2
Plane Motion – Example 12-2
Plane Motion – Example 12-4
Plane Motion – Example 12-4
Plane Motion – Example 12-4
Plane Motion – Example 12-5
Plane Motion – Example 12-5
Plane Motion – Problem 12-10
Plane Motion – Problem 12-13
Plane Motion – Problem 12-16
Plane Motion – Problem 12.21
Plane Motion - The Rolling Wheel

 If a wheel is rolled from one position to another, it


has both rotational and translational motion.
 When there is No Sliding, we have Pure Rolling.
Rolling Wheel

• If the wheel is pivoted at its centre, then the motion


would have only rotational.
• For visualization:
• A wheel is off the ground:
• It is rotating at 8 radian/sec clockwise.
• Velocity of A is the velocity with respect C.
• vA/C = rω = 0.5(8)= 4m/s.
Rolling Wheel
• In translational motion, every point on the wheel must be moving
with same velocity.
• For visualization:
• Wheel lowered to the ground:
• Point A stationary, but there is still relative velocity between A and C.
• vC/A = 4 m/s
Rolling Wheel

For visualization:
In these diagrams, rotational (Fig. 12-38), translational (Fig. 12-39) components. (Fig
12-40) shows two motions superimposed: the result is Plane Motion.

.
Plane Motion – Example 12-9
Plane Motion – Example 12-9
Rolling Wheel – Example 12 -10
Rolling Wheel – Example 12 -10
Rolling Wheel – Problem 12-32

The cylinder shown below is rolling to the right with a velocity of 6


m/s. For the instant shown, determine (a) the angular velocity of the
cylinder and (b) the linear velocity of point B.
Rolling Wheel – Problem 12-33

The cylinder shown below is rolling to the right with a velocity of 8


m/s. Determine the velocity of point B at the position shown.
Rolling Wheel – Tutorial P12-34

A cord is wound in a slot of cylinder A. Mass B moves downwards


with a velocity of 6 m/s. Assume no slipping of the cylinder and
determine the velocities of points E and C on cylinder A. If B
drops 4 m, how far does cylinder A move to the right?
Instantaneous Centre of Rotation
Consider a rigid body with plane motion consisting of movement
downward and counter clockwise rotation. Points A, B and C have
absolute velocities.
The body will appear to have pure rotation if it is viewed from a point at which all the
velocities are tangential velocities.
Construct a radius arm perpendicular to each velocity.
From point O and instant shown, the body would appear to have pure rotation.
The point O about which all velocities appear as tangential velocities is called the
instantaneous Center of rotation and zero velocity.
Instantaneous Centre of Rotation

In reference to the figure aside:


For the bar to remain in contact with the wall and floor,
A and B must have the velocities as shown.
Draw perpendicular from VA and VB, their intersecting
point becomes the instantaneous centre.
Instantaneous Centre of Rotation

• For any point on the bar,

• V = rω or

• ω = v/r

• ω = VA/AO = VB/OB = VC/OC

• ω = ωAB,
•
• ωAB = VA/B/AB

• ωOA = ωOB = ωAB


Instantaneous Centre of Rotation – Example
12-11
Instantaneous Centre of Rotation – Example
12-11
Instantaneous Centre of Rotation – Example 12-11
Instantaneous Centre of Rotation – Example 12-12
Instantaneous Centre of Rotation – Example 12-12
Instantaneous Centre of Rotation – Problem 12-49
Practice Questions
Practice Questions
Practice Questions
Practice Questions
SUMMARY: Plane Motion
Relative Motion

Rolling Wheel

Instantaneous
Center of
Rotation
SUMMARY: Plane Motion
Plane Motion
Did we Achieve our Goal?
Critical Learning Outcomes:

Upon Completion of the Lesson Students were be able to:

• Solve for Linear values of Displacement, Velocity or Acceleration in


either Absolute or Relative Terms.

• Define and Locate an Instantaneous Center of an Object or Mechanism.

• Determine both Linear and Angular Velocities of Various Mechanisms


by means of Instantaneous Centers.
Next Lecture

Module 8: Kinetics of Angular Motion

• Chap 13 page 444 -472 (Walker’s text)

55

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