Outline 17: Kinematies of Rigid Bodies

Chapter 17: Kinematies of Rigid Bodies

October
Outline 17: Kinematies of Rigid Bodies

Definition
A rigid body is an object in which the distance between every pair
of points remains constant.
A rigid body does not deform as it moves.

Two types of motion

Translational-If a rigid body in motion relative to a given
reference frame does not rotate, it is said to be in translation
Rotational-After translation, the simplest type of rigid-body
motion is rotation about an axis that is fixed relative to a
given reference frame
Outline 17: Kinematies of Rigid Bodies

Definition
A rigid body is an object in which the distance between every pair
of points remains constant.
A rigid body does not deform as it moves.

Two types of motion

Translational-If a rigid body in motion relative to a given
reference frame does not rotate, it is said to be in translation
Rotational-After translation, the simplest type of rigid-body
motion is rotation about an axis that is fixed relative to a
given reference frame
Outline 17: Kinematies of Rigid Bodies

Definition
A rigid body is an object in which the distance between every pair
of points remains constant.
A rigid body does not deform as it moves.

Two types of motion

Translational-If a rigid body in motion relative to a given
reference frame does not rotate, it is said to be in translation
Rotational-After translation, the simplest type of rigid-body
motion is rotation about an axis that is fixed relative to a
given reference frame
Outline 17: Kinematies of Rigid Bodies

Definition
A rigid body is an object in which the distance between every pair
of points remains constant.
A rigid body does not deform as it moves.

Two types of motion

Translational-If a rigid body in motion relative to a given
reference frame does not rotate, it is said to be in translation
Rotational-After translation, the simplest type of rigid-body
motion is rotation about an axis that is fixed relative to a
given reference frame
Outline 17: Kinematies of Rigid Bodies

Rotation about a fixed axis:

We consider only rotation of a rigid body about an axis fixed

relative to a given reference frame passing through the body

Any point P in the rigid body travels in a circular path lying in a

horizontal plane.
Outline 17: Kinematies of Rigid Bodies

Rotation about a fixed axis:

We consider only rotation of a rigid body about an axis fixed

relative to a given reference frame passing through the body

Any point P in the rigid body travels in a circular path lying in a

horizontal plane.
Outline 17: Kinematies of Rigid Bodies

The angular velocity of the rigid body is

dθ
ω=
dt
The angular acceleration of the rigid body is
dω
α= = θ̈
dt
Direction of α is the same as ω if increasing
The linear velocity and acceleration of a point at a distance r from
the fixed axis:
Velocity of pt. P: v = r ω = r θ̇
Components of Accel. of P are:

at = r θ̈ = r α

v2
an = = r θ̇2 = r ω 2
r
Outline 17: Kinematies of Rigid Bodies

The angular velocity of the rigid body is

dθ
ω=
dt
The angular acceleration of the rigid body is
dω
α= = θ̈
dt
Direction of α is the same as ω if increasing
The linear velocity and acceleration of a point at a distance r from
the fixed axis:
Velocity of pt. P: v = r ω = r θ̇
Components of Accel. of P are:

at = r θ̈ = r α

v2
an = = r θ̇2 = r ω 2
r
Outline 17: Kinematies of Rigid Bodies

The angular velocity of the rigid body is

dθ
ω=
dt
The angular acceleration of the rigid body is
dω
α= = θ̈
dt
Direction of α is the same as ω if increasing
The linear velocity and acceleration of a point at a distance r from
the fixed axis:
Velocity of pt. P: v = r ω = r θ̇
Components of Accel. of P are:

at = r θ̈ = r α

v2
an = = r θ̇2 = r ω 2
r
Outline 17: Kinematies of Rigid Bodies

The angular velocity of the rigid body is

dθ
ω=
dt
The angular acceleration of the rigid body is
dω
α= = θ̈
dt
Direction of α is the same as ω if increasing
The linear velocity and acceleration of a point at a distance r from
the fixed axis:
Velocity of pt. P: v = r ω = r θ̇
Components of Accel. of P are:

at = r θ̈ = r α

v2
an = = r θ̇2 = r ω 2
r
Outline 17: Kinematies of Rigid Bodies

The angular velocity of the rigid body is

dθ
ω=
dt
The angular acceleration of the rigid body is
dω
α= = θ̈
dt
Direction of α is the same as ω if increasing
The linear velocity and acceleration of a point at a distance r from
the fixed axis:
Velocity of pt. P: v = r ω = r θ̇
Components of Accel. of P are:

at = r θ̈ = r α

v2
an = = r θ̇2 = r ω 2
r
Outline 17: Kinematies of Rigid Bodies

Example
Gear A turns gear B, lowering hook H. At given instant H is
moving down at 2 m/s. Find the angular velocity of A.

Solution: ωA = 80 rad/s counterclockwise

Outline 17: Kinematies of Rigid Bodies

Example
Gear A turns gear B, lowering hook H. At given instant H is
moving down at 2 m/s. Find the angular velocity of A.

Solution: ωA = 80 rad/s counterclockwise

Outline 17: Kinematies of Rigid Bodies

Example
A motor gives gear A an angular acceleration of
αA = (0.25θ3 + 0.5) rad/s 2 , where θ is in radians. If this gear is
initially turning at (ωA )0 = 20 rad/s, determine the angular
velocity of gear B after A undergoes an angular displacement of
10rev .

Solution: ωB = 465 rad/s

Outline 17: Kinematies of Rigid Bodies

Example
A motor gives gear A an angular acceleration of
αA = (0.25θ3 + 0.5) rad/s 2 , where θ is in radians. If this gear is
initially turning at (ωA )0 = 20 rad/s, determine the angular
velocity of gear B after A undergoes an angular displacement of
10rev .

Solution: ωB = 465 rad/s

Outline 17: Kinematies of Rigid Bodies

Example
A motor gives wheel A an angular acceleration of
αA = 4t 3 rad/s 2 . If A is initially turning at ω0 = 15 rad/s (see
diagram), determine the angular acceleration and angular velocity
of wheel B when t = 1.5 s. (There is no relative motion between
the wheels at their point of contact)

Solution: ωB = 6.69 rad/s

Outline 17: Kinematies of Rigid Bodies

Example
A motor gives wheel A an angular acceleration of
αA = 4t 3 rad/s 2 . If A is initially turning at ω0 = 15 rad/s (see
diagram), determine the angular acceleration and angular velocity
of wheel B when t = 1.5 s. (There is no relative motion between
the wheels at their point of contact)

Solution: ωB = 6.69 rad/s

Outline 17: Kinematies of Rigid Bodies

Example
Through what angle would wheel B have turned in this time?
Solution: θB = 8.01rad
Outline 17: Kinematies of Rigid Bodies

Example
Through what angle would wheel B have turned in this time?
Solution: θB = 8.01rad