DYNAMICS

BMM1553
DR. Nurizzatul Atikha Binti Rahmat
Class 18th February 2020 (Tuesday, Wk 1)
[email protected]
Faculty of Mechanical Engineering (FKM)
Universiti Malaysia Pahang (UMP)
CHAPTERS
Chapter 1: Translation of rigid body
• Explain the general concept of a rigid body dynamics and introduction to
working Model 2D software.
• Explain the concept of rectilinear motion and curvilinear motion for the
planar motion.
• Calculate the position, velocity and acceleration by using absolute motion
analysis.

Chapter 2: Rotation of rigid body about fixed axis

• Explain, apply and analyse the angular position in rigid body motion.
• Explain, apply and analyse the angular velocity in rigid body motion.
• Explain, apply and analyse the angular acceleration in rigid body motion.
KINEMATICS OF RIGID BODIES
• Investigating the relationship between velocities and accelerations of various
points forming a rigid body.

Kinematics of rigid bodies

Determined based on the type of motion.

Translation Rotation about a fixed axis General plane motion

Rectilinear Curvilinear Absolute motion analysis

translation translation
Instantaneous centre of zero
velocity
Velocity analysis
Relative velocity method

Universiti Malaysia Pahang (UMP), [email protected]

KINEMATICS OF RIGID BODIES: VELOCITY ANALYSIS
v = velocity of a
point (m/s)
Direction: tangent to
w
the curve in the
𝑣𝐷
𝑣𝐵 direction of w
w

w = angular
𝑣𝐶 𝑣𝐸 velocity (rad/s)
Direction: either
clockwise or
counterclockwise
e.g. on rotation about a fixed axis
r = distance
between the point
and the centre of
rotation
Universiti Malaysia Pahang (UMP), [email protected]
2. ROTATION ABOUT A FIXED AXIS
(a) When a body rotates about a fixed axis,
any point, P located in the body travels
(b) along a circular path.

ANGULAR MOTION

• Since a point is without dimension, it

cannot have angular motion. Only
lines or bodies undergoes angular
motion.

• Consider a body shown in Fig. (a),

the angular motion of a radial line, r
located within the shaded plane.
Universiti Malaysia Pahang (UMP), [email protected]
2. ROTATION ABOUT A FIXED AXIS
(a)

(b)

ANGULAR POSITION
• The angular position of r is defined
by the angle 𝜽, measured from a fixed
reference line to r.

Universiti Malaysia Pahang (UMP), [email protected]

2. ROTATION ABOUT A FIXED AXIS
(a) ANGULAR DISPLACEMENT
(b) • The change in the angular position,
which can be measured as a
differential d𝜽, is called the angular
displacement.

• This vector has a magnitude of d𝜽,

measured in degree, radians or
revolutions, where 1 rev = 2 𝜋 rad.

• Since motion is about a fixed axis, the

direction of d𝜽 is always along this
axis.

Universiti Malaysia Pahang (UMP), [email protected]

2. ROTATION ABOUT A FIXED AXIS
(a)

(b)
• The direction is determined by the
right hand rule: the fingers of the
right hand are curled with the sense
of rotation, so that in the case of
thumb, d𝜽 points upward – Fig. (a).

• In 2 dimensions (top view of the

shaded plane – Fig. (b)), both 𝜽 and
d𝜽 are counterclockwise, and so the
thumb points outward from the page.

Universiti Malaysia Pahang (UMP), [email protected]

2. ROTATION ABOUT A FIXED AXIS
(a) ANGULAR VELOCITY
(b)
• The time rate of change in the
angular position is called the
angular velocity, .

• Since d𝜽 occurs during an instant of

time dt, then;

𝒅
 = (rad/s) Eq-16.1
𝒅𝒕

• This vector has a magnitude which

is often measured in rad/s.
Universiti Malaysia Pahang (UMP), [email protected]
2. ROTATION ABOUT A FIXED AXIS
(a) ANGULAR ACCELERATION
(b) • The angular acceleration,  measures
the time rate of change of the angular
velocity.
𝒅𝝎
 = (𝒓𝒂𝒅/𝒔𝟐 ) Eq-16.2
𝒅𝒕
𝒅𝟐 𝜽
= 𝟐 Eq-16.3
𝒅𝒕
• By eliminating 𝒅𝒕, we will obtain:
𝒅
 = ( ) rad/s2 Eq-16.4
𝒅
• This vector has a magnitude which is
often measured in rad/s2
Universiti Malaysia Pahang (UMP), [email protected]
2. ROTATION ABOUT A FIXED AXIS
(a) ANGULAR ACCELERATION
(b) • The similarity between the
differential relations for angular
motion and those developed for
rectilinear motion of a particle ;

𝒅𝒔
𝒗=
𝒅𝒕

𝒅𝒗
𝒂=
𝒅𝒕

𝒂 𝒅𝒔 = 𝒗 𝒅𝒗
Universiti Malaysia Pahang (UMP), [email protected]
2. ROTATION ABOUT A FIXED AXIS
CONSTANT ANGULAR ACCELERATION
• If the angular acceleration of the body is constant, 𝒂 = 𝒂𝑪 , then eq. 16.1, 16.2,
and 16.4, after integrated resulting a set of formulas that relate the body’s
angular velocity, angular position, and time.

Eq-16.5
𝝎 = 𝝎 𝟎 + 𝒂𝑪 𝒕

𝟏
Eq-16.6 𝜽 = 𝜽𝟎 + 𝒘𝟎 𝒕 + 𝒂𝑪 𝒕𝟐
𝟐
𝜽𝟎 : Initial values of the body’s angular position

Eq-16.7 𝝎𝟐 = 𝝎𝟎 𝟐 + 𝟐𝜶 𝜽 − 𝜽𝟎 𝝎𝟎 : Initial values of the body’s angular velocity

Universiti Malaysia Pahang (UMP), [email protected]

2. ROTATION ABOUT A FIXED AXIS
• If the body rotates 𝑑𝜃 , then P is
displaced by,
𝑑𝑠 = 𝑟𝑑𝜃
VELOCITY
• The velocity of P has a magnitude by
dividing 𝑑𝑠 = 𝑟𝑑𝜃 with 𝑑𝑡, resulting;
As the rigid body rotates, point P travels Eq-16.8 𝑣 = 𝜔𝑟 previous learnt equation
*Prove this using

along a circular path of radius r with

centre point O. • As shown in above figure, the direction
of 𝑣 is tangent to the circular path
POSITION & DISPLACEMENT (using right hand rule).
• Both magnitude and direction of 𝒗 can
• The position of P is defined by the be accounted using cross product 𝝎
position vector r, which extends from O and 𝒓𝑃 ;
to P. 𝒗 = 𝝎 x 𝒓𝑃 Eq-16.9
Universiti Malaysia Pahang (UMP), [email protected]
2. ROTATION ABOUT A FIXED AXIS
Tangential component of acceleration
• Represents the time rate of change in
the velocity’s magnitude.
• If the speed of P is increasing, then a𝑡
𝑎𝑛 acts in the same direction as v.
𝑎𝑡
• If the speed is decreasing, then a𝑡
acts in the opposite direction as v.
ACCELERATION • If the speed is constant, then a𝑡 is
• The acceleration of P can be expressed zero.
in terms of its tangential and normal
components. Normal component of acceleration
• Represents the time rate of change in
the velocity’s direction.
• The direction of a𝑛 is always toward O,
the centre of the circular path.
(Eq-16.11) (Eq-16.12) Universiti Malaysia Pahang (UMP), [email protected]
2. ROTATION ABOUT A FIXED AXIS
• Like the velocity, the acceleration of point P can be expressed in terms of the vector
cross product;
𝒅𝒗 𝒅𝝎 𝑑𝒓𝑃
a= = x 𝒓𝑃 + 𝝎 x
𝒅𝒕 𝒅𝒕 𝑑𝑡

• Substituting below to above equation,

𝑑𝝎 𝑑𝒓𝑃
𝒂= (Eq-16.2) = 𝒗 = 𝝎 x 𝒓𝑃 (Eq-16.9)
𝑑𝑡 𝑑𝑡

• gives,

a = 𝒂 x 𝒓𝑃 + 𝝎 x (𝝎 x 𝒓𝑃 ) (Eq-16.13)

Universiti Malaysia Pahang (UMP), [email protected]

2. ROTATION ABOUT A FIXED AXIS
APPLICATION

• Gears, pulleys and cams, which rotate

about fixed axes, are often used in
machinery to generate motion and
transmit forces. The angular motion of
these components must be understood to
properly design the system.

• To do this design, we need to relate the

angular motions of contacting bodies that
rotate about different fixed axes.

Universiti Malaysia Pahang (UMP), [email protected]

KINEMATICS OF RIGID BODIES: VELOCITY ANALYSIS

EXERCISE 4

Universiti Malaysia Pahang (UMP), [email protected]

KINEMATICS OF RIGID BODIES: VELOCITY ANALYSIS

EXERCISE 5Example 16.1

Universiti Malaysia Pahang (UMP), [email protected]

KINEMATICS OF RIGID BODIES: VELOCITY ANALYSIS

EXERCISE 6Example 16.2

Universiti Malaysia Pahang (UMP), [email protected]

KINEMATICS OF RIGID BODIES: VELOCITY ANALYSIS

EXERCISE 7Problem 16.26

Universiti Malaysia Pahang (UMP), [email protected]

KINEMATICS OF RIGID BODIES: VELOCITY ANALYSIS

EXERCISE 8Problem 16.38

Universiti Malaysia Pahang (UMP), [email protected]

KINEMATICS OF RIGID BODIES: VELOCITY ANALYSIS

EXERCISE 9Problem 16.32

Universiti Malaysia Pahang (UMP), [email protected]

 DYNAMICS
BMM1553
DR. Nurizzatul Atikha Binti Rahmat
Class 25th February 2020 (Tuesday, Wk 3)
[email protected]
Faculty of Mechanical Engineering (FKM)
Universiti Malaysia Pahang (UMP)
KINEMATICS OF RIGID BODIES (KofGB)
• Investigating the relationship between velocities and accelerations of various
points forming a rigid body.

Kinematics of rigid bodies

Determined based on the type of motion.

Translation Rotation about a fixed axis General plane motion

Rectilinear Curvilinear Absolute motion analysis

translation translation
Instantaneous centre of zero
velocity
Velocity analysis
Relative velocity method

Universiti Malaysia Pahang (UMP), [email protected]

KofGB: ABSOLUTE MOTION ANALYSIS
• A body subjected to general plane motion undergoes simultaneous translation
and rotation.
• If the body is represented by a thin slab, the slab translates in the plane of the
slab and rotates about an axis perpendicular to this plane.
• The motion can be completely specified by knowing both the angular rotation of
a line fixed in the body and the motion of a point on the body.

• One way to relate these motions is to use a rectilinear position s to locate the
point along its path and an angular position coordinate 𝜃 to specify the
orientation of the line.

𝑑𝑠 𝑑𝜃
𝑣= 𝜔=
𝑑𝑡 𝑑𝑣 𝑑𝑡 𝑑𝜔
𝑎= 𝛼=
𝑑𝑡 𝑑𝑡
Universiti Malaysia Pahang (UMP), [email protected]
KofGB: ABSOLUTE MOTION ANALYSIS

• The absolute motion analysis method relates the position of a

point, P on a rigid body undergoing rectilinear motion to the angular position, 𝜽 of
a line contained in the body (often this line is a link in a mechanism).

• Once a relationship in the form of 𝑠𝑃 = 𝑓(0) is established, the velocity and

acceleration of point P are obtained in terms of the angular velocity, 𝒘 and
angular acceleration, 𝒂 of the rigid body by taking the first and second time
derivatives of the position function.

• Usually the chain rule must be used when taking the derivatives of the position
coordinate equation.

Universiti Malaysia Pahang (UMP), [email protected]

KofGB: ABSOLUTE MOTION ANALYSIS

EXERCISE 10
Example 1

Universiti Malaysia Pahang (UMP), [email protected]

KofGB: ABSOLUTE MOTION ANALYSIS

EXERCISE 11
Question 16.39

Universiti Malaysia Pahang (UMP), [email protected]

KofGB: ABSOLUTE MOTION ANALYSIS

EXERCISE 11Example 16.3

Universiti Malaysia Pahang (UMP), [email protected]

KofGB: ABSOLUTE MOTION ANALYSIS

EXERCISE 13Problem 16.41

Universiti Malaysia Pahang (UMP), [email protected]