Plane Motion

• A rigid body executes plane motion when all parts of the body move in parallel planes.
• For convenience, we generally consider the plane of motion to be the plane which contains the mass center, and we treat the body as
a thin slab whose motion is confined to the plane of the slab.

• Translation is defined as any motion in which every line in the body remains parallel to its original position at all times.
• In translation there is no rotation of any line in the body.
• In rectilinear translation, all points in the body move in parallel straight lines.
• In curvilinear translation, all points move on congruent curves.
• We note that in each of the two cases of translation, the motion of the body is completely specified by the motion of any point in the
body, since all points have the same motion.
 Plane Motion

• Rotation about a fixed axis, is the angular motion about the axis.
• It follows that all particles in a rigid body move in circular paths about the axis of
rotation, and all lines in the body which are perpendicular to the axis of rotation
(including those which do not pass through the axis) rotate through the same angle in the
same time.

• General plane motion of a rigid body, is a combination of translation and rotation.

 Rotation

• The rotation of a rigid body is described by its angular motion.

• Figure shows a rigid body which is rotating as it undergoes plane motion in the plane of
the figure.

• The angular positions of any two lines 1 and 2 attached to the body are specified by θ1
and θ2 measured from any convenient fixed reference direction.

• Because the angle β is invariant, the relation θ2 = θ1 + β upon differentiation with respect
to time gives

• During a finite interval,

• Thus, all lines on a rigid body in its plane of motion have the same angular displacement,
the same angular velocity, and the same angular acceleration.
 Angular Motion Relations

• The angular velocity ω and angular acceleration α of a rigid body in plane rotation are,
respectively, the first and second time derivatives of the angular position coordinate θ of
any line in the plane of motion of the body.

• The third relation is obtained by eliminating dt from the first two.

• In each of these relations, the positive direction for ω and α clockwise or
counterclockwise, is the same as that chosen for θ.
 Angular Motion Relations

• As we proceed further with rigid-body dynamics, we will find that the analogies between
the relationships for linear and angular motion are almost complete throughout
kinematics and kinetics.
• These relations are important to recognize, as they help to demonstrate the symmetry and
unity found throughout mechanics.
• For rotation with constant angular acceleration:

• Here θ0 and ω0 are the values of the angular position coordinate and angular velocity,
respectively, at t = 0, and t is the duration of the motion considered.
 Rotation about a fixed axis

• When a rigid body rotates about a fixed axis, all points other than those on the axis move
in concentric circles about the fixed axis.
• Thus, for the rigid body in Figure rotating about a fixed axis normal to the plane of the
figure through O, any point such as A moves in a circle of radius r.

With the notation

 Rotation about a fixed axis

• These quantities may be expressed alternatively using the cross product relationship of
vector notation.
• The angular velocity of the rotating body may be expressed by the vector ω normal to the
plane of rotation and having a sense governed by the right-hand rule.
 Rotation about a fixed axis

• These quantities may be expressed alternatively using the cross product relationship of
vector notation.
• The angular velocity of the rotating body may be expressed by the vector ω normal to the
plane of rotation and having a sense governed by the right-hand rule.

The acceleration of point A is obtained by

differentiating the cross product expression for v.
 Kinematics of Translation

• Kinematics
• Position y B
  
rB = rA + rB / A
A
• Velocity rB
  rA
vB = v A
• Acceleration
x
 
aB = a A

• True for all points in a rigid body.

fixed in the body

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
Absolute and Relative Velocity in Plane Motion

• Any plane motion can be replaced by a translation of an

arbitrary reference point A and a simultaneous rotation
about A.
  
vB = v A + vB A
  
v B A = ω k × rB A v B A = rω
   
v B = v A + ω k × rB A
Absolute and Relative Velocity in Plane Motion

• Assuming that the velocity vA of end A is known, wish to determine the

velocity vB of end B and the angular velocity ω in terms of vA, l, and θ.
• The direction of vB and vB/A are known. Complete the velocity diagram.

vB vA vA
= tan θ = = cosθ
vA v B A lω
v B = v A tan θ vA
ω=
l cosθ
Absolute and Relative Velocity in Plane Motion

• Selecting point B as the reference point and solving for the velocity vA of end A
and the angular velocity ω leads to an equivalent velocity triangle.
• vA/B has the same magnitude but opposite sense of vB/A. The sense of the
relative velocity is dependent on the choice of reference point.
• Angular velocity ω of the rod in its rotation about B is the same as its rotation
about A. Angular velocity is not dependent on the choice of reference point.
Analysis of Plane Motion in Terms of a Parameter
• In some cases, it is advantageous to determine the
absolute velocity and acceleration of a mechanism
directly.
x A = l sin θ y B = l cosθ

v A = x A v B = y B
= lθ cosθ = −lθ sin θ
= lω cosθ = −lω sin θ
Relative Motion – Translating axes