Chapter 5

Rigid Body Kinematics

Part I.
A. Classification of Rigid Body Motions
B. Translation
C. Rotation about a Fixed Axis
D. General Plane Motion
E. Velocity in Plane Motion
F. Instantaneous Center of Rotation
G. Acceleration in Plane Motion
A. Classification of Rigid Body Motions

Translation
Rectilinear translation
Curvilinear translation
Rotation about a fixed axis
General plane motion
Motion about a fixed point
General motion

Chapter 5, Page 1
B. Translation For any two particles in the body




rB = rA + rB A
Direction of any straight line

where rB A is constant.
inside the body is constant
All particles forming the Differentiating,



body move in parallel lines vB = v A



aB = a A

Chapter 5, Page 2
C. Rotation about a Fixed Axis
Velocity Acceleration




dv d



dr
v= a= =
dt dt
(
ω ×r )
dt


dω

dr
The direction is tangent to = × r +ω ×
the path. dt dt
   
ds Define α = ω
k = θ

k = α k ,
The magnitude, v =
dt then






Δs = (BP)Δθ = (r sin φ )Δθ a =α × r +ω × v







ds Δθ a = α × r + ω × (ω × r )
v= = lim (r sin φ )


dt Δt→0 Δt where α × r is the tangential


= rθ sin φ



component, ω × (ω × r ) is
  
Define ω = θ
k = ω k , then the normal component.




v =ω ×r

Chapter 5, Page 3
 (Problem 15.12, Page 927)
Problem 5.1



EA = (−0.4, 0.4, 0.2)



EA 1
λ EA = = (−2, 2, 1)
EA 3



ω = 9λ EA = (−6, 6, 3) rad s


α =0


rC E = (−0.4, 0.15, 0) m




vC = ω × rC E = (−0.45, − 1.2, 1.5) m/s






aC = α × rC E + ω × vC
= (12.6, 7.65, 9.90) m/s 2

Chapter 5, Page 4
Rotation of a Representative Slab
Since all particles move in
parallel planes, we may take a
representative plane and define
the origin on that plane.
Then the velocity






v = ω × r = ωk × r



v = rω et
The acceleration







a = α × r + ω × (ω × r )






= α k × r + ω k × (ω k × r )




a = rα et + rω 2 en

v2
Note: an = rω 2 =
r

Chapter 5, Page 5
Problem 5.2 (Problem 15.25, 8th edition)

(a) rAω A = rBω B , 2(600) = 4ω B , ω B = 300 rpm

rB′ω B = rCω C , 2(300) = 6ω C , ω C = 100 rpm
(b) ω B = 300 rpm = 31.42 rad/s
Let E and E' be the contact points in gears B and C
respectively.



v E ′ = v E = rB′ω B = 2(31.42) = 62.84 in/s (↑)

v 2 62.842
At gear B, aE = E = = 1974 in/s 2 (←)
rB′ 2

v E2 62.842
At gear C, aE ′ = = = 658 in/s 2 (→)
rC 6

Chapter 5, Page 6
Uniformly Accelerated Rotation

dθ dx
ω= v=
dt dt
dω d 2θ dω dv d 2 x dv
α= = 2 =ω a= = 2 =v
dt dt dθ dt dt dx
Uniform rotation Uniform motion
θ = θ0 + ω t x = x0 + vt
Uniformly accelerated Uniformly accelerated
rotation motion
ω = ω0 + αt v = v0 + at
1 1
θ = θ 0 + ω 0t + α t 2 x = x0 + v0t + at 2
2 2
ω 2 = ω 02 + 2α (θ − θ 0 ) v 2 = v02 + 2a(x − x0 )

Chapter 5, Page 7
 (Sample Problem 15.1, Page 923)
Problem 5.3
225
Cable C has a constant acceleration of 225 mm/s2 α= = 3 rad s 2
75
and an initial velocity of 300 mm/s, both directed to
300
the right. Determine ω0 = = 4 rad s
(a) the number of revolutions of the pulley in 2 s, 75
(b) the velocity and change in position of the load B 1
(a) θ = ω 0t + α t 2
after 2 s, and 2
(c) the acceleration of the point D on the rim of the 1
inner pulley at t = 0. θ = 4(2) + (3)22 = 14 rad = 2.23 rev
2
(b) ω = ω 0 + α t = 4 + 3(2) = 10 rad s
v B = rω = 125(10) = 1250 mm s
Δy B = rθ = 125(14) = 1750 mm




(c) a = rα et + rω 2 en
  
a = 75(3)et + 75(4)2 en
 
= 225et + 1200en (mm/s)
= 1.22 m/s 2 (
79.4 )
Chapter 5, Page 8
D. General Plane Motion
Motion of a point B in a rigid body can
be considered as the motion of another
point A PLUS the relative motion of B
with respect to A, which is a rotation.
In other words, general plane motion
can be considered as the sum of a
translation and rotation.

Chapter 5, Page 9
General Plane Motion
The magnitude of
rotation is
independent of the
choice of
reference point.
In other words, the
angular velocity ω
and angular
acceleration α are
independent of the
choice reference
point; they are
properties of a
rigid body.

Chapter 5, Page 10
E. Velocity in Plane Motion




Any plane motion can be vB = v A + vB A
replaced by a translation of



= v A + ω × rB A
an arbitrary reference point A




and a simultaneous rotation = v A + ω k × rB A
about A.

Chapter 5, Page 11
Problem 5.4 (Sample Problem 15.2, Page 936)

(a) vC = v A + ω k × rC A
The double gear rolls on the stationary




lower rack: the velocity of its center is 0 = (1.2i ) + ω k × (−0.15 j )
1.2 m/s. Determine

(a) the angular velocity of the gear, and ω = 8 rad s (CW)
(b) the velocities of the upper rack R (b)




and point D of the gear. v B = ω k × rB C



= (−8k ) × (0.25 j )


= 2i (m/s)

v D = ω k × rD C




= (−8k ) × (−0.15i + 0.15 j )



= 1.2 j + 1.2i (m/s)

Chapter 5, Page 12
Problem 5.5 (Sample Problem 15.3, Page 937)

Knowing that wheel A moves to the left with

a constant velocity of 1.5 m/s, determine
(a) the velocity of B, and
(b) the angular velocities of the rod.

(a) vB = v A + vB A

v B ( 60 ) = 1.5(←) + v B A (
70 )

(−v B cos60
, v B sin 60
) = (−1.5, 0) + (v B A cos70
, v B A sin 70
)

v B = 1.840 m/s , v B A = 1.696 m/s


v B = 1.840 m/s (
60 )
(b) v B A = 0.75ω


ω = 2.26 rad/s (ccw)

Chapter 5, Page 13
Problem 5.6 (Problem 15.40, Page 939)

The crank AB has a constant clockwise angular

velocity of 2000 rpm. For the crank position
indicated, determine
(a) the angular velocity of the connecting rod BD, and
(b) the velocity of the piston P.

ω AB = 2000 rpm = 209.4 rad s vP = vD
v B = 0.075(209.4) = 15.7 m/s = 13.1 m/s ( → )

β = 13.95
vD B
ω BD =



rD B
vD = vB + vD B
 12.4
v D (→) = v B ( 50 ) + v D B (
76.05 ) =
0.2
(v D , 0) = (15.7 cos50
, 15.7 sin50
) + (v D B cos76.05
, v D B sin 76.05
) = 62.0 rad/s



 ω BD = 62.0 rad/s (ccw)
v D = 13.1 m/s ( → ) , v D B = 12.4 m/s (
76.05 )

Chapter 5, Page 14
Problem 5.7 (Problem 15.49, 8th edition)

ω A = 3600 rpm = 377 rad s

Consider a ball with its center at C.




v A = v B + v A B , 1.25(377) = 0.5ω ball , ω ball = 942.5 rad/s




(a) vC = v B + vC B , vC = 0.25(942.5) = 236 in/s

(b) ω ball = 942.5 rad/s = 9000 rpm

vC 236
(c) = = 25 Hz = 1500 rpm
2π rC 2π (1.25 + 0.25)

Chapter 5, Page 15
F. Instantaneous Center of Rotation
Plane motion of a slab can be represented by the
translation of a point A and a rotation.
Velocities of all other point can be expressed using
these two quantities





vC = v A + ω × rC A


We can find a point C, such that vC = 0 , that is, a


rC A such that




v A = ω × rA C
The point C can be located on the perpendicular to


v A at a distance r = v A ω , such that the slab


rotates in the sense of ω .
As far as the velocities are concerned, the slab
seems to rotate about C at that instant.
The point C is called a instantaneous center of
rotation.

Chapter 5, Page 16
Instantaneous Center of Rotation

vA
ω=
l cosθ
vA
v B = l sin θ × = v A tan θ
l cosθ

Chapter 5, Page 17
Problem 5.8 (Sample Problem 15.4, Page 949)

The double gear rolls on the stationary C is the instantaneous center of rotation.
lower rack: the velocity of its center is vA 1.2
1.2 m/s. Determine (a) ω= = = 8 rad/s
rA C 0.15
(a) the angular velocity of the gear, and


(b) the velocities of the upper rack R ω = 8 rad/s (cw)
and point D of the gear. (b) v B = rB Cω = 0.25(8) = 2 m/s


v B = 2 m/s ( → )

v D = rD Cω = (0.15 2)8 = 1.697 m/s


v D = 1.697 m/s (
45 )

Chapter 5, Page 18
Problem 5.9 (Sample Problem 15.5, Page 949)

Knowing that wheel A moves to the left with

a constant velocity of 1.5 m/s, determine
(a) the velocity of B, and
(b) the angular velocities of the rod.

vA 1.5
(b) ω= = = 2.26 rad/s
rA C 0.6634
70



ω = 2.26 rad/s (ccw)
50
(a) v B = rB Cω = 0.8138(2.26) = 1.84 m/s
663.4 mm


v B = 1.84 m/s (
60 )
m
.8m
813
60

C

Chapter 5, Page 19
Problem 5.10 (Problem 15.40, Page 939)

C
The crank AB has a constant clockwise angular
velocity of 2000 rpm. For the crank position 50

mm

211.1 mm
indicated, determine 3.4
25
(a) the angular velocity of the connecting rod BD, and
(b) the velocity of the piston P.
53.95

76.05

ω AB = 2000 rpm = 209.4 rad s vB 15.7

(a) ω= = = 62.0 rad/s
v B = 0.075(209.4) = 15.7 m/s rB C 0.2534


β = 13.95
ω = 62.0 rad/s (ccw)
(b) v D = rD Cω BD = 0.2111(62.0) = 13.1 m/s



v P = v D = 13.1 m/s ( → )

Chapter 5, Page 20
G. Acceleration in Plane Motion
For plane motion:









( aB A )t = α × rB A = α k × rB
aB = a A + aB A A

(aB A )t = rα
aB = a A + α × rB A + ω × (ω × rB A )












( aB A ) n = ω × (ω × rB A ) = ω k × (ω k × rB A )
a B = a A + ( a B A )t + ( a B A ) n
(v B A )2
(aB A ) n = rω =
2

Chapter 5, Page 21
Example



Given v A and a A ,





determine v B , aB , ω , α

aB = a A + α × rB A + ω × (ω × rB A )
v B = v A + ω × rB A











aB j = a A i + α k × (−l sin θ i + l cosθ j )
v B j = v A i + ω k × (−l sin θ i + l cosθ j )




+ω k × ⎡⎣ω k × (−l sin θ i + l cosθ j ) ⎤⎦
⎧⎪ 0 = v A − lω cosθ
⎨
⎪⎧ 0 = a A − lα cosθ + lω sin θ
2
⎪⎩v B = −lω sin θ ⎨
⎪⎩ aB = −lα sin θ − lω cosθ
2
Solve for v B and ω
Solve for aB and α

Chapter 5, Page 22
Problem 5.11 (Sample Problem 15.6, Page 960)

For a rolling wheel or gear,

At an instant, the center of the double gear
xA θ
has a velocity and acceleration to the right =− , or
of 1.2 m/s and 3 m/s2, respectively. The 2π r1 2π
lower rack is stationary. Determine x A = −r1θ
(a) the angular acceleration of the gear, and
(b) the acceleration of points B, C, and D. Differentiating with respect to time, we have
v A = −r1ω

a A = −r1α
In this case,
v 1.2

ω=− A =− = −8 rad/s , ω = 8 rad/s (cw)
r1 0.15

aA 3

α=− =− = −20 rad/s 2 , α = 20 rad/s 2 (cw)
r1 0.15

Chapter 5, Page 23
Problem 5.11 (Continued)

α can also be calculated as follows.

aC = a A + α × rC A + ω × (ω × rC A )








aC j = 3i + α k × (−0.15 j ) + (−8k ) × ⎡⎣(−8k ) × (−0.15 j ) ⎤⎦




α = −20 k rad s 2 , aC = 9.6 m s 2 ( ↑ )

      
aB = a A + α × rB A + ω × (ω × rB A )
     
= 3i + (−20 k ) × (0.1 j ) + (−8k ) × ⎡⎣(−8k ) × (0.1 j ) ⎤⎦
 
= 5i − 6.4 j (m/s 2 )
= 8.12 m/s 2 (
52.0 )
      
aD = a A + α × rD A + ω × (ω × rD A )
     
= 3i + (−20 k ) × (−0.15i ) + (−8k ) × ⎡⎣(−8k ) × (−0.15i ) ⎤⎦
 
= 12.6i + 3 j (m/s 2 )
= 12.95 m/s 2 (
13.4 )

Chapter 5, Page 24
Problem 5.12 (Sample Problem 15.7, Page 961)

Crank AB of the engine system ω AB = −209.4 k rad s
has a constant clockwise

angular velocity of 2000 rpm. α AB = 0
For the crank position shown, β = 13.95

determine the angular


acceleration of the connecting ω BD = 62.0 k rad s
rod BD and the acceleration of    
aB = ω AB × (ω AB × rB A )
point D at the instant shown.    
= (−209.4 k ) × ⎡⎣(−209.4 k ) × (0.075cos 40 i + 0.075sin 40 j ) ⎤⎦
 
= −2519i − 2113 j
= 3289 m/s 2 (
40 )








aD = aB + α BD × rD B + ω BD × (ω BD × rD B )
     
aD i = −2519i − 2113 j + α BD k × (200cos13.95
i − 200sin13.95
j )
   
+62.0 k × ⎡⎣62.0 k × (200cos13.95
i − 200sin13.95
j ) ⎤⎦



α BD = 9940 rad s 2 (ccw) , aD = 2790 m s 2 ( ← )

Chapter 5, Page 25
Problem 5.13 (Sample Problem 15.8, Page 962)

Crank AB has a constant angular

velocity ω 1 = 20 rad s
counterclockwise. Determine
the angular velocities and
angular accelerations of the
connecting rod BD and crank DE Solution:


in the position shown. ω BD = 29.33 rad s (cw)


ω DE = 11.29 rad s (ccw)


α BD = 645 rad s 2 (cw)


α DE = 809 rad s 2 (ccw)

Chapter 5, Page 26