Lab 3: Plane
Motion
DYNA 265: Dynamics
DYNA 265: Dynamics
Lab 3: Plane Motion
Introduction
The purpose of this lab is to use a software package that can model 2-D plane motion to build a
linked mechanical system, observe the interactions as it moves, and predict and calculate its
motion at a particular time using relative velocity vector addition and instantaneous center of
rotation approaches.
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Equipment
Computer
Plane motion modelling software (e.g. Interactive Physics)
Theory
Consider a ladder of constant length placed at an angle against a vertical wall over level ground.
If the base of the ladder (point B) is pulled away from the wall, the top of the ladder (point A)
will migrate downward along the wall.
. A
B
.
Figure 1 - Plane Motion of a Rigid Object
© 2016, Southern Alberta Institute of Technology
As the ladder moves between the initial and final position in Figure 1, all points on the ladder are
translating through space. The two end points will have velocities related by the relative velocity
equation:
where
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But there is also a counterclockwise rotation taking place.
This rotation, when viewed from the reference frame of point B causes point A to travel in a
circular path about B, with point A travelling perpendicular to the line connecting B to A, in a
counterclockwise sense about point B, as shown in Figure 2a.
This rotation, when viewed from the reference frame of point A causes point B to travel in a
circular path about A, with point B travelling perpendicular to the line connecting B to A, in a
counterclockwise sense about point A, as shown in Figure 2b.
.
A
.
A
B . B .
Figure 2a: Relative Motion about B Figure 2b: Relative Motion about A
© 2016, Southern Alberta Institute of Technology
In both cases the angular velocity is the same, and it can be calculated by:
where is the radius between the two points A and B.
Any objects undergoing plane motion via simultaneous translational motion and rotational
motion can also be analyzed with a simplified calculation utilizing rotational motion only.
Rotation is defined as the motion wherein all points on an object move in circular paths about
a single point, called the axis of rotation. This means that for any point on the edge of an object
undergoing rotation about an axis, it travels along a line tangent to the circular path i.e. along a
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line parallel to the linear velocity. Consider a wheel of radius r pinned at its centre, rotating
counterclockwise with constant angular velocity ω.
Any point along its edge will be travelling with a tangential velocity v, as shown in Figure 3,
which is perpendicular to the radius line joining the axis and that point:
Tangential
Path of
Motion
Figure 3: Tangential Motion for a Point on the Edge of a Rotating Object
© 2016, Southern Alberta Institute of Technology
If one knows the direction of the velocity of any point on an object in plane motion, one can take
a perpendicular line from that velocity vector, and that line will pass through the axis of rotation.
Taking perpendiculars from multiple non-parallel velocity vectors will result in the lines crossing
at an instantaneous axis of rotation that forms the centre of purely circular motion for the entire
object.
For a ladder of constant length placed at an angle against a vertical wall over level ground, if the
base of the ladder (point B) is pulled away from the wall, the top of the ladder (point A) will
migrate downward along the wall.
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. A
. I (ICR)
P
.
. B
Figure 4: Instantaneous Centre for a Rigid Object in Plane Motion
© 2016, Southern Alberta Institute of Technology
As the ladder moves between the positions in Figure 4, all points on the ladder are translating
through space, but there is also a counterclockwise rotation taking place. Notice if we take
perpendicular lines from the velocity vectors, they cross at a single point I, called the
instantaneous centre of rotation or ICR.
The triangle AIB can now be imagined to be a solid piece of material, all in pure rotation about I.
Since it is in pure rotation about point I, a single angular velocity can be defined ωAB. This can be
calculated using any known linear velocity, because all linear velocities become tangential
velocities on the edge of the rotation. Only the radii from each point to the instantaneous centre
of rotation (point I) need to be found. Thus for any point, A, B, or point P on the object:
Method and Data
1. Open Interactive Physics.
2. Create a linked mechanical system of at least two elements (e.g., rotating wheels mounted
on their centroid, rolling wheels, solid arms mounted on a pin connection, solid arms
linked to a slot connection).
3. Animate the system by applying an initial linear velocity or angular velocity to an object.
You can change the initial conditions of any element by double-clicking on the object and
selecting the parameters
4. Select each object or point in the system and under the Measure tab, select Velocity All.
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5. Under the World tab, select Pause Control and pause the animation at a particular time,
convenient for analysis.
Calculations
1. Record the lengths, radii, orientation of your system, along with the velocities in your
paused condition.
2. Starting with one of the linked mechanical elements, assuming its initial conditions and
the initial orientation for the linked system, use relative velocity vector addition to predict
the motion of the linked element(s).
3. Starting with one of the linked mechanical elements, assuming its initial conditions and
the initial orientation for the linked system, use instantaneous center of rotation to predict
the motion of the linked element(s).
4. Compare all the resulting velocities (linear and angular) between the Interactive Physics
model and your calculations.
Unless otherwise indicated, all images in this document are © 2016, Southern Alberta Institute of Technology.
All rights reserved.
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© 2016, Southern Alberta Institute of Technology
9 Academic Services, DYNA 265: Plane Motion
© 2016, Southern Alberta Institute of Technology
© 2016, Southern Alberta Institute of Technology. All rights reserved.
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Southern Alberta Institute of Technology
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