ENGR 2090 : Engineering Dynamics

Lecture 13
Section 04, TF 08:00 AM – 09:50 AM

Professor Singh, JEC 2040| 10/20/23

Lecture 13Slide 1
Divider
Applications of
Two Lines Max
Rigid Body Motion

Key Takeaways:
• Numerical Examples
• Velocity and Acceleration
• Kinematics and Kinetics

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Divider
ExampleSlide 1
Problems:
Lecture
Two 13 Max
Lines

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Example 1

Problem Statement: The center C of the smaller wheel has a velocity vC = 0.4
m/s in the direction shown. The cord which connects the two wheels is securely
wrapped around the respective peripheries and does not slip. Calculate the
velocity of point D when in the position shown. Also compute the change Δx
which occurs per second if vC is constant.

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Example 1

• Identifying reference frames. Three Reference frames:

𝑎ො2 ‘N’: Inertial Frame
𝑏෠2
𝑛ො 2 ‘B’, ‘A’: Rotating Frames

𝑎ො1
𝑏෠1

𝑛ො1

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Example 1
• Governing Equation
Invoking the kinematic equation from previous lecture,

𝑁𝑉 𝐷 = 𝑁𝑉 𝑂 + 𝐵𝑉 𝐷ൗ𝑂 + 𝑁𝜔𝐵 × 𝑟റ 𝑂𝐷
𝑏෠2 𝑎ො2
𝑛ො 2
This is the FIRST useful
𝑎ො1 velocity expression.
𝑏෠1

𝑛ො1

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Example 1
• Governing Equation
Invoking the kinematic equation from previous lecture,
𝑂ൗ
𝑁 𝑂 𝑁 𝑄 𝐵
𝑎ො2
𝑉 = 𝑉 + 𝑉 𝑄 + 𝑁𝜔𝐵 × 𝑟റ 𝑄𝑂
𝑏෠2
𝑛ො 2
This is a SECOND useful
𝑎ො1 velocity expression
𝑏෠1

𝑛ො1

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Example 1
• Governing Equation
Invoking the kinematic equation from previous lecture,

𝑁 𝐶 𝐶ൗ
𝑎ො2 𝑉 = 𝑁 𝑉 𝑆 + 𝐴𝑉 𝑆 + 𝑁𝜔 𝐴 × 𝑟റ 𝑆𝐶
𝑏෠2
𝑛ො 2
This is a Third useful
𝑎ො1 velocity expression
𝑏෠1

𝑛ො1

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Example 1

• Linking the rotation

At some point, I need to ‘link’ h = 300 mm

the motion of these two
rollers. The geometry is
interesting, because Q and P
are both located the same
distance above the ground.

Let’s use relative velocity and

explore that.

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Example 1

• Before that, there is an information embedded in the problem

statement. Discuss.

“The rope does not slip relative to

the locations Q and P”, which was
indicated in the problem statement.

Therefore,

𝑁 𝑄 𝑁 𝑃
𝑉 = 𝑉

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 Example 1

• Let’s write some more relative velocities, shall we?

Relative velocity of Q wrt. R
𝑏෠2 𝑎ො2 𝑄ൗ
𝑁 𝑄
𝑛ො 2 𝑉 = 𝑉 + 𝑉 𝑅 + 𝑁𝜔𝐵
𝑁 𝑅 𝐵
× 𝑟റ𝑅𝑄

𝑎ො1
𝑏෠1

Relative velocity of P wrt. S

𝑛ො1 𝑁𝑉 𝑃 = 𝑁𝑉 𝑆 + 𝐴𝑉 𝑃ൗ𝑆 + 𝑁𝜔 𝐴 × 𝑟റ 𝑆𝑃

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 Example 1

• Now, simplify: = 0, Why? = 0, Why?

𝑄ൗ
𝑁 𝑄 𝑁 𝑅 𝐵
𝑎ො2
𝑉 = 𝑉 + 𝑉 𝑅 + 𝑁𝜔𝐵 × 𝑟റ𝑅𝑄
𝑏෠2
𝑛ො 2

𝑎ො1
𝑏෠1
Similarly, which terms can be simplified here?
𝑁𝑉 𝑃 = 𝑁𝑉 𝑆 + 𝐴𝑉 𝑃ൗ𝑆 + 𝑁𝜔 𝐴 × 𝑟റ 𝑆𝑃
𝑛ො1
No slipping =0 =0

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Example 1

• Keep Simplifying
𝑎ො2
𝑁𝑉 𝑄 = 𝑁𝜔𝐵 × 𝑟റ𝑅𝑄 𝑏෠2
𝑛ො 2
𝑁 𝑃
𝑉 = 𝑁𝜔 𝐴 × 𝑟റ 𝑆𝑃 𝑏෠1 𝑎ො1

Next, we can investigate to see that

𝑟റ𝑅𝑄 is the same vector as 𝑟റ 𝑆𝑃 𝑛ො1

(pause, ensure that we all agree on this)

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Example 1

𝑁 𝑄
𝑉 = 𝑁𝜔𝐵 × 𝑟റ𝑅𝑄
h = 300 mm
𝑁 𝑃 𝑁 𝐴 𝑅𝑄 𝑁𝜔 𝐴
𝑉 = 𝜔 × 𝑟റ 𝑁
𝜔𝐵

But, 𝑁𝑉 𝑄 is equal to 𝑁𝑉 𝑃

This leads to the conclusion

that 𝑁𝜔𝐵 is equal to 𝑁𝜔 𝐴

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Example 1

• For the right-side roller,

𝑁𝑉 𝐶 = 𝑁𝑉 𝑆 + 𝐴𝑉 𝐶ൗ𝑆 + 𝑁𝜔 𝐴 × 𝑟റ 𝑆𝐶
𝑁𝑉 𝐶 = 0.4 𝑛ො1 = 𝜔𝐴 𝑛ො 3 × 0.15 𝑎ො2
𝑁 𝐶 Apply : 𝑛ො 3 = 𝑎ො3
𝑉 = 0.4 𝑛ො1 = 𝜔𝐴 𝑎ො3 × 0.15𝑎ො2
𝑁 𝐶
𝑉 = 0.4 𝑛ො1 = −0.15𝜔𝐴 𝑎ො1
𝑁𝑉 𝐶 = 0.4𝑛ො1 = −0.15𝜔𝐵 𝑛ො1 Apply : 𝑛ො1 = 𝑎ො1 , 𝜔𝐴 = 𝜔𝐵

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Example 1

• Solving for the angular velocity

Now, we can solve for the angular velocity of point B about point Q,
at least the scalar contribution.
𝑁𝑉 𝐶 = 0.4𝑛ො1 = −0.15𝜔𝐵 𝑛ො1

0.4 = −0.15𝜔𝐵
𝑟𝑎𝑑
𝜔𝐵 = −2.667
𝑠𝑒𝑐

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Example 1

• Working our way back,

Earlier, I said this was the second useful equation

𝑁𝑉 𝑂 = 𝑁𝑉 𝑅 + 𝐵𝑉 𝑂ൗ𝑅 + 𝑁𝜔𝐵 × 𝑟റ 𝑅𝑂
Simplifying
𝑁𝑉 𝑂 = 𝑁𝜔𝐵 × 𝑟റ 𝑅𝑂
Let’s reformat this and apply what we know:

𝑁𝑉 𝑂 = −2.667𝑛ො 3 × 0.1𝑛ො 2 = 0.2667𝑛ො1

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Example 1

• Back to the relative velocity of D

Earlier, I said this was the first useful equation

𝑁 𝐷 𝑁 𝑂 𝐵 𝐷ൗ𝑂
𝑉 = 𝑉 + 𝑉 + 𝑁𝜔𝐵 × 𝑟റ 𝑂𝐷
Simplifying
𝑁 𝐷
𝑉 = 𝑁𝑉 𝑂 + 𝑁𝜔𝐵 × 𝑟റ 𝑂𝐷
Let’s reformat this and apply what we know:

𝑁𝑉 𝐷 = 0.2667𝑛ො1 + −2.667𝑛ො 3 × 0.200𝑛ො1

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Example 1

• Simplifying further,

𝑁 𝐷
𝑉 = 0.2667𝑛ො1 + −2.667𝑛ො 3 × 0.200𝑛ො1
𝑁𝑉 𝐷 = 0.2667𝑛ො1 + −0.5334𝑛ො 2

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Example 1

• Relative velocity revisited…

For the last part, we can use relative velocity again:
𝑁𝑉 𝐶ൗ𝑂 = 𝑁𝑉 𝐶 − 𝑁𝑉 𝑂

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Example 1

• Solving for relative velocity

𝑁𝑉 𝐶ൗ𝑂 = 𝑁𝑉 𝐶 − 𝑁𝑉 𝑂
The relative velocity along 𝑛ො1 is

𝑁 𝐶ൗ𝑂
𝑚 𝑚
𝑉 = 0.4 − 0.2667
𝑠𝑒𝑐 𝑠𝑒𝑐

𝑚
∆𝑥 = 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦 ∗ ∆𝑡 = 0.133 ∗ 1 s = 0.133 𝑚
𝑠
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Example 2

Problem Statement: For a short interval, collars

A and B are sliding along the fixed vertical shaft
with velocities vA = 2 m/s and vB = 3 m/s in the
directions shown. Determine the magnitude of
the velocity of point C for the position θ = 60°.

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Example 2
• Let us rename some things…
𝑗Ƹ Q
𝑣𝑞

B 30°
60°
R
A
𝑖Ƹ
30°
𝑣𝑝
P

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Example 2

• Governing Equation: Relative Velocity

Again, a large portion of this problem will be relative velocity, and writing a
series of vector expressions relating these different velocities.

First, lets write the velocity of point Q relative to Point P

𝑄ൗ
𝑁 𝑄 𝑁 𝑃 𝑅𝑜𝑑 𝑁
𝑉 = 𝑉 + 𝑉 𝑃 + 𝜔𝑅𝑜𝑑 × 𝑟റ𝑃𝑄

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Example 2

The rod along which Q and P slide does not rotate in the N basis.
We can then solve for the relative velocity of Q to P:
𝑄
𝑅𝑜𝑑 𝑉 ൗ𝑃 = 𝑁𝑉 𝑄 − 𝑁𝑉 𝑃
Now, while the relative velocity of Q to P, this first term on the LHS,
appears to be written in the ‘Rod’ Basis, if we know 𝑁𝑉 𝑄 and 𝑁𝑉 𝑃 in
the N basis, then this term will wind up being written in terms of basis
vectors of the N basis:
𝑄
𝑁 𝑉 ൗ𝑃 = 𝑁𝑉 𝑄 − 𝑁𝑉 𝑃 This is EQUATION 1

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Example 2

• What about the joint R? 𝑗Ƹ Q

Now Let’s express the velocity of point R 𝑣𝑞
relative to Point Q:
𝑅ൗ B 30°
𝑁 𝑅
𝑉 = 𝑉 + 𝑉 𝑄 + 𝑁𝜔𝑩 × 𝑟റ 𝑄𝑅
𝑁 𝑄 𝑩 60°
R
A
Discussion : How to Simplify 𝑖Ƹ
𝑁 𝑅
𝑉 = 𝑁𝑉 𝑄 + 𝑁
𝜔𝑩 × 𝑟റ 𝑄𝑅 𝑣𝑝
30°

This is EQUATION 2 P

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Example 2
෠ but that is
Note: However, 𝑁𝜔𝐵 has not yet been determined. It should look like 𝜔𝐵 𝑘,
as much as can be concluded so far. We do have an expression for 𝑁𝑉 𝑄 , it was given
in the problem statement.
And one more time : Let’s write R relative to P:
𝑅
𝑁 𝑅
𝑉 = 𝑁𝑉 𝑃 + 𝐴𝑉 ൗ𝑃 + 𝑁𝜔 𝐴 × 𝑟റ 𝑃𝑅
Discussion : How to Simplify
𝑁 𝑅
𝑉 = 𝑁𝑉 𝑃 + 𝑁
𝜔 𝐴 × 𝑟റ 𝑃𝑅 This is EQUATION 3
෠ but that is as much
Again, 𝑁𝜔 𝐴 has not yet been determined. It should look like 𝜔𝐴 𝑘,
as can be concluded so far. We do have an expression for𝑁𝑉 𝑃 , it was given in the
problem statement.

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Example 2
• What is known so far?
We have two ways to express the velocity of point R, based on what is
happening to Q and P, and how the bars A and B are rotating:
𝑁𝑉 𝑅 = 𝑁𝑉 𝑄 + 𝑁𝜔𝐵 × 𝑟റ 𝑄𝑅 This is EQUATION 2
𝑁𝑉 𝑅 = 𝑁𝑉 𝑃 + 𝑁𝜔 𝐴 × 𝑟റ 𝑃𝑅 This is EQUATION 3

Now, we can set these two expressions equal to each other. There should
be two unknowns, 𝜔𝐴 and 𝜔𝐵 .

Discussion : If we have 1 equation and 2 unknowns,

how are we going to solve this ??

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Example 2
• But this is a vector equation…
With vector expressions, there are 3 possible scalar equations in here, or
2 since we are in 2D.
𝑁𝑉 𝑄 + 𝑁𝜔𝐵 × 𝑟റ 𝑄𝑅 = 𝑁𝑉 𝑃 + 𝑁𝜔 𝐴 × 𝑟റ 𝑃𝑅
Now, let’s plug in what we know:

2𝑗Ƹ + 𝜔𝐵 𝑘෠ × 0.4 cos 30° 𝑖Ƹ − sin 30° 𝑗Ƹ = −3𝑗Ƹ + 𝜔𝐴 𝑘෠ × 0.4 cos 30° 𝑖Ƹ + sin 30° 𝑗Ƹ

Next, execute the cross products,

2𝑗Ƹ + 0.3464𝜔𝐵 𝑗Ƹ + 0.2𝜔𝐵 𝑖Ƹ = −3𝑗Ƹ + 0.3464𝜔𝐴 𝑗Ƹ − 0.2𝜔𝐴 𝑖Ƹ

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Example 2

• Isolating the directions,

Along the 𝑖Ƹ direction: 0.2𝜔𝐴 = −0.2𝜔𝐵

Let’s use this along the 𝑗Ƹ direction:

𝑟𝑎𝑑
𝜔𝐵 = −7.271
𝑠𝑒𝑐

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Example 2

• Finally, we move back to our relative velocity expression.

The next step is to put use either equation 2 or 3 to find the velocity of R:
𝑁 𝑅
𝑉 = 𝑁𝑉 𝑄 + 𝑁
𝜔𝐵 × 𝑟റ 𝑄𝑅
Now that each term is known, we can solve to find
(again, this is a good place to practice)

𝑁𝑉 𝑅 = −1.443 𝑖Ƹ − 0.499 𝑗Ƹ
Discussion : does the last term make sense?

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