ENGR 2090 : Engineering Dynamics

Lecture 14
Section 04, TF 08:00 AM – 09:50 AM

Professor Singh, JEC 2040| 10/24/23

Lecture 14Slide 1
Divider
Rolling Without
Two Lines
Slipping Max

Key Takeaways:
• Pure Translation, Pure Rotation and Rolling without slipping
• Instantaneous Center of Rotation
• Relative Velocity and Relative Acceleration
• The ‘Wheel’ Formula
• Numerical Examples

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Wheel moving on the ground

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Pure Translational Motion
Consider a wheel undergoing fully
translational motion.
• The simplest type of motion.

• All points on the rigid body have the same

translational velocity as the center of mass.

• Body moves in a straight line in absence of

𝜔=0 a net external force.

𝒗 𝑟 = 𝒗𝑐𝑜𝑚

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Pure Rotational Motion
Consider a wheel undergoing rotational
𝜔≠0 motion about center of mass.

• All points move at right angles to the radius

in a plane perpendicular to axis of rotation.

• The speed of each point is proportional to

distance from axis of rotation.

• Points on opposite side of axis move in

opposite directions.

Therefore, 𝑣 𝑟 = 𝑟𝜔
And, 𝑣𝑐𝑜𝑚 = 0 𝑣𝑜𝑢𝑡𝑒𝑟 𝑒𝑑𝑔𝑒 = 𝑅𝜔

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Rolling without Slipping
Consider the body rolling on the
ground without any slipping.
• Distance moved by COM is the same as
any point on the rim.

• The point of contact has zero velocity i.e., is

instantaneously at rest.

• Therefore, this contact point becomes the

instantaneous center of rotation.
Key inferences:

𝑣𝑝𝑜𝑖𝑛𝑡 𝑜𝑓 𝑐𝑜𝑛𝑡𝑎𝑐𝑡 = 0 𝑣𝑐𝑜𝑚 = 𝑅𝜔

𝑣𝑓𝑢𝑟𝑡ℎ𝑒𝑠𝑡 𝑓𝑟𝑜𝑚 𝑝𝑜𝑖𝑛𝑡 𝑜𝑓 𝑐𝑜𝑛𝑡𝑎𝑐𝑡 = 2𝑅𝜔

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Rolling without Slipping

Combination of rotation about

COM and translation of COM.

Only rotation about the

instantaneous axis of rotation.

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Relative Motion Analysis
In this model, if we apply relative motion concepts, we can see
𝑎ො2 𝑵 𝑃
𝑉 = 𝑵𝑉 𝑃′
𝑎ො1

However, acceleration is different

𝑵 𝑃
𝑎റ ≠ 0 & 𝑵𝑎റ 𝑃 ≠ 𝑵𝑎റ 𝑃′
Point P has acceleration, especially in the vertical direction. Let’s use the relative
acceleration equation to dig deeper.

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Relative Acceleration of Point P

𝑁 𝑃 𝑁 𝑂 𝐴 𝑃ൗ𝑂 𝑁 𝐴
𝑎റ = 𝑎റ + 𝑎റ + 𝛼റ × 𝑟റ 𝑂𝑃 +

𝑁 𝐴 𝑁 𝐴 𝑂𝑃 𝑁 𝐴 𝐴 𝑃ൗ𝑂
𝜔 × 𝜔 × 𝑟റ + 2 𝜔 × 𝑣റ

Discussion: How can we simplify this? What can we remove for sure?

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Adding what is known.
𝑎ො2 Based on the initial diagram, we have some
𝑎ො1 idea what some of these vectors look like.

𝑁 𝑃
𝑎റ = 𝑁𝑎റ 𝑂 + 𝑁𝛼റ 𝐴 × 𝑟റ 𝑂𝑃 +
𝑁 𝐴
𝜔 × 𝑁𝜔 𝐴 × 𝑟റ 𝑂𝑃
Discussion 1: what does 𝑁𝑎റ 𝑂 look like?
𝑁𝑎 Discussion 3: what does ቀ 𝑁𝜔 𝐴 ×
റ𝑂 = 𝑎𝑜 𝑖Ƹ
𝑁𝜔 𝐴
× 𝑟റ 𝑂𝑃 ቁ look like?
𝑁𝜔 𝐴 𝑁𝜔 𝐴
Discussion 2: what does 𝑁𝛼റ 𝐴 × 𝑟റ 𝑂𝑃 look like? × × 𝑟റ 𝑂𝑃

𝛼റ × 𝑟റ 𝑂𝑃 = 𝛼𝐴 𝑘෠ × 𝑟𝑂𝑃 −𝑗Ƹ
𝑁 𝐴 = 𝜔𝐴 𝑘෠ × 𝜔𝐴 𝑘෠ × 𝑟𝑜𝑝 −𝑗Ƹ

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Bringing it all together.

Acceleration of P for this geometry becomes:

𝑎റ = 𝑎𝑜 𝑖Ƹ + 𝛼𝐴 𝑘෠ × 𝑟𝑂𝑃 −𝑗Ƹ + 𝜔𝐴 𝑘෠ × 𝜔𝐴 𝑘෠ × 𝑟𝑜𝑝 −𝑗Ƹ

𝑁 𝑃

Skipping some nitty gritty details, the next step is to apply the cross products, as
we already have many times. 0 Only radial acceleration
instantaneously
𝑁𝑎
റ𝑃 = 𝑎𝑜 + 𝛼𝐴 𝑟𝑂𝑃 𝑖Ƹ + 𝜔𝐴2 𝑟𝑂𝑃 𝑗Ƹ
𝑎ො2
𝑎ො1 For the point P on the edge of a wheel, exactly in contact with
other surface, and not slipping relative to the surface!
𝑁 𝑃
𝑎റ = 𝜔𝐴2 𝑟𝑂𝑃 𝑗Ƹ
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Divider
ExampleSlide 1
Problems:
Lecture
Two 14 Max
Lines

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Example 1
Problem Statement: Determine the
angular acceleration of link QP and the
Q linear acceleration of Q for θ = 90º if 𝜃ሶ =
4 rad/s and 𝜃ሷ = 0 at that position.

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Example 1
There are several frames that
are useful here. First, let’s
work off point O and build the
Q
N frame.

Next, let’s establish a frame

𝑗Ƹ which moves with the
𝑎ො2 bottom bar, OP, which I will
name A for convenience.
𝑎ො1 P
I am not sure if bar QP, which
I can call B, will need it’s own
frame or not. If it does, I will
add it later.

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Example 1
In order for our brains to work on this problem, it might be helpful to actually draw
this problem with its current geometry.

Q
Also known is the following,
𝑗Ƹ
𝜔 = 4 𝑟𝑎𝑑/𝑠
0.4 meters 𝛼 = 0 𝑟𝑎𝑑/𝑠 2

𝑖Ƹ
P
O

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Example 1
• Next, we write the relative velocity equation.
𝑁𝑉 𝑃 = 𝑁𝑉 𝑂 + 𝐴𝑉 𝑃ൗ𝑂 + 𝑁𝜔 𝐴 × 𝑟റ 𝑂𝑃

Discussion : Simplifying.
𝑁 𝑃
𝑉 = 𝑁𝜔 𝐴 × 𝑟റ 𝑂𝑃

𝑉 = −4 𝑘෠ × 0.4 𝑖Ƹ = −1.6 𝑗Ƹ 𝑜𝑟 − 𝜃ሶ 𝑟𝑂𝑃 𝑗Ƹ

𝑁 𝑃

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Example 1

• Now for Q
Now, we want to write the velocity of point Q. We know the velocity of point P,
ergo, we can apply what we know and use the relative velocity expression again:
𝑄
𝑁𝑉 𝑄 = 𝑁𝑉 𝑃 + 𝐵𝑉 ൗ𝑃 + 𝑁𝜔𝐵 × 𝑟റ𝑃𝑄
Discussion : Simplifying.
This will need
𝑉 = −1.6𝑗Ƹ + 𝜔𝐵 𝑘෠ × 𝑟റ𝑃𝑄
𝑁 𝑄 some work!

Also, it seems like we need a frame for QP, after all.. Name this ‘B’

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Example 1

• Working out 𝑟റ𝑃𝑄

When in doubt, draw a picture:
𝑗Ƹ
Q
𝑖Ƹ
500
𝑟റ𝑃𝑄 = −0.3𝑖Ƹ + 0.4𝑗Ƹ 𝑚
400
300

O P
400

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Example 1

• Back to relative velocity of Q

Let’s apply this geometry to the relative velocity of Q:

𝑉 = −1.6𝑗Ƹ + 𝜔𝐵 𝑘෠ × −0.3𝑖Ƹ + 0.4𝑗Ƹ

𝑁 𝑄

Now, we have another simplification to apply: point Q will only have an 𝒊Ƹ

component! (it is restricted by the walls to do so…)

𝑣𝑄 𝑖Ƹ = −1.6𝑗Ƹ + 𝜔𝐵 𝑘෠ × −0.3𝑖Ƹ + 0.4𝑗Ƹ

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Example 1
Again, if you are practicing, it is useful to be able to take the previous equation,
apply the cross product, and show:

𝑣𝑄 𝑖Ƹ = −1.6𝑗Ƹ − 0.4𝜔𝐵 𝑖Ƹ − 0.3𝜔𝐵 𝑗Ƹ

Not super necessary, but lets group like terms:

𝑣𝑄 𝑖Ƹ = −0.4𝜔𝐵 𝑖Ƹ + −0.3𝜔𝐵 − 1.6 𝑗Ƹ

Discussion : What do we do next?

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Example 1
Along the 𝑗Ƹ direction, we can show that

0 = −0.3𝜔𝐵 − 1.6

And this means that 𝜔𝐵 is -5.33 radians/second. Now, I knew to answer this
question first, because I looked ahead. The problem statement is asking for the
angular acceleration of bar B, 𝛼𝐵 and the linear acceleration of point Q, 𝑎𝑄 . I
knew ahead of time that, in order to solve for those unknowns, it would be
necessary to know 𝜔𝐵 , which appears in the relative acceleration equation.

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Example 1

• Now onto relative acceleration…

Next, let’s work through the chain of points to find the relative accelerations.,
starting with point P relative to point O = 0, given
𝑁 𝑃 𝑁 𝑂 𝐴 𝑃ൗ𝑂 𝑁 𝐴
𝑎റ = 𝑎റ + 𝑎റ + 𝛼റ × 𝑟റ 𝑂𝑃 +

𝑁 𝐴 𝑁 𝐴 𝑂𝑃 𝑁 𝐴 𝐴 𝑃ൗ𝑂
𝜔 × 𝜔 × 𝑟റ + 2 𝜔 × 𝑣റ
Hint: No rigid body translational kinematics here.
Discussion : simplifications… Only rotations.
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Example 1
The simplified version of the relative acceleration expression is

𝑁𝑎
റ𝑃 = 𝑁𝜔 𝐴 × 𝑁𝜔 𝐴 × 𝑟റ 𝑂𝑃

We know 𝑁𝜔 𝐴 and 𝑟റ 𝑂𝑃 already, from the previous portion of the problem, let’s
substitute:

𝑁𝑎
റ𝑃 = −4𝑘෠ × −1.6𝑗Ƹ = −6.4𝑖Ƹ

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Example 1

• Moving onto the next set i.e., bar PQ

𝑄ൗ
𝑁𝑎
റ𝑄 = 𝑁𝑎
റ𝑃 + 𝐵𝑎
റ 𝑃 + 𝑁𝛼
റ𝐵 × 𝑟റ𝑃𝑄 +
𝑄ൗ
𝑁𝜔 𝐵 × 𝑁𝜔 𝐵 × 𝑟റ𝑃𝑄 + 2 𝑁𝜔 𝐵 × 𝐵𝑣
റ 𝑃

Simplify : be careful and don’t be caught by false patterns.

𝑁𝑎
റ𝑄 = 𝑁𝑎റ 𝑃 + 𝑁𝛼
റ𝐵 × 𝑟റ𝑃𝑄 + 𝑁𝜔 𝐵 × 𝑁𝜔𝐵 × 𝑟റ𝑃𝑄

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 Example 1

• Plug in and time to play…

Because we evaluated relative velocities first, we know a lot of information here.

𝑎𝑄 𝑖Ƹ = −6.4𝑖Ƹ + 𝛼𝐵 𝑘෠ × −0.3𝑖Ƹ + 0.4𝑗Ƹ + −5.33𝑘෠ × −5.33𝑘෠ × −0.3𝑖Ƹ + 0.4𝑗Ƹ

• And again, this looks like one equation and two unknowns.
• But it is one vector equation… that means there should be two or three scalar
equations.
• This depends on how many dimensions motions occur in.
This will be left here for practice. For reference:
𝑟𝑎𝑑𝑖𝑎𝑛𝑠 𝑚𝑒𝑡𝑒𝑟𝑠
𝛼𝐵 = −37.9 𝑎𝑄 = 17.3
𝑠𝑒𝑐𝑜𝑛𝑑 2 𝑠𝑒𝑐𝑜𝑛𝑑 2
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Example 2
Problem Statement: The two connected wheels of Lecture 13 Example 1 are shown
again here. Determine the magnitude of the acceleration of point P in the position
shown if the center C of the smaller wheel has an acceleration to the right of 0.8 m/s2
and has reached a velocity of 0.4 m/s at this instant.

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Example 2

• Naming locations
Before we start, we need to identify some new locations, Q and R. Again, like the last
time we tackled this geometry, Q and R are the points of contact between B and A and
the ground, respectively.

If we need to make a distinction between the point on the rollers and the point on the
ground, then the points on the ground are Q’ and R’.

P
Q R

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Example 2

• Step 1: Frame of Reference

𝒋Ƹ ෝ𝟐
𝒂 We define the ‘N’ inertial frame and
the ‘A’ frame centered at C and
rotating with the wheel on the right.

ෝ𝟏
𝒂
P
Q 𝒊Ƹ R

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Example 2

• Knowns
At the start of the problem, we know the velocity and acceleration of point C:
𝑁𝑉 𝐶 = 0.4𝑖Ƹ 𝑚Τ𝑠 𝑁 𝐶
𝑎റ = 0.8𝑖Ƹ 𝑚ൗ 2
𝑠𝑒𝑐

• Now, this gives us some place to ‘anchor’.

• That is, we can start with knowing information at point C, and write relative
velocity equations and relative acceleration equations that use this information
to create expressions for other points.
• Let’s start with point C relative to point R.

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Example 2
• Applying Relative Velocity
Let’s write the relative velocity equation
𝑁𝑉 𝐶 = 𝑁𝑉 𝑅 + 𝐴𝑉 𝐶ൗ𝑅 + 𝑁𝜔 𝐴 × 𝑟റ 𝑅𝐶
• This might look weird, because of the 𝑟റ 𝑅𝐶 term.
• One might be tempted to always go from the center of the wheel to the edge, but we
want the velocity of the center, C, in this formula.
• That means we need from point R to point C.
Let’s simplify, and apply what we already know from geometry, and from the problem
statement.
0.4𝑖Ƹ = 0 + 0 + 𝜔𝐴 𝑘෠ × 0.15𝑗Ƹ
𝑟𝑎𝑑
𝜔𝐴 = −2.667
𝑠𝑒𝑐
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Example 2
• Now, the relative acceleration of C to R
𝑁 𝐶 𝑁 𝑅 𝐴 𝐶ൗ𝑅
𝑎റ = 𝑎റ + 𝑎റ + 𝑁𝛼റ 𝐴 × 𝑟റ 𝑅𝐶 +
𝐶
𝑁𝜔 𝐴 × 𝑁𝜔 𝐴 × 𝑟റ 𝑅𝐶 + 2 𝑁𝜔 𝐴 × 𝐴𝑣റ ൗ𝑅

Rigid body, which eliminates a few terms here.

𝑁 𝐶
𝑎റ = 𝑁𝑎റ 𝑅 + 𝑁 𝐴
𝛼റ × 𝑟റ 𝑅𝐶 + 𝑁
𝜔𝐴 × 𝑁
𝜔 𝐴 × 𝑟റ 𝑅𝐶

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Example 2

• Applying results from today’s lecture

Earlier today, we derived a unique, geometry-based expression for 𝑁𝑎റ 𝑅 . This is a scenario
where R is on a roller, A is rolling, and there is no slipping. This means
𝑁𝑎
റ𝑅 = 𝜔𝐴2 𝑟𝐶𝑅 𝑗Ƹ
Let’s use this result, and input all the information we have thus far, including how we know
this object must rotate. (It can only rotate about 𝑘)෠

0.8𝑖Ƹ = 0.15 ∗ 2.6672 𝑗Ƹ + 𝛼𝐴 𝑘෠ × 0.15𝑗Ƹ + −2.667𝑘෠ × −2.667𝑘෠ × 0.15𝑗Ƹ

Again, point of practice. At this point, we should be able to solve for 𝛼𝐴 = -5.33 radians per
second2. This means the disk is spinning faster and faster in the clockwise direction.
Perform a sanity check, and make sure that makes sense.

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Example 2
Revisiting instantaneous center of rotation.
Location B rotates about point Q.
Location A rotates about point R.
This means that the angular velocity of these two points is the same! Why?
… which means that the angular velocity of these objects is the same.
𝑁𝜔 𝐴 = 𝑁𝜔𝐵
𝑁 𝐴
Therefore, 𝛼റ = 𝑁𝛼റ 𝐵
Let’s use this in the relative acceleration equation for point P and see
what we can achieve.

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Example 2

• Relative Acceleration of Point P

First, the full expression

𝑁𝑎 𝑃ൗ
റ𝑃= + 𝑁𝑎
റ𝑂 𝐵𝑎
റ 𝑂 + 𝑁𝛼റ 𝐵 × 𝑟റ 𝑂𝑃 +
𝑁 𝐵 𝐵 𝑃ൗ𝑂
𝜔 × 𝑁𝜔𝐵 × 𝑟റ 𝑂𝑃 𝑁 𝐵
+ 2 𝜔 × 𝑣റ
Next, simplify

𝑁𝑎
റ𝑃 = 𝑁𝑎റ 𝑂 + 𝑁𝛼
റ𝐵 × 𝑟റ 𝑂𝑃 + 𝑁𝜔𝐵 × 𝑁𝜔𝐵 × 𝑟റ 𝑂𝑃

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Example 2
• Moving forward
This expression has two unknowns. In principle, we should be able to find 𝑁𝑎റ 𝑃
and 𝑁𝑎റ 𝑂 from only this

𝑁 𝑃
𝑎റ = 𝑁𝑎റ 𝑂 + 𝑁 𝐵
𝛼റ × 𝑟റ 𝑂𝑃 + 𝑁
𝜔𝐵 × 𝑁
𝜔𝐵 × 𝑟റ 𝑂𝑃
However, if we try to solve these equations and for some reason, the set of
equations just doesn’t work (aside, if you have two equations and two unknowns,
but the reduced row echelon form of the augmented matrix has all zeros on one
line, you have math problems at hand, and need another independent equation to
solve this), use the equation we solved for today in another relative acceleration
equation.

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Example 2

• Relative Acceleration: O to Q
I hope you are all seeing the pattern, We keep using the same basic equations
over and over. 𝑂ൗ
𝑁𝑎 റ = 𝑎റ + 𝑎റ 𝑄 + 𝑁𝛼റ 𝐵 × 𝑟റ 𝑄𝑂 +
𝑂 𝑁 𝑄 𝐵
𝑂ൗ
𝑁 𝐵 𝑁 𝐵 𝑄𝑂 𝑁 𝐵 𝐵
𝜔 × 𝜔 × 𝑟റ + 2 𝜔 × 𝑣റ 𝑄

Becomes

𝑁𝑎
റ𝑂 = 𝑁𝑎റ 𝑄 + 𝑁𝛼
റ𝐵 × 𝑟റ 𝑄𝑂 + 𝑁𝜔𝐵 × 𝑁𝜔𝐵 × 𝑟റ 𝑄𝑂

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Example 2
At the risk of you all calling it that, let’s use the wheel formula 𝑁𝑎റ 𝑄 = 𝜔𝐵2 𝑟𝑄𝑂 𝑗Ƹ and
do some vector math
𝑁𝑎
റ𝑂 = 𝑎𝑜 𝑖Ƹ = 𝜔𝐵2 𝑟𝑄𝑂 𝑗Ƹ + −𝛼𝐵 𝑟𝑄𝑂 𝑖Ƹ + −𝜔𝐵2 𝑟𝑄𝑂 𝑗Ƹ

𝑁𝑎
𝑚
റ𝑂 = 0.533𝑖Ƹ
𝑠𝑒𝑐 2
And now, we can use this in the relative acceleration of P to O formula.

𝑁𝑎
റ𝑃 = 𝑁𝑎റ 𝑂 + 𝑁𝛼
റ𝐵 × 𝑟റ 𝑂𝑃 + 𝑁𝜔𝐵 × 𝑁𝜔𝐵 × 𝑟റ 𝑂𝑃

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Example 2

• Solving for 𝑵𝒂𝑷

𝑁 𝑃
𝑎റ = 𝑁𝑎റ 𝑂 + 𝑁 𝐵
𝛼റ × 𝑟റ 𝑂𝑃 + 𝑁
𝜔𝐵 × 𝑁
𝜔𝐵 × 𝑟റ 𝑂𝑃

Plugging in knowns, applying some vector math

𝑁𝑎
റ𝑃 = 0.533𝑖Ƹ + 𝛼𝐵 𝑘෠ × 0.2𝑖Ƹ + 𝜔𝐵 𝑘෠ × 𝜔𝐵 𝑘෠ × 0.2𝑖Ƹ

𝑚
Solve for 𝑁𝑎റ 𝑃 = −0.890𝑖Ƹ − 1.07𝑗Ƹ
𝑠𝑒𝑐 2

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