MAIN TOPIC 4: KINEMATICS OF RIGID BODIES

Planar Rigid Body Motion

• Planar Motion: Motion where all particles of a rigid body move along paths
equidistant from a fixed plane.
Types of Rigid-Body Planar Motion
1. Translation: Motion where a line in the body remains parallel to its original
orientation.
o Rectilinear Translation: Paths of motion for any two points on the body are
parallel lines.
o Curvilinear Translation: Paths of motion are along a curved line.
2. Rotation about a Fixed Axis: All particles of the body, except those on the axis of
rotation, move along circular paths.
3. General Plane Motion: Combination of translation and rotation within a reference
plane.
Translation
• Position Vector (𝑟): Defines the location of points on the body with respect to a fixed
reference frame.
• Velocity (𝑣): Instantaneous velocity of points on the body, indicating that all points
move with the same velocity and acceleration during translation.
• Acceleration (𝑎): Instantaneous acceleration of points on the body, indicating uniform
acceleration during translation.
Rotation About a Fixed Axis
• Angular Position (Ө): Angle measured from a fixed reference line to a radial line.
• Angular Displacement (dӨ): Change in angular position.
• Angular Velocity (ω): Time rate of change in angular position.
• Angular Acceleration (α): Time rate of change of angular velocity.
Motion of a Point on a Rotating Body
• Tangential Velocity (𝑣): Velocity tangent to the circular path of a point.
• Tangential Acceleration (𝑎𝑡): Time rate of change in the velocity’s magnitude.
• Normal Acceleration (𝑎𝑛): Time rate of change in the velocity’s direction.
Absolute Motion Analysis
• General Plane Motion: Simultaneous translation and rotation of a body.
Relative Motion Analysis
• Relative Position Vector (𝑟𝐵⁄𝐴): Position of point B with respect to point A.
• Relative Velocity (𝑣𝐵⁄𝐴): Velocity of point B with respect to point A.
• Relative Acceleration (𝑎𝐵⁄𝐴): Acceleration of point B with respect to point A.
Instantaneous Center of Zero Velocity (IC)
• IC: Point on a body where the velocity is zero at a given instant, used to determine the
velocity of other points on the body.
Rotating Axes Analysis
• Coriolis Acceleration: Additional acceleration observed in a rotating reference frame,
defined as 2𝛺(𝑣𝐶⁄𝑂).
MAIN TOPIC 5: KINETICS OF RIGID BODIES
Subtopic: Force and Acceleration Kinetics of Rigid Bodies
Force and Acceleration
• Newton’s Second Law: States that the force acting on an object is equal to the mass of
that object times its acceleration (F = ma).
Mass Moment of Inertia
• Mass Moment of Inertia (I): A measure of an object's resistance to rotational motion
about an axis, defined as the integral of the second moment of mass elements (dm)
about the axis.
• Moment (M): The rotational equivalent of force, causing an object to rotate about an
axis (M = Iα).
• Angular Acceleration (α): The rate of change of angular velocity over time.
Kinetic Equation of Translational Motion
• Rectilinear Translation: Motion where all particles of a body move along parallel
straight-line paths.
• Curvilinear Translation: Motion where all particles of a body move along curved
paths with the same acceleration.
Equations of Motion: Rotation about a Fixed Axis
• Tangential Component of Acceleration (aG)t: The component of acceleration
tangent to the circular path of a rotating body (aG)t = αrG.
• Normal Component of Acceleration (aG)n: The component of acceleration directed
towards the center of the circular path (aG)n = ω²rG.
Work and Energy
• Kinetic Energy: The energy possessed by a body due to its motion, including both
translational and rotational kinetic energy.
• Work of a Force: The product of force and the displacement in the direction of the
force.
• Work of a Variable Force: Work done by a force that changes in magnitude and/or
direction over the displacement.
• Work of a Constant Force: Work done by a force that remains constant in magnitude
and direction over the displacement.
• Work of a Weight: Work done by the gravitational force when a body’s center of mass
undergoes vertical displacement.
• Work of a Spring: Work done by a spring force when it stretches or compresses.
• Work of a Couple Moment: Work done by a couple moment when a body rotates
through an angle.
• Principle of Work and Energy: States that the initial kinetic energy plus the work
done by external forces equals the final kinetic energy.
• Conservation of Energy: States that the total mechanical energy (kinetic + potential)
of a system remains constant if only conservative forces act on the system.
Impulse and Momentum
• Linear Momentum: The product of a body's mass and its velocity.
• Angular Momentum: The rotational equivalent of linear momentum, dependent on
the mass moment of inertia and angular velocity.
• Principle of Impulse and Momentum: States that the change in momentum of a body
is equal to the impulse applied to it.
• Conservation of Momentum: States that the total momentum of a system remains
constant if no external impulses act on it.
• Eccentric Impact: Occurs when the line of impact does not coincide with the line
connecting the mass centers of two colliding bodies.