4.

Kinematics of Rigid Bodies (Part I)

• Introduction

• Rotation

• Absolute and Relative Velocity in Plane Motion

• Instantaneous Center of Rotation in Plane Motion

Page 1
Introduction
• Kinematics of rigid bodies: relations between
time and the positions, velocities, and
accelerations of the particles forming a rigid
body.
• 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

Page 2
Translation
• Consider rigid body in translation:
- direction of any straight line inside the
body is constant,
- all particles forming the body move in
parallel lines.
• For any two particles in the body,
r r r
rB = rA + rB A
• Differentiating with respect to time,
r r r r
r&B = r&A + r&B A = r&A
r r
vB = v A
All particles have the same velocity.
• Differentiating with respect to time again,
&rr&B = &rr&A + &rr&B A = &rr&A
r r
aB = a A
All particles have the same acceleration.
Page 3
Rotation About a Fixed Axis. Velocity
• Consider rotation of rigid body about a
fixed axis AA’

r r
• Velocity vector v = dr dt of the particle P is
tangent to the path with magnitude v = ds dt
∆s = ( BP )∆θ = (r sin φ )∆θ
ds ∆θ
v= = lim (r sin φ ) = rθ& sin φ
dt ∆t →0 ∆t

• The same result is obtained from

r
r dr r r
v= =ω ×r
dt
r r r
ω = ω k = θ k = angular velocity
&

Page 4
Rotation About a Fixed Axis. Acceleration
• Differentiating to determine the acceleration,
r
r dv d v r
a= = (ω × r )
dt dt
r r
dω r r dr
= ×r +ω ×
dt dt
r
dω r r r
= ×r +ω ×v
dt
r
dω r
• = α = angular acceleration
dt
r r r
= α k = ω& k = θ k
&&

• Acceleration of P is combination of two

vectors,
r r r r r r
a = α × r + ω ×ω × r
r r
α × r = tangential acceleration component
r r r
ω × ω × r = radial acceleration component
Page 5
Rotation About a Fixed Axis. Representative Slab
• Consider the motion of a representative slab in
a plane perpendicular to the axis of rotation.

• Velocity of any point P of the slab,

r r r r r
v = ω × r = ωk × r
v = rω

• Acceleration of any point P of the slab,

r r r r r r
a = α × r + ω ×ω × r
r r r
= α k × r − ω 2r

• Resolving the acceleration into tangential and

normal components,
r r r
at = αk × r a t = rα
r r
an = −ω 2 r a n = rω 2
Page 6
Equations Defining the Rotation of a Rigid Body
About a Fixed Axis
• Motion of a rigid body rotating around a fixed axis is
often specified by the type of angular acceleration.

dθ dθ
• Recall ω = or dt =
dt ω
dω d 2θ dω
α= = 2 =ω
dt dt dθ

• Uniform Rotation, α = 0:
θ = θ 0 + ωt

• Uniformly Accelerated Rotation, α = constant:

ω = ω0 + αt
θ = θ 0 + ω 0t + 12 α t 2
ω 2 = ω 02 + 2α (θ − θ 0 )
Page 7
Sample Problem 1
SOLUTION:
m • Due to the action of the cable, the
tangential velocity and acceleration of
m
D are equal to the velocity and
acceleration of C. Calculate the initial
angular velocity and acceleration.
• Apply the relations for uniformly
accelerated rotation to determine the
velocity and angular position of the
Cable C has a constant acceleration of 9
pulley after 2 s.
m/s2 and an initial velocity of 12 m/s,
both directed to the right. • Evaluate the initial tangential and
normal acceleration components of D.
Determine (a) the number of revolutions
of the pulley in 2 s, (b) the velocity and
change in position of the load B after 2 s,
and (c) the acceleration of the point D on
the rim of the inner pulley at t = 0.
Page 8
Sample Problem 1
SOLUTION:
• The tangential velocity and acceleration of D are equal to the
velocity and acceleration of C.
r r
r r
(v ) = (v ) = 12 m s →
D 0 C 0
(a )
D t = aC = 9m s →

(vD )0 = rω0 (aD )t = rα

(vD )0 12 (aD )t 9
ω0 = = = 4 rad s α= = = 3 rad s 2
r 3 r 3
• Apply the relations for uniformly accelerated rotation to
determine velocity and angular position of pulley after 2 s.
( )
ω = ω 0 + αt = 4 rad s + 3 rad s 2 (2 s ) = 10 rad s
( )
θ = ω 0t + 12 αt 2 = (4 rad s )(2 s ) + 12 3 rad s 2 (2 s )2
= 14 rad
 1 rev 
N = (14 rad )  = number of revs N = 2.23 rev
 2π rad 
r
vB = rω = (5 m )(10 rad s ) vB = 50 m s ↑
∆yB = rθ = (5 m )(14 rad ) ∆yB = 70 m
Page 9
Sample Problem 1
• Evaluate the initial tangential and normal acceleration
components of D.
(arD )t = arC = 9 m s →
(aD )n = rDω02 = (3 m )(4 rad s )2 = 48 m s2

(arD )t = 9 m s2 → (arD )n = 48 m s2 ↓

Magnitude and direction of the total acceleration,

aD = (aD )t2 + (aD )n2

= 92 + 482 aD = 48.8 m s 2

(aD )n
tan φ =
(aD )t
48
=
9 φ = 79.4°

Page 10
General Plane Motion

• General plane motion is neither a translation nor

a rotation.
• General plane motion can be considered as the
sum of a translation and rotation.
• Displacement of particles A and B to A2 and B2
can be divided into two parts:
- translation to A2 and B1′
- rotation of B1′ about A2 to B2
Page 11
Absolute and Relative Velocity in Plane Motion

• Any plane motion can be replaced by a translation of an

arbitrary reference point A and a simultaneous rotation
about A.
r r r
vB = v A + vB A
r r r
v B A = ω k × rB A v B A = rω
r r r r
v B = v A + ω k × rB A

Page 12
Absolute and Relative Velocity in Plane Motion

• Assuming that the velocity vA of end A is known, wish to determine the

velocity vB of end B and the angular velocity ω in terms of vA, l, and θ.
• The direction of vB and vB/A are known. Complete the velocity diagram.

vB vA vA
= tan θ = = cosθ
vA v B A lω
v B = v A tan θ vA
ω=
l cosθ
Page 13
Absolute and Relative Velocity in Plane Motion

• Selecting point B as the reference point and solving for the velocity vA of end A
and the angular velocity ω leads to an equivalent velocity triangle.
• vA/B has the same magnitude but opposite sense of vB/A. The sense of the
relative velocity is dependent on the choice of reference point.
• Angular velocity ω of the rod in its rotation about B is the same as its rotation
about A. Angular velocity is not dependent on the choice of reference point.
Page 14
Sample Problem 2
SOLUTION:
• The displacement of the gear center in
one revolution is equal to the outer
circumference. Relate the translational
and angular displacements. Differentiate
to relate the translational and angular
velocities.
• The velocity for any point P on the gear
The double gear rolls on the may be written as
stationary lower rack: the velocity of r r r r r r
vP = v A + vP A = v A + ωk × rP A
its center is 1.2 m/s.
Determine (a) the angular velocity of Evaluate the velocities of points B and D.
the gear, and (b) the velocities of the
upper rack R and point D of the gear.

Page 15
Sample Problem 2
SOLUTION:
• The displacement of the gear center in one revolution is
equal to the outer circumference.
For xA > 0 (moves to right), ω < 0 (rotates clockwise).
xA θ
=− x A = − r1θ
2π r 2π

y
Differentiate to relate the translational and angular
velocities.
x
v A = − r1ω
vA 1.2 m s r r r
ω =− =− ω = ωk = −(8 rad s )k
r1 0.150 m

Page 16
Sample Problem 2
r r r r r r
• For any point P on the gear, vP = v A + vP A = v A + ωk × rP A

Velocity of the upper rack is equal to Velocity of the point D:

velocity of point B:
r r r r r r r r r
vR = vB = v A + ωk × rB A vD = v A + ωk × rD A
r r r r r r
= (1.2 m s )i − (8 rad s )k × (0.10 m ) j = (1.2 m s )i − (8 rad s )k × (− 0.150 m )i
r r
= (1.2 m s )i + (0.8 m s )i
r r r r r
vR = (2 m s )i vD = (1.2 m s )i + (1.2 m s ) j
vD = 1.697 m s
Page 17
Sample Problem 3
SOLUTION:

m • Will determine the absolute velocity of

m
point D with
r r r
vD = vB + vD B
r
• The velocity v B is obtained from the
given crank rotation data.
r
The crank AB has a constant clockwise • The directions of the absolute velocity v D
r
angular velocity of 2000 rpm. and the relative velocity v D B are
determined from the problem geometry.
For the crank position indicated,
determine (a) the angular velocity of • The unknowns in the vector expression
the connecting rod BD, and (b) the are the velocity magnitudes v D and v D B
velocity of the piston P. which may be determined from the
corresponding vector triangle.
• The angular velocity of the connecting
rod is calculated from v D B .
Page 18
Sample Problem 3
SOLUTION:
m • Will determine the absolute velocity of point D with
r r r
vD = vB + vD B
r
• The velocity vB is obtained from the crank rotation data.
rev  min  2π rad 
ω AB =  2000    = 209.4 rad s
 min  60 s  rev 
vB = ( AB )ω AB = (3 m )(209.4 rad s )
The velocity direction is as shown.
m r
m • The direction of the absolute velocity vD is horizontal.
r
The direction of the relative velocity vD B is
perpendicular to BD. Compute the angle between the
horizontal and the connecting rod from the law of sines.
sin 40° sin β
= β = 13.95°
8 in. 3 in.

Page 19
Sample Problem 3

• Determine the velocity magnitudes vD and vD B

from the vector triangle.
vD vD B 628.3 m s
= =
sin 53.95° sin 50° sin76.05°
m
vD = 523.4 m s vP = vD = 523.4 m s
vD B = 495.9 m s

r r r vD B = lω BD
vD = vB + vD B vD B 495.9m/s
ω BD = =
l 8m r
r
= 62.0 rad s ω BD = (62.0 rad s )k
Page 20
Instantaneous Center of Rotation in Plane Motion
• Plane motion of all particles in a slab can always be
replaced by the translation of an arbitrary point A and a
rotation about A with an angular velocity that is
independent of the choice of A.

• The same translational and rotational velocities at A are

obtained by allowing the slab to rotate with the same
angular velocity about the point C on a perpendicular to
the velocity at A.

• The velocity of all other particles in the slab are the same
as originally defined since the angular velocity and
translational velocity at A are equivalent.

• As far as the velocities are concerned, the slab seems to

rotate about the instantaneous center of rotation C.

Page 21
Instantaneous Center of Rotation in Plane Motion
• If the velocity at two points A and B are known, the
instantaneous center of rotation lies at the intersection
of the perpendiculars to the velocity vectors through A
and B .

• If the velocity vectors are parallel, the instantaneous

center of rotation is at infinity and the angular velocity
is zero.

• If the velocity vectors at A and B are perpendicular to

the line AB, the instantaneous center of rotation lies at
the intersection of the line AB with the line joining the
extremities of the velocity vectors at A and B.

• If the velocity magnitudes are equal, the instantaneous

center of rotation is at infinity and the angular velocity
is zero.

Page 22
Instantaneous Center of Rotation in Plane Motion
• The instantaneous center of rotation lies at the intersection of
the perpendiculars to the velocity vectors through A and B .
v v v
ω= A = A v B = ( BC )ω = (l sin θ ) A
AC l cosθ l cosθ
= v A tan θ

• The velocities of all particles on the rod are as if they were

rotated about C.
• The particle at the center of rotation has zero velocity.
• The particle coinciding with the center of rotation changes
with time and the acceleration of the particle at the
instantaneous center of rotation is not zero.
• The acceleration of the particles in the slab cannot be
determined as if the slab were simply rotating about C.
• The trace of the locus of the center of rotation on the body
is the body centrode and in space is the space centrode.
Page 23
Sample Problem 4
SOLUTION:
• The point C is in contact with the stationary
lower rack and, instantaneously, has zero
velocity. It must be the location of the
instantaneous center of rotation.
• Determine the angular velocity about C
based on the given velocity at A.
• Evaluate the velocities at B and D based on
The double gear rolls on the their rotation about C.
stationary lower rack: the velocity
of its center is 1.2 m/s.
Determine (a) the angular velocity
of the gear, and (b) the velocities of
the upper rack R and point D of the
gear.

Page 24
Sample Problem 4
SOLUTION:
• The point C is in contact with the stationary lower rack
and, instantaneously, has zero velocity. It must be the
location of the instantaneous center of rotation.
• Determine the angular velocity about C based on the
given velocity at A.
v 1.2 m s
v A = rAω ω= A= = 8 rad s
rA 0.15 m
• Evaluate the velocities at B and D based on their rotation
about C.
vR = vB = rBω = (0.25 m )(8 rad s )
r r
vR = (2 m s )i

rD = (0.15 m ) 2 = 0.2121 m
vD = rDω = (0.2121 m )(8 rad s )
vD = 1.697 m s
r r
vD = (1.2i + 1.2 j )(m s )
r

Page 25
Sample Problem 5
SOLUTION:

m • Determine the velocity at B from the

m given crank rotation data.
• The direction of the velocity vectors at B
and D are known. The instantaneous
center of rotation is at the intersection of
the perpendiculars to the velocities
The crank AB has a constant clockwise through B and D.
angular velocity of 2000 rpm. • Determine the angular velocity about the
For the crank position indicated, center of rotation based on the velocity
determine (a) the angular velocity of at B.
the connecting rod BD, and (b) the • Calculate the velocity at D based on its
velocity of the piston P. rotation about the instantaneous center
of rotation.

Page 26
Sample Problem 5
SOLUTION:
• From Sample Problem 3,
r r
vB = (403.9i − 481.3 j )(m s )
r
vB = 628.3 m s
β = 13.95°
• The instantaneous center of rotation is at the intersection
of the perpendiculars to the velocities through B and D.

• Determine the angular velocity about the center of

rotation based on the velocity at B.
γ B = 40° + β = 53.95°
γ D = 90° − β = 76.05° vB = ( BC )ω BD
vB 628.3 m s
ω BD = = ω BD = 62.0 rad s
BC CD 8m BC 10.14 m
= =
sin 76.05° sin 53.95° sin50°
• Calculate the velocity at D based on its rotation about
the instantaneous center of rotation.
BC = 10.14 m CD = 8.44 m
vD = (CD )ω BD = (8.44 m )(62.0 rad s )

vP = vD = 523 m s
Page 27