ENGINEERING MECHANICS: KINEMATICS

RELATIVE MOTION OF A
PARTICLE

Contents -2-

 Overview on relative motion of a particle

 Basic definitions
• Absolute motion of a particle
• Relative motion of a particle
• Transport motion
 Theorem of velocity addition (velocity-addition formula)
 Theorem of acceleration addition
• Theorem of acceleration addition (acceleration-addition formula)
• Coriolis acceleration
 Application Examples
Overview on relative motion of a particle -3-

z0 y0 y vr

O0 y0 ve x
x0 x0
z

x C
x E D
y
M C A

0
A O A
a
  u
P 
 u

O B B

Overview on relative motion of a particle -4-

P
 
 Q rP u
rQ 
u R0 
 rA A R1
rA A O
O
R0
R1

Problem of Relative motion Problem of Relative motion

of a rigid body of a Particle
Basic definitions -5-

Particle P moves w.r.t moving reference

P
frame R1. Moving frame R1 moves w.r.t
 
fixed reference frame R0. rP u
R0  A
rA R1
O
Definitions

Absolute motion of Particle P: motion of P w.r.t fixed reference

frame R0.
 
Absolute velocity and absolute acceleration: v ,a a a

R0  R0 
 drP  d 2rP
va = , aa =
dt dt 2

Basic definitions -6-

Absolute motion of Particle P:

motion of P w.r.t fixed reference P
 
frame R0. rP u
Absolute velocity and absolute
R0 
acceleration: rA A
R0  R0 
2 O
 drP  d rP
va = , aa = R1
dt dt 2

Relative motion of Particle P: motion of P w.r.t moving reference frame R1.

Relative velocity and relative acceleration:

R1  R1 2 
 du  d u
vr = , ar =
dt dt 2
Basic definitions -7-

Transport motion : motion of frame R1 w.r.t P

the fixed frame R0.  
Transport angular velocity and transport rP u
angular acceleration, denote by 
R0 rA A
 
we , ae O
 R0 R  R0 R R1
we º w 1 , ae º a 1

Coincident point P* of P at considered instant: P* is a point fixed to

moving frame R1 and P* coincides with P at instant.
transport velocity and transport acceleration of P is velocity and
acceleration P* w.r.t the fixed frame R0
   
ve (P ) = va (P *), ae (P ) = aa (P *)

Basic definitions - example -8-

A
Consider the slider P as a Particle (small
R1 size). Observe motion of P. Particle P moves
u P
on bar OA, bar OA rotates about fixed axis Oz.
y
1. Fixed frame R0 (origin at O). Moving frame
 R R1 fixed to the bar OA.
0
O
x 2. Absolute motion: motion of P w.r.t R0.
3. Relative motion: motion of P w.r.t OA (R1).
4. Transport motion: motion of OA rotates
about fixed axis Oz.
v
P  5. Coincident point of P: P* belongs to OA
R1
and coincides with P at instant.
O R0
Lemma: Derivative of vector in moving reference frame -9-

R0
dc
 R1 
dc 

R0  R1  c
= + w ´c k
dt dt 
R0 j
R1
Proof.

    i
c = c x i + cy j + cz k  R R 
d
dt
i = 0w 1 ´i
   
( d
dt
c ) = cx i + cy j + cz k
R1

      
( d
dt
c)
R0
= cx i + cy j + cz k + cx i + cy j + cz k
   R R   
= cx i + cy j + cz k + w ´ (cx i + cy j + cz k )
0 1

The velocity-addition formula -10-

Theorem 1. At instant, the absolute velocity vector of

point P is equal to its relative velocity vector and P
transport velocity vector.  
   rP u
va = v r + ve 
R0 rA A R1
Proof.
   O
rP = rA + u
R0  R0   
 drP d (rA + u )  R0
du
va = = = vA +
dt dt dt

 R1 R0  R1 
 du du du  
vr = = + we ´ u
dt dt dt
The velocity-addition formula -11-

  
rP = rA + u P
R0  R0  R0 
 
 drP drA du rP u
va = = +
dt dt dt R0 
rA A R1
R0 
 drA O
vA =
dt
R0  R1  R1 
du du    du
= + we ´ u v r
=
dt dt dt
 R0 æ R1  ö
  du   du ÷
va = v A + = v A + ççç we ´ u + ÷÷
dt çè dt ÷ø
        
va = (v A + we ´ u P * ) + vr = v P * + v r = ve + vr

The acceleration-addition formula -12-

Theorem 2. At instant, the absolute P

acceleration of point P is equal to geometric
 
sum of relative acceleration, transport rP u
acceleration and Coriolis acceleration.
    R0 
aa = a r + ae + aC rA A R1
O
  
with aC = 2we ´ v r
Proof.     
va = v A + we ´ u + vr
    
( A e + vr )
R0 R0

dt
d
va = dt
d
v + w ´ u
R0  R0  R0   R0 
dt
d
va = dt
d
vA + dt
d
(we ´ u ) + dt
d
vr
       
(
= a A + w e ´ u + we ´
R0

dt
d
u + ) ( R1

dt
d
vr + we ´ vr )
The acceleration-addition formula -13-

R0  R1      
dt
d
u = dt
d
u + we ´ u = v r + we ´ u
      
R0

dt
d
vr = ( R1

dt
d
)
v r + we ´ vr = a r + we ´ vr

        
(
aa = a A + w e ´ u + we ´
R0
d
dt ) (
u +
R1

dt
d
v r + we ´ v r )
         
aa = a A + ae ´ u P * + we ´ (we ´ u P * ) + a r + 2 we ´ v r

       
a P * = éêa A + ae ´ u P * + we ´ (we ´ u P * )ùú =: ae
ë û
  
aC = 2 we ´ vr

   
aa = a r + ae + aC

Coriolis acceleration -14-

  
aC = 2 we ´ v r
Translational  
we = 0  aC = 0
moving frame:
  
a a = a r + ae
Rotational
moving frame:  
  q = (we , v r )
we ^ v r
 
we we

vr

  
     aC = 2we ´ vr
vr aC = 2we ´ vr vr¢

aC = 2wevr aC = 2wevr sin q

In summary -15-

     P
va = vr + ve , ve = vP *  
rP u
    R0 
rA A
aa = a r + ae + aC R1
O

    
ae = aP * , aC = 2we ´ vr

Example 1 -16-

A person walks on conveyor with a velocity v1. Determine the

absolute velocity of the person. If the pulley of radius r has an
angular velocity of .
y0 y vr

v0 x
Ans. x0

Motion analysis
Show : abs., rel., and transport motion

Calculation of abs. velocity

  
v a = v r + ve

 va = vr + ve = v1 + r w
Example 2 -17-
K
Coulisse mechanism as shown at instant:  = 30,
d/dt = ,  = 0. Determine: velocity and
acceleration of link BDK, relative velocity of
slider A on BD, OA = l. A D
B
Scotch yoke mechanism - YouTube
Ans 

Motion analysis: …..:  O

Consider motion of slider A (particle)
Show : abs., rel., and transport motion K
Draw and calculation of velocity:
  
va = vr + ve , va = l j = l w vr A
D
B
v K = ve = va sin j = l w / 2 
va ve
vr = va cos j = l w 3 / 2  O

Example 2 -18-

Draw and calculation of acceleration: K

  
a a = a r + ae
  n
aa = a A = a A , A ar
B
2 2
D
aa = l j = l w ae

aa
O
2
ae = aa cos j = l w 3 /2
a r = aa sin j = l w 2 / 2

a K = ae = l w 2 3 / 2
Example 3. Quick return mechanism -19-

Coulisse mechanism (quick return mechanism) as

shown. The crank, OA = r, rotates about O with B
0
angular velocity of 0. At instant, OA  OD,  = 30. O
r
Determine: angular velocity and acceleration of the A
bar DB. Crank And Slotted Lever Quick Return Mechanism|
How Quick Return Mechanism Work! |Best 3D Animation|
Ans 
Motion analysis: …..
Consider motion of A
Show : abs., rel., and transport motion D

Draw and calculation: va

B
  
va = vr + ve , va = r w 0 0 v
e
vr
O
A
ve = va sin q = r w 0 / 2
 e
vr = va cos q = r w 0 3 / 2
wDB º we = ve / DA = 21 r w 0 / (2r ) = w 0 / 4 D

Example 3. Quick return mechanism -20-

    k
aC a t
Calculation of acceleration: a = a + a + a e ar
a r e C
O
  n   aAn A
aa = a A = a A = -w 0 OA, a At = 0
2
aen
     
ae = a A* = a An* + a At * = aen + aet e
  
aC = 2we ´ v r , aC = 2 we v r D
 
     aen = a An* , DAwe2
aa = a r + aen + aet + aC  
aet = a At * , DAae
Projection on DA and Ak  AD
DA : -aa sin q = -aen + a r  a r = aen - aa sin q
^ AD : aa cos q = aet + aC  aet = aa cos q - aC
 ae = aet / AD = ..
 Example 3. Quick return mechanism -21-

Determination of velocities (using vector-equation)

  
Setting a Cartesian coordinate system Oxyz with unit vectors {i , j , k }
   y
Presenting all vectors with {i , j , k } va
B
   
wOA = w0k , aOA = 0k , 0 v vr
O e
  A
OA = ri , s = DA = r / sin q
   
DA = s sin qi + s cos q j , j  e

    x
vr = vreDB = vr (sin qi + cos q j ), D 
vr = s, s = DA i
Need to determine:
    
we = wDB = we k ,  
 we = we k , ae = ae k ,
     
ae = aDB = ae k , vr = vreDB , ar = areDB

Example 3. Quick return mechanism -22-

y
Applying velocity-addition formula va
   B
va = vr + ve 0 v vr
O e
Calculation velocity vectors A
     
va = v A = wOA ´ OA = w 0k ´ ri 
j  e

= r w0 j , x
    D 
ve = v A* = w DB ´ DA i
  
= we k ´ (s sin qi + s cos q j )
    
= s we sin q j - s we cos qi r w 0 j = s we sin q j - s we cos qi
     
vr = vreDB = vr (sin qi + cos q j ) +vr (sin qi + cos q j )
Example 3. Quick return mechanism -23-

  
r w 0 j = (vr sin q - s we cos q )i + (s we sin q + vr cos q ) j

r w 0 = (s we sin q + vr cos q )
0 = (vr sin q - s we cos q ) y
va
B
0 v vr
r w 0 sin q = (s we sin q + vr cos q ) sin q O e
A
0 = (v r sin q - s we cos q ) cos q

j  e

r w 0 sin q x
 we = = w 0 sin 2 q D 
s i
 v r = s we cot q = r w 0 cos q

Example 3. Quick return mechanism -24-

Applying acceleration-addition formula y

    va
B
aa = a r + ae + aC 0 v vr
O e
Calculation acceler. vectors A
    2
  2

aa = a A = a0k ´ ri - r w 0 i = r a0 j - r w 0 i 
j  e
    2

ae = a A* = ae k ´ DA - we DA x
D 
= ... i
   
a r = a reDB = a r (sin qi + cos q j )
    
aC = 2we ´ vr = 2vr we k ´ eDB = ..
    ae = .....
2
r a0 j - r w 0 i = (.........)i + (.........) j
a r = .....
Analytical Method -25-

Choose position parameters (generalized coordinates)

Write constraint equations => differentiating
Example 1. Coulisse mechanism as shown, OA = r. x
At instance  = 30, d/dt = 0,  = 0. B
K
Determine: velocity of coulisse K, velocity of A
A  D
relative to K, acceleration of K. r y
O

Solution
Motion analyse and choose position parameters.

Position: x  r sin  (t ), y  r cos  (t )

velocity : acceleration :
vr  x  r (t )cos (t ), ar  x  r(t )cos (t )  r 2 (t )sin (t ),
vK  y  r (t )sin (t ) aK  y  r(t )sin (t )  r 2 (t )cos (t ).

Analytical Method -26-

Example2. Quick return mechanism as shown: OA = r, OD = h. B
Motion of OA is described by: (t)

  (t )      const,     0 r A
O
Determine: motion of the link DB, motion of 
slide A relative to DB 
??  , , , u, u, u. h  u

Hint D
Constraint equtions
   0  u sin   r cos(  21  )
OD  DA  OA
h  u cos   r sin(  21  )

= > u sin   r sin  u  ..

u cos   r cos   h   ..
Analytical Method -27-

Velocity. Taking time derivative of constraint Eqs.

B

u sin   r sin   A
Pos. constraint r
u cos   r cos   h O

d 
()
dt Vel. constraint
h  u
u sin   u cos   r cos , 1  
u cos   u sin   r sin  D

 sin  u cos   u  r cos  

 cos  
u sin      r sin  
    
1
u   sin  u cos   r cos  
    
 cos  u sin   r sin  
     

Analytical Method -28-

u sin   u cos   r cos , 1     ,     0 B

u cos   u sin   r sin 
 A
Acceleration. r
O
Acc. constraint

u sin   u cos   2u cos   r cos   r cos  2 ,
h  u
u cos   u sin   2u sin   r sin   r cos  2

D
u sin   u cos   r cos   r cos  2  2u cos 
u cos   u sin   r sin   r cos  2  2u sin 

 sin  u cos   u r cos   r cos  2  2u cos   u
     ...
cos  u sin     r sin   r cos  2  2u sin   
      
Problems -29-

Rod OB rotates counterclockwise with the constant angular speed of 30

rev/min. At the same time, collar A is sliding toward B with the constant
speed 1 m/s relative to the rod. Using a rotating reference frame
attached to OB, calculate velocity and the acceleration of the collar
when R = 0.2 m and  = 0. (This problem could also be solved using
polar coordinates).

Problems -30-

Rod OAB is rotating counterclockwise with the constant angular velocity

ω = 5 rad/s. In the position shown, collar P is sliding toward A with the
speed of 0.8 m/s, increasing at the rate of 8 m/s2, both measured relative
to the rod. Determine the acceleration of P in this position.
Problems -31-

In the position shown, the slotted plate B is rotating about pin A with
the angular velocity ω = 3 rad/s CCW and the angular acceleration α =
6 rad/s2 CW. The slider P moves along the slot at the constant speed of
0.7 m/s relative to the plate, in the direction indicated. Compute the
velocity and acceleration vectors of P at this instant.

Problems -32-

The pin P, attached to the sliding rod PD, engages a slot in the rotating
arm AB. Rod PD is sliding to the left with the constant velocity of 1.2
m/s. Determine the angular velocity and angular acceleration of AB when
θ = 60.
Problems -33-

The collar C is pushed along the horizontal bar by the pin P that slides in
the slotted arm AB. The arm is rotating counterclockwise with the constant
angular velocity ω=4 rad/s. In the position shown, determine (a) velocity of
P relative to AB; and (b) acceleration of P relative to AB.

Problems -34-

Crank AD rotates with the constant clockwise angular velocity of 8 rad/s.

For the position shown, determine the angular speed of rod BE and the
velocity of slider D relative to BE.
Problems -35-

Rod AB of the mechanism rotates at the constant angular speed 8 rad/s

clockwise. For the position shown, calculate the angular velocity of rod
BE.

Problems -36-

When the crank AB of the scotch yoke is in the position θ =40, its
angular velocity is 8 rad/s, and its angular acceleration is 140 rad/s2,
both clockwise. Calculate the velocity and acceleration of the sliding
rod D in this position.

Scotch yoke mechanism - YouTube

Problems -37-

The disk rotates with the angular velocity as shown. Determine the
angular velocity and angular acceleration of the slotted link AC at this
instant. The peg at B is fixed to the disk.
Coulisse mechanism 1 - YouTube

Problems -38-

Block D of the mechanism is confined to move within the slot of

member CB. If link AD is rotating at a constant rate of AD = 4 rad/s,
determine the angular velocity and angular acceleration of member CB
at the instant shown.
Problems -39-

Rod BC slides in the pivoted sleeve D as bar AB is rotating at the

constant angular velocity θ1˙ = 12 rad/s. Determine the angular
velocity of rod BC in the two positions where θ2 = 30.

Problems -40-

Collar C slides on the horizontal guide rod with the constant velocity v0.
The rod CD is free to slide in sleeve B, which is rigidly attached to bar
AB. Determine the angular velocity and angular acceleration of bar AB
in terms of v0, b, and θ. (Hint: ωAB = ωCD.)
Problems -41-

For the mechanism shown, determine the speed and the magnitude of the
acceleration of collar C in terms of b, θ, θ˙, and θ˙˙.

Problems -42-

A planar mechanism is shown in figure with OA = r , OB = r3 and BC

= 2r3 . The arm rotates uniformly about O with an angular velocity . It
leads a horizontal translation of the rod DE. At instant,  = 30,
determine a velocity and acceleration of rod DE.

Whitworth mechanism (Kulisový kývavý mechanizmus) - YouTube

Problems -43-

A planar mechanism is shown in figure with OA = r, OB = r3 and h =

2r3. The arm rotates uniformly about O with an angular velocity 0.
It leads a horizontal translation of the rod DE. At instant,  = 90,
determine: a) angular velocity and acceleration of rod BC; b) velocity
and acceleration of rod DE.

WhitWorth Quick Return Mechanism demonstration - YouTube

w0 2r w0
wBC = , vDE = ,
4 3
w02 3 2 2
aBC = , aDE = rw .
8 3 0

Problems -44-

The end A of a vertical rod AB is hinged to a block A sliding along the

rod OC and turns the latter round axis O. The distance from O to AB
is l. Determine the velocity and acceleration of the rod AB as function
of the angle , and its derivatives.

lw l 2l sin j
vAB = 2
, aAB = 2
a+ 3
w2.
cos j cos j cos j