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Module 3 - Plane Motion

This document provides an overview of the module ENGI 24859 - Dynamics. It covers topics related to plane motion, including: 1. Relative motion and how to calculate displacement, velocity, and acceleration in both absolute and relative terms. 2. The concept of instantaneous center of rotation and how to determine the linear and angular velocities of mechanisms using instantaneous centers. 3. Examples of applying the method of relative velocity and determining instantaneous centers of rotation to solve problems involving objects undergoing combined translation and rotation motions. The document includes examples, practice problems, and critical learning outcomes related to solving problems involving relative motion and determining velocities and accelerations using instantaneous centers of rotation.

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Nirav Machhi
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91 views

Module 3 - Plane Motion

This document provides an overview of the module ENGI 24859 - Dynamics. It covers topics related to plane motion, including: 1. Relative motion and how to calculate displacement, velocity, and acceleration in both absolute and relative terms. 2. The concept of instantaneous center of rotation and how to determine the linear and angular velocities of mechanisms using instantaneous centers. 3. Examples of applying the method of relative velocity and determining instantaneous centers of rotation to solve problems involving objects undergoing combined translation and rotation motions. The document includes examples, practice problems, and critical learning outcomes related to solving problems involving relative motion and determining velocities and accelerations using instantaneous centers of rotation.

Uploaded by

Nirav Machhi
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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ENGI 24859 – Dynamics

Module 3: Plane Motion


Justification

Design of mechanisms Analysis and synthesis of machines and mechanisms


with combined translational – rotational motion is an essential part of
mechanical engineering. Applications include manufacturing, prototyping,
aerospace, health sciences, etc.
Outline
• Introduction

• Relative Motion

• The Rolling Motion

• Instantaneous Center of Rotation

• Summary
Critical Learning Outcomes
Upon completion of the lesson the students will be able to:
• Solve for Linear values of Displacement, Velocity or
Acceleration in either Absolute or Relative Terms.
• Define and Locate an Instantaneous Center of an Object or
Mechanism.
• Determine both Linear and Angular Velocities of Various
Mechanisms by means of Instantaneous Centers.
The material presented here has been taken from Walker, K. “Applied Mechanics for Engineering Technology”, 8th Edition
Plane Motion – Applications
Plane Motion
• What is Relative Motion?

• A body in motion may have

 Displacement
 Velocity
 Acceleration
Plane Motion
• What is absolute velocity?

Since the earth is considered stationary, a velocity measured with


respect to earth is an absolute velocity.

• What is Relative Velocity?

When a velocity of one object is related to that of another reference


object that is also moving, then the velocity is known as relative
velocity.
A relative velocity has no meaning unless the reference or point to
which the velocity is relative is stated.
Plane Motion
• Notations to be used:

VA = Velocity of A
VB = Velocity of B

• VB/A = Velocity of B with respect to A


• VA/B = Velocity of A with respect to B

• Equations:
VB = VA + VB/A
VA = VB + VA/B
Plane Motion
What is a plane motion?
Let us look at the relative
motion between two points
on the same object. This will
occur when an object
moves with general plane
motion: simultaneous
translation and rotation.
Plane Motion
• Plane Motion = Translation + Rotation

• Translation: A moving downward and B moving to the Right.

• Rotation: Bar rotates counter clockwise direction about point B.


Plane Motion
Plane Motion
Plane Motion of a sliding ladder
Method of Relative Velocity
• We employ relative velocity method to solve problems:

• Relative displacement SA/B = rθ


• Relative velocity VA/B = rω
• “r” = AB

• While solving problems, we will employ vector addition- tip-to-tail.

• Relative velocity is always perpendicular to the rotating link.


Method of Relative Velocity
For solving problems, we will employ vector addition- tip-to-tail.

VA = VB + VA/B

This is a vector equation. There are three magnitudes and three directions,
out of which four of them must be known before the problem could be
solved.
Plane Motion – Example 12-2
Plane Motion – Example 12-2
Plane Motion – Example 12-4
Plane Motion – Example 12-4
Plane Motion – Example 12-4
Plane Motion – Example 12-5
Plane Motion – Example 12-5
Suggested Problem (12-10)
Suggested Problem (12-13)
Suggested Problem (12-16)
Plane Motion - The Rolling Wheel
• If a wheel is rolled from one position
to another, it has both rotational and
translational motion.

• When there is no sliding, we have


pure rolling.
Rolling Wheel

If the wheel is pivoted at its centre, then


the motion would be only rotational.

For visualization:

• Assume the wheel is off the ground,


rotating at 8 radian/sec clockwise.

• Velocity of A is the velocity of A with


respect to C.
• vA/C = rω = 0.5(8)= 4m/s.
Rolling Wheel

In translational motion, every


point on the wheel must be
moving with same velocity.

For visualization:
• Wheel lowered to the
ground

• Point A is stationary, but


there is still relative velocity
between A and C.
• vC/A = 4 m/s
Rolling Wheel

Rotation Motion Translation Motion Plane Motion


Plane Motion – Example 12-9
Plane Motion – Example 12-9
Rolling Wheel – Example 12-10
Rolling Wheel – Example 12-10
Suggested Problem 12-32
The cylinder shown below is rolling to the right with a velocity of 6
m/s. For the instant shown, determine (a) the angular velocity of the
cylinder and (b) the linear velocity of point B.
Suggested Problem 12-33
The cylinder shown below is rolling to the right with a velocity of 8 m/s.
Determine the velocity of point B at the position shown.
Suggested Problem 12-34
A cord is wound in a slot of cylinder A. Mass B moves downwards
with a velocity of 6 m/s. Assume no slipping of the cylinder and
determine the velocities of points E and C on cylinder A. If B
drops 4 m, how far does cylinder A move to the right?
Instantaneous Center of Rotation
• Consider a rigid body with plane motion consisting of
movement downward and counter clockwise rotation
(absolute velocities of A, B and C shown)

• The body will appear to have pure rotation if it is viewed


from a point at which all the velocities are tangential
velocities.
• If you draw a ‘radius arm’ perpendicular to each velocity
from point O at the instant shown, the body would
appear to have pure rotation with respect to O.

• The point O about which all velocities appear as


tangential velocities is called the Instantaneous Center of
Rotation (ICR) and zero velocity.
Instantaneous Center of Rotation
• For the bar to remain in contact with the wall and
floor, A and B must have the velocities as shown.
• If you draw perpendiculars from VA and VB, the
intersection becomes the ICR
For any point on the bar,
V = rω
or ω = v/r

ω = VA/AO = VB/OB = VC /OC

Also,
ω = ωAB, ωOA = ωOB = ωAB

ωAB = VA/B/AB
ICR – Example 12-11
For the system shown, determine
(a) the angular velocity of AC,
(b) velocity of point A,
(c) angular velocity of roller B
ICR – Example 12-11
ICR – Example 12-11
ICR – Example 12-12
ICR – Example 12-12
ICR – Example 12-13
Suggested Problem - 12-49
Suggested Problem – 12-23
Suggested Problem - 12-49
Suggested Problem – 12-41
Suggested Problem – 12-54
Suggested Problem – 12-54
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Practice Question
15.65 Linkage DBEF is part of a windshield wiper mechanism, where points
O, F, and D are fixed pin connections. At the position shown, θ= 30° and link
EB is horizontal. Knowing that link EF has a counterclockwise angular velocity
of 4 rad/s at the instant shown, determine the angular velocity of links EB
and DB. Note that 20 mm and 30 mm are the lengths of members EF and BD
respectively (errata).
Practice Question
SUMMARY: Plane Motion
Hints for Problem Solving

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