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CH 16 B3 Note

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23 views

CH 16 B3 Note

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h rajab
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MAE 2600 Ch.

16 Planar Kinematics of a Rigid Body Section 16B-3 Page 1/1

Ch. 16 Planar Kinematics of a Rigid Body


Section 16B-1: 16.6 Section 16B-2: 16.7 Section 16B-3: 16.8a Section 16B-4: 16.8b
Class Note for Section 16B-3:
16.8a Relative-Motion Analysis Using Rotating Axes: Velocity
rB = rA + rB/A  vB = vA + drB/A/dt where rB/A = x i + y j
xy axes rotate with  measured in XY reference.
drB/A/dt = [(dx/dt) i + (dy/dt) j] + x (di/dt) + y (dj/dt)
= (vB/A)xy +  x (x i + y j) where (vB/A)xy = (vB/A)x i + (vB/A)y j
di/dt =  x i and dj/dt =  x j
vB = vA +  x rB/A + (vB/A)xy
Example Problems for Section 16B-3:
EP1. The ball B of negligible size rolls through the
tube such that at the instant shown it has a velocity of
3 ft/s, measured relative to the tube. If the tube has an
angular velocity of  = 3 rad/s at this same instant,
determine the velocity of the ball.
vO = 0,  = 3 k rad/s
rB/O = 2 i ft, (vB/O)xy = 3 i ft/s
vB = vO +  x rB/O + (vB/O)xy
= 0 + (3 k) x (2 i) + (3 i) = (3 i + 6 j) ft/s Ans.

EP2. At the instant shown rod AB has an angular


velocity AB = 3 rad/s. Determine the angular velocity
of link CD and the velocity of the collar measured
relative to the link AB at this instant. The collar at C
is pin-connected to CD and slides over AB.
For link CD: vC = vD +  x rC/D
rC/D = - 0.5 cos 60 i + 0.5 sin 60 j
= - 0.25 i + 0.433 j
vC = 0 + (CD k) x (- 0.25 i + 0.433 j)
= - 0.433CD i - 0.25CD j
For link AB: vC = vA +  x rC/A + (vC/A)xy
 = 3 k, rC/A = 0.75 i, (vC/A)xy = vC/A i
- 0.433CD i - 0.25CD j = 0 + (3 k) x (0.75 i) + vC/A i = 2.25 j + vC/A i
For j: - 0.25CD = 2.25  CD = - 9 = 9 rad/s (CW) Ans.
For i: vC/A = - 0.433CD = - 0.433(- 9) = 3.897 = 3.90 m/s Ans.

Homework #22 (Section 16B-3)

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