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Motion Relative To Rotating Axes

Motion relative to rotating axes -- dynamics

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Akın Özçelik
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14 views

Motion Relative To Rotating Axes

Motion relative to rotating axes -- dynamics

Uploaded by

Akın Özçelik
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Source : Engineering Mechanics Dynamics J. L. Meriam, L. G. Kraige, J. N.

Bolton
WILEY.
Motion Relative to Rotating Axes
We begin the description of motion using rotating axes by considering the plane motion of two
particles A and B in the fixed X-Y plane.
We observe motion of A from moving reference frame x-y which has its origin attached to B
and which rotates with angular velocity 𝜔 = 𝜃̇ . We may write this angular velocity as the
vector 𝛚 = 𝜔𝐤 = 𝜃̇ 𝐤 where the vector is normal to the plane of motion and its positive sense
is in the positive z-direction (out from the paper).

Absolute position vector of A is given by


rA = rB + r= rB + (xi+yj)
where i and j are unit vectors attached to the x-y frame and r = xi+yj stands for rA/B, the
position vector of A with respect to B.
-----------------------------------------------------------------------------------------------------

*****Main equations******
Relative Velocity
𝐯𝑨= 𝐯𝑩 + 𝝎 × 𝐫 + 𝐯𝒓𝒆𝒍
Relative Acceleration
𝐚𝑨 = 𝐚𝑩 + 𝝎̇ × 𝐫 + 𝛚 × (𝛚 × 𝐫) + 𝟐𝛚 × 𝐯𝒓𝒆𝒍 + 𝐚𝒓𝒆𝒍
Rotating versus Nonrotating Systems
𝐚𝐀= 𝐚𝑷 + 𝟐𝛚 × 𝐯𝐫𝐞𝐥 + 𝐚𝐫𝐞𝐥
Time derivatives of unit vectors
To obtain the velocity and acceleration equations we must successively differentiate the
position -vector equation with respect to time. Unit vectors i and j are now rotating with the x-
y axes and have time derivatives which must be evaluated.
Change in unit vectors during dt ------ reference axes rotate through an angle dƟ=dt

Differential change in i is di and it has the direction of j and magnitude equal to the angle dƟ
times the length of the vector i. di=dƟj.
For the unit vector j, change dj which points in negative x-direciton , so that dj= -dƟi. Dividing
by dt and replacing…

************************************************************************
Relative Velocity
Remember position vector ;
rA = rB + r= rB + (xi+yj)
Differentiation with respect to time …
𝑑
𝐫̇𝐴 = 𝐫̇𝐵 + (𝑥𝐢 + 𝑦𝐣)
𝑑𝑡
This differentiation result in
𝐯𝑨= 𝐯𝑩 + 𝝎 × 𝐫 + 𝐯𝒓𝒆𝒍

𝒙̇ 𝐢 + 𝒚̇ 𝒋 = 𝐯𝒓𝒆𝒍

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