51 Velocity
51 Velocity
Velocity
DR. ABHISHEK SARKAR
MECHANICAL ENGINEERING
BITS HYDERABAD
Angular Velocity
• We will consider angular velocity about a fixed
axis, and then generalize this to rotation about
an arbitrary, possibly moving axis with the aid of
skew symmetric matrices.
• Equipped with this general representation of
angular velocities, we will be able to derive
equations for both the angular velocity and the
linear velocity.
2
Angular Velocity
• When a rigid body moves in a
pure rotation about a fixed axis, 𝜔
perpendicular from any point
of the body to the axis sweeps
an angle 𝜃.
̰ is the unit vector in the
• 𝑘
direction of rotation. 𝑟
𝑣
• Angular velocity 𝜔 = 𝜃Ǘ 𝑘 ̰
3 • Linear velocity 𝑣 = 𝜔 × 𝑟
Derivative of Rotation Matrix
• A rotation matrix R is function of 𝜃, and 𝑅 𝜃
𝑅 𝜃 𝑅 𝜃 𝑇=𝐼
• Differentiating with respect to 𝜃
𝑑𝑅 𝜃 𝑑𝑅 𝜃 𝑇
𝑅 𝜃 𝑇+𝑅 𝜃 =0
𝑑𝜃 𝑑𝜃
𝑑𝑅 𝜃 𝑇
• Lets define 𝑆 = 𝑅 𝜃
𝑑𝜃
𝑑𝑅 𝜃 𝑇 𝑑𝑅 𝜃 𝑇
• Then 𝑆𝑇 = 𝑅 𝜃 𝑇 =𝑅 𝜃
𝑑𝜃 𝑑𝜃
4
Derivative of Rotation Matrix
• Therefore S is a skew-symmetric matrix
𝑆 + 𝑆𝑇 = 0
• Multiplying the equation of S with 𝑅 𝜃
𝑑𝑅 𝜃
𝑆𝑅 𝜃 = 𝑅 𝜃 𝑇𝑅 𝜃
𝑑𝜃
𝑑𝑅 𝜃
• Or = 𝑆𝑅 𝜃
𝑑𝜃
5
Example
1 0 0
• If 𝑅 = 𝑅𝑥 𝜃 = 0 𝑐𝑜𝑠𝜃 −𝑠𝑖𝑛𝜃
0 𝑠𝑖𝑛𝜃 𝑐𝑜𝑠𝜃
0 0 0 1 0 0
𝑑𝑅 𝜃
• Then 𝑆 = 𝑑𝜃
𝑅 𝜃 𝑇 = 0 −𝑠𝑖𝑛𝜃 −𝑐𝑜𝑠𝜃 0 𝑐𝑜𝑠𝜃 𝑠𝑖𝑛𝜃
0 𝑐𝑜𝑠𝜃 −𝑠𝑖𝑛𝜃 0 −𝑠𝑖𝑛𝜃 𝑐𝑜𝑠𝜃
0 0 0
= 0 0 −1 = 𝑆 𝑖
0 1 0
6
Example
• For Ry, rotation matrix about y,
0 0 1
𝑆 𝑗 = 0 0 0
−1 0 0
• For Rz, rotation matrix about z,
0 −1 0
𝑆 𝑘 = 1 0 0
0 0 0
7
Angular Velocity Matrix
• A 3D angular velocity vector 𝜔1 , 𝜔2 , 𝜔3 𝑇 is associated with a
skew symmetric matrix 𝐺 𝜔 𝐵 called the angular velocity matrix
0 −𝜔3 𝜔2
= 𝜔3
𝜔 0 −𝜔1 = 𝑆 𝜔 𝑡
−𝜔2 𝜔1 0
Suppose that a rotation matrix R is time varying; and assuming
that R(t) is continuously differentiable as a function of t.
• Thus, the time derivative is given by 𝑅Ǘ 𝑡 = 𝑆 𝜔 𝑡 𝑅 𝑡 .
8
Decomposition of
an angular velocity vector
• Every angular velocity vector can be decomposed to three
principal angular velocity vectors.
• 𝐺𝜔𝐵 = 𝐺 𝜔 𝐵 . 𝐼̰ . 𝐼̰ + 𝐺 𝜔
𝐵 . ̰
𝐽 .̰
𝐽 + 𝐺𝜔 ̰ .𝐾
𝐵 . 𝐾 ̰
= 𝜔𝑋 𝐼̰ + 𝜔𝑌 ̰ ̰
𝐽 + 𝜔𝑍 𝐾
= 𝜔𝑋 + 𝜔𝑌 + 𝜔𝑍
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Addition of angular Velocities
• Starting from a combination of rotations
0 0 1
𝑅2 = 𝑅1 𝑅2
• and taking derivative, we find
0 Ǘ 0 Ǘ 1 0 1
𝑅2 = 𝑅1 𝑅2 + 𝑅1 𝑅Ǘ 2
• Now, substituting the derivative of rotation matrices with the
0 Ǘ 0
matrix multiplication form 𝑅2 = 0𝜔 2 𝑅2
0 Ǘ 0
𝑅1 = 0𝜔 1 𝑅1
1 1
10 𝑅Ǘ 2 = 1𝜔
2 𝑅2
Addition of angular Velocities
• Results in
0 1 0 1
0𝜔
2 1 (0 𝑅1
𝑅2 = 0𝜔 𝑅2 ) + 𝑅1 1𝜔
2 𝑅2
0 0 0
= 0𝜔 1 𝑅2 + 𝑅1 1𝜔 2 (0 𝑅1𝑇 𝑅1 )1 𝑅2
0 0 𝑇 0
= 0𝜔 1 𝑅2 + (0 𝑅1 1𝜔 2 𝑅1 ) 𝑅2
0 0
= 0𝜔 1 𝑅2 + 01𝜔 2 𝑅2
0 0
• Where 𝑅1 1𝜔 2 𝑅1𝑇 = 01𝜔 2 [ 01𝜔
2 w.r.t the {0} coordinate frame]
• Therefore, 0𝜔
2 = 0𝜔1 + 01𝜔
2
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Addition of angular Velocities
• Which indicates that the angular velocities may be added
relatively
0
𝜔
0 2 = 𝜔
0 1 + 1 𝜔2
• This result also holds for any number of angular velocities.
0 0 0
𝜔
0 2 = 𝜔
0 1 + 𝜔
1 2 + 𝜔
2 3 +. . . + n−1 𝜔𝑛
0
= σ𝑛𝑖−1 i−1 𝜔𝑖
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Linear Velocity of a Point
Attached to a Moving Frame
• Then the coordinates of p with respect to the frame {0} are given
0 0 1
by 𝑝= 𝑅1 𝑡 𝑝
0
• The velocity 𝑝Ǘ is then given by the product rule for
0 0 Ǘ 1 0 1
differentiation as 𝑝Ǘ = 𝑅1 𝑡 𝑝+ 𝑅1 𝑡 𝑝Ǘ
0 0 1
=𝑆 𝜔 𝑅1 𝑡 𝑝
0 0 0 0
=𝑆 𝜔 𝑝= 𝜔× 𝑝
• Note that p is rigidly attached to frame {1}, and therefore its
1
coordinates relative to frame {1} do not change, giving 𝑝Ǘ = 0.
14
Rotation of a body point
about a global axis
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Geometric interpretation
𝐺 𝐺
𝐺 𝜔𝐵 • 𝑣𝑝 = 𝐺 𝜔𝐵 × 𝐵 𝑟𝑃
𝐺 Ǘ
{B} + 𝑑𝐵
𝑑Ǘ • The translational velocity
𝑣𝑃 𝐺 Ǘ
𝑑𝐵 is a common property
Br
𝐵 for every point of the body,
Gd 𝜔× 𝑟
B but the rotational
𝐺
P velocity 𝐺𝜔𝐵 × 𝐵 𝑟𝑃 differs
𝐺 for different points of the
𝑑Ǘ 𝐵 Gr
body.
{G} 18
Geometric interpretation
𝐺 𝐺
• 𝑣𝑝 = 𝐺 𝜔𝐵 × 𝐵 𝑟𝑃
𝐺 Ǘ
+ 𝑑𝐵
• The translational
𝐺
velocity 𝑑Ǘ 𝐵 is a common
property for every point of
the body, but the rotational
𝐺
velocity 𝐺 𝜔𝐵 × 𝐵 𝑟𝑃
differs for different points of
the body
19
Velocity in
a moving body frame
• Assume a point P is in frame B, represented by a time varying
position vector 𝐵 𝑟𝑃 𝑡
• The global velocity of P is a composition of the velocity of P in
B, rotation of B relative to G, and velocity of B relative to G.
𝐺 𝐺
𝑑 𝐺 𝑑 𝐺 𝐵 𝐺
𝑟𝑃 = 𝑅𝐵 𝑟𝑃 + 𝑑𝐵
𝑑𝑡 𝑑𝑡
𝐺 𝐺 𝐺
𝑑 𝐺 𝐵 𝐺 𝑑 𝐵 𝑑 𝐺
= 𝑅𝐵 𝑟𝑃 + 𝑅𝐵 𝑟𝑃 + 𝑑𝐵
𝑑𝑡 𝑑𝑡 𝑑𝑡
𝐺 𝐺 𝐺
= 𝐺 𝜔𝐵 × 𝐵 𝑟𝑃 + 𝐵 𝑟Ǘ𝑃 + 𝑑Ǘ 𝐵
20
Velocity in
a moving body frame
• The global
𝑃
coordinate of the
𝑍 𝐵1
body point P is
𝑋1 𝑌2 𝑟
0
𝑟𝑃 =
0
𝑑1 +
0 0 𝑋2
1 𝑑2 + 2 𝑟𝑃
𝐺 𝑍1
𝑑2
0 0 1 0 2
= 𝑑1 + 𝑅1 𝑑2 + 𝑅2 𝑟𝑃 𝑌1
𝑍2
𝑑1 𝐵2
𝑋 𝑌
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Velocity in
a moving body frame
• The velocity of point P
0 0 0 1 0 1 0 2
𝑟Ǘ𝑃 = 𝑑Ǘ1 + 𝑅Ǘ 1 𝑑2 + 𝑅1 𝑑Ǘ 2 + 𝑅2 𝑟Ǘ𝑃
0 0 0 0 1 0 0
= 𝑑Ǘ1 + 0 𝜔1 × 1 𝑑2 + 𝑅1 𝑑Ǘ 2 + 0 𝜔2 × 2 𝑟Ǘ𝑃
• It is better to write the equation in the relative velocity
0 0 0 0
expression 0 𝑣𝑃 = 0 𝑣1 + 1 𝑣2 + 2 𝑣𝑃
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