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6 views

3

Uploaded by

Franklin Daniel Xalxo
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Key Concepts:

1. Relative Velocity in Rigid Bodies:


In a rigid body, the relative velocity between two particles is always perpendicular to the line
joining those particles.
For a body with points O and A, the distance between them is OA = x2 + y 2 .
​

Differentiating the relation gives:


ẏ x
2xẋ + 2y ẏ = 0 ⇒ =−
​

ẋ y
​ ​ ​

This shows the velocity direction relationship.


2. Velocity Direction and Angles:
Vy
Let ẋ = Vx and ẏ = Vy , then
​ ​ ​

Vx ​
​ = − yx , representing the velocity direction.
​

The velocity forms an angle θ with the x-axis, where:


x
tan(θ) = − , θ = ϕ + 90∘
y
​

This shows that the velocity vector is at 90° to the line joining the two points (O and A).

Instantaneous Center of Rotation:


1. Mechanism Example - Slider and Rod:
In a mechanism with a slider A and pin-connected rod AB:
Point A slides horizontally, and point B slides vertically.
The instantaneous center of rotation is found by drawing perpendiculars from the
velocity vectors of points A and B. The intersection of these perpendiculars gives the
instantaneous center (point O).
2. Angular Velocity of the Rod:
The angular velocity ω of the rod can be found as:

VA V
= B ω=
​ ​

OA OB
​ ​

The velocity of any point C on the rod is ω × OC , and it is always perpendicular to line OC.
3. Four-Bar Mechanism:
In a four-bar mechanism:
Link 2's instantaneous center is at point A.
Link 4's instantaneous center is at point D.
For link 3 (BC), the instantaneous center is found by drawing velocity vectors for points B
and C. The perpendiculars to these velocities intersect at point O, which is the
instantaneous center of link 3.
The instantaneous center changes over time as the mechanism moves.

Slider Mechanism and Instantaneous Center at Infinity:


1. Slider Mechanism:
In a mechanism with a slider, the instantaneous center of rotation of the slider is at infinity.
A line perpendicular to the slider’s motion represents the direction where the instantaneous
center lies at infinity.
2. Rotating Body Dynamics:
For a rotating body with angular acceleration α and angular velocity ω , the relationship is:

α = −kω
This means angular acceleration decreases as angular velocity increases.
Solving the differential equation for ω over time gives an exponential relationship:
α0
ω(t) = (1 − e−kt )
​

k
​

As time approaches infinity, angular acceleration α becomes zero, and the system
reaches a steady-state angular velocity.

Conclusion:
The concepts of instantaneous center of rotation and angular velocity are crucial for analyzing
the motion of rigid bodies and mechanisms.
Using these principles, one can solve various problems related to rigid body motion, velocity,
angular velocity, and steady-state behavior using differential calculus.
These notes summarize the key ideas discussed regarding velocity, instantaneous center of rotation,
and angular velocity in mechanical systems.

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