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Planar Kinematics of A Rigid Body - Module 3

The document discusses planar kinematics of rigid bodies through absolute motion analysis. It provides examples of determining the velocity and acceleration of points on rigid bodies undergoing translation and rotation. In Example 1, the velocity and acceleration of the center of a rolling cylinder are calculated. Example 2 determines the angular velocity and acceleration of a window opening due to hydraulic cylinder extension. Example 3 finds the velocity, acceleration, and angular motion of an isosceles triangle component with one point constrained to horizontal motion and another attached to a vertically extending actuator.

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Arthur Satria Yahyadi
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80 views10 pages

Planar Kinematics of A Rigid Body - Module 3

The document discusses planar kinematics of rigid bodies through absolute motion analysis. It provides examples of determining the velocity and acceleration of points on rigid bodies undergoing translation and rotation. In Example 1, the velocity and acceleration of the center of a rolling cylinder are calculated. Example 2 determines the angular velocity and acceleration of a window opening due to hydraulic cylinder extension. Example 3 finds the velocity, acceleration, and angular motion of an isosceles triangle component with one point constrained to horizontal motion and another attached to a vertically extending actuator.

Uploaded by

Arthur Satria Yahyadi
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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AE2103 Kinematics and Dynamics

Planar Kinematics of a Rigid Body


Module 3 Absolute Motion Analysis
Ref: Engineering Mechanics: Dynamics, R.C. Hibbeler, 12th Ed. Chapter 16

L. Gunawan
Aerospace Engineering – FMAE ITB
2020
Planar Kinematics of a Rigid Body
Objectives Study Material
To classify the various types of rigid-body planar motion. - Planar Kinematics Module 1
- Hibbeler Sect 16.1
To investigate rigid-body translation and angular motion about a - Planar Kinematics Module 2
fixed axis. - Hibbeler Sect 16.2, 16.3
To study planar motion using an absolute motion analysis. - Planar Kinematics Module 3
- Hibbeler Sect 16.4
To provide a relative motion analysis of velocity and acceleration - Planar Kinematics Module 4
using a translating frame of reference. - Hibbeler Sect 16.5, 16.7
To determine the velocity of a point on a body by using the - Planar Kinematics Module 5
instantaneous center of zero velocity. - Hibbeler Sect 16.6
To provide a relative-motion analysis of velocity and acceleration - Planar Kinematics Module 6
using a rotating frame of reference. - Hibbeler Sect 16.8
Absolute Motion Analysis

Motion of a rigid body can be analyzed by:


- Modelling its position as a function of translation and/or angular motion, for
example by using coordinate x(t) for translation and q(t) for angular motion.
- Taking the time derivative of the position to determine its velocity,
- Taking the time derivative of velocity, or the second time derivative of
position, to determine its acceleration.
Example 1
At a given instant, the
cylinder of radius r has an
angular velocity and
angular acceleration .
Determine the velocity and
acceleration of its centre G if
the cylinder rolls without
slipping.
• Initially, wheel centre is located at G and its contact
with the floor is at A.
• If the wheel rotates without slipping, after a certain
amount of time, its new centre is at G’, its new point
of contact is at B, and the point at wheel that
initially coincides with A moves to A’
• Since the wheel moves without slipping, length GG’
= length AB = arch length A’B
sG = AB = arc length A’B

Displacement of wheel center, G:

Velocity of G:

Acceleration of G:
Example 2
The large window is opened
using a hydraulic cylinder AB. If
the cylinder extends at a
constant rate of 0.5 m/s,
determine the angular velocity
and angular acceleration of the
window at the instant .
• The window is opened by extending actuator AB,
• Window position, q(t), depends on actuator length s(t),
• Cosine Rule is used to state the relation between s(t)
and q(t):
𝑠 = 2 + 1 − 2 2 1 𝑐𝑜𝑠𝜃
𝑠 = 5 − 4𝑐𝑜𝑠𝜃
• Velocity is obtained by taking time derivative of
position:

2𝑠 𝑑𝑠⁄𝑑𝑡 = 4𝑠𝑖𝑛𝜃 𝑑𝜃⁄𝑑𝑡


𝑠
𝑑𝜃⁄𝑑𝑡 = ( ) 𝑑𝑠⁄𝑑𝑡
2𝑠𝑖𝑛𝜃
• Acceleration is obtained by taking time derivative
of velocity:
For q = 30o:
𝑠 = 5 − 4𝑐𝑜𝑠30 = 1.239
(𝑑𝑠⁄𝑑𝑡) +𝑠 𝑑 𝑠⁄𝑑𝑡 = 2𝑐𝑜𝑠𝜃(𝑑𝜃/𝑑𝑡) +2𝑠𝑖𝑛𝜃 𝑑 𝜃⁄𝑑𝑡
.
(𝑑𝑠⁄𝑑𝑡) +𝑠 𝑑 𝑠⁄𝑑𝑡 − 2𝑐𝑜𝑠𝜃(𝑑𝜃/𝑑𝑡) 𝑑𝜃⁄𝑑𝑡 = 0.5=0.6197 rad/s
𝑑 𝜃⁄𝑑𝑡 =
2𝑠𝑖𝑛𝜃 (0.5) +(1.239)(0) − 2𝑐𝑜𝑠30(0.6197)
𝑑 𝜃⁄𝑑𝑡 =
2𝑠𝑖𝑛30
= −0.415 𝑟𝑎𝑑/𝑠
Example 3
Point B of an isosceles triangle component
ABC is constrained to move only in
horizontal direction, and point A is
attached to the end of an hydraulic
actuator that can extend only in vertical
direction with constant speed of 0.3 m/s.
For q = 30o, determine:
1. Velocity and acceleration of B
2. Angular velocity and acceleration of BC
edge.
Position equation:
𝑥 +𝑦 =𝑏
Velocity:
2𝑥𝑥̇ + 2𝑦𝑦̇ = 0
Acceleration:
2𝑥̇ 𝑥̇ + 2x𝑥̈ + 2𝑦̇ 𝑦̇ + 2𝑦𝑦̈ = 0

Since 𝑦 = 𝑏 sin 𝜃, 𝑥 = 𝑏 cos 𝜃, and 𝑑 𝑦⁄𝑑𝑡 = 0, then:

Velocity:
𝑦
𝑣 = 𝑥̇ = − 𝑦̇ = −𝑣 𝑡𝑎𝑛𝜃
𝑥
Acceleration:
𝑥̇ 𝑥̇ + 𝑦̇ 𝑦̇ 𝑣 𝑡𝑎𝑛𝜃 + 𝑣 𝑣
𝑎 = 𝑥̈ = − =− = − 𝑠𝑒𝑐 𝜃
𝑥 𝑏𝑠𝑖𝑛𝜃 𝑏

By introducing vA = 0.3 m/s and q = 30o, it is obtained:

𝑣 = −0.3𝑡𝑎𝑛30 = −0.1732 𝑚/𝑠 Negative sign indicates that vB and aB directions


are to the right.
0.3
𝑎 =− 𝑠𝑒𝑐 30 = −0.693 𝑚/𝑠
0.2
Since ABC is a rigid body, its angular motion, velocity, and acceleration are the same all over the
body. Hence the angular velocity and acceleration of CB equal to those of AB:

By introducing the values of q, b and vA:

0.3
ω= = 1.732 𝑟𝑎𝑑/𝑠
0.2 𝑐𝑜𝑠30
0.3
𝛼= sec 30 𝑡𝑎𝑛30 = 1.732 𝑟𝑎𝑑/𝑠
0.2

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