Planar Kinematics

•  Identify class of rigid-body motion (unconstrained, constrained,

interconnected) and, if necessary, establish dependencies between
kinematic variables
•  Draw complete free-body diagrams, assign appropriate inertial coordinate
system, and label all known and unknown quantities
•  Apply governing equations for linear and angular momentum

Overview

•  General Plane Motion = Translation + Rotation

•  Equations of Motion: ΣF = ma G ΣM G = I G α
•  Alternatively,  ΣM G = H
ΣF = G G ( ΣM P
 G + ρ × ma G
=H )
G/P

where H G = IG ω is the angular momentum

•  For fixed axis rotation about a point O w/ distance d from G,

ΣM O = IOα I O = I G + md 2
•  Fixed axis rotation, cont.

v = rω v = ω×r
2 v2 a n = ω × (ω × r )
a n = rω = = vω
r at = α × r
a t = rα

•  Rolling: a contact force is required to prevent

slip and maintain the following kinematic
constraint: aG = αR

Note: vP = aP = 0!!! α
aG
mg

Fr
P Fn
•  rolling, cont … To better understand its kinematics, think of rolling as
combined translation & rotation:
The wheels of a bicycle have a radius of r meters. The bicycle is traveling
along a level road at a constant speed v m/s. Which one of the following
expressions may be used to determine the angular speed, in rev/min, of
the wheels?
v
a)
r
b) π v
30r
c) 30v
πr
d) 30v
2π r
60v
e)
πr
A wheel with radius r rolls inside a fixed y
nder (radius R) without slipping. Let P
Example
ote point 1: (From
on the rim ofHW) the wheel that is
act with the cylinder at time t = 0 (as
wn). AsAsthethe
inner cylinder
wheel rollswith
rolls (no slip),
a constant
its center of mass (pt. D) moves
ular velocity ω0, the
along a circle point RP –follows
of radius r. a path
that forms a “hypocycloid.”
Let θ and φ denote the angle of pts.
R
a)D and
What are the
P w.r.t. Cartesian
the centers components
of the two D ω0
ofcylinders, respectively.
the velocity vP(t) of point P? r
P
Suppose φ = ω0 is fixed, x

What are vD, θ , and θ = θ(t)?

5 Referring to the engine system illustrated on the right,

a crank AB rotates with C a constant clockwise angular
velocity of ω0 = 1000 rpm. Plot the velocity and
o
acceleration of theθ piston (P) for
D 0 ≤ θ ≤ 180 , ℓ = 8”, and
b = 3”.
φ
P
For rotation about a
fixed point, we know (  θ
)
v D/C = R − r θe C
eθ

For no slip rolling, v D/A = rω0 eθ θ D

Since both points C and

φ
A are stationary, A
P
v D/C ≡ v D/A ≡ v D ⇒ R − r θ = rω0
( )
 rω0
∴ v D = rω0 eθ θ =
R − r v = rω e
D 0 θ

C
  rω0 t
Since θ is constant θ = θt =
R−r D
Next, find vP v P = v D + v P/D eφ

v D = rω0 eθ φ
P
v P/D = rω0 e φ
∴ v P = rω0 {eθ + e φ }
Show that

*, $ rω t '., *, $ rω t '.,
( ) ( )
eθ = cosθ i + sin θ j = +cos & 0 )/ i + +sin & 0 )/ j
,- % R − r (,0 ,- % R − r (,0

( ) ( ) { ( )} { ( )} j
e φ = − cos φ i + sin φ j = −cos ω0 t i + sin ω0 t
Lastly, substitute this in to get the x- and y-components of vP = vP(t).

In part (b), you’ll need to integrate to get rP(t). You can do this by hand
or with Mathematica, Maple, etc.
Example 2: (Ex. in Sec. 5/3)

For the hydraulic mechanism what is

vC i.t.o. vB and θ?

C
θ/2
y
O From geometry:
B "θ%
y = 2bsin $ '
#2&
A
"θ%

⇒ y = bθcos $ '
#2&
%θ(
By definition, we also know 
v B ≡ − y ⇒ v B = −bθcos ' *
&2)
vB vB %θ(
∴ θ = − = − sec ' *
( )
bcos θ 2 b &2)
 et en
v C = v B + v C/B j
# θ & θ/2 C
= vB i − b% (et y
$2' O
B i
vB "θ%
= v B i + sec $ ' e t
2 #2&
"θ% "θ% A
e t = cos $ ' i + sin $ ' j
#2& #2&
vB vB "θ% "θ%
v C = v B i + i + sec $ ' sin $ ' j
2 2 #2& #2&
vB ( "θ% "θ% +
= )3i + sec $ ' sin $ ' j,
2 * #2& #2& -
 vB sin 2 θ 2
( )
vC = vC ⋅ vC = 9+
2 cos 2 θ 2
( )
vB 1− cos 2 θ 2
( )
= 9+
2 cos 2 θ 2
( )
How does vC compare to vB
vB # &
2 θ
∴ vC = 8 + sec % ( when θ is close to 0 or π/2?
2 $2'
Does this solution make
sense?