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Dynamics 12-10

This document discusses analyzing the relative motion of two particles using translating reference frames. It provides objectives, activities, examples, and concepts related to determining relative position, velocity, and acceleration between two particles using vector equations and graphical methods. Translating reference frames allow analyzing motion from the perspective of one particle moving relative to another. Key equations relate the absolute and relative position, velocity, and acceleration of two particles using vector addition and subtraction.

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Abdullatif AlOmair
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© © All Rights Reserved
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222 views16 pages

Dynamics 12-10

This document discusses analyzing the relative motion of two particles using translating reference frames. It provides objectives, activities, examples, and concepts related to determining relative position, velocity, and acceleration between two particles using vector equations and graphical methods. Translating reference frames allow analyzing motion from the perspective of one particle moving relative to another. Key equations relate the absolute and relative position, velocity, and acceleration of two particles using vector addition and subtraction.

Uploaded by

Abdullatif AlOmair
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
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RELATIVE-MOTION ANALYSIS OF TWO PARTICLES

USING TRANSLATING AXES


Today’s Objectives:
Students will be able to:
1. Understand translating In-Class Activities:
frames of reference. • Applications
2. Use translating frames of • Relative Position, Velocity and
reference to analyze relative
motion. Acceleration
• Vector & Graphical Methods
• Concept Quiz
• Group Problem Solving
• Attention Quiz
READING QUIZ
1. The velocity of B relative to A is defined as

A) vB – vA . B) vA – vB .
C) vB + vA . D) vA + vB .

2. Since vector addition forms a triangle, there can be at


most _________ unknowns (either magnitudes and/or
directions of the vectors).

A) one B) two
C) three D) four
RELATIVE POSITION
(Section 12.10)
The absolute position of two
particles A and B with respect to
the fixed x, y, z reference frame are
given by rA and rB. The position of
B relative to A is represented by
rB/A = rB – rA

Therefore, if rB = (10 i + 2 j ) m
and rA = (4 i + 5 j ) m,
then rB/A = (6 i – 3 j ) m.
RELATIVE VELOCITY
To determine the relative velocity of B
with respect to A, the time derivative of
the relative position equation is taken.
vB/A = vB – vA
or
vB = vA + vB/A

In these equations, vB and vA are called absolute velocities


and vB/A is the relative velocity of B with respect to A.

Note that vB/A = - vA/B .


RELATIVE ACCELERATION

The time derivative of the relative


velocity equation yields a similar
vector relationship between the
absolute and relative accelerations of
particles A and B.
aB/A = aB – aA
or
aB = aA + aB/A
SOLVING PROBLEMS

Since the relative motion equations are vector equations,


problems involving them may be solved in one of two ways.
For instance, the velocity vectors in vB = vA + vB/A could be
written as Cartesian vectors and the resulting scalar
equations solved for up to two unknowns.

Alternatively, vector problems can be solved “graphically” by


use of trigonometry. This approach usually makes use of the
law of sines or the law of cosines.

Could a CAD system be used to solve these types of


problems?
LAWS OF SINES AND COSINES

Since vector addition or subtraction forms


C
a triangle, sine and cosine laws can be
a b
applied to solve for relative or absolute
velocities and accelerations. As review,
A
B their formulations are provided below.
c
Law of Sines: a b c
= =
sin A sin B sin C

Law of Cosines: a 2 = b 2 + c 2 - 2 bc cos A


b = a + c - 2 ac cos B
2 2 2

c = a + b - 2 ab cos C
2 2 2
EXAMPLE

Given: vA = 600 km/hr


vB = 700 km/hr
Find: vB/A

Plan:
a) Vector Method: Write vectors vA and vB in Cartesian
form, then determine vB – vA
b) Graphical Method: Draw vectors vA and vB from a
common point. Apply the laws of sines and cosines to
determine vB/A.
EXAMPLE
(continued)

Solution:
a) Vector Method:

vA = 600 cos 35 i – 600 sin 35 j


= (491.5 i – 344.1 j ) km/hr
vB = -700 i km/hr

vB/A = vB – vA = (- 1191.5 i + 344.1 j ) km/hr

vB /A =(1191. 5 )2 + ( 344.1 )2 = 1240. 2 km


hr
where q = tan
- 1 344 .1
( ) = 16.1 q
1191 . 5
EXAMPLE
(continued)
b) Graphical Method: vB = 700 km/hr
q
Note that the vector that measures 145 
the tip of B relative to A is vB/A.

Law of Cosines:
= + 600 - 2 ( 700)(600 )cos 145 
2 2 2
vB/A ( 700 ) ( )

vB/A = 1240 . 2 km
hr
Law of Sines:
vB/A vA
= or q = 16 . 1 
sin(145° ) sin q
CONCEPT QUIZ
1. Two particles, A and B, are moving in ft
the directions shown. What should be vB = 4 s
the angle q so that vB/A is minimum? q
B
A) 0° B) 180°
A vA = 3 ft s
C) 90° D) 270°

2. Determine the velocity of plane A with respect to plane B.


A) (400 i + 520 j ) km/hr
B) (1220 i - 300 j ) km/hr
30
C) (-181 i - 300 j ) km/hr
D) (-1220 i + 300 j ) km/hr
GROUP PROBLEM SOLVING

Given: vA = 10 m/s
vB = 18.5 m/s
(at)A = 5 m/s2
aB = 2 m/s2
Find: vA/B
aA/B

Plan: Write the velocity and acceleration vectors for A and B


and determine vA/B and aA/B by using vector equations.
Solution:
The velocity of A is:

vA = 10 cos(45)i – 10 sin(45)j = (7.07i – 7.07j) m/s


GROUP PROBLEM SOLVING
(continued)
The velocity of B is:

vB = 18.5i (m/s)

The relative velocity of A with respect to B is (vA/B):

vA/B = vA – vB = (7.07i – 7.07j) – (18.5i) = -11.43i – 7.07j

or vB/A = (11.43)2 + (7.07)2 = 13.4 m/s


7.07 q
q = tan-1( ) = 31.73°
11.43
GROUP PROBLEM SOLVING
(continued)
The acceleration of A is:
aA = (at)A + (an)A = [5 cos(45)i – 5 sin(45)j]
102 102
+ [-( ) sin(45)i – ( ) cos(45)j]
100 100
aA = 2.83i – 4.24j (m/s2)
The acceleration of B is:
aB = 2i (m/s2)
The relative acceleration of A with respect to B is:
aA/B = aA – aB = (2.83i – 4.24j) – (2i) = 0.83i – 4.24j

aA/B = (0.83)2 + (4.24)2 = 4.32 m/s2 b

b = tan-1( 4.24 ) = 78.9°


0.83
ATTENTION QUIZ
1. Determine the relative velocity of particle B with respect to
particle A. y
A) (48i + 30j) km/h
B
B) (- 48i + 30j ) km/h vB=100 km/h

C) (48i - 30j ) km/h 30 x


A
D) (- 48i - 30j ) km/h vA=60 km/h

2. If theta equals 90° and A and B start moving from the same
point, what is the magnitude of rB/A at t = 5 s?
ft
A) 20 ft vB = 4 s
B) 15 ft q
B
C) 18 ft
D) 25 ft A vA = 3 ft s

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