RIGID BODY DYNAMICS
MENG 233
___________________________________
DR QASIM ZEESHAN
ASSOCIATE PROFESSOR
DEPARTMENT OF MECHANICAL ENGINEERING
EASTERN MEDITERRANEAN UNIVERSITY
Office: ME141
Email: [email protected]
Tel: +90 392 6301361
Web: http://me.emu.edu.tr/zeeshan/
https://www.linkedin.com/in/qasim-zeeshan
LECTURE #1
RIGID BODY DYNAMICS
MENG 233
___________________________________
WEEK 4
LECTURE #1
RIGID BODY DYNAMICS
MENG 233
___________________________________
KINEMATICS OF PARTICLES
DEPENDANT MOTION
TRANSLATING FRAMES OF REFERENCE
LECTURE #1
Kinematics of Particles
We should be able to:
1. Relate the positions, velocities, and
accelerations of particles undergoing
dependent motion
2. Understand translating frames of
reference
3. Use translating frames of reference to
analyze relative motion
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Kinematics of Particles
DEPENDANT MOTION: APPLICATIONS
The cable and pulley system
shown here can be used to
modify the speed of block B
relative to the speed of the
motor. It is important to relate
the various motions in order to
determine the power
requirements for the motor and
the tension in the cable
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Kinematics of Particles
DEPENDANT MOTION: APPLICATIONS
Rope and pulley
arrangements are often used
to assist in lifting heavy
objects. The total lifting
force required from the
truck depends on the
acceleration of the cabinet
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Kinematics of Particles
DEPENDANT MOTION
In many kinematics problems, the motion of one object will depend on
the motion of another object
The blocks in this figure are
connected by an inextensible cord
wrapped around a pulley. If block A
moves downward along the inclined
plane, block B will move up the
other incline
The motion of each block can be related mathematically by defining
position coordinates, sA and sB. Each coordinate axis is defined from a
fixed point or datum line, measured positive along each plane in the
direction of motion of each block
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Kinematics of Particles
DEPENDANT MOTION
In this example, position
coordinates sA and sB can be
defined from fixed datum lines
extending from the center of the
pulley along each incline to blocks
A and B
If the cord has a fixed length, the position coordinates sA and sB are
related mathematically by the equation
sA + lCD + sB = lT
Here lT is the total cord length and lCD is the length of cord passing over
arc CD on the pulley
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Kinematics of Particles
DEPENDANT MOTION
The velocities of blocks A and B can
be related by differentiating the
position equation. Note that lCD and
lT remain constant,
so dlCD/dt = dlT/dt = 0
dsA/dt + dsB/dt = 0 => vB = -vA
The negative sign indicates that as A moves down the incline (positive
sA direction), B moves up the incline (negative sB direction)
Accelerations can be found by differentiating the velocity expression
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Kinematics of Particles
DEPENDANT MOTION: EXAMPLE
Consider a slightly more complicated
example. Position coordinates (sA and sB) are
defined from fixed datum lines, measured
along the direction of motion of each block
Note that sB is only defined to the center
of the pulley above block B, since this
block moves with the pulley. Also, h is a
constant
The red colored segments of the cord remain constant in length during
motion of the blocks
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Kinematics of Particles
DEPENDANT MOTION: EXAMPLE (CONT’D)
The position coordinates are related by
2sB + h + sA = l
Where l is the total cord length minus the
lengths of the red segments
Since l and h remain constant during the
motion, the velocities and accelerations can be
related by two successive time derivatives:
2vB = -vA and 2aB = -aA
When block B moves downward (+sB), block A moves to the left (-sA).
Remember to be consistent with the sign convention!
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Kinematics of Particles
DEPENDANT MOTION: EXAMPLE (CONT’D)
This example can also be worked by defining
the position coordinate for B (sB) from the
bottom pulley instead of the top pulley
The position, velocity, and
acceleration relations then become
2(h – sB) + h + sA = l
and 2vB = vA 2aB = aA
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Kinematics of Particles
REVISION
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Kinematics of Particles
DEPENDANT MOTION: PROCEDURE OF ANALYSIS
These procedures can be used to relate the dependent motion of particles
moving along rectilinear paths (only the magnitudes of velocity and
acceleration change, not their line of direction)
1) Define position coordinates from fixed datum lines, along the path
of each particle. Different datum lines can be used for each particle
2) Relate the position coordinates to the cord length. Segments of cord
that do not change in length during the motion may be left out
3) If a system contains more than one cord, relate the position of a point
on one cord to a point on another cord. Separate equations are
written for each cord
4) Differentiate the position coordinate equation(s) to relate velocities
and accelerations. Keep track of signs!
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Kinematics of Particles
DEPENDANT MOTION
Given: In the figure on the left, the cord at
A is pulled down with a speed of 8 ft/s
Find: The speed of block B
Plan: There are two cords involved in the motion in this
example. The position of a point on one cord must be related to
the position of a point on the other cord. There will be two
position equations (one for each cord)
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Kinematics of Particles
DEPENDANT MOTION
1) Define the position coordinates from a fixed datum line. Three
coordinates must be defined: one for point A (sA), one for block B (sB),
and one relating positions on the two cords. Note that pulley C relates
the motion of the two cords
•Define the datum line through the top pulley
Datum
(which has a fixed position).
DATUM
sA •sA can be defined to the center of the pulley
sC sB above point A.
•sB can be defined to the center of the pulley
above B.
•sC is defined to the center of pulley C.
•All coordinates are defined as positive down
and along the direction of motion of each
point/object.
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Kinematics of Particles
DEPENDANT MOTION
2) Write position/length equations for each cord. Define l1 as the length of the
first cord, minus any segments of constant length. Define l2 in a similar manner
for the second cord: Cord 1: 2s + 2s = l
A C 1
Cord 2: sB + (sB – sC) = l2
Datum 3) Eliminating sC between the two equations,
DATUM 2sA + 4sB = l1 + 2l2
sA
sC sB 4) Relate velocities by differentiating this
expression. Note that l1 and l2 are constant
lengths.
2vA + 4vB = 0
=> vB = - 0.5vA = - 0.5(8) = - 4 ft/s
The velocity of block B is 4 ft/s
up (negative sB direction).
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Kinematics of Particles
DEPENDANT MOTION
• Position coordinate
“cord equation”
s A 3 sB l
• Velocity
A 3B 0
A 3 B
A 3* 6 18 ft/s
• Acceleration
a A 3 aB 0
a A 3 aB
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Kinematics of Particles
DEPENDANT MOTION
• Position coordinate
“cord equation”
s A 2 sC l1 and sB (sB sC ) l2
s A 4 sB 2l2 l1 const
• Velocity
A 4B 0
A 4B 4 * 6 24 ft/s
• Acceleration
a A 4 aB 0
a A 4 aB
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Kinematics of Particles
DEPENDANT MOTION
Example
Position coordinate “cord equation”
sC sB l1
( s A sC ) ( sB sC ) sB l2
s A 4 sB 2l2 l1 const
A 4B 0
1 1
B B * 2 0.5 ft/s
4 4
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Kinematics of Particles
DEPENDANT MOTION
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Kinematics of Particles
DEPENDANT MOTION: EXAMPLE 12.22
• Establish a relation y = f(x)
l lDA lCD
lDA (15) 2 x 2 and lCD 15 y
30 (15) 2 x 2 (15 y ) Cord =30 m
y 225 x 2 15
s dy / dt and A dx / dt
dy 1 2x dx
s
dt 2 225 x 2 dt
x
S A
225 x 2
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Think about it…
http://www.technologystudent.com/gears1/pulley6.htm
PROBLEM
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SOLUTION
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PROBLEM
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SOLUTION
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PROBLEM
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SOLUTION
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SOLUTION
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RIGID BODY DYNAMICS
MENG 233
___________________________________
KINEMATICS OF PARTICLES
DEPENDANT MOTION
TRANSLATING FRAMES OF REFERENCE
LECTURE #1
Kinematics of Particles
Relative motion analysis of two particles using translating axis
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Kinematics of Particles
Relative motion analysis of two particles using translating axis
When you try to hit a moving object, the position, velocity, and
acceleration of the object must be known. Here, the boy
on the ground is at d = 10 ft when the girl in the window throws the ball
to him
If the boy on the ground is running at a constant speed of 4 ft/s,
how fast should the ball be thrown?
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Kinematics of Particles
Relative motion analysis of two particles using translating axis
When fighter jets take off or land on an
aircraft carrier, the velocity of the carrier
becomes an issue
If the aircraft carrier travels at a forward velocity of 50 km/hr and
plane A takes off at a horizontal air speed of 200 km/hr (measured by
someone on the water), how do we find the velocity of the plane
relative to the carrier?
How would you find the same thing for airplane B?
How does the wind impact this sort of situation?
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Kinematics of Particles
Relative motion analysis of two particles using translating axis
Relative Motion (Translating Axes)
- Consider two particles A and B. Both are
moving with respect to fixed axes X-Y
- The translating axes x-y is moving with
particle B
- The position vector of the particle A
measured relative to the x-y axes is
rA rB r A / B
(A/B means A with respect to B)
rA B x iˆ y ˆj
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Kinematics of Particles
Relative motion analysis of two particles using translating axis
If rB is the absolute position of B, then
rA rB rA B
Take derivative with respect to time :
rA rB rA B or VA VB VA B
and
rA rB rA B or aA aB aA B
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Kinematics of Particles
Relative motion analysis of two particles using translating axis
Relative position
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
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Kinematics of Particles
Relative motion analysis of two particles using translating axis
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 .
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Kinematics of Particles
Relative motion analysis of two particles using translating axis
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
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Kinematics of Particles
Relative motion analysis of two particles using translating axis
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.
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Laws of sines and cosines
Since vector addition or subtraction
C forms a triangle, sine and cosine laws can
a b be applied to solve for relative or
absolute velocities and accelerations.
A For review, their formulations are
B c provided below.
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
Kinematics of Particles
REVISION
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Kinematics of Particles
Relative motion analysis of two particles using translating axis
A B
160 km/h 180 km/h
VA VB VA/B
VA/B VA - VB 160 180 20 km/ h
VB VA VB/A
VB/A VB - VA 180 160 20 km/ h
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Kinematics of Particles
Relative motion analysis of two particles using translating axis
The passenger aircraft B is flying
y
east with velocity vB = 800 km/h. A
jet is traveling south with velocity vA Solution
v B 800 î
= 1200 km/h. What velocity does A x
appear to a passenger in B ?
vA B
vA 1200 ĵ
VA VB VA B
1200 ĵ 800 î v A B
VA B 800 iˆ 1200 ˆj
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Kinematics of Particles
Relative motion analysis of two particles using translating axis
The passenger aircraft B is flying
Absolute value : A / B 800 2 1200 2
east with velocity vB = 800 km/h. A
jet is traveling south with velocity vA 1442 km / h
= 1200 km/h. What velocity does A
appear to a passenger in B ? The direction of VA B y
VB 800 iˆ
x
vA B
VA 1200 ˆj
800
tan 33.7 West of South
1200
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Kinematics of Particles
Relative motion analysis of two particles using translating axis
T 60 mi/h
A 45 mi/h
Determine the magnitude and direction of relative velocity
of the Train with respect to the Automobile
VT VA VT/A
60 i (45 cos 45o i 45 sin 45o j) VT/A
VT/A { 28.2 i - 31.8 j} mi/h
T / A (28.2) 2 (31.8) 2 42.5 mi/h
(T / A ) y 31.8
tan
(T / A ) x 28.2
48.5o
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Kinematics of Particles
Relative motion analysis of two particles using translating axis
A 18 m/s , a A 2 m/s 2
B 12 m/s , a B 3 m/s 2
Determine the velocity and accelerati on of B with respect to A
VB VA VB/A
- 12 j (-18 cos 60o i 18 sin 60o j) VB/A
VB/A { 9 i 3.588 j} m/s
( B / A ) y 3.588
B / A (9) (3.558) 9.69 m/s tan 1
2 2
( B / A ) x
tan 1 (
9
)
21.7 o
a A {2 cos 60o i 2 sin 60o j}
2 (12) 2
aB an i at j - i - 3 j - i 3 j {1.44 i 3 j} m / s 2
100
a B a A a B/A
a B/A {-2.44 i - 4.732 j }
( B / A ) y
aB / A (2.44) 2 (4.732) 2 5.32 m/s 2 tan
4.732
62.7 o
( B / A ) x 2.44 47
PROBLEM
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SOLUTION
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SOLUTION
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PROBLEM
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SOLUTION
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SOLUTION
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PROBLEM
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SOLUTION
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QUESTIONS
THANK YOU
FOR YOUR
INTEREST
