CHAPTER-16

PLANAR KINEMATICS OF A
RIGID BODY

Book:
▪ Engineering Mechanics Dynamics, R. C. Hibbeler, 14th Ed
 PLANAR KINEMATICS OF A RIGID BODY

• Planar Rigid Body Motion

• Translation

• Rotation About a Fixed Axis

• General Plane Motion

• Velocity Analysis of a Rigid Body

• Relative Velocity Method

• Instantaneous Center Method

• Acceleration Analysis of a Rigid Body

 RIGID BODY MOTION
• When all the particles of a rigid body move along paths which are equidistant from a fixed plane, the body
is said to undergo planar motion.

• There are three types of planar motion:

• Translation

• Rotation about a fixed axis

• General Plane Motion

 RIGID BODY MOTION
1. TRANSLATION:
• Translation occurs if any line segment on the body remains parallel to its original direction
during the motion
• When the paths of motion for any two particles of the body are along equidistant straight
lines, the motion is called rectilinear translation
• If the paths of motion are along curved lines which are equidistant the motion is called
curvilinear translation
 RIGID BODY MOTION
2. ROTATION ABOUT A FIXED AXIS:
• When a rigid body rotates about a fixed axis, all the particles of the body, except those
which lie on the axis of rotation, moves along circular paths.
 RIGID BODY MOTION
3. GENERAL PLANE MOTION ( COMPLEX MOTION):
• When a body is subjected to general plane motion, it undergoes a combination of
translation and rotation
• The translation occurs within a reference plane, and the rotation occurs about an axis
perpendicular to the reference plane
 PLANAR KINEMATICS OF A RIGID BODY

• Planar Rigid Body Motion

• Translation

• Rotation About a Fixed Axis

• General Plane Motion

• Velocity Analysis of a Rigid Body

• Relative Velocity Method

• Instantaneous Center Method

• Acceleration Analysis of a Rigid Body

 TRANSLATION

• Consider a rigid body which is subjected to either rectilinear or curvilinear translation in

the xy plane
Position:
• The location of points A and B are defined from the fixed xy reference frame by using
position vectors rA and rB
• The position of B with respect to A is denoted by the relative position vector rB/A
• By vector addition:
rB = rA + rB/A
 TRANSLATION

Velocity:
• A relationship between the instantaneous velocities of A and B is obtained by taking the time derivative of the
position equation, which yields:
vB = vA + ( d rB/A / dt )
• Here vB and vA denote absolute velocities
• The term ( d rB/A / dt ) = 0, since the magnitude of rB/A is constant by definition of a rigid body, and because
the body is translating the direction of rB/A is constant.
• Therefore:
vB = vA
 TRANSLATION

Acceleration:
• Taking the time derivative of the acceleration equation yields:
aB = aA
• The above two equations indicate that all points in a rigid body subjected to either curvilinear or rectilinear
translation move with the same velocity and acceleration
• So the kinematics of particle motion may be used to specify the kinematics of points located in a translating
rigid body
 PLANAR KINEMATICS OF A RIGID BODY

• Planar Rigid Body Motion

• Translation

• Rotation About a Fixed Axis

• General Plane Motion

• Velocity Analysis of a Rigid Body

• Relative Velocity Method

• Instantaneous Center Method

• Acceleration Analysis of a Rigid Body

 ROTATION ABOUT A FIXED AXIS
• When a body is rotating about a fixed axis, any point P located in the body travels
along a circular path.

Angular Motion:
• Since a point is without dimension, it has no angular motion
• Only lines and bodies undergo angular motion
• Consider the body shown in the figure and the angular motion of a radial line r.

Angular Position:
• At any instant, the angular position of r is defined by the angle θ measured between a
fixed reference line and r.

Angular Displacement:
• The change in angular position, which can be measured as a differential dθ, is called
the angular displacement.
 ROTATION ABOUT A FIXED AXIS
Angular Velocity:
• The time rate of change in the angular position is called the angular velocity ω
• Its magnitude is:
ω = dθ / dt -----------------------------(1)

Angular Acceleration:
• The angular acceleration α measures the time rate of change of the angular
velocity.
• Its magnitude is:
α = dω / dt -------------------------------(2)
or α = d2θ / dt2 ------------------------------(3)
• The line of action of α is same as that for ω, however, its sense of direction
depends on whether ω is increasing or decreasing with time.
 ROTATION ABOUT A FIXED AXIS
• By eliminating dt from equations (1) and (2), we get:
α dθ = ω dω ----------------------------(4)

• Similarity between the differential relations for angular motion and those developed
for rectilinear motion of a particle

Constant angular acceleration:

• If the angular acceleration of the body is constant, α = αc, then eq (1), (2) and (4)
when integrated, yield a set of formulas which relate the body’s angular velocity,
angular position and time. The results are:

ω = ω0 + αct -----------------------------------(5)
θ = θ0 + ω0t + (1/2) αct2 ----------------------(6)
ω2 = ω02 + 2 αc (θ – θ0 ) ------------------------(7)
 ROTATION ABOUT A FIXED AXIS

Motion of Point P:

• As the rigid body rotates, point P travels along a circular path of radius r and center at
point O.

Position:
• The position of P is defined by the position vector r, which extends from O to P.
 ROTATION ABOUT A FIXED AXIS
Velocity:

• The velocity of P has a magnitude which can be determined

from the circular motion of P using its polar coordinate
components vr = r0 and vθ = rθ0
• Since r is constant, the radial component vr = 0, so that v = vθ =
rθ0
• Because ω = θ0, therefore:
v = ωr
• The direction of v is tangent to the circular path.
• Both the magnitude and direction of v can also be found by
using the cross product of w and r:

v=ωxr
 ROTATION ABOUT A FIXED AXIS
Acceleration:
• The acceleration of P can be expressed in terms of its normal and
tangential components
• Using at = dv /dt, an = v2 / ζ, noting that ζ = r, v = ω r, and α = dω /dt,
we have:
at = α r
an = ω 2 r
• The tangential component of acceleration represents the time rate of
change in the velocity’s magnitude. If the speed of P is increasing, then
at acts in the same direction as v; if the speed is decreasing, at acts in
the opposite direction of v; and if the speed is constant, at = 0
• The normal component of acceleration represents the time rate of
change in the velocity’s direction. The direction of an is always towards
O, the center of the circular path
 ROTATION ABOUT A FIXED AXIS
Acceleration:

• Like the velocity, the acceleration of point P may be expressed in

terms of the vector cross product.

• Since dω/dt = α and dr/dt = v = ω x r, so the above equation

becomes:
a = α x r + ω x (ω x r )
• In terms of the components, a can be expressed as:
a = at + an
a = α x r – ω2 r
 ROTATION ABOUT A FIXED AXIS

Examples:
16.1, 16.2

Fundamental Problems:
F16.1, F16.3, F16.5

Practice Problems:
16.9, 16.13, 16.20, 16.22, 16.31
EXAMPLE 16-1
A cord is wrapped around a wheel which is initially at rest as shown. If a force is applied to the
cord and gives it an acceleration a = (4t) m/s2, where ‘t’ is in seconds, determine as a function
of time (a) the angular velocity of the wheel (b) the angular position of the line OP in radians
EXAMPLE 16-2
The motor shown in the photo is used to turn a wheel and attached blower contained within the
housing. The details of the design are shown in Fig. If the pulley A connected to the motor
begins to rotate from rest with a constant angular acceleration of αA = 2 rad/s2, determine the
magnitudes of the velocity and acceleration of point P on the wheel, after the pulley A has
turned two revolutions. Assume the transmission belt does not slip on the pulley and wheel.
PROBLEM 16-20
A motor gives gear A an angular acceleration of αA = (4t3) rad/s2, where t is in seconds. If
this gear is initially turning at (ωA)0 = 20 rad/s, determine the angular velocity of gear B
when t = 2 s.
 PLANAR KINEMATICS OF A RIGID BODY

• Planar Rigid Body Motion

• Translation

• Rotation About a Fixed Axis

• General Plane Motion

• Velocity Analysis of a Rigid Body

• Relative Velocity Method

• Instantaneous Center Method

• Acceleration Analysis of a Rigid Body

 RELATIVE MOTION ANALYSIS: VELOCITY

• General plane motion consists of a combination of translation and rotation

• So it is often convenient to view these components separately using a relative-motion
analysis.
• Two set of coordinate axes will be used to do this
• The x, y coordinate system is fixed and will be used to measure the absolute positions,
velocities and accelerations of two points A and B on the body
• The origin of the x’, y’ coordinate system will be attached to the selected “base point” A,
which generally has a known motion
• The axes of this coordinate system are not fixed to the body, rather they will be allowed to
translate with respect to the fixed frame
 RELATIVE MOTION ANALYSIS: VELOCITY

POSITION:
• The position vector rA (above figure) specifies the location of the base point A, whereas the
relative position vector rB/A locates point B on the body with respect to A.
• By vector addition, the position of B is then:
rB = rA + rB/A
 RELATIVE MOTION ANALYSIS: VELOCITY

DISPLACEMENT:
• During an instant dt, points A and B undergo displacements drA and drB as shown.
• The entire body first translates by an amount drA so that A, the base point, moves to its final position and B
moves to B’.
• The body is then rotated by an amount dθ about A, so that B’ undergoes a relative displacement drB/A and thus
moves to its final position B.
• Since the body is rigid, rB/A has a fixed magnitude, and thus drB/A accounts only for a change in the direction of
rB/A
• Due to rotation about A the magnitude of the relative displacement is drB/A = rB/A dθ, and the displacement of B
is thus:
drB = drA + drB/A
 RELATIVE MOTION ANALYSIS: VELOCITY

VELOCITY:
• To determine the relationship between the velocities of points A and B, it is necessary to
take the time derivative of position equation, i.e.
(drB / dt) = (drA /dt) + (drB/A /dt)
• Since (drB / dt) = vB, and (drA /dt) = vA,
• The magnitude of the third term is (rB/A dθ /dt) = rB/A θ0 = rB/A ω
• We therefore have:
vB = vA + vB/A
vB = vA + ω x rB/A
 RELATIVE MOTION ANALYSIS: VELOCITY
Examples:
16.6, 16.7, 16.8

Fundamental Problems:
F16.7, F16.10, F16.101

Practice Problems:
16.59, 16.60, 16.63, 16.68, 16.72, 16.79
EXAMPLE 16-6
The link shown is guided by two blocks A and B which move in the fixed slots. If the velocity
of A is 2 m/s downward, determine the velocity of B at the instant θ = 45º
EXAMPLE 16-8
The collar C is moving downward with a velocity of 2 m/s. Determine the angular velocities of
CB and AB at this instant.
PROBLEM 16-68
Knowing that angular velocity of link AB is ωAB = 4 rad/s, determine the velocity of the collar at C and the
angular velocity of link CB at the instant shown. Link CB is horizontal at this instant.
PROBLEM 16-79
The mechanism shown is used in a riveting machine. It consists of a driving piston A, three links, and a riveter
which is attached to the slider block D. Determine the velocity of D at the instant shown, when the piston at A is
traveling at vA = 20 m/s.
 PLANAR KINEMATICS OF A RIGID BODY

• Planar Rigid Body Motion

• Translation

• Rotation About a Fixed Axis

• General Plane Motion

• Velocity Analysis of a Rigid Body

• Relative Velocity Method

• Instantaneous Center Method

• Acceleration Analysis of a Rigid Body

 INSTANTANEOUS CENTER (IC) OF ZERO VELOCITY
• The velocity of any point B located on a rigid body can be obtained in a simple way if one
chooses the base point A to be a point that has zero velocity at the instant considered.

• In this case vA = 0, and therefore the velocity equation, vB = vA + ω x rB/A, becomes

vB = ω x rB/A

• For a body having general plane motion, point A so chosen is called the instantaneous
center of zero velocity (IC) and it lies on the instantaneous axis of zero velocity.

• This axis is always perpendicular to the plane used to represent the motion, and the
intersection of the axis with this plane defines the location of the IC.
 INSTANTANEOUS CENTER (IC) OF ZERO VELOCITY
• Since point A is coincident with the IC, then vB = ω x rB/IC and so point B moves
momentarily about the IC in a circular path; in other words, the body appears to rotate
about the instantaneous axis.

• The magnitude of vB is simply vB = ωrB/IC, where ω is the angular velocity of the body.

• Due to circular motion, the direction of vB must always be perpendicular to rB/IC.

• When a body is subjected to general plane motion, the point determines as the
instantaneous center of zero velocity for the body can only be used for an instant of time.

• Since the body changes its position from one instant to the next, then for each position of
the body a unique instantaneous center must be determined.
 LOCATION OF INSTANTANEOUS CENTER (IC)
• If the location of the IC is unknown, it may be determined by using the fact that the relative
position vector extending from the IC to a point is always perpendicular to the velocity of the
point. Folowing possibilities exist:
1. Given the velocity vA of a point A on the body and the angular velocity ω of the body:

• In this case, the IC is located along the line drawn perpendicular to vA at A, such that the distance
from A to the IC is rA/IC = vA / ω.
• Note that the IC lies up and to the right of A since vA must cause a clockwise angular ω about the
IC.
 LOCATION OF INSTANTANEOUS CENTER (IC)
2. Given the lines of action of two non-parallel velocities vA and
vB
• Consider the body shown where the lines of action of the
velocities vA and vB are known
• From each of these lines construct at points A and B line
segments that are perpendicular to vA and vB and therefore define
the lines of action of rA/IC and rB/IC respectively.
• Extending these perpendiculars to their point of intersection
locates the IC at the instant considered.
• The magnitudes of rA/IC and rB/IC are generally determined from
the geometry of the body and trigonometry.
• Furthermore, if the magnitude and sense of vA are known, then
the angular velocity of the body is determined from ω = vA / rA/IC.
• Once computed, ω can then be used to determine vB = ωrB/IC
 LOCATION OF INSTANTANEOUS CENTER (IC)

3. Given the magnitude and direction of two parallel velocities vA and vB

• When the velocities of points A and B are parallel and have known magnitudes vA and vB then the location of
the IC is determined by proportional triangles.
• Examples are shown in figures (a) and (b). In both cases rA/IC = vA/ω and rB/IC = vB/ω
• If d is a known distance between points A and B, then from figure (a) rA/IC + rB/IC = d, and from figure (b)
rB/IC – rA/IC = d
• As a special case, note that if the body is translating, vA = vB and the IC would be located at infinity, in which
case rA/IC = rB/IC --- ∞.
• This being the case, ω = vA/∞ = vB/∞ = 0
 INSTANTANEOUS CENTER (IC) OF ZERO VELOCITY

Examples:
16.19, 16.10, 16.11, 16.12

Fundamental Problems:
F16.14, F16.15, F16.18

Practice Problems:
16.82, 16.83, 16-87, 16.88, 16.96, 16.99
EXAMPLE 16-11
Block D moves with a speed of 3 m/s. Determine the angular velocities of links BD and AD,
at the instant shown.
EXAMPLE 16-13
The crankshaft AB turns with a clockwise angular velocity of 10 rad/s. Determine the velocity
of the piston at the instant shown.
PROBLEM 16-87
If rod CD is rotating with an angular velocity ωCD = 4 rad/s, determine the angular velocities of
rods AB and CB at the instant shown.
PROBLEM 16-99
The crankshaft AB rotates at ωAB = 50 rad/s about the fixed axis through point A, and the disk
at C is held fixed in its support at E. Determine the angular velocity of rod CD at the instant
shown.
 PLANAR KINEMATICS OF A RIGID BODY

• Planar Rigid Body Motion

• Translation

• Rotation About a Fixed Axis

• General Plane Motion

• Velocity Analysis of a Rigid Body

• Relative Velocity Method

• Instantaneous Center Method

• Acceleration Analysis of a Rigid Body

 RELATIVE MOTION ANALYSIS: ACCELERATION

• The acceleration of two points on a rigid body subjected to general plane motion may be determined by
differentiating the velocity equation vB = vA + vB/A

(dvB / dt) = (dvA /dt) + (dvB/A /dt)

• Since (dvB / dt) = aB, (dvA /dt) = aA, and (dvB/A /dt) = aB/A
• We therefore have:
aB = aA + aB/A

aB = aA + (aB/A)t + (aB/A)n

aB = aA + (α x rB/A) – ω2 rB/A
 RELATIVE MOTION ANALYSIS: ACCELERATION
Examples:
16.13, 16.16, 16.17

Fundamental Problems:
F16.19, F16.23, F16.24

Practice Problems:
16.106, 16.107, 16.111, 16.127, 16.128
EXAMPLE 16-13
The rod AB is confined to move along the inclined planes at A and B. If point A has an
acceleration of 3 m/s2 and a velocity of 2 m/s, both directed down the plane at the instant the rod
becomes horizontal, determine the angular acceleration of the rod at this instant.
EXAMPLE 16-16
The collar C is moving downward with an acceleration of 1 m/s2. At this instant it has a speed of
2 m/s which gives links CB and AB an angular velocity ωAB= ωCB= 10 rad/s. Determine the
angular accelerations of CB and AB at this instant.
EXAMPLE 16-17
The crankshaft AB of an engine turns with a clockwise angular acceleration of 20 rad/s2.
Determine the acceleration of the piston at the instant AB is in the position shown. At this
instant ωAB=10 rad/s and ωBC=2.43 rad/s.
PROBLEM 16-107
At a given instant the roller A on the bar has the velocity and acceleration shown. Determine
the velocity and acceleration of the roller B, and the bar’s angular velocity and angular
acceleration at this instant.
PROBLEM 16-128
The slider block moves with a velocity of vB = 5 ft/s and an acceleration of aB = 3 ft/s2.
Determine the acceleration of A at the instant shown.