Engineering Mechanics:

Dynamics in SI Units, 12e

Chapter 16
Planar Kinematics of a Rigid Body
Copyright © 2010 Pearson Education South Asia Pte Ltd
Chapter Objectives

 Classify various types of rigid-body planar motion

 Investigate rigid-body translation and analyze motion about
a fixed axis
 Study planar motion using an absolute motion analysis
 Analysis of velocity and acceleration using a translating
frame of reference
 Find the instantaneous center of zero velocity and
determine the velocity of a point on a body using this
method
 Provide a relative-motion analysis of velocity and
acceleration using a rotating frame of reference

Copyright © 2010 Pearson Education South Asia Pte Ltd

Chapter Outline

1. Rigid-Body Motion
2. Translation
3. Rotation about a Fixed Axis
4. Absolute Motion Analysis
5. Relative-Motion Analysis: Velocity
6. Instantaneous Center of Zero Velocity
7. Relative-Motion Analysis: Acceleration
8. Relative-Motion Analysis Using Rotating Axis

Copyright © 2010 Pearson Education South Asia Pte Ltd

16.1 Planar Rigid-Body Motion

 When all the particles of a rigid body move along

paths which are equidistant from a fixed plane,
the body is undergoing planar motion
 3 types of rigid body planar motion:

1) Translation
 When every line segment on the body remains
parallel to it original direction during the motion

Copyright © 2010 Pearson Education South Asia Pte Ltd

16.1 Planar Rigid-Body Motion

1) Translation
 Rectilinear translation - when two particles paths
of motion are along equidistant straight lines
 Curvilinear translation - when paths of motion are
along curves lines are equidistant

Copyright © 2010 Pearson Education South Asia Pte Ltd

16.1 Planar 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 on the axis of
rotation, move along circular paths
3) General Plane Motion
 When a body is subjected to general plane
motion, there is a combination of translation and
rotation

Copyright © 2010 Pearson Education South Asia Pte Ltd

16.2 Translation

Position
 By vector addition,rB  rA  rB / A
Velocity
 Since magnitude of rB/A is constant due to rigid
body, v B  v A
Acceleration
 Time derivative of
velocity equation yields a B  a A

Copyright © 2010 Pearson Education South Asia Pte Ltd

16.3 Rotation about a Fixed Axis

Angular Motion
 Only lines or bodies undergo angular motion

Angular Position
 Angular position of r is defined by θ

Angular Displacement
 Change in the angular position
measured as a differential dθ

Copyright © 2010 Pearson Education South Asia Pte Ltd

16.3 Rotation about a Fixed Axis

Angular Velocity
 Time rate of change in the angular position
 Since dθ occurs during an instant of time dt,

( +)   d 
dt
Angular Acceleration
 Time rate of change of the
angular velocity
d d 2
 Magnitude of vector is    2 ( +)
dt dt

Copyright © 2010 Pearson Education South Asia Pte Ltd

16.3 Rotation about a Fixed Axis

Angular Acceleration
 Differential relation between the angular
acceleration, angular velocity and angular
displacement is
 d   d ( +)
Constant Angular Acceleration
( +)   0   ct
1 2
( +)    0  0t   ct
2
+)   0  2 c (   0 )
2 2
(
Copyright © 2010 Pearson Education South Asia Pte Ltd
16.3 Rotation about a Fixed Axis

Motion of Point P
 Point P travels along a circular path of radius r
and center at center at point O
Position
 P is defined by the position vector r
Velocity
 The velocity of P is v  r
 By using the cross product,
v    rp

Copyright © 2010 Pearson Education South Asia Pte Ltd

16.3 Rotation about a Fixed Axis

Acceleration
 Acceleration of P can be expressed as

at  r ; an   2t
 For acceleration in vector form,
a  at  an    r   r 2

 Magnitude of acceleration is
a 2
an  at
2

Copyright © 2010 Pearson Education South Asia Pte Ltd

16.3 Rotation about a Fixed Axis

Procedure for Analysis

Angular Motion
 Establish the positive sense of direction along
the axis of rotation
 When relationship is known between any two of
the four variables α, ω, θ and t, we can use

d d
   d   d
dt dt

Copyright © 2010 Pearson Education South Asia Pte Ltd

16.3 Rotation about a Fixed Axis

Procedure for Analysis

Angular Motion
 When body’s angular acceleration is constant,

  0   ct
1 2
   0  0t   ct
2
 2  02  2 c (   0 )

 Sense of α, ω and θ is determined from algebraic

signs of their numerical quantities
Copyright © 2010 Pearson Education South Asia Pte Ltd
16.3 Rotation about a Fixed Axis

Procedure for Analysis

Motion of P
 Velocity of P and its two components of
acceleration can be determined from the scalar
equations
v  r at   r an   2
t
 If geometry of the problem is difficult to visualize,
we use v   r   r P
at    rP    r
a n    (  rP )   2r
Copyright © 2010 Pearson Education South Asia Pte Ltd
Example 16.1

A cord is wrapped around a wheel which is initially at

rest. 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, and (b) the angular position of
the line OP in radians.

Copyright © 2010 Pearson Education South Asia Pte Ltd

Example 16.1

Solution
Part (a)
The wheel is subjected to rotation about a fixed axis
passing through point O.
Acceleration of Point P has both tangential and
normal components.
Angular acceleration of the wheel is
+ (aP )t   r
(4t )   (0.2)
  20t rad/s2
Copyright © 2010 Pearson Education South Asia Pte Ltd
Example 16.1

Solution
Part (a)
Integrating with the initial condition that ω = 0, t = 0,
+ d
  (20t )
dt
 t
 0
d   20t dt
0

  10t rad/s2

Copyright © 2010 Pearson Education South Asia Pte Ltd

Example 16.1

Solution
Part (b)
Angular position θ of OP can be found from
ω = dθ/dt
Integrating with the initial condition θ = 0 at t = 0,
d
+    (10t )
2

dt
 t
0
d   10t 2 dt
0

  3.33t 3 rad

Copyright © 2010 Pearson Education South Asia Pte Ltd

16.5 Relative-Motion Analysis: Velocity

 The general plane motion of a rigid body can be

a combination of translation and rotation
 We use a relative-motion analysis involving two
sets of coordinate axes
 X’, Y’ coordinate system has a known motion
 The axes of this coordinate
system will only be allowed
to translate with respect to
the fixed frame

Copyright © 2010 Pearson Education South Asia Pte Ltd

16.5 Relative-Motion Analysis: Velocity

Position
 Position vector rA specifies the location of the
“base point” A, and the rB/A locates point B with
respect to point A
 By vector addition, the position of B is
rB  rA  rB / A
Displacement
 A and B undergo
displacements drA and drB

Copyright © 2010 Pearson Education South Asia Pte Ltd

16.5 Relative-Motion Analysis: Velocity

Displacement
 Due to the rotation about A, drB/A = rB/A dθ, and
the displacement of B is
drB  drA  drB / A

due to rotation about A

due to translation about A
due to translation and rotation

Copyright © 2010 Pearson Education South Asia Pte Ltd

16.5 Relative-Motion Analysis: Velocity

Velocity
 To determine the relationship between the
velocities of points A and B,
drB drA drB / A
 
dt dt dt

Copyright © 2010 Pearson Education South Asia Pte Ltd

16.5 Relative-Motion Analysis: Velocity

Velocity
 vB/A has a magnitude of vB/A = ωrB/A and a
direction which is perpendicular to rB/A
vB  v A  vB / A

Copyright © 2010 Pearson Education South Asia Pte Ltd

16.5 Relative-Motion Analysis: Velocity

Velocity
 vB is determined by considering the entire body
to translate with a velocity of vA, and rotate about
A with an angular velocity ω
 Vector addition of these two effects, applied to B,
yields vB
 vB/A represents the effect of circular motion,
about A. It can be expressed by the cross
product
v B  v A    rB / A

Copyright © 2010 Pearson Education South Asia Pte Ltd

16.5 Relative-Motion Analysis: Velocity

Velocity
 Point A on link AB must move along a horizontal
path, whereas point B moves on a circular path

 The wheel rolls without slipping

where point A can be
selected at the ground

Copyright © 2010 Pearson Education South Asia Pte Ltd

16.5 Relative-Motion Analysis: Velocity

Procedure for Analysis

VECTOR ANALYSIS
Kinematics Diagram
 Establish directions of the fixed x, y coordinates
and draw kinematics diagram of the body
 When magnitude of vA, vB or ω are unknown, the
sense of the direction may be assumed

Copyright © 2010 Pearson Education South Asia Pte Ltd

16.5 Relative-Motion Analysis: Velocity

Procedure for Analysis

VECTOR ANALYSIS
Velocity Equation
 To apply vB = vA + ω x rB/A, express the vectors
in Cartesian vector form and substitute them into
the equation
 If the solution is negative answer for an unknown
magnitude, it indicates the sense of direction of
the vector is opposite

Copyright © 2010 Pearson Education South Asia Pte Ltd

16.5 Relative-Motion Analysis: Velocity

Procedure for Analysis

SCALAR ANALYSIS
Kinematics Diagram
 If the velocity equation is to be applied in scalar
form, then the magnitude and direction of the
relative velocity vB/A must be established.
 Draw a kinematics diagram, which shows the
relative motion. Since the body is considered to
be “pinned” momentarily at the base point A, the
magnitude is vB/A = ωrB/A

Copyright © 2010 Pearson Education South Asia Pte Ltd

16.5 Relative-Motion Analysis: Velocity

Procedure for Analysis

SCALAR ANALYSIS
Velocity Equation
 Write v B  v A  v B / A in symbolic form, and
underneath each of the terms represent the
vectors graphically by showing their magnitudes
and directions. The scalar equations are
determined from the x and y components of
these vectors

Copyright © 2010 Pearson Education South Asia Pte Ltd

16.5 Relative-Motion Analysis: Velocity

Procedure for Analysis

SCALAR ANALYSIS
Kinematics Diagram
 The sense of the direction of vB/A is established
from the diagram, such that vB/A acts
perpendicular to rB/A in accordance with the
rotational motion ω of the body.

Copyright © 2010 Pearson Education South Asia Pte Ltd

Example 16.6

The link is guided by two block 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 = 45°.

Copyright © 2010 Pearson Education South Asia Pte Ltd

Example 16.6

Solution
Vector Analysis
Kinematic Diagram
Since points A and B are restricted to move and vA
is directed downward, vB must be directed
horizontally to the right.

Copyright © 2010 Pearson Education South Asia Pte Ltd

Example 16.6

Solution
Vector Analysis
Kinematic Diagram
This motion causes the link to rotate CCW
Apply the velocity equation v B  v A  v B / A to points
A and B in order to solve for the two unknown
magnitudes vB and ω

Copyright © 2010 Pearson Education South Asia Pte Ltd

Example 16.6

Solution
Vector Analysis
Velocity Equation
We have v B  v A    rB / A
vB i  2 j  [k  (0.2 sin 45 i  0.2 cos 45 j)]
 
vB i  2 j  0.2 sin 45 j  0.2 cos 45 i
Equating the i and j components gives
vB  0.2 cos45
0  2  0.2 sin 45    14.1 rad/s , vB  2 m/s
Copyright © 2010 Pearson Education South Asia Pte Ltd
Example 16.8

The link is guided by two block 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 = 45°.

Copyright © 2010 Pearson Education South Asia Pte Ltd

Example 16.6

Solution
Vector Analysis
Kinematic Diagram
CB and AB rotate counterclockwise.
Velocity Equation
Link CB (general plane motion):
v B  v C  CB  rB / C
vB i  2 j  CB k  (0.2i  0.2 j)
vB i  2 j  0.2CB j  0.2CB i
vB  0.2CB
0  2  0.2CB
CB  10 rad/s and vB  2 m/s 
Copyright © 2010 Pearson Education South Asia Pte Ltd
Example 16.6

Solution
Velocity Equation
Link AB (rotation about a fixed axis)
v B   AB  rB
2i   ABk  (0.2 j)
2  0.2 AB
 AB  10 rad/s

Same results can be obtained using Scalar Analysis.

Copyright © 2010 Pearson Education South Asia Pte Ltd

16.6 Instantaneous Center of Zero Velocity

 Velocity of any point B located on a rigid body

can be obtained if base point A has zero velocity
 Since vA = 0, therefore vB = ω x rB/A.
 Point A is called the instantaneous center of zero
velocity (IC) and it lies on the instantaneous axis
of zero velocity
 Magnitude of vB is ωrB/IC
 Due to circular motion,
direction of vB must be
perpendicular to rB/IC

Copyright © 2010 Pearson Education South Asia Pte Ltd

16.6 Instantaneous Center of Zero Velocity

 For wheel rolling without slipping, the point of

contact with the ground has zero velocity
 Hence this point represents the IC for the wheel
Location of the IC
 Velocity of a point on the body is always
perpendicular to the relative-position vector
extending from the IC to the point
 IC is located along the line
drawn perpendicular to vA,
distance from A to the IC
is rA/IC = vA/ω
Copyright © 2010 Pearson Education South Asia Pte Ltd
16.6 Instantaneous Center of Zero Velocity

Location of the IC
 Construct A and B line segments that are
perpendicular to vA and vB.
 Extending these perpendicular to their point of
intersection as shown locates the IC
 IC is determined by proportional triangles

Copyright © 2010 Pearson Education South Asia Pte Ltd

16.6 Instantaneous Center of Zero Velocity

Procedure for Analysis

 Motion can be determined with reference to
instantaneous center of zero velocity
 The body is imagined as “extended and pinned”
at the IC where it rotates about this pin with its ω
 Magnitude of velocity can be
determined by using v = ωr
 Velocity has a sense of direction

Copyright © 2010 Pearson Education South Asia Pte Ltd

Example 16.10

Show how to determine the location of the

instantaneous center of zero velocity for (a) member
BC shown in (a); and (b) the link CB shown in (b).

Copyright © 2010 Pearson Education South Asia Pte Ltd

Example 16.10

Solution
Part (a)
vB is caused by the clockwise rotation of link AB.
vB is perpendicular to AB and acts at an angle θ from
the horizontal.
Motion of point B causes the
piston to move horizontally
with a velocity vC.
When the line are drawn
perpendicular to vB and vC,
the intersect at the IC.
Copyright © 2010 Pearson Education South Asia Pte Ltd
Example 16.10

Solution
Part (b)
Points B and C follow circular paths of motion since
rods AB and DC are each subjected to rotation
about a fixed axis.
Since the velocity is tangent to the path, vC and vB
are directed vertically downward, along CB.

rC / IC   rB / IC  
 CB  (vC / rC / IC )   0
Copyright © 2010 Pearson Education South Asia Pte Ltd
Example 16.10

Solution
Part (b)
As a result, rod CB momentarily translates.
CB will move and cause the instantaneous center to
move to some finite location.

Copyright © 2010 Pearson Education South Asia Pte Ltd

Example 16.12

The cylinder rolls without slipping between the two

moving plates E and D. Determine the angular
velocity of the cylinder and the velocity of its center
C at the instant shown.

Copyright © 2010 Pearson Education South Asia Pte Ltd

Example 16.12

Solution
Since no slipping, A and B on the cylinder have the
same velocities as E and D.
vA and vB are parallel, by the proportionally of the
right triangles the IC is located at a point on line AB.

vB   x; 0.4   x
v A   (0.25  x); 0.25   (0.25  x)

Copyright © 2010 Pearson Education South Asia Pte Ltd

Example 16.12

Solution
Dividing one equation into the other eliminates ω
and yields
vB 0.4
   2.60 rad / s
x 0.154
Angular velocity of the cylinder is

0.4(0.25  x)  0.25x  x  0.154m

The velocity of point C is

vC   rC / IC  2.6(0.154 0.125)  0.0750m/s 

Copyright © 2010 Pearson Education South Asia Pte Ltd

16.7 Relative-Motion Analysis:Acceleration

 An equation that relates the accelerations of two

points on a rigid body subjected to general plane
motion,
d vB d v A d vB/ A
 
dt dt dt

 aB/A can be expressed in terms of its tangential

and normal components of motion

a B  a A  (a B / A )t  (a B / A )n

Copyright © 2010 Pearson Education South Asia Pte Ltd

16.7 Relative-Motion Analysis:Acceleration

 The terms can be represented graphically

= +

a B  a A    rB / A   rB / A 2

Copyright © 2010 Pearson Education South Asia Pte Ltd

16.7 Relative-Motion Analysis:Acceleration

Velocity Analysis.
 Determine the angular velocity ω of the body by
using a velocity analysis
VECTOR ANALYSIS
Kinematics Diagram
 Establish the directions of the fixed x, y
coordinates and draw the kinematics diagram
 If points A and B move along curved paths, their
tangential and normal accelerations components
should be indicated

Copyright © 2010 Pearson Education South Asia Pte Ltd

16.7 Relative-Motion Analysis:Acceleration

Acceleration Equation.
 To apply aB = aA + α x rB/A – ω2rB/A express the
vectors in Cartesian vector form and substitute
them into the equation
 When solution yields a negative answer for an
unknown magnitude, it indicates that the sense
of direction of the vector is opposite

Copyright © 2010 Pearson Education South Asia Pte Ltd

16.7 Relative-Motion Analysis:Acceleration

SCALAR ANALYSIS
Kinematics Diagram
 If the equation a B  a A  (a B / A )t  (a B / A )n is
applied, then the magnitudes and directions of
the relative-acceleration components (aB/A)t and
(aB/A)n must be established.
 To do this, draw a kinematic diagram.

Copyright © 2010 Pearson Education South Asia Pte Ltd

16.7 Relative-Motion Analysis:Acceleration

SCALAR ANALYSIS
Acceleration Equation.
 Represent the vectors in

a B  a A  (a B / A )t  (a B / A )n

graphically by showing their magnitudes and

directions underneath each term. The scalar
equations are determined from the x and y
components of these vectors

Copyright © 2010 Pearson Education South Asia Pte Ltd

Example 16.14

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.

Copyright © 2010 Pearson Education South Asia Pte Ltd

Example 16.14

Solution
(Vector Analysis)
We can obtain ω = 0.283 rad/s using the velocity
equation or the method of instantaneous centers.

Kinematic Diagram. A and B have no components

of acceleration normal to the paths.
Two unknowns, aB and α.

Copyright © 2010 Pearson Education South Asia Pte Ltd

Example 16.14

Solution
Acceleration Diagram
We have
a B  a A    rB / A   2rB / A
aB cos45 i  aB sin 45 j  3 cos 45 j  (k )  (10i)  (0.238) 2 (10i)
Carrying out the cross product and equating the i
and j components yields
aB cos 45  3 cos 45  (0.283) 2 (10)
aB sin 45  3 sin 45   (10)
aB  1.87 m / s 2 and   0.344rad/s2
Copyright © 2010 Pearson Education South Asia Pte Ltd
Example 16.16

The spool unravels from the cord, such that at the

instant shown it has an angular velocity of 3 rad/s
and an angular acceleration of 4 rad/s2. Determine
the acceleration of point B.

Copyright © 2010 Pearson Education South Asia Pte Ltd

Example 16.16

Solution
Vector Analysis
The acceleration of point G is
aG = αr = (4)(0.15) = 0.6 m/s2

Kinematic Diagram
Point B acceleration will be
represented by its x and y
components.

Copyright © 2010 Pearson Education South Asia Pte Ltd

Example 16.16

Solution
Acceleration Equation
a B  a G    rB / G   2rB / G
(aB ) x i  (aB ) y j  600j  (4k )  (225j)  (3) 2 (225j)

Equating the i and j terms, the component equations

are
(aB ) x  4(225)  900mm/s2  0.9 m/s2 
(aB ) y  600 2025 2625mm/s2  2.625m/s2 

Copyright © 2010 Pearson Education South Asia Pte Ltd

Example 16.16

Solution
Acceleration Equation
The magnitude and direction of aB are therefore

aB  (0.9)  (2.625)  2.775 m / s

2 2 2

1 2.625 
  tan
θ
 71.1
0.9

Copyright © 2010 Pearson Education South Asia Pte Ltd

Example 16.18

The crankshaft AB of an engine turns with a

clockwise angular acceleration of 20 rad/s2.
Determine the acceleration of the piston at this
instant AB is in the shown. At this instant ωAB = 10
rad/s and ωBC = 2.43 rad/s.

Copyright © 2010 Pearson Education South Asia Pte Ltd

Example 16.18

Solution
Kinematic Diagram
aC is vertical since C moves along a straight-line
path.
Acceleration Equation
Expressing each of the position
vectors in Cartesian vector form
rB  {0.25sin 45 i  0.25cos 45 j} m
 {0.177i  0.177j} m
rC / B  {0.75sin 13.6 i  0.75cos13.6 j} m
 {0.176i  0.729j} m
Copyright © 2010 Pearson Education South Asia Pte Ltd
Example 16.18

Solution
Crankshaft AB (rotational about a fixed axis):
a B   AB  rB   AB
2
rB
 (20k )  (0.177i  0.177j)  (10) 2 (0.177i  0.177j)
 {21.21i  14.14j} m/s2
Connecting Rod BC (general plane motion):
a C  a B   BC  rC / B   BC
2
rC / B
aC j  21.21i  14.14j  ( CB k )  (0.176i  0.729j)  (2.43) 2 (0.176i  0.729j)
0  20.17  0.729 BC  aC  0.176 BC  18.45
 BC  27.7 rad/s2 and aC  13.6 m/s2

Copyright © 2010 Pearson Education South Asia Pte Ltd