Lecture 2 Absolute Motion Analysis LECTURE V - 6

Mechanics 2 (Dynamics)
Lecture 2: Absolute Motion Analysis
Dr Aziza Mahomed
a.mahomed@bham.ac.uk
Office: S21
Mechanical Engineering
Lecture notes adapted from Mechanics for Engineers: Dynamics, 13th SI Edition (2013), Russell C. Hibbeler, Kai Beng Yap,
Pearson Education Centre, MasteringEngineering Instructor Resources.
Images Pearson Education South Asia Pte Ltd 2013. All rights reserved.
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Mechanics 2: Lecture Topics
Semester 2: Mechanics of Dynamic Systems lectures
Week Lecture Lecture Topic Tutorial Topic
1 1 Translation and rotation Translation and rotation
2 2 Absolute motion analysis Absolute motion analysis
3 3 Relative motion analysis-velocity Relative motion analysis-velocity
4 4 Instantaneous centre of zero velocity Instantaneous centre of zero velocity
5 5 Relative motion analysis-acceleration Relative motion analysis-acceleration
6 Reading week (no lecture) Reading week (no lecture)
7 6 Relative motion analysis using rotating axes Relative motion analysis using rotating axes
8 7 Moment of inertia Moment of inertia
9 8 Planar kinetic equations of motion-translation Planar kinetic equations of motion-translation
10 9 Equations of motion- rotation about a fixed axis Equations of motion- rotation about a fixed axis
11 10 Equations of motion- General plane of motion Equations of motion- General plane of motion
QUIZ
1. The fan blades suddenly experience an angular acceleration of 2
rad/s2. If the blades are rotating with an initial angular velocity of 4
rad/s, determine the speed of point P when the blades have turned
2 revolutions
(when = 8.14 rad/s).
A) 4.27 m/s B) 5.31 m/s
C) 6.93 m/s D) 8.0 m/s
2. Determine the magnitude of the acceleration at P when the

blades have turned the 2 revolutions.
A) 0 m/s2 B) 1.05 m/s2
C) 34.79 m/s2 D) 34.81 m/s2
Extracted from: Mechanics for Engineers: Dynamics, 13th SI Edition (2013),
Russell C. Hibbeler, Kai Beng Yap, Pearson Education Centre, MasteringEngineering Instructor Resources.
Mechanics 2: Revision Lecture 1
Plane Motion Plane Kinematics of Rigid Bodies
Translation
Motion of the body specified by
motion of any point in the body.
No rotation of any line in body.
Rotation about a Fixed Axis

All the particles of the body,
except those on the axis of
rotation, move along circular
paths in planes perpendicular
to the axis of rotation and
rotate through the same angle.
General Planar Motion

The body undergoes
simultaneous translation and
rotation
The actual paths of all particles Extracted from : J. L. Meriam and L. G.

in the body are projected on to Kraige, Engineering Mechanics, Vol II
Dynamics, 7th Ed, John Wiley & Sons,
a single plane of motion. 2012. All rights reserved.
ROTATION ABOUT A FIXED AXIS : PROCEDURE (SUMMARY)
Establish a positive sign convention along the axis of rotation and label
it clearly alongside each kinematic equation
If a relationship is known between any two of the variables (,, or t),
the other variables can be determined from the equations:

= (rad/s) + (Eq 1-1)

= (rad /s2) + (Eq 11-2) or =

= (rad /s2) + (Eq 1-4)
If is constant, use the equations for constant angular acceleration

To determine the motion of a point, these scalar equations can be
used:
= , at = r and an = 2r and = 2 + 2
Alternatively, the vector form of the equations can be used (with i, j, k

components)
= = (Eq 1-8)
= + ( )
= +
= 2
SIGN CONVENTION
Angular position of a
moving line is specified
by a anti- clockwise
angle,
Angular velocity, , is
defined as positive in the
anti-clockwise direction
Angular acceleration, , is
defined as positive in the
anti-clockwise direction
Extracted from : J. L. Meriam and L. G.

Kraige, Engineering Mechanics, Vol II
2012. All rights reserved.
Week 2- Planar Rigid Body Motion: Absolute Motion Analysis
Hibbeler: Chapter 16.4
Lecture Objectives
Students will be able to determine
the velocity and acceleration of a
rigid body undergoing general
plane motion using an absolute
motion analysis
Learning Outcomes
You should be able to
mathematically analyse/calculate the
kinematics of a rigid body undergoing
general plane motion using an
absolute motion analysis
Mechanics 2:Planar Rigid Body Motion-Absolute Motion Analysis
Absolute motion analysis

relates the position of a point,
P, on a rigid body to the
angular position, , of a line
contained in the body P
The velocity and acceleration
of point P are obtained in
terms of angular velocity, ,
and angular acceleration, ,
of the rigid body
If a body is represented by a
thin slab, the slab translates Kraige, Engineering Mechanics, Vol II
in the plane and rotates about 2012. All rights reserved.
an axis perpendicular to the

plane
The motion can be

completely specified by
knowing both the angular
rotation of a line fixed in the
body and the motion of a
point on the body
For example, use :
Rectilinear coordinate
(s) to locate the point
along its path
Angular position
coordinate () to
specify the orientation
of the line
PROCEDURE FOR ANALYSIS
The velocity and acceleration of a point P undergoing rectilinear motion
can be related to the angular velocity and angular acceleration of a line
contained within the body using the following procedure:
Position Coordinate Equation:

Locate point P using a position coordinate s, which is
measured from a fixed origin and is directed along the straight-
line path of motion of point P
Measure from a fixed reference line the angular position of a
line lying in the body
From the dimensions of the body, relate s to , s= f(), using
geometry and trigonometry
Time derivatives:
Take the first derivative of s= f() with respect to time to get a
relationship between and i.e. f(, )
Take the second derivative with respect to time to get a
relationship between a and i.e. f(, , )
Usually the chain rule of calculus must be used when taking the
derivatives of the position coordinate equation
Consider the skip on the truck. It
rotates about a fixed axis and
passes through A. The hydraulic
cylinder (BC) extends to perform the
operation.
As part of the design process for the
truck, you as an engineer have to
relate the speed (v) at which the
hydraulic cylinder extends to the
angular velocity () of the skip

Noting that:
- the angular position is defined as
- The position of point C is defined using
the rectilinear coordinate, s
Thus, since a and b are fixed lengths, then
using the cosine law:
= 2 + 2 2
Use the chain rule, to obtain:
1
= 2 + 2 2 cos 1/2
(2 sin )
2
(This is a relation of the speed to which the

hydraulic cylinder extends to the angular velocity of
the skip)

The stroke of the piston is defined as the total distance moved by the
piston as the crank angle varies from 0 to 180. How does the length of
crank AB affect the stroke?
The position of the piston, x, can be defined as a function of the angular

position of the crank, . By differentiating x with respect to time, the
velocity of the piston can be related to the angular velocity, , of the
crank

EXAMPLE 1
Given: Crank AB rotates at a constant

velocity of w = 150 rad/s
Find: Velocity of P when q = 30
Plan: Define x as a function of q and differentiate with

respect to time.
EXAMPLE 1
Solution: xP = 0.2 cos q + (0.75)2 (0.2 sin q)2
vP = -0.2w sin q + (0.5)[(0.75)2

(0.2sin q)2]-0.5(-2)(0.2sin q)(0.2cos q)w
vP = -0.2w sin q [0.5(0.2)2sin2q w] / (0.75)2 (0.2 sin q)2
At q = 30, w = 150 rad/s and vP = -18.5 m/s = 18.5 m/s

The rolling of a cylinder is an example

of general plane motion. During this
motion, the cylinder rotates clockwise
while it translates to the right
The position of the center, G, is
related to the angular position, , by: Cylinder
=
if the cylinder rolls without slipping.
Can you relate the translational
velocity of G and the angular velocity
of the cylinder?

EXAMPLE 2
At a given instant, the

cylinder of radius r, has an
angular velocity, , and
angular acceleration, .
Determine the velocity and
acceleration of its centre G,
if the cylinder rolls without
slipping
Kraige, Engineering Mechanics, Vol II
2012. All rights reserved.

EXAMPLE 3
Given: Two slider blocks are connected
by a rod of length 2 m. Also,
vA = 8 m/s and aA = 0.
Find: Angular velocity, w, and

angular acceleration, a, of the
vA=10 m/s
rod when q = 60.
Plan: Choose a fixed reference point and define the position of

the slider A in terms of the parameter q. Notice from the
position vector of A, positive angular position q is
measured clockwise.
EXAMPLE 3 (continued)
Solution:
By geometry, sA = 2 cos q
reference
q By differentiating with respect to time,
A
vA = -2 w sin q
sA
Using q = 60 and vA = 8 m/s and solving for w:
w = 8/(-2 sin 60) = - 4.62 rad/s
(The negative sign means the rod rotates counterclockwise as
point A goes to the right.) Differentiating vA and solving for a,
aA = -2a sin q 2w2 cos q = 0
a = - w2/tan q = -12.32 rad/s2
EXAMPLE 4
Given: The w and a of the disk

and the dimensions as
shown.
Find: The velocity and

acceleration of cylinder B
in terms of q.
Plan: Relate s, the length of cable between A and C, to the

angular position, q. The velocity of cylinder B is equal to
the time rate of change of s.

EXAMPLE 4 (continued)
Solution:
Law of cosines:
s = (3)2 + (5)2 2(3)(5) cos q
vB = (0.5)[34 30 cosq]-0.5(30 sinq)w
vB = [15 sin q w]/ 34 30 cos q
(15w2 cosq + 15a sinq) (-0.5)(15w sinq)(30w sinq)

aB = +
34 - 30cosq (34 - 30cosq)3/2
15(w 2cosq + asinq) 225w 2sin2q

aB = -
(34 - 30 cosq)0.5 (34 - 30 cosq)3/2
PROCEDURE FOR ANALYSIS
The absolute motion analysis method (also called the
parametric method) relates the position of a point, P, on a
rigid body undergoing rectilinear motion to the angular
position, q (parameter), of a line contained in the body.
(Often this line is a link in a machine.)
Once a relationship in the form of sP = f(q) is established,

the velocity and acceleration of point P are obtained in
terms of the angular velocity, w, and angular acceleration,
a, of the rigid body by taking the first and second time
derivatives of the position function.
Usually the chain rule must be used when taking the

derivatives of the position coordinate equation.
Mechanics 2
Further reading for Semester 2
Chapter 16 of Hibbeler (Dynamics)

16.1: Planar Rigid-Body Motion
16.2: Translation
16.3: Rotation about a Fixed Axis
16.4: Absolute Motion Analysis
16.5: Relative Motion Analysis: Velocity
16.6: Instantaneous Center of Zero Velocity
16.7: Relative Motion Analysis: Acceleration
16.8: Relative Motion Analysis using Rotating Axes
Chapter 17 of Hibbeler (Dynamics)

17.1: Mass Moment of Inertia
17.2: Planar Kinetic Equations of Motion
17.3: Equations of Motion: Translation
17.4: Equations of Motion : Rotation about a Fixed Axis
17.5: Equations of Motion : Genera l Plane Motion

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Mechanics 2 (Dynamics)

Lecture 2: Absolute Motion Analysis

2 2 Absolute motion analysis Absolute motion analysis

3 3 Relative motion analysis-velocity Relative motion analysis-velocity

4 4 Instantaneous centre of zero velocity Instantaneous centre of zero velocity

5 5 Relative motion analysis-acceleration Relative motion analysis-acceleration

6 Reading week (no lecture) Reading week (no lecture)

8 7 Moment of inertia Moment of inertia

9 8 Planar kinetic equations of motion-translation Planar kinetic equations of motion-translation

2. Determine the magnitude of the acceleration at P when the

Rotation about a Fixed Axis

General Planar Motion

The actual paths of all particles Extracted from : J. L. Meriam and L. G.

If is constant, use the equations for constant angular acceleration

Alternatively, the vector form of the equations can be used (with i, j, k

Extracted from : J. L. Meriam and L. G.

Absolute motion analysis

an axis perpendicular to the

The motion can be

Position Coordinate Equation:

Extracted from: Mechanics for Engineers: Dynamics, 13th SI Edition (2013),

(This is a relation of the speed to which the

Extracted from: Mechanics for Engineers: Dynamics, 13th SI Edition (2013),

The position of the piston, x, can be defined as a function of the angular

Extracted from: Mechanics for Engineers: Dynamics, 13th SI Edition (2013),

Given: Crank AB rotates at a constant

Find: Velocity of P when q = 30

Plan: Define x as a function of q and differentiate with

Solution: xP = 0.2 cos q + (0.75)2 (0.2 sin q)2

vP = -0.2w sin q + (0.5)[(0.75)2

vP = -0.2w sin q [0.5(0.2)2sin2q w] / (0.75)2 (0.2 sin q)2

At q = 30, w = 150 rad/s and vP = -18.5 m/s = 18.5 m/s

Extracted from: Mechanics for Engineers: Dynamics, 13th SI Edition (2013),

The rolling of a cylinder is an example

Extracted from: Mechanics for Engineers: Dynamics, 13th SI Edition (2013),

At a given instant, the

Extracted from: Mechanics for Engineers: Dynamics, 13th SI Edition (2013),

Find: Angular velocity, w, and

Plan: Choose a fixed reference point and define the position of

Given: The w and a of the disk

Find: The velocity and

Plan: Relate s, the length of cable between A and C, to the

Extracted from: Mechanics for Engineers: Dynamics, 13th SI Edition (2013),

vB = (0.5)[34 30 cosq]-0.5(30 sinq)w

vB = [15 sin q w]/ 34 30 cos q

(15w2 cosq + 15a sinq) (-0.5)(15w sinq)(30w sinq)

15(w 2cosq + asinq) 225w 2sin2q

Once a relationship in the form of sP = f(q) is established,

Usually the chain rule must be used when taking the

Chapter 16 of Hibbeler (Dynamics)

Chapter 17 of Hibbeler (Dynamics)

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