Lecture 6 Relative Motion Analysis Using Rotating Axes v3 LECTURE

Mechanics 2
Lecture 6: Relative motion analysis using

rotating axes
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
Revision Lecture 5: Relative motion analysis- acceleration
1. Establish a fixed coordinate system.
2. Draw the kinematic diagram of the body.
3. Indicate on it aA, aB, , , and rB/A. If the points A and B

move along curved paths, then their accelerations should
be indicated in terms of their tangential and normal
components, i.e., aA = (aA)t + (aA)n and aB = (aB)t + (aB)n.
4. Apply the relative acceleration equation:
aB = aA + rB/A 2 rB/A
5. If the solution yields a negative answer for an unknown
magnitude, this indicates that the sense of direction of the
vector is opposite to that shown on the diagram.
Extracted from: Mechanics for Engineers: Dynamics, 13th SI Edition (2013),
Russell C. Hibbeler, Kai Beng Yap, Pearson Education Centre, MasteringEngineering Instructor Resources.
QUIZ
1. If a ball rolls without slipping, select the

tangential and normal components of
the relative acceleration of point A with
respect to G.
A) r i + 2r j B) - r i + 2r j
C) 2r i r j D) Zero
2. What are the tangential and normal components of the

relative acceleration of point B with respect to G.
A) - 2r i r j B) - r i + 2r j
C) 2r i r j D) Zero

Week 6- Relative motion analysis using rotating axes
Lecture Objectives Hibbeler: Chapter 16.8
Students will be able to:
Analyse motion using a coordinate system
which both translate and rotates
Analyse the motions of two points on a
mechanism which are not located in the
same rigid body
To provide a relative motion analysis of
velocity and acceleration using a rotating
frame of reference
Learning Outcomes
Analyse motion using a coordinate system
which both translate and rotates Images Pearson Education South Asia Pte Ltd 2013. All rights reserved
Analyse the motions of two points on a

mechanism which are not located in the
same rigid body
https://www.youtube.com/watch?v=1Y-7jtoHy4g
Extracted 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.
Comparing methods
Previously, relative-motion Now consider that the
analysis for velocity and coordinate system can both
acceleration were described translate and rotate
using a translating coordinate Applicable to rigid bodies that
system slide at their connections and
Applicable to motion of points on also applicable to analysing
the same rigid body or the motion the motion of two points not
of points located on several pin- located on same rigid body
connected rigid bodies (pin joints)
Translating and
rotating references
axes
Note the axis
has rotated,
unlike before
Fixed references
axes
Applications
Note that the axes have rotated
The rotation of the skip/bin
truck about point C is
operated by the extension of
the hydraulic cylinder AB
To calculate the rotation of the
skip/bin, the equations of
relative motion can be used.
The x-y axes to the cylinder
are fixed, such that relative
motion of the cylinders
extension occurs along the y
axis.

Relative motion analysis: position
rA and rB are measured
from (with respect to) the
fixed X, Y, Z coordinate
system
Translating and
The base point A
rotating references represents the origin of
axes
the x, y, z coordinate
system which is assumed
Fixed references to be both translating and
axes
rotating with respect to
the X, Y, Z system
As before, the position of
B with respect to A is
specified by rB/A
The components of this vector can be
expressed in terms of unit vectors along the
X,Y axes i.e. I and J unit vectors or
by unit vectors along the x, y axes i.e. i and j
unit vectors
Thus if rB/A is measured relative to the x, y
frame of reference then:
/ = +
Recall that = + /

At the instant
considered, point A
has a velocity vA and
Translating and
rotating references
an acceleration aA
axes
The angular velocity
and angular
Fixed references
axes acceleration of the x, y
axes are (omega)

and = ,

respectively
Relative motion analysis: velocity
Recall that velocity and acceleration
equations require the time derivatives of the
position equation with respect to time
Since now the unit vectors, i and j, rotate
with the x-y axes, their time derivatives will
not be zero
These derivatives are shown in the figure,
which shows the infinitesimal change in each
unit vector during time dt , as the reference
axes rotates through an angle =
Thus the velocity of point B is determined by
taking the time derivative of position:
() () /
= +

/
= +

/ ( + )
Recalling that =

/ ( + )
= = + + +

/ ( + )
= =( + ) + ( + )

Recall from the diagram that:

= =

= =

Recall that = , thus we can express the above

derivatives in terms of their cross product:

= and =

Extracted 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.
Recall that = ,
Thus = = j

From previous slide: = j

Thus = j =

Similarly,
= = i

From previous slide: = i

Thus = i =

/ ( + )
= = / xyz + x +

/
= / xyz + x +

/
= / xyz + x /

Thus substituting the above into
/
= +

and obtain
= + x / + / xyz
Where:
vB = is the absolute velocity of B, measured from the X, Y, Z reference
vA = is the absolute velocity of the origin A of the x, y, z reference ,

measured from the X, Y, Z reference
(vB/A) xyz= relative velocity of B with respect to A, as measured by an

observer attached to the rotating x, y, z reference
= angular velocity of the x, y, z reference , measured from the X, Y, Z

reference
rB/A = relative position of B with respect to A,

Summary table - Each term represents the following:
vB absolute velocity of B
=
vA absolute velocity of the
origin of the x, y, z frame
x rB/A angular velocity effect

caused by rotation of the x,
y, z frame
(vB/A) xyz relative velocity of B with

respect to A

Relative motion analysis: acceleration
Recall that acceleration is obtained by
differentiating the velocity equation
Thus the acceleration of point B, observed
from the X, Y, Z coordinate system, may
be expressed in terms of its motion
measured with respect to the rotating or
moving system of coordinates by taking
the time derivative
Recall the velocity equation = + ( x / ) + / xyz
/ / xyz
= +( x / + x )+

/ / xyz
= + x / + x +


/ / xyz
= + x / + x +

/
Recall, from previous slide: = / xyz + x /

Thus: /
x = x / xyz + x ( x / )

/ xyz / x / y
= + + ( / x + / y )


/ xyz / x / y
= + + ( / x + / y )

/ xyz
= / xyz + x (/ )

Thus substitute back to obtain:

B = + ( x / ) + x / xyz + ( x / ) + / xyz + ( x (/ ) )
Rearrange to obtain:
= + ( x / ) + x x / + x (/ ) + / xyz

Relative motion analysis:
acceleration
Where:
aB = is the absolute acceleration of B, measured from the X, Y, Z
reference
aA = is the absolute acceleration of the origin A of the x, y, z reference ,

(aB/A) xyz ; (vB/A) xyz= relative acceleration and relative velocity of B with
respect to A, as measured by an observer attached to the rotating x, y, z
reference
; = angular acceleration and angular velocity of the x, y, z reference ,

rB/A = relative position of B with respect to A,

Summary table - Each term represents the following:
aB absolute acceleration of B
=
aA absolute acceleration of the origin
of the x, y, z frame
x rB/A angular acceleration effect

caused by rotation of the x, y, z
frame
x ( x rB/A) angular velocity effect caused by

rotation of the x, y, z frame
2 x (vB/A) xyz Combined effect of B moving

relative to x, y, z coordinates and
rotation of x, y, z frame
(aB/A) xyz relative acceleration of B with

respect to A

Procedure for analysis
Coordinate Axes
Chose an appropriate location for the origin
and proper orientation of the axes for both X,
Y, Z and moving x, y, z reference frames
Most often solutions are easily obtained if at
the instant considered:
(1) The origins are coincident
(2) The corresponding axes are collinear
(3) The corresponding axes are parallel
The moving frame should be selected fixed to
the body or device along which the relative
motion occurs
Procedure for analysis
Kinematic equations
After defining the origin A of the moving reference
and specifying the moving point B than the relevant
equations are:
= + ( x / ) + / xyz
= + ( x / ) + x x / + x (/ ) + / xyz
The Cartesian components of all these vectors may

be expressed along either the X, Y, Z axes or the x,
y, z axes. The choice is arbitrary provided a
consistent set of unit vectors is used
Motion of the moving reference, is expressed by vA,
aA, , , and motion of B with respect to the moving
reference, is expressed by rB/A , (vB/A) xyz and (aB/A) xyz

Example 1
Given: Two planes A
and B are flying at the
same elevation and have
motions as shown
Find: Determine the

velocity and acceleration of
A as measured by the pilot
of B
Plan: Follow the problem

solving procedure
Example 1
Coordinate Axes
Since the relative motion of A with respect to the pilot in B is of interest, the x,
y, z axes is attached to plane B. At the instant considered, the origin B
coincides with the origin of the fixed X, Y, Z frame
Kinematic equations
= + ( / ) + / xyz
= + ( / ) + / + (/ ) + / xyz
Motion of moving reference:
= 600j km/h and ( )t = 100 km/h2
2 600 2
( )n = = = 900 km/h2
400
= ( )n + ( )t = 900 100 km/h2
600 /
=
= 400
= 1.5 rad/h Thus = 1.5 rad/h
(a )t 100 /2
= = = 0.25 /2 Thus = {0.25} rad/h 2
400

Example 1
Motion of A with respect to moving reference:
/ = 4 km / xyz and / xyz are unknown

= 700 km/h = 50 km/h2
Thus substituting these back into the highlighted equations yields:

= + ( x / ) + / xyz
700 = 600 + 1.5 x ((4) + / xyz

Thus rearranging gives (vA/B) xyz = {94j} km/h
Similarly, substituting into
= + ( / ) + / + (/ ) + / xyz
50 = 900 100 + 0.25 x 4 + 1.5 x 1.5 x 4

+ 2 1.5 (94) + / xyz
/ xyz = 119 + 151 km/h2

Example 2
Given: At the instant =60, the rod
shown has an angular velocity of 3
rad/s and an angular acceleration of
2 rad/s2. At this same instant, the
collar C is travelling outward along
the rod such that when x = 0.2 m the
velocity is 2 m/s and the acceleration
is 3 m/s2, both measured relative to
the rod.
Find: Determine that Coriolis

acceleration and the velocity and
acceleration of the collar at this
instant.
Plan: Follow the problem solving

procedure
Example 2
Coordinate Axes
The origin of both coordinate systems is located at point O. Since motion of
the collar is reported relative to the rod, the moving x, y, z frame of reference
is attached to the rod.
Kinematic equations
= + ( / ) + / xyz
= + ( / ) + x / + (/ ) + / xyz
Motion of moving reference Motion of C with respect to moving reference:
= 0 m/s / = 0.2 m
= 0 m/s (/ ) = 2 m/s
= 3 rad/s (/ ) = 3 m/s2
= 2 rad/s2

Example 2
The Coriolis acceleration is defined as
Cor = x (/ ) = 2 3 (2) = 12 m/s 2
= + ( x / ) + / xyz
= 0 + (3) (0.2) + 2
= 2 0.6 m/s
= + ( / ) + / + (/ ) + / xyz
= 0 + 2 0.2 + 3 3 0.2 + 2 3 2 + 3
= 0 0.4 1.80 12 + 3
= 1.20 12.4 m/s2

Example 3
Given: The rod AB shown,
rotates clockwise such that it has
an angular velocity AB = 3 rad/s
and angular acceleration AB = 4
rad/s2 when =45.
Find: Determine the angular

motion of rod DE at this instant.
The collar at C is pin- connected
to AB and slides over rod DE.
Plan: Follow the problem solving

procedure.

Example 3
Coordinate Axes
The origin of both the fixed and moving frames of reference is located at
point D. Furthermore, the x,y,z reference is attached to and rotates with rod
DE, so that the relative motion of the collar is easy to follow.
Kinematic equations
= + ( / ) + / xyz
= + ( / ) + / + (/ ) + / xyz
Motion of moving reference Motion of C with respect to moving reference:
= 0 m/s / = 0.4 m
= 0 m/s (/ ) = (/ ) m/s
= rad/s (/ ) = (/ ) m/s 2
= rad/s 2

Example 3
Motion of C: Since the collar moves along a circular path of radius
AC, its velocity and acceleration can be determined.
= / = 3 0.4 + 0.4 = 1.2 1.2 m/s
= AB / 2 /
= 4 0.4 + 0.4 3 2 0.4 + 0.4 = 2 5.2 m/s2
= + ( / ) + / xyz
1.2 1.2 = 0 + ( ) (0.4) + (/ )
1.2 1.2 = 0 0.4 + (/ )
(/ ) = 1.2 m/s
= 3 rad /s
= + ( / ) + / + (/ ) + / xyz
2 5.2 = 0 + 0.4 + 3 3 0.4 + 2 3 1.2 + (/ )
2 5.2 = 0.4 3.6 7.2 + (/ )
(/ ) = 1.6 m/s 2
= 5 rad/s 2
References
RUSSELL C. HIBBELER, KAI BENG YAP

(2013); Mechanics for Engineers:
Dynamics, SI Edition, 13th Edition, Pearson
Education Centre; ISBN: 9789810692612

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Mechanics 2

Lecture 6: Relative motion analysis using

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

1. Establish a fixed coordinate system.

2. Draw the kinematic diagram of the body.

3. Indicate on it aA, aB, , , and rB/A. If the points A and B

1. If a ball rolls without slipping, select the

2. What are the tangential and normal components of the

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

Analyse the motions of two points on a

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

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

Recall that = , thus we can express the above

vB = is the absolute velocity of B, measured from the X, Y, Z reference

vA = is the absolute velocity of the origin A of the x, y, z reference ,

(vB/A) xyz= relative velocity of B with respect to A, as measured by an

= angular velocity of the x, y, z reference , measured from the X, Y, Z

rB/A = relative position of B with respect to A,

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

x rB/A angular velocity effect

(vB/A) xyz relative velocity of B with

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

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

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

Thus substitute back to obtain:

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

aA = is the absolute acceleration of the origin A of the x, y, z reference ,

; = angular acceleration and angular velocity of the x, y, z reference ,

rB/A = relative position of B with respect to A,

x rB/A angular acceleration effect

x ( x rB/A) angular velocity effect caused by

2 x (vB/A) xyz Combined effect of B moving

(aB/A) xyz relative acceleration of B with

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

The Cartesian components of all these vectors may

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

Find: Determine the

Plan: Follow the problem

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

/ = 4 km / xyz and / xyz are unknown

Thus substituting these back into the highlighted equations yields:

700 = 600 + 1.5 x ((4) + / xyz

50 = 900 100 + 0.25 x 4 + 1.5 x 1.5 x 4

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

Find: Determine that Coriolis

Plan: Follow the problem solving

Motion of moving reference Motion of C with respect to moving reference:

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

Thus substituting these back into the highlighted equations yields:

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

Find: Determine the angular

Plan: Follow the problem solving

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

Motion of moving reference Motion of C with respect to moving reference:

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

RUSSELL C. HIBBELER, KAI BENG YAP

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