GE6253 - ENGINEERING MECHANICS - Unit 5 Rigid Body Dynamics - LECTURE NOTES

ENGINEERING MECHANICS
Unit V
Rigid Body Dynamics

by
S.Thanga Kasi Rajan

Assistant Professor
Department of Mechanical Engineering
Kamaraj College of Engineering & Technology,
Virudhunagar 626001.
Tamil Nadu, India
Email : stkrajan@gmail.com
Kinematics of Rigid Bodies

A rigid body has size that is not negligible and does not
deform (distance between two points on body is
constant).
Types
of Rigid(Idealisation)
Body Plane Motion
Rigid body motion involves translation and/or rotation
Translati - No rotation of any line in
on:
the
- Allbody
points in body have same velocity and
acceleration
- No relative motion between any two
particles
Rectilinear
translation
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S. ThangaKasiRajan, stkrajan@gmail.com
Translation
Every line segment on the body remains parallel to its original direction
during the motion
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Curvilinear translation
Fixed-axis rotation:
- All points move in circular paths about axis of
rotation
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Rotation about fixed axis
All particles of the body move along circular paths

except those which lie on the axis of rotation
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General plane motion
Combination of translation and rotation

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- Both translation and rotation occur
- Distances between particles are fixed
- Relative motion of one particle to
another will always be a circular
motion
Note: We will consider plane motion only.
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General Plane Motion is the summation of a

Translation and a Rotation
Consider the motion of the rigid bar AB:
B1
B1
B1
B1
B2
B2
A1
A1
A2
General Motion
A2
Translation with A
A2
Rotation about A
We could break this motion down another way:

B1
B1
B2
B2
B2
A2
A1
A1
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A2
General Motion
A1
Translation with B
A1
Rotation about B
Rigid Bodies Vs Particles

mg
Why are Rigid Bodies so different from Particles?

F
Particles:
- Size negligible compared to motion

- All forces act through center of
gravity
- Neglect rotation about center of
gravity
mg
Rigid Bodies:
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- Points of application, and

lines of action of forces are
important
- Rotation and Moments about
center of gravity are
important
R1
R2
Rigid-Body Motion
Types of rigid body planar motion
Translation only linear direction
Rotational about fixed axis rotational motion
General plane motion consists of both linear and
rotational motion
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10
Example
Rectilinear
translation
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Curvilinear
translation
Rotation about a fixed axis
11
Translation
Position
rB rA rB / A
Velocity
v B v A d rB / A / dt
rB / A const.
vB v A
Acceleration
aB a A
12
All points move with same velocity and acceleration

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Summary
Time dependent acceleration
s (t )
ds
v
dt
2
dv d s
a
2
dt dt
Constant acceleration
v v0 ac t
1 2
s s0 v0t ac t
2
v v 2 ac ( s s 0 )
2
2
0
a ds v dv
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13
Rotation About a Fixed axis

Angular Position (
Defined by the angle measured between a fixed
reference line and r
Measured in rad
Angular Displacement
Measured as d
Vector quantity
Measured in radians or revolutions
1 rev = 2 rad
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14
Angular velocity (
the time rate of change in the angular position
dt
Angular acceleration
the time rate of change of the angular velocity
dt
d 2
2
dt
= f
d d
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15
Constant Angular Acceleration
0 c t
1
2
0 0t c t
2
0 2 c ( 0 )
2
16
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Comparison
s (t )
ds
v
dt
dv d 2 s
a
2
dt dt
a ds v dv
1 2
s s0 v0t ac t
2
17
v v 2 ac ( s s 0 )
2
0
d d 2
2
dt
dt
d d
0 c t
v v0 ac t
2
(t )
dt
1
0 0t c t 2
2
2
2
0 2 c ( 0 )
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Motion of Point P
Position :
Is defined by the position vector r
s r
The arc-length is
Velocity
ds
d
d
r
vt dt dt
dt
tangent to the path
v x rP
18
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Motion of Point P
Acceleration
at d d r r d r
dt
dt
dt
rate of change in the velocitys magnitude
2 ( r ) 2
2
an
r
r
r
rate of change in the velocitys direction
Direction of an is always toward O
a
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at2 ar2
r r 2
2
r 2 4
19
r1
r2
r1
S 1r1 2 r2
1r1 2 r2
s , v, a
r2
a 1r1 2 r2
20
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Problem 1
Rest
at = 4t m/s2
=?
=?
(aP )t r
(4t ) (0.2)
20t rad / s 2
20 t
dt
d 20t dt
0
10t 2
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rad / s
10 t 2
dt
2
d
10
t
dt
3.33t 3 rad
21
Problem 2
SOLUTION:
Due to the action of the cable, the
tangential velocity and acceleration of
D are equal to the velocity and
acceleration of C. Calculate the initial
angular velocity and acceleration.
Cable C has a constant acceleration of

225 mm/s2 and an initial velocity of 300
mm/s, both directed to the right.
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Determine (a) the number of revolutions

of the pulley in 2 s, (b) the velocity and
change in position of the load B after 2 s,
and (c) the acceleration of the point D on
the rim of the inner pulley at t = 0.
Apply the relations for uniformly

accelerated rotation to determine the
velocity and angular position of the
pulley after 2 s.
Evaluate the initial tangential and
normal acceleration components of D.
Problem 2
SOLUTION:
The tangential velocity and acceleration of D are equal to the
velocity and acceleration of C.
vD 0 vC 0 300 mm s
a a 225mm / s 2
v D 0 r 0
vD 0
0
D t
a D t r
aD t
300
4 rad s
75
225
3 rad s 2
3
Apply the relations for uniformly accelerated rotation to

determine velocity and angular position of pulley after 2 s.
0 t 4 rad s 3 rad s 2 2 s 10 rad s
0t 12 t 2 4 rad s 2 s 12 3 rad s 2 2 s 2
14 rad
1 rev
number of revs
2
rad
N 14 rad
vB r 125 mm 10 rad s
y B r 125 mm 14 rad
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N 2.23 rev
vB 1.25 m s
y B 1.75 m
23
Problem 2
Evaluate the initial tangential and normal acceleration
components of D.
aD t aC 225 mm
aD n rD02 75 mm 4 rad s 2 1200 mm

aD t 225 mm
s2
aD n 1200 mm
s2
s2
Magnitude and direction of the total acceleration,

aD
aD t2 aD 2n
225 1200
2
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tan
aD n
aD t
1200
225
aD 1220 mm s 2
79.4
Problem 3
SOLUTION:
The displacement of the gear center in
one revolution is equal to the outer
circumference. Relate the translational
and angular displacements. Differentiate
to relate the translational and angular
velocities.
The double gear rolls on the
stationary lower rack: the velocity of
its center is 1.2 m/s.
Determine (a) the angular velocity of
the gear, and (b) the velocities of the
upper rack R and point D of the gear.
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The velocity for any point P on the gear

may be written as

vP v A v P
v A k rP
Evaluate the velocities of points B and D.
25
Problem 3
SOLUTION:
The displacement of the gear center in one revolution is
equal to the outer circumference.
For xA > 0 (moves to right), < 0 (rotates clockwise).
xA
2 r
2
x A r1
Differentiate to relate the translational and angular

velocities.
v A r1
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vA
1.2 m s
r1
0.150 m
k 8 rad s k
26
Problem 3

For any point P on the gear, vP v A vP
Velocity of the upper rack is equal to

velocity of point B:

vR vB v A k rB A
1.2 m s i 8 rad s k 0.10 m j
1.2 m s i 0.8 m s i
vR 2 m s i
v A k rP
Velocity of the point D:

vD v A k rD A
1.2 m s i 8 rad s k 0.150 m i
vD 1.2 m s i 1.2 m s j
vD 1.697 m s
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Slider Crank Mechanism

Slider Crank Mechanism consists of
1. Crank shaft Pure Rotation
2. Connecting rod Both Translation
and Rotation
3. Piston Pure Rotation
Slider Crank
Mechanism
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The motion of Connecting rod

depends on motion of crank shaft
Similarly the motion of piston
depends on motion of connecting
rod.
28

Motion of Crank AB
VB = VA + VB/A
here VA = 0 because A is
fixed
therefore
VB = VB/A
= rAB .
AB
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Motion of Connecting Rod:
When crank rotates in clockwise direction, connecting rod rotates in
anticlockwise direction.
Also VC/B is perpendicular to the axis of the connecting rod
Apply sine and
cosine rule to
find
the
magnitude
and direction
the velocity of
each
component
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30
Problem 4
In the reciprocating engine shown in the figure, the crank AB has a
constant angular velocity of 2000 rpm. For the crank position indicated
determine
i). Angular velocity of Crank AB
ii). Angular Velocity of the Connecting Rod BC
iii). Velocity of Piston
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Problem 4
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32
Problem 4
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33
Problem 4
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34
References
1. Ferdinand P Beer & E.Russell Johnston VECTOR
MECHANICS FOR ENGINEERS STATICS & Dynamics,
(Ninth Edition) Tata McGraw Hill Education Private
Limited, New Delhi.
2. Engineering Mechanics Statics & Dynamics by
S.Nagan, M.S.Palanichamy, Tata McGraw-Hill (2001).
02/01/2017
S.ThangaKasiRajan, stkrajan@gmail.com
35
Thank you
Any Queries contact
S.Thanga Kasi Rajan

Assistant Professor
Department of Mechanical Engineering
Kamaraj College of Engineering & Technology,
Virudhunagar 626001.
Tamil Nadu, India
Email : stkrajan@gmail.com
02/01/2017
S.ThangaKasiRajan, stkrajan@gmail.com
36

GE6253 - ENGINEERING MECHANICS - Unit 5 Rigid Body Dynamics - LECTURE NOTES

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GE6253 - ENGINEERING MECHANICS - Unit 5 Rigid Body Dynamics - LECTURE NOTES

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ENGINEERING MECHANICS

Rigid Body Dynamics

S.Thanga Kasi Rajan

Kinematics of Rigid Bodies

Rotation about fixed axis

All particles of the body move along circular paths

General plane motion

Combination of translation and rotation

General plane motion

Note: We will consider plane motion only.

General Plane Motion is the summation of a

We could break this motion down another way:

Rigid Bodies Vs Particles

Why are Rigid Bodies so different from Particles?

- Size negligible compared to motion

- Points of application, and

Rotation about a fixed axis

All points move with same velocity and acceleration

Rotation About a Fixed axis

Constant Angular Acceleration

tangent to the path

rate of change in the velocitys magnitude

Direction of an is always toward O

Cable C has a constant acceleration of

Determine (a) the number of revolutions

Apply the relations for uniformly

Apply the relations for uniformly accelerated rotation to

0 t 4 rad s 3 rad s 2 2 s 10 rad s

aD n rD02 75 mm 4 rad s 2 1200 mm

Magnitude and direction of the total acceleration,

The velocity for any point P on the gear

Evaluate the velocities of points B and D.

Differentiate to relate the translational and angular

Velocity of the upper rack is equal to

1.2 m s i 8 rad s k 0.10 m j

Velocity of the point D:

1.2 m s i 8 rad s k 0.150 m i

Slider Crank Mechanism

The motion of Connecting rod

Slider Crank Mechanism

Slider Crank Mechanism

S.Thanga Kasi Rajan

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