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DYNAMICS

UNIT 3

CINEMATICS OF THE RIGID BODY

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In this unit we will analyze the kinematics of bodies, that is,

description and analysis of the motion of bodies without considering the
forces and pairs that generate it

In particular, we will see the way in which the movements of points

individuals of a body are related to its angular motion.

A rigid body is an idealized model of a body that does not deform.

It could be defined this way: a rigid body is one in which the
the distance between a pair of points on that body remains constant.

However, before entering the analysis of the kinematics of bodies

Rigid we need to study or remember, in this case, some concepts
ANGULAR MOMENTUM OF A LINE:

The

The angular velocity of L' with respect to L is defined by:

rad/s

And the angular acceleration of L' with respect to L:

rad/s2

CIRCULAR MOVEMENT:

If a point P moves with a circular trajectory of radius R. The

Distance S (arc length) is related to the angle θ by:

S = Rθ (by geometry)

R θ s
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Deriving s with respect to t:

Differentiating again:

And also

THIS ONLY APPLIES TO A CIRCULAR TRAJECTORY.

With these relationships we can analyze problems of rotating bodies.

around fixed axes.

For example: Let's assume we know the angular velocity and the
angular acceleration of the left gear in the figure and we want
determine the angular velocity and acceleration of the gear on the right.

The speeds of the points of the gears where they make contact are
equal.

A B For gear A:

For gear B:

How
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The tangential accelerations are also equal at the point of contact,

so:

So:

PLANE MOVEMENT OF A RIGID BODY

When each of the particles of a rigid body moves along

a trajectory that is equidistant from a fixed plane is said to be a body
experiences a planar motion. There are three types of planar motion,
mentioning them in order of increasing complexity are:

1.- TRANSLATION: This type of movement occurs if any segment of

A straight line over the body is conserved parallel to its original direction.
during the movement. When the trajectory of the movement of all the
the particles of a body are parallel lines, the movement is called
rectilinear translation. However, if the trajectories remain along
curved lines that are all parallel to each other and to the movement are called
curvilinear translation.

RECTILINEAR TRANSLATION
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Curvilinear translation trajectory

2.- ROTATION AROUND A FIXED AXIS: When a rigid body

rotates around a fixed axis, all its particles, except those that remain
about the axis of rotation, they move along circular paths

3.- GENERAL PLANE MOVEMENT: When a body is subjected to a

general plane movement, experiences a combination of a translation and
a rotation. Translation occurs within a reference plane, and the
rotation occurs around an axis perpendicular to the reference plane.
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In the figure, the crank AB rotates around a fixed axis that passes through A.
slider C experiences a straight-line translational motion, but the
biela BC has a general flat movement (it translates and rotates)

TRANSLATION OF A RIGID BODY.

If we analyze very carefully the translation of a rigid body,

We will observe that all the particles in the body have the same speed.
and the same acceleration. As a result of this, the kinematics of
the movement of a particle that we studied in the first unit can
to apply to specify the kinematics of a rigid body in translation,
therefore we will not repeat that study.

ROTATION OF A RIGID BODY AROUND A FIXED AXIS.

In the figure, it can be observed that particle P (is a particle of the
rotating body) rotates around the Z axis and here we consider the
movement in a plane perpendicular to the Z axis, in which the linear velocity
from P it would be v = ώr where r is the radius of the circle described by P,
perpendicular to the Z axis and the angular velocity ω is a vector perpendicular to
rotation plan, direction equal to that of the Z axis, and its direction is determined by
the right-hand rule

r
v = ωr
P
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EXAMPLE:

Gear A of the winch turns B which lifts block H.

If A starts from rest at t = 0 and its angular acceleration αA0.2 rad/s2in

clockwise. Calculate the vertical distance that rises H and its speed
in t = 10s.

50mm 200mm

100mm

A At the point of contact between A and B, the velocity

is

v the same for both gears, therefore

you

Tangential acceleration is also equal.

H So we have:

How

∫ ∫

rad/s

how integrating again

∫ ∫dt
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rad.

For 10 seconds

The length of the cable that has been wound is S = rθ then

What is elevated H = (8.33 rad)(0.1m) = 8.33 m.

For t = 10s

and how = r0 = 0.1(2.5) = 0.25 m/s.

EXAMPLE:

A rope is wrapped around a wheel that is initially at

rest. If a force F is applied to the rope and gives it an acceleration of a =
4t m/s2, determine:

a) The angular velocity of the wheel at t = 1 s.

b) The magnitudes of the velocity and acceleration of the point at t = 1 s.
c) The number of revolutions that the wheel turns during the first
second of its movement.

A
0.2 m
0.1 m
P

a) The point p of the wheel coincides with a point on the string.

So
(aP)t= αr
4t = α (0.2)
α = 20t rad/s
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then

∫ ∫ ∫

If t = 1 s ω = 10 rad/s

b) vAis tangent to the trajectory of point A

If when t = 1 s ω = 10(0.1)
So vA= 10(0.1)

The acceleration of A has tangential and normal components, as follows:

(aA)t=αr = 20t(r) = 20(1)(0.1) = 2 m/s2

(aA)n=ώ2r = (10)2(0.1) = 10 m/s2

2
√ 10.2 m/s

c) The angular velocity omega is related to time according to:

Then: ∫ ∫

rad
rad
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In a revolution, (a turn) there are 2π radians.

So ( )

EXAMPLE:
A wheel with a radius of 2 ft rotates around a fixed axis. Its speed
The angular velocity increases uniformly from 10 rad/s to 25 rad/s when t = 0.
when t = 10s.
Determine:
The magnitude of the components anand atfrom point P located at a distance
radial of 1 ft from the axis of the wheel, when t = 5s.
a) The total distance traveled by the point during the first 10s.

P
1ft
O 2 ft As the angular velocity increases
uniformly, then the acceleration
angular is constant.
Then the formulas can be applied
of the movement when the acceleration is
constant:

Applying the first equation:

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When t = 5s

So:
⁄

b) Determining the angular displacement during the first 10 seconds.

We already know that by geometry

S = 175 ft.
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PROBLEMS:

1.- A pulley and two loads are connected by inextensible ropes as shown
Indicated in the figure. Charge A has a constant acceleration of 10 ft/s.2y
an initial speed vo= 15 ft/s both directed upwards. Determine:
a) The number of revolutions made by the pulley in 3 seconds.
b) The velocity and position of charge B after three seconds.
c) The acceleration of point C on the pulley ring at t = 0

5 ft
3 ft O
C

Answers: 2.68
revolutions
b) vB =27 ft/s
SB= 54 ft
c) aC46.1
2 A
feet per second
B

12.5º

2.- The disc is at rest and spins with angular acceleration.

constant of α = 2 rad/s2

How much time is needed to make 10 revolutions?

If disk A is in contact with disk B and there is no relative slipping

among them, determine the angular velocity of disk B and its acceleration
angular just after disk A makes 10 revolutions.

Resp. t = 7.95 sec.

200mm
150
A mm ώB= 21 rad/s

α = 2.6 rad/s
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A small grinding wheel is attached to the shaft of an electric motor.

whose nominal speed is 3600 rpm.

When it is turned on, it reaches its nominal speed in 5 seconds and at

cutting off the power reaches rest in 70 seconds. Assuming that the
angular acceleration is constant, determine the number of revolutions that
give the engine:

a) To reach its nominal speed.

b) To stop.
a) θ = 150 revolutions. b) θ = 2100 revolutions.

4.- A wheel starts from rest and is subjected to angular acceleration

constant of 0.5 rad/s2. Calculate its angular velocity and the number of
revolutions made in 90 s.
ω = 4.5 rad/s
θ = 322.3 revolutions.

5.- A hook starts from rest with an acceleration of 20 ft/s2It's fixed to a

rope wrapped around a drum.
Calculate the angular acceleration of the drum and its angular velocity when
complete 10 revolutions.
How many more revolutions will the drum make after having
completed the 10 revolutions and that the hook continues to move during
4 s?

2 ft

a = 20 ft/s2
Resp. α = 10 rad/s2
ω = 35.4 rad/s
35.24 revolutions
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6.- The figure shows the gear train of a drilling rig.

of wells. With constant angular acceleration, the motor M rotates the shaft S
to reach 100 rpm in t = 2s, starting from rest. Calculate the
angular acceleration of the drill pipe D and the number of revolutions that
It takes 2 seconds to start.

60 mm 150 mm

Resp.: α = 2.09 rad/s θ = 0.6653 rev.

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GENERAL MOVEMENT ON A PLANE

It is said that a rigid body experiences a general motion in a plane.

when in addition to a translation, it rotates around a fixed point of the body.
This movement is considered equivalent to the translation of a point.
of the body plus a rotation around an axis that passes through that point.
Let's observe the following figure:

This figure illustrates a rigid body that experiences a

general movement in a plane. If A and B are points of the body, then the
the speed of B with respect to A is:

⁄
solving for vB

⁄ which we can write as

It should be noted that:

1.- In the translation of a rigid body, the velocity of each point of the
body is equal to the velocity of reference point A ( vB= vA).

2.- The relative speed of point B of the rigid body around point A
is vB/A. ⁄ ⁄
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So we have to: ⁄

This equation can be used to determine the velocity of any point.

arbitrary B of the body, given the velocity of point A and the velocity
angular of the body.

If the number of unknowns is greater than two, it can still be solved.

problem if other kinematically important points are considered.

Another example of a general planar movement would be:

ROLLING WITHOUT SLIPPING

In the figure, there is a circular disk of radius r rolling on a

horizontal surface with an angular velocity ω and an angular acceleration
α, the turn is clockwise (negative)

Path of O

C
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Note that the trajectory of the

center O is a line parallel to the surface. The rolling without slipping.
it occurs if point C of contact on the disk has no velocity, that is
if the disc does not slide over the surface. This case deserves a lot
Attention because it occurs in many engineering applications.

When relating the speeds of points O and C, we have:

By replacing vC= 0, ω = -ωk y rO/C= Rj we obtain:

As expected, this result shows that the speed of center O

is parallel to the surface on which the disk rolls, its magnitude being
as shown in the following figure:

vTheR0

C vC= 0

EXAMPLE: A car travels to the right with a speed

constant of 90 km/h. If the diameter of a wheel is 550 mm,
Determine the velocities of points B, C, D, and E on the edge of the wheel.

D B

30° 90°

A vA E 550 mm

C
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SOLUTION:

⁄ ⁄

⁄
( )

⁄ 30º

vD vD/A

vA 30º

⁄ ⁄

ANSWER: 15º
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vA

vE vE/A

√ = 35.4 45 degrees

EXAMPLE:

A CD link is guided by two blocks A and B that move

in grooves as shown in the figure.

Block A moves to the right at 5 m/s. Determine the

speed of point c of the link at the instant when θ = 35º
C

2m
A
A vA
D
8m

1m

The speed of C can be expressed as:

⁄
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Where ⁄

The angular velocity of link A will need to be determined.

using the information from B's movement.

VECTORIALLY:

[ ]

[ ]

The speed of B has no X component, so:

For the DC bar we have:

vB

ώC

rC/A

A vA= 5i m/s

Substituting the value of ώ = 1.09k into the first equation:

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[ ]

The direction of vCit is obtained by calculating the angle formed by the

8.93j

1.25i C

PROBLEM.

The collar B moves upward at a constant speed.

at 5 ft/s. At the moment when θ = 50º, determine: a) the
angular velocity of bar AB and b) the velocity of end A
from the bar.

4 feet
θ

Responses: ώAB1.173 rad/s

vA3.33 ft/s 25º