HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY – VNU-HCM
FACULTY OF APPLIED SCIENCE
DEPARTMENT OF ENGINEERING MECHANICS
Lecturer: Dr. Pham Toan Thang
Email: phamtoanthang@[Link]
Phone: 0901640291
Department of Engineering Mechanics, Room 707-H1, Di An Campus
Faculty of Applied Science
Ho Chi Minh City University of Technology – VNU-HCM
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ENGINEERING MECHANICS PHAM TOAN THANG
CHAPTER 7. GENERAL PLANE MOTION
7.1. Absolute Motion
7.2. Relative Velocity
2.
7.3. Instantaneous Center of Zero Velocity
7.4. Relative Acceleration
7.5. Motion Relative to Rotating Axis
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CHAPTER 7: GENERAL PLANE MOTION
7.1. Absolute motion
We now develop the approach of absolute-motion analysis to describe
the plane kinematics of rigid bodies. In this approach, we make use of
the geometric relations which define the configuration of the body
involved and then proceed to take the time derivatives of the defining
geometric relations to obtain velocities and accelerations
The absolute-motion approach is straightforward when the geometry
of the system is simple and easy to describe. However, if the geometry
is complex or awkward, it is often better to use the relative motion
method instead.
The next three sample problems illustrate the application of absolute-
motion analysis to three commonly encountered situations.
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7.1. Absolute motion
Example 1
Solution
The figure shows the wheel rolling to the right from the dashed to the full
position without slipping.
The linear displacement of the center O is s, which is also the arc length
C′A along the rim on which the wheel rolls.
The radial line CO rotates to the new position C′O′ through the angle 𝜃,
where 𝜃 is measured from the vertical direction.
If the wheel does not slip, the arc C′A must equal the distance s. Thus,
the displacement relationship and its two time derivatives give
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7.1. Absolute motion
Example 1
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7.1. Absolute motion
Example 1
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7.1. Absolute motion
Example 2
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7.1. Absolute motion
Example 2
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7.1. Absolute motion
Example 3
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7.1. Absolute motion
Both 𝜔 and 𝛼 are counterclockwise since
their signs are positive in the sense of the
positive measurement of 𝜃
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7.2. Relative Velocity
• Absolute motion is typically described using a fixed reference frame.
• However, in many practical problems, it is more convenient to use a
moving reference frame (e.g., on a rotating or translating body).
• By combining the relative motion (motion with respect to the moving
frame) with the absolute motion of the moving frame itself, we can
determine the total absolute motion.
• This technique is known as relative-motion analysis and is especially
useful in analyzing complex systems like gears, linkages, and rotating
machinery.
The second approach to rigid-body kinematics is to use the principles of
relative motion:
to the motion of two particles A and B.
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7.2. Relative Velocitys
Relative Velocity Due to Rotation
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7.2. Relative Velocitys
Relative Velocity Due to Rotation
This concept is illustrated in Fig (a), which shows a rigid body moving in the plane of the figure from position AB to A′B′
during time ∆t. This movement may be visualized as occurring in two parts.
First, the body translates to the parallel position A″B′ with the displacement ∆r_B.
Second, the body rotates about B′ through the angle ∆𝜃.
From the nonrotating reference axes x′-y′ attached to the reference point B′, you can see that this remaining motion of
the body is one of simple rotation about B′, giving rise to the displacement ∆rA∕B of A with respect to B.
To the nonrotating observer attached to B, the body appears to undergo fixed-axis rotation about B with A executing
circular motion as emphasized in Fig. (b).
With B as the reference point, we see from Fig. (a) that the total displacement of A is:
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7.2. Relative Velocitys
Relative Velocity Due to Rotation
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7.2. Relative Velocity
Solution of the relative-velocity equation
• The relative-velocity equation can be solved using scalar or vector algebra, or through graphical
methods.
• Drawing a vector diagram helps visualize the relationships and simplifies writing scalar
equations by projecting vectors along chosen directions, often avoiding simultaneous
equations. Alternatively, breaking vectors into i and j components gives two scalar equations.
• Graphical methods are useful when geometry makes algebraic solutions complex—vectors are
drawn to scale and unknowns are measured directly. The choice of method depends on the
problem, required accuracy, and user preference.
• In 2D, one vector equation yields two scalar equations, allowing up to two unknowns to be
found. Clearly identifying knowns and unknowns is essential before solving.
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7.2. Relative Velocity
Problem 1
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7.2. Relative Velocitys
Problem 2
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7.2. Relative Velocitys
Problem 3
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7.3. Instantaneous Center of Zero Velocity
We now solve the problem by choosing a unique reference
point which momentarily has zero velocity. As far as velocities
are concerned, the body may be considered to be in pure
rotation about an axis, normal to the plane of motion, passing
through this point.
This axis is called the instantaneous axis of zero velocity, and
the intersection of this axis with the plane of motion is known
as the instantaneous center of zero velocity. This approach
provides us with a valuable means for visualizing and analyzing
velocities in plane motion.
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7.3. Instantaneous Center of Zero Velocity
Locating the instantaneous center
The existence of the instantaneous center is easily shown. For the body in Fig, assume that the directions of the absolute
velocities of any two points A and B on the body are known and are not parallel.
If there is a point about which A has absolute circular motion at the instant considered, this point must lie on the normal
to v_A through A.
Similar reasoning applies to B, and the intersection of the two perpendiculars fulfills the requirement for an absolute
center of rotation at the instant considered.
Point C is the instantaneous center of zero velocity and may lie on or off the body. If it lies off the body, it may be
visualized as lying on an imaginary extension of the body. The instantaneous center need not be a fi xed point in the body
or a fixed point in the plane.
Thus, the angular velocity of the body,
which, of course, is also the angular velocity of every line in the
body. Therefore, the velocity of B is vB = rB𝜔 = (rB∕rA)vA.
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7.3. Instantaneous Center of Zero Velocity
Motion of the instantaneous center
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7.3. Instantaneous Center of Zero Velocity
Problem 1
The wheel of problem 1, shown again here, rolls to the right without slipping, with
its center O having a velocity vO = 3 m∕s. Locate the instantaneous center of zero
velocity and use it to fi nd the velocity of point A for the position indicated.
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7.4. Relative Acceleration
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7.4. Relative Acceleration
Relative Acceleration Due to Rotation
If points A and B are located on the same rigid body and in the plane of motion, the distance r
between them remains constant so that the observer moving with B perceives A to have circular
motion about B.
Thus we may write
where the magnitudes of the relative-acceleration components are:
In vector notation the acceleration components are:
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7.4. Relative Acceleration
Relative Acceleration Due to Rotation
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7.5. Motion Relative to Rotating Axes
Relative Acceleration Due to Rotation
The absolute position vector of A is given by
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7.5. Motion Relative to Rotating Axes
Relative Acceleration
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7.5. Motion Relative to Rotating Axes
Coriolis Acceleration
The term 2𝛚 × vrel, shown in Eq., is called the Coriolis
acceleration
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Problem 1
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Problem 2
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Problem 3
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Problem 4
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Problem 5
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Problem 6
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