CHAPTER 5

PLANE KINEMATICS OF RIGID

BODIES

CHAPTER OUTLINE
5/1 Introduction
5/2 Rotation
5/3 Absolute Motion
5/4 Relative Velocity
5/5 Instantaneous Center of Zero Velocity
5/6 Relative Acceleration
5/7 Motion Relative to Rotating Axes
Thor Jorgen Udvang/Shutterstock
Article 5/1 Introduction
• Reminder about Chapter 2 and Particle Kinematics

• Need for Rigid Body Kinematics

• We need to generate, transmit, or control certain motions by the use of cams,
gears, and linkages of various types.

• We must often determine the motion of a rigid body caused by the forces
applied to it.

• Rigid-Body Assumption
Article 5/1 – Plane Motion
• Definition

• Categories of Plane Motion

• Rectilinear Translation – all points
move in straight lines. There is no
rotation.
• Curvilinear Translation – all points
move in congruent curves. There is no
rotation.
• Fixed-Axis Rotation – all points move
in circular paths about the rotation axis.
• General Plane Motion – motion of the
body is a combination of translation and
rotation.
Article 5/2 Rotation
• Situation of Interest

• Angular Position, θ
• θ2 = θ1 + β
• β is a constant
• Mathematics
• 𝜃ሶ 2 = 𝜃ሶ 1
• 𝜃ሷ 2 = 𝜃ሷ 1
• In a finite interval… Δθ1 = Δθ2
• All lines on a rigid body in its plane of motion have the same angular
displacement, the same angular velocity, and the same angular acceleration.
Article 5/2 – Angular Motion Relationships
• Differential Relationships
• Analogous to particle kinematics where s, v, and
a are replaced by θ, ω, and α

• For Constant Angular Acceleration…

Article 5/2 – Rotation about a Fixed Axis (1 of 2)
• Circular Motion Reminder from Chapter 2

• Scalar Relationships
Article 5/2 – Rotation about a Fixed Axis (2 of 2)
• Vector Relationships
Article 5/3 Absolute Motion
• Introduction

• Utilizes time derivatives of the geometric relationships which define

the configuration of a body to obtain expressions for velocities and
accelerations.

• Method is straightforward provided the configuration lends itself to a

geometric description which is not overly complex.

• It is absolutely essential to be consistent with the mathematics of the

description, e.g., the sign convention for positive rotation of a line.
Article 5/2 – Sample Problem 5/4 (1 of 3)
• Problem Statement
A wheel of radius r rolls on a flat surface without slipping. Determine the angular motion of the
wheel in terms of the linear motion of its center O. Also determine the acceleration of a point on
the rim of the wheel as the point comes into contact with the surface on which the wheel rolls.
Article 5/2 – Sample Problem 5/4 (2 of 3)
• Displacement Relationship and Time Derivatives
Article 5/2 – Sample Problem 5/4 (3 of 3)
• Acceleration of the Contact Point C
Article 5/4 Relative Velocity
• Motion Relative to Translating Axes (Art. 2/8)
vA = vB + vA/B

• Relative Velocity due to Rotation

• Choose two points on the same body, A and B,
separated by a distance r.
• Motion of one point, as seen by an observer
translating with the other point, must be circular
since the radial distance between the two points is
constant.

• Illustration
Article 5/4 – Relative Velocity due to Rotation (1 of 3)
• During an interval of motion, Δt…
• Point A moves to A′ through the displacement ΔrA.
• Point B moves to B′ through the displacement ΔrB.

• Motion can be considered in two stages…

• Stage 1: the body translates to the parallel
configuration AʺB′ through the displacement ΔrB.
• Stage 2: the body rotates about B′ through the
angular displacement Δθ. This is fixed-axis rotation
of the body about point B′ and rotates the body into
configuration A′B′.
Article 5/4 – Relative Velocity due to Rotation (2 of 3)
• With B as the reference point…
ΔrA = ΔrB + ΔrA/B
where ΔrA/B = rΔθ as Δθ approaches 0, and we see
that the relative linear motion ΔrA/B is accompanied
by the absolute angular motion Δθ as seen from the
translating axes x′-y′.

• Divide both sides of the equation by Δt and

take a limit…
vA = vB + vA/B
which appears to be the same equation as before,
except now the term vA/B results from rotation of the
body.
Article 5/4 – Relative Velocity due to Rotation (3 of 3)
• Magnitude of vA/B

• Vector Form of vA/B

• Note that the relative velocity component is always perpendicular to

the line joining the two points in question, and that the position vector
r proceeds from point B and goes toward point A.
Article 5/4 – Comment about Relative Motion Perspective
• Motion Relative to B

• Motion Relative to A

• Comment
• ΔrB/A = -ΔrA/B
• The same equations would result since the position
vector written from A to B would be the negative of
the position vector written from B to A.
• Rotation of the body is absolute for either
perspective, and is counterclockwise in the
derivation shown.
• Therefore… vB/A = -vA/B
Article 5/4 – Interpretation of the Relative-Velocity Equation

• Separate Translation and Rotation Components

• Comments
• Relative linear velocity term is always perpendicular to the line joining the two points
in question.
• The relative velocity equation can also be used to analyze constrained sliding contact
between two links in a mechanism. Choose two points, A and B, as coincident points,
one on each link, for the instant under consideration. In this case, the distance
between the two points is not constant.
Article 5/4 – Solution of the Relative-Velocity Equation
• Three Solution Categories
1. Scalar Algebra and Geometry

2. Vector Algebra

3. Graphical Construction
Article 5/4 – Comments about the Relative-Velocity Equation

• Sketch the vector polygon paying close attention to the head-to-tail combination of
the vectors to ensure it agrees with the equation. From this sketch, you can write
scalar component equations by projecting the vectors along convenient directions.
Simultaneous equations can be avoided by a careful choice of the projections.
• Alternatively, each term in the relative-motion equation may be written in terms of
its i- and j-components, from which you will obtain two scalar equations when the
equality is applied, separately, to the coefficients of the i- and j-terms.
• Graphical solutions are particularly useful when the given geometry results in
awkward mathematical expressions. First, construct the known vectors in their
correct positions using a convenient scale. Then, construct the unknown vectors
which complete the polygon and satisfy the vector equation. Finally, measure the
unknown vectors directly from the drawing.
• Note that a vector equation in two dimensions is equivalent to two scalar equations
so that at most two scalar unknowns can be determined. The unknowns might be
the magnitude of one vector and the direction of another
Article 5/5 Instantaneous Center of Zero Velocity
• Introduction and Reminder of the Previous Article

• Purpose of this Article

• Solve the relative-velocity equation by finding a unique point with a
momentary zero velocity.

• From the perspective of the body, it will be in pure rotation about the point at
the moment under consideration.

• In many instances, this approach will be simpler than solving the vector
equation, and provides a valuable means for visualizing and analyzing
velocities in plane motion.
Article 5/5 – Locating the Instantaneous Center (1 of 2)
• Situation (a)
• Velocities of points A and B are not parallel.
• The point about which A and B exhibit absolute circular motion
must lie on the normal to each velocity vector.
• The intersection of the two normal lines locates the 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. It need not be a fixed point in the body or in
the plane of motion.
• The velocities of points A and B must be proportional to their
respective distance from the center of zero velocity.
• Thus… vA = rAω and vB = rBω and vA/rA = vB/rB.
Article 5/5 – Locating the Instantaneous Center (2 of 2)
• Situations (b) and (c)
• Velocities of points A and B are parallel and share a common
normal line.
• The instantaneous center can be located by direct proportion.
• Thus… vA = 𝐴𝐶ω and vB = 𝐵𝐶ω and vA/𝐴𝐶 = vB/𝐵𝐶.

• Important Observation
• If the velocities of points A and B are parallel and do not share
a common normal line, then the angular velocity of the body is
zero at the instant under consideration and the velocity of point
A is equal to the velocity of point B.
Article 5/5 – Motion of the Instantaneous Center
• Space Centrode
• Locus of instantaneous centers in space.

• Body Centrode
• Locus of instantaneous centers on the body.
• The body centrode rolls along the space centrode.

• Important Comment
• While the instantaneous center of zero velocity is momentarily at rest, its
acceleration is generally not zero.
• It cannot be used as an instantaneous center of zero acceleration.
Article 5/6 Relative Acceleration
• Motion Relative to Translating Axes (Art. 2/8)
aA = aB + aA/B

• Relative Acceleration due to Rotation

• Choose two points on the same body, A and B,
separated by a distance r.
• Motion of one point, as seen by an observer
translating with the other point, must be circular
since the radial distance between the two points is
constant.

• Illustration
Article 5/6 – Relative Acceleration due to Rotation (cont.)
• If points A and B are on the same body…
• The term aA/B results from the circular motion of A about B (analogous to
relative velocity due to rotation).

• Equation for Relative Acceleration due to Rotation

aA = aB + aA/B = aB + (aA/B)t + (aA/B)n = aB + α × r + ω × (ω × r)

where (aA/B)t = α × r and (aA/B)n = ω × (ω × r)

• Magnitudes of the Relative-Acceleration Components

(aA/B)t = 𝑣ሶ A/B = rα

(aA/B)n = vA/B2/r = rω2

Article 5/6 – Interpretation of the Relative-Acceleration Equation
• Separate Translation and Rotation Components

• Comments
• In general, the accelerations of points A and B are not tangent to their paths.
• Relative linear acceleration term is always perpendicular to the line joining the two
points in question and the relative normal acceleration term is always directed back
toward the the reference point in the equation.
• The magnitudes of the relative acceleration terms depend on the absolute angular
velocity and the absolute angular acceleration of the body.
Article 5/6 – Comment about Relative Motion Perspective
• Motion Relative to B

• Motion Relative to A

• Comment
• ΔrB/A = -ΔrA/B
• The same equations would result since the position
vector written from A to B would be the negative of
the position vector written from B to A.
• Rotation of the body is absolute for either
perspective, and is counterclockwise in the
derivation shown.
• Therefore… aB/A = -aA/B
Article 5/6 – Solution of the Relative-Acceleration Equation

• Three Solution Categories

1. Scalar Algebra and Geometry

2. Vector Algebra

3. Graphical Construction
Article 5/6 – Comments about Solving the Equation
• When sketching the vector polygon, pay close attention to the head-to-tail
combination of vectors to ensure it agrees with the equation. Known vectors are
added first, and the unknown vectors will become the closing legs of the vector
polygon.
• Identify the knowns and unknowns. The solution to a vector equation in two
dimensions can be carried out when the unknows have been reduced to two scalar
quantities. These can be either the magnitude or direction of any of the terms in
the equation. When both points move on curved paths, there will, in general, be
six scalar quantities to account for.
• Normal acceleration components depend on velocities, so it is generally necessary
to solve for the velocities before the acceleration calculations can be made.
• Choose a reference point in the equation whose acceleration is either known or
easily determined. Do not use the instantaneous center of zero velocity as the
reference point unless its acceleration is known and accounted for.
Article 5/7 Motion Relative to Rotating Axes
• Introduction

• Situation of Interest
• Particles A and B
• Nonrotating Axes, OXY
• Rotating Axes, Bxy, with Origin Attached to Particle B and unit vectors i and j
• Angular Velocity of Rotating Axes, ω = 𝜃ሶ or ω = ωk = 𝜃k ሶ
• Absolute Position Vector of Particle B, rB
• Position Vector of Particle A with Respect to, or Relative to, Particle B, r = rA/B
• Absolute Position Vector of Particle A, rA = rB + rA/B = rB + (xi + yj)
Article 5/7 – Relative Velocity (1 of 4)
• Absolute Velocity of A

• Question: What are the time derivatives of i and j?

• While the unit vectors in the x- and y-directions are constant in magnitude,
they undergo a change in direction as the coordinate axes attached to particle B
rotate. Therefore, their time derivatives are not zero.
Article 5/7 – Time Derivatives of Unit Vectors (1 of 2)
• Time Derivative of i and j
• The unit vector i will rotate through a differential angle
dθ in a differential amount of time dt.
• The vector difference di has a magnitude equal to the
arclength i dθ = 1 dθ = dθ, and points in the positive j
direction. Thus, di = dθ j.
• Similarly, the unit vector j will rotate through a
differential angle dθ in a differential amount of time dt.
• The vector difference dj has a magnitude equal to the
arclength j dθ = 1 dθ = dθ, and points in the negative i
direction. Thus, dj = -dθ i.
• Dividing each vector difference by dt and substituting
dθ/dt = ω yields…
Article 5/7 – Time Derivatives of Unit Vectors (1 of 2)
• Cross Product Formulation
• Observe that ω × i = ωj and ω × j = -ωi

• Therefore…

• Thus, the time derivatives of the rotating unit vectors i and j are simply equal
to the angular velocity of the rotating coordinate frame crossed into the unit
vectors. This is a very important result in mechanics.
Article 5/7 – Relative Velocity (2 of 4)
• From Before…
Article 5/7 – Relative Velocity (3 of 4)
• Interpretation of Relative Velocity Equation
• Consider the motion of particle A along a slot in a
rotating plate.
• The velocity of A as measured relative to the plate,
vrel, would be tangent to the path fixed in the plate
and would have a magnitude 𝑠,ሶ where s is measured
along the curved path.
• This velocity may also be viewed as the velocity vA/P
relative to a point P attached to the plate and
coincident with A at the instant under consideration.
• The term ω × r has a magnitude of r𝜃ሶ and a direction
normal to r and is the velocity relative to B of point P
as seen from nonrotating axes attached to B.
Article 5/7 – Relative Velocity (4 of 4)
• Comparison of Equation Forms

• In the second equation, the term vP/B is measured from a nonrotating position,
otherwise, it would be zero. The term vA/P is the same as vrel and is the velocity
of A as measured in the x-y frame.
• In the third equation, vP is the absolute velocity of P and represents the effect
of the moving coordinate system, both translational and rotational.
• The fourth equation is the same as that developed for nonrotating axes, Eq.
2/20, and it is seen that vA/B = vP/B + vA/P = ω × r + vrel.
Article 5/7 – Transformation of a Time Derivative (1 of 3)
• Time Derivative of a General Vector V = Vxi + Vyj

• The first two terms express the part of the total derivative of V which is
measured relative to the x-y reference system.
• the second two terms express that part of the derivate which is caused by
rotation of the reference system.

• Here ω × V represents the difference between the time derivative of the vector
as measured in a fixed reference system and its time derivative as measured in
the rotating reference system.
Article 5/7 – Transformation of a Time Derivative (2 of 3)
• Physical Significance
• Vector V as observed in both frames.

• In time dt the vector swings to position V′.

• Changes in V with respect to x-y frame include…

• Component dV due to its change in magnitude
• Component V dβ due to its rotation of dβ relative to x-y.
• The time-derivative (dV/dt)xy has components dV/dt and V dβ/dt = V𝛽.ሶ

• Changes in V with respect to X-Y include those with respect to x-y as well as…
• Component V dθ due to its rotation of dθ relative to X-Y from that rotation of the frame.
• The time-derivative of this component is Vdθ/dt = V𝜃ሶ which is ω × V.
• Thus, (𝐕)ሶ XY = (𝐕)ሶ xy + ω × V which is the same as our previous result.
Article 5/7 – Relative Acceleration (1 of 3)
• Time Derivative of Relative Velocity Equation

• Reminder from Relative Velocity

• Substitute and Rewrite the Third Term

• Investigate the Fourth Term

Article 5/7 – Relative Acceleration (2 of 3)
• Substitute and Collect Terms

• Physical Interpretation
• The term 𝛚ሶ × r is the tangential component of acceleration of the coincident point P in its
circular motion with respect to B. Its magnitude is r𝜃ሷ and it is directed perpendicular to r.
• The term ω × (ω × r) is the normal component of acceleration of the coincident point P in its
circular motion with respect to B. Its magnitude is rω2 and it is directed from P toward B.
• Together, the terms 𝛚ሶ × r and ω × (ω × r) are written as aP/B.
Article 5/7 – Relative Acceleration (3 of 3)
• Physical Interpretation (cont.)

• The acceleration of A relative to the plate along the path, arel,

may be expressed in rectangular, normal and tangential, or polar
coordinates in the rotating system. Frequently, n- and t-
components are used, and these components are depicted in the
figure.
• The tangential component of acceleration has a magnitude (arel)t
= 𝑠ሷ where s is the distanced measured along the path to A.
• The normal component of acceleration has a magnitude (arel)n =
vrel2/ρ where ρ is the radius of curvature of the path as measured
in the x-y frame. The sense of this vector is always toward the
center of curvature.
• The term 2ω × vrel is the Coriolis acceleration, and represents
the difference between the acceleration of A relative to P as
measured from nonrotating axes and from rotating axes. It is
always normal to the vector vrel and its sense is established by
the right-hand rule for the cross product.
Article 5/7 – Coriolis Acceleration (1 of 3)
• Visualization of the Term
• Rotating disk with a radial slot. Disk rotates with a
constant angular velocity ω = 𝜃.ሶ
• Particle A is confined to the slot and has a constant
velocity vrel = 𝑥ሶ relative to the slot.
• Velocity of A has two components: (a) 𝑥ሶ due to motion
along the slot and (b) xω due to rotation of the slot.
• The velocity increment due to change in direction of vrel
is 𝑥ሶ dθ and that due to the change in magnitude of xω is
ω dx, both of which are in the y-direction.
• Dividing each increment by dt and adding give the sum
ሶ + ω𝑥ሶ = 2ω𝑥ሶ which is the magnitude of the Coriolis
𝑥ω
acceleration 2ω × vrel.
Article 5/7 – Coriolis Acceleration (2 of 3)
• Visualization of the Term (cont.)
• The remaining velocity component is due to the change
in direction of xω caused by the rotation of the disk.
This change is xω dθ and it points in the negative x-
direction.
• Dividing this increment by dt gives xω 𝜃ሶ = xω2, which is
the acceleration of a point P fixed to the slot and
momentarily coincident with the particle A.
Article 5/7 – Coriolis Acceleration (3 of 3)
• Check Acceleration of A
• With the origin at B, fixed to the disk center, the five-
term acceleration equation has aB = 0.
• With constant angular velocity, 𝛚ሶ × r = 0.
• With vrel constant in magnitude and no curvature to the slot,
arel = 0.

• We are left with aA = ω × (ω × r) + 2ω × vrel.

• Substitute r = xi, ω = ωk, and vrel = 𝑥i.
ሶ
• This gives aA = -xωi + 2𝑥ωj
ሶ which agrees with the
figure.
Article 5/7 – Rotating versus Nonrotating Systems (1 of 2)

• Comparison of Equation Forms

• In the second equation, aP/B = 𝛚ሶ × r + ω × (ω × r) represents the acceleration of the

coincident point P in its circular motion with respect to B.
• In the third equation, aP = aB + aP/B represents the absolute acceleration of the
coincident point P.
• In the second and third equations, aA/P = 2ω × vrel + arel is the complete relative
acceleration of the moving particle A with respect to the coincident point P, and
unlike the corresponding relative-velocity term, is not equal to the relative
acceleration arel measured from the rotating x-y frame of reference.
• The Coriolis term, therefore, is the difference between the acceleration aA/P of A
relative to P as measured in a nonrotating system and the acceleration arel of A
relative to P as measured in a rotating system.
Article 5/7 – Rotating versus Nonrotating Systems (2 of 2)

• Comparison of Equation Forms

• In the fourth equation, the acceleration aA/B of A relative to B as measured in a

nonrotating system and is a combination of the last four terms in the first equation for
the rotating system.
• Coincident Point Equation
• Rewrite the five-term expression by substituting for aA/P from the first equation into
the fourth equation to obtain…

• In this equation, point P must be selected as the point on the body coincident with A
at the instant of analysis.
Article 5/7 – Summary of Terms

• Key Terms in Equations 5/12 and 5/14