Rigid Body Motion Outline

Kinematics - describes motion (position, vel, accel)

without regard for the forces that cause it (hw7 due 4/12)
Dynamics - describes the causes of motion (forces!) and
how they inuence the motion (hw8 due 4/26)
2 Projects:

Trilar Pendulum, vibrations and rigid body motion (4/19)

Solar Car, rigid body motion and power transmission (5/7)

1 Friday, April 5, 13
Rigid Bodies

BEFORE: points/particles - no rotation, just translation

RIGID BODIES: arbitrary shaped bodies that do not

deform - must consider translation and rotation
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x
y
x
y
d
2
d
2
d
1
d
1
Rigid Bodies

Between any 2 points on the body, the distance is xed:

springs: not rigid
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2D Kinematics:
Rotation about a xed point
i
j
counter-clockwise
rotation about O
O
P
nd motion of P
(velocity and
acceleration)
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i
j
counter-clockwise
rotation about O
O
P
nd motion of P
(velocity and
acceleration)
r
p
v
p
r
p
= r(cosi + sinj)
v
p
= r

(sini + cosj)
r
p
v
p
= 0
Rotation about a xed point
r = distance b/t 2 points = constant
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i
j
counter-clockwise
rotation about O
O
P
nd motion of P
(velocity and
acceleration)
r
p
v
p
r
p
= r(cosi + sinj)
v
p
= r

(sini + cosj)
Rotation about a xed point
r
p
v
p
= 0
a
pt
a
pn
a
p
= r

(sini + cosj) r

2
(cosi + sinj)
9 Friday, April 5, 13
i
j
counter-clockwise
rotation about O
O
P
nd motion of P
(velocity and
acceleration)
r
p
v
p
r
p
= r(cosi + sinj)
v
p
= r

(sini + cosj)
Rotation about a xed point
r
p
v
p
= 0
a
pt
a
pn
a
p
= r

(sini + cosj) r

2
(cosi + sinj)
|v| = r

= r
|a
t
| = r

= r
|a
n
| = r

2
= r
2
= |v|/2
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Example 1: 2 gears
r
A
r
B

A

B

A
what are
B
and
B
?

A
and
A
are prescribed
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Example 1: 2 gears
r
A
r
B

A

B

A
what are
B
and
B
?

A
and
A
are prescribed
|v
p
| = r
A

A
= r
B

B
= (r
A
/r
B
)
A

B
= (r
A
/r
B
)
A
Solution: take velocity at point P where gears
intersect:
P
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What if you have multiple gears?
P
Q
r
A
r
B
r
C

B
= (r
A
/r
B
)
A

C
= (r
B
/r
C
)
B

C
= (r
B
/r
C
)(r
A
/r
B
)
A

C
= (r
A
/r
C
)
A
velocity at point P:
velocity at point Q:
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Traditional 3-gear Manual Transmission
http://www.youtube.com/watch?v=JOLtS4VUcvQ
Spinning Levers (1936)
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http://eahart.com/prius/psd/
Prius Power Split Device (PSD)
ICE: Internal Combustion Engine (gasoline)
MG1: Electric Motor/Generator 1
MG2: Electric Motor/Generator 2
http://eahart.com/prius/psd/
MG2 powers
outer ring:
connected to
wheels
ICE powers plate
of planetary
gears
MG1
powers
sun gear
15 Friday, April 5, 13
Fixed Point Rotation
in Vector Form
i
j
O
P
k
r
r = vector from axis of rotation to point P
v
", # = angular velocity and accel vectors
", # always point along axis of rotation
RHR: curl ngers in direction of rotation,
thumb points in direction of "
"
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Fixed Point Rotation
in Vector Form
i
j
O
P
k
r
v
"
v = r
a = r + ( r)
", # are the same at all points on a rigid body
a, v vary at each point and depend on distance r from rotation axis
tangential normal
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Example 2: simple rotation in vector form
B
A
0.4 m
0.3 m
Rotates clockwise about B
at an angular velocity
decreasing at a rate of 4
rad/sec.
Find v and a at A at the
instant when "=2 rad/sec
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General Kinematics:
2D planar motion
motion is decomposed into
translation and rotation
x
y
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Example 2: simple rotation in vector form
B
A
0.4 m
0.3 m
Rotates clockwise about B
at an angular velocity
decreasing at a rate of 4
rad/sec.
Find v and a at A at the
instant when "=2 rad/sec
given: " = -2 k, # = 4 k, r = 0.4i + 0.3j
i
j
draw coordinate system aligned with body
solve: v = " x r
a = " x (" x r) = " x v
20 Friday, April 5, 13
j
O
k
i
r
B
r
A
r
A/B
A B
B
A
r
A/B

r
A/B
= |r
A/B
|(cosi + sinj)
r
A
= r
A/B
+r
B
r
A
= r
B
+ |r
A/B
|(cosi + sinj)
v
A
= v
B
+ |r
A/B
|(

sini +

cosj)
translation of B + rotation of A
about point B
r
A/B
=location of A relative to B
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a
A
= a
B
+ ( r
A/B
) + ( ( r
A/B
))
v
A
= v
B
+ ( r
A/B
)
kinematics of point A:
depends on kinematics of B, plus
rotational velocity and
acceleration
j
O
i
r
B
r
A
r
A/B
A B
B
A
r
A/B

22 Friday, April 5, 13