Chapter 2

Kinematics
Question 21
A bug B crawls radially outward at constant speed v0 from the center of a rotating disk as shown in Fig. P2-1. Knowing that the disk rotates about its center O with constant absolute angular velocity relative to the ground (where
kk = ), determine the velocity and acceleration of the bug as viewed by an
observer fixed to the ground.

v0

Figure P 2-1

Solution to Question 21
For this problem it is convenient to choose a fixed reference frame F and a noninertial reference frame A that is fixed in the disk. Corresponding to reference
frame F we choose the following coordinate system:
Ex
Ez
Ey

Origin at Point O
=
=
=

Along OB at Time t = 0
Out of Page
Ez Ex

Chapter 2. Kinematics

Corresponding to the reference frame A that is fixed in the disk, we choose the
following coordinate system
Origin at Point O
=
=
=

ex
ez
ey

Along OB
Out of Page (= Ez )
ez ex

The position of the bug is then resolved in the basis {ex , ey , ez } as

r = r ex

(2.1)

Now, since the platform rotates about the ez -direction relative to the ground,
the angular velocity of reference frame A in reference frame F is given as
F

A = ez

(2.2)

The velocity is found by applying the basic kinematic equation. This gives
F

v=

dr Adr F A
=
+ r
dt
dt

(2.3)

Now we have
A

dr
= rex = v0 ex
dt
F A
r = ez r ex
= r ey

(2.4)
(2.5)

Adding Eqs. (2.4) and (2.5), we obtain the velocity of the bug in reference frame
F as
F
v = v0 ex + r ey
(2.6)
The acceleration is found by applying the basic kinematic equation to
gives
F
d F  A d F  F A F
F
a=
v =
v + v
dt
dt
Using

Fv

F v.

This
(2.7)

from Eq. (2.6) and noting that v0 and are constant, we have that
A

d F 
v
dt

F A

= rey = v0 ey
(2.8)

F v = ez [v0 ex + r ey ]
= 2 r ex + v0 ey

Therefore, the acceleration in reference frame F is given as

F

a = 2 r ex + 2v0 ey

(2.9)

Question 22
A particle, denoted by P , slides on a circular table as shown in Fig. P2-2. The
position of the particle is known in terms of the radius r measured from the
center of the table at point O and the angle where is measured relative to the
direction of OQ where Q is a point on the circumference of the table. Knowing
that the table rotates with constant angular rate , determine the velocity and
acceleration of the particle as viewed by an observer in a fixed reference frame.

Figure P 2-2

Solution to Question 22
For this problem it is convenient to define a fixed inertial reference frame F
and two non-inertial reference frames A and B. The first non-inertial reference
frame A is fixed to the disk while the second non-inertial reference frame B is
fixed to the direction of OP . Corresponding to the fixed inertial reference frame
F , we choose the following coordinate system:
Ex
Ez
Ey

Origin at point O
=
=
=

Along Ox at t = 0
Out of Page
Ez Ex

Corresponding to non-inertial reference frame A, we choose the following coordinate system:

ex
ez
ey

Origin at point O
=
=
=

Along OQ
Out of Page (= Ez )
ez ex

Chapter 2. Kinematics

Finally, corresponding to reference frame B, we choose the following coordinate

system:
Origin at point O
er
=
Along OP
ez
=
Out of Page
e
=
ez er
Then, the position of the particle can be desribed in terms of the basis {er , e , ez }
as
r = r er .
(2.10)
Now, in order to compute the velocity of the particle, it is necessary to apply
the basic kinematic equation. In this case since we are interested in motion
as viewed by an observer in the fixed inertial reference frame F , we need to
determine the angular velocity of B in F . First, since A rotates relative to F
with angular velocity , we have that
F

A = = ez

(2.11)

about the ez -direction,

Next, since B rotates relative to A with angular rate
we have that
A B
z
= e
(2.12)
Then, applying the theorem of addition of angular velocities, we have that
F

z = ( + )e
z
B = F A + A B = ez + e

(2.13)

The velocity in reference frame is then found by applying the rate of change
transport theorem as
F
dr Bdr F B
F
=
+ r
(2.14)
v=
dt
dt
Now we have
B

dr
= rer
dt
F B
z r er = r ( + )e

r = ( + )e

(2.15)
(2.16)

Adding Eqs. (2.15) and (2.16), we obtain the velocity of the particle in reference
frame F as
F

v = rer + r ( + )e
(2.17)
The acceleration is found by applying the rate of change transport theorem toF v
. This gives
F
d F  Bd F  F B F
F
v =
v + v
(2.18)
a=
dt
dt

5
Using F v from Eq. (2.17) and noting again that is constant, we have
B

h
i
d F 
+ r
e
v
= rer + r( + )
dt
h
i
F B
z rer + r ( + )e

F v = ( + )e
2 er + r( + )e

= r ( + )

(2.19)

(2.20)

Adding Eqs. (2.19) and (2.20), we obtain the acceleration of the particle in reference frame F as
h
i
h
i
F
2 er + r
+ 2
e
a = r r ( + )
r ( + )
(2.21)

Chapter 2. Kinematics

Question 23
A collar slides along a rod as shown in Fig. P2-3. The rod is free to rotate about
a hinge at the fixed point O. Simultaneously, the rod rotates about the vertical
direction with constant angular velocity relative to the ground. Knowing that
r describes the location of the collar along the rod, that is the angle measured
from the vertical, and that = kk, determine the velocity and acceleration of
the collar as viewed by an observer fixed to the ground.

Figure P 2-3

Solution to Question 23
First, let F be a fixed reference frame. Then, choose the following coordinate
system fixed in reference frame F :
Ex
Ez

Origin at point O
=
=

Ey

Along
Orthogonal to Plane of
Shaft and Arm at t = 0
Ez Ex

Next, let A be a reference frame fixed to the vertical shaft. Then, choose the
following coordinate system fixed in reference frame A:
ex
ez

Origin at point O
=
=

ey

Along
Orthogonal to Plane of
Shaft and Arm
ez ex

7
Finally, let B be a reference frame fixed to the rod. Then, choose the following
coordinate system fixed in reference frame B:
er
ez
e

Origin at point O
=
=
=

Along OP
uz
ez er

The geometry of the bases {ex , ey , ez } and {er , e , ez } is shown in Fig. 2-1. Using
Fig. 2-1, the relationship between the basis {ex , ey , ez } and {er , e , ez } is given
as
ex = cos er sin e
(2.22)
ey = sin er + cos e
ex
er

ez

ey

Figure 2-1

Geometry of Bases {ex , ey , ez } and {er , e , ez } for Question 23.

The position of the particle can then be expressed in the basis {er , e , ez } as
r = r er

(2.23)

Now, since {er , e , ez } is fixed in reference frame B, and we are interested in

obtaining the velocity and acceleration as viewed by an observer fixed in the
ground (i.e., reference frame F ), we need to obtain an expression for the angular
velocity of reference frame B in reference frame F . First, since reference frame
A rotates relative to reference frame F with angular velocity and lies along
the ex -direction, we have that
F

A = = ex

(2.24)

Next, since reference frame B rotates relative to reference frame A with angular
about the ez -direction. Therefore,
rate
z
B = e

(2.25)

Chapter 2. Kinematics

Then, using the angular velocity addition theorem, we have the angular velocity
of reference frame B in reference frame F as
F

z
B = F A + AB = ex + e

(2.26)

Now, since we have determined that the position of the collar is expressed most
conveniently in terms of the basis {er , e , ez }, it is also most convenient to express F B in terms of the basis {er , e , ez }. In particular, substituting the expression for ex from Eq. (2.22) into Eq. (2.26), we obtain F B as
F

z = cos er sin e + e
z
B = (cos er sin e ) + e

(2.27)

The velocity in reference frame F is then found by applying the rate of change
transport theorem between reference frames B and F as
F

v=

dr Bdr F B
=
+ r
dt
dt

(2.28)

Now we have that

B

dr
= rer
dt
F B
z ) r er
r = ( cos er sin e + e

= r sin Ez + r e

(2.29)
(2.30)

Adding Eq. (2.29) and Eq. (2.30), we obtain the velocity of the collar in reference
frame F as
F
+ r sin ez
v = rer + r e
(2.31)

The acceleration of the collar is then obtained by applying the rate of change
transport theorem to F v between reference frames B and F as
F
d F  Bd F  F B F
F
a=
v =
v + v
(2.32)
dt
dt
Now we have
B
h
i
d F 
+ r )e
+ (
cos ) ez
v
= rer + (
r
r sin + r
(2.33)
dt
F B
z ) (
+ r sin ez )
F v = ( cos er sin e + e
r er + r e
cos ez r 2 cos sin e + r sin ez r 2 sin2 er
= r
r
2 er
+
r e
2
+ r 2 sin2 )er + (
r 2 cos sin )e
= (r
r
cos + r sin )ez
+(r

(2.34)

Adding Eqs. (2.33) and (2.34), we obtain the acceleration of the collar in reference frame F as
F

2 r 2 sin2 )er + (2
+ r
r 2 cos sin )e
a = (
r r
r

cos )ez
+2(
r sin + r

(2.35)

Question 24
A particle slides along a track in the form of a parabola y = x 2 /a as shown
in Fig. P2-4. The parabola rotates about the vertical with a constant angular
velocity relative to a fixed reference frame (where = kk). Determine the
velocity and acceleration of the particle as viewed by an observer in a fixed
reference frame.
y

P
y = x 2 /a
O

Q
x

Figure P 2-4

Solution to Question 24
For this problem it is convenient to define a fixed inertial reference frame F
and a non-inertial reference frame A. Corresponding to reference frame F , we
choose the following coordinate system:
Ex
Ey
Ez

Origin at Point O
=
=
=

Along OQ When t = 0
Along Oy When t = 0
Ex Ey

Furthermore, corresponding to reference frame A, we choose the following coordinate system:

Origin at Point O
ex
=
Along OQ
ey
=
Along Oy
ez
=
ex ey

The position of the particle is then given in terms of the basis {ex , ey , ez } as
r = xex + yey = xex + (x 2 /a)ey

(2.36)

Furthermore, since the parabola spins about the ey-direction, the angular velocity of reference frame A in reference frame F is given as
F

A = = ey

(2.37)

10

Chapter 2. Kinematics

The velocity in reference frame F is then found using the rate of change transport theorem as
F
dr Adr F A
F
=
+ r
(2.38)
v=
dt
dt
Using r from Eq. (2.36) and

F A

from Eq. (2.37), we have

dr
x + (2x x/a)e

= xe
y
dt
F A
r = ey (xex + (x 2 /a)ey ) = xez

(2.39)
(2.40)

Adding Eqs. (2.39) and (2.40), we obtain F v as

F

x + (2x x/a)e

v = xe
y xez

(2.41)

The acceleration in reference frame F is found by applying the rate of change

transport theorem to F v as
F

d F  Ad F  F A F
v =
v + v
a=
dt
dt
F

Using F v from Eq. (2.41) and

F A

(2.42)

from Eq. (2.37), we have

h
i
d F 
x + 2(x
2 + x x)/a

z
v
= xe
ey xe
(2.43)
dt
F A
x + (2x x/a)e

z 2 xex(2.44)
F v = ey (xe
y xez ) = xe
Adding Eq. (2.43) and (2.44), we obtain F a as
h
i
F
2 x)ex + 2(x
2 + x x)/a

z
a = (x
ey 2xe

(2.45)

11

Question 25
A satellite is in motion over the Earth as shown in Fig. P2-5. The Earth is modeled as a sphere of radius R that rotates with constant angular velocity in
a direction ez where ez lies along a radial line that lies in the direction from
the center of the Earth at point O to the North Pole of the Earth at point N.
Furthermore, the center of the Earth is assumed to be an absolutely fixed point.
The position of the satellite is known in terms of an Earth-centered Earth-fixed
Cartesian coordinate system whose right-handed basis {ex , ey , ez } is defined as
follows:
The direction ex lies orthogonal to ez in the equatorial plane of the Earth
along the line from O to P where P lies at the intersection of the equator
with the great circle called the Prime Meridian
The direction ey lies orthogonal to both ex and ez in the equatorial plane
of the Earth such that ey = ez ex
Using the basis {ex , ey , ez } to express all quantities, determine the velocity and
acceleration of the spacecraft (a) as viewed by an observer fixed to the Earth and
(b) as viewed by an observer in a fixed inertial reference frame.
Spacecraft

ez

Prime Meridian

O
Q

ey

ex
Equator
Figure P 2-5

Solution to Question 25
First, let F be a fixed inertial reference frame. Next, let A be a reference frame
that is fixed in the planet. Corresponding to reference frame A, we choose the

12

Chapter 2. Kinematics

following coordinate system:

ex
ez
ey

Origin at point O
=
=
=

Along OP
Along ON
ez ex (= Along OQ)

The position of the spacecraft is then given in terms of the basis {ex , ey , ez } as
r = xex + yey + zez

(2.46)

Now, since the planet rotates with constant angular velocity about the ONdirection relative to reference frame F , we have that
F

A = ez

(2.47)

The velocity of the spacecraft is then found by applying the rate of change
transport theorem as
F
dr Adr F A
F
=
+ r
(2.48)
v=
dt
dt
Now we have
A

dr
x + ye
y +z
ez
= xe
dt
F A
r = ez (xex + yey + zez )
= xey yex

(2.49)
(2.50)

Adding Eqs. (2.49) and (2.50), we obtain F v as

F

y)ex + (y
+ x)ey + z
ez
v = (x

(2.51)

Next, the acceleration of the spacecraft in reference frame F is found by applying the rate of change transport theorem to F v as
F

a=

d F  Ad F  F A F
v =
v + v
dt
dt

(2.52)

Now we have
A

d F 
y)e
x + (y
+ x)e
y +z
ez
v
= (x
dt
F A
y)ex + (y
+ x)ey + z
ez ]
F v = ez [(x
y)ey (y
+ x)ex
= (x

(2.53)

(2.54)

Adding Eqs. (2.53) and (2.54), we obtain F a as

F

2y
2 x)ex + (y
+ 2x
2 y)ey + z
ez
a = (x

(2.55)

13

Question 28
A bead slides along a fixed circular helix of radius R and helical inclination
angle as shown in Fig. P2-8. Knowing that the angle measures the position
of the bead and is equal to zero when the bead is at the base of the helix,
determine the following quantities relative to an observer fixed to the helix: (a)
the arclength parameter s as a function of the angle , (b) the intrinsic basis
{et , en , eb } and the curvature of the trajectory as a function of the angle , and
(c) the position, velocity, and acceleration of the particle in terms of the intrinsic
basis {et , en , eb }.

O P

Figure P 2-8

Solution to Question 28
Let F be a reference frame fixed to the helix. Then, choose the following coordinate system fixed in reference frame F :

Ex
Ez
Ey

Origin at O
=
=
=

Along OA
Out of page
Ez Ex

Next, let A be a reference

n frameo that rotates with the projection of the position of particle into the Ex , Ey -plane. Corresponding to A, we choose the

14

Chapter 2. Kinematics

following coordinate system to describe the motion of the particle:

Origin at O
er
ez
e

Along O to projection of P into

Ez
ez er

=
=
=

Ex , Ey

plane

Now, since is the angle formed by the helix with the horizontal, we have from
the geometry that
z = R tan
(2.56)
Then the position of the bead can be written as
r = Rer + tan Rez = Rer + R tan ez

(2.57)

Furthermore, the angular velocity of reference frame A in reference frame F is

given as
F A
z
= e
(2.58)
Then, applying the rate of change transport theorem to r between reference
frames A and F , we have
F

v=

dr Adr F A
=
+ r
dt
dt

(2.59)

where
A

dr
tan ez
= R
dt
F A
z (Rer + R tan ez ) = R e

r = e

(2.60)
(2.61)

Adding Eqs. (2.60) and (2.61), we obtain

F

+ R
tan ez
v = R e

The speed in reference frame F is then given as

q
 
F
1 + tan2 = R
sec d F s
v = kF vk = R
dt

(2.62)

(2.63)

Consequently,

ds = R sec d

Integrating both sides of Eq. (2.64), we obtain

Z
Z Fs
R sec d
ds =
Fs
0

(2.64)

(2.65)

We then obtain
F

s F s0 = R( 0 ) sec

(2.66)

s = F s0 + R( 0 ) sec

(2.67)

Solving Eq. (2.66) for s, the arclength is given as

F

15
Intrinsic Basis and Curvature of Trajectory
The intrinsic basis is obtained as follows. First, the tangent vector et is given as
et =

Fv

(2.68)

Fv

Substituting the expressions for F v and F v from part (a) into Eq. (2.68), we
obtain
+ R
tan ez
R e
= cos e + sin ez
(2.69)
et =
sec
R
Next, we have
F

A
det F A
det
=
+ et
dt
dt

(2.70)

where
A

det
dt
F A e
t

= 0
z (cos e + sin ez ) =
cos er
= e

(2.71)

Therefore,
F

det
cos er
=
dt
The principle unit normal is then given as
en =

det /dt

k det /dtk

= er

(2.72)

(2.73)

Finally, the principle unit bi-normal vector is given as

eb = et en = (cos e + sin ez ) (er ) = sin e + cos ez

(2.74)

Position, Velocity, and Acceleration of Bead

First, we can solve for the basis {er , e , ez } in terms of {et , en , eb } by using
Eqs. (2.69), (2.73), and (2.74). First, from Eq. (2.73), we have
er = en

(2.75)

Next, restating Eqs. (2.69) and (2.74), we have

et
eb

= cos e + sin ez

= sin e + cos ez

(2.76)
(2.77)

Solving Eqs. (2.76) and (2.77) simultaneously for e and ez , we obtain

e
ez

= sin et + cos eb

= cos et sin eb

(2.78)
(2.79)

16

Chapter 2. Kinematics

Then, substituting the expressions for er and ez from Eqs. (2.75) and (2.79) into
Eq. (2.57), we have the position in terms of {et , en , eb } as
r = Ren + R tan (cos et sin eb )

(2.80)

Next, the velocity in reference frame F is given in terms of {et , en , eb } as

F

v = F vet

(2.81)

Substituting the expression for F v from Eq. (2.63) into Eq. (2.81), we have
F

sec et
v = R

Finally, the acceleration in reference frame F is given as

F de
 
d


t
F
F
en
a=
v et + F v

dt
dt

(2.82)

(2.83)

Computing the rate of change of F v using the expression for F v from Eq. (2.63),
we have
d F 
sec
v = R
(2.84)
dt

Therefore,
F

sec et + R
sec
cos en = R
sec et + R
2 en
a = R

(2.85)

17

Question 29
Arm AB is hinged at points A and B to collars that slide along vertical and horizontal shafts, respectively, as shown in Fig. P2-9. The vertical shaft rotates with
angular velocity relative to a fixed reference frame (where = kk) and point
B moves with constant velocity v0 relative to the horizontal shaft. Knowing that
point P is located at the center of the arm and the angle describes the orientation of the arm with respect to the vertical shaft, determine the velocity and
acceleration of point P as viewed by an observer fixed to the ground. In simpli in terms of v0 and l and express
fying your answers, find an expression for

your answers in terms of only l, , , , and v0 .

l/2

l/2
v0

O
B
Figure P 2-9

Solution to Question 29
Let F be the ground. Then choose the following coordinate system fixed in
reference frame F :

Ex
Ey
Ez

Origin at O
=
=
=

Along OB when t = 0
Along OA
Ex Ey

18

Chapter 2. Kinematics

Next, let A be the L-shaped assembly. Then choose the following coordinate
system fixed in A:
Origin at O
ex
=
Along OB
ey
=
Along OA
ez
=
ex ey
Finally, let B be the rod. Then choose the
B:
Origin at A
ur
=
uz
=
u
=

following coordinate system fixed in

Along AB
ez
uz ur

From the geometry of the coordinate systems, we have

ex
ey

= sin ur + cos u
= cos ur + sin u

(2.86)

Next, because we must measure all distances from point O (because point O is
fixed to the ground and we want all rates of change as viewed by an observer
fixed to the ground), the position of the center of the rod is given as
rP /O = rA/O + rP /A r

(2.87)

Using the coordinates systems defined for this problem, we have

rA/O
rP /A

= l cos ey
l
= 2 ur

(2.88)

Consequently,
l
ur
(2.89)
2
Because rA/O is expressed in the basis {ex , ey , ez } while rP /A is expressed in
the basis {ur , u , uz }, it is convenient to differentiate each piece of the vector
rP /O separately. First, the velocity of point A relative to point O as viewed by
an observer fixed to the ground is obtained by applying the transport theorem
from A to F as
rP /O = l cos ey +

First, we have

vA/O =

A d


d
rA/O =
rA/O + F A rA/O
dt
dt
F

A = = ey

(2.90)

(2.91)

Next,


A d
r
A/O
dt
F A r
A/O

sin ey
= l
= ey l cos ey = 0

(2.92)

19
Consequently,
F

sin ey
vA/O = l

(2.93)

The acceleration of point A relative to point O as viewed by an observer fixed to

the ground is then given as
F

aA/O =

 A d 

d F
F
vA/O =
vA/O + F A F vA/O
dt
dt

(2.94)

Now we have


A d
Fv
A/O
dt
F A F v
A/O

sin +
2 cos )ey
= l(
sin )ey = 0
= ey (l

(2.95)

Therefore,
F

sin +
2 cos )ey
aA/O = l(

(2.96)

The velocity of point P relative to point A as viewed by an observer fixed to the

ground is obtained by applying the transport theorem from reference frame B
to reference frame F as
F

vP /A =

Now

B d


d
rP /A =
rP /A + F B rP /A
dt
dt
F

(2.97)

B = F A + A B

(2.98)

z
B = u

(2.99)

where
A

Therefore,
F

z = ( cos ur + sin u ) + u
z
B = ey + u
z
= cos ur + sin u + u

(2.100)

Now we have
B

d
rP /A
dt
F B r
P /A

= 0
z ) l ur
= ( cos ur + sin u + u
2

l
l sin
=
u
uz
2
2

(2.101)

Therefore,

l sin
l
u
uz
(2.102)
2
2
The acceleration of point P relative to point A as viewed by an observer fixed to
the ground is then given as
F

aP /A =

vP /A =

 B d 

d F
F
vP /A =
vP /A + F B F vP /A
dt
dt

(2.103)

20

Chapter 2. Kinematics

Now we have
B


d F
vP /A
dt

F B

F vP /A

cos
l
l
u
uz
2
2

z) (
= ( cos ur + sin u + u

l
l sin
u
uz )
2
2
(2.104)

The second term in Eq. (2.104) can be simplified to

F

vP /A

cos
l
l2 cos sin
=
uz
u
2
2

2
l2 sin2 + l
2

ur

(2.105)
Adding the first term in Eq. (2.104) to the result of Eq. (2.105), we obtain the
acceleration of point P relative to point A as viewed by an observer fixed to the
ground as
!
!
l2 cos sin
2
l
l2 sin2 + l
F
cos uz

ur +
u l
aP /A =
2
2
2
(2.106)
Using the aforementioned results, we obtain the velocity and acceleration of
point P relative to point O as viewed by an observer fixed to the ground as
follows. First, adding the results of Eqs. (2.93) and (2.102), we obtain
F

sin ey + l u l sin uz
vP /O = l
2
2

(2.107)

Finally, adding the results of Eqs. (2.96) and (2.106), we obtain

F

sin +
2 cos )ey
aP /O = l(
!
!
2
l2 cos sin
l2 sin2 + l
l

ur +
u

2
2
2
cos uz
l

(2.108)

A last point pertains to the velocity of point B. It was stated in the problem
that, point B moves with constant velocity v0 relative to the horizontal shaft.
Now, because the horizontal shaft is fixed in reference frame A, we have
A

Another expression for the

vB = v0 ex = constant

Av

(2.109)

is obtained as follows. First,

rB = l sin ex

(2.110)

cos ex
v B = l

(2.111)

Therefore,
A

21
Equating the expressions in Eq. (2.109) and (2.111), we obtain

which implies that

=

cos
v0 = l

(2.112)

v0
v0
=
sec
l cos
l

(2.113)

Differentiating Eq. (2.113) with respect to time, we have

2
= v0
sec tan = v0 sec2 tan

l
l2

(2.114)

and
given in Eqs. (2.113) and (2.114), respectively, can
The expressions for
be substituted into the expressions for F vP /O and F aP /O to obtain expressions
or .

that do not involve either

22

Chapter 2. Kinematics

Question 210
A circular disk of radius R is attached to a rotating shaft of length L as shown
in Fig. P2-10. The shaft rotates about the horizontal direction with a constant
angular velocity relative to the ground. The disk, in turn, rotates about its
center about an axis orthogonal to the shaft. Knowing that the angle describes
the position of a point P located on the edge of the disk relative to the center
of the disk, determine the velocity and acceleration of point P relative to the
ground.

O
R

L
Figure P 2-10

Solution to Question 210

First, let F be a reference frame fixed to the ground. Then, we choose the
following coordinate system fixed in reference frame F :
E2
E3

Origin at Point O
=
=

E1

Along AO
Orthogonal to Disk
and Into Page at t = 0
E2 E3

Next, let A be a reference frame fixed to the horizontal shaft. Then, we choose
the following coordinate system fixed in reference frame F :
e2
e3

Origin at Point O
=
=

e1

Along AO
Orthogonal to Disk
and Into Page
e2 e3

23
Lastly, let B be a reference frame fixed to the disk. Then, choose the following
coordinate system fixed in reference frame B:
u1
u3

Origin at Point O
=
=

u2

Along OP
Orthogonal to Disk
and Into Page
u3 u1

Now, since the shaft rotates with angular velocity relative to the ground, the
angular velocity of reference frame A in reference frame F is given as
F

A = = e2

(2.115)

relative to the shaft, the

Furthermore, since the disk rotates with angular rate
angular velocity of reference frame B in reference frame A is given as
A

3
B = u

(2.116)

Finally, the geometry of the bases {e1 , e2 , e3 } and {u1 , u2 , u3 } is shown in Fig. (2.117).
Using Fig. (2.117), we have that
e1
e2

= cos u1 sin u2
= sin u1 + cos u2

(2.117)

e1
u1

u3 , e3

e2

u2

Figure 2-2
tion 210

Relationship Between Basis {e1 , e2 , e3 } and {u1 , u2 , u3 } for Ques-

Given the definitions of the reference frames and coordinate systems, the
position of point P is given as
r = Ru1
(2.118)

24

Chapter 2. Kinematics

The velocity of point P in reference frame F is then given as

F

v=

dr Fd
=
(Ru1 )
dt
dt

(2.119)

Now, since the basis {u1 , u2 , u3 } is fixed in reference frame F , it is convenient

to apply the rate of change transport theorem of Eq. (2128) between reference
frame B and reference frame F as
F

B
d
d
(Ru1 ) =
(Ru1 ) + F B Ru1
dt
dt

(2.120)

First, since R is constant and the basis {u1 , u2 , u3 } is fixed in reference frame B,
we have that
B
d
(2.121)
(Ru1 ) = 0
dt
Next, applying the angular velocity addition rule of Eq. (2136), we obtain F B
as
F B
3
= F A + A B = e2 + u
(2.122)
Using

F B
F

F B

from Eq. (2.122), we obtain

Ru1 as

3 ) Ru1 = Re2 u1 + R u
2
B Ru1 = (e2 + u

(2.123)

Then, from Eq. (2.117), we have that

e2 u1 = (sin u1 + cos u2 ) u1 = cos u3

(2.124)

Substituting the result of Eq. (2.124) into Eq. (2.123), we obtain

F

2
B Ru1 = R cos u3 + R u

(2.125)

Adding Eq. (2.121) and Eq. (2.125), we obtain the velocity of point P in reference
frame F as
F
2 R cos u3
v = R u
(2.126)
Next, the acceleration of point P in reference frame F is given as
F

a=

d F 
v
dt

(2.127)

It is seen that the expression for F v is given in terms of the basis {u1 , u2 , u3 }
where {u1 , u2 , u3 } is fixed in reference frame B. Thus, applying the rate of
change transport theorem of Eq. (2128) between reference frame B and F to
F v, we obtain
F
d F  Bd F  F B F
F
v =
v + v
(2.128)
a=
dt
dt

25
Now, observing that R and are constant, the first term in Eq. (2.128) is given
as
B
d F 
2 + R
sin u3
v = R u
(2.129)
dt

Next, using

F B
F

from Eq. (2.122), we obtain the second term in Eq. (2.128) as

3 ) (R cos u3 + R u
2)
B F v = (e2 + u

(2.130)

Expanding Eq. (2.130), we obtain

F

2 u2 R2 cos e2 u3 R
2 u1
B F v = Re

(2.131)

Then, using the expression for e2 from Eq. (2.117), we obtain

e2 u2
e2 u3

= (sin u1 + cos u2 ) u2 = sin u3

= (sin u1 + cos u2 ) u3 = cos u1 sin u2

(2.132)

Substituting the results of Eq. (2.132) into Eq. (2.131), we obtain

F

sin u3 R2 cos (cos u1 sin u2 ) R

2 u1
B F v = R

(2.133)

Adding the expressions in Eq. (2.129) and Eq. (2.133), we obtain the acceleration
of point P in reference frame F as
2 + R
sin u3 + R
sin u3 R2 cos (cos u1 sin u2 ) R
2 u1
a = R u
(2.134)
Simplifying Eq. (2.134), we obtain
F

2 )u1 + (R
+ R2 cos sin )u2 + 2R
sin u3 (2.135)
a = (R2 cos2 + R