This document provides an overview of plane motion, including:
1) Definitions of relative motion and how to calculate relative velocity and displacement.
2) Examples of rolling wheels and how to determine angular and linear velocities of different points.
3) The concept of an instantaneous center of rotation, which is the point about which all velocities appear tangential for an object undergoing plane motion.
4) Examples of using the instantaneous center to solve problems involving objects with both rotational and translational motion.
This document provides an overview of plane motion, including:
1) Definitions of relative motion and how to calculate relative velocity and displacement.
2) Examples of rolling wheels and how to determine angular and linear velocities of different points.
3) The concept of an instantaneous center of rotation, which is the point about which all velocities appear tangential for an object undergoing plane motion.
4) Examples of using the instantaneous center to solve problems involving objects with both rotational and translational motion.
This document provides an overview of plane motion, including:
1) Definitions of relative motion and how to calculate relative velocity and displacement.
2) Examples of rolling wheels and how to determine angular and linear velocities of different points.
3) The concept of an instantaneous center of rotation, which is the point about which all velocities appear tangential for an object undergoing plane motion.
4) Examples of using the instantaneous center to solve problems involving objects with both rotational and translational motion.
This document provides an overview of plane motion, including:
1) Definitions of relative motion and how to calculate relative velocity and displacement.
2) Examples of rolling wheels and how to determine angular and linear velocities of different points.
3) The concept of an instantaneous center of rotation, which is the point about which all velocities appear tangential for an object undergoing plane motion.
4) Examples of using the instantaneous center to solve problems involving objects with both rotational and translational motion.
Dynamics 24859 Sheridan Institute of Technology and Advanced Learning Outline
Review of Module 6 – Kinematics of Angular Motion
Module 7 – Plane Motion • Relative Motion • The Rolling Motion • Instantaneous Center of Rotation • Summary of Module 7. • Assessment/Homework • Next Class Plane Motion
Critical Learning Outcomes:
Upon completion of the lesson the students will be able to:
• Solve for Linear values of Displacement, Velocity or Acceleration in
either Absolute or Relative Terms.
• Define and Locate an Instantaneous Center of an Object or Mechanism.
• Determine both Linear and Angular Velocities of Various Mechanisms
by means of Instantaneous Centers. Review of Kinematics of Angular Motion
Relative Motion – Real Life Applications General Plane Motion General Plane Motion Plane Motion
• What is Relative Motion?
• A body in motion may have
• Displacement • Velocity • Acceleration Plane Motion • What is absolute velocity?
• Since the earth is considered stationary, a velocity
measured with respect to earth is an absolute velocity.
• What is Relative Velocity?
• When a velocity of one object is related to that of another
reference object that is also moving, then the velocity is known as relative velocity. • A relative velocity has no meaning unless the reference or point to which the velocity is relative is stated. Plane Motion • Notations to be used:
• VA = Velocity of A • VB = Velocity of B
• VB/A = Velocity of B with respect to A
• VA/B = Velocity of A with respect to B • and • Relationships: • VB = VA + VB/A • VA = VB + VA/B Plane Motion • What is a plane motion? • Let us look at the relative motion between two points on the same object. This will occur when an object moves with general plane motion: simultaneous translation and rotation.
• Example Fig 12-5, 12-6 and 12-7
• Example-Plane Motion
• Plane Motion = Translation + Rotation
• Translation: A moving downward and B moving to the
Right. • Rotation: Bar rotates counter clockwise direction about its centre. Plane Motion Plane Motion – Example 12-2 Solving Problems by Relative Velocity Method • We employ relative velocity method to solve problems:
• Relative displacement SA/B = rθ
• Relative velocity VA/B = rω • “r” = AB
• While solving problems, we will employ vector addition-
tip-to-tail.
• Relative velocity is always perpendicular to the rotating
link. Solving Problems by Relative Velocity Method
• While solving problems, we will employ
vector addition- tip-to-tail. • VA = VB + VA/B
• In the above equation there are three magnitudes and three
directions, out of which four of them must be known before the Problem could be solved. Plane Motion – Example 12-2 Plane Motion – Example 12-2 Plane Motion – Example 12-4 Plane Motion – Example 12-4 Plane Motion – Example 12-4 Plane Motion – Example 12-5 Plane Motion – Example 12-5 Plane Motion – Problem 12-10 Plane Motion – Problem 12-13 Plane Motion – Problem 12-16 Plane Motion – Problem 12.21 Plane Motion - The Rolling Wheel
If a wheel is rolled from one position to another, it
has both rotational and translational motion. When there is No Sliding, we have Pure Rolling. Rolling Wheel
• If the wheel is pivoted at its centre, then the motion
would have only rotational. • For visualization: • A wheel is off the ground: • It is rotating at 8 radian/sec clockwise. • Velocity of A is the velocity with respect C. • vA/C = rω = 0.5(8)= 4m/s. Rolling Wheel • In translational motion, every point on the wheel must be moving with same velocity. • For visualization: • Wheel lowered to the ground: • Point A stationary, but there is still relative velocity between A and C. • vC/A = 4 m/s Rolling Wheel
For visualization: In these diagrams, rotational (Fig. 12-38), translational (Fig. 12-39) components. (Fig 12-40) shows two motions superimposed: the result is Plane Motion.
. Plane Motion – Example 12-9 Plane Motion – Example 12-9 Rolling Wheel – Example 12 -10 Rolling Wheel – Example 12 -10 Rolling Wheel – Problem 12-32
The cylinder shown below is rolling to the right with a velocity of 6
m/s. For the instant shown, determine (a) the angular velocity of the cylinder and (b) the linear velocity of point B. Rolling Wheel – Problem 12-33
The cylinder shown below is rolling to the right with a velocity of 8
m/s. Determine the velocity of point B at the position shown. Rolling Wheel – Tutorial P12-34
A cord is wound in a slot of cylinder A. Mass B moves downwards
with a velocity of 6 m/s. Assume no slipping of the cylinder and determine the velocities of points E and C on cylinder A. If B drops 4 m, how far does cylinder A move to the right? Instantaneous Centre of Rotation Consider a rigid body with plane motion consisting of movement downward and counter clockwise rotation. Points A, B and C have absolute velocities. The body will appear to have pure rotation if it is viewed from a point at which all the velocities are tangential velocities. Construct a radius arm perpendicular to each velocity. From point O and instant shown, the body would appear to have pure rotation. The point O about which all velocities appear as tangential velocities is called the instantaneous Center of rotation and zero velocity. Instantaneous Centre of Rotation
In reference to the figure aside:
For the bar to remain in contact with the wall and floor, A and B must have the velocities as shown. Draw perpendicular from VA and VB, their intersecting point becomes the instantaneous centre. Instantaneous Centre of Rotation
• For any point on the bar,
• V = rω or
• ω = v/r
• ω = VA/AO = VB/OB = VC/OC
• ω = ωAB, • • ωAB = VA/B/AB
• ωOA = ωOB = ωAB
Instantaneous Centre of Rotation – Example 12-11 Instantaneous Centre of Rotation – Example 12-11 Instantaneous Centre of Rotation – Example 12-11 Instantaneous Centre of Rotation – Example 12-12 Instantaneous Centre of Rotation – Example 12-12 Instantaneous Centre of Rotation – Problem 12-49 Practice Questions Practice Questions Practice Questions Practice Questions SUMMARY: Plane Motion Relative Motion
Rolling Wheel
Instantaneous Center of Rotation SUMMARY: Plane Motion Plane Motion Did we Achieve our Goal? Critical Learning Outcomes:
Upon Completion of the Lesson Students were be able to:
• Solve for Linear values of Displacement, Velocity or Acceleration in
either Absolute or Relative Terms.
• Define and Locate an Instantaneous Center of an Object or Mechanism.
• Determine both Linear and Angular Velocities of Various Mechanisms
