Kinematics of General Plane Motion of Rigid-Body

In general plane motion, the body performs both translation and rotation
motion simultaneously. In this analysis, we will consider the two motions
take place separately.

Displacement:

Consider two points A, B on a body that performs

general plane motion. Through period of time (dt),
point A and B make displacements 𝑑𝑟⃗⃗⃗𝐴 and 𝑑𝑟⃗⃗⃗𝐵
respectively. This motion will be considered occurs by
two steps:

1- Translation motion

By translation motion, point A reaches its final position

with displacement 𝑑𝑟⃗⃗⃗𝐴 while point B reaches position B'
with the same displacement 𝑑𝑟⃗⃗⃗𝐴 .

2- Rotation motion

Point B reaches its final position by rotation of the body about the base
point A. It performs displacement (due to the rotation motion) 𝑑𝑟⃗⃗⃗⃗⃗⃗
𝐵𝐴 .

So, the resultant displacement of point B (due to the general plane

motion) is vector addition of the two displacements.

𝑑𝑟⃗⃗⃗𝐵 (𝑑𝑖𝑠𝑝𝑙𝑎𝑐𝑒𝑚𝑒𝑛𝑡 𝑑𝑢𝑒 𝑡𝑜 𝑔𝑒𝑛𝑒𝑟𝑎𝑙 𝑝𝑙𝑎𝑛𝑒 𝑚𝑜𝑡𝑖𝑜𝑛)

= 𝑑𝑟⃗⃗⃗𝐴 (𝑑𝑖𝑠𝑝𝑙𝑎𝑐𝑒𝑚𝑒𝑛𝑡 𝑑𝑢𝑒 𝑡𝑜 𝑡ℎ𝑒 𝑡𝑟𝑎𝑛𝑠𝑙𝑎𝑡𝑖𝑜𝑛 𝑚𝑜𝑡𝑖𝑜𝑛)
+ 𝑑𝑟⃗⃗⃗⃗⃗⃗
𝐵𝐴 (𝑑𝑖𝑠𝑝𝑙𝑎𝑐𝑒𝑚𝑒𝑛𝑡 𝑑𝑢𝑒 𝑡𝑜 𝑡ℎ𝑒 𝑟𝑜𝑡𝑎𝑡𝑖𝑜𝑛 𝑚𝑜𝑡𝑖𝑜𝑛)
Velocity:

By differentiating the displacement equation with respect to time,

𝑑𝑟⃗⃗⃗𝐵 𝑑𝑟⃗⃗⃗𝐴 𝑑𝑟⃗⃗⃗⃗⃗⃗

𝐵𝐴
= +
𝑑𝑡 𝑑𝑡 𝑑𝑡

⃗⃗⃗⃗
𝑉𝐵 = ⃗⃗⃗⃗
𝑉𝐴 + ⃗⃗⃗⃗⃗⃗
𝑉𝐵𝐴 #

⃗⃗⃗⃗
𝑉𝐵 is the absolute velocity of point B

⃗⃗⃗⃗
𝑉𝐴 is the absolute velocity of point A

⃗⃗⃗⃗⃗⃗
𝑉𝐵𝐴 is the relative velocity of point B with respect to A= velocity of point
B due to the rotation of the body about the base point A.

⃗⃗⃗⃗⃗⃗
𝑉𝐵𝐴 = 𝜔 ⃗⃗⃗⃗⃗
⃗ × 𝐴𝐵

𝑉𝐵𝐴 = 𝜔. 𝐴𝐵

Equation of velocity can be solved in x and y direction,

𝑉𝐵𝑥 = 𝑉𝐴𝑥 + 𝑉𝐵𝐴𝑥

𝑉𝐵𝑦 = 𝑉𝐴𝑦 + 𝑉𝐵𝐴𝑦

The 2 equations are solved to obtain 2 unknowns.

Acceleration:

By differentiating the velocity equation with respect to time,

⃗⃗⃗⃗⃗⃗⃗
𝑑𝑉𝐵 ⃗⃗⃗⃗⃗⃗⃗
𝑑𝑉𝐴 ⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑑𝑉𝐵𝐴
= +
𝑑𝑡 𝑑𝑡 𝑑𝑡

𝑎𝐵 = ⃗⃗⃗⃗
⃗⃗⃗⃗ 𝑎𝐴 + ⃗⃗⃗⃗⃗⃗⃗
𝑎𝐵𝐴

𝑎𝐵𝐴 is the acceleration of point B due to the rotation of

⃗⃗⃗⃗⃗⃗⃗
the body about the base point A. This vector has two
components,

𝑎𝐵𝐴 = (𝑎
⃗⃗⃗⃗⃗⃗⃗ 𝐵𝐴 )𝑡 + (𝑎
⃗⃗⃗⃗⃗⃗⃗ 𝐵𝐴 )𝑛
⃗⃗⃗⃗⃗⃗⃗

⃗⃗⃗⃗ 𝑎𝐴 + (𝑎
𝑎𝐵 = ⃗⃗⃗⃗ 𝐵𝐴 )𝑡 + (𝑎
⃗⃗⃗⃗⃗⃗⃗ 𝐵𝐴 )𝑛
⃗⃗⃗⃗⃗⃗⃗ #

(𝑎 ⃗⃗⃗⃗⃗
𝐵𝐴 )𝑡 = 𝛼 × 𝐴𝐵,
⃗⃗⃗⃗⃗⃗⃗ 𝑎𝐵𝐴 𝑡 = 𝛼. 𝐴𝐵

2 ⃗⃗⃗⃗⃗
(𝑎 𝐵𝐴 )𝑛 = −𝜔 . 𝐴𝐵 ,
⃗⃗⃗⃗⃗⃗⃗ 𝑎𝐵𝐴 𝑛 = 𝜔2 . 𝐴𝐵

Equation of acceleration can be solved in x and y

direction,

𝑎𝐵𝑥 = 𝑎𝐴𝑥 + (𝑎𝐵𝐴 𝑡 )𝑥 + (𝑎𝐵𝐴 𝑛 )𝑥

𝑎𝐵𝑦 = 𝑎𝐴𝑦 + (𝑎𝐵𝐴 𝑡 )𝑦 + (𝑎𝐵𝐴 𝑛 )𝑦

The 2 equations are solved to obtain 2 unknowns.


Example 3.1

The rod AB shown is of length L = 2.5 m. At the
given position, when the angle φ = 60˚, the end
A moves with the velocity vA = 1.5 ms-1 and
acceleration aA = 15 ms-2, both to the right.
Obtain at this instant:

a. the velocity and acceleration of the end B

b. the angular velocity and the angular
acceleration of the rod

Solution:

Velocity

⃗⃗⃗⃗
𝑉𝐵 = ⃗⃗⃗⃗
𝑉𝐴 + ⃗⃗⃗⃗⃗⃗
𝑉𝐵𝐴

𝑉𝐵𝐴 = 𝜔. 𝐴𝐵 = 2.5𝜔

𝑉𝐵 ↓= 1.5 → +2.5𝜔𝑠𝑖𝑛60 ← + 2.5𝜔𝑐𝑜𝑠60 ↓

In x direction,

0 = 1.5 − 2.5𝜔𝑠𝑖𝑛60

𝜔 = 0.693 𝑟𝑎𝑑/𝑠

In y direction,

−𝑉𝐵 = −2.5𝜔𝑐𝑜𝑠60

𝑉𝐵 = 0.866 𝑚/𝑠
Acceleration

𝑎𝐴 + (𝑎
𝑎𝐵 = ⃗⃗⃗⃗
⃗⃗⃗⃗ 𝐵𝐴 )𝑡 + (𝑎
⃗⃗⃗⃗⃗⃗⃗ 𝐵𝐴 )𝑛
⃗⃗⃗⃗⃗⃗⃗

𝑎𝐵𝐴 𝑡 = 𝛼. 𝐴𝐵 = 2.5𝛼, 𝑎𝐵𝐴 𝑛 = 𝜔2 . 𝐴𝐵 = 2.5 (0.693 )2

𝑎𝐵 ↓= 15 → +2.5 ∝ 𝑠𝑖𝑛60 ← + 2.5 ∝ 𝑐𝑜𝑠60 ↓

+2.5 (0.693 )2 𝑐𝑜𝑠60 → +2.5 (0.693 )2 𝑠𝑖𝑛60 ↓

In x direction,

0 = 15 − 2.5 ∝ 𝑠𝑖𝑛60 + 2.5 (0.693 )2 𝑐𝑜𝑠60

∝= 7.205 𝑟𝑎𝑑⁄𝑠 2

In y direction,

−𝑎𝐵 = −2.5 ∝ 𝑐𝑜𝑠60 − 2.5 (0.693 )2 𝑠𝑖𝑛60

𝑎𝐵 = 10.046 𝑚⁄𝑠 2

Example 3.2

In the mechanism shown, the wheel (2) of radius 0.2 m 

rotates counter -clockwise with constant angular velocity (2) A

r2 O
 rad/s. The connecting rod AB is of length 0.4 m.
(3)
o
Determine: 30

a) The velocity and acceleration of the slider (4) B

(4)
b) The angular velocity and angular acceleration of the
connecting rod (3)
Solution

a) Wheel (2) (Rotation) 
(2) v A
A

constant =  rad/s r2 O rA

𝑉𝐴 = 𝜔2 . 𝑟2 = 10 × 0.2 = 2 ↑ 𝑚⁄𝑠

𝑎𝐴 𝑡 = 𝛼2 . 𝑟2 = 0, 𝑎𝐴 𝑛 = 𝜔2 2 . 𝑟2 = 102 × 0.2 = 20 ← 𝑚⁄𝑠 2

b) Connecting Rod (3) (General plane motion).

Velocity

⃗⃗⃗⃗
𝑉𝐵 = ⃗⃗⃗⃗
𝑉𝐴 + ⃗⃗⃗⃗⃗⃗
𝑉𝐵𝐴

𝑉𝐵𝐴 = 𝜔3 . 𝐴𝐵 = 0.4𝜔3

𝑉𝐵 ↑= 𝑉𝐴 ↑ +0.4𝜔3 𝑠𝑖𝑛 60𝑜 → +0.4𝜔3 𝑐𝑜𝑠 60𝑜 ↓

In x direction: 0.4𝜔3 𝑠𝑖𝑛 60𝑜 = 0

𝜔3 = 0

In y direction: 𝑉𝐵 = 𝑉𝐴 = 2 ↑ 𝑚⁄𝑠

Acceleration

𝑎𝐴 + (𝑎
𝑎𝐵 = ⃗⃗⃗⃗
⃗⃗⃗⃗ 𝐵𝐴 )𝑡 + (𝑎
⃗⃗⃗⃗⃗⃗⃗ 𝐵𝐴 )𝑛
⃗⃗⃗⃗⃗⃗⃗

𝑎𝐵 = ⃗⃗⃗⃗
⃗⃗⃗⃗ 𝑎𝐴 𝑡 + ⃗⃗⃗⃗
𝑎𝐴 𝑛 + ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑎𝐵𝐴 𝑡 + ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑎𝐵𝐴 𝑛

Since 𝑎𝐵𝐴 𝑛 = 𝜔3 2 . 𝐴𝐵 = 0, 𝑎𝐴 𝑡 = 0,
𝑎𝐵𝐴 𝑡 =∝3 . 𝐴𝐵 = 0.4 ∝3

Then 𝑎𝐵 = ⃗⃗⃗⃗
⃗⃗⃗⃗ 𝑎𝐴 𝑛 + ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑎𝐵𝐴 𝑡

𝑎𝐵 ↑= 20 ← +0.4 ∝3 𝑠𝑖𝑛 60𝑜 → +0.4 ∝3 𝑐𝑜𝑠 60𝑜 ↓

In x direction: 0 = −20 + 0.4 ∝3 𝑠𝑖𝑛 60𝑜

𝛼3 = 57.73 𝑟𝑎𝑑⁄𝑠 2

In y direction: 𝑎𝐵 = − 0.4 ∝3 𝑐𝑜𝑠 60𝑜 = −11.54

𝑎𝐵 = 11.54 ↓ = acceleration of slider (4)

⃗⃗⃗⃗

Rolling

Motion of bodies, such as cylinders, wheels, disks and sphere represent

general plane motion. They rotate about their axes during the translation
motion. The rolling may be one of the following:

- Rolling without slipping (or without sliding)

Consider disk of radius R rolls without slipping on the horizontal surface

as shown. For rolling without slipping, the distance travelled on the road,
through a period of time, (AD) must be equal to the length of the arc
(AB) on the disk. CB is a line in the disk, it will be C'D after period of
time. The angle between them  is the coordinate that represents the
rotation motion. The displacement of the center C, Sc, represents the
translation motion

AD = arc length (AB)

𝑆𝑐 = 𝜃𝑅

By differentiating with respect to time,

𝑑𝑆𝑐 𝑑𝜃
= 𝑅
𝑑𝑡 𝑑𝑡 '

𝑉𝑐 = 𝜔𝑅 #
It acts parallel to the road with sense depends on the direction of rotation
().

By differentiating with respect to time,

𝑑𝑉𝑐 𝑑𝜔
= 𝑅
𝑑𝑡 𝑑𝑡

𝑎𝑐 = 𝛼𝑅 #

It acts parallel to the road with sense depends on the direction of angular
acceleration ().

Also, no slipping means the points of contact

have the same velocity. So, the point on the
disk, point (o), that touches the road (fixed
surface) has zero velocity, 𝑉𝑜 = 0

Any other point on the disk can be

determined by studying it relative to the
center C.

⃗⃗⃗⃗
𝑉𝐴 = ⃗⃗⃗⃗
𝑉𝐶 + ⃗⃗⃗⃗⃗⃗
𝑉𝐴𝐶

𝑎𝐴 = ⃗⃗⃗⃗
⃗⃗⃗⃗ 𝑎𝐶 + ⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑎𝐴𝐶 𝑡 + ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑎𝐴𝐶 𝑛

- Rolling with slipping (or without sliding)

In this case there is no equivalent relation between the translation and

rotation motion.

𝑆𝑐 ≠ 𝜃𝑅, 𝑉𝑐 ≠ 𝜔𝑅 , 𝑎𝑐 ≠ ∝ 𝑅

- In slipping: 𝑆𝑐 < 𝜃𝑅, Point (o) moves opposite to the center C.

- In sliding: 𝑆𝑐 > 𝜃𝑅, Point (o) moves in the direction of the center C.
So, the point of the disk that touches the fixed surface (point o) has
velocity not equal zero, 𝑉𝑜 ≠ 0

For a problem in such case, the translation motion

(𝑉𝑐 , 𝑎𝑐 ) and rotation motion ,  must be given. Any
other point on the disk can be determined by studying
it relative to the center C

Example 3.4
The wheel shown, of inner radius r = 0.6 m and outer radius R = 0.8 m,
rolls on the ground such that its center C moves with the velocity vC = 4.8
ms-1 and the acceleration aC = 72 ms-2 both to the right. Obtain:

a. the angular velocity and the angular

acceleration of the wheel.
b. the velocity of the points A, B, C, D and P
shown.

c. the acceleration of the points A, B, C, D and P

shown.

Solution:

The given wheel rolls on the outer circle, then

𝑉𝑐 = 𝜔𝑅
𝑉𝑐 4.8
𝜔= = = 6 ↷ 𝑟𝑎𝑑⁄𝑠
𝑅 0.8

And 

𝑎𝑐 = 𝛼𝑅
𝑎𝑐 72
∝= = = 90 ↷ 𝑟𝑎𝑑⁄𝑠 2
𝑅 0.8
Point A

We take the center C as the base point. In this case the point is given as:

⃗⃗⃗⃗
𝑉𝐴 = ⃗⃗⃗⃗
𝑉𝐶 + ⃗⃗⃗⃗⃗⃗
𝑉𝐴𝐶

⃗⃗⃗⃗
𝑉𝐴 = 4.8 → +𝜔𝑅 →= 4.8 + 4.8 = 9.6 → 𝑚⁄𝑠

𝑎𝐴 = ⃗⃗⃗⃗
⃗⃗⃗⃗ 𝑎𝐶 + ⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑎𝐴𝐶 𝑡 + ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑎𝐴𝐶 𝑛

𝑎𝐴 = 72 → +∝ 𝑅 → +𝜔2 𝑅 ↓
⃗⃗⃗⃗

In x direction 𝑎𝐴 𝑥 = 72 + 90 × 0.8 = 144 → 𝑚⁄𝑠 2

In y direction 𝑎𝐴 𝑦 = 62 (0.8) ↓= 28.8 ↓ 𝑚⁄𝑠 2

𝑎𝐴 = √1442 + 28.82 = 146.85 𝑚⁄𝑠 2

𝑎𝐴 𝑦 28.8
𝜑 = 𝑡𝑎𝑛−1 = 𝑡𝑎𝑛−1 = 11.3°
𝑎𝐴 𝑥 144

Point B

We take the center C as the base point. In this

case the point is given as

⃗⃗⃗⃗
𝑉𝐵 = ⃗⃗⃗⃗
𝑉𝐶 + ⃗⃗⃗⃗⃗⃗
𝑉𝐵𝐶

⃗⃗⃗⃗
𝑉𝐵 = 4.8 → +𝜔𝑅 ↑

In x direction 𝑉𝐵 𝑥 = 4.8 → 𝑚⁄𝑠

In x direction 𝑉𝐵 𝑦 = 4.8 ↑ 𝑚⁄𝑠

𝑉𝐵 = √4.82 + 4.82 = 6.788 𝑚⁄𝑠

 𝑉𝐵 𝑦 4.8
−1
𝜑 = 𝑡𝑎𝑛 = 𝑡𝑎𝑛−1 = 45°
𝑉𝐵 𝑥 4.8

𝑎𝐵 = ⃗⃗⃗⃗
⃗⃗⃗⃗ 𝑎𝐶 + ⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑎𝐵𝐶 𝑡 + ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑎𝐵𝐶 𝑛

𝑎𝐵 = 72 → +∝ 𝑅 ↑ +𝜔2 𝑅 →
⃗⃗⃗⃗

In x direction 𝑎𝐵 𝑥 = 72 + 62 (0.8) = 100.8 → 𝑚⁄𝑠 2

In y direction 𝑎𝐵 𝑦 = 90 × 0.8 = 72 ↑ 𝑚⁄𝑠 2 

𝑎𝐵 = √100.82 + 722 = 123.87 𝑚⁄𝑠 2

𝑎𝐵 𝑦 72
𝜑 = 𝑡𝑎𝑛−1 = 𝑡𝑎𝑛−1 = 35.537°
𝑎𝐵 𝑥 100.8

Point P

⃗⃗⃗⃗
𝑉𝑃 = ⃗⃗⃗⃗
𝑉𝐶 + ⃗⃗⃗⃗⃗⃗
𝑉𝑃𝐶

⃗⃗⃗⃗
𝑉𝑃 = 4.8 → + 𝜔𝑅 ←= 4.8 − 4.8 = 0

𝑎𝑃 = ⃗⃗⃗⃗
⃗⃗⃗⃗ 𝑎𝐶 + ⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑎𝑃𝐶 𝑡 + 𝑎 ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑃𝐶 𝑛

𝑎𝑃 = 72 → +∝ 𝑅 ← +𝜔2 𝑅 ↑
⃗⃗⃗⃗

In x direction 𝑎𝑃 𝑥 = 72 − 90 × 0.8 = 0

In y direction 𝑎𝑃 𝑦 = 62 (0.8) ↑= 28.8 ↑ 𝑚⁄𝑠 2

𝑎𝑃 = 𝑎𝑃 𝑦 = 28.8 ↑ 𝑚⁄𝑠 2
Example 3.5
The wheel shown, of inner radius r = 0.4 m and outer radius R = 0.5 m,
slides on the ground such that its center C
moves with the velocity vC = 5 ms-1 and
the acceleration aC = 8 ms-2, both to the
right. The wheel has the angular velocity
ω = 3 s-1 clockwise and the angular
acceleration α = 6 s-2 counterclockwise.
Obtain:

a. the velocity of the points A, D and P 

shown.
b. the acceleration of the points A, D and
P shown.

Solution:

Point A

⃗⃗⃗⃗
𝑉𝐴 = ⃗⃗⃗⃗
𝑉𝐶 + ⃗⃗⃗⃗⃗⃗
𝑉𝐴𝐶

⃗⃗⃗⃗
𝑉𝐴 = 5 → +𝜔𝑅 →= 5 + 3 × 0.5 = 6.5 → 𝑚⁄𝑠

𝑎𝐴 = ⃗⃗⃗⃗
⃗⃗⃗⃗ 𝑎𝐶 + ⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑎𝐴𝐶 𝑡 + ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑎𝐴𝐶 𝑛

𝑎𝐴 = 8 → +∝ 𝑅 ← +𝜔2 𝑅 ↓
⃗⃗⃗⃗

In x direction: 𝑎𝐴 𝑥 = 8 − 6 × 0.5 = 5 𝑚⁄𝑠 2

In y direction: 𝑎𝐴 𝑦 = 32 (0.5) ↓= 4.5 ↓ 𝑚⁄𝑠 2

𝑎𝐴 = √52 + 4.52 = 6.7268 𝑚⁄𝑠 2

𝑎𝐴 𝑦 4.5
𝜑 = 𝑡𝑎𝑛−1 = 𝑡𝑎𝑛−1 = 41.98°
𝑎𝐴 𝑥 5
Point P

⃗⃗⃗⃗
𝑉𝑃 = ⃗⃗⃗⃗
𝑉𝐶 + ⃗⃗⃗⃗⃗⃗
𝑉𝑃𝐶

⃗⃗⃗⃗
𝑉𝑃 = 5 → + 𝜔𝑅 ←= 5 − 3 × 0.5 = 3.5 →

𝑎𝑃 = ⃗⃗⃗⃗
⃗⃗⃗⃗ 𝑎𝐶 + ⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑎𝑃𝐶 𝑡 + ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑎𝑃𝐶 𝑛

𝑎𝑃 = 8 → +∝ 𝑅 → +𝜔2 𝑅 ↑
⃗⃗⃗⃗

In x direction 𝑎𝑃 𝑥 = 8 + 6 × 0.5 = 11 → 𝑚⁄𝑠 2

In y direction 𝑎𝑃 𝑦 = 32 (0.5) ↑= 4.5 ↑ 𝑚⁄𝑠 2

𝑎𝑃 = √112 + 4.52 = 11.8848 𝑚⁄𝑠 2

𝑎𝐴 𝑦 4.5
𝜑 = 𝑡𝑎𝑛−1 = 𝑡𝑎𝑛−1 = 22.249°
𝑎𝐴 𝑥 11