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Chapter 1: Relative Velocity: Velocity Vector Solved Examples

1) The document discusses relative velocity and provides equations to calculate the velocity of two points, one fixed and one moving, using position vectors, differentiation, and the angular velocity between them. 2) It includes an example of calculating the angular velocity, linear velocity, and direction of a connecting rod on a crank based on the crank's constant angular velocity. 3) The solution shows using position vectors and cross products to determine the angular velocity of the connecting rod is 62.061 rad/s, and the linear velocity of the piston is 13.0719 m/s.

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Karim KM
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© © All Rights Reserved
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Download as PDF, TXT or read online on Scribd
44 views

Chapter 1: Relative Velocity: Velocity Vector Solved Examples

1) The document discusses relative velocity and provides equations to calculate the velocity of two points, one fixed and one moving, using position vectors, differentiation, and the angular velocity between them. 2) It includes an example of calculating the angular velocity, linear velocity, and direction of a connecting rod on a crank based on the crank's constant angular velocity. 3) The solution shows using position vectors and cross products to determine the angular velocity of the connecting rod is 62.061 rad/s, and the linear velocity of the piston is 13.0719 m/s.

Uploaded by

Karim KM
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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❖ Chapter 1: Relative Velocity

➢ Velocity Vector

➢ Solved examples
Velocity Vector

Fixed coordinates system 𝑥, 𝑦, 𝑧

The rigid body moves in a straight line to a new position in translating coordinates
system 𝑥′, 𝑦′, 𝑧′
The position vectors of two points 𝐴 and 𝐵

𝑟𝐵ҧ = 𝑟𝐴ҧ + 𝑟𝐵/𝐴


ҧ (1)

Differentiate w. r. t. time

𝑣ҧ𝐵 = 𝑣𝐴ҧ + 𝑣ҧ𝐵/𝐴 (2)

Differentiate w. r. t. time

𝑎ത𝐵 = 𝑎ത𝐴 + 𝑎𝐵/𝐴 (3)

If the distance between the two points 𝐴 and 𝐵 is constant, then 𝑣ҧ𝐵/𝐴 = 𝑎ത𝐵/𝐴 = 0

Then
𝑣ҧ𝐵 = 𝑣𝐴ҧ (4)

𝑎ത𝐵 = 𝑎ത𝐴 (5)


Rotation of point 𝑩 w. r. t. 𝑨

𝑟𝐵/𝐴
ҧ = 𝐴𝐵 cos 𝜃 𝑖Ƹ + 𝐴𝐵 sin 𝜃 𝑗Ƹ (6)

Where 𝜃 with +ve 𝑥-direction, then

𝑣ҧ𝐵/𝐴 = 𝜔
ഥ𝐴𝐵 × 𝑟𝐵/𝐴
ҧ (7)

ഥ𝐴𝐵 = 𝜔𝐴𝐵 𝑘෠
𝜔 (8)

Substitute eqs. (8), (6) into eq. (7), we get

𝑖Ƹ 𝑗Ƹ 𝑘෠
𝑣ҧ𝐵/𝐴 = 0 0 𝜔𝐴𝐵 (9)
𝐴𝐵 cos 𝜃 𝐴𝐵 sin 𝜃 0
Example (1)
The crank 𝐴𝐵 has a constant clockwise angular velocity of 2000 𝑟𝑝𝑚. For the
crank position indicated, determine.

(a) The angular velocity of the connecting rod 𝐵𝐷.

(b) The velocity of the piston 𝑃.


Solution

2𝜋
𝜔𝐴𝐵 = −2000 = −209.4 𝑘෠
60

𝑣𝐵 = 𝑣𝐴 + 𝜔𝐴𝐵 × 𝑟𝐵/𝐴
𝐴𝐵 sin 40∘
𝐵

𝐴 𝑟𝐵/𝐴 = 𝐴𝐵 cos 40∘ 𝑖Ƹ + 𝐴𝐵 sin 40∘ 𝑗Ƹ


𝐴𝐵 cos 40∘

𝑟𝐵/𝐴 = 0.0575 𝑖Ƹ + 0.0482 𝑗Ƹ

𝑖Ƹ 𝑗Ƹ 𝑘෠
𝑣𝐵 = 0 + 0 0 −209.4
0.0575 0.0482 0 𝑣𝐵 = 10.093 2 + −12.040 2 = 15.71

𝑣𝐵 = 10.093𝑖Ƹ − 12.04𝑗Ƹ
12.040
𝜃 = 𝑡𝑎𝑛−1 − = −50∘
10.093
The rod 𝐵𝐷, we have

𝑣𝐷 = 𝑣𝐵 + 𝜔𝐵𝐷 × 𝑟𝐷/𝐵

Use the sine law, then

0.075 0.2 −1
0.075 𝑠𝑖𝑛 4 0∘
= 𝛽 = 𝑠𝑖𝑛 = 13.95∘
𝑠𝑖𝑛 𝛽 𝑠𝑖𝑛 4 0∘ 0.2

Hence, from the geometry of the problem

𝜙 = 90 − 13.95 = 76.05∘

𝑟𝐷/𝐵 = 0.2 sin 76.05∘ 𝑖Ƹ − 0.2 cos 76.05∘ 𝑗Ƹ

𝑟𝐷/𝐵 = 0.194𝑖Ƹ − 0.048𝑗Ƹ


𝑣𝐷 = 𝑣𝐵 + 𝜔𝐵𝐷 × 𝑟𝐷/𝐵 𝑣𝐵 = 10.093𝑖Ƹ − 12.04𝑗Ƹ

𝜔𝐵𝐷 = 𝜔𝐵𝐷 𝑘෠

𝑟𝐷/𝐵 = 0.194𝑖Ƹ − 0.048𝑗Ƹ

𝑖Ƹ 𝑗Ƹ 𝑘෠
𝑣𝐷 = 10.093𝑖Ƹ − 12.040𝑗Ƹ + 0 0 𝜔𝐵𝐷
0.194 −0.048 0

𝑣𝐷 = 10.093 + 0.048𝜔𝐵𝐷 𝑖Ƹ + −12.040 + 0.194𝜔𝐵𝐷 𝑗Ƹ

𝑣𝐷 = 𝑣𝐷 𝑖Ƹ

10.093 + 0.048𝜔𝐵𝐷 𝑖Ƹ + −12.040 + 0.194𝜔𝐵𝐷 𝑗Ƹ = 𝑣𝐷 𝑖Ƹ


12.040
𝜔𝐵𝐷 = = 62.061 rad/s
0.194

𝑣𝐷 = 10.093 + 0.048 62.061 = 13.0719 𝑚Τ𝑠

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