Kinematics of Rigid Body

 General Plane Motion

(Relative-Motion Analysis using Rotating Axes)

Dr. Mohammad Ilias Inam

Professor
Department of Mechanical Engineering & Technology

Khulna University of Engineering & Technology

  In some problems, however, rigid bodies
(mechanisms) are constructed such that sliding will
occur at their connections.

 In the previous sections the  The kinematic analysis for such cases is best
relative-motion analysis for performed if the motion is analyzed using a
velocity and acceleration was coordinate system which both translates and rotates.
described using a translating
coordinate system. Which known as:
Relative-Motion Analysis using Rotating Axes

 This type of analysis is useful for

determining the motion of points  Furthermore, this frame of reference is useful for
on the same rigid body, or the analyzing the motions of two points on a mechanism
motion of points located on which are not located in the same body.
several pin-connected bodies.
 Useful also for specifying the kinematics of particle
motion when the particle moves along a rotating
path.
 We can write,
⃗ 𝝎 𝑨𝑫 × ⃗𝒓 𝑫/ 𝑨
𝑽 𝑫 =⃗
𝟐
⃗
𝒂𝑫= ⃗
𝜶 𝑨 𝑫 × ⃗𝒓 𝑩/ 𝑨 −𝝎 𝑨𝑫 𝒓⃗ 𝑫 / 𝑨
We consider here D is a part of AD not CB.

 You cannot write similar equation for D by

considering it is a part of CB, since D is sliding on
CB.

Can you relate velocity or acceleration between point D

& B or C & D from your previous knowledge?

⃗ 𝝎 𝑨𝑩 × ⃗𝒓 𝑫/ 𝑪
𝑽𝑫≠⃗
𝟐
⃗
𝒂𝑫 ≠ ⃗
𝜶 𝑨 𝑩 × 𝒓⃗ 𝑫 /𝑪 − 𝝎 𝑨𝑩 𝒓⃗ 𝑫 / 𝑪
Similarly, our previous knowledge is not useful to
analyze point B since it is not part of the disk.
 Y We know,
y
Fixed Moving & rotating
x Velocity 𝒓⃗ 𝑩/ 𝑨 =𝒙 𝑩 𝒊+ 𝒚 𝑩 𝒋

( )( )
X 𝒅 ⃗𝒓 𝑩/ 𝑨 𝒅 𝒙 𝑩 𝒅𝒊 𝒅𝒚𝑩 𝒅𝒋
= 𝒊+ 𝒙 𝑩 + 𝒋+ 𝒚 𝑩
𝒅𝒕 𝒅𝒕 𝒅𝒕 𝒅𝒕 𝒅𝒕

=(
𝒅𝒕 ) (
𝒅 ⃗𝒓 𝑩/ 𝑨 𝒅𝒙 𝒅𝒚
⃗
𝜴 = Angular Velocity of x , y axis
˙
𝒅𝒕 𝒅𝒕
𝑩
𝒊+ 𝒋 + 𝒙 𝑩
𝑩
𝒅𝒊
𝒅𝒕
+ 𝒚 𝑩
𝒅𝒋
𝒅𝒕 )
⃗
𝜴 = Angular Acceleration of x , y axis

𝒓⃗ 𝑩 =⃗
𝒓 𝑨 + 𝒓⃗ 𝑩/ 𝑨 Where,
( 𝒙𝑩
𝒅𝒊
𝒅𝒕 )
+𝒚 𝑩
𝒅𝒋 ⃗
𝒅𝒕
=𝛀 × ⃗
𝒓 𝑩/ 𝑨

⃗
𝑽 𝑩 =⃗
𝑽 𝑨+
𝒅 𝒓⃗ 𝑩 / 𝑨
𝒅𝒕 ( 𝒅𝒕 𝒊+ 𝒅𝒕 𝒋 )= (⃗𝑽
𝒅𝒙 𝒅𝒚𝑩 𝑩
)
𝑩/ 𝑨 𝒙𝒚𝒛

So,
𝒅⃗
𝒓 𝑩/ 𝑨 ⃗ ⃗×⃗
=( 𝑽 𝑩/ 𝑨 ) 𝒙𝒚𝒛 + 𝛀 𝒓 𝑩/ 𝑨
⃗
𝑽 𝑩 =⃗
𝑽 𝑨 +⃗ ⃗ )
𝛀 × 𝒓⃗ 𝑩/ 𝑨 + (𝑽 𝒅𝒕
𝑩/ 𝑨 𝒙𝒚𝒛
 ( 𝒙𝑩
𝒅𝒊
𝒅𝒕
+𝒚 𝑩
𝒅𝒋 ⃗
𝒅𝒕 )
= 𝜴 × 𝒓⃗ 𝑩/ 𝑨

𝒅𝒊 𝒅 𝜽
= 𝒋= 𝜴 𝒋=⃗
𝜴×𝒊 𝒅𝒊=|𝒊| 𝒅 𝜽 𝒋
𝒅𝒕 𝒅𝒕

𝒅 𝒋 𝒅𝜽
= ( −𝒊 )=− 𝜴 𝒊=⃗
𝜴×𝐣 𝒅𝒋=| 𝒋| 𝒅 𝜽 ( − 𝒊 )
𝒅𝒕 𝒅𝒕

(⃗
𝜴 × 𝒙𝑩𝒊 +⃗
𝜴 × 𝒚 𝑩 𝒋 )= ⃗
𝜴×⃗
𝒓 𝑩/ 𝑨
 When frame are rotating: When frame are not rotating:

⃗
𝑽 𝑪 =⃗ ⃗ × ⃗𝒓 + (𝑽
𝑽 𝑫 +𝛀 ⃗ ) ⃗
𝑽 𝑪 =⃗ 𝝎 × ⃗𝒓 𝑪 / 𝑫
𝑽 𝑫 +⃗
𝑪/ 𝑫 𝑪 / 𝑫 𝒙𝒚𝒛

Replace by . Relative velocity of C respect of D in rotating frame.

Relation among C & D like as a rigid body. Step to remember:

i. Write equation between C & D
y like as a rigid body.
Moving & rotating
x ii. Assume rotating frame on point
written in the right side equation.
iii. Replace by .
iv. Add relative velocity term in
rotating frame.
v. Results could be express on fixed
or rotating frame.
⃗
𝑽 𝑩 =⃗
𝑽 𝑨 +⃗
𝜴 × 𝒓⃗ 𝑩/ 𝑨 + ( ⃗
𝑽 𝑩/ 𝑨 )𝒙𝒚𝒛 Acceleration
𝒅⃗
𝑽 𝑩 𝒅⃗
𝑽𝑨 𝒅⃗ 𝒅 ⃗
𝒓 𝒅 ( ⃗
𝑽 𝑩/ 𝑨 ) 𝒙𝒚𝒛
𝜴 ⃗ 𝑩/ 𝑨 From previous slide,
= + × 𝒓⃗ 𝑩/ 𝑨 + 𝜴 × +
𝒅𝒕 𝒅𝒕 𝒅𝒕 𝒅𝒕 𝒅𝒕 𝒅⃗
𝒓 𝑩/ 𝑨 ⃗
=( 𝑽 𝑩/ 𝑨 ) 𝒙𝒚𝒛 + ⃗
𝜴×⃗
𝒓 𝑩/ 𝑨
𝒅𝒕
⃗
𝒂𝑩 ⃗ ˙
𝒂𝑨 ⃗ (⃗
𝑽 𝑩/ 𝑨 ) 𝒙𝒚𝒛 + ⃗
𝜴× ⃗𝒓 𝑩/ 𝑨
𝜴
( ⃗𝒂𝑩/ 𝑨) 𝒙𝒚𝒛 + ⃗
𝜴 ×(⃗
𝑽 𝑩/ 𝑨 )𝒙𝒚𝒛
Assume,

(⃗
𝑽 𝑩/ 𝑨) 𝒙𝒚𝒛 =( 𝒗 𝑩/ 𝑨 ) 𝒙 𝒊+ ( 𝒗 𝑩/ 𝑨 ) 𝒚 𝒋

𝒅 (⃗
𝑽 𝑩/ 𝑨 )𝒙𝒚𝒛
𝒂 𝑩/ 𝑨 ) 𝒙𝒚𝒛 + ⃗
=( ⃗ 𝜴 ×(⃗
𝑽 𝑩/ 𝑨 )𝒙𝒚𝒛
𝒅𝒕
 ˙
⃗
⃗
𝒂 𝑩= ⃗ 𝒓 𝑩/ 𝑨 + ⃗
𝒂 𝑨+ 𝜴 × ⃗ 𝜴 ×(⃗
𝜴 × 𝒓⃗ 𝑩/ 𝑨 ) +𝟐 ⃗
𝜴 ×(⃗
𝑽 𝑩/ 𝑨 )𝒙𝒚𝒛 + ( ⃗𝒂 𝑩/ 𝑨 ) 𝒙𝒚𝒛

Coriolis acceleration

Relation among A & B like as a rigid body.

Relative acceleration of B respect of A in rotating frame.

Remember:
i. First write equation for rigid body.
ii. Than add Coriolis acceleration.
iii. Than add relative acceleration on rotating
frame.
 Procedure for Analysis Kinematic Equations.

Coordinate Axes. • After defining the origin A of the moving

• Choose an appropriate location for the reference and specifying the moving point
origin and proper orientation of the axes B, Equations should be written in symbolic
for both fixed X, Y, Z and moving x, y, z form:
reference frames.

• Most often solutions are easily obtained

if at the instant considered:

1. the origins are coincident

2. the corresponding axes are collinear • The Cartesian components of all these
3. the corresponding axes are parallel vectors may be expressed along either the
X, Y, Z axes or the x, y, z axes. The choice is
• The moving frame should be selected arbitrary provided a consistent set of unit
fixed to the body or device along which vectors is used.
the relative motion occurs.
 Given,
⃗
𝑽 𝑶 =𝟎
⃗
𝛀 =−𝟑 rad / s 𝒌
We know, 𝒓⃗ 𝑪 / 𝑶 =𝟎 . 𝟐 𝒊
⃗
𝑽 𝑪 =⃗
𝑽 𝑶 +⃗
𝛀 × ⃗𝒓 𝑪 / 𝑶 + ( ⃗
𝑽 𝑪 / 𝑶 )𝒙𝒚𝒛
Assume rotating and
fixed frame on point O. (⃗𝑽 ) =𝟐 𝒊
𝑪 / 𝑶 𝒙𝒚𝒛
⃗
𝑽 𝑪 =𝟎 −𝟑 𝒌 × ( 𝟎 .𝟐 𝒊 )+𝟐 𝒊
Y,y ⃗
𝑽 𝑪 =−𝟎 . 𝟔 𝒋 +𝟐 𝒊
Ans. Given,
We know, ⃗
𝒂𝑶 =𝟎
⃗˙ 𝟐
𝜴 =−𝟐 rad / s 𝒌

( ⃗𝒂 𝑪 / 𝑶 ) 𝒙𝒚𝒛 =𝟑 𝒊

⃗
𝒂𝑪 =− 𝟎 .𝟒 𝒋 −𝟏 . 𝟖 𝒊 −𝟏𝟐 𝒋+𝟐 𝒊
⃗
𝒂𝑪 =𝟏 . 𝟐 𝒊 −𝟏𝟐. 𝟒 𝒋
X,x Ans.
 First, where will take rotating and fixed frame.
Given,
⃗
𝑽 𝑶 =𝟎
⃗
𝛀 =𝟔 rad / s 𝒌
We know,
𝒓⃗ 𝑩/ 𝑶 =𝟎 . 𝟒 𝒊
⃗
𝑽 𝑩 =⃗ ⃗ × ⃗𝒓 + (𝑽
𝑽 𝑶 +𝛀 ⃗ )
𝑩/ 𝑶 𝑩/ 𝑶 𝒙𝒚𝒛 (⃗𝑽 ) =𝟎. 𝟔 𝒊
𝑩/ 𝑶 𝒙𝒚𝒛
⃗
𝑽 𝑩 =𝟎 +𝟔 𝒌 × ( 𝟎 . 𝟒 𝒊 ) + 𝟎 .𝟔 𝒊
⃗
𝑽 𝑩 =𝟐 . 𝟒 𝒋 +𝟎 . 𝟔 𝒊
Ans.
We know, Given,
⃗
𝒂𝑶 =𝟎
⃗˙ 𝟐
𝜴 =𝟑 rad / s 𝒌

( ⃗𝒂𝑪 / 𝑶 ) 𝒙𝒚𝒛 =𝟎.𝟏𝟓 𝒊

⃗
𝒂𝑪 =𝟏 . 𝟐 𝒋 − 𝟏𝟒. 𝟒 𝒊+𝟕 . 𝟐 𝒋 +𝟎 .𝟏𝟓 𝒊
⃗
𝒂𝑪 =− 𝟏𝟒 .𝟐𝟓 𝒊+𝟖 . 𝟒 𝒋
Ans.
 Given

Given

𝒓⃗ 𝑩/ 𝑨=−𝟔𝟎𝒄𝒐𝒔 𝟑𝟎° 𝒊+𝟔𝟎 𝒔𝒊𝒏 𝟑𝟎° 𝒋

We know,
( ⃗𝑽 𝑩/ 𝑨) 𝒙𝒚𝒛 =−𝟎.𝟓𝒄𝒐𝒔 𝟑𝟎° 𝒊+𝟎.𝟓𝒔𝒊𝒏 𝟑𝟎° 𝒋
⃗
𝑽 𝑩 =⃗
𝑽 𝑨 +⃗ ⃗ )
𝛀 × 𝒓⃗ 𝑩/ 𝑨+ (𝑽 𝑩/ 𝑨 𝒙𝒚𝒛

Y, y
⃗
𝑽 𝑩 =𝟎+ ( −𝟎.𝟎𝟐𝒌 ) × ( − 𝟔𝟎𝒄𝒐𝒔 𝟑𝟎° 𝒊+𝟔𝟎 𝒔𝒊𝒏𝟑𝟎° 𝒋 )+ ( −𝟎.𝟓𝒄𝒐𝒔 𝟑𝟎° 𝒊+𝟎.𝟓𝒔𝒊𝒏 𝟑𝟎° 𝒋 )
X. x

⃗
𝑽 𝑩 =𝟏. 𝟎𝟒 𝒋+𝟎. 𝟔𝒊 −𝟎. 𝟒𝟑𝒊 +𝟎. 𝟐𝟓 𝒋

⃗
𝑽 𝑩 =𝟎 . 𝟏𝟕𝒊+𝟏 .𝟐𝟗 𝒋

𝑽 𝑩 =𝟏 . 𝟑
Ans.
 We know,
⃗
𝑽 𝑨 =𝟎
⃗ ⃗
𝑽 𝑩 =⃗
𝑽 𝑨 +⃗ ⃗ )
𝛀 × 𝒓⃗ 𝑩/ 𝑨+ (𝑽 𝑩/ 𝑨 𝒙𝒚𝒛
𝛀 =− 𝟎.𝟎𝟐 𝒌𝒓𝒂𝒅 / 𝒔
𝒓⃗ 𝑩/ 𝑨 =𝟔𝟎 𝒋
x
X.

⃗
𝑽 𝑩 =𝟎 + ( −𝟎 . 𝟎𝟐 𝒌 ) × ( 𝟔𝟎 𝒋 )+𝟎 .𝟓 𝒋
(⃗
𝑽 𝑩/ 𝑨) 𝒙𝒚𝒛 =𝟎. 𝟓 𝒋
y
Y,

⃗
𝑽 𝑩 =𝟏 . 𝟐 𝒊+𝟎 . 𝟓 𝒋

𝑽 𝑩 =𝟏 . 𝟑
Ans.
 We know,
⃗
𝒂 𝑨 =𝟎
˙
⃗ 𝟐
𝜴=−𝟎. 𝟎𝟏𝒌 𝒓𝒂𝒅 / 𝒔
𝒓⃗ 𝑩/ 𝑨 =𝟔𝟎 𝒋
x
X.

(⃗
𝑽 𝑩/ 𝑨) 𝒙𝒚𝒛 =𝟎. 𝟓 𝒋
y
Y,

( ⃗𝒂 𝑩/ 𝑨) 𝒙𝒚𝒛 =𝟎
⃗𝒂 𝑩=𝟎.𝟔𝒊− 𝟎.𝟎𝟐𝟒 𝒋 +𝟎. 𝟎𝟐𝒊
⃗𝒂 𝑩=𝟎.𝟔𝟐 𝒊− 𝟎. 𝟎𝟐𝟒 𝒋

𝒂 𝑩=𝟎 .𝟔𝟐𝟎𝟒
Ans.
 ⃗
𝑽 𝑨 =𝟎 (Since point A is fixed point.)
⃗
𝜴 =𝟑 rad / s 𝒌 (Given)
Y, y
𝒓⃗ 𝑪 / 𝑨=𝟎.𝟒 𝒊+𝟎.𝟒 𝒋
X. x ( ⃗𝑽 𝑪 / 𝑨 )𝒙𝒚𝒛 = ( 𝑽 𝑪 / 𝑨) 𝒙𝒚𝒛 𝒄𝒐𝒔 𝟒𝟓° 𝒊+( 𝑽 𝑪/ 𝑨 ) 𝒙𝒚𝒛 𝒔𝒊𝒏𝟒𝟓° 𝒋
Assume, ⃗
𝑽 𝑪 =−𝑽 𝑪 𝒊
𝟗𝟎°

We know,

⃗
𝑽 𝑪 =⃗
𝑽 𝑨+ ⃗ ⃗ )
𝜴× ⃗𝒓 𝑪/ 𝑨 + (𝑽 𝑪 / 𝑨 𝒙𝒚𝒛
𝑽 𝑪 =𝟐 . 𝟒𝟎𝒎/ 𝒔 Ans.

( 𝑽 𝑪/ 𝑨 ) 𝒙𝒚𝒛 =−𝟏.𝟔𝟗𝟕𝒎/ 𝒔
 𝟐
𝑪 𝑽
⃗𝒂𝑪=( 𝒂𝑪)𝒕 𝒊+( 𝒂𝑪)𝒏 𝒋=( 𝒂𝑪 )𝒕 𝒊− 𝒋=( 𝒂𝑪)𝒕 𝒊−𝟏𝟒.𝟒𝒋
Y, y 𝝆
⃗
𝒂 𝑨 =𝟎 (Since point A is fixed point.)
X. x ˙
⃗
𝜴=𝟎 (Since angular velocity is constant .)
We know, ⃗
𝜴 =𝟑 rad / s 𝒌 (Given)
𝟗𝟎°
𝒓⃗ 𝑪 / 𝑨=𝟎.𝟒 𝒊+𝟎.𝟒 𝒋

( 𝒂𝑪 / 𝑨 ) 𝒙𝒚𝒛 =− 𝟓.𝟎𝟗𝒎/ 𝒔 𝟐 ⃗(𝒂𝑪/𝑨)𝒙𝒚𝒛=(𝒂𝑪/𝑨)𝒙𝒚𝒛 𝒄𝒐𝒔𝟒𝟓°𝒊+(𝒂𝑪/𝑨)𝒙𝒚𝒛 𝒔𝒊𝒏𝟒𝟓°𝒋

( 𝒂 𝑪 )𝒕 =𝟎
Ans.
 (Given)
We know,
⃗
𝑽 𝑩 =⃗
𝑽 𝑨 +⃗ ⃗ )
𝛀 × 𝒓⃗ 𝑩/ 𝑨+ (𝑽 (Given)
𝑩/ 𝑨 𝒙𝒚𝒛

𝟕 𝒊=−𝟖 𝒊 +𝟖 𝒌 × ( 𝟐 𝒋 ) + ( ⃗
𝑽 𝑩/ 𝑨 ) 𝒙𝒚𝒛
⃗
𝑽 𝑨 =⃗
𝛀 × ⃗𝒓 𝑨/ 𝑶
Y, y
𝟕 𝒊=−𝟖 𝒊 − 𝟏𝟔𝒊+ ( ⃗
𝑽 𝑩/ 𝑨 )𝒙𝒚𝒛 −𝟖𝒊=𝛀 𝒌× 𝒋
X. x
𝛀 =𝟖
⃗
𝛀 =𝟖 𝒌
O (⃗
𝑽 𝑩/ 𝑨) 𝒙𝒚𝒛 =𝟑𝟏𝒊
Ans.
𝒓⃗ 𝑩/ 𝑨 =𝟐 𝒋
 We know, 𝟐
𝑽 𝟐
⃗𝒂𝑩= ( 𝒂𝑩)𝒕 𝒊+ ( 𝒂𝑩)𝒏 𝒋=𝟒𝒊− 𝒋=𝟒𝒊− 𝟕 𝒋
𝑩
𝝆 𝟎.𝟓
𝟐
𝑽𝑨
⃗𝒂𝑨= ( 𝒂 𝑨 )𝒕 𝒊+( 𝒂 𝑨 )𝒏 𝒋=−𝟔𝒊− 𝒋
𝟏
˙
Y, y 𝒂 𝑨 ) 𝒕 =⃗
(⃗ 𝜴 × 𝒓⃗ 𝑨/ 𝑶
𝟔 𝒊=𝛀 ˙ 𝒌× 𝒋
˙ =−𝟔
𝛀
X. x ˙
⃗
𝜴 =−𝟔 𝒌
O
𝒓⃗ 𝑩/ 𝑨 =𝟐 𝒋
⃗
𝛀 =𝟖 𝒌 ( ⃗𝒂𝑩/ 𝑨) 𝒙𝒚𝒛 =−𝟏𝟒𝒊− 𝟐𝟎𝟔 𝒋
(⃗
𝑽 𝑩/ 𝑨) 𝒙𝒚𝒛 =𝟑𝟏𝒊
Ans.
Y, y
⃗
𝑽 𝑩 =⃗
𝑽 𝑨 +⃗ ⃗ )
𝛀 × 𝒓⃗ 𝑩/ 𝑨+ (𝑽 𝑩/ 𝑨 𝒙𝒚𝒛
X. x

⃗
𝑽 𝑨 =𝟎
⃗ ⃗
𝛀 =−𝟔 𝒌
𝑽 𝑩 =𝟎 + ( −𝟔 𝒌 ) × ( − 𝟎 .𝟒𝟓 𝒋 ) −𝟓 𝒊
𝒓⃗ 𝑩/ 𝑨=−𝟎. 𝟒𝟓 𝒋
⃗
𝑽 𝑩 =− 𝟐. 𝟕 𝒊 −𝟓 𝒊
⃗
𝑽 𝑩 =− 𝟕. 𝟕 𝒊 (⃗
𝑽 ) =−𝟓 𝒊
𝑩/ 𝑨 𝒙𝒚𝒛

𝑽 𝑩 =𝟕 . 𝟕
 ( 𝑽 𝑩/ 𝑨 ) 𝒙𝒚𝒛𝟐 𝟓𝟐
[ ( 𝒂𝑩/ 𝑨 ) 𝒙𝒚𝒛 ]𝒏= 𝝆
=
𝟎.𝟐
=𝟏𝟐𝟓

Y, y

X. x
⃗
𝒂 𝑨 =𝟎
˙
⃗
𝛺=−𝟑 𝒌
𝒓⃗ 𝑩/ 𝑨=−𝟎. 𝟒𝟓 𝒋
(⃗
𝑽 ) =−𝟓 𝒊
𝑩/ 𝑨 𝒙𝒚𝒛

( ⃗𝒂𝑩/ 𝑨) 𝒙𝒚𝒛 =−𝟏.𝟓𝒊+𝟏𝟐𝟓 𝒋

𝟐
⃗
𝒂 𝑩=𝟎+ ( −𝟑 𝒌 ) × ( −𝟎 . 𝟒𝟓 𝒋 ) − 𝟔 × ( −𝟎 . 𝟒𝟓 𝒋 ) +𝟐 × ( −𝟔 𝒌 ) × ( −𝟓 𝒊 ) −𝟏 . 𝟓 𝒊+𝟏𝟐𝟓 𝒋
⃗𝒂 𝑩=−𝟏.𝟑𝟓 𝒊+𝟏𝟔. 𝟐 𝒋 +𝟔𝟎 𝒋 −𝟏.𝟓𝒊 +𝟏𝟐𝟓 𝒋
⃗ 𝑩=−𝟐 .𝟖𝟓 𝒊+𝟐𝟎𝟏. 𝟐 𝒋
𝒂
𝒂 𝑩=𝟐𝟎𝟏.𝟐
 ⃗
𝑽 𝑫 =⃗ ⃗ × ⃗𝒓 + (𝑽
𝑽 𝑪 +𝛀 ⃗ )
𝑫/ 𝑪 𝑫/ 𝑪 𝒙𝒚𝒛

⃗
𝑉 𝐷 =⃗ 𝜔 𝐴𝐵 × 𝑟⃗ 𝐷 / 𝐴=4 𝑘 ×0.2 𝑗=−0.8 𝑖
Chotha p-70,same as 16.147 𝑟⃗ 𝐷 /𝐶 =0.3 cos30 ° 𝑖+0.3 sin 30 ° 𝑗
( ⃗𝑉 𝐷 /𝐶 )𝑥𝑦𝑧 =− ( 𝑉 𝐷 / 𝐶 )𝑥𝑦𝑧 cos30 ° 𝑖− ( 𝑉 𝐷 / 𝐶) 𝑥𝑦𝑧 sin 30 ° 𝑗
𝟑𝟎 °
Y, y
(⃗
𝑽 𝑫 / 𝑪 )𝒙𝒚𝒛 −𝟎.𝟖𝒊=𝟎+𝛀𝒌×(𝟎.𝟑cos𝟑𝟎°𝒊+𝟎.𝟑sin 𝟑𝟎°𝒋 )− (𝑽 𝑫/𝑪)𝒙𝒚𝒛 cos𝟑𝟎°𝒊−(𝑽 𝑫/𝑪)𝒙𝒚𝒛 sin 𝟑𝟎°𝒋
X. x

−𝟎.𝟖𝒊=𝟎.𝟑𝛀cos𝟑𝟎°𝒋−𝟎.𝟑𝛀 sin𝟑𝟎°𝒊−(𝑽 𝑫/𝑪)𝒙𝒚𝒛 cos𝟑𝟎°𝒊−(𝑽 𝑫/𝑪)𝒙𝒚𝒛sin𝟑𝟎°𝒋

Equate j component:
Equate i component:
𝟎=𝟎.𝟑 𝛀 cos𝟑𝟎° − ( 𝑽 𝑫/𝑪 ) 𝒙𝒚𝒛 sin 𝟑𝟎° −𝟎.𝟖=−𝟎.𝟑 𝛀 sin𝟑𝟎° − ( 𝑽 𝑫/𝑪 ) 𝒙𝒚𝒛 cos𝟑𝟎°
( 𝑽 𝑫/ 𝑪 ) 𝒙𝒚𝒛 =𝟎.𝟑 𝛀 cot 𝟑𝟎° −𝟎.𝟖=−𝟎.𝟑 𝛀 sin 𝟑𝟎° − ( 𝟎.𝟑 𝛀 cot 𝟑𝟎° ) cos𝟑𝟎°
( 𝑽 𝑫/ 𝑪 ) 𝒙𝒚𝒛 =𝟎.𝟔𝟗 𝛀 =𝟏. 𝟑𝟑rad / s Ans.
 𝑟⃗ 𝐷 /𝐶 =0.3 cos30 ° 𝑖+0.3 sin 30 ° 𝑗 ⃗
𝒂𝑶 =𝟎
( ⃗𝑉 ) =− ( 𝑉 ) cos30 ° 𝑖− ( 𝑉
𝐷 /𝐶 𝑥𝑦𝑧 𝐷 / 𝐶 𝑥𝑦𝑧 ) sin 30 ° 𝑗
𝐷 / 𝐶 𝑥𝑦𝑧 ⃗˙ ˙
𝜴 =𝛀 𝒌
( ⃗𝑎𝐷 /𝐶 ) 𝑥𝑦𝑧 =− ( 𝑎𝐷 /𝐶 ) 𝑥𝑦𝑧 cos 30° 𝑖− ( 𝑎𝐷 /𝐶 ) 𝑥𝑦𝑧 sin 30 ° 𝑗
Y, y 𝟑𝟎 °
⃗ 𝐷=𝑎
𝑎 ⃗ 𝐴 + 𝛼 𝐴𝐷 × 𝑟⃗ 𝐷 / 𝐴 − 𝜔2𝐴𝐷 𝑟⃗ 𝐷 / 𝐴
(⃗
𝑽 𝑫 / 𝑪 )𝒙𝒚𝒛
⃗ 𝐷 =0 +0 × 𝑟
𝑎 ⃗ 𝐷 / 𝐴 − 4 2 × 0.2 𝑗
⃗2 𝛺×(⃗𝑉 ) =2× (1.33𝑘) ×(− 0.69cos30°𝑖−0.69sin 30° 𝑗)
X. x 𝐷/𝐶 𝑥𝑦𝑧
⃗
𝒂 𝑫 =−𝟑 . 𝟐 𝒋
2⃗
𝛺× ( ⃗
𝑉 𝐷 / 𝐶 )𝑥𝑦𝑧 =− 1.59 𝑗 +0.92 𝑖

˙−𝟑.𝟐𝒋=𝟎.𝟑𝛀cos𝟑𝟎°𝒋−𝟎.𝟑𝛀˙sin𝟑𝟎°𝒊−𝟎.𝟒𝟔𝒊−𝟎.𝟐𝟔𝒋+(−𝟏.𝟓𝟗𝒋+𝟎.𝟗𝟐𝒊)+−(𝒂𝑫/𝑪) cos𝟑𝟎°𝒊−(𝒂𝑫/𝑪) sin𝟑𝟎°𝒋 )

𝒙𝒚𝒛 𝒙𝒚𝒛
 𝟎=−𝟎.𝟑 𝛀˙ sin 𝟑𝟎° −𝟎.𝟒𝟔+ ( 𝟎.𝟗𝟐 ) + (− ( 𝒂 𝑫/ 𝑪 ) 𝒙𝒚𝒛 cos𝟑𝟎°
−𝟎.𝟒𝟔=− 𝟎.𝟑 𝛀˙ sin 𝟑𝟎° − ( 𝒂 𝑫 / 𝑪 ) 𝒙𝒚𝒛 cos𝟑𝟎°
𝟎 . 𝟓𝟑=𝟎 .𝟏𝟕𝟑 𝛀 + ( 𝒂˙𝑫 / 𝑪 ) 𝒙𝒚𝒛

−𝟑.𝟐=+𝟎.𝟑 𝛀˙ cos𝟑𝟎° −𝟎.𝟐𝟔+ ( − 𝟏.𝟓𝟗 )+ (− ( 𝒂 𝑫/ 𝑪 ) 𝒙𝒚𝒛 sin 𝟑𝟎° )

−𝟏.𝟑𝟓=𝟎.𝟑 𝛀˙ cos𝟑𝟎° − ( 𝒂 𝑫 / 𝑪 ) 𝒙𝒚𝒛 sin 𝟑𝟎°
−𝟐.𝟕=𝟎.𝟓𝟐 𝛀˙ − ( 𝒂 𝑫/ 𝑪 ) 𝒙𝒚𝒛

˙ =− 𝟑 . 𝟏
𝛀
Ans.
 ⃗
𝑽 𝑨 =⃗
𝑽 𝑪+⃗
𝛀 × 𝒓⃗ 𝑨/ 𝑪 + ( ⃗
𝑽 𝑨/ 𝑪 )𝒙𝒚𝒛

(⃗
𝑽 𝑨/ 𝑪 )𝒙𝒚𝒛 =𝟐𝟕𝒊+𝟐𝟓 𝒋
Ans.

Y, y
⃗
𝑽 𝑨 =𝟐𝟓 𝒋
X. x
⃗
𝑽 𝑪 =−𝟏𝟓 cos𝟒𝟓° 𝒊 −𝟏𝟓sin 𝟒𝟓° 𝒋
⃗ 𝟏𝟓
𝛀 =− 𝒌=−𝟎 . 𝟎𝟔 𝒌
𝟐𝟓𝟎

𝒓⃗ 𝑨/ 𝑪=− 𝟐𝟓𝟎sin 𝟒𝟓° 𝒊− (𝟐𝟎𝟎+𝟐𝟓𝟎− 𝟐𝟓𝟎cos 𝟒𝟓° ) 𝒋

𝒓⃗ 𝑨/ 𝑪=− 𝟏𝟕𝟔.𝟕𝟖𝒊−𝟐𝟕𝟑 .𝟑𝟑 𝒋
 ⃗
𝒂 𝑨 =𝟐𝟓 𝒋
Y, y ⃗
𝜴 =−
𝟏𝟓
𝟐𝟓𝟎
𝒌=−𝟎 . 𝟎𝟔 𝒌 ⃗𝒂𝑪=(𝒂𝑪)𝒕×(−𝒄𝒐𝒔𝟒𝟓°𝒊−𝒄𝒐𝒏𝒔𝟒𝟓°𝒋)+(𝒂𝑪)𝒏×(−𝒄𝒐𝒔𝟒𝟓°𝒊+𝒄𝒐𝒏𝒔𝟒𝟓°𝒋)
X. x
Where,

˙ =(
𝒂𝑪 )𝒕 𝟑 ( 𝒂 𝑪 )𝒕 =𝟑𝟐
𝜴 = =𝟎 .𝟎𝟏𝟐 𝑽 𝑩 𝟏𝟓 𝟐
˙ 𝝆 𝟐𝟓𝟎 ( 𝒂 𝑪 )𝒏 = 𝝆 = 𝟐𝟓𝟎 𝒋
⃗
𝜴=−𝟎 . 𝟎𝟏𝟐 𝒌
⃗𝒂𝑪 =− 𝟐.𝟕𝟓𝟖 𝒊− 𝟏.𝟒𝟖𝟓 𝒋
𝒓⃗ 𝑨/ 𝑪=− 𝟏𝟕𝟔.𝟕𝟖𝒊−𝟐𝟕𝟑 .𝟑𝟑 𝒋
(⃗
𝑽 𝑨/ 𝑪 )𝒙𝒚𝒛 =𝟐𝟕𝒊+𝟐𝟓 𝒋
( ⃗𝒂 𝑨/ 𝑪 ) 𝒙𝒚𝒛 =𝟐.𝟒𝒊− 𝟎.𝟑𝟖 𝒋
Ans.
 ⃗
𝑽 𝑩 =⃗
𝑽 𝑪+⃗
𝛀 × 𝒓⃗ 𝑩/ 𝑪 + ( ⃗
𝑽 𝑩/ 𝑪 )𝒙𝒚𝒛

(⃗
𝑽 𝑨/ 𝑪 )𝒙𝒚𝒛 =𝟎
Ans.

Y, y
⃗
𝑽 𝑩 =𝟐𝟓 𝒋
X. x
⃗
𝑽 𝑪 =−𝟏𝟓 cos𝟒𝟓° 𝒊 −𝟏𝟓sin 𝟒𝟓° 𝒋
⃗ 𝟏𝟓
𝛀 =− 𝒌=−𝟎 . 𝟎𝟔 𝒌
𝟐𝟓𝟎

𝒓⃗ 𝑩/ 𝑪=−𝟐𝟓𝟎sin 𝟒𝟓° 𝒊 − ( 𝟐𝟓𝟎−𝟐𝟓𝟎 cos𝟒𝟓° ) 𝒋

𝒓⃗ 𝑩/ 𝑪=−𝟏𝟕𝟔.𝟕𝟖𝒊−𝟕𝟑 .𝟑𝟑 𝒋
 𝟐
⃗𝒂𝑩=− ( 𝒂𝑩)𝒕 𝒊+( 𝒂𝑩)𝒏 𝒋=−𝟐𝒊+ 𝟏𝟓 𝒋
Y, y
⃗
𝜴 =−
𝟏𝟓
𝒌=−𝟎 . 𝟎𝟔 𝒌
𝟐𝟓𝟎
⃗𝒂𝑪=(𝒂𝑪)𝒕×(−𝒄𝒐𝒔𝟒𝟓°𝒊−𝒄𝒐𝒏𝒔𝟒𝟓°𝒋)+(𝒂𝑪)𝒏×(−𝒄𝒐𝒔𝟒𝟓°𝒊+𝒄𝒐𝒏𝒔𝟒𝟓°𝒋)
𝟐𝟓𝟎
X. x
Where,

˙ =(
𝒂𝑪 )𝒕 𝟑 ( 𝒂 𝑪 )𝒕 =𝟑𝟐
𝜴 = =𝟎 .𝟎𝟏𝟐 𝑽 𝑩 𝟏𝟓 𝟐
˙ 𝝆 𝟐𝟓𝟎 ( 𝒂 𝑪 )𝒏 = 𝝆 = 𝟐𝟓𝟎 𝒋
⃗
𝜴=−𝟎 . 𝟎𝟏𝟐 𝒌
⃗𝒂𝑪 =− 𝟐.𝟕𝟓𝟖 𝒊− 𝟏.𝟒𝟖𝟓 𝒋

𝒓⃗ 𝑩/ 𝑪=−𝟏𝟕𝟔.𝟕𝟖𝒊−𝟕𝟑 .𝟑𝟑 𝒋

(⃗
𝑽 𝑨/ 𝑪 )𝒙𝒚𝒛 =𝟎 ( ⃗𝒂 𝑨/ 𝑪 ) 𝒙𝒚𝒛 =𝒊
Ans.
 ⃗
𝑽 𝑩 =⃗
𝑽 𝑨 +⃗ ⃗ )
𝛀 × 𝒓⃗ 𝑩/ 𝑨+ (𝑽 𝑩/ 𝑨 𝒙𝒚𝒛

Y,
−𝟏.𝟖𝒊=𝟎+𝛀 𝒌×𝟎.𝟕𝟓𝒊+( 𝑽 𝑩/ 𝑨) 𝒙𝒚𝒛 𝒊 ⃗

y
𝑽 𝑩 =𝟔 𝒌 × 𝟎 .𝟑 𝒋 =−𝟏 .𝟖 𝒊
X.
x −𝟏.𝟖𝒊=𝟎.𝟕𝟓 𝛀 𝒋+( 𝑽 𝑩/ 𝑨 ) 𝒙𝒚𝒛 𝒊 𝒓⃗ 𝑩/ 𝑨 =𝟎 .𝟕𝟓 𝒊
⃗
𝛀 =𝛀 𝒌
Equate i component:
(⃗
𝑽 𝑩/ 𝑨) 𝒙𝒚𝒛 =( 𝑽 𝑩/ 𝑨 ) 𝒙𝒚𝒛 𝒊
( 𝑽 𝑩/ 𝑨 ) 𝒙𝒚𝒛 =− 𝟏.𝟖𝒊
Equate j component:

𝛀 =𝟎
𝝎 𝑨𝑪 =𝟎 Ans.
 ⃗ 𝐵=𝛼
𝑎 ⃗×⃗ 2
𝑟❑−𝜔 𝑟⃗❑

Y,
y
⃗ 𝐵=10 𝑘 ×0 .3 𝑗 − 62 ×0.3 𝑗
𝑎
X.
x ⃗ 𝐵=3 𝑖 − 10.8 𝑗
𝑎

⃗ ) +( 𝑎 ) 𝑖
˙ 𝑘× 0.75 𝑖 −0 2 × 0.75 𝑖+2 ×0 × (𝑉
3 𝑖 −10.8 𝑗=0 + 𝛺 𝐵/ 𝐴 𝑥𝑦𝑧 𝐵/ 𝐴 𝑥𝑦𝑧

˙ 𝑗 + ( 𝑎𝐵 / 𝐴 ) 𝑖
3 𝑖 −10.8 𝑗=0.75 𝛺 𝑥𝑦𝑧

Equate j component: ˙
⃗
𝛺=Ω̇ 𝑘
˙
−10.8=0.75 𝛺
( ⃗𝒂𝑩/ 𝑨) 𝒙𝒚𝒛 = ( 𝒂𝑩/ 𝑨 ) 𝒙𝒚𝒛 𝒊
˙
𝛺=− 14.4
𝜶 𝑨𝑪 =−𝟏𝟒 .𝟒
 ⃗
𝑽 𝑪 =⃗
𝑽 𝑩+ ⃗
𝛀 × 𝒓⃗ 𝑪 / 𝑩 + ( ⃗
𝑽 𝑪 / 𝑩 )𝒙𝒚𝒛

⃗
𝑽 𝑩 =𝟐𝒌× (𝟏𝟎 𝒄𝒐𝒔𝟑𝟎 °𝒊+𝟏𝟎 𝒔𝒊𝒏𝟑𝟎° 𝒋 ¿ )
⃗
𝑽 =𝟏𝟕. 𝟑 𝒋 − 𝟏𝟎𝒊
𝑩
Y, y

⃗
𝛀 =⃗
𝝎 =𝟐 𝒌
X. x
𝑨𝑩

⃗
( 𝑪 / 𝑩 ) 𝒙𝒚𝒛 × ⃗𝒓 𝑪 / 𝑩
𝑽 = ⃗
𝝎 ′

(⃗𝑽 𝑪 / 𝑩 ) 𝒙𝒚𝒛 =−𝟎. 𝟓𝒌 × ( −𝟐 𝒋 ) =−𝒊

⃗
𝑽 𝑪 =𝟏𝟕.𝟑 𝒋 −𝟏𝟎𝒊+𝟐𝒌× ( −𝟐 𝒋 ) −𝒊
⃗
𝑽 𝑪 =𝟏𝟕.𝟑 𝒋 −𝟏𝟎𝒊+𝟒𝒊− 𝒊
⃗
𝑽 =−𝟏𝟕. 𝟑 𝒋 − 𝟕𝒊
𝑪
 𝟐
⃗
𝒂 𝑩= ⃗
𝜶 𝑨𝑩 × ⃗𝒓 𝑩/ 𝑨 −𝝎 𝑨𝑩 ⃗𝒓 𝑩/ 𝑨
Y, y
⃗𝒂 𝑩=−𝟑𝟗. 𝟔𝟒𝒊−𝟏𝟏. 𝟑𝟒 𝒋

⃗˙
X. x
⃗𝒂𝑪 =− 𝟑𝟖.𝟖𝒊− 𝟔.𝟖𝟒 𝒋 𝜴 =−𝟎 . 𝟔 𝒌
⃗
𝛀 =⃗
𝝎 𝑨𝑩 =𝟐 𝒌
Ans.
𝒓⃗ 𝑪 / 𝑩=−𝟐 𝒋

(⃗
𝑽 𝑪 / 𝑩 ) 𝒙𝒚𝒛 =⃗
𝝎 ′ × ⃗𝒓 𝑪 / 𝑩
(⃗
𝑽 𝑪 / 𝑩 ) 𝒙𝒚𝒛 =−𝟎. 𝟓𝒌 × ( −𝟐 𝒋 ) =−𝒊
𝟐
(⃗
𝒂 𝑪 / 𝑩 ) 𝒙𝒚𝒛 = ⃗ 𝜶 𝑩𝑪 × ⃗ 𝒓 𝑩 / 𝑨 −𝝎 𝑩𝑪 𝒓 ⃗𝑪/
𝟐
⃗
( 𝑪 / 𝑩 ) 𝒙𝒚𝒛
𝒂 =𝟎− 𝟎.𝟓 ×(− 𝟐 𝒋 )
( ⃗𝒂𝑪 / 𝑩 ) 𝒙𝒚𝒛 =− 𝟎.𝟓 𝒋
 ⃗
𝑽 𝑪 =⃗
𝑽 𝑨+ ⃗
𝛀 × 𝒓⃗ 𝑪 / 𝑨 + ( ⃗
𝑽 𝑪 / 𝑨 )𝒙𝒚𝒛
⃗
𝑽 𝑪 =⃗ ⃗
𝝎 ×𝒓

𝒓⃗ =𝟎.𝟎𝟔cos𝟔𝟎𝒊+𝟎.𝟎𝟔sin 𝟔𝟎 𝒋
⃗
𝑽 𝑪 =−𝟎 . 𝟐𝟎𝟖𝒊 +𝟎 . 𝟏𝟐 𝒋

⃗
𝑽𝑪
(⃗
𝑽 𝑪 / 𝑨 )𝒙𝒚𝒛 = ( 𝑽 𝑪 / 𝑨 ) 𝒙𝒚𝒛 𝒊

−𝟎.𝟐𝟎𝟖 𝒊+𝟎.𝟏𝟐 𝒋=𝟎+𝛀 𝒌×𝟎.𝟏𝟖𝒊+( 𝑽 𝑪/ 𝑨 ) 𝒙𝒚𝒛 𝒊

−𝟎 . 𝟐𝟎𝟖 𝒊+𝟎 . 𝟏𝟐 𝒋=𝟎 . 𝟏𝟖 𝛀 𝒋+ ( 𝑽 𝑪 / 𝑨 ) 𝒙𝒚𝒛 𝒊
X. x
Y, y

𝛀 =𝟎. 𝟔𝟔𝟕 ( 𝑽 𝑪/ 𝑨 ) 𝒙𝒚𝒛 =− 0.208

 ⃗ 𝐶 =𝛼
𝑎 ⃗×⃗ ⃗❑
𝑟 ❑ −𝜔2𝑟
⃗ 𝐶 =0 − 42 × ( 0.06 𝑐𝑜𝑠60 𝑖+ 0.06 𝑠𝑖𝑛60 𝑗 )
𝑎
⃗ 𝐶 =− 0.48 𝑖 −0.83 𝑗
𝑎

⃗
𝑽 𝑪 =−𝟎 . 𝟐𝟎𝟖𝒊 +𝟎 . 𝟏𝟐 𝒋

( ⃗𝒂𝑪 / 𝑨 ) 𝒙𝒚𝒛 =( 𝒂𝑪 / 𝑨) 𝒙𝒚𝒛 𝒊

⃗
𝑽𝑪
X. x
Y, y

˙
𝛺=− 3.06