Kinematics Assignment 2012/2013

Marco Abela 411793 (M)

During this assignment, it is important to note that I shall be denoting vectors by a bold letter.

16.120;
Known values are as follows; Distance AB = 0.6 m and radius of curvature of A, A = 0.45 m.

B is a slider block and hence, its motion is linear. This gives us the direction of the blocks velocity and acceleration as shown below. Point A has curvilinear motion, and since the radius of curvature is given, it would be best to split its acceleration into normal and tangential components. For any point that follows a curved path, the velocity is always tangent to that path such that the results velocity and acceleration components are as shown in the kinematic diagram below.
y

A vA (aA)t

(aA)n

IC

30

vB B

aB
x

The question asks us to find the acceleration of point A. The first step is to find the velocity of this point. Since the directions of both velocities are known, I choose to work this out by finding the instantaneous centre of zero velocity. By drawing two perpendicular lines, one to each velocity vector, the IC is found. By the properties of the IC;

By alternate angles, the angle IC-A-B is also equal to 30.

Since A follows a curvilinear path, we can now find the normal component of its acceleration using the general equation for this type of motion. ( ) ( ) ( )

We now need to find the tangential component of acceleration for point A. To do this, I choose to use the relative acceleration equation that relates the acceleration of A with that of B (which is known), such that;

Using x and y-axes as shown in the diagram above, that is, placing B at the origin with its velocity and acceleration vectors directed towards the positive x-axis, we get; ( )

Substituting into equation [1] we get; ( ) | Comparing coefficients; | ( )

( ( ) (

( ) )

Knowing both components of the acceleration at A, we can apply Pythagoras Theorem to find the magnitude and direction of the resulting acceleration at A. ( ) ( )

((

))

((

) )

( ) ( ) ( )

16.128;
Known values are as follows;

Radius of gear = 0.3m, distance OA = 0.2m and distance AB = 0.8m In this question, we need to find the acceleration of points A and B and also the angular acceleration of the rod AB. This will be done step by step by first finding the acceleration of A using an examination of the gear, and then examining the rod to find the acceleration of B and the angular acceleration of the rod itself.

For gear;
y Gear

vO O aO A vA x aA

IC

Rack

Since O is the midpoint of the gear, it traverses a linear path parallel to the rack such that its velocity and acceleration are also along this path as shown in the kinematic diagram above. Since the rack below the gear is stationary and also since there is no slip (since gear teeth mesh with rack teeth) the bottommost point of the gear is stationary at this instantaneous point such that it is the instantaneous centre of zero velocity. With this, we can find the direction of the velocity at A. The velocity at A has to be perpendicular to a line drawn to A from the IC. Its direction now depends on the direction of rotation on the gear. It must be such as to produce the same sense of rotation around the IC as the gear is turning in. The velocity at A is therefore directed to the left as shown above. The acceleration at A has two components and therefore is taken at a random direction as shown above. Using the method of the IC;

I now apply the relative acceleration equation to relate the acceleration of two points on the same body. This equation will allow us to use the acceleration of O to find that at A. Using x and y-axes as shown above (origin at A), the equation is;

Where;

But the acceleration of point O can be determined via the equation that relates rotational motion to the adequate and identical linear motion.

Substituting into equation [1] we get; | | ( )

By applying Pythagoras Theorem, we get the magnitude and direction of the acceleration of A not in vector form. ( ) ( )
7.2 m/s
2

)
1.2 m/s2

With the acceleration of A, we can now move on to analyse the rod AB in order to obtain its angular acceleration and the acceleration of point B.
y 60 B

A x

Since B is a collar that can only slide along the rod, it has linear motion, and hence, its velocity and acceleration are also along its path. By analysing the situation of the rotating gear, it will be assumed that both the velocity and the acceleration of B act towards the left, that is, the negative x-axis. This assumption leads to yet another assumption; that rod AB will rotate clockwise as shown in the kinematic diagram for the rod. In order to calculate the required things, we will first need to find the angular velocity of rod AB. This will be done using the instantaneous centre of zero velocity method as before. This time, both our velocities are parallel to each other. This means that the lines drawn perpendicular to them (in order to find the IC) will never meet. This means that;

Now using the relative acceleration equation to equate the acceleration of two different point on the same body we get;

( (

Where;

Substituting into equation [2] we get; | Comparing coefficients we get; |

 ( )

16.147;
In this question, we are concerned with finding the angular velocity and acceleration of a second body that has both translational and rotational motion. Due to this, we use a relative motion analysis using a rotating axis to match the motion of a part of the system. This analysis is better as it allows us to equate relative motion of two points on different bodies within the same system. For this, we set our normal x, y, z-axes at a specific origin along specific directions and then we define X, Y, Z-axes which will translate and/or rotate with the body.

, ( ) D ( ) 30

y, Y

45

x, X

As can be seen in the diagram above, we have set the normal x and y-axes with origin at C and with positive x directed in the D to C direction. We then set the new X and Y-axes again with origin at C and with positive X directed in the D to C direction. The different thing

about the X and Y axes is that they will be rotating along with DC such that the axes will have the same angular velocity and acceleration as member DC. With the axes set, we now need to choose two points in the above system to equate in terms of velocity and acceleration. One of the points is C, the origin of our pair of axes and the other is point B as we know the direction of its relative velocities and accelerations. Known values;

, For this analysis, we first need to find the velocity and acceleration of B with respect to the normal x and y-axes. From the equations for a point following a circular path, we get;

This is directed at a tangent to the path that B is following as shown in the kinematic diagram above. Next, since B follows a circular path, I chose to resolve its acceleration into normal and tangential components and use the general equations for these components for when a point is travelling along a circular path.
( ( ) )

Since our axes are not aligned with these components, we must resolve them along our x and y-axes. To do this, we must find the angle that one of the components makes with one of the axes. By alternate angles, we can see that the normal component of acceleration is at 45 to the horizontal. Similarly, we can see that the x-axis is at 30 to the horizontal. This means that the normal component of acceleration is at 15 to the x-axes. Since the tangential component is perpendicular to the normal component, it will be at 15 to the y-axis. Resolving along the x and y-axes, we get;

We now need to know the velocity and acceleration of the other point we are investigating; point C. Since this is a pivot point that doesnt move, it has zero velocity and acceleration such that;

Knowing both points motion properties, we now need to find those of the rotating axes and those relative to those axes as it is essential for this analysis. Let the angular velocity of the X and Y-axes be and their angular acceleration be .

Finally, we need the velocity and acceleration of the second point with respect to the rotating axes origin, that is, we need the velocity and acceleration of point B with respect to point C.

We can be sure that they will be in the positive X-axis direction as point B is restrained to move within the slot which rotates with the X and Y-axes. Now their velocities are related by the equation; ( But;

Substituting all known values into equation [1] we get; | Comparing coefficients as usual we get the following results:

Next, we relate the two points accelerations using a slightly more complicated equation that takes into consideration all relative motions in order to relate them appropriately. ( Where; is the Coriolis acceleration that represents the acceleration of point B relative to the X and Y-axes combined with the acceleration caused due to the rotation of these same axes. It is given by;

))

Substituting all known values into equation [2] we get; ( ( | ) |) | ( ( )( )| ) | |

( |

( |

Comparing coefficients for the final answers we get; (