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Dr Aziza Mahomed
a.mahomed@bham.ac.uk
Office: S21
Mechanical Engineering
Lecture notes adapted from Mechanics for Engineers: Dynamics, 13th SI Edition (2013), Russell C. Hibbeler, Kai Beng Yap,
Pearson Education Centre, MasteringEngineering Instructor Resources.
Images Pearson Education South Asia Pte Ltd 2013. All rights reserved.
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Mechanics 2: Lecture Topics
Semester 2: Mechanics of Dynamic Systems lectures
Week Lecture Lecture Topic Tutorial Topic
1 1 Translation and rotation Translation and rotation
7 6 Relative motion analysis using rotating axes Relative motion analysis using rotating axes
10 9 Equations of motion- rotation about a fixed axis Equations of motion- rotation about a fixed axis
11 10 Equations of motion- General plane of motion Equations of motion- General plane of motion
Revision Lecture 5: Relative motion analysis- acceleration
Learning Outcomes
Analyse motion using a coordinate system
which both translate and rotates Images Pearson Education South Asia Pte Ltd 2013. All rights reserved
Fixed references
axes
Extracted from: Mechanics for Engineers: Dynamics, 13th SI Edition (2013), Russell C. Hibbeler, Kai Beng Yap, Pearson Education Centre,
MasteringEngineering Instructor Resources. Images Pearson Education South Asia Pte Ltd 2013. All rights reserved.
Applications
Note that the axes have rotated
The rotation of the skip/bin
truck about point C is
operated by the extension of
the hydraulic cylinder AB
To calculate the rotation of the
skip/bin, the equations of
relative motion can be used.
The x-y axes to the cylinder
are fixed, such that relative
motion of the cylinders
extension occurs along the y
axis.
Extracted from: Mechanics for Engineers: Dynamics, 13th SI Edition (2013), Russell C. Hibbeler, Kai Beng Yap, Pearson Education Centre,
MasteringEngineering Instructor Resources. Images Pearson Education South Asia Pte Ltd 2013. All rights reserved.
Relative motion analysis: velocity
These derivatives are shown in the figure,
which shows the infinitesimal change in each
unit vector during time dt , as the reference
axes rotates through an angle =
Extracted from: Mechanics for Engineers: Dynamics, 13th SI Edition (2013), Russell C. Hibbeler, Kai Beng Yap, Pearson Education Centre,
MasteringEngineering Instructor Resources. Images Pearson Education South Asia Pte Ltd 2013. All rights reserved.
Relative motion analysis: velocity
Thus the velocity of point B is determined by
taking the time derivative of position:
() () /
= +
/
= +
/ ( + )
Recalling that =
/ ( + )
= = + + +
/ ( + )
= =( + ) + ( + )
Extracted from: Mechanics for Engineers: Dynamics, 13th SI Edition (2013), Russell C. Hibbeler, Kai Beng Yap, Pearson Education Centre,
MasteringEngineering Instructor Resources. Images Pearson Education South Asia Pte Ltd 2013. All rights reserved.
Relative motion analysis: velocity
Recall from the diagram that:
= =
= =
Extracted from: Mechanics for Engineers: Dynamics, 13th SI Edition (2013), Russell C. Hibbeler, Kai Beng Yap,
Pearson Education Centre, MasteringEngineering Instructor Resources. Images Pearson Education South Asia
Pte Ltd 2013. All rights reserved.
Relative motion analysis: velocity
Recall that = ,
Thus = = j
From previous slide: = j
Thus = j =
Similarly,
= = i
From previous slide: = i
Thus = i =
Relative motion analysis: velocity
/ ( + )
= = / xyz + x +
/
= / xyz + x +
/
= / xyz + x /
Thus substituting the above into
/
= +
and obtain
= + x / + / xyz
Extracted from: Mechanics for Engineers: Dynamics, 13th SI Edition (2013),
Russell C. Hibbeler, Kai Beng Yap, Pearson Education Centre, MasteringEngineering Instructor Resources.
Images Pearson Education South Asia Pte Ltd 2013. All rights reserved.
Relative motion analysis: velocity
Where:
vB absolute velocity of B
=
vA absolute velocity of the
origin of the x, y, z frame
/ / xyz
= +( x / + x )+
/ / xyz
= + x / + x +
/ / xyz
= + x / + x +
/
Recall, from previous slide: = / xyz + x /
Thus: /
x = x / xyz + x ( x / )
/ xyz / x / y
= + + ( / x + / y )
/ xyz
= / xyz + x (/ )
Rearrange to obtain:
= + ( x / ) + x x / + x (/ ) + / xyz
(aB/A) xyz ; (vB/A) xyz= relative acceleration and relative velocity of B with
respect to A, as measured by an observer attached to the rotating x, y, z
reference
=
aA absolute acceleration of the origin
of the x, y, z frame
= + ( / ) + / xyz
= + ( / ) + / + (/ ) + / xyz
Motion of moving reference:
= 600j km/h and ( )t = 100 km/h2
2 600 2
( )n = = = 900 km/h2
400
= ( )n + ( )t = 900 100 km/h2
600 /
=
= 400
= 1.5 rad/h Thus = 1.5 rad/h
(a )t 100 /2
= = = 0.25 /2 Thus = {0.25} rad/h 2
400
= + ( / ) + / xyz
= + ( / ) + x / + (/ ) + / xyz
= 0 m/s / = 0.2 m
= 0 m/s (/ ) = 2 m/s
= 3 rad/s (/ ) = 3 m/s2
= 2 rad/s2
= + ( x / ) + / xyz
= 0 + (3) (0.2) + 2
= 2 0.6 m/s
= + ( / ) + / + (/ ) + / xyz
= 0 + 2 0.2 + 3 3 0.2 + 2 3 2 + 3
= 0 0.4 1.80 12 + 3
= 1.20 12.4 m/s2
= + ( / ) + / xyz
= + ( / ) + / + (/ ) + / xyz
= 0 m/s / = 0.4 m
= 0 m/s (/ ) = (/ ) m/s
= rad/s (/ ) = (/ ) m/s 2
= rad/s 2