Escolar Documentos
Profissional Documentos
Cultura Documentos
DYNAMICS
Eighth Edition
Ferdinand P. Beer
E. Russell Johnston, Jr.
Lecture Notes:
J. Walt Oler
Texas Tech University
CHAPTER
2007 The McGraw-Hill Companies, Inc. All rights reserved.
15
Cinemtica de
Cuerpo rigido
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Contenidos
Introduccin
Translacin
Rotacin alrededor de un eje fijo: Velocidad
Rotacin alrededor de un eje fijo:
Aceleracin
Rotacin alrededor de un eje fijo: Placa
representativa
Ecuaciones que definen la rotacin de un
cuerpo rgido alrededor de un eje fijo
Problema resuelto 5.1
Movimiento plano General
Velocidad absoluta y relativa en el
movimiento plano general
Problema resuelto 15.2
Problema resuelto 15.3
Centro de rotacin instantneo en el
movimiento plano
Problema resuelto 15.4
Problema resuelto 15.5
Aceleracin absoluta y relativa en el
movimiento plano
Analisis del movimiento plano en trminos de
un parmetro
Problema resuelto 15.6
Problema resuelto 15.7
Problema resuelto 15.8
Razn de cambio con respecto a un sistema de
referencia en rotacin.
Aceleracin de coriolis
Problema resuelto 15.9
Problema resuelto 15.10
Movimiento alrededor de un punto fijo
Movimiento general.
Problema resuelto 15.11
Movimiento tridimensional. Aceleracin de
Coriolis
Sistema de referencia en movimiento general.
Problema resuelto 15.15
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Introduction
Cinemtica de cuerpo rgido: relaciones entre
el tiempo y la posicin, velocidad y
aceleracin de la partcula que forma un
cuerpo rgido.
Clasificacin del movimiento un cuerpo:
- Movimiento general
- Movimiento alrededor de un punto fijo
- Movimiento plano general
- Rotacin alrededor de un eje fijo
Traslacin curvilnea
Traslacin rectilnea
- Traslacin:
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Vector Mechanics for Engineers: Dynamics
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Traslacin
Considere un cuerpo rgido en traslacin:
- La direccin de toda lnea recta dentro de
un cuerpo es constante,
- Toda partcula que constituyen el cuerpo
se mueven a lo largo de lneas paralela.
Para dos partculas en el cuerpo,
A B A B
r r r
+ =
Diferenciando con respecto al tiempo,
A B
A A B A B
v v
r r r r
=
= + =
Las partculas tienen la misma velocidad.
A B
A A B A B
a a
r r r r
=
= + =
Diferenciando con respecto al tiempo,
Las particulas tienen la misma aceleracin.
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Rotacin Alrededor de un eje fijo. Velocidad
Considere rotacin de un cuerpo rgido
alrededor de un eje fijo AA
Vector Velocidad de la partcula P
tangente a la trayectoria de magnitud
dt r d v
=
dt ds v =
( ) ( )
( ) | u
u
|
u | u
sin sin lim
sin
0
r
t
r
dt
ds
v
r BP s
t
=
A
A
= =
A = A = A
A
locity angular ve k k
r
dt
r d
v
= = =
= =
u e e
e
El mismo resultado se obtiene de
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Rotacin Alrededor de un eje fijo. Aceleracin
Diferenciando la aceleracin,
( )
v r
dt
d
dt
r d
r
dt
d
r
dt
d
dt
v d
a
+ =
+ =
= =
e
e
e
e
e
k k k
celeration angular ac
dt
d
u e o
o
e
= = =
= =
component on accelerati radial
component on accelerati l tangentia
=
=
+ =
r
r
r r a
e e
o
e e o
La aceleracin de P es la combinacin de dos
vectores,
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Rotacin alrededor de un eje fijo. Placa representativa
Considere el movimiento de una placa
representativa en un plano perpendicular al eje
de rotacin.
La Velocidad de un punto P de la placa es,
e
e e
r v
r k r v
=
= =
La Acceleration de un punto P de la placa,
r r k
r r a
2
e o
e e o
=
+ =
Resolviendo la aceleracin en componentes
tangencial y componentes normal,
2 2
e e
o o
r a r a
r a r k a
n n
t t
= =
= =
\
|
=
t
N rev 23 . 2 = N
( )( )
( )( ) rad 14 in. 5
s rad 10 in. 5
= = A
= =
u
e
r y
r v
B
B
in. 70
s in. 50
= A
| =
B
B
y
v
A B A B
r k v v
+ = e
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Velocidad Absoluta y Relativa en el movimiento Plano
Asumiendo que la velocidad v
A
del extremo A es conocida, se propone determinar
la velocidad v
B
del extremo B y la velocidad angular e en termino de v
A
, l, and u.
La direccin de v
B
y v
B/A
son conocidos. Completando el diagrama velocidad.
u
u
tan
tan
A B
A
B
v v
v
v
=
=
u
e
u
e
cos
cos
l
v
l
v
v
v
A
A
A B
A
=
= =
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Velocidad Absoluta y Relativa en el Movimiento plano
Seleccionando el punto B como el punto de referencia y resolviendo para la
velocidad v
A
en el extremo A y la velocidad angular e lleva a una velocidad
equivalente en el triangulo.
v
A/B
tiene la misma magnitud pero sentido opuesto al de v
B/A
. El sentido de la
velocidad relativa depende del punto de referencia escogido.
La velocidad angular e de la varilla en su rotacin alrededor de B es la misma
que su rotacin alrededor de A. La velocidad angular no depende del punto de
referencia escogida.
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Vector Mechanics for Engineers: Dynamics
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Sample Problem 15.2
The double gear rolls on the
stationary lower rack: the velocity of
its center is 1.2 m/s.
Determine (a) the angular velocity of
the gear, and (b) the velocities of the
upper rack R and point D of the gear.
SOLUTION:
The displacement of the gear center in
one revolution is equal to the outer
circumference. Relate the translational
and angular displacements. Differentiate
to relate the translational and angular
velocities.
The velocity for any point P on the gear
may be written as
Evaluate the velocities of points B and D.
A P A A P A P
r k v v v v
+ = + = e
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Sample Problem 15.2
x
y
SOLUTION:
The displacement of the gear center in one revolution is
equal to the outer circumference.
For x
A
> 0 (moves to right), e < 0 (rotates clockwise).
u
t
u
t
1
2 2
r x
r
x
A
A
= =
Differentiate to relate the translational and angular
velocities.
m 0.150
s m 2 . 1
1
1
= =
=
r
v
r v
A
A
e
e
( )k k
s rad 8 = =e e
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Sample Problem 15.2
For any point P on the gear,
A P A A P A P
r k v v v v
+ = + = e
Velocity of the upper rack is equal to
velocity of point B:
( ) ( ) ( )
( ) ( )i i
j k i
r k v v v
A B A B R
s m 8 . 0 s m 2 . 1
m 10 . 0 s rad 8 s m 2 . 1
+ =
+ =
+ = = e
( )i v
R
s m 2 =
Velocity of the point D:
( ) ( ) ( )i k i
r k v v
A D A D
m 150 . 0 s rad 8 s m 2 . 1 + =
+ = e
( ) ( )
s m 697 . 1
s m 2 . 1 s m 2 . 1
=
+ =
D
D
v
j i v
B D
v
\
|
|
|
.
|
\
|
|
.
|
\
|
=
AB B
AB
AB v e
t
e
The velocity direction is as shown.
The direction of the absolute velocity is horizontal.
The direction of the relative velocity is
perpendicular to BD. Compute the angle between the
horizontal and the connecting rod from the law of sines.
D
v
B D
v
= =
95 . 13
in. 3
sin
in. 8
40 sin
|
|
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Sample Problem 15.3
Determine the velocity magnitudes
from the vector triangle.
B D D
v v and
B D B D
v v v
+ =
=
sin76.05
s in. 3 . 628
50 sin 95 . 53 sin
B D
D
v
v
s in. 9 . 495
s ft 6 . 43 s in. 4 . 523
=
= =
B D
D
v
v
s rad 0 . 62
in. 8
s in. 9 . 495
=
= =
=
l
v
l v
B D
BD
BD B D
e
e
s ft 6 . 43 = =
D P
v v
( )k
BD
s rad 0 . 62 = e
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Centro Instantneo de Rotacin en Movimiento Plano
El movimiento plano de las partculas en una placa
puede ser reemplazada la traslacin de un punto
arbitrario A y su rotacin alrededor de A con una
velocidad angular que es independiente del punto A.
La traslacin y rotacin de la velocidad de A son obtenida
y que permite que la placa rote con la misma velocidad
angular alrededor del punto C y es perpendicular a la
velocidad de A.
La velocidad de todas las dems partculas de una placa
son las mismas y estn originalmente definida por la
velocidad angular y la velocidad y traslacional de A .
Tal como las velocidades estn involucradas . La placa
parece rotar alrededor de un centro instantneo de
rotacin C.
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Centro Instantneo de Rotacin en Movimiento Plano
Si son conocidas la velocidad de dos partculas A y B,
el centro instantneo de rotacin depende de la
interseccin de las perpendiculares de los vectores
velocidades a travs de las partculas A y B .
Si los vectores velocidad A y B son perpendiculares a la
lnea AB, el centro instantneo de rotacin se encuentra
en la interseccin de la lnea AB con la lnea que se
junta con los extremos de los vectores velocidad A y B.
Si los vectores velocidad son paralelos, el centro
instantneo de rotacin es infinito y la velocidad
angular es cero.
Si las magnitudes de las velocidades son iguales, el
centro instantneo de rotacin es infinito y la velocidad
angular es cero.
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Centro Instantneo de Rotacin en Movimiento Plano
El centro instantneo de rotacin se determina por la
interseccin de la perpendicular de los vectores velocidad A y B
.
u
e
cos l
v
AC
v
A A
= = ( ) ( )
u
u
u e
tan
cos
sin
A
A
B
v
l
v
l BC v
=
= =
La velocidad de todas las partculas de la varilla son las
mismas cuando rotan alrededor de C.
La partcula con centro de rotacin en la placa la velocidad
es cero.
La partcula coincidente con el centro de rotacin cambian
con el tiempo y la aceleracin en el centro instantneo de
rotacin no es cero.
Las aceleracin de las partculas de la placa no pueden
determinarse como si la placa simplemente rotara en C.
El trazo en lugar del centro de rotacin del cuerpo es el
centrodo y en el espacio el centrodo espacial.
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Vector Mechanics for Engineers: Dynamics
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Sample Problem 15.4
The double gear rolls on the
stationary lower rack: the velocity
of its center is 1.2 m/s.
Determine (a) the angular velocity
of the gear, and (b) the velocities of
the upper rack R and point D of the
gear.
SOLUTION:
The point C is in contact with the stationary
lower rack and, instantaneously, has zero
velocity. It must be the location of the
instantaneous center of rotation.
Determine the angular velocity about C
based on the given velocity at A.
Evaluate the velocities at B and D based on
their rotation about C.
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Sample Problem 15.4
SOLUTION:
The point C is in contact with the stationary lower rack
and, instantaneously, has zero velocity. It must be the
location of the instantaneous center of rotation.
Determine the angular velocity about C based on the
given velocity at A.
s rad 8
m 0.15
s m 2 . 1
= = = =
A
A
A A
r
v
r v e e
Evaluate the velocities at B and D based on their rotation
about C.
( )( ) s rad 8 m 25 . 0 = = = e
B B R
r v v
( )i v
R
s m 2 =
( )
( )( ) s rad 8 m 2121 . 0
m 2121 . 0 2 m 15 . 0
= =
= =
e
D D
D
r v
r
( )( ) s m 2 . 1 2 . 1
s m 697 . 1
j i v
v
D
D
+ =
=
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Sample Problem 15.5
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, and (b) the
velocity of the piston P.
SOLUTION:
Determine the velocity at B from the
given crank rotation data.
The direction of the velocity vectors at B
and D are known. The instantaneous
center of rotation is at the intersection of
the perpendiculars to the velocities
through B and D.
Determine the angular velocity about the
center of rotation based on the velocity
at B.
Calculate the velocity at D based on its
rotation about the instantaneous center
of rotation.
2007 The McGraw-Hill Companies, Inc. All rights reserved.
Vector Mechanics for Engineers: Dynamics
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Sample Problem 15.5
SOLUTION:
From Sample Problem 15.3,
( )( )
=
= =
95 . 13
s in. 3 . 628 s in. 3 . 481 9 . 403
|
B B
v j i v
=
sin50
in. 8
95 . 53 sin 05 . 76 sin
CD BC
in. 44 . 8 in. 14 . 10 = = CD BC
Determine the angular velocity about the center of
rotation based on the velocity at B.
( )
in. 10.14
s in. 3 . 628
= =
=
BC
v
BC v
B
BD
BD B
e
e
Calculate the velocity at D based on its rotation about
the instantaneous center of rotation.
( ) ( )( ) s rad 0 . 62 in. 44 . 8 = =
BD D
CD v e
s ft 6 . 43 s in. 523 = = =
D P
v v
s rad 0 . 62 =
BD
e
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Aceleracin Absoluta y Relativa en Movimiento Plano
La aceleracin absoluta de una partcula en la placa,
A B A B
a a a
+ =
La aceleracin relativa asociada con la rotacin alrededor de A
incluye las componentes tangencial y normal,
A B
a
( )
( )
A B
n
A B
A B
t
A B
r a
r k a
2
e
o
=
=
( )
( )
2
e
o
r a
r a
n
A B
t
A B
=
=
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Aceleracin Absoluta y Relativa en Movimiento Plano
dado
determine
, and
A A
v a
. and o
B
a
( ) ( )
t
A B
n
A B A
A B A B
a a a
a a a
+ + =
+ =
El vector resultante del sentido y de las
magnitudes relativas de ( )
n
A B A
a a and
A
a
u e
u u
sin
sin
l
l
y v
B B
=
=
=
u o u e
u u u u
cos sin
cos sin
2
2
l l
l l
x a
A A
+ =
+ =
=
u o u e
u u u u
sin cos
sin cos
2
2
l l
l l
y a
B B
=
=
=
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Vector Mechanics for Engineers: Dynamics
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Sample Problem 15.6
The center of the double gear has a
velocity and acceleration to the right of
1.2 m/s and 3 m/s
2
, respectively. The
lower rack is stationary.
Determine (a) the angular acceleration
of the gear, and (b) the acceleration of
points B, C, and D.
SOLUTION:
The expression of the gear position as a
function of u is differentiated twice to
define the relationship between the
translational and angular accelerations.
The acceleration of each point on the
gear is obtained by adding the
acceleration of the gear center and the
relative accelerations with respect to the
center. The latter includes normal and
tangential acceleration components.
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Sample Problem 15.6
SOLUTION:
The expression of the gear position as a function of u
is differentiated twice to define the relationship
between the translational and angular accelerations.
e u
u
1 1
1
r r v
r x
A
A
= =
=
s rad 8
m 0.150
s m 2 . 1
1
= = =
r
v
A
e
o u
1 1
r r a
A
= =
m 150 . 0
s m 3
2
1
= =
r
a
A
o
( )k k
2
s rad 20 = =o o
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Vector Mechanics for Engineers: Dynamics
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Sample Problem 15.6
( ) ( )
( ) ( ) ( ) ( ) ( )
( ) ( ) ( )j i i
j j k i
r r k a
a a a a a a
A B A B A
n
A B
t
A B A A B A B
2 2 2
2 2 2
2
s m 40 . 6 s m 2 s m 3
m 100 . 0 s rad 8 m 100 . 0 s rad 20 s m 3
+ =
=
+ =
+ + = + =
e o
( ) ( )
2 2 2
s m 12 . 8 s m 40 . 6 m 5 = =
B B
a j i s a
2 2 2
2 2 2
2
s m 60 . 9 s m 3 s m 3
m 150 . 0 s rad 8 m 150 . 0 s rad 20 s m 3
+ =
=
+ = + = e o
( )j a
c
2
s m 60 . 9 =
( ) ( ) ( ) ( ) ( )
( ) ( ) ( )i j i
i i k i
r r k a a a a
A D A D A A D A D
2 2 2
2 2 2
2
s m 60 . 9 s m 3 s m 3
m 150 . 0 s rad 8 m 150 . 0 s rad 20 s m 3
+ + =
=
+ = + = e o
( ) ( )
2 2 2
s m 95 . 12 s m 3 m 6 . 12 = + =
D D
a j i s a
=
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Sample Problem 15.7
( ) ( )
n
B D
t
B D B B D B D
a a a a a a
+ + = + =
Component equations for acceleration of point D are solved
simultaneously.
x components:
+ = 95 . 13 sin 667 . 0 95 . 13 cos 2563 40 cos 962 , 10
BD D
a o
+ + = 95 . 13 cos 667 . 0 95 . 13 sin 2563 40 sin 962 , 10 0
BD
o
y components:
( )
( )i a
k
D
BD
2
2
s ft 9290
s rad 9940
=
= o
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Sample Problem 15.8
In the position shown, crank AB has a
constant angular velocity e
1
= 20 rad/s
counterclockwise.
Determine the angular velocities and
angular accelerations of the connecting
rod BD and crank DE.
SOLUTION:
The angular velocities are determined by
simultaneously solving the component
equations for
B D B D
v v v
+ =
The angular accelerations are determined
by simultaneously solving the component
equations for
B D B D
a a a
+ =
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Sample Problem 15.8
SOLUTION:
The angular velocities are determined by simultaneously
solving the component equations for
B D B D
v v v
+ =
( )
j i
j i k r v
DE DE
DE D DE D
e e
e e
17 17
17 17
=
+ = =
( )
j i
j i k r v
B AB B
160 280
14 8 20
+ =
+ = =e
( )
j i
j i k r v
BD BD
BD B D BD B D
e e
e e
12 3
3 12
+ =
+ = =
BD DE
e e 3 280 17 =
x components:
BD DE
e e 12 160 17 + + =
y components:
( ) ( )k k
DE BD
s rad 29 . 11 s rad 33 . 29 = = e e
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Sample Problem 15.8
The angular accelerations are determined by
simultaneously solving the component equations for
B D B D
a a a
+ =
( ) ( ) ( )
j i j i
j i j i k
r r a
DE DE
DE
D DE D DE D
2170 2170 17 17
17 17 29 . 11 17 17
2
2
+ =
+ + =
=
o o
o
e o
( ) ( )
j i
j i r r a
B AB B AB B
5600 3200
14 8 20 0
2 2
+ =
+ = = e o
( ) ( ) ( )
j i j i
j i j i k
r r a
D B D B
D B
D B BD D B BD B D
2580 320 , 10 12 3
3 12 33 . 29 3 12
2
2
+ =
+ + =
=
o o
o
e o
x components:
690 , 15 3 17 = +
BD DE
o o
y components: 6010 12 17 =
BD DE
o o
( ) ( )k k
DE BD
2 2
s rad 809 s rad 645 = = o o
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Rapidez de cambio con respecto a un Sistema de Rotacion
Sistema fijo OXYZ .
Sistema Oxyz rotando
alrededor del eje fijo OA
con una velocidad angular O
( ) k Q j Q i Q Q
z y x Oxyz
+ + =
Con respecto al sistema fijo OXYZ ,
( ) k Q j Q i Q k Q j Q i Q Q
z y x z y x OXYZ
+ + + + + =
Rapidez de
cambio con respecto al sistema de rotacin.
( ) = = + +
Oxyz z y x
Q k Q j Q i Q
Q k Q j Q i Q
z y x
O = + +
Q
+ + =
Con respecto al sistema fijo OXYZ ,
( ) ( ) Q Q Q
Oxyz OXYZ
O + =
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Coriolis Acceleration
Frame OXY is fixed and frame Oxy rotates with angular
velocity . O
+ O = =
Imagine a rigid slab attached to the rotating frame Oxy
or F for short. Let P be a point on the slab which
corresponds instantaneously to position of particle P.
( ) = =
Oxy P
r v
F
velocity of P along its path on the slab
=
' P
v
+ =
+ O =
'
Absolute acceleration for the particle P is
( ) ( ) | |
Oxy OXY P
r
dt
d
r r a
+ O + O =
( ) ( ) ( )
Oxy Oxy P
r r r r a
+ O + O O + O = 2
( ) ( )
( ) | | ( ) ( )
Oxy Oxy Oxy
Oxy OXY
r r r
dt
d
r r r
O + =
+ O = but,
( )
( )
Oxy P
P
r a
r r a
=
O O + O =
'
F
Utilizing the conceptual point P on the slab,
Absolute acceleration for the particle P becomes
( )
( ) 2 2
2
= O = O =
+ + =
O + + =
'
'
F
F
F
P Oxy c
c P P
Oxy P P P
v r a
a a a
r a a a
Coriolis acceleration
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Vector Mechanics for Engineers: Dynamics
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Coriolis Acceleration
Consider a collar P which is made to slide at constant
relative velocity u along rod OB. The rod is rotating at
a constant angular velocity e. The point A on the rod
corresponds to the instantaneous position of P.
c P A P
a a a a
+ + =
F
Absolute acceleration of the collar is
( ) 0 = =
Oxy P
r a
F
u a v a
c P c
e 2 2 = O =
F
where
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Vector Mechanics for Engineers: Dynamics
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Coriolis Acceleration
u v v t t
u v v t
A
A
'
+ =
'
A +
+ =
'
, at
, at
Change in velocity over At is represented by the
sum of three vectors
T T T T R R v
' ' '
+
' '
+
'
= A
( )
2
e r a r r a
A A
= O O + O =
recall,
is due to change in direction of the velocity of
point A on the rod,
A A
t t
a r r
t
v
t
T T
= = = =
' '
2
0 0
lim lim e ee
A
u A
A A A
T T
' '
result from combined effects of
relative motion of P and rotation of the rod
T T R R
' ' ' '
and
u u u
t
r
t
u
t
T T
t
R R
t t
e e e
A
A
e
A
u A
A A A A
2
lim lim
0 0
= + =
|
.
|
\
|
+ =
|
|
.
|
\
| ' ' '
+
'
u a v a
c P c
e 2 2 = O =
F
recall,
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Vector Mechanics for Engineers: Dynamics
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Sample Problem 15.9
Disk D of the Geneva mechanism rotates
with constant counterclockwise angular
velocity e
D
= 10 rad/s.
At the instant when | = 150
o
, determine
(a) the angular velocity of disk S, and (b)
the velocity of pin P relative to disk S.
SOLUTION:
The absolute velocity of the point P
may be written as
s P P P
v v v
+ =
'
Magnitude and direction of velocity
of pin P are calculated from the
radius and angular velocity of disk D.
P
v
= 4 . 42
742 . 0
30 sin
sin
30 sin
R
sin
| |
|
r
= = 6 . 17 30 4 . 42 90
The interior angle of the vector triangle is
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Vector Mechanics for Engineers: Dynamics
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Sample Problem 15.9
Direction of velocity of point P on S coinciding with P is
perpendicular to radius OP. From the velocity triangle,
( )
mm 1 . 37
s mm 2 . 151
s mm 2 . 151 6 . 17 sin s mm 500 sin
= =
= = =
'
s s
P P
r
v v
e e
( )k
s
s rad 08 . 4 = e
( ) = = 6 . 17 cos s m 500 cos
P s P
v v
( )( ) j i v
s P
=
= =
4 . 42 sin 4 . 42 cos s mm 477
s rad 08 . 4 4 . 42 e |
Considering each term in the acceleration equation,
( )( )
( )( ) j i a
R a
P
D P
=
= = =
30 sin 30 cos s mm 5000
s mm 5000 s rad 10 mm 500
2
2 2 2
e
( ) ( )
( ) ( )( )
( ) ( )( )
( ) ( )( )( ) j i a
j i r a
j i r a
a a a
S
t
P
S
t
P
S
n
P
t
P
n
P P
+ =
+ =
=
+ =
'
'
'
' ' '
4 . 42 cos 4 . 42 sin mm 1 . 37
4 . 42 cos 4 . 42 sin
4 . 42 sin 4 . 42 cos
2
o
o
e
note: o
S
may be positive or negative
2007 The McGraw-Hill Companies, Inc. All rights reserved.
Vector Mechanics for Engineers: Dynamics
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The relative acceleration must be parallel to
the slot.
s P
a
s rad 233 = o
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Motion About a Fixed Point
The most general displacement of a rigid body with a
fixed point O is equivalent to a rotation of the body
about an axis through O.
With the instantaneous axis of rotation and angular
velocity the velocity of a particle P of the body is , e
r
dt
r d
v
= = e
and the acceleration of the particle P is
( ) .
dt
d
r r a
e
o e e o
= + =
Angular velocities have magnitude and direction and
obey parallelogram law of addition. They are vectors.
As the vector moves within the body and in space,
it generates a body cone and space cone which are
tangent along the instantaneous axis of rotation.
e
=
+ = = + =
Oxyz
Velocity of boom tip,
r v
= e
Acceleration of boom tip,
( ) v r r r a
+ = + = e o e e o
SOLUTION:
With
Angular velocity of the boom,
2 1
e e e
+ =
( )
j i
j i r
k j
6 39 . 10
30 sin 30 cos 12
50 . 0 30 . 0
2 1
+ =
+ =
= = e e
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Vector Mechanics for Engineers: Dynamics
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Sample Problem 15.11
j i r
k j
6 39 . 10
50 . 0 30 . 0
2 1
+ =
= = e e
SOLUTION:
Angular velocity of the boom,
2 1
e e e
+ =
( ) ( )k j
s rad 50 . 0 s rad 30 . 0 + = e
Angular acceleration of the boom,
( )
( ) ( )k j
Oxyz
s rad 50 . 0 s rad 30 . 0
2 1
2 2 2 2 1
= =
+ = = + =
e e
e O e e e e o
( )i
2
s rad 15 . 0 = o
Velocity of boom tip,
0 6 39 . 10
5 . 0 3 . 0 0
k j i
r v
= =e
( ) ( ) ( )k j i v
s m 12 . 3 s m 20 . 5 s m 54 . 3 + =
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Vector Mechanics for Engineers: Dynamics
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Sample Problem 15.11
j i r
k j
6 39 . 10
50 . 0 30 . 0
2 1
+ =
= = e e
Acceleration of boom tip,
( )
k j i i k
k j i k j i
a
v r r r a
90 . 0 50 . 1 60 . 2 94 . 0 90 . 0
12 . 3 20 . 5 3
50 . 0 30 . 0 0
0 6 39 . 10
0 0 15 . 0
+ =
+ =
+ = + = e o e e o
( ) ( ) ( )k j i a
2 2 2
s m 80 . 1 s m 50 . 1 s m 54 . 3 + =
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Vector Mechanics for Engineers: Dynamics
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Three-Dimensional Motion. Coriolis Acceleration
With respect to the fixed frame OXYZ and rotating
frame Oxyz,
( ) ( ) Q Q Q
Oxyz OXYZ
O + =
Consider motion of particle P relative to a rotating
frame Oxyz or F for short. The absolute velocity can
be expressed as
( )
F P P
Oxyz P
v v
r r v
+ =
+ O =
'
The absolute acceleration can be expressed as
( ) ( ) ( )
( ) on accelerati Coriolis 2 2
2
= O = O =
+ + =
+ O + O O + O =
'
F
F
P Oxyz c
c P p
Oxyz Oxyz P
v r a
a a a
r r r r a
+ =
+ O + =
'
( )
( ) ( )
c P P
Axyz
A P
Axyz
A P
A P A P A P
a a a
r r
r r a a
+ + =
+ O +
O O + O + =
' F
2
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Vector Mechanics for Engineers: Dynamics
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Sample Problem 15.15
For the disk mounted on the arm, the
indicated angular rotation rates are
constant.
Determine:
the velocity of the point P,
the acceleration of P, and
angular velocity and angular
acceleration of the disk.
SOLUTION:
Define a fixed reference frame OXYZ at O
and a moving reference frame Axyz or F
attached to the arm at A.
With P of the moving reference frame
coinciding with P, the velocity of the point
P is found from
F P P P
v v v
+ =
'
The acceleration of P is found from
c P P P
a a a a
+ + =
' F
The angular velocity and angular
acceleration of the disk are
( ) e O e o
e O e
+ =
+ =
F
F D
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Sample Problem 15.15
SOLUTION:
Define a fixed reference frame OXYZ at O and a
moving reference frame Axyz or F attached to the
arm at A.
j
j R i L r
1
e O =
+ =
k
j R r
D
A P
2
e e =
=
F
With P of the moving reference frame coinciding
with P, the velocity of the point P is found from
( )
i R j R k r v
k L j R i L j r v
v v v
A P D P
P
P P P
2 2
1 1
e e e
e e O
= = =
= + = =
+ =
'
'
F F
F
k L i R v
P
1 2
e e =
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Vector Mechanics for Engineers: Dynamics
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Sample Problem 15.15
The acceleration of P is found from
c P P P
a a a a
+ + =
' F
( ) ( ) i L k L j r a
P
2
1 1 1
e e e O O = = =
'
( )
( ) j R i R k
r a
A P D D P
2
2 2 2
e e e
e e
= =
=
F F F
( ) k R i R j
v a
P c
2 1 2 1
2 2
2
e e e e
O
= =
=
F
k R j R i L a
P
2 1
2
2
2
1
2 e e e e + =
Angular velocity and acceleration of the disk,
F D
e O e
+ = k j
2 1
e e e + =
( )
( ) k j j
2 1 1
e e e
e O e o
+ =
+ =
F
i
2 1
e e o =