2 +absolute+motion+of+rigid+body

ABSOLUTE MOTION ANALYSIS
Today’s Objective:
Students will be able to:
1. Determine the velocity and acceleration
of a rigid body undergoing general plane
motion using an absolute motion
analysis. In-Class Activities:
• Check Homework
• Reading Quiz
• Applications
• General Plane Motion
• Concept Quiz
• Group Problem Solving
• Attention Quiz
First Exam includes Lecture 1, 2, 3, 4,
5, 6 and 7. Closed notes/closed
book.
During class time, same room.
APPLICATIONS
The dumping bin on the truck rotates
about a fixed axis passing through the
pin at A. It is operated by the extension
of the hydraulic cylinder BC.
The angular position of the bin can be

specified using the angular position
coordinate  and the position of point C
on the bin is specified using the
coordinate s.
As a part of the design process for the truck, an engineer had to

relate the velocity at which the hydraulic cylinder extends and
the resulting angular velocity of the bin.
APPLICATIONS (continued)
The large window is opened using a

hydraulic cylinder AB.
The position B of the hydraulic

cylinder rod is related to the angular
position, of the window.
A designer has to relate the translational

velocity at B of the hydraulic cylinder
and the angular velocity and acceleration
of the window? How would you go
about the task?
APPLICATIONS (continued)
The position of the piston, x, can be defined as a function of

the angular position of the crank, . By differentiating x with
respect to time, the velocity of the piston can be related to the
angular velocity, , of the crank. This is necessary when
designing an engine.
The stroke of the piston is defined as the total distance moved
by the piston as the crank angle varies from 0 to 180°. How
does the length of crank AB affect the stroke?
ABSOLUTE MOTION ANALYSIS
(Section 16.4)
The figure below shows the window using a hydraulic cylinder AB.
The absolute motion analysis method relates

the position of a point, B, on a rigid body
undergoing rectilinear motion to the angular
position,  , of a line contained in the body.
Once a relationship in the form of sB = f () is

established, the velocity and acceleration of
point B are obtained in terms of the angular
velocity and angular acceleration of the rigid
body by taking the first and second time
derivatives of the position function.
Usually the chain rule must be used when taking the derivatives
of the position coordinate equation.
EXAMPLE I
Given: The platform is constrained
to move vertically by the
smooth vertical guides. The
cam C rotates with a
constant angular velocity, .
Find: The velocity and acceleration
of platform P as a function of
the angle of cam C.
Plan: Use the fixed reference point O and define the position of
the platform, P, in terms of the parameter .
Take successive time derivatives of the position equation

to find the velocity and acceleration.
EXAMPLE I
(continued)
Solution:
By geometry, y = r + r sin 
By differentiating with respect to time,

O vP = r cos r cos 
Note that the cam rotates with a constant

angular velocity.
Differentiating vP to find the acceleration,
aP = d(rcos ) / dt = r(-sin − r sin 

EXAMPLE II
Given: Crank AB rotates at a constant velocity of  = 150

rad/s .
Find: The velocity of point P when  = 30°.
Plan: Define x as a function of  and differentiate with

respect to time.
EXAMPLE II (continued)
Solution: xP = 0.2 cos  + (0.75)2 – (0.2 sin )2
vP = -0.2 sin  + (0.5)[(0.75)2

– (0.2sin )2]-0.5(-2)(0.2sin )(0.2cos ) 
vP = -0.2 sin  – [0.5(0.2)2 sin2 ] / (0.75)2 – (0.2 sin )2
At  = 30°,  = 150 rad/s and vP = -18.5 ft/s = 18.5 ft/s

GROUP PROBLEM SOLVING
Given: The circular cam is

rotating about the fixed
point O with rad/s,
rad/s2 with the dimensions
shown.
Find: The velocity and
acceleration of the plate
when .
Plan: Set the coordinate x to be the distance between O and the
plate. Relate x to the angular position, . Then take time
derivatives of the position to find the velocity and
acceleration.
GROUP PROBLEM SOLVING (continued)
Solution:
1) Relate x, the distance between
O and the plate, to .
x = 120 sin 150 (mm)
2) Take time derivatives of the
position to find the velocity
and acceleration.

vC= dx/dt = 120 cos cos mm/s)
aC= d vC/dt =cos sin mm/s2)
When rad/s, and rad/s2 . Substituting,
vC =cosmm/s
aC = cos2sin mm/s2

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ABSOLUTE MOTION ANALYSIS

The angular position of the bin can be

As a part of the design process for the truck, an engineer had to

The large window is opened using a

The position B of the hydraulic

A designer has to relate the translational

The position of the piston, x, can be defined as a function of

The absolute motion analysis method relates

Once a relationship in the form of sB = f () is

Take successive time derivatives of the position equation

Note that the cam rotates with a constant

Differentiating vP to find the acceleration,

aP = d(rcos ) / dt = r(-sin − r sin 

Given: Crank AB rotates at a constant velocity of  = 150

Plan: Define x as a function of  and differentiate with

Solution: xP = 0.2 cos  + (0.75)2 – (0.2 sin )2

vP = -0.2 sin  + (0.5)[(0.75)2

vP = -0.2 sin  – [0.5(0.2)2 sin2 ] / (0.75)2 – (0.2 sin )2

At  = 30°,  = 150 rad/s and vP = -18.5 ft/s = 18.5 ft/s

Given: The circular cam is

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