UNIT-V

KINEMATICS OF RIGID BODY

KINEMATICS : It deals with the relative motion of different parts of a mechanism without taking into
consideration.The force is producing the motion.Thus.It is the study.From a geometric point of view.To
know the displacement.Velocity, acceleration of a part of mechanism.

RIGID BODY: A body is said to be rigid.If under the action of forces.It does not suffer any distortion.The
distance between any two points On it remains constant.
TRANSLATION : it is the type of motion in which particle of a body travel along parallel lines
and the direction if the lines remains the same throughout the motion.
There are two types of Translation
a). Rectilinear Translation
b). Curvilinear Translation
 RECTILINEAR TRANSLATION
All the particles of a body travel along straight line paths
Velocity of particle A and B is same, also there is no relative displacement
between particles A and B, or relative velocity of particle A w.r.t B is zero and vice
versa.
 FIXED AXIS ROTATION

In motion of rotation there are normal acceleration,an and tangential acceleration

at, acting at the mass centre of the rigid body rotating about an axis other than
centroidal axis.
1). at = Component acceleration in tangential direction

2). an = Component acceleration in normal direction i.e., in the direction normal to

This component is also known as centripetal component of acceleration.
Example 1) A train starts from rest and moves along a curved track of radius 800 m
with uniform acceleration until it attains a velocity of 72 km/hr at the end of third
minute. Determine the tangential, normal and total acceleration in m/s2 of the train at
the end of second minute.
PLANE MOTION OF RIGID BODIES
Plane motion of a rigid body is the sum of the translation of the body and rotation
of the body. The examples of general plane motion are rolling wheels, connecting
rod of a reciprocating engine, links joining rotating elements of a machine.

Plane Motion = Motion of translation + Motion of rotation.

Consider a link AB, which moves from its initial position AB to A1B1 in a short
interval of time as shown in Fig. The link has neither entire motion of translation
nor entire rotation, but a combination of the two. The motion of the link from the
position AB to the position A1B1 may be regarded as to consist of the following
cases:
Example : A link AB is moving in a vertical plane. At a certain instant, when the link is
inclined at 30° to the horizontal, the point A is moving horizontally at 4 m/s, while B is
moving vertically upwards. Find the velocity of B.
Example:The crank of a reciprocating engine is rotating at 210 r.p.m. The lengths of the crank
and connecting rod are 20 cm and 100 cm respectively. Find the velocity of the point A (i.e.,
velocity of piston), when crank has turned through an angle of 45° with the horizontal.
INSTANTANEOUS CENTRE
The combined motion of translation and rotation of the link
from its initial position AB to the position A1B1 as shown in
Figure may be assumed to be a motion of entirely rotation
about a certain point.
This point is known as instantaneous centre of rotation. The
instantaneous centre of rotation is instantaneously at rest and
has zero velocity.
The link may seem to be rotating about one point at one
instant of time and about another point at the next instant.
Hence, instantaneous centre is changing every instant and is
not a fixed point.
 LOCATION OF I-CENTER
1). If the directions of velocities at A and B are known, then
the instantaneous centre of AB is obtained by drawing
perpendiculars to the directions of the velocities at A and B.
The point, where these two perpendiculars, meet is the
instantaneous centre.
2).If the directions of velocities at A and B are parallel but
unequal in magnitude, then instantaneous centre of AB is
obtained by determining the point of intersection of the line
AB with the line joining the extremities of the vectors VA and
Vb
3).The instantaneous centre O is outside the link AB whereas
in Figure the instantaneous centre O is on the link AB. Hence,
instantaneous centre may lie on the link or outside the link
4).If the directions of velocities at A and B are parallel and
also are equal in magnitude, then the instantaneous centre is
at infinity and all the points of the link AB have the same
velocity as shown in Fig.(c). The two parallel lines will meet at
infinity.
EXAMPLE: A link AB is moving in a vertical plane. At a certain instant, when the link is inclined at
30° to the horizontal, the point A is moving horizontally at 4 m/s, while B is moving vertically
upwards. Find the velocity of B
LAWS OF MOTION APPLIED TO PLANE MOTION
Plane motion has been defined as the motion of translation and motion of rotation.
Hence, plane motion is a combination of translation motion and rotary motion. The
laws of plane motion are also the combine laws of translation and rotation.
WORK, ENERGY AND POWER
Work is defined as the product of force and displacement of the body on which force is acting. The
force and displacement should be in the same direction. Energy is defined as the capacity to do
work.
Work. As defined above, work is the product of force and distance. The distance should be in the
direction of the force. If a force P is acting on a body and the body moves a distance of S in the
direction of the force.
EXAMPLE: A block of wood of weight 800 N is placed on a smooth inclined plane which makes
an angle of 30° with the horizontal. Find the work done in pulling the block up for a length of 5
m
EXAMPLE: If the inclined plane is rough and the co-efficient of friction between the block
and plane is 0.3, then find the work done in pulling the block up for the length of 5 m.
POWER: The rate of doing work is known as power. Hence, power can be obtained
by dividing the total work done by time. Or in other words, the power is the work
done per second. The unit of power in S.I. system is Nm/s or Watt. It is denoted by
W. The power in kilowatts is obtained by dividing watt by 1000.
Work done by a Torque
A circular body, which can rotate about the point A. A
tangential force P is applied at point B and the body moves
through a small angle θ.
Let R = Radius. Now, the distance moved by the force P in
rotating the body through an angle θ is equal to the length of
arc BC.
But length of arc BC = R × θ.
As the body has moved a distance R × θ, the work will be
done by the force on the body.
∴ Work done = Force × Distance moved
= P × R × θ = ( P × R) × θ
But P × R is equal to torque (T).
∴ Work done = T × θ
In the above equation, θ should be taken in radians
Power Developed by a Torque
Let T = torque N = r.p.m. (or revolution per minute)
Consider a body acted upon by a torque (T) and rotating at N r.p.m. Now, angle
turned in one revolution = 2π or 360°.
∴ Angle turned in N revolution = 2π × N. But N revolutions are performed in one
minute.
∴ Angle turned in one minute = 2πN
Energy. The capacity of doing work is known as energy. It is the product of power and
time. The energy is expressed in Nm. It exists in many forms i.e., mechanical,
electrical, heat, chemical, light etc
Mechanical Energy: It consists of the following two types :

(i) Potential energy (or position energy or datum energy)

(ii) Kinetic energy.

Depending upon the state of rest or that of motion, a body may possess anyone or both of the above energies.

Potential Energy. Potential energy is also known as position energy or datum energy. It is the energy by virtue of
position of a body with respect to any given reference or datum. A weight W lying on the top of a tower of height h
possesses a potential energy of W × h with respect to the ground, as the weight W is capable of doing W × h work if it
falls on the ground. A compressed spring has potential energy, because it can do work in recovering its original shape.
Similarly, compressed air also possesses potential energy because it is capable of doing work when allowed to
expand.

2. Kinetic Energy. The energy possessed by a body by virtue of its velocity (or its motion) is known as kinetic energy.
It is represented by K.E
 IMPULSE AND MOMENTUM
To solve kinetic problems of rigid body.
Impulse-momentum method is also used.
This method which relates force, velocity
and time, is based on the integration of
equation of motion with respect to time.
In this method also there is no need of
determining the acceleration of the body.
Let us first define the impulse and
momentum.
Let F = Net force acting on a rigid body in
the direction of motion, through the C.G.
of the body
m = Mass of the rigid body, and
a = Acceleration of the body
EXAMPLE: A football of mass 200 gm is at rest. A player kicks the ball which moves with a velocity
of 20 m/s at an angle of 30° with respect to ground level. Find the force exerted by the player on
the ball if duration of strike is 0.02 seconds
Given : Mass, m = 200 gm = 0.2 kg
Duration of strike, t = 0.02 s Initially the ball is at rest.
Hence, V1x = 0 and V1y = 0
The ball leaves with a velocity of 20 m/s at an angle of 30°
 CONSERVATION OF LINEAR MOMENTUM AND
ANGULAR MOMENTUM
Conservation of linear momentum:

The momentum of a system in linear direction is always conserved.

This means the momentum of a system remains constant.

Or in other words the total momentum of a system in a direction before

collision is equal to the total momentum of the system after collision in that
direction.

Conservation of angular momentum:

If the resultant moment about a fixed point O of all forces acting on a

particle is zero during an interval of time, then its angular momentum
remains constant.

Also the total angular momentum for the system of the two particles remains
constant during the interval.
Euler’s equation of motion
Let P be the pressure and ρ be the density at a
point P(x, y, z) in an inviscid (perfect) fluid.

Consider an elementary parallelepiped with edges

of lengths δx, δy, δz parallel to their respective
coordinate axes having P at its center as shown in
figure.

Let (u, v, w) be the components of velocity and (X,

Y, Z) be the components of external force per unit
mass at time t at P.

Then if p = f(x, y, z), we have Force on the plane

through P parallel to ABCD = P δyδz