Advanced Engineering

Systems in Motion:
Dynamics of Three
Dimensional (3D) Motion
Dr. Wayne Whiteman
Director of the Office of Student Services
and Senior Academic Professional
School of Mechanical Engineering

This course is an advanced study of bodies in motion as applied to

engineering systems and structures.

School of Mechanical Engineering

Module 3 Learning Outcome

Define the properties of angular velocity for

three-dimensional (3D) motion

Derivative Formula

F B
A A A

FJ

J
I

B / F

Used with permission from Engineering

Mechanics: Dynamics, McGill/King, 4th Ed, 2003

The Angular Velocity of Frame B with respect to Frame F

B / F B / F i B / F j B / F k
x

Properties of Angular Velocity

B / F

B / Fx i B / Fy j B / Fz k

- It depends intimately on the way frame B changes its

orientation with respect to (wrt) frame F
- It is unique

F J

B
i

- If frames F and B maintain a constant orientation,

then: B / F 0

- The angular velocity of frame B wrt frame F is

negativethe angular
velocity of frame F wrt to frame B

B / F F / B

Properties of Angular Velocity

B / F B / F i B / F j B / F k
x

- The Addition Theorem

F C
A A C / F A
(1)

A A C / B A

(2)

F B
A A B / F A

(3)

Derivative Formula

F B
A A A

NOTE:
This may be extended to
any number of frames!

Adding (2)+(3)

F C
A A (C / B B / F ) A
Comparing (1) and (4)

C / F C / B B / F

F
J

k I k
i j C

B
i

(4)

Q.E.D.
Quod erat demonstrandum
which had to be demonstrated
5