VIGILADA MINEDUCACIÓN

Introduction
1. TRANSLATION
2. ROTATION ABOUT A FIXED AXIS
3. GENERAL PLANE MOTION
• Absolute and relative velocity and
acceleration in plane motion
• Instantaneous center of rotation
• Motion Relative to Rotating Axes
 Introduction

Rectilinear translation

Curvilinear translation
 Introduction

Rotation about a fixed axis

 Introduction

General plane motion

1. TRANSLATION

rB/A es un vector que siempre

tiene la misma magnitud y
dirección, por tanto su
derivada es igual a cero.
2. ROTATION ABOUT A FIXED AXIS
2. ROTATION ABOUT A FIXED AXIS
2. ROTATION ABOUT A FIXED AXIS
Rotation of a Representative Slab.
2. ROTATION ABOUT A FIXED AXIS
Rotation of a Representative Slab.
EQUATIONS DEFINING THE ROTATION OF A
RIGID BODY ABOUT A FIXED AXIS
2. ROTATION ABOUT A FIXED AXIS
2. ROTATION ABOUT A FIXED AXIS
2. ROTATION ABOUT A FIXED AXIS
2. ROTATION ABOUT A FIXED AXIS
Rotation of a Representative Slab.
EQUATIONS DEFINING THE ROTATION OF A
RIGID BODY ABOUT A FIXED AXIS
2. ROTATION ABOUT A FIXED AXIS
3. GENERAL PLANE MOTION
3. GENERAL PLANE MOTION
 3. GENERAL PLANE MOTION
Absolute and Relative Velocity in Plane Motion
 3. GENERAL PLANE MOTION
Absolute and Relative Velocity in Plane Motion
 3. GENERAL PLANE MOTION
Absolute and Relative Velocity in Plane Motion
 3. GENERAL PLANE MOTION
Absolute and Relative Velocity in Plane Motion
3. GENERAL PLANE MOTION
3. GENERAL PLANE MOTION
3. GENERAL PLANE MOTION
 3. GENERAL PLANE MOTION
INSTANTANEOUS CENTER OF ROTATION
 3. GENERAL PLANE MOTION
INSTANTANEOUS CENTER OF ROTATION
 3. GENERAL PLANE MOTION
Absolute and Relative Acceleration in Plane Motion
 3. GENERAL PLANE MOTION
Absolute and Relative Acceleration in Plane Motion
 3. GENERAL PLANE MOTION
Absolute and Relative Acceleration in Plane Motion
 3. GENERAL PLANE MOTION
Absolute and Relative Acceleration in Plane Motion
 3. GENERAL PLANE MOTION
Absolute and Relative Acceleration in Plane Motion
 3. GENERAL PLANE MOTION
Absolute and Relative Acceleration in Plane Motion
Otra forma:

cos 𝜃 = 2563 / (𝑎𝐷/𝐵 ) Ec. 1

(𝜃 + 13.95)
(𝑎𝐷/𝐵) 𝑎𝐵
= Ec. 2
sin 40 sin( 𝜃+13.95)

𝜃
𝜃 = 68.850

𝑎𝐷/𝐵 =7103.45 ft/s2

(𝑎𝐷/𝐵 )𝑡
sin 𝜃 = 𝛼𝐵𝐷 = 9937 rad/s2 ; aD =9288 ft/s2
𝑎𝐷/𝐵
 3. GENERAL PLANE MOTION
Absolute and Relative Acceleration in Plane Motion
 3. GENERAL PLANE MOTION
Absolute and Relative Acceleration in Plane Motion

V 𝑎𝐶 =𝑎𝐴 +𝑎𝐶/𝐴 (aA)N = v2/r

(aA)t
A
VA =ωr =10*40 = 400 mm/s
(aA)n (aA)N = (400)2/200 = 800 mm/s2
(aA)t A
(aA)n Punto C del tambor con
velocidad cero al igual que la
aceleración tangencial.
(aC/A)t (a )
C/A n
C
0
𝑎𝐶 = 𝑎𝐶 𝑡 𝑖 + 𝑎𝐶 𝑛 j = 𝑎 𝐴 𝑥 𝑖 + 𝑎𝐴 𝑦 j + 𝑎𝐶/𝐴 𝑡 𝑖 + 𝑎𝐶/𝐴 𝑛 j
En i : 0 = (aA)x + αr ⇒ (aA)x = -30(40) ⇒ (aA)x = -1200 mm/s2

𝑎𝐴 = 8002 + 12002 ⇒ aA = 1442.22 mm/s2

 3. GENERAL PLANE MOTION
Motion Relative to Rotating Axes

To obtain the velocity and acceleration equations

we must successively differentiate the position-
vector equation with respect to time.
The differential change in i is di, and it has the
direction of j and a magnitude equal to the angle dθ
times the length of the vector i, which is unity.
Thus, di = dθj.
 3. GENERAL PLANE MOTION
Motion Relative to Rotating Axes

Similarly, the unit vector j has an infinitesimal change

dj which points in the negative x-direction, so that
dj = -dθ i.
Dividing by dt and replacing di/dt by iሶ ̇ , dj/dt by jሶ ,
and dθ/dt by 𝜃ሶ result in
 3. GENERAL PLANE MOTION
Motion Relative to Rotating Axes

Relative Velocity

ó 𝑽𝑨 = 𝑽𝐴′ + 𝑽𝑨/𝑂𝑥𝑦

𝐴′ : Punto del cuerpo que gira con los ejes móviles y que coincide con A
 3. GENERAL PLANE MOTION
Motion Relative to Rotating Axes
 3. GENERAL PLANE MOTION
Motion Relative to Rotating Axes

500 mm

375 mm
 3. GENERAL PLANE MOTION
Motion Relative to Rotating Axes
 3. GENERAL PLANE MOTION
Motion Relative to Rotating Axes
Relative Acceleration

. . . . . .
 3. GENERAL PLANE MOTION
Motion Relative to Rotating Axes
Relative Acceleration

Coriolis Acceleration

ac = 2ω x vrel

𝒂𝐴 = 𝒂𝐴′ + 2ω x 𝑽𝑨/𝑶𝒙𝒚 + 𝒂𝐴/𝑂𝑥𝑦

𝐴′ : Punto del cuerpo que gira con los ejes móviles

y que coincide con A
𝝎ሶ 𝑥 𝒓 = 𝜶 𝑥 𝒓
𝒂𝐴′ =𝒂𝐵 + [𝜶 𝑥 𝒓 + ω x (ω x r )]
 3. GENERAL PLANE MOTION
Motion Relative to Rotating Axes
 3. GENERAL PLANE MOTION
Motion Relative to Rotating Axes
 3. GENERAL PLANE MOTION
Motion Relative to Rotating Axes