Chapter 2

Kinematics
Question 21
A bug B crawls radially outward at constant speed v
0
from the center of a rotating
disk as shown in Fig. P2-1. Knowing that the disk rotates about its center O with
constant absolute angular velocity relative to the ground (where = ), de-
termine the velocity and acceleration of the bug as viewed by an observer xed to
the ground.
r
v
0
B
O

Figure P2-1
Solution to Question 21
For this problem it is convenient to choose a xed reference frame F and a non-
inertial reference frame A that is xed in the disk. Corresponding to reference
frame F we choose the following coordinate system:
Origin at Point O
E
x
= Along OB at Time t = 0
E
z
= Out of Page
E
y
= E
z
E
x
2 Chapter 2. Kinematics
Corresponding to the reference frame A that is xed in the disk, we choose the
following coordinate system
Origin at Point O
e
x
= Along OB
e
z
= Out of Page (= E
z
)
e
y
= e
z
e
x
The position of the bug is then resolved in the basis {e
x
, e
y
, e
z
} as
r = re
x
(2.1)
Now, since the platform rotates about the e
z
-direction relative to the ground, the
angular velocity of reference frame A in reference frame F is given as
F

A
= e
z
(2.2)
The velocity is found by applying the basic kinematic equation. This gives
F
v =
F
dr
dt
=
A
dr
dt
+
F

A
r (2.3)
Now we have
A
dr
dt
= re
x
= v
0
e
x
(2.4)
F

A
r = e
z
re
x
= re
y
(2.5)
Adding Eqs. (2.4) and (2.5), we obtain the velocity of the bug in reference frame F
as
F
v = v
0
e
x
+ re
y
(2.6)
The acceleration is found by applying the basic kinematic equation to
F
v. This
gives
F
a =
F
d
dt
_
F
v
_
=
A
d
dt
_
F
v
_
+
F

F
v (2.7)
Using
F
v from Eq. (2.6) and noting that v
0
and are constant, we have that
A
d
dt
_
F
v
_
= re
y
= v
0
e
y
F

F
v = e
z
[v
0
e
x
+ re
y
]
=
2
re
x
+ v
0
e
y
(2.8)
Therefore, the acceleration in reference frame F is given as
F
a =
2
re
x
+ 2v
0
e
y
(2.9)
3
Question 22
A particle, denoted by P, slides on a circular table as shown in Fig. P2-2. The
position of the particle is known in terms of the radius r measured from the center
of the table at point O and the angle where is measured relative to the direction
of OQ where Q is a point on the circumference of the table. Knowing that the table
rotates with constant angular rate , determine the velocity and acceleration of the
particle as viewed by an observer in a xed reference frame.
r
O
P
Q

Figure P2-2
Solution to Question 22
For this problem it is convenient to dene a xed inertial reference frame F and
two non-inertial reference frames Aand B. The rst non-inertial reference frame A
is xed to the disk while the second non-inertial reference frame B is xed to the
direction of OP. Corresponding to the xed inertial reference frame F, we choose
the following coordinate system:
Origin at point O
E
x
= Along Ox at t = 0
E
z
= Out of Page
E
y
= E
z
E
x
Corresponding to non-inertial reference frame A, we choose the following coordi-
nate system:
Origin at point O
e
x
= Along OQ
e
z
= Out of Page (= E
z
)
e
y
= e
z
e
x
4 Chapter 2. Kinematics
Finally, corresponding to reference frame B, we choose the following coordinate
system:
Origin at point O
e
r
= Along OP
e
z
= Out of Page
e

= e
z
e
r
Then, the position of the particle can be desribed in terms of the basis {e
r
, e

, e
z
} as
r = re
r
. (2.10)
Now, in order to compute the velocity of the particle, it is necessary to apply the
basic kinematic equation. In this case since we are interested in motion as viewed
by an observer in the xed inertial reference frame F, we need to determine the
angular velocity of B in F. First, since A rotates relative to F with angular velocity
, we have that
F

A
= = e
z
(2.11)
Next, since B rotates relative to A with angular rate

about the e
z
-direction, we
have that
A

B
=

e
z
(2.12)
Then, applying the theorem of addition of angular velocities, we have that
F

B
=
F

A
+
A

B
= e
z
+

e
z
= ( +

)e
z
(2.13)
The velocity in reference frame is then found by applying the rate of change trans-
port theorem as
F
v =
F
dr
dt
=
B
dr
dt
+
F

B
r (2.14)
Now we have
B
dr
dt
= re
r
(2.15)
F

B
r = ( +

)e
z
re
r
= r( +

)e

(2.16)
Adding Eqs. (2.15) and (2.16), we obtain the velocity of the particle in reference
frame F as
F
v = re
r
+ r( +

)e

(2.17)
The acceleration is found by applying the rate of change transport theorem to
F
v .
This gives
F
a =
F
d
dt
_
F
v
_
=
B
d
dt
_
F
v
_
+
F

F
v (2.18)
Using
F
v from Eq. (2.17) and noting again that is constant, we have
B
d
dt
_
F
v
_
= re
r
+
_
r( +

) + r

_
e

(2.19)
F

F
v = ( +

)e
z

_
re
r
+ r( +

)e

_
5
= r( +

)
2
e
r
+ r( +

)e

(2.20)
Adding Eqs. (2.19) and (2.20), we obtain the acceleration of the particle in reference
frame F as
F
a =
_
r r( +

)
2
_
e
r
+
_
r

+ 2 r( +

)
_
e

(2.21)
6 Chapter 2. Kinematics
Question 23
A collar slides along a rod as shown in Fig. P2-3. The rod is free to rotate about
a hinge at the xed point O. Simultaneously, the rod rotates about the vertical
direction with constant angular velocity relative to the ground. Knowing that r
describes the location of the collar along the rod, that is the angle measured from
the vertical, and that = , determine the velocity and acceleration of the collar
as viewed by an observer xed to the ground.
r
O
P

Figure P2-3
Solution to Question 23
First, let F be a xed reference frame. Then, choose the following coordinate sys-
tem xed in reference frame F:
Origin at point O
E
x
= Along
E
z
= Orthogonal to Plane of
Shaft and Arm at t = 0
E
y
= E
z
E
x
Next, let Abe a reference frame xed to the vertical shaft. Then, choose the follow-
ing coordinate system xed in reference frame A:
Origin at point O
e
x
= Along
e
z
= Orthogonal to Plane of
Shaft and Arm
e
y
= e
z
e
x
7
Finally, let B be a reference frame xed to the rod. Then, choose the following
coordinate system xed in reference frame B:
Origin at point O
e
r
= Along OP
e
z
= u
z
e

= e
z
e
r
The geometry of the bases {e
x
, e
y
, e
z
} and {e
r
, e

, e
z
} is shown in Fig. 2-1. Using
Fig. 2-1, the relationship between the basis {e
x
, e
y
, e
z
} and {e
r
, e

, e
z
} is given as
e
x
= cos e
r
sine

e
y
= sine
r
+ cos e

(2.22)

e
r
e

e
x
e
y
e
z

Figure 2-1 Geometry of Bases {e

x
, e
y
, e
z
} and {e
r
, e

, e
z
} for Question 23.
The position of the particle can then be expressed in the basis {e
r
, e

, e
z
} as
r = re
r
(2.23)
Now, since {e
r
, e

, e
z
} is xed in reference frame B, and we are interested in ob-
taining the velocity and acceleration as viewed by an observer xed in the ground
(i.e., reference frame F), we need to obtain an expression for the angular velocity of
reference frame B in reference frame F. First, since reference frame A rotates rela-
tive to reference frame F with angular velocity and lies along the e
x
-direction,
we have that
F

A
= = e
x
(2.24)
Next, since reference frame B rotates relative to reference frame A with angular
rate

about the e
z
-direction. Therefore,
A

B
=

e
z
(2.25)
8 Chapter 2. Kinematics
Then, using the angular velocity addition theorem, we have the angular velocity of
reference frame B in reference frame F as
F

B
=
F

A
+
A

B
= e
x
+

e
z
(2.26)
Now, since we have determined that the position of the collar is expressed most
conveniently in terms of the basis {e
r
, e

, e
z
}, it is also most convenient to express
F

B
in terms of the basis {e
r
, e

, e
z
}. In particular, substituting the expression for
e
x
from Eq. (2.22) into Eq. (2.26), we obtain
F

B
as
F

B
= (cos e
r
sine

) +

e
z
= cos e
r
sine

+

e
z
(2.27)
The velocity in reference frame F is then found by applying the rate of change
transport theorem between reference frames B and F as
F
v =
F
dr
dt
=
B
dr
dt
+
F

B
r (2.28)
Now we have that
B
dr
dt
= re
r
(2.29)
F

B
r = (cos e
r
sine

+

e
z
) re
r
= r sinE
z
+ r

e

(2.30)
Adding Eq. (2.29) and Eq. (2.30), we obtain the velocity of the collar in reference
frame F as
F
v = re
r
+ r

e

+ rsine
z
(2.31)
The acceleration of the collar is then obtained by applying the rate of change trans-
port theorem to
F
v between reference frames B and F as
F
a =
F
d
dt
_
F
v
_
=
B
d
dt
_
F
v
_
+
F

F
v (2.32)
Now we have
B
d
dt
_
F
v
_
= re
r
+ ( r

+ r

)e

+
_
( r sin + r

cos )
_
e
z
(2.33)
F

F
v = (cos e
r
sine

+

e
z
) ( re
r
+ r

e

+ rsine
z
)
= r

cos e
z
r
2
cos sine

+ rsine
z
r
2
sin
2
e
r
+ r

e

2
e
r
= (r

2
+ r
2
sin
2
)e
r
+ ( r

r
2
cos sin)e

+(r

cos + rsin)e
z
(2.34)
Adding Eqs. (2.33) and (2.34), we obtain the acceleration of the collar in reference
frame F as
F
a = ( r r

2
r
2
sin
2
)e
r
+ (2 r

+ r

r
2
cos sin)e

+2( r sin + r

cos )e
z
(2.35)
9
Question 24
A particle slides along a track in the form of a parabola y = x
2
/a as shown in
Fig. P2-4. The parabola rotates about the vertical with a constant angular velocity
relative to a xed reference frame (where = ). Determine the velocity and
acceleration of the particle as viewed by an observer in a xed reference frame.
y = x
2
/a
x
y
O
P
Q

Figure P2-4
Solution to Question 24
For this problem it is convenient to dene a xed inertial reference frame F and
a non-inertial reference frame A. Corresponding to reference frame F, we choose
the following coordinate system:
Origin at Point O
E
x
= Along OQ When t = 0
E
y
= Along Oy When t = 0
E
z
= E
x
E
y
Furthermore, corresponding to reference frame A, we choose the following coordi-
nate system:
Origin at Point O
e
x
= Along OQ
e
y
= Along Oy
e
z
= e
x
e
y
The position of the particle is then given in terms of the basis {e
x
, e
y
, e
z
} as
r = xe
x
+ ye
y
= xe
x
+ (x
2
/a)e
y
(2.36)
Furthermore, since the parabola spins about the ey-direction, the angular velocity
of reference frame A in reference frame F is given as
F

A
= = e
y
(2.37)
10 Chapter 2. Kinematics
The velocity in reference frame F is then found using the rate of change transport
theorem as
F
v =
F
dr
dt
=
A
dr
dt
+
F

A
r (2.38)
Using r from Eq. (2.36) and
F

A
from Eq. (2.37), we have
A
dr
dt
= xe
x
+ (2x x/a)e
y
(2.39)
F

A
r = e
y
(xe
x
+ (x
2
/a)e
y
) = xe
z
(2.40)
Adding Eqs. (2.39) and (2.40), we obtain
F
v as
F
v = xe
x
+ (2x x/a)e
y
xe
z
(2.41)
The acceleration in reference frame F is found by applying the rate of change trans-
port theorem to
F
v as
F
a =
F
d
dt
_
F
v
_
=
A
d
dt
_
F
v
_
+
F

F
v (2.42)
Using
F
v from Eq. (2.41) and
F

A
from Eq. (2.37), we have
A
d
dt
_
F
v
_
= xe
x
+
_
2( x
2
+ x x)/a

e
y
xe
z
(2.43)
F

F
v = e
y
( xe
x
+ (2x x/a)e
y
xe
z
) = xe
z

2
xe
x
(2.44)
Adding Eq. (2.43) and (2.44), we obtain
F
a as
F
a = ( x
2
x)e
x
+
_
2( x
2
+ x x)/a

e
y
2 xe
z
(2.45)
11
Question 25
A satellite is in motion over the Earth as shown in Fig. P2-5. The Earth is modeled
as a sphere of radius R that rotates with constant angular velocity in a direction
e
z
where e
z
lies along a radial line that lies in the direction from the center of the
Earth at point O to the North Pole of the Earth at point N. Furthermore, the center
of the Earth is assumed to be an absolutely xed point. The position of the satellite is
known in terms of an Earth-centered Earth-xed Cartesian coordinate system whose
right-handed basis {e
x
, e
y
, e
z
} is dened as follows:
The direction e
x
lies orthogonal to e
z
in the equatorial plane of the Earth
along the line from O to P where P lies at the intersection of the equator with
the great circle called the Prime Meridian
The direction e
y
lies orthogonal to both e
x
and e
z
in the equatorial plane of
the Earth such that e
y
= e
z
e
x
Using the basis {e
x
, e
y
, e
z
} to express all quantities, determine the velocity and
acceleration of the spacecraft (a) as viewed by an observer xed to the Earth and
(b) as viewed by an observer in a xed inertial reference frame.

Prime Meridian
Spacecraft
Equator
e
x
e
y
e
z
r
N
O
P
Q

Figure P2-5
Solution to Question 25
First, let F be a xed inertial reference frame. Next, let A be a reference frame that
is xed in the planet. Corresponding to reference frame A, we choose the following
12 Chapter 2. Kinematics
coordinate system:
Origin at point O
e
x
= Along OP
e
z
= Along ON
e
y
= e
z
e
x
(= Along OQ)
The position of the spacecraft is then given in terms of the basis {e
x
, e
y
, e
z
} as
r = xe
x
+ ye
y
+ ze
z
(2.46)
Now, since the planet rotates with constant angular velocity about the ON-
direction relative to reference frame F, we have that
F

A
= e
z
(2.47)
The velocity of the spacecraft is then found by applying the rate of change transport
theorem as
F
v =
F
dr
dt
=
A
dr
dt
+
F

A
r (2.48)
Now we have
A
dr
dt
= xe
x
+ ye
y
+ ze
z
(2.49)
F

A
r = e
z
(xe
x
+ ye
y
+ ze
z
)
= xe
y
ye
x
(2.50)
Adding Eqs. (2.49) and (2.50), we obtain
F
v as
F
v = ( x y)e
x
+ ( y + x)e
y
+ ze
z
(2.51)
Next, the acceleration of the spacecraft in reference frame F is found by applying
the rate of change transport theorem to
F
v as
F
a =
F
d
dt
_
F
v
_
=
A
d
dt
_
F
v
_
+
F

F
v (2.52)
Now we have
A
d
dt
_
F
v
_
= ( x y)e
x
+ ( y + x)e
y
+ ze
z
(2.53)
F

F
v = e
z
[( x y)e
x
+ ( y + x)e
y
+ ze
z
]
= ( x y)e
y
( y + x)e
x
(2.54)
Adding Eqs. (2.53) and (2.54), we obtain
F
a as
F
a = ( x 2 y
2
x)e
x
+ ( y + 2 x
2
y)e
y
+ ze
z
(2.55)
13
Question 28
A bead slides along a xed circular helix of radius R and helical inclination angle
as shown in Fig. P2-8. Knowing that the angle measures the position of the
bead and is equal to zero when the bead is at the base of the helix, determine the
following quantities relative to an observer xed to the helix: (a) the arclength
parameter s as a function of the angle , (b) the intrinsic basis {e
t
, e
n
, e
b
} and the
curvature of the trajectory as a function of the angle , and (c) the position, velocity,
and acceleration of the particle in terms of the intrinsic basis {e
t
, e
n
, e
b
}.
A
O
P
R

Figure P2-8
Solution to Question 28
Let F be a reference frame xed to the helix. Then, choose the following coordinate
system xed in reference frame F:
Origin at O
E
x
= Along OA
E
z
= Out of page
E
y
= E
z
E
x
Next, let A be a reference frame that rotates with the projection of the position
of particle into the {E
x
, E
y
}-plane. Corresponding to A, we choose the following
coordinate system to describe the motion of the particle:
Origin at O
e
r
= Along O to projection of P into {E
x
, E
y
} plane
e
z
= E
z
e

= e
z
e
r
14 Chapter 2. Kinematics
Now, since is the angle formed by the helix with the horizontal, we have from
the geometry that
z = R tan (2.56)
Suppose now that we make the following substitution:
tan (2.57)
Then the position of the bead can be written as
r = Re
r
+ tan Re
z
= Re
r
+ Re
z
(2.58)
Furthermore, the angular velocity of reference frame A in reference frame F is
given as
F

A
=

e
z
(2.59)
Then, applying the rate of change transport theorem to r between reference frames
A and F, we have
F
v =
F
dr
dt
=
A
dr
dt
+
F

A
r (2.60)
where
A
dr
dt
= R

e
z
(2.61)
F

A
r =

e
z
(Re
r
+ Re
z
) = R

(2.62)
Adding Eqs. (2.61) and (2.62), we obtain
F
v = R

+ R

e
z
(2.63)
The speed in reference frame F is then given as
F
v =
F
v = R

_
1 +
2

d
dt
_
F
s
_
(2.64)
Consequently,
F
ds = R
_
1 +
2
d (2.65)
Integrating both sides of Eq. (2.65), we obtain
_ F
s
F
s
0
ds =
_

0
R
_
1 +
2
d (2.66)
We then obtain
F
s
F
s
0
= R
_
1 +
2
(
0
) (2.67)
Solving Eq. (2.67) for s, the arclength is given as
F
s =
F
s
0
+ R
_
1 +
2
(
0
) (2.68)
15
Intrinsic Basis and Curvature of Trajectory
The intrinsic basis is obtained as follows. First, the tangent vector e
t
is given as
e
t
=
F
v
F
v
(2.69)
Substituting the expressions for
F
v and
F
v from part (a) into Eq. (2.69), we obtain
e
t
=
R

+ R

e
z
R

1 +
2
(2.70)
Simplifying this last expression, we obtain
e
t
=
e

+ e
z

1 +
2
(2.71)
Next, we have that
F
de
t
dt
=
F
ve
n
(2.72)
where
F
de
t
dt
=
A
de
t
dt
+
F

A
e
t
(2.73)
where
A
de
t
dt
= 0
F

A
e
t
=

e
z

e

+ e
z

1 +
2
=

1 +
2
e
r
(2.74)
Therefore,
F
de
t
dt
=

1 +
2
e
r
(2.75)
The principle unit normal is then given as
e
n
=
F
de
t
/dt

F
de
t
/dt
= e
r
(2.76)
Furthermore, the curvature is given as
=
F
de
t
/dt
F
v
=
1
R(1 +
2
)
(2.77)
Finally, the principle unit bi-normal vector is given as
e
b
= e
t
e
n
=
_
e

+ e
z

1 +
2
_
(e
r
) =
e
z
e

1 +
2
(2.78)
Rearranging this last equation, we obtain
e
b
=
e

e
z

1 +
2
(2.79)
16 Chapter 2. Kinematics
Position, Velocity, and Acceleration of Bead
First, we can solve for the basis {e
r
, e

, e
z
} in terms of {e
t
, e
n
, e
b
} by using Eqs. (2.71),
(2.76), and (2.79). First, from Eq. (2.76), we have
e
r
= e
n
(2.80)
Next, restating Eqs. (2.71) and (2.79), we have
e
t
=
e

+ e
z

1 +
2
(2.81)
e
b
=
e

e
z

1 +
2
(2.82)
Solving Eqs. (2.81) and (2.82) simultaneously for e

and e
z
, we obtain
e

=
e
t
+ e
b

1 +
2
(2.83)
e
z
=
e
t
e
b

1 +
2
(2.84)
Then, substituting the expressions for e
r
and e
z
from Eqs. (2.80) and (2.84) into
Eq. (2.58), we have the position in terms of {e
t
, e
n
, e
b
} as
r = Re
n
+ R
_
e
t
e
b

1 +
2
_
(2.85)
Next, the velocity in reference frame F is given in terms of {e
t
, e
n
, e
b
} as
F
v =
F
ve
t
(2.86)
Susstituting the expression for
F
v from Eq. (2.64) into Eq. (2.86), we have
F
v = R

_
1 +
2
e
t
(2.87)
Finally, the acceleration in reference frame F is given as
F
a =
d
dt
_
F
v
_
e
t
+
_
F
v
_
2
e
n
(2.88)
Computing the rate of change of
F
v using the expression for
F
v from Eq. (2.64), we
have
d
dt
_
F
v
_
= R

_
1 +
2
(2.89)
Then, subsituting the expresion for from Eq. (2.77) into Eq. (2.88), we obtain
F
a = R

_
1 +
2
e
t
+
1
R(1 +
2
)
_
R

_
1 +
2
_
2
e
n
(2.90)
Simplifying Eq. (2.90) gives
F
a = R

_
1 +
2
e
t
+ R

2
e
n
(2.91)
17
Question 29
Arm AB is hinged at points A and B to collars that slide along vertical and hor-
izontal shafts, respectively, as shown in Fig. P2-9. The vertical shaft rotates with
angular velocity relative to a xed reference frame (where = ) and point
B moves with constant velocity v
0
relative to the horizontal shaft. Knowing that
point P is located at the center of the arm and the angle describes the orientation
of the arm with respect to the vertical shaft, determine the velocity and accelera-
tion of point P as viewed by an observer xed to the ground. In simplifying your
answers, nd an expression for

in terms of v
0
and l and express your answers in
terms of only l, ,

, , and v
0
.
l/2
l/2
v
0
A
B
O
P

Figure P2-9
Solution to Question 29
Let F be the ground. Then choose the following coordinate system xed in refer-
ence frame F:
Origin at O
E
x
= Along OB when t = 0
E
y
= Along OA
E
z
= E
x
E
y
18 Chapter 2. Kinematics
Next, let Abe the L-shaped assembly. Then choose the following coordinate system
xed in A:
Origin at O
e
x
= Along OB
e
y
= Along OA
e
z
= e
x
e
y
Finally, let B be the rod. Then choose the following coordinate system xed in B:
Origin at A
u
r
= Along AB
u
z
= e
z
u

= u
z
u
r
From the geometry of the coordinate systems, we have
e
x
= sinu
r
+ cos u

e
y
= cos u
r
+ sinu

(2.92)
Next, because we must measure all distances frompoint O (because point O is xed
to the ground and we want all rates of change as viewed by an observer xed to
the ground), the position of the center of the rod is given as
r
P/O
= r
A/O
+r
P/A
r (2.93)
Using the coordinates systems dened for this problem, we have
r
A/O
= l cos e
y
r
P/A
=
l
2
u
r
(2.94)
Consequently,
r
P/O
= l cos e
y
+
l
2
u
r
(2.95)
Because r
A/O
is expressed in the basis {e
x
, e
y
, e
z
} while r
P/A
is expressed in the
basis {u
r
, u

, u
z
}, it is convenient to differentiate each piece of the vector r
P/O
sep-
arately. First, the velocity of point A relative to point O as viewed by an observer
xed to the ground is obtained by applying the transport theorem fromA to F as
F
v
A/O
=
F
d
dt
_
r
A/O
_
=
A
d
dt
_
r
A/O
_
+
F

A
r
A/O
(2.96)
First, we have
F

A
= = e
y
(2.97)
Next,
A
d
dt
_
r
A/O
_
= l

sine
y
F

A
r
A/O
= e
y
l cos e
y
= 0
(2.98)
19
Consequently,
F
v
A/O
= l

sine
y
(2.99)
The acceleration of point A relative to point O as viewed by an observer xed to
the ground is then given as
F
a
A/O
=
F
d
dt
_
F
v
A/O
_
=
A
d
dt
_
F
v
A/O
_
+
F

F
v
A/O
(2.100)
Now we have
A
d
dt
_
F
v
A/O
_
= l(

sin +

2
cos )e
y
F

F
v
A/O
= e
y
(l

sin)e
y
= 0
(2.101)
Therefore,
F
a
A/O
= l(

sin +

2
cos )e
y
(2.102)
The velocity of point P relative to point A as viewed by an observer xed to the
ground is obtained by applying the transport theorem from reference frame B to
reference frame F as
F
v
P/A
=
F
d
dt
_
r
P/A
_
=
B
d
dt
_
r
P/A
_
+
F

B
r
P/A
(2.103)
Now
F

B
=
F

A
+
A

B
(2.104)
where
A

B
=

u
z
(2.105)
Therefore,
F

B
= e
y
+

u
z
= (cos u
r
+ sinu

) +

u
z
= cos u
r
+ sinu

+

u
z
(2.106)
Now we have
B
d
dt
_
r
P/A
_
= 0
F

B
r
P/A
= (cos u
r
+ sinu

+

u
z
)
l
2
u
r
=
l

2
u

lsin
2
u
z
(2.107)
Therefore,
F
v
P/A
=
l

2
u

lsin
2
u
z
(2.108)
The acceleration of point P relative to point A as viewed by an observer xed to
the ground is then given as
F
a
P/A
=
F
d
dt
_
F
v
P/A
_
=
B
d
dt
_
F
v
P/A
_
+
F

F
v
P/A
(2.109)
20 Chapter 2. Kinematics
Now we have
B
d
dt
_
F
v
P/A
_
=
l

2
u

l

cos
2
u
z
F

F
v
P/A
= (cos u
r
+ sinu

+

u
z
) (
l

2
u

lsin
2
u
z
)
(2.110)
The second term in Eq. (2.110) can be simplied to
F

F
v
P/A
=
l

cos
2
u
z

l
2
cos sin
2
u

_
l
2
sin
2
+ l

2
2
_
u
r
(2.111)
Adding the rst term in Eq. (2.110) to the result of Eq. (2.111), we obtain the accel-
eration of point P relative to point A as viewed by an observer xed to the ground
as
F
a
P/A
=
_
l
2
sin
2
+ l

2
2
_
u
r
+
_
l

2

l
2
cos sin
2
_
u

l

cos u
z
(2.112)
Using the aforementioned results, we obtain the velocity and acceleration of point
P relative to point O as viewed by an observer xed to the ground as follows. First,
adding the results of Eqs. (2.99) and (2.108), we obtain
F
v
P/O
= l

sine
y
+
l

2
u

lsin
2
u
z
(2.113)
Finally, adding the results of Eqs. (2.102) and (2.112), we obtain
F
a
P/O
= l(

sin +

2
cos )e
y

_
l
2
sin
2
+ l

2
2
_
u
r
+
_
l

2

l
2
cos sin
2
_
u

l

cos u
z
(2.114)
Alast point pertains to the velocity of point B. It was stated in the problemthat,
point B moves with constant velocity v
0
relative to the horizontal shaft. Now,
because the horizontal shaft is xed in reference frame A, we have
A
v
B
= v
0
e
x
= constant (2.115)
Another expression for the
A
v
B
is obtained as follows. First,
r
B
= l sine
x
(2.116)
Therefore,
A
v
B
= l

cos e
x
(2.117)
21
Equating the expressions in Eq. (2.115) and (2.117), we obtain
v
0
= l

cos (2.118)
which implies that

=
v
0
l cos
=
v
0
l
sec (2.119)
Differentiating Eq. (2.119) with respect to time, we have

=
v
0
l

sec tan =
v
2
0
l
2
sec
2
tan (2.120)
The expressions for

and

given in Eqs. (2.119) and (2.120), respectively, can be
substituted into the expressions for
F
v
P/O
and
F
a
P/O
to obtain expressions that do
not involve either

or

.
22 Chapter 2. Kinematics
Question 210
A circular disk of radius R is attached to a rotating shaft of length L as shown in
Fig. P2-10. The shaft rotates about the horizontal direction with a constant angular
velocity relative to the ground. The disk, in turn, rotates about its center about
an axis orthogonal to the shaft. Knowing that the angle describes the position of a
point P located on the edge of the disk relative to the center of the disk, determine
the velocity and acceleration of point P relative to the ground.
A
L
O
P
R

Figure P2-10
Solution to Question 210
First, let F be a reference frame xed to the ground. Then, we choose the following
coordinate system xed in reference frame F:
Origin at Point O
E
2
= Along AO
E
3
= Orthogonal to Disk
and Into Page at t = 0
E
1
= E
2
E
3
Next, let A be a reference frame xed to the horizontal shaft. Then, we choose the
following coordinate system xed in reference frame F:
Origin at Point O
e
2
= Along AO
e
3
= Orthogonal to Disk
and Into Page
e
1
= e
2
e
3
23
Lastly, let B be a reference frame xed to the disk. Then, choose the following
coordinate system xed in reference frame B:
Origin at Point O
u
1
= Along OP
u
3
= Orthogonal to Disk
and Into Page
u
2
= u
3
u
1
Now, since the shaft rotates with angular velocity relative to the ground, the
angular velocity of reference frame A in reference frame F is given as
F

A
= = e
2
(2.121)
Furthermore, since the disk rotates with angular rate

relative to the shaft, the
angular velocity of reference frame B in reference frame A is given as
A

B
=

u
3
(2.122)
Finally, the geometry of the bases {e
1
, e
2
, e
3
} and {u
1
, u
2
, u
3
} is shown in Fig. (2.123).
Using Fig. (2.123), we have that
e
1
= cos u
1
sinu
2
e
2
= sinu
1
+ cos u
2
(2.123)

e
1
e
2
u
1
u
2
u
3
, e
3

Figure 2-2 Relationship Between Basis {e

1
, e
2
, e
3
} and {u
1
, u
2
, u
3
} for Question
210
Given the denitions of the reference frames and coordinate systems, the posi-
tion of point P is given as
r = Ru
1
(2.124)
24 Chapter 2. Kinematics
The velocity of point P in reference frame F is then given as
F
v =
F
dr
dt
=
F
d
dt
(Ru
1
) (2.125)
Now, since the basis {u
1
, u
2
, u
3
} is xed in reference frame F, it is convenient to
apply the rate of change transport theorem of Eq. (2128) between reference frame
B and reference frame F as
F
d
dt
(Ru
1
) =
B
d
dt
(Ru
1
) +
F

B
Ru
1
(2.126)
First, since R is constant and the basis {u
1
, u
2
, u
3
} is xed in reference frame B, we
have that
B
d
dt
(Ru
1
) = 0 (2.127)
Next, applying the angular velocity addition rule of Eq. (2136), we obtain
F

B
as
F

B
=
F

A
+
A

B
= e
2
+

u
3
(2.128)
Using
F

B
from Eq. (2.128), we obtain
F

B
Ru
1
as
F

B
Ru
1
= (e
2
+

u
3
) Ru
1
= Re
2
u
1
+ R

u
2
(2.129)
Then, from Eq. (2.123), we have that
e
2
u
1
= (sinu
1
+ cos u
2
) u
1
= cos u
3
(2.130)
Substituting the result of Eq. (2.130) into Eq. (2.129), we obtain
F

B
Ru
1
= Rcos u
3
+ R

u
2
(2.131)
Adding Eq. (2.127) and Eq. (2.131), we obtain the velocity of point P in reference
frame F as
F
v = R

u
2
Rcos u
3
(2.132)
Next, the acceleration of point P in reference frame F is given as
F
a =
F
d
dt
_
F
v
_
(2.133)
It is seen that the expression for
F
v is given in terms of the basis {u
1
, u
2
, u
3
} where
{u
1
, u
2
, u
3
} is xed in reference frame B. Thus, applying the rate of change trans-
port theorem of Eq. (2128) between reference frame B and F to
F
v, we obtain
F
a =
F
d
dt
_
F
v
_
=
B
d
dt
_
F
v
_
+
F

F
v (2.134)
25
Now, observing that R and are constant, the rst term in Eq. (2.134) is given as
B
d
dt
_
F
v
_
= R

u
2
+ R

sinu
3
(2.135)
Next, using
F

B
from Eq. (2.128), we obtain the second term in Eq. (2.134) as
F

F
v = (e
2
+

u
3
) (Rcos u
3
+ R

u
2
) (2.136)
Expanding Eq. (2.136), we obtain
F

F
v = R

e
2
u
2
R
2
cos e
2
u
3
R

2
u
1
(2.137)
Then, using the expression for e
2
from Eq. (2.123), we obtain
e
2
u
2
= (sinu
1
+ cos u
2
) u
2
= sinu
3
e
2
u
3
= (sinu
1
+ cos u
2
) u
3
= cos u
1
sinu
2
(2.138)
Substituting the results of Eq. (2.138) into Eq. (2.137), we obtain
F

F
v = R

sinu
3
R
2
cos (cos u
1
sinu
2
) R

2
u
1
(2.139)
Adding the expressions in Eq. (2.135) and Eq. (2.139), we obtain the acceleration of
point P in reference frame F as
F
a = R

u
2
+ R

sinu
3
+ R

sinu
3
R
2
cos (cos u
1
sinu
2
) R

2
u
1
(2.140)
Simplifying Eq. (2.140), we obtain
F
a = (R
2
cos
2
+ R

2
)u
1
+ (R

+ R
2
cos sin)u
2
+ 2R

sinu
3
(2.141)