Chapter 15 Last 1

2013 The McGraw-Hill Companies, Inc. All rights reserved.
Vector Mechanics for Engineers: Dynamics

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Rate of Change With Respect to a Rotating Frame
15 - 2
Frame OXYZ is fixed.
Frame OXYZ rotates
about fixed axis OA
with angular velocity
O
Vector function
varies in direction
and magnitude.
( ) t Q

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15 - 3
( ) k Q j Q i Q Q
z y x
Oxyz

+ + =
With respect to the fixed OXYZ frame,
( ) k Q j Q i Q k Q j Q i Q Q
z y x z y x
OXYZ

+ + + + + =
With respect to the rotating
Oxyz frame,
k Q j Q i Q Q
z y x

+ + =

rate of change with respect to rotating frame.
( ) = = + +
Oxyz
z y x
Q k Q j Q i Q


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15 - 4
If were fixed within
Oxyz then is
equivalent to velocity of a
point in a rigid body
attached to Oxyz and
( )
OXYZ
Q
Q k Q j Q i Q
z y x

O = + +
Q
With respect to the fixed OXYZ frame,

( ) ( ) Q Q Q
Oxyz OXYZ

O + =
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Coriolis Acceleration
15 - 5
Frame OXY is fixed and frame
Oxy rotates with angular
velocity . O
Position vector for the

particle P is the same in both
frames but the rate of change
depends on the choice of
frame.
P
r

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15 - 6
The absolute velocity of the
particle P is
( ) ( )
Oxy OXY
P
r r r v

+ O = =
Imagine a rigid slab attached to
the rotating frame Oxy or F for
short. Let P be a point on the
slab which corresponds
instantaneously to position of
particle P.
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15 - 7
( ) = =
Oxy
P
r v

F
velocity of P
=
' P
v
absolute velocity of point P

on the slab
Absolute velocity for the
particle P may be written as
F P P P
v v v

+ =
'
along its path on the slab
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15 - 8
( )
F P P
Oxy P
v v
r r v

+ =
+ O =
'
Absolute acceleration for the particle P
is
( ) ( ) | |
Oxy OXY
P
r
dt
d
r r a

+ O + O =
( ) ( ) ( )
Oxy Oxy P
r r r r a

+ O + O O + O = 2
( ) ( )
( ) | | ( ) ( )
Oxy Oxy Oxy
Oxy OXY
r r r
dt
d
r r r
O + =
+ O = but,
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15 - 9
( )
F P P
Oxy P
v v
r r v

+ =
+ O =
'
( )
( )
Oxy P
P
r a
r r a

=
O O + O =
'
F
Utilizing the conceptual point
P on the slab,
Absolute acceleration for the
particle P becomes
( )
( ) 2 2
2
= O = O =
+ + =
O + + =
'
'
F
F
F
P
Oxy
c
c P P
Oxy P P P
v r a
a a a
r a a a

Coriolis
accelera
tion
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15 - 10
Consider a collar P which is
made to slide at constant relative
velocity u along rod OB. The
rod is rotating at a constant
angular velocity e. The point A
on the rod corresponds to the
instantaneous position of P.
c P A P
a a a a

+ + =
F
Absolute acceleration of the collar is
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15 - 11
c P A P
a a a a

+ + =
F
( ) 0 = =
Oxy
P
r a

F
u a v a
c P c
e 2 2 = O =
F
The absolute acceleration consists of the

radial and tangential vectors shown
( )
2
e r a r r a
A A
= O O + O =

where
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15 - 12
u v v t t
u v v t
A
A
'
+ =
'
A +
+ =
'

, at
, at
Change in velocity over At is
represented by the sum of three
vectors
T T T T R R v
' ' '
+
' '
+
'
= A
( )
2
e r a r r a
A A
= O O + O =

recall,
is due to change in
direction of the velocity of
point A on the rod,
A A
t t
a r r
t
v
t
T T
= = = =
' '

2
0 0
lim lim e ee
A
u A
A A A
T T
' '
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15 - 13
u v v t t
u v v t
A
A
'
+ =
'
A +
+ =
'

, at
, at
result from
combined effects of relative
motion of P and rotation of the
rod
T T R R
' ' ' '
and
u u u
t
r
t
u
t
T T
t
R R
t t
e e e
A
A
e
A
u A
A A A A
2
lim lim
0 0
= + =
|
.
|
\
|
+ =
|
|
.
|
\
| ' ' '
+
'

u a v a
c P c
e 2 2 = O =
F
recall,
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Concept Question
2 - 14
v
e
You are walking with a
constant velocity with
respect to the platform,
which rotates with a
constant angular
velocity w. At the
instant shown, in which
direction(s) will you
experience an
acceleration (choose all
that apply)?
x
y
( ) ( ) ( )
Oxy Oxy P
r r r r a

+ O + O O + O = 2
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Concept Question
2 - 15
v
e
a) +x
b) -x
c) +y
d) -y
e) Acceleration = 0
x
y
( ) ( ) ( )
Oxy Oxy P
r r r r a

+ O + O O + O = 2
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Sample Problem 15.9
15 - 16
Disk D of the Geneva
mechanism rotates
with constant
counterclockwise
angular velocity e
D
=
10 rad/s.
At the instant when | = 150
o
, determine (a)
the angular velocity of disk S, and (b) the
velocity of pin P relative to disk S.
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Sample Problem 15.9
15 - 17
SOLUTION:
The absolute velocity of the point P
may be written as
s P P P
v v v

+ =
'
Magnitude and direction of velocity
of pin P are calculated from the
radius and angular velocity of disk D.
P
v
Direction of velocity of point P on

S coinciding with P is perpendicular to
radius OP.
P
v
'
Direction of velocity of P with

respect to S is parallel to the slot.
s P
v
Solve the vector triangle for the

angular velocity of S and relative
velocity of P.
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Sample Problem 15.9
15 - 18
SOLUTION:
The absolute velocity of the
point P may be written as
s P P P
v v v

+ =
'
Magnitude and direction of
absolute velocity of pin P are
calculated from radius and
angular velocity of disk D.
( )( ) s mm 500 s rad 10 mm 50 = = =
D P
R v e
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Sample Problem 15.9
15 - 19
Direction of velocity of P
with respect to S is parallel to
slot. From the law of cosines,
mm 1 . 37 551 . 0 30 cos 2
2 2 2 2
= = + = r R Rl l R r
From the law of cosines,
=
= 4 . 42
742 . 0
30 sin
sin
30 sin
R
sin
| |
|
r
= = 6 . 17 30 4 . 42 90
The interior angle of the vector
triangle is
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Sample Problem 15.9
15 - 20
Direction of velocity of point
P on S coinciding with P is
perpendicular to radius OP.
From the velocity triangle,
( )
mm 1 . 37
s mm 2 . 151
s mm 2 . 151 6 . 17 sin s mm 500 sin
= =
= = =
'
s s
P P
r
v v
e e
( )k
s

s rad 08 . 4 = e
( ) = = 6 . 17 cos s m 500 cos
P s P
v v
( )( ) j i v
s P

= 4 . 42 sin 4 . 42 cos s m 477

s mm 500 =
P
v
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Sample Problem 15.10
15 - 21
In the Geneva
mechanism, disk D
rotates with a constant
counter-clockwise
angular velocity of 10
rad/s. At the instant
when = 150
o
,
determine angular
acceleration of disk S.
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15 - 22
SOLUTION:
The absolute acceleration of the pin P may
be expressed as
c s P P P
a a a a

+ + =
'
The instantaneous angular velocity of Disk
S is determined as in Sample Problem 15.9.
The only unknown involved in the
acceleration equation is the instantaneous
angular acceleration of Disk S.
Resolve each acceleration term into the
component parallel to the slot. Solve for
the angular acceleration of Disk S.
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15 - 23
SOLUTION:
Absolute acceleration of
the pin P may be expressed
as
c s P P P
a a a a

+ + =
'
From Sample Problem
15.9.
( )
( )( ) j i v
k
s P
S

=
= =
4 . 42 sin 4 . 42 cos s mm 477
s rad 08 . 4 4 . 42 e |
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15 - 24
Considering each term in the
acceleration equation,
( )( )
( )( ) j i a
R a
P
D P

=
= = =
30 sin 30 cos s mm 5000
s mm 5000 s rad 10 mm 500
2
2 2 2
e
( ) ( )
( ) ( )( )
( ) ( )( )
( ) ( )( )( ) j i a
j i r a
j i r a
a a a
S
t
P
S
t
P
S
n
P
t
P
n
P P

+ =
+ =
=
+ =
'
'
'
' ' '
4 . 42 cos 4 . 42 sin mm 1 . 37
4 . 42 cos 4 . 42 sin
4 . 42 sin 4 . 42 cos
2
o
o
e
note: o
S
may be positive or negative
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15 - 25
s P
v
The direction of the Coriolis

acceleration is obtained by
rotating the direction of the
relative velocity
by 90
o
in the sense of e
S.

( )( )
( )( )( )
( )( ) j i
j i
j i v a
s P S c

4 . 42 cos 4 . 42 sin s mm 3890

4 . 42 cos 4 . 42 sin s mm 477 s rad 08 . 4 2
4 . 42 cos 4 . 42 sin 2
2
+ =
+ =
+ = e
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15 - 26
The relative acceleration
must be parallel to the
slot.
s P
a
Equating components of
the acceleration terms
perpendicular to the slot,
s rad 233
0 7 . 17 cos 5000 3890 1 . 37
=
= +
S
S
o
o
( )k
S

s rad 233 = o
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Group Problem Solving
15 - 27
The sleeve BC is welded to an arm that
rotates about stationary point A with a
constant angular velocity e = (3 rad/s) j.
In the position shown rod DF is being
moved to the left at a
constant speed u =
400 mm/s relative to
the sleeve. Determine
the acceleration of
Point D.
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15 - 28
SOLUTION:
The absolute
acceleration of
point D may be
expressed as
' D D D BC c
a a a a = + +
Determine the
acceleration of the
virtual point D.
Calculate the Coriolis
acceleration.
Add the different
components to get the
overall acceleration of
point D.
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2 - 29
( ) ( ) ( )
2
D
Oxy Oxy
a r r r r = O + O O + O +
Given: u= 400 mm/s, e = (3
rad/s) j. Find: a
D

Write overall
expression for a
D
Do any of the terms go to zero?

( ) ( ) ( )
2
D
Oxy Oxy
a r r r r = O + O O + O +
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2 - 30
Determine the normal
acceleration term of the
virtual point D

( )
{ }
2
(3 rad/s) (3 rad/s) [ (100 mm) (300 mm) ]
(2700 mm/s )
a
j j j k
k
D
r
'
= O O
= +
=
where r is from A to D
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2 - 31
Determine the
Coriolis acceleration
of point D

( ) ( ) ( )
2
D
Oxy Oxy
a r r r r = O + O O + O +
/
2
2
2(3 rad/s) (400 mm/s)
(2400 mm/s )
a v
j k
i
C D F
=
=
=
e
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2 - 32
/
2 2
(2700 mm/s ) 0 (2400 mm/s )
a a a a
k i
D D D F C '
= + +
= + +
Add the different
components to obtain
the total acceleration
of point D

2 2
(2400 mm/s ) (2700 mm/s ) a i k
D
=
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15 - 33
In the previous problem, u
and e were both constant.
What would happen if
u was increasing?
a)The x-component of a
D
would increase
b)The y-component of a
D
would increase
c)The z-component of a
D
would increase
d)The acceleration of a
D
would stay the same

e
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15 - 34
What would happen if e was
increasing?
a)The x-component of a
D
would increase
b)The y-component of a
D
would increase
c)The z-component of a
D
would increase
d)The acceleration of a
D
would stay the same

e

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2013 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

2013 The McGraw-Hill Companies, Inc. All rights reserved.

2013 The McGraw-Hill Companies, Inc. All rights reserved.

With respect to the fixed OXYZ frame,

Position vector for the

2013 The McGraw-Hill Companies, Inc. All rights reserved.

absolute velocity of point P

The absolute acceleration consists of the

Direction of velocity of point P on

Direction of velocity of P with

Solve the vector triangle for the

= 4 . 42 sin 4 . 42 cos s m 477

The direction of the Coriolis

4 . 42 cos 4 . 42 sin s mm 3890

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