Planar kinematics of a rigid body Review刚体平面运动的回顾.docVIP

Lecture Note (2) A General Method for Kinematics of Planar Mechanisms Topic: Derivative of a Vector when it rotates A general equation Examples Remarks: Also refer to the text (9th Edition) (pp 354-369). 1. Derivative of a Vector when it rotates Let be a vector. Its magnitude is constant. Vector rotates about an axis perpendicular to the sheet plane with an angular velocity; see Figure 2.1a. Note that in the planar motion the direction of the angular velocity will be perpendicular to the sheet plane; see Figure 2.1b. Figure 2.1 We can prove the following equation: (2.1) Proof: The derivative of the vector A with respect to time can be written as follows: where the magnitude of can be expressed as ()A; see Figure 2.2. The direction of the limit can be expressed by where the first unit vector is the rotation axis perpendicular to the sheet plane and outward, while the second unit vector is the direction of . Therefore we can obtain Figure 2.2 End of the proof. Note that the above proof can be found from the text (P355, 9th Edition). 2. A General Equation We begin with the position analysis for two points A and B on the body (Figure 2.3). Figure 2.3a shows a rigid body with two points or particles (A and B). The body rotates with the angle velocity. In this case the relative velocity between the two points (A and B), which is related to the position vector, is (2.2) In deriving Equation (2.2), we have applied Equation (2.1) (Notice: the magnitude of is, in this case, unchanged with respect to time). Now, we consider the situation that the distance between A and B changes with respect to time when the body rotates (Figure 2.3b). Figure 2.3 Position analysis leads to: (2.3) The first order derivative of Equation (2.3) on both sides with respect time leads to: (2.4) The sec