Unformatted text preview: Kinematics and Dynamics of Machines of ENGR 3270U Lecture 8
University of Ontario Institute of Technology October 8, 2008 Relative Motion Analysis between Two Relative Points A and B are both fixed on the same PPoints oints • Points rigid rigid body rB = rA + rB / A vB = v A + ω × rB / A aB = a A + α × rB / A + ω × (ω × rB / A ) aB = a A + α × rB / A + ω × (ω × rB / A ) + 2ω × (vB / A ) xyz + (aB / A ) xyz
1. 2 rB = rA + rB / A vB = v A + ω × rB / A + (vB / A ) xyz • Points A is fixed with the rigid body, but point B has ‘relative’ Points motion with respect to the rigid body motion 3.3 Linkages with Rotating Sliding Joints
• Example Example 1. 3 1) Position Analysis 1) Position 2) Velocity Analysis Velocity 3) Acceleration Analysis Acceleration 1. 4 ...
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- Spring '10
- Kinetic Energy, Velocity, University of Ontario institute of technology, rA + rB