kinematics_lec_1_1

kinematics_lec_1_1 - 1.1 Transmission of Motion Consider...

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After-notes in Kinematics Y.M. Ram 1 1.1 Transmission of Motion Consider the rigid body shown in Figure 1.1.1. Let A and B be two points fixed to the body. Denote the velocity of A and B by A v and B v , respectively. Then Proposition 1.1.1 The component of A v in the direction AB equals to the component of B v in this direction, i.e. B B A A v v θ cos cos = , (1.1.1) where A v and B v are the magnitude of A v and B v , respectively. (Otherwise the distance B A expands, in contradiction to the rigid- body assumption). Figure 1.1.1 Velocities in a rigid body Proposition 1.1.2 If two bodies, such as bodies 2 and 3 of figure 1.1.2, are in contact then the radius of curvature 2 ρ of body 2 at the point of contact P is collinear with the radius of curvature 3 of link 3 at P . Their common direction N N defines the common normal (or the line of action ) of the contacting bodies. The tangential line T T is perpendicular to N N , ( N N T T ).
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This note was uploaded on 12/02/2011 for the course ME 4133 taught by Professor Ram during the Fall '06 term at LSU.

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kinematics_lec_1_1 - 1.1 Transmission of Motion Consider...

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