MMAN1300
Engineering
Mechanics
Unit 3
Relative Motion
MMAN1300 Engineering Mechanics: Unit 3 Relative Motion
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Contents
Relative motion
Relative motion of two particles along a straight line (1-D)
Relative motion in 2-D
Relative motion of rigid links
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Relative Motion
Section 2/8 M&K(D))
We have been describing particle motion using coordinates referred to fixed reference axes.
The particle displacements, velocities and accelerations so far determined have been absolute.
Examples of relative motion applications:
two cars
missile and a plane
fluid particles and a point on a turbine blade the analysis of the relative velocities of fluids
and mechanical systems are useful for the design of turbines, pumps, etc.
two parts of a mechanical linkage, eg. piston and crankshaft in a car engine the analysis of
the relative velocities and accelerations are useful for linkage design (see Kinematics of rigid
bodies).
Relative motion of two particles along a straight line (1-D)
Consider two particles A and B eg. 2 cars on a road
x A is the position of particle A
xB is the position of particle B
xB / A is the position of particle B relative to particle A
Note: x A and xB are with respect to fixed (or absolute) axes. xB / A is with respect to a moving axis.
xB xA xB / A
xB / A xB xA
Note the order of the subscripts!
Differentiating with respect to time:
vB vA vB / A
aB aA aB / A
In 2-D and 3-D motion, the positions, velocities and accelerations of the particles need to be
described in terms of vectors.
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Relative motion in 2-D
rB rA rB / A
rA rB rA / B
rA is the position of particle A
rB is the position of particle B
rB / A is the position of particle B relative to particle A
rA / B is the position of particle A relative to particle B
If
rB rA rB / A
and
rA rB rA / B ,
then rA / B rB / A
Differentiating with respect to time:
vB v A vB / A ,
v A / B vB / A
aB a A aB / A ,
a A / B aB / A
In relative motion, it is often convenient to draw a velocity vector diagram
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Example 1: Relative motion
Two ships pass in the night
v A 2 m/s
30o
v B 3 m/s
a A 0.5 m/s2 in the same direction of v A
aB 0.5 m/s2 in the direction of v B
Find the relative positions, velocities and accelerations of ship B relative to ship A.
Relative position
rB / A rB rA
where
rA 300i 200 j
and
rB 200i 300 j
rB / A 200i 300 j 300i 200 j
We add or subtract like terms only, that is, group the i terms and group the j terms
rB / A (200 300)i (300 200) j
rB / A 100i 100 j
Relative velocity
vB / A vB v A
v B 3i m / s
v A 2 cos 30i 2 sin 30 j
1.73i 1.0 j m / s
v B / A 3i 1.73i 1.0 j
= (3 1.73)i 1.0 j 1.27i 1.0 j
Check the answer against a velocity vector diagram (to see if it makes sense)
vB/A
vA
vB
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Relative acceleration
aB / A aB a A
a B 0.5i m / s 2
a A 0.5 cos 30i 0.5 sin 30 j
0.43i 0.25 j m / s
a B / A a B a A 0.5i 0.43i 0.25 j
= (0.5 0.43)i 0.25 j 0.93i 0.25 j
Check the answer against an acceleration vector diagram (to see if it makes sense)
aB/A
aA
aB
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Example 2: Relative motion
For the instant shown in Figure 1, car A is rounding the circular curve at a constant speed of 50km/h,
while car B with an instantaneous speed of 60km/h is slowing down at the rate of 8km/h per second
(i.e., 2.22 m/s2). Determine:
(a) the velocity of car A relative to car B,
(b) the acceleration that car A appears to have to an observer in car B.
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Relative motion of rigid links
When examining the rotation of rigid links, and we want to examine the rotation of point B relative to
point A, imagine A is fixed and B is rotating about A. Hence, we are dealing with circular motion.
Example
A rigid link AB is rotating with an angular velocity and an angular acceleration . Find v B / A and
aB / A .
Imagine A is fixed and B is rotating in circular motion about A.
Velocity is always tangential to the circular path, which is perpendicular to the link AB .
v r
v B / A AB e t
The acceleration will have both a normal and tangential component.
at v r AB
an 2r 2 AB
aB / A at e t ane n AB et 2 AB e n
aB / A
AB
2
AB
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Example 3: Relative motion
A rigid link AB is 225 mm long and has a roller at each end. The rollers are constrained to move in
the guides. The end A has a constant velocity of 2.2 m/s in the direction shown. At this instant
35o , find the angular velocity of AB .
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