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học kỹ thuật Engineering Mechanics 
ĐỘNG  HỌC KINEMATICS

ROTATION ABOUT A
FIXED AXIS

Content -2-

ROTATION ABOUT A FIXED AXIS

1. Equation of motion. Angular velocity

2. Motion of a point of the body

3. Some simple mechanical transmissions

4. Examples
 1. Equation of motion, Angular velocity -3-

z

k
A0

Angular position as a function of time

q = q(t )
A0 O
Angular velocity and acceleration vector
  d q(t ) 

w = q(t )k , w = q(t ) =
dt A
  
a = w = q (t )k , a = q(t )

pn [r/m]
w [rad/s] =
30

1. Equation of motion, Angular velocity -4-

Special cases

Uniform rotational motion (constant angular velocity)

dq
= w0  d q = w 0dt  q(t ) = q0 + w 0t
dt

Rotational motion with constant angular acceleration

d
w = a 0  d w = a 0dt  w(t ) = w 0 + a 0t
dt
d
q = w = w 0 + a 0t  d q = (w 0 + a 0t )dt
dt
1
 q(t ) = q0 + w 0t + a 0t 2
2
2. Motion of a point of the body -5-

z
-Circular trajectory centered at O on the rotation axis
-Velocity and acceleration
O   
   
r v    r a  k  r  2k  (k  r)
M    
  k  r   k  r  2r

k
 
r  OM -Using polar coordinate system or natural
coordinate system.

y  y aq
v 
 
M v  re ar M   
  a  re  r2er
 
O x O x  at  a n

3. Some simple mechanical transmissions -6-

Input motion from Mechanical Output

Motor / Actuator transmission motion
 3. Some simple mechanical transmissions -7-

Spur gears Internal gear pair

v1=v2

1 2
External gear pair
v1  v2
v1=v2

1
2 1 r2 z 2
r11  r22  i12   
2 r1 z1

3. Some simple mechanical transmissions -8-

Bevel gears

R1 w1 r11  r22 
w2 1 r2 z 2
i12   
2 r1 z1
R2

Gear rack and pinion 

v1=v2

v1  v2  r 
 3. Some simple mechanical transmissions -9-

Belt and chain

v1

1
v1 2
v2
1 v2
2

v1  v2 , r11  r22
1 r2 z 2
The slip between the belt and the i12   
pulleys is negligible 2 r1 z 1

3. Some simple mechanical transmissions -10-

Cam and follower

Follower
v2 Follower

v1
Cam

Crank-slider

 B
O
v
4. Examples -11-

Example 1. A lift is modeled as shown

in the figure. The motor turns gear 1 2
r 1
(r1, z1), transmitting motion to gear 2 1
B
(r2, z2). The pulley radius r is attached
r1
to gear 2. In the starting phase, gear 1 r2
is accelerated at a constant rate.

q1 = 21 a0t 2 , a 0 = const A

Determine the velocity and the

acceleration of cabin A at time t (the
wire is unstretchable).

Solution
Preliminary motion analysis:

4. Examples -12-

Determination of velocity
vB
2 K
r 1 1
w1 = q1 = a 0t B
w1 r2 z2 z1 z1 r1
= =  w2 = w1 = a 0t r2
w2 r1 z1 z2 z2 v1=v2

vA
z1 A
vA = vB = r w2 = r a 0t
z2

Determination of acceleration
z1
a A = vA = r w 2 = r a0
z2
 4. Examples -13-

Example 2. Consider a winch as Z4

shown in the figure. The number B
of teeth of the gears are z1, z2, z3 Z1
A
and z4. Pulley diameter d is d
attached to gear 4. In the opening
phase, gear 1 is accelerated at a
constant rate:
Z2
Z3 C
2
q1 = 21 a 0t , a 0 = const

Determine the velocity and the acceleration of

C at time t (the wire is unstretchable).

Solution
Preliminary motion analysis:

4. Examples -14-

Determination of velocity
Z4
w1 = q1 = a 0t
Z1 B
w1 z2 w3 z4 A
= , = , d
w2 z1 w4 z3
w 3 º w2
w1 z2 z4
 = Z2
Z3
w4 z1 z 3 C

z1 z 3 z1 z 3
 w4 = w1 = a 0t
z2 z4 z2 z4
Determination of acceleration
d d z1 z 3
vC = w 4 = at d d z1 z 3
2 2 z2 z4 0 aC = vC = w 4 = a0
2 2 z2 z4
 4. Examples -15-

Example 3. Consider a mechanical vA l

transmission shown in the figure. The A
number of teeth of the first 4 gears are O 1 B
z1, z2, z3 and z4, and gear 5 has a radius vB
of r5. Both gear 4 and gear 5 are rigidly 4 2
attached to a shaft, the same with gear 2 5 3
and 3. Find the relationship between the
velocity of A and that of B.

Solution
Motion analysis:… Jack
Calculation:
w1 = v B / l , w 5 = v A / r5 , w 4 º w 5
w1 z w3 z
= 2, = 4, w 3 º w2
w2 z1 w4 z3
w z z z z z1 z 3 r
 1 = 2 4  w 5 = w 4 = 1 3 w1  vA = v
w4 z1 z 3 z2 z 4 z2 z 4 l B

Problems -16-

P1. The angular velocity of the disk is

defined by  = (5t2 + 2) rad/s, where t
is in second. Determine the magnitudes
of the velocity and acceleration of point
A on the rim of the disk when t = 0.5 s.
The radius of the disk is R = 0.8 m.

P2. The motor turns the disk of radius R = 0.8 m with an angular
displacement of  = (4t2 + 15t) rad, where t is in second. Determine:
a) the number of revolutions, the angular velocity, and angular
acceleration of the disk when t = 10 s.
b) the magnitudes of the velocity and the normal and tangential
components of acceleration of the point A on the disk when t = 10 s.
Problems -17-

The bucket is hoisted by the rope that wraps around a drum wheel of
radius r = 20 cm. If the angular displacement of the wheel is  = (0.5t3
+ 15t) rad, where t is in second, determine the velocity and
acceleration of the bucket when t = 3 s.

Problems -18-

For a short period of time, the motor turns gear A with a constant angular
acceleration of A = 4.5 rad/s2, starting from rest. Determine the velocity
of the cylinder and the distance it travels in three seconds. The cord is
wrapped around pulley D which is rigidly attached to gear B.
 Problems -19-

Starting at (A)0 = 3 rad/s, when  = 0, s = 0, pulley A is given an

angular acceleration  = (0.6) rad/s2, where  is in radians. Determine
the speed of block B when it has risen s = 0.5 m. The pulley has an
inner hub D which is fixed to C and turns with it. The radius of the
pulleys and the drum are rA = 50 mm, rC = 150 mm, rD = 75 mm.

Problems -20-

The power of a bus engine is transmitted using the belt-and-pulley

arrangement shown. If the engine turns pulley A at A = 60 rad/s,
determine the angular velocities of the generator pulley B and the air-
conditioning pulley C. The hub at D is rigidly connected to B and turns
with it.
Problems -21-

A motor gives gear A an angular acceleration of A = (2t3) rad/s2,

where t is in seconds. If this gear is initially turning at A = 15 rad/s,
determine the angular velocity of gear B when t = 3 s.

Problems -22-

If the motor turns gear A with an angular acceleration of A = 2 rad/s2

when the angular velocity is A = 20 rad/s, determine the angular
acceleration and angular velocity of gear D. Given number of teeth of
each gear: Z1, Z2, Z3, Z4.
Problems -23-

Determine the angular velocity of rod AB when  = 30, if the bar DC

and the center of the roller C with a radius of r = 100 mm move forward
at a constant rate v = 5 m/s.

Problems -24-

Determine the velocity of the rod AB for any angle  of cam C as the
cam rotates with a constant angular velocity . The pin connection at
O does not cause an interference with the motion of plate B on C.