1. Chapter 6 Plane Kinematics of Rigid Bodies
Rigid body:
A body (system) is so rigid such that the relative positions of all the mass elements do not change during motion.

2. = angular velocity
= angular acceleration
q (angular displacement) 

3. Velocity of a point P relative to another point O with a fixed distance from P (could be a fixed point in a rigid body.
Direction defined by Right Hand Rule. P

4. Acceleration of a point P relative to another point O with a fixed distance from P.
Exercise
Prove that the above statement is identical to:

5. Relative motion of two points of a fixed separation (i. e
Relative motion of two points of a fixed separation (i.e. on a rigid plane):
Example : Draw a vector diagram to show the relation between

6. Instantaneous Centre of zero velocity
Draw two lines perpendicular to the velocities of points A and B of a rigid body. Their intercept is an instantaneous stationary point (zero velocity).

7. Relative acceleration is:

8. Let s = 00’ = r  Example : For pure rolling without slipping, derivey x
Let s = 00’ = r 
(c) For the new position C' from C :
x = s - rsin and y = r - rcos
when  = 0, vc = 0
(d)
when  = 0,

9. Example A wheel has a radius R = 0.3 m. Point P is 0.2 m
from the centre O, which is moving with vo = 3 m/s. Find .
Solution:

10. Example : The structure has the following dimensions: rB/A = 0.1 m,
rC/D = m, h = 0.05 m, X = 0.25 m. CD = 2 rad/s.
Find : AB , BC h D X A B C x y