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2142211 Dynamics NAV 1
Polar
Coordinates (r-θ)
2142211 Dynamics NAV 2
Position
Time derivative of unit vectors: and
Velocity
Acceleration
Special Case: Circular Motion
Examples
3. Polar Coordinates (r-θ)
2142211 Dynamics NAV 3
Applications
3. Polar Coordinates (r-θ)
2142211 Dynamics NAV 4
Position Vector
3. Polar Coordinates (r-θ)
2142211 Dynamics NAV 5
Velocity
3. Polar Coordinates (r-θ)
Time derivative of unit vectors
2142211 Dynamics NAV 6
3. Polar Coordinates (r-θ) Time derivative of unit vectors
2142211 Dynamics NAV 7
Velocity
3. Polar Coordinates (r-θ)
Acceleration
2142211 Dynamics NAV 8
3. Polar Coordinates (r-θ) Acceleration
2142211 Dynamics NAV 9
3. Polar Coordinates (r-θ) Circular Motion
2142211 Dynamics NAV 10
Example 1: Robot Arm
3. Polar Coordinates (r-θ)
Ans:
2142211 Dynamics NAV 11
Example 2: Hydraulic Cylinder
3. Polar Coordinates (r-θ)
Ans: -0.75 m/s, 7.5 rad/s, 9.74 m/s2,
65 rad/s2
2142211 Dynamics NAV 12
Example 3: Two links
3. Polar Coordinates (r-θ)
Ans:
