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【正文】 gidbody kinematics involves both linear and angular displacements, velocities, and accelerations.We need to describe the motion of rigid bodies for two important reasons. First, we frequently need to generate, transmit, or control certain desired motions by the use of cams, gears, and linkages of various types. Here we must analyze the displacement, velocity, and acceleration of the motion to determine the design geometry of the mechanical parts. Furthermore, as a result of the motion generated, forces may be developed which must be accounted for in the design of the parts.Second, we must often determine the motion of a rigid body caused by the forces applied to it. Calculation of the motion of a rocket under the influence of its thrust and gravitational attraction is an example of such a problem.We need to apply the principles of rigidbody kinematics in both situations. This chapter covers the kinematics of rigidbody motion which may be analyzed as occurring in a single plane. In Chapter7 we will present an introduction to the kinematics of motion in three dimensions.RigidBody Assumption In the previous chapter we defined a rigid body as a system of particles for which the distances between the particles remain unchanged. Thus, if each particle of such a body is located by a position vector from reference axes attached to and rotation with the body, there will be no change in any position vector as measured from these axes. This is, of course, an ideal case since all solid materials change shape to some extent when forces are applied to them.……
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