schroder said:
If it were always exactly the same as the velocity of the tread, the wheel could neither advance or retard. The velocity must change! The tread velocity is constant, so only the velocity of the rim of the wheel changes;
I'm always doubting that you are in fact trolling, as the things you write are so elementary and so terribly wrong that I'm torn between "this guy is just trying to tickle my b**ls" and "this is the most funny cocksure ignoramus I've ever met".
What is the instantaneous velocity of a point on the rim of a wheel, when we know the velocity of its center, and we know its rotation velocity ?
Let us consider the wheel in an XY frame (X horizontally to the right, Y upward), with the origin at the center of the wheel. Let us first consider the case that the wheel center is not moving in this frame. The rim points are on a circle with radius R and with center (0,0). They can be described by an angle theta, which indicates a point as (R cos(theta) , R sin(theta) ).
This corresponds to the standard goniometric convention: angle 0 corresponds to the point (R,0) on the positive X-axis (to the right), angle pi/2 (90 degrees) corresponds to the point (0,R) on the point on the positive Y-axis (to the top), etc...
So the angle gives us the position in counterclock wise fashion, starting at the right.
If the wheel is turning with an angular velocity of w (w rad/second), that means that it is running counter clock wise for w positive: for a material point on the rim, the value of theta is increasing at a rate of w per second.
Now, this means that the point that was at the right at (R,0) is moving instantaneously UPWARD with a velocity of... w R. The velocity vector can be written (0, wR) (no X component, and a positive y component, upward). So the point with theta = 0 has a velocity component (0, w R). The point ON TOP (at (0, R) ) is having a velocity to the LEFT of w R, so its velocity vector is written ( - w R, 0).
Note the minus sign, it means "to the left" (towards the NEGATIVE X-axis).
It was the point at theta = pi/2. The point to the left, at (-R, 0), has a downward velocity of w R, so its velocity vector equals (0, - w R). Note again, the minus sign: it is directed downward, towards the NEGATIVE Y axis.
The point at the bottom, for theta = 3/2 pi, has a velocity of (w R, 0). It goes in the positive X direction.
We could continue that way. It is easy (well, all is relative, of course!) to establish that the point at angle theta is having a momentary velocity vector given by
(- w R sin(theta) , w R cos(theta))
Check it: theta = 0 gives us (0, w R) ok
theta = pi/2 gives us (- w R, 0 ) ok
theta = pi gives us ( 0 , - w R) ok
theta = 3/2 pi gives us (+ w R, 0 ) ok.
Looks ok.
EDIT: see attachment for a picture.
Note that the lowest point of the wheel has a velocity in the direction of the positive X axis of w R.
NEXT, let us add a translation movement to the wheel. We give the center of the wheel, on top of its rotation movement, a translation movement with a velocity (vx, vy).
That simply means that we ADD this velocity to all the points of the rim, which move of course also with that center. So the velocity of the points on the rim of a wheel, turning with a rotation speed of w, and a center undergoing a velocity (vx, vy), is given by:
(- w R sin(theta) , w R cos(theta)) + (vx,vy)
= ( - w R sin(theta) + vx ; w R cos(theta) + vy)
Now, look at the velocity of the lowest point (theta = 3/2 pi) again:
Hell, it becomes ( + w R + vx, vy) !
Assume now that the wheel center is moving to the left. That means that vx is - vl where vl is the absolute value of the velocity of the wheel center (vx is then a negative number). We assume no vertical velocity of the wheel center.
We see that the velocity of the bottom point of the wheel is given by (w R - vl, 0).
Application: wheel on a steady road. If the wheel turns counterclockwise (w positive), and the bottom point of the wheel touches the road and is hence momentarily AT REST (in non-slipping contact) with the road, we have that the bottom velocity is 0:
w R - vl = 0
Or: w = vl / R...
Hurray ! We found the rotation speed of the wheel ! A wheel ROLLING to the left on a steady road will rotate COUNTERCLOCKWISE with an angular velocity of vl / R, which is a positive number!
Second application:
Now, if the wheel is not on a road, but on a treadmill that GOES TO THE RIGHT with a velocity v_tread (positive number: the velocity vector of a point on the treadmill is (v_tread,0) and this is a vector oriented to the positive X-axis, so to the right), then, if the wheel is making a NON SLIPPING CONTACT, we see that the point at the bottom of the wheel is having the same velocity as the tread (as it isn't slipping there and in contact), so we have equality of the two velocity vectors:
( + w R + vx, vy) = (v_tread,0)
from which:
w R + vx = v_tread and vy = 0
In other words: w = (v_tread - vx) / R.
and no vertical motion.
The velocities here were all positive TO THE RIGHT (positive X-axis).
Special cases:
a) If the tread is not moving (v_tread = 0) and the wheel center is not moving (vx = 0), then w = 0: the wheel doesn't rotate ! That's true, isn't it ?
b) if the tread is not moving (v_tread = 0) and the wheel rolls with a velocity vx > 0, then we have that w = - vx / R is negative. The wheel is rotating CLOCKWISE. It is moving to the right. Yes, that's right!
c) if the tread is moving (v_tread > 0) and the wheel is kept in place, then w = v_tread/R, the wheel is rotating COUNTER CLOCKWISE. Hell, right again !
d) tricky! If the tread is moving and the wheel is MOVING WITH IT, we have vx = v_tread.
We find... w = 0 ! If the wheel is moving with the tread, it is NOT ROTATING! Damn, that's correct! If you glue the wheel to the tread, it doesn't rotate and moves with it. Right again...Taaaa tadam !
e) if the wheel... is moving to the LEFT (vx < 0) and the tread is moving to the right, then...
w = (v_tread - vx) / R is a bigger number than when the wheel were not moving (vx = 0).
It is spinning FASTER counterclockwise than if it were stationary...
the rpm of the wheel changes! For a translation of the axle in the direction opposite to the direction of the tread, the rpm of the wheel must slow down!
Nope. It accelerates.
BTW, this is so trivially silly. If you are running a bike on a treadmill, and you pedal FASTER than needed to remain in place so that you advance on it (while the treadmill runs backwards of course), do you have you bike wheels spin SLOWER ??
This is basic mechanics, Vanesch and you cannot deny it any more!
Tell me, are you tickling them (my b**ls) or are you really that misguided ?