DYNAMICS

BDA 20103– LECTURE 13

Chapter 5
KINETICS OF RIGID BODY
-Moment inertia
-Centre of gravity
KINETICS OF RIGID BODIES

 TOPIC INVOLVED
 Moment inertia
 Force, mass and acceleration

 Translation

 Rotation

 General plane motion

 Work and energy

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Chapter Objective
 To introduce the methods used to determine
the mass moment of inertia of a body.
 To develop the planar kinetic equations of
motion for a symmetric rigid body.
 To discuss applications of these equations to
bodies undergoing translation, rotation about a
fixed axis, and general plane motion

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Defining Mass Moment Inertia from F=ma

When dealing with translation F=ma

F m a

T or Fr α
Torque or Moment Angular Acceleration
In rotation

I
I T Mass Moment of Inertia

α T=Iα

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Mass Moment of Inertia

F
F = r α dm

Moment = F r
= r2 α dm
dm
r Moment = r2 dm α (rotation)

α F = m a (translation)

a=rα
For the whole mass

dm=dV
∫ r2 dm = mass of rotation
= mass moment of inertia
= Inertia

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Rotation Axes

z
Rotation about z-axis
y Resistance to rotation: Iz

Rotation about y-axis

Resistance to rotation: Iy
x
Rotation about x-axis
Resistance to rotation: Ix z y

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Centre of Gravity (G)…. review

 Replacement of numbers of particles weight

into single weight forces
 Also known as centroid (when dealing with
constant cross section such as beam)

x
 Ax
y
 Ay
A A
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Example…

 Determine the
position of centre of A

gravity relative to
point X for
homogenous B

section shown
C
X

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Slender Bar

z dm

r dr

L/2
2
I x  I z   r dm   r 2  Adr
x y L/2

1
Ix  Iz   AL3
12
(½)L
1
(½)L
Ix  Iz  mL2
12
m = ρAL
Iy  0

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Thin Circular Plate

y
m = ρ (π R2) t
1
Ix  I y  mR 2
R
4

x
1
Iz  mR 2
2
z

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Circular Cylinder

y
z m = ρ (π R2) L
(1/2)L

(1/2)L
 1 1 
I x  I y  m  L2  R 2 
x  12 4 
R
1
Iz  mR 2
2

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Sphere

y
4
m    R3
3

2
I x  I y  I z  mR 2
5
z
x

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Thin Rectangular Plate

1
m = ρ (bh) t Ix  mh 2
12

1
I y  mb 2
x 12
(1/2)h
1
Iz  m(b 2  h 2 )
12
z (1/2)b

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Thin Triangular Plate

z 1
I x  mh 2
18
h
1
Iy  mb 2
(1/3)h x 18

(1/3)b
1
b I z  m(b 2  h 2 )
18
m = ρ (1/2)(bh)

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Rectangular Prism

y
1
m = ρ (abc) I x  m(a 2 +b 2 )
12
b
1
Iy  m(a 2 + c 2 )
x 12

1
Iz  m(b2 + c 2 )
a
12
z
c

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Parallel Axis Theorem

To determine the mass moment of inertia

of a rigid body about any axis

m
m : Mass of a rigid body
cm: axis center of mass of the rigid
body where the inertia (Icm) is
cm known
o : axis of unknown inertia (Io)
d d : distance of the axes

o Io  Ia  d 2 m

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Steps to Determine Moment Inertia of a Composite
Object

Determining the moment inertia of an object about a

given axis O typically requires the following steps:

 Divide the object into parts whose mass moments of inertia

can easily determine
 Determine the moments of inertia of the parts through its
center of mass parallel to O
 Use the parallel-axis theorem to determine its moment of
inertia about O
 Sum the moments of inertia of the parts (or subtract in the
case of a hole or cutout) to obtain the moment of inertia of
the composite object

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Centroid location

(1/2)h R

(1/2)b

18
h

(4R/3π)
(1/3)h
R
(1/3)b
b

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 R
α
α

(2Rsinα/3α)

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Center of Mass calculation

y2
m2
xG 
 xm
i i
y1 m1 m i

yG

y3
m3
yG 
ym
i i

m i

x1 xG x3 x2

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Example 1

Determine the moment of

inertia of the cylinder about
the z axis. The density of
the material, ρ, is constant.

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Example 1

Solution
Shell Element
 Volume, dV = (2πr)(h) dr
 Mass, dm = ρ dV = ρ(2πhr dr)
 Since the entire element lies at
the same distance r from the z
axis, for moment of inertia of the
element,
dIz = r2 dm = ρ(2πhr3dr)
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Example 1

Solution
 Integrating over entire region of the
cylinder,
Iz = ∫r2 dm = ρ2πh∫R0r3dr = (ρπ/2)R4h
 For mass of the cylinder,
m = ∫m dm = ρ2πh∫R0r dr = ρπh R2
so that
Iz = ½ mR2
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Example 2

The pendulum is suspended from point O and

consists of two thin rods, each having a weight of
50N (5kg). Determine the pendulum's
moment of inertia about an axis
passing through the pin at O,
and (b) the mass center G of
the pendulum.

25
Example 2
View Free Body Diagram

Solution
Part (a)
 For moment of inertia of rod OA about an axis
perpendicular to the page and passing through the end
point O of the rob,
1
IO  ml 2
3
 Hence,
1 50  2
( I OA )O   1  1.699kg.m
2
3  9.81 
 Using
1 2
IG  ml
12
26
Example 2
Solution
 By parallel axis theorem,

1 1  50  2  50  2
ml 2  md  1    0 . 5 
2
( I OA ) O   
12 12  9 . 81   9 . 81 
 1 . 699 kg .m 2
 For rod BC,
1 1  50  2  50  2
ml 2  md  1    1
2
( I BC ) O   
12 12  9 . 81   9 . 81 
 5 .522 kg .m 2

 For moment of inertia of the pendulum about O,

I O  1 .699  5 . 522  7 .22 kg .m 2

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Example 2
Solution
Part (b)
 For mass center G located relative to pin at O,
~
y m 0.5(50 / 9.81)  1(50 / 9.81)
y   0.75m
m (50 / 9.81)  (50 / 9.81)
 By parallel axis theorem to transfer moments of
inertia of rods OA & BC to G
IO  IG  md 2 ;
 100  2
7.22  IG   0.75
 9.81 
IG  1.486kg.m 2
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Problem 1

A pendulum consists of uniform 5 kg

plate and 2 kg slender rod. This
structure is hold at horizontal
position as shown. Find the moment
of inertia of the structure about;
a) the axis of rotation
b) the center of mass of the
structure

0.2 m
O

0.5 m 0.3 m
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Problem 2

A pendulum consists of two connected parts,

O
a 3kg slender bar and a thin 2kg circular
disk.
Determine the center of mass of the
pendulum structure. 0.6 m

Determine the mass moment of inertia about an

axis through the pin at O.
Determine the mass moment inertia about
an axis through its center of mass.

0.2 m

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Tutorial 1

Determine the mass moment of inertia of the pendulum

about an axis perpendicular to the page and passing
through point O. The slender rod has a mass of 10 kg
and the sphere has a mass of 15 kg.

 IG = 5.27 kg.m2

31
Tutorial 2

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See you again …….

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