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Dynamics: Bda 20103 - Kinetics of Rigid Bodies

This document provides a summary of lecture 16 of the Dynamics course BDA 20103 at Universiti Tun Hussein Onn Malaysia. It discusses the following key points: 1. The principles of kinetics and dynamics that govern the motion of rigid bodies, including Newton's second law, conservation of angular momentum, and the principle of energy conservation. 2. The types of energy involved in rigid body motion, including kinetic energy, gravitational potential energy, and elastic potential energy. 3. Two examples that demonstrate applying the principles of kinetics to solve for velocities and accelerations of rigid bodies undergoing rotational and translational motion. The examples use free body diagrams, energy methods, and conservation of energy. 4. Ann

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Wan Muhammad Faiz Bin Mohd Roslan
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79 views

Dynamics: Bda 20103 - Kinetics of Rigid Bodies

This document provides a summary of lecture 16 of the Dynamics course BDA 20103 at Universiti Tun Hussein Onn Malaysia. It discusses the following key points: 1. The principles of kinetics and dynamics that govern the motion of rigid bodies, including Newton's second law, conservation of angular momentum, and the principle of energy conservation. 2. The types of energy involved in rigid body motion, including kinetic energy, gravitational potential energy, and elastic potential energy. 3. Two examples that demonstrate applying the principles of kinetics to solve for velocities and accelerations of rigid bodies undergoing rotational and translational motion. The examples use free body diagrams, energy methods, and conservation of energy. 4. Ann

Uploaded by

Wan Muhammad Faiz Bin Mohd Roslan
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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DYNAMICS

BDA 20103 – KINETICS OF RIGID BODIES


LECTURE 16
Ir. Dr. JAMILUDDIN BIN JAAFAR
Universiti Tun Hussein Onn Malaysia
General Plane Motion

 F = ma

M G = IG

M P = I G + mad

Dynamics - LECTURE 16 MOHD AZHAR BIN HARIMON 2


Principle of energy conservation
The principle of work and energy applies to a rigid body system

U1c→2 = T + Vg + Ve U1c→2 =  Fdr U1c→2 =  Md

U1c→2 : Work of all external non conservative forces


Vg : Total conservative gravitational potential energy
Ve : Total conservative elastic potential energy
T : Total kinetic Energy

Dynamics - LECTURE 16 MOHD AZHAR BIN HARIMON 3


Energy involved

T =
1
2
( )
1
(
m v2 2 − v12 + I 2 2 − 12
2
)

Vg = mg (h2 − h1 ) NEW


(Rotation)

Ve =
1
2
( )
1
(
k x2 2 − x12 + kt  2 2 − 12
2
)

Dynamics - LECTURE 16 MOHD AZHAR BIN HARIMON 4


EXAMPLE 1
The bar shown has a mass of 10-kg and is
subjected to a couple moment of M = 50 N.m
and a force of P = 80 N, which is always
applied perpendicular to the end of the bar.
Also, the spring has an unstretched length of
0.5 m and remains in the vertical position due
to the roller guide at B. determine the total work
done by all the forces acting on the bar when it
has rotated downward from θ = 0 to θ° = 90°.

Dynamics - LECTURE 16 MOHD AZHAR BIN HARIMON 5


EXAMPLE 1
View Free Body Diagram
Solution
First the free-body diagram of the bar is drawn in
order to account for all the forces that act on it.

Dynamics - LECTURE 16 MOHD AZHAR BIN HARIMON 6


EXAMPLE 1
Weight W.
• Since the weight 10(9.81) = 98.1 N is
displaced downward 1.5 m, the work
is
U W = 98.1(1.5) = 147.2 J

Couple Moment M.
• The couple moment rotates through
an angle of θ = π/2 rad. Hence,
U M = 50( / 2) = 78.5 J

Dynamics - LECTURE 16 MOHD AZHAR BIN HARIMON 7


EXAMPLE 1

Spring Force Fs
• When θ = 0°the spring is stretched (0.75 – 0.5) = 0.25
m, and when θ = 90°, the stretched is (2 + 0.75) – 0.5
= 2.25 m. Thus,


U s = −  (30)(2.25) − (30)(0.25) 2  = −75.0 J
1 2 1
2 2 

• By inspection the spring does negative work on the


bar since Fs acts in the opposite direction to
displacement. This check with the result.
Dynamics - LECTURE 16 MOHD AZHAR BIN HARIMON 8
EXAMPLE 1
Force P
• As the bar moves downward, the force is displaced
through a distance of (π/2)(3) = 4.712 m.
• The work is positive.

U P = 80(4.712) = 377.0 J

Dynamics - LECTURE 16 MOHD AZHAR BIN HARIMON 9


EXAMPLE 1
Pin Reactions
• Forces Ax and Ay do no work since they are not
displaced.

Total Work
• The work of all forces when the bar is displaced is
thus
U = 147.2 + 78.5 − 75.0 + 377.0 = 528 J

Dynamics - LECTURE 16 MOHD AZHAR BIN HARIMON 10


EXAMPLE 2
The 10-kg rod AB is confined so
that its ends move in the horizontal
and vertical slots. The spring has a
stiffness of k = 800 N/m and is
unstretched when θ = 0°.
Determine the angular velocity of
AB when θ = 0°, if the rod is
released from rest when θ = 30°.

Dynamics - LECTURE 16 MOHD AZHAR BIN HARIMON 11


EXAMPLE 2
Potential Energy
• The two diagrams of the rod,
when it is located at its initial and
final positions as shown
• The datum, used to measure the
gravitational potential energy, is
placed in line with the rod when
θ = 0°.

Dynamics - LECTURE 16 MOHD AZHAR BIN HARIMON 12


EXAMPLE 2
• When the rod is in position 1, the center of gravity
G is located below the datum so that the
gravitational potential energy is negative.
• (positive) elastic potential energy is stored in the
spring, since it is stretched a distance of s1 = (0.4
sin 30°) m, thus
1 2
V1 = −Wy1 + ks1
2
1
= −98.1(0.2 sin 30 ) + (800)(0.4 sin 30 ) 2

2
= 6.19 J
Dynamics - LECTURE 16 MOHD AZHAR BIN HARIMON 13
EXAMPLE 2
• When the rod is in position 2, the potential energy
of the rod is zero, since the spring is unstretched, s2
= 0, and the center of gravity G is located at the
datum. Thus,

V2 = 0
Kinetic Energy
• The rod is released from rest from position 1, thus
(vG)1 = 0 and ω1 = 0, and

T1 = 0
Dynamics - LECTURE 16 MOHD AZHAR BIN HARIMON 14
EXAMPLE 2
• In position 2, the angular velocity is ω2 and the rod’s mass
center has a velocity of (vG)2. Thus,
1 1
T2 = m(vG ) 2 + I G22
2

2 2
1 1 1
= (10)(vG ) 2 + [ (10)(0.4) 2 ]22
2

2 2 12

• Using kinematics, (vG)2 can be related to ω2 as shown,

Dynamics - LECTURE 16 MOHD AZHAR BIN HARIMON 15


EXAMPLE 2
• At the instant considered, the instantaneous center
of zero velocity (IC) for the rod is at point A; hence
(vG)2 =(rG/IC)ω2 = (0.2)ω2
• Substituting into the previous expression and
simplfying, we get

T2 = 0.267 22

Dynamics - LECTURE 16 MOHD AZHAR BIN HARIMON 16


EXAMPLE 2
Conservation of Energy

T1+ V1 = T2 + V2 


0+ 6.19 = 0.26722 + 0
2 = 4.82 rad / s

Dynamics - LECTURE 16 MOHD AZHAR BIN HARIMON 17


See you …….
In the FINAL EXAMINATION

Dynamics - LECTURE 16 MOHD AZHAR BIN HARIMON 18


Assignment 3/ Mini Project
Due date: 09/07/2022 (Sat), 11.55pm.
Submit to: Author UTHM
Details:-
a)Project’s report – 5% (pdf/word file).
b)Presentation video – 5% (link/cd/googledrive/etc.).

Dynamics - LECTURE 16 MOHD AZHAR BIN HARIMON 19


Final Examination BDA20103
• Date: 18/07/2022 (Mon), 9.00am-12.00 pm
(3 hours), Author UTHM.
• Answer 5 questions only. Q1: Ch2, Q2: Ch3.
Ch4: Q3,Q4, Ch5: Q5,Q6.
• Each questions = 20 marks, so total = 100
marks. This contribute 50% of your final
marks.

Dynamics - Lecture 15 MOHD AZHAR BIN HARIMON 20


Final Examination tips
• Q1: Ch2 – Curvilinear motion (velocity & acceleration,
Tangential and normal components).
• Q2: Ch3 – work and energy, impulse &
Momentum/projectile motion.
• Q3: Ch4 – translation, rotation, general motion, absolute
motion and relative motion.
• Q4: Ch4 – Instantaneous centers (IC) of zero velocity /
Relative velocity & acceleration.
• Q5: Ch5 – Rigid body kinetics (F=ma, M=Iα).
• Q6: Ch5 – Work and energy in inertia systems (mass).

Dynamics - Lecture 15 MOHD AZHAR BIN HARIMON 21

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