17

Planar Kinetics of a Rigid Body:

Force and Acceleration

MAIN GOALS OF THIS CHAPTER:

• 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.

17.1 MOMENT OF INERTIA

• The moment of inertia is a measure of the resistance of a body to angular acceleration in the same way that mass
is a measure of the body’s resistance to acceleration.
• The body’s moment of inertia about the z − axis is

I = r 2 dm
m
where the “moment arm” r is the perpendicular distance from the z − axis to the arbitrary element dm. Clearly
I is always positive and has units of kg · m2 or slug · f t 2 .
z

dm

44
 17.2 Planar Kinetic Equations of Motion 45

• If the body consists of material having a variable density, ρ = ρ (x, y, z) , we can write dm = ρdV and express
I in terms of volume: 
I = r 2 ρ dV
V

If ρ is constant (homogeneous solid), we can write


I = ρ r 2 dV
V

• When the elemental volume chosen for integration has infinitesimal dimensions in all three directions, e.g.,
dV = dxdydz, the moment of inertia of the body must be determined using “triple integration.” The integration
process can, however, be simplified to a single integration provided the chosen elemental volume has a differential
size or thickness in only one direction. Shell or disk elements are often used for this purpose.
• PARALLEL-AXIS THEOREM. If the moment of inertia IG of a body about an axis passing through the body’s
mass center G is known, then the moment of inertia I about any other parallel axis is given by
I = IG + md 2
where
m = mass of body
d = perpendicular distance between the parallel axes
• RADIUS OF GYRATION. The radius of gyration k (units of length) is defined by

I
I = mk or k =
2
m
• COMPOSITE BODIES. If a body is constructed of a number of simple shapes such as disks, spheres and rods,
the moment of inertia of the body about any axis z can be found by adding algebraically the moments of inertia
of all the composite shapes computed about the z − axis. Here, IG for each of the composite parts is usually
determined from tables (see inside back cover of text).

17.2 PLANAR KINETIC EQUATIONS OF MOTION

• Equation of Translational Motion. Measured from an inertial reference frame x, y, z the equation of translational
motion is given by

F = maG
or, in scalar form:

Fx = m (aG )x

Fy = m (aG )y

where F is the sum of all external forces acting on the body and aG is the acceleration of the body’s mass
center.
• Equation of Rotational Motion. The equation of rotational motion takes two forms:
i. When the moments are computed about the body’s mass center G :

 MG = IG α

where MG is the sum of the moments of all the external forces and couple moments computed about
the point G, IG is the moment of inertia of the body about an axis passing through G and α is the angular
acceleration of the body.
46 Chap. 17 Planar Kinetics of a Rigid Body: Force and Acceleration

ii. When the moments are computed about a point P = G :

 
 MP = (M k ) P
or

 MP = IG α + kinetic moments of the components of maG about P

where MP is the sum of the moments of all the external forces and couple moments computed about the
point P .
 
• Free-Body
 Diagram. A good free-body diagram will help you to identify the terms involved ineach of F, MG
or MP . A kinetic diagram is especially convenient for identifying the moment terms in (Mk )P .

17.3 EQUATIONS OF MOTION: TRANSLATION

• Rectilinear Translation

Fx = m (aG )x

Fy = m (aG )y

MG = 0
or summing moments about A = G :
 
MA = (Mk )A

Here, (Mk )A represents only the moments of the two components of maG about A (since, in translation
IG α = 0).
• Curvilinear Translation

Fn = m (aG )n

Ft = m (aG )t

MG = 0
or summing moments about B = G :
 
MB = (Mk )B

Here, (Mk )B represents only the moments of the components m (aG )n and m (aG )t about point B (since, in
translation IG α = 0).

PROCEDURE FOR SOLVING PROBLEMS

Kinetic problems involving rigid-body translation can be solved using the following procedure:

• Free-Body Diagram
– Establish the x, y or n, t inertial frame of reference and draw the free-body diagram in order to account
for all the external forces and couple moments that act on the body.
– The direction and sense of the acceleration of the body’s mass center aG should be established.
– Identify the unknowns in the problem.
 
– If it is decided that the rotational equation of motion MP = (Mk )P is to be used, consider drawing
)y or m (aG )n , m (aG )t
the kinetic diagram since it graphically accounts for the components m (aG )x , m (aG
and is therefore convenient for “visualizing” the terms needed in the moment sum (Mk )P .
 17.4 Equations of Motion: Rotation About a Fixed Axis 47

• Equations of Motion

– Apply the three equations of motion in accordance with the established sign convention.

– To
 simplify
the analysis, the moment equation MG = 0 can be replaced by the more general equation
MP = (Mk )P , where point P is usually located at the intersection of the lines of action of as many
unknown forces as possible.
– If the body is in contact with a rough surface and slipping occurs, use the frictional equation F = μk N.
Remember, F always acts on the body so as to oppose the motion of the body relative to the surface it
contacts.

• Kinematics

• Use kinematics if the velocity and position of the body are to be determined.
• For rectilinear translation with variable acceleration use
dvG dsG
aG = , aG dsG = vG dvG , vG =
dt dt
• For rectilinear translation with constant acceleration, use

vG = (vG )0 + aG t, vG 2
= (vG )20 + 2aG [sG − (sG )0 ],
1
sG = (sG )0 + (vG )0 t + aG t 2
2
• For curvilinear translation, use
2
vG dvG
(aG )n = = ω2 ρ, (aG )t = , (aG )t dsG = vG dvG ,
ρ dt
(aG )t = αρ

17.4 EQUATIONS OF MOTION: ROTATION ABOUT A FIXED AXIS

• Consider a rigid body which is constrained to rotate in the vertical plane about a fixed axis perpendicular to the
page and passing through the pin at O.

F3
α
M1 ω
M2
F2
(a G)t
G F4

rG
(a G)n
O

F1
48 Chap. 17 Planar Kinetics of a Rigid Body: Force and Acceleration

The three equations of motion are:


Fn = m (aG )n = mω2 rG

Ft = m (aG )t = mαrG

M G = IG α
or for a point O =
 G
 
MO = (Mk )O = IO α

Note that “ IO α ” accounts for the “moment” of both m (aG )t and IG α about the point O = (the moment of
m (aG )n is not included since the line of action of this vector passes through O).

PROCEDURE FOR SOLVING PROBLEMS

Kinetic problems involving rotation of a body about a fixed axis can be solved using the following procedure:

• Free-Body Diagram

– Establish the x, y or n, t inertial coordinate system and specify the directions and sense of the accelerations
(aG )n and (aG )t and the angular acceleration α of the body. Recall that (aG )t must act in a direction which
is consistent with α whereas (aG )n always acts towards the axis of rotation which is point O.
– Draw the free-body diagram in order to account for all the external forces and couple moments that act on
the body.
– Compute the moment of inertia IG or IO .
– Identify the unknowns in the problem.
 
– If it is decided that the rotational equation of motion MP = (Mk )P is to be used, i.e., P is a point other
than G or O , consider drawing the kinetic diagram in order to help “visualize” the “moments”  developed
by the components m (aG )n , m (aG )t and IG α when writing the terms for the moment sum (Mk )P .

• Equations of Motion

– Apply the three equations of motion in accordance with the established sign convention.

– If moments are summed about the body’s mass center G , then MG = IG α since m (aG )n and m (aG )t
create no moment about G.
– If moments are summed about the pin support O on the axis of rotation, then m (aG )n creates no moment
about O and it can be shown that MO = IO α .

• Kinematics

– Use kinematics if a complete solution cannot be obtained strictly from the equations of motion.
– If angular acceleration is variable, use
dω dθ
α = , αdθ = ωdθ, ω =
dt dt
– If angular acceleration is constant, use

ω = ω0 + αC t, ω2 = ω02 + 2αC [θ − θ0 ],
1
θ = θ0 + ω0 t + αC t 2
2
 17.5 Equations of Motion: General Plane Motion 49

17.5 EQUATIONS OF MOTION: GENERAL PLANE MOTION

• If an x, y inertial coordinate system is used, the three equations of motion are

Fx = m (aG )x

Fy = m (aG )y

MG = I G α
or summing moments about P =
 G :
 
MP = (Mk )P

Here, (Mk )P represents the moment sum of IG α and maG (or its components) about P as determined by the
data on the kinetic diagram.
• Frictional Rolling Problems. In addition to the three equations of motion for general plane motion, frictional
rolling problems (involving e.g., wheels, disks, cylinders, or balls) often require an extra equation due to the
presence of the ‘extra unknown’ representing the frictional force. There are two cases:
– No slipping. In this case we have the ‘extra equation’
aG = rα.
Note that when the solution is obtained, the assumption of no slipping must be checked (i.e., verify that
F ≤ μs N ) otherwise it is necessary to rework the problem under the assumption of slipping.
– Slipping. Here, α and aG are independent of each other so instead we relate the magnitude of the frictional
force F to the magnitude of the normal force N using the coefficient of kinetic friction μk and obtain the
‘extra equation’
F = μk N

PROCEDURE FOR SOLVING PROBLEMS

Kinetic problems involving general plane motion of a rigid-body can be solved using the following procedure:
• Free-Body Diagram
– Establish the x, y inertial frame of reference and draw the free-body diagram in order to account for all
the external forces and couple moments that act on the body.
– The direction and sense of the acceleration of the body’s mass center aG and the angular acceleration α of
the body should be established.
– Compute the moment of inertia IG
– Identify the unknowns in the problem.
 
– If it is decided that the rotational equation of motion MP = (Mk )P is to be used, consider drawing
the kinetic diagram in order to help “visualize” the “moments”  developed by the components m (aG )x ,
m (aG )y and IG α when writing the terms for the moment sum (Mk )P .
• Equations of Motion
– Apply the three equations of motion in accordance with the established sign convention.
– When friction is present, there is the possibility for motion with no slipping or tipping. Each possibility for
motion should be considered.
• Kinematics
– Use kinematics if a complete solution cannot be obtained strictly from the equations of motion.
– If the body’s motion is constrained due to its supports, additional equations may be obtained by using
aB = aA +aB/A , which related the accelerations of any two points A and B on the body.
– When a wheel, disk, cylinder, or ball rolls without slipping then aG = rα.
50 Chap. 17 Planar Kinetics of a Rigid Body: Force and Acceleration

HELPFUL TIPS AND SUGGESTIONS

• Remember always to draw a free-body diagram to account for all the external forces and couple moments that
act on the body. Also,a good kinetic diagram will help you to visualize the “moments” when writing the terms
for the moment sum (Mk )P .
• Before attempting any of the problems, study Examples 17-5 to 17-17 in the text. Re-work a few of these
yourself knowing you have the full solution available. This is an excellent way to reinforce ideas and understand
the relevant material.

REVIEW QUESTIONS
1. What is meant by a moment of inertia?
2. What is meant by a homogeneous solid?
3. What’s the easiest way to calculate moments of inertia for common homogeneous solids?

4. In the equation of rotational motion, what is meant by the term (Mk )P ?
5. True or False? In translational problems, the moments of external forces and couples taken about any point add
to zero.

6. Is it true that in problems involving rotation about a fixed axis, we can write MP = IP α for any point P ?

7. Is it true that MI C = II C α where I C represents the instantaneous center of zero velocity?
8. Consider the homogeneous disk with mass m subjected to a known horizontal force P. Draw a free-body diagram
and write down three equations of motion for the disk. Next, assuming the disk rolls without slipping, write down
another equation for the disk. Is there enough information to solve the problem of finding e.g., the acceleration
of G?

r
P
G