Chapters 17, 18

Review
Der Innere
Schweinehund

(The inner
Pigdog)
 Chapter 17

Rigid Body Dynamics

Center of Mass

r
 m *r
i i

m i
Plane Motion
Polar Coordinates

fig_06_003
Plane Motion
Polar Coordinates
 Forces_x
 Forces_y as before
We now split the
 Moments about G

fig_06_003
Parallel Axes Theorem
Pure rotation about fixed point P

I P  IG  m * d
fig_06_005
2
Radius of Gyration
Pure rotation about center G
Inertia is concentrated at radius k

IG  m * k 2
 EQUATIONS OF MOTION: TRANSLATION
(Section 17.3)
When a rigid body undergoes only translation, all the particles
of the body have the same acceleration so aG = a and  = 0.
The equations of motion become:
 Fx = m(aG)x

 Fy = m(aG)y

 MG = 0
Note that, if it makes the problem easier, the moment equation
can be applied about another point instead of the mass center.
For example, if point A is chosen,
MA = (m aG ) d .
 Pure Rotation
The crank on the oil-pump rig undergoes
rotation about a fixed axis, caused by the
driving torque, M, from a motor.

As the crank turns, a dynamic reaction is

produced at the pin. This reaction is a
function of angular velocity, angular
acceleration, and the orientation of the
crank.
Pin at the center of If the motor exerts a constant torque M
rotation. on the crank, does the crank turn at a
constant angular velocity?
 EQUATIONS OF ROTATIONAL MOTION
We need to determine the effects caused by the moments
of an external force system.
The moment about point P can be written as:
 (ri  Fi) +  Mi = r  maG + IG
 Mp = (Mk)p
where r = x i + y j and  Mp is the resultant moment about P
due to all the external forces.
 EQUATIONS OF MOTION:
ROTATION ABOUT A FIXED AXIS
When a rigid body rotates about a fixed axis
perpendicular to the plane of the body at
point O, the body’s center of gravity G
moves in a circular path of radius rG. Thus,
the acceleration of point G can be represented
by a tangential component (aG)t = rG  and a
normal component (aG)n = rG 2.
Since the body experiences an angular acceleration, its inertia
creates a moment of magnitude, Ig equal to the moment of the
external forces about point G. Thus, the scalar equations of
motion can be stated as:
 Fn = m (aG)n = m rG 2
 Ft = m (aG)t = m rG 
 M G = IG 
 Chapter 17.5
General Plane Motion

= =

Remember Rel. Motion Kinematics:

 Plane Motion
3 equations:
 Forces_x
 Forces_y
 Moments about G

Translatio n :  Fx  m * x
..................... Fy  m * y
Rotation : ..... M G  I G * 
fig_06_002
 Constrained Motion:
The system no longer has all Degrees of
freedom

Describe the constraint(s) with an

Equation
 Chapter 17.5
Constraints
Constraint Equations are required whenever there
are more independent variables than degrees of
Freedom.
Example:
We choose two
coordinates:
y downward
 counterclockwise.
The constraint eq. is
y = -R*
 EXAMPLE

Given: A spool has a mass of 200 kg and a radius of gyration (kG)

of 0.3 m. The coefficient of kinetic friction between the
spool and the ground is k = 0.1.
Find: The angular acceleration () of the spool and the tension
in the cable.
Plan: Focus on the spool. Follow the solution procedure (draw
a FBD, etc.) and identify the unknowns.
 EXAMPLE

Given: A spool has a mass of 200 kg and a radius of gyration (kG)

of 0.3 m. The coefficient of kinetic friction between the
spool and the ground is k = 0.1.
Find: The angular acceleration () of the spool and the tension
in the cable.
Plan: Focus on the spool. Follow the solution procedure (draw
a FBD, etc.) and identify the unknowns.
 EXAMPLE (continued)
Solution:
The free body diagram and kinetic diagram for the body are:

IG 
maG
=
1962 N

Equations of motion:
Fy = m (aG)y : NB − 1962 = 0

 NB = 1962 N
 EXAMPLE (continued)

Note that aG = (0.4) Why ?

Fx = m (aG)x: T – 0.1 NB = 200 aG = 200 (0.4) 

 T – 196.2 = 80 
MG = IG 450 – T(0.4) – 0.1 NB (0.6) = 20 (0.3)2 
 450 – T(0.4) – 196.2 (0.6) = 1.8 

Solving these two equations, we get

 = 7.50 rad/s2, T = 797 N
 Given: Wsphere = 30 lb,
Wrod = 10 lb

Find: The reaction at the pin O

just after the cord AB is cut.

Plan:
Draw the free body diagram and kinetic diagram of the
rod and sphere as one unit.
Then apply the equations of motion.
 Solution:
FBD and kinetic diagram;

msphere(3)(0)2
30 lb 10 lb (IG)rod
(IG)sphere
mrod(1.0)(0)2
Ox
=
Oy mrod(1.0)
msphere(3)

Equations of motion:
Fn = m(aG)n: Ox = (30/32.2)(3)(0)2 + (10/32.2)(1.0)(0)2

 Ox = 0 lb
 msphere(3)(0)2
30 lb 10 lb (IG)rod
(IG)sphere
mrod(1.0)(0)2
Ox
=
Oy mrod(1.0)
msphere(3)

Ft = m(aG)t: - Oy + 30 + 10 = (30/32.2) (3) + (10/32.2) (1.0)

 Oy = 40 – 3.106 
MO = Io
30(3.0) + 10(1.0) = [ 0.4 (30/32.2) (1)2 + (30/32.2) (3)2 ]sphere 
+ [ (1/12) (10/32.2) (2)2 + (10/32.2) (1)2 ]rod 
 
Therefore,  = 10.9 rad/s2, Oy = 6.14 lb
 Rigid Body Energy Methods
Chapter 18 in
Hibbeler, Dynamics

Stresses and Flow Patterns in a Steam Turbine

FEA Visualization (U of Stuttgart)
 CONSERVATIVE FORCES
A force F is conservative if the work done by the force is
independent of the path.

In this case, the work depends only on the initial and final
positions of the object with the path between the positions of
no consequence.

Typical conservative forces encountered in dynamics are

gravitational forces (i.e., weight) and elastic forces (i.e.,
springs).

What is a common force that is not conservative?

 CONSERVATION OF ENERGY

When a rigid body is acted upon by a system of conservative

forces, the work done by these forces is conserved. Thus, the sum
of kinetic energy and potential energy remains constant.
This principle is called
conservation of energy and is expressed as:

T1 + V1 = T2 + V2 = Constant
In other words, as a rigid body moves from one position to another
when acted upon by only conservative forces, kinetic energy is
converted to potential energy and vice versa.
The work is defined as
W   F * dr
The potential energy V is defined
as:

V  - W  -  F * dr
 GRAVITATIONAL POTENTIAL ENERGY
The gravitational potential energy of an object is a function
of the height of the body’s center of gravity above or below
a datum.
The gravitational potential
energy of a body is found
by the equation

Vg = W yG

Gravitational potential energy is positive when yG is positive,

since the weight has the ability to do positive work (why is it
positive?) when the body is moved back to the datum.
 ELASTIC POTENTIAL ENERGY

Spring forces are also conservative forces.

The potential energy of
a spring force (F = ks)
is found by the equation

Ve = ½ k s 2

Notice that the elastic potential energy is always positive.

 PROCEDURE FOR ANALYSIS
Problems involving velocity, displacement and conservative
force systems can be solved using the conservation of energy
equation.
• Potential energy: Draw two diagrams: one with the body
located at its initial position and one at the final position.
Compute the potential energy at each position using
V = Vg + Ve, where Vg= W yG and Ve = 1/2 k s2.

• Kinetic energy: Compute the kinetic energy of the rigid body at

each location. Kinetic energy has two components:
translational kinetic energy, 1/2m(vG)2, and rotational kinetic
energy,1/2 IG2.
• Apply the conservation of energy equation.
 Given:The rod AB has a mass of
10 kg. Piston B is
attached to a spring of
constant k = 800 N/m.
The spring is un-stretched
when θ = 0°. Neglect the
mass of the pistons.

Find: The angular velocity of rod AB at θ = 0° if the rod is

released from rest when θ = 30°.
Plan: Use the energy conservation equation since all forces are
conservative and distance is a parameter (represented
here by θ). The potential energy and kinetic energy of
the rod at states 1 and 2 will have to be determined.
Solution:
Initial Position Final Position

Potential Energy:
Let’s put the datum in line with the rod when θ = 0°.
Then, the gravitational potential energy and the elastic potential energy will
be zero at position 2.  V2 = 0
Gravitational potential energy at 1: - (10)( 9.81) ½ (0.4 sin 30°)
Elastic potential energy at 1: ½ (800) (0.4 sin 30°)2
So V1 = - 9.81 + 16.0 = 6.19 Nm
 Initial Position Final Position

Kinetic Energy:
The rod is released from rest from position 1.
Therefore, T1 = 0.

At position 2, the angular velocity is 2 and the velocity at the center of mass
is vG2 .

Therefore, T2 = ½ (10)(vG2)2 + ½ (1/12)(10)(0.42)(2)2

 EXAMPLE I (continued)

At position 2, point A is the instantaneous center of

rotation.
Hence, vG2 = rG/IC  = 0.2 2 . Then,

T2 = 0.2 22 + 0.067 22 = 0.267 22

Now apply the conservation of energy equation and solve for the unknown
angular velocity, 2.
T 1 + V 1 = T 2 + V2
0 + 6.19 = 0.26722 + 0  2 = 4.82 rad/s
 Given: The 30 kg pendulum has its
mass center at G and a
radius of gyration about
point G of kG=0.3 m.
It is released from rest
when θ = 0. The spring is
unstretched when θ = 0.

Find: The angular velocity of the pendulum when θ = 90.

Plan: Conservative forces and distance (θ) leads to the use of

conservation of energy. First, determine the potential
energy and kinetic energy for both positions. Then
apply the conservation of energy equation.
 Solution:

Potential Energy:
Let’s put the datum when θ = 0. There the
gravitational potential energy is zero and the
elastic potential energy will be zero. So,
Vg1 = Ve1 = 0
Note that the unstretched length of the spring
is 0.15 m.

Gravitational potential energy at θ = 90:

Vg2 = - 30 (9.81) (0.35) = -103.0 Nm

Elastic potential energy at θ = 90 is :

Ve2 = ½ 300 (√ 0.62 + 0.452 – 0.15)2 = 54.0 Nm
Kinetic Energy:
When θ = 0°, the pendulum is released
from rest.
Thus, T1 = 0.

When θ = 90°, the pendulum has a

rotational motion about point O.

T2 = ½ IO (2)2

where IO = IG + m (dOG)2 = (30) 0.32 + 30 (0.35)2 = 6.375 kgm2

T2 = ½ 6.375 (2)2
Now, substitute into the
conservation of energy equation.

T1 + V1 = T2 + V2

0 + 0 = = ½ 6.375 (2)2 + (-103 + 54.0)

Solving for  yields

 = 3.92 rad/s.
 EXAMPLE II

Given: The 30 kg rod is released

from rest when θ = 0.
The spring is unstretched
when θ = 0.
Find: The angular velocity of
the rod when θ = 30.

Plan:
Since distance is a parameter and all forces doing work are
conservative, use conservation of energy. Determine the
potential energy and kinetic energy of the system at both
positions and apply the conservation of energy equation.
 EXAMPLE II (continued)
Solution:
Potential Energy:
Datum
Let’s put the datum in line with the
rod when θ = 0°.
Then, the gravitational potential
energy when θ = 30 is
Vg2 = -30 (9.81) (½ 1.5 sin 30°) = -110.4 Nm

The elastic potential energy at θ = 0 is zero since the spring is

un-stretched. The un-stretched length of the spring is 0.5 m.
The elastic potential energy at θ = 30 is
Ve2 = ½ 80 (√0.52+(1.5 sin 30°) 2 – 0.5)2 = 6.444 Nm
 EXAMPLE II (continued)

Kinetic Energy:
The rod is released from rest at θ = 0°, so
Datum
vG1 = 0 and 1 = 0. Thus, the kinetic
energy at position 1 is T1 = 0.
At θ = 30°, the angular velocity is 2 and
the velocity at the center of mass is vG2 .
T2 = ½ m (vG2)2 + ½ IG (2)2
= ½ (30) (vG2)2 + ½ {(1/12) 30 (1.5)2} (2)2
Since vG2 = (0.75 2),
T2 = ½(30) (0.75 2)2 + ½{(1/12)30(1.5)2} (2) 2
T2 = 11.25 (2)2
 EXAMPLE II
(continued)
Now all terms in the conservation of energy equation have been
formulated. Writing the general equation and then substituting
into it yields:

T1 + V1 = T2 + V2
0 + 0 = 11.25 (2)2 + (-110.4 + 6.444)

Solving , 2 = 3.04 rad/s