CHAPTER REVIEW

491

CHAPTER REVIEW
Kinetic Energy The kinetic energy of a rigid body that undergoes planar motion can be referenced to its mass center. It includes a scalar sum of its translational and rotational kinetic energies.

vG G

Translation T = 1 mv2 G 2

Translation V

vG G O

Rotation About a Fixed Axis T = 1 mv2 + 1 IGv2 G 2 2 or T = 1 IOv2 2

Rotation About a Fixed Axis V

vG

General Plane Motion T = 1 mv2 + 1 IGv2 G 2 2

or T = 1IICv2 2

General Plane Motion

492

CHAPTER 18

PLANAR KINETICS

OF A

R I G I D B O D Y: W O R K

AND

ENERGY

Work of a Force and a Couple Moment A force does work when it undergoes a displacement ds in the direction of the force. In particular, the frictional and normal forces that act on a cylinder or any circular body that rolls without slipping will do no work, since the normal force does not undergo a displacement and the frictional force acts on successive points on the surface of the body.
G s W y

G W

UW = -Wy Weight
s F k Fs

UF = 18

Unstretched position of spring, s 0

F cos u ds 1 U = - k s2 2 Spring

Fc

u
Fc Fc cos u

M u

u
Fc cos u

UFC = (Fc cos u)s Constant Force

u2

UM =

u L1

M du

UM = M1u2 - u12 Constant magnitude

CHAPTER REVIEW

493

Principle of Work and Energy Problems that involve velocity, force, and displacement can be solved using the principle of work and energy. The kinetic energy is the sum of both its rotational and translational parts. For application, a freebody diagram should be drawn in order to account for the work of all of the forces and couple moments that act on the body as it moves along the path.

T1 = U1 - 2 = T2

Conservation of Energy If a rigid body is subjected only to conservative forces, then the conservationof-energy equation can be used to solve the problem. This equation requires that the sum of the potential and kinetic energies of the body remain the same at any two points along the path. The potential energy is the sum of the bodys gravitational and elastic potential energies. The gravitational potential energy will be positive if the bodys center of gravity is located above a datum. If it is below the datum, then it will be negative. The elastic potential energy is always positive, regardless if the spring is stretched or compressed.

T1 + V = T2 + V 1 2 where V = Vg + Ve

18

W Vg WyG G yG Datum W Vg WyG G yG

k Fs

Unstretched position of spring, s 0 Ve

1 2

s ks2

Elastic potential energy Gravitational potential energy

The docking of the space shuttle to the international space station requires application of impulse and momentum principles to accurately predict their orbital motion and proper orientation.

Planar Kinetics of a Rigid Body: Impulse and Momentum

CHAPTER OBJECTIVES

19

To develop formulations for the linear and angular momentum of

a body.

To apply the principles of linear and angular impulse and

momentum to solve rigid-body planar kinetic problems that involve force, velocity, and time.

To discuss application of the conservation of momentum. To analyze the mechanics of eccentric impact.

19.1

Linear and Angular Momentum

In this chapter we will use the principles of linear and angular impulse and momentum to solve problems involving force, velocity, and time as related to the planar motion of a rigid body. Before doing this, we will first formalize the methods for obtaining a bodys linear and angular momentum, assuming the body is symmetric with respect to an inertial xy reference plane.

Linear Momentum. The linear momentum of a rigid body is

determined by summing vectorially the linear momenta of all the particles of the body, i.e., L = mi vi. Since mi vi = mvG (see Sec. 15.2) we can also write L = mvG (191)

This equation states that the bodys linear momentum is a vector quantity having a magnitude mvG, which is commonly measured in units of kg # m>s or slug # ft>s and a direction defined by vG the velocity of the bodys mass center.

496
y

CHAPTER 19

PLANAR KINETICS

OF A

R I G I D B O D Y: I M P U L S E

AND

MOMENTUM

Angular Momentum. Consider the body in Fig. 191a, which is

subjected to general plane motion. At the instant shown, the arbitrary point P has a known velocity vP, and the body has an angular velocity V . Therefore the velocity of the ith particle of the body is vi = vP + vi>P = vP + V * r The angular momentum of this particle about point P is equal to the moment of the particles linear momentum about P, Fig. 191a. Thus, 1H P2i = r * mi vi

x i r y vP P x vi

(a)

Expressing vi in terms of vP and using Cartesian vectors, we have 1HP2i k = mi1xi + yj2 * [1vP2x i + 1vP2y j + vk * 1xi + yj2] 1HP2i = -miy1vP2x + mix1vP2y + mivr2

Letting mi : dm and integrating over the entire mass m of the body, we obtain
_ x _ r P G vG _ vP y x

HP = - a

L m

y dm b 1vP2x + a

L m

x dm b1vP2y + a

L m

r2 dm bv

(b)

19

Fig. 191

Here HP represents the angular momentum of the body about an axis (the z axis) perpendicular to the plane of motion that passes through point P. Since ym = 1 y dm and xm = 1 x dm the integrals for the first and second terms on the right are used to locate the bodys center of mass G with respect to P, Fig. 191b. Also, the last integral represents the bodys moment of inertia about point P. Thus, HP = -ym1vP2x + xm1vP2y + IPv (192)

This equation reduces to a simpler form if P coincides with the mass center G for the body,* in which case x = y = 0. Hence,

*It also reduces to the same simple form, HP = IPv, if point P is a fixed point (see Eq. 199) or the velocity of P is directed along the line PG.

19.1

LINEAR AND ANGULAR MOMENTUM

497

HG = IGv

(193)

Here the angular momentum of the body about G is equal to the product of the moment of inertia of the body about an axis passing through G and the bodys angular velocity. Realize that H G is a vector quantity having a magnitude IGv, which is commonly measured in units of kg # m2>s or slug # ft2>s, and a direction defined by V, which is always perpendicular to the plane of motion. Equation 192 can also be rewritten in terms of the x and y components of the velocity of the bodys mass center, 1vG2x and 1vG2y, and the bodys moment of inertia IG. Since G is located at coordinates (x,y), then by the parallel-axis theorem, IP = IG + m1x2 + y22. Substituting into Eq. 192 and rearranging terms, we have HP = ym[-1vP2x + yv] + xm[1vP2y + xv] + IGv (194)

From the kinematic diagram of Fig. 191b, vG can be expressed in terms of vP as vG = vP + V * r 1vG2x i + 1vG2y j = 1vP2x i + 1vP2y j + vk * 1xi + yj2

Carrying out the cross product and equating the respective i and j components yields the two scalar equations 1vG2x = 1vP2x - yv 1vG2y = 1vP2y + xv
m(vG)y L mvG _ x G _m(vG)x y HG IGV Body momentum diagram (c)

19
y

Substituting these results into Eq. 194 yields 1a +2 HP = -ym1vG2x + xm1vG2y + IGv (195)
P

As shown in Fig. 191c, this result indicates that when the angular momentum of the body is computed about point P, it is equivalent to the moment of the linear momentum mvG, or its components m1vG2x and m1vG2y, about P plus the angular momentum IG V. Using these results, we will now consider three types of motion.

Fig. 191 (cont.)

498
A

CHAPTER 19
vG v

PLANAR KINETICS

OF A

R I G I D B O D Y: I M P U L S E

AND

MOMENTUM

Translation. When a rigid body is subjected to either rectilinear or

d L G mvG

curvilinear translation, Fig. 192a, then V = 0 and its mass center has a velocity of vG = v. Hence, the linear momentum, and the angular momentum about G, become L = mvG HG = 0

(196)

Translation (a)

If the angular momentum is computed about some other point A, the moment of the linear momentum L must be found about the point. Since d is the moment arm as shown in Fig. 192a, then in accordance with Eq. 195, HA = 1d21mvG2d.
V

mvG HG G IGV

Rotation About a Fixed Axis. When a rigid body is rotating about a fixed axis, Fig. 192b, the linear momentum, and the angular momentum about G, are
L = mvG HG = IGv

rG O

(197)

Rotation about a fixed axis (b)

Fig. 192

It is sometimes convenient to compute the angular momentum about point O. Noting that L (or vG) is always perpendicular to rG, we have 1a +2 HO = IGv + rG1mvG2 (198)

19

Since vG = rGv, this equation can be written as HO = 1IG + mr2 2v. G Using the parallel-axis theorem,* HO = IO v For the calculation, then, either Eq. 198 or 199 can be used. (199)

by selecting point P at O, realizing that 1vO2x = 1vO2y = 0.

A T = 1 IOv2 B should be noted.Also note that the same result can be obtained from Eq. 192 2

*The similarity between this derivation and that of Eq. 1716 1MO = IOa2 and Eq. 185

19.1

LINEAR AND ANGULAR MOMENTUM

499

HG

IGV

G L mvG

d A General plane motion (c)

Fig 192

General Plane Motion When a rigid body is subjected to general

plane motion, Fig. 192c, the linear momentum, and the angular momentum about G, become L = mvG HG = IG v (1910)

If the angular momentum is computed about point A, Fig. 192c, it is necessary to include the moment of L and H G about this point. In this case, 1a +2 HA = IGv + 1d21mvG2

Here d is the moment arm, as shown in the figure. As a special case, if point A is the instantaneous center of zero velocity then, like Eq. 199, we can write the above equation as HIC = IIC v (1911)
19

where IIC is the moment of inertia of the body about the IC. See Prob. 192.

d IG V G mvG

As the pendulum swings downward, its angular momentum about point O can be determined by computing the moment of IG V and mvG about O. This is HO = IGv + 1mvG2d. Since vG = vd, then HO = IGv + m1vd2d = 1IG + md22v = IOv.

500

CHAPTER 19

PLANAR KINETICS

OF A

R I G I D B O D Y: I M P U L S E

AND

MOMENTUM

EXAMPLE 19.1
At a given instant the 5-kg slender bar has the motion shown in Fig. 193a. Determine its angular momentum about point G and about the IC at this instant.

vA

2 m/s

A 4m G B 30

(a)

SOLUTION Bar. The bar undergoes general plane motion. The IC is established in Fig. 193b, so that v = 2 m>s 4 m cos 30 = 0.5774 rad>s

vG = 10.5774 rad>s212 m2 = 1.155 m>s

19
2 m/s IC 30 V 2m G 2m vB B 30 30 vG 4 m cos 30 30 A

Thus, 1c +2 HG = IGv =

1 C 1215 kg214 m22 D 10.5774 rad>s2 = 3.85 kg # m2>sbAns.

Adding IGv and the moment of mvG about the IC yields 1c +2 HIC = IGv + d1mvG2 =
1 C 1215 kg214 m22 D 10.5774 rad>s2 + 12 m215 kg211.155 m>s2

= 15.4 kg # m2>sb We can also use 1c +) HIC = IICv

Ans.

2m

(b)

Fig. 193

= 15.4 kg # m2>sb

1 C 12 (5 kg)(4 m)2 + (5 kg)(2 m)2 D (0.5774 rad>s)

Ans.