ERT 250 - Dynamics

Chapter 6:
Planar Kinematics of a
Rigid Body: Force and
Acceleration
En. Mohd Khairul Rabani bin Hashim
Biosystem Engineering Unversiti Malaysia
Perlis
 Chapter Outline
1. Mass Moment of Inertia
2. Planar Kinetic Equations of Motion
3. Equations of Motion: Translation
4. Equations of Motion: Rotation about a Foxed
Axis
5. Equations of Motion: General Plane Motion
 6.1 Mass Moment of Inertia
• A body has a definite size and shape, the
body can be translated and rotated
• Translational motion are governed by the
equation F = ma
• Rotational motion is governed by M = Iα
• Moment of inertia, I, is a
measure of the resistance
of a body to angular acceleration
 6.1 Mass Moment of Inertia
• Moment of inertia is defined as the integral of
second moment about an axis of all the
elements of mass, dm
• For body’s moment of inertia about the z axis,
2
I = ∫m r dm

• Moment arm, r, is the

perpendicular distance from the z
axis to the arbitrary element dm
 6.1 Mass Moment of Inertia
• Moment of inertia computed about this axis
is IG
• Mass moment of inertia always a positive
quantity
• Using volume elements for integration,
2
I= ∫V r ρ dm
• When ρ is a constant,
2
I= ρ ∫V r dm
 6.1 Mass Moment of Inertia
Procedure for Analysis
• Consider only symmetric bodies having
surfaces generated by revolving a curve
about an axis
Shell Elements
• A shell element with height z, radius r = y,
and thickness dy is chosen for integration,

dV = (2πy)(z) dy
 6.1 Mass Moment of Inertia
Procedure for Analysis
Disk Elements
• A disk element with radius y, and thickness
dz is chosen for integration,
2
dV = πy dz
• Determine moment of inertia of
the element about the z axis
and then integrate the result
 6.1 Mass Moment of Inertia
Parallel Axis Theorem
• Moment of inertia about any other parallel
axis can determined by using parallel axis
theorem
• Consider body where the z’ axis passes
through the mass center G and the
corresponding parallel z axis lies at a
constant distance d away
 6.1 Mass Moment of Inertia
Parallel Axis Theorem
• Using Pythagoras theorem for moment of the
body about the z axis,

I  mr2dm  m d  x' 2


 y'2 dm

 m x'2 y'2 dm  2d mx'dm  d 2 mdm

st
• Since r’2 = x’2 + y’2, 1 integral represents IG
 6.1 Mass Moment of Inertia
Parallel Axis Theorem
nd
• 2 integral = 0 since z’ axis passes through the
body’s mass center

x'dm  x' dm

rd
• 3 integral represents the total mass m of
the body
• For moment of inertia about the z axis,
2
I  IG  md
 6.1 Mass Moment of Inertia
Parallel Axis Theorem
• The moment of inertia about the z axis can be
2
written as I  IG  md

Radius of Gyration
• Moment of inertia of the body about a specified
axis can be expressed using radius of gyration
• For the body’s moment of inertia

2 I
I  mk or k  m
 6.2 Planar Kinetic Equations of Motion
• Planar kinetics to rigid bodies studies is considered to
be symmetrical with respect to fixed reference plane
• Motion of the body is viewed within the reference plane
and all the forces and moments on the body can be
projected onto the plane
6.2 Planar Kinetic Equations of Motion
• Inertial frame of reference x, y, z has its origin
coincident with the arbitrary point P in the body
• By definition, these axes do not rotate and are
either fixed or translate with constant velocity

Equation of Translational Motion

• External forces consist of gravitational,
electrical, magnetic or contact forces
between adjacent bodies
 6.2 Planar Kinetic Equations of Motion
Equation of Translational Motion
• For translational equation of motion for the
mass center of rigid body, ∑F = maG
• Sum of all the external forces acting on the
body is equal to the body’s mass times the
acceleration of its mass center G
• For motion of the body in the x-y plane,
∑Fx = m(aG)x
∑Fy = m(aG)y
 6.2 Planar Kinetic Equations of Motion
Equation of Rotational Motion
• Fi represent the resultant external force acting
on the particle
• fi represent the resultant internal force caused
by interactions with adjacent particles

=
6.2 Planar Kinetic Equations of Motion
Equation of Rotational Motion
• Summing moments of forces acting on the
particle about point P,
r x Fi + r x fi = r x miai or (MP)i = r x miai

• For moment about P,

2
(MP)i = mir x (aP + α x r – ω r)
= mi[r x aP + r x (α x r)
2
– ω (r x r)]
 6.2 Planar Kinetic Equations of Motion
Equation of Rotational Motion
• Last term = 0 since r x r = 0
• Carrying out cross-product operations
(MP)ik = mi{(xi + yj) x [(aP)xi + (aP)yj]
+ (xi + yj) x [αk x (xi + yj)]}
2 2
(MP)ik = mi[-y(aP)x + x(aP)y + αx + αy ]k
2
(MP)i = mi[-y(aP)x + x(aP)y + αr ] (CCW)

• Letting mi → dm and integrating, we have

2
∑MP = -(∫mydm)(aP)x + (∫mxdm)(aP)y + (∫mr dm)α
 6.2 Planar Kinetic Equations of Motion
Equation of Rotational Motion
st nd
• The 1 and 2 integrals ares used to locate the
center of mass G with respect to P since
ym   ydmand xm   xdm
• The last integral represent the body’s moment
of inertia computed about the z axis
IP  r 2dm
• Thus
 M P  ym(aP )x  xm(aP ) y  IP
 6.2 Planar Kinetic Equations of Motion
Equation of Rotational Motion
• Point P coincides with the mass center G for the body
yx0
• Therefore,
 MG  IG
• If the point G is located at point
(x, y)
• By parallel axis theorem,
• Thus, IP  IG  m(x2  y2 )

 M P  ym[(aP )x  y]  xm[(aP ) y  x]  IG

 6.2 Planar Kinetic Equations of Motion
Equation of Rotational Motion
• From the kinematic diagram,
•
 P  x r 2rG
(a ) x i  (a ) y j  (a P ) x i  (a P ) y j k x ( xi  y j ) 2 (x i  y j )
G G

• By cross-product and equating the i and j

components,
(aG )x  (aP )x  y  x2
(aG ) y  (aP ) y  x  y2
6.2 Planar Kinetic Equations of Motion

Equation of Rotational Motion

• Simplifying,
 M P  ym(aG )x  xm(aG ) y  IG
 M P  k p (more general form)

General Applications of the Equations of Motion

• For three independent scalar equations,
Fx  m(aG )x ; Fy  (aG )y ; MG  0
 6.3 Equations of Motion: Translation
Rectilinear Translation
• When a body is subjected to rectilinear translation, all the
particles of the body (slab) travel along parallel straight
line paths
• Since IGα = 0, only maG is shown on the kinetic diagram.
• For equations of motion,

 Fx  m(aG )x
 Fy  (aG ) y
 MG  0
 6.3 Equations of Motion: Translation

Rectilinear Translation
• If point A is chosen, which lies at a
perpendicular distance d from the line of
action,  M A  Mk A ; M A  maG d
 6.3 Equations of Motion: Translation
Curvilinear Translation
• All the particles of the body travel along
parallel curved paths
• For the equations of motion,
 Fn  m(aG )n
 Ft  (aG )t
 MG  0

• The moment equation is

 MB  Mk B; MB  emaG t hmaG n 
 6.3 Equations of Motion: Translation

Procedure for Analysis

FBD
• Establish x, y, a or n, t inertial coordinate
system and draw the FBD
• Direction and sense of the acceleration
• Identify the unknowns
• If the rotational equation of motion is to be
used, use kinetic diagram
 6.3 Equations of Motion: Translation

Procedure for Analysis

Equation of Motion
• Apply three equations of motion
• Moment equation can be replace
by a general equation about P
• If the body is in contact with a
rough surface and slipping occurs,
use the frictional equation
 6.3 Equations of Motion: Translation
Procedure for Analysis
Kinematics
• Find the velocity and position of the body
• For rectilinear translation with variable
acceleration,
aG  dvG / dt ; aG dsG  vG dvG ; vG  dsG / dt
• For rectilinear translation with
constant acceleration,
v  (v ) O
 a t v2  (v )2  2a [s  (s ) O
]
G G G G G O GG G
s  (s )  (v ) t  1 a t 2
G G O G O
2 G
 6.3 Equations of Motion: Translation

Procedure for Analysis

Kinematics
• For curvilinear translation,
2 2
(aG )n  vG /r r
(aG )t  dvG / dt
(aG )t dsG  vG dvG
(aG )t  r
 Example 6.1

The car has a mass of 2Mg and a center of mass at G.

Determine the car’s acceleration if the “driving” wheels
in the back are always slipping, whereas the front
wheel freely rotate. Neglect the mass of the wheels.
The coefficient of kinetic friction between the wheels
and the road is μk = 0.25.
 6.4 Equations of Motion: Rotation about a Fixed
Axis

• Angular velocity and angular acceleration are

caused by external force and couple moment
system acting on the body
• Acceleration of point G is represented by
tangential and normal components
• Tangential component of acceleration has a
magnitude of (aG)t = αrG
• The normal component
2
of acceleration is (aG)n = ω rG
6.4 Equations of Motion: Rotation about a Fixed
Axis
• For equations of motion,
 Fn  m(aG )n  m2 rG
 Ft  m(aG )t  mrG
 M G  IG
• Sum the moments about the
pin at O to eliminate FO
• From the kinetic diagram,
 Fn  m(aG )n  m2 rG
 Ft  m(aG )t  mrG
 M O  IO
 6.4 Equations of Motion: Rotation about a Fixed
Axis

Procedure for Analysis

FBD
• Establish x, y or n, t coordinate system and
specify the direction or sense
• Draw FBD for all the external forces and
couple moments that act on the body
• Compute the moments of inertia
• Identify the unknowns
 6.4 Equations of Motion: Rotation about a Fixed
Axis

Procedure for Analysis

Equations of Motion
• Apply 3 equations of motion in
accordance with the established
sign convention
• If the moments are summed about
the center of mass,
G, ∑MG = IGα since (maG)t and (maG)n
create no moment about G
 6.4 Equations of Motion: Rotation about a Fixed
Axis
Procedure for Analysis
Kinematics
• Use kinematics if solution cannot be
obtained from equations of motion
• If angular acceleration is variable, use
α = dω/dt αdθ = ωdω ω = dθ/dt
• If the angular acceleration is constant, use
ω = ωO + αCt
2
θ = θO + ωO t + ½αCt
2 2
ω = ω O + 2αC(θ – θO)
 Example 6.2

The drum shown has a mass of 60kg and a radius

of gyration kO = 0.25m. A cord of negligible mass
is wrapped around the periphery of
the drum and attached to a block
having a mass of 20kg. If the
block is released, determine the
drum’s angular acceleration.
 6.5 Equations of Motion: General Plane
Motion
• Consider rigid body subjected to general
plane motion caused by the externally
applied force and couple-moment system
• If an x and y coordinate system is chosen, for
equations of motion,
 Fx  m(aG )x
 Fy  m(aG ) y
 G  IG
 6.5 Equations of Motion: General Plane
Motion
• Summing moments about point P other than
G, for equations of motion,
 Fx  m(aG ) x
 Fy  m(aG ) y
 P  (M k )P
 6.5 Equations of Motion: General Plane
Motion
Procedure for Analysis
FBD
• Establish x, y coordinate system and draw
the FBD for the body
• Specify the direction and sense of the
acceleration of the mass center and the
angular acceleration of the body
• Compute the moment of inertia
• Identify the unknowns
 6.5 Equations of Motion: General Plane
Motion
Procedure for Analysis
Equations of Motion
• Apply three equations of motion with
established sign convention
• When friction is present, there is the possibility
for motion with no slipping or tipping
Kinematics
• Use kinematics if a complete solution cannot be
obtained strictly from the equations of motion
 6.5 Equations of Motion: General Plane
Motion
Procedure for Analysis
Kinematics
• If the body’s motion is constrained, we use
aB = aA + aB/A, which relates the
acceleration of any two points
• When a wheel, disk, cylinder or ball rolls
without slipping, then aG = αr
 Example 6.3

The uniform slender pole has a mass of 100kg and a

2
moment of inertia IG = 75kg.m . If the coefficient of
static and kinetic friction between the end of the pole
and the surface are μs = 0.3 and μk = 0.25 respectively.
Determine the pole’s angular acceleration at the instant
the 400N horizontal force is applied. The pole is
originally at rest.