A uniform 1.

6 kg rod AB is welded at its midpoint G to a

vertical shaft GD. Knowing that the shaft rotates with an
angular velocity of constant magnitude = 1200 rpm,
determine the angular momentum HG of the rod about G.
Single rotation about a fixed point

Locate principal axes of the rod

Orient rotating coordinates along
principal axes
Find the transformations from
rotating to ground frame and vice
versa

New unit vectors 200

i cos i sin j, j sin i cos j
i cos i sin j , j sin i cos j

x
Find I and in inclined rotating frame
i cos i sin j , j sin i cos j
2
1200 rad / s 125.66rad / s
60
j sin i cos j 42.98i 118.1 j
m 1.6
1 2
ml
12
0
0

0 0.4961
0
0

I x x 0, I y y

I xy z

0
0
0

1.6 0.612
0.4961, I z z 0, I x y I y z I z x 0
12

New unit vectors 20 0

i cos i sin j, j sin i cos j
i cos i sin j, j sin i cos j

Find H in inclined rotating frame.

0
0 42.98
0

H G xy z I
xy z xy z 0 0.4961 0 118.1
0
0
0
0
0.4961 118.1 j 58.59 j
Transform to inertial frame
i cos i sin j , j sin i cos j

H G xyz 58.59 j 58.59 sin i cos j 20.04i 55.06 j

Single rotation about a fixed axis

A thin homogeneous disk of mass m and radius r is mounted

on the horizontal axle AB. The plane of the disk forms an
angle 200 with the vertical. Knowing that the axle rotates
with an angular velocity, determine the angle formed by the
axle and the angular momentum of the disk about G.
Determine the rate of change HG of the angular momentum HG
of the disk for an arbitrary value of , knowing that the disk has
an angular velocity = i and an angular acceleration = i.
A homogeneous 3.6 kg disk is mounted on the horizontal shaft
AB. The plane of the disk forms a 20 angle with the yz plane
as shown. Knowing that the shaft rotates with a constant
angular velocity of magnitude 10 rad/s, determine the
dynamic reactions at points A and B.
Knowing that the assembly is initially at rest ( = 0) when a
couple of moment M0 = (24.4 N.m)i is applied to the shaft,
determine (a) the resulting angular acceleration of the
assembly, (b) the dynamic reactions at points A and B
immediately after the couple has been applied.

y
x

Axes chosen
for constant I.
Calculations
are easier

A thin homogeneous disk of mass m and radius r is mounted

on the horizontal axle AB. The plane of the disk forms an
angle 200 with the vertical. Knowing that the axle rotates
with an angular velocity, determine the angle formed by the
axle and the angular momentum of the disk about G.

Find I and in inclined

rotating frame.

1 2
2 mr
H G I

1 2
mr
4

Transform to
inertial frame

New unit vectors

i cos i sin j, j sin i cos j
i cos i sin j, j sin i cos j
i cos i sin j
1
1
1
I x x mr 2 , I y y mr 2 , I z z mr 2 ,
2
4
4

I xy , yz , zx 0

Find HG in rotating frame

cos i
1
1

0 sin j mr 2 cos i mr 2 sin j

2
4
0

1 2
mr
4
1
1
H G mr 2 cos cos i sin j mr 2 sin sin i cos j
2
4
1
1
1
mr 2 cos 2 i mr 2 sin 2 i mr 2 sin cos j
2
4
4

Axes chosen
for constant I.
Calculations
are easier

Determine the rate of change HG of the angular momentum HG

of the disk for an arbitrary value of , knowing that the disk has
an angular velocity = i and an angular acceleration = i.
1
1
cos i sin
4
2

H G mr 2

H&

G xyz

H&G

x y z

1
1

j mr 2 cos 2 i sin 2 i sin cos j

4
4

H G xyz

Sitting in xyz frame we will not see I change but we will

certainly see the disc spinning faster at i cos i sin j
and angular momentum change as

H&

G x y z

H&

G x y z

d
d
I

xy z I
dt
dt
1 2

0
0
2 mr

1 2

0
mr
0

1
2
0
0
mr
4

x y z

d
I
dt

xyz

x y z

cos i
1

1
sin j mr 2 cos i sin
4
2
0

y
x

Axes chosen
for constant I.
Calculations
are easier

Determine the rate of change HG of the angular momentum HG

of the disk for an arbitrary value of , knowing that the disk has
an angular velocity = i and an angular acceleration = i.

H&

G xyz

H&G

x y z

H G xyz

Transform first
component to inertial
frame coordinates
Rotating frame rotates at

1
1

cos i sin j
4
2

1
1
1
mr 2 cos 2 i mr 2 sin 2 i mr 2 sin cos j
2
4
4

H&

G x y z

mr 2

This is not true for all problems

Second component
1
1
1
1

cos 2 i sin 2 i sin cos j mr 2 2 sin cos k

4
4
4
2

H G xyz i mr 2

Net rate of change of HG as seen from ground

H&

H&G

H&G

xyz

G xyz

x y z

H G xyz

1
1
1
1

cos 2 i sin 2 i sin cos j 2 sin cos k

4
4
4
2

mr 2

y
x

Axes chosen
for constant I.
Calculations
are easier

Alternate method
1
1
cos i sin
4
2

H G mr 2

1
1
cos i sin
2
4

d
d
H G mr 2
dt
dt

d
1
1
mr 2 cos i sin
dt
4
2

d 1
1

j mr 2 cos i sin j
dt
4

2

d
1
1
di 1
dj

1
mr 2 cos i sin j mr 2 cos
sin
dt
4
dt 4
dt

2
2
1
1
1

1

mr 2 cos i sin j mr 2 cos i i sin i j

4
4

2

2
1
1
cos cos i sin j sin sin i cos
4
2

mr 2

1
1
cos i cos i sin j sin i sin i cos
4
2

mr 2

1
1
1
1

cos 2 i sin 2 i sin cos j mr 2 2 cos sin k sin cos k

4
4
4
2

mr 2

1
1
1
1

cos 2 i sin 2 i sin cos j 2 sin cos k

4
4
4
2

mr 2

1
1
1
1

H&G mr 2 cos 2 i sin 2 i sin cos j 2 sin cos k

4
4
4
2

y
Ay

Az

Revolute joints
apply only x and
y reaction forces
and no moments

mg

By

Bz

A homogeneous 3.6 kg disk is mounted on the horizontal shaft

AB. The plane of the disk forms a 20 angle with the yz plane
as shown. Knowing that the shaft rotates with a constant
angular velocity of magnitude 10 rad/s, determine the
dynamic reactions at points A and B.
Kinematics of center of mass
G in the inertial frame

0,

aG XYZ

Ay j Az k By j Bz k mgj

d
0 0
dt

ext

Newton's law

vG XYZ

d
mvG
dt

Ay By mg ,

Az Bz 0

y
Ay

By

Az

Revolute joints
apply only x and
y reaction forces
and no moments

mg

Rate of change of HG

Euler's law

ext G

Bz

1
H&G mr 2 2 sin cos k
4

vG XYZ

0,

aG XYZ

d
H&G rG / G mv G
dt

1 2 2
mr sin cos k 0
4
1
li Ay j Az k li By j Bz k 0 mr 2 2 sin cos k
4
2 2
1 mr
Az j By k Ay k Bz j
sin cos k
4 l
1 mr 2 2
Az Bz 0, By Ay
sin cos
4 l
rA/G A rB/G B rG/G mgj

y
Ay

Az

Revolute joints
apply only x and
y reaction forces
and no moments

mg

Ay By mg ,
By
Ay
By
Az

Bz

Az Bz 0

1 mr 2 2
Ay
sin cos , Az Bz 0
4 l
1
1 mr 2 2
mg
sin cos
2
8 l
1
1 mr 2 2
mg
sin cos
2
8 l
0

Bz 0
Static reactions
1
Ay mg
2
1
By mg
2
Hence dynamic reactions
1 mr 2 2
sin cos
8 l
1 mr 2 2
By
sin cos
8 l
Ay

By

y
Ay

Az

Revolute joints
apply only x and
y reaction forces
and no moments

mg

By

Bz

Knowing that the assembly is initially at rest ( = 0) when a

couple of moment M0 = (24.4 N.m)i is applied to the shaft,
determine (a) the resulting angular acceleration of the
assembly, (b) the dynamic reactions at points A and B
immediately after the couple has been applied.
Kinematics of center of mass
G in the inertial frame

0,

aG XYZ

Ay j Az k By j Bz k mgj

d
0 0
dt

ext

Newton's law

vG XYZ

d
mvG
dt

Ay By mg ,

Az Bz 0

y
Ay

By

Az

Revolute joints
apply only x and
y reaction forces
and no moments

mg

Bz

vG XYZ

0,

aG XYZ

Rate of change of HG
1
1
1
1

H&G mr 2 cos 2 i sin 2 i sin cos j 2 sin cos k

4
4
4
2

d
H&G rG / G mv G
dt
rA/G A rB/G B rG/G mgj M 0

ext G

Euler's law

1
1
1
1

cos 2 i sin 2 i sin cos j 2 sin cos k 0

4
4
4
2

mr 2

li Ay j Az k li By j Bz k 0 M 0i

1 2
1
1
1
mr cos 2 i mr 2 sin 2 i mr 2 sin cos j mr 2 2 sin cos k
2
4
4
4
1
1
M 0 mr 2 cos 2 mr 2 sin 2
2
4
1
Az Bz mr 2 sin cos
4
1
By Ay mr 2 2 sin cos
4

y
Ay

By

Az

Revolute joints
apply only x and
y reaction forces
and no moments
Ay By mg ,
M0

mg

Bz

Az Bz 0

1 2
1
4M 0
4M 0
mr cos 2 mr 2 sin 2

2
2
2
2
2
4
mr 2cos sin mr 1 cos 2

1
Az Bz mr 2 sin cos
4
1
By Ay mr 2 2 sin cos
4
1
1 mr 2 2
1
1 mr 2 2
Ay mg
sin cos , By mg
sin cos
2
8 l
2
8 l
1
1
Az mr 2 sin cos , Bz mr 2 sin cos
8
8
Static reactions
1
1
Ay mg , By mg
2
2
Hence dynamic reactions
1 mr 2 2
1 mr 2 2
sin cos , By
sin cos
8 l
8 l
1
M sin cos
M sin cos
Az mr 2 sin cos 0
, Bz 0
2
8
2 1 cos
2 1 cos 2
Ay

Two rotations along intersecting axes

A 45.4 kg advertising panel of length 2a = 2.2 m and width 2b

= 1.5 m is kept rotating at a constant rate 1 about its
horizontal axis by a small electric motor attached at A to frame
ACB. This frame itself is kept rotating at a constant rate 2
about a vertical axis by a second motor attached at C to the
column CD. Knowing that the panel and the frame
complete a full revolution in 6 s and 12 s, respectively,
express, as a function of the angle , the dynamic reaction
exerted on column CD by its support at D.
Show that (a) the dynamic reaction at D is independent
of the length 2a of the panel, (b) the ratio M1/M2 of the
magnitudes of the couples exerted by the motors at A and
C, respectively, is independent of the dimensions and
mass of the panel and is equal to 2 / 1 at any given
instant.

Two rotations along intersecting axes

y

Find I and in inclined rotating frame.

x

New unit vectors

i cos i sin j , j sin i cos j
i cos i sin j, j sin i cos j
1k 2 j 1k 2 sin i cos j 2 sin i 2 cos j 1k
1
I x x m a 2 b 2 ,
3

1
I y y ma 2 ,
3

1
I z z mb 2 ,
3

I xy , yz , zx 0

Find HG in rotating frame

1
2
2
3 m a b

H G xy z I
xy z xy z

1 2
ma
3

2 sin i

0 2 cos j

1k

1 2
mb
3

1
1
1
m a 2 b 2 2 sin i ma 22 cos j mb 21k
3
3
3

Transform to inertial frame

1
1
1
m a 2 b 2 2 sin i ma 22 cos j mb 21k
3
3
3
1
1
1
m a 2 b 2 2 sin cos i sin j ma 22 cos sin i cos j mb 21k
3
3
3
1
1
1
1
1
m a 2 b 2 2 sin cos i ma 22 cos sin i m a 2 b 2 2 sin 2 j ma 22 cos 2 j mb 21k
3
3
3
3
3
1 2
1 2
1
1
mb 2 sin cos i mb 2 sin 2 j ma 22 j mb 21k
3
3
3
3

H G xy z

Two rotations along intersecting axes

y
Find I and in inclined rotating frame.
x

New unit vectors

i cos i sin j , j sin i cos j
i cos i sin j, j sin i cos j
1k 2 j 1k 2 sin i cos j 2 sin i 2 cos j 1k
1
I x x m a 2 b 2 ,
3

1
I y y ma 2 ,
3

1
I z z mb 2 ,
3

I xy , yz , zx 0

Find HG in rotating frame

H&

G x y z

d
I xy z
dt

1
2
2
3 m a b

xy z
0

d

dt

1 2
ma
3

1
2
2
3 m a b

1 2
ma
3

H&

G x y z

dt

1 2
mb
3

1 2
mb
3
I

xy z

d
dt

xIy z xy
xy z
z

2 sin i

2 cos j

1k

1
m a 2 b2
3

1 2
ma
3

12 cos i

12 sin j ,

0
2 sin i

0
2 cos j

dt
1k

1 2
mb
3

Q & 1 , &2 0, &1 0

1
1
m a 2 b 2 12 cos i ma 212 sin j
3
3

Transform to inertial frame

1
1
m a 2 b 2 12 cos i ma 212 sin j
3
3
1
1
m a 2 b 2 12 cos cos i sin j ma 212 sin sin i cos j
3
3
1
1
1
ma 212i mb 212 cos 2 i mb 212 cos sin j
3
3
3

H&

G x y z

Two rotations along intersecting axes

2 j 1k

H&

G xyz

MD
FD
Newton's law

H&G

x y z

v G 0,

aG 0

H G xyz

1
m a 212i b 212 cos 2 i b 212 cos sin j
3
1
2 j 1k m b 22 sin cos i b 22 sin 2 j a 22 j b 21k
3
1
1
1
ma 212i mb 212 cos 2 i mb 212 cos sin j
3
3
3
1
1
mb 22 2 sin cos k mb 212i
3
3
1 2
1
1
mb 12 sin cos j mb 212 sin 2 i ma 212i
3
3
3
2
2
1
mb 212 cos 2 i mb 212 cos sin j mb 22 2 sin cos k
3
3
3

ext

d
mvG maG 0 FD 0
dt

Euler's law
& r d mv
H
G
G /G
G
dt
2
2
1
M D rD / G FD mb 212 cos 2 i mb 212 cos sin j mb 22 2 sin cos k
3
3
3
2
2
1
M D mb 212 cos 2 i mb 212 cos sin j mb 22 2 sin cos k
3
3
3
There is no a in the expression for M D .

ext G

1
mb 22 2 sin cos
M1
Mz

3
2
2 2
M2 M y
21
mb 12 cos sin
3

Two rotations along non intersecting axes

A homogeneous disk of mass m = 6 kg rotates at the constant

rate 1 = 16 rad/s with respect to arm ABC, which is welded to a
shaft DCE rotating at the constant rate 2 = 8 rad/s. Determine
the angular momentum HA of the disk about its center A.
Determine the angular momentum HD of the disk about point D.
Determine the rate of change of HA of the disk
A homogeneous disk of mass m = 3 kg rotates at the constant
rate 1 = 16 rad/s with respect to arm ABC, which is welded to
shaft DCE rotating at the constant rate 2 = = 8 rad/s.
Determine the dynamic reactions at D and E.
It is assumed that at the instant shown shaft DCE has an
angular velocity 2 = 8 rad/s i and an angular acceleration
2 = 6 rad/s i. Recalling that the disk rotates with a constant
angular velocity 1 = 16 rad/s j, determine (a) the couple
that must be applied to shaft DCE to produce the given
angular acceleration, (b) the corresponding dynamic
reactions at D and E.

A is the cm of the disk

A homogeneous disk of mass m = 6 kg rotates at the constant

rate 1 = 16 rad/s with respect to arm ABC, which is welded to a
shaft DCE rotating at the constant rate 2 = 8 rad/s. Determine
the angular momentum HA of the disk about its center A.
Find I and in rotating
frame. In this case an
inclined frame is not
required as principal axes
are already along xyz
1 2
4 mr
H G I

1 2
mr
2

Transform to
inertial frame

i i, j j, k k
1
1
1
I x x mr 2 , I y y mr 2 , I z z mr 2 , I xy , yz , zx 0
4
2
4
2i 1 j 2i 1 j is the net angular velocity

Find HA in rotating frame

2i
1
1

0 1 j mr 22i mr 21 j

4
2
0
1 2
mr
4

HA

1 2
1
mr 2i mr 21 j
4
2

A is the cm of the disk

Determine the angular momentum HD of the disk about point D.

Find I and in rotating
frame. In this case an
inclined frame is not
required as principal axes
are already along xyz
Kinematics of center of
mass A in the inertial
frame
1 2
4 mr
H A I

H D H A rA / D mv A
HD

i i, j j, k k
1
1
1
I x x mr 2 , I y y mr 2 , I z z mr 2 , I xy , yz , zx 0
4
2
4
2i 1 j 2i 1 j is the net angular velocity

v A xyz 2i rA / D 2i lDC i lBA j lCB k

v A xyz 2 lBAk lCB j
a A XYZ 2i rA / D 2i 2i rA / D
2i lDC i lBA j lCB k 2i 2 lBAk lCB j
2 lBA k lCB j 2 2 lBA j lCB k
a A XYZ 2lCB 2 2lBA j 2lBA 2 2lCB k
Here 2 0, a A XYZ 2 2lBA j 2 2lCB k

2i
1
1
1
1

0 1 j mr 22i mr 21 j mr 22i mr 21 j

4
2
4
2
0
1 2
0
mr
4
1
1
mr 22i mr 21 j lDC i lBA j lCB k m2 l BAk lCB j
4
2

1 2
mr
2

1 2
1
mr 2i mr 21 j m2 lBA 2i lCB 2i lDC lBA j lDC lCB k
4
2

A is the cm of the disk

Determine the rate of change of HA of the disk

H A xy z

1 2
1
1
1
mr 2i mr 21 j mr 22i mr 21 j
4
2
4
2

H&

H&A

A xyz

x y z

H A xyz

2 i

H&

d
d
I

xy z I
dt
dt
2 i 1 j 2 i 1 j 2 i 1 j

A x y z

x y z

1 2
4 mr

H&

A x y z

1 2
mr
2

H&

A xyz

xyz

1
1
1

2i 1 j 12 k
2
2
4

In this problem 1 2 0
xyz

1 2
mr 12 k
2

2i
1
1

1
1
0 1 j mr 2 2i 1 j mr 2 2i 1 j

2
2
4
4
0
1 2
mr
4

1
1
1
1

2i 1 j 2i mr 22i mr 21 j
2
2
4
4

x y z

mr 2

mr 2

H&A

I
x y z
dt

A is the cm of the disk

Dy
x

Ey

Dz

Ez
A homogeneous disk of mass m = 3 kg rotates at the constant
rate 1 = 16 rad/s with respect to arm ABC, which is welded to
shaft DCE rotating at the constant rate 2 = = 8 rad/s.
Determine the dynamic reactions at D and E.
Rate of change of HA

H&

A xyz

Kinematics of center of mass

A in the inertial frame

Newton's law

1 2
mr 12 k
2

v A xyz 2 lBAk lCB j

a A XYZ

2lCB 2 2lBA j 2lBA 2 2lCB k

Here 2 0, a A XYZ 2 2lBA j 2 2lCB k

d
mv A ma A
dt
Dy j Dz k E y j Ez k m2 2lBA j m2 2lCB k

ext

Dy E y m2 2lBA ,

Dz Ez m2 2lCB

A is the cm of the disk

Dy
x

Ey

Dz

Ez

Rate of change of HA

H&

A xyz

1 2
mr 12 k
2

d
H&A rA/D mv A H&A rA/D ma A
dt
1
lEDi E y j Ez k mr 212 k lDC i lBA j lCB k m 2 2lBA j 2 2lCB k
2
1

lED Ez j E y k m2 2lDC lCB j m r 212 l DC lBA2 2 k

2

ext D

Euler's law

lED Ez m2 2lDC lCB Ez

m2 2lDC lCB
lED

m 1
1 2

r 12 lDC lBA2 2 E y r 212 lDC lBA22

lED 2
2

lED E y m

A is the cm of the disk

Dy
x

Ey

Dz

Ez

m 1 2
2
Ey
r 12 lDC lBA2 ,
lED 2

Dy E y m2 2lBA ,

m2 2lDC lCB
Ez
lED

Dz Ez m2 2lCB

Dy m2 2lBA E y m2 2lBA
Dz m2 2lCB Ez m2 2lCB

m 1 2
2
r 12 lDC lBA2
lED 2

m2 2lDC lCB
lED

A is the cm of the disk

Dy
x

Ey

Dz

Ez
It is assumed that at the instant shown shaft DCE has an
angular velocity 2 = 8 rad/s i and an angular acceleration
2 = 6 rad/s i. Recalling that the disk rotates with a constant
angular velocity 1 = 16 rad/s j, determine (a) the couple
that must be applied to shaft DCE to produce the given
angular acceleration, (b) the corresponding dynamic
reactions at D and E.

H&

Rate of change of HA

A xyz

Kinematics of center of mass

A in the inertial frame

Newton's law

1
1
1

2i 1 j 12 k
2
2
4

mr 2

v A xyz 2 lBAk lCB j

a A xyz 2lCB 22lBA

j 2lBA 2 2lCB k

d
mv A ma A
dt
Dy j Dz k E y j Ez k m 2lCB 2 2lBA j m 2lBA 2 2lCB k

ext

Dy E y m 2lCB 2 2lBA ,

Dz Ez m 2lBA 2 2lCB

A is the cm of the disk

Dy
x

Ey

Dz

Ez
Rate of change of HA

1
1
1

2i 1 j 12 k
2
2
4

H&

mr 2

A xyz

Euler's law
d
H&A rA/D mv A H&A rA/D ma A
dt
1
1
1

lED i E y j Ez k M 0i mr 2 2i 1 j 12k
2
2
4

ext D

lDC i lBA j lCB k m 2lCB 2 2lBA j 2lBA 2 2lCB k

M 0i lED Ez j E y k

1
1

1

m 2 r 2 lCB 2 lBA 2 i 2lBAlDC 2 2lCBlDC 1r2 j 12 r 2 2lDC lCB 2 2lDC lBA

2
4

2

4M 0
4M 0
1

M 0 m 2 r 2 lCB 2 lBA 2 2

m r 2 4lCB 2 4lBA 2 m r 2 4lCA 2

4

4M 0
1
2
2

l
l

l
l

r
BA
DC
2
CB
DC
1
2
2
2
m r 4lCA

m 1 2
4M 0
2
r 12
Ey
l
l

l
l
BA
DC CB
2 DC
2
2
lED 2
m
r

4
l

CA

1
m

lED Ez m 2lBAlDC 2 2lCBlDC 1r 2 Ez

2
lED

1 2

r 12 2lDC lCB 2 2lDC lBA

2

lED E y m

A is the cm of the disk

Dy
x

Ey

Dz

Ez

4M 0
m r 4lCA 2
2

m
4M 0
1
m
4M 0
2
2
2

DC
l
l

l
l

l
l

l
l
BA
DC
2
CB
DC
1
BA
DC
2
CB
lED m r 2 4lCA 2
2
lED m r 2 4lCA 2

m 1 2
4M 0
2
r 12
Ey
l
l

l
l

DC CB
2 DC BA
2
2
lED 2
m
r

4
l

CA

Dy E y m2 2lBA , Dz Ez m2 2lCB
Ez

Dy m2 2lBA E y m2 2lBA
Dz m2 2lCB Ez m2 2lCB

m 1 2
2
r 12 lDC lBA2
lED 2

m2 2lDC lCB
lED

Q 1 0