MMB222 D i MMB222 Dynamics

Kinetics of rigid body:

work & energy gy
Work & energy equation for rigid body
Kinetic energy of rigid body Kinetic energy of rigid body
Impulse & momentum of rigid body
Prof. Jacek Uziak
Rigid Body
It is an idealized model of an
object that does not deform
h h
Distance between any two
or change shape.
Distance between any two
points on the body is constant.
Angle between any two lines ng w n any w n
on or in the body is constant.
Because of the latter fact, whatever angular velocity a given
line has at an instant, that angular velocity is also that of all
the other lines on/in the body
2
the other lines on/in the body.
In other words, a body only has one velocity (which would
have one parameter in planar motion, three in 3D motion).
Eulers laws (generalized 2
nd
Newtons Law)
Laws of motion for a rigid body are known as Eulers laws.
Euler gave two laws for the motion of a rigid body.
Equations of motion for system of particles
n
Describes how the forces control
G
n
a i
i
Ma F =

=
Describes how the forces control
the translational motion of the
rigid body
a i
Angular momentum of a system of particles:
G G
H M
&
=

Describes how the change of angular

momentum of the rigid body is
controlled by the moment of forces
3
(G - centre of mass)
controlled by the moment of forces
and couples applied on the body.
WORK & ENERGY
The principle of work and energy for a rigid body is
expressed in the form:
T U T T
1
+ U
1 2
= T
2
where T
1
and T
2
represent the initial and final values of the p
kinetic energy of the rigid body and U
1 2
the work of the
external forces acting on the rigid body.
The work of a force F applied at a point A is The work of a force F applied at a point A is
U
1 2
= (F cos ) ds

s
2
1 2
( )

s
1
where F is the magnitude of the force, - angle it forms with
4
g g
the direction of motion of A, and s the variable of integration
measuring the distance traveled by A along its path.
The work of a couple of moment M applied to a rigid body
durin r t ti n in q f the ri id b d :
U
1 2
= M ds

2
during a rotation in q of the rigid body:
U
1 2
M ds

1
The kinetic energy of a rigid body in plane motion: The kinetic energy of a rigid body in plane motion:
T = mv
2
+ I
2
1
2
1
2 2 2
where v is the velocity of the mass center
G of the body, w the angular velocity of
G
G of the body, w the angular veloc ty of
the body, and I its moment of inertia about
an axis through G perpendicular to the
plane of reference

v
5
plane of reference.
T = mv
2
+ I
2
1
2
1
2 2 2
Th ki i f i id b d i
G

The kinetic energy of a rigid body in

plane motion may be separated into
two parts:

v
two parts:
(1) the kinetic energy mv
2
associated with the gy
motion of the mass center G of the body, and
(2) the kinetic energy I
2
associated with the
t ti f th b d b t G rotation of the body about G.
6
Kinetic energy of a rigid body Kinetic energy of a rigid body
Note that in the general plane motion of
each body, it is necessary to use those y y
parameters which refer to the translation of
the mass centre G and the rotation of the
b d b t th i i th h G body about the axis passing through G.
f d l Kinetic energy of a body in pure translation
or pure rotation can now be considered as a
special case of general plane motion
7
special case of general plane motion
The translating rigid body has a mass m and
G
g g y
all of its particles have a common velocity v.
Body does not have any angular velocity and
posses only kinetic energy of translation
v
posses only kinetic energy of translation
2
1
mv
For a rigid body rotating about a fixed axis through O with
2
mv
For a rigid body rotating about a fixed axis through O with
an angular velocity :
O
2
1
I

where I is the moment of inertia of the

2

O
I
8
where I
O
is the moment of inertia of the
body about the fixed axis.
Kinetic Energy: General Plane Motion
Kinetic energy of a body in general plane
ti l b d i t f motion may also be expressed in terms of
rotational velocity about the instantaneous
centre C of zero velocity centre C of zero velocity.
In this approach, the general plane motion
is treated as pure rotation about the is treated as pure rotation about the
instantaneous centre C and the kinetic
energy can be expressed as gy p
2
1
I
9
2
2

C
I
When a rigid body, or a system of rigid bodies, moves
under the action of conservative forces the principle of under the action of conservative forces, the principle of
work and energy may be expressed in the form
T
1
+V
1
=T
2
+V
2
which is referred to as the principle of conservation of
energy. This principle may be used to solve problems
T
1
V
1
T
2
V
2
involving conservative forces such as the force of gravity
or the force exerted by a spring.
The concept of power is extended to a rotating body
subjected to a couple
Power = = = M
dU
dt
M d
dt
10
where M is the magnitude of the couple and w is the
angular velocity of the body.
Example Example
A uniform disk of mass m
and radius R rolls without
O
v
o
and radius R rolls without
slip on a horizontal
surface.
Determine the kinetic
energy of the disk when
its centre O has a its centre O has a
velocity v
o
as shown
opposite
11
opposite
The disk is in general plane motion and
its kinetic energy can be calculated as its kinetic energy can be calculated as,
K.E. = Linear K.E. (at centre of mass) +
R t ti l K E ( b t t f ) Rotational K.E. (about centre of mass)
or
2 2
2
1
2
1
. .
o o
I mv E K + =
R
v
o
=
2
2
1
mR I
o
=
where or
12
R
2
Hence the kinetic energy: Hence, the kinetic energy:
2 2 2
2
2
2 2
4
3
4
1
2
1
2
1
2
1
2
1
. .
o o o
o
o
mv mv mv
R
v
mR mv E K = + = + =
13
The alternative method is to consider the
motion as pure rotation about the
i t t t f l it instantaneous center of zero velocity
which, in this case, is the point of contact
between the disk and the surface In this between the disk and the surface. In this
approach the kinetic energy is given by the
expression expression,
2
2
1
. .
C
I E K =
2
where I
C
is the moment of inertia about
point C which can be calculated using the
14
point C, which can be calculated using the
parallel axis theorem as
3 1
2 2 2 2
2
3
2
1
mR mR mR mR I I
o C
= + = + =
R
v
o
=
Angular velocity is still
R
Substituting Substituting,
2
2
2 2
3 3 1 1
mR
v
mR I E K
o
= = =
15
2
4 2 2 2
. . mR
R
mR I E K
C
= = =
Example
The velocity of the 8-kg y f g
cylinder is 0.3 m/s at a
certain instant.
What is its speed v after
dropping an additional 1.5 m?
The mass of the grooved The mass of the grooved
drum is 12 kg, its centroidal
radius of gyration is k = 210 radius of gyration is k 210
mm, and the radius of its
groove is r
i
= 200 mm. g
i
The frictional moment at O
is constant 3 Nm.
16
Answer:
3.01 m/s
Example p
The 15-kg wheel is released from rest and rolls on
its hubs without slipping.
Calculate the velocity v of the centre O of the
wheel after it has moved a distance x = 3 m down
th in lin the incline.
The radius of gyration of the wheel about O is
125 mm
17
125 mm.
Answer:
0.85 m/s
Impulse & Momentum: Rigid Body
The principle of impulse and momentum derived
f t f ti l b li d t th
p g y
for a system of particles can be applied to the
motion of a rigid body.
Syst Momenta
1
+Syst Ext Imp
1 2
=Syst Momenta
2
(m)v
mv
P
mv
I
18
Syst Momenta
1
+Syst Ext Imp
1 2
=Syst Momenta
2
For a rigid body the system of the momenta of the particles
forming the body is equivalent to a vector mv attached to the
m ss c nt r G f th b d nd c upl I mass center G of the body and a couple I.
The vector mv is associated with translation of the body with
G and represents the linear momentum of the body, while the
couple I corresponds to the rotation of the body about G
and represents the angular momentum of the body about an
axis through G axis through G.
(m)v
P
mv
G
I
19
The principle of impulse and momentum can be expressed
h ll b d h d graphically by drawing three diagrams representing
respectively
the system of initial momenta of the body, y f f y,
the impulses of the external forces acting on it, and
the system of the final momenta of the body.
Summing and equating respectively the x components the Summing and equating respectively the x components, the
y components, and the moments about any given point of
the vectors shown in the figure, we obtain three
i f i hi h b l d f h d i d equations of motion which may be solved for the desired
unknowns.
y
mv
y
y
mv
2

Fdt
y
I
mv
1
y
y
I
G G
20
x
O
I
1
x
O
x
O
I
2
1 The law of conservation of momentum 1.The law of conservation of momentum,
which is similar to that for a particle and
which could be formulated in the
following way:
Provided no forces external to the Provided no forces external to the
system of bodies are acting on the body,
the total momentum of the system the total momentum of the system
remains constant.
I th ds m is st t h m In other words, mv
G
is constant where, m
is the total mass of the system, and v
G
is
th l it f th m ss nt G
21
the velocity of the mass centre G.
2 The law of conservation of angular 2.The law of conservation of angular
momentum, which could be expressed as
follows: follows:
Provided no external moments act on a
system, the sum of the angular
momenta of the bodies in the system y
remains constant
22
Th d l i f l i h i l The second law is useful in mechanical
analysis of situations such as
E t f t ti t h o Engagement of rotating parts when a
clutch is released.
o It also describes how the angular o It also describes how the angular
velocity of a body changes if its
moment of inertia is changed by moment of inertia is changed by
some internal means (e.g. a gyrating
dancer spins faster by pulling p y p g
her/his arms inwards).
23
Example p
The 28 g bullet has a
horizontal velocity of 500
/ i ik h 25 k m/s as it strikes the 25 kg
compound pendulum, which
has a radius of gyration k = has a radius of gyration k =
925 mm.
If the distance h = 1075 If the distance h = 1075
mm, calculate the angular
velocity of the pendulum
500 m/s
y p
with its embedded bullet
immediately after the

24
impact.
Answer:
0.703 rad/s
Example
The 30 g bullet has a horizontal The 30 g bullet has a horizontal
velocity of 500 m/s as it strikes
the 10 kg slender bar OA, which g ,
is suspended from point O and is
initially at rest. y
It takes 0.001 s for the bullet
to embed itself in the bar.
Calculate the time average of
the horizontal force O
x
exerted
x
by the pin on the bar at O during
the interaction between the
25
bullet and the bar.
Answer:
3750 N
Example Example
The constant 40 N
f is ppli d t force is applied to
the 36 kg stepped
cylinder as shown
The centroidal radius of gyration of the cylinder
cylinder as shown.
The centroidal radius of gyration of the cylinder
is k = 200 mm, and it rolls on the incline without
slipping. pp g
If the cylinder is at rest when the force is first
applied, determine its angular velocity 8 s later.
26
applied, determine its angular velocity 8 s later.
Answer: 24.18 rad/s