Rigid Body Dynamics:

Kinematics and Kinetics

Rigid Body Dynamics

K. Craig

Topics

Introduction to Dynamics
Basic Concepts
Problem Solving Procedure
Kinematics of a Rigid Body
Essential Example Problem
Kinetics of a Rigid Body
Supplement: Rigid Body Plane Kinetics
Essential Example Problem
Rigid Body Dynamics

K. Craig

Introduction
Dynamics
The branch of mechanics that deals with the motion
of bodies under the action of forces.
Newtonian Dynamics
This is the study of the motion of objects that travel with
speeds significantly less than the speed of light.
Here we deal with the motion of objects on a macroscopic
scale.

Relativistic Dynamics
This is the study of motion of objects that travel with speeds
at or near the speed of light.
Here we deal with the motion of objects on a microscopic or
submicroscopic scale.
Rigid Body Dynamics

K. Craig

 Newtonian Dynamics
Kinematics
This is the study of the geometry of motion. It
describes the motion of bodies without reference
to the forces which either cause the motion or are
generated as a result of the motion. It is used to
relate position, velocity, acceleration, and time
without reference to the cause of the motion.
Kinetics
This is the study of the relation existing between
the forces acting on a body, the mass distribution
of the body, and the motion of the body. It is used
to predict the motion caused by given forces or to
determine the forces required to produce a given
motion.
Rigid Body Dynamics

K. Craig

Basic Concepts
Space
Space is the geometric region occupied by
bodies. Position in space is determined relative to
some geometric reference system by means of
linear and angular measurements.
The basic frame of reference (perspective from
which observations are made) for the laws of
Newtonian mechanics is the primary inertial
system which is an imaginary set of rectangular
axes assumed to have no translation or rotation in
space.
Rigid Body Dynamics

K. Craig

 Measurements show that the laws of Newtonian

mechanics are valid for this reference system as
long as any velocities involved are negligible
compared with the speed of light (186,000 miles
per second). Measurements made with respect to
this reference system are said to absolute.
A reference frame attached to the surface of the
earth has a somewhat complicated motion in the
primary system, and a correction to the basic
equations of mechanics must be applied for
measurements made relative to the earths
reference frame.

Rigid Body Dynamics

K. Craig

 In the calculation of rocket- and space-flight

trajectories, the absolute motion of the earth
becomes an important parameter. For most
engineering problems of machines and structures
which remain on the earths surface, the corrections
are extremely small and may be neglected. For
these problems, the laws of Newtonian mechanics
may be applied directly for measurements made
relative to the earth, and, in a practical sense, such
measurements will be referred to as absolute.

Time
Time is the measure of the succession of events
and is considered an absolute quantity in Newtonian
mechanics.
Rigid Body Dynamics

K. Craig

 Mass
Mass is the quantitative measure of the inertia or
resistance to change in motion of a body. It is
also the property which gives rise to gravitational
attraction and acceleration. In Newtonian
mechanics, mass is constant.

Newtons Law of Universal Gravitation

The force of attraction between two bodies of
mass M and m, respectively, separated by a
distance r, is given by:

GMm
F = 2 e r
r
M
Rigid Body Dynamics

G = 6.673 1011

m3
kg s 2

e r
K. Craig

 Mass Moment of Inertia

The mass moment of inertia of a rigid body is a
constant property of a body and is a measure of the
radial distribution of the bodys mass with respect to an
axis through some point. It represents the bodys
resistance to change in angular motion about the axis
through the point.

Force
Force is the vector action of one body on another.
There are two types of forces in Newtonian mechanics:
Direct contact forces between two bodies.
Forces which act at a distance without physical
contact, of which there are only two: gravitational
and electromagnetic.
Rigid Body Dynamics

K. Craig

 Particle
A particle is a body of negligible dimensions. Also,
when the dimensions of a body are irrelevant to the
description of its motion or the action of the forces
acting on it, the body may be treated as a particle. It
can also be defined as a rigid body that does not rotate.

Rigid Body
A rigid body is a body whose changes in shape are
negligible compared with the overall dimensions of the
body or with the changes in position of the body as a
whole.

Coordinate
A coordinate is a quantity which specifies position. Any
convenient measure of displacement can be used as a
coordinate.
Rigid Body Dynamics

K. Craig

10

 Degrees of Freedom
This is the number of independent coordinates
needed to completely describe the motion of a
mechanical system. This is a characteristic of the
system itself and does not depend upon the set of
coordinates chosen.

Constraint
A constraint is a limitation to motion. If the number of
coordinates is greater than the number of degrees of
freedom, there must be enough equations of
constraint to make up the difference.

Generalized Coordinates
These are a set of coordinates which describe
general motion and recognize constraint.
Rigid Body Dynamics

K. Craig

11

 A set of coordinates is called independent when all but

one of the coordinates are fixed, there still remains a
range of values for that one coordinate which
corresponds to a range of admissible configurations.
A set of coordinates is called complete if their values
corresponding to an arbitrary admissible configuration
of the system are sufficient to locate all parts of the
system. Hence, generalized coordinates are complete
and independent.

Newtons Laws of Motion (for a particle)

1st Law: Every particle continues in its state of rest or
of uniform motion in a straight line unless compelled to
change that state by forces acting on it. That is, the
velocity of a particle can only be changed by the
application of a force.
Rigid Body Dynamics

K. Craig

12

 2nd Law: The time rate of change of the linear

momentum of a particle is proportional to the
resultant force (sum of all forces) acting upon it
and occurs in the direction in which the resultant
force acts.
3rd Law: To every action there is an equal and
opposite reaction, i.e., the mutual forces of two
bodies acting upon each other are equal in
magnitude, opposite in direction, and collinear.
These laws have been verified by countless
physical measurements. The first two laws hold
for measurements made in an absolute frame of
reference, but are subject to some correction
when the motion is measured relative to a
reference system having acceleration.
Rigid Body Dynamics

K. Craig

13

 Units
SI Units
The primary dimensions are: mass, M, length,
L, and time, T.
The units are: mass (kg), length (m), and time
(sec).
This is an absolute set of units based on
mass, which is invariant.
Force, F, has dimensions of ML/T2 with the
unit newton (N).

kg m
1 N =1
s2

Rigid Body Dynamics

K. Craig

14

 US Customary Units
The primary dimensions are: force, F, length,
L, and time, T.
The units are: force (lb), length (ft), and time
(sec)
This is a relative set of units dependent upon
the local force of gravitational attraction.
Mass, M, has dimensions FT2/L with the unit
slug.
lb s 2
1 slug = 1
ft

Rigid Body Dynamics

K. Craig

15

 When close to the surface of the earth, g = 9.81

m/s2 in SI units, and g = 32.2 ft/s2 in US
Customary units.
Some useful conversions:
1 ft = 0.3048 m
1 lb = 4.448 N
1 slug = 14.59 kg
Weight = mg = magnitude of the gravitational
force acting on mass m near the surface of the
earth.

Rigid Body Dynamics

K. Craig

16

 Scalar
A scalar is any quantity that is expressible as a
real number.

Vector
A vector is any quantity that has both magnitude
and direction.
Because the study of Newtonian mechanics
focuses on the motion of objects in threedimensional space, we are interested in threedimensional vectors.
A unit vector has a magnitude of unity.

Rigid Body Dynamics

K. Craig

17

 There are three types of vectors:

Free Vector: no specified line of action or point
of application
Sliding Vector: specified line of action but no
specified point of application
Bound Vector: specified line of action and
specified point of application. A bound vector
is unique, i.e., only one vector can have a
specified direction, magnitude, line of action,
and origin.
Note that vector algebra is valid only for free
vectors. Consequently, the result of any algebraic
operation on vectors, regardless of the type of
vector, results in a free vector.
Rigid Body Dynamics

K. Craig

18

 Matrices
An array of numbers arranged in rows and
columns is called a matrix.
A m n matrix has m rows and n columns.
Our use of matrices will initially be restricted to
coordinate transformations and later to the
concept of the inertia matrix.
i1 1
0
0 i

j1 = 0 cos sin j
k 0 sin cos k

1

Rigid Body Dynamics

i1 = i
j1 = cos j + sin k
k 1 = sin j + cos k

K. Craig

19

 Notation and Reference Frames

A reference frame is a perspective from which
observations are made regarding the motion of a
system.
A moving body, such as an automobile or airplane,
frequently provides a useful reference frame for our
observations of motion. Even when we are not
moving, it is often easier to describe the motion of a
point by reference to a moving object. This is the case
for many common machines, such as linkages.
An engineer needs to be able to correlate observations
of position, velocity, and acceleration of points on
moving bodies, as well as the angular velocities and
angular accelerations of those moving bodies, from
both fixed and moving reference frames.
Rigid Body Dynamics

K. Craig

20

Reference Frames and Notation

Meaningless!

a P ????
R1 ????

R2

Proper Notation

????

y1

O
z1

aP

R1

R1

R 2

i1 1
0
0 i

j

j
=
0
cos

sin

1

0 sin cos
k
k1

i2 cos sin 0 i1

j2 = sin cos 0 j1
0

0
1

2
k1
Rigid Body Dynamics

Reference Frames:
R ground: xyz
R1 shaft: x1y1z1
R2 disk: x2y2z2

y1

y2

x2

x1

K. Craig

21

i1 = unit vector in x1 direction

j1 = unit vector in y1 direction
i2 = unit vector in x 2 direction
j2 = unit vector in y 2 direction

i2 = cos i1 + sin j1
j2 = sin i1 + cos j1

i1 = cos i2 sin j2
j1 = sin i2 + cos j2

i2 cos sin i1
=

j2 sin cos j1

i1 cos sin i2
=

sin
cos
j2
j1

Rigid Body Dynamics

K. Craig

22

Procedure for the

Solution of Engineering Problems
GIVEN State briefly and concisely (in your own words)
the information given.
FIND State the information that you have to find.
DIAGRAM A drawing showing all quantities involved
should be included.
BASIC LAWS Give appropriate mathematical
formulation of the basic laws that you consider
necessary to solve the problem.
ASSUMPTIONS List the simplifying assumptions that
you feel are appropriate in the problem.
Rigid Body Dynamics

K. Craig

23

 ANALYSIS Carry through the analysis to the point

where it is appropriate to substitute numerical values.
NUMBERS Substitute numerical values (using a
consistent set of units) to obtain a numerical answer.
The significant figures in the answer should be
consistent with the given data.
CHECK Check the answer and the assumptions made
in the solution to make sure they are reasonable. Check
the units, if appropriate.
LABEL Label the answer (e.g., underline it or enclose it
in a box).

Rigid Body Dynamics

K. Craig

24

Kinematics of a Rigid Body

Angular Velocity of a Rigid Body
Differentiation of a Vector in Two Reference
Frames
Addition Theorem for Angular Velocities
Angular Acceleration of a Rigid Body
Reference Frame Transformations
Velocity and Acceleration of a Point
Coriolis Acceleration and Centripetal Acceleration
Essential Example Problem
Rigid Body Dynamics

K. Craig

25

 Angular Velocity of a Rigid Body

R is the ground reference frame
y1
with coordinate axes xyz fixed in R
R1 reference frame is a rigid body
R1
x1
moving in reference frame R with
coordinate axes x1y1z1 fixed in R1
A
y
is any vector fixed in R1

i1 j1 k 1 form a right-handed set of

z1
mutually perpendicular unit vectors
fixed in R1
x
O R
z
Angular velocity is the time rate of
G
R
d R G R1 G
change of orientation of the body.
=
It is not in general equal to the
dt
derivative of any single vector.
Defining equation for
Rigid Body Dynamics

K. Craig

26

 Simple Angular Velocity of a Rigid Body

When a rigid body R1 moves in a reference frame
R in such a way that there exists throughout some
time interval a unit vector whose orientation in
both R1 and R is independent of the time, then
rigid body R1 is said to have simple angular
velocity in R throughout this time interval.
R R1
For example:
= R R1 k = k

= angular speed of R1 in R
Here R1 has simple angular
velocity in R (1) and R2 has
simple angular velocity in R1
(2). R2 does not have simple
angular velocity in R.
Rigid Body Dynamics

K. Craig

27

 Differentiation of a Vector in Two Reference

Frames
If R and R1 are any two reference frames, the first
time derivatives of any vector (not fixed in either
R or R1) in R and in R1 are related to each other as
follows:
y1

R1

d
d R R 1
=
+ ( )
dt
dt

R1

x1
A

y
z1
z

Rigid Body Dynamics

x
K. Craig

28

 Addition Theorem for Angular Velocities

Consider multiple reference frames: R1, R2, , RN
The following relation applies, whether the angular
velocities are simple or not:
R

RN

= + +
R

R1

R1

R2

R N 1

There exists at any one instant only one

Also
RN R
R RN

RN

R N

This addition theorem is very powerful as it allows

one to develop an expression for a complicated
angular velocity by using intermediate reference
frames, real or fictitious, that have simple-angularvelocity relations between each of them.
Rigid Body Dynamics

K. Craig

29

R2

= +
R

R1

R1

R2

simple angular velocity

NOT simple angular velocity

Rigid Body Dynamics

K. Craig

30

 Angular Acceleration
The angular
acceleration of
reference frame R1 in
reference frame R is
given by:
There is no addition
theorem for angular
accelerations.
When R1 has simple
angular velocity in R,
e.g.,
R R
R R

k = k 1
Rigid Body Dynamics

d
=
dt
R1

R1

d
dt
R

R1

y1
R1

x1
A

1 = 1 k
R R1
= R R1 k

= ==

R1

z1
z

x
K. Craig

31

 Reference Frame Transformations

R1 x1y1z1
R2 x2y2z2

i1 cos

j1 = sin
k 1 0
i2 cos

j2 = sin
k 2 0
Rigid Body Dynamics

sin 0 i2

cos 0 j2

0
1 k 2
sin 0 i1

cos 0 j1

0
1 k 1

R1

R 2 =

R1

R 2 =

R1

R 2 k 1 =

R1

R 2 k 2

Define:
V = Vx1 i1 + Vy1 j1 = Vx 2 i2 + Vy2 j2
What Is

R1

dV
?
dt
K. Craig

32

R1

i and j
1
1

R1

dV
d
Vx1 i1 + Vy1 j1 = Vx1 i1 + Vy1 j1
=

are fixed in R1
dt
dt
R1
R1
dV
d
j
V
i
V
=
+
x 2
y2 2
One Approach
dt
dt 2
R2
d
=
Vx 2 i2 + Vy2j2 + ( R1 R 2 V)

dt
Another Approach
= V i + V j + (k V)
x2 2

y2 2

Are the two approaches d

equivalent?
= Vx1 cos + Vy1 sin i2 +

i and j
2
2
are fixed in R 2
Rigid Body Dynamics

dt
d
Vx1 sin + Vy1 cos j2 +
dt
k 1 (Vx i1 + Vy j1 )
1
1

K. Craig

33

= Vx1 cos Vx1 sin + Vy1 sin + Vy1 cos i2 +

Vx1 sin Vx1 cos + Vy1 cos Vy1 sin j2 +
Vx j1 Vy i1
1
1

= Vx1 cos i2 sin j2 + Vy1 sin i2 + cos j2 +

Vx1 sin i2 cos j2 + Vy1 cos i2 sin j2 +

Vx j1 Vy i1
1
1

= V i + V j V j + V i + V j V i
x1 1

y1 1

= Vx1 i1 + Vy1 j1
Rigid Body Dynamics

x1 1

y1 1

x1 1

y1 1

Same Result !
K. Craig

34

 Velocity and Acceleration of a

Point
The solution of nearly every
problem in dynamics requires
the formulation of expressions
for velocities and accelerations
of points of a system under
consideration.

Reference Frames
R - Ground xyz
R1 - Body x1y1z1
y1
P
R1
y

G P R G A R G R1 G AP
R1 G P
v = v +( r )+ v
z1
G AP
R GP
R GA
R G R1
R G R1
a = a + ( r )
O R
z
G
G
G
+ R R1 r AP + R1 a P
Relative Acceleration
G
G
Centripetal Acceleration
+ 2 R R1 R1 v P

x1
A

Rigid Body Dynamics

Tangential Acceleration
Coriolis Acceleration

K. Craig

35

y1

Derivation

OP

=r

OA

+r

AP

R1 A

d OP
y
v =
(r )
dt
r OA z1 OP
R
R
r
d OA
d AP
=
(r ) +
(r )
x
dt
dt
O R
z
R1
d AP
R A
R R1
AP
= v +
(r ) + ( r )
dt
R A
R1 P
R R1
AP
= v + v +( r )
G AP
R1 G P
R GP
RGA
R G R1
v = v +( r )+ v
P

Rigid Body Dynamics

K. Craig

x1

r AP
P

36

d R GP
d
GP
a =
( v )=
dt
dt
R

G A R G R1 G AP
v + ( r ) +
R

R1

GP
v

d R GA
G
( v ) = R aA
dt

d
dt

R
d G AP
G R1 G AP
G AP
R G R1
R G R1
r ) =( r )+(
r )
dt
G
G
G
G
G
G
= ( R R1 r AP ) + R R1 [ R1 v P + ( R R1 r AP )]

R1
d R1 G P
d R1 G P
G
G
( v )=
( v ) + ( R R1 R1 v P ) =
dt
dt

R1

G
G
G
a P + ( R R1 R1 v P )

GP R GA
G AP
R G R1
R G R1
a = a + ( r )
G AP
R1 G P
R1 G P
R G R1
R G R1
+ r + a + 2 v

Rigid Body Dynamics

K. Craig

37

 Anatomy of Coriolis and Centripetal Acceleration

Situation: A turntable, with its center pivot O fixed to
ground, is rotating clockwise at a constant angular rate.
An ant is at point P on the turntable walking at a
constant speed v, relative to the turntable, towards
some food at point 2.
What is the absolute acceleration of the ant? R a P

Rigid Body Dynamics

K. Craig

38

GP R GO
G OP
R G R1
R G R1
a = a + ( r )
G OP
R1 G P
R1 G P
R G R1
R G R1
+ r + a + 2 v
= R R1k 1 ( R R1k 1 rj1 ) + 2 R R1k 1 vj1
= r2j1 + 2vi1
= Centripetal Acceleration + Coriolis Acceleration

Rigid Body Dynamics

K. Craig

39

 The approximate acceleration of the ant with

respect to the R reference frame is the difference
between its velocity at points 2 and 1 divided by
t. Then we take the limit as t 0. The result
is: R a P
Acceleration in the y direction:

v radial = [ 2 + 4 ] v = [ vcos (r + r)sin ] v

= v 2 rt 2 v(t) 2 v
a radial

v radial
= lim
= r2
t 0
t

Centripetal Acceleration
Rigid Body Dynamics

cos 1
sin

due to term 4
v has no effect on aradial
depends on ants position
K. Craig

40

 Acceleration in the x direction:

v tangential = [ 1 + 3 ] r = [ vsin + (r + r)cos ] r

= [ vt + r + vt ] r
a tangential = lim

t 0

Coriolis
Acceleration

Rigid Body Dynamics

v tangential
t

= v + v = 2v

cos 1
sin

independent of ants position

effect of on v (term 1 ) is always
exactly the same as the effect of v on
(term 3 ).
effect of changing the orientation
of v is exactly the same as the effect
of v carrying r to a different radius,
changing its magnitude.
K. Craig

41

Rigid Body 3D Kinematics Example

Rigid Body Dynamics

K. Craig

42

Rigid Body Kinematics Essential Example

R

R1
= constant

=
5i
Given:
R1 R 2
= 4k 1 = constant
R

Find:

r = 0.06 m

R1

aP

i1 1
0
0 i

j1 = 0 cos sin j
k 0 sin cos k

1
y1
y1

y2

x2

x1

Rigid Body Dynamics

z1

R2
O

= 30

Reference Frames:
R ground: xyz
R1 shaft: x1y1z1
R2 disk: x2y2z2

G OP
r = ( r cos ) i1 + ( r sin ) j1
K. Craig

43

GP R GO
G OP
G OP
R G R2
R G R2
R G R2
a = a + ( r ) + r
R2 G P
R2 G P
R G R2
+ a + 2 v

GO
a = 0 Point O at end of rotating shaft is fixed in R
R2 G P
a =0
Point P is fixed in R2 (disk)
G
R2
vP = 0
R GR
R GR
RGR
R

G R2

1 + 1 2 = 5i + 4k 1
R R G R2
R
d
d
5i + 4k 1
=
=
dt
dt
G
R
dk1
R G R1
= 0+4
= 4 k 1
dt
= 4 5i1 k 1 = 20j1

Rigid Body Dynamics

= 20 jcos + k sin

K. Craig

44

After Substitution and Simplification:

R

GP
a = ( 16r cos ) i1 + ( 41r sin ) j1 + ( 40r cos ) k 1

Alternate Solution:
R

GP R GO
G OP
G OP
R G R1
R G R1
R G R1

a = a + ( r ) + r
R1 G P
R1 G P
R G R1
+ a + 2 v

GO
a =0
R G R1
= 5i = constant
R R G R1
d
R G R1
=
=0
dt
R

Rigid Body Dynamics

G OP
r = ( r cos ) i1 + ( r sin ) j1

K. Craig

45

G P R1 G O
G OP
G OP
R1 G R 2
R1 G R 2
R1 G R 2
a = a + ( r ) + r
R1 G O
(P is fixed in R2)
a =0
R1 G R 2
= 4k 1
R 1 R1 G R 2
R1
d

d
G
R1 R 2
4k 1 = 0
=
=
dt
dt
G OP
R1 G P
R1 G O
R1 G R 2
v = v +( r )
G OP
R1 G O
r = ( r cos ) i1 + ( r sin ) j1
v =0
R1

After Substitution and Simplification:

R

GP
a = ( 16r cos ) i1 + ( 41r sin ) j1 + ( 40r cos ) k 1

Same Result
Rigid Body Dynamics

K. Craig

46

Kinetics of a Rigid Body

Rigid Body Degrees of Freedom
Linear Momentum
Angular Momentum
Mass Moments of Inertia & Parallel Axis Theorem
Principal Axes and Planes of Symmetry
Translation Theorem for Angular Momentum

Equations of Motion
Eulers Equations

Kinetic Energy and Work-Energy Principle

Impulse-Momentum Principle
Essential Example Problem

Rigid Body Dynamics

K. Craig

47

 Rigid Body Degrees of Freedom

If a system of particles becomes a continuum and
the measured distances between points in the
system remains constant, the system is said to be
a rigid body.
The same laws of motion that influence a system
of particles must also govern the motion of a rigid
body. The difference is that with a continuum
present, the summation of physical quantities for
discrete particles now becomes an integration
over the whole volume.
An unconstrained rigid body has 6 degrees of
freedom (3 translational and 3 rotational) and 6
equations of motion are needed to specify its
motion.
Rigid Body Dynamics

K. Craig

48

 Linear Momentum of a Rigid Body

C mass center
O reference point in body B
xyz body-fixed axes
XYZ ground axes

L = linear momentum of rigid body

L = v dm = R vO + ( R B r) dm
B

= v
R

dm +

r dm
B

total mass

m = dm

= m v + ( mr )
R

= m v + ( r ) = m v
R

Rigid Body Dynamics

center of mass
location

1
r = r dm
mB

L=m v
R

C
K. Craig

49

 Angular Momentum of a Rigid Body

C mass center
O reference point in body B
xyz body-fixed axes
XYZ ground axes

HO

Angular Momentum of B
about point O

H O = (r v) dm
B

= r R vO + ( R B r) dm
B

= R v O r dm + r ( R B r) dm = r ( R B r) dm
B

Rigid Body Dynamics

v O = 0 if point O is fixed in R

r dm = 0 if point O coincides with C

B

K. Craig

50

H O = r ( R B r) dm

Point O is fixed in R

H = ( R B ) dm

Point C is the mass center of B

H O = H x i + H y j + H z k
B = R B x i + R B y j + R B z k

Here we assume either

point O is fixed in R or
coincident with point C.

HO
R

dm

Independent of the
orientation of the xyz
body-fixed axes, but
their components are
not.

Rigid Body Dynamics

Y
z

C
x

Rigid Body B
Z Ground R X
K. Craig

51

We can show by integration that:

H x Ix
H = I
y yx
H z I zx
I x = (y 2 + z 2 )dm

I z = (x 2 + y 2 )dm
B

I xz R Bx
R B
I yz y
I z R Bz

Inertia Matrix

Mass
I y = (x 2 + z 2 )dm Moments
of
B
Inertia
B

I xy
Iy
I zy

I xy = (xy)dm = I yx

B
Mass
Products I = (xz)dm = I
xz
zx
of
B
Inertia

I yz = (yz)dm = I zy
B

Note: the elements of the inertia matrix are for

a particular point and a particular orientation of
the xyz body-fixed axes.
K. Craig

Rigid Body Dynamics

52

 Parallel Axis Theorem of Inertia Matrix

There is an inertia matrix associated with every
point of a rigid body.
Consider two parallel coordinate systems fixed to
a rigid body: x1y1z1 and x2y2z2.
Let point 1 coincide with the mass center C.

b2 + c2

[ I]2 = [ I]C + m ab
ac
x 2 = x1 + a

ab
c2 + a 2
bc

ac

bc
2
2
a + b

y 2 = y1 + b
z 2 = z1 + c
Rigid Body Dynamics

K. Craig

53

 Principal Axes
It is often convenient to deal with rigid-body
dynamics problems using the coordinate system
fixed in the body for which all products of inertia
are zero simultaneously, i.e., the inertia matrix is
diagonal.
The 3 mutually perpendicular axes are called
principal axes.
The 3 mass moments of inertia are called
principal moments of inertia.
The 3 planes formed by the principal axes are
called principal planes.

Rigid Body Dynamics

K. Craig

54

 Plane of Symmetry
Many rigid bodies have a plane of symmetry.
For example, if the xy plane is a plane of
symmetry, then for every mass element with
coordinates (x, y, z) there exists a mass element
with coordinates (x, y, -z).
Hence
I =I =0
yz

xz

Translation Theorem for Angular Momentum

The angular momentum of a body B about any
point P(on or off the body, fixed or moving) can be
expressed as:

H P = (r

Rigid Body Dynamics

PC

L) + H

K. Craig

55

H P = (r v) dm

Derivation

dm

= r R v C + ( R B ) dm

= (r PC + ) R v C + ( R B ) dm
B

PC

= (r PC R vC ) dm + ( R v C ) dm +
B

Rigid Body B
PC
R B
R B

)
dm
+

(
) dm
B
B

Y
0
R C

PC
R C
= r m v v dm +
B

0
PC R B
R B

) dm
r
dm
(

Z Ground R X

B
B
Rigid Body Dynamics

H P = (r

PC

L) + H

K. Craig

56

 Equations of Motion
The six scalar equations of motion for a rigid body are
given by the two vector equations:
R R GC
G Rd G
d v
F =
L=m
dt
dt
R
G Rd G
G
d G
M =
H or M O =
HO
dt
dt

F is the resultant of all external forces acting on the

body.
M (M O ) is the resultant moment of external forces
and couples about the mass center C (fixed point O).

Rigid Body Dynamics

K. Craig

57

 Lets express these equations in terms of the bodyfixed xyz coordinate system.
R

B = R Bx i + R By j + R zB k

H = H x i + H y j + H z k

v C = R v Cx i + R v Cy j + R vCz k

H O = H Ox i + H O y j + H Oz k

GC B R GC
d v
d v
R GB
R GC
=
+( v )
dt
dt
+ ( R Bx i + R By j + R zB k)
R vG C
= ( R v Cx i + R v Cy j + R v Cz k)

= ( R v Cx + R v Cz R By R vCy R zB )i
+ ( R v Cy + R v Cx R Bz R v Cz R Bx )j
+ ( R v Cz + R v Cy R Bx R v Cx R By )k
Rigid Body Dynamics

K. Craig

58

G
G
B
dH
dH R G B G
=
+ ( H)
dt
dt
G
G
R
B
+ ( H)
= (H x i + H y j + H z k)
=

(H x + H z R By H y R Bz )i
+ (H y + H x R zB H z R Bx )j
+ (H z + H y R Bx H x R By )k
The inertia matrix is
constant with respect to
time since it is
expressed in the bodyfixed coordinate system.
So we can write:

Rigid Body Dynamics

H x Ix
H = I
y yx
H z I zx

I xy
Iy
I zy

I xz R Bx

I yz R By
I z R Bz

H x Ix
H = I
y yx
H z I zx

I xy
Iy
I zy

I xz R Bx

I yz R By
I z R zB
K. Craig

59

The velocity terms refer to: R v C

The angular velocity terms refer to: R B
The xyz axes are body-fixed axes.
Fx = m v x + v z y v y z

Six Scalar Equations of Motion

Fy = m v y + v x z v z x
Fz = m v z + v y x v x y

M x = I x x + I xy (y x z ) + I xz (z + x y ) +
(I z I y )y z + I yz (2y 2z )
M y = I y y + I xy (x + y z ) + I yz (z x y ) +
(I x I z )x z + I xz (2z 2x )
M z = I z z + I xz (x y z ) + I yz (y + x z ) +
(I y I x )x y + I xy (2x 2y )
Rigid Body Dynamics

The moments
and inertia
terms are with
respect to
axes fixed in
the body with
origin at C, the
mass center.
K. Craig

60

If we assume that the xyz body-fixed axes are principal

axes (1, 2, and 3), then all the products of inertia are zero,
and the mass moments of inertia are identified as:

I x = I1

I y = I2

I z = I3

The three rotational equations then are:

I11 + (I3 I 2 )2 3 = M1
I 2 2 + (I1 I3 )13 = M 2

Eulers Equations

I33 + (I 2 I1 )12 = M 3
Note: If only z and z are nonzero in the general
equations, then:
For these to be zero,
M x = I xz z I yz 2z
the xy plane must be a
2
M y = I yz z + I xz z
plane of symmetry:
M z = I z z
I xz = I yz = 0
Rigid Body Dynamics

K. Craig

61

 Kinetic Energy

T = Kinetic Energy

v is the velocity of particle dm with respect to R

1 2
1
dm
dT = v dm = (vi v)dm
R B
=
2
2
y

1
= (v + )i(v + ) dm
2
C
1
Y
z
T = (v + )i(v + ) dm
2
B
1
1
= m(v i v) + [ ( )i( ) ] dm
2
2B

Rigid Body B

Z Ground R X

= Ttranslation + Trotation
Rigid Body Dynamics

Note:

dm = 0
B

K. Craig

62

1
Ttranslation = m(v i v)
2
1
Trotation = [ ( )i( ) ] dm
2B
1
= [ i( ( )) ] dm
2B

vector
identity

1
= iH
2
1
= (I x 2x + I y 2y + I z z2 )
2
+ I xy x y + I yz y z + I zx z x
Rigid Body Dynamics

1
T
T = m[ v] [ v]
2
1 T
+ [ ] I [ ]
2

K. Craig

63

1 T
T = [ ] [ I ]O [ ]
2

Rigid Body Dynamics

If the body has a fixed point O

in inertial space and the origin
of the xyz coordinate system is
at this point, then the total
kinetic energy T is entirely due
to rotational motion about the
fixed point.

K. Craig

64

 Work-Energy Equation

The resultant of all external forces acting

on the rigid body

The resultant moment of external forces and

couples acting on the rigid body about the
center of mass C

U12

The work done by all external forces and

couples in time interval from t1 to t2
t2

t2

t1

t1

U12 = (Fi v)dt + (M i)dt

U12 = T2 T1
Rigid Body Dynamics

K. Craig

65

 Impulse-Momentum Principle
Integration of the force equation with respect to
time yields the theorem that the linear impulse of
a rigid body is equal to the change in linear
momentum.
R R GC
G
d v
F = m

dt

t2

t1

G
G
G
Fdt = m [ v(t 2 ) v(t1 ) ]

Similarly, integration of the moment equation with

respect to time yields the theorem that the angular
impulse of a rigid body is equal to the change in
angular momentum.

G Rd G
M =
H
dt

Rigid Body Dynamics

t2

t1

G
G
G
M dt = H(t 2 ) H(t1 )
K. Craig

66

Supplement:
Rigid Body Plane Kinetics

Rigid Body Dynamics

K. Craig

67

Rigid Body Dynamics

K. Craig

68

Rigid Body Dynamics

K. Craig

69

Rigid Body Dynamics

K. Craig

70

Rigid Body Dynamics

K. Craig

71

Rigid Body Dynamics

K. Craig

72

Rigid Body Dynamics

K. Craig

73

Rigid Body Dynamics

K. Craig

74

Rigid Body Dynamics

K. Craig

75

Rigid Body Dynamics

K. Craig

76

Rigid Body Dynamics

K. Craig

77

Rigid Body 3D Kinetics Example

Rigid Body Dynamics

K. Craig

78

Rigid Body Dynamics

K. Craig

79

Rigid Body Dynamics

K. Craig

80

Rigid Body Dynamics

K. Craig

81

Rigid Body Dynamics

K. Craig

82

Rigid Body Dynamics

K. Craig

83

Rigid Body Dynamics

K. Craig

84

Rigid Body Dynamics

K. Craig

85

Rigid Body Dynamics

K. Craig

86