Chapter 16 PLANE MOTION OF RIGID BODIES:

FORCES AND ACCELERATIONS

1. A Relation exists between
the forces acting on a rigid
body, the shape and mass
of the body.
2. Study of these and the
motion produced is known
as the kinetics of rigid
bodies.
3. Analysis is restricted to the
plane motion of rigid slabs
and rigid bodies
symmetrical with respect to
the reference plane.
G
F
1
F
2
F
3
F
4
H
G
ma
G
.
The two equations for the
motion of a system of
particles apply to the most
general case of the motion
of a rigid body.
The first equation defines
the motion of the mass
center G of the body.
G
F
1
F
2
F
3
F
4
H
G
ma
G
.
F = ma
2. The second is related to the motion of the body relative to a
centroidal frame of reference.
M
G
= H
G
.
where m is the mass of
the body, and a the
acceleration of G.
G
F
1
F
2
F
3
F
4
H
G
ma
G
.
F = ma
M
G
= H
G
.
where H
G
is the rate of
change of the angular
momentum H
G
of the
body about its mass
center G.
These equations express that the system of the external forces
is equipollent to the system consisting of the vector ma attached
at G and the couple of moment H
G
.
.
.
.
G
F
1
F
2
F
3
F
4
H
G
ma
G
.
H
G
= I
For the plane motion of
rigid slabs and rigid
bodies symmetrical with
respect to the reference
plane, the angular
momentum of the body is
expressed as
where I is the moment of inertia of the body about a centroidal
axis perpendicular to the reference plane and is the angular
velocity of the body. Differentiating both members of this
equation
H
G
= I = I
.
.
G
F
1
F
2
F
3
F
4
For the restricted case
considered here, the rate
of change of the angular
momentum of the rigid
body can be represented
by a vector of the same
direction as (i.e.
The plane motion of a rigid body symmetrical with respect to
the reference plane is defined by the three scalar equations
ma
G
I
perpendicular to the plane of reference) and of magnitude I .
F
x
= ma
x
F
y
= ma
y
M
G
= I
The external forces acting on a rigid body are actually equivalent
to the effective forces of the various particles forming the body.
This statement is known as dAlemberts principle.
Copyright 1997 by The McGraw-Hill Companies, Inc. All rights reserved.
Fig. 16.7
G
F
1
F
2
F
3
F
4
dAlemberts principle can
be expressed in the form
of a vector diagram, where
the effective forces are
represented by a vector
ma attached at G and a
couple I . In the case of a
slab in translation, the
effective forces (part b of
the figure) reduce to a
(a) (b)
single vector ma ; while in the particular case of a slab in
centroidal rotation, they reduce to the single couple I ; in any
other case of plane motion, both the vector ma and I should
be included.
ma
G
I
Fig. 16.10
Copyright 1997 by The McGraw-Hill Companies, Inc. All rights reserved.
Fig. 16.15
Copyright 1997 by The McGraw-Hill Companies, Inc. All rights reserved.
Fig. 16.19
C
o
p
y
r
i
g
h
t

1
9
9
7

b
y

T
h
e

M
c
G
r
a
w
-
H
i
l
l

C
o
m
p
a
n
i
e
s
,

I
n
c
.


A
l
l

r
i
g
h
t
s

r
e
s
e
r
v
e
d
.
G
F
1
F
2
F
3
F
4
Any problem involving the
plane motion of a rigid slab
may be solved by drawing a
free-body-diagram equation
similar to that shown. Three
equations of of motion can
then be obtained by
equating the x components,
y components, and moments about an arbitrary point A, of the
forces and vectors involved.
This method can be used to solve problems involving the
plane motion of several connected rigid bodies.
Some problems, such as noncentroidal rotation of rods and
plates, the rolling motion of spheres and wheels, and the plane
motion of various types of linkages, which move under
constraints, must be supplemented by kinematic analysis.
ma
G
I
Copyright 1997 by The McGraw-Hill Companies, Inc. All rights reserved.
Fig. 16.18