Introduction to kinetics Transparency 1

Kinematics: Study of motion without reference to

the forces that cause the motion (Chapter 5)

Kinetics: Study of the action of forces on bodies

together with the subsequent motion of these bodies
(Chapter 6)

We are working towards the following equations that

describe the effect of external forces on a rigid body:

F = ma (Translation)
MG = I (Rotation)

(Translation) Resultant external force = mass

acceleration of mass center

(Rotation) Resultant moment about mass center

= moment of inertia about mass center angular
acceleration

We now derive the above equations...

Introduction to kinetics Transparency 2

Results from Chapter 4 (pp. 278 - 280)

Angular momentum of a system of particles
(READ AGAIN)

mi F3
mi
i F1 F
2

i ' G
ri
r
System boundary
rP
P (arbitrary)
O (fixed)

Definition of mass center: mii = 0

We only consider external forces, the internal forces
cancel one another
Note: Moment of linear momentum about a point
angular momentum about the point
Introduction to kinetics Transparency 3

Angular momentum about a fixed point O:

MO = HO The resultant vector moment about
any fixed point of all the external forces on the sys-
tem = rate of change of angular momentum of the
system about the fixed point
Ang. momentum about the mass center G:
MG = HG

Ang. momentum about arbitrary point P :

MP = HG + ma

Chapter 6: Plane kinetics of rigid bodies

6/1: Introduction (page 419)

Organization of the chapter

6/2: General equations of motion
6/3: Translation
6/4: Fixed axis rotation
6/5: General plane motion
Introduction to kinetics Transparency 4

6/2: General equations of motion (p 421)

Force equation (from Chapter 4): F = ma

Moment equation (from Chapter 4): MG = HG

Plane-motion equations...
Introduction to kinetics Transparency 5

mi F3
mi
i F1 F
2

i ' G
ri
r
System boundary
rP
P (arbitrary)
O (fixed)

From Chapter 4: Angular momentum of mass sys-

tem about mass center G is vector sum of moments
of linear momenta about G:
lin mtum of mi

 
HG = (
 i 
miri ) (ri is abs vel of mi)
ang mtum of mi about G

= (i mi(r + i))
= (i mir) + (i mii)
= (r m
 

ii) + (i mi
 
i
)
=0 rel vel

HG = (i mii)
Introduction to kinetics Transparency 6

For a rigid body, the velocity of mi relative to G

is i = i, which has a magnitude of i
and lies in the plane of motion normal to i. If
i and i lie in the x-y plane, the cross-product
i i = i ( i) is then a vector normal
to the x-y plane with the same sense as , and its
magnitude is 2i . Therefore the magnitude of HG
is
HG = (i mi) =  (2i
mi) .
2
 

I
Introduction to kinetics Transparency 7

For a rigid body the summation 2i mi (discrete)



should in fact be written as 2dm (continuous).



We define the mass moment of inertia I of the body

about the z-axis through G as
I = dI = 2dm,
 

where
dI = 2dm.

Def: The moment of inertia I is a constant pro-

perty of a body and is a measure of the rotational
inertia (resistance to change) in rotational velocity
due to the radial distribution of mass around the
z-axis through G. The unit for mass moi is kgm2.
The angular momentum can then be written as
HG = I.

(Remember) The resultant of all the moments about

the mass center G (of all the external forces acting
on the system) is equal to the time rate of change
of the angular momentum about point G.
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That is:
MG = HG = I = I.

General equations of motion for a rigid body in plane

motion:
F = ma
MG = I

Alternative derivation: Leave out

Diagrammatic representation:
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Alternative moment equations

General equation for moments about an arbitrary
point P (from Chapter 4):

MP = HG + ma

Therefore, for the 2D body below, we have that:

MP = I + mad
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Unconstrained and constrained motion

(a) Can obtain ax, ay , and directly from

F = ma
MG = I

(b) Have to determine the kinematic relationship

between ax, ay , and , and combine this with the
above equations, so that they can be solved
Introduction to kinetics Transparency 11

Systems of interconnected bodies

Upon occasion, in problems dealing with two or
more connected rigid bodies whose motions are re-
lated kinematically, it is convenient to analyze the
bodies as an entire system

F = ma
MP = I + mad

Analysis procedure: Read