Mechanics of Rigid Body

Kinematics, Kinetics and Static

1.- Introduction
2.- Kinematics. Types of Rigid Body Motion:
Translation,
Rotation
General Plane Motion
3.- Kinetics. Forces and Accelerations. Energy and
Momentum Methods.
Angular Momentum and Moment of Inertia
Fundamental Equations of Dynamics
4.- Statics. Equilibrium.
Mechanics of Rigid Body

Introduction. Rigid Body as a particular system of particles

System of Particles. Internal and External forces

Rigid Body is defined as a particular system
of particles which does not deform. Let A and B
be any two of its particles; then, in a rigid body the
distance between A y B will remain without changes.
Limits of this assumption: elasticity and break

rB = rB rA
A

AB = rB / A = C
Mechanics of Rigid Body
1.- Introduction: Forces acting on a rigid body Forces acting of rigid bodies can be
also separated in two groups: (a) The external forces, represent the action of other bodies on
the rigid body under consideration; (b) The internal forces are the forces which hold together
the particles forming the rigid body. Only external forces can impart to the rigid body a motion
of translation or rotation or both
Transmissibility principle: The effect of an external force on a rigid body remains
unchanged if that force is moved along its line of action. We will need the math concept of moment
of a force (torque) to describe its principle.

Connected Rigid Bodies :

Mechanisms. i.e. slider-crank, gear
box
Mechanics of Rigid Body

Free Body Diagrams:

Showing all the forces acting on the body
Reactions at supports and connections

Restaurant

Exercise: Free-Body Diagram on the

front wheel and on the rear wheel (a)
Exercise: Free-Body Diagram constant speed (b) accelerating (c)
on the rod (beam) embedded Acting brakes
in the wall

Exercise: Free-Body Diagram

on the sliding stair with
Keeping Constant Speed over a
friction in supporting points
incline with angle
Mechanics of Rigid Body

Introduction. Mass Center (Center of Gravity) of a System of Particles:

Concept. Static and Dynamic properties
The center of mass of a system of particles (Rigid Body is a particular case) is the point of the space
where the system of gravitational forces formed by all elementary gravitational forces acting on each
elementary particle (dm g), is equivalent to one force (mg) placed there. The potential energy of a
system of particles is simply mgy, where y is the height of center of mass. This concept provides a
method to find the center of mass of a body.
The center of mass moves like a particle of mass m = mi under the influence of the external forces
acting on the system,

Fext = m aCM or mvCM = mi vi

i

To compute the point where is placed the center of mass

m rCM = mi ri or m rCM = r dm
i

m xCM = mi xi ; m yCM = mi yi ; m zCM = mi zi

i i i

Find the center of mass (with math and without math)

m 2m
Mechanics of Rigid Body. Kinematics Fig. 15.1 a 15.4
1.- Kinematics. Types of motion: TRANSLATION, ROTATION about a fixed axis
, GENERAL PLANE MOTION, MOTION about a fixed pint, GENERAL MOTION

TRANSLATION. A motion is said to be a

translation if any straight line inside the
body keeps the same direction during the
movement.
All the particles forming the body move
along parallel paths. If these paths are
straight lines, the motion is said a rectilinear
translation; if the paths are curved lines, the
motion is a curvilinear motion

ROTATION about a fixed axis. The

particles forming the rigid body move in
parallel planes along circles centered on
the same fixed axis. If this axis, called the
axis of rotation intersects the rigid body, the
particles located on the axis have zero
velocity and zero acceleration

Exercise: Distinguish between curvilinear translation and rotation about a fixed axis
Mechanics of Rigid Body. Kinematics

GENERAL PLANE MOTION.

Any plane motion which is neither a
translation or a rotation is referred
as a general plane motion. Plan
motion is that in which all the
particles of the body move in parallel
planes. Translation and rotation are
plane motions.

MOTION about a fixed point. The

three-dimensional motion of a rigid
body attached at a fixed point, for
example, the motion of a top on a rough
floor, is known as motion about a fixed
point.

GENERAL MOTION Any motion of

a rigid body which does not fall in any
of the cathegories above described.
Mechanics of Rigid Body. Kinematics Fig. 15.1 a 15.4

Exercise: Identify
different types of
motion
Mechanics of Rigid Body. Kinematics

TRANSLATION. Motion equations Fig. 15.1 Fig. 15.7 pag 918

rB / A = rB rA
will be constant in magnitude
(rigid body) and in direction
(translation motion), then
the derivative of rB / A is zero

vB = v A
aB = a A

When a rigid body is in translation all the

points of the body have the same
Conclusion: A rigid body in velocity and the same acceleration.
translation can be considered as a
particle
Mechanics of Rigid Body. Kinematics. Rotation about a fixed axis

ROTATION about a fixed axis. Basic relationships

Motion equations. Velocity curvilinear motion
Representative slab arc = angle x radius
ds = d R
ds d
= R
dt dt
v v = R
Where angle is in radians!!!
P
R
Angular velocity,
Angular acceleration,
d =
d
=
dt dt

Angular velocity and angular acceleration are invariants.

They are the same for all points of the solid. They are a
characteristic of the rotating motion of the solid

Exercise: A compact disk rotating at 500 rev/min is scanned by a laser that begins at the inner radius
of about 2.4 cm and moves out the edge at 6.0 cm. Which is the linear (tangential) velocity of the disk
where the laser beam strikes: (a) at the beginning of scanning and (b) at the end?. The same for
acceleration
Mechanics of Rigid Body. Kinematics. Rotation about a fixed axis

d
ROTATION about a fixed axis. Motion equations. Acceleration =
dt

dv d (R) d
aT = = = R = R
dt dt dt
v 2 (R) 2
aN = = = 2 R
R R
aT

R P
aN

Representative slab
Mechanics of Rigid Body. Kinematics. Rotation about a fixed axis

ROTATION about a fixed axis. The vector motion equations

Vector expressions for velocity and

acceleration in rotation about a fixed axis

vB = rB / A
aB = rB / A + ( rB / A )
Mechanics of Rigid Body. Kinematics. Rotation about a fixed axis

ROTATION about a fixed axis. MechanismRigid Body connected

The red arrow shows the angular velocity

of the horizontal gear 1. Draw the angular
velocity for the other gear, 2 and 3. Solve
the problem with quantitative values:
1
1 = 500 rev/min; R1 = 2 cm
2
2 = ? rev/min; R2 = 5 cm; R2=10 cm
3
3 = ? rev/min; R4 = 10 cm;

The bucket falls from the

rest with a constant linear Gear 1 rotates
acceleration of 0.3 g. (a) clockwise at
Estimate the speed of the
3 angular velocity of
12 rad/s. How fast
bucket after 5 seconds 2 will gear 2 and 3
and the fallen distance. rotate. Data: R1:5
(b) Compute the angular cm; R2:10 cm;
acceleration of the pulley R3:20 cm.
How fast will it rotate 1
after 5 s.
Mechanics of Rigid Body. Kinematics. General Plane Motion

GENERAL PLANE MOTION. Any general plane motion can be considered as a

translation plus a rotation Eulers
Theorem
Mechanics of Rigid Body. Kinematics. General Plane Motion

GENERAL PLANE MOTION. Any general plane motion can be considered as a

translation plus a rotation

Sliding rod

Angular velocity
and angular
acceleration of rod
are independent of
the selected point
to rotate
Mechanics of Rigid Body. Kinematics. General Plane Motion

Rolling without slipping.

As the wheel of radius R rotates through
angle , the point of the contact between
the wheel and the plane moves a
distance s that is related with by s= R.
.C
If there is no sliding, the distance traveled
by point C is exactly the same s.

Rolling without
slipping. . .C
s = R
vC = R
aC = R

Rolling with
Rolling with slipping. slipping.
An object slides and rolls
s R
vC R
aC R
Mechanics of Rigid Body. Kinematics. General Plane Motion

Find the angular velocity of

sliding stair of length 3 m,
when the velocity of contact
point with the soil is 3 m/s.
The angles between the stair
and the floor is 45
A bicycle travels with a speed of 40 km/h. How
fast the cycle rider pedals in rev/min?. Data:
Sprocket radius: 2.5 cm; Front gear radius: 10
cm; rear wheel radius: 40 cm

The slider-crank mechanism

converts the rotational motion of
crank in linear motion of slider.
Find the relationship between the
angular velocity of crank and the
linear velocity of slider piston