Lecture 3: rigid body dynamics

• kinematics example: rolling no slip

• rotational equation of motion
• mass moment of inertia
• solving rigid body dynamics problems
• dynamics example: pulley with mass

Thursday, April 11, 13

 Rigid Body Kinematics
vA = vB + (! ⇥ rA/B )
aA = aB + (↵ ⇥ rA/B ) + (! ⇥ (! ⇥ rA/B ))

• Useful Shortcuts for 2D planar motion ↵ = ↵k

! = !k
r = r x i + ry j

!⇥r = ry !i + rx !j
↵⇥r = ry ↵i + rx ↵j
! ⇥ (! ⇥ r) = rx ! i
2
ry ! j 2

Thursday, April 11, 13

 Rigid Body Dynamics
Linear Motion:
sum of the forces is the
d(mv)
F = ma = time rate of change of
dt
linear momentum

Works for particles - and also works for rigid bodies if

the acceleration is at the center of mass!
F = maG

Thursday, April 11, 13

 Rigid Body Dynamics
Rotational Motion:
d(HG ) sum of the moments is
MG = = ḢG the time rate of change
dt
of angular momentum
about the center of mass

Thursday, April 11, 13

 Rigid Body Dynamics
Rotational Motion:
sum of the moments is
d(HG )
MG = = IG ↵ the time rate of change
dt
of angular momentum
Mass Moment of Inertia:
X Z
IG = (mi ri2 ) = (⇢r2 )dV
i V

“Rotational Inertia”
Resistance to angular acceleration
Thursday, April 11, 13
 Mass Moment of Inertia
L
m m Two spherical masses
connected by a massless bar

thin plate, height b, solid cylinder z

length c, rotating length L radius R,
around y-axis rotating around z-
y axis

Thursday, April 11, 13

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 Parallel Axis Theorem
G O object rotating around axis
d “O” NOT through the CG

Find parallel axis through CG

IO = IG + md 2

IG can read from tables

Thursday, April 11, 13

 Composite Bodies
O
d1

1 2 3
d2
d2

IO = IG1 + m1 d21 + IG2 + m2 d22 + IG3 + m3 d23

IG can read from tables

Thursday, April 11, 13

 rigid body dynamics problems:
2D planar motion
• Free Body Diagram!
• 3 equations of motion:
Fx = max
Fy = may
• problem constraints Mz = I↵
• mass moment of inertia calculation
• can we solve? if not, need more eqns:
• kinematics equations: connection between
↵, ! AND v, a
Thursday, April 11, 13
 refer to 2012 HW#7 for more details and solution

Thursday, April 11, 13