6.

Rigid Bodies: Forces and Accelerations (Part I)

• Introduction

• Equations of Motion of a Rigid Body

• Angular Momentum of a Rigid Body in Plane Motion

• Plane Motion of a Rigid Body: d’Alembert’s Principle

• Axioms of the Mechanics of Rigid Bodies

• Problems Involving the Motion of a Rigid Body

Page 1
Introduction
• In this week and the coming next 5 weeks, we will be
concerned with the kinetics of rigid bodies, i.e., relations
between the forces acting on a rigid body and the motion
produced.

• Results of this chapter will be restricted to:

- plane motion of rigid bodies, and
- rigid bodies consisting of plane slabs or bodies which
are symmetrical with respect to the reference plane.

• D’Alembert’s principle is applied to prove that the external

r
forces acting on a rigid body are equivalent a vector ma
attached to the mass center and a couple of moment I α .

Page 2
Equations of Motion for a Rigid Body
• Consider a rigid body acted upon
by several external forces.

• Assume that the body is made of

a large number of particles.

• For the motion of the mass center

G of the body with respect to the
Newtonian frame Oxyz,
r r
∑ F = ma
• For the motion of the body with
respect to the centroidal frame
Gx’y’z’,
r r&
∑ M G = HG
• System of external forces is
equipollent to the
r system
r&
consisting of ma and H G .
Page 3
Angular Momentum of a Rigid Body in Plane Motion
• Angular momentum of the slab may be
computed by
r n r r
H G = ∑ (ri′× vi′∆mi )
i =1
n r r r
= ∑ [ri′× (ω × ri′)∆mi ]
i =1
r
(
= ω ∑ ri′ 2 ∆mi )
r
= Iω
• After differentiation,
r& r r
H G = I ω& = I α
• Results are also valid for plane motion of bodies
• Consider a rigid slab in which are symmetrical with respect to the
plane motion. reference plane.
• Results are not valid for asymmetrical bodies or
three-dimensional motion.
Page 4
Plane Motion of a Rigid Body: D’Alembert’s Principle
• Motion of a rigid body in plane motion is
completely defined by the resultant and moment
resultant about G of the external forces.
∑ Fx = ma x ∑ Fy = ma y ∑ M G = Iα
• The external forces and the collective effective
forces of the slab particles are equipollent (reduce
to the same resultant and moment resultant) and
equivalent (have the same effect on the body).
• d’Alembert’s Principle: The external forces
acting on a rigid body are equivalent to the
effective forces of the various particles forming
the body.
• The most general motion of a rigid body that is
symmetrical with respect to the reference plane
can be replaced by the sum of a translation and a
centroidal rotation.
Page 5
Axioms of the Mechanics of Rigid Bodies
r r
• The forces F and F ′ act at different points on
a rigid body but have the same magnitude,
direction, and line of action.

• The forces produce the same moment about

any point and are therefore, equipollent
external forces.

• This proves the principle of transmissibility

whereas it was previously stated as an axiom.

Page 6
Problems Involving the Motion of a Rigid Body
• The fundamental relation between the forces
acting on a rigid body in plane motion and
the acceleration of its mass center and the
angular acceleration of the body is illustrated
in a free-body-diagram equation.
• The techniques for solving problems of
static equilibrium may be applied to solve
problems of plane motion by utilizing
- d’Alembert’s principle, or
- principle of dynamic equilibrium
• These techniques may also be applied to
problems involving plane motion of
connected rigid bodies by drawing a free-
body-diagram equation for each body and
solving the corresponding equations of
motion simultaneously.
Page 7
Sample Problem 1

At a forward speed of 30 ft/s, the truck brakes were applied, causing the wheels
to stop rotating. It was observed that the truck to skid to a stop in 20 ft.
Determine the magnitude of the normal reaction and the friction force at each
wheel as the truck skidded to a stop.

Page 8
Sample Problem 1
SOLUTION:
• Calculate the acceleration during the skidding stop
by assuming uniform acceleration.
v 2 = v02 + 2a ( x − x0 )
2
ft  ft  ft
v0 = 30 x = 20 ft 0 =  30  + 2a (20 ft ) a = −22.5
s  s s
• Draw a free-body-diagram equation expressing the
equivalence of the external and effective forces.
• Apply the corresponding scalar equations.
∑ Fy = ∑ (Fy )eff N A + NB − W = 0

∑ Fx = ∑ (Fx )eff − FA − FB = −ma

− µk (N A + N B ) =
− µ kW = −(W g )a
a 22.5
µk = = = 0.699
g 32.2
Page 9
Sample Problem 1
• Apply the corresponding scalar equations.
∑ M A = ∑ (M A )eff
− (5 ft )W + (12 ft )N B = (4 ft )ma
1 W  W a
NB =  5W + 4 a  =  5 + 4 
12  g  12  g
N B = 0.650W
N A = W − N B = 0.350W

N rear = 12 N A = 12 (0.350W ) N rear = 0.175W

Frear = µ k N rear = (0.690)(0.175W )
Frear = 0.122W

N front = 12 NV = 12 (0.650W ) N front = 0.325W

F front = µ k N front = (0.690 )(0.325W )
F front = 0.0.227W
Page 10
Sample Problem 2

The thin plate of mass 8 kg is held in place as shown.

Neglecting the mass of the links, determine immediately after the wire has been
cut:
(a) the acceleration of the plate, and
(b) the force in each link.

Page 11
Sample Problem 2
SOLUTION:
• Note that after the wire is cut, all particles of the
plate move along parallel circular paths of radius
150 mm. The plate is in curvilinear translation.
• Draw the free-body-diagram equation expressing
the equivalence of the external and effective
forces.
• Resolve the diagram equation into components
parallel and perpendicular to the path of the mass
center.
∑ Ft = ∑ (Ft )eff
W cos 30° = ma
mg cos 30° =
( )
a = 9.81m/s 2 cos 30°

a = 8.50 m s 2 60o

Page 12
Sample Problem 2
• Solve the component equations and the moment
equation for the unknown acceleration and link
forces.

∑ M G = (∑ M G )eff
(FAE sin 30°)(250 mm ) − (FAE cos 30°)(100 mm )
(FDF sin 30°)(250 mm ) + (FDF cos 30°)(100 mm ) = 0
38.4 FAE + 211.6 FDF = 0
FDF = −0.1815 FAE

∑ Fn = ∑ (Fn )eff
a = 8.50 m s 2 60o FAE + FDF − W sin 30° = 0
FAE − 0.1815 FAE − W sin 30° = 0
(
FAE = 0.619(8 kg ) 9.81m s 2 ) FAE = 47.9 N T

FDF = −0.1815 (47.9 N ) FDF = 8.70 N C

Page 13
Sample Problem 3

A pulley weighing 12 lb and having a radius of gyration of 8 in. is connected to

two blocks as shown.
Assuming no axle friction, determine the angular acceleration of the pulley and
the acceleration of each block.

Page 14
Sample Problem 3
SOLUTION:
• Determine the direction of rotation by evaluating the net
moment on the pulley due to the two blocks.
∑ M G = (10 lb)(6 in ) − (5 lb)(10 in ) = 10 in ⋅ lb
rotation is counterclockwise.
W 2
note: I = mk 2 = k
g
2
12 lb  8 
2
= ft 
32.2 ft s  12 
= 0.1656 lb ⋅ ft ⋅ s 2

• Relate the acceleration of the blocks to the angular

acceleration of the pulley.
a A = rAα aB = rBα
= (10
12
ft )α = (12
6 )
ft α

Page 15
Sample Problem 3
• Draw the free-body-diagram equation expressing the
equivalence of the external and effective forces on the
complete pulley and blocks system.
• Solve the corresponding moment equation for the pulley
angular acceleration.
∑ M G = ∑ (M G )eff
(10 lb)( ft) − (5 lb)( ft ) = Iα + m a ( ft ) + m a ( ft)
6
12
10
12 B
6
B 12 A
10
A 12

(10)( ) − (5)( ) = (0.1656)α + ( )( α )( ) + ( )( )( )α

6
12
10
12
10
32.2
6
12
6
12
5
32.2
10
12
10
12

α = 2.374 rad s 2
I = 0.1656 lb ⋅ ft ⋅ s 2 Then,
a A = (10
12
α )ft s 2 a A = rAα

aB = ( 6
12
α )ft s 2 = (10
12
ft )(2.374 rad s 2
) a A = 1.978 ft s 2

aB = rBα
= (12
6 (
ft ) 2.374 rad s 2 ) aB = 1.187 ft s 2

Page 16
Sample Problem 4

A cord is wrapped around a homogeneous disk of mass 15 kg. The cord is pulled
upwards with a force T = 180 N.
Determine:
(a) the acceleration of the center of the disk,
(b) the angular acceleration of the disk, and
(c) the acceleration of the cord.

Page 17
Sample Problem 4
SOLUTION:
• Draw the free-body-diagram equation expressing the
equivalence of the external and effective forces on the
disk.
• Solve the three scalar equilibrium equations.
∑ Fx = ∑ (Fx )eff
0 = ma x ax = 0
∑ Fy = ∑ (Fy )eff
T − W = ma y

ay =
(
T − W 180 N - (15 kg ) 9.81m s 2
=
)
m 15 kg
a y = 2.19 m s 2
∑ M G = ∑ (M G )eff
− Tr = I α = (12 mr 2 )α
2T 2(180 N )
α =− =− α = 48.0 rad s 2
mr (15 kg )(0.5 m )
Page 18
Sample Problem 4

• Determine the acceleration of the cord by evaluating the

tangential acceleration of the point A on the disk.
r
acord = (a A )t = a + (a A G )t

(
= 2.19 m s 2 + (0.5 m ) 48 rad s 2 )
acord = 26.2 m s 2

ax = 0 a y = 2.19 m s 2

α = 48.0 rad s 2

Page 19
Sample Problem 5

A uniform sphere of mass m and radius r is projected along a rough horizontal

surface with a linear velocity v0. The coefficient of kinetic friction between
the sphere and the surface is µk.
Determine:
(a) the time t1 at which the sphere will start rolling without sliding, and
(b) the linear and angular velocities of the sphere at time t1.

Page 20
Sample Problem 5
SOLUTION:
• Draw the free-body-diagram equation expressing the
equivalence of external and effective forces on the
sphere.
• Solve the three scalar equilibrium equations.
∑ Fy = ∑ (Fy )eff
N −W = 0 N = W = mg
∑ Fx = ∑ (Fx )eff
− F = ma
− µ k mg = a = −µk g
∑ M G = ∑ (M G )eff
Fr = I α
5 µk g
(µ k mg )r = (23 mr 2 )α α=
2 r
NOTE: As long as the sphere both rotates and slides,
its linear and angular motions are uniformly
accelerated.
Page 21
Sample Problem 5
• Apply the kinematic relations for uniformly accelerated
motion to determine the time at which the tangential velocity
of the sphere at the surface is zero, i.e., when the sphere
stops sliding.
v =v 0 + a t =v 0 +(− µ k g )t

ω = ω 0 + αt = 0 + 
5 µk g 
t
2 r 
At the instant t1 when the sphere stops sliding,
a = −µk g v1 = rω1
5 µk g
α=  5 µk g  t1 =
2 v0
2 r v0 − µ k gt1 = r   t1
2 r  7 µk g

 5 µ k g  2 v0 
ω1 = 
5 µk g  5 v0
1 
t =  ω1 =
2 r   2 r  7 µ k g  7 r

5v 
v1 = rω1 = r  0  v1 = 75 v0
7 r 
Page 22