Chapter 18 PDF

Engineering Mechanics:
Dynamics in SI Units, 12e
Chapter 18
Planar Kinetics of a Rigid Body: Work and Energy
Copyright © 2010 Pearson Education South Asia Pte Ltd
Chapter Objectives
 Develop formulations for the kinetic energy of a

body, and define the various ways a force and
couple do work
 Apply the principle of work and energy to solve
rigid-body planar kinetic problems that involve
force, velocity, and displacement
 Show how the conservation of energy can be used
to solve rigid-body planar kinetic problems

Chapter Outline
1. Kinetic Energy
2. The Work of a Force
3. The Work of a Couple Moment
4. Principle of Work and Energy
5. Conservation of Energy

18.1 Kinetic Energy
 An arbitrary ith particle of the body, having a

mass dm, is located at r from the arbitrary point P
 The particle’s kinetic energy is Ti = ½ dm vi2
 The kinetic energy of the entire body is
1
T   dm vi
2
2 m

18.1 Kinetic Energy
 If the body has an angular velocity ω,

vi  v P  vi / P
 (vP ) x i  (vP ) y j  k  ( xi  yj)
 [( vP ) x  y ]i  [( vP ) y  x]j
 The square of the magnitude of vi is thus

v i  v i  vi2  [(vP ) x  y ]2  [(vP ) y  x]2
 (vP ) 2x  2(vP ) x y   2 y 2  (vP ) 2y  2(vP ) y x   2 x 2
 vP2  2(vP ) x y  2(vP ) y x   2 r 2

18.1 Kinetic Energy
 Substituting into the equation of kinetic equation

yields
T
1
2
 dmv
m
2
P  m

 (vP ) x   y dm  (vP ) y    m
 
x dm 
1
2 m
r 2 dm 
 1st integral on the right represents the entire
mass m of the body.
 Since ym   y dm and xm   x dm, the second and
third integrals locate the body’s center of mass G
with respect to P

18.1 Kinetic Energy
 The last integral represents the body’s moment

of inertia Ip, computed about the z axis passing
through point P. Thus
1 2 1
T  mvP  (vP ) x ym  (vP ) y x m  I P 2
2 2
 As a special case, if point P coincides with the

mass center G for the body, then y  x  0, and
1 2 1
T  mvG  I G 2
2 2
18.1 Kinetic Energy
Translation
 When a rigid body of mass m is subjected to
either rectilinear or curvilinear translation, the
kinetic energy due to rotation is zero
 The kinetic energy of the body is
1 2
T  mvG
2

18.1 Kinetic Energy
Rotation About a Fixed Axis

 When the rigid body is rotating about a fixed axis
passing through point O, the body has both
translational and rotational kinetic energy defined
by
1 2 1
T  mvG  I G 2
2 2
 By parallel-axis theorem,
1
T  I O 2
2
18.1 Kinetic Energy
General Plane Motion

 When the rigid body is subjected to general
plane motion, it has an angular velocity ω and its
mass center has a velocity vG
 Hence the kinetic energy is defined by
1 2 1
T  mvG  I G 2
2 2
 Can also expressed as
1
T  I IC 2
2
18.2 The Work of a Force
Work of a Constant Force

 When external force Fc acts on a rigid body, the
body will undergoes a translation s and the work
becomes
U F c  ( Fc cos ) s
• Fc cos θ is the magnitude

of force in the direction
of displacement

Work of a Constant Force

 When external force Fc acts on a rigid body, the
body will undergoes a translation s and the work
becomes
U F c  ( Fc cos ) s
• Fc cos θ is the magnitude

of force in the direction
of displacement

Work of a Weight
 Weight of a body does work only when the
body’s center of mass G undergoes a vertical
displacement Δy
 If this displacement is upward, the work is
negative
U w  Wy

Work of a Spring Force

 The spring force Fs = ks acting on the body does
work when the spring either stretches or
compresses from s1 to a further position s2
 In both cases the work will be negative since the
displacement of the body is in the opposite
direction to the force.
 1 2 1 2
U s   ks2  ks1 
2 2 
where s2  s1
Forces That Do Not Work

 These forces can act at fixed points on the body,
or they can have a direction perpendicular to
their displacement

18.3 The Work of a Couple Moment
 When a body subjected to a couple undergoes

general planar motion, the two couple forces do
work only when the body undergoes a rotation
 Consider a body subjected to a couple moment
M = Fr
 When the body translates, the work of each force
is produced only by the component of
displacement

 When the body undergoes a differential rotation

about the arbitrary point O, each force
undergoes a displacement in the direction of the
force
 The total work done is
r  r 
dU M  F  d   F  d   ( Fr )d  M d
2  2 

 When the body rotates in the plane through a

finite angle θ measured in radians, from θ1 to θ2,
the work of a couple is
2
U M   M d
1
 If the couple moment M has a constant

magnitude,
U M  M ( 2  1)

Example 18.1
The bar shown has a mass of 10-kg and is subjected

to a couple moment of M = 50 N.m and a force of P
= 80 N, which is always applied perpendicular to the
end of the bar. Spring has an unstretched length of
0.5 m and remains in the vertical position due to the
roller guide at B. determine the total work done by all
the forces acting on the bar
when it has rotated downward
from θ = 0 to θ° = 90°.

Example 18.1
Solution
Weight W
Since the weight 10(9.81) = 98.1N
is displaced downward 1.5 m,
the work is
UW  98 .1(1.5)  147 .2 J
Couple Moment M
The couple moment rotates through an angle of θ =
π/2 rad. Hence, U  50 ( / 2)  78 .5 J
M

Example 18.1
Solution
Spring Force Fs
When θ = 0° the spring is stretched (0.75–0.5)=0.25m.
When θ = 90°, it stretched (2 + 0.75) – 0.5 = 2.25 m.
1 2 1 2
U s    (30 )( 2.25 )  (30 )( 0.25 )   75 J
2 2 
By inspection the spring does negative work on the
bar since Fs acts in the opposite direction to
displacement. This check with the result.

Example 18.1
Solution
Force P
As the bar moves downward, the force is displaced
through a distance of (π/2)(3) = 4.172 m.
The work is positive.
U P  80 (4.172 )  377 .0 J
Total Force
U  147.2  78.5  75.0  377.0  528 J

18.4 Principle of Work and Energy
 Since energy is a scalar, the principle of work

and energy for a rigid body is
T1  U1 2  T2
 Since body is rigid, no relative movement
between these forces occurs, thus no internal
work is done

Procedure for Analysis

Kinetic Energy (kinematic Diagrams)
 The kinetic energy of a body is made up of two
parts.
 Kinetic energy of translation is referenced to the
velocity of the mass center, T = ½ mvG2
 Kinetic energy of rotational is determined from
knowing the moment of inertia about the mass
center, T = ½ IGω2


Kinetic Energy (kinematic Diagrams)
 The kinetic energy of a body is made up of two
parts.
 Kinetic energy of translation is referenced to the
velocity of the mass center, T = ½ mvG2
 Kinetic energy of rotational is determined from
knowing the moment of inertia about the mass
center, T = ½ IGω2
 Kinematic diagrams for velocity is useful for
determining vG and ω or for establishing a
relationship between vG and ω

Work (Free-Body Diagram)
 Draw a free-body diagram to account for all the
forces and couple moment s which do work on
the body as it moves along the path
 A force does work when it moves through a
displacement in the direction of the force
 Forces that are functions of displacement must
be integrated to obtain work
 The work of a weight is the product of its
magnitude and the vertical displacement,
UW = Wy

Work (Free-Body Diagram)
 The work of a spring is of the form Us = ½ ks2,
where k is the spring stiffness and s is the stretch
or compression of the spring
 The work of a couple is the product of the couple
moment and the angle in radians through which
it rotates
 Since algebraic addition of the work terms is
required, it is important that the proper sign of
each term be specified

Principle of Work and Energy
 Apply principle of work and energy, T1 + ∑U1-2 =
T2. Since this is a scalar equation, it can be used
to solve for only one unknown when it is applied
to a single rigid body

Example 18.2
The 30-kg disk shown is pin supported at its center.

Determine the number of revolutions it must take to
attain an angular velocity of 20 rad/s starting from
rest. It is acted upon by a constant force F = 10 N,
which is applied to a cord wrapped around its
periphery, and a constant couple moment M = 5 N.m

Example 18.2
Solution
Kinetic Energy
Initially the disk is at rest, so that
T1  0
T2  I O2   (30)(0.2) 2  202  120 J

2 1 1
1
2 2 2 

Example 18.2
Solution
Principle Work and Energy
T1  U12   T2 

T1 M  Fs  T2 
0 (5)  (10) (0.2)  120
 1 rev 
  17.1 rad  17.1 rad    2.73 rev
 2 rad 

Example 18.4
The 700-kg pipe is equally suspended from the two

tines of the fork lift. It is undergoing a swinging
motion such that when θ = 30° it is momentarily at
rest. Determine the normal and frictional forces
acting on each tine which are needed to support the
pipe at the instant θ = 0°. Measurement of the pipe
and the suspender as shown.

Example 18.4
Solution
Kinetic Energy
Since the pipe is originally at rest, then T1  0
Consider the pipe to be a thin ring so that IG = mr2.
If point G is considered, we have
1 2 1
T2  m(vG ) 2  I G2
2
2 2
1
2
2 1
 (700)(0.4)2   (700)(0.15) 2 22
2
 
 63.87522
Example 18.4
Solution
Kinetic Energy
If point O is considered then the parallel-axis
theorem must be used to determine IO. Hence,
1 1

T2  I O2  700(0.15) 2  700(0.4) 2 22  63.87522
2
2
2


Example 18.4
Solution
Work (Free Body Diagram)
The normal and frictional forces on the tines do no
work since they do not move as the pipe swings.
The weight, centered at G, does positive work since

the weight moves downward through a vertical
distance Δy = 0.4 m – 0.4 cos 30° m = 0.05359 m.

Example 18.4
Solution
Principle of Work and Energy
We have
T1  U12   T2 

0 700 (9.81)( 0.05359 )  63 .875 2 
2
2  2.40 rad/s

Example 18.4
Solution
Equations of Motion
Referring to the free-body and kinetic diagrams,

  Ft  m(aG )t ; FT  700(aG )t
   Fn  m(aG ) n ; NT  700(9.81)  700(2.40) 2 (0.4)
  M O  I O ; 0  [700(0.15) 2  700(0.4) 2 ]

Example 18.4
Solution
Equations of Motion
Since (aG)t = 0.4α, then
  0, (aG )t  0
FT  0
NT  8.48 kN
There are two tines used to support the load,

therefore Ft  0
8.48 kN
Nt   4.24 kN
2
18.5 Conservation of Energy
 Conservation of energy theorem is used to solve

a problem which otherwise would be solved
using the principle of work and energy
 Easier to apply since the work of a conservative

force is independent of the path and depends
only on the initial and final positions of the body

Gravitational Potential Energy

 Measuring yG as positive upward, the
gravitational potential energy of the body is
Vg  W yG

Elastic Potential Energy

 The force developed by an elastic spring is
conservative force
 The elastic potential energy is
1 2
Ve   ks
2

Conservation of Energy
 If a body is subjected to both gravitational and
elastic forces, the total potential energy is
V  Vg  Ve
 V depends on the location of the body with
respect to selected datum.
 Principle of work and energy for a rigid body as
T1  V1  U12 )noncons  T2  V2

 When (∑U1-2)noncons term is zero,
T1  V1  T2  V2
 This equation is referred to as the conservation
of mechanical energy
 Its states that the sum of the potential and kinetic
energies of the body remains constant when the
body moves from one position to another.


Potential Energy
 Draw two diagrams showing the body located at
its initial and final positions along the path
 If the center of gravity, G, is subjected to a

vertical displacement, establish a fixed horizontal
datum from which to measure the body’s
gravitational potential energy Vg


Potential Energy
 Recall that the potential energy V = Vg + Ve. Here
Vg = W yG, which can be positive or negative, and
Ve = ½ ks2, which is always positive
Kinetic Energy
 The kinetic energy of the body consists of
translational kinetic energy, T = ½ mvG2 and
rotational kinetic energy, T = ½ IGω2


 Apply the conservation of energy equation
T1 + V1 = T2 + V2

Example 18.6
The 10-kg rod AB is confined so that its ends move

in the horizontal and vertical slots. The spring has a
stiffness of k = 800 N/m and is unstretched when θ =
0°. Determine the angular velocity of AB when θ =
0°, if the rod is released from rest when θ = 30°.

Example 18.6
Solution
Potential Energy
The two diagrams of the rod is
located at its initial and final
positions.
The datum is to measure the

gravitational potential energy,
is placed in line with the rod
when θ = 0°.

Example 18.6
Solution
Potential Energy
(Positive) elastic potential energy is stored in the
spring, since it is stretched a distance of s1 = (0.4 sin
30°) m, thus
1 2
V1  Wy1  ks1
2
1
 98.1(0.2 sin 30 )  (800)(0.4 sin 30 )  6.19 J
  2

Example 18.6
Solution
Potential Energy
Since the spring is unstretched, s2 = 0, and the
center of gravity G is located at the datum,
V2  0
Kinetic Energy
The rod is released from rest from position 1, thus
(vG)1 = 0 and ω1 = 0, and
T1  0
Example 18.6
Solution
Kinetic Energy
In position 2, the angular velocity is ω2 and the rod’s
mass center has a velocity of (vG)2,
1 1
T2  m(vG ) 2  I G22
2
2 2
1 1 1
 (10)(vG ) 2  [ (10)(0.4) ]2
2 2 2
2 2 12

Example 18.6
Solution
Kinetic Energy
Using kinematics, (vG)2 can be related
to ω2 as shown in the figure.
At the instant considered, the instantaneous center

of zero velocity (IC) for the rod is at point A
(vG)2 =(rG/IC)ω2 = (0.2)ω2

Example 18.6
Solution
Kinetic Energy
Substituting into the previous expression and
simplifying, we get
T2  0.267  2
2
T1 V1  T2  V2 
0 6.19  0.26722  0
2  4.82 rad / s
Example 18.8
The 10-kg homogeneous disk is attached to a

uniform 5-kg rod AB. If the assembly is released
from rest when θ = 60°, determine the angular
velocity of the rod when θ = 0°. Assume that the disk
rolls without slipping. Neglect friction along the guide
and the mass of the collar at B.

Example 18.8
Solution
Potential Energy
When the system is in position 1, the rod’s weight
has a positive potential energy,
V1  WR y1  49 .05 (0.3 sin 60  )  12 .74 J
When the system is in position 2, both the weight of
the rod and the weight of the disk have zero
potential energy,
V2  0
Example 18.8
Solution
Kinetic Energy
Since the entire system is at rest at the initial
position,
T1  0
In the final position the rod has an angular velocity

(ωR)2 and its mass center has a velocity (vG)2.

Example 18.8
Solution
Kinetic Energy
In the final position the rod has an angular velocity
(ωR)2 and its mass center has a velocity (vG)2.
Since the rod is fully extended in this position, the

disk is momentarily at rest, so (ωD)2 = 0 and (vA)2 =
0.

Example 18.8
Solution
Kinetic Energy
For the rod (vG)2 can be related to (ωR)2 from the
instantaneous center of zero velocity, which is
located at point A
Hence, (vG)2 =(rG/IC)(ωR)2 or (vG)2 = (0.3)(ωR)2
1 1 1 1
T2  mR (vG ) 2  I G ( R ) 2  mD (v A ) 2  I A ( D ) 22
2 2 2
2 2 2 2
1 1 1
 (5)[0.3( R ) 2 ]  [ (5)(0.6) 2 ]( R ) 22  0  0
2
2 2 12
 0.3( R ) 22
Example 18.8
Solution
We have
T1 V1  T2  V2 
0 12.74  0.3(R ) 2  0
2
( R ) 2  6.52 rad / s

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Engineering Mechanics:

Dynamics in SI Units, 12e

 Develop formulations for the kinetic energy of a

Copyright © 2010 Pearson Education South Asia Pte Ltd

Copyright © 2010 Pearson Education South Asia Pte Ltd

 An arbitrary ith particle of the body, having a

Copyright © 2010 Pearson Education South Asia Pte Ltd

 If the body has an angular velocity ω,

 The square of the magnitude of vi is thus

Copyright © 2010 Pearson Education South Asia Pte Ltd

 Substituting into the equation of kinetic equation

Copyright © 2010 Pearson Education South Asia Pte Ltd

 The last integral represents the body’s moment

 As a special case, if point P coincides with the

 The kinetic energy of the body is

Copyright © 2010 Pearson Education South Asia Pte Ltd

Rotation About a Fixed Axis

General Plane Motion

Work of a Constant Force

• Fc cos θ is the magnitude

Copyright © 2010 Pearson Education South Asia Pte Ltd

Work of a Constant Force

• Fc cos θ is the magnitude

Copyright © 2010 Pearson Education South Asia Pte Ltd

Copyright © 2010 Pearson Education South Asia Pte Ltd

Work of a Spring Force

Forces That Do Not Work

Copyright © 2010 Pearson Education South Asia Pte Ltd

 When a body subjected to a couple undergoes

Copyright © 2010 Pearson Education South Asia Pte Ltd

 When the body undergoes a differential rotation

Copyright © 2010 Pearson Education South Asia Pte Ltd

 When the body rotates in the plane through a

 If the couple moment M has a constant

Copyright © 2010 Pearson Education South Asia Pte Ltd

The bar shown has a mass of 10-kg and is subjected

Copyright © 2010 Pearson Education South Asia Pte Ltd

Copyright © 2010 Pearson Education South Asia Pte Ltd

Copyright © 2010 Pearson Education South Asia Pte Ltd

Copyright © 2010 Pearson Education South Asia Pte Ltd

 Since energy is a scalar, the principle of work

Copyright © 2010 Pearson Education South Asia Pte Ltd

Procedure for Analysis

Copyright © 2010 Pearson Education South Asia Pte Ltd

Procedure for Analysis

Procedure for Analysis

Procedure for Analysis

Procedure for Analysis

Copyright © 2010 Pearson Education South Asia Pte Ltd

The 30-kg disk shown is pin supported at its center.

Copyright © 2010 Pearson Education South Asia Pte Ltd

T2  I O2   (30)(0.2) 2  202  120 J

Copyright © 2010 Pearson Education South Asia Pte Ltd

T1  U12   T2 

Copyright © 2010 Pearson Education South Asia Pte Ltd

The 700-kg pipe is equally suspended from the two

Copyright © 2010 Pearson Education South Asia Pte Ltd

Copyright © 2010 Pearson Education South Asia Pte Ltd

The weight, centered at G, does positive work since

Copyright © 2010 Pearson Education South Asia Pte Ltd

T1  U12   T2 

Copyright © 2010 Pearson Education South Asia Pte Ltd

Copyright © 2010 Pearson Education South Asia Pte Ltd