Chapter 17 PDF

Engineering Mechanics:
Dynamics in SI Units, 12e
Chapter 17
Planar Kinetics of a Rigid Body: Force and Acceleration
Copyright © 2010 Pearson Education South Asia Pte Ltd
Chapter Objectives
 Introduce methods to determine the mass moment

of inertia of a body
 Develop the planar kinetic equations of motion for
a symmetric rigid body
 Discuss applications of these equations to bodies
undergoing translation, rotation about a fixed axis,
and general plane motion

Chapter Outline
1. Mass Moment of Inertia

2. Planar Kinetic Equations of Motion
3. Equations of Motion: Translation
4. Equations of Motion: Rotation about a Foxed
Axis
5. Equations of Motion: General Plane Motion

17.1 Mass Moment of Inertia
 A body has a definite size and shape, the body

can be translated and rotated
 Translational motion are governed by the
equation F = ma
 Rotational motion is governed by M = Iα
 Moment of inertia, I, is a
measure of the resistance
of a body to angular acceleration

 Moment of inertia is defined as the integral of

second moment about an axis of all the
elements of mass, dm
 For body’s moment of inertia about the z axis,
I = ∫m r2 dm
 Moment arm, r, is the perpendicular

distance from the z axis to the
arbitrary element dm

 Moment of inertia computed about this axis is IG

 Mass moment of inertia always a positive
quantity
 Using volume elements for integration,
I = ∫V r2 ρ dm
 When ρ is a constant,
I = ρ ∫V r2 dm

Procedure for Analysis

 Consider only symmetric bodies having surfaces
generated by revolving a curve about an axis
Shell Elements
 A shell element with height z, radius r = y, and
thickness dy is chosen for integration,
dV = (2πy)(z) dy


Disk Elements
 A disk element with radius y, and thickness dz is
chosen for integration,
dV = πy2 dz
 Determine moment of inertia of
the element about the z axis
and then integrate the result

Example 17.1
Determine the moment of inertia of the cylinder

about the z axis. The density of the material, ρ, is
constant.

Example 17.1
Solution
Shell Element
Volume, dV = (2πr)(h) dr
Mass, dm = ρ dV = ρ(2πhr dr)
Since the entire element lies at the

same distance r from the z axis,
dIz = r2 dm = ρ(2πhr3dr)

Example 17.1
Solution
Shell Element
Integrating over entire region of the cylinder,
Iz = ∫r2 dm = ρ2πh∫R0r3dr = (ρπ/2)R4h
For mass of the cylinder,

m = ∫m dm = ρ2πh∫R0r dr = ρπh R2
so that
Iz = ½ mR2

Parallel Axis Theorem

 Moment of inertia about any other parallel axis
can determined by using parallel axis theorem
 Consider body where the z’ axis passes through
the mass center G and the corresponding
parallel z axis lies at a constant distance d away


 Using Pythagoras theorem for moment of the
body about the z axis,
I   r dm   d  x'  y ' dm

2 2 2
m m
  x'  y ' dm  2d  x' dm  d  dm

2 2 2
m m m
 Since r’2 = x’2 + y’2, 1st integral represents IG


 2nd integral = 0 since z’ axis passes through the
body’s mass center
 x' dm  x'  dm
 3rd integral represents the total mass m of the
body
 For moment of inertia about the z axis,
I  I G  md 2


 The moment of inertia about the z axis can be
written as
I  I G  md
2
Radius of Gyration
 Moment of inertia of the body about a specified
axis can be expressed using radius of gyration
 For the body’s moment of inertia
I
I  mk 2
or k 
m
Example 17.3
If the plate has a density of 8000kg/m3 and a

thickness of 10mm, determine its moment of inertia
about an axis directed perpendicular to the page
and passing through point O.

Example 17.3
Solution
Plate consists of 2 composite parts, 250mm radius
disk minus the 125mm disk
Moment of inertia about O can be determined by

using parallel axis theorem

Example 17.3
Solution
Disk
Mass center is located 0.25m from point O
Thus,

md   dVd  8000  0.25 0.01  15.71kg
2

I d O 1
 md rd  md d 2
2
2
 (15.71)0.25  15.710.25  1.473kg.m
1 2 2 2

Example 17.3
Solution
Hole
We have

mh   hVh  8000  0.25 0.01  15.71kg
2

I h O 1
 mh rh  mh d 2
2
2
 3.930.125  3.930.25  0.276kg.m2
1 2 2
2
For moment of inertia of the plate about point O
I O  I d O  I h O  1.473  0.276  1.20 kg.m 2
17.2 Planar Kinetic Equations of Motion
 Planar kinetics to rigid bodies studies is

considered to be symmetrical with respect to
fixed reference plane
 Motion of the body is viewed within the reference
plane and all the forces and moments on the
body can be projected onto the plane

 Inertial frame of reference x, y, z has its origin

coincident with the arbitrary point P in the body
 By definition, these axes do not rotate and are
either fixed or translate with constant velocity
Equation of Translational Motion

 External forces consist of gravitational, electrical,
magnetic or contact forces between adjacent
bodies

Equation of Translational Motion

 For translational equation of motion for the mass
center of rigid body, ∑F = maG
 Sum of all the external forces acting on the body
is equal to the body’s mass times the
acceleration of its mass center G
 For motion of the body in the x-y plane,
∑Fx = m(aG)x
∑Fy = m(aG)y

Equation of Rotational Motion

 Fi represent the resultant external force acting on
the particle
 fi represent the resultant internal force caused by
interactions with adjacent particles


 Summing moments of forces acting on the
particle about point P,
r x Fi + r x fi = r x miai or (MP)i = r x miai
 For moment about P,

(MP)i = mir x (aP + α x r – ω2r)
= mi[r x aP + r x (α x r)
– ω2(r x r)]


 Last term = 0 since r x r = 0
 Carrying out cross-product operations
(MP)ik = mi{(xi + yj) x [(aP)xi + (aP)yj]
+ (xi + yj) x [αk x (xi + yj)]}
(MP)ik = mi[-y(aP)x + x(aP)y + αx2 + αy2]k
(MP)i = mi[-y(aP)x + x(aP)y + αr2] (CCW)
 Letting mi → dm and integrating, we have

∑MP = -(∫mydm)(aP)x + (∫mxdm)(aP)y + (∫mr2dm)α

 The 1st and 2nd integrals ares used to locate the
center of mass G with respect to P since
ym   ydm and xm   xdm

 The last integral represent the body’s moment of
inertia computed about the z axis
I P   r dm 2
 Thus
 M P   ym(aP ) x  x m(aP ) y  I P

 Point P coincides with the mass center G for the
body
y  x 0
 Therefore,
 M G  I G
 If the point G is located at point
(x, y)
 By parallel axis theorem,
I P  I G  m( x  y )
2 2
 Thus,  M  ym[(a )  y ]  x m[( a )  x  ]  I 

P P x P y G

 From the kinematic diagram,
    
aG  aP   x r   r 2
        
(aG ) x i  (aG ) y j  (aP ) x i  (aP ) y j  k x ( x i  yj )   ( x i  yj )
2
 By cross-product and equating the i and j

components,
(aG ) x  (aP ) x  y  x  2
(aG ) y  (aP ) y  x   y 2


 Simplifying,
 M P   ym(aG ) x  x m(aG ) y  I G
 M P    k  p (more general form)
General Applications of the Equations of Motion
 For three independent scalar equations,
 Fx  m(aG ) x ;  Fy  (aG ) y ;  M G  0

17.3 Equations of Motion: Translation
Rectilinear Translation
 When a body is subjected to rectilinear
translation, all the particles of the body (slab)
travel along parallel straight line paths
 Since IGα = 0, only maG is shown on the kinetic
diagram.
 For equations of motion,
 Fx  m(aG ) x
 Fy  (aG ) y
 MG  0
Rectilinear Translation
 If point A is chosen, which lies at a perpendicular
distance d from the line of action,
  M A  M k A ;  M  ma d
A G

Curvilinear Translation
 All the particles of the body travel along parallel
curved paths
 For the equations of motion,
 Fn  m(aG )n
 Ft  (aG )t
 MG  0
 The moment equation is
  M B  M k B ; M B  emaG t  hmaG n 


FBD
 Establish x, y, a or n, t inertial coordinate system
and draw the FBD
 Direction and sense of the acceleration
 Identify the unknowns
 If the rotational equation of motion is to be used,
use kinetic diagram


Equation of Motion
 Apply three equations of motion
 Moment equation can be replace
by a general equation about P
 If the body is in contact with a
rough surface and slipping occurs,
use the frictional equation


Kinematics
 Find the velocity and position of the body
 For rectilinear translation with variable
acceleration,
aG  dvG / dt ; aG dsG  vG dvG ; vG  dsG / dt
 For rectilinear translation with constant
acceleration,
vG  (vG ) O  aG t vG2  (vG ) O2  2aG [ sG  ( sG ) O ]
1
sG  ( sG ) O  (vG ) O t  aG t 2
2

Kinematics
 For curvilinear translation,
(aG ) n  v /    
2
G
2
(aG )t  dvG / dt
(aG )t dsG  vG dvG
(aG )t  

Example 17.5
The car has a mass of 2Mg and a center of mass at

G. Determine the car’s acceleration if the “driving”
wheels in the back are always slipping, whereas the
front wheel freely rotate. Neglect the mass of the
wheels. The coefficient of kinetic friction between the
wheels and the road is μk = 0.25.

Example 17.5
Solution
Section I
FBD
The rear wheel frictional force pushes the car
forward, and slipping occurs, FB = 0.25NB
Frictional forces acting on the front wheels = 0m,

since these wheels have negligible mass
Car (point G) is assumed to accelerate to the left, in

the negative x direction

Example 17.5
Solution
Section I
Equations of Motion
   Fx  m(aG ) x  0.25 N B  (2000)aG
   Fy  (aG ) y  N A  N B  2000(9.81) N  0
 M G  0   N A (1.25)  0.25 N B (0.3)  N B (0.75)  0
Solving, aG  1.59m/s2 
N A  6.88kN
N B  12.7 kN
Example 17.5
Solution
Section II
FBD
Apply moment equation at point A,
unknown NA will be eliminated
from the equation.
Use the kinetic diagram to
visualize the moment at A

Example 17.5
Solution
Section II
Equations of Motion
  A   M A;
N B (2m)  2000(9.81) N (1.25m)  (2000kg)aG (0.3m)
Solve and proceed with Section I equations

Example 17.7
A uniform 50-kg crate rest on a horizontal surface

for which the coefficient of kinetic friction is 0.2.
determine the acceleration if a force of P = 600N is
applied to the crate.

Example 17.7
Solution
FBD
Force P cause the crate to slide or to tip over.
Assume crate slides so that F = μkNC = 0.2NC.
Resultant force NC acts at O, a distance x where
0 < x ≤ 0.5m from the
rate’s center line.
Three unknowns NC, x and aG.

Example 17.7
Solution
Equations of Motion
We have

  Fx  m(aG ) x  600  0.2 N C  (50)aG
   Fy  (aG ) y  N C  490.5  0
  G  0  600(0.3)  N C ( x)  N C (0.5)  0
Solving, aG  10 .0m/s ; N C  490 N; x  0.467 m

2

17.4 Equations of Motion: Rotation about a Fixed
Axis
 Angular velocity and angular acceleration are
caused by external force and couple moment
system acting on the body
 Acceleration of point G is represented by
tangential and normal components
 Tangential component of acceleration has a
magnitude of (aG)t = αrG
 The normal component
of acceleration is (aG)n = ω2rG

Axis
 For equations of motion,
 Fn  m(aG ) n  m 2 rG
 Ft  m(aG )t  mrG
 M G  I G
 Sum the moments about the pin
at O to eliminate FO
 From the kinetic diagram,
 Fn  m(aG ) n  m rG 2
 Ft  m(aG )t  mrG
 M O  I O
Axis
FBD
 Establish x, y or n, t coordinate system and
specify the direction or sense
 Draw FBD for all the external forces and couple
moments that act on the body
 Compute the moments of inertia

Axis
Equations of Motion
 Apply 3 equations of motion in
accordance with the established
sign convention
 If the moments are summed about
the center of mass,
G, ∑MG = IGα since (maG)t and (maG)n
create no moment about G

Axis
Kinematics
 Use kinematics if solution cannot be obtained
from equations of motion
 If angular acceleration is variable, use
α = dω/dt αdθ = ωdω ω = dθ/dt
 If the angular acceleration is constant, use
ω = ωO + α C t
θ = θO + ωO t + ½αCt2
ω2 = ω2O + 2αC(θ – θO)
Example 17.9
The unbalanced 25-kg flywheel has a radius of

gyration of 0.8 about an axis passing through its
mass center G. If it is released from rest, determine
the horizontal and vertical components of reaction at
the pin O.

Example 17.9
Solution
Free Body and Kinetic Diagrams
The moment of inertia about G is
IG  mkG  250.18  0.81 kg  m2
2 2
Equations of Motion

  Fn  mw2 rG  On  0
   Ft  mrG  Ot 25  259.81  25 0.15 1
  G  I G  Ot (0.15)  0.81
Solving,   26 .8 rad/s 2 ; Ot  144 .7 N
Example 17.9
Solution
Equations of Motion
Moments can also be summed about point O,
M O   M k O
259.81N0.15  0.81  25 0.150.15
245.25N0.15  1.3725 2
By the parallel-axis theorem

IO  IG  mr  0.81 250.15  1.3725 kg  m
2 2 2
G

Example 17.9
Solution
Equations of Motion
Hence
M O  I O
245.25N 0.15  1.3725
which is the same as Eq. 2

Example 17.11
The drum shown has a mass of 60kg and a radius

of gyration kO = 0.25m. A cord of negligible mass is
wrapped around the periphery of
the drum and attached to a block
having a mass of 20kg. If the
block is released, determine the
drum’s angular acceleration.

Example 17.11
Solution
Assuming the block accelerates downward at a, it
creates a CCW angular acceleration α of the drum.
For moment of inertia of the drum,

I O  mk O2  (60 )( 0.25 ) 2  3.75 kg.m 2
Five unknowns, Ox, Oy, T, a and α

Example 17.11
Solution
Equations of Motions
We have
 M O  I O ; T (0.4)  (3.75)
   Fy  m(aG ) y ;  20(9.81)  T  20a
Kinematics
Since the point of contact A between the cord and
drum has a tangential component of acceleration
a  r ; a   (0.4)
Example 17.11
Solution
Kinematics
Solving
T  106 N
a  4.52 m/s2
  11.3 rad/s (CCW ) 2

17.5 Equations of Motion: General Plane
Motion
 Consider rigid body subjected to general plane
motion caused by the externally applied force
and couple-moment system
 If an x and y coordinate system is chosen, for
equations of motion,
 Fx  m(aG ) x
 Fy  m(aG ) y
  G  I G

Motion
 Summing moments about point P other than G,
for equations of motion,
 Fx  m(aG ) x
 Fy  m(aG ) y
  P  ( M k ) P

Motion
FBD
 Establish x, y coordinate system and draw the
FBD for the body
 Specify the direction and sense of the
acceleration of the mass center and the angular
acceleration of the body
 Compute the moment of inertia

Motion
Equations of Motion
 Apply three equations of motion with established
sign convention
 When friction is present, there is the possibility
for motion with no slipping or tipping
Kinematics
 Use kinematics if a complete solution cannot be
obtained strictly from the equations of motion

Motion
Kinematics
 If the body’s motion is constrained, we use aB =
aA + aB/A, which relates the acceleration of any
two points
 When a wheel, disk, cylinder or ball rolls without
slipping, then aG = αr

Example 17.13
Determine the angular acceleration of the spool. The

spool has a mass of 8 kg and a radius of gyration of
0.35. The cords of negligible mass are wrapped
around its inner hub and outer rim.

Example 17.13
Solution
FBD
For moment of inertia of spool about its mass center
IG  2
mkG  (8kg )(0.35m)  0.980kg.m 2 2
Equations of Motion
   Fy  m(aG ) y ;
T  100N  78.48N  (8kg)aG
 M G  I G ;
100N (0.2m)  T (0.5m)  (0.980kg.m 2 )
Example 17.13
Solution
Kinematics
a  r ;
a   (0.5)
Solving,
T  19.8 N
aG  5.16m / s 2
  10.3rad / s 2

Example 17.15
The uniform slender pole has a mass of 100kg and

a moment of inertia IG = 75kg.m2. If the coefficient
of static and kinetic friction between the end of the
pole and the surface are μs = 0.3 and μk = 0.25
respectively. Determine the pole’s angular
acceleration at the instant the 400N horizontal force
is applied. The pole is originally at rest.

Example 17.15
Solution
FBD
No normal or y component since the pole is
originally at rest.
That is vG = 0 so that (aG)y = vG2/ρ = 0
4 unknowns NA, FA, aG and α

Example 17.15
Solution
Equations of Motion
We have
   Fx  m(aG ) x ;
400 N  FA  (100kg)aG
   Fy  m(aG ) y ;
N A  981N  0
 M G  I G ;
FA (1.5m)  400 N (1m)  (75kg.m 2 )

Example 17.15
Solution
Kinematics (No Slipping)
We have
a  r; a   (1.5)
Solving,
N A  981 N ; FA  300 N ; aG  1m / s 2 ;   0.667 rad / s 2
300N > 0.3(981N) = 294N (Slips at A)

Example 17.15
Solution
Kinematics (Slipping)
Since
FA  0.25 N A
Solving,
N A  981N
FA  245N
aG  1.55m / s 2
  0.428rad / s 2

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Engineering Mechanics:

Dynamics in SI Units, 12e

 Introduce methods to determine the mass moment

Copyright © 2010 Pearson Education South Asia Pte Ltd

1. Mass Moment of Inertia

Copyright © 2010 Pearson Education South Asia Pte Ltd

 A body has a definite size and shape, the body

Copyright © 2010 Pearson Education South Asia Pte Ltd

 Moment of inertia is defined as the integral of

 Moment arm, r, is the perpendicular

Copyright © 2010 Pearson Education South Asia Pte Ltd

 Moment of inertia computed about this axis is IG

Copyright © 2010 Pearson Education South Asia Pte Ltd

Procedure for Analysis

Copyright © 2010 Pearson Education South Asia Pte Ltd

Procedure for Analysis

Copyright © 2010 Pearson Education South Asia Pte Ltd

Determine the moment of inertia of the cylinder

Copyright © 2010 Pearson Education South Asia Pte Ltd

Mass, dm = ρ dV = ρ(2πhr dr)

Since the entire element lies at the

Copyright © 2010 Pearson Education South Asia Pte Ltd

For mass of the cylinder,

Copyright © 2010 Pearson Education South Asia Pte Ltd

Parallel Axis Theorem

Copyright © 2010 Pearson Education South Asia Pte Ltd

Parallel Axis Theorem

I   r dm   d  x'  y ' dm

  x'  y ' dm  2d  x' dm  d  dm

 Since r’2 = x’2 + y’2, 1st integral represents IG

Copyright © 2010 Pearson Education South Asia Pte Ltd

Parallel Axis Theorem

Copyright © 2010 Pearson Education South Asia Pte Ltd

Parallel Axis Theorem

If the plate has a density of 8000kg/m3 and a

Copyright © 2010 Pearson Education South Asia Pte Ltd

Moment of inertia about O can be determined by

Copyright © 2010 Pearson Education South Asia Pte Ltd

Copyright © 2010 Pearson Education South Asia Pte Ltd

 Planar kinetics to rigid bodies studies is

Copyright © 2010 Pearson Education South Asia Pte Ltd

 Inertial frame of reference x, y, z has its origin

Equation of Translational Motion

Copyright © 2010 Pearson Education South Asia Pte Ltd

Equation of Translational Motion

Copyright © 2010 Pearson Education South Asia Pte Ltd

Equation of Rotational Motion

Copyright © 2010 Pearson Education South Asia Pte Ltd

Equation of Rotational Motion

 For moment about P,

Copyright © 2010 Pearson Education South Asia Pte Ltd

Equation of Rotational Motion

 Letting mi → dm and integrating, we have

Equation of Rotational Motion

ym   ydm and xm   xdm

Equation of Rotational Motion

 Thus,  M  ym[(a )  y ]  x m[( a )  x  ]  I 

Equation of Rotational Motion

 By cross-product and equating the i and j

Copyright © 2010 Pearson Education South Asia Pte Ltd

Equation of Rotational Motion

Copyright © 2010 Pearson Education South Asia Pte Ltd

Copyright © 2010 Pearson Education South Asia Pte Ltd