Dr.

Hassen OUAKAD 2/2/2015

ME201

Lectures 04-06
(Weeks 02-03)

CHAPTER 02:

MODELS WITH
ONE DEGREE OF FREEDOM
Dr. Hassen M. Ouakad
Department of Mechanical Engineering

ME482, Mechanical Vibrations / Term 142

Chapter’s Objectives
 Identify the type of motion, apply the appropriate kinematic equations, and
choose an appropriate set of coordinates to describe the motion
 Identify the degree of freedom (DOF)
 Apply Newton’s laws of motion if the object can be modeled as a particle
 Identify the type of plane motion, and apply the appropriate form of Newton’s laws
if the object can be modeled as a rigid body in plane motion
 Apply work-energy methods for problems involving forces, displacement, and
velocity, but not time
 Apply impulse-momentum methods for problems in which the applied forces act
either over very short times, such as happens during an impact, or over a specified
time interval
 Apply the principle of kinetic energy equivalence to simplify the process of obtaining
a description of a system containing both translating and rotating parts

Obtain the differential equation of motion for 1 DOF systems containing

spring-mass-damper elements
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ME201

Outline

• Section 2.1: Kinematics and Degree of Freedom

• Section 2.2: Plane Motion of Rigid Body
• Section 2.3: Work-Energy Method
• Section 2.4: Impulse-Momentum Methods
• Section 2.5: Equivalent Mass and Inertia
• Section 2.6: System with Spring Elements

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Outline

• Section 2.1: Kinematics and Degree of Freedom

• Section 2.2: Plane Motion of Rigid Body
• Section 2.3: Work-Energy Method
• Section 2.4: Impulse-Momentum Methods
• Section 2.5: Equivalent Mass and Inertia
• Section 2.6: System with Spring Elements

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ME201

Kinematics
 Kinematics:

 Study of motion only without regard for the masses that are in motion or the forces
that produce the motion
 Primarily concerned with relationship among displacement, velocity & acceleration
 Provides the basis for describing the motion of the systems
 Restrict our attention to planar motion (2D motion)
 This means that the object can translate in 2-dimensions only and can rotate only
about an axis that is perpendicular to the plane containing these 2-dimensions
 The completely general motion involves translation in 3-dimensions and rotation about
3-axes : considerably more complex to analyze
 Many practical engineering problems can be handled with the plane motion methods

Equilibrium
POWER TRAJECTORY
Object
(force) (motion)

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Categories of Planar (2D) Motion

 As conveyed, we will only discuss planar kinematics (2D) of rigid body.

 2D planar motion Mix of Translation and Rotation.
 4 categories of plane motion
 Rectilinear translation  Curvilinear translation
 Rotation about a fixed axis  General plane motion
Curvilinear
Translation

Rectilinear
Translation

General
Plane
Motion

Fixed-axis
Rotation

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Example :
Single Pendulum
 Normal and tangential coordinate system  Fixed rectangular coordinate system

Velocy vecor : x  L sin  , y  L cos 

position vector : r  xi  yj
v  v e  L e
t t
dr
Acceleration vector : Velocity : v   xi  yj (i  j  0)
dt
v2
a e n  v et  L 2 e n  L et x  L cos  , y   L sin 
L
dv
Acceleration : a   xi  yj
dt
x  L cos   L 2 sin  ,

y   L2 sin   L 2 cos 

Note how much simpler the velocity and

acceleration expressions are when described
by normal-tangential coordinates
 How to select the suitable coordinates
for a system?

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Coordinates
 Coordinate : An independent quantity used to specify position
 The proper choice of coordinates can simplify the resulting expression for position,
velocity, or acceleration
 Categories of coordinates :
 Fixed or moving rectangular coordinate
 Path coordinate (normal-tangential coordinate)
 Polar coordinate (cylindrical coordinate)

rectangular coordinate
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Degree of Freedom
 Degree of freedom (DOF) : the minimum number of coordinates required to
completely describe the motion of the object
 Generalized coordinates : coordinates that reflect the existence of constraints and yet
still provide a complete description of the motion of the object (For pendulum, angle ,
coordinate x and y are not)
 Constraint : restrict the motion of an object usually means that fewer coordinates are
needed to describe the motion of the object (constant length L)

6 DOF

 If without constraint  If with constraint 2 DOF

 3 translations (only longitidunal motion)
 3 rotations  1 translations (x)
 6 DOF  1 DOF
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Examples:
Number of Degree of Freedom
 2 DOF
 2 DOF  Generalized coordinates
 Generalized coordinates (x, )
(r, ) or (x, y)

 2 DOF
 Generalized coordinates
 2 DOF (x1, x2)
 Generalized coordinates
(1, 2)

 Pure rolling motion

 1 DOF (x = R) String or cable
 Generalized  Infinite DOF
coordinates  y = f(x)
 or x

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Examples:
Single-Degree of Freedom (SDOF) Systems

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Examples:
Multi-Degree of Freedom (MDOF) Systems

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Pulley’s System
 A pulley is a wheel on an axle that is designed to support movement
and change of direction of a cable or belt along its circumference.
 Pulleys are used in a variety of ways to lift loads, apply forces, and to
transmit power.

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Pulley:
DOF & Kinematics

A system having 1 DOF

A multi-pulley system

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Outline

• Section 2.1: Kinematics and Degree of Freedom

• Section 2.2: Plane Motion of Rigid Body
• Section 2.3: Work-Energy Method
• Section 2.4: Impulse-Momentum Methods
• Section 2.5: Equivalent Mass and Inertia
• Section 2.6: System with Spring Elements

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Plane Motion of a Rigid Body

 Particle : A mass of negligible dimensions
Motion can consist of translation only
 Rigid body : An object negligible deformations but considered dimensions
Motion can involve both translation and rotation
 Newton’s second law :
 Acceleration of a mass particle is proportional to the vector resultant force acting
on it and is in the direction of this force

dv
 F  f  ma  m dt
 Vector sum of external forces acting on a body of mass m must equal the time rate
of change of linear momentum L
d (mv ) dL
f 
dt dt

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Newton’s 2nd Law - Translation


  F is the sum of external forces
acting on the rigid body
  m is the mass of rigid body
 (CM)
r r is the acceleration of the center of
y

x mass (CM) of the rigid body relative
z to a fixed point in space

Newton’s Second Law mvx  mx   Fx

  
mv  mr   F mvy  my   Fy
mvz  mz   Fy

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Plane Motion of a Rigid Body

 Fixed-axis rotation : For plane motion, the object can translate in 2-dimentions
and can rotate only about an axis that is perpendicular to the plane
 Newton’s second law :
 Vector sum of the moment M acting on a body about that point must equal
the time rate of change of angular momentum H
d ( Iω) dH 
M  H
dt dt
I : Body’s mass moment of inertia about the axis
 : Angular velocity about that axis (  )
 Term torque T are often used instead of moment

 Calculating inertia : mass moment of inertia I about a specified reference axis

I   r 2 dm
dm
r

Reference
axis

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Newton’s 2nd Law – Rotation

About a Fixed Axis
 Assumes that axis of rotation is fixed
in space
 M0 is the sum of external moments
acting about rotation axis
 I0 is the mass moment of inertia
about the rotation axis (units kg-m2)

 Notation:   

Newton’s 2nd Law Applied to Rotation: I 0  M 0

1
Kinetic Energy: KE  I 0 2
2

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Moments of Inertia for

Some Common Geometric Solids

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ME201

Moments of Inertia for

Some Common Geometric Solids
L L

1
I ML2 1
12 I  ML2 1 I
1
M ( R1  R2 )
2 2
3 I MR 2 2
Thin Rod 2
Thin Rod (axis at end) Solid Disk Hollow Cylinder
a a

b R
b

1
1 I  Ma 2
I M (a 2  b 2 ) 3 I  MR 2
12
Thin Rectangular Plate (about edge) Thin Walled Hollow Cylinder
Rectangular Plate (through center)
R
R

2
I  MR 2 2
5 I MR 2
3
Solid Sphere
Thin Walled Hollow Sphere
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Parallel Axis Theorem

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Radius of Gyration

Frequently tabulated data related to moments of inertia will be

presented in terms of radius of gyration.

I
I  mk 2 or k 
m

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Mass Moment of Inertia:

Summary Sphere I0 
2
5
mR 2

I   r 2 dm Mass rotating about point 0

I 0  mR 2

Parallel-Axis Theorem
Hollow cylinder 1
Ix  m( R 2  r 2 )
2
1
I y  I z  m(3R 2  3r 2  L2 )
12

Rectangular Prism
1
Ix  m(b 2  c 2 )
12
I  I cm  md 2

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Example 01:
Equation of Motion of a Pendulum
 External forces : Tension force on the rod T, weight mg
 External Moment : only the weight component perpendicular to the rod (mg sin)
M   mgL sin 
 Angular acceleration :     
 Mass moment of inertia : I  mL2 Nonlinear
equation
 Equation of motion : mL   mgL sin 
2
or L   g sin 

Linearization
sin   

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Example 02:
Pulley Dynamics
 External forces : Tension force F1, F2 in the cord on either side of the pulley

 External Moment : M  F1 R  F2 R

 Equation of motion : M  I   F1 R  F2 R  ( F1  F2 ) R or I   ( F1  F2 ) R

 Static condition : If the pulley inertia is negligible, the support force

at the pulley center F3  F1  F2

Pulley’s center is fixed

M  Iα  Iω

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General Planar Motion

 Object : Rigid body (slab), 3 DOF?? (2 translations and 1 Rotation)

 Translational motion in the plane  Two force equation
Rotational motion about an axis perpendicular to the plane  A moment equation

 Resultant force :

F  f  f 1  f 2  f3  f x i  f y j
f f  f x2  f y2 ,   tan 1 ( f y / f x )
 Equation of motion :

f x  maGx , f y  maGy
M O  I O or M G  I G
M P  I G  maG d
or
M P  I P  mrx aPy  mry aPx
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Curvilinear Translation

 If the mass center moves along a curved path (curvilinear translation),

the force equations by using path coordinate may be more useful
 Normal direction  f n  man
Tangential direction  ft  mat

 Total acceleration magnitude :

a  an2  at2
an  v 2    2 , at  v

 For circular motion :

  R : constant
v  R , at  R , an  R 2

If   constant
  0, at  0,
an  a  R 2

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Sliding Motion & Rolling Motion

 Three possible motion types :
 Pure rolling motion : No slipping between the wheel and the surface (v = R)
 Pure sliding motion : When the wheel is prevented from rotating such as
when a brake is applied ( = 0, v  R)
 Sliding and rolling motion : In this case   0.
Because slipping occurs in this case (v  R)
 Wheel will roll without slipping (pure rolling), if the tangential force ft is smaller
than the static friction force sN
 Wheel will slip, if the static friction force is smaller than ft

 s N  f t : Pure rolling
 s N  f t : Slipping
ft   d N (dynamic friction equation)

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Comparisons of Analytical Methods

 Force-Mass-Acceleration Method (Newton’s 2nd method)
• Equation of motion : F = ma
• Acceleration : a = F/m
• Velocity : One time integration with time
v (t )  i  a x d t  j a y d t  k a z dt

• Vector calculation due to use the force equilibrium relationship

 Work-Energy Methods
• F = ma : Integration with position 1 and 2
• Useful for the calculation of the rate of change during the displacement of the mass point
• Scalar calculation due to use the energy equilibrium relationship
 Impulse-Momentum Methods
• F = ma: integration with time t1 and t2
• Useful for the calculation of the speed change of the object during a time change

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