Civil Engineering Mechanics

CVG2149

LEC14

Kinematics of Rigid Bodies (CH. 15)

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.

1
  Fx = ma x  Fy = ma y  M G = I 
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 = ma

( )
a = 9.81m/s 2 cos 30

a = 8.50 m s2
 Fn =  (Fn )eff
FAE + FDF − W sin 30 = 0

 Fx = ma x  Fy = ma y  M G = I 

a = 8.50 m s 2

2
 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 mk.
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.

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
− m k mg = a = −mk g

 M G =  (M G )eff
Fr = I 
(mk mg )r = (25 mr 2 ) =
5 mk g
2 r

3
 NOTE: As long as the sphere both rotates and slides, its linear and angular
motions are uniformly accelerated.

• 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.

a = −mk g

5 mk g
= t1 =
2 v0
2 r 7 mk g

At the instant t1
when the sphere
stops sliding,
v1 = r1

NOTE: As long as the sphere both rotates and slides, its linear and angular
motions are uniformly accelerated.

a = −mk g

5 mk g
=
2 r

5 v0
At the instant t1 1 =
7 r
when the sphere
stops sliding, v1 = 75 v0
v1 = r1

4
 Civil Engineering Mechanics
CVG2149

Plane Motion of Rigid Bodies:

Energy and Momentum Methods
(CH. 17)

• Method of work and energy and the method of impulse and

momentum will be used to analyze the plane motion of rigid
bodies and systems of rigid bodies.

• Principle of work and energy is well suited to the solution of

problems involving displacements and velocities.
T1 + U1→2 = T2

• Principle of impulse and momentum is appropriate for

problems involving velocities and time.
 t2    t2  
L1 +   Fdt = L2 (H O )1 +   M O dt = (H O )2
t1 t1

• Problems involving eccentric impact are solved by

supplementing the principle of impulse and momentum with the
application of the coefficient of restitution.

10

5
 Kinetic Energy of a Rigid Body in Plane Motion
• Consider a rigid body of mass m in plane motion.
T = 12 mv 2 + 12  Δmi vi 2
= 12 mv 2 + 12 ( ri2Δmi ) 2
= 12 mv 2 + 12 I  2

• Kinetic energy of a rigid body can be separated into:

- the kinetic energy associated with the motion of
the mass center G and
- the kinetic energy associated with the rotation of
the body about G.
• Considering a rigid body turning around an center O

T= 1
2  Δm (r )
i i
2
= 1
2 ( r Δm )
i
2
i
2

= 12 I O 2

11

12

6
 ma

dv v2
at = an =
dt 

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