Engineering Mechanics

5
Yasser Talaat Shaban

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 Plane Motion of Rigid
Bodies

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 Equations of Motion for a Rigid Body

• Equations of Motion of a Translation

(Curvilinear)
• Equations of Motion of a Rotation
• Equations of Motion of a General Plane
Motion

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 General Plane Motion

 Fx = m (aG)x
 Fy = m (aG)y
 MIC = IIC a
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 Equations of Motion for a Rigid Body
Translation, Rotation, and General Plane Motion

 
 F  ma  Fn = m (aG)n = m rG w2  Fx = m (aG)x
 Ft = m (aG)t = m rG a  Fy = m (aG)y
M G 0
 MG = IG a  MIC = IIC a

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 Sample Problem

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 Sample Problem 2
A cord is wrapped around the inner
hub of a wheel and pulled
horizontally with a force of 200 N.
The wheel has a mass of 50 kg and a
radius of gyration of 70 mm.
Knowing ms = 0.20 and mk = 0.15,
determine the acceleration of G and
the angular acceleration of the wheel.
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SOLUTION:
• Draw the free-body-equation for the
wheel, expressing the equivalence of the
external and effective forces.
• Assuming rolling without slipping and
therefore, related linear and angular
accelerations, solve the scalar equations
for the acceleration and the normal and
tangential reactions at the ground.
• Compare the required tangential reaction
to the maximum possible friction force.
• If slipping occurs, calculate the kinetic
friction force and then solve the scalar
equations for the linear and angular
accelerations.
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 Sample Problem 2
SOLUTION:
• Draw the free-body-equation for the wheel,.
• Assuming rolling without slipping, solve the scalar
equations for the acceleration and ground reactions.
 M C   M C eff
200 N 0.040 m   ma 0.100 m   Ia
8.0 N  m  50 kg 0.100 m 2a  0.245 kg  m 2 a

I  mk 2  50 kg 0.70 m 2 a  10.74 rad s 2

 0.245 kg  m 2  
a  0.100 m  10.74 rad s 2  1.074 m s 2
 Fx   Fx eff
Assume rolling without slipping,
a  ra

F  200 N  ma  50 kg  1.074 m s 2 
F  146 .3 N
 0.100 m a
 F   F 
y y eff

N W  0

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 
N  mg  50 kg  1.074 m s 2  490 .5 N
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 Sample Problem 2
• Compare the required tangential reaction to the
maximum possible friction force.
Fmax  m s N  0.20490 .5 N   98.1 N
F > Fmax , rolling without slipping is impossible.

• Calculate the friction force with slipping and solve the

Without slipping, scalar equations for linear and angular accelerations.
F  146.3 N N  490.5 N F  Fk  m k N  0.15490 .5 N   73.6 N

 Fx   Fx eff
200 N  73.6 N  50 kg a a  2.53 m s 2

 M G   M G eff
73.6 N 0.100 m   200 N 0.0.060 m 
 
 0.245 kg  m 2 a
a  18.94 rad s 2 a  18.94 rad s 2
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 Solving Problems On Your OWN

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