Kinematics Dynamics

1st half of semester

Lecture note #7: Rigid body in a fixed-axis rotation

Dr. Eng. Radon Dhelika

Dept. of Mechanical Engineering
Rigid body revisited
• Particles: N
• Size is negligible compared to motion
• All forces act through center of gravity
• Neglect rotation about center of gravity F

mg

• Rigid bodies:
• Points of application, and lines of
application of forces are important G
• Rotation and moments about center of
gravity are important F
mg
R1 R2
Type of rigid-body plane motion

This course focuses

mainly to this
Degree and radian

180o = 𝛑 rad
90o = 𝛑/2 rad
Comparing equations
straight-line motion vs fixed-axis rotation

Relating linear
motion to rotation:
Direction in rotation

right hand rule

Linear acceleration in rigid body rotation

(tangential acceleration of a point

on a rotating body)

(centripetal acceleration of a
point on a rotating body)
Applications
Examples of rigid body making rotations?
Engines, shafts

Rotating equipments:
• turbines
• gas compressors
• pumps
• fans
• blowers

Ferris wheel

fastest “man-made”
rotation: 107 Hz,
108 rad/s
Common applications

Pulley (and cable) as a part of an Compound pulley system in a hoist

elevator system
Sample problem 1
The graph shows ωz and αz versus time for a
particular rotating body.

During which time intervals is the rotation

speeding up?
a)0 < t < 2
b)2 < t < 4
c)4 < t < 6
During which time interval is the rotation slowing
down?
a)0 < t < 2
b)2 < t < 4
c)4 < t < 6
 Sample problem 2

The angular position of a 0.36-m-diameter flywheel is given by

a) Find the distance that a particle on the flywheel rim

moves over the time interval from t1 = 2 s to t2 = 5 s
b) Find the instantaneous angular velocities at t = 2 s
Sample problem 2
a)

b)
Sample problem 3
You have finished watching a movie on Blu-ray and the disc is
slowing to a stop. The disc’s angular velocity at t = 0 is 27.5 rad/s
and its angular acceleration is a constant -10 rad/s2. A line PQ on the
disc’s surface lies along the +x axis at t = 0.
(a) What is the disc’s angular velocity at t = 0.3 s?
(b) What angle does the line PQ make with the +x axis at this time?
Sample problem 3
a)

b)
Sample problem 4
An athlete whirls a discus in a circle of radius 80.0 cm. At a certain
instant, the athlete is rotating at 10 rad/s and the angular speed is
increasing at 50 rad/s2. At this instant, find
a) the tangential and centripetal components of the acceleration of
the discus
b) and the magnitude of the total acceleration
Sample problem 4

a)

b)
Sample problem 5
You are designing an airplane propeller that is to turn at 2400 rpm.
The forward airspeed of the plane is to be 75 m/s, and the speed of
the tips of the propeller blades through the air must not exceed 270
m/s (This is about 80% of the speed of sound in air. If the speed of
the propeller tips were greater than this, they would produce a lot of
noise.)
a) What is the maximum possible propeller radius?
b) With this radius, what is the acceleration of the propeller tip?
Sample problem 5

a)

b) The tangential acceleration is zero

because the angular speed is
constant
Sample problem 6

A flywheel rotating freely at 60π rad/s clockwise is subjected to

a variable counterclockwise torque which is first applied at time t
= 0. The torque produces a counterclockwise angular
acceleration α = 4t rad/s2, where t is the time in seconds during
which the torque is applied. Determine:
a) the time required for the flywheel to reduce its clockwise
angular speed to 30π rad/s,
b) the time required for the flywheel to reverse its direction of
rotation, and
c) the total number of revolutions just before the flywheel
reverses its direction of rotation
Sample problem 6
a) Since acceleration is non constant, we may not
use the standard equations; use integration

b) The flywheel changes direction when its angular velocity is

momentarily zero

c)

= 194.2 rev
Sample problem 7
The pinion A of the hoist motor drives gear B,
which is attached to the hoisting drum. The load
L is lifted from its rest position and acquires an
upward velocity of 3 cm/sec in a vertical rise of
4 cm with a constant acceleration. As the load
passes this position, compute: 2 cm
4 cm

(a) the total acceleration of point C on the cable

in contact with the drum
1 cm
(b) the angular velocity of the pinion A.

3 cm/sec

4 cm
Sample problem 7
2 cm
4 cm
a) Asked: acceleration (total) of point C

1 cm

3 cm/sec
Consider load L:

4 cm

b) Asked: angular velocity of A

Known:
 aC,t = 1.125 cm/sec2

aC,tot aC,rad = 4.5 cm/sec2

aL = 1.125 cm/sec2

2 cm 4 cm

1 cm
vL = 3 cm/sec

3 cm/sec

4 cm
 Sample problem 8
1 rev = 2π rad

A torque applied to a flywheel causes it to accelerate uniformly from a speed of 200

rev/min to a speed of 800 rev/min in 4 seconds. Determine the number of
revolutions N through which the wheel turns during this interval
Sample problem 8
Sample problem 9
In order to test an intentionally weak
adhesive, the bottom of the small 0.3-kg
block is coated with adhesive and then
the block is pressed onto the turntable
with a known force. The turntable starts
from rest at time t = 0 and uniformly
accelerates with α = 2 rad/s2. If the
adhesive fails at exactly t = 3 s,
determine:
a)the total acceleration experienced by
the block when the adhesive fails
b)the ultimate shear force in radial
direction which the adhesive supports

F = ma
Sample problem 9

a)

b)
Sample problem 10
The angular position of a radial line in a rotating disk is given
by the clockwise angle θ = 2t3 - 3t2 + 4 where θ is in radians
and t is in seconds. Calculate the angular displacement Δθ of
the disk during the interval in which its angular acceleration
increases from 42 rad/s2 to 66 rad/s2
Sample problem 10

when

when
Sample problem 11
The rotating arm starts from rest and acquires a rotational
speed N = 600 rev/min in 2 seconds with constant angular
acceleration. Find the time t after starting before the
acceleration vector of end P makes an angle of 450 with the
arm OP.
Sample problem 11

To make a 450 vector,

To reach ωt of 5.6 rad/s with α = 10π rad/s2, required time t = 0.1784 sec
Sample problem 12
The belt-driven pulley and attached disk are rotating with
increasing angular velocity. At a certain instant the speed
v of the belt is 1.5 m/s, and the total acceleration of point A
is 75 m/s2 . For this instant determine

a) the angular
acceleration α of the
pulley and disk,
b) the total acceleration
atot of point B
c) the acceleration of point
C on the belt
Sample problem 12
aA,tan

A C A
aA,tot=75

aA,rad
0.075m aB,tot
B aB,tan
aB,rad

B
a)
Sample problem 12
b)

c)