Work-Energy (WE) for Rigid Bodies

From last class: The WE equation

for a system of particles also applies T1 + U1-2 = T2
to a system of rigid bodies.
Work terms (ΣU1-2): The same ones for particles (force, weight,
spring) also apply to rigid bodies. But there is one new term,
the work of a couple. (Rotation is not defined for particles.)

Work of a force: Work of weight:

UForce = (P cos )(d) UWeight = (mg)( h)

Work of friction: Work of a spring:

UFriction = -F (d) 1
USpring = k s2 s2
2 2 1

Work of a couple: M = couple or torque, lb-ft or N-m

= angular displacement, +
UM = M in radians M
Work-Energy (WE) for Rigid Bodies
More on the work of a couple: If a couple, M, is a function of θ,
like the torsional spring on a mouse or rat trap, the energy
stored in the spring is the area under the M vs. θ curve.
Work of a couple: M = couple or torque, lb-ft or N-m
= angular displacement, +
UM = M in radians M

If the couple, M, varies with like for a torsional spring:

Area under M( ) curve is energy:

UM = Md Examples:
M
Mouse trap
Some hinges

1 2
Work-Energy (WE) for Rigid Bodies
Rigid bodies in general plane motion store kinetic energy in
both translation AND rotation, so they have two KE terms.

1 1
T = 2 mvG2 + 2 IG 2

G vG
KE stored in KE stored in
translation rotation
of mass center

Examples: Translation, FA Rotation Fixed Axis Rotation

1 2
T = 2 IG
vG O r
G
vG = 0
at O.

1
Translation T = 2 mvG2 Examples: Bench grinder
Hand-held grinder
Spin awhile after turned off
(neglecting tire rotation) due to stored KE.
Examples of general plane motion
Bar sliding down wall
Rolling Wheel
(Slip or no slip)
A

G vG
G
vG

1 1 B
T = 2 mvG2 + 2 IG 2

1 1
T = 2 mvG2 + 2 IG 2

Kinetic energy is stored in both the translation of the mass

center and the rotation of the body. Kinematics can be a
challenge because you need to relate vG’s and ω’s.
Example of fixed axis rotation where CG is not at pin:
Fixed Axis Rotation Fixed Axis Rotation
cG not at the pin. cG not at the pin.

A r
G
G
r
A vG vG

1 1
1 1
T = 2 mvG2 + 2 IG 2 T = 2 mvG2 + 2 IG 2

Kinematics: vG = r Kinematics: vG = r

1 1
T = 2 IPin 2 T = 2 IPin 2

These show that a body in fixed axis rotation whose cG is not at

the pin will have both vG and ω terms. However, there is a simpler
equation, T = ½IPinω2 , which can be used for this case.
 From where do we get the
1
T = 2 IPin 2 equation?
A r
Consider the slender bar: G
Its stored KE is given by:
vG
1 1
T = 2 mvG2 + 2 IG 2 =r

Sub in v =r
kinematics: G 1 2
T = 2 IG + mr2
Factor out 1 and 2
2 =
Parallel IPin !
Axis Thm
Result:
1
T = 2 IPin 2

Only use this equation for fixed axis rotation where vG = rω applies.