Chapter (17)

Planar Kinetics of a Rigid Body

Force and Acceleration

1
 Moment of Inertia
( A measure of the resistance of a body to angular acceleration about a given axis that is equal
to the sum of the products of each element of mass in the body and the square of the
element’s distance from the axis.)

I   r dm 2
m

Where,

I  moment of inertia (kg  m 2 )

r  perpendicu lar dis tan ce from revoluing axis (m)
dm  elemental mass (kg)

2
   var iable density (kg m3 )
dm   dv   x, y, z , dv  dx . dy . dz
dv  volume

( Elemental volume has a different size or thickness in only one direction)

I    r 2 dV
V

Symmetric Body, Shell Element

If a shell element having a height z, radius r  y and
thickness dy is chosen for integration, Fig.(b), then
the volume is

dv  (2y)z dy

3
Symmetric Body, Disk Element
If a disk element having a radius y and a thickness
dz is chosen for integration, Fig. ©, then the
volume is:
A   r 2   y2
dv   y 2 dz V  A Z
V   y2Z
Fig.(c)
Symmetric Body, Cylinder Shape

1
I  m R2
2

1 2
dI  r dm
2
4
5
6
Parallel-Axis Theorem,

I  IG  m d 2

7
Composite Bodies z


I   IG  m d 2  l
2
G
1 y
I xx  I yy  m l2 , x l
12 2

1
I xx  I yy  m l 2 , I zz   0 y
3 x Slender Rod
z
1 1
I xx  m b , I yy 
2
m a2 ,
12 12
1
I zz  m( a 2  b 2 ) G
y
12
x
8
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 Equations of Motion: Translation
Rectilinear Translation

  M A   M k A ; M A  m aG  d

The sum of moments of the external forces and couple

moments about A (  M ,free-body diagram) equals the
A

moment of m aG about A (  M  , kinetics diagram)

k A

Curvilinear Translation.

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End

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