Example

A massless bent arm ABC is rigidly attached to a horizontal shaft and is driven by a motor 1 at O. The motor is rotating with an angular velocity 𝑝 = 2 rad/s and accelerate with an angular acceleration 𝑝ሶ =
3 rad/s2 . A thin disc of mass 2 kg is attached to the arm as shown in Figure and it is driven by a motor 2 at C. The disc is spinning with an angular velocity 𝑞 = 4 rad/s and slowing down with 𝑞ሶ = 5 rad/s2
relative to the arm ABC. Arm ABC can be regarded as slender rod, while the horizontal mass is massless. Neglect the mass of the motors and their inertia effects. At the instant shown, determine:
(a) The effective moment of the disc about point C, 𝑀𝐶,𝑒𝑓𝑓 ,
(b) The applied moment of the disc about point C, 𝑀𝐶,𝐴𝑝𝑝 ,
(c) The motor torque at point C, 𝑀2 ,
Solution (b) The applied moment of the disc about point C, 𝑴𝑪,𝑨𝒑𝒑
(d) The reaction at C, Moment about G and effective moment of a body: Draw FBD of the disc itself:
(e) The effective moment of the disc about point O, 𝑀𝑂,𝑒𝑓𝑓 ,
(f) The applied moment of the disc about point O, 𝑀𝑂,𝐴𝑝𝑝 , 𝑀𝐺 = [𝐼𝑥 𝛼𝑥 + (𝐼𝑧 𝜔𝑧 𝜔𝑦 − 𝐼𝑦 𝜔𝑦 𝜔𝑧 )]𝑖 +
(g) The motor torque at point O, 𝑀1 , and [𝐼𝑦 𝛼𝑦 + (𝐼𝑥 𝜔𝑥 𝜔𝑧 − 𝐼𝑧 𝜔𝑧 𝜔𝑥 )]𝑗 + 𝑖
(h) Reactions at the supports O and D. [𝐼𝑧 𝛼𝑧 + (𝐼𝑦 𝜔𝑦 𝜔𝑥 − 𝐼𝑥 𝜔𝑥 𝜔𝑦 )]𝑘 𝑚𝐷 𝑔
𝐶𝑥
𝑞 𝑘 + 𝑗
𝑀𝑂 = 𝑅𝐺 ∧ 𝑚𝑎𝐺 + 𝑀𝐺
𝐶
(a) The effective moment of the disc about point C, 𝑴𝑪,𝒆𝒇𝒇 𝐶𝑦
𝜔𝐷 = 𝑝𝐼 + 𝑞𝑗 = 2𝐼 + 4𝑗 = 2𝑖 + 4𝑗 = 𝜔𝑥 𝑖 + 𝜔𝑦 𝑗 𝑀2 𝐶𝑧

𝛼𝐷 = 𝑝𝐼ሶ + 𝑝𝐼 ሶ + 𝑞𝑗ሶ + 𝑞 𝑗ሶ
𝛼𝐷 = 𝑝𝐼ሶ + 𝑝𝐼 ሶ + 𝑞𝑗ሶ + 𝑞(𝑝𝐼 Λ 𝑗)
FBD
𝛼𝐷 = 𝑝𝐼ሶ + 𝑞𝑗ሶ + 𝑞(𝑝𝑘) = 3𝑖 − 5𝑗 + 8𝑘 = 𝛼𝑥 𝑖 − 𝛼𝑦 𝑗 + 𝛼𝑧 𝑘
𝑀𝐶.𝐴𝑝𝑝 = 𝑀2 𝑗
𝑚𝐷 𝑟 2 2 ∙ (0.22 )
𝐼𝑥 = 𝐼𝑧 = = = 0.02 kg. m2
4 4
𝑚𝐷 𝑟 2
𝐼𝑦 = = 0.04 kg. m2 (c) The motor torque at point C, 𝑴𝟐
2

𝑀𝐺 = (𝐼𝑥 𝛼𝑥 )𝑖 + (𝐼𝑦 𝛼𝑦 )𝑗 +(𝐼𝑧 𝛼𝑧 + (𝐼𝑦 𝜔𝑦 𝜔𝑥 − 𝐼𝑥 𝜔𝑥 𝜔𝑦 ))𝑘 𝑀𝐶.𝐴𝑝𝑝 = 𝑀𝐶.𝐸𝑓𝑓

𝑀𝐺 = (0.02 (3))𝑖 + (0.04(−5))𝑗 +(0.02(8) + 𝑀2 𝑗 = 0.06𝑖 − 0.2𝑗 +0.32𝑘

(0.04(4)(2) − 0.02(2)(4)))𝑘 Therefore:
𝑀𝐺 = 0.06𝑖 −0.2𝑗 +0.32𝑘 𝑀2 = −0.2 N. m
𝑀𝐶.𝐸𝑓𝑓 = 0.06𝑖 −0.2𝑗 +0.32𝑘
Example
A massless bent arm ABC is rigidly attached to a horizontal shaft and is driven by a motor 1 at O. The motor is rotating with an angular velocity 𝑝 = 2 rad/s and accelerate with an angular acceleration 𝑝ሶ =
3 rad/s2 . A thin disc of mass 2 kg is attached to the arm as shown in Figure and it is driven by a motor 2 at C. The disc is spinning with an angular velocity 𝑞 = 4 rad/s and slowing down with 𝑞ሶ = 5 rad/s2
relative to the arm ABC. Arm ABC can be regarded as slender rod, while the horizontal mass is massless. Neglect the mass of the motors and their inertia effects. At the instant shown, determine:
(a) The effective moment of the disc about point C, 𝑀𝐶,𝑒𝑓𝑓 ,
(b) The applied moment of the disc about point C, 𝑀𝐶,𝐴𝑝𝑝 , 𝑎𝐶/𝑂 = 3𝐼 Λ (0.1𝐼 + 0.2𝐾 + 0.3𝐽) + 𝑖
(c) The motor torque at point C, 𝑀2 ,
2𝐼 Λ (2𝐼 Λ (0.1𝐼 + 0.2𝐾 + 0.3𝐽) )
(d) The reaction at C, 𝑘 + 𝑗
(e) The effective moment of the disc about point O, 𝑀𝑂,𝑒𝑓𝑓 , 𝑎𝐶/𝑂 = −1.8𝐽 + 0.1𝐾
(f) The applied moment of the disc about point O, 𝑀𝑂,𝐴𝑝𝑝 ,
𝐺2
(g) The motor torque at point O, 𝑀1 , and Applying eqn (i):
(h) Reactions at the supports O and D.
(𝐶𝑥 𝐼 + 𝐶𝑦 𝐽 + 𝐶𝑧 𝐾) − 2𝑔𝐾 = 2 (−1.8𝐽 + 0.1𝐾)
𝑚𝐷 𝑔
Equating the terms: 𝐺1
𝑂𝑥
𝐶𝑥 = 0 𝐶𝑦 = −3.6 N 𝐶𝑧 = 19.82 N 𝑀 1
𝑂𝑦 𝐴𝑥
𝑚𝐷 𝑔 𝑞 𝑂𝑧
𝐶𝑥 (e) The effective moment of the disc about point O, 𝑴𝑶,𝒆𝒇𝒇 𝐴𝑦
𝑀𝑂,𝐸𝑓𝑓 = 𝑅𝐶/𝑂 ∧ 𝑚𝐷 𝑎𝐶/𝑂 + 𝑀𝐺 𝐴𝑧
𝐶
𝐶𝑦
𝑀𝑂.𝐸𝑓𝑓 = 0.1𝐼 + 0.2𝐾 + 0.3𝐽 Λ 2 −1.8𝐽 + 0.1𝐾 + FBD
𝑀2 𝐶𝑧 (0.06𝑖 −0.2𝑗 +0.32𝑘)
𝑀𝑂.𝐸𝑓𝑓 = 0.82𝐼 − 0.22𝐽 − 0.04𝐾 N. m 𝑀𝑂.𝐴𝑝𝑝 = 𝑀1 𝐼 + 𝑅𝐷/𝑂 Λ 𝐷𝑥 𝐼 + 𝐷𝑦 𝐽 + 𝐷𝑧 𝐾 +
FBD (𝑅𝐶/𝑂 Λ −2𝑔𝐾 )

(d) The reaction at C (f) The applied moment of the disc about point O, 𝑴𝑶,𝑨𝒑𝒑 𝑀𝑂.𝐴𝑝𝑝 = 𝑀1 𝐼 + 0.2𝐼 Λ 𝐷𝑥 𝐼 + 𝐷𝑦 𝐽 + 𝐷𝑧 𝐾 +
𝐹 𝐴𝑝𝑝 = 𝑚𝐷 𝑎𝐶/𝑂 (i) Draw FBD for the entire mechanism: ( 0.1𝐼 + 0.2𝐾 + 0.3𝐽 Λ −2𝑔𝐾 )

𝑅𝐶/𝑂 = 0.1𝐼 + 0.2𝐾 + 0.3𝐽 𝑀𝑂.𝐴𝑝𝑝 = 𝑀1 𝐼 + 0.2 𝐷𝑦 𝐾 − 0.2𝐷𝑧 𝐽 + (1.962𝐽 − 5.886𝐼)

𝜔𝑂𝐶 = 2𝐼 𝛼𝑂𝐶 = 𝑝𝐼ሶ + 𝑝𝐼 ሶ= 3𝐼
𝑀𝑂.𝐴𝑝𝑝 = (𝑀1 −5.886)𝐼 + (1.962 − 0.2𝐷𝑧 )𝐽 + 0.2 𝐷𝑦 𝐾
𝑎𝐶/𝑂 = 𝛼𝑂𝐶 Λ 𝑅𝐶/𝑂 + 𝜔𝑂𝐶 Λ (𝜔𝑂𝐶 Λ 𝑅𝐶/𝑂 )
Example
A massless bent arm ABC is rigidly attached to a horizontal shaft and is driven by a motor 1 at O. The motor is rotating with an angular velocity 𝑝 = 2 rad/s and accelerate with an angular acceleration 𝑝ሶ =
3 rad/s2 . A thin disc of mass 2 kg is attached to the arm as shown in Figure and it is driven by a motor 2 at C. The disc is spinning with an angular velocity 𝑞 = 4 rad/s and slowing down with 𝑞ሶ = 5 rad/s2
relative to the arm ABC. Arm ABC can be regarded as slender rod, while the horizontal mass is massless. Neglect the mass of the motors and their inertia effects. At the instant shown, determine:
(a) The effective moment of the disc about point C, 𝑀𝐶,𝑒𝑓𝑓 ,
(b) The applied moment of the disc about point C, 𝑀𝐶,𝐴𝑝𝑝 ,
(c) The motor torque at point C, 𝑀2 , (g) The motor torque at point O, 𝑴𝟏
(d) The reaction at C, 𝑀𝑂.𝐴𝑝𝑝 = 𝑀𝑂.𝐸𝑓𝑓
(e) The effective moment of the disc about point O, 𝑀𝑂,𝑒𝑓𝑓 ,
(f) The applied moment of the disc about point O, 𝑀𝑂,𝐴𝑝𝑝 , (𝑀1 −5.886)𝐼 + (1.962 − 0.2𝐷𝑧 )𝐽 + 0.2 𝐷𝑦 𝐾 =
(g) The motor torque at point O, 𝑀1 , and 0.82𝐼 − 0.22𝐽 − 0.04𝐾
(h) Reactions at the supports O and D.
Equating the terms:

𝑀1 = 6.706 N. m 𝐷𝑦 = 10.91 N

𝐷𝑧 = −0.2 N

𝐺2 (h) Reactions at the supports O and D

𝐹 𝐴𝑝𝑝 = 𝑚𝐴𝐵 𝑎𝐺1/𝑂 + 𝑚𝐵𝐶 𝑎𝐺2/𝑂 + 𝑚𝐷 𝑎𝐶/𝑂
𝑚𝐷 𝑔
𝐹 𝐴𝑝𝑝 = 𝑚𝐷 𝑎𝐶/𝑂
𝑂𝑥 𝐺1
𝑀1
𝑂𝑦 𝐴𝑥 𝑂𝑥 𝐼 + 𝑂𝑦 𝐽 + 𝑂𝑧 𝐾 + 𝐷𝑥 𝐼 + 𝐷𝑦 𝐽 + 𝐷𝑧 𝐾 − 𝑚𝐷 𝑔𝐾 =
2 (−1.8𝐽 + 0.1𝐾)
𝑂𝑧
𝐴𝑦
𝐴𝑧 𝑂𝑥 + 𝐷𝑥 𝐼 + 𝑂𝑦 + 10.91 𝐽 + (𝑂𝑧 − 0.2 − 2𝑔)𝐾 =
𝑖 (−3.6𝐽 + 0.2𝐾)
Equating the terms:
FBD
𝑘 + 𝑗 𝐷𝑥 = 𝑂𝑥 = 0 𝑂𝑦 = −14.51 N 𝑂𝑧 = 20.02 N
QUESTION
(a) With the aid of diagrams, describe the rigid body rotation about a fixed axis and rotation about a fixed point.
(CO1/C2/5 marks)
(a) A homogeneous disk of mass m = 4 kg and radius r = 0.6 m, attached to the horizontal support shaft AB as shown in Figure, is rotating at a constant speed of  = 150
rev/min with respect to the rotating support shaft. Simultaneously the entire assembly is rotating with a constant angular velocity  = 1250 rev/min. Neglecting the mass of
the shaft, determine
(i) the total angular velocity and acceleration of the disk ,
(ii) the angular momentum of the disk about point C, 𝑀𝐶 ,
(iii) the effective moment of the disk about A, 𝑀𝐴,𝐸𝑓𝑓
(iv) the dynamic reaction at the bearing support at A and B, and
(v) the kinetic energy of the disk relative to point A.
(CO2/C4/12 marks)
𝑧 𝑧
(i) the total angular velocity and acceleration 𝑚𝑟 2 4 ∙ 0.62
of the disk , 𝐼𝑧 = = = 0.72 kg. m2
2 2
𝑅𝐶/𝐴 = 0.12𝑗 From (i):
𝑨 𝑦 C 𝑦 𝜔𝐷 = Ω𝑗 + 𝜔𝐾 = 15.71𝑗 + 130.9𝐾 𝑟𝑎𝑑/𝑠
B 𝐻𝐺 = 0.36(15.71)𝑗 + 0.72(130.9)𝑘
Ω 𝑍
𝜔 ሶ + Ω𝑗 ሶ + 𝜔𝐾
𝛼𝐷 = Ω𝑗 ሶ + 𝜔𝐾ሶ 𝐻𝐺 = 5.656 𝑗 + 94.25 𝑘

Using Omega Theorem:

𝑌 (iii) the effective moment of the disk about
𝑗 ሶ = ω𝐾 Λ 𝑗 = −𝜔𝐼 𝐾ሶ = 0 A, 𝑴𝑨,𝑬𝒇𝒇
𝛼𝐷 = Ω −ω𝐼 = −2056.44 𝐼 rad/s2
𝑀𝐺 = [𝐼𝑥 𝛼𝑥 + (𝐼𝑧 𝜔𝑧 𝜔𝑦 − 𝐼𝑦 𝜔𝑦 𝜔𝑧 )]𝑖 +
0.12 m 0.12 m
[𝐼𝑦 𝛼𝑦 + (𝐼𝑥 𝜔𝑥 𝜔𝑧 − 𝐼𝑧 𝜔𝑧 𝜔𝑥 )]𝑗 +
(ii) the angular momentum of the disk about [𝐼𝑧 𝛼𝑧 + (𝐼𝑦 𝜔𝑦 𝜔𝑥 − 𝐼𝑥 𝜔𝑥 𝜔𝑦 )]𝑘
point C, 𝑴𝑪 ,
𝑀𝐺 = [0.36(−2056.44) + (0.72(130.9)(15.71) −
𝐻𝐺 = 𝐼𝑥 𝜔𝑥 𝑖 + 𝐼𝑦 𝜔𝑦 𝑗 + 𝐼𝑧 𝜔𝑧 𝑘 (i)
0.36(15.71)(130.9))]𝑖
rev 1 min 2𝜋 rad
𝜔 = 1250 ∙ ∙ = 130.9 rad/s 𝜔𝐷 = 15.71𝑗 + 130.9𝑘 = 𝜔𝑦 + 𝜔𝑧
min 60 sec 1 rev 𝑀𝐺 = 0 𝑖 N. m
rev 1 min 2𝜋 rad 𝑚𝑟 2 4 ∙ 0.62
Ω = 150 ∙ ∙ = 15.71 rad/s 𝐼𝑥 = 𝐼𝑦 = = = 0.36 kg. m2
min 60 sec 1 rev 4 4
QUESTION
(a) With the aid of diagrams, describe the rigid body rotation about a fixed axis and rotation about a fixed point.
(CO1/C2/5 marks)
(a) A homogeneous disk of mass m = 4 kg and radius r = 0.6 m, attached to the horizontal support shaft AB as shown in Figure, is rotating at a constant speed of  = 150
rev/min with respect to the rotating support shaft. Simultaneously the entire assembly is rotating with a constant angular velocity  = 1250 rev/min. Neglecting the mass of
the shaft, determine
(i) the total angular velocity and acceleration of the disk ,
(ii) the angular momentum of the disk about point C, 𝑀𝐶 , 𝑖
(iii) the effective moment of the disk about A, 𝑀𝐴,𝐸𝑓𝑓
(iv) the dynamic reaction at the bearing support at A and B, and 𝑘 + 𝑗
(v) the kinetic energy of the disk relative to point A.
(CO2/C4/12 marks)
𝑧 𝑧 Effective moment about A:
𝑧 𝑧
𝑀𝐴,𝐸𝑓𝑓 = 𝑅𝐶/𝐴 ∧ 𝑚𝑎𝐶/𝐴 + 𝑀𝐺 (ii)
𝑎𝐶/𝐴 = (𝛼𝐷 Λ 𝑅𝐶/𝐴 ) + 𝜔𝐷 Λ (𝜔𝐷 Λ 𝑅𝐶/𝐴 )
𝑨 𝑦 C 𝑦
B 𝐴𝑦 𝑨 𝑦 𝑦 𝐵𝑦 B
C
Ω 𝑍 𝑎𝐶/𝐴 = −2056.44 𝐼 Λ 0.12𝑗 +
𝑀𝐴
𝜔 (15.71𝑗 + 130.9𝐾)Λ ((15.71𝑗 + 130.9𝐾) Λ 0.12𝑗) 𝐴𝑧 𝑚𝑔 𝐵𝑧
𝑎𝐶/𝐴 = −2056.18𝑗
𝑌 FBD
Applying eqn (ii):
Applied moment about A:
𝑀𝐴,𝐸𝑓𝑓 = 0.12𝑗 ∧ 4 −2056.18𝑗 + 0 𝑖
0.12 m 0.12 m 𝑀𝐴,𝐴𝑝𝑝 = 𝑀𝐴 𝑗 + 𝑅𝐶/𝐴 Λ −𝑚𝑔𝑘
𝑀𝐴,𝐸𝑓𝑓 = 0 N.m
+𝑅𝐵/𝐴 Λ (𝐵𝑥 𝑖 + 𝐵𝑦 𝑗 + 𝐵𝑧 𝑘)

(iv) the dynamic reaction at the bearing support 𝑀𝐴,𝐴𝑝𝑝 = 𝑀𝐴 𝑗 + 0.12 𝑗 Λ −4𝑔𝑘
at A and B +0.24 𝑗 Λ (𝐵𝑥 𝑖 + 𝐵𝑦 𝑗 + 𝐵𝑧 𝑘)
rev 1 min 2𝜋 rad
𝜔 = 1250 ∙ ∙ = 130.9 rad/s Draw the FBD for the disk and supports: 𝑀𝐴,𝐴𝑝𝑝 = 𝑀𝐴 𝑗 − 4.7088 𝑖 + (−0.24𝐵𝑥 𝑘 + 0.24𝐵𝑧 𝑖)
min 60 sec 1 rev
rev 1 min 2𝜋 rad 𝑀𝐴,𝐴𝑝𝑝 = 0.24𝐵𝑧 − 4.7088 𝑖 + 𝑀𝐴 𝑗 − 0.24𝐵𝑥 𝑘
Ω = 150 ∙ ∙ = 15.71 rad/s
min 60 sec 1 rev
QUESTION
(a) With the aid of diagrams, describe the rigid body rotation about a fixed axis and rotation about a fixed point.
(CO1/C2/5 marks)
(a) A homogeneous disk of mass m = 4 kg and radius r = 0.6 m, attached to the horizontal support shaft AB as shown in Figure, is rotating at a constant speed of  = 150
rev/min with respect to the rotating support shaft. Simultaneously the entire assembly is rotating with a constant angular velocity  = 1250 rev/min. Neglecting the mass of
the shaft, determine
(i) the total angular velocity and acceleration of the disk ,
(ii) the angular momentum of the disk about point C, 𝑀𝐶 ,
(iii) the effective moment of the disk about A, 𝑀𝐴,𝐸𝑓𝑓
(iv) the dynamic reaction at the bearing support at A and B, and
(v) the kinetic energy of the disk relative to point A.
(CO2/C4/12 marks)

𝑧 𝑧 𝐹𝐴𝑝𝑝 = 𝐹𝐴𝑝𝑝 (v) the kinetic energy of the disk relative to

point A
𝐴𝑥 𝑖 + 𝐴𝑦 𝑗 + 𝐴𝑧 𝑘 − 𝑚𝑔𝑘 + 𝐵𝑥 𝑖 + 𝐵𝑦 𝑗 + 𝐵𝑧 𝑘 = 𝑚𝑎𝐶/𝐴 Angular Momentum of the disk:

𝐴𝑦 𝑨 𝑦 𝑦 𝐵𝑦 B 𝐴𝑥 𝑖 + 𝐴𝑦 𝑗 + 𝐴𝑧 𝑘 − 39.24𝑘 + 𝐵𝑦 𝑗 + 19.62𝑘 =
𝐻𝐺 = 5.656 𝑗 + 94.25 𝑘
C
𝑀𝐴 4(−2056.18𝑗) 𝐻𝐴 = 𝑅𝐶/𝐴 ∧ 𝑚𝑣𝐶/𝐴 + 𝐻𝐺 (iii)
𝐴𝑧 𝑚𝑔 𝐵𝑧
𝐴𝑥 𝑖 + 𝐴𝑦 𝑗 + 𝐴𝑧 𝑘 − 39.24𝑘 + 𝐵𝑦 𝑗 + 19.62𝑘 = 𝑣𝐶/𝐴 = 𝜔𝐷 Λ 𝑅𝐶/𝐴
FBD -8224.72𝑗 𝑣𝐶/𝐴 = (15.71𝑗 + 130.9𝐾)Λ 0.12𝑗 = −1.8852 𝑖
𝐴𝑥 𝑖 + 𝐴𝑦 + 𝐵𝑦 𝑗 + 𝐴𝑧 − 19.62 𝑘 = −8224.72𝑗 From eqn (i):
𝑀𝐴,𝐴𝑝𝑝 = 𝑀𝐴,𝐸𝑓𝑓
Equating the terms: 𝐻𝐴 = 0.12 𝑗 ∧ 4(−1.8852 𝑖) + (5.656 𝑗 + 94.25 𝑘)
0.24𝐵𝑧 − 4.7088 𝑖 + 𝑀𝐴 𝑗 − 0.24𝐵𝑥 𝑘 = 0
𝐴𝑥 = 0 N 𝐴𝑧 = 19.62 N 𝐻𝐴 = (5.656 𝑗 + 95.155 𝑘)
Equating the terms:
Kinetic energy of the disk relative to point A:
𝐴𝑦 + 𝐵𝑦 = −8224.72
𝐵𝑧 = 19.62 N 1
Since 𝐴𝐶 = 𝐵𝐶 = 0.12 m, therefore : 𝑇 = 𝜔𝐷 ∙ 𝐻𝐴 = 1 (15.71𝑗 + 130.9𝐾) ∙ (5.656 𝑗 + 95.155 𝑘)
2 2
𝑀𝐴 = 0 N. m
−8224.72 𝑇 = 6272.323 Joule
𝐴𝑦 = 𝐵𝑦 = = −4112.36 N
2
𝐵𝑥 = 0 N