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    The document discusses concepts related to rigid body dynamics including: 1) The idealization of rigid bodies and the definition of their center of mass. 2) Methods for calculating the mass, center of mass, and moment of inertia for simple rigid bodies like bars and cylinders. 3) Applications of Newton's laws and Euler's equations to model the planar motion of rigid bodies using free body diagrams.

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    Lecture_6

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    The document discusses concepts related to rigid body dynamics including: 1) The idealization of rigid bodies and the definition of their center of mass. 2) Methods for calculating the mass, center of mass, and moment of inertia for simple rigid bodies like bars and cylinders. 3) Applications of Newton's laws and Euler's equations to model the planar motion of rigid bodies using free body diagrams.

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    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
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    11 views56 pages

    Lecture 6

    Uploaded by

    criyanthan
    The document discusses concepts related to rigid body dynamics including: 1) The idealization of rigid bodies and the definition of their center of mass. 2) Methods for calculating the mass, center of mass, and moment of inertia for simple rigid bodies like bars and cylinders. 3) Applications of Newton's laws and Euler's equations to model the planar motion of rigid bodies using free body diagrams.

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    © All Rights Reserved
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    of 56

    Engineering

    Mechanics -
    A101ME

    A101ME - Engineering Mechanics 19/10/2022


    Dynamics of Planar
    Motion
    2

    A101ME - Engineering Mechanics 19/10/2022


    Rigid Body
    Idealization: continuum (every point within body boundaries is material) points of a
    body do not perform relative motion.
    Special case of multi-particle system.

    C : center of mass

    A101ME - Engineering Mechanics 19/10/2022


    Rigid Body

    A101ME - Engineering Mechanics 19/10/2022


    Rigid Body

    A101ME - Engineering Mechanics 19/10/2022


    Rigid Body

    A101ME - Engineering Mechanics 19/10/2022


    Rigid Body
    There is no difference between final
    formula of multiple particles and for rigid
    bodies, the only difference is that you
    should consider the moment of inertia
    instead of the sum of moments of inertia of
    the particles.
    Note: If Mc and JO or JC are known, then
    dynamic of rigid bodies is just
    application of Newton’s and Euler’s law.
    There is no need for integration except for
    defining m or J.
    7

    A101ME - Engineering Mechanics 19/10/2022


    Mass, Center of mass & Moment of Inertia
    for Some Elementary Bodies

    A101ME - Engineering Mechanics 19/10/2022


    Mass, Center of mass & Moment of Inertia for
    Some Elementary Bodies – Slim bar

    A101ME - Engineering Mechanics 19/10/2022


    Mass, Center of mass & Moment of Inertia for
    Some Elementary Bodies – Slim bar

    10

    A101ME - Engineering Mechanics 19/10/2022


    Mass, Center of mass & Moment of Inertia for
    Some Elementary Bodies – Slim bar

    11

    A101ME - Engineering Mechanics 19/10/2022


    Mass, Center of mass & Moment of Inertia for
    Some Elementary Bodies – Slim bar

    12

    A101ME - Engineering Mechanics 19/10/2022


    Euler’s Equation for a Moving Reference Point

    13

    A101ME - Engineering Mechanics 19/10/2022


    Example: Moving Pendulum
    Moving bar (length l) →moving pendulum

    14

    A101ME - Engineering Mechanics 19/10/2022


    Example: Moving Pendulum
    FBD:

    15

    A101ME - Engineering Mechanics 19/10/2022


    Example: Moving Pendulum
    FBD:

    16

    A101ME - Engineering Mechanics 19/10/2022


    Examples of Moment of Inertia

    17

    A101ME - Engineering Mechanics 19/10/2022


    Examples of Moment of Inertia

    18

    A101ME - Engineering Mechanics 19/10/2022


    Examples of Moment of Inertia

    19

    A101ME - Engineering Mechanics 19/10/2022


    Examples of Moment of Inertia
    Applied to a thin walled cylinder:

    20

    A101ME - Engineering Mechanics 19/10/2022


    Examples of Moment of Inertia

    21

    A101ME - Engineering Mechanics 19/10/2022


    Examples of Moment of Inertia

    22

    A101ME - Engineering Mechanics 19/10/2022


    Homogeneous Solid Cylinder Rolling (without
    sliding) on Inclined Plane

    23

    A101ME - Engineering Mechanics 19/10/2022


    Homogeneous Solid Cylinder Rolling (without
    sliding) on Inclined Plane
    Basic steps for modelling (and solving) planar dynamics using
    Newton-Euler equations:
    1) Free body diagram
    1.1) establish system boundaries
    1.2) cut virtually along boundary
    1.3) apply weight forces
    1.4) at each point where the system boundary separates a given
    connection, insert the corresponding constrained forces for each
    direction (constrained motion ≡ one constrained force)
    24

    A101ME - Engineering Mechanics 19/10/2022


    Homogeneous Solid Cylinder Rolling (without
    sliding) on Inclined Plane

    25

    A101ME - Engineering Mechanics 19/10/2022


    Homogeneous Solid Cylinder Rolling (without
    sliding) on Inclined Plane

    26

    A101ME - Engineering Mechanics 19/10/2022


    Homogeneous Solid Cylinder Rolling (without
    sliding) on Inclined Plane

    27

    A101ME - Engineering Mechanics 19/10/2022


    Homogeneous Solid Cylinder Rolling (without
    sliding) on Inclined Plane

    28

    A101ME - Engineering Mechanics 19/10/2022


    Homogeneous Solid Cylinder Rolling (without
    sliding) on Inclined Plane

    29

    A101ME - Engineering Mechanics 19/10/2022


    Example Application of Newton’s & Euler’s Laws

    30

    A101ME - Engineering Mechanics 19/10/2022


    Example Application of Newton’s & Euler’s Laws

    31

    A101ME - Engineering Mechanics 19/10/2022


    Example Application of Newton’s & Euler’s Laws

    32

    A101ME - Engineering Mechanics 19/10/2022


    Example Application of Newton’s & Euler’s Laws

    33

    A101ME - Engineering Mechanics 19/10/2022


    Example Application of Newton’s & Euler’s Laws

    34

    A101ME - Engineering Mechanics 19/10/2022


    Example Application of Newton’s & Euler’s Laws

    35

    A101ME - Engineering Mechanics 19/10/2022


    Example Application of Newton’s & Euler’s Laws

    36

    A101ME - Engineering Mechanics 19/10/2022


    Example Application of Newton’s & Euler’s Laws

    37

    A101ME - Engineering Mechanics 19/10/2022


    Example Application of Newton’s & Euler’s Laws

    38

    A101ME - Engineering Mechanics 19/10/2022


    Example Application of Newton’s & Euler’s Laws

    39

    A101ME - Engineering Mechanics 19/10/2022


    Example Application of Newton’s & Euler’s Laws

    40

    A101ME - Engineering Mechanics 19/10/2022


    Example Application of Newton’s & Euler’s Laws

    41

    A101ME - Engineering Mechanics 19/10/2022


    Example Application of Newton’s & Euler’s Laws

    42

    A101ME - Engineering Mechanics 19/10/2022


    Example Application of Newton’s & Euler’s Laws

    43

    A101ME - Engineering Mechanics 19/10/2022


    Example Application of Newton’s & Euler’s Laws

    44

    A101ME - Engineering Mechanics 19/10/2022


    Example Application of Newton’s & Euler’s Laws

    45

    A101ME - Engineering Mechanics 19/10/2022


    Moment of Inertia With Respect to Parallel Axis

    46

    A101ME - Engineering Mechanics 19/10/2022


    Moment of Inertia With Respect to Parallel Axis

    47

    A101ME - Engineering Mechanics 19/10/2022


    Moment of Inertia With Respect to Parallel Axis

    48

    A101ME - Engineering Mechanics 19/10/2022


    Moment of Inertia With Respect to Parallel Axis

    49

    A101ME - Engineering Mechanics 19/10/2022


    Moment of Inertia With Respect to Parallel Axis

    50

    A101ME - Engineering Mechanics 19/10/2022


    Radius of Inertia

    51

    A101ME - Engineering Mechanics 19/10/2022


    Radius of Inertia – Equivalent Point Mass System

    52

    A101ME - Engineering Mechanics 19/10/2022


    Radius of Inertia – Equivalent Point Mass System

    53

    A101ME - Engineering Mechanics 19/10/2022


    Radius of Inertia – Full Cylinder

    54

    A101ME - Engineering Mechanics 19/10/2022


    Radius of Inertia – Hollow Cylinder

    55

    A101ME - Engineering Mechanics 19/10/2022


    Radius of Inertia – Slim Rod

    56
    Resistance to rotation increases
    A101ME - Engineering Mechanics 19/10/2022

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