Centroid

THE DYNAMICS OF MECHANICS 9/4/2008
BK
TP.HCM
Chapter 7. Dynamics of Mechanical System and Solid
CHAPTER 7. Dynamics of Mechanical System

and Solid
Contents
7.1. The Geometric-Mass Properties of Mechanical

System and Solid
7.2. The General Theorems of Dynamics
7.3. The Principle of D’Alembert
Assoc. Prof. Dr. Tich Thien TRUONG Department of Engineering Mechanics
BK
TP.HCM

System and Solid
7.1. The Geometric-Mass Properties of Mechanical System

and
d Solid
S lid
7.1.1. The Centroid of Mechanical System and Solid
Consider a mechanical system including of n particles P1,

P2, …, Pn having the masses m1, m2, …, mn respectively.
Their
r r positionsr are determined by the position vectors
r1 , r2 ,K , rn (see the figure 7.1).
7 1)
The mass of mechanical system is defined as follows:
n
M = ∑ m k > 0, kg (7.1)
k =1 Return to overview
Assoc. Prof. Dr. Tich Thien TRUONG 1

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System and Solid
The centroid of mechanical system is a geometric point C
defined by the formula (7.2).
n r
r ∑ m k rk
rC = k =1 (7.2)
M
z
zk•dkZ (V)
P
r rr • k • C
k k r
rC
rO
• r •
xk i
• j • yk y
x PkXY Return to overview
Figure 7.1
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System and Solid
In the system of Cartesian coordinates, the coordinates of
centroid and their derivatives are determined by y the
formulas (7.3).
⎧ n
⎧ n
⎧ n
⎪ ∑ m x
k k ⎪ ∑ m x
k k
&
⎪ ∑ m k &&
xk
⎪ C
x = k =1
⎪ C
x& = k =1
&&
⎪ C
x = k =1
⎪ M ⎪ M ⎪ M
⎪ n
⎪ n
⎪ n
⎪ ∑ m k yk ⎪ ∑ m k y& k ⎪ ∑ m k &&y k
⎨yC = ⇒ ⎨ y& C = ⇒ ⎨ &&
yC =
k =1 k =1 k =1
((7.3))
⎪ M ⎪ M ⎪ M
⎪ n
⎪ n
⎪ n
⎪ ∑ m k z k ⎪ ∑ m k
&
z k ⎪ ∑ m k &&
zk
⎪zC = ⎪ z& C = zC =
k =1 k =1 k =1
⎪ &&
⎪ M ⎪ M ⎪ M
⎩ ⎩ ⎩ Return to overview

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System and Solid
7.1.2. The Mass Inertia Moment of Solid
7.1.2. 1. Definition
7.1.2. 1.1. Mass Inertia Moment of Solid for a point
The mass moment of inertia of solid for the point O is one
measure of the distribution of the mass of an object
relative to that point. This mass moment of inertia is
denoted by IO and is given for a solid of mass M as the
formula (7.4), see the figure 7.1.
( )
n n
IO = ∑ m r = ∑ m k x k2 + y k2 + z k2 > 0, kg.m 2
2
k k (7.4)
k =1 k =1
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System and Solid
7.1.2. 1.2. Mass Inertia Moment of Solid for a axis
The mass moment of inertia of solid for the axis z is one
measure of the distribution of the mass of an object
relative to that axis. This mass moment of inertia is
denoted by IZ and is given for a solid of mass M as the
formula (7.5a), see the figure 7.1.
( )
n n
I Z = ∑ m k d 2kz = ∑ m k x 2k + y 2k > 0, kg m 2
0 kg.m (7 5a)
(7.5a)
k =1 k =1
where z is the axis around which one is evaluating the
mass moment of inertia, and dkz is the perpendicular
distance between the particle Pk and the axis z. Return to overview

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System and Solid
Similarly, we also have:
( )
n n
I X = ∑ m k d kx
2
= ∑ m k y k2 + z k2 > 0, kg.m 2
k =1 k =1
(7.5b)
( ) > 0, kg.m
n n
IY = ∑ mk d = ∑ mk z + x
2
ky
2
k
2
k
2
k =1 k =1
The relation between IO and IX, IY, IZ is shown by the

equation (7.6).
2IO = I X + I Y + I Z (7.6)
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System and Solid
Meaning of rotational inertia:
• If a force acts of a body, the body will accelerate. The
ratio of the applied force to the resulting acceleration is
the inertia (or mass) of the body.
• If a torque acts on a body that can rotate freely about
some axis, the body will undergo an angular acceleration.
The ratio of the applied torque to the resulting angular
acceleration is the rotational inertia of the body. It
depends not only on the mass of the body, but also on
how that mass is distributed with respect to the axis.
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System and Solid
7.1.2. 1.3. Radius of Gyration
In the engineering, the radii of gyration for the rotational

axis x, y, z are defined by the following formulas
Ix Iy I
ρx = ; ρy = ; ρz = z (7.7)
M M M
Meaning of radius of gyration:
If all the mass of a body were concentrated at its radius of
gyration, its moment of inertia would remain the same.
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System and Solid
7.1.2. 1.4. Product Moment of Inertia
The product moments of inertia with respect to the x- and

y-axes , the y- and z-axes , the z- and x-axes , are defined by
n n n
I XY = ∑ m k x k y k ; I YZ = ∑ m k y k z k ; I ZX = ∑ m k z k x k (7.8)
k =1 k =1 k =1
The product moment of inertia, depending on the

distribution of masses, is just as likely to be a negative
quantity as a positive one.
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System and Solid
7.1.2. 2. Moments of Inertia of Some Simple Shapes
In the following,
following mass,
mass length,
length radius and centroid of body
are noted by M, l, R and C respectively.
7.1.2. 2.1. A Straight, Slender, Homogeneous Rod with
Uniform Section (see figure 7.2)
1 1
I ZA = I ZB = Ml 2 ; I ZC = Ml 2 (7.9)
3 12
zA zC zB
l/2 l/2
A C B
•
Figure 7.2 Return to overview
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System and Solid
7.1.2. 2.2. A Circular, Uniform, Solid, Homogeneous Disc
(see figure 7.3)
7 3)
1 1
I C = I ZC = MR 2 ; I XC = I YC = MR 2 (7.10)
2 4
where the coordinate axis zC is through the centroid C and
perpendicular to the plane of the disc.
zC
•
C yC
xC
Return to overview
Figure 7.3

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System and Solid
7.1.2. 2.3. A Circular, Uniform, Homogeneous Hoop - collar
(see figure 7.4)
7 4)
1
IC = I ZC = MR 2 ; I XC = I YC = MR 2 (7.11)
2
where the coordinate axis zC is through the centroid C and
perpendicular to the plane of the hoop (collar).
zC
•
C yC
xC
Return to overview
Figure 7.4
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System and Solid
7.1.2. 2.4. A Circular, Solid, Uniform, Homogeneous
y
Cylinder ((see figure
g 7.5))
1 1 ⎛ l2 ⎞
I ZC = MR 2 ; I XC = I YC = M ⎜ R 2 + ⎟ (7.12)
2 4 ⎝ 3⎠
where the coordinate axis zC is the symmetric axis of
cylinder and through the centroid C.
zC
•
l
C yC
xC • Return to overview
Assoc. Prof. Dr. Tich Thien TRUONG Figure 7.5 Department of Engineering Mechanics

BK
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System and Solid
7.1.2. 2.5. A Cylindrical, Uniform, Homogeneous, Thin-wall
Pipe
p (see
( figure
g 7.6))
1 ⎛ 2 l2 ⎞
I ZC = MR 2 ; I XC = I YC = M⎜R + ⎟ (7.13)
2 ⎝ 6⎠
where the coordinate axis zC is the symmetric axis of
cylinder and through the centroid C.
zC
l
C yC
xC • Return to overview
Assoc. Prof. Dr. Tich Thien TRUONG Figure 7.6 Department of Engineering Mechanics
BK
TP.HCM

System and Solid
7.1.2. 3. Axial Changing Theorems
7.1.2. 3.1. Parallel-axis Theorem
z zC
The moment of inertia of body about d (V)
an arbitrary axis is equal to the r r •C
moment of inertia of body around a k rC
parallel axis through the centroid r O
• r
plus the total mass M times the i
p j y
square of the distance d between the x
Figure 7.7
parallel axes.
I Z = I ZC + Md 2 (7.14)
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System and Solid
7.1.2. 3.2. Theorem of Axial Rotation

z (V)
The moment of inertia of body Δ
about an arbitrary axis Δ through r C•
k γ
the origin O is calculated by the β
rO
formula (7.15). i • r y
α j
x
Figure 7.8
78
I Δ = I X cos 2 α + I Y cos 2 β + I Z cos 2 γ − 2I XY cos α cos β
(7.15)
− 2I YZ cos β cos γ − 2I ZX cos γ cos α
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System and Solid
7.1.2. 4. Theorems about Principal Axis of Inertia and Central
Principal Axis of Inertia
7.1.2. 4.1. Definition
The axis Oz will be called the principal axis of inertia of
the body at O if the product moments which get the index
z are zero.
I XZ = I YZ = 0 (7 16)
(7.16)
The axis Oz will be called the central principal axis of the
body if it is the principal axis of inertia of the body and
through the centroid of body. Return to overview

BK
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System and Solid
7.1.2. 4.2. Theorems
• If the homogeneous body has a symmetric axis then that

symmetric axis will be the central principal axis of the
body.
• If the homogeneous body has a symmetric plane then an

arbitrary axis perpendicular to symmetric plane will be
the principal axis of the body.
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7.2.1. Theorem of the Movement of Body Centroid

Consider a mechanical system including of n particles P1,
P2, …, Pn having
r r the rmasses m1, m2, …, mn and sustaining
the effect of F1 , F2 , K , Fn respectively.
The accelerations of k particles will be determined in
accordance with Newton’s 2rd law :
r r
⎧m1a1 = F1
⎪ r r
⎪ 2 2
m a = F
⎨
2
(7.17)
⎪LLLL
⎪m ar = Fr
⎩ n n n

BK
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Adding n equations (7.17), we have:

n r n r m r r r
∑ k k ∑ k ∑ j ∑ Fpi
m a = F = F e
+
k =1 k =1 j=1 p =1
Newton’s 3rd law show that the total of internal forces is
zero:
r r r
∑ Fpi = 0
p =1
As a result:
r n r m r
Ma C = ∑ m k a k = ∑ Fje (7.18)
k =1 j=1 Return to overview
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7.2.2. Theorem of the Linear Impulse-Momentum Relation
7.2.2.1. The linear momentum of body

r
Linear momentum of a particle: The symbol pk denotes the
linear momentum of particle K and is defined as the mass
times the velocity vector of particle K.
r r
pk = mk vk (7.19)
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r
Linear momentum of body: The symbol Q denotes the
linear momentum of body and is defined as the total
vector of all particle linear momentums.
r n r n r
Q = ∑ p k = ∑ (m k v k ), Ns (7.20)
k =1 k =1
From the definition ((7.2),

), we have:
r n r r
Q = ∑ (m k v k ) = MvC (7.21)
k =1
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TP.HCM
7.2.2.2. The impulse of a force

Impulse of a force from time t1 to t2: The integral of the
force over the time interval of concern is its impulse. The
impulse of a force is a vector quantity given by the integral
r r r t2 r
Sk = S(Fk ) = ∫ Fk dt, Ns (7.22)
t1
If the
th force
f i constant
is t t vector,
t it impulse
its i l will
ill be
b
calculated by the following formula
r r
Sk = Fk (t 2 − t1 ) (7.23)
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7.2.2.3. Theorem of the linear impulse-momentum relation

7.2.2.3. 1. The derivative form
From Newton’s second law, we can state that the total of
all external forces applied on a particle is equal to the rate
of change rof linear momentum of the body.
dQ m r e
= ∑ Fj (7.24)
dt j=1
77.2.2.3.
2 2 3 2.
2 The difference form
Integration of (7.24) over the time interval from t1 to t2
results in
r r m r
Q1 − Q0 = ∑ Sej (7.25)
j=1 Return to overview
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7.2.3. Theorem of the Moment and Rate-of-Change-of

Angular Momentum (MRCAM)
7.2.3.1. The angular momentum of body
Angular momentum
r r of a particle around the point O:
The symbol MO (pk ) denotes the angular momentum and is
defined as the moment of linear momentum around the
point O,
O and given by the equation
r r r r r r
M 0 (p k ) = rk × p k = rk × (m k v k ) (7.26)
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Angular rmomentum of the body around the point O: The

symbol LO denotes the angular momentum of body around
the point O and is defined as the total vector of all particle
angular momentums about the point O
r n r r n r r
LO = ∑ M 0 (p k ) = ∑ rk × (m k v k ) (7.27)
k =1 k =1
Angular momentum of the body around the axis: The
symbol Lx denotes the angular momentum of body around
the axis x and is defined as the total moment of all particle
angular momentums about the axis x
n r n r
L x = ∑ M x (p k ) = ∑ M x (m k v k ) (7.28a)
k =1 k =1 Return to overview
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Similarly, we have
n r n r
L y = ∑ M y (p k ) = ∑ M y (m k v k ) (7.28b)
k =1 k =1
n r n r
L z = ∑ M z (p k ) = ∑ M z (m k v k ) (7.28c)
k =1 k =1
r
Relation between LO and Lx , L y , Lz :
r r r r
LO = L x i + L y j + Lz k (7.29)
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The angular momentums of body which rotates around the

stationary
y axis z are obtained as follows
L x = −J xz ω; L y = −J yz ω; L z = J z ω (7.30)
7.2.3.2. Theorem of the Moment and Rate-of-Change-of
Angular Momentum (MRCAM)
Starting from expression (7.24), calculating the moment of
both sides of the equation with respect to a point O results
in r
dLO m r r e
= ∑ M O (Fj ) (7.31)
dt j=1
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7.2.4. Theorem of Variation of Kinetic Energy

7 2 4 1 Kinetic Energy of Mechanical System
7.2.4.1.
7.2.4.1.1. Definition
The kinetic energy of particle Pk is defined by the
following formula
K = 12 m k v 2k ≥ 0, Nm (7.32)
The kinetic
Th ki ti energy off mechanical
h i l system t i the
is th sum
u off
kinetic energy of all particles Pk of system
n
T = ∑ 12 m k v 2k ≥ 0, Nm (7.33)
k =1 Return to overview

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TP.HCM
7.2.4.1.2. The Kinetic Energy of body having the common

motions
7.2.4.1.2.1. The Translational body
T = 12 MvC2 (7.34)
with M, vC are the mass, velocity of centroid of body
respectively.
7.2.4.1.2.2. The body with the rotation around the stationary

axis z
T = 12 I z ω2 (7.35)
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with Iz, ω are mass moment of inertia, angular velocity of

solid body for the axis z respectively.
respectively
7.2.4.1.2.3. The body with the plane motion
Consider a plane body (S) moving on its plane. Let us

r r
label M, I C , v C , ω as the mass, mass moment of inertia for
centroid C, velocity of centroid C, angular velocity of body
respectively Then,
respectively. Then
1 1
T= MvC2 + IC ω2 (7.36)
2 2
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7.2.4.2. Work of Load

7 2 4 2 1 Differential Work of Load
7.2.4.2.1.
7.2.4.2.1.1. Differential Work of Force
r
The differential work of force Fk is defined as dot product
of force vector and differential displacement vector of
r
force position point drk .
r r r
dW(Fk ) ≡ dWk = Fk .dr
drk = Fkx dx k + Fky dy k + Fkz dz k (7.37)
(7 37)
with
r r
Fk = (Fkx , Fky , Fkz ); drk = (dx k , dy k , dz k )
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TP.HCM
7.2.4.2.1.2. Differential Work of Moment

r
Consider a body (V) sustaining the effect of a moment M
and rotating around the stationaryr axis. This rotational
axis is parallel to moment vector M . Let us label dϕ as the
differential angle of body. Then, differential work of
moment is defined as formula (7.38).
dW(M) ≡ dWM = ± M.d

M dϕ (7 38)
(7.38)
where dWM > 0 if the rotational direction of body is the

same direction of moment M and vice versa.
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7.2.4.2.2. Net Work of Load

r
The work done by force Fk when the force position moves
r r
from position rkA to rkB :
r r
r rkB rkB
W(Fk ) ≡ Wk = ∫ dWk = ∫ Fkx dx k + Fky dy k + Fkz dz k (7.39)
r r
rkA rkA
The work done by moment M when the body rotates from
position ϕ0 to ϕ
p ϕ:
ϕ ϕ
W(M) ≡ ∫ dWM = ± ∫ M.dϕ (7.40)
ϕ0 ϕ0
If moment M is constant, ta have: W(M) = ±M(ϕ−ϕ0).
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7.2.4.2.3. Power
Let us now consider the rate of work. If dW is the amount
of work that the force or moment performs on the body in
a time interval dt then the rate of working is given by
dW
P= (7.41)
dt
In other words, the rate of working - which is usually
referred
f d to
t as the
th power - is
i simply
i l theth time
ti d i ti off
derivative
the work performed. Incidentally, the SI unit of power is
called the watt (symbol W). In fact, 1 watt equals 1 Newton
meter per second, or 1 joule per second.
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TP.HCM
7.2.4.3. Theorem of Variation of Kinetic Energy

7.2.4.3.1. Derivative Form
The derivative of kinetic energy of system equals the sum
of power of loads applied on system.
dT
= ∑ Pk (7.44)
dt
7.2.4.3. 2. The difference form
The difference of kinetic energy of system between two
positions equals the sum of work of loads applied on
system.
T1 − T0 = ∑ Wk (7.45)
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TP.HCM
7.2.4.4. Distinct Cases

7.2.4.4.1. Mechanical system with unchanged shape
The work sum of the internal forces always is zero for the
mechanical system withrunchanged shape. So, we have:
T1 − T0 = ∑ W(Fje ) = ∑ Wje re (7.46)
with W j is the work done by j external force Fj .
e th
7.2.4.4.2. Mechanical system with ideal supports

The work sum of the reactions always is zero for the
mechanical system withrideal supports. So, we have:
T1 − T0 = ∑ W(Fja ) = ∑ Wja re
(7.47)
with W j is the work done by j active force Fj .
a th
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7.3.1. The Principle of D’Alembert for body
7.3.1.1. The Principle of D’Alembert for Particle
According to Newton’s 2nd law, the resultant of all the

forces acting on a particle K is proportional to the
acceleration of the p
particle.
r l r r r r r
Fk = ∑ Fj = m k a k or Fk + (−m k a k ) = 0 (7.48)
j=1
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TP.HCM
r r
Let us label Fkine = − m k a k as inertia force of particle K, then
particle
ti l K will
ill be
b rin
i requilibrium
ilib i state
t t under
d the
th effect
ff t off
two-force system (Fk , Fk ) ~ 0 (see fig. 7.10).
ine
r
Fkine
P
• r
(C) v
r
r a
F
Figure 7.10 Return to overview

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7.3.1.2. The Principle of D’Alembert for body
According to D’Alembert’s principle, an arbitrary body

will always be in equilibrium if the inertia forces are
applied on all particles of body. That is, the system of
forces: r r
[(Fk ), (Fkine )] ~ 0; k = 1, n (7.49)
When reducing to a point O, O the above system of forces
is equivalent with its two principal components which
are placed at reducing point O. These two principal
components equal zero due to equilibrium system of
forces. Return to overview
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TP.HCM
r n r n r r r r
R ′Σ = ∑ Fk + ∑ Fkine = R ′ + R ′ine = 0; k = 1, n
k =1 k =1
rΣ n r r n r r ine r r ine r (7 50)
(7.50)
M O = ∑ M O (Fk ) + ∑ M O (Fk ) = M O + M 0 = 0; k = 1, n
k =1 k =1
with r n r n r
′
R ine = ∑ Fk = ∑ (−m k a k )
ine
k =1 k =1
(7.51)
r n r r ine n r r
M ine
O = ∑ O k
M (F ) = ∑ M O (−m k a k )
k =1 k =1
are the principal vector and the principal moment
vector of inertia force system, respectively. Return to overview

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TP.HCM
7.3.2. Determine the principal vector and the principal

moment vector of inertia force system
7.3.2.1. Determine the principal vector of inertia force system

r n r n r r
R ′ine = ∑ Fkine = ∑ (−m k a k ) = −Ma C (7.52)
k =1 k =1
r
with
ith a C , M are the
th acceleration
l ti vector
t off centroid
t id C,
C
mass of body, respectively.
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TP.HCM
7.3.2.2. Determine the principal moment vector of inertia force

system
7.3.2.2.1. The translational body
When the reducing point O is chosen to coincide with
the centroid C of body, the principal moment vector of
inertia force system for point O equals zero. That is,
r n r r r
M ine
O == ∑ M O ( − m a
k k ) = 0 (7.53)
k =1
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TP.HCM
7.3.2.2.2. The body with the rotation around the stationary

axis z
The reducing point O is chosen to be on the stationary
axis z. The principal moment vector of inertia force
system for point O is determined by the formula (7.54).
r r r r
M ine
O = ( −ω2
I yz + εI zx )i + ( ω2
I xz + εI zy ) j − I z εk (7.54)
If the stationary axis z is the principal axis of inertia of
the body, the principal moment vector of inertia force
system for point O is determined by the formula (7.55).
r r r
M ine
O = − I z εk = − I z ε (7.55)
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TP.HCM
7.3.2.2.3. The body is the plane body getting plane motion
Let us label ε, IzC as the angular acceleration, the mass

moment of inertia of solid for the axis zC which is
normal to motional plane and through the centroid C,
respectively. The reducing point O is chosen to coincide
with the centroid C. The principal moment vector of
inertia force system for point C is determined by the
formula (7.56).
C = − I zC ε
M ine (7.56)
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TP.HCM
The End of Chapter 7!
Thank You for Your Attention!
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THE DYNAMICS OF MECHANICS 9/4/2008

CHAPTER 7. Dynamics of Mechanical System

7.1. The Geometric-Mass Properties of Mechanical

7.2. The General Theorems of Dynamics

7.3. The Principle of D’Alembert

Assoc. Prof. Dr. Tich Thien TRUONG Department of Engineering Mechanics

7.1. The Geometric-Mass Properties of Mechanical

7.1. The Geometric-Mass Properties of Mechanical System

Consider a mechanical system including of n particles P1,

Assoc. Prof. Dr. Tich Thien TRUONG Department of Engineering Mechanics

Assoc. Prof. Dr. Tich Thien TRUONG 1

7.1. The Geometric-Mass Properties of Mechanical

7.1. The Geometric-Mass Properties of Mechanical

Assoc. Prof. Dr. Tich Thien TRUONG Department of Engineering Mechanics

Assoc. Prof. Dr. Tich Thien TRUONG 2

7.1. The Geometric-Mass Properties of Mechanical

Assoc. Prof. Dr. Tich Thien TRUONG Department of Engineering Mechanics

7.1. The Geometric-Mass Properties of Mechanical

Assoc. Prof. Dr. Tich Thien TRUONG Department of Engineering Mechanics

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7.1. The Geometric-Mass Properties of Mechanical

The relation between IO and IX, IY, IZ is shown by the

Assoc. Prof. Dr. Tich Thien TRUONG Department of Engineering Mechanics

7.1. The Geometric-Mass Properties of Mechanical

Assoc. Prof. Dr. Tich Thien TRUONG Department of Engineering Mechanics

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7.1. The Geometric-Mass Properties of Mechanical

In the engineering, the radii of gyration for the rotational

Assoc. Prof. Dr. Tich Thien TRUONG Department of Engineering Mechanics

7.1. The Geometric-Mass Properties of Mechanical

7.1.2. 1.4. Product Moment of Inertia

The product moments of inertia with respect to the x- and

The product moment of inertia, depending on the

Assoc. Prof. Dr. Tich Thien TRUONG Department of Engineering Mechanics

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7.1. The Geometric-Mass Properties of Mechanical

Assoc. Prof. Dr. Tich Thien TRUONG Department of Engineering Mechanics

7.1. The Geometric-Mass Properties of Mechanical

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7.1. The Geometric-Mass Properties of Mechanical

7.1. The Geometric-Mass Properties of Mechanical

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7.1. The Geometric-Mass Properties of Mechanical

7.1. The Geometric-Mass Properties of Mechanical

Assoc. Prof. Dr. Tich Thien TRUONG Department of Engineering Mechanics

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7.1. The Geometric-Mass Properties of Mechanical

7.1.2. 3.2. Theorem of Axial Rotation

Assoc. Prof. Dr. Tich Thien TRUONG Department of Engineering Mechanics

7.1. The Geometric-Mass Properties of Mechanical

Assoc. Prof. Dr. Tich Thien TRUONG Department of Engineering Mechanics

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7.1. The Geometric-Mass Properties of Mechanical

7.1.2. 4.2. Theorems

• If the homogeneous body has a symmetric axis then that

• If the homogeneous body has a symmetric plane then an

Assoc. Prof. Dr. Tich Thien TRUONG Department of Engineering Mechanics

7.2. The General Theorems of Dynamics

7.2.1. Theorem of the Movement of Body Centroid

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7.2. The General Theorems of Dynamics

Adding n equations (7.17), we have:

Assoc. Prof. Dr. Tich Thien TRUONG Department of Engineering Mechanics