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Module
in

ES105B

DYNAMICS OF RIGID BODIES

College of Engineering and Technology

BS in Civil Engineering
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Module No. 4

Kinematics of Rigid Bodies

2nd Semester, AY 2021-2022

Engr. Reycielo B. Denzon

Instructor

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Table of Contents

Contents Page

Cover Page i
Title Page ii
Table of Contents iii
Instruction to Users iv
Introduction v
Chapter: 1
Title of the Chapter 1
Overview 1
Learning Outcomes 1
Time Allotment 1
Pre-Test 2
Introduction 3
Discussions 2
Activity 29
Post-test 30

References 31
Students Information 32

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INSTRUCTION TO THE USER

This module would provide you an educational experience while independently

accomplishing the task at your own pace or time. It aims as well to ensure that learning
is unhampered by health and other challenges. It covers the topic about various
mechanical properties of engineering materials in lieu of the determination of design
factor and design stresses. It includes the analyses of simple, variable and combined
stresses applied to different mechanical elements such as shafts, mechanical springs.

Reminders in using this module:

1. Keep this material neat and intact.

2. Answer the pretest first to measure what you know and what to be
learned about the topic discussed in this module.
3. Accomplish the activities and exercises as aids and reinforcement for
better understanding of the lessons.
4. Answer the post-test to evaluate your learning.
5. Do not take pictures in any parts of this module nor post it to social
media platforms.
6. Value this module for your own learning by heartily and honestly
answering and doing the exercises and activities. Time and effort were
spent in the preparation in order that learning will still continue amidst
this Covid-19 pandemic.
7. Observe health protocols: wear mask, sanitize and maintain physical
distancing.

Hi! I’m Blue Bee, your WPU Mascot.

Welcome to Western Philippines

University!
Shape your dreams with quality learning
experience.

STAY SAFE AND HEALTHY!

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INTRODUCTION

This material will be your mode of instruction for the rest of the semester
amidst of this trying time. It consists of pre-test, lesson proper, activities and post-
test to ensure that you can learn something.

This module discusses the study of dynamics, the part of mechanics that deals
with the analysis of bodies in motion. As a student enrolled in a distance learning
course, you have taken on a dual role—that of a student and a teacher. As a student,
you are responsible for mastering the lessons and completing the learning activities
and assignments. As a teacher, you are responsible for checking your work carefully,
noting areas in which you need to improve and motivating yourself to succeed. Taking
an independent study course is different from taking a course in a classroom. Instead
of relying on the teacher to tell you to complete a learning activity or an assignment,
you must tell yourself to be responsible for your learning and for meeting deadlines.

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KINEMATICS OF RIGID BODIES

Overview:
In this chapter the kinematics of particles will be considered. The use of
the word particles does not mean that our study will be restricted to small
corpuscles; rather, it indicates that in these first chapters the motion of bodies—
possibly as large as cars, rockets, or airplanes— will be considered without
regard to their size. By saying that the bodies are analyzed as particles, we mean
that only their motion as an entire unit will be considered; any rotation about
their own mass center will be neglected. There are cases, however, when such a
rotation is not negligible; the bodies cannot then be considered as particles.

Learning Outcomes:
After completing this chapter, you can:

 Define the various rotational quantities and how they relate to the
corresponding translational analogue.
 Apply Newton’s Law of Motion to rotational motion

Time Allotment:

 2 Weeks

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Pre-Test:
Direction: Answer the following problems and write your answer on the space provided
before the number. Use additional separate sheet for your solutions.
_____1. Velocity tells us how the position of something is changing while acceleration
tells us how the _________is changing.
a)direction c)velocity
b)distance d)time

_____2. It is the study of the geometry of motion.

a)kinematics c)kinetics
b)dynamics d)mechanics

_____3. Kinematics is used to relate displacement, velocity, acceleration, and time

without reference to the cause of motion.
a) displacement, velocity, acceleration, and time
b) displacement, velocity, acceleration and force
c) velocity, acceleration, time and gravity
d) All of the above

_____4. A particle moving along a straight line is said to be in ________.

a) linear motion c)straight motion
b) rectilinear motion d)consistent motion

_____5. The term deceleration is sometimes used to refer to a when the speed of the
particle (i.e., the magnitude of v) decreases; the particle is then moving more slowly.
a) speed decreases c)particle moves slowly
b) negative gravity d)All of the above

_____6. A term used to denote an object of point size.

a) object c)matter
b) body d)particle

_____7. The motion of a particle is known if position is known for all time t.

a) true c)partly true

b) sometimes true d)untrue

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Introduction
In rigid body dynamics we have two types of motion: translational and rotational, plus
a third which is a combination of the two.
Parabolic Trajectory

So far, we have only considered translational motion. This chapter shows us how to include
rotation into the dynamics.

Discussion
Pure Rotation
Rotation about a fixed axis
Pure rotation occurs when a body rotates about a fixed non-moving axis. The following
figure illustrates fixed-axis rotation.

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Motion characteristics for a Uniform Motion

𝜽 = 𝝎𝒕
Where:
θ = angular displacement in radians
ω = angular speed rad/sec
t = time
• Angular position: (θ) Angular position relative to an inertial coordinate axis.
Similar to how θ was measured in polar coordinates.
• Angular velocity: (ω) How fast a body is rotating.
• Angular acceleration: (α) How fast a body's rotation rate is increasing or
decreasing.

Equations Defining the Rotation of a Rigid Body About a Fixed Axis

• Angular velocity: The time rate of change of angular position.
ω = dθ/dt
• Angular acceleration: The time rate of change of angular acceleration.
𝜶 = 𝒅𝝎/𝒅𝒕 = 𝒅𝟐 𝜽/𝒅𝒕𝟐
• Angular velocity / Angular acceleration: Combining the angular velocity and
acceleration equations, we obtain
α dθ = ω dω.

Rotational Kinematics:
The rotational analogues of displacement (𝑥: 𝜃), velocity (𝑣: 𝜔), and acceleration (𝑎: 𝛼 ).

𝒗 = 𝝎𝒓, 𝒂𝒓 = 𝝎𝟐 𝒓, 𝒂𝒏𝒅 𝒂𝒕 = 𝜶𝒓, where 𝒓 is the instantaneous radius of curvature

(=radius if circle for circular motion).

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Sign convention for rotational kinematical quantities:

Counterclockwise (ccw): +
Clockwise (cw): −
𝜶 has same sign as 𝝎 if 𝝎 is
increasing
𝜶 has opposite sign as 𝝎 if 𝝎 is
decreasing

Example

A small dot is painted on the edge of a magnetic computer disk with radius 4.0 cm.
Starting from rest, the disk accelerates at 600 rads –2
for 0.5 s, then coasts at a steady angular velocity for another 0.5 s.

a) What is the speed of the dot at t = 1.0s?

b) Through how many revolutions does the dot turn?

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Definition: The center of mass of an object or of a system of objects is that point

which moves as though all mass were concentrated there and all forces were applied
there.

Knight’s (less precise) definition: An

unconstrained object (i.e., one not on an axle or a
pivot) on which there is no net force rotates about
a point called the center of mass.

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Example Finding the center of mass

Find the center of mass for the system of the 5

objects shown.

However, for our purposes, we almost never have to do these integrals!

For uniform symmetric objects (e.g., sphere, cylinder, cube,
rod, etc.), the center of mass is at the object’s geometric
center.
Center of gravity: If you could balance an object by its center
of gravity, it would remain in place without any other means
of support. For objects with uniform density, the centers of
mass and gravity are the same point. For a non-uniform
object, these two points are, in fact, different.

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Example Finding the center of mass

Find the center of mass of the system below consisting of two uniform boxes.

The strategy here is to replace each symmetric object with a point mass at its center of mass.

Using box dimensions as x,y,z coordinates:

Torque
In addition to translational acceleration, a force can cause angular acceleration. The
ability of a force to cause something to rotate is called a torque 𝝉.

Provisional mathematical definition of torque:

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The role of an axle:

So long as it doesn’t break, an axle will exert just the right force so that the net force
on the object is zero, and the object doesn’t accelerate away from the axle.

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Newton’s 2nd Law for rotation

A rocket of mass m (point particle) is attached to a rod on a pivot. Tension in the rod
counteracts the radial component of the thrust, leaving only the tangential component
to cause an acceleration.

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The moment of inertia is to angular acceleration what mass (inertia) is to linear

acceleration. Mass is the property of an object that resists linear acceleration from a
force. The moment if inertia is the property of an object that resists angular
acceleration from a torque.

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Example

Compute I for a thin rod spinning about one end.

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The parallel axis theorem:

Let 𝑰𝑐𝑚 be the moment of inertia of a mass M about an axis that passes through the
center of mass.
Let I be the moment of inertia about an axis parallel to and at a distance d away from
the first axis.

Example

Compute the moment of inertia of a thin rod of mass M and length L about an axis through its
center of mass, using the fact that the moment of inertia about its end is:

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Example

A “T” is made up of two identical thin rods, as shown, each of mass M and length L. What is
the moment of inertia of the “T” about an axis at its base parallel to its top?

Rotation about a fixed Axis

Problem solving strategy
1. Model object as a simple shape
2. Visualize: draw a pictorial representation, FBD, etc.
- set a coordinate system
- identify a rotation axis
- identify forces and their distances from the rotation axis
- identify torques and their signs
3. Solve: mathematical representation (𝝉𝒏𝒆𝒕 = 𝑰𝜶)
- look up I and/or use parallel axis theorem
- use rotational kinematics to find ω and/or ∆𝜽

Example
A wheel of mass M = 5.0 kg and radius r = 0.050 m has an axis of rotation located d = r/2 from
the center. A vertical tension T = 100 N is exerted at the rim of the wheel, as shown. A pin
holding the wheel in place is removed at t = 0. Find α the instant after the pin is removed.
Model the wheel as a uniform disc. Gravity exerts a torque because the axis is off-center.
Visualize: Diagram shows the forces, distances from axis, etc.

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Ropes, pulleys, and gears

Consider a rotating object connected to
another (possibly rotating) object:
- in direct contact, such as gears;
- via ropes, belts
So long as touching objects move without
slipping, then gears: Points in contact must
have the same tangential speed & acceleration;
rope on a pulley: Rope’s linear speed and
acceleration must equal the tangential speed
and acceleration at rim of pulley.

Example
A mass m = 1.0 kg hangs on a massless string wrapped around
a cylinder of mass M = 2.0 kg, radius R = 2.0 cm. The cylinder
rotates without friction on a horizontal axis through its axis of
symmetry. What is the acceleration of m?

Model: point mass for m, rigid body for M, no-slip condition

for rope. Thus, 𝒂 = 𝜶𝑹

Visualize: For M, the normal force exerted by the axle, n, exactly balances Mg + T, and M has
no linear acceleration.

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Rigid-body equilibrium
In engineering design, the concept of equilibrium is critical. For a bridge not to be in
equilibrium.

We shall limit ourselves to problems in which all forces lie in the x-y plane, and all
torques are about axes perpendicular to the x-y plane (i.e., in the z-direction).
⇒three equations, one each for 𝐹𝑥 , 𝐹𝑦 , 𝑎𝑛𝑑 𝜏.

Problem-solving strategy for Equilibrium Problems

1. Model object as a simple shape.
2. Visualize: Draw pictorial representation and FBD.
- Pick any point you want as a pivot point. The algebra is much easier if you pick a
point through which most of the unknown forces act!
- Determine the moment arms of all forces about your pivot point.
- Determine the sign of each torque about your pivot point.
- If the direction of an unknown force is also unknown, represent it as two
perpendicular forces: Fx and Fy acting at the same point.
3.Solve: No net forces and no net torque about any pivot point.
- 𝜏𝑛𝑒𝑡 = 0, 𝐹𝑛𝑒𝑡,𝑥 = 0, and 𝐹𝑛𝑒𝑡,𝑦 = 0
- Solve these three equations for any unknown forces, distances, etc.
4. Assess: Is the answer reasonable; does it answer the question?

Example The Tower of Lyre, or the “great pub bet”

At the pub you bet your friend the next round that you can stack four blocks
(they can be coasters) over the edge of the table such that the top block is
fully over the edge of the table (D > L). After he tries for a few minutes in
futility, you, the keen physics student, just “stack ‘em up”! How?

1. Key: All masses are on the verge of tipping. Thus, the normal force 𝑚𝑖 exerts on 𝑚𝑖+1 right
below it is applied right at the edge of 𝑚𝑖+1 . So to
start, we can deduce that 𝑚𝑖 can balance as much as
𝐿
𝑑1 = 2 over the edge of 𝑚2 .

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Rotational Kinetic Energy

Every point in a rotating solid body rotates with the same angular speed, ω, but with a
different linear speed, v. So how do we compute the kinetic energy?

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Rolling motion (combination of translation and rotation)

The energy equation, revisited.

Kinetic energy of rolling motion is the sum of the translational kinetic energy of the
center of mass and the rotational kinetic energy about the center of mass.

And the revised energy equation

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where ∆𝑬𝒔𝒚𝒔 is the change in the total energy of the system, ∆U is the change in
potential energy of the system, ∆𝑬𝒕𝒉 is the change in thermal energy, and 𝑾𝒆𝒙𝒕 is the
work done by all forces external to the system.
Example
A solid sphere, a solid cylinder, and a hoop (hollow cylinder) roll down an incline. If each have
the same mass and radius, which gets to the bottom first?

Angular momentum (L)

Consider a particle on a trajectory with momentum 𝑝⃗ being
watched by an observer at O.
As the particle swings by, the observer turns her head in order
to keep her eye on it, even if that particle is moving in a straight
line.
Thus, one ought to be able to describe the motion with angular
variables as well as linear variables.
Provisional mathematical definition of angular momentum:

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The vector description of rotational motion

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Activity
Direction: Answer the following problem as directed. Write your answer in a sheet of yellow
GENERAL INSTRUCTION: Show your computations. NO SOLUTION, NO POINTS. After
solving, take a picture/scan your module, convert to PDF and upload to
https://docs.google.com/forms/d/e/1FAIpQLSec06XpYitT7YgEuUQbGTVVgH
RudarNGNhUIKmY3i9T1_3xUA/viewform
*Note: If camera resolution is low, take a picture of the Solution Paper by parts for a clearer
image upload.
**Note: This format can also be done handwritten. paper. Provide another sheet if necessary.
1. Watch the video presentation and solve the problem below.
https://www.youtube.com/watch?v=oSiC1t61lz0

Calculate number revolutions a flywheel will go through due to a constant force of

100lb where 𝐼 ̅ = 𝐼𝑔 = 50 𝑙𝑏. 𝑓𝑡 2 .

2. Where is the center of mass for the system of three masses shown? (Show your
solution)
1
center of mass formula: 𝑥𝑐𝑚 = ∑𝑁
𝑖=1 𝑥𝑖 𝑚𝑖
𝑀

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Post Test
Direction: Answer the following problem as directed. Write your answer in a sheet of yellow
GENERAL INSTRUCTION: Show your computations. NO SOLUTION, NO POINTS. After
solving, take a picture/scan your module, convert to PDF and upload to
https://docs.google.com/forms/d/e/1FAIpQLSec06XpYitT7YgEuUQbGTVVgH
RudarNGNhUIKmY3i9T1_3xUA/viewform
*Note: If camera resolution is low, take a picture of the Solution Paper by parts for a clearer
image upload.
**Note: This format can also be done handwritten. paper. Provide another sheet if necessary.

1. A cord is wrapped around a homogeneous disk of mass

15 kg. The cord is pulled upwards with a force T=180
N. Determine: a) the acceleration of the center of the
disk, b) the angular acceleration of the disk, and c) the
acceleration of the cord.

2. The wheel of an automobile revolves at the rate of 700 revolutions per minute. How
fast does it move, in km per hr., if the radius of its wheel is 250 mm?
3. Using a constant angular acceleration, a water turbine is brought to its normal
operating speed of 180 rev/min in 6 minutes. How many complete revolutions did the turbine
make in coming to normal speed?
4. A horizontal platform 6 m in diameter revolves so that a point on its rim moves 6.28
m/s. Find its angular speed in rpm.
5. A horizontal platform with a diameter of 6m revolves about its center at 20 rev/min.
Find the tangential speed in m/s of a point at the edge of the platform.
6. A flywheel rotating at 500 rev/min decelerates uniformly at 2 rad/sec2 . How many
seconds will it take for the flywheel to stop?

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REFERENCES

Venacio I. Besavilla Jr. Structural Engineering & Construction. Volume 3. VIB

Publisher(2011)

Venacio I. Besavilla Jr. Applied Mechanics & Strength of Materials. VIB

Publisher(2014)

Beer and Johnston. Vector Mechanics for Engineers: Dynamics. 7th SI ed.
McGraw-Hill,USA(2003)

A.Urugal. Mechanics of Materials. John Wiley, New York (2008)

F.Beer. Mechanics of Materials. McGraw-Hill,Boston (2006)

Mathalino.com

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Congratulations for completing this module!

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Year and Section:
Contact No.:
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All personal information collected will be stored in a secure location and only
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WPU-QSF-ACAD-82A Rev. 00 (09.15.20)

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WPU-QSF-ACAD-82A Rev. 00 (09.15.20)