Chapter 18: Planar Kinetics of A Rigid Body: Work and Energy

Chapter 18: Planar Kinetics of a Rigid Body:
Work and Energy

Chapter Objectives
• To develop formulations for the kinetic energy of a

body, and define the various ways a force and couple
do work.
• To apply the principle of work and energy to solve rigid-
body planar kinetic problems that involve force,
velocity, and displacement.
• To show how the conservation of energy can be used
to solve rigid-body planar kinetic problems.
©2007 Pearson Education South Asia Pte Ltd

Chapter Outline
• Kinetic Energy
• The Work of a Force
• The Work of a Couple
• Principle of Work and Energy
• Conservation of Energy

18.1 Kinetic Energy
• Consider the rigid body as shown, which is
represented here by a slab moving in the
inertial x-y reference plane.
• An arbitrary ith particle of the body, having a
mass dm, is located at r from the arbitrary
point P.
• If at the instant shown the

particle has a velocity vi, then the
particle’s kinetic energy is
Ti = ½ dm vi2
18.1 Kinetic Energy
• The kinetic energy of the entire body is
determined by writing similar expression for
each particle of the body and integrating the
results
1
T   dm vi2
2 m
• This eqn may also be expressed in terms of

the velocity of point P.

18.1 Kinetic Energy
• If the body has an angular velocity ω, then
we have
vi  v P  vi / P
 (vP ) x i  (vP ) y j  k  ( xi  yj)
 [(vP ) x  y ]i  [(vP ) y  x]j
• The square of the magnitude of vi is thus

v i  v i  vi2  [(vP ) x  y ]2  [(vP ) y  x]2
 (vP ) 2x  2(vP ) x y   2 y 2  (vP ) 2y  2(vP ) y x   2 x 2
 vP2  2(vP ) x y  2(vP ) y x   2 r 2

18.1 Kinetic Energy
• Substituting into the equation of kinetic equation

yields
1

T   dm vP2  (vP ) x   y dm
2 m
  m

 (v )   x dm   
1
P y r 2 dm
m 2 m
• The first integral on the right represents the

entire mass m of the body.
• Since ym   y dm and x m   x dm , the second
and third integrals locate the body’s center of
mass G with respect to P
18.1 Kinetic Energy
• The last integral represents the body’s moment
of inertia Ip, computed about the z axis passing
through point P. Thus
1 2 1
T  mvP  (vP ) x ym  (vP ) y x m  I P 2
2 2
• As a special case, if point P coincides with the
mass center G for the body, then y  x , 0
and
1 2 1
T  mvG  IG 2
2 2

18.1 Kinetic Energy
• IG is the moment of inertia for the body about
an axis which is perpendicular to the plane of
motion and passes through the mass center.
• Both terms on the right are always positive.

18.1 Kinetic Energy
Translation
• When a rigid body of mass m is subjected to
either rectilinear or curvilinear translation, the
kinetic energy due to rotation is zero.
• The kinetic energy of the body is therefore
1 2
T  mvG
2
Where vG is the magnitude of
the translational velocity v at
the instant considered
18.1 Kinetic Energy
Rotation About a Fixed Axis
• When the rigid body is rotating about a fixed
axis passing through point O, the body has both
translational and rotational kinetic energy as
defined by
1 2 1
T  mvG  I G 2
2 2

18.1 Kinetic Energy
• The body’s kinetic energy may also be
formulated by noting that vG = rGω, in which
case T = ½ (IG + mrG2)ω.
• By parallel-axis theorem, the terms inside the
parentheses represent the moment of inertia Io
of the body about an axis perpendicular to the
plane of motion and passing through point O.
1
T  I O 2
2

18.1 Kinetic Energy
General Plane Motion
• When the rigid body is subjected to general
plane motion, it has an angular velocity ω and
its mass center has a velocity vG
• Hence the kinetic energy is defined by
1 2 1
T  mvG  IG 2
2 2

18.1 Kinetic Energy
• The total kinetic energy of the body consists of
the scalar sum of the body’s translational
kinetic energy, ½ mvG2, and rotational kinetic
energy about its mass center, ½ IGω2

EXAMPLE 18.1
The system of three elements shown consists of a
6-kg block B, a 10-kg disk D and a 12-kg cylinder
C. If no slipping occurs, determine the total kinetic
energy of the system at the instant shown.

EXAMPLE 18.1
View Free Body Diagram
Solution
First determine ωD, ωC and vG. From the kinematics
of the disk,
vB  rDD ; 0.8m / s  (0.1m) D D  8 rad / s
Since the cylinder rolls without slipping, the
instantaneous center of zero velocity is at the point
of contact with the ground

EXAMPLE 18.1
vE  rE / ICC ; 0.8  (0.2)C C  4 rad / s
vG  rG / ICC ; vG  (0.1)(0.4)  0.4 m / s
Block
1
TB  mB vB2  1.92 J
2
Disk
1 11 
TD  I D D2   mD rD2  D2  1.60 J
2 22 

EXAMPLE 18.1
Cylinder
1 2 1 1 2 11 
TC  mvG  I GC  mvG   mC rC2 C2  1.44 J
2
2 2 2 22 
Therefore the total kinetic energy of the system is
T  TB  TD  TC
 1.92  1.60  1.44
 4.96 J

18.2 The Work of a Force
• Several types of forces encountered in planar
kinetic problem are summarized as below.
Work of a Variable Force

• If an external force F acts on a rigid body, the
work done by the force when it moves along the
path s,
U F  F  r   F cos  ds
s

• Here θ is the angle between the “tails” of the
force vector and the differential displacement.

Work of a Constant Force
• If an external force Fc acts on a rigid body, and
maintain a constant magnitude Fc and constant
direction θ, while the body undergoes a
translation s, the work becomes
U F c  ( Fc cos )s
• Fc cos θ represents the magnitude

of the component of force in the
direction of displacement
Work of a Weight
• The weight of a body does work only when the
body’s center of mass G undergoes a vertical
displacement Δy.
• If this displacement is upward, the work is
negative, since the weight and displacement are
in opposite directions.
U w  Wy

Work of a Spring Force
• If a linear elastic spring is attached to a body,
the spring force Fs = ks acting on the body
does work when the spring either stretches or
compresses from s1 to a further position s2.

• In both cases the work will be negative since
the displacement of the body is in the opposite
direction to the force.
 1 2 1 2
U s   ks2  ks1 
2 2 
where s2  s1

Forces That Do Not Work
• These forces can either act at fixed points on
the body, or they can have a direction
perpendicular to their displacement.
• Example includes the weight of a body when the
center of gravity of the body moves in a
horizontal plane.

• A rolling resistance force Fr acting on a round
body as it rolls without slipping over a rough
surface also does no work.
• This is because, during any instant of time dt, Fr
acts at a point on the body which has zero
velocity (instantaneous center, IC), and so the
work done by the force on the point is zero.

18.3 The Work of a Couple
• When a body subjected to a couple undergoes
general planar motion, the two couple forces do
work only when the body undergoes a rotation.
• To show this, consider the body as shown,
which is subjected to a couple moment M = Fr.

• When the body translates, such that the
component of displacement along the line of
action of the forces is dst
• Clearly the positive work of one force cancels
the negative work of the other

• If the body undergoes a differential rotation dθ
about an axis which is perpendicular to the
plane of the couple and intersects the plane at
point O, then each force undergoes a
displacement dsθ = (r/2) dθ in the direction of
the force.

• Hence, the total work done is

r  r 
dU M  F  d   F  d   ( Fr )d
2  2 
 M d
• Here the line of action of dθ is parallel to the line
of action of M.
• This is always the case for general plane motion,
since M and dθ are perpendicular to the plane of
motion.
• Furthermore, the resultant work is positive
when M and dθ have the same sense of
direction and negative if these vectors have an
opposite sense of direction.
• When the body rotates in the plane through a
finite angle θ measured in radians, from θ1 to
θ2, the work of a couple is
2
U M   M d
1

• If the couple moment is M has a constant
magnitude, then
U M  M (2  1)

EXAMPLE 18.2
The bar shown has a mass of 10-kg and is

subjected to a couple moment of M = 50 N.m and a
force of P = 80 N, which is always applied
perpendicular to the end of the bar. Also, the spring
has an unstretched length of 0.5 m and remains in
the vertical position due to the roller guide at B.
determine the total work done by all the forces
acting on the bar when it has rotated downward
from θ = 0 to θ° = 90°.

EXAMPLE 18.2
Solution
First the free-body diagram of the bar is drawn in
order to account for all the forces that act on it.

EXAMPLE 18.2
Weight W.
• Since the weight 10(9.81) = 98.1 N is
displaced downward 1.5 m, the work is
UW  98.1(1.5)  147.2 J
Couple Moment M.
• The couple moment rotates through an angle
of θ = π/2 rad. Hence,
U M  50( / 2)  78.5 J

EXAMPLE 18.2
Spring Force Fs
• When θ = 0°the spring is stretched (0.75 – 0.5) =
0.25 m, and when θ = 90°, the stretched is (2 +
0.75) – 0.5 = 2.25 m. Thus,
 1 2 1 2
U s    (30)(2.25)  (30)(0.25)   75.0 J
2 2 
• By inspection the spring does negative work on the
bar since Fs acts in the opposite direction to
displacement. This check with the result.

EXAMPLE 18.2
Force P
• As the bar moves downward, the force is
displaced through a distance of (π/2)(3) =
4.172 m.
• The work is positive.
U P  80(4.172)  377.0 J

EXAMPLE 18.2
Pin Reactions
• Forces Ax and Ay do no work since they are not
displaced.
Total Work
• The work of all forces when the bar is displaced
is thus
U  147.2  78.5  75.0  377.0  528 J

18.4 Principle of Work and Energy
• By applying the principle of work and energy to
each of the particles of a rigid body and adding
the results algebraically, since energy is a
scalar, the principle of work and energy for a
rigid body becomes
T1  U12  T2

• This equation states that the body’s initial
translational and rotational kinetic energy, plus
the work done by all the external forces and
couple moments acting on the body as the body
moves from its initial to final position, is equal
to the body’s final translational and rotational
kinetic energy

• Note that the work of the body’s internal
forces does not have to be considered since
the body is rigid.
• These forces occur in equal but opposite
collinear pairs, so that when the body moves,
the work of one force cancels that of its
counterpart.
• Furthermore, since the body is rigid, no relative
movement between these forces occurs, so
that no internal work is done.

PROCEUDRE FOR ANALYSIS
Kinetic Energy (kinematic Diagrams)
• The kinetic energy of a body is made up of two
parts.
• Kinetic energy of translation is referenced to
the velocity of the mass center, T = ½ mvG2
• Kinetic energy of rotational is determined from
knowing the moment of inertia about the mass
center, T = ½ IGω2

• In the special case of rotation about a fixed
axis, these two kinetic energies are combined
and can be expressed as T = IOω2, where IO is
the moment of inertia about the axis of rotation.
• Kinematic diagrams for velocity may be useful
for determining vG and ω or for establishing a
relationship between vG and ω

Work (Free-Body Diagram)
• Draw a free-body diagram of the body when it is
located at an intermediate point along the path
in order to account for all the forces and couple
moment s which do work on the body as it
moves along the path.
• A force does work when it moves through a
displacement in the direction of the force

• Forces that are functions of displacement must
be integrated to obtain work. Graphically, the
work is equal to the area under the force-
displacement curve.
• The work of a weight is the product of its
magnitude and the vertical displacement, UW =
W y. It is positive when the weight moves
downward.

• The work of a spring is of the form Us = ½ ks2,
where k is the spring stiffness and s is the
stretch or compression of the spring.
• The work of a couple is the product of the
couple moment and the angle in radians through
which it rotates.
• Since algebraic addition of the work terms is
required, it is important that the proper sign of
each term be specified.

• Specifically, work is positive when the force
(couple moment) is in the same direction as its
displacement (rotation); otherwise, it is negative.
Principle of Work and Energy

• Apply principle of work and energy, T1 + ∑U1-2
= T2. Since this is a scalar equation, it can be
used to solve for only one unknown when it is
applied to a single rigid body.

EXAMPLE 18.3
The 30-kg disk shown is pin

supported at its center. Determine
the number of revolutions it must
take to attain an angular velocity
of 20 rad/s starting from rest. It is
acted upon by a constant force
F = 10 N, which is applied to a
cord wrapped around its
periphery, and a constant couple
moment M = 5 N.m

EXAMPLE 18.3
Solution
Kinetic Energy
• Since the disk rotates about a fixed axis, the
kinetic energy can be computed using T = ½
IOω2, where the moment of inertia is IO = ½ mr2
• Initially the disk is at rest, so that
T1  0
2 1 1
T2  IO2   (30)(0.2) 2  202  120 J
1
2 2 2 

EXAMPLE 18.3

• As shown in figure, the pin Ox and Oy and the weight
(294.3 N) do no work, since they are not displaced.
• The couple moment, having a constant magnitude,
does positive work UM = Mθ as the disk rotates
through a clockwise angle of θ rad, and the
constant force F does positive work UFC = Fs as the
cord moves downward s = θr = θ(0.2 m)

EXAMPLE 18.3
T1  U12   T2 

T1 M  Fs  T2 
0 (5)  (10) (0.2)  120
 1 rev 
  17.1 rad  17.1 rad    2.73 rev
 2 rad 

EXAMPLE 18.4
The 700-kg pipe is equally suspended from the two

tines of the fork lift. It is undergoing a swinging
motion such that when θ = 30° it is momentarily at
rest. Determine the normal and frictional forces
acting on each tine which are needed to support
the pipe at the instant θ = 0°. Measurement of the
pipe and the suspender are shown in.

EXAMPLE 18.4
Solution
• Using the equation of motion to find the forces
on the tines since these forces do no work.
• Before doing this, however, we will apply the
principle of work and energy to determine the
angular velocity of the pipe when θ = 0°.
Kinetic Energy (Kinematic Diagram)

• Since the pipe is originally at rest, then
T1  0
EXAMPLE 18.4
• The final kinetic energy may be computed with
reference to either the fixed point O or the
center of mass G.
• For the calculation, consider the pipe to be a
thin ring so that IG = mr2. If point G is
considered, we have
1 2 1
T2  m(vG ) 2  IG22
2 2
1
2
2 1
 
 (700)(0.4)2   (700)(0.15) 2 22
2
 63.87522
EXAMPLE 18.4
• If point O is considered then the parallel-axis
theorem must be used to determine IO. Hence,
1 1
 
T2  I O2  700(0.15) 2  700(0.4) 2 22
2
2
2
 63.87522

• The normal and frictional forces on
the tines do no work since they do not
move as the pipe swings.
EXAMPLE 18.4
• The weight, centered at G, does positive work
since the weight moves downward through a
vertical distance Δy = 0.4 m – 0.4 cos 30° m
= 0.05359 m.

T1  U1 2   T2 
0  700(9.81)(0.05359)  63.87522 
2  2.40 rad / s

EXAMPLE 18.4
Equations of Motion
• Referring to the free-body and kinetic
diagrams as shown, we have

  Ft  m(aG )t ; FT  700(aG )t
   Fn  m(aG ) n ; NT  700(9.81)  700(2.40) 2 (0.4)
  M O  I O ; 0  [700(0.15) 2  700(0.4) 2 ]

EXAMPLE 18.4
• Since (aG)t = 0.4α, then
  0, (aG )t  0
FT  0
NT  8.48 kN
• There are two tines used to support the load,

therefore
Ft  0
8.48 kN
Nt   4.24 kN
2
EXAMPLE 18.5
The wheel weighs 20 kg and has a radius of

gyration kG = 0.18 m about its mass center G. if it is
subjected to a clockwise couple moment of 22 N.m
and rolls from rest with slipping, determine its
angular velocity after its center G moves 0.15 m.
The spring has a stiffness k = 160 N/m and is
initially unstretched when the couple moment is
applied.

EXAMPLE 18.5
Solution
Kinetic Energy (Kinematic Diagram)
• Since the wheel is initially at rest,
T1  0
• The kinematic diagram of the wheel when it is
in the final position is shown, hence the final
kinetic energy is
1 2 1
T2  m(vG )2  IG22
2 2
1 2 1
 (20)(vG ) 2  [( 20)(0.18) 2 ]22
2 2
EXAMPLE 18.5
• The velocity of the mass center can be related
to the angular velocity from the instantaneous
center of zero velocity (IC), (vG)2 = 0.24ω2.
• Substituting into the equation and simplifying,
we have
T2  0.92
2

EXAMPLE 18.5
Work (Free-body Diagram)
• As shown, only the spring force Fs and the
couple moment do work
• The normal force does not move along its line
of action and the frictional force does no work,
since the wheel does not slip as it rolls.
• The work of Fs may be computed using Us = -½
ks2.

EXAMPLE 18.5
• Here the work is negative since Fs is in the
opposite direction to displacement.
• Since the wheel does not slip when the center
G moves 0.15 m, then the wheel rotates θ =
sG/rG/IC = 0.15/0.24 = 0.625 rad
• Hence the spring stretches sA = θrA/IC = 0.625
(0.48) = 0.3 m

EXAMPLE 18.5
T1  U12   T2 

 1 2
T1 M  ks   T2 
 2 
0 22(0.625)  (160)(0.3) 2  (0.9)(2 ) 2
1
2
2  2.70 rad / s

EXAMPLE 18.6
The 10-kg rod is constrained so that its ends move

along the grooved slots. The rod is initially at rest
when θ = 0°. If the slider block at B is acted upon
by a horizontal force P = 50 N, determine the
angular velocity of the rod at the instant θ = 45°.

EXAMPLE 18.6
Kinetic Energy (Kinematic Diagrams)

• Two kinematic diagrams of the rod,
when it is, in the initial position 1
and final position 2, are shown
• When the rod is in position 1, T1 =
0 since (vG)1 = ω1 = 0. In position
2 the angular velocity is ω2 and
the velocity of the mass center is
(vG)2

EXAMPLE 18.6
• Hence, the kinetic energy is
1 1
T2  m(vG ) 22  I G22
2 2
1 1 1
 (10)(vG ) 22  [ (10)(0.8) 2 ]22
2 2 12
 5(vG ) 22  0.267(2 ) 2
• The 2 unknowns may be related from the

instantaneous center of zero velocity for the
rod.

EXAMPLE 18.6
• It is seen that as A moves downward with a
velocity (vA)2, B moves horizontally to the left
with a velocity (vB)2
• Knowing these directions, the IC is determined
as shown in the figure
(vG ) 2  rG / IC 2  (0.4 tan 45 )2
 0 .4  2
• Therefore,
T2  0.822  0.26722  1.06722

EXAMPLE 18.6
Work (Free-body Diagram)
• The normal forces NA and NB do no work as the
rod is displaced
• The 98.1 N weight is displaced a vertical
distance of Δy = (0.4 – 0.4 cos 45°) m;
whereas the 50-N force moves a horizontal
distance of s = (0.8 sin 45°) m
• Both of these forces do positive work

EXAMPLE 18.6
T1 U12   T2 

T1 Wy  Ps  T2 
0 98.1(0.4  0.4 cos 45 )  50(0.8 sin 45 )  1.06722 
2  6.11 rad / s

18.5 Conservation of Energy
• When a force system acting on a rigid consists
only of conservative forces, the conservation of
energy theorem may be used to solve a problem
which otherwise would be solved using the
principle of work and energy.
• This theorem is easier to apply since the work
of a conservative force is independent of the
path and depends only on the initial and final
positions of the body.

Gravitational Potential Energy
• Since the total weight of a body can be
considered concentrated at it center of gravity,
the gravitational potential energy of the body is
determined by knowing the height of the body’s
CG above or below a horizontal datum.

• Measuring yG as positive upward, the
gravitational potential energy of the body is
thus,
Vg  W yG
• Here the potential energy is positive when is
positive, since the weight has the ability to do
positive work when the body is moved back to
the datum.

• Likewise, if the body is located below the datum
(-yG), the gravitational potential energy is
negative, since the weight does negative work
when the body returned to the datum
Elastic Potential Energy

• The force developed by an elastic spring is
conservative force.

• The elastic potential energy which a spring imparts

to an attached body when the spring is elongated or
compressed from an initial undeformed position (s =
0) to a final position s, is
1 2
Ve   ks
2
• In the deformed position, the spring force acting on
the body always has the capacity for doing work
when the spring is returned back to its original
undeformed position.

Conservation of Energy
• In general, if a body is subjected to both
gravitational and elastic forces, the total potential
energy is expressed as a potential function V
represented as the algebraic sum
V  Vg  Ve
• Here measurement of V depends on the location of
the body with respect to selected datum.

• Realizing that the work of conservative forces
can be written as a difference in their potential
energies, (∑U1-2)cons = V1 – V2, we can write the
principle of work and energy for a rigid body as
T1  V1  U12 )noncons  T2  V2
• Here (∑U1-2)noncons represents the work of the
nonconservative forces such as friction. If this
term is zero,
T1  V1  T2  V2
• This equation is referred to as the conservation
of mechanical energy.
• Its states that the sum of the potential and
kinetic energies of the body remains constant
when the body moves from one position to
another.

Potential Energy
• Draw two diagrams showing the body located at
its initial and final positions along the path.
• If the center of gravity, G, is subjected to a

vertical displacement, establish a fixed
horizontal datum from which to measure the
body’s gravitational potential energy Vg.

• Data pertaining to the elevation yG of the body’s

center of gravity from the datum and the extension
or compression of any connecting springs can be
determined from the problem geometry and listed
on the two diagrams.
• Recall that the potential energy V = Vg + Ve. Here

Vg = W yG, which can be positive or negative, and Ve
= ½ ks2, which is always positive.

Kinetic Energy
• The kinetic energy of the body consists of two
parts, namely translational kinetic energy, T = ½
mvG2, and rotational kinetic energy, T = ½ IGω2
• Kinematic diagrams for velocity may be useful for
determining vG and ω for establishing a relationship
between these quantities.
• Apply the conservation of energy equation T1 + V1 =
T2 + V2
EXAMPLE 18.7
The 10-kg rod AB is confined so that its ends move

in the horizontal and vertical slots. The spring has a
stiffness of k = 800 N/m and is unstretched when θ
= 0°. Determine the angular velocity of AB when θ
= 0°, if the rod is released from rest when θ =
30°.

EXAMPLE 18.7
Potential Energy
• The two diagrams of the rod,
when it is located at its initial
and final positions as shown
• The datum, used to measure the
gravitational potential energy, is
placed in line with the rod when
θ = 0°.

EXAMPLE 18.7
• When the rod is in position 1, the center of
gravity G is located below the datum so that
the gravitational potential energy is negative.
• (positive) elastic potential energy is stored in
the spring, since it is stretched a distance of s1
= (0.4 sin 30°) m, thus
1 2
V1  Wy1  ks1
2
1
 98.1(0.2 sin 30 )  (800)(0.4 sin 30 ) 2

2
 6.19 J
EXAMPLE 18.7
• When the rod is in position 2, the potential
energy of the rod is zero, since the spring is
unstretched, s2 = 0, and the center of gravity G
is located at the datum. Thus,
V2  0
Kinetic Energy
• The rod is released from rest from position 1,
thus (vG)1 = 0 and ω1 = 0, and
T1  0
EXAMPLE 18.7
• In position 2, the angular velocity is ω2 and the
rod’s mass center has a velocity of (vG)2. Thus,
1 1
T2  m(vG ) 2  I G22
2
2 2
1 1 1
 (10)(vG ) 22  [ (10)(0.4) 2 ]22
2 2 12
• Using kinematics, (vG)2 can be related to ω2 as
shown

EXAMPLE 18.7
• At the instant considered, the instantaneous
center of zero velocity (IC) for the rod is at
point A; hence (vG)2 =(rG/IC)ω2 = (0.2)ω2
• Substituting into the previous expression and
simplfying, we get
T2  0.26722

EXAMPLE 18.7
T1 V1  T2  V2 

0 6.19  0.26722  0
2  4.82 rad / s

EXAMPLE 18.8
The disk has a mass of 15 kg and a radius of

gyration of kG = 0.18 m, and it is attached to a
spring which has a stiffness k = 30 N/m and an
unstretched length of 0.3 m. If the disk is released
from rest in the position shown and rolls without
slipping, determine its angular velocity at the
instant G moves 0.9 m to the left.

EXAMPLE 18.8
Potential Energy
• Two diagrams of the disk, when it
is located in its initial and final
positions, are shown
• A gravitational datum is not
needed here since the weight is
not displaced vertically.

EXAMPLE 18.8
• From the problem geometry the spring is
stretched s1 = [(0.92 + 1.22)½ - 0.3] = 1.2 m and
s2 = (1.2 – 0.3) = 0.9 m in the initial and final
positions respectively.
• Hence,
1 2 1
V1  ks1  (30)(1.2) 2  21.6 J
2 2
1 1
V2  ks22  (30)(0.9) 2  12.15 J
2 2

EXAMPLE 18.8
Kinetic Energy
• The disk is released from rest so that (vG)1 = 0,
ω1 = 0, and
T 1 0
• In the final position,
1 1
T2  m(vG ) 2  I G22
2
2 2
1 1
 (15)(vG ) 2  [(15)(0.18) 2 ]22
2
2 2

EXAMPLE 18.8
• Since the disk rolls without slipping, (vG)2 can
be related to ω2 from the instantaneous center
of zero velocity, (vG)2 = 0.225ω2
• Substituting and simplifying yields
T2  0.622722

EXAMPLE 18.8
T1 V1  T2  V2 

0 21.6  0.622722  12.15
2  3.90 rad / s

EXAMPLE 18.9
The 10-kg homogeneous disk is attached to a

uniform 5-kg rod AB. If the assembly is released
from rest when θ = 60°, determine the angular
velocity of the rod when θ = 0°. Assume that the
disk rolls without slipping. Neglect friction along the
guide and the mass of the collar at B.

EXAMPLE 18.9
Potential Energy
• When the system is in position 1, the rod’s
weight has a positive potential energy. Thus,
V1  WR y1  49.05(0.3 sin 60 )  12.74 J
• When the system is in position 2, both the

weight of the rod and the weight of the disk
have zero potential energy. Thus,
V2  0

EXAMPLE 18.9
Kinetic Energy
• Since the entire system is at rest at the initial
position,
T1  0
• In the final position the rod has an angular
velocity (ωR)2 and its mass center has a
velocity (vG)2.

EXAMPLE 18.9
• In the final position the rod has an angular
velocity (ωR)2 and its mass center has a
velocity (vG)2.
• Since the rod is fully extended in this position,
the disk is momentarily at rest, so (ωD)2 = 0
and (vA)2 = 0.

EXAMPLE 18.9
• For the rod (vG)2 can be related to (ωR)2 from
the instantaneous center of zero velocity,
which is located at point A
• Hence, (vG)2 =(rG/IC)(ωR)2 or (vG)2 = (0.3)(ωR)2
1 1 1 1
T2  mR (vG ) 2  I G (R ) 2  mD (v A ) 2  I A ( D ) 22
2 2 2
2 2 2 2
1 1 1
 (5)[0.3( R ) 2 ]  [ (5)(0.6) 2 ](R ) 22  0  0
2
2 2 12
 0.3(R ) 22

EXAMPLE 18.9
T1 V1  T2  V2 

0 12.74  0.3(R ) 2  0
2
( R ) 2  6.52 rad / s

CHAPTER REVIEW
Kinetic Energy
• The kinetic energy of a rigid body that
undergoes planar motion can be referenced to
its mass center.
• For a translating body T = ½ mvG2.
• If the body is rotating about a fixed through
point O, then its mass center has a velocity,
and the body also has an angular velocity.
Therefore T = ½ mvG2 + ½ IGω2.

CHAPTER REVIEW
• Using vG = ωr and the parallel-axis theorem, we
can also determine the kinetic energy relative
to point O.
• We have T = ½ IOω2
• For general plane motion, the kinetic energy is
simply T = ½ mvG2 + ½ IGω2, the scalar sum of
its translational and rotational kinetic energies.

CHAPTER REVIEW
1 2
T  mvG
2
1 2 1 1
T  mvG  I G 2 or T  I O 2
2 2 2
1 2 1
T  mvG  I G 2
2 2
CHAPTER REVIEW
Work of a Force and a Couple Moment

• A force does work when it undergoes a
displacement ds in the direction of the force.
• The work is U = ∫ F ds. If the force is constant
and is in the direction of its displacement Δs, then
U = FΔs
• If a weight W is displaced downward by Δy, then U
= WΔy
• If a force F stretches a spring a distance s, then U
= ½ ks2

CHAPTER REVIEW
• The frictional and normal forces that act on a
cylinder or sphere that rolls without slipping will
do no work, since normal force does not
displace and the frictional force acts on
successive points on the surface of the body
• A couple moment will do work when its
undergoes a rotation in the direction θ of the
couple moment.
• If this moment is constant, then U = M θ

CHAPTER REVIEW

CHAPTER REVIEW
• Problems that involve velocity, force, and
displacement can be solved using the principle
of work and energy
T1  U12  T2
• Here, the kinetic energy is the sum of both its
rotational and translational parts.

CHAPTER REVIEW
• For application, a free-body diagram should be
drawn in order to account for the work of all the
forces and couple moments that act on the
body as it moves along the path

CHAPTER REVIEW
• If a rigid body is subjected only to conservative
forces, then the conservation of energy
equation can be used to solve the problem.
• This equation requires that the sum of the
potential and kinetic energies of the body
remains the same at any two points along the
path, that is,
T1  V1  T2  V2
CHAPTER REVIEW
• Here, the potential energy is the sum of its

gravitational and elastic potential energies,
V  Vg  Ve
• In particular, the gravitational potential energy will
be positive if the body’s center of mass is located
above a datum. If it is below the datum, then it will
be negative.
• The potential energy is always positive, regardless if
the spring is stretched or compressed.

CHAPTER REVIEW
Vg  WyG
Vg  WyG
1 2
Ve  ks
2

Chapter 18: Planar Kinetics of A Rigid Body: Work and Energy

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Chapter 18: Planar Kinetics of A Rigid Body: Work and Energy

Uploaded by

Copyright:

Available Formats

Chapter 18: Planar Kinetics of a Rigid Body:

Work and Energy

• To develop formulations for the kinetic energy of a

©2007 Pearson Education South Asia Pte Ltd

©2007 Pearson Education South Asia Pte Ltd

• If at the instant shown the

• This eqn may also be expressed in terms of

©2007 Pearson Education South Asia Pte Ltd

• The square of the magnitude of vi is thus

©2007 Pearson Education South Asia Pte Ltd

• Substituting into the equation of kinetic equation

• The first integral on the right represents the

©2007 Pearson Education South Asia Pte Ltd

©2007 Pearson Education South Asia Pte Ltd

©2007 Pearson Education South Asia Pte Ltd

©2007 Pearson Education South Asia Pte Ltd

©2007 Pearson Education South Asia Pte Ltd

©2007 Pearson Education South Asia Pte Ltd

©2007 Pearson Education South Asia Pte Ltd

©2007 Pearson Education South Asia Pte Ltd

©2007 Pearson Education South Asia Pte Ltd

Therefore the total kinetic energy of the system is

©2007 Pearson Education South Asia Pte Ltd

Work of a Variable Force

©2007 Pearson Education South Asia Pte Ltd

©2007 Pearson Education South Asia Pte Ltd

• Fc cos θ represents the magnitude

©2007 Pearson Education South Asia Pte Ltd

©2007 Pearson Education South Asia Pte Ltd

©2007 Pearson Education South Asia Pte Ltd

©2007 Pearson Education South Asia Pte Ltd

©2007 Pearson Education South Asia Pte Ltd

©2007 Pearson Education South Asia Pte Ltd

©2007 Pearson Education South Asia Pte Ltd

©2007 Pearson Education South Asia Pte Ltd

• Hence, the total work done is

©2007 Pearson Education South Asia Pte Ltd

©2007 Pearson Education South Asia Pte Ltd

The bar shown has a mass of 10-kg and is

©2007 Pearson Education South Asia Pte Ltd

©2007 Pearson Education South Asia Pte Ltd

©2007 Pearson Education South Asia Pte Ltd

©2007 Pearson Education South Asia Pte Ltd

©2007 Pearson Education South Asia Pte Ltd

U  147.2  78.5  75.0  377.0  528 J

©2007 Pearson Education South Asia Pte Ltd

©2007 Pearson Education South Asia Pte Ltd

©2007 Pearson Education South Asia Pte Ltd

©2007 Pearson Education South Asia Pte Ltd

©2007 Pearson Education South Asia Pte Ltd

©2007 Pearson Education South Asia Pte Ltd

©2007 Pearson Education South Asia Pte Ltd

©2007 Pearson Education South Asia Pte Ltd

©2007 Pearson Education South Asia Pte Ltd

Principle of Work and Energy

©2007 Pearson Education South Asia Pte Ltd

The 30-kg disk shown is pin

©2007 Pearson Education South Asia Pte Ltd

©2007 Pearson Education South Asia Pte Ltd

Work (Free-Body Diagram)

©2007 Pearson Education South Asia Pte Ltd

T1  U12   T2 

©2007 Pearson Education South Asia Pte Ltd