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ITESM Campus Cd.

Juárez

Chapter 17 Part III: Planar


Kinetics of Rigid Bodies:
Rotation about a Fixed Axis
Dr. Humberto García
División de Profesional
jhg@itesm.mx EXT 2810
Oficina: 3er piso AULAS III 1
OBJECTIVE
Two Basic Vectorial Equations
෍ 𝑭𝒆𝒙𝒕 = 𝑴𝒕𝒐𝒕𝒂𝒍 𝐚𝑮
𝒐𝒏 𝒕𝒉𝒆 𝑹𝑩

෍ 𝑴𝒆𝒙𝒕 = 𝑰𝑮 ∝𝑮
𝒂𝒃𝒐𝒖𝒕 𝒂𝒙𝒊𝒔 𝒕𝒉𝒓𝒖 𝑮
First Equation
෍ 𝑭𝒆𝒙𝒕 = 𝑴𝒕𝒐𝒕𝒂𝒍 𝐚𝑮
𝒐𝒏 𝒕𝒉𝒆 𝑹𝑩

Vectorial summation of all External Forces


acting on the RB =
Total RB Mass * Vectorial Total Acceleration
of the RB Mass Center (G)
Second Equation
෍ 𝑴𝒆𝒙𝒕 = 𝑰𝑮 ∝𝑮
𝒂𝒃𝒐𝒖𝒕 𝒂𝒙𝒊𝒔 𝒕𝒉𝒓𝒖 𝑮

Vectorial summation of the Moments of all


External Forces acting on the RB about an
axis passing thru its G mass center =
Mass Moment of Inertia about that same
axis (𝑰𝑮 ) * Vectorial Angular Acceleration
about that same axis
Second Equation (another option)
෍ 𝑴𝒆𝒙𝒕 = 𝑰𝒐 ∝𝒐
𝒂𝒃𝒐𝒖𝒕 𝐚𝐱𝐢𝐬 𝐭𝐡𝐫𝐮 𝑶
Vectorial summation of the Moments of all
External Forces acting on the RB about a
FIXED axis passing thru point O =
Mass Moment of Inertia about that same
axis (𝑰𝒐 ) * Vectorial Angular Acceleration
about that same axis
Cases that will be analyzed
Rotation about a fixed axis passing thru O point
PROCEDURE 1: G point ≠ O point

Rotation about a fixed axis passing thru G point


PROCEDURE 2: G point = O point

Rotation about a non-fixed axis passing thru G point


PROCEDURE 3:
Rotation about a fixed axis passing thru O point

෍ 𝑭𝒆𝒙𝒕 𝒙 = 𝑴𝒕𝒐𝒕𝒂𝒍 𝐚𝑮 𝒙
𝒐𝒏 𝒕𝒉𝒆 𝑹𝑩

෍ 𝑭𝒆𝒙𝒕 𝒚 = 𝑴𝒕𝒐𝒕𝒂𝒍 𝐚𝑮 𝒚
𝒐𝒏 𝒕𝒉𝒆 𝑹𝑩

𝒂𝑮𝒏 and 𝒂𝑮𝒕 are both applied on point G


𝒂𝑮𝒏 points ALWAYS to the center of rotation (in this case point O)
𝒂𝑮𝒕 is to 𝒂𝑮𝒏 ALWAYS and rotates about point O in the same direction as α
𝑰𝑶 = 𝑰𝑮 + 𝑴𝒕𝒐𝒕𝒂𝒍 𝒅𝟐 where d is the distance between two parallel axes, one passing
thru point O (fixed axis) and another thru the center of mass G point
Rotation about a fixed axis passing thru O point
PROCEDURE 1: G point ≠ O point
1. a) Draw the kinetic diagram and ID the G (RB center of mass),
O (center of rotation, a fixed axis passes thru) points as well as 𝒓𝑮
(absolute distance between G and O).
b) Draw the m𝒂𝑮𝒏 and m𝒂𝑮𝒕 terms on point G and ID their + directions:
𝒂𝑮𝒏 from G to O. 𝒂𝑮𝒕 to 𝒂𝑮𝒏 and consistent with the α sense of rotation

2. Draw the free-body diagram and apply the set of 3 equations


or

3. Use, if necessary, a sort of appropriate kinematic equations


Rotation about a fixed axis passing thru G point
PROCEDURE 2: G point = O point
1 ID the fixed G point = origin O of the (x,y) coordinate system

2. Draw the free-body diagram and apply the set of 3 equations

==

+ directions for (𝑭𝒙 , 𝑭𝒚 ) are along the + axes. + M along counterclockwise rotation
If two RBs are coupled, they are analyzed either together or on a separated fashion.

3. Use, if necessary, a sort of appropriate kinematic equations


Rotation about a non-fixed axis passing thru G point
PROCEDURE 3:
1 ID the non-fixed G point (RB center of mass) and the
possible presence of the friction force

2. a) Draw the free-body diagram and write the next set of 3 equations:

b) Add the equation (assumption of non-slipping motion. Beware that


sometimes the signs of 𝒂𝑮 and 𝜶 are not the same) and resolve the system of 4 equations.
If the obtained results will be valid

c) If not, will not be valid and the equation


(slipping-motion) should be added to resolve the system of 4 equations

𝟐
d) if necessary, apply the equation 𝒂𝟐 = 𝒂𝟏 + ∝ 𝒙 𝒓𝟏𝟐 − 𝒘 𝒓𝟏𝟐
Of course you are right!!
If the axis thru G and the axis
thru O are parallel to each
other and separated by a
distance d, then
𝟐
𝑰𝑶 = 𝑰𝑮 + 𝑴𝒕𝒐𝒕𝒂𝒍 𝒅

Notice also that


∝𝑮 = ∝𝑶
Check the solutions for all
next 6 Fundamental
Problems (see next slide)
in the Math file
Chapter 17 Part III Ag2017
and repeat the procedures
Review the solutions for the
last 5 problems shown
in the Math file
Chapter 17 Part III Ag2017
and complete the
Request for them