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Planer Kinetics of Rigid Body
Planer Kinetics of Rigid Body
• There are three types of rigid body planar motion: in order of increasing
complexity, there are
– Translational
• This type of motion occurs if every line segment on the body
remains parallel to its original direction during the motion.
• Two type of translation:
– Rectilinear translation
– curvilinear translation
– Rotation about a fixed axis
• when a rigid body rotates about a fixed axis, all the particles of
the body, except those which lie on the axis of rotation, move
along circular paths
– General plane motion
• when a body is subjected to general plane motion, it undergoes a
combination of translation and rotation, Figure 8.1(d). The
translation occurs within a reference plane, and the rotation
occurs about an axis perpendicular to the reference plane.
Translation
• When a rigid body undergoes a translation, all the particles of the body
have the same acceleration, so that aG= a . Angular acceleration, α=0,
gave ΣMG=0.
Rectilinear translation
– Particles of body travel along straight line path
– Equation of motion
F m( a
x G )x
F m( a
y G )y
M 0 G
1
s G ( s G ) 0 (v G ) 0 t aG t 2
2
– For curvilinear translation, use
( a G ) n vG / 2 ,
2
(aG ) t dvG / dt ,
(aG ) t dsG vG dvG , (aG ) t
Example 8.1
Fx m(aG ) x ; 0.25N B (2000kg)aG .....................(1)
Fy m(aG ) y ; N A N B 2000(9.81) N 0........................(2)
M G 0; N A (1.25m) 0.25 N B (0.3m) N B (0.75m) 0....................(3)
N B 12.7kN aG 1.59m / s 2
=
Example 8.2: curvilinear translation
The 100-kg beam BD is supported by two rods having negligible mass.
Determine the force created in each rod if at the instant =30o and
(angular velocity)=6rad/s.
F m(a
t ) ; 981 sin 30 100kg(aG ) t .....................(2)
G t
• When rigid body constraint in rotation the body centre mass G move in
circular path
– The acceleration is represent by its tangential and normal component
• Considering the IGα vector acts in the same direction as α and have a
magnitude of IG (body moment inertia about axis perpendicular to page
and passing through G), therefore moment equation will be
M G I G
M o I o
Example 8.3
F x maG x ; Ox 0
F y m( a G ) y ; O y 294.3N 10 N 0
O y 304 N
M o I o ; 10 N (0.2m) 5 Nm (0.6kgm2 )
11.7rad / s 2
– Kinematics
• Since is constant and is clockwise, the number of radians the disk
must turn to obtain a clockwise angular velocity of 20 rad/s is
2 o 2 2 c o
(20rad / s) 2 0 2(11.7rad / s 2 ) 0
17.1 rad
• Hence 1 rev
17.1 rad 2.73 rev
2 rad
The 20-kg slender rod shown in Figure 8.9 is rotating in the vertical plane,
and at the instant shown it has an angular velocity of = 5 rad/s .
Determine the rod’s angular acceleration and the horizontal and vertical
components of reaction at the pin at this instant.
• Solution
– Free-body and Kinetic Diagrams
• As shown on the kinetic diagram, point G moves in a circular path
and so has two components of acceleration.
• It is important that the tangential component act downward since
it must be in accordance with the angular acceleration of the rod.
– Method 1: Equation of motion
F n m 2 rG ; On (20kg)(5rad / s ) 2 (1.5m)
F t mrG ; Ot 20(9.81) N (20kg)( )(1.5m)
1
M G I G ; Ot (1.5m) 60 Nm [ (20kg)(3m) 2 ]
12
– Method : sum moment at point O
M o M k o
1
60 Nm 20(9.81) N (1.5m) [ (20kg)(3m) 2 ] [20kg( )(1.5m)](1.5m)
12
5.90 rad / s 2
M o I o ;
1
60 Nm 20(9.81) N (1.5m) [ (20kg)(3m) 2 ]
3
5.90 rad / s 2
=
Momentum and impulse
• From 2nd Newton Law,
F ma
Where :
mv u Ft is the impulse
t mv mu is the momentum change
Ft mv mu
– Types of impacts
• Elastic collision
• Inelastic collision
• Elastic collision
– two object is moving with individual velocity collides, and then separates and
each object moves with different velocity.
– Total of kinetic energy and momentum is conserved.
• Inelastic collision
– two objects moving with individual velocity collides and attached
together, moving with different initial velocity.
– Total of momentum is conserved but the total of kinetic energy for this
system is not conserved.
– Equation:
m1u1 m2u2 (m1 m2 )v1
A sphere with a mass of 6kg is moving with a velocity of 5 m/s and collides
with another spherical with a mass of 4 kg moving with a velocity of 3 m/s.
Determine the velocity of spherical after the collision if both special
moving in (a) same direction (b) different direction. Given e = 0.5.
Work
s
S1 S2
Fh= F cos θ
Fv =F sin θ
Wk =Fhs= F (cos θ)s
• The force imposed on a body gives:-
– Positive work: If the direction of force parallel to its movement
– Negative work: If the direction of force opposite to its movement
– Zero work: If the direction of force perpendicular to its movement
s
F2 U2=-(F2cos )s
F1 U1=F1s
F4 U4=-F4s
F3 U3=0
Example 8.7
4N
60o
Direction of movement
Solution:
Know ; F = 4 N; s = 3 m; = 60o
Need ; W
use ; W = F.s parallel = F cos x s
W= 4 x cos 60o x 3 = 6J
Energy – Quick Re-cap
Velocity, V
Mass = m kg
• The work done by the net force acting on a body is equal to the change in
the body’s kinetic energy
F .s W
F .s ma.s
v2 u 2
F .s ma( )
2a
1 1
F .s 2 mv2 2 mu 2 kinetic energy
W kinetic Energy
Ground,
0 GPE
Elastic Potential Energy
• Using a Hooke’s Law
– force which required to stretch or compressed a spring is
proportionate to stretching or compression of a spring if the elastic
limit is not exceeded
Fx
F kx ............where k spring cons tan t ( N / m)
U 1 Fx @ 1 Fs
2 2
1 kx2
2
1 k (x) 2
2
Conservation of Energy
45
• Conversion of energy is the term used to denote change in energy
from one form to another.
• Eg.
– Burning candle: Chemical Heat, Light
– Fuel: Chemical Heat KE Electricity
– Nuclear explosion: Nuclear Heat, light
– Spring: Elastic PE KE
• For O-Levels, we are only concerned with:
• And such situations are only found when a moving object is at the
same time undergoing changes in height
46
• Free falling object
– An object in free fall means the object is falling freely, under the
influence of gravity
47
Example 8.8
Figure shows a pendulum swing where the pendulum mass is 5 kg. The
pendulum is pushed from point A which is located 15cm higher than B.
a) What is potential energy stored in pendulum at point A.
b) Maximum velocity in the pendulum
c) Kinetic energy in the pendulum when reached at point B.
solution
40 cm
15cm
A stone with a mass of 0.1 kg is throwing straight up with a velocity of 12
m/s. Determine the potential energy at maximum peak and kinetic energy
when reached the ground with assumption that there is no restriction.
Solution:-
Power
Work or Energy
Power
Time
W F .s
P Fv
t t
A lorry is moving with a constant velocity of 30 m/s along its way. If the
applied friction force is 800N, calculate the engine power.
Solution;
F ma F Fg
F 800 N
Engine power F v
800 30 24 kW
Example 8.11
A force is applied to compress a spring to the wall. If the initial length of the
spring is 50 cm and the last length is 30cm while the last force applied to the
spring is 20N,
(a) Calculate the work done,
(b) Kinetic elastic energy by the spring
solution
20 N
50 cm 30 cm
1
a) Work F (x) 2 b) 4kJ
2
1 the work done by the compression of the spring
20 (50 30) 2 4kJ
2
Example 8.12
a) A car weigh 1 tan moves on the horizontal road with a constant velocity
of 10 m/s and a total of 400N friction force is applied on it. Calculate the
pulling power of the engine.
b) If the car riding up the hill with the slope of at horizontal plan and
assume that friction force imposed constant at 400N, what is the engine
power required to push the car at the velocity of 15 m/s.
(a)
F Fg ma
where ma 0
Fg 400 N F 400 N
P F v
400 10
4 kW
(b) From 2nd Newton Law,
F
F Fg ma
F Fg mg sin 5 0
5 F 400 1000 (9.81) sin 5
Fs 400 N 1255 N
mg P F v
1255 x 15 18.83 kW
Example 8.13
Solution