Engr 240 – Week 12

Chapter 16. Kinetics of Rigid Bodies:

Forces And Accelerations
 Equations of Motion for a Rigid Body

   dH G
 F  maG and M
 G 
dt

.
The system of the external forces is
 equivalent to the
system consisting of the vector maG attached at G and
the couple of moment dH G .
dt
 Angular Momentum In Plane Motion
Consider a rigid slab made up of a large
number n of particles Pi of mass mi .
The angular momentum about the
centroidal frame Gx’y’ is
 n 
' '
H G   ( ri  vi mi )
i 1
 - position vector of ith particle
where: ri '
'
vi mi - linear momentum of ith particle
  
But: vi'    ri '

 
i 1
n   '
Therefore H G   ri    ri mi
'
  which has the same direction as


n
'2
and of magnitude   ri mi  I G .
 i 1

Hence: H G  I G I G  Centroidal moment of inertia to the
slab.
 
Differentiating both sides with dH G d 
respect to time:  I G  I G 
dt dt
 D’ALEMBERT’S PRINCIPLE

For a rigid body in plane motion:

   
 F  maG and  M G  I G 

The external
, forces acting on a rigid body is equivalent to the

system consisting of a vector maattached
G to the center of

mass G, and a couple of moment . I G

.
The two vector equations: three independent scalar equations:

 Fx  maGx  Fy  maGy and  M G  I G

 Translation:

Centroidal Rotation:

NOTE: Before applying D’Alembert’s principle, it may

be necessary to analyze kinematics of motion to reduce
the number of unknown kinematic variables.
Example 1.
A pulley weighing 12 lb and having a radius of
gyration of 8 in is connected to two blocks as
shown. Assuming no axle friction, determine the
angular acceleration of the pulley and the
acceleration of each block.
Example 2. The spool has a mass of 8 kg and
a radius of gyration of kG=0.35 m about its
center. If cords of negligible mass are
wrapped around its inner hub and outer rim as
shown, determine its angular acceleration.
Example 3. A slender bar AB weighs 60 lbs
and moves in the vertical plane, with its ends
constrained to follow the smooth horizontal
and vertical guides. If the 30-lb force is
applied at A with the bar initially at rest in the
position shown for which =30, calculate the
resulting angular acceleration of the bar and
the forces on the small end rollers at A and B.
 Rolling Motion:
Rolling Without Sliding
Rolling With Sliding: