ENGD1106 D

Mechanical Principles-Dynamics
Lecture 4
Dynamics of Rigid Body Rotation

Dr. Hassan Ali

Based on Materials of
Dr Meisam Abdi
School of Engineering and Sustainable Development
De Montfort University
meisam.abdi@dmu.ac.uk
Review of Lectures 1-3

2
 • Kinematics : the description of motion
• One dimension : motion along a straight
line (e.g., the x-axis)

Examples - sprinter running 100 meters in a straight line

- ball falling straight down, and bouncing back
up

3
Rotational motion

4
5
6
 Review:
Newton’s 2nd law of motion

𝑭 𝒏𝒆𝒕 =𝒎𝒂

Elevator problem Incline plane Atwood’s machine

N Y

A T T
X
W s in  F
T
W cos h
T
 W W1
x
W2

7
Dynamics of Rigid Body
Rotation

8
 Mass vs Moment of inertia
Mass: is both a property of a physical body and a measure of its resistance to
acceleration when a net force is applied.

a
𝑭 =𝒎𝒂 F

Moment of inertia (I): a quantity expressing a body's tendency to resist

angular acceleration when a net torque is applied.

𝑻=𝑰 𝜶
9
 Dynamics of Rigid Body Rotation
Kinetic Energy
mi  Vi 2 1 I 2
K 
i
2

2 
i
mi   2 ri2 
2

Moment of Inertia
I 
i
mi ri2

Power produced by applied force

dK
 F V
dt
dK I d ( 2 ) I d d
  2   I
dt 2 dt 2 dt dt
d
F  V  Fri I  Fri  T
dt

I  T 10
 Translational-Rotational Parallels

Translational motion characteristics Rotational motion characteristics

Linear displacement: m X Angular displacement : rad  

Linear velocity: m / s  V  X Angular velocity: rad / s    

Linear acceleration: m / s 2   a  V  X
 Angular acceleration: rad / s 2       

Measure of inertia: kg  m Measure of inertia: kg  m 2   I  r

V
2
dV

 kg  m 2   kg  m 2 
Kinetic energy: J 2  mV 2 / 2 Kinetic energy: J 2 
I 2 / 2
 s   s 
 kg  m   kg  m 2 
Force : N 2  F  ma Torque :  2  T  F r
 s   s 
 kg  m 2   kg  m 2 
Power : W 3  P  W  F  V Power: W 3  T 
 s   s 
 kg  m 
Linear momentum:  s  L  m *V Angular momentum [kg*m2/s]: H  I  
 
 kg  m 2   kg  m 2 
Work : J 2  W  FX Work : J 2  T 
 s   s 

2nd Newton law (m  const) : F  L  ma 2nd Newton law ( I  const) : T  H  I

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Moment of inertia of an object

I  m r
i
i i
2

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 Uniform Disc
density per unit area r

A  2rdr
m A  2rdr
I A  m A r 2  2r 3 dr
dr R R R
4
r R 4
 
3 3
I D  (2r  )dr  2 r dr  2 
4 2
0 0 0

2 M D R2
M D  R   ID 
2

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 Annulus

R2 R2 R2
r 4
 ( R24  R14 )
 
3 3
IA  (2r  )dr  2 r dr  2 
4 2
R1 R1 R1

 2 2 2 2 M A ( R22  R12 )
 ( R2  R1 )( R2  R1 ) 
2 2
M A   ( R22  R12 )

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 Parallel Axis Theorem
(Koenig’s theorem)
If I is the moment of inertia about an axis going through
the centre of mass of a body of mass m , then the moment
of inertia I d about another parallel axis at a distance d is
given by the following relation:

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 Rod around Centre

E C

L/2 L/2 L/2

3
x   L3 L3  L3 ML2
IC  
L / 2
x 2 dx   
L / 2
x 2 dx 
3
L / 2


3 8



8  12

12
M  L
2
L ML2 ML2 ML2
I E  IC  M     
2 12 4 3

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Moments of Inertia for Different Shapes
Solid cylinder or Hoop about Solid sphere Thin spherical shell
disc, symmetry axis symmetry axis

Solid cylinder , Rod about center Rod about end

central diameter

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 Hollow Cylinder

Compare to solid cylinder

1
1 I MR 2
I  M (a 2  b 2 ) 2
2 and thin hoop

I  MR 2

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How about a complex
geometry?
How to find the moment of inertia?

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 Fly wheel

2017/2018 DMU ENGD1005 20

 Moment of Inertia - Radius of Gyration

rG  r

rG  r / 2

Radius of gyration of a body about an axis of rotation is defined as the radial

distance to a point which would have a moment of inertia the same as the
body's actual distribution of mass, if the total mass of the body were
concentrated there.
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 Quiz
All these objects have the same mass. They are released at the same time.
Which objects get to the bottom of incline first? Assume all cylindrical and
spherical objects has the same radius.

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23
Angular Momentum of a Flywheel

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 General Form of Dynamics Law
Translational motion

dp d mV  dV
 F if mass is constant m F
dt dt dt

Rotational motion

dL d I  d
 T if moment of inertia is I T
dt dt constant
dt

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 Change in Moment of Inertia

2017/2018 DMU ENGD1005 26

When spinning, a figure skater will bring his or her arms closer to his or her body
in order to increase their angular velocity and rotate faster.

How do you explain this ?

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 Conservation of Angular Momentum
L1  L2  I11  I 22

According to the law of the conservation of angular momentum, the angular

momentum of an object will not change unless external torque is applied to the
object. When spinning, a figure skater will bring his or her arms closer to his or
her body in order to increase their angular velocity and rotate faster. 28