PLANAR KINETICS OF

RIGID BODIES

FORCE AND ACCELERATION

 Angular Momentum of a Rigid Body in Plane Motion
• Angular momentum of the slab may be computed
by
 n  
H G   ri viΔmi 
i 1
n  
  ri   riΔmi 
i 1


   ri 2 Δmi 

 I
• After differentiation,
  
H G  I   I 
• Results are also valid for plane motion of
bodies which are symmetrical with respect to
• Consider a rigid slab in plane the reference plane.
motion. • Results are not valid for asymmetrical bodies or
three-dimensional motion.
Plane Motion of a Rigid Body: D’Alembert’s
Principle •
Motion of a rigid body in plane motion is
completely defined by the resultant and moment
resultant about G of the external forces.
 Fx  ma x  Fy  ma y  M G  I
• The external forces and the collective effective
forces of the slab particles are equipollent (reduce
to the same resultant and moment resultant) and
equivalent (have the same effect on the body).
• d’Alembert’s Principle: The external forces
acting on a rigid body are equivalent to the
effective forces of the various particles forming
the body.
• The most general motion of a rigid body that is
symmetrical with respect to the reference plane
can be replaced by the sum of a translation and a
centroidal rotation.
 Analysis Procedure
In the solution of force-mass-acceleration problems for the plane
motion of rigid bodies, the following steps should be taken after the
conditions and requirements of the problem are clearly in mind.

1) Kinematics : First, identify the class of motion and then solve any
needed linear or angular accelerations which can be determined from
given kinematic information.
2) Diagrams: Always draw the complete free-body diagram and
kinetic diagram.
3) Apply the equations of motion.

 F  ma ,

M G  I
Mass Moments of Inertia for Some Common Geometric Shapes
Thin bar Thin rectangular plate

Thin circular plate

Free Body Diagrams and Kinetic Diagrams

The free body diagram is the same as you have done in statics and we
will add the kinetic diagram in our dynamic analysis.
1. Isolate the body of interest (free body)
2. Draw your axis system (Cartesian, polar, path)
3. Add in applied forces (e.g., weight)
4. Replace supports with forces (e.g., tension force)
5. Draw appropriate dimensions (angles and distances)
y
x

Include your
positive z-axis
direction too
Free Body Diagrams and Kinetic Diagrams

Put the inertial terms for the body of interest on the kinetic diagram.
1. Isolate the body of interest (free body)
2. Draw in the mass times acceleration of the particle; if unknown, do this
in the positive direction according to your chosen axes. For rigid bodies,
also include the rotational term, IGa.

F  ma
M G  I
Free Body Diagrams and Kinetic Diagrams

Draw the FBD and KD for the bar

AB of mass m. A known force P is
applied at the bottom of the bar.
Free Body Diagrams and Kinetic Diagrams
1. Isolate body
y 2. Axes
Cy 3. Applied forces
A x 4. Replace supports with forces
5. Dimensions
C Cx 6. Kinetic diagram
L/2
ma y
r
I
G G max

L/2 mg

B P
2 - 17
Free Body Diagrams and Kinetic Diagrams

A drum of 4 inch radius is attached

to a disk of 8 inch radius. The
combined drum and disk had a
combined mass of 10 lbs. A cord is
attached as shown, and a force of
magnitude P=5 lbs is applied. The
coefficients of static and kinetic
friction between the wheel and
ground are µs= 0.25 and µk= 0.20,
respectively. Draw the FBD and
KD for the wheel.
 Free Body Diagrams and Kinetic Diagrams
1. Isolate body
2. Axes
3. Applied forces
4. Replace supports with forces
5. Dimensions
6. Kinetic diagram
P ma y
4 in

I
= max
8 in
W
F y

N x
Free Body Diagrams and Kinetic Diagrams

The ladder AB slides down

the wall as shown. The wall
and floor are both rough.
Draw the FBD and KD for
the ladder.
Free Body Diagrams and Kinetic Diagrams
1. Isolate body 3. Applied forces 5. Dimensions
2. Axes 4. Replace supports with forces 6. Kinetic diagram

NB ma y
m

q
25
0 .2

FB
I
max
=
m
25

W
0 .2

FA x
NA
EXAMPLE
SOLUTION:
•Draw the free-body-diagram equation
expressing the equivalence of the external
and effective forces on the disk.

•Solve the three corresponding scalar

equilibrium equations for the horizontal,
vertical, and angular accelerations of the
disk.
•Determine the acceleration of the cord by
A cord is wrapped around a evaluating the tangential acceleration of the
homogeneous disk of mass 15 kg. point A on the disk.
The cord is pulled upwards with a
force T = 180 N.
Determine: (a) the acceleration of the
center of the disk, (b) the angular
acceleration of the disk, and (c) the
acceleration of the cord.
SOLUTION
SOLUTION:
•Draw the free-body-diagram equation expressing the
equivalence of the external and effective forces on the
disk.
•Solve the three scalar equilibrium equations.
 Fx   Fx eff
ax  0
0  ma x

 Fy   Fy eff
T  W  ma y

ay 

T  W 180 N - 15 kg  9.81m s 2


m 15 kg
a y  2.19 m s 2
 M G   M G eff
 Tr  I   12 mr 2 
2T 2180 N    48.0 rad s 2
  
mr 15 kg 0.5 m 
SOLUTION
•Determine the acceleration of the cord by evaluating the
tangential acceleration of the point A on the disk.

acord  a A t  a  a A G t



 2.19 m s 2  0.5 m  48 rad s 2 
acord  26.2 m s 2

ax  0 a y  2.19 m s 2

  48.0 rad s 2
When a rigid body undergoes only translation, all the particles of the
body have the same acceleration so aG = a and a = 0. The equations of
motion become:

 Fx = m(aG)x

 Fy = m(aG)y

 MG = 0

Note that, if it makes the problem easier, the moment equation can be
applied about other points instead of the mass center. In this case,
MA = (m aG ) d .
When a rigid body is subjected to
curvilinear translation, it is best to use
an n-t coordinate system. Then apply
the equations of motion, as written
below, for n-t coordinates.

 Fn = m(aG)n

 Ft = m(aG)t

 MG = 0 or

 MB = e[m(aG)t] – h[m(aG)n]
 Procedure of analysis
Problems involving kinetics of a rigid body in only translation should be
solved using the following procedure:
1. Establish an (x-y) or (n-t) inertial coordinate system and specify the
sense and direction of acceleration of the mass center, aG.

2. Draw a FBD and kinetic diagram showing all external forces,

couples and the inertia forces and couples.

3. Identify the unknowns.

4. Apply the three equations of motion:
 Fx = m(aG)x  Fy = m(aG)y  Fn = m(aG)n  Ft = m(aG)t
 MG = 0 or  MP =  (Mk)P  MG = 0 or  MP =  (Mk)P
5. Remember, friction forces always act on the body opposing the
motion of the body.
 Example

Given:A 50 kg crate rests on a

horizontal surface for
which the kinetic friction
coefficient k = 0.2.

Find: The acceleration of

the crate if P = 600 N.

Plan: Follow the procedure for analysis.

Note that the load P can cause the crate either to slide or to tip
over. Let’s assume that the crate slides. We will check this
assumption later.
 Example continues
Solution:
The coordinate system and FBD are as
shown. The weight of (50)(9.81) N is
applied at the center of mass and the
normal force Nc acts at O. Point O is
some distance x from the crate’s
center line. The unknowns are Nc, x,
and aG .

Applying the equations of motion:

 Fx = m(aG)x: 600 – 0.2 Nc = 50 aG Nc = 490 N

 Fy = m(aG)y: Nc – 490.5 = 0  x = 0.467 m

 MG = 0: -600(0.3) + Nc(x)-0.2 Nc (0.5) = 0 aG = 10.0 m/s2

 Example continues

Since x = 0.467 m < 0.5 m, the crate slides as originally assumed.

If x was greater than 0.5 m, the problem would have to be reworked with the
assumption that tipping occurred.
EXAMPLE

Given: A rod with mass of 20 kg is rotating at 5 rad/s at the instant

shown. A moment of 60 N·m is applied to the rod.

Find: The angular acceleration α and the reaction at pin O when the
rod is in the horizontal position.
Plan: Since the mass center, G, moves in a circle of radius
1.5 m, it’s acceleration has a normal component toward O and a
tangential component acting downward and perpendicular to r G.
Apply the problem solving procedure.
Solution:
Equations of motion:
FBD & Kinetic Diagram + Fn = man = mrGω2
On = 20(1.5)(5)2 = 750 N
+ Ft = mat = mrGα
-Ot + 20(9.81) = 20(1.5)a
+ MO = IG α + m rG α (rG)

Using IG = (ml2)/12 and rG = (0.5)(l), we can write:

MO = α[(ml2/12) + (ml2/4)] = (ml2/3)α where (ml2/3) = IO.

After substituting: Solving: α = 5.9 rad/s2

60 + 20(9.81)(1.5) = 20(32/3)α Ot = 19 N
 General plane motion
When a rigid body is subjected to external
forces and couple-moments, it can
undergo both translational motion as well
as rotational motion. This combination is
called general plane motion.

Using an x-y inertial coordinate

system, the equations of motions about
the center of mass, G, may be written
as

 Fx = m (aG)x

P  Fy = m (aG)y
 MG = IG a
 Frictional rolling problems
When analyzing the rolling motion of wheels, cylinders, or disks,
it may not be known if the body rolls without slipping or if it
slides as it rolls.

For example, consider a disk with mass m

and radius r, subjected to a known force P.

The equations of motion will be

 Fx = m(aG)x => P - F = maG
 Fy = m(aG)y => N - mg = 0
 MG = I G a => F r = IGa

There are 4 unknowns (F, N, a, and aG) in

these three equations.
 Frictional rolling problems (continued)

Hence, we have to make an assumption to

provide another equation. Then we can solve
for the unknowns.

The 4th equation can be obtained from the slip

or non-slip condition of the disk.

Case 1:
Assume no slipping and use aG = a r as the 4th equation and DO NOT
use Ff = sN. After solving, you will need to verify that the assumption
was correct by checking if Ff  sN.
Case 2:
Assume slipping and use Ff = kN as the 4th equation. In this case,
aG  ar.
 Procedure of analysis
Problems involving the kinetics of a rigid body undergoing general
plane motion can be solved using the following procedure.

1. Establish the x-y inertial coordinate system. Draw both the free
body diagram and kinetic diagram for the body.

2. Specify the direction and sense of the acceleration of the mass

center, aG, and the angular acceleration a of the body. If necessary,
compute the body’s mass moment of inertia IG.
3. If the moment equation Mp= (Mk)p is used, use the kinetic
diagram to help visualize the moments developed by the
components m(aG)x, m(aG)y, and IGa.

4. Apply the three equations of motion.

 Procedure of analysis continues…

5. Identify the unknowns. If necessary (i.e., there are four

unknowns), make your slip-no slip assumption (typically no
slipping, or the use of aG = a r, is assumed first).
6. Use kinematic equations as necessary to complete the solution.

7. If a slip-no slip assumption was made, check its validity!!!

Key points to consider:

1. Be consistent in assumed directions. The direction of aG must be
consistent with a.
2. If Ff = kN is used, Ff must oppose the motion. As a test, assume
no friction and observe the resulting motion. This may help
visualize the correct direction of Ff.
EXAMPLE

Given: A spool has a mass of 8 kg and a radius of gyration (k G) of 0.35 m.

Cords of negligible mass are wrapped around its inner hub and outer
rim. There is no slipping.

Find: The angular acceleration (α) of the spool.

Plan: Focus on the spool. Follow the solution procedure (draw a FBD, etc.)
and identify the unknowns.
Solution:

The moment of inertia of the spool is

IG = m (kG)2 = 8 (0.35)2 = 0.980 kg·m 2
Method I
Equations of motion:
Fy = m (aG)y
T + 100 -78.48 = 8 aG
MG = IG a
100 (0.2) – T(0.5) = 0.98 a
There are three unknowns, T, aG, α. We need one more equation
to solve for 3 unknowns. Since the spool rolls on the cord at point
A without slipping, aG = αr. So the third equation is: aG = 0.5α

Solving these three equations, we find:

a =10.3 rad/s2, aG = 5.16 m/s2, T = 19.8 N
 Method II
Now, instead of using a moment equation
about G, a moment equation about A will be
used. This approach will eliminate the
unknown cord tension (T).

 MA=  (Mk)A: 100 (0.7) - 78.48(0.5) = 0.98 a + (8 aG)(0.5)

Using the non-slipping condition again yields aG = 0.5α.

Solving these two equations, we get

α= 10.3 rad/s2, aG = 5.16 m/s2