Plane Kinetics of Rigid
Bodies
17.1 Mass moments of inertia
17.2 General equations of motion
17.3 Translation
17.4 Fixed axis rotation
17.5 General plane motion
18. Work and energy relations
19. Impulse and momentum
1
17.1 Mass moments of inertia
• The moment-of-inertia may be expressed as
𝐼= 𝑟𝑖2 𝑚𝑖
• Or about the axis O-O:
𝐼= 𝑟 2 𝑑𝑚
2
17.1 Mass moments of inertia (contd.)
• If the density is constant throughout the body, the moment of
inertia becomes
𝐼=𝜌 𝑟 2 𝑑𝑉
Radius of Gyration
• If all the mass m of a body could be concentrated at a distance
k from the axis, the moment of inertia would be unchanged.
• The radius of gyration k of a mass m about an axis for which
the moment of inertia is I is defined as
𝐼
𝑘= 𝑜𝑟 𝐼 = 𝑘 2 𝑚
𝑚
3
17.1 Mass moments of inertia (contd.)
Transfer of Axes
• If moment of inertia of a body is known about an axis passing
through mass center, it may be determined easily about any
parallel axis.
𝐼 = 𝐼 + 𝑚𝑑 2
4
17.2 General Equations of Motion
• The force equation,
𝐅 = 𝑚𝐚
tells us that the resultant ΣF of the external forces acting on the
body equals the mass m of the body times the acceleration 𝐚 of
its mass center G. The moment equation taken about the mass
center,
𝐌𝐺 = 𝐇 𝐺
shows that the resultant moment about the mass center of the
external forces on the body equals the time rate of change of
the angular momentum of the body about the mass center. 5
17.2 General Equations of Motion (contd.)
6
17.2 General Equations of Motion (contd.)
Plane Motion Equations
7
17.2 General Equations of Motion (contd.)
Plane Motion Equations
• The mass center G has an acceleration 𝐚 and the body has an
angular velocity 𝛚 = 𝜔𝐤 and an angular acceleration 𝛂 = 𝛼𝐤,
both taken positive in the z-direction. Because the z-direction
of both 𝛚 and 𝛂 remains perpendicular to the plane of
motion, we may use scalar notation 𝜔 and 𝛼 = 𝜔 to represent
the angular velocity and angular acceleration.
𝐅 = 𝑚𝐚 and 𝑀𝐺 = 𝐼𝛼
8
17.2 General Equations of Motion (contd.)
Alternative Moment Equations
• Alternatively
𝑀𝑃 = 𝐼 𝛼 + 𝑚𝑎𝑑
9
17.3 Translation
• For a translating body, then, our general equations for plane motion
equation may be written
𝐅 = 𝑚𝐚
10
𝑀𝐺 = 𝐼 𝛼 = 0
17.3 Translation
Sample Problem (1)
• The pickup truck weighs 1500kg and reaches a speed of 50
km/h from rest in a distance of 60m up the 10-percent incline
with constant acceleration. Calculate the normal force under
each pair of wheels and the friction force under the rear
driving wheels. The effective coefficient of friction between
the tires and the road is known to be at least 0.8.
11
Solution
12
17.3 Translation
Sample Problem (2)
• The uniform 30-kg bar OB is secured to the accelerating
frame in the 30 position from the horizontal by the
hinge at O and roller at A. If the horizontal acceleration
of the frame is a=20 m/s2 compute the force FA on the
roller and the x- and y-components of the force
supported by the pin at O.
13
Solution
14
17.4 Fixed Axis Rotation
• Our general equations for plane motion are directly
applicable and are repeated here.
𝐅 = 𝑚𝐚 , 𝑀𝐺 = 𝐼𝛼 , 𝑀𝑂 = 𝐼𝑂 𝛼
15
17.4 Fixed Axis Rotation
Sample Problem (3)
The 300 kg concrete block is elevated by the hoisting mechanism shown,
where the cables are securely wrapped around the respective drums. The
drums, which are fastened together and turn as a single unit about their mass
center at O, have a combined mass of 150 kg and a radius of gyration about O
of 450 mm. If a constant tension P of 1.8 kN is maintained by the power unit at
A, determine the vertical acceleration of the block and the resultant force on
the bearing at O.
16
Solution
17
17.4 Fixed Axis Rotation
Sample Problem (4)
The uniform slender bar is released from rest in the horizontal
position shown. Determine the value of x for which the angular
acceleration is a maximum, and determine the corresponding
angular acceleration.
18
Solution
19
17.5 General Plane Motion
• The dynamics of a rigid body in general plane motion
combines translation and rotation.
𝐅 = 𝑚𝐚
𝑀𝐺 = 𝐼 𝛼
20
17.5 General Plane Motion (contd.)
• Choice of Moment Equation. The application of the
alternative relation for moments about any point P,
𝑀𝑃 = 𝐼 𝛼 + 𝑚𝑎𝑑
21
17.5 General Plane Motion
Sample Problem (5)
A metal hoop with a radius r = 150 mm is released from rest on
the 20° incline. If the coefficients of static and kinetic friction
are 𝜇𝑠 = 0.15 and 𝜇𝑘 = 0.12 , determine the angular
acceleration of the hoop and the time t for the hoop to move a
distance of 3 m down the incline.
22
Solution
23
17.5 General Plane Motion
Sample Problem (6)
A car door is inadvertently left slightly open when the brakes are
applied to give the car a constant rearward acceleration a.
Derive expressions for the angular velocity of the door as it
swings past the 90° position. The mass of the door is m, its mass
center is a distance 𝑟 from the hinge axis O, and the radius of
gyration about O is 𝑘𝑂 .
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Solution
25
17.5 General Plane Motion
Sample Problem (7)
The drum A is given a constant angular acceleration 𝛼0 of
3rad/s 2 and causes the 70-kg spool B to roll on the horizontal
surface by means of the connecting cable, which wraps around
the inner hub of the spool. The radius of gyration 𝑘of the spool
about its mass center G is 250 mm, and the coefficient of static
friction between the spool and the horizontal surface is 0.1.
Determine the tension T in the cable and the friction force F
exerted by the horizontal surface on the spool.
26
27
Solution
17.5 General Plane Motion
Sample Problem (8)
The uniform steel beam of mass m and length l is suspended by
the two cables at A and B. If the cable at B suddenly breaks,
determine the tension T in the cable at A immediately after the
break occurs. Treat the beam as a slender rod and show that the
result is independent of the length of the beam.
28
Solution
29
18 Work and Energy
Work of Forces and Couples
• The work done by a force F is given by
𝑈= 𝐅. 𝑑𝐫 𝑜𝑟 𝑈= (𝐹 cos 𝛼) 𝑑𝑠
𝑈= 𝑀 𝑑𝜃
30
18 Work and Energy
Kinetic Energy
(a) Translation. The translating rigid body of Figure (a) has a
mass m and all of its particles have a common velocity v.
1
𝑇 = 𝑚𝑣 2
2
31
18 Work and Energy
Kinetic Energy (contd.)
(b) Fixed-axis rotation.
1
𝑇 = 𝐼𝑂 𝜔2
2
32
18 Work and Energy
Kinetic Energy (contd.)
(c) General plane motion.
1 2
1 2
𝑇 = 𝑚𝑣 + 𝐼 𝜔
2 2
33
18 Work and Energy
Kinetic Energy (contd.)
• The kinetic energy of plane motion may also be expressed in
terms of the rotational velocity about the instantaneous
center C of zero velocity. Because C momentarily has zero
1
velocity, 𝑇 = 𝐼𝑂 𝜔2 for the fixed point O holds equally well
2
for point C, so that, alternatively, we may write the kinetic
energy of a rigid body in plane motion as
1
𝑇 = 𝐼𝐶 𝜔2
2
34
18 Work and Energy
Potential Energy and the Work-Energy Equation
• Gravitational potential energy 𝑉𝑔 and elastic potential energy
𝑉𝑒 were covered in detail before. Recall that the symbol 𝑈 ′ (rather
than 𝑈) is used to denote the work done by all forces except the
weight and elastic forces, which are accounted for in the potential-
energy terms.
• The work-energy relation was introduced before for particle motion
and was generalized to include the motion of a general system of
particles. This equation
′
𝑈1−2 = ∆𝑇 + ∆𝑉𝑔 + ∆𝑉𝑒
Power
• If the force F and the couple M act simultaneously, the total
instantaneous power is
35
𝑃 = 𝐅. 𝐯 + 𝑀𝜔
18 Work and Energy
Sample Problem (10)
The wheel rolls up the incline on its hubs without slipping and is pulled by the
100-N force applied to the cord wrapped around its outer rim. If the wheel
starts from rest, compute its angular velocity 𝜔 after its center has moved a
distance of 3 m up the incline. The wheel has a mass of 40 kg with center of
mass at O and has a centroidal radius of gyration of 150 mm. Determine the
power input from the 100-N force at the end of the 3-m motion interval.
36
Solution
37
18 Work and Energy
Sample Problem (9)
In the mechanism shown, each of the two wheels has a mass of 30 kg and a
centroidal radius of gyration of 100 mm. Each link OB has a mass of 10 kg and
may be treated as a slender bar. The 7-kg collar at B slides on the fixed vertical
shaft with negligible friction. The spring has a stiffness k=30 kN/m and is
contacted by the bottom of the collar when the links reach the horizontal
position. If the collar is released from rest at the position𝜃 = 45° and if
friction is sufficient to prevent the wheels from slipping, determine
(a) the velocity 𝑣𝐵 of the collar as it first strikes the spring and
(b) the maximum deformation x of the spring.
38
Solution
39
19 Impulse and Momentum
Linear Momentum
• The linear momentum of any mass system,
𝐆 = 𝑚𝐯
𝑡2
𝐅=𝐆 𝑎𝑛𝑑 𝐆1 + 𝐅 𝑑𝑡 = 𝐆2
𝑡1
• In planar applications:
𝐹𝑥 = 𝐺𝑥 𝐹𝑦 = 𝐺𝑦
and
𝑡2
(𝐺𝑥 )1 + 𝐹𝑥 𝑑𝑡 = (𝐺𝑥 )2
𝑡1 40
𝑡2
(𝐺𝑦 )1 + 𝐹𝑦 𝑑𝑡 = (𝐺𝑦 )2
𝑡1
19 Impulse and Momentum
Angular Momentum
• Angular momentum about the mass center:
𝐻𝐺 = 𝐼 𝜔
𝑡2
𝑀𝐺 = 𝐻𝐺 𝑎𝑛𝑑 𝐻𝐺 1 + 𝑀𝐺 𝑑𝑡 = 𝐻𝐺 2
𝑡1
41
19 Impulse and Momentum
Angular Momentum (contd.)
• The angular momentum 𝐻𝑂 about any point 𝑂 is easily written
as
𝐻𝑂 = 𝐼 𝜔 + 𝑚𝑣 𝑑
42
19 Impulse and Momentum
Angular Momentum (contd.)
• This expression holds at any particular instant of time about O,
which may be a fixed or moving point on or off the body.
• When a body rotates about a fixed point O on the body or
body extended,
𝐻𝑂 = 𝐼𝑂 𝜔
𝑡2
𝑀𝑂 = 𝐻𝑂 𝑎𝑛𝑑 𝐻𝑂 1 + 𝑀𝑂 𝑑𝑡 = 𝐻𝑂 2
𝑡1
43
19 Impulse and Momentum
Interconnected Rigid Bodies
𝐅 = 𝐆𝑎 + 𝐆𝑏 + ⋯
𝐌𝑂 = (𝐇𝑂 )𝑎 +(𝐇𝑂 )𝑏 + ⋯
𝑡2
𝐅𝑑𝑡 = ∆𝐆 𝑠𝑦𝑠𝑡𝑒𝑚
𝑡1
𝑡2
𝐌𝑂 𝑑𝑡 = ∆𝐇𝑂 𝑠𝑦𝑠𝑡𝑒𝑚 44
𝑡1
19 Impulse and Momentum
Interconnected Rigid Bodies (contd.)
• We note that the equal and opposite actions and reactions in
the connections are internal to the system and cancel one
another so they are not involved in the force and moment
summations. Also, point O is one fixed reference point for the
entire system.
45
19 Impulse and Momentum
Conservation of Momentum
• Principles for the particles are applicable to either a single
rigid body or a system of interconnected rigid bodies. Thus, if
ΣF=0 for a given interval of time, then
𝐆1 = 𝐆2
• Similarly, if the resultant moment about a given fixed point O
or about the mass center is zero during a particular interval of
time for a single rigid body or for a system of interconnected
rigid bodies, then
𝐻𝑂 1 = 𝐻𝑂 2 𝑜𝑟 𝐻𝐺 1 = 𝐻𝐺 2 46
