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Chapter 17 Lecture Notes Part I - MAE 208: Engineering Dynamics

The document summarizes planar kinetics of rigid bodies, including: 1) Equations of motion relate the net force and torque on a rigid body to its linear and angular acceleration. 2) For planar motion, there are two equations relating translational acceleration to net force and one relating rotational acceleration to net torque. 3) The moment of inertia is a measure of resistance to angular acceleration, defined as the mass distribution of a body about a given axis.

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60 views

Chapter 17 Lecture Notes Part I - MAE 208: Engineering Dynamics

The document summarizes planar kinetics of rigid bodies, including: 1) Equations of motion relate the net force and torque on a rigid body to its linear and angular acceleration. 2) For planar motion, there are two equations relating translational acceleration to net force and one relating rotational acceleration to net torque. 3) The moment of inertia is a measure of resistance to angular acceleration, defined as the mass distribution of a body about a given axis.

Uploaded by

elatos1234
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Chapter 17 Lecture Notes Part I MAE 208: Engineering Dynamics

Planar Kinetics of a Rigid Body: Force and Acceleration

Figure 1. Rigid body undergoing translation and rotation

Recall that for a rotating and translating body, the velocity of any point B can be related to the velocity
of a point A, using:
(1)

The acceleration is:


(2)

For particles, we had one vector equation of motion relating linear acceleration to the net forces:

or depending on the coordinate system used, up to three scalar equations:

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Chapter 17 Part I

Suppose we have a rigid body undergoing translation and rotation, Figure 2.

Figure 2. Rigid body undergoing translation and rotation

Similar to when we had a system of particles, the translational equation of motion relates the net force
on the body to the acceleration of the bodys center of mass:

For PLANAR motion, we have two scalar equations (that depend on the coordinate system):

In order to determine the rotational equation of motion, consider a differential element with mass mi
and acceleration a i .

Figure 3. Effect of forces on a differential element in the body

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Chapter 17 Part I

Since the internal forces will balance out, lets just consider the effect of the external forces. The
moment of the forces about the point P is:

If the body has angular velocity and angular acceleration , the acceleration of the particle can be
represented as ((2)):

Therefore we have:

Using the fact that

and considering only planar rotations:

where
Integrating over the entire body ( mi dm ), we get:
(3)
The first two integrals relate the bodys center of mass with respect to point P :

Note: Hibbeler uses x for xG / P .


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Chapter 17 Part I

The third integral is the mass moment of inertia about point P :

Note: We will investigate this quantity later. Similar to how mass is a measure of the resistant to linear
acceleration, the moment of inertia is a resistance to angular acceleration.
Finally, (3) becomes:
(4)
The easiest way to simplify this would be to choose a point that coincides with the center of mass
(

):
(5)

Remember the Parallel axis theorem:


(6)
We can rewrite (4) using (6) in order to have everything in terms of the translational and rotational
acceleration of the bodys center of mass. Substituting (6) into (4) gives us:
(7)

Using (2), we have:

Relating i and j components gives:

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Chapter 17 Part I

A little rearranging (and an eye on (7)) gives:

Substituting into (7) gives:

In summary, when summing moments about a point other than the center of mass, you have to
remember to include the effects of the kinetic moments of mxG / P aG , y and myG / P aG , x .
In general: For rigid body planar motion, we have:

-or-

EXAMPLE

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Chapter 17 Part I

Free Body diagram:

Equations of motion:

Relate the acceleration of the center of mass to the acceleration of point B:

The acceleration of point B will be tangential to the circle created by the cord, so we have:

Three equations, three unknowns:

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Chapter 17 Part I

All the equations are linear:

Special Case: Rectilinear translation only


Often easiest to use Cartesian coordinate system:

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Chapter 17 Part I

Special Case: Curvilinear translation only


Often easiest to use Normal-Tangential coordinate system:

Special Case: Rotation about a fixed axis only

Figure 4. Rigid body undergoing rotation only

If a body rotates about an axis located at point O , the equations of motion are:

However, this last equation can be replaced using the parallel axis theorem:

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Chapter 17 Part I

Moment of Inertia (Mass Moment of Inertia):


The moment of inertia is the integral of the second moment of the differential masses dm about an
axis:
(8)
Note that the differential mass can be represented by the density :

where dV is the differential volume. Therefore (8) can also be represented by:
(9)
If the density is constant:

EXAMPLE: Cylinder

Figure 5. Mass moment of inertia of a cylinder

Note that there are multiple ways to do this.


The differential mass is:

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Chapter 17 Part I

The differential volume element is:

Figure 6. Differential volume element in polar coordinates

Therefore, if we integrate over the volume, we have:

The total volume of a cylinder is:

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Chapter 17 Part I

Note that the book uses a slightly different method. The volume of a thin-walled cylinder with thickness
dr is:

Radius of Gyration: If the radius of gyration k about a specified axis is given, know how this relates to
the mass moment of inertia:

EXAMPLE:

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Chapter 17 Part I

Take thin slices of the volume. The volume of a cylinder with different thickness dx :

The mass is:

The moment of inertia of a thin slices is:

Therefore the moment of inertia is:

The answer needs to be in terms of the total mass:

Therefore:

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Chapter 17 Part I

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