x hem Hemi a6 — A gc eMC MASTER => Part IIA Paper47 Dynamics and Vibrations Ten Lectures on Rigid-Body Dynamics Lectures > Theory Dr HEM Hunt , Michaelmas 1997 — 200¢(* tnjer vate J (99% = teas yon) NEW mosle- 2002 CONTENTS - Lectures 1-5 1. Introduction 2. Equations of motion in three dimensions 2.1 Revision - plane motion of a rigid body 2.2 Newton's Laws in three dimensions - linear momentum, 2.3 Newton's Laws in three dimensions - moment of momentum 2.4 Moment of momentum - continued 2.5 Example - the momentum equations applied to plane motion 2.6 Summary 3. Inertia of a rigid body 3.1 Revision - inertia of a lamina in plane motion 3.2 Inertia matrix 3.3 Principal moments of inertia 3.4 Parallel axes theorem 3.5 Example - calculation of moments and products of inertia 3.6 Summary 4. Euler's equations 4.1 Body-fixed reference frame 4.2 Example - stability of a body rotating about a principal axis 4.3 Non-body-fixed reference frame 4.4 Non-body-fixed reference frame for axisymmetric bodies 4.5 Euler's angles 4.6 SummaryLINTRODUCTION Mechanics can be divided broadly into Statics and Dynamics. Statics deals with geometry and equilibrium while dynamics deals with the time derivatives - kinematics and kinetics. Mechanics 1 f ' ~ r x 7 epilibrism kin Cha be 5 Rin Ber Aisplacene (Force polygess) (ureloc, ties) (acelen fess) diogcams Yore 2D SALE Ta £7 , non 3B Aims of the Dynamics course: i tain e ions of moti r bodi i known for Newton ¢ used Wide lg fe planar problems Net Good for 3D d'Alembert Eul une ¢ Cope well Lagrange ) revs ( 2. to solve these equations general motion Nevt- a gore! rol steady state Rect place to Shirt small vibrations & stability ~ dev2.E E IN THREE DIM! end mo7 enle) ne SSS Se SS SS SSS SSS SS =n moments about P for pendulum FBD aa mia coe - mgasne - mad ~TOG =o whole system horizontal equilibrium a 2mx + mad 6 = mag CSO =o = en or Ee (em Sma 6 C056 ) Senate 0 (100 momevbon whole system vertical equilibrium. tt R= Umg+ mag Oso + mae SLO For plane motion in general we can safely say: Baw iy Sek = Bt fhe ° XT Me= = hg Sum of rromerty = 7% tense Are these equations alone enough to describe motion j in 3D 77? ry :« Ary "pody “ 1s & Collechis of. porhi ler interns! fore leben porhiler t&s “ ce Crternal force On ET porkele Fe 7 a LU mor Ye eee ee ee Bee owe seal Ero LI 97 Consider particle i ofmass mj, at position r; Apply Newton II: erdemal fore Ln ternal fortes Ae CO” ae (2.1) Mek = Fe t & s* [EAL Sem ove el! por helt (695 4) “ e@ . Smo 2k + 23 Fa (2.2) c VF » Define: °M= Em iWhich is the total mass of the system Sum ok mass of all porhiles * rg is the position of G (the centre of mass) so that Mig = x m0; mt = 5 : ek and Fe) = \ which is the total external force. i sum of ll ertters! forces Note that all internal forces cancel in pairs z= j =o - =f; pecase Fes =~ Fic by Meer 3 °F >Equation (2.2) becomes: M (. = Ee (2.3) So to tee fy WD That "Fe ma’ wees fe for a lord booly Arn applied fd the Cote gots G. Newhs bnew this. Denote the linear momentum of the body as p = M to =) Or Data Shes (2.4) Bb = rale of chase of bear momentum This seems like a trivial result ln ford ris beawh fol reeelt, Good reason fer fec “sg altho Abn on 6G then eve poss ble « Joes 3D Anseloe motion Come ort as Sis ply os Tas 22.3 N mn i i i = moment of m As before, apply Newton's 2nd law to particle i : mee = FO + SE (24) ~ ~ jfe 7 Take moments of (2.1) about an arbitrary (and not necessarily stationary) point P oe 6, = (re ©) < (Fe Pr)xmite = Wet) sto) x Sf and sum over all particles in the body 2 (G-&) XML =F (a4) xn” + E(4-f) x z Cs - Q (e) + 0 e where J ) is the total moment of external forces about PDefine the total moment of momentum about P as: on late Jae (2.6) Dif lea bile wrt tre bp = 2 (fo fo) x Mele 4 2 (Le- op)» Me he rd from (2:5) subset QQ @ So hp = -fp x zo + Q” . L / 4 but Sete M G = p j dhe Ineo Monet (ee Sebi, U2) bp + Bx 2 (dats Sheol) (2.7) dol Monéeat of Pol Prne/ frves Obit P hp = rake of elnge ob fle! mamas Dor of momertun abet P pert | Cpxk atoents for phe fort fre port P my be morhg k = beer pornhe MAG end 22 Mo3- posta vee Wert Cerire ae poass Recall (25) Q?- S(r, Q = Ui substitute rj= Ig + rj @ 6 Oe Fler Ge-L 7” twhere: ecialresults-_ Ea ¢ From (2.7), if P isa fixed point e) ' (2.10) he be ¢ From (2.9), if P is coincident with Gy Ne “ : f= rite = Mp — (2.11) e) ' S ” Qe= h G ° th xP=o ad elegant - We have found that the familiar PLANAR results in 2D apply in 3D provided we use G or some other fixed point P as our reference for taking moment of momentum. We ofttr drop Qe Bo pen aimed aboot & - a fred poo f ~ or y why ao! TLese Aetriée ID Mo por 7 In section 4 we will discover why it is that these equations do not seem, to describe 3D motion, but before doing so we will do an example and we will introduce some definitions of moments of v inertia in 3D 00 enkcrter — [End LO Mi 7} m4 Metix: le - the momentum equatiot Lic motion Consider the system from the example given in section 2.1: 5 fet *f Ip : : 2. O- b+ tx (2.7) he = Sm (G-¢ ya & =(- ma‘6 -16 pmaciex)k : eT “ a . hp = -mMa O@-TLO +macs@ x ~moosrox) k We get rp easily Vp xe velserts of port P and p is the total linear momentum p= i + mi - ma Ges)! traosroys x Qe = mgasrd k Now use (2.7) to get a x + X moe SLO k Mk ASO — mga SrO es 04 OF Sect) ue ad Le mosWe use 2.4 to get the other equations of motion: p c— F © d a. Umi - mo@ C50) & + (red mo)2 ~verticah = (R- maa Lama ma OQ = @ast z md R= MAG SO + MAG CSQ + lg The method may seem a bit involved but it is guaranteed to work in complicated 3D problems. It takes practice. ¢ 3D rotational motion © Ope he + rx © special cases ae = by Calculation of h for rigid bodies is also a special case: see section 3 Cad h2, M3 Do questions 1 and 2 of examples paper G7/1 ~ 3IN) A RIGID ision - inertia of ina i e motion Momert of Mombiqun Ghwt G& ne= Te w R Aacs Pp [Assumed fixeel, | \s (roel, shtw "7 _ , bp = Ip vk Polk! ar a / (ef Qatis theorem : t,- I, yma Mom ort of Memedn abot P f- a lehi~ of phils — is (feo 0-6)Let point P be stationary and at the origin So Cps=o ay & ficeh 4 net booty -P Angular velocity of body : We é 4+ Wy 4 + 2 k (tas 15 on arkitrag bet vival notabss ) velocity of particle i : r v= Pe pot TA frees) so Dp = 2 Mf x (bx re) Ver—tople_poadt = : 6G a Po ; Em ((@-a)e - (&-v) n) rk wt Los A os Wig [2k (9 > bp = zm {le 4 24 zt) foe f= (ee #800 te 09 FF / hs Hhond for Vector by oe bya by fb “orinmatrixform, b= 2 MU) ~ Ime HH — — FS mew24] Ove ~ Se ye Senc(Ah2Z) - Sm. yz]] Op) 2M ZEAE ~SMeHe SM (at yO) Wale hp= [Ip] a ip the pafertal Shoo (3.14) [Ip] is the inertia matrix or inertia tensor - Always symmetric - Only valid about chosen point P and chosen with axes - Diagonal elements are called“ Moments of Treeha " * - Off-diagonal elements are called “Pro ducts of inprAaeke or 3.3 Principal moments of inertia We have eq 3.la [Iplo but we are used to problems where h is parallel to @ e9 hp = d\ Ww (dis a Sceby(3-2) which leads to a neat Eigenvalue problem = \b (3.3) The +tyere eigenvalues (\) ef Zp at the there Caretperdxs eigen veces cledce the gates Obed EHAC te beds Cm rope while moitenicg = PerelC/ po Vo The three eigenvalues are the principal moments of inertia we cal Pen A B LC « The three eigenvectors are the principal axes of inertia hey yl ¢ If we align our axes with the principle axes, then Tp = [A ° oO o | o ° C Questions be and b on examples paper G7/1 involve calculating eigenvalues and eigenvectors of [I] to find the principal axes and moments of inertia. @dlZ MOD ed LE mee arNote: Generally h is not parallel to @: except for rotation about a principal axis. There are special cases: Cy bader ) Disc or Sovare plate “AAC Cyk All ques ix Re o =) . Plone Ore primypal = AS you i 2 “A A fad it yw ty bP collar Cr9 tay ected uA Sphere or Cube AAA All anes ore prngpal AN A cobe is “egvingbeat” fo 4 sphere] 3.4 Parallel axes theorem le con Compile (Tp) at prot Po gen (Fe] at Centre of may (Zp\ ~ (I) + Mm | 942% ay Lx) 5 —9x neezt 92 | -Z ~zy eS | Where ot, ¥y Zz Gre Coor AN 6 fer otf pot Po phe b & end £3 Mos A Gook luct b tad | Prove this theorem yourself in question 4a of examples paper G7/1momen: ducts of iy i Ua/tor m rook lerot a pays m fie Ton ow Tay ato Fre iSt) Tee = Sm (ates) = (ot 98) clon with dm = Bdx AA geo Const) a 7 q Ter = J Gta gde = BC% rat], -Smat ° Chek : Izz = mat am (GS +a) = tmat x mu Dolo. boowr ale anos Resrtn Tay = BR DM HI from (TY = & (xy dm a A Sao Bde = alen] = ana ie de Not easy ts checee_/ C buen tole pres) NEW Er Amie Moment of momentum of a rigid body is he = [z)) R Whore (Tp\ th he 3x3 Ine be wadnn, AoA Gets tig 7 o fantpol axe £ parcepsl momah of eha ove Ae sen verbs f velts of (TA 6 Tes bedber td fdeatica? mess nel paseypal Momets of Phe we Foley hy ee hes heal. (Splee cube ) Do questions f, A and 5 on examples paper G7/1 5 B- _ fa aa & is atl, 4S am y > [ovle firs at rod 8 a ” —s aN . Ne Dar bool Tg = Ema)’ = tmat ° "A > ye amis thteem To = tmatymat ZO = Sat ~ e the the plate -- Sx Dobe bine Tyepembal® fo A= | View fron tach dimechan mat 4 airs Toe Smar “O 4 2a _ Ak anis theorem Ty 2 2x £uate Enat n = - - ne Tae = (aytdns $ra® 2a te 1, Tay = fog elm s ( acy abt ay m wm x », ey a wa 1 2a, = Fe) Te) RH mat Lax = Sete am = 2x trary Emat I = \yzolm =0 ety Ta § HK “ Toy = mat Tzxn= 0 Se - Ze = motGr T, Cor use poalle! anes Ahem bt need poet dice : fire O% @ To-te+[ then G +A In =I5+[ J S for Te ue by yzja(S 2-3) cpt sto wet & & bse . fe a tee Cuyzs (4% -8) Aunt 6 This Ges 333 A = mat 3” | 3 & 3.3 4 3 he g << hr prorpal aes find — eisteanvales oC veikry |S-> -3 3 -3> @€r» 3/20 whrck — gises (mMo(\-”)' so 13 3 Se oT, = yma t % T= "mat 3 . In>- 2 (1sa,-1) | ? wat, Mote repcated eigen val es this is on AAC bo chagi 4.1 Body-fix: fram hee Ee tr fe. tre element of Eph Chases Crther + firol ZA as a fn but 0 tee bool, rolnks of tre (hot) or fx a set of Gunes ty the beoly aligrtdl wrt Ae anes for ga phuts The I] K axes Ore e Align ijk with principal axes Err by Aipechn for most bo obey ¢ Define instantaneous angular velocity o ate ¢ 3 k = bo + bry + Rsk + re We geternt for mshi of CS KL jot Whe ut chef ured @ = we* oes yor.We can then write the moment of momentum of the body about P as: A_oO : , br = |? at > Abo + Bory tek a) and since ij k move with the body this equation always holds. — nit vere 2 Recal) ‘ c = r & B_ pcala- re fea fg = Ff ee 4 CL exe = fe + Bx \ LL r| = F a pee (see (ree Ai Bart) Differentiating equation 4.1, hel = bel + 2» bp ,\ ON Wve Vole vale of Cortchon he of he In hp Coleladect pp rtatin Fived Tyre fakns of & a k from € frome og hone iv (4.2) Wire firedWe will consider only cases where either P is stationary or P is at G (why?) Speerad reselt Kz Q@ epple so use (2.10) or (2.11) Next, equate ij k components robs wohe = (Wy, Coy - Wr Ber) + ede Ao,- (B-C)@,03 = B&2- (C-A)@30, = Sheed (4.3) C3- (A-B) a @2 = Cathe Ssimnme dey These are Euler's equations in a body-fixed axis frame. They determine the angular motion of a body subject to an external couple Q about a point P which MUST either be a FIXED POINT or at G. Cal & 4 foo;~ Bee 4.2 Example - stability of free rotation) about a principal axis ck Choose bid, - bied Axes allgnee! with por ap al anes A ° 4 i¢g= (202] Spin the body about it's i axis with angular velocity 2. Write down the angular velocity vector and perturb the motion by avery small amount. Shody She $e OE = Gt privbebn © Bs (4H) ¢ Substitute the angular velocity expressions into Euler's equations Ab) (e - c) yw, 50 We Bwe = (c-4) by (Atv, =. Cos — (A-8) (tin) of = 0 rd [gare 20% oelt~ terms : (4.4a) A Ww =O =f y > 7 Be, -CA)oya2 =0 (440) Cw; - (4-t)ala =o (44c) ey. < (a a) > Ww! ¢ Coastavt[Cell tris eae = @ (4.5) Differentiate (4.4b) = & ww Bi, ~ C-A) os 03 From and substitute ito (4.4c) ua weit eae) Qi by' =o (46) mth 4 \ a 20 BA Al /L \ >0 ~~» SM ie Shbh rE ~ He Uyple Nego —- e At last we can explain why the spinning motion of a rigid body is unstable about it's intermediate moment of inertia. A-Cc ad A-EL e A>c & A>K \| t X>o whe, fhe Same S159 or A) = x = hp = help + 2x Pr = @ s we bod a before (4.7) © (4.7) are Euler's equations in a non-body-fixed axis frame. fe Lx & ¢ If Q = @ then the simpler Euler equations (4.3) are obtained. fe beely feck anes bo h ¢ As usual, for equations (4.7) to hold, point P MUST either be a FIXED POINT or at G. © (4.7) can only really work with axisymmetry and simplifications result as follows in section 4.4. fref tLe aot j ‘ We havert -jrtae Po4.4 Non-body-fixed refer« ir for axis etric ie: The gyre e equation: 1 , Artisymneivic beches ore AAC jrsleet of ABC" e A=B Tle R aun it ab enet LAL RO Symmehy oul) Ca kml Alwoys Paxcpal. Tarp for Coles, abe TPS perms, querer pate beo~ note hat ys A, aAwWrie te SNCe Ry olwteys mong Wied He book, Ad) + (AQ, - C a ) Q= Q eT =Q; (4.8) These are the Gyroscope Equations. Applications will be given in sections 5 to 8 later in this course. ( ead C603 way behnel /How do we solve r's equations? We Cink yor fiom becavre the refterce pome Cok moves , Trg 0a bolompie frm yort/t retake 2 bover by 90" abo Sbfaw p 098 4 r/y tes The ore. The pres mates / ¢ We want to find the variation with time of the body's orientation Grd we need HO sexy of Caerthya vey dred etloe do the bred pore TIK e Direct integration doesn't work because the reference frame is always moving ve'd hove fo A> O,(= Life) LW) at war S net Coty ¢ Let's invent unique angular coordinates - Euler's angles. og1 I K is the absolute reference frame ~ Ko isavertica! "A past problens i ik is the body-fixed reference frame, initially aligned with 1 ] K Fest Bld by @ Then tera by B ther 5p, Lb, Step 2 Torn the 0 ak fame by b oAov+ K an Nok that dQ 1S @hwags hori ote} Step 3 » Spis te bed, bs bout the R ants The Euler's Angles © ¢ ¥ completely specify the angular position of the body. “They Ge depen or nlesable,Dbbining Mt, Sn fom 88, Viev alors the J ane ad rteolve S61 BK Abe Mey mii K ~ B56) Tree } Body ngele veaotg B,= St Wr = Ar by = As + yp y rs of mn Coline the po," of a poe . fey fre peletot ayhe velocity {obrt k ) Lepr the Cote & she peften(e frome. Nob Da Det | 2 x sheet ms > / | = iG = $OS8 ash cad CS roy (fen) |4.6 Summary e Euler's equations in body-fixed reference frame (_ Equehisa (3) ree & Prufena! couple a Cho bey. prot P or G. © Gyroscope equations for axisymmetric bodies Eqvahos Yc rtle Cl & by fo te £y Krag! co p/e Very wide compe of Mphichins | espeunh gyrsapes, satelhtes , rolling boolier ¢ Euler's angles 6 e ¢ dehre te mebs of a gairismmeAne hed, petthoe t anbisvrty [ant Sho tly bwe = if Q@ =? we cmd obybagesd be herr GLY : Ty te word tric!) 4 Do question # on examples paper G7/1