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N 0 T 0 M I M and Iare Taken With Respect To A Centroidal

The document discusses different types of rotational motion: 1) Centroidal rotation occurs when the axis of rotation passes through the center of gravity. The equations of motion simplify in this case. 2) Non-centroidal rotation requires considering the moment of inertia about the axis of rotation, which may not pass through the center of gravity. The equilibrant force does not act through the center of gravity. 3) Plane motion involves a rigid body where all particles remain at a constant distance from a fixed reference plane as the center of gravity moves in that plane. Examples include rolling wheels and machine links. The kinematic equations relate displacements, velocities, and accelerations between a fixed point and the center of gravity.

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475 views

N 0 T 0 M I M and Iare Taken With Respect To A Centroidal

The document discusses different types of rotational motion: 1) Centroidal rotation occurs when the axis of rotation passes through the center of gravity. The equations of motion simplify in this case. 2) Non-centroidal rotation requires considering the moment of inertia about the axis of rotation, which may not pass through the center of gravity. The equilibrant force does not act through the center of gravity. 3) Plane motion involves a rigid body where all particles remain at a constant distance from a fixed reference plane as the center of gravity moves in that plane. Examples include rolling wheels and machine links. The kinematic equations relate displacements, velocities, and accelerations between a fixed point and the center of gravity.

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© © All Rights Reserved
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Centroidal Rotation:

The commonest cases of rotation is centroidal rotation, in which the axis of


rotation passes through the center of gravity. Consequently the distance between the
center of rotation and the center of gravity becomes zero;
Equation of rotation
∑N =0
∑T = 0
∑ Ḿ = Í ∝
The bar sign indicates that both ∑ Ḿ and Í are taken with respect to a centroidal
axis of rotation.

Problem:
A weight of 400N is fastened to a cord which is wrapped around a solid cylinder
of 1m radius weighing 1200N. The cylinder rotates about its horizontal centroidal axis.
a. Compute the angular acceleration
b. Compute the tension in the cord
c. Compute the total bearing reaction
Solution:

Weight load = 400N


Weight of solid cylinder 1m radius = 1200N

a.) Angular acceleration

α
T = 400 – 400 α = r∝, r=1 ; α = 1∝
g
( 1200 ) N
1α 2 1 600
∑ M 0 = I ∝, where I = r = ( )[ 9.81 m ](1m)2 =
2g 2 9.81
sec 2

T (1) = I(α) Equation (α)


α 600 2 rad
From eq. (α) (400 – 400 )(1) = α ; α = g = 3.924
g 9.81 5 sec 2
b.) Tension in the cord
400 2
T = 400 – ( g)
g 5
T = 240N
c.) Bearing reaction
∑Fv = 0
R = 1200N + T
= 1200N + 240N
= 1440N

Problems (For SW/ Assignments)


1.) The compound pulley shown has a centroid mass moment of inertia of 30N∙m∙
¿ sec 2,
a. Find the angular acceleration of the pulley
b. Find the tension in the card supporting the 800N weight
c. Find the tension in the cord supporting the 1600N weight
Figure:

2.) a.) Determine the angular acceleration of the compound pulley shown to reach a
speed of 600rpm starting from rest.
b.) Determine the time requires for the compound pulley shown to reach a speed
of 600 rpm starting from rest.
c.) Determine the tension in the cord supporting the 1500N weight

Figure:
Non Centroidal Rotation (Dynamics Equilibrium)

Equations:
w
at = r ∝ ∑T = g at
w
a n = rw 2 ∑T = g r ∝
w
∑N = g an ∑M A = I A ∝
w 2
∑N = g r w

Figure:

A condition of dynamics equilibrium may be created, as in the case of translation


by imagining that an equilibrium is applied which is equal opposite and collinear to R,
the resultant of the applied forces. Unlike translation, this equilibrant does not act
through the gravity center; instead it can balance R only by acting through the center of
w 2 w
percussion P. The equilibrant is represented by its components r w and r ∝ which
g g
a a
are directed respectively opposite to n and t .

Problem:
The uniform slender rod in this figure weighs 96.6lbs and is supported on knife
edges at A and B. determine the reaction as A the distant after the support at B is
suddenly removed.

Figure:

Solution:

1 w w
Eq. 1 I A= (10)2+ (3)2 moment of inertia I A about the axis of
12 g g
rotation at A
2
I A= Í + M d

Eq. 2 ∑ M A =I A ∝

1 w w 96.6 96.6
From eq. 1 I A= (10)2+ (3)2 = (10)2+ (3)2
12 g g ( 12 )( 32.2) (32.2)
ft−lb
I A=52
sec 2

From eq. 2 ∑ M A =I A ∝
ft−lb
(96.6)(3) = 52 ∝
sec 2
∝=5.57
F = M at
w
F = g r∝
∑F v = 0
w
R AV = r ∝= W
g
96.6
R AV = (3 )( 5.53 ) =96.6
32.2
R A =46.5 lbs .
Plane Motion:
Plane Motion is that motion of a rigid body in which all particles in the body
remain at a constant distance from a fixed references plans. The plane in which the
center of gravity moves in the plane of motion.
Examples of bodies having plane motion:
a.) rolling wheels
b.) connecting rod of a reciprocating engine
c.) links joining rotating elements of machine
Equations:
S =S → S B =rθ
B A + ( )
A

V B =V A +→ (V B =rw )
A
2
a B=a A +→ (a B =r w + →r ∝)
A

Rolling Bodies:
Where: Í = centroidal mass amount of inertia
1α 2
Í = r for solid cylinder
2g
2w 2
Í = r for sphere
5 g

Problem:
A solid sphere of weight W and radius r rolls without slipping down a plane at θ
with the horizontal
1. Determine the acceleration of the center of the sphere
2. Determine the minimum coefficient of static friction to prevent…

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