Chapter 16.

Plane Motion of Rigid Bodies:

Forces and Accelerations

Introduction
Equations of Motion of a Rigid Body
Angular Momentum of a Rigid Body in Plane Motion
Plane Motion of a Rigid Body: d’Alembert’s Principle

Axioms of the Mechanics of Rigid Bodies

Solution of Problems Involving the Motion of a Rigid Body

Systems of Rigid Bodies

Constrained Plane Motion

Rigid Body Kinetics
The forces and moments applied to a robotic arm control the resulting kinematics, and
therefore the end position and forces of the actuator at the end of the robot arm.
Introduction
• In this chapter and in Chapters 17 and 18, we will be concerned with the
kinetics of rigid bodies, i.e., relations between the forces acting on a rigid
body, the shape and mass of the body, and the motion produced.
• Results of this chapter will be restricted to:
• plane motion of rigid bodies, and
• rigid bodies consisting of plane slabs or bodies which are symmetrical
with respect to the reference plane.
• Our approach will be to consider rigid bodies as made of large numbers of
particles and to use the results of Chapter 14 for the motion of systems of
particles.

   
∑ F = ma and ∑ M G = HG
16.1 Kinematics of Rigid Body
16.1A Equations of Motion for a Rigid Body
• Consider a rigid body acted upon by
several external forces.
• Assume that the body is made of a
large number of particles.
• For the motion of the mass center G
of the body with respect to the
Newtonian frame Oxyz,
•
 
∑ F = ma

For the motion of the body with respect to

the centroidal frame Gx’y’z’ ,
 
∑ M G = HG
  
• System of external forces is equipollent to the system consisting of ma and H G.

16.1B 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′× (ω × ri′)Δmi ]
i =1

(
= ω ∑ ri′ 2 Δmi )

• = Iω
• After differentiation,

  
H G = I ω = I α
 • Results are also valid for plane motion of bodies which are symmetrical with
respect to the reference plane.
 Results are not valid for asymmetrical bodies or three-dimensional motion.

• Consider a rigid slab in plane motion.

16.1C Plane Motion of a Rigid Body
• 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 = Iα

• 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.

16.1D A Remark on the Axioms of the Mechanics of Rigid Bodies

 
. The forces F and F ′ act at different points on a
rigid body but have the same magnitude, direction,
and line of action.
• The forces produce the same moment about any
point and are therefore, equipollent external forces.
• This proves the principle of transmissibility whereas
it was previously stated as an axiom.
16.1E Problems Involving the Motion of a Rigid Body
• The fundamental relation between the forces
acting on a rigid body in plane motion and the
acceleration of its mass center and the angular
acceleration of the body is illustrated in a free-
body-diagram equation.
• The techniques for solving problems of static
equilibrium may be applied to solve problems of
plane motion by utilizing d’Alembert’s principle, or
principle of dynamic equilibrium
• These techniques may also be applied to problems involving
plane motion of connected rigid bodies by drawing a free-body-
diagram equation for each body and solving the corresponding
equations of motion simultaneously.
Free Body Diagrams and Kinetic Diagrams
The free body diagram is the same as you have done in statics and in Ch. 13; we will
add the kinetic diagram in our dynamic analysis.
Ex :
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)

x Include your
positive z-
axis direction
Put the inertial terms for the body of interest on the kinetic diagram.
Ex 2:
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, I G a.

ΣF =ma
ΣM G =Iα
Ex 3:Draw the FBD and KD for the bar AB of mass m .
A known force P is applied at the bottom of the
bar.
 y 1. Isolate body
Cy
2. Axes
A x
3. Applied forces
C C 4. Replace supports with forces
L/2 ma y 5. Dimensions
r x Iα 6. Kinetic diagram
G G max

L/2 mg

B P
Ex 4: A drum of 100 mm radius is attached
to a disk of 200 mm radius. The
combined drum and disk had a
combined mass of 5 kg. A cord is
attached as shown, and a force of
magnitude P=25 N is applied. The
coefficients of static and kinetic
friction between the wheel and ground
are m s = 0.25 and m k = 0.20,
respectively. Draw the FBD and KD
for the wheel.
1. Isolate body
2. Axes
3. Applied forces
4. Replace supports with forces
5. Dimensions
6. Kinetic diagram
 ma y
100
mm
Iα
= max
200 mm
W
F y

N x
Ex 5:The ladder AB slides down the wall as shown.
The wall and floor are both rough. Draw the
FBD and KD for the ladder.
1. Isolate body 2. Axes 3. Applied forces 4. Replace supports with forces
5. Dimensions 6. Kinetic diagram

NB ma y
θ
FB Iα
max
=
W
y

FA x
NA
Sample Problem 16.1
At a forward speed of 10 m/s, the truck brakes
were applied, causing the wheels to stop
rotating. It was observed that the truck to
skidded to a stop in 7 m.
Determine the magnitude of the normal
reaction and the friction force at each wheel as
the truck skidded to a stop.
STRATEGY:
• Calculate the acceleration during the skidding stop by assuming uniform acceleration.
• Draw the free-body-diagram equation expressing the equivalence of the external and
effective forces.
• Apply the three corresponding scalar equations to solve for the unknown normal
wheel forces at the front and rear and the coefficient of friction between the wheels
and road surface.
 MODELING and ANALYSIS:
• Calculate the acceleration during the skidding stop by
assuming uniform acceleration.

m
m a = 7.14
s2
• Draw a free-body-diagram equation expressing the
equivalence of the external and inertial terms.
• Apply the corresponding scalar equations.
∑ Fy = ∑ (Fy )eff N A + NB − W = 0

∑ Fx = ∑ (Fx )eff 

FA FB ma
k
N A NB 


kW 
m a
a 7.14

k 0.728
g 9.81
 • Apply the corresponding scalar equations.
∑M A = ∑ ( M A )eff

N A =W − N B =0.341W

N= 1=
N 1
( 0.341W ) N rear = 0.1705W
rear 2 A 2

Frear µ=
= k N rear ( 0.728)( 0.1705W ) Frear = 0.1241W

N=
front
1=
N
2 V
1
2 ( 0.659W ) N front = 0.3295W

F front µ=
= k N front ( 0.728)( 0.3295W ) F front = 0.240W
Sample Problem 16.3
The thin plate of mass 8 kg is held in place as
shown.
Neglecting the mass of the links, determine
immediately after the wire has been cut (a) the
acceleration of the plate, and (b) the force in each
link.

STRATEGY:
• Note that after the wire is cut, all particles of the plate move along parallel circular paths of
radius 150 mm. The plate is in curvilinear translation.
• Draw the free-body-diagram equation expressing the equivalence of the external and effective
forces.
• Resolve into scalar component equations parallel and perpendicular to the path of the mass
center.
• Solve the component equations and the moment equation for the unknown acceleration and link
forces.

MODELING and ANALYSIS:

*Note that after the wire is cut, all particles of the
plate move along parallel circular paths of radius 150
mm. The plate is in curvilinear translation.
*Draw the free-body-diagram equation expressing
the equivalence of the external and effective forces.
*Resolve the diagram equation into components
parallel and perpendicular to the path of the mass
center.

∑ Ft = ∑ (Ft )eff
W cos 30° = ma
mg cos 30° =
 ( )
a = 9.81m/s 2 cos 30°

a = 8.50 m s 2 o
60
• Solve the component equations and the moment
equation for the unknown acceleration and link forces.

∑ M G = (∑ M G )eff
(FAE sin 30°)(250 mm ) − (FAE cos 30°)(100 mm )
(FDF sin 30°)(250 mm ) + (FDF cos 30°)(100 mm ) = 0
38.4 FAE + 211.6 FDF = 0
FDF = −0.1815 FAE

∑ Fn = ∑ (Fn )eff
FAE + FDF − W sin 30° = 0
FAE − 0.1815 FAE − W sin 30° = 0
(
FAE = 0.619(8 kg ) 9.81m s 2 ) FAE = 47.9 N T
 FDF = −0.1815 ( 47.9 N ) FDF = 8.70 N C

REFLECT and THINK:

• If AE and DF had been cables rather than links,
the answers you just determined indicate that DF
would have gone slack (i.e., you can’t push on a
rope), since the analysis showed that it would be
in compression. Therefore, the plate would not be
undergoing curvilinear translation, but it would
have been undergoing general plane motion.
• It is important to note that that there is always more than one way to solve problems
like this, since you can choose to take moments about any point you wish. In this
case, you took them about G, but you could have also chosen to take them about A
or D.
Sample Problem 16.4
A pulley of mass 6 kg and having a radius of gyration of 200
mm is connected to two blocks as shown.
Assuming no axle friction, determine the angular acceleration
of the pulley and the acceleration of each block.

STRATEGY:
• Determine the direction of rotation by evaluating the net
moment on the pulley due to the two blocks.
• Relate the acceleration of the blocks to the angular
acceleration of the pulley.
* Draw the free-body-diagram equation expressing the
equivalence of the external and effective forces on the
complete pulley plus blocks system.

• Solve the corresponding moment equation for the pulley angular acceleration.
MODELING and ANALYSIS:

 Determine the direction of rotation by evaluating the net

moment on the pulley due to the two blocks.

Rotation is counterclockwise.
Note:

• Relate the acceleration of the blocks to the angular acceleration of the pulley.

• Draw the free-body-diagram equation expressing the

equivalence of the external and effective forces on the
complete pulley and blocks system.
• Solve the corresponding moment equation for the
pulley angular acceleration.

∑M G = ∑ ( M G )eff

2.41rad s 2
Then,

a A 0.603m s 2
aA 0.603 m s2

aB 0.362m s2
aB 0.362 m s2
REFLECT and THINK:
• You could also solve this problem by considering the
pulley and each block as separate systems, but you would have
more resulting equations. You would have to use this approach
if you wanted to know the forces in the cables.
Sample Problem 16.5

A cord is wrapped around a homogeneous disk of mass 15 kg.

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.

STRATEGY:
• 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 evaluating the tangential acceleration of the point A
on the disk.
MODELING and ANALYSIS:
• 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
0 = ma x ax = 0
∑ 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 α = (12 mr 2 )α
2T 2(180 N )
α =− =− α = 48.0 rad s 2
mr (15 kg )(0.5 m )
 Determine
acceleration of the cord by evaluating the tangential
acceleration of the point A on the disk.


acord= ( aA )t= a + ( aA G )
t

= 2.19 m s 2 + ( 0.5 m ) ( 48 rad s 2 )

acord = 26.2 m s 2
REFLECT and THINK:
• The angular acceleration is clockwise, as we would expect. A
similar analysis would apply in many practical situations,
such as pulling wire off a spool or paper off a roll. In such
cases, you would need to be sure that the tension pulling
on the disk is not larger than the tensile strength of the material.
Sample Problem 16.6
A uniform sphere of mass m and radius r is projected along
a rough horizontal surface with a linear velocity v 0 . The
coefficient of kinetic friction between the sphere and the
surface is µk .
Determine: (a) the time t 1 at which the sphere will start
rolling without sliding, and (b) the linear and angular
velocities of the sphere at time t 1 .

STRATEGY:
• Draw the free-body-diagram equation expressing the equivalence of the external and effective
forces on the sphere.
• Solve the three corresponding scalar equilibrium equations for the normal reaction from the
surface and the linear and angular accelerations of the sphere.
• Apply the kinematic relations for uniformly accelerated motion to determine the time at which
the tangential velocity of the sphere at the surface is zero, i.e., when the sphere stops sliding.
 MODELING and ANALYSIS:
• Draw the free-body-diagram equation expressing the
equivalence of external and effective forces on the
sphere.
• Solve the three scalar equilibrium equations.
∑ Fy = ∑ (Fy )eff
N −W = 0 N = W = mg
∑ Fx = ∑ (Fx )eff
− F = ma
− µ k mg = a = −µk g
∑ M G = ∑ (M G )eff
Fr = I α
5 µk g
(µ k mg )r = (
2 mr 2
3
)α α=
2 r
NOTE: As long as the sphere both rotates and slides, its linear and angular motions
are uniformly accelerated.
 Apply the kinematic relations for uniformly accelerated motion to
determine the time at which the tangential velocity of the sphere
at the surface is zero, i.e., when the sphere stops sliding.
v =v 0 + a t =v 0 +(− µ k g )t
5µ g
ω = ω 0 + αt = 0 +  k t
2 r 
a = −µk g At the instant t 1 when the sphere stops sliding,
v1 = rω1
5 µk g
α=
2 r  5 µk g 
v0 − µk gt1 =
r  t1 t1 =
2 v0
 2 r  7 µk g

 5 µk g   5 µk g   2 v0  5 v0
=ω1 =  t    ω1 =
 2 r   7 µk g 
1
2 r  7 r

5 v  v1 = 75 v0
= ω1 r  0 
v1 r=
7 r 
16.2 Constrained Plane Motion
The reactions of the automobile crankshaft bearings
depend on the mass, mass moment of inertia, and
the kinematics of the crankshaft.

The forces one the wind turbine blades are also

dependent on mass, mass moment of inertia,
and kinematics.
• Most engineering applications involve rigid bodies which are
moving under given constraints, e.g., cranks, connecting rods,
and non-slipping wheels.
• Constrained plane motion: motions with definite relations
between the components of acceleration of the mass center and
the angular acceleration of the body.
• Solution of a problem involving constrained plane motion
begins with a kinematic analysis.
• e.g., given q, w, and a, find P , N A , and N B .
- kinematic analysis yields
- application of d’Alembert’s principle yields P , N A ,
and N B .
Noncentroidal Rotation
• Noncentroidal rotation: motion of a body is constrained to rotate
about a fixed axis that does not pass through its mass center.
• Kinematic relation between the motion of the mass center G and the
motion of the body about G,
•

(16.7) at = r α an = r ω 2
Fig.16.14

• The kinematic relations are used to eliminate

from equations derived from d’Alembert’s principle or
from the method of dynamic equilibrium.
Fig.16.15
Rolling Motion
• For a balanced disk constrained to roll without
sliding,
x = rθ → a = rα
• Rolling, no sliding:
F ≤ µs N a = rα
Rolling, sliding impending:
F = µs N a = rα
Rotating and sliding:
F = µk N a, rα independent
• For the geometric center of an unbalanced disk,
aO = rα
The acceleration of the mass center,
  
aG = aO + aG O
 
( 
= aO + aG O + aG O
t
) (
n
)
Sample Problem 16.7
The portion AOB of the mechanism is actuated by gear
D and at the instant shown has a clockwise angular
velocity of 8 rad/s and a counterclockwise angular
acceleration of 40 rad/s2.
Determine: a) tangential force exerted by gear D, and b)
components of the reaction at shaft O.

STRATEGY:
• Draw the free-body-equation for AOB, expressing the equivalence of the external and
effective forces.
• Evaluate the external forces due to the weights of gear E and arm OB and the effective
forces associated with the angular velocity and acceleration.
• Solve the three scalar equations from the free-body-equation for the tangential force
at A and the horizontal and vertical components of reaction at shaft O.
 • MODELING and ANALYSIS:
• Draw the free-body-equation for AOB.
• Evaluate the external forces due to the weights of
gear E and arm OB and the effective forces.
( )
WE = (4 kg ) 9.81m s 2 = 39.2 N
(
WOB = (3 kg ) 9.81m s 2 = 29.4 N )
I Eα m=
= E kE α
2
( 4kg )( 0.085 m )
2
( 40 rad s )
2

= 1.156 N ⋅ m

mE = 4 kg =
mOB ( aOB )t m=
OB ( r α ) ( 3kg )( 0.200 m ) ( 40 rad s2 )

k E = 85 mm = 24.0 N
ω = 8 rad/s
OB ( aOB ) n
m= OB ( r ω )
m= ( 3kg )( 0.200 m )(8 rad s )
2 2
mOB = 3 kg
= 38.4 N
α = 40 rad s 2
=I OBα = 1
12(mOB L2
α ) 1
12 ( 3kg )( 0.400 m )
2
( 40 rad s )2

= 1.600 N ⋅ m
 • Solve the three scalar equations derived from the
free-body-equation for the tangential force at A and
the horizontal and vertical components of reaction at
O.
∑ M O = (∑ M O )eff

F (0.120m ) = I Eα + mOB (aOB )t (0.200m ) + I OBα

= 1.156 N ⋅ m + (24.0 N )(0.200m ) + 1.600 N ⋅ m

F = 63.0 N
F = 63.0 N

∑ Fx = (∑ Fx )eff
Rx = mOB (aOB )t = 24.0 N
I Eα = 1.156 N ⋅ m
Rx = 24.0 N
mOB (aOB )t = 24.0 N Rx = 24.0 N
 ∑ Fy = (∑ Fy )eff
mOB (aOB )n = 38.4 N
R y − F − WE − WOB = mOB (aOB )
I OBα = 1.600 N ⋅ m
R y − 63.0 N − 39.2 N − 29.4 N = 38.4 N
R y = 24.0 N
REFLECT and THINK:
• When you drew your kinetic diagram, you put your
inertia terms at the center of mass for the gear and for the
rod.
• Alternatively, you could have found the center of mass
for the system and put the vectors I AOB α, m AOB a x and
m AOB a y on the diagram.
• Finally, you could have found an overall I O for the
combined gear and rod and used Eq. 16.8 to solve for force F.
Sample Problem 16.9
A sphere of weight W is released with no initial velocity and rolls
without slipping on the incline.
Determine: a) the minimum value of the coefficient of friction, b)
the velocity of G after the sphere has rolled 3 m and c) the velocity
of G if the sphere were to move 3 m down a frictionless incline.

STRATEGY:
• Draw the free-body-equation for the sphere, expressing the equivalence of the external and effective
forces.
• With the linear and angular accelerations related, solve the three scalar equations derived from the
free-body-equation for the angular acceleration and the normal and tangential reactions at C.
• Calculate the friction coefficient required for the indicated tangential reaction at C.
• Calculate the velocity after 3 m of uniformly accelerated motion.
• Assuming no friction, calculate the linear acceleration down the incline and the corresponding velocity
after 3 m.
 MODELING and ANALYSIS:
• Draw the free-body-equation for the sphere, expressing
the equivalence of the external and effective forces.
• With the linear and angular accelerations related, solve
the three scalar equations derived from the
free-body-equation for the
angular acceleration and the normal and tangential
reactions at C.
∑ M C = ∑ (M C )eff
(W sin θ )r = (ma )r + Iα
= (mrα )r + (52 mr 2 )α
W   2W 2  5 g sin θ
=  rα  r +  r α α=
 g   5 g  7r
5 g sin 30°
= α
a r=
7

=
( )
5 9.81m s 2 sin 30°
7 a = 3.504 m s 2
 • Solve the three scalar equations derived from the
free-body-equation for the angular acceleration and
the normal and tangential reactions at C.
W sin θ − F =
∑ F =
x F ∑( )
x eff
ma
W 5 g sin θ
=
g 7
2
=F W=sin 30° 0.143W
7

α=
5 g sin θ ∑ F = ∑(F )
y
N − W cos θ =
y eff
0
7r =N W cos= 30° 0.866 W

Calculate the friction coefficient required for the

indicated tangential reaction at C.
F = µs N
F 0.143W
µs = =
N 0.866W µ s = 0.165
 • Calculate the velocity after 3 m of uniformly accelerated
motion.


v = 4.59 m s

Assuming no friction, calculate the linear acceleration

and the corresponding velocity after 3 m.
5 g sin θ F=0
α= 0 = Iα α =0
7r ∑ M G = ∑ (M G )eff

∑ Fx = ∑ ( Fx )eff

v02 + 2a ( x − x0 )
v2 =

( )
= 0 + 2 4.905m s 2 ( 3m ) 
v = 5.42 m s
Sample Problem 16.10
A cord is wrapped around the inner hub of a wheel
and pulled horizontally with a force of 200 N. The
wheel has a mass of 50 kg and a radius of gyration
of 70 mm. Knowing m s = 0.20 and m k = 0.15,
determine the acceleration of G and the angular
acceleration of the wheel.

STRATEGY:
• Draw the free-body-diagram for the wheel, expressing the equivalence of the external and effective
forces.
• Assuming rolling without slipping and therefore, related linear and angular accelerations, solve the
scalar equations for the acceleration and the normal and tangential reactions at the ground.
• Compare the required tangential reaction to the maximum possible friction force.
• If slipping occurs, calculate the kinetic friction force and then solve the scalar equations for the linear
and angular accelerations.
MODELING and ANALYSIS:
• Using the free-body diagram for the wheel,.
• Assuming rolling without slipping, solve the scalar equations for the acceleration and
ground reactions.
∑ M C = ∑ (M C )eff
(200 N )(0.040 m ) = ma (0.100 m ) + Iα
8.0 N ⋅ m = (50 kg )(0.100 m )2α + (0.245 kg ⋅ m 2 )α
α = +10.74 rad s 2
( )
a = (0.100 m ) 10.74 rad s 2 = 1.074 m s 2
Fig.2 Free-body diagram
Assume rolling without slipping,
a = rα ∑ Fx = ∑ ( Fx )eff
= ( 0.100 m ) α (
F + 200 N = ma = (50 kg ) 1.074 m s 2 )
F = −146.3 N
∑ Fx = ∑ (Fx )eff
 N −W = 0
( )
N = mg = (50kg ) 1.074 m s 2 = +490.5 N

• Compare the required tangential reaction to the maximum possible friction force.
Fmax = µ s N = 0.20(490.5 N ) = 98.1 N
F > F max , rolling without slipping is impossible.

• Calculate the friction force with slipping and solve

the scalar equations for linear and angular
accelerations.
Without slipping, F = Fk = µ k N = 0.15(490.5 N ) = 73.6 N
F = −146.3 N N = 490.5 N
 ∑ Fx = ∑ ( Fx )eff a = 2.53 m s 2
200 N − 73.6 N = (50 kg )a
= 2.53 m s2

∑ M G = ∑ (M G )eff
a

(73.6 N )(0.100 m ) − (200 N )(0.0.060 m )

( )
= 0.245 kg ⋅ m 2 α
α = −18.94 rad s 2

α = 18.94 rad s 2

REFLECT and THINK:

• The wheel has larger linear and angular accelerations under conditions of rotating while
sliding than when rolling without sliding.
Sample Problem 16.12
The extremities of a 1.2-m rod of mass 25 kg can move
freely and with no friction along two straight tracks. The
rod is released with no velocity from the position shown.
Determine: a) the angular acceleration of the rod, and
b) the reactions at A and B.

STRATEGY:
• Based on the kinematics of the constrained motion, express the accelerations of A, B, and
G in terms of the angular acceleration.
• Draw the free-body-equation for the rod, expressing the equivalence of the external and
effective forces.
• Solve the three corresponding scalar equations for the angular acceleration and the
reactions at A and B.
 MODELING and ANALYSIS:
• Based on the kinematics of the constrained motion,
express the accelerations of A, B, and G in terms of the
angular acceleration.
Express the acceleration of B as
  
aB = a A + aB A
With the corresponding vector triangle and the law of
signs yields

The acceleration of G is now obtained from

   
a = a G = a A + aG A where aG A = 2α
Resolving into x and y components,
• Draw the free-body-diagram for the rod, expressing
the equivalence of the external and effective forces.
• Solve the three corresponding scalar equations for the
angular acceleration and the reactions at A and B.

Kinetics of Motion
Equations of Motion
(1)
∑ M = ∑(M )
E E eff

(2)
∑ Fx = ∑ (Fx )eff

RB sin45
33.5
2.334
RB 110.58N
(3)
∑ Fy = ∑ (Fy )eff


110.58
RA  cos45 245.25 
13
2.334
α = 2.33rad s 2
 o
RB 110.6N 45

RA 136.7N
Group Problem Solving
The uniform rod AB of weight W is released from rest when
β = 700 Assuming that the friction force between end A and
the surface is large enough to prevent sliding, determine
immediately after release (a) the angular acceleration of the
rod, (b) the normal reaction at A , (c) the friction force at A .

STRATEGY:

• Draw the free-body-diagram and kinetic diagram showing

the equivalence of the external forces and inertial terms.

• Write the equations of motion for the sum of forces and for the sum of moments.

• Apply any necessary kinematic relations, then solve the resulting equations.
MODELING and ANAYLSIS:
Given: W AB = W, b= 70o
Find: a AB , N A , F f
• Draw your FBD and KD
• Set up your equations of motion
• Kinematics and solve (next page)

ma y
L/2
Iα
L/2
W max =
o
70
Ff
NA
∑F x = max ∑F y = ma y ∑M G = I Gα

Ff = max N A − mg =
ma y − N A ( L2 cos(70 )) + FF ( L2 sin(70 ))
= 121 mL2α AB
 • Set up your kinematic relationships – define r G/A , a G
1
= ( L cos(70 )i + L sin(70 ) j)
rG /A
2 L/2
= (0.17101 L)i + (0.46985 L)j
aG =a A + α AB × rG /A − ω AB
2
rG /A
0 + (α AB k ) × (0.17101 L i + 0.46985 L j) − 0
= L/2
−0.46985 L α AB i + 0.17101 L α AB j
=
o
70
• Realize that you get two equations from the kinematic relationship
−0.46985 L α AB
ax = 0.17101 L α AB
ay =

• Substitute into the sum of forces equations

Ff = max N A − mg =
ma y
Ff = −(m)0.46985 L α AB =N A m(0.17101 L α AB + g )
• Substitute the F f and N A into the sum of moments equation

12 mL α AB
− N A ( L2 cos(70 )) + FF ( L2 sin(70 )) =1 2

−[m(0.17101 L α AB + g )]( L2 cos(70 )) + [−(m)0.46985 L α AB ]( L2 sin(70 ))

= 121 mL2α AB

• Masses cancel out, solve for a AB

−0.171012 L2 α AB − 0.469852 L2 α AB − 121 L2α AB =

g ( L2 cos(70 ))
g
• α AB = −0.513 k The negative sign means a is clockwise, which makes sense.
L

• Subbing into N A and F f expressions,

−(m)0.46985 L  −0.513 Lg 
Ff = N A m(0.17101 L  −0.513 Lg  + g )
=

=Ff 0.241mg → =N A 0.912mg ↑

Concept Question
What would be true if the floor was smooth and friction was
zero?

a) The bar would rotate about point A

b) The bar’s center of gravity would go straight downwards
c) The bar would not have any angular acceleration
o
= 70
answer (b)

NA