Dynamics

CHAPER 16.
Plane Motion of Rigid Bodies
: Forces and Acceleration

Prof. SangJoon Shin

Active Aeroelasticity and Rotorcraft Lab.

 16.0 Introduction

Kinetics of rigid bodies

• relations between the forces acting on a rigid body
shape and mass of the body
motion produced

Kinetics of the particle

• Mass can be concentrated in one point, and all the forces acting at that point
→ Shape of the body, exact location of the points of application of the force will now
be accounted.
Motion of a body as a whole, motion about its mass center

• Approach
Consider rigid bodies as made of large number of particles,
Use the relations obtained in Chap. 14

Eq. (14.16)  F = ma external force, acceleration of G

•

Eq. (14.23) M G = HG moments of external forces, angular momentum about G

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 16.0 Introduction

• Limits of the results in this chapter (except Sec 16.1A)

i) Plane motion
ii) Rigid bodies: only plane slabs which are symmetrical with respect to the ref. plane
(→ principal centroidal axis of inertia perpendicular to the ref. plane)

→ Plane motion of nonsymmetrical three-dimensional bodies

Chap. 18
motion in three-dimensional space
•
• Angular momentum of a rigid body → H G = I 

• Sec 16.1B
External forces acting on a rigid body ⎯⎯⎯⎯
equivalent
→ ma + I 

• Principle of transmissibility

• Free-body-diagram and kinetic diagram

→ solution of all problems involving plane motion of rigid bodies

• Connected rigid bodies, involving translation, centroidal rotation, unconstrained

motion

• Noncentroidal rotation, rolling motion, other partially constrained motion

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 16.1A Equation of Motion for a Rigid Body

• Rigid body acted upon by several external forces (Fig. 16.1)

Assume that the body is made of a large number of n of particles of mass

mi (i = 1, 2, , n)
Apply the results in Chap. 14

• Motion of mass center G with respect to the Newtonian

frame Oxyz

 F = ma (16.1)
Motion of the body relative to the centroidal frame Gx’y’z’
•

M G = HG (16.2)

•
H G : angular momentum about G of the system of particles forming the body
→ angular momentum of the rigid body about G

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 16.1A Equation of Motion for a Rigid Body

Eqs. (16.1), (16.2) •

: the system of the external forces ⎯⎯⎯⎯→

equipollent
system of ma attached at G and HG
the couple (Fig. 16. 3)

Eqs. (16.1), (16.2) → apply in the most general case of the motion of a rigid body

• But, in this chapter, restricted to the plane motion

Plane motion – each particle remains at a constant distance from a fixed ref. plane
• Rigid bodies
Only plane slabs and bodies which are symmetrical with respect to the ref. plane
Further studies → Chap. 18
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 16.1B Angular Momentum of a Rigid Body
in Plane Motion

• Eq. (14.24) of Sec 14.1D (pp. 928)

H G can be computed by taking the moments about G of the momenta of the particles
in their motion with respect to either of the frames Oxy or Gx’y’ (Fig 16.4)

H G =  (r i  vi mi ) (16.3)

r i : position vector
of the particle Pi
relative
vi mi : linear momentum to centroidal frame
Gx’y’
• Since the particle belongs to the slab, vi  =   ri 
   
H G =   r i     ri   mi 
   
same direction as  (perpendicular to the slab)
Differentiate • •
H G =   r i mi ]
2
HG = I (16.4) HG = I  = I (16.5)

Moment of inertia: I

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 16.1B Angular Momentum of a Rigid Body
in Plane Motion

rate of change of the angular momentum = a vector of the same

direction of  , of magnitude I 

→ valid results for the plane motion of rigid bodies which are
symmetrical with respect to the ref. plane

However, do not apply to nonsymmetrical bodies or three-dim. motion.

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 16.1C Plane Motion of a Rigid Body

• rigid slab of mass m under several external forces F1 , F2 ,  (Fig. 16.5)
•
Eq. (16.5) H G → (16.2), in scalar form

F x = ma x , F y = ma y , M G = I (16.6)

• Eq. (16.6)
acceleration of G and its angular acceleration  are
easily obtained once the resultant of external forces
their moment resultant about G

with initial conditions, x, y,  can be obtained by

integration

→ Motion of the slab is completely defined by

F and M G

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 16.1C Plane Motion of a Rigid Body

• System of particles which are not rigidly connected (Chap. 14)

specific external forces as well as internal forces

• Rigid body
only depends upon the resultant and moment resultant of external forces
→ two systems are equipollent, also equivalent

• Sec. 14.1 A (Fig. 16. 6)

(a) system of external forces equipollent
(b) system of effective forces associated with the particles

But, since the particles form a rigid body → equivalent (red equal sign in Fig. 16.6)

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 16.1C Plane Motion of a Rigid Body

• Fig. 16. 7
effective forces → ma attached at G and a couple of moment I
i) Translation
angular acceleration = 0,
effective forces → ma attached of G (Fig. 16.8)
external forces ⎯⎯⎯
equivalent
→ ma

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 16.4 Plane Motion of a Rigid Body

ii) Centroidal Rotation

Rotating about a fixed axis perpendicular to the ref. plane and passing through G

→ centroidal rotation a =0
effective forces → I (Fig. 16.9) external forces ⎯⎯⎯
equivalent
→ couple of moment I 

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 16.1C Plane Motion of a Rigid Body

iii) General plane motion

general plane motion ⎯⎯⎯ → sum of translation

replaced

centroidal rotation

mass center G is the ref. point  more restrictive than that of kinematics (Sec.
15.2A)

• First two eqns of Eq. (16.6)

already obtained in the general case of system of particles (not necessarily rigidly
connected)

However, in the general case of the plane motion of a rigid body, the resultant of the
external forces does NOT pass through G.

• Last eqn of Eq. (16.6)

still valid if the body were constrained through G
→ a rigid body in plane motion rotates about G as if G were fixed.

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 16.6 Solution of Problems Involving the
Motion of a Rigid body

• Fundamental relation between the forces F 1 , F2 ,  and a , 

→ free-body-diagram eqn. (Fig. 16.7)

→ can be used to determine a ,  from a given system of forces

forces which produce a given motion

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 16.1E Solution of Problems Involving the
Motion of a Rigid body

• Sec. 16.1C
fundamental relationship between the forces and a of the mass center, and
 of the body
free-body diagram, kinetic diagram (Fig. 16.7)

• Statics
Solution can be simplified by an appropriate choice of the point about which
the moments of the forces are computed
→ derive the component or moment equations which fit best the solution from
the fundamental relations

• FBD for rigid bodies: same steps as in Chap. 12, but draw forces at the location of
action, label different dimensions when summing their moments

• KD for rigid bodies: ma always on the mass center, and include I

• Steps for a pendulum in Fig. 16.10
- isolate the body
- define the axes
- replace the constraints with support forces
- applied forces/moments, body forces
Fig. 16.10
- label FBD with the dimensions

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 16.1E Solution of Problems Involving the
Motion of a Rigid body

Fig. 16.11

• Sum of moments about the mass center

L
+  G
M = I : M − Py
 
2
 = I
• Alternatively, sum of moments about an arbitrary point P

L L
+  P
M = I + mad  : M − W  
 
2
= I + ma y
 
2
 + ma x ( 0 )
d  : Perpendicular distance from point P to the line of action of the resultant
acceleration vector

• In statics: moment about a point P will be determined by a vector product

ma d  = rG / P  ma

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 16.1E Solution of Problems Involving the
Motion of a Rigid body

• Eq. (16.6) can be re-written as

F x = ma x , F y = ma y ,

and

M G = I or M P = I + mad  or M P = I  + rG / P  ma

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 16.1E Solution of Problems Involving the
Motion of a Rigid body

• Advantage of free-body and kinetic diagram

vectorial relationship between the forces applied and resulting linear

and angular accelerations

i) pictorial representation → much clearer understanding of the effect of the forces

ii) two solution procedures
① analysis of kinematic and kinetic characteristics → free-body diagrams (Fig. 16.7)
② diagram → analyze various forces and vectors involved.

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 16.1E Solution of Problems Involving the
Motion of a Rigid body

iii) unified approach for the analysis of the plane motion of a rigid body

regardless of the particular type of motion involved

kinematics: may vary from one case to another

kinetics : consistently the same approach → diagram containing external F

ma at G

I

iv) resolution translation → basic concept for the study of mechanics

centroidal rotation

→ used again in Chap. 17 (method of work and energy, impulse and momentum)

v) extended to general three-dim. motion (Chap. 18)

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 16.1F Systems of Rigid Bodies

• The previous method → plane motion of several connected rigid bodies

for each point, a diagram similar to Fig. 16.7, eqns of motion obtained from these
diagrams are solved simultaneously.

• Single diagram for the entire system (Sample Prob. 16.4)

internal forces can be omitted since they are equal and opposite forces → equipollent to
zero
Eqns obtained by expressing that the system of external forces is equipollent to the
system of internal terms → can be solved for the remaining unknowns (now NOT dealing
with a single rigid body)

• Multiple rigid bodies:

•

F = m a i i and M P = HP

•
H P =  I i i +  mi ai ( d  )i = I i i +  ( rG / P )i  mi ai 

Sometimes, can be re-written as

F = F eff M P =  MP( ) eff

However, not possible to solve the problems involving more than 3 unknowns.

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 16.2 Constrained Plane Motion

• constrained motion
cranks (must rotate about a fixed axis), wheels (must roll without sliding)
connecting rods (must describe certain prescribed motion)

→ definite relation exists between a of mass center G

 , angular acceleration
• Solution procedure

i) Kinematic analysis
Plane motion of a slender rod (Fig. 16.12)
length l, mass m, extremities connected to blocks of negligible
mass
horizontal and vertical frictionless tracks, force P applied at A

from kinematics, a can be determined from P given

→ wish to determine  ,  ,  required for this motion,
as well as NA, NB

Fig. 16.12

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 16.2 Constrained Plane Motion

i) determine ax , a y from kinematics

ii) apply FBD and KD (Fig. 16.13)

→ P, N A , N B can be determined.

[problem] Given P,  ,  , find a,  , N A , N B

(Sol) From kinematics express  x , y , in terms of 

(First, express  A in terms of  . Then, express  x ,  y in terms of  . Fig. 16.13
Put the expressions into Fig. 16.13)
3 equations in terms of  , N A , N B and can be solved.

• Several moving parts

the above approach can be used with each part of the mechanism

- two particular cases translation:  =0

centroidal rotation: a=0
- two other cases noncentroidal rotation
 special comments
rolling motion of a disk/wheel

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 16.2 Constrained Plane Motion

I. Noncentroidal Rotation
rotation about a fixed axis which does not pass through its mass center

O ⎯
⎯ r ⎯⎯
→G (Fig. 16.14)

, : angular velocity and acceleration of line OG

a t = r , a n = r 2 (16.7)
→ , of line OG: also represents the angular vel.
and accel. of the body

→ Eq. (16.7): kinematic relation between

motion of the mass center G
motion of the body about G

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 16.2 Constrained Plane Motion

• Interesting relation
moments about O from Figure 16.15

 M 0 = I + (mr )r = ( I + mr )
2
+

I 0 (parallel-axis theorem) (16.8)

→ M 0 = I 0

Although (16.8) expresses an important relation between the moment of the external forces
about the fixed point O and product I 0 , we still need Eq. (16.1) to find the forces at O.

Uniform rotation
•
 = 0, − I vanishes, −mat vanishes

−man centrifugal force, represents the tendency to break away from axis of rotation

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 16.2 Constrained Plane Motion

II. Rolling Motion

• rolls without sliding

a and  not independent. assuming balanced disk, x traveled by G during a rotation 

x = r , ⎯⎯⎯
diff .
→ a = r (16.9)

• system of the inertial terms ⎯⎯⎯⎯

equivalent
→ mat and I  (Fig. 16.17)

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 16.2 Constrained Plane Motion

• rolls without sliding

no relative motion between the disk point and the ground.

regarding the friction force, a block resting on a surface

friction force  max . Fm =  s N

rolling disk, F can be independently of N by solving the eqns from Fig. 16.17

If sliding is impending, F reaches max . Fm =  s N

If sliding and rolling, Fk = k N , a and  independent

• Three different cases

i) Rolling, no sliding : F   s N , a = r

ii) Rolling, sliding impending : F = s N , a = r

iii) Rotating and sliding : F = k N , a and  independent

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 16.2 Constrained Plane Motion

→ First assume that rolling without sliding, find F

if F   s N , assumption correct

F   s N , assumption incorrect, should be started again, assuming rotating and

sliding

• Unbalanced disk: G does not coincide with O (geometric center)

→ (16.9) does not hold. However, a similar relation will hold
a0 = r (16.10)
when it rolls without sliding,

For a in terms of  ,  , use the relative-acceleration formula

a = aG = a0 + aG / O (16.11)
= a0 + (aG / O )t + (aG / O ) n
ao = r , (aG / O )t = (OG ) , (at / O ) n = (OG ) ,
2

(Fig. 16.17)
Or by the relationship between two points on a rigid body
a = a0 +   rG / O −  2 rG / O Fig. 16.17
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Q&A

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