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Kinetics of A Rigid Body - Lecture

1. The document discusses equations of motion for rigid bodies constrained to move in a plane, including centroidal and non-centroidal rotation, as well as rolling bodies. 2. A common approach is to apply scalar equations involving the resultant force and couple acting on the body. 3. For homogeneous rolling bodies, reference axes are chosen at the mass center with one axis parallel to the rolling surface, and equations involve the force through the mass center and a couple about the instant center.

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John David Abarquez
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83 views12 pages

Kinetics of A Rigid Body - Lecture

1. The document discusses equations of motion for rigid bodies constrained to move in a plane, including centroidal and non-centroidal rotation, as well as rolling bodies. 2. A common approach is to apply scalar equations involving the resultant force and couple acting on the body. 3. For homogeneous rolling bodies, reference axes are chosen at the mass center with one axis parallel to the rolling surface, and equations involve the force through the mass center and a couple about the instant center.

Uploaded by

John David Abarquez
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PPTX, PDF, TXT or read online on Scribd
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KINETICS OF A RIGID

BODY
MECH211 – FINALS LECTURE NO. 2
Equations of Plane Motion
• Consider a symmetrical rigid body constrained to move in
the XY plane. Because of this constraint, all forces affecting
the motion can be reduced to a resultant force R acting
though the mass center G, and a resultant couple
representing the moment sum of the applied forces about a
Z-axis through the mass Center perpendicular to the plane
motion.

G and xy axes move in


the XY plane of motion
Fixed-Axis Rotation
• Centroidal Rotation
This is one of the most common type of fixed axis rotation is
centroidal rotation in which the axis of rotation through the
mass center.

Since , the equivalent diagrams of applied forces and


dynamics effects are shown in the figure from which it could Applied of forces and
be deduce the following equations, equivalent dynamics effect in
centroidal rotation
Fixed-Axis Rotation
• Non-Centroidal Rotation

Equivalence of applied force and


dynamic effects in centroidal-rotation

The general equations of non-centroidal rotation of a symmetrical body are,


Rolling Bodies
• Let us consider the application of kinetics to rolling bodies. The case of the homogeneous
rolling wheel is simplified by the fact that its mass of center has a rectilinear motion parallel to
the flat on which it rolls.
• Then as shown in the figure, the resultant effective force consists of single force parallel to the
surface acting through the mass center G, and the couple

Equivalence of applied forces and resultant effective forces Unbalanced wheel


• Applying the principle that the resultant of the applied forces is equal to that of the
effective forces, the motion of the rolling body is determine by,

Thus by equating the moment sum about C of the applied forces, (i.e, ) to the moment
sum of the effective forces, we obtian,
• When free-rolling exists, then so that the previous equation will become,

In which we recognize that the sum in parenthesis is an application of the transfer formula
and represents the moment of inertia about the instant center C. Consequently for free-
rolling wheels, we obtain,
Summary
• A common approach to all problems involving the bodies symmetrical their plane
of motion is to apply the equations and in the scalar forms

Where the bar superscripts denote reference to the centroidal axes


Summary
• A common approach to all problems involving the bodies symmetrical their plane
of motion is to apply the equations and in the scalar forms
Summary
• In the case of centroidal rotation where A coincides with the mass center, , and the
previous equation reduces to,
Summary
• For homogeneous rolling bodies, in which the mass center has a rectilinear motion
parallel to the surface on which it rolls, it is convenient to select reference axes at
the mass center with the X-axis parallel to the surface and positive in the initial
direction of motion. Equations then become,
Summary
• If the body is known to roll without slipping, an additional equation that can be
used is,

Which eliminates both the unknown static frictional resistance and the normal force
acting at the instant center C.

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