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Kinetics of rigid bodies

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

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 Gxyz, M o = HO MIITG R. Ganesh Narayanan, G = HG

System of external forces is equipollent to the system consisting of m a and H G .

R. Ganesh Narayanan, IITG

Angular Momentum of a Rigid Body in Plane Motion


Consider a rigid slab in plane motion. Angular momentum of the slab may be computed by H G = (ri vimi ) = [ri ( ri)mi ]
i =1 i =1 n n

= ri 2 mi HG = I MI of slab about centroidal


axis perpendicular to slab

After differentiation, H G = I = I 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 R. Ganesh Narayanan, IITG or three-dimensional motion.

Plane Motion of a Rigid Body: DAlemberts Principle


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 = I

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).

dAlemberts Principle: The external forces acting on a rigid body are equivalent to the effective forces of the various particles forming the body.

R. Ganesh Narayanan, IITG

Translation

Centroidal rotation

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.

R. Ganesh Narayanan, IITG

Problems in motion of rigid bodies

Fx = max Fy = ma y M G = I

dAlemberts principle

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 dAlemberts principle, or principle of dynamic equilibrium
R. Ganesh Narayanan, IITG

At a forward speed of 30 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 200 m. Determine the magnitude of the normal reaction and the friction force at each wheel as the truck skidded to a stop.
assuming uniform acceleration
2 v 2 = v0 + 2a ( x x0 ) 2

m 0 = 30 + 2a (200 m ) s

m a = 2.25 s2
Equns of motion.

External forces

Effective forces

Fy = (Fy )eff

N A + NB W = 0

=> FA + FB = KW

Fx = (Fx )eff

FA FB = ma W = ( W g )a k R. Ganesh Narayanan, IITG

k = =

a 2 .25 = 0.229 g 9.81

M A = (M A )eff

(5 m )W + (12 m )N B = (4 m )ma NB = 1 W 5 W + 4 12 g a W a = 5 + 4 g 12

N B = 0.650W
N A = W N B = 0.350W

(0.350W ) N rear = 1 N =1 2 A 2
Frear = k Nrear = (0.229)(0.175W )

N rear = 0.175W

Frear = 0.04W

(0.650W ) N front = 1 N =1 2 V 2

N front = 0.325W

F front = k N front = (0.229)(0.325W )

F front = 0.07W

R. Ganesh Narayanan, IITG

A 20 kg cabinet is mounted on casters that allow it to move freely ( = 0) on the floor. If a 100 N force is applied as shown, determine (a) the acceleration of the cabinet, (b) the range of values of h for which the cabinet will not tip. a) acceleration:

G 100 N
h 0.6 m 0.9 m

Fx = (Fx )eff
100 = m a => 100/m = a Find a

G (b) For tipping to impend Find h Find h ma

For tipping to impend

R. Ganesh Narayanan, IITG

A 10-kg uniform disk is placed in contact with an inclined surface and a constant 11 N m couple M is applied as shown. The weight of the link AB is negligible. Knowing that the coefficient of kinetic friction at D is 0.4, determine (a) the angular acceleration of the disk, (b) the force in the link AB.
W = 10 x 9.81 = 98.1

MB = IG = m r2
11 - (0.4N )(0.225) = (10) (0.225)2 = 0.25313
FAC B

11 Nm

Fy = (Fy )eff
0.4N

11 - (0.4x115.9)(0.225) = 0.25313 => = 2.25 rad/s2

Fx = (Fx )eff

=> R. FAC + 0.4N sin 30 N cos 30 = 0; FAC = 77.2 N Ganesh Narayanan, IITG

Constrained Plane Motion


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 , , and , find P, NA, and NB. - kinematic analysis yields a x and a y . - application of dAlemberts principle yields P, NA, and NB.
R. Ganesh Narayanan, IITG

1) Non-centroidal 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,
at = r an = r 2

R. Ganesh Narayanan, IITG

The kinematic relations are used to eliminate at and an from equations derived from dAlemberts principle or from the method of dynamic equilibrium.

R. Ganesh Narayanan, IITG

2) Rolling motion

For a balanced disk constrained to roll without sliding,

x = r a = r
Same as block not sliding; F has to be found out independent of N, i.e. only from figure shown

Rolling, no sliding:

F s N

a = r

Rolling, sliding impending:

F = s N
F = k N

a = r
a , r independent

Rotating and sliding:

a r

R. Ganesh Narayanan, IITG

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 10 m and c) the velocity of G if the sphere were to move 10 m down a frictionless incline.
With the linear and angular accelerations related, solve the three scalar equations derived from the free-bodyequation for the angular acceleration and the normal and tangential reactions at C.

M C = (M C )eff

(W sin )r = (ma )r + I 2 mr 2 ) = (mr )r + (5


W 2W 2 r = r r + g 5 g

5 g sin = R. Ganesh Narayanan, IITG 7r

a = r =

5 10 m/s 2 sin 30 = 7

5 g sin 30 7

a = 3.57 m/s 2
W sin F = ma W 5 g sin g 7 2 F = W sin 30 = 0.143W 7 =
N W cos = 0 N = W cos 30 = 0.866W

Fx = (Fx )eff

Fy = (Fy )eff

Calculate the friction coefficient required for the indicated tangential reaction at C.

F = s N

s =

F 0.143W = s = 0.165 N 0.866 W R. Ganesh Narayanan, IITG

Calculate the velocity after 10 m of uniformly accelerated motion.


2 v 2 = v0 + 2a ( x x0 )

= 0 + 2 3.57 m/s 2 (10 m )

v = 71.4 m/s

Assuming no friction, calculate the linear acceleration and the corresponding velocity after 10 m.

Fx = (Fx )eff

W W sin = ma = a g a = 10 m/s 2 sin 30 = 5 m/s 2

2 v 2 = v0 + 2a ( x x0 )

= 0 + 2 5 m/s 2 (10 m )

r v = 100 m/s

R. Ganesh Narayanan, IITG

Plane Motion of Rigid Bodies: Energy and Momentum Methods Principle of Work and Energy for a Rigid Body
Assume that the rigid body is made of a large number of particles. T1 + U12 = T2 T1 , T2 = initial and final total kinetic energy of particles forming body U12 = total work of internal and external forces acting on particles of body. Internal forces between particles A and B are equal and opposite. In general, small displacements of the particles A and B are not equal but the components of the displacements along AB are equal. Therefore, the net IITG work of internal forces is zero. R. Ganesh Narayanan,

Work of a force during a displacement of its point of application, U12 = F dr = (F cos )ds
A1 s1 A2 s2

Consider the net work of two forces F and F forming a couple of moment M during a displacement of their points of application.
dU = F dr1 F dr1 + F dr2 = F ds 2 = Fr d = M d U12 = M d = M ( 2 1 ) if M is constant.
1 2

R. Ganesh Narayanan, IITG

Forces acting on rigid bodies which do no work:


Forces applied to fixed points: - reactions at a frictionless pin when the supported body rotates about the pin. Forces acting in a direction perpendicular to the displacement of their point of application: - reaction at a frictionless surface to a body moving along the surface - weight of a body when its center of gravity moves horizontally Friction force at the point of contact of a body rolling without sliding on a fixed surface. dU = F ds C = F (v c dt ) = 0

R. Ganesh Narayanan, IITG

Kinetic Energy of a Rigid Body in Plane Motion


Consider a rigid body of mass m in plane motion.
2 1 2 + T=1 m v m v i i 2 2

KE of motion mass center of body

KE of motion of particle in GXY frame

2+1 2 mi 2 =1 m v r i 2 2

Centroidal rotation, ZERO

2 1 2 =1 + m v I 2 2

Pure translation, ZERO

KE associated with the motion of the mass center G

KE associated with the rotation of the body about G

Consider a rigid body rotating about a fixed axis through O.

2 1 2=1 2 2 ( ) = T=1 m v m r r m i i i i i i 2 2 2

=Ganesh I ONarayanan, IITG R.


1 2 2

Systems of Rigid Bodies


For problems involving systems consisting of several rigid bodies, the principle of work and energy can be applied to each body. We may also apply the principle of work and energy to the entire system,
T1 + U12 = T2
T1 , T2 = arithmetic sum of the kinetic energies of all bodies forming the system U 1 2 = work of all forces acting on the various bodies, whether these forces are internal or external to the system as a whole.

For problems involving pin connected members, blocks and pulleys connected by inextensible cords, and meshed gears, - internal forces occur in pairs of equal and opposite forces - points of application of each pair move through equal distances - net work of the internal forces is zero - work on the system reduces to the work of the external forces
R. Ganesh Narayanan, IITG

Conservation of Energy
Expressing the work of conservative forces as a change in potential energy, the principle of work and energy becomes
T1 + V1 = T 2 + V 2

In the plane motion of rigid body, the KE of the body should include both translational and rotational terms

Power
Power = rate at which work is done For a body acted upon by force F and moving with velocity v , dU = F v Power = dt r For a rigid body rotating with an angular velocity and acted r upon by a couple of moment M parallel to the axis of rotation,
Power =
dU M d = M R. Ganesh = Narayanan, IITG dt dt

Each of the two slender rods has a mass of 6 kg. The system is released from rest with = 60o. Determine a) the angular velocity of rod AB when = 20o, and b) the velocity of the point D at the same instant.
Consider a system consisting of the two rods. With the conservative weight force,

T1 + V1 = T2 + V2
V1 = 2Wy1 V2=2Wy2 (Find velocities by earlier methods)

1 mv 2 + 1 I 2 + 1 mv 2 + 1 I 2 T2 = 12 AB 2 AB AB 12 BD 2 BD BD 1 (6 )(0.375 )2 + 1 (0.281) 2 + 1 (6 )(0.522 )2 + 1 (0.281) 2 = 12 2 12 2

= 1.520 2

T1 = 0

Put v1, v2, T1, T2 in energy conservation equation, find AB From this , find vD
R. Ganesh Narayanan, IITG

Principle of Impulse and Momentum


Method of impulse and momentum: - well suited to the solution of problems involving time and velocity - the only practicable method for problems involving impulsive motion and impact.

System Momenta1 + System External Imp1-2 = System Momenta2

R. Ganesh Narayanan, IITG

The momenta of the particles of a system may be reduced to a vector attached to the mass center equal to their sum,

r r r L = vi m i = m v
and a couple equal to the sum of their moments about the mass center, r r r H G = ri vi mi For the plane motion of a rigid slab or of a rigid body symmetrical with respect to the reference plane, r H G = I

Vi (mi)
G Pi

L = mv

HG = I

R. Ganesh Narayanan, IITG

Principle of impulse and momentum for the plane motion of a rigid slab or of a rigid body symmetrical with respect to the reference plane expressed as a free-body-diagram equation,

Results in three equations of motion: - summing and equating momenta and impulses in the x and y directions - summing and equating the moments of these vectors with respect to any given point
R. Ganesh Narayanan, IITG

Noncentroidal rotation
- Equating the moments of the momenta and impulses about O,
t2 t1

I O1 + M O dt = I O 2

R. Ganesh Narayanan, IITG

System of rigid bodies


Motion of several rigid bodies can be analyzed by applying the principle of impulse and momentum to each body separately. For problems involving no more than three unknowns, it may be convenient to apply the principle of impulse and momentum to the system as a whole. For each moving part of the system, the diagrams of momenta should include a momentum vector and/or a momentum couple. Internal forces occur in equal and opposite pairs of vectors and hence of impulse of internal forces can be omitted

R. Ganesh Narayanan, IITG

Conservation of momentum principle


When no external force acts on a rigid body or a system of rigid bodies, the system of momenta at t1 is equipollent to the system at t2. The total linear momentum and angular momentum about any point are conserved, r r ( H 0 )1 = (H 0 )2 L1 = L2 When the sum of the angular impulses pass through O, the linear momentum may not be conserved, yet the angular momentum about O is conserved,

( H 0 )1 = (H 0 )2

R. Ganesh Narayanan, IITG

The system is at rest when a moment of M = 6 N m is applied to gear B. Neglecting friction, a) determine the time required for gear B to reach an angular velocity of 600 rpm, and b) the tangential force exerted by gear B on gear A.

m A = 10 kg k A = 200 mm mB = 3 kg k B = 80 mm
moments about A: 0 FtrA = I A ( A )2

)(25.1rad s ) Ft (0.250 m ) = (0.400 kg m2 Ft = 40.2 N s


t = 0.871 s

moments about B:

(6 N m )t Ft (0.100 m ) = (0.0192 kg m 2 )(62.8 rad s )


F (0.871) = 40.2 => F = 46.2 N R. Ganesh Narayanan, IITG

0 + Mt FtrB = I B ( B )2

A sphere of radius r and weight W with an initial clockwise angular velocity 0 is placed in the corner formed by the floor and a vertical wall. Denoting by k the coefficient of kinetic friction at A and B, derive an expression for the time required for the sphere to come to rest.
I1
G

+
kNAt

I2 = 0 B
NB t

wt A A
NAt kNB t

In X dirn.: 0 + kNAt - NB t = 0; In Y dirn.: 0 wt + Nat + kNB t = 0


Find NB and NA from these equations I1 kNAtr kNB tr = 0 => from this find t by sub. NA and NB

R. Ganesh Narayanan, IITG

Eccentric Impact

r r (u ) ( = u A n B )n

Period of deformation r Impulse = Rdt

Period of restitution r Impulse = Pdt

Principle of impulse and momentum is supplemented by r Rdt e = coefficient of restitution = r Pdt

(vB )n (vA )n = (v A )n (v B )n

R. Ganesh Narayanan, IITG

Member ABC has a weight of 2.27 kg and is attached to a pin support at B. A 0.68 kg sphere D strikes end C of member ABC with a vertical velocity v1 of 9 ft/s. Knowing that L = 30 in. and that the coefficient of restitution between the sphere and member ABC is 0.5, determine immediately after the impact (a) the angular velocity of member ABC, (b) the velocity of the sphere. Impact condition Kinematics

About B: Put data in and vD, find and vD R. Ganesh Narayanan, IITG

In a game of pool, ball A is rolling without slipping with a velocity v0 as it hits obliquely ball B, which is at rest. Denoting by r the radius of each ball and by k the coefficient of kinetic friction between the balls and the table surface, and assuming perfectly elastic impact, determine (a) the linear and angular velocity of each ball immediately after the impact, (b) the velocity of ball B after it has started rolling uniformly.

During impact: write impulse momentum principle for ball A and B separately
Find VA, VB, A, B

After impact: write impulse momentum principle for ball B after impact, find VB

R. Ganesh Narayanan, IITG

Kinetics of rigid body in 3D The fundamental relations developed for the plane motion of rigid bodies may also be applied to the general motion of three dimensional bodies.

r r F = ma r r & M = H G G
r r The relation H G = I which was used to determine the angular momentum of a rigid slab is not valid for general three dimensional bodies and motion.

R. Ganesh Narayanan, IITG

Rigid Body Angular Momentum in Three Dimensions


Angular momentum of a body about its mass center, n r r n r r r r H G = (ri vi mi ) = [ri ( ri)mi ]
i =1 i =1

H x = + I x x I xy y I xz z H y = I yx x + I y y I yz z H z = I zx x I zy y + I z z

The relations show that the operation which transforms the vector into the vector HG is characterized by the array of moments and products of inertia
+ Ix I yx I zx I xy + Iy I xz I yz I Ganesh I R. + zy z Narayanan, IITG

Inertia tensor at mass center of the body

Select axis GXY called principal axes of inertia on which all products of inertia are zero
With respect to the principal axes of inertia,
I x 0 0 0 I y 0 0 0 I z

Principal centroidal MI of the body

H x = I x x

H y = I y y

H z = I z z

r The angular momentum H G of a rigid body and r its angular velocity have the same direction r if, and only if, is directed along a principal axis of inertia.
R. Ganesh Narayanan, IITG

Angular momentum of body constrained to rotate about fixed point

the angular momentum may be computed directly from the moments and products of inertia with respect to the Oxyz frame. n r r r H O = (ri vi m )
r r r = [ri ( ri )mi ]
i =1 i =1 n

H x = + I x x I xy y I xz z H y = I yx x + I y y I yz z H z = I zx x I zy y + I z z
MIs and product of MIs are computed w.r.t. Oxyz centered at O
R. Ganesh Narayanan, IITG

Principle of Impulse and Momentum

The principle of impulse and momentum can be applied directly to the three-dimensional motion of a rigid body, Syst Momenta1 + Syst Ext Imp1-2 = Syst Momenta2 The free-body diagram equation is used to develop component and moment equations. For bodies rotating about a fixed point, eliminate the impulse of the reactions at O by writing equation for moments of momenta and impulses about O.
R. Ganesh Narayanan, IITG

Kinetic Energy of a Rigid Body in Plane Motion


Consider a rigid body of mass m in plane motion.
2 1 2 + T=1 m v m v i i 2 2

KE of motion mass center of body

KE of motion of particle in GXY frame

2+1 2 mi 2 =1 m v r i 2 2

Centroidal rotation, ZERO

2 1 2 =1 + m v I 2 2

Pure translation, ZERO

KE associated with the motion of the mass center G

KE associated with the rotation of the body about G

R. Ganesh Narayanan, IITG

Kinetic Energy of body in 3D


Kinetic energy of particles forming rigid body,
T = = =
1 2 1 2 1 2 n

mv

1 2 1 2 1 2

mv 2 + mv 2 +

i =1 n

m i v i 2
r r 2 ri m i
2 y 2 + I z z 2 I xy x y

i =1

2 ( I x x + I y

2 I yz y z 2 I zx z x )

If the axes correspond instantaneously with the principle axes,


2 1 2 2 2 T=1 m v + ( I + I + I y y z z ) 2 2 x x

With these results, the principles of work and energy and conservation of energy may be applied to the three-dimensional motion of a rigid body.
R. Ganesh Narayanan, IITG

KE w.r.t fixed point


Kinetic energy of a rigid body with a fixed point,
2 2 2 T=1 ( I + I + I 2 I xy x y x x y y z z 2

2 I yz y z 2 I zx z x )

If the axes Oxyz correspond instantaneously with the principle axes Oxyz,
2 2 2 T=1 ( I + I + I ) x x y y z z 2

R. Ganesh Narayanan, IITG

A thin homogeneous square plate of mass m and side a is welded to a vertical shaft AB with which it forms an angle of 45. Knowing that the shaft rotates with a constant angular velocity , determine the angular momentum HA of the plate about point A.
Y
YZ as principal axes

Z Y = Y cos 45; z = z sin 45 x = 0 Z

45

R. Ganesh Narayanan, IITG

A 4.5 kg rod of uniform cross section is used to form the shaft shown. Knowing that the shaft rotates with a constant angular velocity 12 rad/s, determine (a) the angular momentum HG of the shaft about its mass center G

m = 4.5 kg

H x = + I x x I xy y I xz z H y = I yx x + I y y I yz z H z = I zx x I zy y + I z z

Find these values by evaluating Ix, Ixy, Ixz

R. Ganesh Narayanan, IITG

Mass Moment of Inertia


For a body of mass m the resistance to rotation about the axis AA is
2 I = r12 m + r2 m + r32 m + L

= r 2 dm = mass moment of inertia

Moment of inertia with respect to the y coordinate axis is


I y = r 2 dm = z 2 + x 2 dm

Similarly, for the moment of inertia with respect to the x and z axes,
I x = y 2 + z 2 dm

R. Ganesh Narayanan, IITG

( ) I z = (x 2 + y 2 )dm

Parallel axes theorem


Generalizing for any axis AA and a parallel centroidal axis,

I = I + md 2
The definition of the mass products of inertia of a mass is an extension of the definition of product of inertia of an area

I xy = xy dm = I xy + mx y I yz = yz dm = I yz + myz I zx = zx dm = I zx + mz x

R. Ganesh Narayanan, IITG

Rigid body motion in three dimension


Angular momentum and its rate of change are taken with respect to centroidal axes GXYZ of fixed orientation. r r Transformation of into H G is independent of the system of coordinate axes. Convenient to use body fixed axes Gxyz where moments and products of inertia are not time dependent. r Define rate of change of change of H G with respect to the rotating frame, r r r r & valid & & & H =H i +H j+H k

r r F = m a r r & M = H G

( G )Gxyz

Then, r r & & HG = H G

( )

r Gxyz + H G

R. Ganesh Narayanan,Wrt IITG rotating Wrt fixed reference, GXYZ reference, Gxyz

Induced by rotation of Gxyz

r With = and Gxyz chosen to correspond to the principal axes of inertia, r r r r & M = H + H

( G )Gxyz

We know for principal axes of inertia of the body, HG = IXX i + Iyy j + Izz k & substituting this in above equn.
& x (I y I z ) y z M x = I x & y (I z I x ) z x Eulers Equations: M y = I y & z (I x I y ) x y M z = I z

Scalar form

Fx = m ax; Fy = m ay; Fz = m az
R. Ganesh Narayanan, Six equations define the rigid IITG body motion in 3D

For a rigid body rotation around a fixed point, r r M O = HO r r r & = H + H

( O )Oxyz

H x = + I x x I xy y I xz z H y = I yx x + I y y I yz z H z = I zx x I zy y + I z z

w.r.t rotating w.r.t fixed frame frame of reference of reference Angular velocity of rotating frame Oxyz For a rigid body rotation around a fixed axis, H x = I xz H y = I yz H z = I z
r r r r & M O = H O Oxyz + H O r r r = I xz i I yz j + I z k & r r r r + k I xz i I yz j + I z k r r r r r 2 R. Ganesh = Narayanan, IITG I xz i I yz j + I z k + I xz j + I yz i

( )

( (

) (

M x = I xz + I yz 2
In scalar form,

M y = I yz + I xz 2 M z = I z

When the forces applied to a body are known, and can be obtained from last equation and sub. in first two equations. These equns. and three resultant force equations can be used to find reactions at the bearings A, B.

Fx = m ax; Fy = m ay; Fz = m az
If symmetrical with respect to the xy plane, IXZ, IYZ are zero M x = 0 M y = 0 M z = I z If not symmetrical, the sum of external moments will not be zero, even if = 0,
2 R. Ganesh Narayanan, IITG = I 2 = I M M Mz = 0 x yz y xz

Rod AB with weight W = 40 N is pinned at A to a vertical axle which rotates with constant angular velocity = 15 rad/s. The rod position is maintained by a horizontal wire BC. Determine the tension in the wire and the reaction at A.

R. Ganesh Narayanan, IITG

SOLUTION: Evaluate the system of effective forces byr reducing them r to a vector ma attached at G and couple H G .

r r 2r 2r 1 a = an = r I = (2 L cos ) I 2 r = 450 m/s I r r 40 ma = ( 450 ) = (1800 N )I g r r r r H G = I x xi + I y y j + I z z k

x = cos y = sin z = 0

2 Ix = 1 mL 2

Iy = 0

2 Iz = 1 mL 2

r r + HG Gxyz r r r = 0 + ( cos i + sin j ) 21 mL2 cos i r r 2 2 1 ( ) = Narayanan, R. Ganesh mL IITG sin cos k = 2078.4 N m k 2

r r & = H & H G G

r r H G = 21 mL2 cos i

( )

Expressing that the system of external forces is equivalent to the system of effective forces, write vector expressions for the sum of moments about A and the summation of forces.
r r M A = (M A )eff

r r r r r r r 6.93J ( TI ) + 2I ( 40J ) = 3.46J (1800I ) + 2078.4K r r (6.93T 80)K = (6228+ 2078.4)K

T = 1210 N
r r F = (F )eff

r r r r r r AX I + AY J + AZ K 1210 I 40 J = 1800 I r r r A = (590 N )I + (40 N )J

R. Ganesh Narayanan, IITG

Motion of a Gyroscope: Eulerian Angles


A gyroscope consists of a rotor with its mass center fixed in space but which can spin freely about its geometric axis and assume any orientation.

R. Ganesh Narayanan, IITG

R. Ganesh Narayanan, IITG

From a reference position with gimbals and a reference diameter of the rotor aligned, the gyroscope may be brought to any orientation through a succession of three steps: a) rotation of outer gimbal through about AA b) rotation of inner gimbal through about BB c) rotation of the rotor through about CC , , and are called the Eulerian angles and

& = rate of precession & = rate of nutation & = rate of spin


At that instant

R. Ganesh Narayanan, IITG

= - sin i + j + ( + cos )k HO = - I sin i + I j + I ( + cos )k


r r r r & & & & + cos )k H O = I sin i + I j + I ( r r r & & = K + j Equation of motion, r r r r & M O = H O Oxyz + H O

( )

&&sin + 2& & cos ) + I&( & cos ) & + M x = I ( d & & ( + cos ) dt

&& & 2 sin cos ) + I & sin ( & cos ) & + M y = I (

Mz = I

I MI of the rotor about its spin INarayanan, MI about transverse axis through O R. axis; Ganesh IITG

Gyroscope: simplified analysis Symmetrical rotor rotating about zaxis with large angular velocity p known as SPIN VELOCITY; Two forces F applied to form a couple M with relatively low angular velocity known as PRECESSION VELOCITY M = I x p

R. Ganesh Narayanan, IITG

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