Chapter 17

Planar Kinetics of a Rigid Body

Force and Acceleration





















Engineering Mechanics : Dynamics

R.C. Hibbeler
MOMENT OF INERTIA

The mass moment of inertia is a measure of an objects resistance to
rotation. Thus, the objects mass and how it is distributed both affect the
mass moment of inertia. Mathematically, it is the integral

I = r
2
dm = r
2
dV

In this integral, r acts as the moment arm of the mass element and r is the
density of the body. Thus, the value of I differs for each axis about which it
is computed.

The figures below show the mass moment of inertia formulations for two
flat plate shapes commonly used when working with three dimensional
bodies. The shapes are often used as the differential element being
integrated over the entire body.



PARALLEL-AXIS THEOREM

If the mass moment of inertia of a body about an axis passing through the bodys
mass center is known, then the moment of inertia about any other parallel axis may be
determined by using the parallel axis theorem,

I = I
G
+ md
2


where IG = mass moment of inertia about the bodys mass center
m = mass of the body
d = perpendicular distance between the parallel axes


Radius of Gyration

The mass moment of inertia of a body about a specific axis can be defined using the
radius of gyration (k). The radius of gyration has units of length and is a measure of
the distribution of the bodys mass about the axis at which the moment of inertia is
defined.
I = mk
2
or k = m I /


Kinetics of a Rigid Body: Force and Acceleration

Equation of translational motion

We will limit our study of planar kinetics to rigid
bodies that are symmetric with respect to a fixed
reference plane.

As discussed in Chapter 16, when a body is subjected
to general plane motion, it undergoes a combination of
translation and rotation.

First, a coordinate system with its origin at an arbitrary
point P is established. The x-y axes should not rotate
and can either be fixed or translate with constant velocity.

If a body undergoes translational motion, the equation of motion is F = ma
G
. This
can also be written in scalar form as

F
x
= m(a
G
)
x
and F
y
= m(a
G
)
y


In words: the sum of all the external forces acting on the body is equal to the bodys
mass times the acceleration of its mass center.










Equation of rotational motion

We need to determine the effects caused by the moments of the external force system.
The moment about point P can be written as

(r
i
F
i
) + M
i
= r
G
ma
G
+ I
G

M
p
= ( M
k
)
p


where Mp is the resultant moment about P due to all the external forces. The term
(M
k
)
p
is called the kinetic moment about point P.

If point P coincides with the mass center G, this equation reduces to the scalar
equation of M
G
= I
G
.

In words: the resultant (summation) moment about the mass center due to all the
external forces is equal to the moment of inertia about G times the angular
acceleration of the body.
=

Thus, three independent scalar equations of motion may be used to describe the
general planar motion of a rigid body. These equations are:

F
x
= m(a
G
)
x


F
y
= m(a
G
)
y


and M
G
= I
G
or M
p
= (M
k
)
p


Equation of Motion : Translation only

When a rigid body undergoes only translation, all the particles of the body have the
same acceleration so a
G
= a and = 0. The equations of motion become:

F
x
= m(a
G
)
x


F
y
= m(a
G
)
y


M
G
= 0



Note that, if it makes the problem easier, the moment equation can be applied about
other points instead of the mass center. In this case,

M
A
= (ma
G
) d .

When a rigid body is subjected to curvilinear
translation, it is best to use an n-t coordinate system.
Then apply the equations of motion, as written
below, for n-t coordinates.

F
n
= m(a
G
)
n


F
t
= m(a
G
)
t


M
G
= 0 or

M
B
= e[m(a
G
)
t
] h[m(a
G
)
n
]










Equation of motion for pure rotation

When a rigid body rotates about a fixed axis perpendicular to the plane of the body at
point O, the bodys center of gravity G moves in a circular path of radius r
G
. Thus, the
acceleration of point G can be represented by a tangential component (a
G
)
t
= r
G
a and
a normal component (a
G
)
n
= r
G

2
.

Since the body experiences an angular acceleration, its inertia creates a moment of
magnitude I
G
equal to the moment of the external forces about point G. Thus, the
scalar equations of motion can be stated as:

F
n
= m (a
G
)
n
= m r
G

2

F
t
= m (a
G
)
t
= m r
G

M
G
= I
G




Note that the M
G
moment equation may be
replaced by a moment summation about any
arbitrary point. Summing the moment about the
center of rotation O yields

M
O
= I
G
+ r
G
m (a
G
)
t
= (I
G
+ m (r
G
)
2
)

From the parallel axis theorem, I
O
= I
G
+ m(r
G
)
2
, therefore the term in parentheses
represents I
O
. Consequently, we can write the three equations of motion for the body
as:

F
n
= m (a
G
)
n
= m r
G

2

F
t
= m (a
G
)
t
= m r
G

M
O
= I
O



Equation of motion : General plane motion

When a rigid body is subjected to external forces and couple-moments, it can undergo
both translational motion as well as rotational motion. This combination is called
general plane motion.

Using an x-y inertial coordinate system, the equations of motions about the center of
mass, G, may be written as

F
x
= m(a
G
)
x

F
y
= m(a
G
)
y

M
G
= I
G




P
Sometimes, it may be convenient to write the moment equation about some point P
other than G. Then the equations of motion are written as follows.

F
x
= m (a
G
)
x

F
y
= m (a
G
)
y

M
P
= (M
k
)
P



In this case, (M
k
)
P
represents the sum of the moments of I
G
and ma
G
about
point P.






Example

A 50 kg crate rests on a horizontal surface for which the
kinetic friction coefficient k = 0.2.
Find:The acceleration of the crate if P = 600 N.



The handcart has a mass of 200 kg and center of mass at G.
Determine the normal reaction at each of the two wheels at
A and the two wheels at B if a force of P =50 N is applied to
the handle. Neglect the mass of the wheels.





The crate C has a weight of 1500 N and rests on the
truck elevator for which the coefficient of static friction
is
s
= 0.4. Determine the largest initial angular
acceleration , starting from rest, Which the parallel
link AB and DE can have without causing the crate to
slip. No tipping occurs.




The 80-kg disk is supported by a pin at A. If it is released
From rest from the position shown, determine the initial
horizontal and vertical component of reaction at the pin.




The 10-kg wheel has a radius of gyration k
A
=200 mm.
If the wheel is subjected to a moment M = 5t Nm, where
t is in second, determine its angular velocity where t=3 s
starting from rest. Also, compute the reaction which the
fixed pin A exerts on the wheel during the motion.


The 20-kg roll of paper has a radius of gyration k
A
= 90 mm
About an axis passing through point A. It is pin-support at
both ends by two brackets AB. If the roll rests against a wall
for which the coefficient of kinetic friction is
k
= 0.2 and a
vertical force F = 30 N is applied to the end of the paper,
determine the angular acceleration of the roll as the paper unrolls.


The uniform 500-N board is suspended from cords at C and
D. If these cords are subjected to constant forces of 300 N
and 450 N, respectively, determine the acceleration of the
boards center and the boards angular acceleration.
Assume the board is a thin plate. Neglect the mass of the
pulleys at E and F.




The spool has a mass of 100 kg and a radius of gyration of
k
g
= 0.3 m. If the coefficients of static and kinetic friction
at A are
s
= 0.2 and
k
= 0.15, respectively, determine the
angular acceleration of the spool if P =50 N




The uniform slender pole has a mass of 100 kg and a moment of
inertia I
G
= 75 kg m
2
.
If the coefficients of static and kinetic
friction between the end of the pole and the surface are

s
= 0.3 and
k
= 0.25, respectively, determine the poles angular
acceleration at the instant the 400 N horizontal force is applied.
The pole is originally at rest.

[see example 17.16]