PEMP

MMD2514

Dynamics of Mechanisms

Session delivered by:

Dr. Arun R. Rao

M.S. Ramaiah School of Advanced Studies, Bengaluru

PEMP
MMD2514

Session objectives
Newtons law of motions:
Mass, Mass moment and centre of gravity
Mass moment of inertia (Second moment of
mass)
Radius of gyration
Parallel axis theorem (Transfer theorem)
Centre of percussion
M.S. Ramaiah School of Advanced Studies, Bengaluru

PEMP
MMD2514

Newtons law of motions

Newtons I-law:
Every object in a state of uniform motion tends to remain in that
state of motion unless an external force is applied to it.

M.S. Ramaiah School of Advanced Studies, Bengaluru

PEMP
MMD2514

Newtons law of motions

Newtons II-law:
The relationship between an object's mass m, its acceleration a, and
the applied force F is F = ma. Acceleration and force are vectors
(as indicated by their symbols being displayed in slant bold font);
in this law the direction of the force vector is the same as the
direction of the acceleration vector.

M.S. Ramaiah School of Advanced Studies, Bengaluru

PEMP
MMD2514

Newtons law of motions

Newtons III-law:
For every action there is an equal and opposite reaction.

M.S. Ramaiah School of Advanced Studies, Bengaluru

PEMP
MMD2514

Center of Gravity
The center of gravity of a collection of masses is the point
where all the weight of the object (elements) can be
considered to be concentrated.
W1, W2, are the weights of each of the elements
Then
Fz: W= W1 + W2 + W3 +
My : xW= x1W1 + x2W2 + x3W3 +
Mx : yW= y1W1 + y2W2 + y3W3 +
W=dW

xW= xdW

yW= ydW

M.S. Ramaiah School of Advanced Studies, Bengaluru

PEMP
MMD2514

Contd..

M.S. Ramaiah School of Advanced Studies, Bengaluru

PEMP
MMD2514

Centroids and Inertia

The centroid is the center of mass of a physical object.
We can obtain this by taking the average location of the object,
along three dimensions (conventionally, length, height, and
width). If the object varies in density, we would need to take
this variation into account.
An object, when thrown with a spin, will rotate around its
centroid.

M.S. Ramaiah School of Advanced Studies, Bengaluru

PEMP
MMD2514

The inertia of an object is the

tendency of an object at rest to
stay at rest.
The inertia of an object
suspended from its centroid, or
balanced on a fulcrum, is
directly related to how widely
dispersed the mass is away
from its centroid.

M.S. Ramaiah School of Advanced Studies, Bengaluru

PEMP
MMD2514

Moment of Inertia
The Moment of Inertia (I) is a term used to describe the
capacity of a cross-section to resist bending. It is always
considered with respect to a reference axis such as X-X or YY.
It is a mathematical property of a section concerned with a
surface area and how that area is distributed about the
reference axis. The reference axis is usually a centroidal axis.

M.S. Ramaiah School of Advanced Studies, Bengaluru

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PEMP
MMD2514

The moment of inertia is also known as the Second

Moment of the Area and is expressed mathematically as:
Ixx = Sum (A)(y2)
In which:
Ixx = the moment of inertia around the x axis
A = the area of the plane of the object
y = the distance between the centroid of the object and the
x axis

M.S. Ramaiah School of Advanced Studies, Bengaluru

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PEMP
MMD2514

Mass moment of inertia

Mass moment of inertia for a
particle: The mass moment of

IO = r 2 m

inertia is one measure of the

O

distribution of the mass of an

r

object relative to a given axis.

The mass moment of inertia is

denoted by I and is given for a

single particle of mass m as

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PEMP
MMD2514

Radius of gyration: Sometime in place of the mass

moment of inertia the radius of gyration k is provided. The
mass moment of inertia can be calculated from k using the
relation

I = mk 2
where m is the total mass of the body.
One can interpret the radius of gyration as the distance
from the axis that one could put a single particle of mass m
equal to the mass of the rigid body and have this particle
have the same mass moment of inertia as the original body

M.S. Ramaiah School of Advanced Studies, Bengaluru

13

PEMP
MMD2514

Parallel axis theorem (Transfer theorem)

The moment of inertia of any object about an axis through
its center of mass is the minimum moment of inertia for an
axis in that direction in space. The moment of inertia about
any axis parallel to that axis through the center of mass is
given by
The expression added to the center of
mass moment of inertia will be
recognized as the moment of inertia of
a point mass - the moment of inertia
about a parallel axis is the center of
mass moment plus the moment of
inertia of the entire object treated as a
point mass at the center of mass.
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PEMP
MMD2514

Center of Percussion
The center of percussion is the point
on an object where a perpendicular
impact will produce translational and
rotational forces which perfectly
cancel each other out at some given
pivot point, so that the pivot will not
be moving momentarily after the
impulse. The same point is called the
center of oscillation for the object
suspended from the pivot as a
pendulum.

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MMD2514

Centrifugal force

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MMD2514

DAlemberts Principle

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MMD2514

DAlemberts Principle

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MMD2514

Impulse and Impact

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MMD2514

Summary
The following topics are discussed:
Newtons law of motions:
Mass moment and centre of gravity
Mass moment of inertia (Second moment of mass)
Parallel axis theorem (Transfer theorem)
Radius of gyration
Centre of percussion

M.S. Ramaiah School of Advanced Studies, Bengaluru

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