Rigid Body Dynamics

chapter 10 continues
around and around we go
Rigid Body Rotation
Rotation Axis
{ }
2 2 2
2 2 2 2
2
2
1
2
1
) (
2
1
2
1
) (
2
1
) (
e e
e e
e
I r m KE
r m r m KE
r v
v m KE
i
i i total
i i i i i
i i
i i i
=
)
`

=
= =
=
=

Moment of Inertia:
2
2
)
`

i
i i
r m I
CORRESPONDENCE:
I m
v
I mv

e
e
2 2
2
1
2
1
Rotational Kinetic Energy
We there have an analogy between the kinetic
energies associated with linear motion (K = mv
2
)
and the kinetic energy associated with rotational
motion (K
R
= Ie
2
)
Rotational kinetic energy is not a new type of
energy, the form is different because it is applied to
a rotating object
The units of rotational kinetic energy are also Joules
(J)
Important Concept:
Moment of Inertia
The definition of moment of inertia is

The dimensions of moment of inertia are ML
2

and its SI units are kg
.
m
2
We can calculate the moment of inertia of an
object more easily by assuming it is divided
into many small volume elements, each of
mass Am
i

2
i i
i
I r m =

Moment of Inertia, cont

We can rewrite the expression for I in terms of Am


With the small volume segment assumption,

If is constant, the integral can be evaluated with
known geometry, otherwise its variation with position
must be known
lim 2 2
0
i
m i i
i
I r m r dm
A
= A =

}
2
I r dV =
}
Question WHAT IS THE
MOMENT OF INERTIA OF THIS
OBJECT??
Lets Look at the possibilities
c d
Two balls with masses M and m are connected by a rigid rod
of length L and negligible mass as in Figure P10.22. For an
axis perpendicular to the rod, show that the system has the
minimum moment of inertia when the axis passes through
the center of mass. Show that this moment of inertia is
I = L2, where = mM/(m + M).
Remember the Various Densities
Volumetric Mass Density > mass per unit
volume: = m / V
Face Mass Density > mass per unit
thickness of a sheet of uniform thickness, t :
o = t
Linear Mass Density > mass per unit length
of a rod of uniform cross-sectional area: =
m / L = A
Moment of Inertia of a Uniform
Thin Hoop
Since this is a thin
hoop, all mass
elements are the same
distance from the
center

2
2
2
I r dm R dm
I MR
= =
=
} }
Moment of Inertia of a Uniform
Rigid Rod
The shaded area has a
mass
dm = dx
Then the moment of
inertia is

/ 2
2 2
/ 2
2
1
12
L
L
M
I r dm x dx
L
I ML

= =
=
} }
Moment of Inertia of a Uniform
Solid Cylinder
Divide the cylinder into
concentric shells with
radius r, thickness dr
and length L
Then for I

( )
2 2
2
2
1
2
z
I r dm r Lr dr
I MR
t = =
=
} }
dV=L(2trdr)
Moments of Inertia of Various
Rigid Objects
Parallel-Axis Theorem
In the previous examples, the axis of rotation
coincided with the axis of symmetry of the object
For an arbitrary axis, the parallel-axis theorem often
simplifies calculations
The theorem states I = I
CM
+ MD
2

I is about any axis parallel to the axis through the center of
mass of the object
I
CM
is about the axis through the center of mass
D is the distance from the center of mass axis to the
arbitrary axis
Howcome??
The new axis is
parallel to the old
axis of rotation.
Assume that the
object rotates about
an axis parallel to
the z axis.
The new axis is
parallel to the
original axis.

m
i

L
r
i

Not in
same
plane
From the top:

NEW OLD
m
i

L
r
i

)
`

- + + =
- + + =
+ - + - =
= -
+ =

i
i
i
i
r L
r L
r L L L
a a
r L
i
i old new
i
i
i
i new
i
i
i new
i
i new
m I ML I
m r m ML I
r m I
a note
m I
2
2
) 2 (
:
) (
2
2
1
2
2
2
2
Remember the Center of Mass?
0
1
=
=

CM
i
i
i CM
m
M
r
r r
Since for our problem the sum is ABOUT the center of
mass, r
CM
must be zero
So:
)
`

- + + =
i
r L
i
i old new
m I ML I 2
2
Z
E
R
O

I
new
= I
CM
+ ML
2

Parallel-Axis Theorem
Example
The axis of rotation
goes through O
The axis through the
center of mass is
shown
The moment of inertia
about the axis through
O would be I
O
= I
CM
+
MD
2

Moment of Inertia for a Rod
Rotating Around One End
The moment of inertia of
the rod about its center is


D is L
Therefore,
2
1
12
CM
I ML =
2
CM
2
2 2
1 1
12 2 3
I I MD
L
I ML M ML
= +
| |
= + =
|
\ .
Many machines employ cams for various purposes, such as
opening and closing valves. In Figure P10.29, the cam is a
circular disk rotating on a shaft that does not pass through the
center of the disk. In the manufacture of the cam, a uniform solid
cylinder of radius R is first machined. Then an off-center hole of
radius R/2 is drilled, parallel to the axis of the cylinder, and
centered at a point a distance R/2 from the center of the cylinder.
The cam, of mass M, is then slipped onto the circular shaft and
welded into place. What is the kinetic energy of the cam when it
is rotating with angular speed about the axis of the
Torque (Another Vector):
Torque
Torque, t, is the tendency of a force to rotate
an object about some axis
Torque is a vector
t = r F sin | = Fd = rXF
F is the force
| is the angle the force makes with the horizontal
d is the moment arm (or lever arm)

More Torqueing
The moment arm, d, is
the perpendicular
distance from the axis
of rotation to a line
drawn along the
direction of the force
d = r sin

Torque
The horizontal component of F (F cos |) has
no tendency to produce a rotation
Torque will have direction
If the turning tendency of the force is
counterclockwise, the torque will be positive
If the turning tendency is clockwise, the torque will
be negative

Right Hand Screw Rule
Net Torque
The force F
1
will tend to
cause a
counterclockwise
rotation about O
The force F
2
will tend to
cause a clockwise
rotation about O
Et = t
1
+ t
2
= F
1
d
1

F
2
d
2


Torque vs. Force
Forces can cause a change in linear
motion
Described by Newtons Second Law
Forces can cause a change in rotational
motion
The effectiveness of this change depends on
the force and the moment arm
The change in rotational motion depends on
the torque
Torque Units
The SI units of torque are N
.
m
Although torque is a force multiplied by a
distance, it is very different from work and
energy
The units for torque are reported in N
.
m and not
changed to Joules
Torque and Angular
Acceleration
Consider a particle of
mass m rotating in a circle
of radius r under the
influence of tangential
force F
t

The tangential force
provides a tangential
acceleration:
F
t
= ma
t
F
t
r=ma
t
r=m(or)r=mr
2
o
t=Io
More Associations:
m I
a
F
ma F
I

=
=
o
t
o t
SO?
Worry about concepts.
Dont worry about too many new
formulas.
Torque and Angular
Acceleration, Extended
Consider the object consists
of an infinite number of
mass elements dm of
infinitesimal size
Each mass element rotates
in a circle about the origin,
O
Each mass element has a
tangential acceleration
Torque and Angular
Acceleration, Extended cont.
From Newtons Second Law
dF
t
= (dm) a
t

The torque associated with the force and
using the angular acceleration gives
dt = r dF
t
= a
t
r dm = or
2
dm
Finding the net torque

This becomes Et = Io

2 2
r dm r dm t o o = =

} }
Torque and Angular
Acceleration, Extended final
This is the same relationship that applied to a
particle
The result also applies when the forces have
radial components
The line of action of the radial component must
pass through the axis of rotation
These components will produce zero torque about
the axis
Torque and Angular
Acceleration, Wheel Example
The wheel is rotating
and so we apply Et = Io
The tension supplies the
tangential force
The mass is moving in
a straight line, so apply
Newtons Second Law
EF
y
= ma
y
= mg - T

Problem
Find the net torque on the wheel in Figure P10.31
about the axle through O if a = 10.0 cm and b = 25.0
cm.

Anudder one
An electric motor turns a flywheel through a drive belt that joins a pulley on
the motor and a pulley that is rigidly attached to the flywheel, as shown in
Figure P10.39. The flywheel is a solid disk with a mass of 80.0 kg and a
diameter of 1.25 m. It turns on a frictionless axle. Its pulley has much
smaller mass and a radius of 0.230 m. If the tension in the upper (taut)
segment of the belt is 135 N and the flywheel has a clockwise angular
acceleration of 1.67 rad/s2, find the tension in the lower (slack) segment of
the belt.
Torque and Angular
Acceleration, Multi-body Ex., 1
Both masses move in
linear directions, so
apply Newtons Second
Law
Both pulleys rotate, so
apply the torque
equation
Torque and Angular
Acceleration, Multi-body Ex., 2
The mg and n forces on each pulley act at the
axis of rotation and so supply no torque
Apply the appropriate signs for clockwise and
counterclockwise rotations in the torque
equations
32. The tires of a 1 500-kg car are 0.600 m in diameter
and the coefficients of friction with the road surface are s =
0.800 and k = 0.600. Assuming that the weight is evenly
distributed on the four wheels, calculate the maximum
torque that can be exerted by the engine on a driving wheel,
without spinning the wheel. If you wish, you may assume
the car is at rest.
Work in Rotational Motion
Find the work done by F on
the object as it rotates through
an infinitesimal distance ds = r
du
dW = F
.
d s
= (F sin |) r du
dW = t du

The radial component of F
does no work because it is
perpendicular to the
displacement
Power in Rotational Motion
The rate at which work is being done in a
time interval dt is


This is analogous to P = Fv in a linear system


Power
dW d
dt dt
u
t te = = =
Work-Kinetic Energy Theorem
in Rotational Motion
The work-kinetic energy theorem for rotational motion
states that the net work done by external forces in rotating
a symmetrical rigid object about a fixed axis equals the
change in the objects rotational kinetic energy

2 2
1 1
2 2
f
i
f i
W I d I I
e
e
e e e e = =

}
e e
u
e u
e
u o u t d I
dt
d
Id d
dt
d
I d I d dW = = = = =
Work-Kinetic Energy Theorem,
General
The rotational form can be combined with the
linear form which indicates the net work done
by external forces on an object is the change
in its total kinetic energy, which is the sum of
the translational and rotational kinetic
energies
Energy in an Atwood Machine,
Example
The blocks undergo
changes in translational
kinetic energy and
gravitational potential
energy
The pulley undergoes a
change in rotational
kinetic energy
Summary of Useful Equations
Rolling Object
The red curve shows the path moved by a point on the rim of
the object
This path is called a cycloid
The green line shows the path of the center of mass of the
object
Pure Rolling Motion
In pure rolling motion, an object rolls without
slipping
In such a case, there is a simple relationship
between its rotational and translational
motions
Rolling Object, Center of Mass
The velocity of the
center of mass is


The acceleration of the
center of mass is

CM
ds d
v R R
dt dt
u
e = = =
CM
CM
dv d
a R R
dt dt
e
o = = =
Rolling Object, Other Points
A point on the rim, P,
rotates to various
positions such as Q
and P
At any instant, the point
on the rim located at
point P is at rest
relative to the surface
since no slipping
occurs
Rolling Motion Cont.
Rolling motion can be
modeled as a
combination of pure
translational motion
and pure rotational
motion
Total Kinetic Energy of a
Rolling Object
The total kinetic energy of a rolling object is
the sum of the translational energy of its
center of mass and the rotational kinetic
energy about its center of mass
K = I
CM
w
2
+ Mv
CM
2


Total Kinetic Energy, Example
Accelerated rolling
motion is possible only
if friction is present
between the sphere
and the incline
The friction produces the
net torque required for
rotation
Total Kinetic Energy, Example
cont
Despite the friction, no loss of mechanical energy
occurs because the contact point is at rest relative
to the surface at any instant
Let U = 0 at the bottom of the plane
K
f
+ U
f
= K
i
+ U
i

K
f
= (I
CM
/ R
2
) v
CM
2
+ Mv
CM
2
U
i
= Mgh
U
f
= K
i
= 0