Dynamics Chapter 7

DYNAMICS
Chapter 7:
Kinetics of Rigid Body: Force &
Acceleration
Chapter Objectives
To introduce the methods used to determine the mass
moment of inertia of a body.
To develop the planar kinetic equations of motion for a
symmetric rigid body.
To discuss applications of these equations to bodies
undergoing translation, rotation about a fixed axis, and
general plane motion.
7.1 Planar Kinetics of a Rigid Body: Force and

Acceleration
Since a body has a definite size and shape,
an applied non-concurrent force system
may cause the body to both translate and
rotate
The translational aspects of the motion are
governed by the equation F = ma
The rotational aspects, caused by moment
M, are governed by the equation M = I
I, the moment of inertia, is a measure of the
resistance of a body to angular acceleration

Acceleration
Define moment of inertia as the integral
of
the second moment about an axis of all
the
elements of mass dm, which compose
the body
Example
For bodys moment of inertia about
the z axis,
I = m r2 dm

Acceleration
Parallel Axis Theorem
If the moment of inertia about an axis
passing through the bodys mass center is
known. The moment of inertia about any
other parallel axis may be determined by
using the parallel axis theorem
Consider body where the z axis passes
through
the mass center G and the
corresponding parallel z
axis lies at a constant
distance d away

Acceleration
Parallel Axis Theorem
Second integral = 0 since z axis passes
through the bodys mass center
x' dm x ' dm
Third integral represents the total mass

m of the body
For moment of inertia about the z axis,
I IG md

Acceleration
Radius of Gyration
Moment of inertia of the body about a
specified axis can be expressed using
radius of gyration
For the bodys moment of inertia
2
or
I mk
I
k
m

Acceleration
Composite Bodies
If a body is constructed of a number of
simple shapes, moment of inertia of the
body about any axis z can be determined
algebraically the moments of inertia of all
the composite shapes computed about the z
axis
Algebraic addition is necessary since a
composite part must be considered as a
negative quantity if it has already been
counted as a piece of another, eg, a hole

Acceleration
Composite Bodies
Parallel axis theorem is needed for
calculations if center of mass of each
composite part does not lie on the z axis
For calculation,
I ( IG md )
IG for each part is computed by integration

Acceleration
Example 7.3
If the plate has a density of 8000kg/m3 and
a
thickness of 10mm, determine its moment of
inertia
about an axis directed perpendicular to the
page
and passing through point O.

Acceleration
Solution
Plate consists of 2 composite parts, the
250mm radius disk minus the 125mm disk
Moment of inertia about O can be
determined by computing the moment of
inertia of each of these parts about O and
adding the results algebraically
Calculations are performed using parallel
axis theorem

Acceleration
Solution
Disk
For moment of inertia of the disk about
centroidal axis perpendicular to the plane of the
disk,
1
IG
mr 2
Mass center is located 0.25m from point O

2
0.01 15.71kg
m
8000
0
.
25
Thus, d d d
I d O 1 md rd 2 md d 2
2
1
15.71 0.25 2 15.71 0.25 2 1.473kg.m 2
2

Acceleration
Solution
Disk
For moment of inertia of the plate about
point O
IO I d O I h O
1.473 0.276
1.20kg.m 2

Acceleration
Example 7.4
The pendulum is suspended from point O and
consists of two thin rods, each having a weight
of
50N (5kg). Determine the pendulum's
moment of inertia about an axis
passing through the pin at O,
and (b) the mass center G of
the pendulum.

Acceleration
Solution
Part (a)
For moment of inertia of rod OA about an
axis perpendicular to the page and passing
through the end point O of the rob,
1
I O ml 2
3
Hence,
1 50 2
2
( I OA )O
1 1.699kg.m
3 9.81
Using
IG
1 2
ml
12

Acceleration
Solution
By parallel axis theorem,
1
1 50 2 50
2
ml 2 md 2
1
0.5
12
12 9.81
9.81
1.699kg.m 2
( I OA ) O
For rod BC,
1
1 50 2 50 2
ml 2 md 2
1
1
12
12 9.81
9.81
5.522kg.m 2
( I BC ) O
For moment of inertia of the pendulum

I O,
1.699 5.522 7.22kg.m
about
2

Acceleration
Solution
Part (b)
For mass center G located relative to pin at O,
~
y m 0.5(50 / 9.81) 1(50 / 9.81)
y
0.75m
m
(50 / 9.81) (50 / 9.81)
By parallel axis theorem to transfer moments

of inertia of rods OA & BC to G
IO I G md 2 ;
100
2
7.22 I G
0.75
9.81
IG 1.486kg.m 2
7.2 Planar Kinetics Equations of Motion

Limit study of planar kinetics to rigid
bodies, along with their loadings,
considered to be symmetrical with
respect to fixed reference plane
Motion of the body can be viewed
within the reference plane and all the
forces and moments on the body can
be projected onto the plane
Example
Consider an arbitrary body

The inertial frame of reference x, y, z
has its origin coincident with the
arbitrary point P in the body
By definition, these axes do not rotate
and are either fixed or translate with
constant velocity

Equation of Translational Motion
The external forces consist of the effect of
gravitational, electrical, magnetic or
contact forces between adjacent bodies
For translational equation of motion for the
mass center of rigid body,
F = maG
Sum of all the external forces acting on the
body is equal to the bodys mass times the
acceleration of its mass center G

Equation of Translational Motion
For motion of the body in the x-y plane,
Fx = m(aG)x
Fy = m(aG)y

Equation of Rotational Motion
Point P coincides with the mass center G for the
body
Therefore,
yx 0
M G IGof motion states that the

This rotational equation
sum of the moments of all the external forces
computed about the bodys center of mass G is
equal to the product of the moment of inertia of
the body about an axis passing through G and the
bodys angular acceleration

(aG ) x y (a P ) x x 2
(aG ) y x (a P ) y y 2
Simplifying,
M P ym(aG ) x x m(aG ) y I G
When moments of external forces are summed
about point P, they are equivalent to the sum
of the kinetic moments of the components
maG about P plus the kinetic moment of IG

When the kinetic moment is computed,
the vectors (maG)x and (maG)y are treated
as sliding vectors, that is, they can act at
any point
maG and IG are not the same as a force
or a couple moment
Instead, they are caused by the external
effects of forces and couple moments
acting on the body
7.3 Equations of Motion: Translation

Rectilinear Translation
When a body is subjected to rectilinear
translation, all the particles of the body
(slab) travel along parallel straight line
paths
Since IG = 0, only maG is shown on the
kinetic diagram.

For equations of motion,
Fx m(aG ) x
Fy m(aG ) y
MG 0
The last equation requires the sum of the
moments of all the external forces (and
couple moments) computed about the
bodys center of mass to be zero
To sum the moments of other points on or off
the body, maG must be taken into account

Example
If point A is chosen, which lies on a perpendicular
distance d from the line of action of maG, the
following equation applies
MA = Mk)A;
MA = (maG)d
Hence, the sum of the moments of all the
external forces and couple moments about A
(MA, FBD) equals to the moment of maG about A
((Mk)A, kinetic diagram)

Curvilinear Translation
When a rigid body is subjected
to curvilinear translation, all the
particles of the body travel
along parallel curved paths
Use an coordinate system
having an origin, which is
coincident with the bodys mass
center at the instant
considered, and axes orientated
in the normal and tangential
directions to the path of motion

For the equations of motion,
Fn m(aG ) n
Ft m(aG )t
MG 0
Here, the (aG)t and (aG)n represent the

magnitudes of the tangential and normal
components of acceleration of point G
For moment summation about the arbitrary
point B, it is necessary to account for the
(Mk)B of (aG)t and (aG)n about this point

From the kinetic diagram, h and
e represent the perpendicular
distances (or moment arms)
from B to the lines of action of
the components
The required moment equation
becomes
MB = Mk)B;
MB = e[m(aG)t] - h[m(aG)n]

Procedure For Analysis
FBD
Establish the x, y, a or n, t inertial coordinate
system and draw the FBD to account for all
the external forces and couple moments that
act on the body
Direction and sense of the acceleration of the
bodys mass center should be established
Identify the unknowns
If the rotational equation of motion is to be
used, consider kinetic diagram

Equations of Motion
Apply the three equations of motion in
accordance with the established sign
convention
To simplify the analysis, the moment equation
can be replace by a more general equation
about P where point P is usually located at the
intersection of the lines of action of as many
unknown forces as possible
If the body is in contact with a rough surface
and slipping occurs, use the frictional equation

Kinematics
To determine velocity and position of the body
For rectilinear translation with variable acceleration,
aG dvG / dt
aG dsG vG dvG
vG dsG / dt
For rectilinear translation with constant

acceleration,
vG (vG ) O aG t vG2 (vG )O2 2aG [ sG ( sG ) O ]
1
sG ( sG ) O (vG ) O t aG t 2
2
For curvilinear
translation,
2
2
(aG ) n vG /
(aG ) t dvG / dt (aG ) t dsG vG dvG
(aG ) t

Example 7.5
The car has a mass of 2Mg and a center of mass
at G. Determine the cars acceleration if the
driving wheels in the back are always slipping,
whereas the front wheel freely rotate. Neglect the
mass of the wheels. The coefficient of kinetic
friction between the
wheels and the road
is k = 0.25.

Solution
Section I
FBD
The rear wheel frictional force pushes the car
forward, and since slipping occurs, FB = 0.25NB
Frictional forces acting on the
front wheels = 0m, since these
wheels have negligible mass
Car (point G) is assumed to
accelerate to the left, in the
negative x direction

Solution
Section I
Equations of Motion
Fx m(aG ) x ;
0.25 N B (2000kg )aG

Fy (aG ) y ;
N A N B 2000(9.81) N 0
M G 0;
N A (1.25m) 0.25 N B (0.3m) N B (0.75m) 0
Solving,
aG 1.59m / s 2 N A 6.88kN
N B 12.7 kN

Solution
Section II
FBD
Apply moment equation at
point A, unknown NA will be
eliminated from the
equation
Use the kinetic diagram o
visualize the moment at A

Solution
Section II
Equations of Motion
A M A;
N B (2m) 2000(9.81) N (1.25m) (2000kg )aG (0.3m)
Solve and proceed with Section I equations

Example 7.6
The motorcycle has a mass of 125kg and a center
of mass at G1, while the rider has a mass of 75kg
and a center of mass at G2. Determine the
minimum coefficient of static friction between the
wheels and the pavement in order for the rider to
do a wheely ie, lift the front wheel off the
ground
as shown. What acceleration is necessary to do
this? Neglect the mass of wheels and assume that
the front wheel is free to roll.

Example 7.6

Solution
FBD and Kinetic Diagrams
Consider both the motorcycle and the rider as
the system to be analyzed
Determine center of mass, however, consider
the separate weight and mass of each of its
components parts
Both parts move with same acceleration
Assume that the front wheel is about to leave
the ground so that normal reaction NA 0
Three unknowns NB, FB and aG

Solution

Solution
Equations of Motion
Fx m(aG ) x ;
FB (75kg 125kg )aG
Fy (aG ) y ;
N B 735.75 N 1226.25 N 0
B ( M k ) B ;
(735.75 N )(0.4m) (1226.25 N )(0.8m) (75kg aG )(0.9m)
(125kg aG )(0.6m)

Solution
Equations of Motion
Solving
aG 8.95m / s 2
N B 1962 N
FB 1790 N
For minimum coefficient of static friction

( s ) min FB / N B 1790 N / 1962 N 0.912

Example 7.7
A uniform 50-kg crate rest on a horizontal
surface
for which the coefficient of kinetic friction is
0.2.
determine the acceleration if a force of P =
600N is
applied to the crate.

Solution
FBD
Force P can cause the crate
to either slide or to tip over
Assume that the crate slides
so that F = kNC = 0.2NC
Resultant force NC acts at O, a
distance x where
0 < x 0.5m
from the crates center line
Three unknowns NC, x and aG

Solution
Equations of Motion
Fx m(aG ) x ;
600 N 0.2 N C (50kg )aG
Fy (aG ) y ;
N C 490.5 N 0
G 0;
600 N (0.3m) N C ( x) N C (0.5m) 0

Solution
Equations of Motion
Solving
aG 10.0m / s 2
N C 490 N
x 10.467 m
x < 0.5m, the crates slides as assumed

If x > 0.5m, problem would be reworked
with the assumption that the crates tips
In that case, NC acts at corner point A and F
0.2NC

Example 7.8
The 100kg beam is supported by two rods
having
negligible mass. Determine the force created
in
each rod if at the instant = 30 and =
6rad/s.

Solution
FBD
Beam moves with curvilinear translation
since points B, D and the center of mass
all move along circular paths, each path
having the same radius of 0.5m
Using normal and tangential coordinates,
the FBD for the beam is shown
Because of translation, G has the same
motion as the pin at B, which is connected
to both the rod and the beam

Solution
FBD
By studying the angular motion of AB, the
tangential component of accelerations acts
downward to the left due to the clockwise
direction of
Normal component of acceleration is
always directed towards the center of
curvature (towards point A for rod AB)
Since angular velocity of AB is 6 rad/s,
(aG)n = 2r = (6 rad/s)2(0.5m) = 18m/s2

Solution
FBD
Three unknowns TB, TD and (aG)t

Solution
Equations of Motion
Fn m(aG ) n ;
TB TD 981 cos 30 N 100kg (18m / s 2 )
Ft (aG ) t ;
981sin 30 100kg (aG )t
G 0;
(TB cos 30 )(0.4m) (TD sin 30 )(0.3m) 0

Solution
Equations of Motion
Solving
TB TD 1.32kN
(aG ) t 4.90m / s
7.4 Equations of Motion:

Rotation about a Fixed Axes
Consider the rigid body (slab) which is
constrained to rotate in the vertical plane
about an fixed axis perpendicular to the
page and passing through the pin at O
Angular velocity and angular
acceleration are caused by
the external force and couple
moment system acting on
the body

FBD and Kinetic diagram of
the body
Weight of the body, W = mg
and the pin reaction FO are
included in the FBD since
they represent the external
forces acting on the body
The m(aG)t and m(aG)n are
the tangential and normal
components of the bodys
mass center

These vectors act in the same direction
as the acceleration components and
have the magnitude m(aG)t and m(aG)n
The IG vector acts in the same
direction as and has the magnitude of
IG, where the IG is the bodys moment
of inertia calculated about an axis
which is perpendicular to the page and
passing through G
For equations of motion,
Fn m(aG ) n m 2 rG , Ft m(aG )t mrG , M G IG

The moment equation may be replaced
by a moment summation about any
arbitrary point P on or off the body
provided one accounts for the moments
(Mk)P produced by IG, m(aG)t and
m(aG)n about the point
Sum the moments about the pin at O to
eliminate unknown force FO
From the kinetic diagram,
O ( M k ) O ; O rG m(aG ) t I G

Note the moment of m(aG)n is not included in the
summation since its line of action passes through
the point O
From the parallel axis theorem, the term represent
the moment of inertia of the body about the fixed
axis of rotation passing through O
Fn m(aG ) n m 2 rG
Ft m(aG ) t mrG
M O I O
IO accounts for the moment of both m(aG)t and
IG about point O

Procedure for Analysis
FBD
Establish the x, y or n, t coordinate system
and specify the direction or sense of the
accelerations and the angular acceleration
of the body
Draw the FBD to account for all the external
forces and couple moments that act on the
body
Compute the moments of inertia

FBD
If the rotational equation of motion is used,
draw the kinetic diagram for better
visualization
Equations of Motion
convention
If the moments are summed about the center
of mass, G, MG = IG since (maG)t and (maG)n
create no moment about G

Kinematics
Use kinematics if a complete solution cannot
be obtained strictly from the equations of
motion
If angular acceleration is variable, use
= d/dt
d = d
= d/dt
If the angular acceleration is constant, use
= O + Ct
= O + O t + Ct2
2 = 2O + 2C( O)

Example 7.9
The 30kg disk is pin supported at its center, if it
starts from rest, determine the number of
revolutions it must make to attain an angular
velocity of 20 rad/s. also, what are the reactions at
the pin? The disk is acted upon by a constant force
F = 10N, which is applied to a cord wrapped
around its periphery, and a constant moment
couple moment M = 5N.m. Neglect the mass of
cord in the calculation.
7.4 Equations of Motion: Rotation

about a Fixed Axes

Solution
FBD
Mass center is not subjected to
an acceleration
Disk has a CW angular
acceleration
For moment of inertia of the pin,
IO = mr2 = (30kg)(0.2m)2
= 0.6kg.m2
Three unknowns, Ox, Oy and

Solution
Equations of Motion
Fx m(aG ) x ;
Ox 0
Fy m(aG ) y ;
O y 294.3 N 10 N 0
O y 304 N
M O I O ;
10 N (0.2m) 5 N .m (0.6kg.m 2 )
17.1rad / s 2

Solution
Kinematics
2 O2 2 C ( O )
(20rad / s 2 ) 0 (11.7 rad / s 2 )( 0)
1rev
2.73rev (CW )
2rev
17.1rad

Example 7.10
The 20kg slender rod is rotating in the
vertical
plane, and at the instant, has an angular
velocity of
= 5 rad/s. Determine the rods angular
acceleration and the horizontal and vertical
components of reaction at the pin at this
instant.

Solution
FBD and Kinetics Diagrams
Point G moves in a circular
path and so has two
components of acceleration
Tangential component acts
downwards since it must be in
accordance with the angular
acceleration of the rod
Three unknowns On, Ot and

Solution
Equations of Motion
Fn m 2 rG ;
On (20kg )(5rad / s ) 2 (1.5m)
Ft mrG ;
Ot 20(9.81) N (20kg )( )(1.5m)
M G I G ;
Ot (1.5m) 60 N .m [1 / 2(20kg )(3m) 2 ]

Solution
Equations of Motion
Solving,
On 750 N
Ot 19.0 N
5.90rad / s 2

Example 7.11
The drum shown has a mass of 60kg and a radius
of gyration kO = 0.25m. A cord of negligible mass
is
wrapped around the periphery of
the drum and attached to a block
having a mass of 20kg. If the
block is released, determine the
drums angular acceleration.

Solution
Method 1
Consider the drum and block
separately
Assuming the block accelerates
downward at a, it creates a CCW
angular acceleration of the
drum
For moment of inertia of the
drum,
I mk 2 (60kg )(0.25m) 2 3.75kg.m 2
O
Five unknowns, Ox, Oy, T, a and

Solution
Equations of Motion
M O I O ;
T (0.4m) (3.75kg.m 2 )
Fy m(aG ) y ;
20(9.81) N T 20a

Solution
Kinematics
a r ;
a (0.4)
Solving,
T 106 N
a 4.52m / s 2
11.3rad / s 2

Solution
Method 2
Tension T is eliminated
from the analysis by
considering the drum
and block as a single
system
Moments will be
summed about point O

Solution
Equations of Motion
O ( M k ) O ;
20(9.81) N (0.4m) (3.75kg.m 2 ) [20kg (0.4m )](0.4m)
11.3rad / s 2

Example 7.12
The unbalanced 25kg flywheel has a radius
of
gyration of kG = 0.18m about an axis passing
through its mass center G. if it has
angular velocity of 8 rad/s at
the instant, determine the
horizontal and vertical
components of reaction at the
pin O.

Solution
Since G moves in a circular
path, it will have both normal
and tangential components of
acceleration
, which is caused by the
flyweights weight, acts CW, the
tangential component of
acceleration will act downward

Solution
For moment of inertia of the flywheel about
its mass center,
I G mkG2 (25kg )(0.18m) 2 0.18kg.m 2
Three unknowns, On, Ot and

Solution
Equations of Motion
Fn m 2 rG ;
On ( 25kg )(8rad / s ) 2 (0.15m)
Ft mrG ;
On 25(9.81) N ( 25kg )( )(0.15m)
M G I G ;
12.0 N .m Ot (0.15m) (0.81kg.m 2 )

Solution
Equations of Motion
Solving,
On 240 N
Ot 193.2 N
114 .2rad / s 2

Example 7.13
The slender rod has a mass m and
length l and is release from rest
when = 0. Determine the
horizontal and vertical components
of force which the pin at A exerts
on the rod at the instant = 90.

Solution
FBD
acts CW
For moment of inertia
of the rod about point
A
1 3
I A ml
3

Solution
Equations of Motion
Fn m 2 rG ;
An mg sin m 2 (l / 2)
Ft mrG ;
At mg sin m (l / 2)
M A I A ;
1 2
mg cos (l / 2) ml
3

Solution
Kinematics
d d
when 90 , d (1.5 g / l ) cos d

when 0, 0 ,
90
d (1.5 g / l ) cosd
2 3g / l

Solution
Kinematics
Solving
An 2.5mg
At 0

General Plane Motion
Consider rigid body subjected to general
plane motion caused by the externally
applied force and couple-moment system
If an x and y coordinate system is chosen,
for equations of motion,
Fx m(aG ) x
Fy m(aG ) y
G I G

Summing moments about point P other than

G, for equations of motion,
Fx m(aG ) x , Fy m(aG ) y , P ( M k ) P

Frictional Rolling Problems
Involves wheels, cylinder or bodies of
similar shapes, which roll on a rough
surface
Because of applied loadings, it may not
known if the body rolls without slipping,
or if slides as it rolls
Consider the homogenous disk
which has a mass m and is
subjected to a known horizontal
force P

Frictional Rolling Problems
FBD
Since aG is directed to the right and is
clockwise
Fx m(aG ) x ; P F maG
Fy m(aG ) y ; N mg 0
G I G ; Fr I G
A fourth equation is needed

since there are 4 unknowns

No Slipping
If the frictional force F is great enough to
allow the disk to roll without slipping,
aG = r
The assumption of no slipping must be
checked when a solution is obtained
No slipping occurs provided F sN
However, if F > sN, the problem must be
reworked, the disk slips as it rolls

Slipping
In case of slipping, and aG are
independent of one another
Magnitude of the frictional force is related
to the magnitude of the normal force using
the coefficient of friction
F = kN
Necessary to maintain consistency in the
directional sense of the vectors
aG must be directed to the right when is
clockwise, since the rolling motion allows it

Slipping
F must be directed to the left to prevent
the assumed slipping motion to the right
However, if the equations are not used
for solving for a solution, any directional
sense of the vectors can be used

FBD
Establish the x, y coordinate system
and draw the FBD for the body
Specify the direction and sense of the
acceleration of the mass center and the
angular acceleration of the body
Compute the moment of inertia

FBD
If it is decided that the rotational
equation of motion is to be used,
consider drawing the kinetic diagram in
order to help visualize the moments
Equations of Motion
convention

Equations of Motion
When friction is present, there is the
possibility for motion with no slipping or
tipping
Kinematics
Use kinematics if a complete solution
cannot be obtained strictly from the
equations of motion

Kinematics
If the bodys motion is constrained due
t its supports, additional equations may
be obtained by using aB = aA + aB/A,
which relates the acceleration of any
two points A and B on the body
When a wheel, disk, cylinder or ball
rolls without slipping, then aG = r

Example 7.14
The spool has a mass of 8kg and
has a radius of gyration of kG =
0.35m. If the cords of negligible
mass are wrapped around the
inner
hub and outer rim as shown,
determine the spools angular
acceleration.

Solution
Method 1
FBD
100N force causes aG to act
upward
acts CW, since the spool
winds around the cord at A
3 unknowns T, aG and
For moment of inertia of
spool about
its mass
center2
2
2
IG mkG (8kg )(0.35m) 0.980kg.m

Solution
Equations of Motion
Fy m(aG ) y ;
T 100 N 78.48 N (8kg )aG
M G I G ;
100 N (0.2m) T (0.5m) (0.980kg.m )
2

Solution
Kinematics
a r ;
a (0.5)
Solving,
T 19.8 N
aG 5.16m / s 2
10.3rad / s 2

Solution
Method 2
Equations of Motion
A ( M k ) A ;
100 N (0.7 m) 78.48 N (0.5m) (0.980kg.m 2 ) [(8kg )aG ](0.5m)
10.3rad / s 2

Example 7.15
The 25kg wheel has a radius of gyration of kG
=
0.2m. If a 50N.m couple moment is applied
to the
wheel, determine the acceleration of its mass
center G. the coefficients of static and kinetic
friction between the wheel and
the plane at A are s = 0.3 and
k = 0.25 respectively.

Solution
FBD
Couple moment causes the
wheel to have a CW angular
acceleration of
Acceleration of the mass center
aG is directed to the right
4 unknowns NA, FA, aG and
For moment of inertia,
I G mkG2 (25kg )(0.2m) 2 1.0kg.m 2

Solution
Equations of Motion
Fx m(aG ) x ;
FA (25kg )aG
Fy m(aG ) y ;
N A 25(9.81) 0
M G I G ;
50 N .m 0.4m( FA ) (1.0kg.m 2 )

Solution
Kinematics (No slipping)
a r ;
a (0.4)
Solving,
N A 245.25 N
FA 100 N
aG 4.0m / s 2
10.0rad / s 2

Solution
100N > 0.3(245.25N) = 73.6N
Kinematics (Slipping)
FA 0.25 N A
Solving,
N A 245.25 N
FA 61.31N
aG 2.45m / s 2
25.5rad / s 2

Example 7.16
The uniform slender pole has a mass of 100kg and
a moment of inertia IG = 75kg.m2. If the coefficient
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 400N horizontal force is applied.
The pole is originally at rest

Solution
FBD
Path of motion of the mass center G will be
along an unknown curved path having a
radius of , which is initially parallel to the y
axis
No normal or y component since the
pole is originally at rest
vG = 0 so that (aG)y = vG2/ = 0
Assume mass center accelerates to
the right and the pole has a CW
angular acceleration of
4 unknowns NA, FA, aG and

Solution
Equations of Motion
Fx m(aG ) x ;
400 N FA (100kg )aG
Fy m(aG ) y ;
N A 981N 0
M G I G ;
FA (1.5m) 400 N (1m) (75kg.m 2 )

Solution
Kinematics (No slipping)
a r ;
a (1.5)
Solving,
N A 981N
FA 300 N
aG 1m / s 2
0.667 rad / s 2

Solution
300N > 0.3(981N) = 294N (Slips at A)
Kinematics (Slipping)
FA 0.25 N A
Solving,
N A 981N
FA 245 N
aG 1.55m / s 2
0.428rad / s 2

Example 7.7
The 30kg wheel has a mass center at G and
has a
radius of gyration kG = 0.15m. If the wheel
is
originally at rest and released,
determine its angular
acceleration. No slipping
occurs.

Solution
FBD
Point G moves along a curved
4 unknowns NA, FA, (aG)x, (aG)y
and
For moment of inertia,
I G mkG2 (25kg )(0.15m) 2
0.675kg.m 2

Solution
Equations of Motion
A ( M k ) A ;
30(9.81) N (0.1m)
(0.675kg.m 2 ) 30kg (aG ) x (0.25m) 30kg (aG ) y (0.1m)

Solution
Kinematics
a r ;
a (0.25)
0
Applying acceleration from point O to point

2
aG,
x
r
rG / O
G
O
G /O
(aG ) x i (aG ) y j (0.25)i (k 4) x( 0.1i ) 0
aG ) x (0.25)
(Solving,
(aG ) y (0.1)

Solution
Solving,
FA 77.4 N
N A 263 N
10.3rad / s 2
(aG ) x 2.58m / s 2
(aG ) y 1.03m / s 2

Dynamics Chapter 7

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DYNAMICS

7.1 Planar Kinetics of a Rigid Body: Force and

7.1 Planar Kinetics of a Rigid Body: Force and

7.1 Planar Kinetics of a Rigid Body: Force and

7.1 Planar Kinetics of a Rigid Body: Force and

Third integral represents the total mass

7.1 Planar Kinetics of a Rigid Body: Force and

7.1 Planar Kinetics of a Rigid Body: Force and

7.1 Planar Kinetics of a Rigid Body: Force and

IG for each part is computed by integration

7.1 Planar Kinetics of a Rigid Body: Force and

7.1 Planar Kinetics of a Rigid Body: Force and

7.1 Planar Kinetics of a Rigid Body: Force and

Mass center is located 0.25m from point O

7.1 Planar Kinetics of a Rigid Body: Force and

7.1 Planar Kinetics of a Rigid Body: Force and

7.1 Planar Kinetics of a Rigid Body: Force and

7.1 Planar Kinetics of a Rigid Body: Force and

For rod BC,

For moment of inertia of the pendulum

7.1 Planar Kinetics of a Rigid Body: Force and

By parallel axis theorem to transfer moments

7.2 Planar Kinetics Equations of Motion

7.2 Planar Kinetics Equations of Motion

7.2 Planar Kinetics Equations of Motion

7.2 Planar Kinetics Equations of Motion

7.2 Planar Kinetics Equations of Motion

M G IGof motion states that the

7.2 Planar Kinetics Equations of Motion

7.2 Planar Kinetics Equations of Motion

7.3 Equations of Motion: Translation

7.3 Equations of Motion: Translation

7.3 Equations of Motion: Translation

7.3 Equations of Motion: Translation

7.3 Equations of Motion: Translation

Here, the (aG)t and (aG)n represent the

7.3 Equations of Motion: Translation

7.3 Equations of Motion: Translation

7.3 Equations of Motion: Translation

7.3 Equations of Motion: Translation

For rectilinear translation with constant

(aG ) t dvG / dt (aG ) t dsG vG dvG

7.3 Equations of Motion: Translation

7.3 Equations of Motion: Translation

7.3 Equations of Motion: Translation

0.25 N B (2000kg )aG

7.3 Equations of Motion: Translation

7.3 Equations of Motion: Translation

7.3 Equations of Motion: Translation

7.3 Equations of Motion: Translation

7.3 Equations of Motion: Translation

7.3 Equations of Motion: Translation

7.3 Equations of Motion: Translation

7.3 Equations of Motion: Translation

For minimum coefficient of static friction

7.3 Equations of Motion: Translation

7.3 Equations of Motion: Translation

7.3 Equations of Motion: Translation

7.3 Equations of Motion: Translation

x < 0.5m, the crates slides as assumed

7.3 Equations of Motion: Translation

7.3 Equations of Motion: Translation

7.3 Equations of Motion: Translation

7.3 Equations of Motion: Translation