CH 08

8.
4 General Motion Of and On Three-Dimensional Bodies

89
8.4.1
GOAL: Determine the angular velocity and acceleration of one arm of the illustrated mechanism.
GIVEN: Constant angular velocity of inner arm, and constant angular velocity of outer arm with
respect to inner arm
DRAW: The gure shows the mechanism with the original coordinate axes and some newly at-
tached unit vectors. Unit vectors

,

,

k are aligned with the ground-xed X, Y, Z axes. Unit
vectors

b
1
,

b
2
,

b
3
are attached to the inner arm OA.
FORMULATE EQUATIONS: Well use the expressions for angular velocity and acceleration
on a rotating body.
SOLVE: The angular velocity of arm AB is equal to the angular velocity of arm OA plus the
relative angular velocity of arm AB with respect to arm OA. The angular velocity of OA is

k ,
and the relative angular velocity of AB with respect to OA is
b
2
. Thus:
AB
=

b
2
(1)
This can be written is the

b-frame as:
AB
=

b
3
b
2
To determine the angular acceleration of AB we can dierentiate (1):
AB
=
d
dt
AB
=
d
dt
_

b
2
_
=

k
..
=0
+

_
d
dt
k
_
. .
=0
b
2
..
=0
_
d
dt
b
2
_
Since the angular speeds are constant, and
k is xed in space, the only term remaining is
_
d
dt
b
2
_
.
The tip of unit vector

b
2
sweeps in the
b
1
direction with speed

. So we have:
AB
=
_
d
dt
b
2
_
=
b
1
)
AB
=

b
1
90
Alternatively, we could have used the expression:
d
dt
AB
=
d
dt
AB
+

OA
AB
= 0 +

k (

b
2
) =

b
1
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91
8.4.2
GOAL: Determine the angular velocity of a rotating disk.
GIVEN: Inner shafts angular velocity and the angular velocity of the disk with respect to the
shaft.
DRAW:
FORMULATE EQUATIONS: Well use the expression for angular velocity on a rotating body.
SOLVE: The angular velocity of the disk D is equal to the angular velocity of inner shaft AB plus
the relative angular velocity of disk D with respect to shaft AB. The angular velocity of AB is
, and the relative angular velocity of disk to shaft is

2
. Thus:
D
=
2
92
8.4.3
GOAL: Determine the angular acceleration of a rotating caster.
GIVEN: Angular velocity of the casters frame is
1
b
3
and the angular velocity of the caster with
respect to the frame is
2
b
1
.
DRAW:
FORMULATE EQUATIONS: Well use the expression for acceleration on a rotating body:
d
dt
C
=
d
dt
C
+

C
(1)
SOLVE: The caster C has a constant rotation rate with respect to the frame F and so (1) simplies
to
d
dt
C
=

C
=
1
b
3
(
2
b
1
) =
1
b
2
C
=
1
b
2
93
8.4.4
GOAL: Determine the angular velocity and acceleration of one wheel of the illustrated mechanism.
GIVEN: Angular velocity of the three-armed body is given by

T
= 2
rad/s. h = 0.1 m and

r = 0.004 m.
DRAW: The gure shows the mechanism with ground-xed

,

,

k unit vectors as well

b
1
,

b
2
,

b
3
(xed to the rotating body T).
ASSUME: Well assume that the wheels roll without slip on the bottom of the microwave oven.
on a rotating body.
SOLVE: The angular velocity of the wheel A is equal to the angular velocity of arm three-arm
body (T) plus the relative angular velocity of wheel A with respect to the body. The angular
velocity of the three arm body is 2
rad/s = 2
b
2
rad/s (
and

b
2
are identical for this problem).
The wheel rolls without slip and can nd the wheels angular velocity by determining the speed of
the wheel As center (G
A
) and then using
v
C
=

v
G
A
+

r
C
/
G
A
Applying the no-slip constraint that

v
C
= 0 will get us the angular velocity information we need.
Well assume that the wheel A is rotating with respect to T with angular speed

.
v
A
= (2
b
2
rad/s)(0.1
b
1
m) = 0.2
b
3
m/s
v
C
=

v
A
+

v
C
/
A
= 0.2
b
3
m/s +

A
(r
b
2
)
= 0.2
b
3
m/s + (

b
1
+ 2
b
2
)(r
b
2
)
= 0.2
b
3
m/s r

b
3
Applying the no-slip constraint that

v
C
= 0 gives us
=
0.2 m/s
r
=
0.2 m/s
0.004 m
= 50 rad/s
Thus we have
A
= (50
b
1
+ 2
b
2
) rad/s
A
=
d
dt
(
A
) =
_
50
d
dt
b
1
+ 2
d
dt
b
2
_
rad/s =
_
50(2
b
3
rad/s)
_
rad/s
A
= 100
b
3
rad/s
2
94
95
8.4.5
GOAL: Compute the angular acceleration of a bicycle wheel as a bicyclist travels a circular path.
GIVEN: Radius of wheel, its inclination from vertical, time for the bicyclist to complete one full
circle, and forward speed of bicyclist.
DRAW:
The x, y, z coordinate frame, with corresponding unit vectors

b
1
,

b
2
,

b
3
is xed to the frame of the
bicycle. The

,

,

k unit vectors are xed to the inertial ground frame. The relationship between
these two sets of unit vectors is:
b
1
cos 0 sin
b
2
0 1 0
b
3
sin 0 cos
ASSUME: We assume that the given 25 mph speed is that of the contact between the wheel and
ground as it travels a circular path along the ground. This neglects the small variations in forward
velocity that result from the inclination angle of the bike and the bicyle/riders dimensions. (e.g.
Since the bicyclists center of mass travels a smaller circle than the center of the wheel, the forward
velocities of each would be slightly dierent.)
of a rotating body.
SOLVE: First we need to determine the two angular rates; that of the bicyclist about the center
of the circular path, and that of the wheel about its center. Since the bicyclist completes one full
circle in 6 s, we have:
=
2 rad
6 s
=

3
rad/s
The angular speed of the wheel about its center will be the forward speed of the wheel divided by
its radius:
=
25 mph
13 in
=
440 in/s
13 in
= 33.8 rad/s
These angular rates are constant.
The angular velocity of the bicycle about the center of the path is
, and the angular velocity

of the wheel with respect to the frame of the bicycle is

b
3
. The total angular velocity of the
wheel is the sum of these:
b
3
96
The wheels angular acceleration may be computed from:
=
d
dt
Body
=
d
dt
Body
+

Body
=
d
dt
xyz
(
b
3
) + (
)(
b
3
)
= 0 +

b
3
)
From the transformation matrix, the unit vector

is
= cos
b
1
sin
b
3
Thus

(cos
b
1
sin
b
3
)
b
3
=

cos
b
2
=
_
3
rad/s
_
(33.8 rad/s) cos 30
b
2
= 30.7

b
2
rad/s
2
97
8.4.6
GOAL: Determine the angular acceleration of a persons forearm.
GIVEN: Time for the arm segments to reach given congurations. Body geometry.
DRAW:
d
dt
BC
=
d
dt
BC
+

BC
(1)
where F indicates a rotating frame of reference that is rotating at the same speed as AB.
SOLVE:
BC
=
1
b
1
+
2
b
2
Were given that the two arm segments change orientation by

2
rad in 1 s and so have
1
=
2
rad/s,
2
=

2
rad/s
The rotation rates are constant so our angular acceleration expression simplies to
BC
=
d
dt
BC
=

BC
=
1
b
1
(
1
b
1
+
2
b
2
)
=
1
b
3
BC
= (
2
rad/s)(
2
rad/s)
b
3
=
2
4
b
3
rad/s
2
98
8.4.7
GOAL: Determine a forearms angular acceleration for 0 t 1 s.
GIVEN: Rotational information with regard to the arm segments and body geometry.
DRAW:
d
dt
BC
=
d
dt
BC
+

BC
(1)
where F indicates a rotating frame of reference that is rotating at the same speed as AB.
SOLVE: The arm segment AB alters orientation by

2
rad in 1 s and so we have
AB
=
1
b
1
=
b
1
rad/s
BC rotates with a constant angular acceleration relative to AB such that after starting from rest
it has moved

2
rad after 1 s. Denoting its relative rotation angle with , we have
=

2
rad =
1
2
t
2

=
2(/2)
(1 s)
2

= rad/s
2
We can now use our formula for the derivative of a vector in a rotating body:
BC
=
d
dt
BC
+

BC
=

b
2
+
1
b
1
(
1
b
1
+ (
t)
b
2
)
=

b
2
+
1
b
3
BC
=
b
2
rad/s
2
2
2
b
3
rad/ s
3
_
t
99
8.4.8
GOAL: Determine the angular velocity and angular acceleration of the forearm segment during a
given motion of the arm.
GIVEN: Position of the forearm and upper arm at times t = 0 and t = 1 s, and the fact that the
angular speeds of the segments are constant.
DRAW: The gures show the arm at times t = 0 and t = 1 s. The unit vectors

b
1
,

b
2
,

b
3
, xed to
the upper arm, are shown along with the inertial x, y, z axes. At time t = 1 s, = 90
and = 45
.
FORMULATE EQUATIONS: Well use the formulas for the angular velocity and acceleration
of a rotating body.
SOLVE: Since the angular speeds are constant, we can determine the values by dividing the change
in angle by the change in time:
=

t
=
/4 rad
1 s
=

4
rad/s
=

t
=
/2 rad
1 s
=

2
rad/s
The angular velocity of the forearm is the angular velocity of the upper arm plus the angular
velocity of the forearm with respect to the upper arm:
BC
=

AB
+

BC/AB
=
b
1
+

b
3
BC
=
b
1
+

4
b
3
rad/s
The angular acceleration is thus:
BC
=

BC
=
d
dt
_
b
1
+

4
b
3
_
=
2

b
1
+

4

b
3
= 0 +

4
_
b
2
_
BC
=

2
8
b
2
rad/s
2
100
Alternatively,
BC
=
d
dt
AB
BC
+

AB
BC
=
d
dt
AB
_
b
1
+

4
b
3
_
. .
=0
+
_
b
1
b
1
+

4
b
3
__
=

2
8
b
2
rad/s
2
101
8.4.9
GOAL: Find the angular velocity of the central box C in a dierential.
GIVEN:

v
A
= 2
k m/s,

v
B
= 3
k m/s. r
1
= 0.2 m, r
2
= 0.3 m, d = 0.5 m.
DRAW:
FORMULATE EQUATIONS: Well use the equations for nding velocities on rotating bodies.
SOLVE: All bodies in the dierential have two rotational degrees of freedom, which are in the

and

directions. No rotation is allowed in the

k direction, as both wheels remain in contact with
the ground. Let
A
=
A
1
+
A
2
B
=
B
1
+
B
2
C
=
C
1
+
C
2
G
3
=
G
31
+
G
32
G
4
=
G
41
+
G
42
By the geometric constraints,

A
2
=
B
2
=
C
2
, and
G
31
=
G
41
=
C
1
.
We begin by computing the angular velocities of wheels A and B from the given linear velocities
and the rolling constraint.

v
A
,

v
B
refer to the velocity of the centerpoints of the two wheels,
respectively, and

A
,

B
refer to the angular velocity of the wheels themselves. The wheels have
two angular velocity components, one in the

direction and another in the

direction (due to the
lefthand turn).
v
A
=

r
A
/
G
v
B
=

r
B
/
H
v
A
k = (
A
1
+
A
2
)r
2
v
B
k = (
B
1
+
B
2
)r
2

A
1
= v
A
/r
2

B
1
= v
B
/r
2
The above yields:
A
1
=
2 m/s
0.3 m
= 6.
6 rad/s
B
1
=
3 m/s
0.3 m
= 10 rad/s
To determine the

components of the wheel angular velocities well use the relative motion of B
with respect to A (in this case point A can be considered an extended point of wheel B):
v
B
=

v
A
+

r
B
/
A
v
B
k = v
A
k + (
B
1
+
B
2
)2d

B
2
=
v
B
+v
A
2d
=
3 m/s 2 m/s
2(0.5 m)
= 1.0 rad/s
102
Thus we have
C
2
=
B
2
=
A
2
= 1.0 rad/s (1)
To nd
C
1
we need to determine the rate at which gears G
3
and G
4
are rotating about axle AB.
Gears G
3
and G
4
roll against gears G
1
and G
2
, and it is this rolling, in addition to the rolling of
the wheels, that determines the

component of

C
. Examining the relative velocities of the gears
with respect to each other and with respect to point O will allow us to nd
C
1
.
v
F
/
O
=

r
F
/
O
= (
C
1
+
C
2
)r
1
=
C
1
r
1
v
F
/
O
=
C
1
r
1
k (2)
Taking a dierent path to F from O:
v
F
/
O
=

v
E
/
O
+

v
F
/
E
= [(
A
1
+
A
2
)(r
1
+r
1
)] + [(
G
31
+
G
32
)r
1
]
= (
A
1
r
1
+
A
2
r
1
G
32
r
1
)
v
F
/
O
= (
A
1
r
1
+
A
2
r
1
G
32
r
1
)
k (3)
Combining (2) and (3), we see that
C
1
=
A
1
+
A
2

G
32
(4)
Taking yet a dierent path:
v
F
/
O
=

v
J
/
O
+

v
F
/
J
= [(
B
1
+
B
2
)(r
1
+r
1
)] + [(
G
31
+
G
32
)r
1
]
= (
B
1
r
1
B
2
r
1
+
G
32
r
1
)
v
F
/
O
= (
B
1
r
1
B
2
r
1
+
G
32
r
1
)
k (5)
C
1
=
B
1

B
2
+
G
32
(6)
Combining (4) and (6), with
A
2
=
B
2
, yields:
C
1
=

A
1
+
B
1
2
(7)
Thus,
C
=
C
1
+
C
2
=
6.
6 rad/s 10 rad/s
2
+ 1.0
rad/s
C
= 8.33
+ 1.0
rad/s
103
8.4.10
GOAL: Find the angular velocity of gear G
2
.
GIVEN:

v
A
= 10
k m/s,

v
B
= 10
k m/s. r
1
= 0.2 m, r
2
= 0.3 m, d = 0.5 m.
DRAW:

and


the ground. Let
A
=
A
1
+
A
2
B
=
B
1
+
B
2
C
=
C
1
+
C
2
G
3
=
G
31
+
G
32
G
4
=
G
41
+
G
42

A
2
=
B
2
=
C
2
, and
G
31
=
G
41
=
C
1
.

v
A
,

v
B
respectively, and

A
,

B


lefthand turn).
v
A
=

r
A
/
G
v
B
=

r
B
/
H
v
A
k = (
A
1
+
A
2
)r
2
v
B
k = (
B
1
+
B
2
)r
2

A
1
= v
A
/r
2

B
1
= v
B
/r
2
The above yields:
A
1
=
10 m/s
0.3 m
= 33.
3 rad/s
B
1
=
10 m/s
0.3 m
= 33.
3 rad/s
To determine the

v
B
=

v
A
+

r
B
/
A
v
B
k = v
A
k + (
B
1
+
B
2
)2d

B
2
=
v
B
+v
A
2d
=
10 m/s + 10 m/s
2(0.5 m)
= 20.0 rad/s
104
Having both
B
1
and
B
2
, and knowing that wheel B is rigidly attached to gear G
2
, we have
G
2
=
1
+
2
= (33.3
+ 20.0
) rad/s
105
8.4.11
GOAL: Find the angular velocity of Gear G
3
.
GIVEN:

v
A
= 10
k m/s,

v
B
= 10
k m/s. r
1
= 0.2 m, r
2
= 0.3 m, d = 0.5 m.
DRAW:

and


the ground. Let
A
=
A
1
+
A
2
B
=
B
1
+
B
2
C
=
C
1
+
C
2
G
3
=
G
31
+
G
32
G
4
=
G
41
+
G
42

A
2
=
B
2
=
C
2
, and
G
31
=
G
41
=
C
1
.

v
A
,

v
B
respectively, and

A
,

B


lefthand turn).
v
A
=

r
A
/
G
v
B
=

r
B
/
H
v
A
k = (
A
1
+
A
2
)r
2
v
B
k = (
B
1
+
B
2
)r
2

A
1
= v
A
/r
2

B
1
= v
B
/r
2
The above yields:
A
1
=
10 m/s
0.3 m
= 33.
3 rad/s
B
1
=
10 m/s
0.3 m
= 33.
3 rad/s
To determine the

v
B
=

v
A
+

r
B
/
A
v
B
k = v
A
k + (
B
1
+
B
2
)2d

B
2
=
v
B
+v
A
2d
=
10 m/s 10 m/s
2(0.5 m)
= 0
106
Thus we have
C
2
=
B
2
=
A
2
= 0 (1)
From the gure it is clear that gear G
3
will have the same angular velocity as the carrier C as well
as an angular velocity with respect to C. Gears G
3
and G
4
1
and G
2
, and it
is this rolling, in addition to the rolling of the wheels, that determines the

component of

C
.
Examining the relative velocities of the gears with respect to each other and with respect to point
O will allow us to nd
C
1
.
v
F
/
O
=

r
F
/
O
= (
C
1
+
C
2
)r
1
=
C
1
r
1
v
F
/
O
=
C
1
r
1
k (2)
v
F
/
O
=

v
E
/
O
+

v
F
/
E
= [(
A
1
+
A
2
)(r
1
+r
1
)] + [(
G
31
+
G
32
)r
1
]
= (
A
1
r
1
+
A
2
r
1
G
32
r
1
)
v
F
/
O
= (
A
1
r
1
+
A
2
r
1
G
32
r
1
)
k (3)
C
1
=
A
1
+
A
2

G
32
(4)
v
F
/
O
=

v
J
/
O
+

v
F
/
J
= [(
B
1
+
B
2
)(r
1
+r
1
)] + [(
G
31
+
G
32
)r
1
]
= (
B
1
r
1
B
2
r
1
+
G
32
r
1
)
v
F
/
O
= (
B
1
r
1
B
2
r
1
+
G
32
r
1
)
k (5)
C
1
=
B
1

B
2
+
G
32
(6)
A
2
=
B
2
, yields:
C
1
=

A
1
+
B
1
2
=
33.3 + 33.3
2
rad/s = 33.3 rad/s (7)
Thus,
C
=
C
1
+
C
2
= 33.3
rad/s
We now have
A
= 33.3
rad/s (8)
B
= 33.3
rad/s (9)
G
3
= 33.3
rad/s +

(10)
107
where

is the rotational speed of Gear G
3
with respect to the carrier C.
We can now apply the formula relating the velocity of two points on a rigid body, the body in
question being gear G
3
.
v
E
=

r
E
/
G
= 33.3
rad/s[(d r
1
)
+ (r
2
+r
1
)
]
= 33.3(r
2
+r
1
)
k rad/s
(11)
v
J
=

r
J
/
H
= 33.3
rad/s[(d r
1
)
+ (r
2
+r
1
)
]
= 33.3(r
2
+r
1
)
k rad/s
(12)
Well now apply
v
J
=

v
E
+

G
3
r
J
/
E
(13)
(11), (12), (13)
33.3(r
2
+r
1
)
k rad/s = 33.3(r
2
+r
1
)
k rad/s + (33.3
rad/s +

)(2r
1
= 0 (14)
(10), (14)

G
3
= 33.3
rad/s
108
8.4.12
GOAL: Find the angular velocity of Gear G
4
.
GIVEN:

v
A
= 0,

v
B
= 6
k m/s. r
1
= 0.2 m, r
2
= 0.3 m, r
3
= 0.3 m, d = 0.5 m.
DRAW:

and


the ground. Let
A
=
A
1
+
A
2
B
=
B
1
+
B
2
C
=
C
1
+
C
2
G
3
=
G
31
+
G
32
G
4
=
G
41
+
G
42

A
2
=
B
2
=
C
2
, and
G
31
=
G
41
=
C
1
.

v
A
,

v
B
respectively, and

A
,

B


lefthand turn).
v
A
=

r
A
/
G
v
B
=

r
B
/
H
v
A
k = (
A
1
+
A
2
)r
2
v
B
k = (
B
1
+
B
2
)r
2

A
1
= v
A
/r
2

B
1
= v
B
/r
2
The above yields:
A
1
=
0 m/s
0.3 m
= 0
B
1
=
6 m/s
0.3 m
= 20 rad/s
To determine the

v
B
=

v
A
+

r
B
/
A
v
B
k = v
A
k + (
B
1
+
B
2
)2d

B
2
=
v
B
+v
A
2d
=
6 m/s 0
2(0.5 m)
= 6 rad/s
109
Thus we have
C
2
=
B
2
=
A
2
= 6 rad/s (1)
From the gure it is clear that gear G
4
will have the same angular velocity as the carrier C as well
as an angular velocity with respect to C. Gears G
3
and G
4
1
and G
2
, and it
is this rolling, in addition to the rolling of the wheels, that determines the

component of

C
.
Examining the relative velocities of the gears with respect to each other and with respect to point
O will allow us to nd
C
1
.
v
F
/
O
=

r
F
/
O
= (
C
1
+
C
2
)r
1
=
C
1
r
1
v
F
/
O
=
C
1
r
1
k (2)
v
F
/
O
=

v
E
/
O
+

v
F
/
E
= [(
A
1
+
A
2
)(r
1
+r
1
)] + [(
G
31
+
G
32
)r
1
]
= (
A
1
r
1
+
A
2
r
1
G
32
r
1
)
v
F
/
O
= (
A
1
r
1
+
A
2
r
1
G
32
r
1
)
k (3)
C
1
=
A
1
+
A
2

G
32
(4)
v
F
/
O
=

v
J
/
O
+

v
F
/
J
= [(
B
1
+
B
2
)(r
1
+r
1
)] + [(
G
31
+
G
32
)r
1
]
= (
B
1
r
1
B
2
r
1
+
G
32
r
1
)
v
F
/
O
= (
B
1
r
1
B
2
r
1
+
G
32
r
1
)
k (5)
C
1
=
B
1

B
2
+
G
32
(6)
A
2
=
B
2
, yields:
C
1
=

A
1
+
B
1
2
=
0 20
2
rad/s = 10 rad/s
Thus,
C
=
C
1
+
C
2
= (10
+ 6
) rad/s
We now have
A
= 6
rad/s (7)
B
= (20
+ 6
) rad/s (8)
G
4
= 10
rad/s + (6 rad/s +

)
(9)
110
where

is the rotational speed of Gear G
4
with respect to the carrier C.
We can now apply the formula relating the velocity of two points on a rigid body, the body in
question being gear G
4
.
v
K
=

r
K
/
G
= 6
rad/s[(d r
1
)
+ (r
2
r
1
)
]
= 6(d r
1
)
k rad/s
(10)
v
L
=

r
L
/
H
= (20
+ 6
) rad/s[(d r
1
)
+ (r
2
r
1
)
]
= [20(r
2
r
1
) + 6(d r
1
)]
k rad/s
(11)
Well now apply
v
L
=

v
K
+

G
4
r
L
/
K
(12)
(10), (11), (12)
[20(r
2
r
1
) + 6(d r
1
)]
k rad/s = 6(d r
1
)
k rad/s + [10 rad/s
+ (6 rad/s +

)
](2r
1
)
20(0.1 m/s) + 6(0.3 m/s) = 6(0.3 m/s) (0.4 m)(6 rad/s +

)
4 rad/s = 0.4

= 10 rad/s (13)
(9), (13)

G
4
= (10
) rad/s
111
8.4.13
GOAL: Determine the highest velocity point on a rolling ice cream cone.
GIVEN: Cone dimensions. Time to make a full circle on the oor is 2 s.
DRAW:
SOLVE: Example 8.4 shows how to determine the angular velocities of a rotating disk on the
end of a bent shaft. The current homework problem can be thought of as precisely the same
problem. The motion of OA will be the same as that of Example 8.4s shaft. From observation
we can deduce that the maximal speed will be found at the point B, the topmost point of the
cone at the pictured instant. From geometry we have = sin
1
(0.25) = 14.48
. |AB| = 1 in and
|OA| =
4
2
1
2
in = 3.873 in
The cone takes 2 s to complete one full rotation around the oor and thus we have
OA
=
2
2 s
= rad/s
The correspondence between our problem and that of Example 8.4 is
cone

W
AO
S
3.873 in L
1
1 in L
2
Substituting these values into the expression for
W
gives us
cone
= ( rad/s)
_
sin
3.873 cos + sin
1
_
c
1
+ ( rad/s) cos
c
3
= (11.78
c
1
+ 3.042
c
3
) rad/s
v
B
=

cone
r
B
/
O
= (11.78
c
1
+ 3.042
c
3
) rad/s(3.873
c
1
+

c
3
) in
v
B
= 23.56
c
2
in/ s
112
8.4.14
GOAL: Show that the angular velocity of a rolling wheel is oriented horizontally.
GIVEN: Wheels angular velocity in terms of unit vectors attached to the wheel.
DRAW:
b
1
b
2
b
3
c
1
cos 0 sin
c
2
0 1 0
c
3
sin 0 cos
FORMULATE EQUATIONS: Well use the angular velocity found in the example:
W
=
S
_
sin
L
1
cos +L
2
sin
L
2
_
c
1
+
S
cos
c
3
SOLVE:
Re-expressing the

c
1
,

c
3
unit vectors in terms of

b
1
,

b
3
gives us
W
=
S
_
sin
L
1
cos +L
2
sin
L
2
_
c
1
+
S
cos
c
3
=
S
_
sin
L
1
L
2
cos sin
_
c
1
+
S
cos
c
3
=
_
L
1
L
2
cos
c
1
+ cos
c
3
_
S
=
Lcos
L
2
_
L
1
L
c
1
+
L
2
L
c
3
_
S
=
Lcos
L
2
[cos
c
1
sin
c
3
]
S
=

S
tan
b
1
113
8.4.15
GOAL: Find the acceleration of point D in the illustrated mechanism.
GIVEN: System geometry.
DRAW:
b
1
b
2
b
3
c
1
cos 0 sin
c
2
0 1 0
c
3
sin 0 cos
ASSUME: The wheel rolls without slip.
FORMULATE EQUATIONS: D is attached to the bent shaft and thus we can view it as a
point on a rotating rigid body. Well use
v
D
=

r
D
/
O
where S indicates the shaft and then dierentiate to nd the acceleration.
SOLVE:
v
D
=
S
b
3
(L
1
cos
b
1
+L
1
sin
b
3
) =
S
L
1
cos
b
2
a
D
=
S
L
1
cos
b
2
+
S
L
1
cos
d
dt
b
2
=
S
L
1
cos
b
2
+
S
L
1
cos (
S
b
1
)
= L
1
cos (
S
b
2
2
S
b
1
)
= L
1
cos [
S
c
2
2
S
(cos
c
1
sin
c
3
)])
a
D
= L
1
cos (
2
S
cos
c
1
+
S
c
2
+
2
S
sin
c
3
)
114
8.4.16
GOAL: Explain what the physical root is for the angular acceleration components of the disk in
Example 8.4.
GIVEN: Angular velocity and acceleration of the disk.
DRAW:
b
1
b
2
b
3
c
1
cos 0 sin
c
2
0 1 0
c
3
sin 0 cos
FORMULATE EQUATIONS: The problem statement involves

b
1
and

b
3
. Well start with the
angular velocity found in the example and re-express it in terms of these unit vectors. Then well
dierentiate to nd the angular acceleration.
SOLVE:
W
is given by
W
=
S
_
sin
L
1
cos +L
2
sin
L
2
_
c
1
+
S
cos
c
3
Re-expressing the

c
1
,

c
3

b
1
,

b
3
gives us
W
=
S
_
sin
L
1
cos +L
2
sin
L
2
_
c
1
+
S
cos
c
3
=
S
_
sin
L
1
L
2
cos sin
_
c
1
+
S
cos
c
3
=
_
L
1
L
2
cos
c
1
+ cos
c
3
_
S
=
Lcos
L
2
_
L
1
L
c
1
+
L
2
L
c
3
_
S
=
Lcos
L
2
[cos
c
1
sin
c
3
]
S
=

S
tan
b
1
We can dierentiate by viewing this as a vector in a rotating reference frame, the frame dened by
the bent shaft. Let S indicate a rotating frame of reference that rotates at the same rate as the
shaft.
115
W
=
d
dt
W
=
d
dt
W
+

W
=
d
dt
S
_

S
tan
b
1
_
+
S
b
3

S
tan
b
1
_
=

S
tan
b
1
2
S
tan
b
2
Both terms depend upon the angular speed and acceleration of the shaft because the wheels
rotation is determined (through a rolling constraint) on the velocity of its center (which is driven
by one end of the rotating shaft).
The rst term,

S
tan
b
1
, arises when dierentiating the angular velocity with respect to the rotat-
ing frame. Physically it corresponds to the usual way wed expect to see an angular acceleration
arise, namely by the shafts rotation rate increasing (or decreasing) so as to create a non-zero
acceleration. If the shaft were to rotate at a constant rate this term would disappear.
The second term,

2
S
tan
b
2
, comes about because the angular velocity (which points in the
b
1
direction) is swept around in a circle as the shaft rotates. The rotation is positive in the

b
3
direction (counter-clockwise when looking down at the system along the
b
3
direction) and this
rotation causes the angular velocity vector to rotate as well, its tip moving in the
b
2
direction.
116
8.4.17
GOAL: Find the acceleration of point C in the illustrated mechanism. L
1
= 10 cm, = 15
shaft
= 3
b
3
rad/s.
DRAW:
b
1
b
2
b
3
c
1
cos 0 sin
c
2
0 1 0
c
3
sin 0 cos
ASSUME: The wheel rolls without slip.
FORMULATE EQUATIONS: Well start with the angular velocity of the wheel, as found in
the example. After re-expressing this in terms of

b
1
,

b
2
,

b
3
well dierentiate to nd

W
. Then, by
viewing the body as rotating about the xed point O, well determine the acceleration using our
rigid body acceleration formula
a
C
=

r
C
/
O
+

r
C
/
O
_
(1)
SOLVE:
W
=
S
_
sin
L
1
cos +L
2
sin
L
2
_
c
1
+
S
cos
c
3
Re-expressing the

c
1
,

c
3

b
1
,

b
3
gives us
W
=
S
_
sin
L
1
cos +L
2
sin
L
2
_
c
1
+
S
cos
c
3
=
S
_
sin
L
1
L
2
cos sin
_
c
1
+
S
cos
c
3
=
_
L
1
L
2
cos
c
1
+ cos
c
3
_
S
=
Lcos
L
2
_
L
1
L
c
1
+
L
2
L
c
3
_
S
=
Lcos
L
2
[cos
c
1
sin
c
3
]
S
=

S
tan
b
1
W
=
S
tan
b
1
S
tan
d
dt
b
1
=
1
tan
_
b
1
+
2
S
b
2
_
Using these expressions in (1) gives us
117
a
C
=
1
tan
_
b
1
+
2
S
b
2
_
L
b
1
S
tan
b
1
S
tan
b
1
L
b
1
_
Interestingly, the second term drops out (
b
1
b
1
= 0), leaving us with
a
C
=
L
2
S
tan
b
3
From geometry we have
L = 10.35 cm
a
C
=
(0.1035 m)(3 rad/s)
2
tan 15
b
3
= 3.48
b
3
m/s
2
118
8.4.18
GOAL: Find the velocity and acceleration of point A.

P
= 2
b
3
rad/s,

P
= 4
b
3
rad/s,

gun
/
plate
= 3
b
1
rad/s.
DRAW:
FORMULATE EQUATIONS:
v
A
=

gun
r
A
/
O
(1)
a
A
=

gun
r
A
/
O
+

gun
gun
r
A
/
O
_
(2)
SOLVE: The angular velocity of the gun is given by
gun
= (2
b
3
+ 3
b
1
) rad/s (3)
(1), (3)

v
A
= (2
b
3
+ 3
b
1
) rad/s(2 m)(cos 30
b
2
+ sin 30
b
3
)
v
A
= (3.464
b
1
3
b
2
+ 5.196
b
3
) m/s
gun
= 4
b
3
rad/s
2
+ (2
b
3
rad/s)(2
b
3
+ 3
b
1
) rad/s
gun
= (4
b
3
+ 6
b
2
) rad/s
2
(4)
(2)(4)
a
A
= (6
b
2
+ 4
b
3
) rad/s
2
(2 m)(cos 30
b
2
+ sin 30
b
3
)
+(2
b
3
+ 3
b
1
) rad/s(3.464
b
1
3
b
2
+ 5.196
b
3
)
a
A
= (5.07
b
1
22.5
b
2
9.0
b
3
) m/s
2
119
8.4.19
GOAL: Find the rate

at which the water cannon is pivoting up at a given instant ( = 10
).
GIVEN: Base rotates about Z-axis at 4 rad/s, the magnitude of the tip Bs velocity is 6 m/s at
the instant when = 10
.
DRAW: The gure below depicts the canon with the original X, Y, Z axes and a set of unit vectors
b
i
that are xed to the rotating base.
ASSUME: We assume that the given rotation rate of the base is in the positive

k direction. It
could just as easily be assumed that the rotation is in the negative

k direction, without aecting
the magnitude of the tips velocity or the calculated value of

.
FORMULATE EQUATIONS: Well use the equation for velocity on a rotating body.
SOLVE: The rotation rate of the base is 4
k rad/s, and that of the barrel with respect to the base

is

b
1
. The total angular velocity of the barrel is thus:
= 4
k +

b
1
= 4
b
3
+

b
1
as

k =

b
3
.
The velocity of the tip B is:
v
B
=

r
B
/
O
=
_
4
b
3
+

b
1
_
_
1.2 cos 10
b
2
+ 1.2 sin 10
b
3
_
= 4(1.2) cos 10
b
1
1.2

sin 10
b
2
+ 1.2

cos 10
b
3
m/s
The magnitude of the velocity is (
v
B

v
B
)
1/2
and is given as 6 m/s:

v
B
=
_
_
4.8 cos 10
m/s
_
2
+
_
1.2

cos 10
m/s
_
2
+
_
1.2

sin 10
m/s
_
2
6 m/s =
_
_
4.8 cos 10
m/s
_
2
+
_
1.2

m/s
_
2
= 3.08 rad/s
120
8.4.20
GOAL: Determine the total angular acceleration of a model airplane propeller using two meth-
ods: a) dierentiation of the components of the angular velocity vector, and b) the formula for
dierentiating a vector in a rotating frame:
d
dt
p =
d
dt
p +

p
GIVEN: The airplane is attached to a tether and circles its attachment point O with a current
angular velocity of
3
rad/s and an angular acceleration of
3
rad/s
2
. The propeller turns with
angular velocity
2
rad/s and angular acceleration
2
rad/s
2
, both with respect to the model.
DRAW: The

b
1
,

b
2
,

b
3
frame is attached to the plane.
FORMULATE EQUATIONS: Well use the equation for angular velocity and angular acceler-
ation of a rotating body.
SOLVE: The angular velocity of the propeller is the sum of the angular velocity of the plane and
the angular velocity of the propeller with respect to the plane:
=
3
b
3
+
2
b
2
a) Dierentiating:
=
3
b
3
+
3

b
3
+
2
b
2
+
2

b
2
=
3
b
3
+
3
(0) +
2
b
2
+
2
(
3
b
1
)
=
2
b
1
+
2
b
2
+
3
b
3
b) Using formula for dierentiation in the rotating frame B (with

b
i
attached):
=
d
dt
=
d
dt
=
d
dt
B
_
b
3
+
2
b
2
_
+
_
b
3
_
b
3
+
2
b
2
_
=
3
b
3
+
2
b
2
b
1
=
2
b
1
+
2
b
2
+
3
b
3
121
8.4.21
GOAL: Find the velocity and acceleration of point B.

OA

1
= 0.8
b
3
rad/s,

OA

1
= 2
b
3
rad/s
2
,

AB
/
torso
2
=
1.6
b
1
rad/s,

AB
/
torso
2
= 0.5
b
1
rad/s
2
,
DRAW:
FORMULATE EQUATIONS: Well use the general rigid body equations
v
B
=

v
A
+

r
B
/
A
(1)
a
B
=

a
A
+

r
B
/
A
+

r
B
/
A
_
(2)
SOLVE:
(1)

v
A
= (0.8
b
3
) rad/s(0.24
b
1
m) = 0.192
b
2
m/s (3)
(2)

a
A
= 2
b
3
rad/s
2
(0.24
b
1
m) + 0.8
b
3
rad/s(0.192
b
2
m/s)
= (0.48
b
2
0.1536
b
1
) m/s
2
(4)
(1), (3)

v
B
= 0.192
b
2
m/s + (0.8
b
3
1.6
b
1
) rad/s(0.24
b
3
m)
= (0.192 0.384)
b
2
m/s
v
B
= 0.192
b
2
m/s
AB
=

1
+

2
+

1
(
1
+

2
)
= (2
b
3
0.5
b
1
) rad/s
2
+ (0.8
b
3
rad/s)(0.8
b
3
rad/s 1.6
b
1
rad/s)
= (0.5
b
1
1.28
b
2
+ 2.0
b
3
) rad/s
2
Using (1),(2) and (4) gives us
a
B
=

a
A
+ (0.5
b
1
1.28
b
2
+ 2.0
b
3
) rad/s
2
(0.24
b
3
m)
+(0.8
b
3
1.6
b
1
)
_
(0.8
b
3
1.6
b
1
)(0.24
b
3
m)
_
= (0.48
b
2
0.1536
b
1
) m/s
2
+(0.12
b
2
+ 0.3072
b
1
) m/s
2
+(0.8
b
3
1.6
b
1
) rad/s(0.384
b
2
m/s)
a
B
= (0.461
b
1
+ 0.36
b
2
+ 0.614
b
3
) m/s
2
122
8.4.22
GOAL: Determine the velocity of a point T on the tip of a fan blade as a function of time.
GIVEN: Dimensions of fan and blade, tilt angle of fan, spin rate of blades, and the side to side
oscillation.
DRAW: Let

b
i
be the set of unit vectors attached to the rotating base of the fan; let unit vectors
c
i
be the set attached to the tilt arm OA; and let

d
i
be a set attached to the blade itself.
The transformations from

b
i
to

c
i
and from

c
i
to

d
i
are:
b
1
b
2
b
3
c
1
c
2
c
3
c
1
cos sin 0

d
1
1 0 0
c
2
sin cos 0

d
2
0 cos sin
c
3
0 0 1

d
3
0 sin cos
ASSUME: We assume that the blades are spinning in the positive

c
1
direction.
FORMULATE EQUATIONS: The velocity of a point T at the blade tip may be written as:
v
T
=

v
A
+

v
T
/
A
=

v
A
+

AT
r
T
/
A
+

v
rel
(1)
SOLVE: Since the rotating frame used in the construction of (1) is that of the blade itself,

v
rel
= 0.
We have:
v
T
=

v
A
+

AT
r
T
/
A
(2)
=

OA
r
A
/
O
+

AT
r
T
/
A
(3)
Let the length of arm OA be L
1
= 8 in. and the length of a blade AT be L
2
= 4 in. The angular
velocity of the blade is sum of the angular velocity of the arm and the angular velocity of the blade
with respect to the arm. From (3):
v
T
=

b
2
L
1
c
1
+
_
b
2
+

c
1
_
L
2
d
2
=

(sin
c
1
+ cos
c
2
)L
1
c
1
+
+
_
(sin
c
1
+ cos
c
2
) +

c
1
_
L
2
(cos
c
2
+ sin
c
3
)
=
L
1
cos
c
3
+
_
sin +

_
L
2
_
cos

c
3
sin

c
2
_
+

L
2
cos sin

c
1
123
Given =
0
sin (t), taking the time derivative yields

=
0
cos (t). Letting
0
= 0 such that
=

t = 26t gives:
v
T
= 4
0
cos (t) cos sin (26t)

c
1
_
4
0
cos (t) sin + 104
_
sin (26t)

c
2
+
+
__
4
0
cos (t) sin + 104
_
cos (26t) 8
0
cos (t) cos
_
c
3
in/s
124
8.4.23
GOAL: Find the acceleration of collar D.
GIVEN: Angular velocity of link OB, angular velocity of link BC with respect to OB, and velocity
at which collar D slides along link BC.
DRAW:
Unit vectors

b
i
are xed to link OB, while unit vectors

c
i
are xed to link BC. At the illustrated
instant, both sets of unit vectors and the X, Y, Z axes are aligned.
FORMULATE EQUATIONS: Well use the equation for motion on a three-dimensional body:
a
D
=

a
B
+

r
D
/
B
+

r
D
/
B
_
+

a
rel
+ 2
v
rel
(1)
SOLVE: The vectors quantities appearing in Equation (1) are:
a
B
=

OB
OB
r
B
/
O
_
=

b
1
b
1
0.5

b
3
_
= 0.5

b
3
BC
=

b
1
+

b
3
BC
=

b
1
+

b
1
dt
+

b
3
+

b
3
dt
= 0 + 0 + 0

b
2
=
b
2
v
rel
= 5

c
2
m/s
a
rel
= 0
r
D
/
B
= 0.2

c
2
m
The individual terms in (1), with

= 4 rad/s and

= 5 rad/s, are now:
125
a
B
= (0.5 m) (4 rad/s)
2

b
3
= 8

b
3
m/s
2
r
D
/
B
=
b
2
0.2

c
2
= 0
r
D
/
B
_
=
_
b
1
+

b
3
_
__
b
1
+

b
3
_
0.2

c
2
_
= 0.2
_
2
+

2
_
b
2
= (0.2 m)
_
(4 rad/s)
2
+ (5 rad/s)
2
_
b
2
= 8.2

b
2
m/s
2
2
v
rel
= 2
_
b
1
+

b
3
_
5

c
2
= 10
b
3
10

b
1
= (10 m/s) (4 rad/s)

b
3
(10 m/s) (5 rad/s)

b
1
=
_
40

b
3
50

b
1
_
m/s
2
Substituting into (1):
a
D
= 8

b
3
+ 0 8.2

b
2
+ 0 + 40

b
3
50

b
1
m/s
2
a
D
=
_
50

b
1
8.2

b
2
+ 48

b
3
_
m/s
2
126
8.5 Moments and Products of Inertia for a Three-Dimensional
Body
8.6 Parallel Axis Expressions for Inertias
127
8.6.1
GOAL:Determine the mass moments of inertia and products of inertia along the x, y, z axes for
the the illustrated body. Then calculate the inertias about axes parallel to x, y, z that go through
the bodys mass center. Express results in terms of the bodys mass m.
GIVEN: The dimensions of the body are illustrated in the gure; we assume a linear density .
DRAW:
First, we note the relationship between the mass and linear density of the body:
=
m
L
1
+L
2
(1)
Since moments and products of inertia are additive for composite bodies, we will treat the illustrated
body as two narrow rod segments and add the computed inertias of each segment to arrive at the
resultant value for the entire body.
SOLVE:
I
xx
=
_
Body
_
y
2
+z
2
_
dm =
L
1
_
0
y
2
dy +
L
2
_
0
z
2
dz =
y
3
3
L
1
0
+
z
3
3
L
2
0
=

3
_
L
3
1
+L
3
2
_
=
m
3
_
L
3
1
+L
3
2
L
1
+L
2
_
I
yy
=
_
Body
_
x
2
+z
2
_
dm =
L
1
_
0
(0 + 0) dm +
L
2
_
0
z
2
dz =
z
3
3
L
2
0
=
m
3
_
L
3
2
L
1
+L
2
_
I
zz
=
_
Body
_
x
2
+y
2
_
dm =
L
1
_
0
y
2
dy +
L
2
_
0
(0 + 0) dm =
y
3
3
L
1
0
=
m
3
_
L
3
1
L
1
+L
2
_
The segment of length L
1
has two planes of symmetry, the xy plane and the yz plane. Likewise,
the segment of length L
2
has two planes of symmetry, the xz plane and the yz plane. Since
each segment has two planes of symmetry all of the products of inertia are zero. (Also, note that
128
since each segment is one dimensional, the product of dimensions appearing in the integral terms
must be zero.)
I
xy
= I
yx
= I
xz
= I
zx
= I
yz
= I
zy
= 0
Denote the segment of length L
1
as mass m
1
and the segment length L
2
as mass m
2
. The center
of mass of the body is located at:
r
G
=
m
1
r
G1
+m
2
r
G2
m
1
+m
2
=
m
_
L
1
L
1
+L
2
__
L
1
2

_
+m
_
L
2
L
1
+L
2
__
L
2
2
k
_
m
=
1
2
L
2
1
L
1
+L
2
+
1
2
L
2
2
L
1
+L
2
k
Let x
, y
, z
be a set of coordinate axes through the center of mass G that are parallel to the
x, y, z axes, respectively. Using the parallel axis expressions for moments and products of inertia
we obtain:
I
x
= I
xx
m
_
r
2
2
+r
2
3
_
=
m
3
_
L
3
1
+L
3
2
L
1
+L
2
_
m
_
_
_
1
2
L
2
1
L
1
+L
2
_
2
+
_
1
2
L
2
2
L
1
+L
2
_
2
_
_
=
m
(L
1
+L
2
)
2
_
1
12
_
L
4
1
+L
4
2
_
+
1
3
_
L
1
L
3
2
+L
2
L
3
1
__
I
y
= I
yy
m
_
r
2
1
+r
2
3
_
=
m
3
_
L
3
2
L
1
+L
2
_
m
_
_
0 +
_
1
2
L
2
2
L
1
+L
2
_
2
_
_
=
mL
3
2
(L
1
+L
2
)
2
_
1
12
L
2
+
1
3
L
1
_
I
z
= I
zz
m
_
r
2
1
+r
2
2
_
=
m
3
_
L
3
1
L
1
+L
2
_
m
_
_
0 +
_
1
2
L
2
1
L
1
+L
2
_
2
_
_
=
mL
3
1
(L
1
+L
2
)
2
_
1
12
L
1
+
1
3
L
2
_
I
y
=

I
z
= I
yz
mr
2
r
3
= 0 m
_
1
2
L
2
1
L
1
+L
2
__
1
2
L
2
2
L
1
+L
2
_
=
m
4
_
L
1
L
2
L
1
+L
2
_
2
The center of mass of the body lies on the plane x = 0, and thus the y
, z
plane is also a plane of

symmetry. The coordinate axis normal to this plane is the x
axis. Therefore all products of inertia

involving the x
axis are zero:
I
x
=

I
y
=

I
x
=

I
z
= 0
129
Alternatively, note that since the center of mass lies on the plane x = 0, r
1
= 0.
130
8.6.2
GOAL:Determine the mass moments of inertia and products of inertia along the x, y, z axes for
the the illustrated body. Express results in terms of the bodys mass m.
GIVEN: The dimensions of the body are illustrated in the gure. We assume a linear density .
DRAW:
First, we note the relationship between the mass and linear density of the body:
m = 3a
Because moments and products of inertia are additive for composite bodies, we will treat the
illustrated body as three narrow rod segments and add the computed inertias of each segment to
arrive at the resultant value for the entire body.
SOLVE:
I
xx
= (a)
a
2
12
+ 2(a)
_
a
2
_
2
=
7a
3
12
I
yy
= 2
(a)a
2
3
=
2a
3
3
I
zz
=
(a)a
2
12
+ 2
_
(a)a
2
12
+ (a)
_
_
a
2
_
2
+
_
a
2
_
2
__
=
5a
3
4
I
xy
= 2(a)
_
a
2
__
a
2
_
=
a
3
2
, I
yz
= I
zx
= 0
Expressing these in terms of the overall mass m gives us
I
xx
=
7ma
2
36
, I
yy
=
2ma
2
9
, I
zz
=
5ma
2
12
, I
xy
=
ma
2
6
, I
yz
= I
zx
= 0
131
8.6.3
GOAL: Determine the rotational inertias of the illustrated at plate.
GIVEN: Bodys orientation and dimensions.
DRAW:
FORMULATE EQUATIONS: From Appendix B we have
I
x
=
ma
2
12
, I
y
=
mb
2
12
, I
z
=
m(a
2
+b
2
)
12
I
x
= I
y
= I
z
= 0
SOLVE:
To nd the mass moments of inertia and products of inertia we use (8.24)-(8.29) with r
1
= b/2,
r
2
= a/2 and r
3
= 0.
I
xx
= I
x
+m(r
2
2
+r
2
3
) =
ma
2
3
I
yy
= I
y
+m(r
2
3
+r
2
1
) =
mb
2
3
I
zz
= I
z
+m(r
2
1
+r
2
2
)
= m
_
a
2
+b
2
12
_
+m
_
_
b
2
_
2
+
_
a
2
_
2
_
=
m(a
2
+b
2
)
3
I
xy
= I
x
+mr
1
r
2
= m
_
ab
4
_
I
yz
= I
zx
= 0
I
xx
=
ma
2
3
, I
yy
=
mb
2
3
, I
xx
=
m(a
2
+b
2
)
3
, I
xy
=
mab
4
, I
yz
= I
zx
= 0 ,
132
8.6.4
GOAL: Determine the moments and products of inertia along the x, y, z axes for the the illustrated
triangular body. Then calculate the inertias about axes parallel to x, y, z that go through the bodys
mass center. Express results in terms of the areal density .
GIVEN: The dimensions of the body are illustrated in the gure.
DRAW:
SOLVE: The borders of the triangular region are dened by the lines: x = 0, y = 0, and x =
a(1 y/b). The moments and products of inertia are computed by integrating over this region:
I
xx
=
_
Body
_
y
2
+z
2
_
dm =
b
_
0
a(1y/b)
_
0
_
y
2
+ 0
_
dxdy
=
b
_
0
a
_
1
y
b
_
y
2
dy
= a
_
b
3
3

b
4
4b
_
=
1
12
ab
3
I
yy
may be found similarly, by reversing the order of integration in x and y and using integration
limits of 0 and b(1 x/a) on y. By the symmetry of the problem we should nd that I
yy
=
1
12
a
3
b.
However, lets proceed by maintaining the order above and performing the integration:
I
yy
=
_
Body
_
x
2
+z
2
_
dm =
b
_
0
a(1y/b)
_
0
_
x
2
+ 0
_
dxdy
=
b
_
0
a
3
_
1
y
b
_
3
3
dy
=
a
3
b
12
_
1
y
b
_
4
b
0
=
1
12
a
3
b
For I
zz
:
I
zz
=
_
Body
_
x
2
+y
2
_
dm =
b
_
0
a(1y/b)
_
0
_
x
2
+y
2
_
dxdy
133
Notice that this is just the sum of I
xx
and I
yy
(this is true for all planar gures). Thus,
I
zz
= I
xx
+I
yy
=
1
12

_
ab
3
+a
3
b
_
Since the xy plane is a plane of symmetry for the body, all products of inertia involving the
normal z-axis are zero:
I
xz
= I
zx
= I
yz
= I
zy
= 0
The remaining products of inertia are:
I
xy
= I
yx
=
_
Body
xy dm =
b
_
0
a(1y/b)
_
0
xy dxdy
=
b
_
0
a
2
_
1
y
b
_
2
2
y dy
=
a
2
2
_
b
2
2

2b
2
3
+
b
2
4
_
=
1
24
a
2
b
2
To determine the moments and products of inertia about the center of mass, we rst need to
determine its location.
r
G
=
1
m
_
Body
r dm =
2
ab
b
_
0
a(1y/b)
_
0
(x
+y
) dxdy
=
2
ab
b
_
0
_
a
2
2
_
1
y
b
_
2
+a
_
1
y
b
_
y
_
dy
=
2
ab
_
_
a
2
b
6
_
1
y
b
_
3
+a
_
y
2
2

y
3
3b
_
_
_
b
0
=
1
3
_
a

+b
_
Using our parallel axis expressions for inertias, with r
1
= a/3, r
2
= b/3, and r
3
= 0 we have:
I
x
= I
xx
m
_
r
2
2
+r
2
3
_
=
1
12
ab
3
ab
2
_
b
2
9
_
=
1
36
ab
3
I
y
= I
yy
m
_
r
2
1
+r
2
3
_
=
1
12
a
3
b
ab
2
_
a
2
9
_
=
1
36
a
3
b
I
z
= I
zz
m
_
r
2
1
+r
2
2
_
=

I
x
+

I
y
=
1
36

_
ab
3
+a
3
b
_
I
y
=

I
x
= I
xy
mr
1
r
2
=
1
24
a
2
b
2
ab
2
_
a
3
__
b
3
_
=
1
72
a
2
b
2
Due to the fact that r
3
= 0, or the fact that the z
-axis is normal to the plane of symmetry through

the mass center, all other products of inertia are zero.
I
x
=

I
z
=

I
y
=

I
z
= 0
134
135
8.6.5
GOAL: Determine the rotational inertias of the illustrated at plate.
DRAW:
FORMULATE EQUATIONS: Well nd the solution by taking the dierence of the rotational
inertias corresponding to a plate with dimensions a
2
, b
2
and one corresponding to the missing
chunk having dimensions a
1
, b
1
. Each plate will have the same density . From Appendix B we
have, for a plate with dimensions a, b:
I
x
=
mb
2
12
, I
y
=
ma
2
12
, I
z
=
m(a
2
+b
2
)
12
I
x
= I
y
= I
z
= 0
SOLVE: Well start with a complete plate (a
2
, b
2
) and put a 2 to the upper left of the I as an
identier. To nd the mass moments of inertia and products of inertia we use (8.24)-(8.29) with
r
1
= a
2
/2, r
2
= b
2
/2 and r
3
= 0.
2
I
xx
=
2
I
x
+m
2
(r
2
2
+r
2
3
) =
m
2
b
2
2
3
2
I
yy
=
2
I
y
+m
2
(r
2
3
+r
2
1
) =
m
2
a
2
2
3
2
I
zz
=
2
I
z
+m
2
(r
2
1
+r
2
2
)
= m
2
_
a
2
2
+b
2
2
12
_
+m
2
_
_
b
2
2
_
2
+
_
a
2
2
_
2
_
=
m
2
(a
2
2
+b
2
2
)
3
2
I
xy
=
2
I
x
+m
2
r
1
r
2
= m
2
_
a
2
b
2
4
_
2
I
yz
=
2
I
zx
= 0
Next well consider the a plate corresponding to the missing chunk (a
1
, b
1
) and put a 1 to the
upper left of the I as an identier. To nd the mass moments of inertia and products of inertia we
use (8.24)-(8.29) with r
1
= a
1
/2, r
2
= b
1
/2 and r
3
= 0.
1
I
xx
=
1
I
x
+m
1
(r
2
2
+r
2
3
) =
m
1
b
2
1
3
1
I
yy
=
1
I
y
+m
1
(r
2
3
+r
2
1
) =
m
1
a
2
1
3
136
1
I
zz
=
1
I
z
+m
1
(r
2
1
+r
2
2
)
= m
1
_
a
2
1
+b
2
1
12
_
+m
1
_
_
b
1
2
_
2
+
_
a
1
2
_
2
_
=
m
1
(a
2
1
+b
2
1
)
3
1
I
xy
=
1
I
x
+m
1
r
1
r
2
= m
1
_
a
1
b
1
4
_
1
I
yz
=
1
I
zx
= 0
We can now take the dierence of the two sets of rotational inertias, using m
1
= a
1
b
1
and
m
2
= b
1
b
2
to obtain
I
xx
=
a
2
b
3
2
3

a
1
b
3
1
3
I
yy
=
b
2
a
3
2
3

b
1
a
3
1
3
I
zz
=
(a
3
2
b
2
+a
2
b
3
2
)
3

(a
3
1
b
1
+a
1
b
3
1
)
3
I
xy
=
a
2
2
b
2
2
4

a
2
1
b
2
1
4
137
8.6.6
GOAL: Determine the mass moments of inertia and products of inertia along the x, y, z axes for
the illustrated body. Express answers in terms of the bodys areal density .
GIVEN: Dimension of the body are given in the gure.
DRAW:
FORMULATE EQUATIONS: To determine the inertia values of the composite body, we will
model it as a triangular region with a quarter-circular region removed. Since inertias are additive,
we may obtain the overall inertia values by subtracting those of the quarter-circular region from
those of the triangular region.
I =

I
triangle

I
q.circle
SOLVE: The triangular region is bounded by the lines x = 0, y = 0, and x = b y. The moments
and products of inertia are determined by integrating over this area:
I
xx
=
_
Body
_
y
2
+z
2
_
dm =
b
_
0
by
_
0
_
y
2
+ 0
_
dxdy
=
b
_
0
(b y) y
2
dy
=
_
b
4
3

b
4
4
_
=
1
12
b
4
By symmetry,
I
yy
= I
xx
=
1
12
b
4
Computing I
zz
, noting that z
2
= 0 over the region,
I
zz
=
_
Body
_
x
2
+y
2
_
dm = I
yy
+I
xx
=
1
6
b
4
Since the xy plane is a plane of symmetry for the body, all products of inertia involving the
normal z-axis are zero:
I
xz
= I
zx
= I
yz
= I
zy
= 0
138
Computing I
xy
= I
yx
for the triangular region,
I
xy
= I
yx
=
_
Body
xy dm =
b
_
0
by
_
0
xy dxdy
=
b
_
0
(b y)
2
2
y dy
=
_
b
4
4

b
4
3
+
b
4
8
_
=
1
24
b
4
The quarter-circular area may be dened using polar r, coordinates, with x = r cos , y = r sin ,
and r
2
= x
2
+ y
2
. The bounds on the region are 0 r a and 0 /2. In r, coordinates,
the dierential area may be written as dA = dr(rd), thus the dierential mass unit becomes
dm = r dr d.
I
xx
=
_
Body
_
y
2
+z
2
_
dm =
2
_
0
a
_
0
(r sin )
2
r dr d
=
2
_
0
a
4
4
sin
2
d
=
a
4
8
( sin cos )
2
0
=
1
16
a
4
By symmetry,
I
yy
= I
xx
=
1
16
a
4
Now for I
zz
,
I
zz
=
_
Body
_
x
2
+y
2
_
dm =
2
_
0
a
_
0
r
2
r dr d
=
2
_
0
a
4
4
d
=
1
8
a
4
The xy plane is a plane of symmetry and thus all moments of inertia involving the normal z-axis
are zero:
I
xz
= I
zx
= I
yz
= I
zy
= 0
139
The remaining products of inertia are:
I
xy
= I
yx
=
_
Body
xy dm =
2
_
0
a
_
0
r
2
sin cos r dr d
=
a
4
4
2
_
0
sin cos d
=
a
4
8
sin
2
2
0
=
1
8
a
4
The moments and products of inertia of the composite body are obtained by subtracting the inertias
of the quarter-circular region from the respective inertias of the triangular region:
I
xx
= I
xx
I
xx
=
1
12
b
4
1
16
a
4
I
yy
= I
yy
I
yy
=
1
12
b
4
1
16
a
4
I
zz
= I
zz
I
zz
=
1
6
b
4
1
8
a
4
I
xy
= I
xy
I
xy
=
1
24
b
4
1
8
a
4
I
yx
= I
xy
=
1
24
b
4
1
8
a
4
By symmetry, all products of inertia involving the z-axis are zero:
I
xz
= I
zx
= I
yz
= I
zy
= 0
140
8.6.7
GOAL: Determine the rotational inertias of the illustrated body.
GIVEN: Bodys orientation. a = 0.1 m, b = 0.25 m, c = 0.15 m, d = 0.1 m, e = 0.1 m, f = 0.2 m,
g = 0.15 m. Bodys density is and mass is m.
DRAW:
FORMULATE EQUATIONS: Well solve this problem by breaking it up into two rectangular
bodies, one with dimensions a, b, c and the other with dimensions c, e, g. From Appendix B we
have:
I
x
= m
_
c
2
+b
2
12
_
, I
y
= m
_
a
2
+c
2
12
_
, I
z
= m
_
a
2
+b
2
12
_
To nd the mass moments of inertia and products of inertia we use (8.24)-(8.29) with appropriate
values of r
1
, r
2
and r
3
.
SOLVE: Lets rst consider the body with dimensions a, b, c. Well put a 1 to the upper left of
the I as an identier.
For this body r
1
= a/2, r
2
= b/2 and r
3
= c/2.
1
I
xx
=
1
I
x
+m
1
(r
2
2
+r
2
3
)
= m
1
_
c
2
+b
2
12
_
+m
1
_
c
2
+b
2
4
_
= m
1
_
c
2
+b
2
3
_
1
I
yy
=
1
I
y
+m
1
(r
2
3
+r
2
1
)
= m
1
_
a
2
+c
2
12
_
+m
1
_
a
2
+c
2
4
_
= m
1
_
a
2
+c
2
3
_
1
I
zz
=
1
I
z
+m
1
(r
2
1
+r
2
2
)
= m
1
_
a
2
+b
2
12
_
+m
1
_
a
2
+b
2
4
_
= m
1
_
a
2
+b
2
3
_
1
I
xy
=
1
I
x
+m
1
r
1
r
2
= m
1
_
ab
4
_
1
I
yz
=
1
I
y
+m
1
r
2
r
3
= m
1
_
cb
4
_
1
I
zx
=
1
I
z
+m
1
r
3
r
1
= m
1
_
ac
4
_
Now well consider the body with dimensions c, e, g. Well put a 2 to the upper left of the I as
141
an identier.
For this body r
1
= a +e/2, r
2
= d +g/2 and r
3
= c/2.
2
I
xx
=
2
I
x
+m
2
(r
2
2
+r
2
3
)
= m
2
_
c
2
+g
2
12
_
+m
2
_
_
c
2
_
2
+
_
d +
g
2
_
2
_
2
I
yy
=
2
I
y
+m
2
(r
2
3
+r
2
1
)
= m
2
_
e
2
+c
2
12
_
+m
2
_
_
c
2
_
2
+
_
a +
e
2
_
2
_
2
I
zz
=
2
I
z
+m
2
(r
2
1
+r
2
2
)
= m
2
_
e
2
+g
2
12
_
+m
2
_
_
d +
g
2
_
2
+
_
a +
e
2
_
2
_
2
I
xy
=
2
I
x
+m
2
r
1
r
2
= m
2
_
a +
e
2
__
d +
g
2
_
2
I
yz
=
2
I
y
+m
2
r
2
r
3
= m
2
_
d +
g
2
__
c
2
_
2
I
zx
=
2
I
z
+m
2
r
3
r
1
= m
2
_
c
2
__
a +
e
2
_
The individual masses are given by
m
1
= 3.7510
3
, m
2
= 2.2510
3
Adding the rotational inertias together and evaluating for the given dimensional values gives us
I
xx
=
1
I
xx
+
2
I
xx
= (1.9610
4
m
5
)
I
yy
=
1
I
yy
+
2
I
yy
= (1.110
4
m
5
)
I
zz
=
1
I
zz
+
2
I
zz
= (2.1610
4
m
5
)
I
xy
=
1
I
xy
+
2
I
xy
= (8.2510
5
m
5
)
I
yz
=
1
I
yz
+
2
I
yz
= (6.46910
5
m
5
)
I
zx
=
1
I
zx
+
2
I
zx
= (3.9410
5
m
5
)
Finally, evaluating in terms of the objects mass, m = (abc +ceg) = (6.010
3
m
3
), gives us our
nal results:
I
xx
= (3.2710
2
m
2
)m, I
yy
= (1.8310
2
m
2
)m, I
zz
= (3.6010
2
m
2
)m
I
xy
= (1.37510
2
m
2
)m, I
yz
= (1.07810
2
m
2
)m, I
zx
= (6.5610
3
m
2
)m
142
8.6.8
GOAL: Determine the mass moments of inertia and products of inertia for the illustrated washer
along the x, y, z axes (which go through the bodys mass center). Express the results in terms of .
GIVEN: The outer radius of the washer is r
o
= 0.03 m, the inner radius is r
i
= 0.02 m, and the
thickness is h = 0.006 m.
DRAW:
SOLVE: We may compute the inertias in cylindrical r, , z coordinates, with x = r cos , y = r sin ,
and x
2
+y
2
= r
2
. First, well compute I
zz
.
I
zz
=
_
Body
_
x
2
+y
2
_
dm =
h
2
_
h
2
2
_
0
r
o
_
r
i
r
2
r dr d dz
=
h
2
_
h
2
2
_
0
_
r
4
o
4

r
4
i
4
_
d dz
= 2h
_
r
4
o
4

r
4
i
4
_
= 2 (0.006 m)
_
(0.03 m)
4
4

(0.02 m)
4
4
_
I
zz
=
_
6.1310
9
m
5
_
By symmetry, I
xx
= I
yy
, so we will only need to calculate I
xx
:
I
xx
=
_
Body
_
y
2
+z
2
_
dm =
r
o
_
r
i
2
_
0
h
2
_
h
2
_
r
2
sin
2
+z
2
_
r dz d dr
= h
r
o
_
r
i
2
_
0
_
r
3
sin
2
+r
h
2
12
_
d dr
= h
r
o
_
r
i
_
_
r
3
2
( sin cos )
_
2
0
+ 2r
h
2
12
_
dr
= h
r
o
_
r
i
_
r
3
+r
h
2
6
_
dr
=
1
4
h
_
r
4
o
r
4
i
_
+
1
12
h
3
_
r
2
o
r
2
i
_
=
1
4
(0.006 m)
_
(0.03 m)
4
(0.02 m)
4
_
+
+
1
12
(0.006 m)
3
_
(0.03 m)
2
(0.02 m)
2
_
143
I
yy
= I
xx
=
_
3.0910
9
m
5
_
Note that when perfoming the above integrations we could have substituted the lower limit r
i
with
0, to nd the moments of inertia of a solid disk. Subtracting the inertia values of a solid disk of
radius r
i
from those of a solid disk of radius r
o
yields identical results.
Since all three planes, xy, xz, and yz, are planes of symmetry for the body, all of the products
of inertia are zero:
I
xy
= I
yx
= I
xz
= I
zx
= I
yz
= I
zy
= 0
144
8.6.9
GOAL: Determine the mass moments and products of inertia for the illustrated triangular prism
DRAW:
FORMULATE EQUATIONS: From Appendix B we have the rotational inertias about the
bodys mass center G of a at right-triangle:
I
x
=
mb
2
18
, I
y
=
ma
2
18
, I
z
=
m(a
2
+b
2
)
18
I
x
=
mab
36
, I
y
= I
z
= 0
To nd the mass moments of inertia and products of inertia well use (8.24)-(8.29) with r
1
=
a
3
,
r
2
=
b
3
and r
3
=
c
2
after determining the rotational inertias of a solid prism from those of the at
right-triangle.
SOLVE:
The mass of a thin slice having thickness dz is
ab dz
2
.
I
xx
=
c
_
0
_
ab
3
36
+
ab
2
_
z
2
+
_
b
3
_
2
__
dz =
ab
2
c
_
0
_
b
2
6
+z
2
_
dz
=
ab
2
_
b
2
z
6
+
z
3
3
_
c
0
I
xx
= abc
_
b
2
12
+
c
2
6
_
= m
_
b
2
6
+
c
2
3
_
From symmetry we have
I
yy
= abc
_
b
2
6
+
c
2
12
_
= m
_
b
2
3
+
c
2
6
_
I
zz
= m
_
a
2
18
+
b
2
18
_
+m
_
a
2
9
+
b
2
9
_
= m
_
a
2
6
+
b
2
6
_
I
zz
= m
_
a
2
6
+
b
2
6
_
= abc
_
a
2
12
+
b
2
12
_
I
xy
= I
x
+m
_
a
3
__
b
3
_
=
mab
36
+
mab
9
=
mab
12
I
xy
=
mab
12
=
a
2
b
2
c
24
145
I
yz
= m
_
b
3
__
c
2
_
I
yz
=
mbc
6
=
ab
2
c
2
12
From symmetry we have
I
zx
=
mac
6
=
a
2
bc
2
12
146
8.6.10
GOAL: Determine the mass moments and products of inertia for the illustrated cylindrical body.
DRAW:
FORMULATE EQUATIONS: From Appendix B we have the rotational inertias about the
bodys mass center G:
I
y
=
mr
2
2
, I
x
=
m(3r
2
+h
2
)
12
I
x
= I
y
= I
z
= 0
SOLVE:
1
= 0,
r
2
=
h
2
and r
3
= r.
I
yy
= I
y
+mr
2
=
3mr
2
2
I
xx
= I
x
+m
_
r
2
+
_
h
2
_
2
_
=
mh
2
3
+
5mr
2
4
From symmetry we see that I
xy
= 0 .
The mass of the body is given by
m = r
2
h
giving us
I
xx
=
r
2
h
3
3
+
5r
4
h
4
, I
yy
=
3r
4
h
2
I
xy
= 0
147
8.6.11
GOAL: Determine I
xx
, I
xy
, and I
zz
, for the illustrated body. Express the results in terms of both
the areal density and the bodys mass m. Denote the mass of each half-circular piece by m
hc
and
the mass of the rectangular piece by m
r
.
GIVEN: The bodys dimensions are given in the gure.
DRAW:
FORMULATE EQUATIONS: Well use the rotational inertia formulas for a half-circle and at
rectangular body from Appendix B and then apply the parallel axis theorem.
SOLVE: Well rst look at Body A (the left half-circle) then B (the right half-circle) and nally
the rectangular piece C that joins the two half-circles.
Body A:
A
I
x
=
1
2
m
hc
_
b
2
_
2
=
1
8
m
hc
b
2
d is the distance from the y axis to the bodys mass center.
Using the parallel axis theorem gives us
A
I
x
=
A
I
x
m
hc
d
2
and nally
A
I
xx
=
A
I
x
+m
hc
_
d
2
+
_
b
2
_
2
_
=
1
8
m
hc
b
2
+m
hc
_
b
2
_
2
=
3
8
m
hc
b
2
A
I
zz
=
A
I
z
+m
hc
_
b
2
_
2
=
1
4
m
hc
_
b
2
_
2
+m
hc
_
b
2
_
2
=
5
16
m
hc
b
2
Because Body A lies in the y,z plane I
xy
= 0.
Body B :
Well again use x
, y
, z
to refer to axes through that bodys mass center. From observation we

have the same value for
B
I
xx
as for Body A:
B
I
xx
=
3
8
m
hc
b
2
148
B
I
zz
=
B
I
z
+m
hc
_
_
b
2
_
2
+a
2
_
=
1
16
m
hc
b
2
+m
hc
_
_
b
2
_
2
+a
2
_
=
5
16
m
hc
b
2
+m
hc
a
2
B
I
xy
= m
hc
a
_
b
2
_
=
m
hc
ab
2
Body C:
C
I
xx
= m
r
b
2
/3
C
I
zz
=
1
3
m
r
(a
2
+b
2
)
C
I
xy
= m
r
_
a
2
__
b
2
_
=
m
r
ab
4
The masses of the individual pieces are given by
m
hc
= (0.1 m)
2
/2 = (1.5710
2
m
2
)
m
r
= (0.4 m)(0.2 m) = (8.0010
2
m
2
)
I
xx
=
A
I
xx
+
B
I
xx
+
C
I
xx
= (1.5710
2
m
2
)(2)
_
3
8
_
(0.2 m)
2
+
1
3
(8.0010
2
m
2
)(0.2 m)
2
=
_
1.5410
3
m
5
_
I
zz
=
A
I
zz
+
B
I
zz
+
C
I
zz
= (1.5710
2
m
2
)
_
(2)
_
5
16
_
(0.2 m)
2
+ (0.4 m)
2
_
+
1
3
(8.0010
2
m
2
)
_
(0.4 m)
2
+ (0.2 m)
2
=
_
8.2410
3
m
5
_
I
xy
=
A
I
xy
+
B
I
xy
+
C
I
xy
= (1.5710
2
m
2
)
(0.2 m)(0.4 m)
2
+ (8.0010
2
m
2
)
(0.2 m)(0.4 m)
4
=
_
2.2310
3
m
5
_
The total mass of the body is given by

m
t
= m
r
+ 2m
hc
= (0.111 m
2
)
I
xx
= 1.3910
2
m
t
I
zz
= 7.4010
2
m
t
I
xy
= 2.0010
2
m
t
149
8.6.12
GOAL: Determine I
xx
, I
yy
, I
zz
, and I
xy
for the illustrated body. Express the results in terms of
both the areal density and the bodys mass m
c
. Denote the mass of each half circular piece by
m =
1
2
m
c
GIVEN: The bodys dimensions are given in the gure.
DRAW:
SOLVE: To determine the moments and products of inertia for the composite body, we will require
some inertia values for a half-circular body. Consider a circle with normal axis z
through its mass

center. Since the moment of inertia of a full circle with mass m
c
about an axis through its mass
center and in the plane of the circle is
1
4
m
c
r
2
, that of a half circle through the same point is:
I
parallel
=
1
2
_
1
4
m
c
r
2
_
=
1
2
_
1
4
(2m) r
2
_
=
1
4
mr
2
The moment of inertia of a full circle about an axis through its mass center and normal to the
plane of the circle is
1
2
m
c
r
2
, thus for a half circle through the same point:
I
normal
=
1
2
_
1
2
m
c
r
2
_
=
1
2
_
1
2
(2m) r
2
_
=
1
2
mr
2
By symmetry, I
xx
= I
zz
for the composite body. Thus we will only calculate I
zz
. Using the parallel
axis expressions of inertia for half circle A we obtain:
I
A
zz
=

I
A
z
+m
_
r
2
+d
2
_
= I
A
z
+mr
2
=
1
2
mr
2
+mr
2
=
3
2
mr
2
For half circle B:
I
B
zz
=

I
B
z
+mr
2
=
1
4
mr
2
+mr
2
=
5
4
mr
2
150
Thus, for the composite body,
I
zz
= I
A
zz
+I
B
zz
=
11
4
mr
2
I
xx
= I
zz
=
11
8
m
c
r
2
=
11
8
r
4
The moment of inertia about the y-axis is the same for both half circles. I
yy
is therefore quite
straightforward to compute,
I
yy
= I
A
yy
+I
B
yy
=
1
4
mr
2
+
1
4
mr
2
=
1
2
mr
2
I
yy
=
1
4
m
c
r
2
=
1
4
r
4
The product of inertia, I
B
xy
, will be zero since the yz plane is a plane of symmetry for half circle
B (with normal x-axis). The product of inertia is then I
xy
= I
A
xy
. One method of obtaining I
A
xy
is to integrate over the half circle A using integration parameters x, y and the bounds x = 0 and
x
2
+ (y r)
2
= r
2
. (x = 0 and x
2
= 2yr y
2
)
I
A
xy
=
_
Body
xy dm =
2r
_
0
2yry
2
_
0
xy dxdy
=
2r
_
0
2yr y
2
2
y dy
=
_
8r
4
3
2r
4
_
=
2
3
r
4
Thus,
I
xy
= I
A
xy
=
2
3
r
4
=
2
3
m
c
r
2
151
8.6.13
GOAL: Determine the I
xx
, I
yy
, I
zz
and I
xy
for the illustrated body.
GIVEN: Bodys orientation and shape. a = 0.1 m, b = 0.02 m, c = 0.07 m, d = 0.06 m. The
density of the large block is 800 kg /m
3
and the density of the small block is 1000 kg /m
3
.
DRAW:
FORMULATE EQUATIONS: Well solve this problem by breaking it up into two rectangular
bodies, one with dimensions a, a, b and the other with dimensions e, e, d, where e = a c and is
introduced for convenience. e = 0.03 m. From Appendix B we have:
I
x
= m
_
a
2
+b
2
12
_
, I
y
= m
_
a
2
+b
2
12
_
, I
z
= m
_
a
2
+a
2
12
_
for the large block and
I
x
= m
_
d
2
+e
2
12
_
, I
y
= m
_
d
2
+e
2
12
_
, I
z
= m
_
e
2
+e
2
12
_
for the small block.
To nd the mass moments of inertia and products of inertia we use (8.24)-(8.29) with appropriate
values of r
1
, r
2
and r
3
.
SOLVE: Lets rst consider the body with dimensions a, a, b. Well put a 1 to the upper left of
the I as an identier.
For this body r
1
= a/2, r
2
= a/2 and r
3
= b/2.
1
I
xx
=
1
I
x
+m
1
(r
2
2
+r
2
3
)
= m
1
_
a
2
+b
2
12
_
+m
1
_
a
2
+b
2
4
_
= m
1
_
a
2
+b
2
3
_
1
I
yy
=
1
I
y
+m
1
(r
2
3
+r
2
1
)
= m
1
_
a
2
+b
2
12
_
+m
1
_
a
2
+b
2
4
_
= m
1
_
a
2
+b
2
3
_
1
I
zz
=
1
I
z
+m
1
(r
2
1
+r
2
2
)
= m
1
_
a
2
+a
2
12
_
+m
1
_
a
2
+a
2
4
_
= m
1
_
a
2
+a
2
3
_
1
I
xy
=
1
I
x
+m
1
r
1
r
2
= m
1
_
a
2
4
_
Now well consider the body with dimensions d, e, e. Well put a 2 to the upper left of the I as
152
an identier.
For this body r
1
= e/2, r
2
= c +e/2 and r
3
= b +d/2.
2
I
xx
=
2
I
x
+m
2
(r
2
2
+r
2
3
)
= m
2
_
d
2
+e
2
12
_
+m
2
_
_
c +
e
2
_
2
+
_
b +
d
2
_
2
_
2
I
yy
=
2
I
y
+m
2
(r
2
3
+r
2
1
)
= m
2
_
d
2
+e
2
12
_
+m
2
_
_
e
2
_
2
+
_
b +
d
2
_
2
_
2
I
zz
=
2
I
z
+m
2
(r
2
1
+r
2
2
)
= m
2
_
e
2
+e
2
12
_
+m
2
_
_
e
2
_
2
+
_
c +
e
2
_
2
_
2
I
xy
=
2
I
x
+m
2
r
1
r
2
= m
2
_
e
2
__
c +
e
2
_
The individual masses are given by
m
1
= (800 kg /m
3
)(0.1 m)(0.1 m)(0.02 m) = 0.16 kg
m
2
= (1000 kg /m
3
)(0.03 m)(0.03 m)(0.06 m) = 0.054 kg
Adding the rotational inertias together and evaluating for the given dimensional values gives us
I
xx
=
1
I
xx
+
2
I
xx
= (3.4
610
3
m
2
)(0.16 kg) + (1.0110
2
m
2
)(0.054 kg)
I
yy
=
1
I
yy
+
2
I
yy
= (3.4
610
3
m
2
)(0.16 kg) + (3.110
3
m
2
)(0.054 kg)
I
zz
=
1
I
zz
+
2
I
zz
= (6.
610
3
m
2
)(0.16 kg) + (7.610
3
m
2
)(0.054 kg)
I
xy
=
1
I
xy
+
2
I
xy
= (2.510
3
m
2
)(0.16 kg) + (1.27510
3
m
2
)(0.054 kg)
I
xx
= 1.1010
3
kg m
2
I
yy
= 7.2210
4
kg m
2
I
zz
= 1.4810
3
kg m
2
I
xy
= 4.6910
4
kg m
2
153
8.7 Angular Momentum
154
8.7.1
GOAL: Determine the angular momentum of the illustrated body about the xed point O.
GIVEN: The body rotates about the Y -axis with angular speed , and has areal density .
DRAW:
FORMULATE EQUATIONS: Let x, y, z be a set of body-xed axes with origin O. At the
instant illustrated, these axes are aligned with the ground-xed X, Y, Z axes. The body rotates
about the Y -axis with angular speed ; thus the z and Z axes remain aligned and the angular
velocity may be expressed as:

=
. The angular momentum of the body about point O is then:
H
O
=
_
I
XX
1
I
XY

2
I
XZ
3
_
+
_
I
YY

2
I
YZ
3
I
YX
1
_
+
_
I
ZZ
3
I
ZX
1
I
ZY

2
_
H
O
= I
XY

+I
Y Y

I
ZY

k
Once we have determined the relevant inertia values about the point O, we may substitute and
solve for the angular momentum.
SOLVE: We only need to determine I
XY
, I
Y Y
and I
Y Z
. I
Y Y
is easily found as the mass moment
of inertia about the Y axis is simply that of two thin rods, with masses ab, ac and lengths b, c,
respectively, rotated about their ends:
I
Y Y
=
(ac)c
2
3
+
(ab)b
2
3
=
a(b
3
+c
3
)
3
Using the appropriate equations from (8.21)-(8.29) lets us determine the products of inertia. Each
rectangle has no product of inertia when evaluated about its mass center and thus the only nite
products of inertia come about because were shifting our attention from each plates mass center
to the point O.
I
XY
= (ab)
a
2
_
b
2
_
=
a
2
b
2
4
I
Y Z
= (ac)
a
2
c
2
=
a
2
c
2
4
H
O
=
_
ab
2
4

+
b
3
+c
3
3

ac
2
4
k
_
a
155
8.7.2
GOAL: Determine the angular momentum of the illustrated rectangular body about the xed
point O.
GIVEN: The body rotates about the Z-axis with angular speed , and has mass m.
DRAW:
about the Z-axis with angular speed ; thus the z and Z axes remain aligned and the angular

=
k . The angular momentum of the body about point O is then:
H
O
=
_
I
xx
1
I
xy
2
I
xz
3
_
+
_
I
yy
2
I
yz
3
I
yx
1
_
+
_
I
zz
3
I
zx
1
I
zy
2
_
H
O
= I
xz

I
yz
+I
zz
k (1)
SOLVE: The products of inertia about parallel axes through the center of mass G are all zero, due
to the symmetry of the body. The products of inertia about the point O may be computed from
the parallel axis expressions for inertia.
I
xz
:
I
xz
=

I
x
+mr
1
r
3
= 0 +m
_
a
2
__
b
2
_
=
1
4
mab
I
yz
:
I
yz
=

I
y
+mr
2
r
3
= 0 +m
_
c
2
__
b
2
_
=
1
4
mcb
The moment of inertia about the z
-axis through the mass center is:

I
z
=
1
12
m
_
a
2
+c
2
_
. Using
the parallel axis expressions for inertia again, we obtain:
I
zz
:
I
zz
=

I
z
+ m
_
r
2
1
+r
2
2
_
=
1
12
m
_
a
2
+c
2
_
+m
_
_
a
2
_
2
+
_
c
2
_
2
_
=
1
3
m
_
a
2
+c
2
_
Substituting into (1),
H
O
= m
_
1
4
ab

+
1
4
cb
+
1
3
_
a
2
+c
2
_
k
_
156
157
8.7.3
GOAL: Determine the angular momentum of the illustrated ring.
GIVEN: The outer radius of the washer is r
2
, the inner radius is r
1
, the mass is m and the angular
velocity is
k .
DRAW:
FORMULATE EQUATIONS: From Appendix B we have the following inertias, taken about
the principal axes x
, y
, z
of a solid cylinder, oriented as the ring is for this problem.

I
x
= I
z
=
m(3r
2
+h
2
)
12
, I
y
=
mr
2
2
All products of inertia are zero.
SOLVE: For our problem well nd the moments of inertia for two solid cylinders, one of radius
r
1
and one of radius r
2
. By subtracting well obtain the inertias for the ring. The mass of the ring
is given by
m = h(R
2
2
R
2
1
)
Outer radius cylinder:
o
I
x
=
o
I
z
=
R
2
2
h(3R
2
2
+h
2
)
12
o
I
y
=
R
2
2
hR
2
2
2
=
hR
4
2
2
Inner radius cylinder:
i
I
x
=
i
I
z
=
R
2
1
h(3R
2
1
+h
2
)
12
i
I
y
=
R
2
1
hR
2
1
2
=
hR
4
1
2
We now subtract the inertias of the smaller cylinder from the inertias of the larger one.
I
x
= I
z
=
h
_
3
_
R
4
2
R
4
1
_
+h
2
_
R
2
2
R
2
1
__
12
=
h
_
R
2
2
R
2
1
_ _
h
2
+ 3
_
R
2
1
+R
2
2
__
12
=
m
_
h
2
+ 3
_
R
2
1
+R
2
2
__
12
158
I
y
= I
Y Y
=
h
_
R
2
2
R
2
1
_ _
R
2
1
+R
2
2
_
2
=
m
_
R
2
1
+R
2
2
_
2
Using the parallel axis theorem to nd I
XX
and I
ZZ
we obtain
I
XX
= I
ZZ
=
m
_
h
2
+ 3
_
R
2
1
+R
2
2
__
12
+m
_
h
2
_
2
=
mh
2
3
+
m(R
2
1
+R
2
2
)
4
The products of inertia about X, Y , Z are zero from symmetry.
The general expression for angular momentum (using

=
k ) is therefore
H
O
=
_
mh
2
3
+
m(R
2
1
+R
2
2
)
4
_
k
159
8.7.4
GOAL: Calculate the angular momentum of the system about point O.
GIVEN: The system consists of four thin bars of length a, and has an angular velocity

=
_
10
+ 18
k
_
rad/s.
DRAW:
FORMULATE EQUATIONS: The framework is symmetric in the xy, xz, and yz planes,
thus all products of inertia about the mass center G are zero. The body-xed x, y, z axes are
therefore a set of principle axes for the system, and the angular momentum may be expressed as:
H
G
=

I
xx
b
1
+

I
yy
b
2
+

I
zz
b
3
(1)
To determine the angular momentum about the point O, well use the expression,
H
O
=

H
G
+

r
G
/
O
m
v
G
(2)
SOLVE: We need to nd the moments of inertia

I
xx
,

I
yy
, and

I
zz
about the mass center. Assume
the bars have linear density , and consider a dierential mass unit dm = dL, where dL is a
dierential unit of length along a bar. For a unit change in length dL along the bar, there is a
corresponding change

2 dz along the z-axis. dm can thus be expressed as:
dm = dL =
2 dz
Since the bars are one-dimensional, a single variable of integration (chosen to be z) is all thats
needed to calculate the inertias. Well integrate over one of the bars, bar A in the diagram, and
then use our results to nd the moments of inertia of the entire system. Note that the limits on z
are 0 and
a
2
. For I
A
yy
:
I
A
yy
=
_
BodyA
_
x
2
+z
2
_
dm =
a
2
_
0
_
0 +z
2
_
2 dz =
1
6
a
3
By symmetry, we expect I
A
zz
= I
A
yy
. Although we could perform this integration over z with the
substitution y =
a
2
z along bar A, it will be easier to just apply the same arguments as above
to the y-axis and integrate over y:
I
A
zz
=
_
BodyA
_
x
2
+y
2
_
dm =
a
2
_
0
_
0 +y
2
_
2 dy =
1
6
a
3
160
As x
2
= 0 in the above equations, for I
A
xx
we have:
I
A
xx
=
_
BodyA
_
y
2
+z
2
_
dm = I
A
yy
+I
A
zz
=
1
3
a
3
The moments of inertia of all four bars about the center of mass of the framework will be the same,
due to the symmetry of the system. Thus,
I
xx
= I
A
xx
+I
B
xx
+I
C
xx
+I
D
xx
= 4I
A
xx
=
4
3
a
3
Similarly,
I
yy
=

I
zz
=
2
3
a
3
The total mass of the system is M = (4a), so rewriting these expressions in terms of M we obtain:
I
xx
=
1
3
Ma
2

I
yy
=

I
zz
=
1
6
Ma
2
(3)
There are, of course, a number of ways to determine the above moments of inertia. A second
method worth mentioning involves the use of symmetry arguments and the parallel axis expressions.
Through the symmetry of the framework, we know that

I
yy
=

I
zz
, and since x
2
= 0, we have
I
xx
=

I
yy
+

I
zz
= 2
I
yy
= 2
I
zz
. Thus, we only need to compute one of the inertia values,

I
xx
. This
may be computed from the known moment of inertia of a thin bar about a transverse axis,
1
12
mL
2
,
the fact that there are 4 bars, and the parallal axis expressions:
I
xx
= 4
_
I
x
+m
_
y
2
+z
2
_
_
= 4
_
1
12
_
M
4
_
a
2
+
M
4
_
a
2
_
2
_
=
1
3
Ma
2
where
a
2
is the distance from G to the center of any bar.
We are now ready to compute the angular momentum of the system. Note that at the given
instant, the body-xed

b
1
,

b
2
,

b
3
unit vectors are aligned with the ground-xed

,

,

k unit vectors.
Returning to equation (1), with substitutions from (3),
H
G
=

I
xx
b
1
+

I
yy
b
2
+

I
zz
b
3
=
1
3
Ma
2
(0)

+
1
6
Ma
2
(10)

+
1
6
Ma
2
(18)

k
=
5
3
Ma
2
+ 3Ma
2
k
Now substituting into equation (2), with

v
G
=

r
G
/
O
H
O
=

H
G
+

r
G
/
O
m
v
G
=
5
3
Ma
2
+ 3Ma
2
k +
a
k M
_
_
10
+ 18
k
_
k
_
=
20
3
Ma
2
+ 3Ma
2
H
O
= Ma
2
_
20
3
+ 3
k
_
161
8.7.5
GOAL: Calculate the angular momentum of the object about point O.
GIVEN: The object has an angular velocity

= (6
+ 10
) rad/s.
DRAW:
FORMULATE EQUATIONS: The angular momentum of the body about point O is given by:
H
O
=
_
I
xx
1
I
xy
2
I
xz
3
_
+
_
I
yy
2
I
yz
3
I
yx
1
_
+
_
I
zz
3
I
zx
1
I
zy
2
_
k
(1)
Once we have determined the relevant inertia values about the point O, we can substitute and solve
for the angular momentum.
SOLVE: Well break the body into two pieces: AB and OC and identify the horizontal bar AB as
H and the vertical bar OC as V .
m
H
=
2m
3
, m
V
=
m
3
H
I
XX
=
H
I
ZZ
=
m
H
L
2
3
=
2mL
2
9
H
I
Y Y
=
H
I
XY
=
H
I
Y Z
=
H
I
ZX
= 0
V
I
XX
=
V
I
Y Y
=
m
H
L
2
3
=
mL
2
9
V
I
ZZ
=
V
I
XY
=
V
I
Y Z
=
V
I
ZX
= 0
Our overall rotational inertias are given by the sum of the two components:
I
XX
=
2mL
2
9
+
mL
2
9
=
mL
2
3
I
Y Y
=
mL
2
9
, I
ZZ
=
2mL
2
9
I
XY
= I
Y Z
= I
ZX
= 0
Using these values in (1), along with
1
= 6 rad/s,
2
= 10 rad/s, gives us
H
O
= I
xx
+I
yy
+I
zz
k
=
mL
2
3
(6 rad/s)
+
mL
2
9
(10 rad/s)
H
O
= mL
2
_
2
+
10
9

_
rad/s
162
163
8.7.6
GOAL: Calculate the angular momentum of the thin disk D about G and O.
GIVEN: The object has an angular velocity

= (24
76
) rad/s. a = 0.3 m, r = 0.25 m,

m = 10 kg.
DRAW:
FORMULATE EQUATIONS: The angular momentum expressions for the body when rotating
about the points O and G are given by:
H
G
=
_
I
xx
1
I
xy
2
I
xz
3
_
+
_
I
yy
2
I
yz
3
I
yx
1
_
+
_
I
zz
3
I
zx
1
I
zy
2
_
k
(1)
H
O
=
_
I
xx
1
I
xy
2
I
xz
3
_
+
_
I
yy
2
I
yz
3
I
yx
1
_
+
_
I
zz
3
I
zx
1
I
zy
2
_
k
(2)
where

D
=
1
+
2
+
3
k = (24
76
) rad/s.
SOLVE:
I
y
= I
z
=
mr
2
4
, I
x
=
mr
2
2
(3)
We can use the parallel axis theorem to nd the corresponding rotational inertias about O:
I
Y Y
= I
ZZ
=
mr
2
4
+ma
2
, I
XX
=
mr
2
2
(4)
Due to symmetry the products of inertia are still zero.
(1), (3)
H
G
=
mr
2
2

1
+
mr
2
4

2
=
(10 kg)(0.25 m)
2
2
(24
38
) rad/s
= (7.5
11.9
) kg m
2
/ s
164
(2), (4)
H
O
=
mr
2
2

1
+m
_
r
2
4
+a
2
_
= (10 kg)
__
(0.25 m)
2
2
_
24
76
_
(0.25 m)
2
4
+ (0.3 m)
2
__
rad/s
= (7.5
80.3
) kg m
2
/ s
165
8.7.7
GOAL: Calculate the angular momentum of the system about O.
GIVEN: The framework has a mass of 0.005 kg and each arm has a length of h = 0.12 m. The
wheels have radii r = 0.007 m and negligible thickness. The framework rotates about the Y axis
at 2.2 rad/s and the wheels rotate without slip. Each wheel has a mass of 0.001 kg.
DRAW:
H
O
=
_
I
xx
1
I
xy
2
I
xz
3
_
+
_
I
yy
2
I
yz
3
I
yx
1
_
+
_
I
zz
3
I
zx
1
I
zy
2
_
k
(1)
SOLVE:
Although the system contains several pieces, its symmetry allows us to simplify the analysis substan-
tially. Each individual wheel will generate an angular momentum contribution due to its rotation
about the axis along the corresponding arm (the X axis for wheel A in the gure, for instance).
Because an identical contribution will be generated by each wheel, their sum will go to zero. Thus
were left with the same angular momentum as wed have for the 3-arm assemble and attached
wheels rotating about the Y axis as a single rigid body.
Each arm of the 3-arm body has mass moment of inertia about the Y axis of
I
Y Y
=
m
3a
3
_
h
2
3
_
=
m
3a
h
2
9
For each wheel we have
I
Y Y
=
m
w
r
2
4
+m
w
h
2
The complete rotational inertia is therefore
I
Y Y
= 3
_
(0.005 kg)(0.12 m)
2
9
+ (0.001 kg)
_
(0.007 m)
2
4
+ (0.12 m)
2
__
= 6.7210
5
kg m
2
Thus we have
H
O
=
_
6.7210
5
kg m
2
_
(2.2
rad/s) = 1.4810
4
kg m
2
/ s
166
167
8.7.8
GOAL: Determine the angular momentum of the illustrated rectangular body about the xed
point O.
GIVEN: The body rotates about the Z-axis with angular speed
3
, and has a linear density .
DRAW:
FORMULATE EQUATIONS: Let x, y, z be a set of body-xed axes with associated unit vectors
b
1
,

b
2
,

b
3
. The general expression for the angular momentum of the body about point O is:
H
O
=
_
I
xx
1
I
xy
2
I
xz
3
_
+
_
I
yy
2
I
yz
3
I
yx
1
_
+
_
I
zz
3
I
zx
1
I
zy
2
_
k
Letting
1
=
2
= 0 gives us
H
O
= (I
xz
I
yz
+I
zz
k )
3
SOLVE: Denote the mass of the segment OA by m
1
and the mass of the segment AB by m
2
.
I
zz
=
m
1
L
2
1
3
+m
2
L
2
1
I
xz
= m
2
L
1
_
L
2
2
_
=
m
2
L
1
L
2
2
I
yz
= 0
H
O
=
_
m
2
L
1
L
2
2
+
_
m
1
L
2
1
3
+m
2
L
2
1
_
k
_
3
Re-expressing m
1
and m
2
in terms of , L
1
, L
2
gives us
H
O
= L
1
3
_
L
2
2
2

+
_
L
2
1
3
+L
1
L
2
_
k
_
168
8.7.9
GOAL: Find the angular momentum of the illustrated structure about the point O.
GIVEN: The angular velocity of the structure is

=
b
1
and its areal density is .
DRAW:
FORMULATE EQUATIONS: The equation of interest is:
H
O
=
_
I
xx
1
I
xy
2
I
xz
3
_
b
1
+
_
I
yy
2
I
yz
3
I
yx
1
_
b
2
+ (1)
_
I
zz
3
I
zx
1
I
zy
2
_
b
3
SOLVE: Since

=
b
1
, equation (1) gives us:
H
O
= I
xx
b
1
I
yx
b
2
I
zx
b
3
We need to calculate I
xx
, I
yx
, and I
zx
.
The moment of inertia of a thin, rectangular plate about an axis perpendicular to its surface and
through the center of mass is
1
12
m(l
2
+w
2
), where l is the length of the plate and w its width. The
moment of inertia about a transverse axis lying in the plane of the plate, through the center of
mass and parallel to an edge of length w is
1
12
ml
2
. Using the parallel axis expressions, the moment
of inertia about the x axis for each plate is:
I
B
xx
= I
B
x
+m
B
_
r
2
2
+r
2
3
_
=
1
12
m
B
_
b
2
+c
2
_
+m
B
_
_
b
2
_
2
+
_
c
2
_
2
_
=
1
3
m
B
_
b
2
+c
2
_
I
A
xx
= I
A
x
+m
A
_
r
2
2
+r
2
3
_
=
1
12
m
A
c
2
+m
A
_
c
2
_
2
=
1
3
m
A
c
2
For the composite structure,
I
xx
= I
B
xx
+I
A
xx
=
1
3
bc
_
c
2
+b
2
_
+
1
3
acc
2
=
1
3

_
ac
3
+b
3
c +bc
3
_
169
The plane of symmetry for plate A is the xz plane, so I
A
yx
= 0. The plane of symmetry for plate B
is the yz plane, so I
B
yx
= I
B
zx
= 0. The only remaining moment of inertia needed for substitution
into equation (1) is I
A
zx
. Notice that all products of inertia about the center of mass of each plate
are zero, thus by the parallel axis expressions we have:
I
zx
= I
A
zx
= I
A
z
+m
A
r
3
r
1
= 0 +m
A
_
c
2
__
a
2
_
=
1
4
a
2
c
2
Substition into (1) yields
H
O
=
1
3

_
ac
3
+b
3
c +bc
3
_
b
1
+
1
4
a
2
c
2
b
3
170
8.8 Equations of Motion for a Three-Dimensional Body
171
8.8.1
GOAL: Determine the bearing forces for a rotating shaft.
GIVEN: System conguration. Each lumped mass is 2 kg. a = 14 cm and b = 11 cm. =
100 rad/s.
DRAW:
FORMULATE EQUATIONS: Well use the a force balance
F = m
a
G
and three moment balances about the shafts mass center
M
1
=

H
1
+ (
2
H
3

3
H
2
)
M
2
=

H
2
+ (
3
H
1

1
H
3
)
M
3
=

H
3
+ (
1
H
2

2
H
1
)
where

H
G
= H
1
b
1
+H
2
b
2
+H
3
b
3
SOLVE: From (8.32) we have:
H
G
= I
x
b
1
I
y
b
2
+I
z
b
3
I
x
z
= m
1
_
3a
2
_
(0) +m
2
_
a
2
_
(b) +m
3
_
a
2
_
(0) +m
4
_
3a
2
_
(b)
I
x
z
=
ab
2
(m
2
+ 3m
4
) = 2mab
I
y
z
= m
1
_
3a
2
_
(b) +m
2
_
a
2
_
(0) +m
3
_
a
2
_
(b) +m
4
_
3a
2
_
(0)
I
y
z
=
ab
2
(3m
1
+m
3
) = 2mab
I
z
z
= b
2
(m
1
+m
2
+m
3
+m
4
) = 4mb
2
H
G
= 2mab
b
1
+ 2mab
b
2
+ 4mb
2
b
3
172
H
1
= 2mab
H
2
= 2mab
H
3
= 4mb
2
M
1
= 0 2mab
2
= (R
4
R
2
)
5a
2
(1)
M
2
= 0 + 2mab
2
= (R
1
R
3
)
5a
2
(2)
M
3
= 0 (3)
R
1
+R
3
= 0 (4)
R
2
+R
4
= 0 (5)
(5) (1) 5aR
4
= 2mab
2
R
4
=
2mb
2
5
(6)
(6) (5) R
2
=
2mb
2
5
(4) (2) 5aR
1
= 2mab
2
R
1
=
2mb
2
5
(7)
(7) (4) R
3
=
2mb
2
5
Using the given values:
R
1
=
2(2 kg)(0.11 m)(100 rad/s)
2
5
= 880 N
R
3
= 880 N R
2
= 880 N R
4
= 880 N
173
8.8.2
GOAL: Find the moment the shaft must exert on the disk for it to rotate with constant angular
speed .
GIVEN: The radius of the disk is R and its areal density is . The disk is inclined an angle
from the plane normal to the axis of the shaft, as shown.
DRAW: Let x, y, z be a set of body-xed axes attached to the disk, with the origin at its center
of mass. The z-axis is chosen to be normal to the plane of the disk.
FORMULATE EQUATIONS: The angular momentum equation of motion has the form:

M
G
=

H
G
One method of solution is therefore to form

H
G
and take its derivative. A second method of solution
would be to use Eulers equations, since the x, y, z axes are a set of principle axes for the disk. We
will use both methods and check that the solutions are the same.
SOLVE: The moments of inertia of the disk about the x, y, z axes are

I
xx
=

I
yy
=
1
4
mR
2
, and
I
zz
=
1
2
mR
2
. The angular velocity of the disk is:
k =
_
cos

b
3
+ sin

b
1
_
Since the angular velocity is constant, the angular acceleration

is zero.
By symmetry, all products of inertia in the x, y, z coordinate system are zero (and thus x, y, z are
principle axes). The angular momentum then becomes:
H
G
=

I
xx
b
1
+

I
yy
b
2
+

I
zz
b
3
=
1
4
mR
2
sin

b
1
+ 0 +
1
2
mR
2
cos

b
3
(1)
174
Taking the derivative:

M
G
=

H
G
N
=
d
dt
H
G
+

H
G
= 0 +
_
cos
b
3
+ sin

b
1
_
_
1
4
mR
2
sin

b
1
+
1
2
mR
2
cos

b
3
_
=
1
4
mR
2
2
sin cos

b
2
Note that the unit vector

b
2
is always in the direction perpendicular to the axis of the shaft. With
m = R
2
, we have:
M =
1
4
R
4
2
sin cos

b
2
Since

and
2
are zero, the only non-zero Eulers equation is
M
2
=

I
yy
2
+
1
3
_
I
xx

I
zz
_
= 0 + ( sin ) ( cos )
_
1
4
mR
2
1
2
mR
2
_
M
2
=
1
4
R
4
2
sin cos
which yields an identical result as above.
175
8.8.3
GOAL: Determine the bearing forces at A.
GIVEN: System conguration. The shaft has a mass m
1
and the half-disk has a mass m
2
.
DRAW:
The primed axes are attached to the disk and rotate along with it, as do the unit vectors

b
1
,

b
2
,
b
3
. The radius of the half-disk is given by r = d/2.
FORMULATE EQUATIONS: Well use the a force balance
F = m
a
G
M
1
=

H
1
+ (
2
H
3

3
H
2
)
M
2
=

H
2
+ (
3
H
1

1
H
3
)
M
3
=

H
3
+ (
1
H
2

2
H
1
)
where

H
G
= H
1
b
1
+H
2
b
2
+H
3
b
3
SOLVE: From (8.32) we have:
H
G
= I
z
x

3
b
1
I
y
z

3
b
2
+I
z
z

3
b
3
I
z
= I
y
= 0
I
zz
=
m
2
r
2
4
H
G
=
m
2
r
2
3
4
b
3
H
1
= 0, H
2
= 0, H
3
=
m
2
r
2
4
where

=
1
b
1
+
2
b
2
+
3
b
3
,
1
=
2
= 0,
3
= .
176
We can now consider our force and moment balances.
M
1
: 0 = (R
4
R
2
)
3d
2
(1)
M
2
: 0 = (R
1
R
3
)
3d
2
(2)
F
1
: R
1
+R
3
(m
1
+m
2
)g sin = 0 (3)
F
2
:
R
2
+R
4
(m
1
+m
2
)g cos = m
2
r
2
3
=
4m
2
r
2
3
3
(4)
(2), (3)
2R
1
= g(m
1
+m
2
) sin
R
1
= R
3
=
g(m
1
+m
2
) sin
2
(1), (4)
2R
2
= g(m
1
+m
2
) cos
4m
2
_
d
2
_
2
3
3
R
2
= R
4
=
g(m
1
+m
2
) cos
2

m
2
d
2
3
177
8.8.4
GOALS:
(0.1) Find the full equations of motion for the illustrated system under the condition

= 0.
(0.2) Find the equilibrium conditions for which

=

0
(constant),

=

= 0 and =
0
= 0.
GIVEN: The rod is attached by a horizontal pivot to a vertical shaft, as shown in the gure. The
linear density of the rod is .
DRAW: Let x, y, z be a body-xed coordinate system attached to the rod, with corresponding
unit vectors

c
1
,

c
2
,

c
3
. Let

b
1
,

b
2
,

b
3
be a set of unit vectors that rotate with the vertical shaft,
and, at the instant depicted, are aligned with the ground-xed X, Y, Z axes.
The coordinate transformation matrix between

b
i
and

c
i
is:
b
1
b
2
b
3
c
1
1 0 0
c
2
0 cos sin
c
3
0 sin cos
GOVERNING EQUATIONS: The full equations of motion will consist of three force equations
and three moment equations. Newtons law provides the force equations, and since x, y, z are
principle axes for the rod (two planes of symmetry, xz and yz), Eulers equations will provide
the moment equations:
F = m
a
G
(1)
M
1
= I
xx
1
+
2
3
_
I
zz
I
yy
_
(2)
M
2
= I
yy
2
+
1
3
(I
xx
I
zz
) (3)
M
3
= I
zz
3
+
1
2
_
I
yy
I
xx
_
(4)
where

M
O
= M
1
c
1
+M
2
c
2
+M
3
c
3
is the net moment acting on the rod about the point O.
SOLVE: Well begin with the left side of equations (1-4). The forces acting on the rod are the
force of gravity and the reaction force between the rod and shaft at point O. Denote the reaction
178
force acting on the rod as having components R
i
in the

c
i
frame. The net force acting on the rod
is then:
F = R
1
c
1
+R
2
c
2
+R
3
c
3
mg
b
3
= R
1
c
1
+R
2
c
2
+R
3
c
3
Lg (sin
c
2
+ cos
c
3
) (5)
The rod pivots freely about the

c
1
direction, so we may write the reaction torque at O as having
only two components, T
2
and T
3
, in the

c
2
and

c
3
directions. The net moment

M
O
acting on the
rod is then:
M
O
= T
2
c
2
+T
3
c
3
+

r
G
/
O
_
mg
b
3
_
= T
2
c
2
+T
3
c
3
+
_
L
2
c
3
_
Lg
_
sin
c
2
+ cos
c
3
_
= T
2
c
2
+T
3
c
3
+
1
2
gL
2
sin
c
1
(6)
That takes care of the left side of our equations. We will now address the kinematic and inertial
terms appearing on the right side of equations (1-4). We begin with the angular velocity of the
rod, which is:
b
3
b
1
=

(cos

c
3
sin

c
2
)

c
1
(7)
Taking a time derivative, the angular acceleration is
b
3
+

b
3
dt

b
1
b
1
dt
= (0)
b
3
+

(0)
b
1
b
2
=
c
1

cos
c
2

sin
c
3
(8)
Since O is xed in space, the velocity and acceleration of the rods center of mass may be computed
as
v
G
=

r
G
/
O
=
_

cos

c
3

sin

c
2
c
1
_
L
2
c
3
=
1
2
Lsin

c
1
1
2
c
2
(9)
a
G
=

r
G
/
O
+

v
G
=
_
c
1

cos
c
2

sin
c
3
_
L
2
c
3
+
+
_

cos

c
3

sin

c
2
c
1
_
_
1
2
Lsin

c
1
1
2
L

c
2
_
=

Lcos

c
1
+
1
2
L
_

2
sin cos
c
2
+
1
2
L
_

2
sin
2
+

2
_
c
3
(10)
The moments of inertia of the thin rod about the x, y, z axes are I
xx
= I
yy
=
1
3
mL
2
=
1
3
L
3
and
I
zz
= 0. Substitution of (6),(7),(8) into our moment balance equations (2-4), with m = L, now
yields:
179
(2)
_
M
1
=
1
2
mgLsin
_
=
1
3
L
3
_
_
+
_

sin
_ _

cos
_
_
0
1
3
L
3
_
1
2
gL
2
sin =
1
3
L
3
_
2
sin cos
_

+
3g
2L
sin

2
sin cos = 0 (11)
This is the equation of motion for , integration of which will yield (t).
(3)
_
M
2
= T
2
_
=
1
3
L
3
_

cos
_
+
_
_ _

cos
_
_
1
3
L
3
0
_
T
2
=
2
3
L
3

cos (12)
(4)
_
M
3
= T
3
_
= 0
_

sin
_
+
_
_ _

sin
_
_
1
3
L
3
1
3
L
3
_
T
3
= 0 (13)
Note that the constraint torque T
3
has been included in our analysis since rotation of the rod about
c
3
is constrained (unlike the rotation about

c
1
, for example). However, our asssumption that the
rod is one-dimensional requires that this constraint torque is always zero.
Let F
i
=

F
c
i
and a
i
=

a
c
i
. A force balance (1) then takes the form (with m = L):
F = m
a
G
F
i
= La
i
(i = 1, 2, 3)
(
F = m
a
G
)
c
1
R
1
=

L
2
cos (14)
(
F = m
a
G
)
c
2
R
2
+Lg sin =
1
2
L
2
_

2
sin cos
_
(15)
(
F = m
a
G
)
c
3
R
3
Lg cos =
1
2
L
2
_

2
sin
2
+

2
_
(16)
You might notice that force equation (15) and motion equation (11) share some common terms.
Although unnecessary for our purposes, this leads to an interesting simplication for R
2
, in that
both the second and rst order time-derivatives may be eliminated:
(11) (15)
R
2
=
1
4
Lg sin
(0.2) Substitution of the given equilibrium conditions into the equation of motion (11) yields:
0 +
3g
2L
sin
0

0
2
sin
0
cos
0
= 0
3g
2L

0
2
cos
0
= 0

0
= cos
1
_
3g
2L

2
0
_
180
which is the equilibrium value of for a given

0
.
In order for the above inverse cosine function to exist, the operand must lie in the range [-1,1].
Thus,
1
3g
2L

2
0
1
Since all quantities appearing in the operand are positive, this is equivalent to:
2
0

3g
2L
If

0
is too small, no such equilibria (
0
= 0) exists. Also note that the same argument implies
cos 0, assuring /2
0
/2.
181
8.8.5
GOAL: Find the rotational speed that allows to remain constant at 45
. Is this the same result

as if all the mass were concentrated at C?
GIVEN: System conguration. L = 0.5 m, m = 2 kg.
DRAW:
Well use the a force balance
F = m
a
G
M
1
=

H
1
+ (
2
H
3

3
H
2
)
M
2
=

H
2
+ (
3
H
1

1
H
3
)
M
3
=

H
3
+ (
1
H
2

2
H
1
)
where

H
G
= H
1
b
1
+H
2
b
2
+H
3
b
3
SOLVE:
(a) Using (8.33) and

=
k gives us
H
O
= I
zx
b
1
I
yz
b
2
+I
zz
b
3
I
zz
=
mL
2
12
+mL
2
sin
2
= mL
2
_
1
12
+ sin
2
_
I
yz
= mL
2
cos sin
I
zx
= 0
H
1
= 0, H
2
= mL
2
cos sin , H
3
= mL
2
_
1
12
+ sin
2
_
.
H
1
= 0,

H
2
= 0 and

H
3
= 0.
The rst of our moment balance equations yields
M
1
= H
2
=
2
mL
2
cos sin = mgLsin
2
=
g
Lcos
=
9.81 m/s
2
(0.5 m)(1/
2)
= 27.75 rad/s
2
182
= 5.27 rad/s
(b) If all the mass were at C then wed have:
I
zz
= mL
2
sin
2
I
yz
= mL
2
cos sin
I
zx
= 0
I
yz
is the same as in (a). Therefore the results for this case will not dier from those of (a).
183
8.8.6
GOAL: Describe the eect of lateral perturbations on the front wheel of a bicycle, when one is
riding with no hands.
DRAW:
ASSUME: Initially, the bike travels in a perfectly straight line and is perfectly upright.
FORMULATE EQUATIONS: The sum of the moments about the mass center of the wheel
must equal the time rate of change of its angular momentum.

M
G
=
d
dt
H
G
SOLVE: Let

be the forward vector,

the right-to-left vector, and

k the vertical up direction.
Initially, the front wheel has an angular momentum about its mass center with only one component
in the

direction,

H
G
= H
2
. Assume that instead of riding with no hands, the handlebars are

held xed by the rider. If the bike leans to the left (

= 0), the angular momentum vector
will tilt towards the ground, in the
k direction. Thus, the net moment on the wheel must also

have component in the
k direction (provided by the riders grip on the handlebars). We conclude,

therefore, that with no hands the wheel will have a tendency to turn in the positive

k direction,
or to the left.
A similar argument shows that when the rider leans right, the wheel will turn to the right as well.
Leaning causes the bike to turn in the direction of the lean.
We may obtain the same result with an examination of a moment balance. Let

b
1
,

b
2
,

b
3
be a set
of body-xed unit vectors initially aligned with

,

k . If the bike is traveling forward and leaning
to the right then its angular velocity may be represented as

=
1
b
1
+
2
b
2
and the angular
momentum as

H
G
= H
1
b
1
+ H
2
b
2
. Our third moment balance equation, corresponding to the

b
3
component, is
M
3
=

I
zz
3
+
1
2
(
I
yy

I
xx
)
For a wheel,

I
yy
>

I
xx
. With no hands, and assuming a negligible resistance to turning at the
contact point between the wheel and ground, the net moment

M
3
will be zero and thus
3
=
2
(
I
yy

I
xx
)
I
zz
< 0
Thus the wheel turns to the right.
184
The resulting motion of the wheel will tend to stabilize the bicycle. When the wheel turns, the
centripetal acceleration of the bicycle requires a frictional force between the wheels and ground
toward the center of curvature of the riders path. The moment this force exerts on the bicycle will
tend to counter the moment due to gravity.
185
8.8.7
GOAL: Find the total force

F and moment

M
G
acting on the dynamical potato.
GIVEN: Linear velocity and acceleration; angular velocity and acceleration; mass of potato; and
all moments and products of inertia.
DRAW:
GOVERNING EQUATIONS:
F = m
a (1)

M
G
=

H
G
N
=
d
dt
H
G
+
H
G
(2)
SOLVE: Determing the net force acting on the dynamical potato is a simple matter.
(1)
F =
_
25 kg
__
4
m/s
2
_
F = 100
N
To apply (2), we require the angular momentum about G, which may be computed from the
expression
_
I
xx
1
I
xy
2
I
xz
3
_
b
1
+
H
G
=
_
I
yy
2
I
yz
3
I
yx
1
_
b
2
+ (3)
_
I
zz
3
I
zx
1
I
zy
2
_
b
3
At the given instant,
[(0.05)(8) (0.02)(12) (0.04)(3)]

+
H
G
= [(0.03)(12) (0.02)(8) (0.07)(3)]
+
[(0.10)(3) (0.04)(8) (0.07)(12)]
k
= (0.52

0.73
+ 0.82
k ) kgm
2
/s
186
Now, with the substitution of (3) into (2),

M
G
=
d
dt
H
G
+
H
G
=
_
I
xx
1
I
xy
2
I
xz
3
_
b
1
+
_
I
yy
2
I
yz
3
I
yx
1
_
b
2
+
_
I
zz
3
I
zx
1
I
zy
2
_
b
3
+
H
G
= [(0.05)(85) (0.02)(100) (0.04)(30)]

+
[(0.03)(100) (0.02)(85) (0.07)(30)]
+
[(0.10)(30) (0.04)(85) (0.07)(100)]
k +
(8

12
+ 3
k )(0.52

0.73
+ 0.82
k )
M
G
=
_
2.60

11.8
+ 7.00
k
_
Nm
Note that the linear velocity does not appear in any of our computations.
187
8.8.8
GOAL: Determine the angular acceleration of the bar and the support force F
O
at the instant the
bar is released. Consider two cases: a) = 0 and = 30
.
GIVEN: Mass and dimensions of bar, initial positions before release.
DRAW: For convenience, well use a ground-xed x,y,z set of axes and when done re-express the
answer in terms of the illustrated X,Y ,Z set. Unit vectors

,
k align with X,Y ,Z and

align with x,y,z.

k ,

,

k
=

.
FORMULATE EQUATIONS: The equations of motion for a rigid body are
F = m
a (1)

M
O
=
d
dt
H
O
=
d
dt
H
O
+

H
O
(2)
Since we are only concerned with the instant of release,

= 0, and equation (2) becomes:

M
O
=
_
I
xx
1
I
xy
2
I
xz
3
_
b
1
+
_
I
yy
2
I
yz
3
I
yx
1
_
b
2
+ (3)
_
I
zz
3
I
zx
1
I
zy
2
_
b
3
SOLVE: The moment of inertia for a slim rod about a transverse axis through its mass center
is
1
12
mL
2
. With a little help from the superposition principle and the parallel axis theorem, the
inertias of our rigid body about point O are:
I
xx
=
1
3
_
3
7
m
_
b
2
=
1
7
mb
2
= 0.0386 kgm
2
I
yy
=
1
3
_
4
7
m
_
a
2
+
3
7
ma
2
=
13
21
ma
2
= 0.297 kgm
2
I
zz
= I
xx
+I
yy
=
3
7
m
_
a
2
+
_
b
2
_
2
_
=
13
21
ma
2
+
1
7
mb
2
= 0.336 kgm
2
I
xy
=
3
7
ma
_
b
2
_
=
3
14
mab = 0.0771 kgm
2
I
xz
= 0
I
yz
= 0
188
where m = 3 kg, a = 0.40 m, and b = 0.30 m.
The center of mass of the bar is located at
x
G
=
4
7
_
a
2
b
1
_
+
3
7
_
a
b
1
+
b
2
b
2
_
=
5
7
a

b
1
+
3
14
b

b
2
= 0.286

b
1
+ 0.0643

b
2
(a) When = 0, the space-xed

,

k
and body-xed

b
i
unit vectors are aligned. The only
moment about O is that due to gravity, which at the given instant is
M
O
=

x
G
(mg
) =
5mga
7
3mgb
14

Using this result in (3) yields three equations
3mgb
14
= I
xx
1
I
xy
2
5mga
7
= I
yy
2
I
xy
1
0 = I
zz
3
which may be solved for the angular accelerations
1
= 15.7 rad/s
2
;
2
= 32.4 rad/s
2
;
3
= 0
= (15.7

+ 32.4

) rad/s
2
= (32.4
15.7
k ) rad/s
2
The acceleration of the mass center is
a =

x
G
= (15.7

+ 32.4

)(0.286

+ 0.0643

) = 8.24
rad/s
2
Equation (1) may now be solved for the reaction force,
F
O
mg
= m
a

F
O
= (3 kg)(8.24
rad/s
2
) + (3 kg)(9.81 m/s
2
)
F
O
= 4.71
N

F
O
= 4.71
N
(b) When = 30
, the gravity vector becomes g sin 30
b
2
g cos 30
b
3
. The moment about O is
now:
M
O
=
_
5
7
a

b
1
+
3
14
b

b
2
_
(mg sin 30
b
2
mg cos 30
b
3
)
=
5amg
14
b
3
+
5
3amg
14
b
2
3bmg
28
b
1
Using this result in (3) and solving for the angular acceleration components yields
1
= 13.6 rad/s
2
;
2
= 28.0 rad/s
2
;
3
= 12.5 rad/s
2
= (13.6
b
1
+ 28.0
b
2
12.5
b
3
) rad/s
2
= (13.6

+ 30.5

+ 3.17
) rad/s
2
= (30.5
+ 3.17
13.6
k ) rad/s
2
189
a =

x
G
= (13.6
b
1
+ 28.0
b
2
12.5
b
3
)(0.286

b
1
+ 0.0643
b
2
)
= (0.805
b
1
3.58
b
2
7.14
b
3
) rad/s
2
and the force

F
O
is
F
O
= m
a +mg(sin 30
b
2
+ cos 30
b
3
)
= (3 kg)(0.805
b
1
3.58
b
2
7.14
b
3
) + (3 kg)(9.81 m/s
2
)(sin 30
b
2
+ cos 30
b
3
)
F
O
= (2.42
b
1
+ 3.98
b
2
+ 4.08
b
3
) N = (2.42

+ 1.41

+ 5.52
) N
F
O
= (1.41
+ 5.52
2.42
k ) N
190
8.8.9
GOAL: Determine the angular acceleration

of the disk and the reaction force

F
O
at the given
instant.
GIVEN: Were given the mass and dimensions of the disk as well as its initial position and angular
velocity.
DRAW:
GOVERNING EQUATIONS: The equations of motion for a rigid body are
F = m
a
G
(1)

M
O
=

H
O
N
=
d
dt
H
O
+

H
O
(2)
SOLVE: The center of mass of the disk is located at
r
G
/
O
= R

4R
3
=
_

4
3
_
m (3)
The mass moments of inertia of the disk about point O are
I
xx
=
1
4
mR
2
=
1
4
(12 kg)(1.0 m)
2
= 3 kgm
2
I
yy
=
1
4
mR
2
+mR
2
=
5
4
mR
2
=
5
4
(12 kg)(1.0 m)
2
= 15 kgm
2
I
zz
=
1
2
mR
2
+mR
2
=
3
2
mR
2
=
3
2
(12 kg)(1.0 m)
2
= 18 kgm
2
I
xy
= m(R)
_
4R
3
_
=
4
3
mR
2
=
4
3
(12 kg)(1.0 m)
2
=
16
kgm
2
I
xz
= I
yz
= 0
To apply (2) we require the angular momentum of the disk about O, which may be computed from
_
I
xx
1
I
xy
2
I
xz
3
_
b
1
+
H
O
=
_
I
yy
2
I
yz
3
I
yx
1
_
b
2
+ (4)
_
I
zz
3
I
zx
1
I
zy
2
_
b
3
191
At the given instant,
H
O
=
_
[0 (16/)(2) 0]

+ [(15)(2) 0 0]
+ [(18)(5) 0 0]
k
_
kg m
2
/ s
= (32/

+ 30
+ 90
k ) kgm
2
/s (5)
Substituting (4) and (5) into (2), with

M
O
=

r
G
m(g
k ), and then taking the dot products

with

,

,

k yields three equations:
(2)
16g/ kg m = [3
1
(16/)
2
] kg m
2
+(2 rad/s)(90 kg m
2
/ s) (5 rad/s)(30 kg m
2
/ s)
(2)
12g kg m = [15
2
(16/)
1
] kg m
2
+ (5 rad/s)(32/) kg m
2
/ s
(2)
k 0 = 18
3
kg m
2
(2 rad/s)(32/) kg m
2
/ s
Solving the above for
1
,
2
, and
3
,
1
= 2.14 rad/s
2
2
= 5.18 rad/s
2
3
= 1.13 rad/s
2
= (2.14
5.18
1.13
k ) rad/s
2
a
G
=

r
G
/
O
+

r
G
/
O
_
Using the calculated values for

and

gives us
a
G
=
_
28.5
+ 11.7
8.52
k
_
m/s
2
Equation (1) may now be solved for the force

F
O
,
F
O
mg
k = m
a
G

F
O
= (12 kg)(9.81 m/s
2
)
k + (12 kg)(28.5
+ 11.7
8.52
k ) m/s
2
F
O
= (342
+ 141
+ 15.5
k ) N
192
8.8.10
GOAL: Find the acceleration

a
G
of the mass center, the angular acceleration

, and the acceler-
ation

a
P
of the point P at the instant given.
GIVEN: Weight and dimensions of body, its angular velocity; and the force

F
Q
applied at point
Q.
DRAW:
F = m
a
G
(1)

M
G
=

H
G
N
=
d
dt
H
G
+

H
G
(2)
SOLVE: From (1), the acceleration of the mass center is
a
G
=
F
m
=
[(20
+ 10
k ) 40
] lbs
_
40 lbs
32.2 ft/s
2
_ = (16.1
38.64
+ 8.05
k ) ft/s
2
(3)
The rigid body can be viewed as a composite body with three sections: a lower-left cube, an upper-
right cube, and a rectangular parallelpiped in the middle. The moments of inertia for the body are
found by superimposing the inertias of all three sections, and applying the parallel-axis expressions
as needed. Let x
, y
, z
be a new set of coordinates axes parallel to x, y, z, and with an origin at

the mass center. By symmetry,

I
x
=

I
y
= 0.
I
x
= 2
_
1
6
_
m
4
_
h
2
+
_
m
4
__
h
2
_
2
_
+
_
1
6
_
m
2
_
h
2
_
=
7
24
mh
2
I
y
= 2
_
1
6
_
m
4
_
h
2
+
_
m
4
__
3h
2
_
2
_
+
_
1
12
_
m
2
__
h
2
+ (2h)
2
__
=
17
12
mh
2
I
z
= 2
_
1
6
_
m
4
_
h
2
+
_
m
4
___
3h
2
_
2
+
_
h
2
_
2
__
+
_
1
12
_
m
2
__
h
2
+ (2h)
2
__
=
37
24
mh
2
I
x
=
m
4
_
3
2
h
__
h
2
_
+
m
4
_
3
2
h
__
h
2
_
=
3
8
mh
2
The moment exerted on the body about its mass center is

M
G
=

r
Q
/
G
F
Q
= (2h
0.5h
k )(20
+ 10
k ) =
8
3
+
20
3
+
32
3
k ftlbs
193
To apply (2), we also need the angular momentum

H
G
,
_
I
x
1

I
x
2

I
x
3
_
b
1
+
H
G
=
_
I
y
2

I
y
3

I
y
1
_
b
2
+ (4)
_
I
z
3

I
z
1

I
z
2
_
b
3
=
_
40 lbs
32.2 ft/s
2
__
8 in
12 in/ft
_
2
__
7
24
(5)
3
8
(4)
_
+
_
17
12
(4)
3
8
(5)
_
+
_
37
24
(1)
_
k
_
= (1.63
+ 4.16
0.851
k ) slugft
2
/s (5)
Equation (2) may be rewritten as

M
G
=
_
I
x
1

I
x
2
_
+
_
I
y
2

I
y
1
_
+
_
I
z
3
_
k +

H
G
(6)
Substitution of (4), (5), and

M
G
into (6) yields three equations that may be solved for

,
=
1
+
2
+
3
k = (9.10
+ 9.47
+ 29.3
k ) rad/s
2
The acceleration of point P will be
a
P
=

a
G
+

r
P
/
G
+

r
P
/
G
_
= (16.1
38.64
+ 8.05
k ) +
(9.10
+ 9.47
+ 29.3
k )
_
4
3
+
2
3
+
1
3
k
_
+
(5
+ 4
k )
_
(5
+ 4
k )
_
4
3
+
2
3
+
1
3
k
__
a
P
= (34.6
41.9
20.3
k ) ft/s
2
194
8.8.11
GOAL: Find the angular acceleration

of the body, the acceleration

a
G
of the mass center, and
the velocity and acceleration

v
Q
and

a
Q
of the point mass Q, all at time t = 0.
GIVEN: Geometry and mass of system components; the initial linear and angular velocities of the
system; the force applied to the system and its point of application.
DRAW:
ASSUME: The thickness of the cylindrical shell is negligible.
F = m
a
G
(1)

M
G
=
d
dt
H
G
=
d
dt
H
G
+

H
G
(2)
SOLVE: From (1), the acceleration of the mass center is
a
G
=
F
M + 2m
=
(60
+ 40
50
k ) N
5 kg + 2(3 kg)
= (5.45
+ 3.64
4.55
k ) m/s
2
(3)
To compute the moments of inertia for the system we may superimpose the individual inertia
values for the two point masses and the cylindrical shell. Note that the origin of the given x, y, z
coordinate system is the current center of mass. By symmetry,

I
xz
=

I
yz
= 0.
I
xx
= MR
2
+ 2m
_
R +
L
4
_
2
= (5 kg)(0.05 m)
2
+ 2(3 kg) (0.05 m + 0.20 m)
2
=
= 0.3875 kgm
2
I
yy
=
1
2
MR
2
+
1
12
ML
2
+ 2m
_
L
4
_
2
=
=
1
2
(5 kg)(0.05 m)
2
+
1
12
(5 kg)(0.80 m)
2
+ 2(3 kg)(0.20 m)
2
= 0.5129 kgm
2
I
zz
=
1
2
MR
2
+
1
12
ML
2
+ 2m
_
_
L
4
_
2
+
_
R +
L
4
_
2
_
=
1
2
(5 kg)(0.05 m)
2
+
+
1
12
(5 kg)(0.80 m)
2
+ 2(3 kg)
_
(0.20 m)
2
+ (0.25 m)
2
_
= 0.8879 kgm
2
I
xy
= m
_
L
4
__
R +
L
4
_
+m
_
L
4
__
R
L
4
_
= 2(3 kg)(0.20 m)(0.25 m) =
= 0.30 kgm
2
195
The moment exerted on the body about its mass center is

M
G
=

r
F = (0.20
+ 0.25
)(60
+ 40
50
k ) = (12.5
10
+ 7
k ) Nm
To apply (2), we also require the angular momentum

H
G
,
_
I
xx
1

I
xy
2

I
xz
3
_
b
1
+
H
G
=
_
I
yy
2

I
yz
3

I
yx
1
_
b
2
+ (4)
_
I
zz
3

I
zx
1

I
zy
2
_
b
3
= [(0.3875)(5) (0.3)(2)]
+ [(0.5129)(2) (0.3)(5)]
+ [(0.8879)(3)]
k
= (2.54
+ 2.53
2.66
k ) kgm
2
/s (5)
Equation (2) may be rewritten as

M
G
=
_
I
xx
1

I
xy
2
_
+
_
I
yy
2

I
yx
1
_
+
_
I
zz
3
_
k +

H
G
(6)
Substitution of (4), (5), and

M
G
into (6) yields three equations that may be solved for

,
=
1
+
2
+
3
k = (26.2
15.3
0.624
k ) rad/s
2
The velocity and acceleration of the point mass Q will be
v
Q
=

v
G
+

r
Q
/
G
= 0 + (5
+ 2
k ) rad/s(0.20
0.25
) m
v
Q
= (0.75
0.60
1.65
k ) m/s
2
a
Q
=

a
G
+

r
Q
/
G
+

r
Q
/
G
_
= (5.45
+ 3.64
4.55
k ) m/s
2
+ (26.2
15.3
0.624
k ) rad/s
2
(0.20
0.25
) m +
+(5
+ 2
k ) rad/s
_
(5
+ 2
k ) rad/s(0.20
0.25
) m
_
a
Q
= (10.7
+ 14.0
+ 3.57
k ) m/s
2
196
8.8.12
GOAL: Determine the angular acceleration

of the T-bar, and the linear accelerations

a
G
and

a
P
of the center of mass and point P, respectively, at the moment a given force F is applied.
GIVEN: Were given the mass m and dimension h for the body, and the applied force F with its
location. The body is initially at rest.
DRAW:
ASSUME: The thickness of the T-bar is negligible and may be modeled as a slender rod.
FORMULATE EQUATIONS: The center of mass of the T-bar is located at
x
G
=
1
m
_
2
3
m(0) +
1
3
m
_
h
2
__
=
h
6
= 0.05
m (1)
Let x
, y
, z
be a set of axes that pass through the mass center and are parallel with the given x, y,
z. The products of inertia about the x
, y
, z
axes will all equal zero, due to the symmetry of the

body (and thus Eulers equations are generally applicable). In addition, since the body is initially
at rest, its angular velocity

= 0 at the moment of interest. These conditions lead to a simplied
version of the angular equations of motion.
F = m
a
G
(2)

M
G
=

H
G
N
=
d
dt
H
G
+

H
G
=

I
x
+

I
y
+

I
z
k (3)
SOLVE: The moments of inertia about the x
, y
, z
axes are
I
x
=
_
2
3
m
__
h
6
_
2
+
1
12
_
m
3
_
h
2
+
_
m
3
__
h
3
_
2
=
1
12
mh
2
= 0.0225 kgm
2
I
y
=
1
12
_
2
3
m
_
(2h)
2
=
2
9
mh
2
= 0.06 kgm
2
I
z
=

I
x
+

I
y
=
11
36
mh
2
= 0.0825 kgm
2
The moment about the mass center is

M
G
=

r
F = (0.15
+ 0.05
) m(50
+ 40
+ 20
k ) N = (
+ 3
3.5
k ) Nm
197
Solving (3) for the angular acceleration components yields:
1
=
1 Nm
0.0225 kgm
2
= 44.4 rad/s
2
2
=
3 Nm
0.0600 kgm
2
= 50 rad/s
2
3
=
3.5 Nm
2
0.0825 kgm
2
= 42.4 rad/s
2
= (44.4
+ 50
42.4
k ) rad/s
2
The center of mass acceleration is computed from (2),
a
G
=
(50
+ 40
+ 20
k ) N
3 kg
= (16.7
+ 13.3
+ 6.67
k ) m/s
2
The acceleration of point P is then
a
P
=

a
G
+

r
P
/
G
+

r
P
/
G
_
= (16.7
+ 13.3
+ 6.67
k ) m/s
2
+ (44.4
+ 50
42.4
k ) rad/s
2
(0.3
+ 0.05
) m + 0
a
P
= (14.5
+ 0.606
6.11
k ) m/s
2
198
8.8.13
GOAL: Determine the ratio (
1

2
)/(L
1
L
2
) that will result in a steady precession rate
about the vertical, with shaft CD remaining in the horizontal plane.
GIVEN: The mass and dimensions of the system components are assumed to be known. The
angular velocities of the disks are assumed to be
1
and
2
, in the directions indicated by the
diagram.
DRAW: Let

b
1
,

b
2
,

b
3
be a set of unit vectors xed to the shaft CD.

b
3
will thus always be the
vertical upward direction.
ASSUME: The mass of the shaft is negligible.
FORMULATE EQUATIONS: Well choose to solve this problem by using the angular equations
of motion about the xed point O.

M
O
=
d
dt
H
O
(1)
SOLVE: The moments of inertia of the two disks about points O will be very similar. Note the
use of the parallel axis expressions in I
yy
and I
zz
below.
I
A
xx
=
1
2
mR
2
I
B
xx
=
1
2
mR
2
I
A
yy
=
1
4
mR
2
+mL
2
1
I
B
yy
=
1
4
mR
2
+mL
2
2
I
A
zz
=
1
4
mR
2
+mL
2
1
I
B
zz
=
1
4
mR
2
+mL
2
2
The products of inerta are all zero, by symmetry.
If the shaft remains horizontal, the angular velocity of each disk will be
A
=
1
b
1
+
b
3
B
=
2
b
1
+
b
3
(2)
Since we are using a set of principal axes, the angular momentum about O becomes
H
O
=

H
A
O
+

H
B
O
= I
A
xx
b
1
+I
A
zz
b
3
I
B
xx
b
1
+I
B
zz
b
3
(3)

H
O
= I
A
xx

1
b
1
+I
A
xx
1

b
1
+ 0 I
B
xx

2
b
1
I
B
xx
2

b
1
+ 0
=
1
2
mR
2
(
1

2
)
b
1
+
1
2
mR
2
(
1

2
)
b
2
(4)
199
The only moment about O is that due to gravity

M
O
= L
1
b
1
(mg
b
3
) + (L
2
b
1
)(mg
b
3
) = mg(L
1
L
2
)
b
2
(5)
Substitution of (4) and (5) into (1) yields
mg(L
1
L
2
)
b
2
=
1
2
mR
2
(
1

2
)
b
1
+
1
2
mR
2
(
1

2
)
b
2
(6)
Equating the

b
2
components gives the answer were looking for
1

2
L
1
L
2
=
2g
R
2
Note that since disks A and B spin freely about the shaft,
1
= 0 and
2
= 0, satisfying the

b
1
component of the above equation. Writing the equations of motion for each disk about its mass
center would quickly reveal that this is true. In fact, as an alternative solution we could have
employed these equations instead, along with a moment balance for the massless shaft.
200
8.8.14
GOAL: Examine the angular momentum and angular velocity of a discus after its release, and
how they change over time. Also examine the trajectory of the discus mass center and the distance
it is thrown.
GIVEN: Mass and dimensions of discus; initial position, orientation, linear velocity and angular
velocity.
DRAW:
ASSUME: The discus may be approximated as a circular disk with given mass and dimensions.
SOLVE: Let

b
1
,

b
2
,

b
3
be a set of body-xed unit vectors with

b
2
being the spin axis, or the
direction normal to the disk surface. Using our cicular disk approximation for the discus gives
moments of inertia equal to:
I
x
=
1
4
m
_
d
2
_
2
+
1
12
mt
2
=
1
4
(2 kg)(0.11 m)
2
+
1
12
(2 kg)(0.045 m)
2
= 0.00639 kgm
2
I
y
=
1
2
m
_
d
2
_
2
=
1
2
(2 kg)(0.11 m)
2
= 0.0121 kgm
2
I
z
=

I
x
= 0.00639 kgm
2
All products of inertia are zero, by symmetry.
(a) The initial angular momentum of the discus is
H
G
=

I
x
b
1
+

I
y
b
2
+

I
z
b
3
= [(0.00639)(1.3)
b
1
+ (0.0121)(20)
b
2
+ (0.00639)(0.8)
b
3
] kgm
2
/s
H
G
= (8.3010
3
b
1
+ 0.242
b
2
+ 5.1110
3
b
3
) kgm
2
/s
Since there are no moments acting on the discus about its mass center, the rate of change of angular
momentum is zero,

M
G
=

H
G
= 0. Thus

H
G
is constant.
(b) From Eulers equations, the motion of the discus is described by
I
x

1
+
2
3
(
I
z

I
y
) = 0
I
y

2
+
3
1
(
I
x

I
z
) = 0 (1)
I
z

3
+
1
2
(
I
y

I
x
) = 0
201
We can rearrange the above equations to yield (observe

I
x

I
z
= 0)

1
=
I
y

I
z
I
x
3

2
= 0
3
=
I
x

I
y
I
z
2
(2)
and note that
1
= C
3
and
1
= C
3
, where C is a constant.
In general, if

=
1
b
1
+
2
b
2
+
3
b
3
, where

b
1
,

b
2
,

b
3
are body-xed unit vectors, the rate of
change of

may be expressed as

=
1
b
1
+
2
b
2
+
3
b
3
(3)
For the present case,

=
I
y

I
z
I
x
b
1
+
I
x

I
y
I
z
b
3
Examining (2) and (3), we see that there are three release conditions for which

is constant.

1
=
3
= 0; Only spin imparted to discus,
2
= 0

2
= 0; No spin imparted. Rotation is about a xed transverse axis.

1
=
2
=
3
= 0; No rotation whatsoever, a special case of the above
(c) Neglecting air resistance, the discus will follow a typical parabolic trajectory for a projectile
under the inuence of gravity. We can compute the distance of the throw by considering the vertical
and horizontal components of the motion equations. The time that will elapse before the discus
strikes the ground may be computed from the vertical component,
t =
v
oy
g
+
_
v
2
oy
+ 2gy
o
g
=
(25 m/s) sin 25
9.81 m/s
2
+
_
(25 m/s)
2
(sin 25
)
2
+ 2(9.81 m/s
2
)(1.5 m)
9.81 m/s
2
= 2.29 s
The throw distance is now computed from the horizontal component,
x = v
ox
t = (25 m/s)(cos 25
)(2.29 s) = 51.8 m
Our computation has come up short compared to an actual Olympic throw with the same release
conditions. The reason for this is because we have neglected the lift provided by the 35
attack
angle. While the frictional resistance of air will generally decrease a projectiles speed, the lift
provided under these particular conditions is large enough to actually increase the maximum height
and ight time for the discus. This increase in ight time is apparently the more signicant eect,
allowing a properly-trained athlete to throw the discus farther than our prediction.
202
8.8.15
GOAL: (a) Find expressions for the vertical components of the reaction forces at the spheres
contact point C and at the support O; (b) Write an expression for the angle at which the contact
force goes to zero, and note any restrictions on m, R, and L for which this is impossible.
GIVEN: The mass of the sphere, length of the rod, radius of the sphere, and angle are all
assumed to be known. is constant.
DRAW:
b
1
cos 0 sin
b
2
0 1 0
b
3
sin 0 cos
ASSUME: The mass of the rod may be neglected. We assume that when the vertical reaction force
goes to zero the sphere continues a rolling motion over the surface, although there is essentially no
contact. We will also assume that the horizontal component of the contact force in the

direction
is zero. This will be a valid assumption at the moment contact is lost, and without this assumption
the

-components of the reactions at C and O would be redundant. Of course, this assumption
would also hold for a very smooth surface (we would just have to initiate rolling somehow).
FORMULATE EQUATIONS: We will choose to write our moment equation about the center
of mass. The point O would work just as well, and we could even choose C, with a little more
work.

F = m
a
G
(1)

M
G
=
d
dt
H
G
=
d
dt
H
G
+

H
G
(2)
We are given the rotation rate about the vertical axis. Since the sphere is rolling its motion also
consists of a rotation about the shaft, which we will denote as a rate . The angular velocity of
the sphere is therefore

=
k +
b
3
. Since the point C is stationary, we may write a constraint
condition relating and :
v
C
=

r
C
/
O
= (
k +
b
3
)(L
b
3
R
k ) = Lsin
b
2
+Rsin
b
2
= 0
L = R (3)
The locus of contact points on the sphere is a circle of radius Rsin .
203
SOLVE: The moments of inertia for a sphere about its mass center are identical, and all products
of inertia about axes through G are zero.
I
xx
=

I
yy
=

I
zz
=
2
5
mR
2
With

=
k +
b
3
= sin
b
1
+( cos +)
b
3
, the angular momentum of the sphere becomes:
H
G
=
2
5
mR
2
sin
b
1
+
2
5
mR
2
( cos +)
b
3
(4)

H
G
=
2
5
mR
2
sin ( cos )
b
2
+
2
5
mR
2
( cos +)( sin )
b
2
=
2
5
mR
2
sin
b
2
(5)
Let the reaction forces at O and C be

F
C
= F
Cx
+F
Cy
+F
Cz
k , and

F
O
= F
Ox
+F
Oy
+F
Oz
k .
The moment at O will consist of a single component in the

b
1
-direction,

M
O
= M
O1
b
1
. The other
two components are zero because the system is pinned horizontally about

b
2
, and the massless
shaft allows free rotation of the sphere about

b
3
.

M
G
= (L
b
3
)(F
Ox
+F
Oy
+F
Oz
k ) + (R
k )(F
Cx
+F
Cy
+F
Cz
k ) +M
O1
b
1
= (RF
Cy
cos F
Oy
L +M
O1
)
b
1
+ (RF
Cx
+F
Ox
Lcos F
Oz
Lsin )
b
2
+
+RF
Cy
sin
b
3
(6)
Equating components of (5) and (6) gives
0 = RF
Cy
cos F
Oy
L +M
O1
(7)
2
5
mR
2
sin = RF
Cx
+F
Ox
Lcos F
Oz
Lsin (8)
0 = RF
Cy
sin (9)
The spheres center travels in a circle of radius Lsin , with angular speed . Its acceleration is
a
G
= L
2
sin
and our force balance (1) yields the component equations

mL
2
sin = F
Cx
+F
Ox
(10)
0 = F
Cy
+F
Oy
(11)
0 = F
Cz
+F
Oz
mg (12)
From (9), (11), and (7) we see that F
Cy
= 0, F
Oy
= 0, and M
O1
= 0. Interesting, but not what we
need. The relevant equations for our purposes are (8), (10), and (12). With our assumption that
F
Cx
= 0 (as it must when the sphere loses contact, or on a very smooth surface), these equations
may be solved for the vertical reactions at C and O,
(10),(3)(8)
2
5
mRL
2
sin = mL
2
2
sin cos F
Oz
Lsin
F
Oz
= m
2
_
Lcos
2
5
R
_
(13)
(13)(12) F
Cz
= mg m
2
_
Lcos
2
5
R
_
(14)
204
(b) Letting F
Cz
go to zero in equation (14) and solving for yields
cos =
1
L
_
g
2
+
2
5
R
_
Since cos 1, we have
g
2
+
2
5
R < L
Thus no matter how large may be, it will be impossible for the vertical reaction to equal zero
unless
2
5
R < L
There is also a lower limit on , namely, >
_
g/L.
205
8.8.16
GOAL: Determine the angular speed , and its direction, that is required if the angle between
the vertical and shafts AC and BD is to remain constant at = 30
, for a given rotational rate .

GIVEN: Each disk has mass m = 5 kg and radius R = 0.08 m; shafts AC and BD have length
L
1
= 0.20 m with spring attachment points at a distance L
2
= 0.15 m from points C and D;
the length of link CD is L
3
= 0.30 m, which is the same as the unstretched length of the spring
(k = 320 N/m); = 3 rad/s in the direction shown.
DRAW:
b
1
cos 0 sin
b
2
0 1 0
b
3
sin 0 cos
ASSUME: The mass of the spring and linkages is negligible.
FORMULATE EQUATIONS: Since the system is symmetric, we can conne our work to only
one disk and linkage. The linear and angular equations of motion for rigid bodies are
F = m
a
G
(1)

M
G
=

H
G
N
=
d
dt
H
G
+

H
G
(2)
206
SOLVE: The shaft is massless, so the only moments of inertia to consider are that of the disk.
Since the disks are axisymmetric, we may use the shaft-xed

b
1
,

b
2
,

b
3
directions as body-xed
unit vectors without loss of generality. All products of inertia are zero.
I
xx
=
1
4
mR
2

I
yy
=
1
4
mR
2

I
zz
=
1
2
mR
2
With constant, the angular velocity of the disk is
k +
b
3
= sin
b
1
+ (cos +)
b
3
(3)
The angular momentum of the disk is then
H
G
=
I
xx
sin
b
1
+

I
zz
(cos +)
b
3
=
1
4
mR
2
sin
b
1
+
1
2
mR
2
(cos +)
b
3
(4)

H
G
=
1
4
mR
2
sin (cos
b
2
) +
1
2
mR
2
(cos +)(sin
b
2
)
=
1
4
mR
2
sin (cos + 2) (5)
Let the reaction force at point D be F
x
+F
y
+F
z
k . The link is pinned at D so that there is no

moment in the

b
2
-direction; the negligible mass of the shaft and the fact that the disk spins freely
about is axis indicates that there can be no moment about

b
3
either. Thus the reaction moment is
just M
1
b
1
.

M
G
=

(
F) +M
1
b
1
= L
1
b
3
(F
x
+F
y
+F
z
k ) +(L
1
L
2
)
b
3
(2kL
2
sin )
+M
1
b
1
= (L
1
F
y
+M
1
)
b
1
+ [L
1
F
z
sin L
1
F
x
cos + 2k(L
1
L
2
)L
2
sin cos ]
b
2
(6)
Substituting (5) and (6) into (2), and then equating

b
1
and

b
2
components gives
0 = L
1
F
y
+M
1
(7)
1
4
mR
2
sin (cos + 2) = L
1
F
z
sin L
1
F
x
cos + 2k(L
1
L
2
)L
2
sin cos (8)
The mass center travels a circular path of radius L
3
/2+L
1
sin with constant speed. Its acceleration
is
a
G
=
k [
k (L
3
/2
+L
1
b
3
)] =
2
(L
3
/2 +L
1
sin )
The component equations of our force balance (1) are

m
2
(L
3
/2 +L
1
sin ) = F
x
2kL
2
sin (9)
0 = F
y
(10)
0 = F
z
mg (11)
By (10) and (7), F
y
= 0 and M
1
= 0. Solving (9) and (11) for F
x
and F
z
and substituting into (8)
yields:
1
4
mR
2
sin (cos + 2) = L
1
mg sin + 2k(L
1
L
2
)L
2
sin cos
L
1
[2kL
2
sin m
2
(L
3
/2 +L
1
sin )] cos (12)
207
Using the given parameter values in (12) allows us to solve for ,
= 24.5 rad/s, in the positive

b
3
direction
208
8.8.17
GOAL: (a) Determine
1
,
2
, and the angular acceleration

at the instant a given force is applied
to the cylinder. (b) Find the reaction forces and moments at the support A at this instant.
GIVEN: Mass and dimensions of system; initial rotation rates
1
,
2
; and the applied force F
and its location.
DRAW:
The

b
1
,

b
2
,

b
3
axes are attached to the shaft, with

b
2
remaining vertical.
ASSUME: The mass of the 90
-bend shaft is negligible.

FORMULATE EQUATIONS: We employ the rigid body equations of motion. We will choose
to sum the applied moments about the xed point O lying at the center of the 90
-bend.
F = m
a
G
(1)

M
O
=
d
dt
H
O
=
d
dt
H
O
+

H
O
(2)
SOLVE: The moments of inertia for the cylinder about its mass center are

I
xx
=
1
2
mR
2
and
I
yy
=

I
zz
=
1
4
mR
2
+
1
12
mt
2
. Since we have chosen the xed point O well use the parallel axis
expressions to obtain the inertia values about this point.
I
xx
=
1
2
mR
2
I
yy
=
1
4
mR
2
+
1
12
mt
2
+m
_
L +
t
2
_
2
=
1
4
mR
2
+
1
3
mt
2
+mL
2
+mLt
I
zz
=
1
4
mR
2
+
1
12
mt
2
+m
_
L +
t
2
_
2
=
1
4
mR
2
+
1
3
mt
2
+mL
2
+mLt
The angular velocity of the cylinder is
=
1
b
1
+
2
b
2
(3)
The angular momentum of the system about O is
H
O
=
1
2
mR
2
b
1
+
_
1
4
mR
2
+
1
3
mt
2
+mL
2
+mLt
_
b
2
(4)
Taking the derivative,

H
O
=
1
2
mR
2

1
b
1
+
1
2
mR
2
1
(
2
b
3
) +
_
1
4
mR
2
+
1
3
mt
2
+mL
2
+mLt
_

2
b
2
(5)
209
The forces acting on the system are gravity mg
b
2
, the applied force

F = 40
b
3
N, and the reaction
forces. Since the shaft is assumed to be massless, the net forces and moments acting on any portion
of it must be zero (otherwise it would have innite acceleration terms). It will be easier to visualize
the reactions if we initially consider only those existing at point O of the shaft. Doing so also
removes them from the moment equation. Well wait until part (b) below to consider those existing
at point A.
The reaction force at O may be written as

F
O
= F
O1
b
1
+ F
O2
b
2
+ F
O3
b
3
. The reaction moment at
O consists of only one component,

M
O
= M
O3
b
3
. Since the cylinder spins freely about

b
1
there can
be no reaction torque in this direction; and since the shaft revolves freely about

b
2
there can be no
reaction torque in this direction either. The sum of the moments about O is now

M
O
=
_
L +
t
2
_
b
1
(mg)
b
2
+ (L
b
1
+R
b
2
)F
b
3
+M
O3
b
3
= RF
b
1
LF
b
2
+
_
M
O3
mg
_
L +
t
2
__
b
3
(6)
Substitution of (5) and (6) into (2) and equating like components gives
1
2
mR
2

1
= RF (7)
_
1
4
mR
2
+
1
3
mt
2
+mL
2
+mLt
_

2
= LF (8)
1
2
mR
2
2
= M
O3
mg
_
L +
t
2
_
(9)
The acceleration of the cylinders mass center is
a
G
=
2
b
2
_
L +
t
2
_
b
1
+
2
b
2
b
2
_
L +
t
2
_
b
1
_
=
_
L +
t
2
_
_

2
b
3
2
2
b
1
_
The component equations of the force balance (1) are now
F
O1
= m
2
2
_
L +
t
2
_
(10)
F
O2
mg = 0 (11)
F
O3
+F = m
2
_
L +
t
2
_
(12)
Equations (7)-(12) are our six rigid body equations of motion. Equations (7) and (8) may be solved
directly for
1
and
2
:

1
=
2F
mR
=
2(40 N)
(5 kg)(0.05 m)
= 320 rad/s
2
(13)

2
=
LF
1
4
mR
2
+
1
3
mt
2
+mL
2
+mLt
=
(0.15 m)(40 N)
(5 kg)
_
1
4
(0.05 m)
2
+
1
3
(0.10 m)
2
+ (0.15 m)
2
+ (0.15 m)(0.10 m)
_

2
= 28.9 rad/s
2
(14)
210
We can now solve for the angular acceleration

. Note
1
= 120 rev/min = 4 rad/s, and
2
=
40 rev/min =
4
3
rad/s
=

=
1
b
1
+
2
b
2
b
3
= 320
b
1
28.9
b
2
(4)
_
4
3
b
3
= (320
b
1
28.9
b
2
52.6
b
3
) rad/s
2
(15)
(b) Equations (9)-(12) may be solved for the force and moment reactions at O. To nd the reactions
at A, we just have to balance the forces and moments acting on the AO segment of the shaft.
Again, since the shaft is assumed massless these forces and moments must cancel. Well let the
force reaction at A be

F
A
= F
A1
b
1
+F
A2
b
2
+F
A3
b
3
, and the moment reaction

M
A
= M
A1
b
1
+M
A3
b
3
.
F
A1
= F
O1
= m
2
2
_
L +
t
2
_
= 17.5 N
F
A2
= F
O2
= mg = 49.1 N
F
A3
= F
O3
= F m
2
_
L +
t
2
_
= 11.06 N
F
A
= (17.5
b
1
+ 49.1
b
2
11.06
b
3
) N
Summing the moments for massless segment AO about O, which must equal zero,

M = (L)
b
2
(F
A1
b
1
+F
A2
b
2
+F
A3
b
3
) +M
A1
b
1
+M
A3
b
3
M
O3
b
3
= 0
M
A1
= LF
A3
= 1.659 Nm
M
A3
= M
O3
LF
A1
= mg
_
L +
t
2
_
1
2
mR
2
2
LF
A1
= 12.1 Nm
M
A
= (1.659
b
1
+ 12.1
b
3
) Nm
211
8.8.18
GOAL: Find the tension in the string, and the reaction forces at each ball-and-socket joint, when
mass m
3
has descended a distance s =
9
2
r
2
from the given release position.
GIVEN: m
1
= 3 kg, m
2
= 0.5 kg, m
3
= 2 kg, r
1
= 10 cm, r
2
= 4 cm, d = 6 cm, and
L
1
= L
2
= L
3
= 15 cm.
DRAW: Let

b
1
,

b
2
,

b
3
be a set of body-xed unit vectors attached to the rotating shaft. Initially,
b
1
,

b
2
,

b
3
and

,

,

k coincide.
The rotational transformation from

,

,

k to

b
1
,

b
2
,

b
3
, with =
s
r
2
, is
b
1
cos 0 sin
b
2
0 1 0
b
3
sin 0 cos
FORMULATE EQUATIONS: The system is viewed as two rigid bodies, the rst being the
rod, disk, and pulley; the second being the hanging mass m
3
. The governing equations are the
moment and force balances for the shaft, and a force balance for the hanging mass. There are eight
unknowns: six reaction force components at A and B, the tension T in the string, and the motion
212
of the system. The moment and force balances will provide 7 equations, but we will see that two
force components merely cancel, leaving 6 equations in 6 unknowns.
It is convenient to write the moment balance about a xed point along the shaft axis. We will
choose the point B, since this choice eliminates the reactions at B from the moment equations.
Our governing equations are then:
shaft:

M
B
=

H
B
(1)
F
shaft
= (m
1
+m
2
)
a
Gshaft
(2)
hanging mass: T m
3
g = m
3
a (3)
As an alternative approach, the force equation for the shaft (2) could easily be replaced by a second
moment balance, perhaps about A, to solve for the reactions at B.
SOLVE: The angular velocity of the shaft may be written

=
b
2
. With only one rotational
component, the expression for the angular momentum of the shaft becomes:
H
B
= I
yy
b
2
I
xy
b
1
I
zy
b
3
(4)
The required moments of inertia may be computed using the known values for a disk, the parallel
axis theorem, and the additive property for composite bodies:
I
yy
= I
1
yy
+I
2
yy
=
_
I
1
y
+m
1
d
2
_
+
_
I
2
y
+m
2
(0)
_
=
1
2
m
1
r
2
1
+m
1
d
2
+
1
2
m
2
r
2
2
I
xy
= I
1
xy
+I
2
xy
=
_
I
1
x
+m
1
(0)(2L)
_
+
_
I
2
x
+m
2
(0)(L)
_
= 0 + 0
I
zy
= I
1
zy
+I
2
zy
=
_
I
1
z
+m
1
(d)(2L)
_
+
_
I
2
z
+m
2
(0)(L)
_
= 0 2m
1
dL + 0
The right side of equation (1) is now

H
B
= I
yy
b
2
I
zy
b
3
I
zy
b
1
=
_
1
2
m
1
r
2
1
+m
1
d
2
+
1
2
m
2
r
2
2
_
b
2
+ 2m
1
dL
_
b
3
+
2
b
1
_
(5)
Let the reactions at A and B be written as

F
A
= F
Ax
+F
Ay
+F
Az
k and

F
B
= F
Bx
+F
By
+F
Bz
k .
There are no constraint torques since the ball-and-socket joints rotate freely in all directions. Also
denote L = L
1
= L
2
= L
3
. The moment about B is then

M
B
=

r
A
/
B
F
A
+

r
G1
/
B
_
m
1
g
_
k +

r
G2
/
B
_
m
2
g
_
k +

r
C
/
B
T
k
=
_
3L
_
F
Ax
+F
Ay
+F
Az
k
_
+
_
2L
+d
b
3
_
_
m
1
g
k
_
+
_
L
_
m
2
g
k
_
+
_
L
+r
2
_
T
k
_
=
_
3LF
Az
+ 2Lm
1
g +Lm
2
g +TL
_
+
_
m
1
gd sin
s
r
2
+Tr
2
_
+ 3LF
Ax
k (6)
Substitution of (5) and (6) into (1), and taking dot products with

,

,

k , yields the rst three
equations of motion:
(1)
: 3LF
Az
+ 2Lm
1
g +Lm
2
g +TL = 2m
1
dL
_
sin
s
r
2
+
2
cos
s
r
2
_
(7)
(1)
: m
1
gd sin
s
r
2
+Tr
2
=
_
1
2
m
1
r
2
1
+m
1
d
2
+
1
2
m
2
r
2
2
_
(8)
(1)
k : 3LF
Ax
= 2m
1
dL
_
cos
s
r
2
2
sin
s
r
2
_
(9)
213
The force balance for the shaft, as written in Eqn. (2), requires the acceleration of the center of
mass of the disk and pulley. However, since the pulleys center of mass remains stationary, we
can balance the external forces acting on the system using the motion of the disk center alone.
Equation (2) then becomes:
F
shaft
= m
1
a
G1
where
a
G1
=

r +

(
r) =
b
2
d
b
3
+
b
2
b
2
d
b
3
_
= m
1
d
_
b
1
b
3
_
Using the above force balance, the three force equations for the shaft are then
: F
Ax
+F
Bx
= m
1
d
_
cos
s
r
2
2
sin
s
r
2
_
(10)
: F
Ay
+F
By
= 0 (11)
k : F
Az
+F
Bz

_
m
1
+m
2
_
g T = m
1
d
_
sin
s
r
2
2
cos
s
r
2
_
(12)
The acceleration of the hanging mass is

a = a
k = r
2
k . Using this result in (3) gives

T m
3
g = m
3
r
2
(13)
We now have all equations necessary for the solution. Specically, these are equations (7)-(13).
Equations (8) and (13) govern the motion of the system and may be solved for :
=
m
1
gd sin
s
r
2
+m
3
gr
2
1
2
m
1
r
2
1
+m
1
d
2
+
1
2
m
2
r
2
2
+m
3
r
2
2
(14)
We also need to determine , which may be found by integrating our expression for . To simplify
this task we will rst apply the chain rule to obtain the relation = s
dw
ds
= r
2
dw
ds

r
2
ds = d.
Substitution into this relation, with dummy variables s
and
, yields:
_
0
=
1
1
2
m
1
r
2
1
+m
1
d
2
+
1
2
m
2
r
2
2
+m
3
r
2
2
s
_
0
_
m
1
gd
r
2
sin
s
r
2
+m
3
g
_
ds

2
=
m
1
gd
_
1 cos
s
r
2
_
+m
3
gs
1
4
m
1
r
2
1
+
1
2
m
1
d
2
+
1
4
m
2
r
2
2
+
1
2
m
3
r
2
2
(15)
With the given mass and length parameters, equations (14) and (15) will give us the angular velocity
and acceleration at the instant s =
9
2
r
2
:
= 86.8 rad/s
2
= 29.6 rad/s
Using these values in equations (7),(9), and (13), with s =
9
2
r
2
, we can solve for the tension T
and the reactions F
Ax
and F
Az
:
T = 12.7 N; F
Ax
= 105.0 N; F
Az
= 15.1 N
Inserting these values in equations (10) and (12) we nd F
Bx
and F
Bz
:
F
Bx
= 52.5 N; F
Bz
= 16.3 N
214
The remaining equation of motion, (11), only tells us that
F
Ay
= F
By
That is, the y-components of the reaction forces at A and B must cancel. With no externally
applied forces in this direction, and no preexisting stresses in the shaft along the y-axis, these
forces should remain zero.
215
8.8.19
GOAL: Determine the precession rate and rotational kinetic energy of a football during ight.
GIVEN: Weight and geometry of football; the spin rate is 15 rad/s about the long axis of the
football and the long axis itself wobbles through a total angle of 15
.
DRAW:
FORMULATE EQUATIONS: Since there are no external moments acting on the football its
angular momentum is conserved. We can determine the precession rate by setting

M
G
=
d
dt
H
G
= 0 (1)
The rotational kinetic enegy may be found using
KE
rot
=
1
2
H
G
(2)
SOLVE: Modeling the football as a solid prolate spheroid, its has two equal semi-minor axes
a = b = (19 in)/(2) = 3.024 in. and a semi-major axis c = 5 in. First lets get some unit
conversions out of the way,
a = b =
19 in
2(12 in/ft)
= 0.252 ft c =
5 in
12 in/ft
= 0.41
6 ft
m =
9 oz
(16 oz/lb)(32.2 ft/s
2
)
= 0.0175 slug
The moments of inertia of an ellipsoid about principal axes through its mass center are
I
xx
=
1
5
m(a
2
+b
2
) =
2
5
ma
2
= 4.4410
4
slugft
2
I
yy
=

I
zz
=
1
5
m(a
2
+c
2
) = 8.2810
4
slugft
2
The angular velocity of the football may be expressed as
=
2
b
1
+
1
= (
2
+
1
cos )
b
1
1
sin
b
2
We may now write an expression for the angular momentum

H
G
,
H
G
=

I
xx
(
2
+
1
cos )
b
1
+

I
yy
(
1
sin )
b
2
216
Taking the derivative with respect to time, and setting it equal to zero
d
dt
H
G
=

I
xx
(
2
+
1
cos )
d
dt
b
1

I
yy
1
sin
d
dt
b
2
=

I
xx
(
2
+
1
cos )
1
sin
b
3

I
yy
2
1
sin cos
b
3
= 0 (3)
Note that in the above we have assumed
1
= 0 and
2
= 0. Had these terms been included we
would have seen some

b
1
and

b
2
components in the above equation, but with no external moments
we would quickly nd that they are zero. Solving (3) for
1
yields
1
=
_

I
xx
I
yy

I
xx
_

2
cos
=
2a
2
2
(c
2
a
2
) cos
=
2(3.024 in)
2
(15 rad/s)
[(5 in)
2
(3.024 in)
2
] cos 15
1
= 17.9 rad/s
The rotational kinetic energy is computed from (2).
KE
rot
=
1
2
H
G
=
1
2
_
(
2
+
1
cos )
b
1
1
sin
b
2
_
I
xx
(
2
+
1
cos )
b
1

I
yy
1
sin
b
2
_
=
1
2
_
I
xx
(
2
+
1
cos )
2
+

I
yy
(
1
sin )
2
_
=
1
2
_
(4.4410
4
slugft
2
)[15 rad/s + (17.9 rad/s) cos 15
]
2
+
+(8.2810
4
slugft
2
)[(17.9 rad/s) sin 15
]
2
_
KE
rot
= 0.240 ftlb
217
8.8.20
GOAL: Determine the direction of rotation that the student experiences after rotating the axle of
the wheel as described.
GIVEN: The wheel is given an intial spin about its axle in the direction indicated in the gure.
There is no initial rotation of the swiveling platform. The student then rotates the wheel axle so
his right hand is directly above his left, with the axle of the wheel oriented vertically in space.
DRAW:
SOLVE: Consider the mechanical system consisting of the student, wheel, and platform. The
only external forces acting on the system are gravity and the reactions at the platform support.
Since the platform swivels freely about the z-axis, no external moments may be applied to the
system about this axis (or any point lying on the z-axis). The resultant of any external forces
acting on the platform must have a line of action that passes through the z-axis, or else be purely
vertical, parallel to this axis. Gravitational forces are assumed to be purely vertical as well.
Since no external moments may be applied to our system about the z-axis, the angular momentum
of the system about any point lying on this axis is conserved in the

k -direction. This is clear from
the angular momentum equation of motion:

M
O
=
d
dt
H
O
0 =

H
O

k
Initially, the wheel axle is oriented horizontally, and the student is at rest. The systems initial
angular momentum component in the

k -direction is therefore zero, and it must remain zero for all
218
time. As the student tilts the axle of the wheel, bringing his right hand above the left, the wheel
itself begins to acquire an angular momentum component in the positive

k direction. To counter
this positive gain, the student and platform must begin rotating in the opposite direction, at an
angular speed which maintains the systems overall angular momentum component in this direction
at zero. Thus,
Student rotates in -z direction, or is negative
In the solution above, we have only addressed the vertical direction, and have made no mention of
the horizontal components. So the question might be asked, What about the change in angular
momentum in the horizontal direction? Initially the wheel has a large component in this direction,
but in the nal orientation it has none. The answer is that while the horizontal angular momen-
tum components do change, the platform support provides the external moments allowing for this
change, and the students muscles provide the torques required for him to remain upright.
219
8.8.21
GOAL: Determine the angle through which the student and platform rotate before coming to
rest, after the described action is perfomed.
GIVEN: Mass and moments of inertia of the wheel; initial rotation rate of wheel and its direction;
magnitude of the torsional friction; distance d between vertical axis and wheel center; approximate
moment of inertia I for student/platform combination about vertical z-axis.
DRAW:
ASSUME: The described action is performed instantaneously. The student does not shift the
position of his mass center or that of the wheel. Neglect any friction in the wheel axle.
FORMULATE EQUATIONS: The wheel itself spins freely about the body-xed

b
1
axis, and
thus its angular rotation rate is constant. This is evident from an examination of the

b
1
-
component of Eulers equation

M
disk
1
=

I
xx
1
+
2
3
(
I
zz

I
yy
)
0 =

I
xx
+
2
3
(0) = 0
The angular velocity of the wheel after the rotation of its axle will therefore be
wheel
=
b
1
=
k (1)
To nd the angle through which the platform rotates we will have to determine the intial rotation
rate of the platform, and apply our angular equation of motion in the

k direction

M
P

k =
d
dt
H
P

k (2)
to nd

, and then integrate to get .
SOLVE: Since it is assumed that the student performs the 90
rotation of the wheel axis instan-

taneously, the torsional friction does no work and the angular momentum of the system about the
vertical z-axis is conserved during this action. Initially, the student is at rest and the wheel axle is
220
horizontal, so the angular momentum about the

k direction is zero (
H
P

k = 0). We can use this

fact to determine the rotational rate of the student immediately after the axle rotation:
H
P

k = I +

H
G,wheel

k + (
r
GG
/
P
m
v
Gwheel
)
k = 0
= I +I
xx
+md
2
= 0
(3)

0
=
I
xx
I +md
2
=
(0.2 kgm
2
)(18 rad/s)
0.9 kgm
2
+ (2 kg)(0.55 m)
2
= 2.39 rad/s (4)
We now apply equation (2), where the only moment about point P in the
k -direction is the torsional

friction T
f
, in the direction opposite the rotation ,

M
P

k =
d
dt
H
P

k
T
f
= (I +md
2
)

=
T
f
I +md
2
= 0.133 rad/s
2
(5)
Integrating,
_
d =
_

d
1
2
(
2
2
0
) =

(
0
)
Set = 0 to determine the angle through which the platform rotates before coming to rest.

0
=
2
0
2

=
(I
xx
)
2
2T
f
(I +md
2
)
=
(2.39 rad/s)
2
2(0.133 rad/s
2
)
Letting
0
= 0,
= 21.5 rad
221
8.8.22
GOAL: Determine the ground reaction moment at point O.
GIVEN: The given parameters are the mass and geometry of system. The system revolves about
the vertical with a constant angular velocity

= 30
k rev/min =
k rad/s.
DRAW: The body-xed

b
1
,

b
2
,

b
3
unit vectors are attached to the rotating support beam. They
coincide with the absolute

,

,

k unit vectors at the instant depicted in the diagram.
ASSUME: Neglect the mass of the support beam; consider only the hemispherical shells.
FORMULATE EQUATIONS: The angular momentum equation of motion for rigid bodies will
allow us to compute the reaction moment at O.

M
O
=

H
O
N
=
d
dt
H
O
+

H
O
(1)
SOLVE: The angular momentum of the structure about point O is
_
I
xx
1
I
xy
2
I
xz
3
_
b
1
+
H
O
=
_
I
yy
2
I
yz
3
I
yx
1
_
b
2
+ = I
xz
b
1
I
yz
b
2
+I
zz
b
3
(2)
_
I
zz
3
I
zx
1
I
zy
2
_
b
3
where
1
=
2
= 0 and
3
= rad/s.
Since the angular velocity is constant,

= 0, and (1) becomes

M
O
=

H
O
=
3
b
3
(I
xz
b
1
I
yz
b
2
+I
zz
b
3
)
= I
xz
2
3
b
2
+I
yz
2
3
b
1
(3)
222
We therefore only need to compute the two products of inertia I
xz
and I
yz
. Since the x-z plane
is a plane of symmetry for the structure, I
yz
= 0, leaving us with only I
xz
to compute. The mass
center of the upper sphere is located at
r
2
b
1
+ L
2
b
3
while that of the lower sphere is located at
r
2
b
1
+ L
1
b
3
. Using the parallel axis expressions and the superposition principle for composite
bodies allows us to compute I
xz
. By symmetry,

I
x
=

I
x
= 0 we
I
y
+m
_
L
2
2
+I
xz
=

I
x
+mL
1
_
r
2
_
+

I
x
+mL
2
r
2
=
1
2
mr(L
2
L
1
)
The reaction moment at O may now be computed from (3):

M
O
= I
xz
2
3
b
2
=
1
2
mr(L
2
L
1
)
2
3
b
2
=
1
2
_
250 lb
32.2 ft/s
2
_
(4 ft)(24 ft 16 ft)( rad/s)
2
b
2
M
O
= 1.2310
3
ftlb
223
8.8.23
GOAL: Determine the angular speed
1
required for the support force between brace E and arm
BC to go to zero, for a given
2
.
GIVEN: Geometry and dimensions of system; the angular velocity

k of the vertical shaft AB.

DRAW: Let

b
1
,

b
2
,

b
3
be a set of unit vectors xed to arm BC.
b
1
cos 0 sin
b
2
0 1 0
b
3
sin 0 cos
ASSUME: Neglect the mass of arm BC.
FORMULATE EQUATIONS: We will apply the angular equations of motion for a rigid body
about point B. We choose point B, instead of the mass center G, simply because it will eliminate
the reaction forces at B from our equations and avoid a consideration of the force equations.

M
B
=

H
B
N
=
d
dt
H
B
+

H
B
(1)
SOLVE: The angular velocity of the disk is
=
2
k +
1
b
3
=
2
sin
b
1
+ (
2
cos +
1
)
b
3
To apply (1), we need to determine the angular momentum

H
B
. The moments of inertia of the disk
about the

b
i
axes through its mass center are

I
xx
=

I
yy
=
1
4
mR
2
and

I
zz
=
1
2
mR
2
. We utilize the
parallel axis expressions to determine the inertia values about point B:
I
xx
=
1
4
mR
2
+mL
2
I
yy
=
1
4
mR
2
+mL
2
I
zz
=
1
2
mR
2
I
xy
= I
xz
= I
yz
= 0 (by symmetry)
224
The angular momentum is now
H
B
= I
xx
2
sin
b
1
+I
zz
(
2
cos +
1
)
b
3
=
_
1
4
mR
2
+mL
2
_
2
sin
b
1
+
_
1
2
mR
2
_
(
2
cos +
1
)
b
3
(2)
The system is subject to the condition that
1
,
2
, and are constant. The time derivative of

H
B
is therefore

H
B
=
2
H
B
=
2
(sin
b
1
+ cos
b
3
)
H
B
=
_
1
4
mR
2
+mL
2
_
2
2
sin cos
b
2
_
1
2
mR
2
_
(
2
cos +
1
)
2
sin
b
2
(3)
With arm BC pinned about

b
2
, the moment at B may be represented as M
1
b
1
+M
3
b
3
(although
intuitively we know these are both zero due to the steady motion of the system and the fact that
the disk spins freely about its axis). When the contact force at the brace E goes to zero it will
exert no moment on BC, and so the only external moment is that due to gravity. The sum of the
moments about B is thus

M
B
= M
1
b
1
+M
3
b
3
+ (L
b
3
)[mg(sin
b
1
+ cos
b
3
)]
= M
1
b
1
+M
3
b
3
+mgLsin
b
2
(4)
Applying (1), and equating the

b
2
-components of (3) and (4) gives
mgLsin =
_
1
4
mR
2
+mL
2
_
2
2
sin cos
_
1
2
mR
2
_
(
2
cos +
1
)
2
sin (5)
Solving (5) for
1
yields
1
=
_
2L
2
R
2

1
2
_
2
cos
2gL
R
2
2
=
_
2(0.3 m)
2
(0.1 m)
2

1
2
_
(2 rad/s) cos 30
2(9.81 m/s
2
)(0.3 m)
(0.1 m)
2
(2 rad/s)
= 264 rad/s
1
= 264

b
3
rad/s
225
8.8.24
GOAL: Determine the bending moment at the weld O in terms of m, , r, and g. Use two methods:
(i) Equations of motion for the mass center G, and (ii) Equations of motion about the xed point
O.
GIVEN: The hemispherical shell rotates with constant angular velocity about the shaft axis, in
the direction indicated. The shell has mass m and radius r.
DRAW: Let

b
1
,

b
2
,

b
3
be a set of body-xed unit vectors that, at the instant illustrated, are
aligned with the x, y, z axes, respectively.
GOVERNING EQUATIONS:
(i)

M
G
=
d
dt
H
G
(1)
F = m
a
G
(2)
(ii)

M
O
=
d
dt
H
O
(3)
SOLVE: (i) The moments of inertia of the hemispherical shell about its mass center are

I
xx
=
2
3
mr
2
and

I
yy
=

I
zz
=
5
12
mr
2
. All products of inertia are zero. The angular velocity of the shell is
b
3
. The expression for angular momentum is thus:
H
G
=

I
zz
b
3
=
5
12
mr
2
b
3
(4)
Let the contraint forces and moments at the weld be written as

F = F
1
b
1
+ F
2
b
2
+ F
3
b
3
and
M = M
1
b
1
+ M
2
b
2
+ M
3
b
3
. For a hemispherical shell, the mass center G is located a distance
r
2
along the x-axis, from either end of the shell. Substitution of the constraint forces and moments
into equation (1) yields:

M
G
=
d
dt
H
G
F
2
r
b
1
+
_
F
1
r +
1
2
F
3
r
_
b
2
1
2
F
2
r

b
3
+M
1
b
1
+M
2
b
2
+M
3
b
3
= 0 (5)
226

a
G
=

r
2
b
1
_
=
1
2
r
2
b
1
. The force balance, equation
(2), now yields:
F
1
b
1
+F
2
b
2
+F
3
b
3
mg
b
3
=
1
2
mr
2
b
1
(6)
Equation (6) may be solved for the constraint forces, F
1
=
1
2
mr
2
; F
2
= 0; F
3
= mg. Using these
results in equation (5) gives us the moments:
M
1
= 0; M
2
=
1
2
mr
_
g +r
2
_
; M
3
= 0
M =
1
2
mr
_
g +r
2
_
b
2
(ii) If we center our work about the xed point O well see that we only need one equation to solve
for the bending moment, at a cost of slightly more complex inertia terms and a non-zero angular
momentum time-derivative. With only one angular velocity component, in the

b
3
direction, the
angular momentum expression is
H
O
= I
O
zz
b
3
I
O
xz
b
1
I
O
yz
b
2
(7)
Using the parallel axis expressions, we nd the moments and products of inertia appearing in the
above equation to be:
I
O
zz
=

I
zz
+m
_
r
2
1
+r
2
2
_
=
5
12
mr
2
+m
_
r
2
4
+ 0
_
=
2
3
mr
2
I
O
xz
=

I
xz
+mr
1
r
3
= 0 +m
_
r
2
_
_
r
_
=
1
2
mr
2
I
O
yz
=

I
yz
+mr
2
r
3
= 0 +m
_
0
__
r
_
= 0
And from equation (7) we now have:
H
O
=
2
3
mr
2
b
3
1
2
mr
2
b
1
d
dt
H
O
=
1
2
mr
2
b
2
Since the reaction forces at O exert no moment about O, equation (3) becomes;
M
1
b
1
+M
2
b
2
+M
3
b
3
+
1
2
mgr
b
2
=
1
2
mr
2
b
2
M =
1
2
mr
_
g +r
2
_
b
2
227
8.8.25
GOAL: (a) Determine the angular acceleration of the spherical shell when its angular velocity is
= 10
k rad/s. (b) Find the reaction moment at the weld O at this same instant. Report in the
x, y, z coordinate frame.
GIVEN: We are given the external motor torque that is driving the shaft, and the areal density
and radius of the shell.
DRAW: Let

b
1
,

b
2
,

b
3
be body-xed axes aligned with the principle axes of the shell, while

,

,

k
are body-xed axes attached to the rotating shaft.
b
1
sin 0 cos
b
2
0 1 0
b
3
cos 0 sin
ASSUME: The mass of the shaft is negligible.
FORMULATE EQUATIONS: We will apply the rigid body equations of motion about point
O:
F = m
a
G
(1)

M
O
=

H
O
N
=
d
dt
H
O
+

H
O
(2)
SOLVE: The location of the mass center with respect to point O is
r
G
/
O
=

r
A
/
O
+

r
G
/
A
= r
k +
r
2
b
1
= r
_
1
2
cos
_
b
1
+r sin
b
3
The moments and products of inertia of the shell about its mass center are
I
x
=
2
3
mr
2

I
y
=

I
z
=
5
12
mr
2

I
x
=

I
x
=

I
y
= 0
The moments and products of inertia about point O may be found using the parallel axis expres-
228
sions:
I
x
=
2
3
mr
2
+mr
2
sin
2
= 2r
4
_
2
3
+ sin
2
_
I
y
=
5
12
mr
2
+m
_
r
2
_
1
2
cos
_
2
+r
2
sin
2
_
= 2r
4
_
5
3
cos
_
I
z
=
5
12
mr
2
+mr
2
_
1
2
cos
_
2
= 2r
4
_
5
12
+
_
1
2
cos
_
2
_
I
x
= 0 +mr
_
1
2
cos
_
(r sin ) = 2r
4
sin
_
1
2
cos
_
I
x
= I
y
= 0 + 0 = 0
Substituting the given geometric and mass properties gives
I
x
= 7.0310
4
kgm
2
I
y
= 5.8710
4
kgm
2
I
z
= 3.1810
4
kgm
2
I
x
= 1.1110
4
kgm
2
The angular velocity of the system may be expressed as
k = (cos
b
1
+ sin
b
3
)
The angular momentum about point O is
_
I
x
1
I
x
2
I
x
3
_
b
1
+
H
O
=
_
I
y
2
I
y
3
I
y
1
_
b
2
+
_
I
z
3
I
z
1
I
z
2
_
b
3
=
_
I
x
cos I
x
sin
_
b
1
+
_
I
z
sin +I
x
cos
_
b
3
(3)
Summing the moments about point O,

M
O
=
_
r
k +
r
2
b
1
_
(mg
k ) +M
O1
+M
O2
+

T
=
1
2
mgr sin
b
2
+M
O1
(sin
b
1
+ cos
b
3
) +M
O2
b
2
T cos
b
1
+T sin
b
3
(4)
where T = 0.05 Nm.
Equation (2) may now be expressed in component form as

M
O

b
1
=

H
1
+ (
2
H
3

3
H
2
)

M
O

b
2
=

H
2
+ (
3
H
1

1
H
3
) (5)

M
O

b
3
=

H
3
+ (
1
H
2

2
H
1
)
yielding the three equations
M
O1
sin T cos = I
x
cos I
x
sin + 0 (6)
M
O1
cos +T sin = I
z
sin +I
x
cos + 0 (7)
1
2
mgr sin +M
O2
= 0 + ( sin )
_
I
x
cos I
x
sin
_
( cos )
_
I
z
sin +I
x
cos
_
=
2
_
I
z
I
x
_
sin cos +
2
I
x
_
cos
2
sin
2
_
(8)
229
Equations (6) and (7) may be solved for and M
O1
, and with the substitutions = 40
, T =
0.05 Nm and the computed inertia values we have
=
T
I
x
cos
2
+I
z
sin
2
+ 2I
x
sin cos
= 115 rad/s
2
M
O1
=
_
(I
z
I
x
) sin cos +I
x
(cos
2
sin
2
)
_
= 0.0241 Nm
Equation (8) may be solved for M
O2
,
M
O2
=
2
_
I
z
I
x
_
sin cos +
2
I
x
_
cos
2
sin
2
1
2
mgr sin =
= 2.81 Nm
=

=
k = 115
k rad/s
2
M
O
= (0.0241
2.81
) Nm
230
8.9 Energy of Three-Dimensional Bodies
231
8.9.1
GOAL: Determine the kinetic energy of the illustrated system and compare how the energy changes
for nite vs innitesimal width.
GIVEN: Bodys orientation.

= (20
10
) rad/s, a = 0.5 m, b = 0.4 m, h = 0.02 m or 0.

DRAW:
FORMULATE EQUATIONS: From Appendix B we have:
I
x
= m
_
b
2
+h
2
12
_
, I
y
= m
_
a
2
+b
2
12
_
, I
z
= m
_
a
2
+h
2
12
_
1
= a/2,
r
2
= h/2 and r
3
= b/2.
I
xx
= I
x
+m(r
2
2
+r
2
3
)
= m
_
b
2
+h
2
12
_
+m
_
b
2
+h
2
4
_
= m
_
b
2
+h
2
3
_
I
yy
= I
y
+m(r
2
3
+r
2
1
)
= m
_
a
2
+b
2
12
_
+m
_
a
2
+b
2
4
_
= m
_
a
2
+b
2
3
_
I
zz
= I
z
+m(r
2
1
+r
2
2
)
= m
_
a
2
+h
2
12
_
+m
_
a
2
+h
2
4
_
= m
_
a
2
+h
2
3
_
I
xy
= I
x
+mr
1
r
2
= m
_
ah
4
_
I
yz
= I
y
+mr
2
r
3
= m
_
bh
4
_
I
zx
= I
z
+mr
3
r
1
= m
_
ab
4
_
SOLVE:
Having all the relevant rotational inertias and knowing that
KE =
1
2
H
O
232
we can form the bodys kinetic energy using (8.33) with
1
= 20 rad/s,
2
= 10 rad/s,
3
= 0:
KE =
m
2
[(20
10
) rad/s]
_
_
__
b
2
+h
2
3
_
(20 rad/s)
ah
4
(10 rad/s)
_
+
__
a
2
+b
2
3
_
(10 rad/s)
ah
4
(20 rad/s)
_
+
_
ab
4
(20 rad/s)
bh
4
(10 rad/s)
_
k
_
_
KE =
m
2
_
(20 rad/s)
_
20 rad/s
3
_
b
2
+h
2
_
+
10 rad/s
4
ah
_
(10 rad/s)
_
10 rad/s
3
_
a
2
+b
2
_
(5 rad/s)ah
__
KE = m
_
a
2
_
50
3
_
+b
2
_
250
3
_
+h
2
_
200
3
_
+ 50ah
_
( rad/s)
2
Using a = 0.5 m, b = 0.4 m and h = 0.02 m gives us
KE = m
_
(0.5)
2
_
50
3
_
+ (0.4)
2
_
250
3
_
+ (0.02)
2
_
200
3
_
+ 50(0.5)(0.02)
_
m/s
2
= m(18.03 m/s
2
)
Neglecting h gives us
KE = m(17.5 m/s
2
)
Thus the reduction in kinetic energy is equal to
_
18.03 17.5
18.03
_
100 2.92%
233
8.9.2
GOAL: Determine the kinetic energy of the illustrated system.

v
G
= (1.5
b
1
+ 1.5
b
2
+ 10
b
3
) m/s,

= (5
b
1
+ 15
b
3
) rad/s.
DRAW:
I
xx
= m
_
a
2
+c
2
12
_
, I
yy
= m
_
b
2
+a
2
12
_
, I
zz
= m
_
b
2
+c
2
12
_
The x,y,z axes are centered on the bodys mass center and parallel to the principal axes and thus
there are no products of inertia to consider.
SOLVE:
KE =
1
2
H
O
+
1
2
v
G

L
we can form the bodys kinetic energy. With no products of inertia the kinetic energy simplies to
KE =
1
2
(I
xx
2
1
+I
yy
2
2
+I
zz
2
3
) +
1
2
m(v
2
1
+v
2
2
+v
2
3
)
KE =
m
2
__
a
2
+c
2
12
_
2
1
+
_
b
2
+a
2
12
_
2
2
+
_
b
2
+c
2
12
_
2
3
_
+
m
2
_
v
2
1
+v
2
2
+v
2
3
_
=
m
2
__
a
2
+c
2
12
_
25 +
_
b
2
+c
2
12
_
225
_
( rad/s)
2
+
m
2
(2.25 + 2.25 + 100) ( m/s)
2
KE =
m
2
__
25a
2
+ 225b
2
+ 250c
2
12
( rad/s)
2
_
+ 104.5( m/s)
2
_
234
8.9.3

= (8
+ 6
) rad/s, r = 0.2 m and h = 0.6 m.

DRAW:
From Appendix B we have
I
x
= I
y
=
_
3m(4r
2
+h
2
)
80
_
, I
z
= I
ZZ
=
_
3mr
2
10
_
1
= r
2
= 0
and r
3
=
3h
4
.
I
XX
= I
Y Y
= I
x
+
_
9mh
2
16
_
=
3m(r
2
+ 4h
2
)
20
I
xy
= I
yz
= I
zx
= 0
SOLVE:
KE =
1
2
H
O
1
= 8 rad/s,
2
= 6 rad/s,
3
= 0:
KE =
1
2
[(8
+ 6
) rad/s]
_
_
3m(r
2
+ 4h
2
)
20
(8 rad/s)
3m(r
2
+ 4h
2
)
20
(6 rad/s)
_
KE =
3m
2
[(8
+ 6
) rad/s]
_
_
(0.2 m)
2
+ 4(0.6 m)
2
20
(8 rad/s)
(0.2 m)
2
+ 4(0.6 m)
2
20
(6 rad/s)
_
KE = m(7.104 + 3.996)( m/s)
2
= 11.1m( m/s)
2
235
8.9.4

= (20
10
) rad/s, a = 0.5 m, b = 0.4 m, h = 0.02 m or 0.

DRAW:
I
xx
= m
_
b
2
18
_
, I
yy
= m
_
a
2
18
_
, I
zz
= m
_
a
2
+b
2
18
_
, I
xy
= m
_
ab
36
_
, I
yz
= I
zx
= 0
1
= a/3,
r
2
= b/2 and r
3
= 0.
I
XX
= I
xx
+mr
2
2
= m
_
b
2
18
_
+m
_
b
2
9
_
= m
_
b
2
6
_
I
Y Y
= I
yy
+mr
2
1
= m
_
a
2
18
_
+m
_
a
2
9
_
= m
_
a
2
6
_
I
ZZ
= I
zz
+m(r
2
1
+r
2
2
)
= m
_
a
2
+b
2
18
_
+m
_
a
2
+b
2
9
_
= m
_
a
2
+b
2
6
_
I
XY
= I
xy
+mr
1
r
2
= m
_
ab
36
_
+m
_
ab
9
_
= m
_
ab
12
_
I
Y Z
= I
ZX
= 0
SOLVE:
KE =
1
2
H
O
1
= 6 rad/s,
2
= 6 rad/s,
3
= 0:
KE =
m
2
[(6
+ 6
) rad/s]
_
_
__
b
2
6
_
(6 rad/s)
ab
12
(6 rad/s)
_
+
__
a
2
6
_
(6 rad/s)
ab
12
(6 rad/s)
_
_
KE = 3m
_
a
2
+b
2
ab
_
( rad/s)
2
236
237
8.9.5
GOAL: Determine the kinetic energy of the arm AB.
DRAW:
Let L
1
= |OA| and L
2
= |AB|.
From the given information of the original problem we see that

AB
=

b
3
b
2
.
Using the general formula for the mass moment of inertia of a thin rod along with the parallel axis
theorem gives us
I
XX
= mL
2
1
, I
Y Y
=
mL
2
2
3
, I
ZZ
=
mL
2
2
3
+mL
2
1
The only non-zero product of inertia is I
XY
:
I
XY
=
L
2
_
0
L
1
xdx =
L
1
L
2
2
2
=
mL
1
L
2
2
SOLVE:
KE =
1
2
H
O
1
= 0,
2
=
,
3
=

:
KE =
1
2
[(
b
2
+

b
3
)]
_
_
mL
1
L
2
2
b
1
(
)+
mL
2
2
3
(
b
2
+
_
mL
2
2
3
+mL
2
1
_

b
3
_
_
KE = m
_
L
2
2
6

2
+
_
L
2
2
6
+
L
2
1
2
_

2
_
238
8.9.6
GOAL: Determine the kinetic energy of the rotating disk.
GIVEN: Bodys orientation. r = 0.23 m, h = 0.01 m, a = 0.3 m,
1
= 10 rad/s,
2
= 70 rad/s,
m = 1.2 kg.
DRAW:
FORMULATE EQUATIONS: Let the disks radius be denoted by r. From the given informa-
tion in the original problem we see that

AB
=
1
+
2
.
Well determine the kinetic energy associated with the speed of the mass center (
1
2
mv
2
G
) and that
associated with rotation about the mass center.
I
yy
= I
zz
=
m
_
3r
2
+h
2
_
12
, I
xx
=
mr
2
2
SOLVE:
KE =
1
2
mv
2
G
+
1
2
H
G
D
= 70
rad/s 10
rad/s. Note that

from the denition in the original problem
1
indicates rotational velocity about the (negative) Y
axis and
2
indicates rotational velocity about the x axis.
The component of kinetic energy due to motion of the mass center is given by
KE
trans
=
1
2
mv
2
G
=
1
2
m(a
1
)
2
=
1
2
(1.2 kg)(0.3 m)
2
(10 rad/s)
2
= 5.4 J
The rotational kinetic energy is found from
KE
rot
=
1
2
[(
2
)]
_
_
mr
2
2
(
2
)
+
m(3r
2
+h
2
)
12
(
1
)
_
KE = KE
trans
+KE
rot
= 5.4 J +
m
2
_
r
2
2
2
2
+
(3r
2
+h
2
)
2
1
12
_
KE = 5.4 J +
1.2 kg
2
_
(0.23 m)
2
(70 rad/s)
2
2
+
(3(0.23 m)
2
+ (0.01 m)
2
)(10 rad/s)
2
12
_
= 84.0 J
239
240
8.9.7
GOAL: Determine the kinetic energy of the rotating system.
GIVEN: Bodys orientation. r = 0.004 m, h = 0.1 m.
DRAW:
FORMULATE EQUATIONS: From the given information in the original problem we see that
A
=
1
b
1
+
2
b
2
= (50
b
1
+ 2
b
2
) rad/s.
Well consider three components of the kinetic energy of the system: the rotational energy of the
3-arm body about O, the translational kinetic energy of the mass center of each wheel and the
rotational energy of each wheel about its mass center.
Approximating the arms as thin rods lets us calculate the mass moment of inertia of the 3-arm
body about the Y axis:
I
3a
= 3
_
m
3a
h
2
3
_
= m
3a
h
2
Approximating the wheels as thin disks we have, from Appendix B:
I
zz
= I
yy
=
mr
2
4
, I
xx
=
mr
2
2
SOLVE:
KE =
1
2
I
3a
2
2
+
1
2
mv
2
G
+
1
2
H
G
w
= 50
b
1
rad/s + 2
b
2
rad/s.
The kinetic energy due to rotation of the 3-arm body is given by
KE
3a
=
1
2
I
3a
2
2
=
1
2
(0.005 kg)(0.1 m)
2
(2 rad/s)
2
= 1.010
4
J
The component of kinetic energy due to motion of the mass center of the wheels is given by
KE
trans
= 3
1
2
m
w
h
2
2
2
= 1.5(0.002 kg)(0.1 m)
2
(2 rad/s)
2
= 1.210
4
J
Finally, the rotational kinetic energy of the wheels is found from
KE
rot
= 3
1
2
[(
1
b
1
+
2
b
2
)]
_
_
mr
2
2

1
b
1
+
mr
2
4

2
b
2
_
_
241
KE
rot
=
3m
2
_
r
2
2
1
2
+
r
2
2
2
4
_
=
3(0.002) kg
2
_
(0.004 m)
2
(50 rad/s)
2
2
+
(0.004 m)
2
(2 rad/s)
2
4
_
= 6.0010
5
J
Summing the three components gives us
KE = 1.010
4
J + 1.210
4
J + 6.0010
5
J = 2.810
4
J
242
8.9.8
GOAL: Determine the kinetic energy of a rolling cone.
GIVEN: Bodys orientation and dimensions. m = 22 g.
DRAW:
FORMULATE EQUATIONS: First we need to determine the cones angular velocity. Example
8.4 shows how to determine the angular velocities of a rotating disk on the end of a bent shaft. Our
rolling cone can be thought of as precisely the same problem. The motion of OA will be the same
as that of Example 8.4s shaft. From geometry we have = sin
1
(0.25) = 14.48
. r = |AB| = 1 in
and h = |OA| =
4
2
1
2
in = 3.873 in
The cone takes 2 s to complete one full rotation around the oor and thus we have
OA
=
2
2 s
= rad/s
The correspondence between our problem and that of Example 8.4 is
cone

W
AO
S
3.873 in L
1
1 in L
2
Substituting these values into the expression for
W
gives us
cone
= ( rad/s)
_
sin
3.873 cos + sin
1
_
c
1
+ ( rad/s) cos
c
3
= (11.78
c
1
+ 3.042
c
3
) rad/s
(Note that these axes do not directly correspond to the ones in our problem). For this gure we
have
I
x
= I
y
=
m(9r
2
+ 2h
2
)
36
, I
z
= I
ZZ
=
mr
2
2
For our problem m = 22 g, r = 1 in = 0.0254 m and h = 3.87 in = 0.0984 m.
2
= r
3
= 0
and r
1
=
2h
3
.
243
I
Y Y
= I
ZZ
= I
y
+
4mh
2
9
=
m(r
2
+ 2h
2
)
4
I
XY
= I
Y Z
= I
ZX
= 0
SOLVE:
KE =
1
2
H
O
1
= 11.8 rad/s,
2
= 0,
3
= 3.04 rad/s:
KE =
1
2
[(11.78
c
1
+ 3.042
c
3
) rad/s]
_
_
mr
2
2
(11.78 rad/s)
c
1
m(r
2
+ 2h
2
)
4
(3.042 rad/s)
c
3
_
_
KE =
(0.022 kg)
2
[(11.78
c
1
+ 3.042
c
3
) rad/s]
_
_
(0.0254 m)
2
2
(11.78 rad/s)
c
1
(0.0254 m)
2
+ 2(0.0984 m)
2
4
(3.042 rad/s)
c
3
_
_
KE = 1.0010
3
J
244
8.9.9
GOAL: Determine the angular momentum of the illustrated body about the xed point O.
GIVEN: The body rotates about the Y -axis with angular speed , and has areal density .
DRAW:

=
. The angular momentum of the body about point O is

then:
H
O
= I
O
=
_
_
I
XX
I
XY
I
XZ
I
Y X
I
Y Y
I
Y Z
I
ZX
I
ZY
I
ZZ
_
_
_
_
0
0
_
_ = I
XY

+I
Y Y

I
Y Z

k (1)
SOLVE: We only need to determine I
XY
, I
Y Y
and I
Y Z
. I
Y Y
is easily found as the mass moment
of inertia about the Y axis is simply that of two thin rods, with masses ab, ac and lengths b, c,
respectively, rotated about their ends:
I
Y Y
=
(ac)c
2
3
+
(ab)b
2
3
=
a(b
3
+c
3
)
3
Using the appropriate equations from (8.21)-(8.29) lets us determine the products of inertia. Each
rectangle has no product of inertia when evaluated about its mass center and thus the only nite
products of inertia come about because were shifting our attention from each plates mass center
to the point O.
I
XY
= (ab)
a
2
_
b
2
_
=
a
2
b
2
4
I
Y Z
= (ac)
a
2
c
2
=
a
2
c
2
4
Using these inertia values gives us
H
O
=
_
ab
2
4
+
b
3
+c
3
3

ac
2
4
_
a
The kinetic energy is found from
KE =
1
2
H
O
=
1
2

_
b
3
+c
3
3
_
a
=
_
b
3
+c
3
6
_
a
2
245
246
8.9.10
GOAL: Determine the kinetic energy of the illustrated rectangular body about the xed point O.
GIVEN: The body rotates about the Z-axis with angular speed , and has mass m.
DRAW:

=
k . The angular momentum of the body about point O is

then:
H
O
= I
O
=
_
_
I
xx
I
xy
I
xz
I
yx
I
yy
I
yz
I
zx
I
zy
I
zz
_
_
_
_
0
0
_ = I
xz

I
yz
+I
zz
k (1)
SOLVE: The products of inertia about parallel axes through the center of mass G are all zero, due
to the symmetry of the body. The products of inertia about the point O may be computed from
the parallel axis expressions for inertia.
I
xz
:
I
xz
=

I
x
+mr
1
r
3
= 0 +m
_
a
2
__
b
2
_
=
1
4
mab
I
yz
:
I
yz
=

I
y
+mr
2
r
3
= 0 +m
_
c
2
__
b
2
_
=
1
4
mcb
The moment of inertia about the z
-axis through the mass center is:

I
z
=
1
12
m
_
a
2
+c
2
_
. Using
the parallel axis expressions for inertia again, we obtain:
I
zz
:
I
zz
=

I
z
+ m
_
r
2
1
+r
2
2
_
=
1
12
m
_
a
2
+c
2
_
+m
_
_
a
2
_
2
+
_
c
2
_
2
_
=
1
3
m
_
a
2
+c
2
_
Substituting into (1),
H
O
= m
_
1
4
ab

+
1
4
cb
+
1
3
_
a
2
+c
2
_
k
_
The kinetic energy is found from
KE =
1
2

H
O
=
1
2
k
a
2
+c
2
3
m
k =
a
2
+c
2
6
m
2
247
248
8.9.11

=
k .
DRAW:
For our problem well nd the moments of inertia for two solid cylinders, one of radius r
1
and one
of radius r
2
. By subtracting well obtain the inertias for the ring. The mass of the ring is given by
m = h(R
2
2
R
2
1
)
Outer radius cylinder:
o
I
x
=
o
I
z
=
R
2
2
h(3R
2
2
+h
2
)
12
o
I
y
=
R
2
2
hR
2
2
2
=
hR
4
2
2
Inner radius cylinder:
i
I
x
=
i
I
z
=
R
2
1
h(3R
2
1
+h
2
)
12
i
I
y
=
R
2
1
hR
2
1
2
=
hR
4
1
2
We now subtract the inertias of the smaller cylinder from the inertias of the larger one.
I
x
= I
z
=
h
_
3
_
R
4
2
R
4
1
_
+h
2
_
R
2
2
R
2
1
__
12
=
m
_
h
2
+ 3
_
R
2
1
+R
2
2
__
12
I
y
= I
Y Y
=
h
_
R
2
2
R
2
1
_ _
R
2
1
+R
2
2
_
2
=
m
_
R
2
1
+R
2
2
_
2
Using the parallel axis theorem to nd I
XX
and I
ZZ
we obtain
I
XX
= I
ZZ
=
m
_
h
2
+ 3
_
R
2
1
+R
2
2
__
12
+m
_
h
2
_
2
=
mh
2
3
+
m(R
2
1
+R
2
2
)
4
The products of inertia about X, Y , Z are zero from symmetry.
The general expression for angular momentum (using

=
k ) is therefore
H
O
=
_
mh
2
3
+
m(R
2
1
+R
2
2
)
4
_
k
SOLVE:
Having the relevant rotational inertia and knowing that
249
KE =
1
2
H
O
we can form the bodys kinetic energy using (8.33):
KE =
1
2
[
k ]
_
mh
2
3
+
m(R
2
1
+R
2
2
)
4
_
k
KE =
_
mh
2
6
+
m(R
2
1
+R
2
2
)
8
_
2
250
SYSTEM ANALYSIS: Chapter 8
251
SA8.1
GOAL: Determine the acceleration experienced at the head of a test subject in a centrifuge.
GIVEN:

r
H
/
C
= (2
b
1
+ 3
b
2
) ft, r
a
= 8 ft. The cab will experience roll (R) about the centrifuge
arm and planetary (P) motion about the centrifuges base.
DRAW:
Well utilize the three dimensional kinematical equations for a rigid body:
v
B
=

v
A
+

r
B
/
A
(1)
a
B
=

a
A
+

r
B
/
A
+

(
r
B
/
A
) (2)
SOLVE:
(a)
a
C
=

a
O
+
P
b
2
r
C
/
O
b
1
+
P
b
2
(
P
b
2
r
C
/
O
b
1
)
=
P
r
C
/
O
b
3
2
P
r
C
/
O
b
1
We now need to determine the cabs angular velocity and acceleration.
cab
=
R
b
1
+
P
b
2
(3)
cab
=
d
cab
dt
=
R
b
1
+
P
b
2
+ (
P
b
2
)(
P
b
2
b
1
)
cab
=
R
b
1
+
P
b
2
+
P
b
3
(4)
We can now determine the acceleration at the test subject.
(1), (2), (4)

a
H
=

a
C
+ (
R
b
1
+
P
b
2
+
P
b
3
)(2
b
1
+ 3
b
2
) ft
+(
R
b
1
+
P
b
2
)[(
R
b
1
+
P
b
2
)(2
b
1
+ 3
b
2
) ft]
=

a
C
+

b
1
[6
R
P
2
2
P
] ft +

b
2
[3
2
R
] ft +

b
3
[3
R
2
P
] ft
=

b
1
[10
2
P
6
R
P
] ft +

b
2
[3
2
R
] ft +

b
3
[10
P
3
R
] ft
a
H
=

b
1
[10
2
P
6
R
P
] ft +

b
2
[3
2
R
] ft +

b
3
[10
P
3
R
] ft
(b) To nd the maximum acceleration we need to choose the limiting values of the angular rates
so as to add together within each

b component. Letting
P
= 2.932 rad/s,
R
= 1.047 rad/s,
P
= 0.2618 rad/s
2
,
R
= 1.745 rad/s
2
gives us a solution of
252
|a
H
| = 105 ft/s
2
= 3.3g
253
254
082106
283

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8.

4 General Motion Of and On Three-Dimensional Bodies

k is xed in space, the only term remaining is

, and the relative angular velocity of disk to shaft is

rad/s. h = 0.1 m and

, and the angular velocity

By the geometric constraints,

By the geometric constraints,

By the geometric constraints,

By the geometric constraints,

k rad/s + [10 rad/s

k rad/s, and that of the barrel with respect to the base

plane is also a plane of

axis. Therefore all products of inertia

axis are zero:

-axis is normal to the plane of symmetry through

to refer to axes through that bodys mass center. From observation we

The total mass of the body is given by

through its mass

. The angular momentum of the body about point O is then:

k . The angular momentum of the body about point O is then:

-axis through the mass center is:

of a solid cylinder, oriented as the ring is for this problem.

) rad/s. a = 0.3 m, r = 0.25 m,

. Is this the same result

. Assume that instead of riding with no hands, the handlebars are

k direction. Thus, the net moment on the wheel must also

k direction (provided by the riders grip on the handlebars). We conclude,

k align with X,Y ,Z and

align with x,y,z.

, the gravity vector becomes g sin 30

k ), and then taking the dot products

be a new set of coordinates axes parallel to x, y, z, and with an origin at

axes will all equal zero, due to the symmetry of the

and our force balance (1) yields the component equations

, for a given rotational rate .

k . The link is pinned at D so that there is no

The component equations of our force balance (1) are

-bend shaft is negligible.

k . Using this result in (3) gives

rotation of the wheel axis instan-

k = 0). We can use this

k -direction is the torsional

k of the vertical shaft AB.

) rad/s, a = 0.5 m, b = 0.4 m, h = 0.02 m or 0.

) rad/s, r = 0.2 m and h = 0.6 m.

) rad/s, a = 0.5 m, b = 0.4 m, h = 0.02 m or 0.

rad/s. Note that

. The angular momentum of the body about point O is

k . The angular momentum of the body about point O is

-axis through the mass center is:

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