Lecture 05 PDF

ME301
Dynamics and Vibration
Lecture 05: Kinetics of a Rigid Body, Mass Moment of

Inertia, Equation of Motion, Work and Energy,
Conservation of Energy
September 30th, 2019
Binbin He
Department of Mechanical and Energy Engineering

Southern University of Science and Technology
Recap from last week
Last week, we covered topics with rigid body planar motion …
A Particle A Rigid Body
F1 F1
F2
F2
F3 F3
• Infinitely small volume • Has volume with shape and size
• All forces act on the same point • Not all forces act on the same point
• No moment act on particle • Net moment act on body
• Rigid → No deformation under load

https://www.youtube.com/watch?v=czdZ5XXNfnM
https://www.youtube.com/watch?v=38HbaIpexE8
2
The general plane motion of a rigid body can be described as a combination of translation
and rotation.
𝐯𝐵 = 𝐯𝐴 + 𝝎 × 𝒓𝐵/𝐴
𝐚𝐵 = 𝐚𝐴 + 𝜶 × 𝒓𝐵/𝐴 − 𝜔2 𝐫𝐵/𝐴
= +
3
Relative Motion Analysis Using Rotating Axes
𝐯𝐵 = 𝐯𝐴 + 𝐯𝐵/𝐴 + 𝛀 × 𝐫𝐵/𝐴
𝑥𝑦𝑧
𝑣𝐴,𝑦
1 2 3
𝐯𝐵/𝐴
𝑣𝐴,𝑥 𝛀
𝐚𝐵 = 𝐚𝐴 + 𝛀 × 𝐫𝐵/𝐴 + 𝛀 × 𝛀 × 𝐫𝐵/𝐴 + 2𝛀 × 𝐯𝐵/𝐴 + 𝐚𝐵/𝐴

𝑥𝑦𝑧 𝑥𝑦𝑧
1 𝑎𝐴,𝑦 2 3
𝐚𝐵/𝐴
0.5𝐚𝑐
𝑎𝐴,𝑥 𝛀, 𝛀
𝑎𝑛 𝑎𝒕
0.5𝐚𝑐
What about the Coriolis acceleration 2𝛀 × 𝐯𝐵/𝐴 ?
𝑥𝑦𝑧
4
Instantaneous center of zero velocity can be used to solve for the velocities on a
rigid body undergoing general plane motion.
To understand instantaneous center of zero velocity, take a look at the wheel:
1. Imagines wheel is momentarily pinned at point IC
2. The velocities of various points can be found using v = ωr
3. It is as if at this instant, the rotation is about point A.
Why use this method?
If we can identify an instantaneous

center of zero velocity, we can essential
reduced a general plane motion
(translation and rotation) into a pure
rotation, which greatly reduces the
complexity of the problem.
5
Overview of Dynamics
Dynamics
Particles Rigid Bodies
Kinematics Kinetics Kinematics Kinetics
Force, Work and Impulse and Planar Rigid-Body Force, Work and Impulse and
Rectilinear
Energy Momentum Motion Energy Momentum
Equation of Principle of Linear Mass Moment of Principle of Linear

Curvilinear Translation
Motion Impulse and Inertia Impulse and
Momentum Momentum
Principle of Work Equations of
Dependent Motion Rotation
and Energy Conservation of Motion Principle of
Linear Momentum Angular Impulse
Power and General Plane Principle of Work and Momentum
Relative Motion
Efficiency Motion and Energy
Impact
Conservation of
Conservation of Conservation of Linear Momentum
Dependent Motion
Energy Principle of Energy
Angular Impulse
Eccentric Impact
and Momentum Relative Motion
using Rotation
Vibration SDOF Systems
Instantaneous
Center
MDOF Systems
Continuous
Systems
6
Mass Moment of Inertia
This part of the lecture starts the kinetics of rigid bodies.
 The first topic on kinetics → Equation of motion
 With rigid bodies, consider rotation as well → equation of rotational motion
 Translational motions → F = ma
 Rotational motions → M = Iα,
• M is moment,
• I is mass moment of inertia, which is the equivalence of mass for
translational motion.
By comparison, the moment of inertia is a measure of
the body’s resistance to angular acceleration (M = Ia)
in the same way that mass is a measure of the body’s
resistance to acceleration (F = ma).
For example, the flywheel on the engine of this tractor

has a large moment of inertia about its axis of rotation.
Once it is set into motion, it will be difficult to stop.
7
Moment of inertia - measure of the body’s resistance to angular
acceleration.
𝐼= 𝑟 2 𝑑𝑚
𝑚
• r is the moment arm
• m is the mass.
 always positive
 unit kg∙m2
 The rotation axis chosen
• generally passes through the body’s mass center G and
• is always perpendicular to the plane of motion.
Since mass equals density times volume m = ρV,
𝐼= 𝑟 2 𝜌 𝑑𝑉
𝑉
If ρ is constant
𝐼=𝜌 𝑟 2 𝑑𝑉
𝑉
If the moment of inertia of the body about an axis passing
through the body’s mass center (z') is known, then the
moment of inertia about any other parallel axis (z) with a
distance (d) can be determined by using the parallel-axis
theorem. 8
We must first define r2 for the parallel axis z. Recognize that a triangle exist between r, d,
and y', we can derive the following
𝑟 2 = 𝑑 + 𝑥′ 2
+ 𝑦 ′2 → 𝑑 2 + 2𝑑𝑥 ′ + 𝑥 ′2 + 𝑦 ′2
we can express the moment of inertia of the body about the z axis as
𝐼= 𝑟 2 𝑑𝑚 = 𝑑 2 + 2𝑑𝑥 ′ + 𝑥 ′2 + 𝑦 ′2 𝑑𝑚
𝑚 𝑚
𝐼= 𝑥 ′2 + 𝑦 ′2 𝑑𝑚 + 2𝑑 𝑥 ′ 𝑑𝑚 + 𝑑 2 𝑑𝑚
𝑚 𝑚 𝑚
Since r ′2 = 𝑥 ′2 + 𝑦 ′2 , the first integral is simply IG. The second integral is just zero since
x’ is the x-coordinate of the center of mass - which is zero since the center of mass lies at
the origin. The third term represent the mass of the body. Hence
𝐼 = 𝐼𝐺 + 𝑚𝑑 2
where
IG = moment of inertia about the z' axis passing through the mass center G
m = mass of the body
d = perpendicular distance between the parallel z and z' axes
9
Equations of Motion for Planer Motion
Yiheng Wang
10
 Set free body diagram to be equal to the kinetic diagram. (Note: we did the
same for equations of motion for particles)
 Rigid body → both translation and rotation → equation of motion for both
𝑚𝑎𝐺,𝑦
𝑚𝑎𝐺,𝑥
 First, look at translational motion - sum of all the external forces acting on the
body is equal to the body’s mass times the acceleration of its mass center G.
∑𝐅 = 𝑚𝐚𝐺
 The scale components are
∑𝐹𝑥 = 𝑚𝑎𝐺,𝑥
∑𝐹𝑦 = 𝑚𝑎𝐺,𝑦
11
Next, equation of rotational motion considers
1. resultant external force Fi acting on the particle and
2. resultant of the internal forces fi caused by interactions with adjacent particles of the
same body.
So the equation of rotational motion can be written as

∑𝑀𝑃 = 𝐫 × 𝐅𝑖 + 𝐫 × 𝐟𝑖 → ∑𝑀𝑃 = 𝐫 × 𝑚𝑖 𝐚𝑖
We assume internal forces will cancel each other out, thus,
∑𝑀𝑃 = 𝐫 × 𝐅𝑖 = 𝐫 × 𝑚𝑖 𝐚𝑖 → ∑𝑀𝑃 = 𝐫 × 𝑚𝑖 𝐚𝐺
If the body has an angular acceleration α and angular velocity ω, we can
use our previous equation
𝐚𝐺 = 𝐚𝑃 + 𝜶 × 𝒓𝐺/𝑃 − 𝜔2 𝐫𝐺/𝑃
To obtain
∑𝑀𝑃 = 𝑚𝑖 𝐫 × 𝐚𝑝 + 𝜶 × 𝐫 − 𝜔2 𝐫
rearrange
∑𝑀𝑃 = 𝑚𝑖 𝐫 × 𝐚𝑝 + 𝐫 × 𝜶 × 𝐫 − 𝜔2 𝐫 × 𝐫
where r × r = 0, thus
∑𝑀𝑃 = 𝑚𝑖 𝐫 × 𝐚𝑝 + 𝐫 × 𝜶 × 𝐫
12
In vectors format
∑𝑀𝑃 𝐤 = 𝑚𝑖 𝑥𝐢 + 𝑦𝐣 × 𝑎𝑝,𝑥 𝐢 + 𝑎𝑝,𝑦 𝐣 + 𝑥𝐢 + 𝑦𝐣 × 𝛼𝐤 × 𝑥𝐢 + 𝑦𝐣
∑𝑀𝑃 𝐤 = 𝑚𝑖 0 + 𝑥𝑎𝑝,𝑦 𝐤 − 𝑦𝑎𝑝,𝑥 𝐤 + 0 + 𝑥𝐢 + 𝑦𝐣 × −𝛼𝑦𝐢 + 𝛼𝑥𝐣
∑𝑀𝑃 𝐤 = 𝑚𝑖 𝑥𝑎𝑝,𝑦 𝐤 − 𝑦𝑎𝑝,𝑥 𝐤 + 0 + 𝑎𝑥 2 𝐤 + 𝛼𝑦 2 𝐤 + 0
∑𝑀𝑃 𝐤 = 𝑚𝑖 𝑥𝑎𝑝,𝑦 − 𝑦𝑎𝑝,𝑥 + 𝑎𝑥 2 + 𝛼𝑦 2 𝐤
∑𝑀𝑃 = 𝑚𝑖 𝑥𝑎𝑝,𝑦 − 𝑦𝑎𝑝,𝑥 + 𝛼𝑟 2
Let mi → dm and integrate
∑𝑀𝑃 = 𝑥𝑎𝑝,𝑦 − 𝑦𝑎𝑝,𝑥 + 𝛼𝑟 2 𝑑𝑚

𝑚
This yields
∑𝑀𝑃 = 𝑎𝑝,𝑦 𝑥 𝑑𝑚 − 𝑎𝑝,𝑥 𝑦 𝑑𝑚 + 𝛼 𝑟 2 𝑑𝑚

𝑚 𝑚 𝑚
where 𝑚𝑥 𝑑𝑚 = 𝑥 𝑚 and 𝑚 𝑦 𝑑𝑚 = 𝑦𝑚 represent the center of mass and
𝑚
𝑟 2 𝑑𝑚 = 𝐼𝑝 is the moment of inertia about the z axis.
∑𝑀𝑃 = 𝑥 𝑚𝑎𝑝,𝑦 − 𝑦𝑚𝑎𝑝,𝑥 + 𝐼𝑝 𝛼
13
If P happens to coincide with mass center G, then 𝑥 = 0 and 𝑦 = 0
∑𝑀𝐺 = 𝐼𝐺 α
This equation of rotational motion states that the sum of the moments of all
the external forces about the body’s mass center G is equal to the product of
the moment of inertia of the body about an axis passing through G and the
body’s angular acceleration.
This equation above is for point P. We can rewrite this in terms of the mass
center G. Start with the previous equation
∑𝑀𝑃 = 𝑥 𝑚𝑎𝑝,𝑦 − 𝑦𝑚𝑎𝑝,𝑥 + 𝐼𝑝 𝛼
change the last term according to the parallel-axis theorem,
∑𝑀𝑃 = 𝑥 𝑚𝑎𝑝,𝑦 − 𝑦𝑚𝑎𝑝,𝑥 + 𝐼𝐺 + 𝑚 𝑥 2 + 𝑦 2 𝛼
and rearrange to
∑𝑀𝑃 = 𝑥 𝑚𝑎𝑝,𝑦 + 𝑚𝑥 2 𝛼 − 𝑦𝑚𝑎𝑝,𝑥 + 𝑚𝑦 2 𝛼 + 𝐼𝐺 𝛼
∑𝑀𝑃 = 𝑥 𝑚 𝑎𝑝,𝑦 + 𝑥 𝛼 + 𝑦𝑚 −𝑎𝑝,𝑥 + 𝑦𝛼 + 𝐼𝐺 𝛼
Using the acceleration for general plane motion of rigid bodies
𝐚𝐺 = 𝐚𝑃 + 𝜶 × 𝐫 − 𝜔2 𝐫
14
In vectors format,
𝑎𝐺,𝑥 𝐢 + 𝑎𝐺,𝑦 𝐣 = 𝑎𝑃,𝑥 𝐢 + 𝑎𝑃,𝑦 𝐣 + 𝛼𝐤 × 𝑥 𝐢 + 𝑦𝐣 − 𝜔2 𝑥 𝐢 + 𝑦𝐣
Since the x and y components are independent, the previous equation can be
separated into 2 scalar equations
𝑎𝐺,𝑥 = 𝑎𝑃,𝑥 − 𝑦𝛼 − 𝑥 𝜔2 → −𝑎𝑃,𝑥 + 𝑦𝛼 = −𝑎𝐺,𝑥 − 𝑥 𝜔2
𝑎𝐺,𝑦 = 𝑎𝑃,𝑦 + 𝑥 𝛼 − 𝑦𝜔2 → 𝑎𝑃,𝑦 + 𝑥 𝛼 = 𝑎𝐺,𝑦 + 𝑦𝜔2
Substitute the above equations into
∑𝑀𝑃 = 𝑥 𝑚 𝑎𝑝,𝑦 + 𝑥 𝛼 + 𝑦𝑚 −𝑎𝑝,𝑥 + 𝑦𝛼 + 𝐼𝐺 𝛼
and yield
∑𝑀𝑃 = 𝑥 𝑚 𝑎𝐺,𝑦 + 𝑦𝜔2 + 𝑦𝑚 −𝑎𝐺,𝑥 − 𝑥 𝜔2 + 𝐼𝐺 𝛼
This important result indicates that when moments of the external forces
shown on the free-body diagram are summed about point P, they are maG
about P plus the “kinetic moment” of IGα. equivalent to the sum of the
“kinetic moments” of the components.
15
We can identify the right hand side of the equation as kinetic moments ∑𝑀𝑘,𝑃 , thus
∑𝑀𝑃 = ∑𝑀𝑘,𝑃
In summary, three independent scalar equations can be written to describe the general
plane motion of a symmetrical rigid body.
∑𝑀𝑃 = ∑𝑀𝑘,𝑃
16
Quick review and tips for free-body diagram and kinetic diagram.
Axes: Draw an appropriate coordinate system (e.g., Cartesian, normal and tangential, or
radial and transverse).
Support Forces: Replace supports or constraints with appropriate forces (e.g., two
perpendicular forces for a pin, normal forces, friction forces).
Applied Forces and Body Forces: Draw any applied forces and body forces (also
sometimes called field forces) on your diagram (e.g., weight, magnetic forces, a
known pulling force).
Dimensions: Add any angles or distances that are important for solving the problem.
Beer - Vector Mechanics for Engineers 17
For free-body diagram and kinetic diagram with rotational inertia.
1. Isolating the body

2. Defining the axes
3. Replacing constraints with support forces
4. Adding applied forces and moments, as well as body forces to the diagram
5. Labeling the free-body diagram with dimensions
Hints and Tips: Rolling motion has 3 types
Rolling, no sliding F ≤ μsN a = rα

Rolling, sliding impending F = μsN a = rα
Rotating and sliding F = μkN a and α independent

Equations of Motion: Translation
The analysis before is the general application of the equations of motion. Now
let’s explore the equations for translational motion. There are 2 forms, rectilinear
and curvilinear motions. Both have the common condition of having a sum of
moments to be zero ∑𝑀𝐺 = 0.
For rectilinear, we can have the following 3 equations
∑𝑀𝐺 = 0
20
If moments are summed about the arbitrary point A, we have to consider the moment
caused by the inertia force maG.
Thus, we can have the following 3 equations
∑𝑀𝐴 = 𝑚𝑎𝐺 𝑑 why the forces F do not create moments?
It is translational motion, so no rotation,
thus, all F must be canceled out
21
For curvilinear motion, we use the normal and tangential coordinates.
∑𝐹𝑛 = 𝑚𝑎𝐺,𝑛
∑𝐹𝑦𝑡 = 𝑚𝑎𝐺,𝑡
∑𝑀𝐺 = 0
22
If moments are summed about the arbitrary point B, we have to consider the
moment caused by the inertia force maG.
∑𝐹𝑛 = 𝑚𝑎𝐺,𝑛
∑𝐹𝑦𝑡 = 𝑚𝑎𝐺,𝑡
∑𝑀𝐵 = 𝑒 𝑚𝑎𝐺,𝑡 − ℎ 𝑚𝑎𝐺,𝑛
23
The motorcycle has a mass of 125 kg and a center of mass at
G1, while the rider has a mass of 75 kg and a center of mass at
G2. Determine the minimum coefficient of static friction
between the wheels and the pavement in order for the rider to
do a “wheely,” i.e., lift the front wheel off the ground as
shown in the photo. What acceleration is necessary to do this?
Neglect the mass of the wheels and assume that the front
wheel is free to roll.
1) Free-Body and Kinetic Diagrams

• Consider the motorcycle and the rider as a single system.
• Weight and mass of motorcycle and rider separately.
• Both of parts have same acceleration.
• Assumed front wheel is about to leave ground, so NA ≈ 0
• 3 unknowns NB, FB, and aG.
24
The motorcycle has a mass of 125 kg and a center of mass at
G1, while the rider has a mass of 75 kg and a center of mass at
G2. Determine the minimum coefficient of static friction
between the wheels and the pavement in order for the rider to
do a “wheely,” i.e., lift the front wheel off the ground as
shown in the photo. What acceleration is necessary to do this?
Neglect the mass of the wheels and assume that the front
wheel is free to roll.
2) Equations of motion
∑𝐹𝑥 = 𝑚𝑎𝐺,𝑥 → 𝐹𝐵 = 75 + 125 𝑎𝐺
∑𝐹𝑦 = 𝑚𝑎𝐺,𝑦 → 𝑁𝐵 − 75 9.81 − 125 9.81 = 0
∑𝑀𝐴 = ∑𝑀𝑘,𝐴 → 75 9.81 0.4 − 125 9.81 0.8
= 75 0.9 𝑎𝐺 − 125 0.6 𝑎𝐺
3) Solve for unknown parameters (2 unknowns, 2 equations)
𝑎𝐺 = 8.95 m/s2
𝑁𝐵 = 1962 N
𝐹𝐵 = 1790 N
4) Find minimum coefficient of static friction
𝜇𝑠,𝑚𝑖𝑛 = 𝐹𝐵 /𝑁𝐵 = 1790/1962 → 𝜇𝑠,𝑚𝑖𝑛 = 0.912
25
Equations of Motion: Rotation about a Fixed Axis
Next for the equations for rotational motion. Because
the mass center G moves around a circular path, so the
acceleration is represented by tangential and normal
components.
∑𝐹𝑛 = 𝑚𝑎𝐺,𝑛 = 𝑚𝜔2 𝑟𝐺
∑𝐹𝑦𝑡 = 𝑚𝑎𝐺,𝑡 = 𝑚𝛼𝑟𝐺
∑𝑀𝐺 = 𝐼𝐺 𝛼
26
If moments are summed about the pin O to eliminate
the unknown force FO (reaction forces).
∑𝐹𝑛 = 𝑚𝑎𝐺,𝑛 = 𝑚𝜔2 𝑟𝐺
∑𝐹𝑦𝑡 = 𝑚𝑎𝐺,𝑡 = 𝑚𝛼𝑟𝐺
∑𝑀𝑂 = 𝑟𝐺 𝑚𝑎𝐺,𝑡 + 𝐼𝐺 𝛼
27
∑𝑀𝑂 = 𝑟𝐺 𝑚𝑎𝐺,𝑡 + 𝐼𝐺 𝛼
This can be rewritten as
∑𝑀𝑂 = 𝑟𝐺 𝑚 𝑟𝐺 𝛼 + 𝐼𝐺 𝛼 → ∑𝑀𝑂 = 𝐼𝐺 + 𝑚𝑟𝐺2 𝛼
Using the parallel-axis theorem 𝐼𝑜 = 𝐼𝐺 + 𝑚𝑑 2 ,
∑𝑀𝑂 = 𝐼𝑂 𝛼
28
At the instant, the 20-kg slender rod has an angular
velocity of ω = 5 rad/s. Determine the angular
acceleration and the horizontal and vertical
components of reaction of the pin on the rod at this
instant.
• G moves in circular path → both normal and tangential
acceleration
• at = αrG act downward in accordance with direction of α
• 3 unknowns are On, Ot, and α
∑𝐹𝑛 = 𝑚𝑎𝐺,𝑛 = 𝑚𝜔2 𝑟𝐺 → 𝑂𝑛 = 20 5 2 1.5
∑𝐹𝑡 = 𝑚𝑎𝐺,𝑡 = 𝑚𝛼𝑟𝐺 → −𝑂𝑡 + 20 9.81
= 20 (𝛼)(1.5)
1
∑𝑀𝐺 = 𝐼𝐺 𝛼 → 𝑂𝑡 1.5 + 60 = 20 3 2 𝛼
12
3) Solve for unknowns
𝑂𝑛 = 750 N
𝑂𝑡 = 19.05 N
𝛼 = 5.90 rad/s 2
29
At the instant, the 20-kg slender rod has an angular
velocity of ω = 5 rad/s. Determine the angular
acceleration and the horizontal and vertical
components of reaction of the pin on the rod at this
instant.
Alternatively, this can be solve another way.
• Sum moment about O
∑𝐹𝑛 = 𝑚𝑎𝐺,𝑛 = 𝑚𝜔2 𝑟𝐺 → 𝑂𝑛 = 20 5 2 1.5
∑𝐹𝑡 = 𝑚𝑎𝐺,𝑡 = 𝑚𝛼𝑟𝐺 → −𝑂𝑡 + 20 9.81
= 20 (𝛼)(1.5)
∑𝑀𝑂 = ∑𝑀𝑘,𝑂 → 60 + 20 9.81 1.5 = 𝐼𝑂 𝛼
3) Find IO
1
𝐼𝑂 = 𝐼𝐺 + 𝑚𝑟𝐺2 = 20 3 2 + 20 1.5 2
12
Substitute into moment equation
1
60 + 20 9.81 1.5 = 20 3 2 + 20 1.5 2 𝛼
12
4) Solve for unknowns
𝛼 = 5.90 rad/s 2
30
Equations of Motion: General Plane Motion
Rigid body subjected to general plane motion caused by the externally applied
forces and moments.
The free-body and kinetic diagrams for the body.
31
If an x and y inertial coordinate system is established as shown, the three
equations of motion are
∑𝐹𝑛 = 𝑚𝑎𝐺,𝑥
∑𝐹𝑡 = 𝑚𝑎𝐺,𝑦
∑𝑀𝐺 = 𝐼𝐺 𝛼
Like before moments about a point P can be used to eliminate as many unknown
forces as possible from the moment summation.
∑𝐹𝑡 = 𝑚𝑎𝐺,𝑦
∑𝑀𝑃 = ∑𝑀𝑘,𝑃 = 𝑟𝐺 𝑚𝑎𝐺 + 𝐼𝐺 𝛼
32
There is a particular type of problem that involves a uniform disk, or body of
circular shape, that rolls on a rough surface without slipping. If we sum the
moments about the instantaneous center of zero velocity, then ∑𝑀𝑘,𝐼𝐶 becomes
IICα, so that
∑𝐹𝑦𝑡 = 𝑚𝑎𝐺,𝑦
∑𝑀𝐼𝐶 = 𝐼𝐼𝐶 𝛼
33
The 50-lb wheel has a radius of gyration kG = 0.70 ft. If a 35-
lb∙ft couple moment is applied to the wheel, determine the
acceleration of its mass center G. The coefficients of static and
kinetic friction between the wheel and the plane at A are μs = 0.3
and μk = 0.25, respectively.
Unknowns are 𝑁𝐴 , 𝐹𝐴 , 𝑎𝐺 , and 𝛼
∑𝐹𝑥 = 𝑚𝑎𝐺,𝑥 → 𝐹𝐴 = 50/32.2 𝑎𝐺
∑𝐹𝑦 = 𝑚𝑎𝐺,𝑦 → 𝑁𝐴 − 50 = 0
∑𝑀𝐺 = 𝐼𝐺 𝛼 → 35 − 1.25𝐹𝐴 = 𝑚𝑘𝐺2 𝛼
= 50/32.2 0.7 2 𝛼
4 unknowns, 3 equations
3) Kinematics (no slipping)
𝑎𝐺 = 𝛼𝑟 = 𝛼 1.25
4) Solve unknowns
𝑁𝐴 = 50 lb
𝐹𝐴 = 21.3 lb
𝛼 = 11 rad/s2
𝑎𝐺 = 13.7 ft/s2
34
The 50-lb wheel has a radius of gyration kG = 0.70 ft. If a 35-
lb∙ft couple moment is applied to the wheel, determine the
acceleration of its mass center G. The coefficients of static and
kinetic friction between the wheel and the plane at A are μs = 0.3
and μk = 0.25, respectively.
But is this correct?
𝐹𝐴 = 21.3 lb > 𝜇𝑠 𝑁𝐴
So slipping occurs
5) Find acceleration with slipping
𝐹𝐴 = 𝜇𝑘 𝑁𝐴 = 0.25 50 = 12.5 lb
𝛼 = 25 rad/s 2
𝑎𝐺 = 8.05 ft/s 2
35
Principle of Work and Energy
The principle of work and kinetic energy (also known as the work–energy
principle) states that the work done by all forces acting on a particle (the work of
the resultant force) equals the change in the kinetic energy of the particle.
Similar to particles, we can derive the principle of work and energy
𝑇1 + ∑𝑈1−2 = 𝑇2
For details, regard to lecture 5 or chapter 14 for particles. The difference with
rigid bodies is the way work and kinetic energy is defined.
The total work of the internal

forces acting on the particles
of a rigid body is zero.
36
The Work of a Force
A rigid body is subjected to a variable force.

During motion, the point of application follows
a path. In this case, the work of a variable force
is defined as
𝐫2 𝑆2
𝑈1−2 = 𝐅 ∙ 𝑑𝐫 = 𝐹 cos 𝜃 𝑑𝑠
𝐫1 𝑆1
If the force is constant, then, the work of

a constant force is defined as
𝑈𝑐,1−2 = 𝐹𝑐 cos 𝜃 𝑠
37
The Work of a Force
If the force is caused by weight, then, the
work of a weight is defined as
𝑈𝑤,1−2 = −𝑊∆𝑦
If the force is caused by spring, then, the

work of a spring force is defined as
1 2 1 2
𝑈𝑠,1−2 = − 𝑘𝑠2 − 𝑘𝑠1
2 2
1
𝑈𝑠,1−2 = − 𝑘 𝑠22 − 𝑠12
2
38
The Work of a Force
There are some external forces that do no work when the body is displaced.
These forces act either at fixed points on the body, or they have a direction
perpendicular to their displacement.
Examples
• the reactions at a pin support about which a body rotates
• the normal reaction acting on a body that moves along a fixed surface
• the weight of a body when the center of gravity of the body moves in a
horizontal plane
• A frictional force Ff acting on a round body as it rolls without slipping over a
rough surface
• the point is not displaced in the direction of the force during this instant.
39
The Work of a Couple Moment
If the body is subject to a couple moment causing a rotation with in a plane with
angle θ, the
then the work is defined as

𝛉2
𝑈1−2 = 𝐌 ∙ 𝑑𝛉
𝛉1
Since for planar motion, the moment M and the angular position dθ vectors are
both perpendicular to the plane, so they are in the same or opposite direction.
Therefore, their dot product will be scalar. Hence, we can simplify the equation
to a scalar equation
𝜃2
𝑈1−2 = 𝑀𝑑𝜃
𝜃1
If M is constant
𝑈1−2 = 𝑀 𝜃2 − 𝜃1
40
Work
The bar has a mass of 10 kg and is subjected to a couple
moment of M = 50 Nm and a force of P = 80 N, which is
always applied perpendicular to the end of the bar. Also, the
spring has an unstretched length of 0.5 m and remains in
the vertical position due to the roller guide at B. Determine
the total work done by all the forces acting on the bar when
it has rotated downward from θ = 0° to θ = 90°.
1) Free-Body Diagrams
2) Total work
𝑈 = 𝑈𝑊 + 𝑈𝑀 + 𝑈𝑆 + 𝑈𝑃
3) Weight
𝑈𝑤 = 𝑚𝑔∆ℎ
From 0° to 90°, Δh = 1.5
𝑈𝑤 = 10 9.81 1.5 = 147.2 J
4) Moment
𝑈𝑀 = 𝑀∆𝜃
𝑈𝑀 = 50 𝜋/2 = 78.5 J
41
Work
5) Spring Force
1
𝑈𝑠 = − 𝑘 𝑠22 − 𝑠12
2
At 0°, s1 = 0.75 − 0.5 = 0.25; at 90°, s2 = (2 + 0.75) − 0.5 = 2.25
(vertical)
1
𝑈𝑠 = − 30 2.252 − 0.252 = −75 J
2
6) Force P
𝑈𝑃 = 𝑃∆𝑠
∆𝑠 is equal to the arc length from 0° to 90°
𝑈𝑃 = 𝑃 ∆𝜃𝑟 = 80 𝜋/2 3 = 377 j
42
Work
7) Total work
𝑈 = 𝑈𝑊 + 𝑈𝑀 + 𝑈𝑆 + 𝑈𝑃
𝑈 = 528 J
How come no work due to reaction forces at the pin?

Force Ax and Ay do no work since they are not displaced.
43
Kinetic Energy of a Rigid Body
A body undergo general plane motion (translation and rotation)
will have kinetic energy given as

1 1
𝑇 = 𝑚𝑣𝐺2 + 𝐼𝐺 𝜔2
2 2
As you can see, the first term on the right side is for translation and the second
term is for rotation. If you compare pure translation, which is the first term, with
kinetic energy of a particle, which has only translation, you can see that the
equations are the same.
1 2
1
Translating body: 𝑇 = 𝑚𝑣𝐺 Particle: 𝑇 = 𝑚𝑣𝐺2
2 2
44
If it is rotation about a fixed axis passing thought point O, then the body
undergoes both rotation and translation (note that rotation about G will not have
translation),
then the kinetic energy can be defined using kinematics and parallel-axis theorem
1 2
1
𝑇 = 𝑚𝑣𝐺 + 𝐼𝐺 𝜔2 𝑣𝐺 = 𝑟𝐺 𝜔 𝐼𝑂 = 𝐼𝐺 + 𝑚𝑟𝐺2
2 2
thus
1 1 1
2
𝑇 = 𝑚 𝑟𝐺 𝜔 + 𝐼𝐺 𝜔 2 → 𝑇 = 𝐼𝐺 + 𝑚𝑟𝐺2 𝜔2
2 2 2
1
𝑇 = 𝐼𝑂 𝜔2
2
45
If it is general plane motion, sometimes we can find an instantaneous center of
zero velocity IC
Same as IO, a expression can be derived for instantaneous center of zero velocity
IC
1 2
1
𝑇 = 𝑚𝑣𝐺 + 𝐼𝐺 𝜔2 𝑣𝐺 = 𝑟𝐺 𝜔 𝐼𝐼𝐶 = 𝐼𝐺 + 𝑚𝑟𝐺2
2 2
thus
1 1 1
𝑇 = 𝑚 𝑟𝐺 𝜔 2 + 𝐼𝐺 𝜔2 → 𝑇 = 𝐼𝐺 + 𝑚𝑟𝐺2 𝜔2
2 2 2
1
𝑇 = 𝐼𝐼𝐶 𝜔2
2
46
The 10–kg rod is constrained so that its ends move along the
grooved slots. The rod is initially at rest when 𝜃 = 0°. If the slider
block at B is acted upon by a horizontal force P = 50 N, determine
the angular velocity of the rod at the instant 𝜃 = 45°. Neglect
friction and the mass of blocks A and B.
1) Free-Body Diagram of rod
2) Principle of work and energy
𝑇1 + ∑𝑈1−2 = 𝑇2
3) Total work
∑𝑈1−2 = 𝑊∆𝑦 + 𝑃𝑠
∑𝑈1−2 = 10 9.81 0.4 − 0.4 cos 45° + 50(0.8 sin 45°)
4) Kinetic energy at state 1
𝑇1 = 0
5) Kinetic energy at state 2
1 1
𝑇2 = 𝑚𝑣𝐺2 + 𝐼𝐺 𝜔22
2 2
1 1 1
𝑇2 = 10 𝑣𝐺2 + 10 0.8 2 𝜔22
2 2 12
2
𝑇2 = 5𝑣𝐺 + 0.2667𝜔22
Need to get rid of 1 unknown
47
The 10–kg rod is constrained so that its ends move along the
grooved slots. The rod is initially at rest when 𝜃 = 0°. If the slider
block at B is acted upon by a horizontal force P = 50 N, determine
the angular velocity of the rod at the instant 𝜃 = 45°. Neglect
friction and the mass of blocks A and B.
6) Use kinematics and IC
𝑣𝐺,2 = 𝑟𝐺/𝐼𝐶 𝜔2
𝑣𝐺,2 = (0.4 tan 45°)𝜔2
𝑣𝐺,2 = 0.4𝜔2
7) Find angular velocity using principle of work and energy

𝑇1 + ∑𝑈1−2 = 𝑇2
0 + 10 9.81 0.4 − 0.4 cos 45° + 50(0.8 sin 45°) = 5𝑣𝐺2 + 0.2667𝜔22
0 + 10 9.81 0.4 − 0.4 cos 45° + 50(0.8 sin 45°) = 5 0.4𝜔2 2
+ 0.2667𝜔22
0 + 10 9.81 0.4 − 0.4 cos 45° + 50(0.8 sin 45°) = 1.0667𝜔22
𝜔2 = 6.11 rad/𝑠
48
Conservation of energy
With an understand of energy for rigid bodies, we can also define the
conservation of energy
𝑇1 + 𝑉1 = 𝑇2 + 𝑉2
another way to write this is
𝑇1 + 𝑉𝑔1 + 𝑉𝑒1 = 𝑇2 + 𝑉𝑔2 + 𝑉𝑒2
where Vg is gravitational potential and Ve is elastic potential energy.
The equation above states that a rigid body, or a system of rigid bodies, moves
under the action of conservative forces, the sum of the kinetic energy and of the
potential energy of the system remains constant.
49
Conservation of energy
Gravitational potential Vg is given as
𝑣𝑔 = 𝑊𝑦𝐺
Elastic Potential Energy Ve is given as
1 2
𝑣𝑒 = + 𝑘𝑠
2
50
Work and Energy
The 10-kg rod AB shown is confined so that its ends move
in the horizontal and vertical slots. The spring has a
stiffness of k = 800 N/m and is unstretched when θ = 0°.
Determine the angular velocity of AB when θ = 0°, if the
rod is released from rest when θ = 30°. Neglect the mass
of the slider blocks.
1) Free body diagram
2) Use conservation of energy
∑𝑇1 + ∑𝑉1 = ∑𝑇2 + ∑𝑉2
3) Determine kinetic energy at state one
Since the system is at rest initially, kinetic energy is zero
1 1
∑𝑇1 = 𝑚𝑣1 + 𝐼𝐺 𝜔12
2
2 2
1 1
∑𝑇1 = 𝑚 0 2 + 𝐼𝐺 0 2 = 0
2 2
4) Determine potential energy at state one
1
𝑉1 = −𝑊𝑦1 + 𝑘𝑠12
2
1
𝑉1 = − 10 9.81 0.2 sin 30° + 800 0.4 sin 30° 2
2
= 6.19 j
51
Work and Energy
5) Determine kinetic energy at state two
1 1
𝑇2 = 𝑚𝑣2 + 𝐼𝐺 𝜔22
2
2 2
1 2
1 1
𝑇2 = (10)𝑣2 + 10 0.4 2 𝜔22
2 2 12
Use kinematics with IC
𝑣2 = 𝑟𝐺/𝐼𝐶 𝜔2 = 0.2𝜔2
Kinetic energy at state two becomes
𝑇2 = 0.2667𝜔22
6) Determine potential energy at state one
1 2 1 2
𝑉2 = −𝑊𝑦2 + 𝑘𝑠2 = −𝑊 0 + 𝑘 0 =0
2 2 52
Work and Energy
7) Use conservation of energy
∑𝑇1 + ∑𝑉1 = ∑𝑇2 + ∑𝑉2
0 + 6.19 = 0.2667𝜔22 + 0
𝜔2 = 4.81 rad/s
53
Summary
 Moment of inertia: a measure of the body’s resistance to angular
acceleration.
 Equations of Motion
 Translational motion: sum of all the external forces acting on the
body is equal to the body’s mass times the acceleration of its mass
center G.
 Rotational motion: resultant external force Fi acting on the particle.
 Work: weight; spring force; couple moment.
 Kinetic energy: translation and rotation.
 The principle of work and kinetic energy: the work done by all forces
acting on a body (the work of the resultant force) equals the change
in the kinetic energy of the body.
 Conservation of energy: for a rigid body, or a system of rigid bodies,
moves under the action of conservative forces, the sum of the kinetic
energy and of the potential energy of the system remains constant.
54
Homework
 Read 17.1, 17.2, 17.3, 17.4, 17.5, 18.1, 18.2,
18.3, 18.4, 18.5
55
Homework
56
Homework
57
Homework
18–30. Motor M exerts a constant force of P = 750 N on the rope. If the 100-kg post is at
rest when θ = 0°, determine the angular velocity of the post at the instant θ = 60°. Neglect
the mass of the pulley and its size, and consider the post as a slender rod.
58
Homework
59

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ME301

Dynamics and Vibration

Lecture 05: Kinetics of a Rigid Body, Mass Moment of

September 30th, 2019

Department of Mechanical and Energy Engineering

A Particle A Rigid Body

• Infinitely small volume • Has volume with shape and size

• No moment act on particle • Net moment act on body

• Rigid → No deformation under load

𝐚𝐵 = 𝐚𝐴 + 𝛀 × 𝐫𝐵/𝐴 + 𝛀 × 𝛀 × 𝐫𝐵/𝐴 + 2𝛀 × 𝐯𝐵/𝐴 + 𝐚𝐵/𝐴

Why use this method?

If we can identify an instantaneous

Particles Rigid Bodies

Kinematics Kinetics Kinematics Kinetics

Equation of Principle of Linear Mass Moment of Principle of Linear

For example, the flywheel on the engine of this tractor

So the equation of rotational motion can be written as

∑𝑀𝑃 = 𝑥𝑎𝑝,𝑦 − 𝑦𝑎𝑝,𝑥 + 𝛼𝑟 2 𝑑𝑚

∑𝑀𝑃 = 𝑎𝑝,𝑦 𝑥 𝑑𝑚 − 𝑎𝑝,𝑥 𝑦 𝑑𝑚 + 𝛼 𝑟 2 𝑑𝑚

1. Isolating the body

Rolling, no sliding F ≤ μsN a = rα

Beer - Vector Mechanics for Engineers 19

Thus, we can have the following 3 equations

Thus, we can have the following 3 equations

∑𝑀𝐵 = 𝑒 𝑚𝑎𝐺,𝑡 − ℎ 𝑚𝑎𝐺,𝑛

1) Free-Body and Kinetic Diagrams

Thus, we can have the following 3 equations

∑𝐹𝑛 = 𝑚𝑎𝐺,𝑛 = 𝑚𝜔2 𝑟𝐺

∑𝐹𝑦𝑡 = 𝑚𝑎𝐺,𝑡 = 𝑚𝛼𝑟𝐺

This can be rewritten as

∑𝑀𝑂 = 𝑟𝐺 𝑚 𝑟𝐺 𝛼 + 𝐼𝐺 𝛼 → ∑𝑀𝑂 = 𝐼𝐺 + 𝑚𝑟𝐺2 𝛼

Using the parallel-axis theorem 𝐼𝑜 = 𝐼𝐺 + 𝑚𝑑 2 ,

The free-body and kinetic diagrams for the body.

∑𝑀𝑃 = ∑𝑀𝑘,𝑃 = 𝑟𝐺 𝑚𝑎𝐺 + 𝐼𝐺 𝛼

5) Find acceleration with slipping

Similar to particles, we can derive the principle of work and energy

The total work of the internal

A rigid body is subjected to a variable force.

If the force is constant, then, the work of

If the force is caused by spring, then, the

then the work is defined as

How come no work due to reaction forces at the pin?

will have kinetic energy given as

𝑣𝐺,2 = (0.4 tan 45°)𝜔2

7) Find angular velocity using principle of work and energy

another way to write this is

𝑇1 + 𝑉𝑔1 + 𝑉𝑒1 = 𝑇2 + 𝑉𝑔2 + 𝑉𝑒2

where Vg is gravitational potential and Ve is elastic potential energy.

Elastic Potential Energy Ve is given as

7) Use conservation of energy

∑𝑇1 + ∑𝑉1 = ∑𝑇2 + ∑𝑉2

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