Rigid-Body Kinetics: 8.1 Equations of Motion

Chapter 8
Rigid-Body Kinetics
Chapter Abstract. This chapter is the culmination of everything we have done in the preceding chapters. Newtons Second Law is the foundation of the kinetics of rigid bodies, just
as it is for particles and systems of particles. Because a rigid body is the limiting case of an
infinite number of particles for which the mass of a differential-sized particle approaches zero,
we appeal to our analysis of systems of particles to establish the appropriate form of Newtons
Second Law. This involves generalizing the concept of the center of mass for a rigid body.
In examining angular momentum, we discover that we must introduce a new quantity in our
analysis called the inertia tensor.
We consider both two-dimensional motion and three-dimensional motion of rigid bodies.
Then, we turn to the Principle of Work and Energy and the Principle of Impulse and
Momentum. Both principles are easier to apply for a rigid body than for a finite system of
particles because there is no need to include effects of internal forces.
8.1 Equations of Motion

In discussing finite systems of particles, we found that the motion can be conveniently described
in terms of mass-averaged position, velocity and acceleration. Summing over all particles in
a system, the sum of the external forces is equal to the systems mass, m, multiplied by the
acceleration of the center of mass, a, viz.,
n
Fi = ma
(8.1)
i=1
O,
We also found that the rate of change of angular momentum relative to an inertial frame, H
is equal to the sum of the moments of the external forces acting on the center of mass and the
sum of the moments relative to the center of mass. Thus, angular momentum is governed by
n
O = r
H
Cm
Fi + H
Cm =
and H
i=1
MCm i
(8.2)
i=1
Cm is the rate
where the MCm i are the external moments relative to the center of mass and H
of change of the bodys angular momentum about its center of mass. While mass averaging
obviates the need to deal with the motion of individual particles in considering linear momentum, the same is not true for angular momentum. Specifically, evaluation of the angular
251
252
CHAPTER 8. RIGID-BODY KINETICS
momentum relative to the center of mass, HCm , requires considering the position and velocity
of each particle relative to the center of mass, ri and vi , respectively, i.e.,
n
HCm
i=1
ri vi mi
(8.3)
Since a rigid body is the special limiting case of a system where the number of particles
is extremely large, Equations (8.1), (8.2) and (8.3) govern the bodys motion. Figure 8.1
illustrates this representation of rigid-body motion.
Before we can proceed, we must specify the way in which the center of mass and the
angular-momentum vector are computed. As we will see, the limiting form of Equation (8.3)
for the angular momentum relative to the center of mass can be determined in terms of massaveraged properties, albeit with a somewhat complicated calculation.
...........
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F5
ma
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F1
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F4
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......
2.............
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......
Cm
Cm
.......
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.......
....... ..
..........
.........
F3
Cm
H
Figure 8.1: General motion of a rigid body.
8.1.1 Center of Mass

Let mi be the mass of a particle whose position vector is ri . Then, the center of mass for
a system of n particles is given by
r=
1
m
ri mi
where
m=
i=1
mi
(8.4)
i=1
A rigid body corresponds to the limit n , mi 0, for which the sum of the differential
masses is the finite mass of the body. Thus, we replace the summations by integrals, i.e.,
r=
1
m
r dm
where
m=
dm
(8.5)
If the body has mass density , then dm = dV where V denotes volume. In terms of volume
integrals, the center of mass is given by
r=
1
m
r dV
V
where
m=
dV
(8.6)
We can use Equation (8.6) to compute the center of mass of any geometry. Obviously, if
the object has uniform density, the center of mass is coincident with its centroid, i.e., its
geometric center. Appendix A includes the center of mass for common two-dimensional
and three-dimensional geometries. The following example shows how the center of mass is
computed for a nonuniform material.
8.1. EQUATIONS OF MOTION
253
Example 8.1 Determine the location of the center of mass for a cylinder of radius R and height
h, where the lower and upper parts of the cylinder are made of aluminum and lead, respectively.
Aluminums density is Al = 2712 kg/m3 and leads density is P b = 11340 kg/m3 . The
aluminum part of the cylinder is of height h1 .
..
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1
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Pb
h.
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........
............
Al
Solution. Since density is constant in each part of the cylinder, its total mass is
m = Al R2 h1 + P b R2 (h h1 ) = P b R2 h 1
Al
P b
h1
h
For the given values of Al and P b , we find

m = P b R2 h 1 0.76
h1
h
The symmetry of the cylinder tells us that the center of mass lies on the z axis. Thus, we need only
compute z. The value of z is given by
z=
1
R2
m
h1
Al z dz + R2
0
P b z dz =
h1
R2
Al h21 + P b h2 h21
2m
Rearranging terms and substituting the given values of Al and P b yields

z=
P b R2 h2
h1
1 0.76
2m
h
Substituting for m, the center of mass is located at

z=
h
2
1 0.76 (h1 /h)2

1 0.76 (h1 /h)
The figure below shows the variation of z/h with h1 /h. Note that in the limit of a pure lead
cylinder (h1 = 0) and a pure aluminum cylinder (h1 = h), the center of mass lies at the center of
the cylinder, as it must.
0.70
z/h
0.65
0.60
0.55
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0.50
0.0
0.2
0.4
0.6
0.8
1.0
h1 /h
254
8.1.2 Angular Momentum and the Inertia Tensor

As shown in Figure 8.2, in terms of a differential element of mass mi , the angular momentum
about the center of mass is
n
ri vi mi =
HCm =
i=1
i=1
ri ( ri ) mi
(8.7)
where we use the fact that vi = ri . As with the center of mass, we focus on the limiting
case n , mi 0, wherefore
HCm =
r ( r ) dm
(8.8)
.......
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Figure 8.2: Angular momentum of a rigid body relative to its center of mass, Cm .
In component form, the integrand is
r ( r ) =
xI y 2 + z 2 yI x y zI x z i
2
xI x y + yI x + z
zI y z j
2
zI x z yI y z + zI x + y
(8.9)
(8.10)
(8.11)
Because the angular velocity is independent of spatial coordinates within a rigid body, we can
factor it out and rewrite this equation as follows.
y2+z2
x y
x z
I
x y
x2+z2
y z
(8.12)
r ( r ) =
zI
x z
y z
x2+y2
Integrating the diagonal terms of the matrix yields the moments of inertia defined by1
IxI xI =
y 2 + z 2 dm,
IyI yI =
x 2 + z 2 dm,
IzI zI =
x 2 + y 2 dm (8.13)
Integrating the off-diagonal terms yields the products of inertia defined by

IxI yI =
x y dm,
IyI zI =
y z dm,
IxI zI =
x z dm
(8.14)
1 Strictly speaking, these are the mass moments of inertia. If we replace dm by dV, they are called area
moments of inertia. Some authors prefer the notation Ix = Ixx , Iy = Iyy , Iz = Izz for the moments of inertia
and Jxy = Ixy , Jyz = Iyz , Jxz = Ixz for the products of inertia.
255
Therefore, the angular momentum vector can be written as

HCm = [I]
(8.15)
where we call the matrix [I], whose elements are the moments and products of inertia, the
inertia tensor, i.e.,
IxI xI IxI yI IxI zI
[I] = IyI xI IyI yI IyI zI

(8.16)
IzI xI
IzI yI
IzI zI
This matrix is symmetric because IxI yI = IyI xI , IxI zI = IzI xI and IyI zI = IzI yI . For example,
IxI yI =
x y dm =
(8.17)
y x dm = IyI xI
A special set of coordinate axes called the principal axes of inertia exists in which all
of the off-diagonal terms vanish. The principal axes can be determined through standard
theorems and operations with matrices, a topic that is beyond the scope of this course. The
orientation of the principal axes is usually obvious for simple symmetric geometries. Denoting
these axes by x
yz, we have
HCm x = Ixx x ,
HCm y = Iyyy,
HCm z = Izzz
(8.18)
The physical meaning of the mass moments of inertia in the principal-axis system is
especially easy to understand. Clearly, each moment is the integral of r2 dm, where r is the
radial distance from the axis. In this spirit, we define the radii of gyration, Rx , Ry , Rz , by
Ixx = mR2x ,
Iyy = mR2y ,
Izz = mR2z
(8.19)
The larger the radius of gyration, the more rotational inertia the rigid body has about that
axis. Consider Figure 8.3, which shows a man standing on a platform that rotates about a
vertical axis. He is holding two heavy spherical weights. When he holds the weights with
arms extended, clearly his radius of gyration about the platforms rotation axis is greater than
when he lowers the weights. His angular momentum is HCm = mR2z1 1 k with his arms
extended and HCm = mR2z2 2 k when he moves the weights down to his side. Since there
are no external forces acting, his angular momentum will be the same regardless of where he
holds the weights. Since Rz1 > Rz2 , necessarily 2 > 1 . Figure skaters who begin a spin
z ............
z ............
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Figure 8.3: A man with two spherical weights on a rotating platform.
256
with arms outstretched (without the weights) use this effect to dazzle their audience. When a
woman skater pulls in her arms, she reduces her moment of inertia, which causes her to spin
faster.
The products of inertia cannot be related to a single axis but instead involve two separate
axes. Nonzero products of inertia reflect some kind of asymmetry of a geometry. For example,
suppose our rotating man held the weight in his right hand beneath the height of the weight
in his left hand. Referring to Figure 8.4, clearly the change in the mans product of inertia,
Iyz , will be approximately
(8.20)
Iyz m( )z m zr = m (z zr )
where is the length of the mans arm measured from the center of his body, m is the mass
of each weight, and the heights of each weight are z and zr as shown. Because his angular
momentum is constant, the man will feel a change in his angular velocity, which will no longer
be aligned with the z axis. This change in direction corresponds to rotations about the x and
y axes induced by the change in his product of inertia.
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z.r
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Figure 8.4: Example with a nonzero product of inertia.
8.1.3 Parallel Axis Theorem

For many applications, the geometry is such that the principal axes are not easily located or
may be an inconvenient choice. For such applications, we can use the Parallel Axis Theorem.
This theorem makes it a simple matter to shift the origin of a coordinate system with no rotation
of the axes.
To prove the theorem, we note first that the location of the center of mass relative to an
inertial coordinate frame is r = x i + y j + z k. So, for a given Point P in a rigid body, we
have
=
x = x + x, y = y + y, z = z + z
(8.21)
r=r +r
where the coordinates xyz and x y z are shown in Figure 8.5. Then, the moment of inertia
about the x axis is
Ixx
y 2 + z 2 dm =
y 2 + z 2 dm + 2y
(y + y) + (z + z)
y dm + 2z
dm
z dm + y 2 + z 2
dm
(8.22)
257
....
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Figure 8.5: Inertial reference frame, xyz, and center-of-mass coordinate frame, x y z .
By definition, we know that
IxI xI =
y 2 + z 2 dm
and
(8.23)
dm = m
Also, y dm and z dm are the y and z components of the center of mass relative to the
center of mass, respectively. Thus, both of these integrals are zero. Therefore,
Ixx = IxI xI + m y 2 + z 2
(8.24)
A similar computation shows that

Iyy = IyI yI + m x2 + z 2 ,
Izz = IzI z I + m x2 + y 2
(8.25)
Turning to the products of inertia, consider Ixy . We have

Ixy
xy dm =
(x + x) (y + y) dm
x y dm x
y dm y
x dm xy
(8.26)
dm
Therefore, the product of inertia Ixy is

(8.27)
Ixy = IxI yI mxy

Similarly, the other two products of inertia are
Iyz = IyI zI myz
and
Therefore, in matrix form, the Parallel Axis Theorem is

2
Ixx Ixy Ixz
IxI xI IxI yI IxI zI
Iyx Iyy Iyz = IyI xI IyI yI IyI zI +

Izx Izy Izz
IzI xI IzI yI IzI zI
(8.28)
Ixz = IxI zI mxz

m y + z2
mxy
mxy
m x2 + z 2
mxz
myz
mxz
myz
m x2 + y 2
(8.29)
258
Example 8.2 Compute the inertia tensor relative to Origin O of coordinate frame xyz. The rods
are very slender and made of the same material. The mass of the horizontal rod is m.
z ............
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m2
... ...............................................
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m1 ...........................
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Mass = M
Length = L
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.. ........... .............. m ...............
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correspond to zxy for Rod 1

correspond to yzx for Rod 2
Solution. Since the mass of the horizontal rod is m, necessarily the mass of the vertical rod is 2m.
Appealing to Appendix A, we find that for a rod of mass M and length L, the principal moments
of inertia are
1
I = I =
M L2 , I 0
12
The center of mass of each rod is at its center. We construct the following table.
Rod
1
2
IzI zI
Mass
2
m 2
3
2m
2
1
12 m
IxI xI
IyI yI
2
m 2
3
2
1
12 m
Thus, the moment of inertia about the x axis is

2
IxI xI + mi y 2i + z 2i
Ixx =
i i
i=1
2 2
m +2m 02 +
3
1
1
m 2 +m
12
4
Similarly, a little algebra shows that

Iyy =
11
m
3
and
Izz =
1
m
3
Turning to the off-diagonal terms,

2
IyI zI mi y i z i = 2m(0 ) m
Iyz =
i i
i=1
1
= m
2
As can be easily demonstrated,

Ixy = Ixz = 0
Thus, the inertia tensor is
[I] =
4m
0
0
0
11
m 2
3
12 m 2
0
12 m
2
1
3m
24
1 2
= 6m 0
0
22
= 4m
8.2. MOTION OF A RIGID BODY IN TWO DIMENSIONS
259
8.1.4 Equations of Motion Summary

In this section, we have developed the equations of motion for rigid bodies in terms of massaveraged quantities. As with finite systems of particles, we have demonstrated that Newtons
Second Law yields the following equations for linear and angular momentum [see Equations (8.1) and (8.2)].
n
Fi = ma
and
Cm =
H
i=1
MCm i
(8.30)
i=1
We also established the relation between angular momentum and angular velocity, viz.,
H = [I]
(8.31)
where [I] is the inertia tensor. Although we could conceptually develop the inertia tensor for
a system of particles, it would not be terribly useful in general applications because it would
change every time the relative distance between particles changes. By contrast, the distance
between particles in a rigid body is constant so that the inertia tensor is well defined. In
words, these equations tell us the following
The resultant force,
m
i=1
Fi , goes through the center of mass and causes it to accelerate.
The sum of the external moments about the center of mass,

spin angular momentum, HCm , to change.
m
i=1
MCm i , causes the
At first glance, this would suggest that we can consider translation and rotation separately,
similar to what we have done for the kinematical description. Although this is sometimes
possible, the translational and rotational motions of a rigid body often cannot be separated
because they are inherently coupled.
8.2 Motion of a Rigid Body in Two Dimensions

For rigid-body motion in two dimensions, we consider a plane with x and y axes that lies at
z = 0. In this plane, the velocity is
v = vx i + vy j
(8.32)
If the body rotates in the xy plane, its angular-velocity vector must be normal to the plane so
that2
= k
(8.33)
The inertia tensor simplifies also. Since z = 0, the moments and products of inertia are
Ixx =
y 2 dm,
Ixy = Iyx =
2 Rotation
Iyy =
xy dm,
x2 dm,
Izz =
x2 + y 2 dm
Ixz = Izx = Iyz = Izy = 0
about the x or y axis would involve motion out of the plane.
(8.34)
(8.35)
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Therefore, in matrix form, the inertia tensor is
Ixx Ixy
[I] = Ixy Iyy

0
(8.36)
Izz
Consequently, the angular momentum relative to a Point O is given by
0
Ixx Ixy 0
0
= Izz
HO = Ixy Iyy 0
0
0 Izz
(8.37)
Thus, the angular-momentum vector is always aligned with the angular-velocity vector. This is
a major simplification in the equations of motion for a rigid body. For notational convenience,
we drop the subscript zz so that HO is
(8.38)
HO = I
Also, the Parallel Axis Theorem simplifies to
IO = I + m x2 + y 2
(8.39)
where IO is the moment of inertia relative to Point O and I is the moment of inertia relative
to the center of mass of the rigid body. No other moments or products of inertia are relevant.
Therefore, the equations governing planar motion of a rigid body are
n
Fi = ma
Mi k = I
and
i=1
i=1
d
k
dt
(8.40)
In component form, we thus arrive at the following three equations of motion.

n
Fxi
= max
(8.41)
Fyi
= may
(8.42)
Mi
= I
(8.43)
i=1
n
i=1
n
i=1
These equations underscore one of the most important differences between motion of an
individual particle and motion of a rigid body. Because of a rigid bodys finite size, we can
discern rotation about its center of mass. By contrast, a particle, which we idealize as a point
mass, has no finite size and rotation about its center of mass is ill defined.
8.2.1 Rolling Motion

One particularly interesting example of two-dimensional rigid-body motion is that of an axisymmetric body rolling on a surface. This type of motion involves both translation of and
rotation about the objects center of mass. For present purposes, we assume the object has
uniform mass density so that its center of mass is coincident with its centroid. This type of
application is aptly described as centroidal rotation.
261
Consider a round object of radius R rolling on a planar surface as shown in Figure 8.6.
The forces acting on the object are its weight, mg, a reaction force from the surface, N, a
driving force, F, and a rolling-friction force, f. Our goal is to compute the rolling-friction
force as a function of F = |F| and/or N = |N|.
...
...
...
...
...
...
..
..
..........
.
.
...
.
.
.
.
.
.
.
....... .....
.
.
.
.
...
.
.
.
.............
.... ................................
.
.
...
....
.
. .
....
...
...
... ....
...
...
...
...
... ....
.
.
...
.
.
m .......................................
..........................................................
...
...
..
...
.
.
...
...
..
...
....
...
...
...
...
....
.
.....................................................................................................................................................................................................................................................................................
.
......
.
...
...
...............................................................................................................................................................................................
...
...
...
...
...
...
...
...
y ...........
mg
2R
Figure 8.6: Round object rolling on a horizontal surface.

This problem includes an important kinematical constraint. Specifically, if the object rolls
without sliding, there is a direct relation between the linear acceleration of its center of mass,
a, and its angular acceleration, . That is, if the object rotates clockwise through an angle
about its center of mass, Cm , the distance traveled by its center of mass in the x direction
is R, where R is the objects radius. Note that clockwise rotation corresponds to negative
But, a = x
values of . Differentiating twice with respect to time tells us that x
= R.
and
= . Thus, we conclude that for an object that rolls without sliding,

a = R
(Rolling without sliding)
(8.44)
As discussed in Section 3.3.2, there are three different regimes for rolling friction, viz.,
rolling without sliding, rolling with imminent sliding and rolling with sliding. If the object
rolls without sliding, the coefficient of proportionality is the coefficient of rolling friction,
r . When the object is on the brink of sliding as it rolls, the coefficient of proportionality is
the coefficient of static friction, s . Finally, when the object rolls and slides, the coefficient
of kinetic friction, k , applies. Summarizing, we have the following.
Rolling without sliding

r N (a = R),
s N (a = R),
Rolling with imminent sliding
f=
(8.45)
k N (a independent of R), Rolling with sliding

The most interesting case is that of rolling without sliding. Newtons Second Law tells us
that
Fi = F i f i + N j mg j = ma i
(8.46)
i
Therefore, we have
F f = ma
and
N = mg
(8.47)
If we assume that the driving force, like the gravitational and reaction forces, acts through the
objects center of mass, then only the rolling-friction force contributes to the moment about
the center of mass. Therefore,
MCm i = (R j) (f i) = Rf k = I k
(8.48)
262
where I is the objects moment of inertia. Using the constraint of Equation (8.44) in Equation (8.48), there follows
I
f=
(8.49)
ma
mR2
Also, substituting this value for f into the first of Equations (8.47) yields the relation between
the driving force and the acceleration, viz.,
F =
1+
I
mR2
(8.50)
ma
There are three interesting observations we can make based on Equations (8.49) and (8.50).
Combining Equations (8.49) and (8.50) shows that f and F are related by
f=
F
1 + mR2 /I
(8.51)
so that the rolling-friction force is independent of the reaction force, N . This holds
up to the point where F is equal to the minimum value for sliding to begin, i.e., the
point at which f = s N , where s is the static-friction coefficient. For larger applied
forces, the object will roll and slide. When this happens, f = k N , where k is the
kinetic-friction coefficient. Thus, as with a block sliding on a horizontal surface, the
rolling-friction force behaves as shown in the following graph.
..
f ............
Fs
...
.... f =
......
fs ....................................
......... s
2 /I
...
..... .......
1
+
mR
.
.
.
.
....................................
.
..
....................................................................................
fk ........
.....
..
.....
.
..
..
....
..
...
.....
..
.....
..
..
.....
.
.
...
.
.
..
...
.
.
...
.
..
.
...
.
..
.
.
...
.
.
..
... .........
..
... .......
..
...............................................................................................................................................................
..
Fs
The point at which sliding is imminent is often of interest in rolling-object applications.

It is simply the point at which the rolling-friction force equals the static-friction force.
Letting fs denote this critical friction-force value, we conclude that
fs = s mg =
Fs
1 + mR2 /I
Fs = s 1 +
mR2
I
mg
(8.52)
The rolling-friction coefficient is

r =
f
=
N
I
mR2
a
g
(8.53)
If the object is not accelerating, the rolling-friction coefficient is zero. This does not
contradict what we discussed in Subsection 3.3.2. The analysis here is for a rigid body,
which by definition does not deform. The rolling-friction coefficients listed in Table 3.2
are for real materials, which experience some degree of deformation. The values for
commercial materials are in fact much smaller than kinetic-friction coefficients, and a
rigid body is simply a special limiting case for which r 0.
263
Example 8.3 Compute the rolling-friction coefficient, r , for a cylinder of mass m and radius R,
which rolls without sliding down an incline that makes an angle with the horizontal. Compare
your value for = 30o to that of an oak disk rolling on a horizontal oak surface.
y ...............
.
...
...
...
..
.
...
.
.
.........................
....
....... ..
...........
..... ...............................
......... .............
.
.....
.
.
...
..
.......
.
...
...
....... .............
...
...
..
.......
.
...
..
..
....... .....................
.
.
..
.
.......
.
. . ..
...
.
....... .......................... ....
.............. ..
......... m.....
.......
.
.............
.......
.
.
.
.
.
.
.
.
.
..
.
.
.......
..
....... .............. . ......... ...............
....... ..............................
.......
................
.............. .......
...... ...
.
.
.
.
.
...
. ..
..
... ............. .............
...
.......
.......
...
.
.
.......
.......
.
.
.
.......
.
....... .............
...
.
..
.......
...
....... .............
...... .......
.......
........... .............
..... ............ ..................
.........
...............................................
..........
mg C
2R
x
Solution. The most convenient way to solve is to align our coordinate system with the incline.
Then, the force and acceleration vectors of interest are
N = N j,
f = f i, mg = mg sin i mg cos j, a = a i, = k
The force and moment equations simplify as follows.
Fx = mg sin f = ma,
Fy = N mg cos = 0
MCm = (R j) (f i) = Rf k = I k
Because the cylinder is rolling without sliding, we know that

a = R
Substituting into the moment equation and solving for a shows that
a=
R2
f
I
Hence, the x component of the force equation becomes

f = mg sin m
R2
f
I
f=
mg sin
1 + mR2 /I
Making use of the y component of the force equation, the rolling-friction coefficient is
r =
f
tan
=
N
1 + mR2 /I
Reference to Appendix A shows that the moment of inertia for a cylinder is I = 12 mR2 , so that
(1 + mR2 /I) = 3. Consequently,
1
r = tan
3
For a 30o incline, the numerical value of r is 0.192. From Table 3.2, the rolling-friction coefficient
for an oak disk rolling on a horizontal oak surface is 0.072, which is 3/8 of 0.192.
264
8.2.2 General Plane Motion

As an example of general plane motion, consider the small cart shown in Figure 8.7. The cart
rides on horizontal tracks and has a slender rod of length 2 and mass m attached that can
swing about a frictionless pivot. The cart begins accelerating from rest with a = a i at time
t = 0. We would like to determine the angular acceleration and the angular velocity of the
rod as a function of the angle .
g = g j
y ..........
...
...
...
...
...
...
...
..
.........
.....
.
....
...
..
...
...
..
............................................................
....
...
..................................
...
.
......................................................................
.
.
..
...
..
.. ..
...
...
.............. O
.
.
.
.
.. .
.
..............................................................
.................................................................................................................................................................................................
.. . . ..
.. . .. ..
.. ... ... ...
.. ... .... ....
.
.. .. .. ..
.. .. .... .... Cm
.. ..
.
.. ........ .. ...
.. ... ........... ...
.
.. .
.... ....
.. ....
.
... ...
.. ..
... ...
.. ....
... ...
.
. ...
.
... ...
....
........
a = ai
v
f
q
v
f
q
.............
....
.
....
...
...
...
...
..
2.
...
.....
...
...
...
...
.....
............
Figure 8.7: Accelerating cart with a swinging slender rod.

Kinematics. As indicated in the figure, we select a cart-fixed coordinate system. To solve for
the rods motion about the pivot, we will need the position and acceleration of the rods center
of mass, r and a, respectively. Also, because we will use the moment equation to determine
the rods angular acceleration, we will need the moment of inertia, I, relative to the rods
center of mass. Reference to Appendix A shows that the slender rods center of mass is at
the midpoint of the rod so that
r = sin i cos j
(8.54)
The rods moment of inertia relative to its center of mass is

I=
1
1
m(2 )2 = m
12
3
(8.55)
Finally, we appeal to Equation (7.39) to determine the acceleration of the center of mass, i.e.,
a = a + k r 2r
= a i + k ( sin i cos j) 2 ( sin i cos j)
= a i ( sin j cos i) + 2 ( sin i + cos j)
= a + cos + 2 sin i + sin + 2 cos j
(8.56)
Therefore, in component form, the acceleration of the center of mass is

ax = a + cos + 2 sin
and
ay = sin + 2 cos
(8.57)
Kinetics. Since our objective is to solve for the rods angular acceleration, we combine
Equations (8.1) and (8.2) to arrive at the following form of the moment equation.
MOi = mr a +
MCm i
i
(8.58)
265
Because this is two-dimensional motion, the net moment about the center of mass is simply
MCm i = I k =
i
1 2
m k
3
(8.59)
where k is a unit vector pointing out of the page. Turning to the cross product r a, substituting for r from Equation (8.54), we have
i
ra =
sin cos
ax
ay
= (ax cos ay sin ) k
(8.60)
Now, we substitute the components of a from Equation (8.57) to obtain

ra =
a + cos + 2 sin cos sin + 2 cos sin k
(8.61)
Regrouping terms and simplifying, we conclude that

r a = (a cos + ) k
(8.62)
Finally, the external forces acting on the rod are gravity, which acts through its center of mass,
and a reaction force at the pivot. So, taking moments about the pivot, only gravity makes a
contribution, viz.,
MOi = r (mg) = ( sin i cos j) (mg j) = mg sin k
(8.63)
Substituting Equations (8.59), (8.62) and (8.63) into moment-balance Equation (8.58) gives
1
mg sin = m (a cos + )+ m 2
3
4 2
m = m (a cos g sin ) (8.64)
3
Therefore, the angular acceleration of the rod is

=
3g
4
a
cos sin
g
(8.65)
Equation (8.65) shows that is negative for < tan1 (a/g). This is consistent with the
fact that must have a negative value for small , which corresponds to clockwise rotation.
Finally, since we now know the rods angular acceleration, we can solve for its angular velocity,
. First, we note that the angle is related to the standard cylindrical coordinate angle by
=
(8.66)
By definition, = and = .
Therefore,
=
d
d d
d
3g
=
=
=
dt
dt d
d
4
a
cos sin
g
(8.67)
Integrating over and using the fact that the rod starts from rest, there follows
=
3g
2
a
sin + cos 1
g
(8.68)
266
Example 8.4 A slender rod of length and mass m starts from rest and slides along frictionless
surfaces as shown. Determine the reaction forces on the rod at Points A and B.
y ............
..
...
.. A
... ... ...
...
...
...
...
...
.
.
.
.
.
.
..................................... ........... .. .. .. .. .. .. .. .. .. .. .. .. .. .. ..... ..
...
..
........ .....
..
.
... ....... .......
.
..........
...
A
... ....... .......
.
......
.
..... .....
.
...
.
..... .....
.
...
.
.
..... ....
...
..... ..... m
...
..... .....
..
...
..... .....
..... .....
...
...
..... .....
..
...
..... .....
.
...
..... .... ................
..... ..... .....
...
..... ...... ..
.
...
.. ...
... ........ .......
...
.... ..
...
..
........................................................................................................................................................................
....
.........
....
...
..
B
C
c
f
v
C
s
g = g j
Length =
fB
v
Solution. To solve, we must first take account of all relevant kinematical considerations. Then, we
proceed to kinetics. We assume the rod is always in contact with both surfaces.
Kinematics. For a slender rod, reference to Appendix A tells us that the center of mass lies at the
rods geometric center. It also gives the moment of inertia, I, about the rods center of mass, viz.,
r=
1
(cos i + sin j)
2
and
I=
1
m
12
We can relate the acceleration of the center of mass, a, to its angular acceleration, , by locating
the instantaneous center of rotation, Point C. Since Points A and B are constrained to move
vertically and horizontally, respectively, we draw dashed lines normal to each surface in order to
locate Point C. Their intersection lies at
rC = (cos i + sin j)
The acceleration of the center of mass is thus
a = rCm /C = k
1
1
(cos i + sin j) = (sin i cos j)
2
2
Kinetics. From Newtons Second Law, we have
Fi = NA i + NB j mg j =
1
m (sin i cos j)
2
Thus, the reaction forces, NA and NB are

NA =
1
m sin
2
and
NB = mg
1
m cos
2
The moment equation is

MCm i k
1
1
( cos i + sin j) (NA i) + (cos i sin j) (NB j)
2
2
1
1
(NB cos NA sin ) k =
m 2 k
2
12
Therefore, we have a third equation relating the three unknowns, , NA and NB , viz.,
NB cos NA sin =
1
m
6
We now have sufficient information to complete the solution.
8.3. MOTION OF A RIGID BODY IN THREE DIMENSIONS
267
Example 8.4 (Continued) First, we can solve for by substituting for NA and NB from above,
which yields
mg cos
1
1
1
m cos2 m sin2 = m
2
2
6
mg cos =
2
m
3
Solving for , we find

=
3g
cos
2
Thus, the reaction forces are

NA =
1
3g
m
cos
2
2
NB = mg
3g
1
m
cos
2
2
sin =
3
mg sin cos
4
cos = mg 1
3
cos2
4
8.3 Motion of a Rigid Body in Three Dimensions

As with two-dimensional rigid-body motion, the equations of motion are
n
Fi = ma
i=1
Cm
MCm i = H
and
(8.69)
i=1
Since these are vector equations and we are considering full three-dimensional motion, we
have a total of six scalar equations to solve. The equation relating the sum of the external
forces and the acceleration of the center of mass involves a minor adjustment relative to
two-dimensional applications, viz., we simply add a third component. However, the number
of active components in the moment equation increases from one to three. Furthermore, the
moment equation now involves the entire inertia tensor as opposed to the single diagonal
moment, Izz .
Cm . Some choices of
Before we can proceed, we must find a convenient way to compute H
coordinate axes with Cm at the origin yield extremely complicated equations. To understand
why, consider the rate of change of HCm = [I], which is
Cm = d ([I]) = d[I] + [I] d
H
dt
dt
dt
(8.70)
Unless we choose axes for which [I] does not change with time, the moment equation can
easily prove to be intractable for even relatively simple motion. Thus, we seek a coordinate
frame centered at Cm for which [I] is independent of time.
It is worthwhile to pause at this point and review the basis of Equation (8.69). This
equation reflects our kinematics formulation in which we make use of Chasles Theorem (see
Section 7.3). That is, we have found that motion of a rigid body can be represented as a
combination of translations and rotations, which is valid in both two- and three-dimensional
motion. We have also found that it is especially convenient to focus on the center of mass.
We thus handle the translational part of the motion by observing the way in which the center
of mass moves relative to an inertial frame, viz., the first equality stated in Equation (8.69).
To handle the rotational part of the motion, we use a coordinate system whose origin, Cm , is
fixed on the center of mass. Because this coordinate frame translates, any rotation of the rigid
body must be about an axis passing through Cm .
268

...
.
...
..............
.....................
..........
.......
.. . ..
.....
.... .. ...
....
.....
.
..... ...............
...
.
.
.
.... ...
.....
...
.........
.....
...
...
.....
.....
...
...
.....
.
...
.
.
....
.
.
...
..
.....
...
.......
.....
...
...
..... ...........
....
............................................
.
.
.
.
.
.
.
.
.
..
.
.
.
.
.
.
.
................................. ...
.
...
.
.
.......................... .. ....
....
................... ...................................
..
..................
.. .
...................
..
.. Cm
...................
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.....
.
.
.
.
......
................................
...
..
................................................................................................
...
.....
..
....
..... O
.
.
.
.
.
.
.
.
....
....
.....
.....
.....
.....
.
.
.
.
.....
.....
.....
.....
...........
.
.
.
Figure 8.8: Inertial reference frame, xyz, and a center-of-mass coordinate frame, x y z , that
rotates about its z axis.
We can often accomplish the objective of locating a coordinate frame in which the inertia
tensor does not change in time by using a rotating coordinate system as shown in Figure 8.8.
For certain applications such as gyroscopes, it is convenient to select an axis parallel to an
angular-velocity vector, , that differs from . Then, using the Coriolis Theorem,
dHCm
d HCm
=
+ HCm
dt
dt
(8.71)
where, in component form, we have

d HCm
= H Cm xI i + H Cm yI j + H Cm zI k
dt
(8.72)
and HCm xI = IxI xI xI + IxI yI yI + IxI zI z I , etc. This equation assumes an especially elegant
form if x y z coincide with the principal axes of the rigid bodys inertia tensor. When this is
true, the angular-momentum vector is
HCm = IxI xI xI i + IyI yI yI j + IzI z I zI k
(8.73)
So, if we select = , then
Cm = IxI xI xI i + IyI yI yI j + IzI zI zI k +

H
xI
y I
z I
IxI xI xI
IyI yI yI
Iz I z I zI
(8.74)
Therefore, after a little algebra, we find

Cm
H
= [IxI xI xI (IyI yI Iz I z I ) yI zI ] i
+ [IyI yI yI (IzI zI IxI xI ) zI xI ] j
+ [IzI zI zI (IxI xI IyI yI ) xI yI ] k
(8.75)
Although no products of inertia appear in this equation, we cannot avoid terms proportional
to products of the angular-velocity components such as yI zI . This is a ramification of
rotational-mode coupling that is inherent to three-dimensional motion. These nonlinear terms
arise because of the difference between the rate of change of seen by non-rotating and
rotating observers, which are related through the Coriolis Theorem. Nevertheless, this vector
269
equation is a dramatically simplified equivalent of the full three-dimensional vector equation

with all of the moments and products of inertia appearing. In component form, we arrive at
the following six equations that govern three-dimensional motion of rigid bodies. They are
known as Eulers Equations.
n
Fxi
= max
(8.76)
Fyi
= may
(8.77)
Fzi
= maz
(8.78)
MxI i
= IxI xI xI (IyI yI Iz I zI ) yI zI
(8.79)
MyI i
= IyI yI yI (IzI zI IxI xI ) zI xI
(8.80)
MzI i
= IzI z I zI (IxI xI IyI yI ) xI yI
(8.81)
i=1
n
i=1
n
i=1
n
i=1
n
i=1
n
i=1
To see how we approach a problem involving three-dimensional motion of a rigid body,

consider a disk of radius r and mass m that is mounted on Axle OA of length L = 2r and
9
mass 16
m. As shown in Figure 8.9, the axis pivots about Point O, and the disk rolls without
sliding on a horizontal surface counterclockwise with angular velocity a . We will proceed
step by step and ultimately we will compute the reaction forces on the disk and at Point O.
..
........
..............................................................................................................................................................................................
.
..
.. ..
.
...... ... ..
... ...
...
...... ... ......
.. ..
...
...................
......
.
..
.
.
.
.
.
.....
... ...
a ..................
..
...
... .. .. ....
... ....
...
.
................. ......
... ... .. ..
...
... ...
O ......................................................................................................................... ...... ..........................................
.. ...
..
.
.
.
..
.
........... .. ... ...
............
... ..A..
... ..
...
...............
......... ......
.......
...
... ... .......... ............
... ...
...
.. ...
..
... .......... ......
.
.
.
.. ..
..
...
.. ..
..
.
.....................
.........................
... ..
...
... ..
.
... ...
...
.. ....
..
...
.
.
.
... ...
...
...
... ...
...
.........
...
... ...
...
.......
...
.
.
... ...
...
.. ..
..
.. ..
..
..................................................................................................................................................................................................
.
..
.
............................................................................................................................................................................................
s
sr
Figure 8.9: Rolling disk rotating about a central axis.

Kinematics. We begin by determining the absolute angular-velocity vector, . To do this, we
observe that the disk moves in a circle of perimeter P = 2L. If Axle OA rotates clockwise
with angular velocity about the z axis, then one revolution takes t = 2/ to complete.
Hence, the speed of any point on the perimeter of the disk is
v=
P
2L
=
= L
t
2/
(8.82)
But, the disk rotates at angular velocity a about the y axis so that its velocity is also given
by v = ra . Thus, we conclude that
L = ra
a =
(8.83)
270
However, we are given L = 2r, so that a = 2. Therefore,

= 2 j
1
k
2
(8.84)
The following table includes kinematical properties of the axle and the disk that we need in
order to compute the position, velocity and acceleration of the center of mass. It also includes
inertia-tensor information for each object.
Table 8.1: Kinematical Properties of the Axle and Rod Assembly
Object
Ixx
1
mr2
4
1
M L2
12
Disk
2r
Axle
Iyy
1
mr2
2
Izz
Mass
1
mr2
4
1
M L2
12
m
M=
9
m
16
Table 8.1 shows that the center of mass lies at x = z = 0 and

y=
9
16 mr + 2mr
9
16 m + m
41
r
25
(8.85)
Therefore, the center of mass is located at

r=
41
rj
25
(8.86)
The center of mass is constrained to circular motion. Specifically, it moves on a circle of

radius 41
25 r about the z axis with angular velocity = k. Thus, its velocity is
v = r = ( k)
41
rj
25
41
r i
25
(8.87)
Also, the acceleration of the center of mass is purely centripetal, which means
a = ( r) = ( k) ( k)
= ( k)
41
r i
25
41
rj
25
41 2
rj
25
(8.88)
Of greatest importance, Ixx , Iyy and Izz are constant in the coordinate system xyz rotating
with = k. For the given values of M and L, note that
1 9
3
1
M L2 =
m(2r)2 =
mr2
12
12 16
16
(8.89)
Thus, using the Parallel Axis Theorem, we determine Ixx according to

Ixx =
1 2
3
9
mr + m y 2d + z 2d + mr2 + m y 2r + z 2r
4
16
16
Disk
(8.90)
Rod
where subscripts r and d correspond to the rod and the disk, respectively. Appealing to
Table 8.1, y d = 2r, z d = 0, y r = r and z r = 0. A short algebraic exercise shows that
Ixx = 5mr2
(8.91)
271
For Iyy , we have

Iyy =
1 2
9
mr + m x2d + z 2d + 0 + m x2r + z 2r
2
16
Disk
(8.92)
Rod
Reference to Table 8.1 shows that xd = z d = xr = z r = 0, which yields

1 2
mr
2
(8.93)
1 2
3
9
mr + m x2d + y 2d + mr2 + m x2r + y 2r
4
16
16
(8.94)
Iyy =
Finally, for Izz , we have
Izz =
Disk
Rod
Again referring to Table 8.1, xd = 0, y d = 2r, xr = 0 and y r = r. Consequently, we

conclude that
Izz = 5mr2
(8.95)
Similar computations quickly reveal the fact that all of the products of inertia, i.e., the offdiagonal terms are zero. Thus, the inertia tensor is as follows.
5mr2
0
0
1
2
0
[I] = 0
(8.96)
2 mr
0
5mr2
We can now compute the inertia tensor relative to the center of mass, [I ]. To determine [I ],
we must again use the Parallel Axis Theorem, and we find
IxI xI
IyI yI
IzI zI
25
25
41
m y 2 + z 2 = 5mr2 m
16
16
25
25
1
1
= Iyy m x2 + z 2 = mr2 0 = mr2
16
2
2
41
25
25
= Izz m x2 + y 2 = 5mr2 m
16
16
25
r2 =
= Ixx
Therefore, the inertia tensor relative to the center of mass is

319 2
0
0
400 mr
1
2
0
0
[I ] =
2 mr
0
319
2
400 mr
319 2
mr
400
(8.97)
(8.98)
r2 =
319 2
mr
400
(8.99)
(8.100)
Kinetics. Equations (8.84) and (8.100) provide sufficient information to compute the angularmomentum vector relative to the center of mass. We simply multiply the inertia tensor [I ] by
the absolute angular-velocity vector, viz.,

319 2
0
0
0
0
400 mr

1
2
2
mr
2
0
0
=
HCm =
(8.101)
2 mr

319
319
2
2
0
0
400 mr
400 mr
272
Thus, in conventional vector form, the angular-momentum vector relative to Cm is

HCm = mr2 j
319
k
400
(8.102)
We use the Coriolis Theorem to compute the rate of change of HCm . Since HCm is constant
in the rotating coordinate frame, we have
319
d HCm
dHCm
=
+ HCm = ( k) mr2 j
k
dt
dt
400
(8.103)
Evaluating the cross product, we conclude that

Cm = m2 r2 i
H
(8.104)
In the final part of our computation, we will determine the reaction force from the surface
on the disk, N, and the reaction force at the top of the pivot rod, R. Figure 8.10 shows a
side view of the configuration, including N, R and the gravitational force that acts through
the center of mass, 25
16 mg k, where g is gravitational acceleration.
z ..........
...........
.. ....
....
... ...
...
... ...
.
............................ 41
... ....
..............................
.
...
... ...
25
...
... ...
...
... ...
m
O.........................................................................C
........................... .......A
.
.. .........................
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...
............ ...
.
.
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.
.
.
.... .....
........
....
....
... ...
..
.
.
..
...
.
25
........
...
.... .....
....
16
...
... ...
...
... ...
... ....
....
..
.. ..
.................................................................................................................................
.................................................................................................................................
...
.
................ 9 ...............
. 25 ..
....
..
..
mg k
Figure 8.10: Forces acting on the pivot-rod/axle/disk assembly.

The force equation in vector form is
Fi =
i
25
ma
16
R+Nk
25
25
41
mg k =
m 2 r j
16
16
25
(8.105)
where we have used Equation (8.88) for the acceleration of the center of mass. Solving for R
yields
25
41
R = m2 r j +
mg N k
(8.106)
16
16
The angular-momentum equation is
Cm
MCm i = H
i
9
41
r j (N k) + r j R = m2 r2 i
25
25
(8.107)
Substituting for R from Equation (8.106), we have

9
41
rN i r
25
25
25
mg N i = m2 r2 i
16
(8.108)
8.4. PRINCIPLE OF WORK AND ENERGY
273
Solving for the magnitude of the reaction force on the disk from the surface, N , yields
N=
1
41
m2 r + mg
2
32
(8.109)
Combining Equations (8.106) and (8.109) shows that the forces N and R are as follows.
41
1
m2 r + mg k
2
32
1
9
41
R = m2 r j
m2 r mg k
16
2
32
N =
(8.110)
(8.111)
Example 8.5 Taking moments about Point O for the rolling-disk problem depicted in Figure 8.9,
show that Equation (8.109) follows.
Solution. The first thing we must do is determine the angular-momentum vector relative to Point O.
Using Equations (8.84) and (8.96),
5mr 2
1
mr2
2
5mr2
HO =
2
mr 2
=
5mr
= mr 2 (j 5k)
The inertia tensor does not change in time for a rotating observer, regardless of his position on the
y axis. Thus, the Coriolis Theorem tells us that
dHO
d HO
=
+ HO = ( k) mr2 (j 5k) = m2 r 2 i
dt
dt
Taking moments about Point O, we have
MOi = 0 R +
25
41
r j mg k + (2r j) (N k) = m2 r2 i
25
16
Evaluating the cross products gives
41
mgr i + 2N r i = m2 r2 i
16
N=
1
41
m2 r +
mg
2
32
which is identical to Equation (8.109).
8.4 Principle of Work and Energy

As with single particles and systems of particles, the work done by external forces moving
from State 1 to State 2, U12 , is equal to the change in kinetic energy, T2 T1 , viz.,
(8.112)
U12 = T2 T1
Furthermore, if our application involves several rigid bodies, we can say
m
(U12 )i =
i=1
i=1
(T2 )i
(T1 )i
i=1
(8.113)
274
Following our formulation for systems of particles, we generalize Equation (6.50) by replacing
the summation with an integral. Since the velocity relative to the center of mass is v = r ,
the total kinetic energy for a rigid body is thus given by
T =
1
1
mv v +
2
2
( r ) ( r ) dm
(8.114)
With a bit of algebra, we find

1
1
mv 2 + IxI xI x2I +IyI yI y2I +IzI zI z2I +2IxI yI xI yI +2IyI z I yI zI +2IxI zI xI zI
2
2
(8.115)
In terms of principal axes, we have
T =
1
1
mv 2 +
IxI xI x2I + IyI yI y2I + IzI zI z2I
2
2
For two-dimensional motion, since xI = yI = 0, Equation (8.116) simplifies to
T =
(8.116)
1
1
(8.117)
mv 2 + I 2 (Two-dimensional motion)
2
2
with I for consistency with the notation used in Section 8.2.
T =
where we replace IzI zI
Example 8.6 An axisymmetric rigid body of mass m, radius R and moment of inertia about its
symmetry axis, I, is released from rest on an incline. Assuming the body rolls without sliding,
determine the speed of the body after it has rolled a distance corresponding to z = h.
z ..............
....
...
..
...
...
.........................
... ...........
.......
..... ..............................
......... ............
.....
...
.....
... .......... ..........
.
...
...
.......
...
...
...
...
....... .............
...
..
...
.
.......
...
.....
....... ..............................
...
..
...
.............. ..
.......
m
..
...
.
.. .
.......
........
..
.
....... .........................
...
.
.
....
..........
...........
.......
.
.
.
....
.
.......
.......
.
.
.........
....... ......................................
..
.......
.........
............. .......
... ...
...
.
.......
....
..........
..
...
...
... ............ ............
.
.
.
...
.......
.......
.
.
.
...
.
.......
.
....... .............
...
...
.
.......
..
...
....... .............
..
..
.......
...
....... ....................
...
.
.
.... ............. .......
...
.
.
.................................................................................................................................................................................................................
mg C
2R
Solution: Because the body rolls without sliding, a = R. Integrating once over time and using
the fact that the body is initially at rest, we conclude that = v/R. The initial kinetic energy is
T1 = 0 and, at the lower elevation, it is
T2 =
1
1
1
1 I 2
1
I
v =
m+ 2
mv 2 + I 2 = mv 2 +
2
2
2
2 R2
2
R
v2
The point of contact between the body and the surface is the instantaneous center of rotation, so
that the bodys velocity relative to the surface is zero. Consequently, the rolling-friction force does
no work as there is no relative displacement between the point of contact and the surface. Also,
the reaction force, N, is normal to the direction of motion and thus does no work. The work done
by gravity is
U12 = mgh
Hence, the Principle of Work and Energy yields
mgh =
I
1
m+ 2
2
R
v2
8.5. PRINCIPLE OF IMPULSE AND MOMENTUM
275
Example 8.6 (Continued) Solving for v, we obtain

v=
2gh
1 + I/ (mR2 )
For a block sliding down a frictionless incline, we know

that v = 2gh. To show the effect of
rolling friction, the following table lists the ratio of v to 2gh for three different objects. Note
that the values of I are from Appendix A.
Object
Sphere
Cylinder
Hoop
I/ mR2
v/ 2gh
0.40
0.50
1.00
0.85
0.82
0.71
8.5 Principle of Impulse and Momentum

As with systems of particles, we must take account of both linear and angular momenta. It
is often most convenient to compute moments about the rigid bodys center of mass, and
integrating the equations governing the motion from time t1 to time t2 yields
n
t2
i=1 t1
t2
t1
i=1
Fi dt = mv2 mv1
(8.118)
r Fi dt = HCm 2 HCm 1
(8.119)
For two-dimensional applications, the angular-momentum vector is given by HCm = I k.

Thus, for two-dimensional motion of a rigid body, Equation (8.119) simplifies to
n
i=1
t2
t1
r Fi dt = I (2 1 ) k (Two-dimensional motion)
(8.120)
We refer to the sum of the external forces integrated from time t1 to t2 as the linear
impulse acting on a rigid body. We denote it by Imp . Similarly, the sum of the external
moments integrated over the same time interval is the angular impulse, and we denote it by
Impa . Thus, by definition we have
n
Imp
t2
Fi dt
i=1
t1
and
Impa
i=1
t2
t1
r Fi dt
(8.121)
In terms of the linear and angular impulses, the Principle of Impulse and Momentum for a
rigid body is
Imp = mv2 mv1
and
Impa = HCm 2 HCm 1
(8.122)
In this section, we will apply the Principle of Impulse and Momentum to a rigid body
for a given impulsive force. This illustrates how we must account for both translation and
rotation attending the post-impulse motion. The astute reader might pose a question about
why impacts between rigid bodies have been excluded from this section. The reason we dont
276
generalize our analysis from single particles and systems of particles is quite clear. Classical
impact theory, which we developed in Chapter 5, assumes there are large internal forces that
cause the impacting bodies to deform. But, by definition, rigid bodies do not deform!
As an example of impulsive motion of a rigid body, consider a cube of side a and mass
m that experiences an impulse, Ft = F t j, applied at one corner as shown in Figure 8.11.
Using the Principle of Impulse and Momentum, we will analyze the subsequent motion.
z ..........
..
..
..
...
................................................................. ...........
.
....
.. ...
.
.
... .. ...
.. ..
.
.
... ... ..
.. ...
.
... .. ..
.
.
..
... .... .
.
.
.
.
.
...
...
...
....
...
...
.
... ...
.......................................................................
.
...
..
... ...
. .
..
.
....
.. .. .. .. .. .. .. .. .. .. ......... .. .. .. .. .............................................
...
.
.
..
..
..
.
.
.
.
...
.
...
..
..
.
.
...
.
.
.
... ....
.... .....
... ....
... ....
... ..
... ....
.............................................................................................................................
....
.
.
.
.
..
........
.......
F t
Figure 8.11: A cube subjected to an impulse at one corner.

Kinematics. The first thing we must do is collect geometric information. Reference to
Appendix A yields the center of mass and the inertia tensor relative to the cubes center of
mass, viz.,
r=
1
a(i + j + k)
2
and
[I] =
1
2
6 ma
1
2
6 ma
1
2
6 ma
Linear Momentum. Equation (8.118) tells us that

F t = mv2 mv1
(8.123)
(8.124)
Since the cube is initially at rest, we have

F t j = mv 0
(8.125)
Therefore, the velocity of the cubes center of mass after the impact, v, is
v=
F t
j
m
(8.126)
Angular Momentum: Using Equation (8.119), we have

r F t = HCm 2 HCm 1
(8.127)
Since the angular momentum is initially zero,

HCm 2 =
1
1
a(i j k) F t j = aF t(k 0 + i)
2
2
(8.128)
Therefore, the angular momentum after the impulse is

HCm 2 =
1
aF t(i + k)
2
(8.129)
CHAPTER SUMMARY
277
But, HCm 2 is also given by
x
1
1
2
ma
0
= ma2 (x i + y j + z k)
HCm 2 = [I] = 0
y
6
1
2
z
0
0
6 ma
(8.130)
Thus, combining Equations (8.129) and (8.130), there follows
1
2
6 ma
1
1
ma2 x = aF t,
6
2
1
ma2 y = 0,
6
1
1
ma2 z = aF t
6
2
(8.131)
Solving for each component of , we conclude that

x =
3F t
,
ma
y = 0,
z =
3F t
ma
3F t
(i + k)
ma
(8.132)
As shown in Figure 8.12, This is equivalent to rotation about the x axis with angular velocity
i and rotation about the z axis with angular velocity k.
z ...........
....
..
...
............ ...............
.
........... ...
.........................................................................
.
. ...... .
.
.. ..
.. .
.
... ...............
.
... ...
.......... ....... ..... ..
... ..
.......
..
... ...
............... ...
...
.
.
.
.
....
........
...
...
...
................................................................................
..
.......
.
.
.
.........................................................................
..
...
... .. .. .. .. .. .. .. .. .. ......... .. .. .. .. ......................................
...
.
.
.
..
.
.
...
.
.
...
...
...
...
...
...
... ....
.
...
.... ...
..... .....
... ...
... ....
.
.
................................................................................................................................
..
.
.
.
.
...
.
.
.
.
......
.......
F t
Figure 8.12: Resulting velocity and rotation vectors for the cube.
Chapter Summary
Key topics discussed in this chapter...
Center of Mass. This is the mass-averaged position vector for a rigid body, computed
by integrating over the bodys volume.
Inertia Tensor. The angular momentum of a rigid body is the product of its inertia
tensor, which is a 3 3 matrix, and the angular-velocity vector. The diagonal terms
in the inertia tensor are the moments of inertia and the off-diagonal terms are the
products of inertia.
Radii of Gyration. The three moments of inertia can be expressed as the product of a
rigid bodys mass and the square of the three radii of inertia.
Parallel Axis Theorem. This is a straightforward procedure for computing the inertia
tensors relative to two different sets of coordinate axes.
Two-Dimensional Motion. Rigid-body motion in a plane requires solution of three
coupled equations. Two relate the applied forces to the acceleration of the center of
278

mass, and the third relates the applied moments to the rate of change of the angular
momentum. The angular-momentum vector is normal to the plane of motion. Its rate
of change is the product of the bodys angular acceleration and its moment of inertia
about the rotation axis.
Three-Dimensional Motion. Rigid-body motion in three dimensions requires solution

of six coupled equations. Three relate the applied forces to the acceleration of the center
of mass, and the other three relate the applied moments to the rate of change of the
angular momentum. The rate of change of the angular-momentum vector involves the
bodys angular acceleration, angular velocity and components of its inertia tensor.
Principle of Work and Energy for a Rigid Body. The sum of the work done by the
external forces equals the change in the sum of the kinetic energy of the systems center
of mass and the kinetic energy relative to the center of mass.
Principle of Impulse and Momentum for a Rigid Body. The sum of the impulses of
the external forces equals the change in the linear momentum of the systems center of
mass. Also, the sum of the impulses of the external moments equals the change in the
systems absolute angular momentum.
Important equations introduced in this chapter...
Center of Mass: Equations (8.5) and (8.6)
r=
r=
1
m
1
m
r dm
where
m=
r dV
where
m=
dm
dV
Moments of Inertia: Equation (8.13)

IxI xI =
y 2 + z 2 dm,
x 2 + z 2 dm,
IyI yI =
IzI zI =
x 2 + y 2 dm
Products of Inertia: Equation (8.14)

IxI yI =
x y dm,
IyI zI =
y z dm,
IxI z I =
x z dm
Radii of Gyration: Equation (8.19)

Ixx = mR2x ,
Iyy = mR2y ,
Parallel Axis Theorem: Equation (8.29)

Ixx Ixy Ixz
Iyx Iyy
Iyz
Izx
Izz
Izy
IxI xI
IxI yI
IxI zI
IyI xI
IyI yI
IyI z I
IzI xI
IzI yI
Iz I zI
Izz = mR2z
m y2 + z2
mxy
mxz
mxy
m x2 + z 2
myz
mxz
myz
m x2 + y 2
Equations of Motion for Two-Dimensional Applications: Equation (8.40)

n
Fi = ma
i=1
Mi k = I
and
i=1
d
k
dt
CHAPTER SUMMARY
279
Rolling-Friction Force: Equation (8.45)
Rolling without sliding

r N (a = R),
s N (a = R),
Rolling with imminent sliding
f=
k N (a independent of R), Rolling with sliding
Eulers Equations: Equations (8.76) through (8.81)

n
Fxi = max ,
Fyi = may ,
i=1
i=1
Fzi = maz
i=1
MxI i
= IxI xI xI (IyI yI IzI zI ) yI zI
MyI i
= IyI yI yI (IzI zI IxI xI ) z I xI
MzI i
= IzI zI zI (IxI xI IyI yI ) xI yI
i=1
n
i=1
n
i=1
Kinetic Energy: Equations (8.116) and (8.117)

T
1
mv 2 +
2
1
mv 2 +
2
1
IxI xI x2I + IyI yI y2I + IzI zI z2I
2
1 2
I (Two-dimensional motion)
2
Linear and Angular Impulse: Equation (8.121)

n
Imp
t2
Fi dt
i=1
and
t1
Impa
i=1
t2
t1
r Fi dt
Principle of Impulse and Momentum: Equation (8.122)

Imp = mv2 mv1
and
Impa = HCm 2 HCm 1
280
Problems
8.1 Determine the location of the center of mass, r, and the moment of inertia normal to the xy plane,
I, for the T section shown. The base of the lower segment is , where = 4. The total mass of the
T section is m, and both segments consist of the same material.
y ..........
..
...........
..................................
....
...
...
...
...
..
...
...
....
...
...
....
...
... .
............. ...............
...
..
...
...
....
...
...
...
...
..
...
...
......
.
.
.
.
........... ........................................................................................................................
.
.... ..
...
. ..
...
....
.
...
.. ....
.
.
...
...... ..
.
........ .......................................................................................................................................
....................................................
.
.....................................................
.. ..
x
Problems 8.1, 8.2
I, for the T section shown. The base of the lower segment is , where = 3. The total mass of the
T section is m, and both segments consist of the same material.
I, for the L section shown. The height of the vertical segment is , where = 3. The total mass of
the L section is m, and both segments consist of the same material.
y ...........
............
.....
...
....
...
...
....
..
...
...
...
...
...
...
..
.......
..........
...
.....................
..
...
...
...
.
...............
.............
...
...
...
...
...
....
...
..
....
...
....
...
..
...
...
...
....
....
..
.
.. ...
.
...
...... ...
.........................................................
.......... ..
...
....
...
..
...
..
............. ..................................................................................................
.... ..
.
................................
.. ................................
x
.
.
Problems 8.3, 8.4
I, for the L section shown. The height of the vertical segment is , where = 6. The total mass of
the L section is m, and both segments consist of the same material.
I, for the object shown. The width of the object is , where = 4. The total mass of the object is m,
and all four segments consist of the same material.
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Problems 8.5, 8.6
I, for the object shown. The width of the object is , where = 6. The total mass of the object is m,
and all four segments consist of the same material.
PROBLEMS
281
8.7 Bent Rod ABCD consists of three slender rods that make a right angle at each bend. The lengths
of Rods AB, BC and CD are h, h and h, respectively, where the dimensionless constant is given
by = 1. The mass of all three rods combined is m. The rods consist of the same material.
(a) Find the location of the center of mass, r.
(b) Find the moment of inertia, Iyy , and the product of inertia, Ixy , relative to Point O.
(c) Find the moment of inertia, I yy , and the product of inertia, I xy , relative to the center of mass.
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Problems 8.7, 8.8
8.8 Bent Rod ABCD consists of three slender rods that make a right angle at each bend. The lengths
of Rods AB, BC and CD are h, h and h, respectively, where the dimensionless constant is given
by = 2. The mass of all three rods combined is m. The rods consist of the same material
(a) Find the location of the center of mass, r.
(b) Find the moment of inertia, Ixx , and the product of inertia, Ixy , relative to Point O.
(c) Find the moment of inertia, I xx , and the product of inertia, I xy , relative to the center of mass.
8.9 Two slender steel rods are welded together at the center of the horizontal rod to form a T section.
The length and mass of the vertical rod are and m, respectively. The length and mass of the horizontal
rod are 2 and 2m, respectively. Find the location of the center of mass, r, and the inertia tensor, [I],
relative to the center of mass.
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Problem 8.9
8.10 Two identical right-circular cones of height h and base radius R are joined along a side as shown.
The mass of each cone is m. Find the location of the center of mass, r, and the inertia tensor, [I],
relative to the center of mass.
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Problem 8.10
282
8.11 A classic 1991 Jaguar Sovereign is a rear-wheel-drive automobile. Its mass is m and its center of
mass is a distance h above the road. The distances between the center of mass and the rear and front
wheels are r and f , respectively. The Jaguars rear wheels produce a net force, F = Nr i, that acts
through the center of mass. The quantities Nr and denote the reaction force of the road on the rear
wheels and the friction coefficient between the rear wheels and the road, respectively. You can neglect
the rotational-inertia effect of the wheels (i.e., rolling friction).
(a) Determine the value of if the magnitude of the Jaguars acceleration is a = 15 g, where g is
gravitational acceleration. Express your answer in terms of f , r and h. HINT: Take moments
about the point where the Jaguars front tires touch the road.
(b) Compute for
= 47 in,
= 66 in and h = 39 in.
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Problems 8.11, 8.12, 8.13, 8.14

8.12 A classic 1991 Jaguar Sovereign is a rear-wheel-drive automobile. Its mass is m and its center of
wheels are r and f , respectively. The Jaguars rear wheels produce a net force, F = Nr i, that acts
through the center of mass. The quantities Nr and denote the reaction force of the road on the rear
wheels and the friction coefficient between the rear wheels and the road, respectively. You can neglect
the rotational-inertia effect of the wheels (i.e., rolling friction).
(a) Determine the Jaguars acceleration, a = a i, as a function of f , r , h, and gravitational
acceleration, g. HINT: Take moments about the point where the Jaguars front tires touch the
road.
(b) Compute a for m = 1805 kg,
= 1.20 m,
= 1.67 m, h = 1 m and = 0.8.
8.13 A woman driving her classic 1991 Jaguar Sovereign has attached a large box to the cars roof (box
not shown in the figure). The Jaguars mass is M and its center of mass is a distance h above the road.
The mass of the box is m and its center of mass is a distance 2h above the road. The distances between
the center of mass and the rear and front wheels are r and f , respectively. To avoid a collision, the
woman applies the brakes. When she does, the box shifts forward and its center of mass is directly
above the Jaguars center of mass. Kinetic-friction coefficient is and gravitational acceleration is g.
(a) Determine the mass of the box that will cause the normal force on the rear tires to be zero
(corresponding to the Jaguar being on the brink of flipping forward). Express your answer in
terms of f , h, and M . HINT: Take moments about the Jaguars center of mass.
(b) Compute mg for
= 47 in, h = 39 in, = 0.8 and M g = 4043 lb.
8.14 A woman is driving her classic 1991 Jaguar Sovereign. The Jaguars mass is m and its center of
wheels are r and f , respectively. To avoid a collision, the woman applies the brakes.
(a) Determine the friction forces on the Jaguars front and rear tires, fr and ff , respectively, in terms
of f , r , h, m, kinetic-friction coefficient, , and gravitational acceleration, g. HINT: Take
moments about the Jaguars center of mass.
(b) Compute fr and ff for m = 1805 kg,
= 1.20 m,
= 1.47 m, h = 1 m and = 0.8.
PROBLEMS
283
8.15 A force of magnitude F acts on a thin disk of radius R and mass m as shown. The point of
application of the force lies a distance h above the disks center. The disk is rolling without sliding.
Determine the rolling-friction force, f , as a function of F , h and R.
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Problems 8.15, 8.16, 8.17
application of the force lies a distance h above the disks center. The disk is rolling without sliding.
Determine the acceleration of the disks center of mass, a, as a function of F , m, h and R.
application of the force lies a distance h above the disks center. The disk is rolling and sliding. The
kinetic-friction coefficient is k . Determine the disks angular-acceleration vector, , as a function of
F , m, h, R, k and gravitational acceleration, g.
8.18 A thin disk of radius R and mass m has clockwise angular velocity o when placed on a horizontal
surface. Initially, the disk is rolling and sliding. The kinetic-friction coefficient is k .
(a) Determine the acceleration of the disks center of mass, a, and its angular-acceleration vector, ,
in terms of R, k and gravitational acceleration, g.
(b) Determine the time, t, at which sliding ceases. Express your answer in terms of R, o , k and
g. HINT: Sliding ceases when v = R, where v is the speed of the disks center of mass and
is the magnitude of its angular velocity.
(c) Compute t for R = 1 in, k = 0.5 and o = 92 cps.
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Problem 8.18
8.19 A cue stick held horizontally strikes a billiard ball of radius R and mass m at a distance h above
the balls center. The force applied by the cue stick on the ball is F . For what ratio, h/R, will the ball
begin its motion with no rolling friction between it and the pool table?
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NOTE: Assume the ball

rolls without sliding
Problems 8.19, 8.20, 8.21
the balls center. The force applied by the cue stick on the ball is F . Assuming h/R = 12 , determine
the rolling-friction force, f , that the ball will begin its motion with.
the balls center. The force applied by the cue stick on the ball is F . For what ratio, h/R, will the ball
begin its motion with a rolling-friction force f = 35 F between it and the pool table?
284
8.22 A woman is pushing a shopping cart in the grocery store. She applies a force of magnitude F
to the carts handle at an angle . The carts mass is m and its dimensions are all indicated in the
figure relative to H, the vertical distance from the floor to the top of the handle. Neglect rolling friction.
Determine the reaction forces, Nr and Nf , on the rear and front wheels, respectively. Express your
answers in terms of F , , m and gravitational acceleration, g.
..
....
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hCm = 25 H
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= H
= H
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Problems 8.22, 8.23

8.23 A woman has taken her 10-year-old son with her to the grocery store. To her dismay, the boy views
the shopping cart as a racing vehicle. He has decided to push downward with a force of magnitude F
on the handle at an angle in order to cause the front wheels to leave the floor. The shopping carts
mass is m. Neglecting rolling friction, determine the magnitude of the force the boy will have to exert in
order to accomplish his objective. Express your answer in terms of , m and gravitational acceleration,
g. Make a graph of F/(mg) versus for 60o 90o .
8.24 A classic 1955 Chevrolet Bel Air has total mass M . The engines mass is me = 38 M and the
transmissions mass is mt = 18 M . The center of mass of the engine is a distance he from the road,
directly above the front wheels. The centers of mass of the transmission and the rest of the Chevy are
located at horizontal distances from the bottoms of the front wheels of t and o , respectively. The
corresponding vertical positions are ht and ho , respectively. The Chevys rear wheels produce a net
force, F = Nr i, that acts through the center of mass. The quantities Nr and denote the reaction
force of the road on the rear wheels and the friction coefficient between the rear wheels and the road,
respectively. Neglect the rotational-inertia effect of the wheels (i.e., rolling friction). Find the time, ,
that the Chevy takes to go from rest to a speed v in terms of v and gravitational acceleration, g. Compute
for v = 100 km/hr.
.
y ............
.....
...
g = g j ......
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ht = he
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ho = 2he
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Problems 8.24, 8.25
8.25 A classic 1955 Chevrolet Bel Air has total mass M . The engines mass is me = 38 M and the
transmissions mass is mt = 18 M . The center of mass of the engine is a distance he from the road,
directly above the front wheels. The centers of mass of the transmission and the rest of the Chevy are
located at horizontal distances from the bottoms of the front wheels of t and o , respectively. The
corresponding vertical positions are ht and ho , respectively. The Chevys rear wheels produce a net
force, F = Nr i, that acts through the center of mass. The quantities Nr and denote the reaction
force of the road on the rear wheels and the friction coefficient between the rear wheels and the road,
respectively. You can neglect the rotational-inertia effect of the wheels (i.e., rolling friction). Determine
the reaction forces from the road on the rear and front tires, Nr and Nf , respectively, in terms of M
and gravitational acceleration, g.
PROBLEMS
285
8.26 In a physics-lab experiment, a spinning ball of radius R and mass m has clockwise angular velocity
o when brought into contact with a horizontal surface. Initially, the ball has zero translational velocity
and it begins rolling and sliding. The kinetic-friction coefficient is k .
(a) Determine the acceleration of disks center of mass, a, and its angular-acceleration vector, , in
terms of R, k and gravitational acceleration, g.
(b) Determine the time, t, at which sliding ceases. Express your answer in terms of R, o , k and
g. HINT: Sliding ceases when v = R, where v is the speed of the balls center of mass and
is the magnitude of its angular velocity.
(c) The radius of the ball is R =
t = 25 msec, Compute k .
9
8
in and o = 100 rpm. Assuming that sliding ceases when
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g = g j
Problems 8.26, 8.27
8.27 In a physics-lab experiment, a spinning ball of radius R and mass m has clockwise angular velocity
o when brought into contact with a horizontal surface. Initially, the ball has zero translational velocity
and it begins rolling and sliding. The kinetic-friction coefficient is k . Determine the velocity of the
balls center of mass, v, and its angular-velocity vector, , at the moment when sliding ceases. Express
your answers in terms of o and R. HINT: Solve for the balls linear and angular velocity and note that
sliding ceases when v = R, where v is the speed of the balls center of mass and is the magnitude
of its angular velocity.
8.28 A 2010 Lincoln MKZ equipped with four-wheel drive can be operated in either four-wheel-drive
mode or in front-wheel-drive mode. Its mass is m and its center of mass is a distance h above the road.
The distances between the center of mass and the rear and front wheels are r = 3h and f = 2h,
respectively. The kinetic-friction coefficient between the cars tires and the road is = 45 . Determine
the maximum possible acceleration in terms of gravitational acceleration, g, for the following.
(a) Four-wheel-drive mode.
(b) Front-wheel drive mode.
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Problems 8.28, 8.29

8.29 A 2010 Lincoln MKZ equipped with front-wheel drive has mass M . Its center of mass is a distance
h above the road. With an empty trunk, the distances between the center of mass and the rear and front
wheels are r = 3h and f = 2h, respectively. The kinetic-friction coefficient between the cars tires
and the road is . A box of mass m loaded into the trunk rests just above the rear wheels. It causes
no change in the vertical distance between the cars center of mass and the road. What is the ratio of
the Lincolns maximum possible acceleration with the box loaded to that with an empty trunk? Express
your answer in terms of M and m. Compute the ratio for M g = 3600 lb and mg = 500 lb, where g
is gravitational acceleration.
286
8.30 A classic 1957 Chevrolet Bel Air is a rear-wheel-drive automobile. Its mass is M and its center
of mass is a distance h above the road. With an empty trunk, the distances between the center of mass
and the rear and front wheels are r = 3h and f = 2h, respectively. The kinetic-friction coefficient
between the cars tires and the road is . A box of mass m loaded into the trunk rests just above the
rear wheels. It causes no change in the vertical distance between the cars center of mass and the road.
What is the ratio of the Chevys maximum possible acceleration with the box loaded to that with an
empty trunk? Express your answer in terms of M and m. Compute the ratio for M g = 3300 lb and
mg = 500 lb, where g is gravitational acceleration.
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Problem 8.30
8.31 A thin disk of mass m and radius R spins at constant angular velocity about an axis that passes
through its center, Point O. The axis is supported by a housing, which is attached to a horizontal rod
that rotates at constant angular velocity as shown. Determine the moment, M, that represents the
dynamic reaction at support Plate A.
....
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Problems 8.31, 8.32
8.32 A thin disk of mass m and radius R spins at constant angular velocity about an axis that passes
through its center, Point O. The axis is supported by a housing, which is attached to a horizontal rod
that rotates at constant angular velocity as shown. Because of a manufacturing flaw, the inertia tensor
of the disk in the xyz coordinate system indicated in the figure is Ixx = Iyy = 14 mR2 , Izz = 12 mR2 ,
Ixz = 18 mR2 , Ixy = Iyz = 0. If there is no moment at support Plate A, what is the ratio of to ?
8.33 A thin disk of mass m and radius r rotates with angular velocity d = d k. Axle AB of
length rotates with angular velocity = i. The motion causes reaction forces RA = RA k and
RB = RB k at points A and B, respectively. Determine the maximum value of d which will ensure
that the magnitudes of RA and RB are both less than mr2 2 / . You can ignore effects of gravity.
.
.................................................................................................
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.
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.
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.....
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Problem 8.33
PROBLEMS
287
8.34 A thin disk of mass m and radius r is mounted on horizontal Axle AB as shown. The plane
of the disk is inclined at an angle to the vertical. The axle rotates with constant angular velocity
= i. Determine the angular-momentum vector, HCm , and the angle, , between HCm and the axle
as a function of . Make a graph of your results for 0o 90o .
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Problem 8.34
8.35 A thin disk of mass m and radius r rotatesabout its symmetry axis, which is parallel to Axle AB,
with constant angular velocity = (j+k) = 2 k . Axle AB is part of Bent Rod OAB that rotates
at constant angular velocity = k about the z axis as shown. The bent rods mass is negligible.
(a) Determine the absolute velocity, v, and the absolute acceleration, a, of the disks center of mass.
Express your answers in terms of and L.
(b) Using the fact that the absolute angular momentum relative to Point O is HO = mr v + HCm ,
where HCm is the angular momentum of the disk relative to its center of mass, determine HO .
Express your answer in terms of m, , , L and r.
(c) Compute the reaction force and moment at Point O in terms of m, , , L and r.
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Problem 8.35
8.36 A thin disk of mass m and radius r rotates about its symmetry axis, which is parallel to Axle AB,
with constant angular velocity = k. Axle AB is part of Bent Rod OAB that rotates at constant
angular velocity = k about the z axis as shown. The bent rods mass is negligible.
(a) Determine the absolute velocity, v, and the absolute acceleration, a, of the disks center of mass.
Express your answers in terms of and L.
(b) Using the fact that the absolute angular momentum relative to Point O is HO = mr v + HCm ,
where HCm is the angular momentum of the disk relative to its center of mass, determine HO .
Express your answer in terms of m, , , L and r.
(c) Compute the reaction force and moment at Point O in terms of m, , , L and r.
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Problem 8.36
288
8.37 A sphere of mass m and radius R spins about an axis of symmetry with angular velocity .
Simultaneously, the entire sphere revolves about the x axis with angular velocity .
(a) Appealing to Appendix A, state the inertia tensor for the center-of-mass based principal-axis
system and the location of the spheres center of mass.
(b) Determine the inertia tensor relative to the x axis.
(c) Determine the angular-momentum vector relative to the x axis, HO .
(d) Determine dHO /dt.
(e) If the net moment about the x axis is MO = m2 R2 j, what is ?
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Problem 8.37
8.38 A right-circular cone of mass m, height h and base radius r spins about its axis of symmetry with
angular velocity . Simultaneously, the entire cone revolves about the x axis with angular velocity .
(a) Appealing to Appendix A, state the inertia tensor for the center-of-mass based principal-axis
system and the location of the cones center of mass.
(b) Determine the inertia tensor relative to the tip of the cone.
(c) Determine the angular-momentum vector relative to the tip of the cone, HO .
(d) Determine dHO /dt.
(e) If the net moment about the x axis is MO = m2 r 2 j, what is ?
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Problem 8.38
PROBLEMS
289
8.39 A thin square plate of side a and mass m is hinged at Points A and B to a clevis, which rotates
with constant angular velocity = k.
(a) Compute the inertia tensor relative to Point O.
(b) Determine the angular-momentum vector relative to Point O, HO .
(c) Compute dHO /dt.
(d) Find the moment, MO , due to the plates weight.
(e) Determine the angle as a function of , a and g, the acceleration of gravity.
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Problem 8.39
8.40 Gear A of mass m and radius r is constrained to roll on fixed Gear B. It rotates with counterclockwise angular velocity about Axle AD, which has negligible mass and length L. Axle AD
is connected by a clevis to vertical Shaft DE, which rotates counterclockwise with constant angular
velocity . Ignore effects of friction, and represent Gear A as a thin disk.
(a) The two gears make contact at Point C. Why is the absolute velocity of Point C zero?
(b) Determine = || as a function of L, r, = ||, and angle .
(c) Compute the absolute angular-momentum vector relative to Gear As center of mass, HCm , as a
function of m, L, r, and .
Cm , the absolute rate of change of HCm , as a function of m, L, r, and .
(d) Compute H
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Problem 8.40
8.41 A thin disk of mass m and radius R rotates counterclockwise about frictionless Point O. It begins
its motion from rest with its center, Point Cm , directly above Point O. The support arms mass is
negligible. Find the disks angular velocity, , in terms of R, angle and gravitational acceleration, g.
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NOTE: The disk is rigidly

attached to the support arm
and does not rotate about
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2R
Problem 8.41
290
8.42 A thin disk of mass m and radius R rotates at constant counterclockwise angular velocity about its
center, Point Cm . Initially, the disks center is directly above Point O. It begins moving counterclockwise
about Point O. The support arms mass is negligible. Find , the disks angular velocity about Point O,
in terms of R, , angle and gravitational acceleration, g. Neglect friction.
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2R
Problem 8.42
8.43 A slender rod of mass m and length is pinned at Point O. The rod is initially in a vertical
position. It begins rotating clockwise about Point O. Find , the disks angular velocity about Point O
when it strikes the horizontal surface, in terms of and gravitational acceleration, g. Neglect friction.
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Problem 8.43
8.44 A right-circular cone of mass m, height H and base radius R is free to rotate about its tip, Point O.
Initially, the cone is aligned with the z axis. It begins rotating clockwise about the x axis. Determine
, the cones angular velocity about Point O when it has rotated 90o . Express your answer in terms of
H, R and gravitational acceleration, g. Neglect friction.
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Problem 8.44
8.45 A cylinder of mass m, diameter d and height H out of the page rolls without sliding on a horizontal
plane. The cylinder is connected to a spring of constant k and unstretched length 2d as shown. The
cylinder is initially at rest. Determine the cylinders angular velocity, , when its center has moved a
horizontal distance 52 d in terms of k and m.
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3d
4d
Problems 8.45, 8.46
NOTE: Assume the cylinder

remains in contact with the
surface throughout its motion.
PROBLEMS
291
8.46 A cylinder of mass m, radius R and height H out of the page rolls and slides on a horizontal
plane. The kinetic-friction coefficient is k . The cylinder is connected to a spring of constant k and
unstretched length 2d as shown. The cylinder is initially at rest.
(a) Determine the cylinders angular velocity, , when the its center has moved a horizontal distance
5
d in terms of k, m, d and gravitational acceleration, g.
2
(b) Measurements show that the angular velocity is 80% of the value it would achieve if the cylinder
were rolling without sliding. If k = 9 lb/ft, d = 1 ft and mg = 10 lb, what is k ?
8.47 A space probe of mass M is struck at Point A by a meteorite of mass m and initial velocity
vo = v( 34 i 15
j + k). Point A is located at rA = 6R i + 12 R k. The coordinate axes shown are the
16
principal centroidal axes of inertia. The radii of gyration for the three principal axes are Rx = 98 R,
Ry = 54 R and Rz = R. After passing through the probes solar panel, the meteorites speed is 80%
of its initial value and its direction is unchanged. Determine the angular velocity of the probe after the
meteorite strike. Express your answer in terms of m, M , v and R.
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c
s
Problems 8.47, 8.48
8.48 A space probe of mass M is struck at Point A by a meteorite of mass m and initial velocity vo = v j.
Point A is located at rA = 6R i + 12 R k. The coordinate axes shown are the principal centroidal axes of
inertia. The radii of gyration for the three principal axes are Rx = 98 R, Ry = 54 R and Rz = R. After
passing through the probes solar panel, the meteorites speed is 34 of its initial value and its direction is
unchanged. Determine the angular velocity of the probe after the meteorite strike. Express your answer
in terms of m, M , v and R.
8.49 A wheel of mass M and radius R has a pulley of radius 12 R attached as shown. The radius of
gyration of the disk/pulley configuration about the wheels center is R = 12 R. An inextensible cable that
extends over a frictionless pulley of negligible mass connects the wheel to a block of mass m. Initially,
the wheel is rolling with counterclockwise angular velocity . Let g denote gravitational acceleration.
(a) Using the Principle of Impulse and Momentum, derive equations for the cable-tension force, T ,
the rolling-friction force, f , and the blocks weight, mg, in terms of M , m, R, and time, t.
(b) Determine the time at which the wheel is rolling clockwise with angular velocity . Express your
answer in terms of M , m, R, and g.
(c) Compute t for M g = 150 lb, mg = 50 lb, R = 2 ft and = 5 sec1 .
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Problem 8.49
NOTE: The wheel

rolls without sliding.
292
8.50 A wheel of mass M and radius R has a pulley of radius 23 R attached as shown. The radius of
gyration of the disk/pulley configuration about the wheels center is R = 23 R. An inextensible cable
that extends over a frictionless pulley of negligible mass connects the wheel to a block of mass m.
Initially, the wheel is rolling with counterclockwise angular velocity i . After a time t the wheel is
rolling clockwise with angular velocity f . Let g denote gravitational acceleration.
(a) Using the Principle of Impulse and Momentum, derive equations for the cable-tension force, T ,
the rolling-friction force, f , and the blocks weight, mg, in terms of M , m, R, i , f and t.
(b) Determine t as a function of M , m, R, and g.
(c) Compute t for M = 75 kg, m = 25 kg, R = 1 m, i = 10 sec1 , and f = 6 sec1 .
....................................
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NOTE: The wheel

rolls without sliding.
Problem 8.50
8.51 Captain Kirks shuttle of mass M is returning to the Enterprise with velocity vs = v i. Suddenly,
a meteorite of mass m moving with velocity vm = 12 v k impacts the shuttle. The impact occurs at
rm = 2 i + k, where is a length scale. The meteorite embeds itself in the shuttle at this point. Before
the impact, the shuttle is not rotating. The radii of gyration for the meteorite/shuttle combination are
Rx = and Ry = Rz = 2 . Determine the shuttles angular velocity immediately after the impact in
terms of M , m, and v.
z ..........
....
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vm
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NOTE: The origin of the

xyz coordinate system
lies at the shuttles
center of mass.
..........
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.......... .
..........
...............
.......... ..
............
.......
vs
Problems 8.51, 8.52
8.52 Captain Picards shuttle of mass M is returning to the Enterprise with velocity vs = v i. Suddenly,
a meteorite of mass m moving with velocity vm = 45 v k impacts the shuttle. The impact occurs at
rm = i + 19 j + k, where is a length scale. The meteorite embeds itself in the shuttle at this point.
Before the impact, the shuttle is not rotating. The radii of gyration for the meteorite/shuttle combination
are Rx = and Ry = Rz = 3 . Determine the shuttles angular velocity immediately after the impact
in terms of M , m, and v.

Rigid-Body Kinetics: 8.1 Equations of Motion

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Chapter 8

8.1 Equations of Motion

CHAPTER 8. RIGID-BODY KINETICS

Figure 8.1: General motion of a rigid body.

8.1.1 Center of Mass

8.1. EQUATIONS OF MOTION

For the given values of Al and P b , we find

Rearranging terms and substituting the given values of Al and P b yields

Substituting for m, the center of mass is located at

1 0.76 (h1 /h)2

CHAPTER 8. RIGID-BODY KINETICS

8.1.2 Angular Momentum and the Inertia Tensor

Integrating the off-diagonal terms yields the products of inertia defined by

8.1. EQUATIONS OF MOTION

Therefore, the angular momentum vector can be written as

IxI xI IxI yI IxI zI

[I] = IyI xI IyI yI IyI zI

Figure 8.3: A man with two spherical weights on a rotating platform.

CHAPTER 8. RIGID-BODY KINETICS

Figure 8.4: Example with a nonzero product of inertia.

8.1.3 Parallel Axis Theorem

8.1. EQUATIONS OF MOTION

A similar computation shows that

Turning to the products of inertia, consider Ixy . We have

Therefore, the product of inertia Ixy is

Ixy = IxI yI mxy

Therefore, in matrix form, the Parallel Axis Theorem is

IxI xI IxI yI IxI zI

Iyx Iyy Iyz = IyI xI IyI yI IyI zI +

IzI xI IzI yI IzI zI

Ixz = IxI zI mxz

CHAPTER 8. RIGID-BODY KINETICS

correspond to zxy for Rod 1

Thus, the moment of inertia about the x axis is

Similarly, a little algebra shows that

Turning to the off-diagonal terms,

As can be easily demonstrated,

8.2. MOTION OF A RIGID BODY IN TWO DIMENSIONS

8.1.4 Equations of Motion Summary

Fi , goes through the center of mass and causes it to accelerate.

The sum of the external moments about the center of mass,

MCm i , causes the

8.2 Motion of a Rigid Body in Two Dimensions

Ixz = Izx = Iyz = Izy = 0

about the x or y axis would involve motion out of the plane.

CHAPTER 8. RIGID-BODY KINETICS

Therefore, in matrix form, the inertia tensor is

[I] = Ixy Iyy

Consequently, the angular momentum relative to a Point O is given by

In component form, we thus arrive at the following three equations of motion.

8.2.1 Rolling Motion

8.2. MOTION OF A RIGID BODY IN TWO DIMENSIONS

Figure 8.6: Round object rolling on a horizontal surface.

= . Thus, we conclude that for an object that rolls without sliding,

(Rolling without sliding)

Rolling without sliding

k N (a independent of R), Rolling with sliding

CHAPTER 8. RIGID-BODY KINETICS

The point at which sliding is imminent is often of interest in rolling-object applications.

The rolling-friction coefficient is

8.2. MOTION OF A RIGID BODY IN TWO DIMENSIONS

The force and moment equations simplify as follows.