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18 DYNAMICS
Ferdinand P. Beer
E. Russell Johnston, Jr.
Phillip J. Cornwell Kinetics of Rigid Bodies in
Lecture Notes:
Three Dimensions
Brian P. Self
California Polytechnic State University
n
yi x yi y xi zi z xi x zi Δmi
i 1
x
n
yi2 zi2 Δmi y xi yi Δmi z zi xi Δmi
n n
i 1 i 1 i 1
H x x y 2 z 2 dm y xy dm z zx dm
I x x I xy y I xz z
H y I yx x I y y I yz z
H z I zx x I zy y I z z
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 18 - 5
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Rigid Body Angular Momentum in Three Dimensions
• Transformation of into H G is characterized
by the inertia tensor for the body,
Ix I xy I xz
I yx Iy I yz
I I zy I z
zx
• With respect to the principal axes of inertia,
I x 0 0
0 I y 0
0 I z
H x I x x I xy y I xz z 0
H x I x x I xy y I xz z
H y I yx x I y y I yz z
H z I zx x I zy y I z z
• For bodies rotating about a fixed point, eliminate the impulse of the
reactions at O by writing equation for moments of momenta and
impulses about O.
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 18 - 9
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Concept Question
At the instant shown, the
disk shown rotates with an
angular velocity 2 with
respect to arm ABC, which
rotates around the y axis as
shown (1). Determine the
directions of the angular
momentum of the disc
about point A (choose all
that are correct).
+x +y +z
-x -y -z
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 2 - 10
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Concept Question
A homogeneous disk of
mass m and radius r is
mounted on the vertical
shaft AB as shown
Determine the directions of
the angular momentum of
the disc about the mass
center G (choose all that
are correct).
+x +y +z
-x -y -z
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 2 - 11
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Kinetic Energy
• Kinetic energy of particles forming rigid body,
n
T 1 mv 2
2
1
2 Δ m i vi 2
i 1
n
12 mv 2 1
2 ri 2 Δmi
i 1
12 mv 2 1 (I 2 I 2 I 2 2 I xy x y
2 x x y y z z
2 I yz y z 2 I zx z x )
1 1 1
I x12 I z 12 I y 12
2 2 2
1 1 2 2
I z 22 mL 1
2 2
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 2 - 14
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Sample Problem 18.1
SOLUTION:
• Apply the principle of impulse and
momentum. Since the initial momenta
is zero, the system of impulses must be
equivalent to the final system of
momenta.
• Assume that the supporting cables
remain taut such that the vertical velocity
and the rotation about an axis normal to
the plate is zero.
Rectangular plate of mass m that is
suspended from two wires is hit at D in • Principle of impulse and momentum
a direction perpendicular to the plate. yields to two equations for linear
momentum and two equations for
Immediately after the impact, angular momentum.
determine a) the velocity of the mass
• Solve for the two horizontal components
center G, and b) the angular velocity of
of the linear and angular velocity
the plate.
vectors.
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 18 - 15
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Sample Problem 18.1
SOLUTION:
• Apply the principle of impulse and momentum. Since the initial momenta is zero,
the system of impulses must be equivalent to the final system of momenta.
• Assume that the supporting cables remain taut such that the vertical velocity and the
rotation about an axis normal to the plate is zero.
v vx i vz k xi y j
• Principle of impulse and momentum yields two equations for linear momentum and
two equations for angular momentum.
• Solve for the two horizontal components of the linear and angular velocity vectors.
0 mvx FΔt mvz 1 bFΔt Hx 12 aFΔt H y
2
vx 0 vz FΔt m 1 mb 2 1 ma 2
12 x 12 y
v FΔt mk x 6FΔt mb y 6FΔt ma
6 FΔt
ai b j
mab
v FΔt mk
6 FΔt
ai b j
mab
1 mb 2 i 1 ma 2 j
HG 12 x 12 y
2
1 mr 2 6 r 2
T 8 2 1
L
1i r1 L j r
H G 12 mr 21 i j
2 L
Euler’s Equations:
M x I x x I y I z y z
M y I y y I z I x z x
M z I z z I x I y x y
• System of external forces and effective forces
are equivalent for general three dimensional
motion.
• System of external forces are equivalent
to
the vector and couple, ma and H G .
Find: HB, T
Calculate Hz
10
( HB ) z I z ma 2
3
10
(0.06211)(0.66667)2 (8 )
3
2.3126 lb s ft
Total Vector
H B (1.041 lb ft s)i (1.041 lb ft s)j (2.31 lb ft s)k
1 10 2 2 1 10
T m a (0.06211)(0.66667) 2 (8 ) 2
2 3 2 3
T 29.1 ft lb
Retracting the landing gear while the wheels are still spinning
can result in unforeseen moments being applied to the gear.
When turning a motorcycle, you must “steer” in the opposite
direction as you lean into the turn.
M x I xz I yz 2
M y I yz I xz 2
M z I z
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 18 - 31
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Rotation About a Fixed Axis
• For a rigid body rotation around a fixed axis,
M x I xz I yz 2
M y I yz I xz 2
M z I z
• If symmetrical with respect to the xy plane,
M x 0 M y 0 M z I z
I x 12 mL2 Iy 0 I z 12 mL2
x cos y sin z 0
HG 12 mL cos i
1 2
H G
H G Gxyz H G
0 cos i sin j 12 mL cos i
1 2
12 mL sin cos k 645 lb ft k
1 2 2
HG (HG )Gxyz Ω HG 0 y j ( I x x i I y y j)
rate of precession
q rate of nutation
rate of spin
• Equation of motion,
M O H O Oxyz H O
H O I sin q i I q j I cosq k
K q j
Steady precession, O
M HO When the precession and spin
axis are at a right angle,
q , ,y are constant
I z I cosq sin q j
q 90
sin q i z k
Couple is applied about an axis OM I j
H O I sin q i I z k perpendicular to the precession Gyroscope will precess about an
and spin axes
sin q i cosq k
axis perpendicular to both the
spin axis and couple axis.
x I
• Note: tan tanq
z I
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 18 - 45
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Motion of an Axisymmetrical Body Under No Force
Two cases of motion of an axisymmetrical body
which under no force which involve no precession: