Planer kinetics of rigid body

• There are three types of rigid body planar motion: in order of increasing
complexity, there are
– Translational
• This type of motion occurs if every line segment on the body
remains parallel to its original direction during the motion.
• Two type of translation:
– Rectilinear translation
– curvilinear translation
– Rotation about a fixed axis
• when a rigid body rotates about a fixed axis, all the particles of
the body, except those which lie on the axis of rotation, move
along circular paths
– General plane motion
• when a body is subjected to general plane motion, it undergoes a
combination of translation and rotation, Figure 8.1(d). The
translation occurs within a reference plane, and the rotation
occurs about an axis perpendicular to the reference plane.
 Translation
• When a rigid body undergoes a translation, all the particles of the body
have the same acceleration, so that aG= a . Angular acceleration, α=0, gave
ΣMG=0.
Rectilinear translation
– Particles of body travel along straight line path
– Equation of motion
 F  m( a
x G )x
 F  m( a
y G )y
M  0 G

– If point A chosen ( lies at a perpendicular distance d from action of

  M    M  ;  M   ma d
maG. Moment A
equation applies
K A A G

Free body Kinetic

diagram diagram
Curvilinear translation
– All particles of the body travel along parallel curved paths.
– Equation of motion  Fn  m(aG ) n
 Ft  m(aG ) t
MG  0

– If the moment equation ΣMG=0 is replaced by a moment summation

about the arbitrary point B, the required moment become
  M    M  ;  M  e[m a  ]  h[ m(a ) ]
B K B B G t G n
Procedure for analysis
Free body diagram
– Establish x, y or n, t inertial coordinate system and draw the free-
body diagram in order to account for all the external forces and couple
moments that act on the body.
– The direction and sense of the acceleration of the body’s mass center
aG should be established.
– Identify the unknowns in the problem.
– If it is decided that the rotational equation of motion ΣMP=Σ(MK)P is to
be used in the solution, then consider drawing the kinetic diagram,
since it graphically accounts for the components m(aG)x, m(aG)y , or
m(aG)t, m(aG)n and is therefore convenient for “visualizing” the terms
needed in the moment sum Σ(MK)P .
Equation of Motion
– Apply the three equations of motion in accordance with the
established sign convention.
– To simplify the analysis, the moment equation ΣM G=0 can be replaced
by the more general equation ΣMP=Σ(MK)P , where point P is usually
located at the intersection of the lines of action of as many unknown
forces as possible.
– If the body is in contact with a rough surface and slipping occurs, use
the frictional equation F=KN. Remember, F always acts on the body so
as to oppose the motion of the body relative to the surface it contacts.
Kinematics
– Use kinematics if the velocity and position of the body are to be
determined.
– For rectilinear translation with variable acceleration, use
aG  dvG / dt ,
aG d SG  vG d vG ,
vG  dsG / dt
– For rectilinear translation with constant acceleration, use
v G  (v G ) 0  a G t ,
2 2
vG  (vG ) 0  2aG [ sG  ( sG ) 0 ],
1
s G  ( s G ) 0  (v G ) 0 t  aG t 2
2

– For curvilinear translation, use

2
(aG ) n  vG /    2  ,
(aG ) t  dvG / dt,
(aG ) t dsG  vG dvG , (aG ) t  
 Example 8.1

• The car shown has a mass of 2 Mg and a centre of mass at G. Determine

the car’s acceleration if the “driving” wheels in the back are always
slipping, whereas the front wheels freely rotate. Neglect the mass of the
wheels. The coefficient of kinetic friction between the wheels and the
road is = 0.25.
• Solution
– Free body diagram

– Method 1 : Equation of motion


  Fx  m(aG ) x ;  0.25N B  (2000kg )aG .......... .......... .(1)
   F y  m( a G ) y ; N A  N B  2000(9.81) N  0.......... .......... ....( 2)
M G  0;  N A (1.25m)  0.25N B (0.3m)  N B (0.75m)  0.......... .......... (3)

aG  1.59 m / s 2 ; N A  6.88kN ; N B  12.7 kN

therefore
• Method 2 : Free body and kinetic diagrams
– Moment equation applied at A

M A    M K  A; N B (2m)  2000(9.81) N (1.25m)  (2000kg )aG (0.3m)

Free body Kinetic Solve it with equation …(1)

diagram diagram  0.25 N B  2000aG  0
2 N B  600aG  24525

 N B  12.7 kN aG  1.59m / s 2

=
 Example 8.2: curvilinear translation
The 100-kg beam BD is supported by two rods having negligible mass.
Determine the force created in each rod if at the instant =30o and 
(angular velocity)=6rad/s.

free body diagram

– Moves with curvilinear translation (B,D and G move along circular
path)
– Angular motion of rod AB
• Tangential component of acceleration acts downward to the left
due to the clockwise direction of α
• Therefore
 aG  n   2 r  (6 rad / s) 2 (0.5m)  18 m / s 2
• Solution
– Using Equation of motion
 F  m( a
n ) ; TB  TD  981 cos 30 N  100kg (18m / s 2 ).......(1)
G n

 F  m( a
t ) ; 981 sin 30  100kg (aG ) t .....................(2)
G t

 M  0;G  (TB cos 30)(0.4m)  (TD cos 30)(0.4m)  0............(3)

Solving three equation TB  TD  1.32kN

 aG  t  4.90 m / s 2
 Rotation about a fixed axis

• When rigid body constraint in rotation the body centre mass G move in
circular path
– The acceleration is represent by its tangential and normal component

 aG  t  rG

– tangential component of acceleration has a magnitude of

and must act in a direction which is consistent with the body’s
 aG angular
n
  2 rG
acceleration α
– The magnitude of the normal component of acceleration is
• The equation can be write as  Fn  m(aG ) n  m 2 rG
 F  m(a
t G t )  mrG

• Considering the IGα vector acts in the same direction as α and have a
magnitude of IG (body moment inertia about axis perpendicular to page
and passing through G), therefore moment equation will be

M G  I G

• Will rewrite if the vector passes through O


 M o  I G  mrG 
2

• By adding parallel theorem axis I o  I G  md 2

M o  I o
 Example 8.3

The 30-kg uniform disk shown in Figure is pin-supported at its center. If it

starts from rest, determine the number of revolutions it must make to
attain an angular velocity of 20 rad/s. Also, what are the reactions at the
pin? The disk is acted upon by a constant force F=10N , which is applied to
a cord wrapped around its periphery, and a constant couple moment M=5
Nm. Neglect the mass of the cord in the calculation.
• Solution
– Free body diagram
• Mass centre is not subjected to acceleration however the disk
have a clockwise angular acceleration
• The moment of inertia of the disk about the pin is
1 2 1
Io  mr  (30kg )(0.2m) 2  0.6kgm 2
2 2

• The three unknowns are Ox, Oy and α.

– Equation of motion
F x  m a G  x ; Ox  0
F y  m( a G ) y ; O y  294.3 N  10 N  0
O y  304 N

M o  I o ;  10 N (0.2m)  5 Nm  (0.6kgm 2 )
  11 .7rad / s 2
– Kinematics
• Since is constant and is clockwise, the number of radians the disk
must turn to obtain a clockwise angular velocity of 20 rad/s is

 2   o  2 c    o 
2

(20rad / s ) 2  0  2(11 .7 rad / s 2 )  0 

  17.1 rad

 1 rev 
  17.1 rad    2.73 rev
 2 rad 
• Hence
The 20-kg slender rod shown in Figure 8.9 is rotating in the vertical plane,
and at the instant shown it has an angular velocity of  = 5 rad/s .
Determine the rod’s angular acceleration and the horizontal and vertical
components of reaction at the pin at this instant.
• Solution
– Free-body and Kinetic Diagrams
• As shown on the kinetic diagram, point G moves in a circular path
and so has two components of acceleration.
• It is important that the tangential component act downward since
it must be in accordance with the angular acceleration of the rod.
– Method 1: Equation of motion

F n  m 2 rG ; On  (20kg )(5rad / s ) 2 (1.5m)

F t  mrG ;  Ot  20(9.81) N  (20kg )( )(1.5m)
1
 M G  I G ; Ot (1.5m)  60 Nm  [ (20kg )(3m) 2 ]
12
– Method : sum moment at point O
M o  M k o
1
60 Nm  20(9.81) N (1.5m)  [ (20kg )(3m) 2 ]  [20kg ( )(1.5m)](1.5m)
12
  5.90 rad / s 2

1 2
Io  ml
3

• Also, since  Ma slender

for o  I o ; rod, we can apply

1
60 Nm  20(9.81) N (1.5m)  [ (20kg )(3m) 2 ]
3
  5.90 rad / s 2

=
 Momentum and impulse
• From 2nd Newton Law,

F  ma
Where :
m v  u  Ft is the impulse

t  mv  muis the momentum change
Ft  mv  mu

• Linear momentum for an object

– given as the output of multiplication of object mass with the velocity
of the object, i.e. p=mv, .
– Momentum is a vector quantity and the SI unit is Ns @ kg m/s.
Linear momentum conservation principle
– Moving object may transfer or lose some of its momentum to another
object.
– the total of momentum does not change provided that there is no
external force imposed to them.
Total of momentum before impact = Total of momentum after impact.

– Types of impacts
• Elastic collision
• Inelastic collision
• Elastic collision
– two object is moving with individual velocity collides, and then separates and
each object moves with different velocity.
– Total of kinetic energy and momentum is conserved.
• Inelastic collision
– two objects moving with individual velocity collides and attached
together, moving with different initial velocity.
– Total of momentum is conserved but the total of kinetic energy for this
system is not conserved.
– Equation:

m1u1  m2 u 2  (m1  m2 )v1

• Impact for elastic body

– Collision between two elastic bodies for two spherical that have the
same size and elasticity behaviour but with different materials. From
Newton elasticity law
v 2  v1
 e ..................0  x  1
u1  u 2
– If e = 0, the material is not elastic
– If e=1, the material is fully elastic.
– If e = 0, inelastic collision, v 1  v 2 v m1u1  m2 u 2  (m1  m2 )v
– If e = 1, elastic collision, v2  v1  u1  u 2
 Example 8.6

A sphere with a mass of 6kg is moving with a velocity of 5 m/s and collides
with another spherical with a mass of 4 kg moving with a velocity of 3 m/s.
Determine the velocity of spherical after the collision if both special
moving in (a) same direction (b) different direction. Given e = 0.5.
 Work

• What does WORK mean to you?

• Are you doing WORK when…
– Lifting weights?
– Walking with a big bag of grocery in your hand?
– Completing your homework assignment?
– Writing an essay?
Concept of work
• WORK is done only when a constant force applied on an object, causes the
object to move in the same direction as the force applied.

s
S1 S2

• Work or W or U is defined as the output of force, F multiply by the

distance taken in the direction (parallel distance) of force, s.

W  F s SI unit is N.m or Joule, J.

• When F is not parallel to s, then we must take the component of F which is
parallel to s .

Fh= F cos θ
Fv =F sin θ
Wk =Fhs= F (cos θ)s
• The force imposed on a body gives:-
– Positive work: If the direction of force parallel to its movement
– Negative work: If the direction of force opposite to its movement
– Zero work: If the direction of force perpendicular to its movement

s
F2 U2=-(F2cos  )s
F1 U1=F1s

F4 U4=-F4s

F3 U3=0
 Example 8.7

A force of 4N pulls an object at the slope of in horizontal line. Calculate

the work been done if the object was moved in 3m.

4N

60o
Direction of movement

Solution:
Know ; F = 4 N; s = 3 m;  = 60o
Need ; W
use ; W = F.s parallel = F cos  x s
W= 4 x cos 60o x 3 = 6J
 Energy – Quick Re-cap

• Energy is the capacity to do work

• SI Unit: Joule (J)
• Many forms
• Common ones:
– Kinetic
– Potential
– Electric
– Chemical
– Solar
– Nuclear
 Kinetic Energy
• A form of energy that a body in motion possess due to movement.
• A body a rest, will it possess any Kinetic Energy?
• Examples:
– Bullet shot out from pistol
– Helicopter flying at 120km/h

• The amount of Kinetic Energy of a moving body depends on:

– Mass of body (kg)
– Velocity (ms-1)

• When either mass or velocity of moving body is increased, Kinetic Energy will also
increase.
• Formula:

Kinetic Energy = 1 x Mass x (Velocity) 2

2
1
K = 2
x m x v2

Units: [J] [kg] [ms -1]2

Velocity, V

Mass = m kg

• SI Unit: Joule [ J ] … same as Work Done

 Examples of Kinetic Energy

• Find the KE of an empty van of mass 1000kg moving at 2m/s.

KE of van at 2m/s = ½ x 1000 x (2)2
= 2000 J = 2 kJ
• Find the KE of van when it is loaded with goods to give a total mass of
2000kg, and moving at 2m/s.
KE of van at 2m/s = ½ x 2000 x (2)2
= 4000 J = 4 kJ
• Find KE of unloaded van when it speeds up to 4m/s.
KE of van at 2m/s = ½ x 1000 x (4)2
= 8000 J = 8 kJ
 Relationship work and Kinetic Energy

• The work done by the net force acting on a body is equal to the change in
the body’s kinetic energy

F .s W
F .s  ma.s
v2  u2
F .s  ma( )
2a
1 1
 F .s  2 mv2  2 mu 2  kinetic energy
W   kinetic Energy

This relationship is true as long as there is no change in vertical position.

 Potential Energy
• Potential energy is the energy possessed by an object as a result of its POSITION or
CONDITION.
• Two common kinds:
– Gravitational Potential Energy
– Elastic Potential Energy
• Gravitational Potential Energy (GPE)
– Energy that can be possessed by an object due to its POSITION.
– Any object that is at ground level has ZERO GPE.
– If object is lifted a certain height above ground, its GPE has increased
– Examples:
• When a chair lifted from ground a distance of 1m and You sitting on the 3 rd
storey of this building
• Elastic Potential Energy
– Energy that can be possessed by an object due to its CONDITION. Examples:
– Examples:
• Spring … when stretched or compressed
• Rubber band … when stretched
 Gravitational Potential Energy
• Can be calculated with:
GPE = F x distance
=mass  gravitational  height above
acceleration ground level
= m  g  h
Units:
[J] [kg] [m/s2] [m] Object on top of
g building, of mass, m
SI Units of GPE : Joule [J] earth
Distance from
ground, h

Ground,
0 GPE
 Elastic Potential Energy
• Using a Hooke’s Law
– force which required to stretch or compressed a spring is
proportionate to stretching or compression of a spring if the elastic
limit is not exceeded
Fx
F  kx ............where k  spring cons tan t ( N / m)

• If a force, F increased with the fixed rate to stretch a spring to x m,

potential energy stored in the spring is
U  1 Fx @ 1 Fs
2 2
 1 kx 2
2
 1 k (x) 2
2
 Conservation of Energy

• Energy always remain same or fixed in quantity!

• Energy of an object can be thought of as the sands in an hourglass!
• But this sand can change position, from the top to bottom and bottom to
top! Likewise energy can change in form
– eg. From Kinetic Energy  Potential Energy

45
• Conversion of energy is the term used to denote change in energy
from one form to another.
• Eg.
– Burning candle: Chemical  Heat, Light
– Fuel: Chemical  Heat  KE  Electricity
– Nuclear explosion: Nuclear  Heat, light
– Spring: Elastic PE  KE
• For O-Levels, we are only concerned with:

• KE  GPE (E.g: roller coaster, Falling

object)

• And such situations are only found when a moving object is at the
same time undergoing changes in height
46
• Free falling object
– An object in free fall means the object is falling freely, under the
influence of gravity

When the object is at the highest position, the GPE is

at maximum and KE is zero.

When the object is falling, the GPE decreases as it

loses height, and the KE increases

At the lowest position, the KE is at maximum and GPE

is zero.

47
 Example 8.8
Figure shows a pendulum swing where the pendulum mass is 5 kg. The
pendulum is pushed from point A which is located 15cm higher than B.
a) What is potential energy stored in pendulum at point A.
b) Maximum velocity in the pendulum
c) Kinetic energy in the pendulum when reached at point B.

solution
40 cm

15cm
A stone with a mass of 0.1 kg is throwing straight up with a velocity of 12
m/s. Determine the potential energy at maximum peak and kinetic energy
when reached the ground with assumption that there is no restriction.

Solution:-
 Power
• Power is the rate that we use energy.

Work or Energy
Power 
Time
W F .s
P   Fv
t t

• The units for power :

– J/s
– Kg m2 / s2 /s
– N m /s

• output power
Efficiency, 
imput power
Remarks

• Energy is the ability to move

• Potential is stored energy (Statics)
– Dependant on height
• Kinetic is moving energy (Dynamics)
– Dependant on velocity
• Springs store energy dependant on distance and constant
 Example 8.10

A lorry is moving with a constant velocity of 30 m/s along its way. If the
applied friction force is 800N, calculate the engine power.

Solution;

F  ma  F  Fg
F  800 N
Engine power  F  v
 800  30  24 kW
 Example 8.11


A force is applied to compress a spring to the wall. If the initial length of the
spring is 50 cm and the last length is 30cm while the last force applied to the
spring is 20N,
(a) Calculate the work done,
(b) Kinetic elastic energy by the spring
solution

Before compression After compression

20 N

50 cm 30 cm

1
a) Work  F  (x) 2 b) 4kJ
2
1 the work done by the compression of the spring
  20  (50  30) 2  4kJ
2
 Example 8.12

a) A car weigh 1 tan moves on the horizontal road with a constant velocity
of 10 m/s and a total of 400N friction force is applied on it. Calculate the
pulling power of the engine.
b) If the car riding up the hill with the slope of at horizontal plan and
assume that friction force imposed constant at 400N, what is the engine
power required to push the car at the velocity of 15 m/s.

(a)

F  Fg  ma
where ma  0
Fg  400 N F  400 N
P  F v
 400  10
 4 kW
 (b) From 2nd Newton Law,
F
F  Fg  ma
F  Fg  mg sin 5  0
5 F  400  1000 (9.81) sin 5
Fs  400 N  1255N
mg
P  F v
 1255 x 15  18.83 kW
 Example 8.13

A mass of 200g been pushed to a spring and compressed to 15 cm from

equilibrium. The mass was shot to the right. If the friction is ignored,
calculate the speed of the mass that moves to the left when pushed

Solution

From 2nd Newton Law:-

1 1
k (x) 2  mv 2
K=400 N/m 2 2
200 g 400(0.15) 2  0.2v 2
v  6.71 m / s