Advanced Engineering

Systems in Motion:
Dynamics of Three
Dimensional (3D) Motion
Dr. Wayne Whiteman
Director of the Office of Student Services
and Senior Academic Professional
School of Mechanical Engineering

This course is an advanced study of bodies in motion as applied to

engineering systems and structures.

School of Mechanical Engineering

 Module 31 Learning Outcome
Solve for the Motion of a Rigid Body
undergoing 3D Rotational Motion

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Rotational Motion of a 3D Rigid Body Summary
Eulers Equations (Equations of Motion) Body Fixed Frame
About a pivot point O

About the mass center C

M
I x I I y z
C C C
Ox xxO x yyO zzO yz
M I O

I O
I O

Cx xx yy zz

M I yy
C
I C

I xxC z x M Oy I yy y I zz I xx zx
Oz zz z I
Cy y zz

I I yy
O O O

M Cz I C
zz z
C
xx I C
yy x y
M I xx x y

When angular momentum (or external moments) conveniently

expressed in an intermediate frame F (not body-fixed)
I F
M C H C H C F / I H C
when the intermediate
I Fframes
origin is at the mass center, C

M O H O H O F / I H O
when the intermediate frames origin is at a pivot point, O
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Rotational Motion of a 3D Rigid Body Eulers Equations (Equations of Motion) Body Fixed Frame
Example: Satellite Spin Stabilization About the mass center C

Cx xx x yy zz y z
M I C

I C
I
C

z
C y yy y
M I C
I C
zz
I xxC z x
B
C Cz zz z
M I C
I C
xx I yyC
x y

Z x
Y
X Inertial

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 Rotational Motion of a 3D Rigid Body
Example: Satellite Spin Stabilization z
Eulers Equations (Equations of Motion) Body Fixed Frame B
About the mass center C

M Cx I xxC x I yyC I zzC y z C
y
M Cy I yy
C
Iy
C
zz I
C
xx z x Z x
M Cz I zzC I
z
C
xx I
C
yy x y
Y
X Inertial
For free space motion no moments
MC 0

I xxC x I yyC I zzC y z 0 [1]

C
I yy y I C
zz I xxC z x 0 [2]

I zzC z I C
xx I yyC x y 0 [3]

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Rotational Motion of a 3D Rigid Body
Example: Satellite Spin Stabilization z
B
Assume steady motion
Constant Spin stabilization about the z-axis C
y
z z
Z x
Lets investigate what happens if the system
is perturbed from this steady motion Y
X Inertial
x x [4]

y y [5]

z z z [6]

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Rotational Motion of a 3D Rigid Body
Example: Satellite Spin Stabilization z
I x I I y z 0
C
xx
C
yy
C
zz
[1] B
I C
y I I z x 0
C C
[2]
C
y
z I I x y 0
yy zz xx
C C C
I zz xx yy
[3]
Z x
x x [4]
Y
y y [5]
z z z [6] X Inertial
Sub [4], [5],[6] into [1],[2],[3]

I xxC x I yy
C

I zzC y z y z 0
0
[7]

0
I y I I x z x z 0
C
yy
C
zz
C
xx
[8]

Neglect higher order terms

0
I z I I x y 0
C
zz
C
xx
C
yy
[9]
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Rotational Motion of a 3D Rigid Body
Example: Satellite Spin Stabilization z
B
Equation [9] yields
C
I z I I x y 0
C C C
0 y
[9]
zz xx yy

Z x
z 0 Y
z constant X Inertial
Recall: assume steady motion
Constant Spin stabilization about the z-axis
z z
Therefore simply include z in the original constant
spin stabilization
z z
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 Rotational Motion of a 3D Rigid Body
Example: Satellite Spin Stabilization 0 z
I yy y I zz I xx x z x z 0
C C C [8] B

y
I C
zz I xxC x [10]
C
y
C
I yy
Take time derivative of [7] Z x
I xx x I yy I zz y z y z 0
0
C
C C [7] Y
X Inertial
I xxC
x I yyC I zzC y 0
I xxC x
y C

I yy I zzC
Sub into [10]

x

2 I yyC I zzC I zzC I xxC 0 [11]
C C x
I I
xx yy
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Rotational Motion of a 3D Rigid Body
Example: Satellite Spin Stabilization z
x

2 I yyC I zzC I zzC I xxC 0 [11]
B
C C x C
I I
xx yy y
Let
P 2

2 I yyC I zzC I zzC I xxC Z x
I xxC I yyC
Y
X Inertial
Equation [11] becomes:

x P2x 0 [12]

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 Rotational Motion of a 3D Rigid Body
Example: Satellite Spin Stabilization P
2

2 I yyC I zzC I zzC I xxC z
I xxC I yyC B
2nd Order, Ordinary Differential equation:

x P2x 0 [12] C
y
Assume solution Z x
t Y
x a e
X Inertial
Sub
2

P 2 a et 0

iP P2 0

P P2 0

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 Rotational Motion of a 3D Rigid Body
Example: Satellite Spin Stabilization P
2

2 I yyC I zzC I zzC I xxC z
I xxC I yyC B
2nd Order, Ordinary Differential equation:
x P2x 0 [12] C
y
Assume solution a et iP P2 0
x
Solutions P P2 0 Z x
P 0
2
Y
x a1 eiPt a2 eiPt b1 cos Pt b2 sinPt X Inertial
Harmonic bounded motion
Stable!!
P2 0
x a1 ePt a2 e Pt
Increasing exponential Decaying exponential
Goes to as t
Unstable!!
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 Rotational Motion of a 3D Rigid Body
Example: Satellite Spin Stabilization P
2

2 I yyC I zzC I zzC I xxC z
I xxC I yyC B
Solutions P2 0 Stable!!
C
P2 0 Unstable!! y
Stability table:
Z x
I zzC I xxC C
and I zz I yyC P2 0 Stable!!
Y
I I and I zzC I yy P 0
2
X Inertial
C C C
zz xx Stable!!
I xxC I zzC I yyC P2 0 Unstable!!

I yyC I zzC I xxC P2 0 Unstable!!

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 Rotational Motion of a 3D Rigid Body
Example: Football P
2

2 I yyC I zzC I zzC I xxC y
C C
Solutions P 0
2
Stable!! I I
xx yy

P2 0 Unstable!! C B
x
Inertial
Z z
Y
I zzC I xxC I yy
C X
Football P 0
2
Stable!!
C
I zz is smallest

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Rotational Motion of a 3D Rigid Body
Worksheet: Race Car

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