Chapter 6

Plane Kinetics of
Rigid Body

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Plane Kinetics of
Rigid Body
For a system of particles :
  
 
∑ F = maG and HQ = M Q
if Q :(1) has zero acceleration, (2) is the centre
 of
mass G or (3)has acceleration parallel to rQ / G
■ Rotation about a fixed axis : z
  

HQ = M Q H iQ 
θi vi
 
H iQ = mi ri × vi Ri
θ i  mi
ri
Q is an arbitrary point on z-axis Q
(zero acceleration). ω
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 
The z-component of H Q : H Qz = M Qz
 H iQ = mi ri vi = mi ri ( Riω )
∴ H iQz = H iQ sin θ i
= mi ri Riω sin θ i
= mi (ri sin θ i ) Riω
= mi Ri2ω
■ For the angular momentum of the whole rigid
body about a fixed axis z :

H Qz = H z = (∑ mi R ) ω i
2

∴ H z = I zω
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■ Where I z = ∑ mi Ri2
i
(moment of inertia of a rigid
body about z axis)

H z = M z

∴ I zω = M z
ω = α
∴ I zα = M z

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 t2
∆H z = H 2 z − H1z = ∫ M z dt
t1

■ If Mz is zero or the time for integration is small

enough, we have
∆H z = 0 or H 2 z = H1z
(conservation of angular momentum)

■ Kinetic energy :
1 1
T =∑ mi vi = ∑ mi Ri ω
2 2 2

i 2 i 2

1 2 2 1
=  ∑ mi Ri  ω = I zω 2
2 i  2
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 Rectilinear motion Rotation about a fixed axis
Displacement s angular displacement θ
velocity v angular velocity ω
acceleration a angular acceleration α
mass m moment of inertia I z
force F torque Mz
momentum G angular momentum Hz
v = s ω = θ
a = v = s α = ω = θ
F = ma M z = I zα
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Rectilinear motion Rotation about a fixed axis

U = ∫ Fds U = ∫ M z dθ
P = Fv P = M zω
G = mv H z = I zω
1 2 1
T = mv T = I zω 2

2 2
S θ
V = VO − ∫ Fds V = VO − ∫ M z dθ
SO θO

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 Calculation of moment of inertia :
I = ∑ mi R = ∫ R dm
i
2 2

i
e.g. cylinder :
dm = ρ (2πrdrL )
r
∴ I = ∫ r 2 dm = ∫ r 2 ρ 2πrdrL
L dr a
= 2π ρL ∫ r 3dr
0
a
a 1 4  1
= 2π ρL  r  = π ρLa 4

4  0 2
(
m = πa 2 L ρ) 1
∴ I = ma 2
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 I = ∫ r dm
Moment of Inertia : 2

axis
1
I = ma 2
2a 2
 a2 a2 
= m + 
 4 4

axis
a  a 2 b2 
a I = m + 
 3 4
2b
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 axis
a
a
2
b 
2
a I = m + 
 3 3

2b

axis
a  a2 a2  2 2
I = m +  = ma
 5 5  5
sphere

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  a 2 b2 
∴ I G = m + 
 n k 

 3 straight

n, k =  4 circular
 5 spherical


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Parallel axis theorem :

I = I G + mh 2

axis
ω
G
x
h

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 y'
y ω
yi x'i mi
I O = ∑ mi Ri2 = ∑ mi ( xi2 + yi2 )
Ri R'i y'i i i
yG x'
h G  xi = xG + x'i
O xG xi x
yi = yG + y 'i
[
∴ I O = ∑ mi ( xG + x'i ) + ( yG + y 'i )
2 2
]
i

( )
= ∑ mi x'i2 + y 'i2 + 2 xG ∑ mi x'i + 2 yG ∑ mi y 'i + ∑ mi xG2 + yG2 ( )
i i i i

= ∑ mi R'i2 + 0 + 0 + mh2
i
∴ I O = I G + mh 2

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 Any shape
I G = mR 2
g

×G Rg - radius of gyration about G

e.g. Circular disc 1 2

I G = mr
2
r = mRg2
G×
r
∴ Rg =
2

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General Plane
motion(rigid body)
 
• ∑ F = ma
•
•
•
G
• G •
•  
• M G = HG
System of particles

y
∴ For general plane motion :
 
∑ F = maG
M G = H G = I Gα
} 3 different
equations
G

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 Kinetic energy :
y
1 2 1 2
T= mvG + ∑ mi viG mi
2 i 2

 ri / G
1 2 1 ri
= mvG + ∑ mi ( Riω ) 2
 G
2 i 2 rG x
1 2 1 2
mvG + ω ∑ (mi Ri )
2
= ri / G = Ri
2 2 i

1 2 1
= mvG + I Gω 2

2 2
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Example
Find : T1 ,
E D T2 and aG.
T1 T2
n̂ 0.1m
70 o
A 70o B Cut
×F
G ⊗
v A tˆ C
0.3m

10kg
0.3m 0.3m

■
 
The motion of ABC is purely translational.
∴ aG = a A

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■ free body diagram

  T1 T2 y
∑ F = maG
 70o A
0.1m
70o B
M G = I Gα = 0 G ⊗
x

C
10kg
∑ Fx = −( T1 + T2 ) cos 70 o = 10 aGx
∑ Fy = (T1 + T2 ) sin 70 − 10 × 9.8 = 10 aGy
o

M G = 0.1 T1 cos 70 − 0.3 T1 sin 70

o o

+ 0.1 T2 cos 70 o + 0.3 T2 sin 70o = 0

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 2
 v
∴ a A = v Atˆ + A nˆ
AE
 vA = 0 (while BF is cut)

∴ a A = v Atˆ
 
= −v A sin 70 i + ( − v A cos 70 ) j
o o


= aG
∴ aGx = − v A sin 70
 o


aGy = − v A cos 70o 
∴ o
[
−( T1 + T2 ) cos 70 = 10 − v A sin 70
 o
]
( T1 + T2 ) sin 70o − 10 × 9.8 = 10 [ − v A cos 70o ]
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0.1 T1 cos 70o − 0.3T1 sin 70o + 0.1T2 cos 70o + 0.3T2 sin 70o = 0

∴ T1 = 51.7 N # T2 = 40.5 N #

−2
v A = 3.36ms #

■ Hence

aG = 3.36 tˆ m s −2 #

Problems on Plane Kinetics of Rigid Bodies :

(3), (7), (8), (11), (12), (15), (17), (18), (22).

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Example B ω ω = 2 rad s m = 3kg r = 0.5m
α Find α and µ . S
y •G r=h
mg cos 60o
mg RN
o Take moment about A :
x 60
A f MA=IAα
M A = mg cos 60o × 0.5m
= 3 kg × 9.8 m / s × cos 60 × 0.5 m
2 o

I A = I G + mh 2

1
= (mr 2 ) + mr 2
3
1
= (3 × 0.52 ) + 3 × (0.5) 2 = 1 kg m 2
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 MA
∴ α= = 7.358 rad / s 2
#
IA
f
∴ µs =
RN
   
α = +7.358 k ; ω = 2 k ; rG / A = 0.5 × ( − i cos 60 + j sin 60 o )
 o


    
aG = a A + α × rG / A + ω × ( ω × rG / A )
  
 
(
= 0 + 7.358 k × 0.5 − cos 60 i + sin 60 j
o o
)
 

( 
(
+ 2k × 2k × 0.5 − cos 60 i + sin 60 j
o o
))
= −2.186 i − 3.572 j
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 ∑ Fx = maGx
∴ f = 3 × (−2.186) = −6.558 N
∑ Fy = maGy
RN − 3 × 9.8 = 3 × ( − 3.572)
∴ RN = 18.714 N
f 6.558
∴ µs = = = 0.35 #
RN 18.714

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Example α
2.4m
A B Find aEx and aEy .
y •G
F
2.4m E-accelerometer
h E
x 0.2m
0 .6 m D C M P = I Pα
P Q
0.65m
1.3m
ω =0

aE = a p + α × rE / p + ω × (ω × rE / p ) (aP = 0)
     

mg = 106 N ∴ m = 10 6 / 9.8
M P = mg × 0.65 = 10 × 0.65 6

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 2 1
3
( 2
) (
I p = I G + mh = m (1.2 ) + (1.2 ) + m 1.8 + 0.65
2 2 2
)
= 0.47 ×106 kg m 2
∴ α = +1.38 rad / s 2
 
∴ α = −1.38 k
    
∴ aE = α × rE / P ; rE / P = (1.85 i + 0.8 j )
  
= ( − 1.38 k ) × (1.85 i + 0.8 j )
 
= 1.10 i − 2.55 j #

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Example α m = 70kg µ S = 0.25
450mm
µ k = 0.20 T = 155 N
y 150mm • aG
G
T
x Find aG.
f RN

Radius of gyration about G = Rg= 0.25m I G = mRg2

∑F x = maGx ; 155 − f = 70aG
∑F y =0 ; RN − 70 × 9.8 = 0

∑ G G
M = I α ∴ −0.45 f + 0. 15 × 155 = −70 × ( 0. 25) 2
α

Four unknowns : aG , f , RN ,α
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 Assume : It is rolling without slipping . aG = 0.45α

We can then solve :

α = 2.51rad / s 2 aG = 1.13m / s 2 f = 76 N RN = 687 N

For static friction :

µ S RN = 0.25 × 687 N = 172 N > 76 N

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Example
If T = 380N ⇒
α = 6.15rad / s aG = 2.77m / s
2 2
RN = 687N
f = 186N > µ S RN
So there must be slipping in the motion, then
f = µ k RN (µ k is the kinetic frictional
coefficient)
4 equations and 4 unknowns ⇒
aG = 3.47m / s 2 α = 1.10rad / s 2
RN = 687 N f = 137.4 N

∴ aG ≠ 0.45α
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Example Rolling without slipping
T
A T mB=4.5kg
aG B
30o
Find aG and T.

T ∴ T - 4.5 x 9.8 = 4.5 aB

aB B  aG = α r
mB g ∴ aB = aG + α r = 2aG
∴ T − 4.5 × 9.8 = 4.5 × (2aG )  ( A)

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 α T
m A = 23kg r = 0.76m
r
aG
G
∑ x
F = 23 × 9 . 8 sin 30 o
−T − f
f
RN = 23aG  ( B)
x mA g
∑M = fr − Tr = I Gα
G
1 aG
= × 23 × ( 0.76 ) ×
2

2 r
1
∴ f − T = × 23 × aG  (C )
2
Solve the above three equations ⇒
aG = 0.467 m / s 2
# T = 48.3N #
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Example m = 40kg Rg = 0.15m
5m
(radius of gyration)
200 N

10o Find vG.

I G = mRG2
200 N The workdone on the spool :
 
0.1m
G ( )
vG W = ∫ ∑ F ⋅ ds + ∫ ( ∑ τ G ) dθ
0.25m
= ∫ ( 200 − f ) ds
5

f RN 0
5  ds 
mg +∫ (0.25 f + 0.1× 200)  
0
 0.25 
(dθ = ds / 0.25)
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= 200 × 5 − ∫ fds + ∫ fds + 80 × 5
= 1400 J ( from non − conservative forces)

W = ∆T + ∆V
1 1 2
=  40 vG + I G ω  + 40 × 9.81× 5 × sin 10
2 o

2 2 
2
1 1 2  vG 
= 40 vG + × 40 × 0.15 × 
2

2 2  0.25 
+ 40 × 9.8 × 5 × sin 10o = 1400 J
∴ vG = 6.24 m / s #

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Example m = 6.8kg r = 0.3m θ = 60 o
1.22m 0.92m
θ Find vG, RN when θ = 0o.
vG 
G Rolling without slipping ⇒ vC = 0
C    
RN  vG = vC + ω × rG / C ∴ vG = rω
By conservation of energy :
1 2 1
∆T = mvG + I Gω 2
2 2
∆V = −6.8 × 9.8 × 0.92 × (1 − cos 60o )
∆T + ∆V = 0
2
I G = × 6.8 × 0.30 2 ⇒ vG = 2.54m / s#
5
RN − 9.8 × 6.8 = 6.8( v / 0.92 ) ∴ RN = 114 N #
2
G
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Example
A B Find : ω of the block,
80 50 100 K.E. of the block
mm mm mm
m after impact.
v
h 25mm
f = 3.8 N O F
Unstrained length = 95mm
Let v be the velocity of the block before impact.
1
2
2 1
2
( 3
)[
( 0.98) v = 4 ×10 95 ×10 − 80 ×10 − ( 3.8) × 0.1
−3 −3 2
]
∴ v = 0.378 m / s
Regard to point O, there is no torque acting to the block.
Therefore the angular momentum about O will be conserved.
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 Before the impact, the angular momentum about 0
= mv x r = 0.98 x 0.378 x 25 x 10-3

After the impact, the angular momentum = Ioω

I o = I G + mh 2
1
[(
= × 0.98 × 25 × 10
3
) (
−3 2
+ 25 × 10 −3 ) 2
] + 0.98(25 ×10 −3
× 2 ) 2

= 1.63 × 10 −3 kg m 2
∴ ω = 5.68 rad / s #

K.E. after impact :

1 1
= I oω = ×1.63 ×10 × ( 5.68) = 0.026 J
2 −3 2
#
2 2
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Example Ry
1m Find : (i) h with min reaction at B.
y B Rx (ii) FA.
⊗
G 0.5m Let ω b be the angular
x h velocity of the rod just
C A before impact :
FA
1
I Bω b = 20 × 9.8 × 0.5
2

ω a = 3rad / s 2 (Lost of P.E.)

IG
m = 20kg 1
I B = × 20 × 0.5 + 20 × (0.5)
2 2

3
2
∴ ω b = 5.425 rad / s mh

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Refer to the centre of mass G :

∫ (R − FA ) dt = ∆G = m[
0.02
x −
0 ×3 − 0.5
.5 ×5.425
 ]
0
Ga Gb

∴ ( Rx − FA ) 0.02 = 20[ − 0.5 × 3 − 0.5 × 5.425]

∴ Rx = FA − 4213

M B dt = ∆H B = I B ( ∆ω )
0.02
∫0

= I B [ 3 − ( − 5.425) ]
M B = FA h
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 2808
∴ FA h × 0.02 = I B (8.425) ⇒ FA =
h
2808
∴ RX = − 4213
h

If RX = 0, ⇒ h = 0.67 m #
(So the point at h is called the centre of percussion.)

∴ FA = 4213 N #

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