VECTOR MECHANICS FOR ENGINEERS:

DYNAMICS
Ninth Edition
CHAPTER
2010 The McGraw-Hill Companies, Inc. All rights reserved.
18
Ferdinand P. Beer
E. Russell Johnston, Jr.

Lecture Notes:
J. Walt Oler
Texas Tech University
Kinetics of Rigid Bodies in
Three Dimensions
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Contents
18 - 2
Introduction
Rigid Body Angular Momentum in
Three Dimensions
Principle of Impulse and
Momentum
Kinetic Energy
Sample Problem 18.1
Sample Problem 18.2
Motion of a Rigid Body in Three
Dimensions
Eulers Equations of Motion and
DAlemberts Principle
Motion About a Fixed Point or a Fixed
Axis
Sample Problem 18.3
Motion of a Gyroscope. Eulerian
Angles
Steady Precession of a Gyroscope
Motion of an Axisymmetrical Body
Under No Force
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Introduction
18 - 3
G G
H M
a m F

=
=

The fundamental relations developed for

the plane motion of rigid bodies may also
be applied to the general motion of three
dimensional bodies.
e

I H
G
= The relation which was used
to determine the angular momentum of a
rigid slab is not valid for general three
dimensional bodies and motion.
The current chapter is concerned with
evaluation of the angular momentum and
its rate of change for three dimensional
motion and application to effective
forces, the impulse-momentum and the
work-energy principles.
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Rigid Body Angular Momentum in Three Dimensions
18 - 4
Angular momentum of a body about its mass center,
( ) ( ) | |

= =
'

'
=
'
=
n
i
i i i
n
i
i i i G
m r r m v r H
1 1

e A
The x component of the angular momentum,
( ) ( ) | |
( ) ( ) | |
( )

= = =
=
=
+ =
=
'

'
=
n
i
i i i z
n
i
i i i y
n
i
i i i x
n
i
i i x i z i i y i x i
n
i
i
y
i i
z
i i x
m x z m y x m z y
m z x z x y y
m r z r y H
1 1 1
2 2
1
1

e e e
e e e e
e e

( ) dm zx dm xy dm z y H
z y x x } } }
+ = e e e
2 2
z xz y xy x x
I I I e e e + =
z z y zy x zx z
z yz y y x yx y
I I I H
I I I H
e e e
e e e
+ =
+ =
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Rigid Body Angular Momentum in Three Dimensions
18 - 5
z z y zy x zx z
z yz y y x yx y
z xz y xy x x x
I I I H
I I I H
I I I H
e e e
e e e
e e e
+ =
+ =
+ =
Transformation of into is characterized
by the inertia tensor for the body,
e

G
H

|
|
|
.
|

\
|
+
+
+
z zy zx
yz y yx
xz xy x
I I I
I I I
I I I
With respect to the principal axes of inertia,
|
|
|
.
|

\
|
'
'
'
z
y
x
I
I
I
0 0
0 0
0 0
z z z y y y x x x
I H I H I H
' ' ' ' ' ' ' ' '
= = = e e e
The angular momentum of a rigid body
and its angular velocity have the same
direction if, and only if, is directed along a
principal axis of inertia.
G
H

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Rigid Body Angular Momentum in Three Dimensions
18 - 6
The momenta of the particles of a rigid body can
be reduced to:
v m
L

=
= momentum linear
G H
G
about momentum angular =

z z y zy x zx z
z yz y y x yx y
z xz y xy x x x
I I I H
I I I H
I I I H
e e e
e e e
e e e
+ =
+ =
+ =
The angular momentum about any other given
point O is
G O
H v m r H

+ =
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Rigid Body Angular Momentum in Three Dimensions
18 - 7
The angular momentum of a body constrained to
rotate about a fixed point may be calculated from
G O
H v m r H

+ =
z z y zy x zx z
z yz y y x yx y
z xz y xy x x x
I I I H
I I I H
I I I H
e e e
e e e
e e e
+ =
+ =
+ =
Or, the angular momentum may be computed
directly from the moments and products of inertia
with respect to the Oxyz frame.
( )
( ) | |

=
=
=
=
n
i
i i i
n
i
i i O
m r r
m v r H
1
1

e
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Principle of Impulse and Momentum
18 - 8
The principle of impulse and momentum can be applied directly to the
three-dimensional motion of a rigid body,
Syst Momenta
1
+ Syst Ext Imp
1-2
= Syst Momenta
2

The free-body diagram equation is used to develop component and
moment equations.
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.
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Kinetic Energy
18 - 9
Kinetic energy of particles forming rigid body,
) 2 2
2 (

2 2 2
2
1
2
2
1
1
2
2
1
2
2
1
1
2
2
1
2
2
1
x z zx z y yz
y x xy z z y y x x
n
i
i i
n
i
i i
I I
I I I I v m
m r v m
v m v m T
e e e e
e e e e e
e

+ + + =
' + =
' + =

=
=

If the axes correspond instantaneously with the
principle axes,
) (
2 2 2
2
1
2
2
1
z z y y x x
I I I v m T
' ' ' ' ' '
+ + + = e e e
With these results, the principles of work and
energy and conservation of energy may be applied
to the three-dimensional motion of a rigid body.
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Kinetic Energy
18 - 10
Kinetic energy of a rigid body with a fixed point,
) 2 2
2 (
2 2 2
2
1
x z zx z y yz
y x xy z z y y x x
I I
I I I I T
e e e e
e e e e e

+ + =
If the axes Oxyz correspond instantaneously with
the principle axes Oxyz,
) (
2 2 2
2
1
z z y y x x
I I I T
' ' ' ' ' '
+ + = e e e
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Sample Problem 18.1
18 - 11
Rectangular plate of mass m that is
suspended from two wires is hit at D in
a direction perpendicular to the plate.
Immediately after the impact,
determine a) the velocity of the mass
center G, and b) the angular velocity of
the plate.
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.
Principle of impulse and momentum
yields to two equations for linear
momentum and two equations for
angular momentum.
Solve for the two horizontal components
of the linear and angular velocity
vectors.
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Sample Problem 18.1
18 - 12
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.
k v i v v
z x


+ = j i
y x

e e e + =
Since the x, y, and z axes are principal axes of inertia,
j ma i mb j I i I H
y x y y x x G

e e e e
2
12
1
2
12
1
+ = + =
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Sample Problem 18.1
18 - 13
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.
x
mv = 0
0 =
x
v
z
v m t F =
m t F v
z
=
( )k m t F v

=
x
x
mb
H t bF
e
2
12
1
2
1

=
=
mb t F
x
6 = e
y
y
ma
H t aF
e
2
12
1
2
1

=
=
( ) ma t F
y
6 = e
( ) j b i a
mab
t F

+ =
6
e
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Sample Problem 18.1
18 - 14
( )k m t F v

( ) j b i a
mab
t F

+ =
6
e
j ma i mb H
y x G

e e
2
12
1
2
12
1
+ =
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Sample Problem 18.2
18 - 15
A homogeneous disk of mass m is
mounted on an axle OG of negligible
mass. The disk rotates counter-
clockwise at the rate e
1
about OG.
Determine: a) the angular velocity of
the disk, b) its angular momentum about
O, c) its kinetic energy, and d) the
vector and couple at G equivalent to the
momenta of the particles of the disk.
SOLUTION:
The disk rotates about the vertical axis
through O as well as about OG.
Combine the rotation components for
the angular velocity of the disk.
Compute the angular momentum of the
disk using principle axes of inertia and
noting that O is a fixed point.
The kinetic energy is computed from the
angular velocity and moments of inertia.
The vector and couple at G are also
computed from the angular velocity and
moments of inertia.
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Sample Problem 18.2
18 - 16
SOLUTION:
The disk rotates about the vertical axis through O as well
as about OG. Combine the rotation components for the
angular velocity of the disk.
j i

2 1
e e e + =
Noting that the velocity at C is zero,
( ) ( )
( )
L r
k r L
j r i L j i
r v
C C
1 2
1 2
2 1
0
0
e e
e e
e e
e
=
=
+ =
= =

( ) j L r i

1 1
e e e =
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Sample Problem 18.2
18 - 17
Compute the angular momentum of the disk using
principle axes of inertia and noting that O is a fixed point.
( ) j L r i

1 1
e e e =
k I j I i I H
z z y y x x O


e e e + + =
( )
( )( )
( ) 0 0
2
4
1
2
1
2
4
1
2
1
2
2
1
= + = =
+ = =
= =
mr mL I H
L r mr mL I H
mr I H
z z z
y y y
x x x
e
e e
e e
( )( ) j L r r L m i mr H
O

1
2
4
1
2
1
2
2
1
e e + =
The kinetic energy is computed from the angular velocity
and moments of inertia.
( )
( )( ) | |
2
1
2
4
1
2 2
1
2
2
1
2 2 2
2
1
L r r L m mr
I I I T
z z y y x x
e e
e e e
+ + =
+ + =
2
1
2
2
2
8
1
6 e
|
|
.
|

\
|
+ =
L
r
mr T
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Sample Problem 18.2
18 - 18
( ) j L r i

1 1
e e e =
The vector and couple at G are also computed from the
angular velocity and moments of inertia.
k mr v m

1
e =
( ) j L r mr i mr
k I j I i I H
z z y y x x G

e e
e e e
+ =
+ + =
' ' '
2
4
1
1
2
2
1
|
.
|

\
|
= j
L
r
i mr H
G

2
1
2
2
1
e
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Motion of a Rigid Body in Three Dimensions
18 - 19
G
H M
a m F

=
=

Angular momentum and its rate of change are

taken with respect to centroidal axes GXYZ of
fixed orientation.
Convenient to use body fixed axes Gxyz where
moments and products of inertia are not time
dependent.
Transformation of into is independent of
the system of coordinate axes.
e

G
H

Define rate of change of change of with

respect to the rotating frame,
G
H

( ) k H j H i H H
z y x
Gxyz
G

+ + =
Then,
( ) e O O

= + =
G
Gxyz
G G
H H H
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Eulers Eqs of Motion & DAlemberts Principle
18 - 20
( )
G
Gxyz
G G
H H M

+ =

O
With and Gxyz chosen to correspond
to the principal axes of inertia,
e O

=
( )
( )
( )
y x y x z z z
x z x z y y y
z y z y x x x
I I I M
I I I M
I I I M
e e e
e e e
e e e
=
=
=

Eulers Equations:
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, . and
G
H a m

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Motion About a Fixed Point or a Fixed Axis
18 - 21
For a rigid body rotation around a fixed point,
( )
O
Oxyz
O
O O
H H
H M

+ =
=

O
For a rigid body rotation around a fixed axis,
e e e
z z yz y xz x
I H I H I H = = =
( )
( )
( )
( ) ( )
2
e o
e e
e
e
i I j I k I j I i I
k I j I i I k
k I j I i I
H H M
yz xz z yz xz
z yz xz
z yz xz
O
Oxyz
O O

+ + + =
+ +
+ =
+ =

o
e o
e o
z z
xz yz y
yz xz x
I M
I I M
I I M
=
+ =
+ =

2
2
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Rotation About a Fixed Axis
18 - 22
o
e o
e o
z z
xz yz y
yz xz x
I M
I I M
I I M
=
+ =
+ =

2
2
For a rigid body rotation around a fixed axis,
If symmetrical with respect to the xy plane,
o
z z y x
I M M M = = =

0 0
If not symmetrical, the sum of external moments
will not be zero, even if o = 0,
0
2 2
= = =

z xz y yz x
M I M I M e e
A rotating shaft requires both static and
dynamic balancing to avoid excessive
vibration and bearing reactions.
( ) 0 = e
( ) 0 = e
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Sample Problem 18.3
18 - 23
Rod AB with weight W = 40 lb is
pinned at A to a vertical axle which
rotates with constant angular velocity
e = 15 rad/s. The rod position is
maintained by a horizontal wire BC.
Determine the tension in the wire and
the reaction at A.
Expressing that the system of external
forces is equivalent to the system of
effective forces, write vector expressions
for the sum of moments about A and the
summation of forces.
Solve for the wire tension and the
reactions at A.
SOLUTION:
Evaluate the system of effective forces
by reducing them to a vector
attached at G and couple
a m

.
G
H

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Sample Problem 18.3
18 - 24
SOLUTION:
Evaluate the system of effective forces by reducing them
to a vector attached at G and couple a m

.
G
H

( )
( )I
I L I r a a
n

2
2
2
1
2
s ft 450
cos
=
= = = e | e
( ) ( )I
g
a m

lb 559 450
40
= =
k I j I i I H
z z y y x x G


e e e + + =
0 sin cos
0
2
2
1
2
2
1
= = =
= = =
z y x
z y x
mL I I mL I
e | e e | e e
i mL H
G

| ecos
2
12
1
=
( )
( ) ( )
( )k k mL
i mL j i
H H H
G
Gxyz
G G

ft lb 645 cos sin

cos sin cos 0
2 2
12
1
2
12
1
= =
+ + =
+ =
| | e
| e | e | e
e
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Sample Problem 18.3
18 - 25
Expressing that the system of external forces is equivalent
to the system of effective forces, write vector expressions
for the sum of moments about A and the summation of
forces.
( )
eff
A A
M M

=

( ) ( ) ( )
( ) ( )K K T
K I J J I I T J


645 1934 80 93 . 6
645 559 46 . 3 40 2 93 . 6
+ =
+ = +
lb 384 = T
( )
eff
F F

=

I J I K A J A I A
Z Y X

559 40 384 = + +
( ) ( )J I A

lb 40 lb 175 + =
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Motion of a Gyroscope. Eulerian Angles
18 - 26
A gyroscope consists of a rotor with its mass center
fixed in space but which can spin freely about its
geometric axis and assume any orientation.
From a reference position with gimbals and a
reference diameter of the rotor aligned, the
gyroscope may be brought to any orientation
through a succession of three steps:
a) rotation of outer gimbal through j about AA,
b) rotation of inner gimbal through q about
c) rotation of the rotor through y about CC.
, u, and are called the Eulerian Angles and
spin of rate
nutation of rate
precession of rate
=
=
=
+
u
|

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Motion of a Gyroscope. Eulerian Angles
18 - 27
The angular velocity of the gyroscope,
k j K

+ u | e + + =
( )k j i
j i K

u | + u u | e
u u
cos sin
cos sin with
+ + + =
+ =
Equation of motion,
( )
O
Oxyz
O O
H H M

+ =

O
( )
j K
k I j I i I H
O

u | O
u | + u u |
+ =
+ +
'
+
'
= cos sin
( ) ( )
( ) ( )
( ) u | +
u | + u | u u | u
u | + u u | u u |
cos
cos sin cos sin
cos cos 2 sin
2



+ =
+ + ' =
+ + + ' =

dt
d
I M
I I M
I I M
z
y
x
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Steady Precession of a Gyroscope
18 - 28
Steady precession,
constant are , , | u

k i
k I i I H
k i
z O
z

u | u | O
e u |
e u | e
cos sin
sin
sin
+ =
+ ' =
+ =
( ) j I I
H M
z
O O

u | u | e
O
sin cos ' =
=

Couple is applied about an axis

perpendicular to the precession
and spin axes
When the precession and spin
axis are at a right angle,
j I M
O

| +
u
=
=

90
Gyroscope will precess about an
axis perpendicular to both the
spin axis and couple axis.
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Motion of an Axisymmetrical Body Under No Force
18 - 29
Consider motion about its mass center of an
axisymmetrical body under no force but its own
weight, e.g., projectiles, satellites, and space craft.
constant 0 = =
G G
H H

Define the Z axis to be aligned with and z in a

rotating axes system along the axis of symmetry.
The x axis is chosen to lie in the Zz plane.
G
H

x G x
I H H e u
'
= = sin
I
H
G
x
'
=
u
e
sin
y y
I H e
'
= = 0 0 =
y
e
z G z
I H H e u = = cos
I
H
G
z
u
e
cos
=
u = constant and body is in steady precession.
Note:
u
e
e
tan tan
I
I
z
x
'
= =
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Motion of an Axisymmetrical Body Under No Force
18 - 30
Two cases of motion of an axisymmetrical body
which under no force which involve no precession:
Body set to spin about its axis of symmetry,
aligned are and
0
G
x x
H
H

e
e = =
and body keeps spinning about its axis of
symmetry.
Body is set to spin about its transverse axis,
aligned are and
0
G
z z
H
H

e
e = =
and body keeps spinning about the given
transverse axis.
2010 The McGraw-Hill Companies, Inc. All rights reserved.
Vector Mechanics for Engineers: Dynamics
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Motion of an Axisymmetrical Body Under No Force
18 - 31
The motion of a body about a fixed point (or its mass
center) can be represented by the motion of a body
cone rolling on a space cone. In the case of steady
precession the two cones are circular.
I < I. Case of an elongated body. < u and the
vector e lies inside the angle ZGz. The space
cone and body cone are tangent externally; the
spin and precession are both counterclockwise
from the positive z axis. The precession is said to
be direct.
I > I. Case of a flattened body. > u and the
vector e lies outside the angle ZGz. The space
cone is inside the body cone; the spin and
precession have opposite senses. The precession
is said to be retrograde.