Ninth Edition

CHAPTER VECTOR MECHANICS FOR ENGINEERS:

18 DYNAMICS
Ferdinand P. Beer
E. Russell Johnston, Jr.
Kinetics of Rigid Bodies in
Lecture Notes:
Three Dimensions
J. Walt Oler
Texas Tech University

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Vector Mechanics for Engineers: Dynamics
Contents
Introduction Motion About a Fixed Point or a Fixed
Axis
Rigid Body Angular Momentum in
Three Dimensions Sample Problem 18.3
Principle of Impulse and Motion of a Gyroscope. Eulerian
Momentum Angles
Kinetic Energy Steady Precession of a Gyroscope
Sample Problem 18.1 Motion of an Axisymmetrical Body
Under No Force
Sample Problem 18.2
Motion of a Rigid Body in Three
Dimensions
Eulers Equations of Motion and
DAlemberts Principle

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Vector Mechanics for Engineers: Dynamics
Introduction
The fundamental relations developed for
the plane motion of rigid bodies may also
be applied to the general motion of three
dimensional bodies.

The relation H G I 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

F m a evaluation of the angular momentum and
its rate of change for three dimensional
M G HG motion and application to effective
forces, the impulse-momentum and the
work-energy principles.

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Vector Mechanics for Engineers: Dynamics
Rigid Body Angular Momentum in Three Dimensions
Angular momentum of a body about its mass center,
n n
H G ri vi mi ri rimi
i 1 i 1
The x component of the angular momentum,
n


H x yi ri z zi ri y mi
i 1

n
yi x yi y xi zi z xi x zi mi
i 1

x
n
yi2 zi2 mi y xi yi mi z zi xi mi
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
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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 y I yx x I y y I yz z H x I x xH y I y y H z I z z

H z I zx x I zy y I z z The angular momentum H G of a rigid body

and its angular velocity have the same

direction if, and only if, is directed along a
principal axis of inertia.
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Vector Mechanics for Engineers: Dynamics
Rigid Body Angular Momentum in Three Dimensions
The momenta of the particles of a rigid body can
be reduced to:

L linear momentum

mv

H G angular momentum about G
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

The angular momentum about any other given

point O is

H O r mv H G

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Vector Mechanics for Engineers: Dynamics
Rigid Body Angular Momentum in Three Dimensions
The angular momentum of a body constrained to
rotate about a fixed point may be calculated from

H O r mv H G

Or, the angular momentum may be computed

directly from the moments and products of inertia
with respect to the Oxyz frame.
n
H O ri vi m
i 1
n

ri ri mi
i 1

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

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Vector Mechanics for Engineers: Dynamics
Principle of Impulse and Momentum

The principle of impulse and momentum can be applied directly to the

three-dimensional motion of a rigid body,
Syst Momenta1 + Syst Ext Imp1-2 = Syst Momenta2

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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Vector Mechanics for Engineers: Dynamics
Kinetic Energy
Kinetic energy of particles forming rigid body,
n
T 1 mv 2
2
1
2 m i vi 2
i 1
n
12 mv 2 1
2 ri 2 mi
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 )

If the axes correspond instantaneously with the

principle axes,

T 12 mv 2 12 ( I x x2 I y 2y I z z2 )

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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Vector Mechanics for Engineers: Dynamics
Kinetic Energy

Kinetic energy of a rigid body with a fixed point,

T 12 ( I x x2 I y 2y I z z2 2 I xy x y
2 I yz y z 2 I zx z x )

If the axes Oxyz correspond instantaneously with

the principle axes Oxyz,
T 12 ( I x x2 I y 2y I z z2 )

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Edition
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Vector Mechanics for Engineers: Dynamics
Sample Problem 18.1
SOLUTION:
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.
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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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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

Since the x, y, and z axes are principal axes of inertia,

1 1
HG I x xi I y y j 12 mb2 xi 12 ma 2 y j

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Vector Mechanics for Engineers: Dynamics
Sample Problem 18.1

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 Ft mvz 1 bFt Hx 12 aFt H y
2
vx 0 vz Ft m 1 mb 2 1 ma 2
12 x 12 y

v Ft mk x 6Ft mb y 6Ft ma
6 Ft

ai b j
mab

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Vector Mechanics for Engineers: Dynamics
Sample Problem 18.1

v Ft mk

6 Ft

ai b j
mab

1 mb 2 i 1 ma 2 j

HG 12 x 12 y

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Vector Mechanics for Engineers: Dynamics
Sample Problem 18.2
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.

A homogeneous disk of mass m is Compute the angular momentum of the

mounted on an axle OG of negligible disk using principle axes of inertia and
mass. The disk rotates counter- noting that O is a fixed point.
clockwise at the rate 1 about OG. The kinetic energy is computed from the
Determine: a) the angular velocity of angular velocity and moments of inertia.
the disk, b) its angular momentum about The vector and couple at G are also
O, c) its kinetic energy, and d) the computed from the angular velocity and
vector and couple at G equivalent to the moments of inertia.
momenta of the particles of the disk.

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Edition
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Vector Mechanics for Engineers: Dynamics
Sample Problem 18.2
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.

1i 2 j
Noting that the velocity at C is zero,

vC rC 0

0 1i 2 j Li rj

L 2 r1 k
2 r1 L

1i r1 L j

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Vector Mechanics for Engineers: Dynamics
Sample Problem 18.2
Compute the angular momentum of the disk using
principle axes of inertia and noting that O is a fixed point.

HO I x xi I y y j I z z k
H x I x x 12 mr 2 1
H y I y y mL2 14 mr 2 r1 L
H z I z z mL2 14 mr 2 0 0
1i r1 L j
HO 12 mr 21i mL2 14 r 2 r1 L j

The kinetic energy is computed from the angular velocity

and moments of inertia.

T 12 I x x2 I y y2 I z z2

12 mr 212 mL2 14 r 2 r1 L 2

2
1 mr 2 6 r 2
T 8 2 1
L

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Edition
Ninth
Vector Mechanics for Engineers: Dynamics
Sample Problem 18.2
The vector and couple at G are also computed from the
angular velocity and moments of inertia.

mv mr1k

H G I x xi I y y j I z z k
2 1
2 mr 1i 4 mr r L j
1 2

1i r1 L j r
H G 12 mr 21 i j
2 L

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Vector Mechanics for Engineers: Dynamics
Motion of a Rigid Body in Three Dimensions
Angular momentum and its rate of change are
taken with respect to centroidal axes GXYZ of
fixed orientation.

Transformation of into H G is independent of
the system of coordinate axes.
Convenient to use body fixed axes Gxyz where
moments and products of inertia are not time
dependent.

Define rate of change of change of H G with

F m a respect to the rotating frame,

M HG

H

G Gxyz

x

H i H jH k

y


z
Then,

HG HG Gxyz H G

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Vector Mechanics for Engineers: Dynamics
Eulers Eqs of Motion & DAlemberts Principle


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


M H

G G Gxyz

H G

Eulers 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 .

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Vector Mechanics for Engineers: Dynamics
Motion About a Fixed Point or a Fixed Axis
For a rigid body rotation around a fixed point,

M O HO
H

O Oxyz

H O

For a rigid body rotation around a fixed axis,

H x I xz H y I yz H z I z


M O H O Oxyz H O


I xz i I yz j I z k


k I xz i I yz j I z k


I xz i I yz j I z k I xz j I yz i
2

M x I xz I yz 2
M y I yz I xz 2
M z I z
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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

If not symmetrical, the sum of external moments

will not be zero, even if = 0,
M x I yz 2 M y I xz 2 M z 0

A rotating shaft requires both static 0 and

dynamic 0 balancing to avoid excessive
vibration and bearing reactions.
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Vector Mechanics for Engineers: Dynamics
Sample Problem 18.3
SOLUTION:
Evaluate the system of effectiveforces
by reducing them to a vector
ma
attached at G and couple H G .

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.
Rod AB with weight W = 40 lb is
pinned at A to a vertical axle which Solve for the wire tension and the
rotates with constant angular velocity reactions at A.
= 15 rad/s. The rod position is
maintained by a horizontal wire BC.
Determine the tension in the wire and
the reaction at A.
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Vector Mechanics for Engineers: Dynamics
Sample Problem 18.3
SOLUTION:
Evaluate the system
of effective forces byreducing them
to a vector ma attached at G and couple H G .
2

a an r I 2 L cos I
1 2

2
450 ft s I
40
ma 450 559 lb I
g

HG I x xi I y y j I z z k

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

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Edition
Ninth
Vector Mechanics for Engineers: Dynamics
Sample Problem 18.3
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.

M A M A eff

6.93 J TI 2 I 40 J 3.46 J 559 I 645K

6.93T 80K 1934 645K
T 384 lb

F F eff

AX I AY J AZ K 384I 40 J 559I

A 175 lb I 40 lb J

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Vector Mechanics for Engineers: Dynamics
Motion of a Gyroscope. Eulerian Angles
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.
j, q, and y are called the Eulerian Angles and

rate of precession
q rate of nutation
rate of spin

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Vector Mechanics for Engineers: Dynamics
Motion of a Gyroscope. Eulerian Angles
The angular velocity of the gyroscope,

K q j k

with K sin q i cosq j

sin q i q j cosq k

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

M x I sin q 2q cosq Iq cosq

M y I q 2 sin q cosq I sin q cosq
Mz I cosq
d
dt
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Vector Mechanics for Engineers: Dynamics
Steady Precession of a Gyroscope

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.

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Vector Mechanics for Engineers: Dynamics
Motion of an Axisymmetrical Body Under No Force
Consider motion about its mass center of an
axisymmetrical body under no force but its own
weight, e.g., projectiles, satellites, and space craft.

H 0 G H constant
G

Define the Z axis to be aligned with H G and z in a
rotating axes system along the axis of symmetry.
The x axis is chosen to lie in the Zz plane.
H sin q
H x H G sin q I x x G
I
H y 0 I y y 0
H G cosq
H z H G cosq I z z
I
q = constant and body is in steady precession.

x I
Note: tan tanq
z I
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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:

Body set to spin about its axis of symmetry,

x Hx 0

and H G are aligned
and body keeps spinning about its axis of
symmetry.

Body is set to spin about its transverse axis,

z Hz 0

and H G are aligned
and body keeps spinning about the given
transverse axis.

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Vector Mechanics for Engineers: Dynamics
Motion of an Axisymmetrical Body Under No Force
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. < q and the

vector 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. > q and the

vector 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.

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