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Lecture 6
By
Brad Saracik
Lecturer
&
Dr Ian Howard
Associate Professor
Department of Mechanical Engineering
Curtin University of Technology
Kinetics of Rotation
Overview
In this topic, we study what causes rotation to occur. Rotational
acceleration occurs when an unbalanced torque acts on a body.
Newtons 2nd Law can be extended to relate applied forces and
torques to the properties of a body and determine the resulting
acceleration and rotational acceleration. Using the kinematics
studied in other topics, you can then determine the complete
resulting motion.
Outcomes: After understanding this reading, completing the
exercises and practicing problems of these types, the reader should
be able to:
1. Define torque in terms of applied forces enabling the
calculation of resulting torques.
2. Identify forces causing translation and torques causing
rotation, separately and in combination, on a given body or
FBD
3. Explain Moment of Inertia (rotational inertia) as a measure of
the distribution of mass, conceptually and in equation form and
that it is a constant property of rigid bodies.
4. Resolve torques in FBDs and accurately apply Newtons 2nd
Law to determine the resulting rotational acceleration. Given a
rotational acceleration, determine the required torque.
5. Calculate Moment of Inertia of uniform shapes using
mathematical techniques. Apply these techniques to estimate
the moment of inertia of machine components.
Reading & Problem Sets:
Meriam: 6.1-6.5 pp408-459
Hibbeler:17.1-17.5 pp377-435
Rotational Concepts
As seen in our study of kinematics, real objects dont just move
through space, they can also rotate (change orientation). We have
first studied Newtons Laws for linear motion (translation) and need
to extend this for rotation to complete the full picture.
The majority of engineering machines involve rotating parts.
Although cars, trains and paddle steamers were designed to get us
from A to B (i.e. translation), they achieve it by turning wheels (ie
rotary motion or rotation). Electric motors, combustion engines and
turbines all provide useful power in the form of rotation. Thus
mechanical engineers need to have equivalent deep understanding
of rotational concepts as for translation.
While this may prove challenging at first, there are direct linear
analogies for every rotational concept you come across. This is
hardly surprising when you realise that rotation is movement about
a given axis. The kinematics of rotation have been dealt with in
detail. Recall the following table
Linear
(angular) displacement s
(angular) velocity
v,
ds
, s
dt
Dim
Rotational
Dim
[L]
[1]
[L/T]
[L/T2]
d
d 2
,
, , 2 ,
dt
dt
d
,
dt
[1/T]
(angular) acceleration
dv
d 2s
a,
, v, 2 , s
dt
dt
const. acceleration
s = ut + at 2
= 0t + t 2
const. acceleration
v 2 = u 2 + 2as
2 = 0 2 + 2
circular motion
st = r
in radians
circular motion
vt = r
in rad/s ; rpm
circular motion
at = r
in rad/s
[1/T2]
vt
Fn
at
Ft
Fn
an
Fn
Figure 1: Particle
Travelling in a Circle
2
vt
Fn
3
vt
Fn
at
at
Fn
an
O
Fn
Ft
1
m
Fn
an
O
Fn
Ft
1
m
As studied so far, Newtons 2nd Law does not explain the change in
orientation evident in Figure 3. We need to extend Newtons laws to
apply to this kind of rotation.
(Eq 2)
Prediction / Intuition
mass moment of inertia will
be a measure of rotational
inertia
an object with a larger mass
moment of inertia will be
more difficult to rotate than
an object of smaller mass
moment of inertia
A bodys rotational
acceleration will depend on
the distribution (location) of
its mass and the location of
the forces magnitude of
torques
a = r (4)
T = Fxr (5)
T=Fxr
T=I.
(Eq 6)
a
F=m.a
i =1
mi.ri2
(Eq 7)
Volume
(Eq 8)
Vol
(If you are not sure about the last bit, recall av = mass/volume)
10
Note that the value for the mass moment of inertia of a body
depends on the axis about which it is to rotate. Technically every
body has an infinite variety of mass moments of inertia, depending
on where we define the axis of rotation (origin of r) to be.
ie wrong: The mass moment of inertia for this object is x kg.m2
right: The mass moment of inertia for this object about axis AA is x
(Source http://hyperphysics.phy-astr.gsu.edu)
11
dm
dx
x
L/2
L/2
dm = (M / L) * dx
Figure 7: MMoI for a slender rod
About the axis shown, the moment of inertia can be calculated as
I axis
M
= r .dm = x .dm =
L
Volume
length
I axis =
L/2
M x3
=
x
dx
.
L 3 L / 2
length
2
M
ML2
L3 ( L) 3 =
L *3*8
12
Student Exercise: show that an axis through the rods end yields a
Moment of Inertia
I end =
ML2
3
be larger about an axis at the end than in the centre of the rod
Volume
.dm =
.r
Vol
.dV
12
Composite Bodies
If an object is constructed of a combination of parts, the total mass
is the sum of the mass of the parts i.e. M=m1+m2+m3. Similarly the
inertia of parts can be summed to determine the total Moment of
Inertia of a composite body (I = I1 + I2 + I3). The mass or inertia
which is missing from a hole can similarly be subtracted from that
of a solid part. The distance to the axis of rotation must be correct
for each component added or subtracted as shown below.
Radius of Gyration
There is one distance (radius) from any axis for which the whole
mass of a rigid body could be concentrated and result in the same
moment of inertia about that axis. We call this the radius of gyration
(Eq 9)
(k) and it is given by I = mk 2 or k = I m
Note that in linear systems, we often treat a rigid body as if all its
mass was concentrated at its centre of mass. This is the rotational
equivalent, since equation Eq 9 resembles the moment of inertia of
a particle given by I = mr2, when k replaces r as the radius of
gyration.
Tabled formulae or values for Radius of Gyration are generally
given about an axis of rotation through the centre of mass.
Worked Example: Find the radius of gyration about the axis
through the centre of mass of the slender rod shown in Figure 7.
Solution: From the previous solution,
kz = I z
2
= L
Iz =
12
ML2
12
= L
12
, therefore
13
r=0.4m
m=60kg
k=0.25m
T
mg
O
a
T
R
m1.g
14
Centre of Mass
How do you expect the boomerang to move under application of the
different forces in the following free body diagrams?
F
F
F
Figure 10: Boomerang FBDs
Recall that: an object will rotate as well as move if the resultant
force does not act through its centre of mass.
On Earth (in a uniform gravitational field), the centre of mass
coincides with the centre of gravity, so we can find it by finding the
point at which the object balances. Mathematically, the distance to
the centre of mass is given by
xcom =
m x
m
i
x.dm ; y
M
com
m y
m
i
y.dm
M
(10)
Moments of Inertia are often given for axes running through the
centre of mass of an object. We will show why these are most
useful. Note the use of the following notation. In general the axis
used for a given moment of inertia will be designated by the symbol
I with two subscript letters denoting the axis (Ixx, Iyy, Izz). One
subscript is used to demonstrate when the Moments of Inertia is
about an axis going through the centre of mass (Ix, Iy, Iz)
Thus in the slender rod example Iaxis could be designated Iz since it
went through the centre of mass, while Iend could be designated Izz.
15
(Eq 11)
Proof:
I AA = rA .dm
2
&
I BB = rB .dm
2
dm
Geometry: rB2=a2 + y2
rB
rA
and rA2=(a+d)2 + y2
d
a
x
therefore
rA2 = rB2 + 2.a.d + d2
thus
I = r
AA
.dm = rB dm + 2d a.dm + d 2 dm
2
I AA = I BB + md 2 + 2d a.dm
y
(Eq 12)
Be careful not to confuse this or its radius of gyration, with the mass
moment of inertia and its radius of gyration.
16
I AA = r 2 .dm
dm = .t.dA
thus
dA
I AA = t r 2 .dA
A
(Eq 13)
Iy = dm.x2
Iz = dm.r2
17
1m
1m
pivot
Figure 13
Solution: The body consists of two slender rods, which may be
found in tables such as Figure 6. Label the section connected to the
pivot rod 1 and the other rod 2.
Use Equation 10 to locate the centre of mass. Due to symmetry, the
centre of mass is above the pivot at a height halfway between the
centre of the equal mass sections. i.e. yCOM = (0.5 + 1)/2=0.75m
Rod 1: I1 = MoI of slender rod about one end I1= ML2/3 = 1.67kgm2
Rod 2: I2 = MoI of slender rod about centre + parallel axis theorem,
i.e. I2= ML2/12 + Md2 = 0.42 + 5 = 5.42kgm2
Thus, Ipivot = I1 + I2 = 7.1 kgm2
The radius of gyration about the pivot: k =I/m = (7.1/10) = 0.84m
Student Exercise: Show the CoM and radius of gyration about the
pivot on Figure 13. Find the radius of gyration about the CoM and
sketch a circle showing this radius. (0.38m, hint: parallel axis)
18
M a2 + b2
IZ Rect Plate =
12
(Eq 15)
O
1.4m
1.4m
=300mm
Solution
First recognise that the Moment of Inertia of this
plate can be found by subtracting a circular
section (I2) from a square section (I1): I = I1 I2
Figure 14
Student Exercise: Show the CoM and radius of gyration about the
pivot on Figure 14. Find the radius of gyration about the CoM and
sketch a circle showing this radius. (0.58m)
Note (from the exercises) that mass further away from the axis of
rotation contributes more to the Moment of Inertia. With practice,
this realisation enables you to intuitively estimate the Radius of
Gyration based on the distribution of mass for any object. This
enables rapid checking that your answer seems reasonable.
19
Symmetry Ix = Iy = Iz / 2
So we only need to calculate the
moment of inertia about any one
axis to know all 3.
dm
Iz = r .dm = 2
2
r =R
r =0
Area
r4
R 4
r .dr = 2 =
2
4 0
3
Iz =
R 4
2
MR 2
2
20
dx
x
dm
x
R
R
x
Solution
From Symmetry we see that Iz = Iy.
Since we know the inertial properties of a thin disc, use these as dm
as shown above. Since the cylinder is homogeneous note that
dm = (M / L)dx.
To solve for Ix, note that the x axis runs through the centroid of each
thin disc. For each incremental dm, dIx = 0.5dm.R2 =(0.5M R2 / L)dx
L
2
Thus
Ix =
MR 2
2L
dx =
L
2
2
MR 2 2
[x] L = MR
2L
2
2
L
2
M R2
M R2
x3 2
M R 2 L L3
MR 2 ML2
2
+
=
+
Iz =
x
dx
x
=
+
=
+
L
L L 4
L
L
4
3
12
4
12
Note how easy it now is to find Izz about the end of the cylinder.
21
dx
x
X
R
R
Y
3MR 2
Ix =
2H 5
3MR 2
=
x
dx
0
2H 5
4
x5
3MR 2
=
10
5 0
3M
0 x dx + H 3
4
3M
0 x dx = H 3
4
R2
x 5
3M R 2
+
=
1
+ H 2
2
5 4
4H
5 0
Dim
Rotational
Dim
Conversion
[L]
[1]
st = r
[L/T]
[1/T]
vt = r
[1/T2]
at = r
T=Fxr
d
,
dt
(angular) velocity
v,
(angular) acceleration
dv
d 2s
a,
, v, 2 , s
dt
dt
const. acceleration
s = ut + at 2
= 0t + t 2
const. acceleration
v 2 = u 2 + 2as
2 = 0 2 + 2
force / torque
Nm
inertia
(mass/rotational)
kg
kgm2
Work
F = ma
W = F .ds = Fav .s
Joule
T = I
W = T .d = Tav
Joule
Kinetic Energy
.m.v2
Joule
.I.2
Joule
Instantaneous Power
P=
Watt
P=
dW
= Fv
dt
[L/T ]
d
d 2
,
, , 2 ,
dt
dt
dW
= T
dt
Watt
I=
Volume
.dm