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Dynamic response
∑
F = ma
∑ M G = HG
The angular momentum about the mass center for the representative particle
mi :
H Gi = ρi × mi vi
ρi : position vector relative to G of particle mi
vi = ω × ρi Velocity of particle mi
γ
(
ρ i = ρ i cos γi + sin γj )
ω = ωk
H Gi = ρ i × mi (ω × ρ i )
The angular momentum about the mass center for the rigid body:
HG = ∑
H Gi = ∑ ρ × m (ω × ρ ) = ∑ (
i i
i
) [
(
ρ i cos γi + sin γj × mi ωk × ρ i cos γi + sin γj
)]
miωρi cosγj −miωρi sin γi
HG = ∑ (
mi ρ i2ω cos 2 γ + sin 2 γ k
) = ∑(
)
mi ρ i ωk
2
1 I
H G = I ωk ⇒ H G = Iω
[I ] = kgm 2
n
I= ∑m ρ = ∫ ρ
i =1
i i
2 2
dm
mi
dω
∑ M
G
= HG ⇒ ∑ M
G
=
HG
dt
=
d
dt
( )
Iω = I
dt
= Iα
∑M = Iα
G
α
Analysis Procedure
1) Kinematics : First, identify the class of motion and then solve any needed
linear or angular accelerations which can be determined from given
kinematic information.
2) Diagrams: Always draw the complete free-body diagram and kinetic
diagram.
3) Apply the three equations of motion. ( ∑ ∑M
F = ma , G = Iα )
Mass Moments of Inertia
dm dI = r dm 2
∫ ∫
I = dI = r 2 dm I is always positive and its units is kg.m2.
Transfer of axes for mass moment of inertia:
If the moment of inertia of a body is known about an axis passing through the mass
center, it may be determined easily about any parallel axis.
I O = I + md 2
d O
Mass Moments of Inertia for Some Common Geometric Shapes
I
I =k m ⇒2
k=
m
Thus k is a measure of the distribution of mass of a given body about the axis in
question, and its definition is analogous to the definition of the radius of gyration for
area moments of inertia.
When the expressions for the radii of gyration are used, the equation becomes
k =k +d
2 2 2
1) TRANSLATION
a) Rectilinear Translation:
FBD Kinetic Diagram
ω=0 α=0
F1
“m” x x
“m”
G
F2
d ≡ G
d
ma x
A
P Fn A P
F3
(∑ F ) = ma
(∑ M )
G e. f . =0
(∑ M )
external
force
=0
(∑ F )
A e. f .
x e. f . = ma x
(∑ M )
P e. f . = ma x d
b) Curvilinear Translation:
ma n = mω 2 r
F3 n
n
(∑ F ) n e. f . = ma n (∑ M ) G e. f . =0 (α = 0)
(∑ F ) = mat (∑ M ) A e. f . = ma n d A +
(∑ M )
t e. f .
= mat d B
+
B e. f .
2) FIXED-AXIS ROTATION
For this motion, all points in the body describe circles about the rotation axis, and all
lines of the body have the same angular velocity ω and angular acceleration α.
at = r α an = r ω 2
Equations of Motion
FBD Kinetic Diagram
∑ F = ma *
∑ F = mαr
t
∑ Fn = mω 2
r
∑M G = I α **
For fixed-axis rotation, it is generally useful to apply a moment equation directly
about the rotation axis O.
∑M O = I α + mr at
∑ ( )
M O = I O − mr 2 α + mr r α = I Oα
∑M O = I oα
For the case of rotation axis through its mass center G:
a = 0 and ∑ F =0 FBD Kinetic Diagram
∑M G = Iα
3) GENERAL PLANE MOTION
The dynamics of general plane motion of a rigid body combines translation and
rotation.
Equations of motion:
FBD Kinetic Diagram
∑ F = ma
∑M G = Iα
In some cases, it may be more convenient to use the alternative moment relation about
any point P.
∑M P = I α + ma d
1. The uniform 30-kg bar OB is secured to the
accelerating frame in the 30o position from the
horizontal by the hinge at O and roller at A. If the
horizontal acceleration of the frame is a=20 m/s2,
compute the force FA on the roller and the x- and y-
components of the force supported by the pin at O.
SOLUTION
FBD Kinetic Diagram
mg=30(9.81) N
≡
ma=30(20)=600 N
d G
G
Ox
FA Oy
+
(∑ M O )ex. f . = ma d ⇒ FA (1) − 30(9.81)(2 cos 30) = (30)(20)(2 sin 30) ⇒ FA = 1110 N
(∑ Fx )ex. f . = ma ⇒ O x + 1110 sin 30 = (30)(20) ⇒ O x = 45 N
(∑ Fy )ex. f . = 0 ⇒ O y + 30(9.81) − 1110 cos 30 = 0 ⇒ O y = 667 N
2. The block A and attached rod have a combined
mass of 60 kg and are confined to move along the 60o
guide under the action of the 800 N applied force. The
uniform horizontal rod has a mass of 20 kg and is
welded to the block at B. Friction in the guide is
negligible. Compute the bending moment M exerted
by the weld on the rod at B.
SOLUTION combined mass of 60 kg, uniform horizontal rod has
a mass of 20 kg. Compute the bending moment M
Kinetic Diagram
FBD mTax=60ax
exerted by the weld on the rod at B.
x
x
N
≡
60o
ME 60o
Fn ma n
+n mg=8(9.81) N +n
+
(∑ M E )ex. f . = ma d ⇒ M − 8(9.81)(0.6) = (38.4)(0.6 sin 30) − (57.6)(0.6 cos 30) ⇒ M = 28.7 N ⋅ m (ccw)
≡
+t
mat
+t
W=100(9.81) N
When it starts to move, v=0, ω=0 but α≠0 an = ω 2 r = 0
(∑ F ) n d .k . =0 ⇒ T A + TB − mg cos 30 = 0 ⇒ T A + TB = 849.57 *
(∑ F ) t d .k . = mat ⇒ mg sin 30 = mat ⇒ at = 4.905 m / s 2
4.905
at = αr ⇒ α= = 2.45 rad / s 2
2
Length of the cables
The motion of the log is curvilinear translation.
A C 24 cm
D
60° B 60°
10 cm
G
Answer:
20 cm 20 cm a = 6.23 m / s 2
T AB = 143.11 N TCD = 78.93 N
6. The uniform 8 kg slender bar is hinged about a horizontal axis through O and released from
rest in the horizontal position. Determine the distance b from the mass center to O which will
result in an initial angular acceleration of 16 rad/s2, and find the force R on the bar at O just after
release.
SOLUTION When it is released, ω=0 (v=0, an=ω2r=0) but α≠0.
mg Ot
FBD KD
On G O +n
G
≡
O Iα
man
mat
1 1 +t
I = ml 2 = 8 ⋅ 0.6 2 = 0.24 kgm 2
12 12
∑ M o = I α + mat b
8(9.81)b = 0.24(16) + 8[(16)b]b
at
2 0.55
128b − 78.48b + 3.84 = 0 ⇒ b= b = 0.0536 m
0.0536
30o
W
. Fspring
+t
60o +t mat
≡
lspring
G Iα
Ot +n G
60o 30o +n
l
O l man = mω 2 =0
4
On
l l 1 l k g
∑ M O = Iα + mat ⇒ −mg cos 60 + Fspring = ml 2α + m at
4
α = 0.864 − 0.857
4 2 12 m l
l
α
4