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Lect 13
Lect 13
Lect 13
Chapter 5
KINETICS OF RIGID BODY
-Moment inertia
-Centre of gravity
KINETICS OF RIGID BODIES
TOPIC INVOLVED
Moment inertia
Force, mass and acceleration
Translation
Rotation
2
Chapter Objective
To introduce the methods used to determine
the mass moment of inertia of a body.
To develop the planar kinetic equations of
motion for a symmetric rigid body.
To discuss applications of these equations to
bodies undergoing translation, rotation about a
fixed axis, and general plane motion
3
Defining Mass Moment Inertia from F=ma
T or Fr α
Torque or Moment Angular Acceleration
In rotation
I
I T Mass Moment of Inertia
α T=Iα
4
Mass Moment of Inertia
F
F = r α dm
Moment = F r
= r2 α dm
dm
r Moment = r2 dm α (rotation)
α F = m a (translation)
a=rα
For the whole mass
dm=dV
∫ r2 dm = mass of rotation
= mass moment of inertia
= Inertia
5
Rotation Axes
z
Rotation about z-axis
y Resistance to rotation: Iz
6
Centre of Gravity (G)…. review
x
Ax
y
Ay
A A
7
Example…
Determine the
position of centre of A
gravity relative to
point X for
homogenous B
section shown
C
X
8
Slender Bar
z dm
r dr
L/2
2
I x I z r dm r 2 Adr
x y L/2
1
Ix Iz AL3
12
(½)L
1
(½)L
Ix Iz mL2
12
m = ρAL
Iy 0
9
Thin Circular Plate
y
m = ρ (π R2) t
1
Ix I y mR 2
R
4
x
1
Iz mR 2
2
z
10
Circular Cylinder
y
z m = ρ (π R2) L
(1/2)L
(1/2)L
1 1
I x I y m L2 R 2
x 12 4
R
1
Iz mR 2
2
11
Sphere
y
4
m R3
3
2
I x I y I z mR 2
5
z
x
12
Thin Rectangular Plate
1
m = ρ (bh) t Ix mh 2
12
1
I y mb 2
x 12
(1/2)h
1
Iz m(b 2 h 2 )
12
z (1/2)b
13
Thin Triangular Plate
z 1
I x mh 2
18
h
1
Iy mb 2
(1/3)h x 18
(1/3)b
1
b I z m(b 2 h 2 )
18
m = ρ (1/2)(bh)
14
Rectangular Prism
y
1
m = ρ (abc) I x m(a 2 +b 2 )
12
b
1
Iy m(a 2 + c 2 )
x 12
1
Iz m(b2 + c 2 )
a
12
z
c
15
Parallel Axis Theorem
m
m : Mass of a rigid body
cm: axis center of mass of the rigid
body where the inertia (Icm) is
cm known
o : axis of unknown inertia (Io)
d d : distance of the axes
o Io Ia d 2 m
16
Steps to Determine Moment Inertia of a Composite
Object
17
Centroid location
(1/2)h R
(1/2)b
18
h
(4R/3π)
(1/3)h
R
(1/3)b
b
19
R
α
α
(2Rsinα/3α)
20
Center of Mass calculation
y2
m2
xG
xm
i i
y1 m1 m i
yG
y3
m3
yG
ym
i i
m i
x1 xG x3 x2
21
Example 1
22
Example 1
Solution
Shell Element
Volume, dV = (2πr)(h) dr
Mass, dm = ρ dV = ρ(2πhr dr)
Since the entire element lies at
the same distance r from the z
axis, for moment of inertia of the
element,
dIz = r2 dm = ρ(2πhr3dr)
23
Example 1
Solution
Integrating over entire region of the
cylinder,
Iz = ∫r2 dm = ρ2πh∫R0r3dr = (ρπ/2)R4h
For mass of the cylinder,
m = ∫m dm = ρ2πh∫R0r dr = ρπh R2
so that
Iz = ½ mR2
24
Example 2
25
Example 2
View Free Body Diagram
Solution
Part (a)
For moment of inertia of rod OA about an axis
perpendicular to the page and passing through the end
point O of the rob,
1
IO ml 2
3
Hence,
1 50 2
( I OA )O 1 1.699kg.m
2
3 9.81
Using
1 2
IG ml
12
26
Example 2
Solution
By parallel axis theorem,
1 1 50 2 50 2
ml 2 md 1 0 . 5
2
( I OA ) O
12 12 9 . 81 9 . 81
1 . 699 kg .m 2
For rod BC,
1 1 50 2 50 2
ml 2 md 1 1
2
( I BC ) O
12 12 9 . 81 9 . 81
5 .522 kg .m 2
27
Example 2
Solution
Part (b)
For mass center G located relative to pin at O,
~
y m 0.5(50 / 9.81) 1(50 / 9.81)
y 0.75m
m (50 / 9.81) (50 / 9.81)
By parallel axis theorem to transfer moments of
inertia of rods OA & BC to G
IO IG md 2 ;
100 2
7.22 IG 0.75
9.81
IG 1.486kg.m 2
28
Problem 1
0.2 m
O
0.5 m 0.3 m
29
Problem 2
0.2 m
30
Tutorial 1
IG = 5.27 kg.m2
31
Tutorial 2
32
See you again …….
33