PLANAR KINETIC EQUATIONS OF MOTION:

TRANSLATION
Today’s Objectives:
Students will be able to:
1. Apply the three equations of
In-Class Activities:
motion for a rigid body in
planar motion. • Applications
2. Analyze problems involving • FBD of Rigid Bodies
translational motion. • EOM for Rigid Bodies
• Translational Motion
• Group Problem Solving

APPLICATIONS
The boat and trailer undergo
rectilinear motion. In order to
find the reactions at the trailer
wheels and the acceleration of
the boat its center of mass, we
need to draw the FBD for the
boat and trailer.

How many equations of motion do we need to solve this

problem? What are they?

1
 APPLICATIONS
(continued)

As the tractor raises the load, the crate will undergo curvilinear
translation if the forks do not rotate.
If the load is raised too quickly, will the crate slide to the left or
right? How fast can we raise the load before the crate will slide?

EQUATIONS OF TRANSLATIONAL MOTION

(Section 17.2)

• We will limit our study of planar kinetics to rigid bodies that are
symmetric with respect to a fixed reference plane.
• As discussed in Chapter 16, when a body is subjected to general
plane motion, it undergoes a combination of translation and
rotation.
• First, a coordinate system
with its origin at an arbitrary
point P is established. The
x-y axes should not rotate
and can either be fixed or
translate with constant
velocity.

2
 EQUATIONS OF TRANSLATIONAL MOTION
(continued)
• If a body undergoes translational motion, the equation of motion
is ΣF = m aG . This can also be written in scalar form as

Σ Fx = m(aG)x and Σ Fy = m(aG)y

• In words: the sum of all the external forces acting on the body is
equal to the body’s mass times the acceleration of it’s mass
center.

EQUATIONS OF ROTATIONAL MOTION

We need to determine the effects caused by the moments of

the external force system. The moment about point P can
be written as
Σ (ri × Fi) + Σ Mi = rG × maG + IGα
Σ Mp = Σ( Mk )p
where Σ Mp is the resultant moment about P due to all the
external forces. The term Σ(Mk)p is called the kinetic
moment about point P.

3
 EQUATIONS OF ROTATIONAL MOTION
(continued)
If point P coincides with the mass center G, this equation reduces
to the scalar equation of Σ MG = IGα .
In words: the resultant (summation) moment about the mass
center due to all the external forces is equal to the moment of
inertia about G times the angular acceleration of the body.
Thus, three independent scalar equations of motion may be used
to describe the general planar motion of a rigid body. These
equations are: Σ F = m(a )
x G x

Σ Fy = m(aG)y

and Σ MG = IGα or Σ Mp = Σ (Mk)p

EQUATIONS OF MOTION: TRANSLATION ONLY

(Section 17.3)
When a rigid body undergoes only translation, all the particles of
the body have the same acceleration so aG = a and α = 0. The
equations of motion become:

Σ Fx = m(aG)x

Σ Fy = m(aG)y

Σ MG = 0

Note that, if it makes the problem easier, the moment equation

can be applied about other points instead of the mass center. In
this case,
ΣMA = (m aG ) d .

4
 EQUATIONS OF MOTION: TRANSLATION ONLY
(continued)
When a rigid body is subjected to
curvilinear translation, it is best to
use an n-t coordinate system. Then
apply the equations of motion, as
written below, for n-t coordinates.

Σ Fn = m(aG)n

Σ Ft = m(aG)t

Σ MG = 0 or

Σ MB = e[m(aG)t] – h[m(aG)n]

PROCEDURE FOR ANALYSIS

Problems involving kinetics of a rigid body in only translation
should be solved using the following procedure:
1. Establish an (x-y) or (n-t) inertial coordinate system and specify
the sense and direction of acceleration of the mass center, aG.
2. Draw a FBD and kinetic diagram showing all external forces,
couples and the inertia forces and couples.
3. Identify the unknowns.
4. Apply the three equations of motion:
Σ Fx = m(aG)x Σ Fy = m(aG)y Σ Fn = m(aG)n Σ Ft = m(aG)t
Σ MG = 0 or Σ MP = Σ (Mk)P Σ MG = 0 or Σ MP = Σ (Mk)P
5. Remember, friction forces always act on the body opposing the
motion of the body.

5
 EXAMPLE

Given:A 50 kg crate rests

on a horizontal
surface for which the
kinetic friction
coefficient μk = 0.2.

Find: The acceleration of

the crate if P = 600 N.
Plan: Follow the procedure for analysis.
Note that the load P can cause the crate either to slide or to
tip over. Let’s assume that the crate slides. We will check
this assumption later.

EXAMPLE
Solution: (continued)
The coordinate system and FBD
are as shown. The weight of
(50)(9.81) N is applied at the center
of mass and the normal force Nc
acts at O. Point O is some distance
x from the crate’s center line. The
unknowns are Nc, x, and aG .

Applying the equations of motion:

Σ Fx = m(aG)x: 600 – 0.2 Nc = 50 aG Nc = 490 N
Σ Fy = m(aG)y: Nc – 490.5 = 0 Î x = 0.467 m
Σ MG = 0: -600(0.3) + Nc(x)-0.2 Nc (0.5) = 0 aG = 10.0 m/s2

6
 EXAMPLE
(continued)

Since x = 0.467 m < 0.5 m, the crate slides as originally

assumed.
If x was greater than 0.5 m, the problem would have to be
reworked with the assumption that tipping occurred.

CONCEPT QUIZ
1. A 2 lb disk is attached to a uniform 6 lb B
rod AB with a frictionless collar at B. If
the disk rolls without slipping, select
the correct FBD. A

A) Nb Nb Nb
B) C)
2 lb 2 lb
6 lb 8 lb 6 lb
Fs Fs
Na Na Na

7
 CONCEPT QUIZ

2. A 2 lb disk is attached to a uniform 6 lb B

rod AB with a frictionless collar at B. If
the disk rolls with slipping, select the
correct FBD. A

A) Nb Nb Nb
B) C)
2 lb 2 lb
6 lb 8 lb 6 lb
μs Na Fk μk Na
Na Na Na

GROUP PROBLEM SOLVING

Given: A uniform connecting rod BC has a mass of 3 kg.

The crank is rotating at a constant angular velocity of
ωAB = 5 rad/s.
Find: The vertical forces on rod BC at points B and C when
θ = 0 and 90 degrees.
Plan: Follow the procedure for analysis.

8
 GROUP PROBLEM SOLVING
(continued)
Solution: Rod BC will always remain horizontal while moving
along a curvilinear path. The acceleration of its mass center G is
the same as that of points B and C.
When θ = 0º, the FBD is: mrω2 = (3)(0.2)(52)

Note that mrω2 is Bx

the kinetic force Cx
due to the body’s G
acceleration Cy 350mm 350mm By
(3)(9.81) N
Applying the equations of motion:

Σ MC = Σ (Mk)C Σ Fy = m(aG)y
(0.7)By – (0.35)(3)(9.81) = -0.35(15) Cy + 7.215 – (3)(9.81) = -15
By = 7.215 N Cy = 7.215 N

GROUP PROBLEM SOLVING

(continued)
When θ = 90º, the FBD is:
mr ω 2 = (3)(0.2)(52)
Bx
Cx
G
Cy 350 mm 350 mm By
(3)(9.81) N

Applying the equations of motion:

Σ MC = Σ (Mk)C Σ Fy = m(aG)y
(0.7)By – (0.35)(3)(9.81) = 0 Cy + 14.7 – (3)(9.81) = 0
By = 14.7 N Cy = 14.7 N

9
 ATTENTION QUIZ
1. As the linkage rotates, box A A
undergoes
A) general plane motion. 1.5 m
B) pure rotation. ω = 2 rad/s
C) linear translation.
D) curvilinear translation.
2. The number of independent scalar equations of motion that
can be applied to box A is
A) One B) Two
C) Three D) Four

10