Dr.

Hassen OUAKAD 2/10/2015

ME201

LAST LECTURE
EXAMPLE
Drive the equation of motion
Using the angular impulse-momentum principle

Resultant moment = Rate of change of angular

momentum
Free Body Diagram
 d 
 0 dt H 0 
M 

d
M O  H O or  (mg sin  ) L  (mL2)  mL2
dt
Equation of Motion : L  g sin   0

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Outline

• Section 2.1: Kinematics and Degree of Freedom

• Section 2.2: Plane Motion of Rigid Body
• Section 2.3: Work-Energy Method
• Section 2.4: Impulse-Momentum Methods
• Section 2.5: Equivalent Mass and Inertia
• Section 2.6: System with Spring Elements

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Dr. Hassen OUAKAD 2/10/2015
ME201

Mechanical Elements

 We saw in Chapter # 01 that any mechanism is consisting of

combination of mechanical elements.

We also discussed that there are three types of basic elements

in mechanical systems:

 1. Spring elements (CHAPTER # 01)

 2. Dampers elements (CHAPTER # 01)

 3. Mass or Inertia (CHAPTER # 02)

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Mass or Inertia Elements

 Mass and inertia elements. Inertia may be defined as the change in force
(torque) required to make a unit change in acceleration (angular
acceleration). That is,

change in force N
 mass  or kg
2
change in acceleration m/s

 moment of inertia  change in torque N-m

2
change in ang. accel. rad/s

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ME201

Equivalent Mass or Inertia

 The concepts of equivalent mass and inertia use kinetic

energy equivalence to simplify the process of obtaining
descriptions of systems containing both:

 Translating and rotating parts,

 Systems containing distributed mass

 Systems consisting oif multiples masses whose motion is

couples.

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Kinetic Energy

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Dr. Hassen OUAKAD 2/10/2015
ME201

Kinetic Energy Equivalence

 To use kinetic energy equivalence to simplify the process of obtaining descriptions of the systems
containing both translating and rotating parts, system containing distributed mass, and systems
consisting of multiple mass whose motion is coupled
 Example: Cart body mb having two wheels mw connected by a rigid, massless axle
 Cart dynamics :
 To draw two free-body diagrams for cart
body and wheel-axle system
 Must include the reaction forces between
the axle and cart body
 3 EoM for wheel-axle system (1 rotation &
2 translation) + 1 EoM for translation for
cart body
 Combine to eliminate the unknowns
 Obtain a single equation for variable x
 Easier way for cart dynamics :
 To find the equivalent mass of the system
 To obtain 1 EoM for equivalent system

Not deal with 2 separate masses and reaction

forces between them

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Equivalent Mass in Rolling Motion

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ME201

Equivalent Mass and Inertia

of a Wheel in Rolling Motion
 Another way to compute the equivalent-mass is to equate the force f required to give the wheel
the same acceleration
 If the wheel does not slip, v  R , v  R
 Tangential force produces a torque Rft on the wheel :
 Thus the equation of motion :
Translation : mwv  f  f t
Rotation : I w  Rf t
 Solve the 2nd equation for ft and substitute it into
1st equation, using v  R
ft  f  mwv, I w  I wv / R, Rft  R( f  mwv)
Iw
 I wv / R  R( f  mwv)  (mw  )v  f
R2
 Iw 
 mw  R 2  v  f
 
meq
 This approach gives the same equivalent-mass value obtained with kinetic energy equivalence
 But the energy-equivalence method is easier because it does not involve the tangential force ft
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Equivalent Mass of a Cart

 Kinetic energy :
1 1 1
KE  mb v 2  (2mw )v 2  (2 I w ) 2
2 2 2
 v = R, if the wheel does not slip,
1 2I
KE  (mb  2mw  2w )v 2
2 R
 So the equivalent mass :

2I w
me  mb  2mw 
R2

 Because the tangential wheel force does not work, we must treat the surface as frictionless.
 The equivalent mass express only the equivalent inertial resistance to changes in motion.
 It expresses only the kinetic energy, not the potential energy.
 Thus we must be careful using the equivalent mass when gravity affects the motion.
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ME201

Example:
Wheel on an Incline
Iw
 Wheel Equivalent mass : me  mw  ?? –> HW # 02
R2

 Gravity force is computed from the actual mass mw,

not the equivalent mass me. Thus the gravity force : mwg

 Equation of motion for the wheel me v  f  mw g sin 

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Equivalent Mass
of Ideal Spring Elements
 Kinetic energy equivalence is often used to determine the
equivalent mass of the spring element, because kinetic
energy is associated with the mass parameter Ideal
uniform
spring
 As spring elements are normally represented, it is assumed
that the mass of the spring element either is negligible
compared to the rest of the system’s mass or has been
included, or lumped, in the mass attached to the spring

 But there are some spring elements that posses equivalent

mass such as beams (see cantilever example next slide)

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Dr. Hassen OUAKAD 2/10/2015
ME201

Equivalent Mass
of Cantilever Beam (1)
m = AL
Example : Cantilever Beam Continuous cantilever beam
m
 Static deflection of a cantilever beam :
m/2 m/2

P
xy  y 2 (3L  y ) Discrete (lumped) cantilever beam
6 EI A

PL3 3EI
 Deflection at the end of the beam : xL   P  3 A xL
3EI A L
y 2 (3L  y ) y 2 (3L  y )
 xy  xL  Differentiate this equation : x y  x L
2 L3 2 L3
 Kinetic energy of a beam mass element dm at position y : x y2 dm / 2

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Equivalent Mass
of Cantilever Beam (2)
 Total kinetic energy in the beam (dm = vdy) :
1 L 2 v 2 L 4 v 2 33L7 33vL 2
KE     6 L 0
   x  x L
2
x y dm x y (3 L y ) dy 6 L
2 0 8L 8L 35 2(140)
y 2 (3L  y )
 Because the beam mass mb = vL : x  xL
y
2 L3

 Total kinetic energy in the beam : 33mb 2 1

KE  xL  me x L2
2(140) 2
33
 me  mb  0.23mb
140

 Equivalent mass of the cantilever spring

is 23% of the beam mass.

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ME201

Equivalent Masses of Some

Regular Structures

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Example
Translational Masses Connected by a Rigid Bar
Velocities of masses

can be expressed as:

By equating the kinetic energy of the system

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ME201

Example

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