CHAP18 Kinematics of Rigid Bodies in 3D

Seventh Edition
CHAPTER VECTOR MECHANICS FOR ENGINEERS:

DYNAMICS
18 Ferdinand P. Beer
E. Russell Johnston, Jr.
Kinematics of Rigid Bodies in
Three Dimensions
Lecture Notes:
J. Walt Oler
Texas Tech University
© 2003 The McGraw-Hill Companies, Inc. All rights reserved.

Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Contents
Introduction Motion About a Fixed Point or a Fixed Axis
Rigid Body Angular Momentum in Sample Problem 18.3
Three Dimensions
Motion of a Gyroscope. Eulerian Angles
Principle of Impulse and Momentum
Steady Precession of a Gyroscope
Kinetic Energy
Motion of an Axisymmetrical Body Under
Sample Problem 18.1 No Force
Sample Problem 18.2
Motion of a Rigid Body in Three
Dimensions
Euler’s Equations of Motion and
D’Alembert’s Principle
© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 18 - 2

Edition
Seventh
Introduction
•The fundamental relations developed for
the plane motion of rigid bodies may also
be applied to the general motion of three
dimensional bodies.

•The relation H G = Iω
which was used to determine the
angular momentum of a rigid slab is not valid
for general three dimensional bodies and
motion.
•The current chapter is concerned with
∑ F = ma evaluation of the angular momentum and its

∑ M G = HG rate of change for three dimensional motion
and application to effective forces, the
impulse-momentum and the work-energy
principles.

Edition
Seventh
Rigid Body Angular Momentum in Three Dimensions
• Angular momentum of a body about its mass center,
n n
H G = ∑ (ri × vi ∆ mi ) = ∑ [ri × (ω × ri′)∆ mi ]
′ ′
i =1 i =1
• The x component of the angular momentum,
n
[

H x = ∑ yi (ω × ri ′)z − zi (ω × ri ′) y ∆ mi
i =1
]
n
[ ( )
= ∑ yi ω x yi − ω y xi − zi (ω z xi − ω x zi ) ∆ mi
i =1
]
n n n
= ωx ∑
i =1
( yi2 + zi2 )∆m i − ω y ∑ xi yi ∆ mi − ω z ∑ zi xi ∆ mi
i =1 i =1
( )
H x = ω x ∫ y 2 + z 2 dm − ω y ∫ xy dm − ω z ∫ zx dm
= + I xω x − I xyω y − I xzω z
H y = − I yxω x + I yω y − I yzω z
H z = − I zxω x − I zyω y + I zω z
Edition
Seventh

• Transformation of ω into H Gis characterized by
the inertia tensor for the body,
 + Ix − I xz 
− I xy
 
 − I yx − I yz 
+ Iy
− I− I zy + I z 
 zx
• With respect to the principal axes of inertia,
 I x′ 0 0 
 
 0 I y′ 0 
 0 0 I z ′ 
H x = + I x ω x − I xy ω y − I xz ω z 
H y = − I yx ω x + I y ω y − I yz ω z H x′ = I x′ω x′ H y′ = I y′ω y′ H z′ = I z′ω z′

H z = − I zx ω x − I zy ω y + I z ω z • The angular momentum H G of a rigid body and

its angular velocity ω the same direction if,
have

ω
and only if, is directed along a principal axis of
inertia.
Edition
Seventh
• The momenta of the particles of a rigid body can be
reduced to:

L = linear momentum

= mv

H G = angular momentum about G
H x = + I x ω x − I xy ω y − I xz ω z
H y = − I yx ω x + I y ω y − I yz ω z
H z = − I zx ω x − I zy ω y + I z ω z
• The angular momentum about any other given point O

is

H O = r × mv + H G

Edition
Seventh
• The angular momentum of a body constrained to rotate
about a fixed point may be calculated from

H O = r × mv + H G
• Or, the angular momentum may be computed directly

from the moments and products of inertia with respect
to the Oxyz frame.
n
H O = ∑ (ri × vi ∆ m )
i =1
n
= ∑ i
[r × (ω × ri )∆ mi ]
i =1
H x = + I x ω x − I xy ω y − I xz ω z
H y = − I yx ω x + I y ω y − I yz ω z
H z = − I zx ω x − I zy ω y + I z ω z

Edition
Seventh
Principle of Impulse and Momentum
• The principle of impulse and momentum can be applied directly to the three-
dimensional motion of a rigid body,
Syst Momenta1 + Syst Ext Imp1-2 = Syst Momenta2
• The free-body diagram equation is used to develop component and

moment equations.
• For bodies rotating about a fixed point, eliminate the impulse of the
reactions at O by writing equation for moments of momenta and impulses
about O.
Edition
Seventh
Kinetic Energy
• Kinetic energy of particles forming rigid body,
n
2
T= 1
2
mv + ∑ ∆mi vi′ 2
1
2
i =1
n
2
2
= 1
2
mv + ∑ ω × ri′ ∆mi
1
2
i =1
= 12 mv 2 + 12 ( I xω x2 + I yω 2y + I zω z2 − 2 I xyω xω y
− 2 I yzω yω z − 2 I zxω zω x )
• If the axes correspond instantaneously with the

principle axes,
T = 12 m v 2 + 12 ( I x ′ω x2′ + I y ′ω 2y ′ + I z ′ω z2′ )
• With these results, the principles of work and energy

and conservation of energy may be applied to the three-
dimensional motion of a rigid body.
Edition
Seventh
Kinetic Energy
• Kinetic energy of a rigid body with a fixed point,

T = 12 ( I xω x2 + I y ω y2 + I z ω z2 − 2 I xy ω xω y
− 2 I yz ω y ω z − 2 I zx ω z ω x )
• If the axes Oxyz correspond instantaneously with the

principle axes Ox’y’z’,
T = 12 ( I x ′ω x2′ + I y ′ω y2′ + I z ′ω z2′ )

Edition
Seventh
Sample Problem 18.1
SOLUTION:
• Apply the principle of impulse and
momentum. Since the initial momenta is
zero, the system of impulses must be
equivalent to the final system of momenta.
• Assume that the supporting cables remain

taut such that the vertical velocity and the
rotation about an axis normal to the plate is
zero.
Rectangular plate of mass m that is
suspended from two wires is hit at D in a • Principle of impulse and momentum yields
direction perpendicular to the plate. to two equations for linear momentum and
two equations for angular momentum.
Immediately after the impact, determine
a) the velocity of the mass center G, and
• Solve for the two horizontal components of
b) the angular velocity of the plate.
the linear and angular velocity vectors.

Edition
Seventh
Sample Problem 18.1
SOLUTION:
• Apply the principle of impulse and momentum. Since the initial momenta is zero, the
system of impulses must be equivalent to the final system of momenta.
• Assume that the supporting cables remain taut such that the vertical velocity and the
rotation about an axis normal to the plate is zero.

v = vxi + vz k ω = ω x i + ω yj
Since the x, y, and z axes are principal axes of inertia,

1 2 1 2
H G = I xω x i + I yω y j = 12 mb ω x i + 12 ma ω y j

Edition
Seventh
Sample Problem 18.1
• Principle of impulse and momentum yields two equations for linear momentum and two
equations for angular momentum.
• Solve for the two horizontal components of the linear and angular velocity vectors.
0 = mv x − F∆t = mv z 1 bF∆t = Hx − 12 aF∆t = H y
2
vx = 0 v z = − F∆t m 1 mb 2ω 1 ma 2ω
= 12 x = 12 y

v = −(F∆t m )k ω x = 6 F∆t mb ω y = −(6 F∆t ma )
6 F∆t
ω= (ai + b j )
mab

Edition
Seventh
Sample Problem 18.1

v − ( F ∆ t m )k
6 F∆t
ω= (ai + b j )
mab
1 2 1 2
H G = 12 mb ω x i + 12 ma ω y j

Edition
Seventh
Sample Problem 18.2
SOLUTION:
• The disk rotates about the vertical axis
through O as well as about OG. Combine
the rotation components for the angular
velocity of the disk.
A homogeneous disk of mass m is • Compute the angular momentum of the

mounted on an axle OG of negligible disk using principle axes of inertia and
mass. The disk rotates counter-clockwise noting that O is a fixed point.
at the rate ω1 about OG. • The kinetic energy is computed from the
Determine: a) the angular velocity of the angular velocity and moments of inertia.
disk, b) its angular momentum about O, c) • The vector and couple at G are also
its kinetic energy, and d) the vector and computed from the angular velocity and
couple at G equivalent to the momenta of moments of inertia.
the particles of the disk.

Edition
Seventh
Sample Problem 18.2
SOLUTION:
• The disk rotates about the vertical axis through O as well as
about OG. Combine the rotation components for the angular
velocity of the disk.

ω = ω1i + ω 2 j
Noting that the velocity at C is zero,

vC = ω × rC = 0

0 = (ω1i + ω 2 j ) × (L i − rj )

= (L ω 2 − rω1 )k
ω 2 = rω1 L

ω = ω1i − (rω1 L ) j

Edition
Seventh
Sample Problem 18.2
• Compute the angular momentum of the disk using principle
axes of inertia and noting that O is a fixed point.

H O = I xω x i + I yω y j + I zω z k
H x = I xω x = ( mr )ω
1
2
2
1
H y = I yω y = (mL + mr )(− rω
2 1
4
2
1 L)
H z = I zω z = (mL + mr )0 = 0
2 1 2
ω = ω1i − (rω1 L ) j 4
2
H O = 2 mr ω1i − m L + 4 r (rω1 L ) j
1 2 1 2
( )
• The kinetic energy is computed from the angular velocity and
moments of inertia.
T = 1
2
(I ω
x
2
x + I yω 2y + I zω z2 )
= 1
2
[mr ω2 2
1 (
+ m L2 + 1
4
r )(− rω
2
1 L )2 ]
2  r2  2
T= 1
8
mr 6 + 2 1
ω
 L

Edition
Seventh
Sample Problem 18.2
• The vector and couple at G are also computed from the
angular velocity and moments of inertia.

m v = mr ω1k

H G = I x ′ω x i + I y ′ω y j + I z ′ω z k

= 12 mr 2ω1i + 14 mr 2 (− rω L ) j

ω = ω1i − (rω1 L ) j 2  r 
H G = 2 mr ω1  i −
1
j
 2L 

Edition
Seventh
Motion of a Rigid Body in Three Dimensions
• Angular momentum and its rate of change are taken
with respect to centroidal axes GX’Y’Z’ of fixed
orientation.

• Transformation of ωinto H Gis independent of the
system of coordinate axes.
• Convenient to use body fixed axes Gxyz where
moments and products of inertia are not time
dependent.

• Define rate of change of change of Hwith
G

∑ F = m a respect to the rotating frame,

∑ M = HG

H ( G )Gxyz
= H i + H j + H k
x y z
Then,

H = H
G ( ) G Gxyz + Ω × H G Ω =ω


Edition
Seventh
Euler’s Eqs of Motion & D’Alembert’s Principle

• With Ω = ω and Gxyz chosen to correspond to
the principal axes of inertia,

∑
M = H G ( G )Gxyz
+Ω ×H G
Euler’s Equations:
( )
∑ M x = I xω x − I y − I z ω yω z
∑ M y = I yω y − (I z − I x )ω zω x
( )
∑ M z = I zω z − I x − I y ω xω y
• System of external forces and effective forces

are equivalent for general three dimensional
motion.
• System of external forces are equivalent
to the

vector and couple, m a and H G .

Edition
Seventh
Motion About a Fixed Point or a Fixed Axis
• For a rigid body rotation around a fixed point,

∑ M O = HO

= H ( O )Oxyz
+Ω ×H O
• For a rigid body rotation around a fixed axis,

H x = − I xz ω H y = − I yz ω H z = − I zω

( )

∑ M O = HO Oxyz

+ ω × HO

( )
= − I xz i − I yz j + I z k ω

( )
+ ωk × − I xz i − I yz j + I z k ω
2
( ) ( )
= − I xz i − I yz j + I z k α + − I xz j + I yz i ω
∑ M x = − I xzα + I yzω 2
∑ M y = − I yzα + I xzω 2
∑ M z = I zα
Edition
Seventh
Rotation About a Fixed Axis
• For a rigid body rotation around a fixed axis,
∑ M x = − I xz α + I yz ω 2
∑ M y = − I yz α + I xz ω 2
∑ M z = I zα
• If symmetrical with respect to the xy plane,
∑ M x = 0 ∑ M y = 0 ∑ M z = I zα
• If not symmetrical, the sum of external moments will

not be zero, even if α = 0,
∑ M x = I yz ω 2 ∑ M y = I xz ω 2 ∑ M z = 0
• A rotating shaft requires both static (ω = 0and

)
dynamic (ω ≠ 0 ) balancing to avoid excessive
vibration and bearing reactions.

Edition
Seventh
Sample Problem 18.3
SOLUTION:
• Evaluate the system of effective forces by

reducing them to a vector attached
ma at G
and couple HG.
• Expressing that the system of external forces

is equivalent to the system of effective
forces, write vector expressions for the sum
of moments about A and the summation of
forces.
Rod AB with weight W = 20 kg is
pinned at A to a vertical axle which • Solve for the wire tension and the reactions
rotates with constant angular velocity ω at A.
= 15 rad/s. The rod position is
maintained by a horizontal wire BC.
Determine the tension in the wire and
the reaction at A.
Edition
Seventh
Sample Problem 18.3
SOLUTION:
• Evaluate the system
of effective forces by reducing
them to a
vector ma
attached at G and couple HG.

a = an = −rω I = −(2 L cos β )ω I
2 1 2

( 2
= − 135 m s I )

ma = ( 20 kg) (−135 m/s ) = −(2700 N )I
2

H G = I xω x i + I yω y j + I zω z k
I x = 12 mL2 Iy = 0 I z = 12 mL2
ω x = −ω cos β ω y = ω sin β ω z = 0
1 2
H G = − 12 mL ω cos β i

H G = ( H G )Gxyz + ω × H G

(
= 0 + (− ω cos β i + ω sin β j ) × 12 mL ω cos β i
1 2
)

= 12 mL ω sin β cos β k = (935 N ⋅ m)k
1 2 2

Edition
Seventh
Sample Problem 18.3
• Expressing that the system of external forces is equivalent to
the system of effective forces, write vector expressions for the
sum of moments about A and the summation of forces.

∑ M A = ∑ (M A )eff

2.08 J × (− TI ) + 0.6 I × (− 196 J ) = 1.04 J × (− 2700 I ) + 935K

(2.08T − 118)K = (2808 + 935)K
T = 1856 N

∑ F = ∑ (F )eff

AX I + AY J + AZ K − 1856 I − 196 J = −2700 I

A = −(844 N )I + (196 N )J

Edition
Seventh
•A gyroscope consists of a rotor with its mass center fixed
in space but which can spin freely about its geometric axis
and assume any orientation.
• From a reference position with gimbals and a reference
diameter of the rotor aligned, the gyroscope may be
brought to any orientation through a succession of three
steps:
1) rotation of outer gimbal through ϕ about AA’,
2) rotation of inner gimbal through θ about BB’,
3) rotation of the rotor through ψ about CC’.
• ϕ, θ, and ψ are called the Eulerian Angles and
φ = rate of precession
θ = rate of nutation
Ψ = rate of spin

Edition
Seventh
• The angular velocity of the gyroscope,

ω = φ K + θ j +Ψ k

with K = − sin θ i + cosθ j

ω = −φ sin θ i + θ j + (Ψ + φ cosθ )k
• Equation of motion,

( )
∑ M O = H O Oxyz + Ω × H O

H O = − I ′φ sin θ i + I ′θ j + I (Ψ + φ cos θ ) k

Ω = φ K + θ j

∑ M x = − I ′(φsin θ + 2θφ cosθ ) + Iθ(Ψ + φ cosθ )

∑ M y = I ′(θ − φ 2 sin θ cosθ )+ Iφ sin θ (Ψ + φ cosθ )
d
∑Mz = I (Ψ + φ cosθ )
dt
Edition
Seventh
Steady Precession of a Gyroscope

Steady precession, ∑ M O = Ω × HO When the precession and spin axis
are at a right angle,
θ , φ,ψ are constant = (Iω z − I ′φ cos θ )φ sin θ j

θ = 90°

ω = −φ sin θ i + ω z k

Couple is applied about an axis ∑ M O = IΨφ j
perpendicular to the precession

H O = − I ′φ sin θ i + Iω z k Gyroscope will precess about an
and spin axes

Ω = −φ sin θ i + φ cos θ k axis perpendicular to both the spin
axis and couple axis.

Edition
Seventh
Motion of an Axisymmetrical Body Under No Force
• Consider motion about its mass center of an
axisymmetrical body under no force but its own
weight, e.g., projectiles, satellites, and space craft.

H =0 G H = constant
G

• Define the Z axis to be aligned with Hand G z in a
rotating axes system along the axis of symmetry. The
x axis is chosen to lie in the Zz plane.
H G sin θ
H x = − H G sin θ = I ′ω x ωx = −
I′
H y = 0 = I ′ω y ωy = 0
H G cos θ
H z = H G cos θ = Iω z ωz =
I
• θ = constant and body is in steady precession.
ωx I
• Note: − = tan γ = tan θ
ωz I′
Edition
Seventh
Two cases of motion of an axisymmetrical body which
under no force which involve no precession:
• Body set to spin about its axis of symmetry,

ωx = Hx = 0

ω and H G are aligned
and body keeps spinning about its axis of
symmetry.
• Body is set to spin about its transverse axis,

ωz = Hz = 0

ω and H G are aligned
and body keeps spinning about the given transverse
axis.

Edition
Seventh
The motion of a body about a fixed point (or its mass center)
can be represented by the motion of a body cone rolling on a
space cone. In the case of steady precession the two cones
are circular.
• I < I’. Case of an elongated body. γ < θ and the

vector ω lies inside the angle ZGz. The space cone
and body cone are tangent externally; the spin and
precession are both counterclockwise from the
positive z axis. The precession is said to be direct.
• I > I’. Case of a flattened body. γ > θ and the vector

ω lies outside the angle ZGz. The space cone is
inside the body cone; the spin and precession have
opposite senses. The precession is said to be
retrograde.

CHAP18 Kinematics of Rigid Bodies in 3D

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Seventh Edition

CHAPTER VECTOR MECHANICS FOR ENGINEERS:

© 2003 The McGraw-Hill Companies, Inc. All rights reserved.

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 18 - 2

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 18 - 3

H y = − I yx ω x + I y ω y − I yz ω z H x′ = I x′ω x′ H y′ = I y′ω y′ H z′ = I z′ω z′

• The angular momentum about any other given point O

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 18 - 6

• Or, the angular momentum may be computed directly

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 18 - 7

• The free-body diagram equation is used to develop component and

• If the axes correspond instantaneously with the

• With these results, the principles of work and energy

• Kinetic energy of a rigid body with a fixed point,

• If the axes Oxyz correspond instantaneously with the

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 18 - 10

• Assume that the supporting cables remain

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 18 - 11

Since the x, y, and z axes are principal axes of inertia,

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 18 - 12

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 18 - 13

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 18 - 14

A homogeneous disk of mass m is • Compute the angular momentum of the

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 18 - 15

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 18 - 16

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 18 - 17

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 18 - 18

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 18 - 19

• System of external forces and effective forces

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 18 - 20

• For a rigid body rotation around a fixed axis,

• If not symmetrical, the sum of external moments will

• A rotating shaft requires both static (ω = 0and

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 18 - 22

• Expressing that the system of external forces

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 18 - 24

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 18 - 25

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 18 - 26

∑ M x = − I ′(φsin θ + 2θφ cosθ ) + Iθ(Ψ + φ cosθ )

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 18 - 28

• Body set to spin about its axis of symmetry,

• Body is set to spin about its transverse axis,

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 18 - 30

• I < I’. Case of an elongated body. γ < θ and the

• I > I’. Case of a flattened body. γ > θ and the vector

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 18 - 31

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