EMG 2207 ENGINEERING MECHANICS-DYNAMICS

INTRODUCTION

Introduction
Engineering mechanics is divided into statics and dynamics. Statics in concerned with forces and
structures that do not change state with time. Dynamics on the other hand deals with motion and the
forces causing the motion. Dynamics has two main branches:

a) Kinematics, which is the study of the motion without reference to the forces causing the motion,
b) Kinetics, the study of the motion and the forces causing the motion.

0.2 Basic concepts

a) Space – geometric region occupied by bodies. A position in space is defined by some co-ordinate
system i.e. through linear and angular dimensions.

b) Time- a measure of succession of events.

c) Mass- a measure of inertia or resistance to change in motion of a body.

d) Force – reaction of a body on another.

e) Particle – a body of negligible dimensions.

f) Rigid body a body whose changes in shape are negligible compared to the overall dimensions of
the body.

Newtons Laws of motion

I. A particle remains at rest or continues to move in constant velocity if there is no unbalanced
force.

II. The acceleration of a particle is proportional to the resultant force acting on it in the direction of
the force.

III. The forces of action and reaction between interacting bodies are equal in magnitude, opposite
in direction and collinear.

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1 KINEMATICS OF PARTICLES
1.1 Introduction

Kinematics deals with the analysis of motion without reference to the forces causing the
motion. For example, analyzing the flight path of a plane from Nairobi to Mombasa, without
considering the power requirement will fall under kinematics. In this case the plane is treated as
a particle, since the dimension e.g. the wing span is negligible in comparison to the flight path.

Motion can be termed as rectilinear (i.e. in a straight line) or curvilinear (following a circular
path)

1.2 Rectilinear motion

Consider a particle moving along a straight path as shown in fig1.1.

The particle is initially at point P, and goes through a displacement Δs during a time interval Δt
and the new coordinate is s+ Δs at time t + Δt

1.2.1 Velocity and acceleration

Velocity is the rate of change in displacement i.e.

Δ𝑠
𝑣 = lim ,
∆𝑡→0 Δ𝑡

d𝑠
𝑣= = 𝑠̇ 1.1
d𝑡

Acceleration,

Δv
𝑎 = lim
∆𝑡→0 Δ𝑡

dv
𝑣= = 𝑠̈ 1.2
d𝑡

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From equation 1.1 and 1.2, we can have

𝑣𝑑𝑣 = 𝑎𝑑𝑠, 𝑜𝑟 𝑠̇ 𝑑𝑠 =̇ 𝑠̈ 𝑑𝑠 1.3

Equation 1.3 is a common equation used in the analysis of motion.

Various unique cases, arise.

a) Constant acceleration
𝑑𝑣
𝑎 = 𝑑𝑡

Therefore, 𝑎 ∫ 𝑑𝑡 = ∫ 𝑑𝑣, 𝑡ℎ𝑒𝑟𝑒𝑓𝑜𝑟𝑒 𝑎𝑡 = 𝑣 − 𝑣0

or
𝑣 𝑠
∫ 𝑣𝑑𝑣 = 𝑎 ∫ 𝑑𝑠 ℎ𝑒𝑛𝑐𝑒, 𝑣 2 = 𝑣0 + 2𝑎(𝑠 − 𝑠0 )
𝑣0 𝑠0

It should be noted that these expressions are only valid for the constant acceleration case.

b) Acceleration given as a function of time.

𝑑𝑣
𝑎 = = 𝑓(𝑡), 𝑖𝑚𝑝𝑙𝑦𝑖𝑛𝑔 𝑑𝑣 = 𝑓(𝑡)𝑑𝑡
𝑑𝑡
𝑣 𝑡
Therefore, ∫𝑣 𝑑𝑣 = ∫0 𝑓(𝑡)𝑑𝑡
0

c) Acceleration as a function of velocity

𝑑𝑣
𝑎 = 𝑓(𝑣), 𝑖𝑚𝑝𝑙𝑦𝑖𝑛𝑔 = 𝑓(𝑣)
𝑑𝑡
𝑑𝑣
𝑑𝑡 = 𝑓(𝑣)

c) Acceleration as a function of displacement, 𝑎 = 𝑓(𝑠)

𝑣 𝑠
vdv =f(s), ∫𝑣 𝑣𝑑𝑣 = ∫𝑠 𝑓(𝑠)𝑑𝑠
0 0

𝑠
𝑣 2 = 𝑣02 + 2 ∫ 𝑓(𝑠)𝑑𝑠
𝑠0

1.3 Relative motion

Motion can either be absolute or relative. Absolute motion is the motion in reference to some
fixed axes, while relative motion is in relation to some moving axes. Consider two particles, A
and B whose positions are defined by rA and rB respectively as shown in fig 1.2a. The translating

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axes, x and y are attached to particle B as shown. (the observer is observing the motion of A
while stationed at B)

Vector rA is the position vector for A

Vector rB is the position vector for B

Vector rA/B is the position vector for A with respect to B. The three vectors are in reference to
the fixed axis X and Y.

rA = rB + rA/B

𝐫𝐀̇ = 𝐫𝐁̇ + 𝐫𝐀/𝐁

̇ 𝑣𝐴 = 𝑣𝐴 + 𝑣𝐴/𝐵 (𝑓𝑖𝑟𝑠𝑡 𝑑𝑒𝑟𝑖𝑣𝑎𝑡𝑖𝑣𝑒)

𝑟𝐴 ̈ = 𝑟𝐵̈ + 𝑟𝐴/𝐵
̈ 𝑎𝐴 = 𝑎𝐴 + 𝑎𝐴/𝐵 (𝑠𝑒𝑐𝑜𝑛𝑑 𝑑𝑒𝑟𝑖𝑣𝑎𝑡𝑖𝑣𝑒)

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Supposing the translating axes are located on particle A, as shown in fig 1.2b.

Then, rB = rA + rB/A , hence rA = rB - rB/A , but rA = rB + rA/B this shows that - rB/A= rA/B (i.e. the two
vectors are equal in magnitude but opposite in direction).

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2.0 KINEMATICS OF RIGID BODIES
2.1 Introduction
A rigid body is assumed not to change in shape during the period of analysis (i.e the relative position
between particles in the body do not change). A rigid body is said to be in plane motion when all
particles move in parallel planes as shown in fig 2.1.

a) Translation

The line between two particles remain parallel through out the motion. For rectilinear
translation, all particles move in parallel straight lines (fig2.1a). For curvilinear translation, the
particles move in curves, but the line between A and B is always parallel (fig2.1b).

b) Rotation

All particles, except those on the axis of rotation, move in circular paths around the axis.

c) General plane motion

The motion of the body is a combination of both rotation and translation.

2.2 Angular Motion relations

The expressions are similar to the expression developed for rectilinear motion. If a body moves
through an angle Δθ in time Δt, then

𝑑θ Δθ
= lim = θ̇ = 𝜔
𝑑𝑡 ∆𝑡→0 Δ𝑡

6
𝑑θ 𝑑2 θ 𝑑𝜔
= 𝜔 𝑎𝑛𝑑 𝛼 = 2 =
𝑑𝑡 𝑑𝑡 𝑑𝑡

Therefore, 𝜔𝑑𝜔 = 𝛼𝑑θ these expressions are very similar to the expressions for the rectilinear case.
Constant angular acceleration, acceleration as a function of time, etc. treated in a similar manner to the
rectilinear case.

2.3 Rotation about a fixed axis

When a rigid body rotates about a fixed axis, all points except those on the axis rotate in concentric
circles as shown in fig 2.2.

v = rω

an = rω2 = v2/r =vω

at = αr

where v is the velocity, an is the normal acceleration and at is the tangential acceleration.

2.4 Relative velocity

Consider two points on a body, A and B as shown in fig 2.3.

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The body moves from AB to A’B’. This motion can be broken down into two parts, a translation from AB
to A”B’ ( the displacement vector is rB) and then a rotation from A”B’ to A’B’ through an angular
displacement dθ.

The displacement vectors are

ΔrA = ΔrB + ΔrA/B

Therefore,

VA = VB + VA/B

𝑑θ
̅̅̅̅
𝑣𝐴 = 𝐴𝐵 = 𝑟ω
𝑑𝑡

2.5 Instantaneous centre of rotation

When bodies are in motion, the velocities can be computed if the motion is considered as a rotation
about an axis normal to the plane of the motion. This axis is the instantaneous center of rotation. The
instantaneous centre of rotation can be located as illustrated in fig2.4.

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3.0 FORCE AND ACCELERATION.
3.1 Introduction
Recall Newton’s laws.

1st A particle remains at rest or continues to move with uniform velocity unless acted on by an
unbalanced force.

2nd Acceleration is proportional to the resultant force in the direction of the motion.

3rd The forces of action and reaction are equal in magnitude, collinear and opposite in direction.

The second law relates the force and the acceleration.

F = ma, where F is the force, m is the mass and a is the acceleration. If the acceleration is considered in
its components, then ∑ 𝐹𝑥 = 𝑚𝑎𝑥 (3.1)

Equation 3.1 is the equation of dynamic equilibrium.

F3
F1
∑ 𝐹𝑥 = ma
a

F2
Fn

3.2 Rectilinear motion.

It is observed that motion can be resolved into the three axes (x,y,z). The analysis can be for
each component or for the resultant. I f we consider the x axis, then

∑ 𝐹𝑥 = 𝑚𝑎𝑥 ; ∑ 𝐹𝑦 = 0 𝑎𝑛𝑑 ∑ 𝐹𝑧 = 0

If the particle has components of motion in all the directions, then

∑ 𝐹𝑥 = 𝑚𝑎𝑥 ; ∑ 𝐹𝑦 = 𝑚𝑎𝑦 𝑎𝑛𝑑 ∑ 𝐹𝑧 = 𝑚𝑎𝑧

and a = axi + ayj + azk

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3.3 D’Alemberts’ Principle
Recall ∑ F = ma

A particle of mass m will accelerate at a when the resultant ∑ F is applied. When the particle is
observed from axes fixed on the moving particle, the particle appears to be at rest. Hence, the
observer on the particle may deduce that a force –ma acts to counter ∑ F.

i.e. ∑ F − m𝐚 = 0

The non –existent force, -ma is the inertial force and the artificial state of equilibrium created is
called dynamic equilibrium. This transformation of a dynamic problem into statics is the
D’Alemberts’ principle.

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4.0 WORK AND ENERGY
4.1 Introduction
Consider a particle A, acted on by a force F and moves as shown in fig 4.1

The work of the force F can be defined as the component of the displacement in the direction of the
force, i.e. dU = F (dscosα) or alternatively as the component of the force in the direction of the
displacement i.e. dU = (Fcosα)ds. From this definition, then any force not in the direction of the
displacement does no work. Since the displacement can either be positive or negative, then work can
also be negative or positive ( positive is the force and displacement are in the same direction and
negative if the force and displacement are in opposite directions). During a finite movement of the
application of the force, the force does work equal to:
2
𝑈 = ∫1 𝐹𝑑𝑟

or
2
𝑈 = ∫ (𝐹𝑥 𝑑𝑥 + 𝐹𝑦 𝑑𝑦 + 𝐹𝑧 𝑑𝑧)
1

The work done is the area under the force displacement curve as illustrated in fig 4.2

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 For successful integration, the relationship between the force F and the displacement S must be
known. A few cases are identified and analyzed below.

4.1.1 work from a constant force.

Consider a particle under the action of a constant force as indicated in fig 4.3

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 2
𝑈 = ∫ 𝑃𝑐𝑜𝑠𝛼𝑑𝑠
1

= Pcosα(S2 – S1) = PcosαL

4.1.2 Work from a spring force.

Consider a spring with a spring constant k. If is extended from its neutral position by a
displacement x, as shown in fig 4.4, it exerts a force kx.

The spring is displaced from the new position by dx. The work done by the force is

𝑑𝑈 = 𝑘𝑥𝑑𝑥

Hence the work done between two points, 1 and 2 is

2 1
𝑈1−2 = ∫1 𝑘𝑥𝑑𝑥 = 2
𝑘(𝑥22 − 𝑥12 )

It should be noted that the work from a spring force is always positive since the displacement is always I
the direction of the force.

4.1.3 Work due to gravity

This is the work done by the force of gravity on an object when it is subjected to some
displacement. The work is negative if the direction of displacement is opposite the direction of
gravitational acceleration (i.e. work is being done on the object). This is illustrated in fig 4.5

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 𝑑𝑈 = −𝑚𝑔𝑑𝑦
𝑦2
𝑈1−2 = ∫ −𝑚𝑔𝑑𝑦 = − 𝑚𝑔(𝑦2 − 𝑦1 )
𝑦1

4.2 Potential Energy, V

This is the energy possessed by a body/particle resulting from its position or configuration. Two
types are identified, gravitational potential energy and elastic potential energy.

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4.2.1 Gravitational Potential Energy, Vg
This is defined as the work done against the gravitational force on a particle to elevate it
through a height h from a datum, as illustrated in fig 4.6.

ΔVg = mg(h2 – h1) = mgΔh …4.1a

4.2.2 Elastic Potential Energy, Ve

This is the work done by an elastic spring with spring constant k.
𝑥 1
𝑉𝑒 = ∫0 𝑘𝑥𝑑𝑥 = 2
𝑘(𝑥22 − 𝑥12 ) …..4.1b

4.3 Kinetic Energy, T

The kinetic energy T of a particle is defined as the total work that must be done on the particle
of mass m in kg in a state of rest to bring it to a velocity of v in m/s.
1
𝑇= 2
𝑚𝑣 2

Recall F= ma

Work done when this force moves though ds

dU = mads. But ads = vdv

hence, dU = mvdv

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 2 2
∫ 𝑑𝑈 = ∫ 𝑚𝑣𝑑𝑣
1 1

Therefore,
1
𝑈2 − 𝑈1 = 2
𝑚(𝑣22 − 𝑣12 ) = ∆𝑇……4.2

Equation 4.2 is the work energy equation for the particle.

The total energy for the particle must include both the potential and kinetic components of the energy.

i.e.

Ut(1-2) = ΔT + Δ V …………….…4.3

Where Ut(1-2) is the total work,

ΔT is the change in kinetic energy

ΔV is the change in potential energy, both elastic and gravitational potential energy

Equation 4.3 can be written as T1 + V1 + Ut(1-2) = T2 +V2

If the body has kinetic energy and potential energy without any other energy or work being done on it,
then

E = T1 + V1 = T2 +V2 or E1 = E2 …………….4.4

Where E = T + V and is the total mechanical energy. Equation 4.4 is an expression of the law of
conservation of energy.

4.3.1 Kinetic energy in translation and rotation

a) Translation
1
recall 𝑇 = 2
𝑚𝑣 2

b) Rotation about a fixed axis

Consider a body rotating as shown in fig 4.7

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 An elemental mass, mi at a radial distance ri from the center of rotation will be considered.

The tangential velocity, vi = riω

KE of element,
1
𝑇𝑖 = 𝑚 (𝑟 𝜔)2
2 𝑖 𝑖

Therefore total kinetic energy,

𝑛
1
𝑇 = 𝜔2 ∑ 𝑚𝑖 𝑟𝑖2
2
𝑖=1

But the moment of inertia of the body about the fixed axis O is 𝐼𝑜 = ∑𝑛𝑖=1 𝑚𝑖 𝑟𝑖2

Therefore,

1
𝑇= 𝐼 𝜔2
2 𝑜

c) General plane motion

In this case, a body is going through a combination of both rotation and translation. Consider a
rigid body undergoing through the motions illustrated in fig 4.8.

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Consider a particle, mi with velocity 𝑣̅ and a tangential velocity ρi ω (due to the rotation).

The total kinetic energy on the particle is the sum of the KE due to rotation and KE due to translation.

1 1
𝑇𝑖 = 𝑚𝑖 𝑣̅𝑖2 + 𝑚𝑖 (𝜌𝑖 𝜔)2
2 2

The total kinetic energy for the body is:

1 1
𝑇= ∑ 𝑚𝑖 𝑣̅ 2 + ∑ 𝑚𝑖 (𝜌𝑖 𝜔)2
2 2
1 1
= 𝑚𝑣̅ 2 + 𝜔2 ∑ 𝑚𝑖 (𝜌𝑖 )2
2 2

Therefore,
1 1
𝑇= 2
𝑚𝑣̅ 2 + 𝐼 𝜔2 ,
2 𝑜
where Io is the moment of inertia about the mass center.

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5.0 IMPULSE AND MOMENTUM
5.1 Introduction
Recall F = ma

𝑑𝑣 𝑑(𝑚𝑣)
∑ 𝐹 = 𝑚𝒂 = 𝑚 = …………………….5.1
𝑑𝑡 𝑑𝑡

The product mv is the linear momentum. Equation5.1 states that the resultant of all the forces acting on
a particle equals the particle’s rate of change of linear momentum.

𝑑(𝑚𝑣)
∑𝐹 =
𝑑𝑡
= 𝐺̇ where 𝐺̇ is the rate of change of linear momentum.

5.2 The linear impulse-momentum principle

𝑑𝑣
∑𝐹 = 𝑚
𝑑𝑡
𝑡2 𝑣2
∫ ∑ 𝐹𝑑𝑡 = ∫ 𝑚𝑑𝑣
𝑡1 𝑣1

Therefore,
𝑡2
∫ ∑ 𝐹𝑑𝑡 = 𝑚𝑣2 − 𝑚𝑣1 = 𝐺2 − 𝐺1 … … … … … . .5.2
𝑡1

The product ∫ 𝐹𝑑𝑡 is the linear impulse of the force and equation 5.2 states that the impulse of a force
equals the corresponding change in linear momentum.
𝑡2
𝑚𝑣2 = 𝑚𝑣1 + ∫ ∑ 𝐹𝑑𝑡 … … … … … … … … . .5.3
𝑡1

Equation 5.3 is illustrated in fig 5.1

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5.3 Conservation of linear momentum
Consider two particles a and b with mass ma and mb and velocities va and vb respectively. If the particles
then interact, then

ma va + mb vb = (ma + mb)v …………………………..5.4

where v is the common velocity.

Equation 5.4 states that the momentum before interaction equals momentum after interaction, and it
also referred to as the Newtons law of impact.

5.4 Angular impulse and angular momentum

Consider a particle moving along a curve in space as shown in 5.2. The position of the particle is located
by the vector r . Velocity of the particle is 𝑣 = 𝒓̇ and linear momentum is mv. The moment of linear
momentum vector mv about the origin is the angular momentum Ho of particle P about O and it is the
cross product of the position vector r and the linear momentum vector mv

i.e. Ho = r x mv

It is a vector quantity and the direction is given by the right hand rule for cross products

𝑖 𝑗 𝑘
𝑯𝒐 = 𝒓 𝑥 𝑚𝒗 = | 𝑥 𝑦 𝑧|
𝑣𝑥 𝑣𝑦 𝑣𝑧

The magnitude is

mvrsinθ, which is the linear momentum times the moment arm.

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5.4.1 Rate of change of angular momentum
Consider the particle in fig 5.2 above. If the resultant of the forces acting on the particle is ∑ 𝐹, then the
moment of this force is ∑ 𝑀𝑜 = 𝒓 𝑥 𝑚𝒗̇

But Ho = r x mv

Therefore,

𝐻𝑜̇ = 𝒓̇ 𝑥 𝑚𝒗 + 𝒓 𝑥 𝑚𝒗̇ = 𝒗 𝑥 𝑚𝒗 + 𝒓 𝑥 𝑚𝒗̇ but 𝒗 𝑥 𝑚𝒗 = 𝟎

Therefore,

𝐻𝑜̇ = 𝒓 𝑥 𝑚𝒗̇ = ∑ 𝑀𝑜

Therefore,

∑ 𝑀𝑜 = 𝐻𝑜̇ … … … … … … .5.5

Equation 5.5 can be resolved into components

̇ , ∑ 𝑀𝑜𝑦 = 𝐻𝑜𝑦
∑ 𝑀𝑜𝑥 = 𝐻𝑜𝑥 ̇ , ∑ 𝑀𝑜𝑧 = 𝐻𝑜𝑧̇

Equation 5.5 can also be expressed as

𝑑 ̇
∑ 𝑀𝑜𝑥 = 𝐻
𝑑𝑡 𝑜𝑥

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Hence,

𝑡2 𝐻2 ̇
∫ ∑ 𝑀𝑜 𝑑𝑡 = ∫ 𝑑𝐻𝑜
𝑡1 𝐻1

Therefore,
𝑡2
∫ ∑ 𝑀𝑜 𝑑𝑡 = (𝐻0 )2 − (𝐻0 )1 = ∆𝐻0 … … … … .5.6
𝑡1

Where (𝐻0 )2 = 𝒓 𝑥 𝑚𝒗𝟐 𝑎𝑛𝑑 (𝐻0 )1 = 𝒓 𝑥 𝑚𝒗𝟏

Therefore,
𝑡2
(𝐻0 )2 = (𝐻0 )1 + ∫ ∑ 𝑀𝑜 𝑑𝑡 … … … … 5.7
𝑡1

Ho and Mo can be resolved into components in the x, y and z axis for the 3D case

In a similar analysis to the linear case, it can be shown that

(𝐻0 )2 = (𝐻0 )1, which expresses the principle of conservation of angular momentum.

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6.0 MOMENT OF INERTIA
6.1 Introduction
1
Recall: the kinetic energy of a body in pure rotation about a fixed axis is 𝐾. 𝐸 = 𝐼 𝜔2
2 𝑜
where Io is the
mass moment of inertia and ω is the angular velocity.

The mass moment of inertia describes how the mass of a rigid body is distributed with respect to a
chosen axis.

6.2 Determination
Consider a body of mass m rotating at an angular velocity ω about an axis O-O as shown in fig 6.1

Consider an element of mass dm at a radius r from the axis. From Newton’s second law, (F = Ma)

(a = tangential acceleration = αr)

Therefore, for the element, dF = dm αr

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Moment = force times perpendicular distance

Therefore,

Elemental moment, dM = dm αr * r = dm αr2

Since the body is rigid, α is constant for all elements in the body

Therefore,

𝑀 = ∫ 𝑑𝑀 = 𝛼 ∫ 𝑟 2 𝑑𝑚 … … … … 6.1

The integral ∫ 𝑟 2 𝑑𝑚 = 𝐼𝑜 is the mass moment of inertia of the body about O-O

Equation 6.1 can also be expressed as

∑ 𝑚𝑖 𝑟𝑖2 … … … .6.1𝑎 where mi is the mass of element i and ri is the radial distance of element i from
the axis of rotation.

In equation 6.1, if the density ρ is constant, then dm = ρdv where dv is the elemental volume.

Therefore,

𝐼𝑜 = ∫ 𝑟 2 ρ𝑑𝑣 = ρ ∫ r 2 𝑑𝑣

Consider a solid circular shaft, rotating about O-O as shown in fig 6.2

To compute the moment of inertia, we consider an elemental annulus at a radius r, with radial thickness
dr as shown in fig 6.3.

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𝐼𝑜 = 𝜌 ∫ 𝑟 2 𝑑𝑣

But dv = 2πrdr*l

𝑅 𝑅 2πr4
Therefore, 𝐼𝑜 = 𝜌 ∫0 𝑟 2 2πlrdr = 𝜌𝑙 ∫0 2π𝑟 3 dr = ρl 4
𝑓𝑜𝑟 𝑙𝑖𝑚𝑖𝑡𝑠 𝑟 = 0 𝑡𝑜 𝑟 = 𝑅

𝜋𝑅4
= 𝜌𝑙 2

But 𝑚 = 𝜌𝑣 = 𝜌𝜋𝑟 2 𝑙

Therefore,

1
𝐼= 𝑚𝑅 2
2

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6.3 Radius of Gyration
Recall
𝐼𝑜 = ∫ 𝑟 2 𝑑𝑚

We can take I = k2m, k is the distance from the axis of rotation to a point where we can assume the mass
of the rotating body is concentrated (similar to centre of gravity in statics). k is the radius of gyration.

𝐼
𝑘= √
𝑚

Therefore, the mass moment of inertia of a body can be defined by specifying the mass and the radius of
gyration.

6.4 The parallel axis theorem

The parallel axis theorem states that if the mass moment of inertia of a body about the centroidal axis is
IG , then the mass moment of inertia I about an axis, parallel to the centroidal axis, at a distance D apart,
is given by I = IG + D2 m where m is the mass of the body.

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6.4.1 Proof for the parallel axis theorem
Consider the rigid body illustrated in fig 6.5

O-O is a centroidal axis

𝐼00 = 𝐼𝐺 = ∫ 𝑟02 𝑑𝑚

C-C is a general axis, distance D from O-O and parallel .

𝐼𝑐𝑐 = ∫ 𝑟 2 𝑑𝑚

But r2 = (D + x)2 + y2

Therefore

𝐼𝐶𝐶 = ∫((𝐷 + 𝑥)2 + 𝑦 2 )𝑑𝑚

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= ∫(𝐷 2 + 2𝐷𝑥 + 𝑥 2 + 𝑦 2 )𝑑𝑚

But (𝑥 2 + 𝑦 2 ) = 𝑟𝑜2

Therefore,

𝐼𝐶𝐶 = ∫(𝐷 2 + 2𝐷𝑥 + 𝑟02 )𝑑𝑚

𝐼𝑐𝑐 = ∫ 𝐷 2 𝑑𝑚 + 2𝐷 ∫ 𝑥𝑑𝑚 + ∫ 𝑟02 𝑑𝑚

∫ 𝐷 2 𝑑𝑚 = 𝐷𝑚

2𝐷 ∫ 𝑥𝑑𝑚 = 2𝐷𝑥̅ 𝑚 = 0

∫ 𝑟02 𝑑𝑚 = 𝐼𝐺

Therefore,

𝐼𝐶𝐶 = 𝐼𝐺 + 𝐷 2 𝑚

6.5 Mass moment of inertia for composite bodies

Recall

𝐼𝐺 = ∑ 𝑚𝑖 𝑟𝑖2 … … … .6.1𝑎 where mi is the mass of element i and ri is the radial distance of element i
from the axis of rotation.

The mass moment of inertia I for composite bodies can be obtained by algebraically adding the
moments of inertia for the individual elements of the composite body.

For example, compute the mass moment of inertia for the flywheel shown in fig 6.6. It has a hole of
radius r, at a distance d from the axis of rotation. To obtain Ioo the moment of inertia for the entire
wheel is obtained. By using the parallel axis theorem, Ioo of the hole is obtained. Since it is a hole, it is
subtracted from the Ioo of the solid flywheel, (similar to how centroids were computed for composite
bodies).

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