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Chapter 5: Plane Motion

Prepared by:
Engr. Lucia V. Ortega

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Topic Outline

a) Definition and Analysis of Plane Motion

b) Plane Motion of Rigid Bodies
c) Kinetic Energy during Plane Motion
d) Free Rolling
e) Plane Motion with Sliding

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Course Learning Objectives

At the end of this Chapter, the students should be able to:

a) Define and analyze plane motion
b) Derive equations for plane motion of rigid bodies
c) Determine the kinetic energy produced during plane motion
d) Analyze and solve problems about free rolling bodies
e) Analyze and solve problems about plane motion with sliding

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Definition and Analysis of Plane Motion

❑ Plane motion is that motion of a rigid body in which all particles

in the body remains at a constant distance from a fixed reference
plane.
❑ All particles move in parallel planes and all particles lying on the
same straight line perpendicular to the reference plane have
identical values of displacement, velocity, and acceleration.
❑ The plane in which the center of gravity moves is the plane of
motion
❑ Examples of bodies having plane motion
a) Rolling wheels
b) The connecting rod of a reciprocating engine
c) Link joining rotating elements of machines
❑ Plane motion – is a simultaneous combination of the motions of
translation and rotation.

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Plane Motion of Rigid Bodies

The figure represents a rigid body which

translates and rotates about point A due to
the unbalanced forces 𝐹1 , 𝐹2 and 𝐹3 . These
forces cause the entire body to move in such
a way that any given particle in it such as 𝐴
has an absolute linear acceleration to the
right, and every particle, such as 𝑑𝑚, rotates
about 𝐴 with an angular acceleration 𝛼 and
angular velocity 𝜔 . Thus, there are three
forces, 𝑑𝑚 𝑎1 , 𝑑𝑚 𝜌𝜔2 and 𝑑𝑚 𝜌𝛼, acting on
the particle 𝑑𝑚.

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Plane Motion of Rigid Bodies

Let σ 𝑭 be the resultant of the external forces. The

x- and y-components of σ 𝐹 will be σ 𝐹𝑥 and σ 𝐹𝑦
respectively.
Summing up components….
σ 𝐹𝑥 = ‫𝑎 𝑚𝑑 ׬‬1 − ‫ 𝛼𝜌 𝑚𝑑 ׬‬sin 𝜃 − ‫𝜔𝜌 𝑚𝑑 ׬‬2 cos 𝜃
𝑦 𝑥
σ 𝐹𝑥 = 𝑎1 ‫ 𝑚𝑑 ׬‬− 𝛼 ‫ 𝜌 𝑚𝑑 ׬‬− 𝜔2 ‫𝜌 𝑚𝑑 ׬‬
𝜌 𝜌

σ 𝑭𝒙 = 𝒎𝒂𝟏 − 𝐦ഥ 𝒙𝝎𝟐
𝒚𝜶 − 𝒎ഥ (1)
σ 𝐹𝑦 = ‫ 𝛼𝜌 𝑚𝑑 ׬‬cos 𝜃 − ‫𝜔𝜌 𝑚𝑑 ׬‬2 sin 𝜃
𝑥 𝑦
σ 𝐹𝑦 = 𝛼 ‫ 𝜌 𝑚𝑑 ׬‬− 𝜔2 ‫𝜌 𝑚𝑑 ׬‬
𝜌 𝜌

σ 𝑭𝒚 = 𝐦ഥ 𝒚𝝎𝟐
𝒙𝜶 − 𝒎ഥ (2)

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Plane Motion of Rigid Bodies

σ 𝑀𝐴 = σ 𝐹𝑑 = ‫ ׬‬−𝑑𝑚 𝑎1 𝑦 + ‫𝜌𝛼𝜌 𝑚𝑑 ׬‬
Since ‫𝜌 ׬‬2 𝑑𝑚 = 𝐼
σ 𝑴𝑨 = −𝐦𝒂𝟏 𝒚
ഥ + 𝑰𝑨 ∝ (3)
Equations (1), (2) and (3) are the general
equations of plane motion.
If the center of gravity G is taken as the point of
rotation of the body, the quantities 𝑥ҧ and 𝑦ത
become zero, and the equations reduces to…
σ 𝐹𝑥 = 𝑚𝑎
σ 𝐹𝑦 = 0 (4)
σ 𝑀𝐴 = 𝐼𝐺 ∝

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Kinetic Energy during Plane Motion

Plane motion at any instant is a simple rotation of the

body about an axis known as the instantaneous center. If
𝐼𝑖 is the moment of inertia of the body about the
instantaneous axis, then the kinetic energy of the body
is…
1
𝐾𝐸 = 2 𝐼𝑖 𝜔2
However,
𝐼𝑖 = 𝐼𝑔 + 𝑚𝑟ҧ 2
Where:
𝑟ҧ is the distance between the center of gravity G and
the instantaneous center.

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Kinetic Energy during Plane Motion

1
𝐾𝐸 = 2 𝐼𝐺 + 𝑚𝑟ҧ 2 𝜔2
1 1
𝐾𝐸 = 𝐼𝐺 𝜔2 + 𝑚 𝑟𝜔
ҧ 2
2 2
1 1
𝐾𝐸 = 2 𝐼𝐺 𝜔2 + 2 𝑚𝑣 2 (5)
Where 𝑣 = 𝑟𝜔 ҧ is the absolute linear velocity of the center
of gravity G.
Note that:
1
𝐼 = kinetic energy of rotation about the center of gravity
2 𝐺
1
𝑚𝑣 2 = kinetic energy of translation.
2

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Free Rolling

The most common examples of plane

motion are the rolling of a wheel,
cylinder, or sphere along a plane. If no
sliding or slipping occurs during the
motion, the motion is called free or pure
rolling.

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Plane Motion with Sliding

Should sliding occur in plane motion, the

relationship 𝑎 = 𝑟𝛼 is no longer true, Instead use
the equation 𝑇𝑜𝑟𝑞𝑢𝑒 = 𝐼𝛼

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Example 1:

Problem:
The figure represents a cylinder 0.80 𝑚 in
diameter weighing 250 𝑁 on a horizontal floor.
Attached to the cylinder and concentric with it
is a hollow cylinder 0.40 𝑚 outside diameter, of
negligible weight, around which a cord is
wrapped. Determine the magnitude of a
horizontal force 𝑃 which will produce an
acceleration of 4 𝑚/𝑠 2 . What is the frictional
force 𝐹 and the linear velocity of the center
after moving 12 𝑚 from rest.

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Example 1:

Solution:
𝑾
❑ σ 𝑭𝒙 = 𝒂
𝒈
250
𝑃−𝐹 = 9.81 4 = 101.937 𝑁 (1)
❑ σ 𝑴𝒐 = 𝑰𝒐 𝜶
1 250 2 4
𝑃 0.2 + 𝐹 0.4 = 2 0.4
9.81 0.4
𝑃 + 2𝐹 = 101.937 (2)
❑ Solving eqs. 1 and 2 simultaneously
𝑷 = 𝟏𝟎𝟏. 𝟗𝟑𝟕 𝑵 Answer
𝑭=𝟎 Answer
❑ 𝒗𝟐 = 𝒗𝒐 𝟐 + 𝟐𝒂𝒔
𝑣 2 = 0 + 2 4 12
𝒗 = 𝟗. 𝟖𝟎 𝒎/𝒔 Answer

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Example 2:

Problem:
A sphere starts up a 20 incline with
linear velocity of 6 𝑚/sec . How far up 𝑾
𝟐𝟎°
the incline will it roll if there is no 𝒓
slipping? 𝑶

𝟐𝟎°

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Example 2:

Solution:
𝑊 𝑊
σ 𝐹𝑥 = 𝑎 𝑊 sin 20° − 𝐹 = 𝑎 (1)
𝑔 𝑔
2 𝑊 𝑾
σ 𝑀𝑜 = 𝐼𝑜 𝛼 𝐹𝑟 = 5 𝑔
𝑟2𝛼 𝟐𝟎°

𝑎 2 𝑊 𝑎 𝒓
𝛼= 𝐹𝑟 = 5 𝑟2
𝑟 𝑔 𝑟 𝑶
2 𝑊
𝐹=5 𝑎 (2)
𝑔
Solving eqs. 1 and 2 simultaneously
𝒎
𝒂 = 𝟐. 𝟑𝟗𝟕 𝒔𝟐 (-)
𝟐𝟎°
At the top where the sphere stops, 𝒗 = 𝟎
𝑣 2 = 𝑣𝑜 2 + 2𝑎𝑠 0= 6 2 + 2 −2.397 𝑠
𝒔 = 𝟕. 𝟓𝟏 𝒎 Answer

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Example 3:

Problem:
𝑾 = 𝟒𝟎𝟎 𝑵
A cylinder 0.60 𝑚 in diameter weighing 𝑾
𝒌 = 𝟎. 𝟐𝟎 𝒎

400 𝑁, starts from rest and rolls freely 𝟑𝟎°

𝟎. 𝟑𝟎 𝒎

down a 30 incline 6 𝑚 long. The radius

of gyration for the cylinder is 0.20 𝑚.
Determine the linear velocity and linear 𝟑𝟎°
acceleration of the center of the
cylinder at the foot of the incline. What
is the frictional force?

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Example 3:
Solution:
𝑊 400
❑ σ 𝐹𝑥 = 𝑎 400 sin 30° − 𝐹 = 9.81 𝑎 𝑾 = 𝟒𝟎𝟎 𝑵
𝑔
𝒌 = 𝟎. 𝟐𝟎 𝒎
𝟐𝟎𝟎 − 𝑭 = 𝟒𝟎. 𝟕𝟕𝟓𝒂 (1) 𝑾
𝟑𝟎°
400 𝟎. 𝟑𝟎 𝒎
❑ σ 𝑀𝑜 = 𝐼𝑜 𝛼 𝐹 0.30 = 0.20 2 𝛼
9.81
𝑎 400 2 𝑎
❑ 𝛼= 𝐹 0.30 = 9.81 0.20
0.30 0.30
𝑭 = 𝟏𝟖. 𝟏𝟐𝟐𝒂 (2)
𝟑𝟎°
❑ Solving eqs. 1 and 2 simultaneously
𝒎
𝒂 = 𝟑. 𝟑𝟗𝟔 Answer
𝒔
𝑭 = 𝟔𝟏. 𝟓𝟑𝟖 𝑵 Answer
❑ 𝑣 2 = 𝑣𝑜 2 + 2𝑎𝑠 𝑣 2 = 02 + 2 3.396 6
𝒎
𝒗 = 𝟔. 𝟑𝟖𝟒 Answer
𝒔

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Example 4:
Problem:
In the figure, a 600 𝑁 hollow cylinder,
0.60 𝑚 in outside dimeter, has a rope
wrapped around it, and the free end of
the rope is attached to a 250 𝑁 weight
𝟐𝟓𝟎 𝑵 𝟐𝒂
as shown. If 𝑘 = 0.20 𝑚, determine the 𝟎. 𝟑 𝒎
distance which the cylinder will roll in 𝜶

10 𝑠𝑒𝑐𝑜𝑛𝑑𝑠 from rest, the tension in the

rope, and the magnitude and direction
of the frictional force which acts on the 𝟑𝟎°
cylinder.

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Example 4:

Solution:
Effective force solution:
𝑊 600
σ 𝐹𝑥 = 𝑎 𝑇 − 𝐹 − 600 sin 30° = 9.81 𝑎
𝑔 𝑻
𝟔𝟎𝟎 𝜶
𝑻 − 𝑭 − 𝟑𝟎𝟎 = 𝟗.𝟖𝟏 𝒂 (1)
𝑰𝜶
600 𝟐𝟓𝟎
σ 𝑀𝑜 = 𝐼𝑜 𝛼 0.30𝑇 + 0.30𝐹 = 0.20 2𝛼 𝟐𝒂
9.81 𝒈
𝟎. 𝟑 𝒎
𝑎 600 2 𝑎 𝑻
𝛼= 0.30𝑇 + 0.30𝐹 = 0.20
0.30 9.81 0.30
𝑻 + 𝑭 = 𝟐𝟕. 𝟏𝟖𝟑 𝒂 (2)
𝟔𝟎𝟎 𝟐𝒂
Considering the 250 N block 𝒂 𝑨
𝒈
𝑊 250 𝟐𝟓𝟎 𝑵
σ 𝐹𝑣 = 𝑎 250 − 𝑇 = 2𝑎
𝑔 9.81
𝑻 = 𝟐𝟓𝟎 − 𝟓𝟎. 𝟗𝟔𝟖 𝒂 (3)

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Example 4:

❑ Solving eqs. 1, 2 and 3, simultaneously

𝑻 = 𝟏𝟗𝟔. 𝟒𝟑 𝑵
𝑭 = −𝟏𝟔𝟕. 𝟖𝟔 𝑵 𝑻
𝒎
𝒂 = 𝟏. 𝟎𝟓𝟏 𝒔𝟐 𝜶
𝑰𝜶
1 𝟐𝟓𝟎
2
❑ 𝑠 = 𝑣𝑜 𝑡 + 𝑎𝑡 𝒈
𝟐𝒂
2
𝟎. 𝟑 𝒎
1 2 𝑻
s = 0 + 2 1.051 10

𝒔 = 𝟓𝟐. 𝟓𝟓 𝒎 Answer 𝟔𝟎𝟎 𝟐𝒂

𝒂 𝑨
𝒈
𝟐𝟓𝟎 𝑵

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Example 4:
❑ Work-Energy solution:
IKE – initial kinetic energy = 0
PU – positive work = 250 2𝑑 = 500𝑑
NU – negative work = 600 sin 30° 𝑑 = 300𝑑 𝑻
FKE – final kinetic energy 𝜶
𝑰𝜶
1 250 2 1 600 𝟐𝟓𝟎
FKE = 2𝑣 + 2 9.81 𝑣2 + 𝟐𝒂
2 9.81 𝒈
2 𝟎. 𝟑 𝒎
1 600 2 𝑣 𝑻
0.20
2 9.81 0.30
FKE = 95.141 𝑣2
𝟔𝟎𝟎 𝟐𝒂
❑ Applying work-energy equation 𝒂 𝑨
𝒈
𝐼𝐾𝐸 + 𝑃𝑈 − 𝑁𝑈 = 𝐹𝐾𝐸 𝟐𝟓𝟎 𝑵

0 + 500𝑑 − 300𝑑 = 95.141𝑣 2

200𝑑 = 95.141𝑣 2 (1)

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Example 4:

❑ Also,
𝑣𝑜 +𝑣 0+𝑣
𝑑= 𝑡 𝑑= 10
2 2 𝑻
𝑑 𝜶
𝑣= 5 𝑰𝜶
𝟐𝟓𝟎
❑ Substituting d to eq. (1), 𝒈
𝟐𝒂
𝟎. 𝟑 𝒎
𝒅 = 𝟓𝟐. 𝟓𝟓 𝒎 𝑻
𝒎
𝑽 = 𝟏𝟎. 𝟓𝟏𝟏 𝒔
𝟔𝟎𝟎 𝟐𝒂
2 2
❑ 𝑣 = 𝑣𝑜 + 2𝑎𝑠 𝒈
𝒂 𝑨
2 𝟐𝟓𝟎 𝑵
10.511 = 0 + 2𝑎 52.55
𝒎
𝒂 = 𝟏. 𝟎𝟓𝟏 Answer
𝒔𝟐

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Example 5:

Problem:
A solid cylinder, 0.30 𝑚 in diameter and
weighing 180 𝑁 , has a rope wound
around it as shown. If the cylinder is
released from rest and allowed to fall, 𝜶

find the linear acceleration and the

𝒂
tension in the rope. Determine also the 𝑶
linear velocity of the center of the
cylinder after it has fallen 1.20 𝑚.

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Example 5:

Solution:
From free-body diagram of the cylinder with the reversed effective 𝟏𝟖𝟎
force applied to it. 𝒂
𝒈
180
❑ σ 𝐹𝑣 = 0 𝑇+ 𝑎 − 180 = 0
9.81 𝑻
180 𝑰𝜶
𝑇 = 180 − 𝑎 (1)
9.81
1 180 2 𝑎 𝟎. 𝟏𝟓 𝒎
❑ σ 𝑀𝑜 = 𝐼𝑜 𝛼 𝑇 0.15 − 0.15 =0
2 9.81 0.15 𝒂 𝑶
90 𝜶
𝑇= 𝑎 (2)
9.81
❑ Solving eqs. 1 and 2 simultaneously
𝒎
𝒂 = 𝟔. 𝟓𝟒 𝑻 = 𝟔𝟎 𝑵 Answer
𝒔𝟐
❑ 𝑣 2 = 𝑣𝑜 2 + 2𝑎𝑠 𝑣 2 = 0 + 2 6.54 1.20 𝟏𝟖𝟎 𝑵
𝒎
𝒗 = 𝟑. 𝟗𝟔𝟐 Answer
𝒔

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Example 5:

Solution:
❑ Using work-energy equation 𝟏𝟖𝟎
𝒂
𝒈
𝐼𝐾𝐸 + 𝑃𝑈 − 𝑁𝑈 = 𝐹𝐾𝐸
𝑻
𝑊𝑣 2 1 𝑰𝜶
0 + 𝑊ℎ − 0 = 2𝑔
+ 2 𝐼𝑜 𝜔2
𝟎. 𝟏𝟓 𝒎
180𝑣 2 1 1 180 2 𝑣 2
180 1.20 = + 0.15 𝒂 𝑶 𝜶
2 9.81 2 2 9.81 0.15
𝒎
𝒗 = 𝟑. 𝟗𝟔𝟐 𝒔
Answer

𝟏𝟖𝟎 𝑵

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References

1) Singer, Ferdinand L., Engineering Mechanics, Harper International

Edition
2) Beer and Johnston, Vector Mechanics for Engineers: Dynamics,
10th SI ed. McGraw-Hill, 2003.
3) Meriam and Kraige, Engineering Mechanics: Dynamics, John
Wiley & Sons, 2002
4) Hibbeler, R. C., Engineering Mechanics: Dynamics, 14th edition

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