06/09/2014

ME 361 DYNAMICS OF MACHINERY

UNIT 3 3D KINETICS OF RIGID BODIES

Facilitators
Dr. J. Ampofo Takoradi Centre & Leader
Mr. M. N. Sackey Accra
Mr. F. W. Adam Kumasi

BSC MECHANICAL ENGINEERING, 3RD YEAR

DEPARTMENT OF MECHANICAL ENGINEERING

KWAME NKRUMAH UNIVERSITY OF SCIENCE AND TECHNOLOGY, KUMASI

ME 361 Unit 2 1

Equations of Translational Motion

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Equations of Rotational Motion

The angular momentum of a body (H) is defined as the moment
of linear momentum of the body.

From Newton Second Law: The Algebraic sum of moments

acting on a body is directly proportional to the rate of change of
angular momentum of that body.
𝑑𝐻
𝑀=
𝑑𝑡

𝐻= (𝜌𝑖 × 𝑚𝑖 v)

𝐻= (𝜌𝑖 × 𝑚𝑖 (𝜔 × 𝜌𝑖 ))

Angular Momentum(H) of an
Arbitrary Point A

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Rectangular Components of H

H        dm 
m


H x i  H y j  H x k   ( xi  yj  zk )  ( x i   y j   x k )  ( xi  yj  zk ) dm
 
m

H A   G / A  mv G        dm
m

Case1; A coincides with G ⇒ G / A  0

 H A  H G     (   )dm
m


H A   ( xi  yj  zk )  ( x i   y j   x k )  ( xi  yj  zk ) dm 
m

Rectangular Components of H
cont’d…
i j k
H A   ( xi  yj  zk )   x  y  z dm
m
x y z
i j k
HA   x y z dm
m
( z y  y z ) ( x z  z x ) ( y x  x y )
This can be simplified to give
 H Ax   I xx  I xy  I xz   x 
    
 H Ay     I yx I yy  I yz   y 
H   I  I zy I zz   z 
 Az   zx

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Rectangular Components of H
cont’d…
• Case 2; point A is fixed

 H A  H O     (   )dm
m

The value of H is the same as in case 1, with the new axes at

the fixed point

• Case 3; the principal axes are chosen as the axes of rotation

I xy  I yz  I xz  0
 H x  I xx x
H y  I yy y
H z  I zz z

FUNDAMENTAL EQUATIONS OF
MOTION OF A 3-D RIGID BODY
  
𝐹 = 𝑚𝑎𝐺 ; 𝑀=
𝑑𝐻
𝑑𝑡
 M G    ( H G ) xyz    H G 
Let ω be the angular
velocity of the body and
Ω the angular velocity of
the frame.

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EQUATIONS OF MOTION OF A 3-
D RIGID BODY cont’d…

M G  ( H G ) xyz    H G
  
  M x   I xx  I xz   x 
 I xy
     
  M y     I yx I yy  I yz   y   ( x i   y j   z k )  ( H x i  H y j  H z k )
 M   I I zz   
  z   zx

 I zy
 z
This can be simplified to give
  
  M x   I xx  I xy  I xz   x   0  z  y  I xx  I xy  I xz   x 
         
  M y     I yx I yy  I yz   y     z 0   x   I yx I yy  I yz   y 
 M   I I zz       y 0   I zx I zz   z 
  z   zx

 I zy x  I zy
 z

EQUATIONS OF MOTION OF A 3-
D RIGID BODY cont’d…
CASES
• Case 1; principal axes are chosen as the axes
of rotation, I xy  I yz  I xz  0   
• Case 2; constant angular velocity,  x   y   z  0
• Case 3; frame rotating with the same angular
velocity of body,   
• Case 4; fixed frame   
• Case 5; fixed axes rotation

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EULER’S EQUATIONS OF
MOTION
If the x, y, and z axes are chosen to coincide with the principal
axes of inertia of the body(centroid), the angular momentum
I xy  I yz  I xz  0  H x  I xx x i  I yy y j  I zz z k

 M  (H )    H ;   
G G xyz G

 
 M  I   I    I    I   (I
x x x z z y y y z x x y  I z ) y z .........(1)
 
 M  I   I    I    I   (I
y y y x x z z z x y y z  I x ) z x .........( 2)
 
 M  I   I    I    I   (I
z z z y y x x x y z z x  I y ) x y .........(3)
 F  ma
x x ..........(4)
 F  ma
y y ..........(5)
 F  ma
z z ..........(6)

Worked Example 1
1. A student holds a 5-kg hot rectangular plate with a
tong (not shown) at point O in the Figure below. Find
the couple exerted on the plate by the tong at the
instant the plate is horizontal and moving at angular
velocity and acceleration of 5i -3j + 4 k (rad/s) and -
5 i +5j – 2k (rad/𝑠 2 ), respectively.

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Worked Example 1 cont’d

Solution
The moments and products of inertia about point O are

Worked Examples cont’d

Solution to 3.1 cont’d
Let the force and couple acting on the plate at the point of contact with
the manipulator respectively be F and C. The total moment about point
O of the free-body shown is

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Worked Examples cont’d

Solution to 3.1 cont’d

Worked Example 2
2. The 10-kg thin cylinder shown below rotates about the shaft at a
constant speed of ωs = 6 rad/s. At the same time, the shaft is rotating
about the vertical axis about an axis through A with an angular velocity
ωp = 3 rad/s. If A is thrust bearing and B is a journal bearing, determine
the components of force reaction at each bearing due to the motion.

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Solution 2
Free-body diagram of the cylinder and the shaft is shown in the
Figure below. In the figure the origin of the coordinate systems
coincide at the centre of mass G of the cylinder. Thus, the products
of inertia are equal to zero.

Solution 2 cont’d…
The moments of inertia are:
1 1
I xx  I zz m(3r 2  L2 )  (10){3(2) 2  0 2 }  0.1 kgm 2
12 12
I yy  mr 2  100.2  0.2 kgm 2
1 1 2

2 2

Alternative I;   
   p  3k rad/s;   d   p  (6 j  3k ) rad / s
 x   y  0;  z  3 rad/s
 x  0;  y  6 rad/s;  z  3 rad/s
  
x   y  z  0

  M x   0   z  y   I xx  I xy  I xz   x  0  3 0 0.1 0 0  0    3.6 
         
  M y    z 0   x   I xy I yy  I yz   y   3 0 0  0 0.2 0  6    0 
 M     0   I xz  I yz I zz   z  0 0 0  0 0 0.1 3   0 
 z   y x

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Solution 2 cont’d…
Alternative II;   
    (6 j  3k ) rad / s
 x  0;  y  6 rad / s;  z  3 rad/s
 x  0;  y  6 rad/s;  z  3 rad/s
 
   p   s   p   s  0  0  3k  6 j  18i rad/s
  
 y   z  0;  x  18 rad/s

Using Euler' s equations


M x  I x  x  ( I y  I z ) y z 
0.1 18 - (0.2 - 0.1)  6  3  -3.6 Nm

M y  I y  y  ( I z  I x ) z x  0

M z  I z  z  ( I x  I y ) x y  0

Solution 2 cont’d…
From the free body diagram
𝐹𝑥 = 0; 𝐴𝑥 + 𝐵𝑥 = 0 ………1

𝐹𝑦 = 0; 𝐴𝑦 + 𝑚𝜔2 𝑟 = 0 ⇒ 𝐴𝑦 = −10 32 x0.5 = −45 𝑁 … … … 2

𝐹𝑧 = 0; 𝐴𝑧 + 𝐵𝑧 = 98.1 ………3

𝑀𝑥 = 0; 0.5(𝐵𝑧 − 𝐴𝑧 ) = −3.6 ………4

𝑀𝑦 = 0; 0 = 0 ………5

𝑀𝑧 = 0; 𝐴𝑥 − 𝐵𝑥 = 0 ………6

Solving these equations simultaneously, we obtain

𝐴𝑥 = 𝐵𝑥 = 0

𝐴𝑧 = 52.65 𝑁; 𝐵𝑧 = 45.45 𝑁

𝐴𝑦 = −45 𝑁

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GYROSCOPIC MOTION
For a body rotating about a fixed point, the axis of rotation will always pass through the
fixed point, but the body's orientation will not remain fixed.

(a) Precession (b) Nutation (c) Spin

From (a) From (c) From (d) the angular velocities relative
𝜔𝑧′ = ϕ to the rotating frame of reference xyz
From (b) 𝜔𝑥 = 𝜔𝑥′′′ = ϕ𝑠𝑖𝑛𝑠𝑖𝑛 + 𝑐𝑜𝑠
𝜔𝑥′′ = 𝜃; 𝜔𝑦 = 𝜔𝑦′′′ = ϕ𝑠𝑖𝑛 𝑐𝑜𝑠 − 𝑠𝑖𝑛
𝜔𝑦′′ = ϕ𝑠𝑖𝑛 (d) 𝜔𝑧 = 𝜔𝑧′′′ =  + ϕ𝑐𝑜𝑠
𝜔𝑧′′ = ϕ𝑐𝑜𝑠

GYROSCOPIC MOTION cont’d…

Since the coordinate axes are embedded in the body ⇒ ω = Ω;
However if the reference frame is chosen such that it only
Follows the motion of the body in precession and nutation.
 = 0, and select  = 0
𝜔𝑥 = 𝜃; Ω𝑥 = 𝜃;
𝜔𝑦 = ϕ𝑠𝑖𝑛 Ω𝑦 = ϕ𝑠𝑖𝑛
𝜔𝑧 = ϕ𝑐𝑜𝑠 +  Ω𝑧 = ϕ𝑐𝑜𝑠

M x  I xx  I zz  I xx  2 sin  cos   I zz sin 

M y   
 I xx sin   2 cos   I zz  cos   
M z  I zz   cos   sin  

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GYROSCOPIC MOTION cont’d…

Case 1-1: Steady Precession
ϕ = constant;  = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡;  = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡

M x  I xx  I zz  I xx  2 sin  cos   I zz sin 

M y  Mz  0

Case 1-2: Steady Precession with  = 90𝑜

ϕ = constant;  = 90𝑜 ;  = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡

M x  I zz sin 
M y  Mz  0

GYROSCOPIC MOTION cont’d…

Case 1-3: Steady Precession with no external moment (torque free
motion)-spacecraft, projectiles, satellites, spinning football, bullet etc,.

H G  H G sin  j  H G cos  k H G  I x i  I y j  I zz z k

H G sin  H G cos 
x  0 y  z 
I I zz
  0    constant
H sin  HG
 sin   G  
I I
H cos  I I 
 cos    G    zz
 cos 
I zz  zz 
I

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Worked Example 3
A top of mass of 0.5 kg is precessing about the vertical axis at a
constant angle of 60o, as shown in below. If it spins at ωs = 100 rad/s,
determine the precessional velocity ωp. Assume that the axial and
transverse moments of inertia of the top are 0.45 x 10-3 kg.m2 and 1.20
x 10-3 kg.m2, respectively, measured with respect to the fixed point O.

FBD

Solution 3 cont’d…
From the FBD above, the coordinate system is established such that the
vertical points toward the positive Z direction, which is the axis of
precession. Based on the coordinated system, the following given data are;
Ixx = 1.20 x 10-3 kg.m2, Izz = 0.45 x 10-3 kg.m2, m = 0.5 kg, h = 50 mm, θ =
60o. Assuming that the motion is a steady precession, the sum moments
about point O is

mgh sin   I zz  I xx  2 sin  cos   I zz sin 

0.59.810.05sin 60o  0.45 x 10-3  1.20 x 10-3 2 sin 60o cos 60o   0.45 x 10-3 100 sin 60o
0.325  2  38.971  212  0

  114.3 rad/s   5.712 rad/s

In reality, the low precession angular velocity would occur since that requires lower
kinetic energy. Hence,
  5.712 rad/s

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Worked Example 4
The wheel shown in (a) has mass 1kg. It rotates at end D of the shaft
with angular velocity of 70 rad/s in the direction shown. A non-
rotating body of mass 2 kg is placed on the shaft a distance s from the
point of rotation of the shaft. Neglecting the mass of the shaft,
determine the position s that will enable the wheel to have a steady
processional velocity.

M x  I zz
1
(1)(0.05) 2 x - 70x0.5  1x9.81x0.2 - 2x9.81s
2
- 0.04375  1.962 - 19.62s
 s  102 mm

Worked Example 5
A young man threw a cocoa pod and the motion of it is observed to be
directed 30o from the horizontal, while it is precessing about the
vertical axis at 3 rad/s, as shown in the Figure. Neglecting the effect of
air resistance and knowing that the ratio of the axial to transverse
moments of inertia of the cocoa pod is 1/3 measured from the centre of
mass, determine the magnitude of the spin of the pod and its angular
velocity.

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Solution
I   3I 
   xx  1 cos    zz  13 cos 60o   3 rad/s
 I zz   I zz 
H G  I yy  I xx  3I 

x  0 y 
3I sin 60  2.598 rad/s   3I cos 60  3I cos 60  4.5 rad/s
I
z 1
I zz  3 I

     
x
2
y
2
  z  
2
 0 2
 2.598  4.5
2 2

  5.196 rad/s

Gyroscopic Effects in Machines

Worked Example 6
The turbine rotor of a ship has a mass of 30 t, a radius of gyration of 600 mm,
and rotates at 2400 rev/min in a clockwise direction when viewed from aft.
The ship pitches through a total of 15°, 7.5° above and 7.5° below the
horizontal, the motion being simple harmonic and having a period of 12 s.
Determine the maximum gyroscopic couple on the holding down bolts of the
turbine.

Solution
M x  I zz
I zz  mk 2  30 103 (0.6) 2  10.8 103 kgm 2
2
  2400   251.327 rad/s
60
2 2 
     7.5   0.0685 rad/s
T 12 180
 M x  10.8 103  251.327  0.0685  185.932 kNm

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Worked Example 7
A motor bike and its rider have mass 250 kg goes around the circular at the
entrance to the Kwame Nkrumah University of Science and Technology, Kumasi,
at speed of 100 km/h. The combined centre of gravity of the rider and the bike is
0.6 m above the road surface when the vehicle is vertical. Each wheel has a radius
of 0.25 m and moment of inertia of 1.2 kg-m2, and the engine’s flywheel has
moment of inertia of 0.3 kg-m2 and rotating at 5 times the speed of the wheels and
in the same direction. Find the maximum angle of turn if the radius of turn is 40 m.
𝐺𝑦𝑟𝑜𝑠𝑐𝑜𝑝𝑖𝑐 𝑐𝑜𝑢𝑝𝑙𝑒, 𝐶𝑔 = 𝐼𝜔Ω
𝑣2
𝐶𝑔 𝑐𝑜𝑠𝛼 + 𝑚 ℎ𝑐𝑜𝑠𝛼 = 𝑚𝑔ℎ𝑠𝑖𝑛𝛼
𝑅
𝐶𝑔 = 𝐶𝑔,𝑤𝑕𝑒𝑒𝑙 + 𝐶𝑔,𝑓𝑙𝑦𝑤𝑕𝑒𝑒𝑙
5 5 5 5
100 × 100 × 100 × 100 ×
𝐶𝑔 = 2x1.2 × 18 × 18 + 0.3 × 5 × 18 × 18
0.25 40 0.25 40
𝐶𝑔 = 300.926 𝑁𝑚
5 2
𝑣2 100 ×
18
𝑚 ℎ = 250 × × 0.6 = 2893.519 𝑁
𝑅 40
𝑚𝑔ℎ = 250 × 9.81 × 0.6 = 1471.5 𝑁
3194.445
𝑡𝑎𝑛𝛼 = ; ⇒ α = 65.267𝑜
1471.5

Worked Example 7
Alternatively
v21 
 2 I W  GI E   mh  cos   mgh sin 
R  rW 
5
v  100   27.78 m/s
18
R  40 m; I w  1.2 kgm 2
I E  0.3 kgm 2 ;  G  5
m  250 kg; h  0.6 m
g  9.81 m/s 2 ;   

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Worked Example 8
A four wheel automobile is travelling along the Suame circle in Kumasi, which has a
mean radius of 40 m. Each wheel has a moment of inertia of 2.0 kg-m2 and effective
radius of 0.25 m. The rotating parts of the engine have a moment of inertia of 1.0
kg-m2. The axis of rotation of the engine is parallel to the rear axle and the
crankshaft rotates in the same sense as the wheels. The ratio of engine speed to the
back axle speed is 3:1. The automobile has a mass of 1500 kg, its centre of gravity is
0.5 m above the road level and the distance between the inner and outer wheels is
1.1 m. The centre of gravity of the automobile lies at middle of the back axle and at
d/3 from the front wheel, where d is distance between the front and rear wheels.
Determine the maximum speed the automobile can travel around the circle for the
four wheels to maintain contact with the ground.

Worked Example 8
Centrifugal couple
I zz , wheel  4 x 2.0 kg - m 2  8kg - m 2
Cc  hFC  0.5  37.5v 2  18.75v 2
If v is the linear velocity if the automobile,
Total couple C
then spin velocity of each wheel is
C  Cc  C g  18.75v 2  1.1v 2  19.85v 2
v v
W    4v Weight
rw 0.25
v v mg  1500  9.81  14.715 kN
p  
R 40 From Figure a;  Fy  0,
 E  3W  34v  R1  R2  14715.......(1)
Cw  4 I zz , w w . p  42.0 4v 
. 0.025v   0.8v 2
M R1  0,
C E  I zz , E E . p  1.0 12v 
. 0.025v   0.3v 2 1.1R2  19.85v 2 .......( 2)
Since the wheels and engine crankshaft rotate in From Figure b;  M R 4  0,
the same direction, the total gyroscopic couple is
d
C g  CW  C E  0.8v 2  0.3v 2  1.1v 2 dR2  (14715).......(3)
3
Centrifugal force  R2  4905 N
v2 v2 Substitute this value of R2 into (2)
FC  m  1500  37.5v 2
R 40 v  16.487 m/s

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ASSIGNMENT 1
An experimental Fresnel-lens solar-energy
concentrator can rotate about the horizontal
axis AB which passes through its mass center
G. It is supported at A and B by a steel
framework which can rotate about the vertical
y axis. The concentrator has a mass of 30 Mg,
a radius of gyration of 12 m about its axis of
symmetry CD, and a radius of gyration of 10
m about any transverse axis through G.
Knowing that the angular velocities 𝜔1 and
𝜔2 have constant magnitudes equal to 0.20
rad/s and 0.25 rad/s, respectively, determine
for the position = 60° (a) the forces exerted
on the concentrator at A and B, (b) the couple
applied to the concentrator at that instant.

ASSIGNMENT 2
A 2.4-kg piece of sheet steel with
dimensions 160 x 640 mm was bent
to form the component shown. The
component is at rest (ω = 0) when a
couple M𝒐 = (0.8 N m) k is applied to
it. Determine
(a) the angular acceleration of the
component
(b) the dynamic reactions at A and B
immediately after the couple is
applied.

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ASSIGNMENT 3
The turbine rotor of a ship has a mass of 20 t, has a radius of
gyration of 0.6 m and rotates at 3600 rpm. The ship is pitching
10° above and 10° below the horizontal, the motion being
simple harmonic and having a period of 12s.The rotor turns in a
clockwise direction when viewed from aft. Determine
(a) maximum angular velocity of ship during
pitching
(b) the maximum angular acceleration of ship during
pitching
(c) the maximum value of the gyroscopic couple
stating its plane of action
(d) the direction of yaw as the bow rises.

ASSIGNMENT 4
The following particulars are given for a motor vehicle: total mass, 1.5 t; wheel
base, 3.2 m; track width, 1.5 m; centre of gravity 1.8 m behind the front axle and
0.95 m above road level; moment of inertia of two front wheels, 10 kg 𝑚2 ;
moment of inertia of two rear wheels, 15 kg 𝑚2 ; moment of inertia of parts
turning at engine speed, 2 kg 𝑚2 ; wheel diameter, 0.64 m, gear ratio from engine
to road wheels, 10 to 1. The engine turns in a clockwise direction when viewed
from the front of the vehicle. The vehicle travels at a constant speed of 80 km/h
and enters a right-hand curve of 150 m radius.
Determine: (a) the vertical load on each wheel, taking into account
(i) gravitational effects ;
(ii) centrifugal effects ;
(iii) the gyroscopic effect due to the engine rotation;
(b) the rolling couple acting on the vehicle due to the gyroscopic
effect of the road wheels.

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ASSIGNMENT 5
The angular velocity vector of
a football which has just been
kicked is horizontal, and its
axis of symmetry OC is
oriented as shown. Knowing
that the magnitude of the
angular velocity is 200 rpm
and that the ratio of the axis
and transverse moments of
inertia is I/I’= 1/4, determine
(a) the orientation of the axis
of precession OA, (b) the
rates of precession and spin.

ASSIGNMENT 6
The gyro rotor is spinning at the
constant rate p=100 rpm relative
to x-y-z axes in the direction
indicated. If the angle γ between
the gimbal ring and horizontal X-
Y plane is made to increase at the
rate of 4 rad/s and if the unit is
forced to precess about the
vertical at the constant rate of 20
rpm, calculate the applied torque
on the rotor when γ=30𝑜 ; 𝐼𝑥𝑥 =
0.5 𝑘𝑔𝑚2 , 𝐼𝑧𝑧 = 0.3 𝑘𝑔𝑚2 .

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