Planar Kinetics of a Rigid Body

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Planar Kinetics of a Rigid Body
Textbook Sections and Topics

17.1 Mass Moment of Inertia

17.2 Planar Kinetic Equations of Motion
17.3 Equations of Motion: Translation
17.4 Equations of Motion: Rotation about a Fixed Axis
17.5 Equations of Motion: General Plane Motion

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Kinematics
Particles Rigid Bodies
Chapter 12 Chapter 16
12.1-8 Review (self study)
12.5 Curvilinear Motion (x-y-z)
12.7 Curvilinear Motion (n-t)
12.8 Curvilinear Motion (r-θ-z)
12.10 Relative motion,
Translating axes
16.1 Planar rigid-body motion
16.2 Translation
16.3 Rotation about a fixed axis
16.4 Absolute general plane motion
16.5 Relative motion: velocity
16.6 Instantaneous Centre of Zero Velocity
16.7 Relative motion: acceleration
Textbook: Engineering Mechanics DYNAMICS, Hibbeler, 13th or 14th edition
Overview
Kinetics
Force and Work and Impulse and
Acceleration Energy Momentum
Chapter 17 Chapter 18 Chapter 19
17.1 Mass moment of inertia
17.2 Planar kinetic equations of motion
17.3 Equations of motion: translation
17.4 Equations of motion: rotation about a fixed axis
17.5 Equations of motion: general plane motion
18.1 Kinetic energy
18.2 The work of a force
18.3 The work of a couple
18.4 Principle of work and energy
18.5 Conservation of energy
15.1-7 Review impulse and momentum of a particle
19.1 Linear and angular momentum
19.2 Principle of impulse and momentum
19.3 Conservation of momentum
19.4 Eccentric impact
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17.1 Mass Moment of Inertia
We have previously seen direct parallel between variables used in the
motion analysis of translating and rotating systems

Translation Rotation
Displacement
Velocity
Acceleration

When considering equations of motion, for the translating system we

have a mass term present in Newton’s Law , as well as in
the kinetic energy equation

The question is then what is the equivalent of the mass m in the

rotating coordinate system case, and how may we account for
rotational kinetic energy?

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17.1 Mass Moment of Inertia
Consider a body that is exposed to pure rotation, and now consider
the kinetic energy of a small mass element on the body. Denote this
element as dmi, with radius ri from the axis of rotation.

The kinetic energy of this mass element is

Now ω applies to all points on the body, independent of

radius. All the kinetic energies of all the mass elements
of the body may now be summed.

Where is the Mass Moment of Inertia

i

So, mass m in a translating system has an equivalent

term I in rotating systems, which has units of kg.m2
Ref: Hibbeler Dynamics and is always a positive number.
© University of the Witwatersrand 5
17.1 Mass Moment of Inertia
Mass Moment of Inertia therefore represents the distribution of mass
of the body in relation to an axis of rotation and is a measure of the
resistance of the body to angular acceleration.

Newton’s law for rotational systems is written as

I is also present in the equation for Angular Momentum

Why is it important?
Mass Moment of Inertia is a property of a body arising from its
geometry and mass distribution. Whenever it is necessary to cause a
body to rotate about an axis, the magnitude of I will affect how quickly
this may be achieved, or, conversely how large the unbalanced
moment needs to be to cause the change. The larger I is, the lower
the angular acceleration will be when the mass is exposed to a
moment.
© University of the Witwatersrand 6
 17.1 Mass Moment of Inertia
Application examples
In order to
manoeuvre in
space the space
shuttle had small
thrusters. It was
necessary to know
the mass moments
of inertia in 3 axes.
The mass moment
of inertia may be
determined using a
torsional pendulum,
tri-filar pendulum,
spring-controlled
oscillation, etc.

https://www.publicdomainpictures.net/pictures/190000/velka/space-shuttle-endeavour-in-orbit.jpg
 17.1 Mass Moment of Inertia
Application examples

https://www.publicdomainpictures.net/pictures/190000/velka/space-shuttle-endeavour-in-orbit.jpg
17.1 Mass Moment of Inertia
Application examples

Aircraft and vehicle

mass moment of
inertias are needed
to determine
Measurements of the Moments of Inertia of the Avro 707B Aircraft, D. H. Perry, M.A.
stability and
handling under
different operation
conditions. These
are typically
determined from
oscillation tests.

Inertial properties of commercial vehicles Volume 2 2nd edition Christopher B. Winkler

© University of the Witwatersrand 9

17.1 Mass Moment of Inertia
Mass moment of inertia is usually measured through a reference axis
such as an axis passing through the centre of gravity of the body, from
which r is measured. If density is constant, then the integral may be
changed to be purely geometry based:

There are two methods that may be used to determine I :

Shell element z = f(y) known Disc element

z = f(y) known

Ref: Hibbeler Dynamics © University of the Witwatersrand Ref: Hibbeler Dynamics 10

17.1 Mass Moment of Inertia
Shell element Disc element
z = f(y) known z = f(y) known

In this case the differential element
has a constant radius y (or r) and the
volume of the element is
I may be determined from
In this case the differential element does
not have a constant radius y (or r).
I must be determined for the element
and then integrated in the z direction

Ref: Hibbeler Dynamics © University of the Witwatersrand Ref: Hibbeler Dynamics 11

17.1 Mass Moment of Inertia
Mass moment of inertia is usually measured through a reference axis such as
an axis passing through the centre of gravity of the body, from which r is
measured. There are tables of equations for mass moment of inertia for basic
geometric shapes. The mass moments of inertia of more complex shapes
may be determined by breaking them up into simple shapes and summing the
results.

However, it is important to note that care needs to be taken in the summing

process because the axis of rotation of the component parts may differ. The
Parallel Axis Theorem (for a parallel axis located a distance d away) allows
the mass moment of inertia to be transferred from G to a remote axis, which
allows the results to be combined:

where IG is the mass moment of inertia through the centre of gravity. Note that
the axis can only be transferred in one direction.

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17.1 Mass Moment of Inertia
Simple geometries

Note
axes
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17.1 Mass Moment of Inertia
Simple geometries

Note
axes

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 17.1 Mass Moment of Inertia
Simple geometries

Note axes

Note error in Hibbeler Dynamics 13th edition textbook for Izz

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17.1 Mass Moment of Inertia
Radius of Gyration: If, instead of a distributed mass, all of the mass
of a body could be concentrated on a point a perpendicular
distance k away from an axis of rotation (or an infinitesimally thick
ring with a radius k), so that the body still had the same mass
moment of inertia, then the mass moment of inertia would be

where k is the radius of gyration, units m.

Composite bodies: The mass moment of inertia for simple

symmetrical shapes is easily determined and is also tabulated.
These simple shapes can be combined algebraically to determine
the mass moment of inertia for more complex shapes.

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 17.1 Mass Moment of Inertia
Example: The mass moment of inertia of a ring about its inside edge
can be determined by algebraic summation of mass moments of
inertia of a disc and hole about the same axis

Note, this is correct. Check it from first principles! Note:

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17.1 Mass Moment of Inertia
The Centre of Mass (also sometimes called Centre of Gravity) is a
point on the body about which the distribution of mass of the body is
balanced. It is necessary to know the centre of mass of a body when
using Newton’s laws. Often it can be determined by symmetry.

For a regular plane shape: For a composite body:

© University of the Witwatersrand 18

Test your knowledge (Section 17.1)
True or False:
1. Angular displacement, velocity and acceleration are denoted by θ, ω and
α for rigid bodies, which may be positive or negative.
2. Mass moment of inertia, , may be a negative number.
3. Mass moment of inertia is used in cases where bodies are translating.
4. For a case where a rigid body has a moment applied to it, larger values of I will
correspond to larger values of angular acceleration.
5. The value of the mass moment of inertia depends on the location of the axis
about which it is measured.
6. Mass moments of inertia may be determined by either shell or disc elements, but
not both.
7. The parallel axis theorem requires the transfer of I from the centre of gravity G of
the body to the axis of rotation of interest.
8. In order to determine the location of the mass centre G of a composite body, the
axes must be placed in particular locations with respect to one of the bodies.
© University of the Witwatersrand Answers: T, F, F, F, T, F, T, F
 17.2 Planar Kinetic Equations of Motion
The equations of motion of a rigid body undergoing planar motion
under the action of applied forces and moments are now considered.
An inertial frame of reference is used which does not rotate, and
which is coincident with a point P on the body. As a result of the forces
and moments the body will experience translational and angular
acceleration.

Ref: Hibbeler Dynamics

A free body diagram is drawn with all the external forces and moments acting on
the body*. A kinetic diagram is also drawn with inertial forces and kinetic moments
determined from accelerations multiplied by corresponding inertias, associated with
the motion of the centre of gravity G.
* The effect of internal forces and moments cancel. Only external forces and moments cause accelerations.
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17.2 Planar Kinetic Equations of Motion

FBD KD NB Sign conventions

Newton’s law for translation where accounts for external

forces and reactions, and where aG may have multiple components.
FBD KD

Newton’s law for rotation where G is the mass centre

and accounts for external moments and reactive moments.

Ref: Hibbeler Dynamics © University of the Witwatersrand Ref: Hibbeler Dynamics 21

 17.2 Planar Kinetic Equations of Motion
In some problems it is more convenient to take moments about a point
other than the mass centre G as it may eliminate unknowns (such as
frictional or reaction forces), or may be another point of interest. If moments
are taken about point P then the equation for angular acceleration is

FBD KD

in vector form, note direction of from P to G.

in scalar form, but accounting for correct directions
with the signs of the terms.
“kinetic moments” also written as
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 17.2 Planar Kinetic Equations of Motion
If the acceleration of the mass centre is presented in components, and the
position of G is determined relative to axes located at P then the sum of
moments about P may also be written as
or

Proof

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17.2 Planar Kinetic Equations of Motion
The general equations are thus
in vector form
+ in scalar form, but accounting for correct
directions with the signs of the terms
+

or vector or scalar form

“kinetic moments”

in vector form, note orientation of vector

in scalar form, taking signs into account*

* in this example the maGd term is negative © University of the Witwatersrand 24

 17.2 Planar Kinetic Equations of Motion
Example:

Rear wheel drive vehicle is accelerating, neglect air resistance and friction force
on front wheel, wheels remain in contact with the ground, wheels don’t slip.
Formulate the equations of motion.

+
Translation
+

Rotation

(alternative)
© University of the Witwatersrand 25
 17.3 Equations of Motion: Translation
Rectilinear Translation
When the body undergoes rectilinear translation only, there is no angular
acceleration, so all particles in the body travel along parallel straight-line
paths and experience the same acceleration.
x

FBD KD
Ref: Hibbeler Dynamics Ref: Hibbeler Dynamics

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17.3 Equations of Motion: Translation
Curvilinear Translation
When the body undergoes curvilinear translation, all
particles in the body travel along curved paths of the
same radius of curvature, so experience the same
accelerations. It is convenient to use normal and
tangential coordinates to describe the motion of the
FBD
centre of gravity of the body. The angular
acceleration is still zero, so the orientation of the
body remains the same as it translates.

KD

Ref: Hibbeler Dynamics

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17.3 Equations of Motion: Translation
Applications

Ref: Hibbeler Dynamics Ref: Hibbeler Dynamics

(assumes no rotation)

Rectilinear translation Curvilinear translation

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17.3 Equations of Motion: Translation
Procedure

1. Draw the free body diagram after establishing the coordinate system
applicable (x, y) or (n, t). Indicate all external forces and moments
acting on the body including weight, friction etc.
2. Draw the kinetic diagram and indicate the inertial forces and moments
associated with the acceleration of the mass centre of the body. If
curvilinear motion, note normal and tangential accelerations are
present.
3. Apply the equations of motion in relation to sign convention to solve for
the required variables (vector or scalar analysis). 3 unknowns may be
solved using the 3 equations of motion.
4. If there are more than 3 unknowns an additional equation such as the
relative motion: acceleration equation may be used to solve 2
additional variables:

This may require that the kinetic diagram be modified to account for the
additional relative acceleration terms
© University of the Witwatersrand 29
Test your knowledge (Sections 17.2, 17.3)
True or False:
1. The free body diagram accounts for all forces and moments acting on a
body (both internal and external).
2. Kinetic forces and moments are indicated on the kinetic diagram, in relation to the
mass centre G of the rigid body.
3. Any sign convention may be used for the sum of forces and sum of moments
equations, provided the signs of all forces and moments are consistent it.
4. An alternate moment equation that can be used is
5. Up to 3 unknowns may be solved with Newton’s equations of motion and up to 5
unknowns with the addition of the relative motion: acceleration equation.
6. A body undergoing pure translation requires only one equation to analyse its
motion.
7. A body undergoing curvilinear translation does not rotate relative to a fixed frame
of reference, regardless of the path followed.
8. A radial and transverse coordinate system may be used for curvilinear motion
analysis.
© University of the Witwatersrand Answers: F, T, T, F, T, T, T, F
17.4 Equations of Motion: Rotation about a Fixed Axis
If a body is constrained to move about a pivot point then all
points on the body move in circular paths about the pivot. The
mass centre G also follows a circular path so its acceleration
is best described by normal and tangential components. The
normal acceleration component points towards the centre of
rotation O. Due to the rotation, the body will experience
angular acceleration.

FBD

KD

Ref: Hibbeler Dynamics Ref: Hibbeler Dynamics

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17.4 Equations of Motion: Rotation about a Fixed Axis
Procedure

1. Draw the free body diagram after establishing the n, t coordinate

system and the sense of the of the normal and tangential
accelerations, and the angular acceleration of the body. Indicate all
external forces and moments acting on the body including weight,
reactions at the pivot etc.
2. Draw the kinetic diagram and indicate the inertial forces and moments
associated with the acceleration of the mass centre of the body.
3. Apply the equations of motion in relation to sign convention to solve for
the required variables (vector or scalar analysis). 3 unknowns may be
solved using the 3 equations of motion.

© University of the Witwatersrand 32

 17.5 Equations of Motion: General Plane Motion
General plane motion consists of simultaneous
translation and rotation. The free body diagram
accounts for all the external forces and moments,
while the kinetic diagram indicates the inertias
associated with translational and angular
acceleration of the mass centre G, in relation to
an inertial coordinate system. The equations of
motion were previously derived and are repeated
FBD
here in summary.

+
+

d
rP/G
P
KD
Ref: Hibbeler Dynamics

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17.5 Equations of Motion: General Plane Motion
Moment Equation about the ICZV

If a uniform disc or wheel is known to roll on a surface without slipping, then

it is possible to sum the moments about the Instantaneous Centre of Zero
Velocity (ICZV), which makes the analysis simpler as the weight, normal
reaction and frictional forces do not exert any moment about the IC.

Ref: Hibbeler Dynamics

© University of the Witwatersrand 34

17.5 Equations of Motion: General Plane Motion
Procedure

1. Draw the free body diagram after establishing the x, y coordinate

system. Indicate all external forces and moments acting on the body
including weight, reactions at the pivot etc.
2. Draw the kinetic diagram and indicate the direction and sense of the
inertias associated with the translational acceleration of the mass
centre of the body, maG, and the angular acceleration of the body, IGα.
3. Apply the equations of motion in relation to sign convention to solve for
the required variables (vector or scalar analysis). 3 unknowns may be
solved using the 3 equations of motion.

Notes
• If friction is present, slipping versus non-slipping cases should be
assessed. See separate handout.
• Use additional kinematics if there are additional unknowns and there
are constrained motions (such as relative acceleration, discs rolling
without slipping, two force members etc.).
© University of the Witwatersrand 35
17.5 Equations of Motion: General Plane Motion
Notes

• Increasing levels of constraints on the accelerations of the body will require

additional kinematics relationships to solve the problem Meriam & Kraige 6/77

aA
aA

G
G G

aB

No constraints on aG One constraint on aG Two constraints on aG

© University of the Witwatersrand 36

Test your knowledge (Sections 17.4, 17.5)
True or False:
1. In problems involving rotation about a fixed axis, all points on the body
(except those on the axis of rotation) move in concentric circles.
2. In rotation problems, all points on the body have the same magnitude of
velocity.
3. A point on a body rotating about a point with a constant angular velocity
does not experience any acceleration.
4. Kinetic forces and moments are shown on the Kinetic Diagram and may
include relative acceleration inertial terms.
5. In certain problems the moment equation may be analysed about the
ICZV provided the mass moment of inertia about this location is used.
6. A wheel that is slipping has a maximum friction force of Ff = μkN
7. A maximum of 3 unknowns may be solved in all rigid body problems.

© University of the Witwatersrand Answers: T, F, F, T, T, T, F