ENGR 214

Chapter 17
Plane Motion of Rigid Bodies:
Energy & Momentum Methods

All figures taken from Vector Mechanics for Engineers: Dynamics,

Beer and Johnston, 2004

1
Principle of Work and Energy for a Rigid Body

T1 U12 T2
T1 , T2 initial and final total kinetic energy of rigid body
U12 total work of external forces acting rigid body
A2 s2

Work done: U12 F cos ds
F dr
A1 s1

For a couple: dU F dr1 F dr1 F dr2
F ds2 Fr d
M d
2
If M is constant: U12 M d
1
M 2 1
2
Kinetic Energy of a Rigid Body in Plane Motion
Plane motion combination of translation & rotation

G
G
vG T mv I Gw
1
2
2
G
1
2
2

For non-centroidal rotation:

T mv I Gw m w r 12 I Gw 2
1 2 1 2 1 2
2 G 2 2

12 I G mr 2 w 2
T I Ow
1
2
2
3
Principle of Work and Energy: System of Rigid Bodies

T1 U12 T2
Can be applied to each body separately or to the system as a
whole

T1 , T2 sum of kinetic energies of all bodies in system

U12 work of all external forces acting on system
Useful in problems involving several bodies connected
together by pins, inextensible chords, etc. because internal
forces do no work & U12 reduces to the work of external
forces only.

4
 Conservation of Energy
T1 V1 T2 V2
Example: rod is released with zero velocity from horizontal
position. Determine angular velocity after rod has rotated .

0.5 l

T1 0 T2 12 mv22 12 I w22
2
V1 0 12 m 12 lw
2
12 121 ml 2 w 2
1 ml
w2
2 3
V2 12 mgl sin
5
T1 V1 T2 V2
1 ml 2 2 1
0 w 2 mgl sin
2 3
12
3 g
w sin
l
6
Power

Power = rate at which work is done

dU
Power F v
dt

For a rotating body:

dU M d
Power Mw
dt dt

7
 Sample Problem 17.1
A 240-lb block is suspended from an
inextensible cable which is wrapped
around a drum of 1.25-ft radius
attached to a flywheel. The drum and
flywheel have a combined moment of
inertia I=10.5 lb ft s2. At the instant
shown, the velocity of the block is 6
ft/s downward.

Knowing that the bearing friction is equivalent to a couple of

magnitude 60 lb ft, determine the velocity of the block after it has
moved 4 ft downward.

8
Sample Problem 17.1 T1 U12 T2
T1 12 mv12 12 I w12 with v wr
2
1 240 1 6
6 10.5
2
T1
2 32.2 2 1.25

255.12 ft lb

U12 mgh M 2 1 with x r

4
U12 240 4 60
1.25

768 ft lb
T2 12 mv22 12 I w22
2
1 240 2 1 v
v2 10.5 2 7.09v22
2 32.2 2 1.25

255.12 768 7.09 v22

v2 12.01 ft s
9
 Sample Problem 17.2

mA 10 kg k A 200 mm
mB 3 kg k B 80 mm

The system is at rest when a moment M=6 Nm is applied to gear B.

Neglecting friction, a) determine the number of revolutions of gear B
before its angular velocity reaches 600 rpm, and b) tangential force
exerted by gear B on gear A.

10
Sample Problem 17.2
T1 U12 T2

T1 0
U12 6
T2 12 I Aw A2 12 I BwB2

But wB 2.5w A T2 I A I B 2.5

2
1
w A2
2
600 2p I A mAk A2 10 0.2 0.4 kg
2
m2
wB 62.83 rad s
60
I B mB k B2 3 0.08 0.0192 kg
2
1 m2
w A 62.83 25.13 rad s
2.5
T2 164.23 Nm
6 164.23 27.37 rad 4.35 rev
11
Sample Problem 17.2
For gear A: T1 U12 T2
T1 0
r 1
A B B 27.37 10.95 rad
rA 2.5
T2 12 I Aw A2 12 0.4 25.13 126.3 Nm
2

U12 Fr A F 0.25 10.95 2.74 F

T1 U12 T2
0 2.74 F 126.3
F 46 N

12
Sample Problem 17.3

A sphere, cylinder, and hoop, each having the same mass and radius,
are released from rest on an incline. Determine the velocity of each
body after it has rolled through a distance corresponding to a change of
elevation h.

13
Sample Problem 17.3
T1 U12 T2
T1 0
Friction force in rolling does no work
2
v
v wr T2 12 I Cw 12 I C 2
2

r
U12 mgh

T1 U12 T2
2
v
mgh 12 I C 2
r
2mghr 2 2 gh
v
IC I
1 O2
mr
14
Sample Problem 17.3
Each of the bodies has a different centroidal
moment of inertia,
2 gh
v
I
1 O2
mr
Sphere : I O 52 mr 2 v 0.845 2 gh
Cylinder : I O 12 mr 2 v 0.816 2 gh
Hoop : I O mr 2 v 0.707 2 gh

NOTE:
For a frictionless block sliding through the
same distance,

w 0, v 2 gh

15
Can also be solved using
conservation of energy:

T1 V1 T2 V2
T1 0
V1 mgh
T2 12 I Cw 2
V2 0

mgh 12 I Cw 2

16
Sample Problem 17.4, SI units
1.524 m
0.305 m

A 13.608-kg slender rod pivots about the point O. The other

end is pressed against a spring (k = 315.212 kN/m) until the
spring is compressed 25.4 mm and the rod is in a horizontal
position. If the rod is released from this position, determine its
angular velocity and the reactions at the pivot as the rod passes
through a vertical position.

17
Sample Problem 17.4
T1 V1 T2 V2
T1 0

V1 kx
1
2
2
1
1
2 315.212 10 25.4 10
3 3 2

101.68 Nm

T2 12 I Ow 2 12

1
12 ml 2
mr 2
w

2

I 121 ml 2 12 1
13.608 1.524 2
13.608 0.457 2
w
2

12
2.738w 2
V2 mgh 13.608 9.81 0.457
61 Nm

101.68 2.738w 2 61 w 3.85 rad / s

18
Sample Problem 17.4
To get pin reactions:

M O I O 0 I O 0

F x maGx Rx m r Rx 0
W

F y maGy
W Ry mw 2 r
Ry mg mw 2 r
13.608 9.81 13.608 3.852 0.457
43.36 N

19
Sample Problem 17.5

Each of the two slender rods has a

mass of 6 kg. The system is released
from rest with = 60o.
Determine a) the angular velocity of
rod AB when = 20o, and b) the
velocity of the point D at the same
instant.

20
Sample Problem 17.5
SOLUTION:
Consider a system consisting of the two rods. With
the conservative weight force,
T1 V1 T2 V2

Evaluate the initial and final potential energy.

V1 2Wy1 2 58.86 N 0.325 m
38.26 J

V2 2Wy 2 2 58.86 N 0.1283 m

15.10 J

W mg 6 kg 9.81m s 2
58.86 N

21
Sample Problem 17.5
Express the final kinetic energy of the system in terms
of the angular velocities of the rods.

v AB 0.375 m w

Since vB is perpendicular to AB and vD is horizontal,
the instantaneous center of rotation for rod BD is C.
BC 0.75 m CD 2 0.75 m sin 20 0.513 m
and applying the law of cosines to CDE, EC = 0.522 m
Consider the velocity of point B

vB AB w BC w AB w BD w

vBD 0.522 m w

For the final kinetic energy,

1 ml 2 1 6 kg 0.75 m 2 0.281kg m 2
I AB I BD 12 12
1 mv 2 1 I w 2 1 mv 2 1 I w 2
T2 12 AB 2 AB AB 12 BD 2 BD BD
1 6 0.375w 2 1 0.281w 2 1 6 0.522w 2 1 0.281w 2
12 2 12 2
1.520w 2
22
Sample Problem 17.5
Solve the energy equation for the angular velocity,
then evaluate the velocity of the point D.
T1 V1 T2 V2
0 38.26 J 1.520w 2 15.10 J
w 3.90 rad s

w AB 3.90 rad s

vD CD w
0.513 m 3.90 rad s
2.00 m s

vD 2.00 m s

23
 Principle of Impulse and Momentum
r r r r
For a rigid body in general plane motion: F maG M G I G

r d r r r r
t2
r r r r t2
r
F m vG Fdt md vG Fdt m vG 2 vG1
mvG1
Fdt mvG 2
dt t1 t1

Can be split into 2 components (x and y)

r d r r r r
t2
r r
M G IG w M G dt I G d w G
M dt I w
G 2 I w
G 1
dt t1
r 2 r
t
r
I Gw1 M G dt I Gw2
t1

24
Principle of Impulse and Momentum
For non-centroidal rotation
t2

I Ow1
M O dt I Ow2
t1

25
Conservation of Angular Momentum
When no external force acts on a rigid body or a system of rigid
bodies, the system of momenta at t1 is equipollent to the system
at t2. The total linear momentum and angular momentum about
any point are conserved,

L1 L2 H 0 1 H 0 2

When the sum of the angular impulses pass through O, the

linear momentum may not be conserved, yet the angular
momentum about O is conserved,
H 0 1 H 0 2

Two additional equations may be written by summing x and

y components of momenta and may be used to determine
two unknown linear impulses, such as the impulses of the
reaction components at a fixed point.

26
 Sample Problem 17.6

mA 10 kg k A 200 mm
mB 3 kg k B 80 mm

The system is at rest when a moment M=6 Nm is applied to gear B.

Neglecting friction, a) determine the time required for the angular
velocity of gear B to reach 600 rpm, and b) tangential force exerted by
gear B on gear A.

27
Sample Problem 17.6 1

2
I m k 10 0.2 0.4 kg
2
m 2 w A wB 25.13 rad / s
r
t2 A A A 2.5
r r
I Gw1
M G dt I Gw2 I m k 2 3 0.08 2 0.0192 kg
m2 2p
wB 600 62.83 rad / s
B B B
t1 60

Gear A:
0 FtrA I A w A 2
Ft 0.25 0.4 25.13
Ft 40.21 Ns

Gear B:
0 Mt FtrB I B wB 2
6t Ft 0.1 0.0192 62.83

Solving yields: t 0.87 s , F 46.16 N

28
Sample Problem 17.7

r
v1

A uniform sphere of mass m and radius rr is projected along a rough

horizontal surface with a linear velocity v1 and no angular velocity. The
coefficient of kinetic friction is k .
Determine a) the time t2 at which the sphere will start rolling without
sliding and b) the linear and angular velocities of the sphere at time t2.

29
Sample Problem 17.7 rolling
r
t2
r r
Along x: G1
mv Fdt mvG2
t1

mv1 k mgt mw2 r

v2 w2 r
v1 k gt w2 r
r 2 r
t
r
I w
Rotation about G: G 1 G
M dt I w
G 2
t1

2
0 k mgrt mr 2w2
5
2
k gt rw2
5
2
v
Solving: 1 rw 2 w2 r
5
7 5v 5 2 v1
v1 w2 r w2 1 v2 w2 r v1 t
5 7 7 k g
7r
30
Sample Problem 17.8
Two solid spheres (radius = 3 in.,
W = 2 lb) are mounted on a spinning
horizontal rod ( I R 0.25 lb ft s 2 ,
w = 6 rad/sec) as shown. The balls are
held together by a string which is
suddenly cut. Determine a) angular
velocity of the rod after the balls have
moved to A and B, and b) the energy
lost due to the plastic impact of the
spheres and stops.
SOLUTION:
Observing that none of the external
forces produce a moment about the y
axis, the angular momentum is
conserved.
Equate the initial and final angular
momenta. Solve for the final angular
velocity.
The energy lost due to the plastic impact
is equal to the change in kinetic energy
of the system.
31
Sample Problem 17.8
SOLUTION:
Observing that none of the
external forces produce a
moment about the y axis, the
angular momentum is
conserved.
Equate the initial and final
Sys Momenta1 + Sys Ext Imp1-2 = Sys Momenta2 angular momenta. Solve for
the final angular velocity.
2 ms r1w1 r1 I S w1 I Rw1 2 ms r2w 2 r2 I S w 2 I Rw 2
ms r12 I S I R
w 2 w1
ms r22 I S I R
w1 6 rad s I R 0.25 lb ft s 2

2 ma 2
2 2
2 lb
IS 2 ft 0.00155lb ft s 2
5 5 2
32.2 ft s 12
2 2
2 2 5 2 2 25 w 2 2.08 rad s
mS r1 0.0108 mS r2 0.2696
32.2 12 32.2 12
32
Sample Problem 17.8
The energy lost due to the
plastic impact is equal to the
change in kinetic energy of the
system.

w1 6 rad s w 2 2.08 rad s

I R 0.25 lb ft s 2 I S 0.00155 lb ft s 2

mS r12 0.0108 lb ft s 2 mS r22 0.2696 lb ft s 2

T 2 12 mS v 2 12 I S w 2 12 I Rw 2 12 2mS r 2 2 I S I R w 2
T1 12 0.275 6 2 4.95 ft lb
T2 12 0.792 2.08 2 1.71 ft lb
T T2 T1 1.71 4.95 T 3.24 ft lb
33
Eccentric Impact

uA n uB n
Period of deformation Period of restitution

Impulse Rdt Impulse Pdt
r
As for particles: v
Rdt
e coefficient of restitution r
B n vA n

Pdt v A n vB n

Same relation applies for rigid bodies

Note: velocities are along line of impact
v
B n vA n e
v A n vB n

34
Eccentric Impact
If one or both of the colliding bodies rotates about a fixed
point O, an impulsive reaction will develop

35
Sample Problem 17.9

A 0.05-lb bullet is fired with a horizontal velocity of 1500 ft/s into the side
of a 20-lb square panel which is initially at rest. Determine a) the angular
velocity of the panel immediately after the bullet becomes embedded
and b) the impulsive reaction at A, assuming that the bullet becomes
embedded in 0.0006 s.

36
 Sample Problem 17.9
r
t2
r r r 2 r
t
r
t2

mvG1 Fdt mvG 2 I Gw1 M G dt I Gw2 I Aw1

M A dt I Aw2
Impulse & momentum: t1 t1 t1

For entire system:

x components:
mB vB Ax t m p v2
0.05 20
1500 Ax 0.0006 v2
Moments about A:
b
32.2
32.2

mB vB 14
12 0 I Aw2
y components:
Ay 0 I A IG m
9 2
with I G 16 m pb 2
0 Ay t 0 12

I A 16 m p b 2 m 129
2

0.05 20
Then: 1500 Ax 0.0006
3.50
32.2 32.2 mB vB 14
12
6 p
1
m b 2
m 12 w2
9 2

Ax 259 lb
but v2 w2 129
Solving: w2 4.67 rad s v2 129 w2 3.50 ft s
37
 Sample Problem 17.10

A 2-kg sphere with an initial velocity of 5 m/s strikes the lower end of an 8-kg
rod AB. The rod is hinged at A and initially at rest. The coefficient of
restitution between the rod and sphere is 0.8.
Determine the angular velocity of the rod and the velocity of the sphere
immediately after impact.

38
 Sample Problem 17.10
r
t2
r r r 2 r
t
r
t2

mvG1 Fdt mvG 2 I Gw1 M G dt I Gw2 I Aw1

M A dt I Aw2
Impulse & momentum: t1 t1 t1

Moments about A:
ms vs 1.2 ms vs
1.2 I Aw I A I G mR 0.6
2
where

I G 121 mL2 121 8 1.2 0.96 kg

2
m2
0.6 w
vR rw

2 5 1.2 2 vs 1.2

1
12 8 1.2 2
8 0.6 2
w

3.84 w
12 2.4 vs
+ v B vs e vs vB

Solving: w 3.21rad/s
1.2 w vs 0.8 5 4 1.2 w
vs
vs 0.143 m s
39
Sample Problem 17.11

A square package of mass m moves down conveyor belt A with constant

velocity. At the end of the conveyor, the corner of the package strikes a
rigid support at B. The impact is perfectly plastic.
Derive an expression for the minimum velocity of conveyor belt A for
which the package will rotate about B and reach conveyor belt C.

40
 Sample Problem 17.11
Apply principle of impulse and momentum at impact (just before & just after
impact)

t2

I Bw1
M B dt I Bw2
t1

Moments about B:
mv1 12 a 0 I Bw2
I G 16 ma 2
2
2

IG m
a
w2
I B 16 ma 2 42 ma 2 23 ma 2
2

mv1 12 a 23 ma 2w2 v1 43 aw2

41
Sample Problem 17.11
Apply principle of conservation of energy (just after
impact until maximum height)
T2 V2 T3 V3

T2 12 I Bw22
1
2 2
3
ma 2 w22 13 ma 2w22

h2 GB sin 45 15
V2 Wh2
a sin 60 0.612a
2
2

T3 0 (solving for the minimum w2)

V3 Wh3
1 ma 2w 2 Wh2 0 Wh3
3 2
3W 3g
w 22
2 3
h h2 2
0.707a 0.612a 0.285 g a
ma a

h3 2
a 0.707 a v1 43 aw2 43 a 0.285 g a v1 0.712 ga
2
42