ITESM Campus Cd.

Juárez

Chapter 18: Planar

Kinetics of a RB: Work and
Energy Part I
Dr. Humberto García
División de Profesional
jhg@itesm.mx EXT 2810
Oficina: 3er piso AULAS III 1
Basic idea: To solve similar Chapter
17 problems; but applying now the
Work and Energy Principle to the
analysis of the translational and
rotational movements of RBs
Fact 1: Knowing how to use 𝑀𝑒𝑥𝑡 = 𝐼 𝛼
(This is the rotational analog of 𝐹Ԧ𝑒𝑥𝑡 = 𝑀 a )

Knowing how to use this equation is extremely

important. Your immediate task is to understand
the applied procedures to solve the next 6
problems. Write down the appropriate equations
and work at home to get the numerical
solutions. Submit those on the next week as a
written by hand INDIVIDUAL report!
 Fact 2: The Work done by an External Force is

𝑟2
Work 𝐹Ԧ𝑒𝑥𝑡 = ‫𝐹 𝑟׬‬Ԧ𝑒𝑥𝑡 ∙ 𝑑𝑟Ԧ
1

Where 𝑟𝑝 is the position vector of the 𝐹Ԧ𝑒𝑥𝑡

application point
 Considerations about the Fact 2:

1. What is the meaning of the “dot” in the integrand?

𝑟2
Work 𝐹𝑒𝑥𝑡 = ‫𝐹 𝑟׬‬Ԧ𝑒𝑥𝑡 ∙ 𝑑 𝑟Ԧ
Ԧ
1

2. Write an alternative way to express the integrand. Explain

all the obtained elements

3. Under which circumstances the Work done by an 𝐹Ԧ𝑒𝑥𝑡

is equal to zero?
 Considerations about the Fact 2:
4. For the next diagram, indicate and explain which forces
produce a moment about its G point and which ones do
not

5. For the same diagram, indicate and explain which forces

produce Work

6. Do your responses coincide in both cases? Clarify

Considerations about the Fact 2:

7. Describe to any classmate, what happens when:

a) the disk rolls (rueda), but does not slide (no resbala)
b) the disk rolls (rueda), but slides (resbala)

In each case,
c) Does the equation 𝑽𝑮 = 𝒘 𝑹𝒅𝒊𝒔𝒌 is true?
d) What can you state about the 𝑽𝑮 , w and 𝑽𝒄𝒐𝒏𝒕𝒂𝒄𝒕 𝒑𝒐𝒊𝒏𝒕 ?
 Fact 3: An 𝐹Ԧ𝑒𝑥𝑡 is conservative if the Work that
produces is independent of the followed
trajectory when going from point 1 (initial
point) to point 2 (final point)

𝑟2 𝑟2
Ԧ Ԧ
Work 𝐹𝑒𝑥𝑡 = ‫𝑟 𝑑 ∙ 𝑡𝑥𝑒𝐹 𝑟׬‬Ԧ = ‫ 𝑟׬‬−𝒅𝑽 = 𝑽𝟏 − 𝑽𝟐
1 1

where 𝑽𝟏 = 𝑽𝒐 and 𝑽𝟐 = 𝑽𝒇 are the Potential

Energy 𝑽 values on points 1 (initial) and 2 (final),
respectively
 Considerations about the Fact 3:
1. An object of weight W falls from an initial height 𝒚𝒐 until a final height 𝒚𝒇 .
Calculate the Work done by its W using the Work integral definition.

𝒅𝒓 = +𝑑𝑦 𝒋Ƹ

2. The same object moves upward from an initial height 𝒚𝒐 until a final height 𝒚𝒇 .
Calculate the Work done by the W

3. Check that both results produce the same algebraic outcome. From here then,
what are the expressions of 𝑽𝟏 , 𝑽𝟐 and generic V?

4. In which case the W performed a positive Work? And a negative one?

State in a phrase both answers
 Considerations about the Fact 3:

5. If a body (blue slab in the picture) attached to a spring moves a distance s to

the right, then the spring will apply a force F = k s that points to the left.
a) Can you calculate the Work done by the spring on the body?
b) What about if the slab moves to the left?

6. What are the expressions of 𝑽𝟏 , 𝑽𝟐 and generic V?

7. In which case the spring made a positive Work? And a negative one?
 Fact 4: The Work done by an External Couple is

𝜃2
Work 𝑀𝑒𝑥𝑡 = ‫𝜃𝑑 𝑡𝑥𝑒𝑀 𝜃׬‬
1

If the External Couple is conservative, then:

𝜽𝟐 𝜽𝟐
Work 𝑴𝒆𝒙𝒕 = ‫𝜽𝒅 𝒕𝒙𝒆𝑴 𝜽׬‬ = ‫𝜽׬‬ −𝒅𝑽 = 𝑽𝟏 − 𝑽𝟐
𝟏 𝟏
 Considerations about the Fact 4:
1. A bar rotates counterclockwise from an initial angle 𝜽𝒐 until an angle
𝜽𝒇 while being subjected to a clockwise moment M = k 𝜽 produced by a
torsional spring. Calculate the Work done by the torsional spring on the
bar
2. What are the expressions of 𝑽𝟏 , 𝑽𝟐 and generic V in this case?
 Fact 5: In the general planar movement

2 2 2
𝑚 𝑣𝐺 𝐼𝐺 𝑤 𝐼𝑜 𝑤
𝐾= + =
2 2 2
Where 𝐼𝑜 is the mass moment of inertia about a
fixed axis that passes thru point O

Can you
demonstrate the
above equation ?
Fact 6: Work and Energy Principle
Work σ 𝐹Ԧ𝑒𝑥𝑡 + σ 𝑀𝑒𝑥𝑡 = ∆𝐾 = 𝐾𝑓 − 𝐾𝑜

1. Describe, in your own words, the Work and Energy Principle

2. What is the correspondent equation when having ONLY conservative

forces?
This is the so called CONSERVATION OF THE MECHANICAL ENERGY PRINCIPLE
𝐼0 = 𝑀 𝑘𝑜2
 Considerations about the Fact 6:
When all the external forces and external couples
that act over a RB are CONSERVATIVES,
the Mechanical Energy K + V is constant:

𝑲𝒐 + 𝑽𝒐 = 𝑲𝒇 +𝑽𝒇 =
𝑲𝒂𝒏𝒚 𝒐𝒕𝒉𝒆𝒓 𝒑𝒐𝒊𝒏𝒕 + 𝑽𝒂𝒏𝒚 𝒐𝒕𝒉𝒆𝒓 𝒑𝒐𝒊𝒏𝒕 =
CONSTANT
 Considerations about the Fact 6:

Work σ 𝐹Ԧ𝑒𝑥𝑡 + σ 𝑀𝑒𝑥𝑡 = ∆𝐾 = 𝐾𝑓 − 𝐾𝑜

𝑾𝒐𝒓𝒌 𝑾𝒆𝒊𝒈𝒉𝒕 = m g y 𝑾𝒐𝒓𝒌 𝑳𝒊𝒏𝒆𝒂𝒓 𝒔𝒑𝒓𝒊𝒏𝒈 = 𝒌 𝒔𝟐 Τ𝟐

𝑾𝒐𝒓𝒌 𝑻𝒐𝒓𝒔𝒊𝒐𝒏𝒂𝒍 𝒔𝒑𝒓𝒊𝒏𝒈 = 𝒌 𝜽𝟐 Τ𝟐

𝒎 𝒗𝟐𝑮 𝑰𝑮 𝒘𝟐
𝑲𝒕𝒐𝒕𝒂𝒍 = 𝑲𝒕𝒓𝒂𝒏𝒔𝒍𝒂𝒕𝒊𝒐𝒏𝒂𝒍 + 𝑲𝒓𝒐𝒕𝒂𝒕𝒊𝒐𝒏𝒂𝒍 = +
𝟐 𝟐

However, when the RB rotates about a fixed axis that goes through O, then
𝑰𝒐 𝒘𝟐
𝑲𝒕𝒐𝒕𝒂𝒍 = where ∝𝒐 = ∝𝑮 and 𝑰𝟎 = 𝑰𝑮 + 𝒎 𝒅𝟐
𝟐
TEAM’S HOMEWORK

Resolve as a Team each one of the next problems

following the leads given by the problems solved
in class. Show clearly the applied procedure, as
well as the responsible student’s name. Submit a
unique written report for the next class.
 𝒎 𝒗𝟐𝑮 𝑰𝑮 𝒘𝟐
𝑲𝒅𝒊𝒔𝒌 = [𝑲𝒕𝒓𝒂𝒏𝒔𝒍𝒂𝒕𝒊𝒐𝒏𝒂𝒍 +𝑲𝒓𝒐𝒕𝒂𝒕𝒊𝒐𝒏𝒂𝒍 ](𝒂𝒃𝒐𝒖𝒕 𝒑𝒐𝒊𝒏𝒕 𝑨) = +
𝟐 𝟐
𝟐 𝟎. 𝟓 𝐦 𝑹 𝒘𝟐 𝟐 𝟐
𝒎 (𝟒𝒘) 𝟏𝟔. 𝟓 𝐦 𝒘
= + =
𝟐 𝟐 𝟐
𝑰𝑶 𝒘𝟐 (𝑰𝑮 +𝒎 𝒅𝟐 )𝒘𝟐
𝑲𝒅𝒊𝒔𝒌 = 𝑲𝒓𝒐𝒕𝒂𝒕𝒊𝒐𝒏𝒂𝒍 (𝒂𝒃𝒐𝒖𝒕 𝒑𝒐𝒊𝒏𝒕 𝑶) = =
𝟐 𝟐
𝟏𝟔. 𝟓 𝐦 𝒘 𝟐
=
𝟐
NOTICE THAT 𝑣𝐺 = 𝑤 𝑅 ; 𝑣𝑏𝑙𝑜𝑐𝑘 = 𝑣𝑝𝑜𝑖𝑛𝑡 𝑜𝑓 𝑐𝑜𝑛𝑡𝑎𝑐𝑡 𝑏𝑙𝑜𝑐𝑘−𝑐𝑦𝑙𝑖𝑛𝑑𝑒𝑟 = 2𝑣𝐺
Use the fact that if the
object of 20 Lb moves 2
ft downward, the object
of 30 Lb moves upward
ONLY 1 ft