Universiti Tun Hussein

Onn Malaysia
Mechanical Engineering
Dynamics DAM 13903
BY
Noraniah Kassim
 Angular Momentum

H  r  mv
H  I G
• Measure of Rotational effect
• H is a vector quantity in the direction of 
• Unit: kg.m2/s or slug.ft2/s
 Translation Rotation About a Fixed Axis General Plane Motion

L  m vG L  m vG L  m vG
H G  IG ω H G  IG ω
HG  0
H O  I G ω  rG m vG H A  I G ω  d ( m vG )
H A  (d ) (m vG )
2
 I G ω  m rG ω
2
 ( I G  m rG ) ω
 IO ω
Translation

L  m vG
HG  0
H A  (d ) ( m vG )

t2
r m v1   M dt  r F dt  r m v2
t1
Rotation About a Fixed Axis

H G  IG ω
H o  IO ω

t2
I G ω1    M G dt  I G ω2
t1
General Plane Motion

H G  IG ω
H A  I G ω  d ( m vG )

I G1  mvG r    M G dt  F r dt  I G 2  mvG r 

 Angular Impulse and Momentum Principles

t2
 (H )
0 1  
t1
M 0 dt   (H )
0 2

t2
r m v1   M dt  r F dt  r m v2
t1

t2
I G ω1    M G dt  I G ω2
t1

I1  mvG r    M dt  F r dt  I 2  mvG r 

 EXAMPLE 19.2
The 100 N (10 kg) disk is assumed to
be uniform and is pin supported at its
center. If it is acted upon by a
constant couple moment of 6 N.m
and a force of 50 N which is applied
to a cord wrapped around its
periphery, determine the angular
velocity of the disk two seconds after
starting from rest. Also, what are the
force components of reaction at the
pin?
 EXAMPLE 19.2
Free-Body Diagram
• The disk’s mass center does not move; however
the loading causes the disk to rotate clockwise.
• The moment of inertia of the disk about its fixed
axis of rotation is
 EXAMPLE 19.2
Principle of Impulse and Momentum
+
 EXAMPLE 19.2
• Solving these equations yields,
 Example 19-3

m  100  kg
kG  0.35m.
P  (t  10) N
initially at rest,
  ? in 5s.

rolls without slipping at A
2
I G  mkG  100(0.35)  12.25 kg.m 2
5

 m  G1    Fdt  m G 2 0   (t  10) dt   FA dt  100  G 2

0

62 .5   FA dt  100 G 2 (1)
H G 1    M dt  H G 2
5
0   (t  10) dt (0.4)   FA dt (0.75)  12.25 2
0

25   FA dt ( 0 .75)  12 .25 2 (2)

( G ) 2  0.75ω2  ω2  1.05 rad / s
Example 19-4
m  6 kg.
m  20 kg
I A  0.40 kg  m 2 .
 B  2 m/s,
( B ) 2  ? in 3 s.

Disk

I A ω1    M A dt  I A ω2
0 .4 ω1  T ( 0.2 m )( 3 s )  0 .4 ω2
(0.2m )ω1  ( 2 m / s )  2  rω2  0.2ω2
ω1  10 rad / s ω2  5( B ) 2

0 .4 (10 )  T ( 0 .2 m )( 3 s )  0.4 (5)( B ) 2

Block
 mB ( B )1    Fy dt  mB ( B ) 2 ( B ) 2  13 m / s
 6 kg( 2m / s )  T (3s )  58.86(3s )  6 kg( B ) 2
 For the entire system

 

 syst.angul ar   syst.angul ar   syst.angul ar 

          
 momentum  O1  impulse  O (1 2 )  momentum  O 2
  syst.angul ar   syst.angul ar   syst.angul ar 
          
 momentum  A1  impulse  A (1 2 )  momentum  A 2

m ( B )1 r  I1  mg  r  t  m ( B ) 2 r  I 2
( B ) 2
6 ( 2) (0.2)  0.4(10)  58.89 (0.2) (3 s )  6 (0.2)( B ) 2  0.4[ ]
0 .2
41.716  3( B ) 2
( B ) 2  13 m / s