Engineering Dynamics

Module code ME 210

Planar Kinetics of a Rigid Body

Force and Acceleration

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https://youtu.be/tclIZgGJ374

Engineering Dynamics
 OBJECTIVES

To introduce the method used to determine the mass moment

of inertia in a body

To develop the planar kinetic equations of motion for

symmetric rigid body

To discuss application of these equations to bodies undergo

translation, rotation about a fixed axis, and general plane
motion
 FIRST MOMENT OF AREA

First Moment of Area: Geometrical property of an area

which reflects how its points are distributed w.r.t an arbitrary
axis

It is summation of area times distance to an axis(∑(A x r). In

other words it is a measure of distribution of area of a shape
in relation to an axis.

First Moment of Area is commonly used in engineering

applications to determine the centroid of an object.

The centroid of any area can be found by taking moments of

identifiable areas (such as rectangles or triangles) about any
axis
 SECOND MOMENT OF AREA

Second Moment of Area: It is also known as the area

moment of inertia or second moment of inertia.
It is a geometric property of a shape that is used to predict its
resistance to bending and deflection which are directly
proportional and is denoted by I = A x r2

Where, I = Moment of Inertia, A = Area of the plane of the

object and, r = the distance between the centroid of the
object and the axis

In engineering second moment of area of the cross section of

a beam is an important property used in calculation of
deflection..
 MASS MOMENT OF INERTIA
The mass moment of inertia is measure of the distribution of
the mass of an object relative to a given axis.
The rotational aspects, caused by a moment M, are governed by
an equation of the form M = Iα
I in this equation is moment of inertia, it is a measure of the
resistance of a body to angular acceleration (M = Iα) in the
same way that mass is a measure of the body’s resistance to
acceleration (F = ma).
Mass moment of Inertia or the angular mass, is the rotational
analogy of mass. That is , it is the inertia of a rigid rotating
body with respect to its rotation.
The mass moment of inertia is given for a single particle of
mass m as I 0 = r 2m
 MOMENT OF INERTIA

Since a body has a definite size and shape, an applied non-

concurrent force system may cause the body to both translate
and rotate

Translation aspects of motion are governed by the equation

F = ma

The rotational aspects, caused by a moment M, are governed by

an equation of the form M = Iα

The object’s mass and how it is distributed both affect the mass
moment of inertia.
 MOMENT OF INERTIA
The mass moment of inertia is defined as the
integral of the “second moment” about an axis
of all the elements of mass dm which compose
the body.
For example, the body’s moment of inertia about
the z-axis in this figure is mathematically the
integral
I =  r2 dm (Kg.m2)
m
Moment arm r is perpendicular distance from z-
axis to arbitrary element dm. The value of I
differs for each axis about which it is computed.
In the study of planar kinetics, the axis which is generally
chosen for analysis passes through the body’s mass center G
and is always perpendicular to the plane of motion.
 MOMENT OF INERTIA
If the body consists of material having variable
density, r = (x,y,z), the element mass dm of the
body may be expressed in terms of its density
and volume as dm = r dV. Therefore, the body’s
moment of inertia is then computed using
volume elements for integration; i.e.,

I =  r2 dm =  r2r dV
m V

In the special case for r being constant, this term

can be taken out of integral.
 MOMENT OF INERTIA

When the elemental volume chosen for integration has

infinitesimal dimensions in all three directions, e.g., dV = dx, dy,
dz, the moment of inertia of the body must be determined using
“triple integration”.

The integration process can, however, be simplified to a single

integration provided the chosen elemental volume has a
differential size and thickness in only one direction. Shell or disk
elements are often used for this purpose.
 PROCEDURE FOR ANALYSIS
When using direct integration, only symmetric bodies having surfaces
generated by revolving a curve about an axis will be considered.

Shell element
• If a shell element having a height z, radius r = y, and
thickness dy is chosen for integration, then the volume
element is dV = (2py)(z)dy.
• This element is used to find the moment of inertia I z
since the entire element, due to its thinness, lies at the
same perpendicular distance y from the z-axis.
Disk element
• If a disk element having a radius y and a thickness dz is
chosen for integration, then the volume dV = (py2)dz.
• Using the moment of inertia of the disk element, we
can integrate to determine the moment of inertia of the
entire body.
 MOMENT OF INERTIA (continued)

The figures below show the mass moment of inertia

formulations for two flat plate shapes commonly used when
working with three dimensional bodies. The shapes are
often used as the differential element being integrated over
the entire body.
 EXAMPLE 1
Given:The volume shown with r = 1000
kg/m3.
Find: The mass moment of inertia of this
body about the y-axis.
Plan: Find the mass moment of inertia of a disk element about
the y-axis, dIy, and integrate.
Solution: The moment of inertia of a disk about
an axis perpendicular to its plane is I = 0.5 m r2.
Thus, for the disk element, we have
dIy = 0.5 (dm) x2
where the differential mass dm = r dV = rpx2 dy.
1 1
rpx4
rp p(1000)
Iy = ò dy = ò y8 dy = = 174.5 kg•m2
0
2 2 0 18
 PARALLEL-AXIS THEOREM
If the mass moment of inertia of a body about an axis passing
through the body’s mass center is known, then the moment of
inertia about any other parallel axis may be determined by using
the parallel axis theorem,
I = IG + md2
where IG = mass moment of inertia about the body’s mass center
m = mass of the body
d = perpendicular distance between the parallel axes
 PARALLEL-AXIS THEOREM (continued)
Radius of Gyration
The mass moment of inertia of a body about a specific axis can be
defined using the radius of gyration (k). The radius of gyration
has units of length and is a measure of the distribution of the
body’s mass about the axis at which the moment of inertia is
defined.
I = m k2 or k = (I/m)
Composite Bodies
If a body is constructed of a number of simple shapes, such as
disks, spheres, or rods, the mass moment of inertia of the body
about any axis can be determined by algebraically adding
together all the mass moments of inertia, found about the same
axis, of the different shapes.
 EXAMPLE 2
Given:Two rods assembled as shown, with
each rod having a mass of 10 kg.
Find: The location of the center of mass G
and moment of inertia about an axis
passing through G of the rod assembly.

Plan: Find the centroidal moment of inertia for each rod and
then use the parallel axis theorem to determine I G.

Solution: The center of mass is located relative to the pin at O

at a distance y, where

y=
åmyi i
=
0.5( 10 ) + 1 ( 10 )
= 0.75 m
åm i
10 + 10
 EXAMPLE 2 (continued)
The mass moment of inertia of each rod about an axis passing
through its center of mass is calculated by using the equation

I = (1/12)ml2 = (1/12)(10)(1)2 = 0.833 kg·m2

The moment of inertia IG may then be calculated by using the

parallel axis theorem.

IG = [I + m(y-0.5)2] + [I + m(y-1)2]
OA BC

IG = [0.833 + (10)(0.25)2] + [0.833 + (10)(0.25)2]

IG = 2.916 kg·m2
 GROUP PROBLEM SOLVING

Given: The density (r) of the

object is 5 Mg/m3.
Find: The radius of gyration, ky.

Plan: Use a disk element to calculate

Iy, and then find ky.
Solution: Using a disk element (centered on the x-axis) of
radius y and thickness dx yields a differential mass dm of
dm = r p y2 dx = r p (50x) dx

The differential moment of inertia dIy’ about the y-axis

passing through the center of mass of the element is
dIy’ = (1/4)y2 dm = 625 r p x2 dx
 GROUP PROBLEM SOLVING (continued)

Using the parallel axis theorem, the differential moment of

inertia about the y-axis is then
dIy = dIy’ + dm(x2) = rp(625x2 + 50x3) dx
Integrate to determine Iy:
200
625 50
Iy = ò dIy = ò rp(625x 50x )dx rp[( 3 )(200 ) ( 4 )(2004)]
+2 3 = 3 +

The mass of the solid is

Iy = 21.67x109 rp
200

m= ò dm = ò rp(50x)dx = rp(25)(200) 2 =
1x106
rp
0

Therefore Iy = 21.67x103 m and ky = Iy /m = 147.2 mm