Angular Momentum and Kinetic Energy
Angular Momentum and Kinetic Energy
Angular Momentum and Kinetic Energy
CHAPTER
4 :
ANGULAR MOMENTUM
4.0 Introduction
4.1 Angular Momentum of a Rigid Body in Three Dimensions
4.2 Kinetic Energy of a Rigid Body in Three Dimensions
4.3 Applications
Tips and Motivation
Worksheets
Exercises 4.0
4.0
INTRODUCTION
The two fundamental principles used in the analysis of the plane motion of a rigid
body remain valid in the most general case of the motion of a rigid body in three
dimensions, namely,
F = maG
MG = H G
MG
F2
F3
G
F4
maG
G
F1
Free-Body Diagram
(a)
(b)
Figure 4.1
Kinetic Diagram
(c)
We note that the system of forces acted on the body, Figure 4.1(a), can be reduced to
an equivalent force-couple system, Figure 4.1(b), which results in the two inertia
forces (also called effective forces) as in Figure 4.1(c).
4-1
4.1
z
P
G
RG
dm
R = RG + p
Its linear velocity is then given by
v = R = R G + p
where p =
dL = R
dm v = R
dm R + p
= RG
dm R
= (RG + p)
dm R
dm R
and therefore, the total angular momentum of the entire body about point O is
HO =
where
RG
RG
p
dm R +
dm R = RG
dm R
dm R = RG
mvG
Therefore, the total angular momentum of the entire body about point O is then
HO = RG
mvG + HG
4-2
Note that
dm R =
dm( R G + p )
dm R G +
(dm p)
dm p
R G +
dm p
(dm p) = 0 since it represents the first moment of the mass with respect to
the centroidal plane i.e. the location of the mass center is itself in a coordinate plane.
Therefore,
HG =
dm p =
p) dm
as
and
i +
j +
p) = (x i + y j + z k) [(
= [(y2 + z2)
[ yx
zy
i +
j +
xz
+ (y2 + z2)
[ zx
xy
k)
(x i + y j + z k)]
]i +
yz
]j +
+ (y2 + z2)
]k
It follows that
p
p) dm =
dm [(y2 + z2)
dm [ yx
x
x
dm [ zx
= [I x
[ I yx
I xy
x
[ I zx
+ Iy
x
xy
xz
+ (z2 + x2)
x
zy
I xz
y
I zy
4-3
I yz
y
+ Iz
]i +
yz
+ (x2 + y2)
]i +
z
]j +
z
]k
]j +
z
]k
HG = Hx i + Hy j + Hz k
HG
where Hx = [ I x
Hy = [ I yx
Hz = [ I zx
I xy y I xz z ]
x + I y y I yz z ]
x I zy y + I z z ]
Y
We can see that a new value of moments and
products of inertia will be obtained if a
different set of coordinate axes were used.
If the centroidal coordinate axes were chosen such that they coincide with the principal
axes of inertia (i.e. each of the planes is symmetry), then all the products of inertia will
be zero. The above equation reduces to
HG = I x
i + Iy
j + Iz
Example 4.1
A homogeneous disk of mass m =
4.8 kg spins at the constant rate s =
12 rad/s relative to the uniform bent
arm OAB as shown. At the same
instant, the bent arm OAB rotates at
the constant rate p = 6 rad/s about
the Y axis. Knowing that the mass of
the bent arm OAB is 4 kg, determine
the angular momentum of the
assembly about point O.
Solution:
Rod OA,
RG
HO = RG
X
p
1
12
mvG + HG
(2)(0.52) = 0.0417 kg m2 , I z = 0 kg m2
30 cm
p1 = 0.25K ;
1 =
p j = 6J
vG = (6J) (0.25K) = 1.5I
(since i = I)
mvG = 0.25K 2(1.5I) = 0.75J kg m2/s
Ix = Iy =
50 cm
A
50 cm
Figure E4.1
Hx = I x x I xy y I xz
Hy = I yx x + I y y I yz
Hz = I zx x I zy y + I z
= 0 0 0 = 0 kg m2/s
2
z = 0 + (0.0417)(6) 0 = 0.2502 kg m /s
2
z = 0 0 0 = 0 kg m /s
RG
p2 = 0.5K + 0.25I ;
2 =
1 = 6J
vG = (6J) ( 0.5K + 0.25I) = 3I 1.5K
mvG = (0.5K + 0.25I) 2(3I 1.5K) = 3.75J kg m2/s
1
12
Iy = Iz =
(2)(0.52) = 0.0417 kg m2 , I x = 0 kg m2
0 0 = 0 kg m2/s
= 0 + 0.0417(6) 0 = 0.2502 kg m2/s
= 0 0 0 = 0 kg m2/s
z
z
RG
p3 = 0.5K + 0.5I ;
3 = (6J + 12i)
vG = (6J) (0.5K + 0.5I) = 3I 3K
mvG = (0.5K + 0.5I) 4.8(3I 3K) = 14.4J k g m2/s
Iy= Iz =
1
4
1
2
(4.8)(0.3)2 = 0.216 kg m2
[Ans]
4-5
4.2
z
p
P dm
1
2
dT =
G
RG
dm (vPvP)
dT =
dm( R G + p )( R G + p )
x
Expanding the terms and noting that p =
1
2
dT =
dm[ R G R G + 2( R G p ) + ( p p )]
Substituting p =
1
2
dT =
p , we obtain
p, we have
dm[( R G R G) + 2( R G(
p)) + (
p)(
p)]
The total kinetic energy for the entire body is, therefore,
T=
=
1
2
dm[( R G R G) + 2( R G(
1
2
dm[( R G R G) +
=
where
dT
1
2
p)(
1
2
m(vGvG) +
p) = (
= (
i +
y z
p) = (y2 + z2)
2( xy
p)) + (
dm( R G(
dm(
p) +
p)(
p)(
1
2
p)]
p)(
dm(
p)
j + z k) (x i + y j + z k)
z y) i + ( z x x z) j + ( x y
y
2
x
+ (z2 + x2)
x y + yz y
4-6
2
y
z
+ (x2 + y2)
+ yz y z)
2
z
x) k
p)
dm(
p)(
(y2 + z2)dm
p) =
2(
= Ix
2
x
xy dm
+ Iy
2
y
(z2 + x2)dm
yz dm
2
+ Iz
2( I xy
(x2 + y2)dm
yz dm
+ I yz
+ I zx
2
z
z)
+ I zx
z)
We obtain finally
T =
1
2
m(vGvG) +
1
2
( Ix
2
x
+ Iy
( I xy
+ I yz
+ Iz
z
y
z)
If the axes coincide with the principal axes of inertia, the kinetic energy is merely
T =
1
2
m(vGvG) +
1
2
( Ix
2
x
+ Iy
2
y
+ Iz
2
z
Alternatively, the kinetic energy of a rigid body moving with the angular velocity
and the velocity of its mass center vG can be expressed in general form as
T =
1
2
vGL +
1
2
HG
where L = mvG
1
2
HO
4-7
Example 4.3
X
50 cm
30 cm
B
A
50 cm
Figure E4.3
Solution:
Ttotal = Trod OA + Trod AB + Tdisk
where
T = 12 m(vGvG) + 12 ( I x x2 + I y y2 + I z
2
z
) ( I xy
+ I yz
+ I zx
vG = 1.5I m/s
Trod OA =
1
2
1
2
(0.0417)(6)2 = 3.0 J
vG = 3I 1.5K m/s
Rod AB,
Trod AB =
1
2
(2)[(3)2 + (1.5)2] +
(0.0417)(6)2 = 12.0 J
1
2
vG = 3I 3K m/s
Disk B,
Tdisk =
(2)(1.5)2 +
1
2
(4.8)[(3)2 + (3)2] +
1
2
4-8
[Ans]
z)
Example 4.4
Given:
a = 120 mm
b = 100 mm
l = 180 mm
l
z
Figure E4.4
Solution:
HA = RG mvG + HG
[Note that the C.G is as shown at point G (neglecting size of rod AB)]
a
RG = (l + )I = 0.24I m
[note that p = 1 and q = 2 ]
2
(since j = J)
arm = p = pj = 2J rad/s
vG = arm RG = (2J) (0.24I) = 0.48K m/s
RG mvG = (0.24I) (0.2)( 0.48K)
Note: total mass is m = 0.2 kg
= 0.02304J kg m2/s
1
1
(0.2)(0.2)2 = 0.000667 kg m2 ; I y = 12
(0.2)(0.12)2 = 0.00024 kg m2
I x = 12
1
12
Iz =
= p + q = 2j 4i
Hx = I x x I xy y I xz
Hy = I yx x + I y y I yz
Hz = I zx x I zy y + I z
1
2
m( v G v G ) +
1
2
(Ix
2
x
+ Iy
[Ans]
2
y
+ Iz
2
z
) ( I xy
+ I yz
+ I zx
x)
Tplate = 0.028856 J
10
[Ans]
Alternatively, since both angular motions 1 and 2 pass through the same point A (i.e. motion
about a fixed point A), we may consequently compute HA using
HA = (IX
where
plate
IXY
IXZ
Z)I
+ (IYX
= p + q = 2j 4i = 2J 4I
IX = I x =
1
12
+ IY
=>
IYZ
Z)J
= 4,
+ (IZX
IZY
= 2,
= 0
+ IZ
Z)K
(0.2)(0.2)2 = 0.000667 kg m2
a 2
1
) = 12
(0.2)(0.12)2 + 0.2(0.18 + 0.06)2 = 0.01176 kg m2
2
a
1
(0.2) (0.122+ 0.22) + 0.2(0.18 + 0.06)2 = 0.012427 kg m2
I z + m(l + )2 = 12
2
0 kg m2 (due to symmetrical plane ZX)
0 kg m2 (due to symmetrical plane ZX)
0 kg m2 (due to symmetrical plane XY)
IY = I y + m(l +
IZ =
IXY =
IYZ =
IZX =
HA = (IX
IXY
IXZ
Z)I
+ (IYX
+ IY
IYZ
Z)J
+ (IZX
IZY
= 0.000667( 4) I + 0.01176(2)J
HA = 0.002668I + 0.2352J kg m2/s
[Ans]
1
2
HA =
1
2
4 - 10
[Ans]
+ IZ
Z)K
Example 4.5
Y
p
90
120
360
q
240
X
O
Z
Figure E4.5
Solution:
HO = RG
Y
p
90
120
360
240
mvG + HG
RG = 0.24J + 0.36I ;
= + p = 2K 3J
vG =
RG = (2K 3J) (0.24J + 0.36I)
= 0.48I 0.72J + 1.08K m/s
X
O
RG
Iy=
1
12
Ix=
1
12
plate
1
12
(1.2)(0.12)2 = 0.00144 kg m2
+ p + q = 2k 3j + 1.5i (i = I, j = J, k = K)
HG = Hx i + Hy j + Hz k
where Hx = I x x I xy y I xz z = 0.00225(1.5) 0 0 = 0.003375
Hy = I yx x + I y y I yz z = 0 + 0.00081(3) 0 = 0.00243
Hz = I zx x I zy y + I z z = 0 0 + 0.00144(2) = 0.00288
HO = (0.311I 0.467J 0.449K) + (0.003375I 0.00243J 0.00288K)
= 0.314I 0.469J 0.452K = 0.314I 0.469J 0.452K kg m2/s
T=
1
2
m(vG vG) +
Tplate =
11
1
2
1
2
(I x
2
x
+ Iy
2
y
+ Iz
2
z
) ( I xy
+ I yz
+ I zx
4 - 11
x)
12
Worksheet 4.1 :
90 mm
B
1
280 mm
400 mm
Figure W4.1
4 - 12
13
Worksheet 4.2 :
Y
p
90
120
360
q
240
X
O
Z
Figure W4.2
Solution:
Y
p
90
120
360
A
x
z
240
X
O
Z
4 - 13
14
Worksheet 4.3 :
z
a
A
b
B
q
C
Figure W4.3
4 - 14
15
Exercise 4.0:
4-1
End of Chapter 4
4 - 15