DYNAMICS

BMM1553
DR. Nurizzatul Atikha Binti Rahmat
Class 30th April 2019 (Tuesday, Wk 13)
[email protected]
Faculty of Mechanical Engineering (FKM)
Universiti Malaysia Pahang (UMP)
PLANAR KINETICS OF RIGID BODY

Work and Energy

③ ⑤
① Conservation of
The work of a
Kinetic Energy Couple Energy
Moment

② The work of a Force ④ Principle of Work

and Energy
PLANAR KINETICS OF RIGID BODY

Work and Energy

③ ⑤
① Conservation of
The work of a
Kinetic Energy Couple Energy
Moment

② The work of a Force ④ Principle of Work

and Energy
5.1 KINETIC ENERGY
This topic:
Students will apply work and energy methods to solve planar motion problems
involving force, velocity, and displacement.

• An arbitrary ith particle with:

➢ Having mass, dm
➢ Located at distance, r from arbitrary point P
➢ Has velocity, 𝒗𝑖
• Thus, the Kinetic Energy of the particle is;

• The Kinetic Energy of the entire body is;

5.1 KINETIC ENERGY
• The Kinetic Energy of the entire body can also be expressed in terms of velocity
of point P.
➢ If the body has angular velocity, 𝝎
5.1 KINETIC ENERGY
➢ Substituting the square of magnitude 𝒗𝑖 in the equation of Kinetic Energy yields,

1 2 3
1st integral
Represent the entire mass, m of the body

2nd and 3rd integral

Locate the body’s centre of mass, G

4th integral
Represent the body’s moment of inertia, 𝐼𝑃 passing through point P
𝑦𝑚
ത = න 𝑦 𝑑𝑚
➢ Thus, the Kinetic Energy can be written as;
𝑥𝑚
ҧ = න 𝑥 𝑑𝑚
5.1 KINETIC ENERGY
• Special case, if point P coincides with the mass center, G of the body, then, the
Kinetic Energy of the body is;

• Both terms always positive since v and w is squared.

• First term represents the translational kinetic energy (referenced from the
mass center),
• Second term represents the body’s rotational kinetic energy about the mass
center.
5.1 KINETIC ENERGY

KINETIC ENERGY

③ GENERAL PLANE
① TRANSLATION MOTION

② ROTATION ABOUT
A FIXED AXIS
5.1 KINETIC ENERGY: ① TRANSLATION
• When a rigid body of mass, m is subjected to
either rectilinear of curvilinear translation,
the Kinetic Energy due to rotation is zero,
since 𝝎 = 𝟎.
5.1 KINETIC ENERGY: ② ROTATION A. A FIXED AXIS
• When a rigid body of mass, m rotates about a
fixed axis passing through point O, the body
has both Translational and Rotational Kinetic
Energy. Thus,

• By substituting

• By the parallel axes theorem, the term inside the parentheses

represent the moment of inertia 𝐼𝑜 passing throught point O.
5.1 KINETIC ENERGY: ③ GENERAL PLANE MOTION
• When a rigid body of mass, m is subjected to general
plane motion, it has angular velocity, 𝝎 and its mass
center has a velocity, 𝒗𝑮 .
• Thus, the Kinetic Energy is;

• Above equation can also be expressed in terms of the

body’s motion about its instantaneous center of zero
velocity.
• Thus, the Kinetic Energy is;

𝑰𝑰𝑪 : the moment of inertia of the body about its instantaneous center
PLANAR KINETICS OF RIGID BODY

Work and Energy

③ ⑤
① Conservation of
The work of a
Kinetic Energy Couple Energy
Moment

② The work of a Force ④ Principle of Work

and Energy
5.2 THE WORK OF A FORCE

THE WORK OF A FORCE

⑤
① FORCES
WORK OF A ③ THAT DO NOT
VARIABLE WORK
WORK OF A
FORCE WEIGHT

② WORK OF A ④ WORK OF A
CONSTANT FORCE SPRING FORCE
5.2 THE WORK OF A FORCE: ① VARIABLE FORCE

• If an external force, F acts on a body, the

work done by the force when the body
moves along the path, s is;
5.2 THE WORK OF A FORCE: ② CONSTANT FORCE
• If an external force, F acts on a body,
and maintains a constant
magnitude, 𝑭𝑪 and constant
direction, 𝜽 while the body undergoes
a translation, s, then the previous
equation of the work done by the
force can be integrated.

• Thus, the work done by the force is;

5.2 THE WORK OF A FORCE: ③ WEIGHT
• The weight of a body does work only when the
body’s center of mass, G undergoes a
vertical displacement, ∆𝒚.

• If this displacement is upward, the work is

negative, since the weight is opposite to the
displacement.

• Likewise, if the displacement is downward

(−∆𝒚), the work is positive.
5.2 THE WORK OF A FORCE: ④ SPRING FORCE
• If a linear elastic spring is attached to a
body, the spring force, 𝑭𝑺 = 𝒌𝒔 acting on
the body does work when the spring
either stretches or compresses from 𝑠1
to a farther position, 𝑠2 .

• In both cases, the work will be negative

since the displacement of the body is in
the opposite direction to the force.
5.2 THE WORK OF A FORCE: ⑤ FORCE NO WORK
• There are some external forces that do no
work when the body is displaced.

• These forces act either at fixed points on the

body, or they have a direction perpendicular to
their displacement.

• When a body rotates, the normal reaction acting

on a body that moves along a fixed surface, and
the weight of a body when the center of gravity of
the body moves in horizontal plane.

• A frictional force, 𝑭𝒇 acting on a body as it rolls without slipping over a rough

surface does no work because at any instant of time, 𝑭𝒇 has zero velocity
(instantaneous center, IC), thus, the work done by the force on that point is zero.
PLANAR KINETICS OF RIGID BODY

Work and Energy

③ ⑤
① Conservation of
The work of a
Kinetic Energy Couple Energy
Moment

② The work of a Force ④ Principle of Work

and Energy
5.3 THE WORK OF A COUPLE MOMENT
• When a body (as in figure) subjected to a couple moment, M =
Fr.
• If the body undergoes a differential displacement, then the work
done by the couple forces is by considering the displacement
as the sum of separate translation plus rotation.

• When the body translates, the work of each force is produced

only by the component of displacement along the line of
action of the forces, 𝒅𝒔𝒕 .

• When the body undergoes a differential rotations, d𝜽, then

each force undergoes a displacement 𝒅𝒔𝜽 = (r/2)d 𝜽 in the
direction of the force. Thus, the total work done is;
5.3 THE WORK OF A COUPLE MOMENT
• The work is positive when M and
d 𝜽 have the same sense of
direction and negative is these
vectors are in the opposite sense.

• When the body rotates in the plane through a finite angle 𝜽 measured in
radians, from 𝜽𝟏 to 𝜽𝟐 , the work of a couple moment is therefore;

• If the couple moment M has a constant magnitude,

the work of a couple moment is;
5.3 THE WORK OF A COUPLE MOMENT

EXERCISE 40 Example 18.1

When 𝜃 = 0, the spring is stretched 0.25m

When 𝜃 = 90, the spring is stretched 2.25m
PLANAR KINETICS OF RIGID BODY

Work and Energy

③ ⑤
① Conservation of
The work of a
Kinetic Energy Couple Energy
Moment

② The work of a Force ④ Principle of Work

and Energy
5.4 PRINCIPLE OF WORK AND ENERGY

Body’s initial
Body’s final
translational
and rotational translational
kinetic energy and rotational
kinetic energy

Work done by all the external forces and couple

moments acting on the body as the body
moves from its initial to its final position

Above equations states that the body’s initial translational and rotational kinetic
energy, plus the work done by all the external forces and couple moments
acting on the body as the body moves from its initial to its final position is equal
to the body’s final translational and rotational kinetic energy.
5.4 PRINCIPLE OF WORK AND ENERGY

EXERCISE 41 Example 18.2

 DYNAMICS
BMM1553
DR. Nurizzatul Atikha Binti Rahmat
Class 2nd May 2019 (Thursday, Wk 13)
[email protected]
Faculty of Mechanical Engineering (FKM)
Universiti Malaysia Pahang (UMP)
PLANAR KINETICS OF RIGID BODY

Work and Energy

③ ⑤
① Conservation of
The work of a
Kinetic Energy Couple Energy
Moment

② The work of a Force ④ Principle of Work

and Energy
5.5 CONSERVATION OF ENERGY

• When a force system acting on a rigid body consists of only conservatives

forces, the conservation of energy theorem can be used to solve a
problem that otherwise would be solved using the principle of work and energy.

• This theorem is easier to apply since the work of a conservative force is

independent of the path and depends only on the initial and final positions of
the body.
5.5 CONSERVATION OF ENERGY

CONSERVATION OF ENERGY

① ③
GRAVITATIONAL CONSERVATION
POTENTIAL OF ENERGY
ENERGY

ELASTIC POTENTIAL
② ENERGY
5.5 CONSERVATION OF ENERGY: ① GRAVITATIONAL P. E.
• Since the total weight of a body can be considered concentrated at its center of
gravity, the Gravitational Potential Energy of the body is determined by knowing
the height of the body’s center of gravity above or below a horizontal datum
(important point of an object, be it line, point, or surface).

• The Gravitational Potential Energy is

positive when 𝒚𝑮 is positive upward.

• Likewise, if G is positioned below the datum

(−𝒚𝑮 ), the Gravitational Potential Energy is
negative since the weight does negative work
when the body returns to datum.

Gravitational Potential Energy

5.5 CONSERVATION OF ENERGY: ② ELASTIC P. E.
• The force developed by an elastic spring is also a conservative force.

• The Elastic Potential Energy which a spring imparts to an attached body when
the spring is stretched or compressed from a initial undeformed position (s =
0) to a final position.

• In the deformed position, the spring force

acting on the body always has the ability
for doing positive work when the
spring returns back to its original
undeformed position.
5.5 CONSERVATION OF ENERGY: ③
• In general, if a body is subjected Principle of
• Therefore, the
to both Gravitational and Elastic Work and Energy for a
Forces, the Total Potential rigid body can be written as;
Energy can be expressed as;
: the work of nonconservative forces such as friction

• If = 0, thus,

• Thus, Work
the of
Conservative Forces
can be written as;
Above is referred as The Conservation of
Mechanical Energy = the sum of the potential and
kinetic energies of the body remains constant when
the body moves from one position to another.
5.5 CONSERVATION OF ENERGY

EXERCISE 42Example 18.6

FINISH CHAPTER 5