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CH6 KeyConcepts

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18 views10 pages

CH6 KeyConcepts

Uploaded by

Aditya Das
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© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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4DA00: Dynamics

CH6 PLANE KINETICS OF RIGID BODIES: KEY CONCEPTS

Erik Steur ([email protected]) and Rob Fey ([email protected])

Department of Mechanical Engineering, Dynamics and Control Group


Kinetics of Rigid Bodies:
Relation between external forces and moments and translations and rotations
 

2D (plane) approach: 
G

• Rigid body is a thin slab or 


symmetric w.r.t. the plane
• Center of mass is in the plane 
• Forces are projected onto the 
plane 

• Motion is within the plane

2
Kinetics of Rigid Bodies:
Relation between external forces and moments and translations and rotations
 

G


Approaches: 

• Equations of motion
• Work and Energy relations 

• Impulse-Momentum equations 

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Formulating the equations of motion

Approach:
1. Analyze the kinematics
2. Draw the free body diagram
3. Formulate the vector force equation (or two scalar equations) and the
moment equation

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Kinematics

Determine the type of motion


• Rectilinear/curvilinear translation
• Rotation
• General in-plane motion

Constrained/unconstrained motion:
• Rocket: 3 DoF, 0 constraints
• Bar: 1 DoF and 2 constraints

Determine the kinematic


relations/constraints first (CH5)

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Free Body Diagram 

G


1. Isolate rigid body from its environment 

2. Draw and introduce all known and


unknown forces 

3. Write magnitude of the force next to



the force vector (use data,
mathematical expression for the force
vector in agreement with the direction
of the force vector) Kinetic diagram (optional):
Clarify relation between forces
and resulting dynamic response

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+ General 2D Equations of Motion (EoM)

Given:
 • Rigid body of mass m and center of mass G
 
• Acceleration of G : aG
  
• Angular velocity ω and angular acceleration α

  aG
Force
 equation (vector eqn or two scalar eqns):

∑ F = maG 
Moment equation (scalar equation, k direction):

 ∑ M G = H G = IGα
= ∑ mi ρi2 = ω ∫ ρ 2 dm IGω
since H G ω=

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Moment equations about an arbitrary point
+

Replace ∑ M = H G = I Gα by either:
     
• ∑ M P = H G + ρG × maG = I Gα + ρG × maG 
 
aG
or, in scalar form, ρG


aG
∑ M= P I Gα + maG d
    
• ∑ M= P ( H P ) rel + ρG × maP
  
 I Gα

= I Pα + ρG × maP
  
Special case: Fixed point O ( aP = 0 )
 
∑ O O
M = I α

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Topics:
S6/3 Translation
S6/4 Rotation
S6/5 General plane motion
S6/6 Work and Energy (self-study: power)
S6/8 Impulse and Momentum

pedrosala/Shutterstock

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Questions/comments: [email protected]

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