Dynamic System Modelling

2-1. Dynamic Models – Mechanical Systems

Chanhwa Lee

Department of Artificial Intelligence & Robotics

Sejong University
 Contents

• Dynamic Model
• Mechanical Systems
• Translational Motion of a Particle
• Rotational Motion of a Rigid Body
✓ Angular Momentum
✓ Mass Center
✓ Mass Moment/Product of Inertia
✓ Plane Motion (Two Dimensions)
✓ Kinetics in Three Dimensions
[Beer] F. P. Beer et al., Vector Mechanics for Engineers: Dynamics, 12th ed., McGraw Hill, 2019, ch. 15-18.
[Franklin] G. F. Franklin et al., Feedback Control of Dynamic Systems, 8th ed., Pearson, 2020, ch. 2.
Dynamic Models

• Dynamics models

- Model:
✓ A mathematical description of the process to be controlled
✓ Usually a set of differential equations
- Getting models:
✓ Using principles of the underlying physics
✓ System identification: Testing a prototype of the device,
Apply some inputs and measure the outputs, and then use the
data to construct an analytic model
- Modeling scope:
✓ Accuracy vs. Simplicity: Depends on the problem
✓ The simplest model to describe some phenomenon is the best
Dynamics of Mechanical Systems

• Translational Motion of a Particle

- Newton’s 2nd Law

Σ𝑭 = 𝑚𝒂
✓ Σ𝑭: vector sum of all forces applied to a system [N=kg m/s2]
ሷ acceleration (vector) [m/s2]
✓ 𝒂(= 𝒙):
✓ 𝑚: mass of the body [kg]
Dynamics of Mechanical Systems

• Translational Motion of a Particle

- Free Body Diagrams and Kinetic Diagrams

Σ𝑭 = 𝑚𝒂

Free Body Diagram(FBD) Kinetic Diagram(KD)

Dynamics of Mechanical Systems

• Translational Motion of a Particle

- Free Body Diagrams (FBD): models the forces acting on an object

1. Isolate the body of interest (free body)
2. Draw your axis system (example: Cartesian, polar, path)
3. Add applied forces (example: weight, pulling force)
4. Replace supports with forces (example: normal force)
5. Draw appropriate dimensions (usually angles for particles)

𝑥
Dynamics of Mechanical Systems

• Translational Motion of a Particle

- Kinetic Diagrams(KD): represents the acceleration vector, 𝑚𝒂

1. Isolate the body of interest (free body)
2. Draw in the mass times acceleration of the particle
(if unknown, do this in the + direction according to the axes)
Dynamics of Mechanical Systems

• Translational Motion of a Particle

- Free Body Diagrams and Kinetic Diagrams

Σ𝑭 = 𝑚𝒂

여기에𝑦 수식을 입력하십시오.

𝑥

- Equations of Motion (EOM):

✓ Equations for the vector equality of FDB & KD (in each axis)
𝑥-axis:
𝑦-axis:
Dynamics of Mechanical Systems

• Cruise control model (Example 2.1 [F])

- FBD & KD

• 𝑚 = 1000 [kg] - EOM

• 𝑏 = 50 [Ns/m]
viscous damping coefficient
• Input: 𝑢 [N]
• Output: 𝑣(= 𝑥)
ሶ [m/s]
Dynamics of Mechanical Systems

• A Two-mass system: Suspension model (Example 2.2 [F])

• quarter car, vertical motion only

• 𝑚2 = 1500/4 [kg]
• 𝑚1 =20 [kg]
• 𝑘𝑠 = 130,000 [N/m], spring constant
• Input: 𝑟 [m]
• 𝑘𝑤 = 1,000,000 [N/m], spring const.
• Output: 𝑦 [m]
• 𝑏 = 9,800 [Ns/m], damping coeff.
Dynamics of Mechanical Systems

• A Two-mass system: Suspension model (Example 2.2 [F])

- FBD & KD for 𝑚1

- EOM for 𝑚1
Effect of gravitational force 𝑚𝑔 can
be neglected by choosing the origin
of 𝑥 & 𝑦 -axis to the equilibrium
point with the given weights.
Dynamics of Mechanical Systems

• A Two-mass system: Suspension model (Example 2.2 [F])

- FBD & KD for 𝑚2

- EOM for 𝑚2
Effect of gravitational force 𝑚𝑔 can
be neglected by choosing the origin
of 𝑥 & 𝑦 -axis to the equilibrium
point with the given weights.
Dynamics of Mechanical Systems

• Rotational Motion: Moment

- Moment of a force: 𝑴 = 𝒓 × 𝑭
Dynamics of Mechanical Systems

• Vector product (Cross product, Outer product)

i i = 0 j  i = −k k i = j
i  j =k j j =0 k  j = −i
i k = − j j k =i k k = 0

( ) (
V = Px i + Py j + Pz k  Qx i + Q y j + Qz k )
= ( Py Qz − Pz Qy ) i + ( Pz Qx − Px Qz ) j

+ ( Px Qy − Py Qx ) k

i j k
= Px Py Pz
Qx Qy Qz
Dynamics of Mechanical Systems

• Newton’s Law and Moment for System of Particles

n
Fi +  f ij = mi ai
j =1

( )
n
ri  Fi +  ri  f ij = ri  mi ai
j =1

Fi = external force f ij = internal forces

mi ai =n effective
n n n

 i  ij  mi ai
force
F + f =
i =1 i =1 j =1 i =1

 ( r  F ) +  ( r  f ) =  ( r  m a )
n n n n

i i i ij i i i
i =1 i =1 j =1 i =1

F = m ai i i

(r  F ) = (r  m a )
i i i i i
Dynamics of Mechanical Systems

• Linear & Angular Momentum for System of Particles

- Linear momentum of the - Angular momentum about fixed

system of particles, point 𝑂 of system of particles,
n

n H O =  ( ri  mi vi )
L =  mi vi i =1

H =  (r  m v ) +  (r  m v )
n n
i =1
 F = m a
i i i O i i i i i i
n n
L =  mi vi =( rmiFai) =  (Fr =mam) a  F =  m a F =  m a
i =1
i
i =1
i i i i i

( r (rm aF ) =  (( r  mF a) =)  ( r  m
i i i i i i i n
= 
( ) 
i =1 i =1
r iF =
i ( r  m
i a ) i i i =1
i i i ii i ii i i

- Resultant of the external - Moment resultant about fixed

forces is equal to rate of point 𝑂 of the external forces is
change of linear momentum equal to the rate of change of
of the system of particles, angular momentum of the system
of particles,
F = L
M O = HO
Dynamics of Mechanical Systems

• Motion of the Mass Center of a System of Particles

- Mass center 𝐺 of system of particles is defined by position vector r

n
mr =  mi ri
i =1

n
mr =  mi ri
i =1
n
mv =  mi vi = L
i =1

ma = L =  F
Dynamics of Mechanical Systems

• Angular Momentum About the Mass Center

- Angular momentum about 𝐺 of particles,

n
H G =  ( ri mi vi )
i =1

- Angular momentum about 𝐺 of particles

in their absolute motion relative to the
n
Newtonian 𝑂𝑥𝑦𝑧 frame of reference,
H G =  ( ri m
vi = v + vi i =1
n
H G =  ( ri mi vi )
(
n

i =1
=  ri m
i =1

(
=  ri mi ( v + vi ) )
n
 n 
i =1
=   mi ri 

 i =1 
 n
 n
=   mi ri  v +  ( ri miH
vi′G) = H G = 
 i =1  i =1
Dynamics of Mechanical Systems

• Angular Momentum About the Mass Center

n

- The  ( ri mresultant

H G =moment
i =1
i vi ) about 𝐺 of the
externaln forces is equal to the rate of

changei =1
(
=  ri mi ( v + vi ) )
of angular momentum about 𝐺
of the system
n
 of particles
n
=   mi ri  v +  ( ri mi vi )
 i =1  i =1

Hሶ G = H G =  M G
vi = v + vi
Dynamics of Mechanical Systems

• From the System of Particles to Rigid Body

- Consider rigid bodies as made of large numbers of particles

- Use the previous results for the motion of systems of particles

ሶ ሶ
Σ𝐹Ԧ = 𝐿 = 𝑚𝑎തԦ Σ𝑀𝐺 = 𝐻𝐺
Dynamics of Mechanical Systems

• Rotation About a Fixed Axis

𝜽 = 𝜃𝒌 ሶ
𝝎 = 𝜔𝒌 = 𝜃𝒌 𝜶 = 𝛼𝒌 = 𝜔𝒌 ሷ
ሶ = 𝜃𝒌
𝒓
𝜽
Dynamics of Mechanical Systems

• Rotation About a Fixed Axis : Velocity

- Consider rotation of rigid body about a

fixed axis 𝐴𝐴′
- Velocity vector v = dr dt of the particle 𝑃
is tangent to the path with magnitude
v = ds dt

s = ( BP )  = ( r sin  ) 
ds 
v= = lim ( r sin  ) = r sin 
dt  t → 0 t
- The same result is obtained from
dr
v= =r
dt
 =  k =  k = angular velocity
Dynamics of Mechanical Systems

• Rotation About a Fixed Axis : Acceleration

- Differentiating the velocity,

dv d
a= = (  r )
dt dt
d dr
= r +
dt dt
d
= r +v
dt
- d  =  = angular acceleration,
dt
=  k = k =  k
- Acceleration is combination of two vector

normal component
tangential component
Dynamics of Mechanical Systems

• Rate of Change with respect to a Rotating Frame

- With respect to the rotating 𝑂𝑥𝑦𝑧 frame,

   
Q = Qx i + Q y j + Qz k

()







Q Oxyz = Q x i + Q y j + Q z k

- With respect to the fixed 𝑂𝑋𝑌𝑍 frame,

()






   
Q OXYZ = Qx i + Q y j + Qz k + Qx i + Q y j + Qz k

- Frame 𝑂𝑋𝑌𝑍 is fixed

()
 
()  
Q OXYZ = Q Oxyz +   Q
- Frame 𝑂𝑥𝑦𝑧 rotates
about fixed axis 𝑂𝐴
with angular velocity Ω.
Dynamics of Mechanical Systems

• Angular Momentum about 𝐺 of a Rigid Body in Plane Motion

- For plane motion of bodies which are

symmetrical with respect to the
reference plane or plane slabs,

- After differentiation,
* BAC-CAB rule
Dynamics of Mechanical Systems

• Mass Moment of Inertia

- Mass moment of inertia: 𝐼 = Σ𝑚𝑟 2

𝑅 𝑅
Dynamics of Mechanical Systems

• Mass Moment of Inertia

- Moment of inertia with respect to the 𝑦

coordinate axis is

I y =  r 2 dm =  ( z 2 + x 2 ) dm

- Similarly, for the moment of inertia with

respect to the 𝑥 and 𝑧 axes,

I x =  ( y 2 + z 2 ) dm

I z =  ( x 2 + y 2 ) dm
Dynamics of Mechanical Systems

• Parallel Axis Theorem

- For the rectangular axes with origin at 𝑂 and
parallel centroidal axes,
I x =  ( y 2 + z 2 )dm =   ( y  + y ) + ( z  + z )  dm
2 2
 

=  ( y2 + z 2 ) dm + 2 y  y dm + 2 z  z dm + ( y 2 + z 2 )  dm

I x = I x + m ( y 2 + z 2 )

I y = I y + m ( z 2 + x 2 )

I z = I z + m ( x 2 + y 2 )

- Generalizing for any axis 𝐴𝐴′

and a parallel centroidal axis,

I = I + md 2
Dynamics of Mechanical Systems

Ex 9.2 [B])

(a) 𝐼𝑧 = 𝐼𝑂 ?
(b) 𝐼𝐴 ?
𝑑𝑟
𝑅 𝑟
𝐴

- Uniform density 𝜌 per unit area

Dynamics of Mechanical Systems

• Noncentroidal Rotation: Rotating about a fixed axis through 𝑂

- Motion of a body is constrained to

rotate about a fixed axis that does
not pass through its mass center
- Kinematic relation

at = r  an = r  2

- Moment about a fixed axis

Dynamics of Mechanical Systems

• Rotational Motion

- Newton’s 2nd Law for rotation

Σ𝑴𝑃 = 𝐼𝑃 𝜶
✓ Σ𝑴𝑃 : sum of all moments of force [Nm] about 𝑃,
torque(토크), moment(모멘트), 돌림힘, 회전력
𝑴𝑃 = 𝒓𝑃 × 𝑭
𝒓𝑃 : position vector from 𝑃 to the point where 𝑭 is applied
ሷ angular acceleration [rad/s2]
✓ 𝜶(= 𝜽):
✓ 𝐼𝑃 : mass moment of inertia [kg m2] about 𝑃
𝐼𝑃 = Σ𝑚𝑟𝑃2
Dynamics of Mechanical Systems

• Rotational Motion + Translational Motion for Rigid Body

- Free Body Diagrams and Kinetic Diagrams

Σ𝑭𝒙 = 𝑚𝒂𝒙 , Σ𝑭𝒚 = 𝑚𝒂𝒚 , Σ𝑴𝑮 = 𝐼𝐺 𝜶

Free Body Diagram(FBD) Kinetic Diagram(KD)

Dynamics of Mechanical Systems

• Rotational Motion + Translational Motion for Rigid Body

- Free Body Diagrams and Kinetic Diagrams

Σ𝑭𝒙 = 𝑚𝒂𝒙 , Σ𝑭𝒚 = 𝑚𝒂𝒚 , Σ𝑴𝑮 = 𝐼𝐺 𝜶

Free Body Diagram(FBD) Kinetic Diagram(KD)

Dynamics of Mechanical Systems

• Rotational Motion + Translational Motion for Rigid Body

- Free Body Diagrams and Kinetic Diagrams

Σ𝑭𝒙 = 𝑚𝒂𝒙 , Σ𝑭𝒚 = 𝑚𝒂𝒚 , Σ𝑴𝑮 = 𝐼𝐺 𝜶

Free Body Diagram(FBD) Kinetic Diagram(KD)

Dynamics of Mechanical Systems

• Rotational Motion + Translational Motion for Rigid Body

- Free Body Diagrams (FBD): models the forces acting on an object

1. Isolate the body
2. Define the axis
3. Add applied forces and moments
4. Replace constraints with support forces
5. Label the dimensions
Dynamics of Mechanical Systems

• Rotational Motion + Translational Motion for Rigid Body

- Kinetic Diagrams(KD): represents the translational and rotational

inertial terms, 𝑚𝒂, 𝐼𝜶
1. Isolate the body
2. Draw in the mass times acceleration of the particle, 𝑚𝒂;
For rigid bodies, also include the rotational term, 𝐼𝐺𝜶.
(if unknown, do this in the + direction according to the axes.)
Dynamics of Mechanical Systems

• Rotational Motion + Translational Motion for Rigid Body

- Free Body Diagrams and Kinetic Diagrams

Σ𝑭𝒙 = 𝑚𝒂𝒙 , Σ𝑭𝒚 = 𝑚𝒂𝒚 , Σ𝑴𝑮 = 𝐼𝐺 𝜶

- Equations of Motion (EOM):

✓ Equations for the vector equality of FDB & KD (in each axis)
𝑥-axis:
𝑦-axis:
𝑧-axis (for rotation):
Dynamics of Mechanical Systems

• Rotational Motion + Translational Motion for Rigid Body

- Free Body Diagrams and Kinetic Diagrams

Σ𝑭𝒙 = 𝑚𝒂𝒙 , Σ𝑭𝒚 = 𝑚𝒂𝒚 , Σ𝑴𝑷 = 𝐼𝑃 𝜶

- Equations of Motion (EOM):

✓ Equations for the vector equality of FDB & KD (in each axis)
𝑥-axis:
𝑦-axis:
𝑧-axis (for rotation):
Dynamics of Mechanical Systems

• Satellite attitude control model (Example 2.3 [F])

- FBD & KD

- EOM

• Input: 𝑢(= 𝐹𝑐 𝑑 + 𝑀𝐷 ) [Nm]

• Output: 𝜃 [rad]
Dynamics of Mechanical Systems

• Flexible satellite attitude control (Example 2.4 [F])

𝐼2

𝐼1

• 𝐼1 , 𝐼2 : mass moment of inertia

• Flexibility between 𝜃1 & 𝜃2 • 𝑘: torsional stiffness
• Satellite attitude sensor (𝜃2 ) • 𝑏: damping coefficient
• Body of the satellite (𝜃1 ) • Input: 𝑇𝑐 [Nm]
• Actuators are placed at body (𝜃1 ) • Output: 𝜃1 , 𝜃2 [rad]
Dynamics of Mechanical Systems

• Flexible satellite attitude control (Example 2.4 [F])

- FBD & KD for 𝐼1

𝐼2

𝐼1

- EOM for 𝐼1
Dynamics of Mechanical Systems

• Flexible satellite attitude control (Example 2.4 [F])

- FBD & KD for 𝐼2

𝐼2

𝐼1

- EOM for 𝐼2
Dynamics of Mechanical Systems

• Pendulum (Example 2.6 [F])

- FBD & KD

- EOM

• Input: 𝑇𝑐 [Nm]
• Output: 𝜃 [rad]
Dynamics of Mechanical Systems

• Mass Products of Inertia

- Mass product of inertia: 𝐼𝑥𝑦 = σ 𝑥𝑖 𝑦𝑖 Δ𝑚𝑖 = ‫𝑚𝑑 𝑦𝑥 ׬‬

𝑦 𝑦 𝑦

3 3 3

𝑂 4 𝑥 −4 𝑂 𝑥 𝑂 4 𝑥
𝑦 𝑦 𝑦

−4 4
𝑂 𝑥 𝑂 𝑥 𝑂 4 𝑥

−3 −3
Dynamics of Mechanical Systems

• Mass Products of Inertia

- Mass products of inertia

I xy =  xy dm = I xy + mx y
I yz =  yz dm = I yz + myz
I zx =  zx dm = I zx + mz x
Dynamics of Mechanical Systems

• Parallel Axis Theorem

- For the rectangular axes with origin at O and
parallel centroidal axes,

I xy =  xy dm = I xy + mx y
I yz =  yz dm = I yz + myz
I zx =  zx dm = I zx + mz x
Dynamics of Mechanical Systems

Ex 9.6 [B])

(a) 𝐼𝑥𝑦 ?
(b) 𝐼𝑥"𝑦" ?
(centroidal axes parallel to 𝑥 & 𝑦)

- Uniform density 𝜌 per unit area

 Dynamics of Mechanical Systems

• Angular Momentum about 𝐺 of a Rigid Body in 3 Dimensions

- The 𝑥 component of the angular momentum

 yi (  ri) z − zi (  ri) y Δmi

n    
Hx =
i =1

 yi ( x yi −  y xi ) − zi ( z xi −  x zi )Δmi
n
=
i =1

= x 
n
( yi2 + zi2 )Δmi −  y  xi yi Δmi −  z  zi xi Δmi
n n

i =1 i =1 i =1

( )
 n
  n
  
H G =  (ri  vimi ) =  ri  (  ri )Δmi  H x =  x  y 2 + z 2 dm −  y  xy dm −  z  zx dm
i =1 i =1
= + I x x − I xy y − I xz z

H y = − I yx x + I y y − I yz z
H z = − I zx x − I zy y + I z z
 Dynamics of Mechanical Systems

• Angular Momentum about 𝐺 of a Rigid Body in 3 Dimensions

- The inertia tensor 𝐼 ҧ for the body

- Transformation of 𝜔 into 𝐻𝐺

 n
  n
  
H G =  (ri  vimi ) =  ri  (  ri )Δmi 
i =1 i =1

H x = + I x x − I xy y − I xz z
H y = − I yx x + I y y − I yz z
H z = − I zx x − I zy y + I z z
Dynamics of Mechanical Systems

• Inertia Tensor and Principal Axes of Inertia

𝑦

𝑦′
𝑥′ - The inertia tensor 𝐼 ҧ for the body

𝐺 𝑥

- w.r.t. the principal axes of inertia 𝐺𝑥 ′ 𝑦 ′ 𝑧 ′

✓ Orthogonal diagonalization of
symmetric matrix 𝐼,ҧ 𝐼 ′ҧ = 𝑉 𝑇 𝐼𝑉
ҧ
Dynamics of Mechanical Systems

• Kinetic Energy

- Kinetic energy of particles forming rigid body

𝑛
1
𝑇 = ෍ Δ𝑚𝑖 𝑣Ԧ𝑖2
2
𝑖=1
𝑛
1 2
= ෍ Δ𝑚𝑖 𝑣Ԧҧ + 𝑣Ԧ𝑖′
2
𝑖=1
𝑛 𝑛 𝑛
1 1
= ෍ Δ𝑚𝑖 𝑣Ԧҧ 2 + 𝑣Ԧҧ ⋅ ෍ Δ𝑚𝑖 𝑣Ԧ𝑖′ + ෍ Δ𝑚𝑖 𝑣Ԧ𝑖′2
2 2
𝑖=1 𝑖=1 𝑖=1
𝑛
1 1
= 𝑚𝑣Ԧҧ 2 + ෍ Δ𝑚𝑖 𝑣Ԧ𝑖′2
2 2
𝑖=1
vi = v + vi
Dynamics of Mechanical Systems

• Kinetic Energy

- Kinetic energy of rigid body

𝑛 𝑛
1 1 1 1
𝑇 = 𝑚𝑣ҧ + ෍ Δ𝑚𝑖 𝑣Ԧ𝑖 = 𝑚𝑣lj + ෍ 𝜔 × 𝑟Ԧ𝑖′ 2 Δ𝑚𝑖
Ԧ 2 ′2 2
2 2 2 2
𝑖=1 𝑖=1
1 1
= 𝑚𝑣Ԧҧ 2 + න 𝜔 × 𝑟Ԧ ′ 2 𝑑𝑚
2 2
1 1 2 2
Ԧ 2
= 𝑚𝑣ҧ + න[ 𝜔𝑥 𝑦 − 𝜔𝑦 𝑥 + 𝜔𝑦 𝑧 − 𝜔𝑧 𝑦 + 𝜔𝑧 𝑥 − 𝜔𝑥 𝑧 2 ]𝑑𝑚
2 2
1 1
= 𝑚𝑣Ԧҧ 2 + (𝐼ሜ𝑥 𝜔𝑥2 + 𝐼ሜ𝑦 𝜔𝑦2 + 𝐼ሜ𝑧 𝜔𝑧2 − 2𝐼ሜ𝑥𝑦 𝜔𝑥 𝜔𝑦 − 2𝐼ሜ𝑦𝑧 𝜔𝑦 𝜔𝑧 − 2𝐼ሜ𝑧𝑥 𝜔𝑧 𝜔𝑥 )
2 2
1 1
= ҧ
𝑚𝑣Ԧҧ 2 + 𝜔𝑇 𝐼𝜔
2 2
Dynamics of Mechanical Systems

• Kinetic Energy

- Kinetic energy of rigid body rotating about a fixed point 𝑂

𝑛 𝑛
1 2 1
𝑇 = ෍ Δ𝑚𝑖 𝑣Ԧ𝑖 = ෍ 𝜔 × 𝑟Ԧ𝑖 2 Δ𝑚𝑖
2 2
𝑖=1 𝑖=1
1
= න 𝜔 × 𝑟Ԧ 2 𝑑𝑚
2
1 2 2
= න[ 𝜔𝑥 𝑦 − 𝜔𝑦 𝑥 + 𝜔𝑦 𝑧 − 𝜔𝑧 𝑦 + 𝜔𝑧 𝑥 − 𝜔𝑥 𝑧 2 ]𝑑𝑚
2
1
= (𝐼𝑥 𝜔𝑥2 + 𝐼𝑦 𝜔𝑦2 + 𝐼𝑧 𝜔𝑧2 − 2𝐼𝑥𝑦 𝜔𝑥 𝜔𝑦 − 2𝐼𝑦𝑧 𝜔𝑦 𝜔𝑧 − 2𝐼𝑧𝑥 𝜔𝑧 𝜔𝑥 )
2
1 𝑇
= 𝜔 𝐼𝜔
2
 Dynamics of Mechanical Systems

• Angular Momentum about 𝑂 of a Rigid Body in 3 Dimensions

- The momenta of a rigid body are reduced to

𝐿 = linear momentum = 𝑚𝑣Ԧlj
𝐻𝐺 = angular momentum about 𝐺
- The angular momentum about any other
given point 𝑂 is
𝑂

 n
  n
  
H G =  (ri  vimi ) =  ri  (  ri )Δmi 
i =1 i =1

H x = + I x x − I xy y − I xz z
H y = − I yx x + I y y − I yz z
H z = − I zx x − I zy y + I z z
Dynamics of Mechanical Systems

• Angular Momentum about 𝑂 of a Rigid Body in 3 Dimensions

- The angular momentum of a body constrained to rotate about

a fixed point 𝑂 be computed directly from the moments and
products of inertia with respect to the 𝑂𝑥𝑦𝑧 frame.

H x = + I x x − I xy y − I xz z
H y = − I yx x + I y y − I yz z
H z = − I zx x − I zy y + I z z
Dynamics of Mechanical Systems

Ex 18.2 [B])

(a) Angular velocity

(d) Linear momentum

- Disk of radius 𝑟 & mass 𝑚

- Axle 𝑂𝐺 of length 𝐿
- Disk rotates at the rate 𝜔1 & no slip
Dynamics of Mechanical Systems

Ex 18.2 [B])

(b) Angular momentum about 𝑂

(e) Angular momentum about 𝐺

- Disk of radius 𝑟 & mass 𝑚

- Axle 𝑂𝐺 of length 𝐿
- Disk rotates at the rate 𝜔1 & no slip
Dynamics of Mechanical Systems

Ex 18.2 [B])

(c) Kinetic energy

1 1 𝑇
Ԧ 2 ҧ
𝑇 = 𝑚𝑣ҧ + 𝜔 𝐼𝜔
2 2

- Disk of radius 𝑟 & mass 𝑚 1 𝑇

𝑇= 𝜔 𝐼𝜔
- Axle 𝑂𝐺 of length 𝐿 2

- Disk rotates at the rate 𝜔1 & no slip

Dynamics of Mechanical Systems

• Rate of Change with respect to a Rotating Frame

- Recall that

()
()
  
Q OXYZ = Q Oxyz +   Q

- We have

( )
  
H G = H G Gxyz +   H G

=

- Frame 𝑂𝑋𝑌𝑍 is fixed

- Frame 𝐺𝑋′𝑌′𝑍′ is fixed
orientation
- Frame 𝐺𝑥𝑦𝑧 rotates with
angular velocity Ω = 𝜔.
Dynamics of Mechanical Systems

• Euler’s Equations of Motion

 
( )  
H G = H G Gxyz +   H G

 =


 
( )  
 M G = H G Gxyz +   H G
- Let 𝐺𝑥𝑦𝑧 be chosen to correspond to the
principal axes of inertia,
- Euler’s Equations:

ሶ
Σ𝐹Ԧ = 𝐿 = 𝑚𝑎തԦ  M x = I x x − (I y − I z ) y z
ሶ ҧ ሶ = 𝐼𝛼
ҧԦ  M y = I y y − (I z − I x ) z x
Σ𝑀𝐺 = 𝐻𝐺 = 𝐼 𝜔
 M z = I z z − (I x − I y ) x y
for plane motion
Dynamics of Mechanical Systems

• Motion About a Fixed Point

- For a rigid body rotation

around a fixed point 𝑂,
 ሶ
 M O = HO
= H( )
  
O Oxyz +   H O
Dynamics of Mechanical Systems

• Angular Momentum about 𝑂 of a Rigid Body in 3 Dimensions

- The angular momentum about any other

given point 𝑂 is

𝑂 𝐇ሶ 𝑮 - Then,
𝑚𝐚ത

𝑂
Dynamics of Mechanical Systems

• Motion About a Fixed Axis

- For a rigid body rotation

around a fixed axis 𝑧,

H x = − I xz H y = − I yz H z = − I z

( )
  
 M O = H O Oxyz +   H O

= (− I xz i − I yz j + I z k )
 
 
+ k  (− I xz i − I yz j + I z k )
 

= (− I xz i − I yz j + I z k ) + (− I xz j + I yz i )
    2

H x = + I x x − I xy y − I xz z
H y = − I yx x + I y y − I yz z
Σ𝑀𝑥 = −𝐼𝑥𝑧 𝛼 + 𝐼𝑦𝑧 𝜔2
H z = − I zx x − I zy y + I z z Σ𝑀𝑦 = −𝐼𝑦𝑧 𝛼 − 𝐼𝑥𝑧 𝜔2
Σ𝑀𝑧 = 𝐼𝑧 𝛼
Dynamics of Mechanical Systems

• Motion About a Fixed Axis

- If symmetrical with respect to the 𝑥𝑦 plane,

Σ𝑀𝑥 = 0 Σ𝑀𝑦 = 0 Σ𝑀𝑧 = 𝐼𝑧 𝛼

- If not symmetrical, the sum of external

moments will not be zero, even if 𝛼 = 0,

Σ𝑀𝑥 = 𝐼𝑦𝑧 𝜔2 Σ𝑀𝑦 = −𝐼𝑥𝑧 𝜔2 Σ𝑀𝑧 = 0

𝐼𝑦𝑧 𝜔2 𝐼𝑦𝑧 𝜔2
𝑨𝑦 = 𝒋, 𝑩=− 𝒋 (𝐼𝑦𝑧 > 0, 𝐼𝑥𝑧 = 0)
𝑙 𝑙
Σ𝑀𝑥 = −𝐼𝑥𝑧 𝛼 + 𝐼𝑦𝑧 𝜔2
- A rotating shaft requires both static (𝜔 = 0)
Σ𝑀𝑦 = −𝐼𝑦𝑧 𝛼 − 𝐼𝑥𝑧 𝜔2
and dynamic (𝜔 ≠ 0) balancing to avoid
Σ𝑀𝑧 = 𝐼𝑧 𝛼
excessive vibration and bearing reactions.
Dynamics of Mechanical Systems

Ex 18.3 [B])

(a) Tension in the wire

(b) Reaction at 𝐴

- rod 𝐴𝐵 with 𝐿 = 2m & 𝑚 = 20kg

- constant angular velocity 𝜔 = 15rad/s
Dynamics of Mechanical Systems

Ex 18.3 [B])

(a) Tension in the wire

(b) Reaction at 𝐴

- rod 𝐴𝐵 with 𝐿 = 2m & 𝑚 = 20kg

- constant angular velocity 𝜔 = 15rad/s
Dynamics of Mechanical Systems

• Gyroscopic Effect

𝐻𝑂 = angular mentum
σ𝑀𝑂 = moment of force
σ𝑀 = 𝐻ሶ
𝑂 𝑂

- Conservation of angular momentum:

Ability (tendency) of the rotating
body to maintain a steady direction
of its axis of rotation, (for σ𝑀𝑂 = 0)

- Any couple of moment, apparently tending to incline the axis of a

rotating body in a given direction, actually causes an inclination
of the axis in a plane perpendicular to that given direction

https://www.youtube.com/watch?v=ty9QSiVC2g0
Key Takeaways

• Mechanical Systems
✓ Newton’s 2nd law for translational motion Σ𝑭 = 𝑚ഥ
𝒂
✓ Newton’s 2nd law for rotational motion Σ𝑴𝐺 = 𝑯ሶ 𝐺
✓ Mass center 𝑚ത𝒓 = ‫𝑚𝑑 𝒓 ׬‬
✓ Inertia tensor 𝐼 ҧ and Angular momentum 𝑯𝐺 = 𝐼𝝎
ҧ

▪ Mass moment of inertia 𝐼𝑥ҧ = ‫ 𝑦(׬‬2 + 𝑧 2 ) 𝑑𝑚

▪ Mass product of inertia 𝐼𝑦𝑧

ҧ = ‫𝑚𝑑 𝑧𝑦 ׬‬

✓ Velocity in rotational motion 𝒗 = 𝝎 × 𝒓


() 
()  
✓ Rate of Change w.r.t. rotating frame Q OXYZ = Q Oxyz +   Q
 THANK YOU!

QUESTIONS?

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