Chapter 17: Planar Kinetics of a Rigid Body:

Force and Acceleration

 Chapter Objectives

• To introduce the methods used to determine the mass

moment of inertia of a body.
• To develop the planar kinetic equations of motion for a
symmetric rigid body.
• To discuss applications of these equations to bodies
undergoing translation, rotation about a fixed axis, and
general plane motion.

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 Chapter Outline
• Moment of Inertia (Parallel axis theorem;
composite area)
• Planar Kinetic Equations of Motion
• Equations of Motion: Translation
• Equations of Motion: Rotation about a Fixed Axis
• Equations of Motion: General Plane Motion

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 17.1 Planar Kinetics of a Rigid Body: Force and
Acceleration

• Since a body has a definite size and shape, an

applied non-concurrent force system may cause
the body to both translate and rotate
• The translational aspects of the motion are
governed by the equation F = ma
• The rotational aspects, caused by moment M, are
governed by the equation M = Iα
• I, the moment of inertia, is a measure of the
resistance of a body to angular acceleration

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 17.1 Planar Kinetics of a Rigid Body: Force and
Acceleration

• Define moment of inertia as the integral of

the second moment about an axis of all the
elements of mass dm, which compose
the body
Example
• For body’s moment of inertia about
the z axis,
I = ∫m r2 dm

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 17.1 Planar Kinetics of a Rigid Body: Force and
Acceleration

• Moment arm, r, is the perpendicular distance from

the z axis to the arbitrary element dm
• Since the formulation involves r, the value of I is
different for each axis about which it is computed
• The axis chosen from analysis passes through the
body’s center of gravity G and is always
perpendicular to the plane of motion
• Moment of inertia computed about this axis is IG
• Mass moment of inertia always a positive quantity

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 17.1 Planar Kinetics of a Rigid Body: Force and
Acceleration
Parallel Axis Theorem
• If the moment of inertia about an axis passing
through the body’s mass center is known. The
moment of inertia about any other parallel axis may
be determined by using the parallel axis theorem
• Consider body where the z’ axis passes through
the mass center G and the
corresponding parallel z
axis lies at a constant
distance d away

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 17.1 Planar Kinetics of a Rigid Body: Force and
Acceleration
Parallel Axis Theorem
• Selecting the differential element of mass dm, which
is located at point (x’, y’) and using Pythagoras
theorem, for moment of the body about the z axis,

I   r dm   d  x'  y ' dm

2
 2 2
m m
  x'2  y '2 dm  2d  x' dm  d 2  dm
m m m

• Since r’2 = x’2 + y’2, first integral represents IG

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 17.1 Planar Kinetics of a Rigid Body: Force and
Acceleration
m 
I   r 2dm   d  x'2  y '2 dm
m

Parallel Axis Theorem

  x'  y ' dm  2d  x' dm  d
2 2 2
mdm
m m
• Second integral = 0 since z’ axis passes through
the body’s mass center

 x' dm  x '  dm
• Third integral represents the total mass m of the
body
• For moment of inertia about the z axis,
I  IG  md 2
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 17.1 Planar Kinetics of a Rigid Body: Force and
Acceleration

Radius of Gyration
• Moment of inertia of the body about a specified
axis can be expressed using radius of gyration
• For the body’s moment of inertia

or
I  mk 2

I
k
m

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 17.1 Planar Kinetics of a Rigid Body: Force and
Acceleration

Composite Bodies
• If a body is constructed of a number of simple
shapes, moment of inertia of the body about any axis
z can be determined algebraically the moments of
inertia of all the composite shapes computed about
the z axis
• Algebraic addition is necessary since a composite
part must be considered as a negative quantity if it
has already been counted as a piece of another, eg,
a hole

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 17.1 Planar Kinetics of a Rigid Body: Force and
Acceleration

Composite Bodies
• Parallel axis theorem is needed for calculations if
center of mass of each composite part does not lie
on the z axis
• For calculation, I  ( IG  md )2

• IG for each part is computed by integration

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 17.1 Planar Kinetics of a Rigid Body: Force and
Acceleration

Example 17.3
If the plate has a density of 8000kg/m3 and a
thickness of 10 mm, determine its moment of inertia
about an axis directed perpendicular to the page
and passing through point O.

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 17.1 Planar Kinetics of a Rigid Body: Force and
Acceleration
Solution
• Plate consists of 2 composite parts, the 250mm
radius disk minus the 125mm disk
• Moment of inertia about O can be determined by
computing the moment of inertia of each of these
parts about O and adding the results algebraically
• Calculations are performed using parallel axis
theorem

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 Object Illustration Moment of inertia

Md2
Particle The distance between the particle and the axis
is d.

ML2/3
Bar
The length of the bar is L

ML2/12
Bar
The length of the bar is L

ML2/12
Rectangular
The length of the plate is L and is orthogonal
plate
to the axis.

Rectangular M(L2 + W2)/12

plate L is the length and W is the width

MR2/2
Circular plate
R is the radius of the ring

MR2/4
Circular plate
R is the radius of the ring

MR2
Ring
R is the radius of the ring

MR2/2
Cylinder
R is the radius of the caps

MR2/4 + ML2/12
Cylinder R is the radius of the caps and L is the height
of the cylinder

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 17.1 Planar Kinetics of a Rigid Body: Force and
Acceleration

Example 17.4
The pendulum is suspended from point O and
consists of two thin rods, each having a weight of
50N (5kg). Determine the pendulum's
moment of inertia about an axis
passing through the pin at O,
and (b) the mass center G of
the pendulum.

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 17.1 Planar Kinetics of a Rigid Body: Force and
Acceleration
View Free Body Diagram
Solution
Part (a)
• For moment of inertia of rod OA about an axis
perpendicular to the page and passing through the end
point O of the rob,
1
I O  ml 2
3
• Hence,
( I OA )O  
1 50  2
1  1.699kg .m
2
3  9.81
• Using
1 2
IG  ml
12

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 17.1 Planar Kinetics of a Rigid Body: Force and
Acceleration

Solution
• By parallel axis theorem,
1  50  2  50 
1   0.5
1
( I OA ) O 
ml 2  md 2  
2

12 12  9.81   9.81 
 1.699kg.m 2
• For rod BC,
1  50  2  50  2
1   1
1
( I BC ) O  ml 2  md 2  
12 12  9.81   9.81 
 5.522kg.m 2

• For moment of inertia of the pendulum about O,

I O  1.699  5.522  7.22kg.m 2

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 17.1 Planar Kinetics of a Rigid Body: Force
and Acceleration
Solution
Part (b)
• For mass center G located relative to pin at O,
~
y m 0.5(50 / 9.81)  1(50 / 9.81)
y   0.75m
m (50 / 9.81)  (50 / 9.81)
• By parallel axis theorem to transfer moments of
inertia of rods OA & BC to G
IO  IG  md 2 ;

7.22  IG  
100 
 0.75 2
 9.81 
IG  1.486kg .m 2

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 17.2 Planar Kinetics Equations of Motion

• Limit study of planar kinetics to rigid bodies,

along with their loadings, considered to be
symmetrical with respect to fixed reference plane
• Motion of the body can be viewed within the
reference plane and all the forces and moments
on the body can be projected onto the plane
Example
• Consider an arbitrary body

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 17.2 Planar Kinetics Equations of Motion

• The inertial frame of reference x, y, z has its

origin coincident with the arbitrary point P in the
body
• By definition, these axes do not rotate and are
either fixed or translate with constant velocity

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 17.2 Planar Kinetics Equations of Motion

Equation of Translational Motion

• The external forces consist of the effect of
gravitational, electrical, magnetic or contact forces
between adjacent bodies
• For translational equation of motion for the mass
center of rigid body,
∑F = maG
• Sum of all the external forces acting on the body is
equal to the body’s mass times the acceleration of its
mass center G

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 17.2 Planar Kinetics Equations of Motion

Equation of Translational Motion

• For motion of the body in the x-y plane,
∑Fx = m(aG)x
∑Fy = m(aG)y

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 17.2 Planar Kinetics Equations of Motion

Equation of Rotational Motion

• FBD of the ith particle
• Fi represent the resultant
external force acting on the
particle
• fi represent the resultant
internal force caused by
interactions with adjacent
particles

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 17.2 Planar Kinetics Equations of Motion

Equation of Rotational Motion

• Kinetic diagram of the system
• Summing moments of forces
acting on the particle about
point P,
r  Fi + r  fi = r  miai
or (MP)i = r  miai

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 17.2 Planar Kinetics Equations of Motion

Equation of Rotational Motion

• Moment of P expressed in terms of the acceleration
of P
• For moment about P,
(MP)i = mir  (aP + α  r – 2r)
= mi[r  aP + r  (α  r) – 2(r  r)]
= mra + mrrα - mrr2
= r ma + r ma – r mv2/r

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 17.2 Planar Kinetics Equations of Motion
Equation of Rotational Motion
• Last term = 0 since r  r = 0
• Carrying out cross-product operations
(MP)ik = mi{(xi + yj)  [(aP)xi + (aP)yj]
+ (xi + yj)  [αk  (xi + yj)]}
(MP)ik = mi[-y(aP)x + x(aP)y + αx2 + αy2]k
(MP)i = mi[-y(aP)x + x(aP)y + αr2] (CCW)

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 17.2 Planar Kinetics Equations of Motion

Equation of Rotational Motion

• Letting mi → dm and integrating with respect to the
entire mass m of the body, for the resultant moment
equation,
∑MP = -(∫mydm)(aP)x + (∫mxdm)(aP)y + (∫mr2dm)α
• ∑MP represent the moment of external forces acting
on the body about point P
• Resultant moment of the internal forces is zero since
for the entire body, these forces occur in equal and
collinear pairs

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 17.2 Planar Kinetics Equations of Motion

Equation of Rotational Motion

• The first and the second integrals are used to
locate the center of mass G with respect to P
since
ym   ydm

x m   xdm
• The last integral represent the body’s moment of
inertia computed about the z axis
I P   r 2dm
• Thus,
 M P   ym(aP ) x  x m(aP ) y  I P
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 17.2 Planar Kinetics Equations of Motion

Equation of Rotational Motion

• Point P coincides with the mass center G for the
body
yx 0
• Therefore,
 M G  IG
• This rotational equation of motion states that the
sum of the moments of all the external forces
computed about the body’s center of mass G is
equal to the product of the moment of inertia of the
body about an axis passing through G and the
body’s angular acceleration
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 17.2 Planar Kinetics Equations of Motion

Equation of Rotational Motion

• If the point G is located at point
(x, y)
• By parallel axis theorem,
I P  I G  m( x 2  y 2 )
• Thus,

 M P  ym[(aP ) x  y ]  x m[(aP ) y  x  ]  IG

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 17.2 Planar Kinetics Equations of Motion

Equation of Rotational Motion

• From the kinematic diagram,
    
aG  aP   x r   r 2

        
(aG ) x i  (aG ) y j  (aP ) x i  (aP ) y j  k x ( x i  yj )   ( x i  yj )
2

• By cross-product and equating the i and j

components,
(aG ) x  (aP ) x  y  x  2
(aG ) y  (aP ) y  x   y 2

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 17.2 Planar Kinetics Equations of Motion

Equation of Rotational Motion

(aG ) x  y  (aP ) x  x  2
(aG ) y  x   (aP ) y  y 2
• Simplifying,
 M P   ym(aG ) x  x m(aG ) y  I G
• When moments of external forces are summed
about point P, they are equivalent to the sum of
the “kinetic moments” of the components maG
about P plus the kinetic moment of IGα
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 17.2 Planar Kinetics Equations of Motion

Equation of Rotational Motion

• When the kinetic moment is computed, the vectors
(maG)x and (maG)y are treated as sliding vectors, that
is, they can act at any point
• maG and IGα are not the same as a force or a couple
moment
• Instead, they are caused by the external effects of
forces and couple moments acting on the body

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 17.2 Planar Kinetics Equations of Motion

General Applications of the Equations of Motion

• For three independent scalar equations to describe
the general plane motion of a symmetrical rigid
body,  F  m( a ) x G x
 Fy  (aG ) y
 MG  0
• When applying these equations, always draw a FBD
to account for (maG)x, (maG)y and IGα
• FBD can be used to determine components of maG
and the moment terms

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 17.3 Equations of Motion: Translation

• When a rigid body undergoes a retranslation, all

the particles in the body have the same
acceleration so that aG = a
• α = 0 indicates that the rotational equation of
motion applied at point G
reduces to the simplified
form ∑MG = 0

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 17.3 Equations of Motion: Translation

Rectilinear Translation
• When a body is subjected to rectilinear
translation, all the particles of the body (slab)
travel along parallel straight line paths
• Since IGα = 0, only maG is shown on the kinetic
diagram.

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 17.3 Equations of Motion: Translation

Rectilinear Translation
• For equations of motion,
 Fx  m(aG ) x
 Fy  (aG ) y
 MG  0
• The last equation requires the sum of the
moments of all the external forces (and couple
moments) computed about the body’s center of
mass to be zero
• To sum the moments of other points on or off the
body, maG must be taken into account
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 17.3 Equations of Motion: Translation
Rectilinear Translation
Example
• If point A is chosen, which lies on a
perpendicular distance d from the line of action
of maG, the following equation applies
∑MA = ∑Mk)A;
∑MA = (maG)t
• Hence, the sum of the moments of all the
external forces and couple moments about A
(∑MA, FBD) equals to the moment of maG about
A ((∑Mk)A, kinetic diagram)
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 17.3 Equations of Motion: Translation

Curvilinear Translation
• When a rigid body is subjected to
curvilinear translation, all the
particles of the body travel along
parallel curved paths
• Use an coordinate system having
an origin, which is coincident with
the body’s mass center at the
instant considered, and axes
orientated in the normal and
tangential directions to the path of
motion
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 17.3 Equations of Motion: Translation

Curvilinear Translation
For the equations of motion,
 Fn  m(aG )n
 Ft  (aG )t
 MG  0
• Here, the (aG)t and (aG)n represent the
magnitudes of the tangential and normal
components of acceleration of point G
• For moment summation about the arbitrary point
B, it is necessary to account for the ∑(Mk)B of
(aG)t and (aG)n about this point
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 17.3 Equations of Motion: Translation

Curvilinear Translation
• From the kinetic diagram, h and e
represent the perpendicular
distances (or “moment arms”)
from B to the lines of action of the
components
• The required moment equation
becomes
∑MB = ∑Mk)B;
∑MB = e[m(aG)t] - h[m(aG)n]
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 17.3 Equations of Motion: Translation

Procedure For Analysis

FBD
• Establish the x, y, a or n, t inertial coordinate system
and draw the FBD to account for all the external
forces and couple moments that act on the body
• Direction and sense of the acceleration of the body’s
mass center should be established
• Identify the unknowns
• If the rotational equation of motion is to be used,
consider kinetic diagram

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 17.3 Equations of Motion: Translation

Procedure For Analysis

Equations of Motion
• Apply the three equations of motion in accordance
with the established sign convention
• To simplify the analysis, the moment equation can
be replace by a more general equation about P
where point P is usually located at the intersection of
the lines of action of as many unknown forces as
possible
• If the body is in contact with a rough surface and
slipping occurs, use the frictional equation

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 17.3 Equations of Motion: Translation

Procedure For Analysis

Kinematics
• To determine velocity and position of the body
• For rectilinear translation with variable acceleration,
aG  dvG / dt aG dsG  vG dvG vG  dsG / dt
• For rectilinear translation with constant acceleration,
vG  (vG )O  aG t vG2  (vG )O2  2aG [ sG  ( sG )O ]
1
sG  ( sG )O  (vG )O t  aG t 2
2
• For curvilinear translation,
(aG ) n  vG2 /    2  (aG )t  dvG / dt (aG )t dsG  vG dvG (aG )t  

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 17.3 Equations of Motion: Translation

Example 17.5
The car has a mass of 2Mg and a center of mass
at G. Determine the car’s acceleration if the
“driving” wheels in the back are always slipping,
whereas the front wheel freely rotate. Neglect the
mass of the wheels. The coefficient of kinetic
friction between the
wheels and the road
is μk = 0.25.

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 17.3 Equations of Motion: Translation
Solution
Section I
FBD
• The rear wheel frictional force pushes the car
forward, and since slipping occurs, FB = 0.25NB
• Frictional forces acting on the
front wheels = 0m, since these
wheels have negligible mass
• Car (point G) is assumed to
accelerate to the left, in the
negative x direction
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 17.3 Equations of Motion: Translation

Solution
Section I
Equations of Motion
   Fx  m(aG ) x ;
 0.25 N B  (2000kg )aG
   Fy  (aG ) y ;
N A  N B  2000(9.81) N  0
 M G  0;
 N A (1.25m)  0.25 N B (0.3m)  N B (0.75m)  0
Solving,
aG  1.59m / s 2  N A  6.88kN N B  12.7 kN
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 17.3 Equations of Motion: Translation

Solution
Section II
FBD
• Apply moment equation at
point A, unknown NA will be
eliminated from the equation
• Use the kinetic diagram o
visualize the moment at A

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 17.3 Equations of Motion: Translation

Solution
Section II
Equations of Motion
  A   M A;
N B (2m)  2000(9.81) N (1.25m)  (2000kg)aG (0.3m)

Solve and proceed with Section I equations

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 17.3 Equations of Motion: Translation

Example 17.6
The motorcycle has a mass of 125kg and a center
of mass at G1, while the rider has a mass of 75kg
and a center of mass at G2. Determine the
minimum coefficient of static friction between the
wheels and the pavement in order for the rider to
do a “wheely” ie, lift the front wheel off the ground
as shown. What acceleration is necessary to do
this? Neglect the mass of wheels and assume that
the front wheel is free to roll.
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 17.3 Equations of Motion: Translation

Example 17.6

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 17.3 Equations of Motion: Translation
Solution
FBD and Kinetic Diagrams
• Consider both the motorcycle and
the rider as the system to be
analyzed
• Determine center of mass, however,
consider the separate weight and
mass of each of its components
parts
• Both parts move with same
acceleration
• Assume that the front wheel is about
to leave the ground so that normal
reaction NA ≈ 0
• Three unknowns NB, FB and aG
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 17.3 Equations of Motion: Translation

Solution
FBD and Kinetic Diagrams

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 17.3 Equations of Motion: Translation

Solution
Equations of Motion
   Fx  m(aG ) x ;
FB  (75kg  125kg )aG
   Fy  (aG ) y ;
N B  735.75 N  1226.25 N  0
  B  ( M k ) B ;
 (735.75 N )(0.4m)  (1226.25 N )(0.8m)  (75kg aG )(0.9m)
 (125kg aG )(0.6m)

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 17.3 Equations of Motion: Translation

Solution
Equations of Motion
• Solving
aG  8.95m / s 2 
N B  1962 N
FB  1790 N
• For minimum coefficient of static friction
(  s ) min  FB / N B  1790 N / 1962 N  0.912

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 17.3 Equations of Motion: Translation

Example 17.7
A uniform 50-kg crate rest on a horizontal surface
for which the coefficient of kinetic friction is 0.2.
determine the acceleration if a force of P = 600N is
applied to the crate.

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 17.3 Equations of Motion: Translation
Solution
FBD
• Force P can cause the crate to
either slide or to tip over
• Assume that the crate slides so
that F = μkNC = 0.2NC
• Resultant force NC acts at O, a
distance x where
0 < x ≤ 0.5m
from the crate’s center line
• Three unknowns NC, x and aG

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 17.3 Equations of Motion: Translation

Solution
Equations of Motion
   Fx  m(aG ) x ;
600 N  0.2 N C  (50kg)aG
   Fy  (aG ) y ;
N C  490.5 N  0
  G  0;
 600 N (0.3m)  N C ( x)  N C (0.5m)  0

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 17.3 Equations of Motion: Translation

Solution
Equations of Motion
• Solving
aG  10.0m / s 2 
N C  490 N
x  10.467m
• x < 0.5m, the crates slides as assumed
• If x > 0.5m, problem would be reworked with the
assumption that the crates tips
• In that case, NC acts at corner point A and F ≤
0.2NC
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 17.3 Equations of Motion: Translation

Example 17.8
The 100kg beam is supported by two rods having
negligible mass. Determine the force created in
each rod if at the instant θ = 30° and ω = 6rad/s.

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 17.3 Equations of Motion: Translation
View Free Body Diagram
Solution FBD
• Beam moves with curvilinear translation since points
B, D and the center of mass all move along circular
paths, each path having the same radius of 0.5m
• Using normal and tangential coordinates, the FBD
for the beam is shown
• Because of translation, G has the same motion as
the pin at B, which is connected to both the rod and
the beam

©2007 Pearson Education South Asia Pte Ltd

 17.3 Equations of Motion: Translation
Solution FBD
• By studying the angular motion of AB, the tangential
component of accelerations acts downward to the
left due to the clockwise direction of α
• Normal component of acceleration is always
directed towards the center of curvature (towards
point A for rod AB)
• Since angular velocity of AB is 6 rad/s,
(aG)n = ω2r = (6 rad/s)2(0.5m) = 18m/s2

©2007 Pearson Education South Asia Pte Ltd

 17.3 Equations of Motion: Translation

Solution
FBD
• Three unknowns TB, TD and (aG)t

©2007 Pearson Education South Asia Pte Ltd

 17.3 Equations of Motion: Translation

Solution
Equations of Motion
 Fn  m(aG ) n ;
TB  TD  981 cos 30 N  100kg(18m / s 2 )
 Ft  (aG )t ;
981sin 30  100kg(aG ) t
  G  0;
 (TB cos 30 )(0.4m)  (TD sin 30 )(0.3m)  0

©2007 Pearson Education South Asia Pte Ltd

 17.3 Equations of Motion: Translation

Solution
Equations of Motion
• Solving
TB  TD  1.32kN
(aG )t  4.90m / s 2

©2007 Pearson Education South Asia Pte Ltd

 17.4 Equations of Motion: Rotation
about a Fixed Axes

• Consider the rigid body (slab) which is

constrained to rotate in the vertical plane about
an fixed axis perpendicular to the page and
passing through the pin at O
• Angular velocity and angular
acceleration are caused by
the external force and couple
moment system acting on
the body

©2007 Pearson Education South Asia Pte Ltd

 17.4 Equations of Motion: Rotation
about a Fixed Axes
• Because the body’s center of mass G moves in a circular
path, the acceleration of this point is represented by its
tangential and normal components
• The tangential component of acceleration has a
magnitude of (aG)t = αrG and must act in the direction that
is consistent with the body’s angular acceleration α
• The normal component of acceleration is (aG)n = ω2rG and
is always directed from point G to O, regardless of the
direction of ω

©2007 Pearson Education South Asia Pte Ltd

 17.4 Equations of Motion: Rotation
about a Fixed Axes

• FBD and Kinetic diagram of the

body
• Weight of the body, W = mg and the
pin reaction FO are included in the
FBD since they represent the
external forces acting on the body
• The m(aG)t and m(aG)n are the
tangential and normal components
of the body’s mass center

©2007 Pearson Education South Asia Pte Ltd

 17.4 Equations of Motion: Rotation
about a Fixed Axes

• These vectors act in the same direction as the

acceleration components and have the
magnitude m(aG)t and m(aG)n
• The IGα vector acts in the same direction as α
and has the magnitude of IGα, where the IG is the
body’s moment of inertia calculated about an
axis which is perpendicular to the page and
passing through G
• For equations of motion,

 Fn  m(aG )n  m 2rG ,  Ft  m(aG )t  mrG ,  M G  IG

©2007 Pearson Education South Asia Pte Ltd

 17.4 Equations of Motion: Rotation
about a Fixed Axes

• The moment equation may be replaced by a

moment summation about any arbitrary point P
on or off the body provided one accounts for the
moments ∑(Mk)P produced by IGα, m(aG)t and
m(aG)n about the point
• Sum the moments about the pin at O to eliminate
unknown force FO
• From the kinetic diagram,

  O  (M k )O ;   O  rG m(aG )t  I G

©2007 Pearson Education South Asia Pte Ltd

 17.4 Equations of Motion: Rotation
about a Fixed Axes

• Note the moment of m(aG)n is not included in the

summation since its line of action passes through the
point O
• From the parallel axis theorem, the term represent the
moment of inertia of the body about the fixed axis of
rotation passing through O
 Fn  m(aG ) n  m 2 rG
 Ft  m(aG ) t  mrG
 M O  I O
• IOα accounts for the moment of both m(aG)t and IGα about
point O

©2007 Pearson Education South Asia Pte Ltd

 17.4 Equations of Motion: Rotation
about a Fixed Axes

Procedure for Analysis

FBD
• Establish the x, y or n, t coordinate system and
specify the direction or sense of the
accelerations and the angular acceleration of the
body
• Draw the FBD to account for all the external
forces and couple moments that act on the body
• Compute the moments of inertia
• Identify the unknowns

©2007 Pearson Education South Asia Pte Ltd

 17.4 Equations of Motion: Rotation
about a Fixed Axes

Procedure for Analysis

FBD
• If the rotational equation of motion is used, draw
the kinetic diagram for better visualization

Equations of Motion
• Apply the three equations of motion in
accordance with the established sign convention
• If the moments are summed about the center of
mass, G, ∑MG = IGα since (maG)t and (maG)n
create no moment about G

©2007 Pearson Education South Asia Pte Ltd

 17.4 Equations of Motion: Rotation
about a Fixed Axes

Procedure for Analysis

Kinematics
• Use kinematics if a complete solution cannot be
obtained strictly from the equations of motion
• If angular acceleration is variable, use
α = dω/dt αdθ = ωdω ω = dθ/dt
• If the angular acceleration is constant, use
ω = ωO + αCt
θ = θO + ωO t + ½αCt2
ω2 = ω2O + 2αC(θ – θO)

©2007 Pearson Education South Asia Pte Ltd

 17.4 Equations of Motion: Rotation
about a Fixed Axes
Example 17.9
The 30kg disk is pin supported at its center, if it starts from
rest, determine the number of revolutions it must make to
attain an angular velocity of 20 rad/s. also, what are the
reactions at the pin? The disk is acted upon by a constant
force F = 10N, which is applied to a cord wrapped around
its periphery, and a constant couple moment M = 5N.m.
Neglect the mass of cord in the calculation.

©2007 Pearson Education South Asia Pte Ltd

 17.4 Equations of Motion: Rotation
about a Fixed Axes

Solution
FBD
• Mass center is not subjected to an
acceleration
• Disk has a CW angular
acceleration
• For moment of inertia of the pin,
IO = ½mr2 = ½(30kg)(0.2m)2
= 0.6kg.m2
• Three unknowns, Ox, Oy and α

©2007 Pearson Education South Asia Pte Ltd

 17.4 Equations of Motion: Rotation
about a Fixed Axes

Solution
Equations of Motion
   Fx  m(aG ) x ;
Ox  0
   Fy  m(aG ) y ;
O y  294.3 N  10 N  0
O y  304 N
 M O  I O ;
 10 N (0.2m)  5 N .m  (0.6kg .m 2 )
  17.1rad / s 2

©2007 Pearson Education South Asia Pte Ltd

 17.4 Equations of Motion: Rotation
about a Fixed Axes

Solution
Kinematics
 2  O2  2 C (   O )
(20rad / s 2 )  0  (11.7rad / s 2 )(  0)
 1rev 
  17.1rad    2.73rev (CW )
 2rev 

©2007 Pearson Education South Asia Pte Ltd

 17.4 Equations of Motion: Rotation
about a Fixed Axes

Example 17.10
The 20kg slender rod is rotating in the vertical plane,
and at the instant, has an angular velocity of ω = 5
rad/s. Determine the rod’s angular acceleration and
the horizontal and vertical components of reaction at
the pin at this instant.

©2007 Pearson Education South Asia Pte Ltd

 17.4 Equations of Motion: Rotation
about a Fixed Axes

Solution
FBD and Kinetics Diagrams
• Point G moves in a circular path
and so has two components of
acceleration
• Tangential component acts
downwards since it must be in
accordance with the angular
acceleration of the rod
• Three unknowns On, Ot and α

©2007 Pearson Education South Asia Pte Ltd

 17.4 Equations of Motion: Rotation
about a Fixed Axes

Solution
Equations of Motion
   Fn  m 2 rG ;
On  (20kg)(5rad / s) 2 (1.5m)
   Ft  mrG ;
 Ot  20(9.81) N  (20kg)( )(1.5m)
 M G  I G ;
Ot (1.5m)  60 N .m  [1 / 2(20kg)(3m) 2 ]

©2007 Pearson Education South Asia Pte Ltd

 17.4 Equations of Motion: Rotation
about a Fixed Axes

Solution
Equations of Motion
• Solving,
On  750 N
Ot  19.0 N
  5.90rad / s 2

©2007 Pearson Education South Asia Pte Ltd

 17.4 Equations of Motion: Rotation
about a Fixed Axes

Example 17.11
The drum shown has a mass of 60kg and a radius
of gyration kO = 0.25m. A cord of negligible mass is
wrapped around the periphery of
the drum and attached to a block
having a mass of 20kg. If the
block is released, determine the
drum’s angular acceleration.

©2007 Pearson Education South Asia Pte Ltd

 17.4 Equations of Motion: Rotation
about a Fixed Axes

Solution
Method 1
• Consider the drum and block
separately
• Assuming the block accelerates
downward at a, it creates a CCW
angular acceleration α of the drum
• For moment of inertia of the drum,
I O  mkO2  (60kg)(0.25m) 2  3.75kg.m 2
• Five unknowns, Ox, Oy, T, a and α

©2007 Pearson Education South Asia Pte Ltd

 17.4 Equations of Motion: Rotation
about a Fixed Axes

Solution
Equations of Motion
 M O  I O ;
T (0.4m)  (3.75kg.m 2 )
   Fy  m(aG ) y ;
 20(9.81) N  T  20a

©2007 Pearson Education South Asia Pte Ltd

 17.4 Equations of Motion: Rotation
about a Fixed Axes

Solution
Kinematics
a  r ;
a   ( 0.4 )
• Solving,
T  106 N
a  4.52m / s 2
  11.3rad / s 2

©2007 Pearson Education South Asia Pte Ltd

 17.4 Equations of Motion: Rotation
about a Fixed Axes

Solution
Method 2
FBD and Kinetic Diagrams
• Tension T is eliminated
from the analysis by
considering the drum and
block as a single system
• Moments will be summed
about point O

©2007 Pearson Education South Asia Pte Ltd

 17.4 Equations of Motion: Rotation
about a Fixed Axes

Solution
Equations of Motion

  O  ( M k ) O ;
20(9.81) N (0.4m)  (3.75kg.m 2 )  [20kg(0.4m )]( 0.4m)
  11.3rad / s 2

©2007 Pearson Education South Asia Pte Ltd

 17.4 Equations of Motion: Rotation
about a Fixed Axes

Example 17.12
The unbalanced 25kg flywheel has a radius of
gyration of kG = 0.18m about an axis passing
through its mass center G. if it has
angular velocity of 8 rad/s at
the instant, determine the
horizontal and vertical
components of reaction at the
pin O.

©2007 Pearson Education South Asia Pte Ltd

 17.4 Equations of Motion: Rotation
about a Fixed Axes

Solution
FBD and Kinetic Diagrams
• Since G moves in a circular path, it
will have both normal and tangential
components of acceleration
• α, which is caused by the flyweight’s
weight, acts CW, the tangential
component of acceleration will act
downward

©2007 Pearson Education South Asia Pte Ltd

 17.4 Equations of Motion: Rotation
about a Fixed Axes

Solution
FBD and Kinetic Diagrams
• For moment of inertia of the flywheel about its
mass center,
I G  mkG2  (25kg)(0.18m) 2  0.18kg.m 2

• Three unknowns, On, Ot and α

©2007 Pearson Education South Asia Pte Ltd

 17.4 Equations of Motion: Rotation
about a Fixed Axes

Solution
Equations of Motion
   Fn  m 2 rG ;
On  (25kg)(8rad / s) 2 (0.15m)
   Ft  mrG ;
 On  25(9.81) N  (25kg)( )(0.15m)
 M G  I G ;
12.0 N .m  Ot (0.15m)  (0.81kg.m 2 )

©2007 Pearson Education South Asia Pte Ltd

 17.4 Equations of Motion: Rotation
about a Fixed Axes

Solution
Equations of Motion
• Solving,
On  240 N
Ot  193.2 N
  114.2rad / s 2

©2007 Pearson Education South Asia Pte Ltd

 17.4 Equations of Motion: Rotation
about a Fixed Axes

Example 17.13
The slender rod has a mass m and
length l and is release from rest
when θ = 0°. Determine the
horizontal and vertical components
of force which the pin at A exerts
on the rod at the instant θ = 90°.

©2007 Pearson Education South Asia Pte Ltd

 17.4 Equations of Motion: Rotation
about a Fixed Axes
View Free Body Diagram

Solution
FBD
• α acts CW
• For moment of inertia of
the rod about point A
1 3
I A  ml
3

©2007 Pearson Education South Asia Pte Ltd

 17.4 Equations of Motion: Rotation
about a Fixed Axes

Solution
Equations of Motion
 Fn  m 2 rG ;
An  mg sin   m 2 (l / 2)
 Ft  mrG ;
At  mg sin   m (l / 2)
 M A  I A ;
1 2
mg cos  (l / 2)   ml 
3 
©2007 Pearson Education South Asia Pte Ltd
 17.4 Equations of Motion: Rotation
about a Fixed Axes

Solution
Kinematics
d  d
• when   90 , d  (1.5 g / l ) cos d
• when   0,  0 ,
 90
0
d  (1.5 g / l )  cosd
0

 2  3g / l

©2007 Pearson Education South Asia Pte Ltd

 17.4 Equations of Motion: Rotation
about a Fixed Axes

Solution
Kinematics
• Solving
An  2.5mg
At  0
 0

©2007 Pearson Education South Asia Pte Ltd

 17.5 Equations of Motion: General
Plane Motion

• Consider rigid body subjected to general plane

motion caused by the externally applied force and
couple-moment system
• If an x and y coordinate system is chosen, for
equations of motion,
 Fx  m( aG ) x
 Fy  m(aG ) y
  G  I G

©2007 Pearson Education South Asia Pte Ltd

 17.5 Equations of Motion: General
Plane Motion

• FBD and Kinetic Diagrams

• Summing moments about point P other than

G, for equations of motion,
 Fx  m(aG ) x ,  Fy  m(aG ) y ,   P  ( M k ) P
©2007 Pearson Education South Asia Pte Ltd
 17.5 Equations of Motion:
General Plane Motion
Frictional Rolling Problems
• Involves wheels, cylinder or bodies of similar
shapes, which roll on a rough surface
• Because of applied loadings, it may not
known if the body rolls without slipping, or if
slides as it rolls
• Consider the homogenous disk
which has a mass m and is
subjected to a known horizontal
force P

©2007 Pearson Education South Asia Pte Ltd

 17.5 Equations of Motion:
General Plane Motion

Frictional Rolling Problems

• FBD
• Since aG is directed to the right and α is
clockwise
   Fx  m(aG ) x ; P  F  maG
   Fy  m(aG ) y ; N  mg  0
  G  I G ; Fr  I G

• A fourth equation is needed

since there are 4 unknowns
©2007 Pearson Education South Asia Pte Ltd
 17.5 Equations of Motion:
General Plane Motion

No Slipping
• If the frictional force F is great enough to allow
the disk to roll without slipping,
aG = αr
• The assumption of no slipping must be checked
when a solution is obtained
• No slipping occurs provided F ≤ μsN
• However, if F > μsN, the problem must be
reworked, the disk slips as it rolls

©2007 Pearson Education South Asia Pte Ltd

 17.5 Equations of Motion:
General Plane Motion

Slipping
• In case of slipping, α and aG are independent of
one another
• Magnitude of the frictional force is related to the
magnitude of the normal force using the
coefficient of friction
F = μkN
• Necessary to maintain consistency in the
directional sense of the vectors
• aG must be directed to the right when α is
clockwise, since the rolling motion allows it

©2007 Pearson Education South Asia Pte Ltd

 17.5 Equations of Motion:
General Plane Motion
Slipping
• F must be directed to the left to prevent the
assumed slipping motion to the right
• However, if the equations are not used for
solving for a solution, any directional sense of
the vectors can be used

©2007 Pearson Education South Asia Pte Ltd

 17.5 Equations of Motion:
General Plane Motion
Procedure for Analysis
FBD
• Establish the x, y coordinate system and
draw the FBD for the body
• Specify the direction and sense of the
acceleration of the mass center and the
angular acceleration of the body
• Compute the moment of inertia
• Identify the unknowns

©2007 Pearson Education South Asia Pte Ltd

 17.5 Equations of Motion:
General Plane Motion
Procedure for Analysis
FBD
• If it is decided that the rotational equation of
motion is to be used, consider drawing the
kinetic diagram in order to help visualize the
moments

Equations of Motion
• Apply the three equations of motion in
accordance with the established sign
convention

©2007 Pearson Education South Asia Pte Ltd

 17.5 Equations of Motion:
General Plane Motion
Procedure for Analysis
Equations of Motion
• When friction is present, there is the
possibility for motion with no slipping or
tipping

Kinematics
• Use kinematics if a complete solution cannot
be obtained strictly from the equations of
motion

©2007 Pearson Education South Asia Pte Ltd

 17.5 Equations of Motion:
General Plane Motion
Procedure for Analysis
Kinematics
• If the body’s motion is constrained due t its
supports, additional equations may be
obtained by using aB = aA + aB/A, which
relates the acceleration of any two points A
and B on the body
• When a wheel, disk, cylinder or ball rolls
without slipping, then aG = αr

©2007 Pearson Education South Asia Pte Ltd

 17.5 Equations of Motion:
General Plane Motion
Example 17.14
The spool has a mass of 8kg and
has a radius of gyration of kG =
0.35m. If the cords of negligible
mass are wrapped around the
inner
hub and outer rim as shown,
determine the spool’s angular
acceleration.

©2007 Pearson Education South Asia Pte Ltd

 17.5 Equations of Motion:
General Plane Motion

Solution
Method 1
FBD
• 100N force causes aG to act
upward
• α acts CW, since the spool winds
around the cord at A
• 3 unknowns T, aG and α
• For moment of inertia of spool
about its mass center
IG  mkG2  (8kg )(0.35m)2  0.980kg .m2
©2007 Pearson Education South Asia Pte Ltd
 17.5 Equations of Motion:
General Plane Motion

Solution
Equations of Motion
   Fy  m(aG ) y ;
T  100 N  78.48 N  (8kg)aG
 M G  I G ;
100 N (0.2m)  T (0.5m)  (0.980kg.m 2 )

©2007 Pearson Education South Asia Pte Ltd

 17.5 Equations of Motion:
General Plane Motion

Solution
Kinematics
a  r ;
a   (0.5)
• Solving,
T  19.8 N
aG  5.16m / s 2
  10.3rad / s 2

©2007 Pearson Education South Asia Pte Ltd

 17.5 Equations of Motion:
General Plane Motion

Solution
Method 2
Equations of Motion
  A  ( M k ) A ;
100 N (0.7m)  78.48 N (0.5m)  (0.980kg.m 2 )  [(8kg)aG ](0.5m)
  10.3rad / s 2

©2007 Pearson Education South Asia Pte Ltd

 17.5 Equations of Motion:
General Plane Motion
Example 17.15
The 25kg wheel has a radius of gyration of kG =
0.2m. If a 50N.m couple moment is applied to
the
wheel, determine the acceleration of its mass
center G. the coefficients of static and kinetic
friction between the wheel and
the plane at A are μs = 0.3 and
μk = 0.25 respectively.

©2007 Pearson Education South Asia Pte Ltd

 17.5 Equations of Motion:
General Plane Motion

Solution
FBD
• Couple moment causes the
wheel to have a CW angular
acceleration of α
• Acceleration of the mass center
aG is directed to the right
• 4 unknowns NA, FA, aG and α
• For moment of inertia,
IG  mkG2  (25kg )(0.2m)2  1.0kg .m2
©2007 Pearson Education South Asia Pte Ltd
 17.5 Equations of Motion:
General Plane Motion

Solution
Equations of Motion
   Fx  m(aG ) x ;
FA  (25kg)aG
   Fy  m(aG ) y ;
N A  25(9.81)  0
 M G  I G ;
50 N .m  0.4m( FA )  (1.0kg.m 2 )

©2007 Pearson Education South Asia Pte Ltd

 17.5 Equations of Motion:
General Plane Motion

Solution
Kinematics (No slipping)
a  r ;
a   ( 0 .4 )
• Solving,
N A  245.25 N
FA  100 N
aG  4.0m / s 2
  10.0rad / s 2
©2007 Pearson Education South Asia Pte Ltd
 17.5 Equations of Motion:
General Plane Motion

Solution
• 100N > 0.3(245.25N) = 73.6N
Kinematics (Slipping)
FA  0.25 N A
Solving,
N A  245.25 N
FA  61.31N
aG  2.45m / s 2
  25.5rad / s 2
©2007 Pearson Education South Asia Pte Ltd
 17.5 Equations of Motion:
General Plane Motion

Example 17.16
The uniform slender pole has a mass of 100kg and
a moment of inertia IG = 75kg.m2. If the coefficient
of static and kinetic friction between the end of the
pole and the surface are μs = 0.3 and μk = 0.25
respectively. Determine the pole’s
angular acceleration at the instant
the 400N horizontal force is applied.
The pole is originally at rest

©2007 Pearson Education South Asia Pte Ltd

 17.5 Equations of Motion:
General Plane Motion
Solution
FBD
• Path of motion of the mass center G will be along
an unknown curved path having a radius of ρ,
which is initially parallel to the y axis
• No normal or y component since the
pole is originally at rest
• vG = 0 so that (aG)y = vG2/ρ = 0
• Assume mass center accelerates to
the right and the pole has a CW
angular acceleration of α
• 4 unknowns NA, FA, aG and α
©2007 Pearson Education South Asia Pte Ltd
 17.5 Equations of Motion:
General Plane Motion

Solution
Equations of Motion
   Fx  m(aG ) x ;
400 N  FA  (100kg)aG
   Fy  m(aG ) y ;
N A  981N  0
 M G  I G ;
FA (1.5m)  400 N (1m)  (75kg.m 2 )

©2007 Pearson Education South Asia Pte Ltd

 17.5 Equations of Motion:
General Plane Motion

Solution
Kinematics (No slipping)
a  r ;
a   (1.5)
• Solving,
N A  981N
FA  300 N
aG  1m / s 2
  0.667rad / s 2

©2007 Pearson Education South Asia Pte Ltd

 17.5 Equations of Motion:
General Plane Motion

Solution
• 300N > 0.3(981N) = 294N (Slips at A)
Kinematics (Slipping)
FA  0.25 N A
Solving,
N A  981N
FA  245 N
aG  1.55m / s 2
  0.428rad / s 2

©2007 Pearson Education South Asia Pte Ltd

 17.5 Equations of Motion:
General Plane Motion

Example 17.17
The 30kg wheel has a mass center at G and
has a
radius of gyration kG = 0.15m. If the wheel is
originally at rest and released,
determine its angular
acceleration. No slipping
occurs.

©2007 Pearson Education South Asia Pte Ltd

 17.5 Equations of Motion:
General Plane Motion
View Free Body Diagram
Solution
FBD
• Point G moves along a curved 4
unknowns NA, FA, (aG)x, (aG)y and α
• For moment of inertia,

I G  mkG2  (25kg)(0.15m) 2
 0.675kg.m 2

©2007 Pearson Education South Asia Pte Ltd

 17.5 Equations of Motion:
General Plane Motion

Solution
Equations of Motion
  A  ( M k ) A ;
30(9.81) N (0.1m)
 (0.675kg.m 2 )  30kg(aG ) x (0.25m)  30kg(aG ) y (0.1m)

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 17.5 Equations of Motion:
General Plane Motion

Solution
Kinematics
a  r ;
a   (0.25)
0
• Applying acceleration from point O to point G,
    
aG  aO   x rG / O   2rG / O
    
 (aG ) x i  (aG ) y j   (0.25)i  (k 4) x(0.1i )  0
• Solving,
(aG ) x   (0.25)
(aG ) y   (0.1)
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 17.5 Equations of Motion:
General Plane Motion

Solution
• Solving,
FA  77.4 N
N A  263 N
  10.3rad / s 2
(aG ) x  2.58m / s 2
(aG ) y  1.03m / s 2

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 Chapter Review

Moment of Inertia
• The moment of inertia is a measure of the
resistance of a body to a change in its angular
velocity.
• It is defined by I   r dm and will be different for
2

each axis about which it is computed.

• For a body having axial symmetry, the integration
is usually performed using disk or shell elements.

©2007 Pearson Education South Asia Pte Ltd

 Chapter Review
Moment of Inertia
• Many bodies are composed of simple shapes.
• If this is the case, then tabular values of I can be
used, such as the ones given on the inside back
cover of this book.
• To obtain the moment of inertia of a composite body
about any specified axis, the moment of inertia of
each part is determined about the axis and the
results are added together.
• Doing this often requires use of the parallel-axis
theorem.
I  I G  md 2

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 Chapter Review
Moment of Inertia
• Handbooks may also report values of the radius of
gyration k for the body.
• If the body’s mass is known, then the mass moment
of inertia is determined from

I  mk 2

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 Chapter Review

Planar Equations of Motion

• The equations of motion define the translational,
and rotational motion of a rigid body.
• In order to account for all of the terms in these
equations, a free-body diagram should always
accompany their application, and for some
problems, it may also be convenient to draw the
kinetic diagram.

©2007 Pearson Education South Asia Pte Ltd

 Chapter Review
Planar Equations of Motion
Translation
• Here I G  0 since   0

Fx  maG x Fn  maG n

Fy  maG y Ft  maG t
M G  0 M G  0

Rectilinear Curvilinear
translation translation

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 Chapter Review
Planar Equations of Motion
Rotation About a Fixed Axis
• For fixed axis rotation, the kinetic vector m(aG)n
produces no moment about the axis of rotation,
and so the rotational equation of motion reduces to
a simplified form about point O.

Fn  maG n  m 2 rG Fn  maG n  m 2 rG

Fy  maG y  mrG or Ft  maG t  mrG
M G  I G M G  I O

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 Chapter Review
Planar Equations of Motion
General Plane Motion
• If the body is constrained by its supports, then
additional equations of kinematics can be obtained
by using aG  aA  aG / A to relate the accelerations of
any two G to another point A on the body.

Fx  maG x Fx  maG x

Fy  maG y Fy  maG y
M G  I G M P  M k P

©2007 Pearson Education South Asia Pte Ltd