Kinematics and Kinetics of Rigidbodies

CHAPTER 8.
KINEMATICS AND KINETICS OF RIGID BODIES IN

THREE-DIMENSIONAL MOTION
8.1. SPHERICAL COORDINATES
8.1
Spherical Coordinates
35
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CHAPTER 8. KINEMATICS AND KINETICS OF RIGID BODIES IN

8.2. ANGULAR VELOCITY OF RIGID BODIES IN THREE-DIMENSIONAL
THREE-DIMENSIONAL
MOTION
MOTION
8.2
Angular Velocity of Rigid Bodies in Three-Dimensional Motion
36

THREE-DIMENSIONAL
8.3. ANGULAR ACCELERATION
MOTION OF RIGID BODIES IN THREE-DIMENSIONAL MOTION
8.3
Angular Acceleration of Rigid Bodies in Three-Dimensional

Motion
37

8.4. GENERAL MOTION OF AND ON THREE-DIMENSIONAL
THREE-DIMENSIONAL
BODIES
MOTION
8.4
General Motion Of and On Three-Dimensional Bodies
38

THREE-DIMENSIONAL
8.4. GENERAL
MOTION MOTION OF AND ON THREE-DIMENSIONAL BODIES
8.4.1
GOAL: Determine the angular velocity of a rotating disk.
GIVEN: Inner shafts angular velocity and the angular velocity of the disk with respect to the
shaft.
DRAW:
FORMULATE EQUATIONS: Well use the expression for angular velocity on a rotating body.
SOLVE: The angular velocity of the disk D is equal to the angular velocity of inner shaft AB plus
the relative angular velocity of disk D with respect to shaft AB. The angular velocity of AB is
1 *
, and the relative angular velocity of disk to shaft is 2 *
. Thus:
*
*
*
D = 2 1
39

THREE-DIMENSIONAL
BODIES
MOTION
8.4.2
GOAL: Determine the angular acceleration of a rotating caster.
*
GIVEN: Angular velocity of the casters frame is 1 b 3 and the angular velocity of the caster with
*
respect to the frame is 2 b 1 .
DRAW:
FORMULATE EQUATIONS: Well use the expression for acceleration on a rotating body:

d *
d *
*
*
(1)
=
+
F C
dt C
dt C
N
SOLVE: The caster C has a constant rotation rate with respect to the frame F and so (1) simplifies
to

d *
*
*
*
*
*
=
F C = 1 b 3 (2 b 1 ) = 1 2 b 2
dt C
N
C = 1 2 b 2
40

THREE-DIMENSIONAL
8.4. GENERAL
8.4.3
GOAL: Determine v*B and a*B at the given instant.
GIVEN: The state of the illustrated robotic manipulator is such that L and are constant and
= = 90 .
DRAW:
FORMULATE EQUATIONS:
The velocities and accelerations of two arbitrary points A and B on a rigid body, where B can
move on the body, are related according to
*
*
*
v*B = v*A +
AB r B/ + v rel
(1)
*
*
*
*
*
a*B = a*A +
AB r B/ + AB AB r B/
A
*
*
+ a*rel + 2
AB v rel
(2)
The absolute angular acceleration of a rigid body can be calculated by

body =
d *
d *
*
*
body =
+
S body

dt N
dt S body
(3)
The coordinate transformations at the given instant between the ground-fixed reference frame and
those rotating with the inner and outer arms are
*
b1
b2
*
b3
*
cos(90 ) = 0
sin(90 ) = 1 0
sin(90 ) = 1 cos(90 ) = 0 0
0
0
1
c1
c2
*
c3
*
b1
b2
b3
cos(90 ) = 0 0 sin(90 ) = 1
0
1
0
sin(90 ) = 1 0
cos(90 ) = 0
41

THREE-DIMENSIONAL
BODIES
MOTION
SOLVE:
Applying (1) to arm OA, we have that the velocity of the joint A is
*
*
*
v*A =
OA r A/ + v rel, A
Arm OA: (1)
*
*
*
v*A = b 3 L b 2 + L b 2
*
*
v*A = L b 1 + L b 2
Thus, the velocity of B is given by

*
*
v*B = v*A +
AB r B/
Arm AB: (1)
*
*
*
v*B = L b 1 + L b 2 + b 3 + *
c2 d*
c3
*
*
*
*
*
v*B = L b 1 + L b 2 + b 3 + b 2 d b 1
*
*
*
b 2 d
b3
v*B = L b 1 + L + d
We find from (2) that the acceleration of A is

Arm OA: (2)
*
A/
O
aA = OA r
*
A/
O
+ OA OA r

*
*
+ 2
OA v rel, A
*
*
*
*
*
*
*
a*A = b 3 L b 2 + b 3 b 3 L b 2 + 2 b 3 L b 2
*
*
a*A = L + 2L b 1 L 2 b 2
Using (3), we get that the angular acceleration of the outer arm AB is given by

Arm AB: (3)
AB
d *
d *
*
*
=
=
+
AB
OA AB
dt N
dt S AB

*
*
*
*
*
*
*
*
AB = b 3 + b 3 b 3 + c 2 = b 3 + b 3 b 2
*
*
*
AB = b 1 + b 3
Hence, the acceleration of B is

*
*
*
*
*
a*B = a*A +
Arm AB: (2)
*
*
*
*
*
a*B = L + 2L b 1 L 2 b 2 + b 1 + b 3 d *
c 3 + b 3 + *
c2
h
*
b 3 + *
c2 d*
c3
42

THREE-DIMENSIONAL
8.4. GENERAL
*
*
*
*
*
*
*
a*B = L + 2L b 1 L 2 b 2 + b 1 + b 3 d b 1 + b 3 + b 2
*
h
*
*
*
b 3 + b 2 d b 1
b 2 d b 2 d b
a*B = L + 2L b 1 L 2 b 2 + d
2
1
1
h
a*B = L + 2L + d 2 + 2
i *
*
b 1 + d L 2 b 2
43

THREE-DIMENSIONAL
BODIES
MOTION
8.4.4
GOAL: Determine the angular velocity and acceleration of one arm of the illustrated mechanism.
GIVEN: Constant angular velocity of inner arm, and constant angular velocity of outer arm with
respect to inner arm
DRAW: The figure shows the mechanism with the original coordinate axes and some newly at*
tached unit vectors. Unit vectors *
,*
, k are aligned with the ground-fixed X, Y, Z axes. Unit
* * *
vectors b 1 , b 2 , b 3 are attached to the inner arm OA.
FORMULATE EQUATIONS: Well use the expressions for angular velocity and acceleration
on a rotating body.
SOLVE: The angular velocity of arm AB is equal to the angular velocity of arm OA plus the
*
relative angular velocity of arm AB with respect to arm OA. The angular velocity of OA is k ,
*
and the relative angular velocity of AB with respect to OA is b 2 . Thus:
*
* *
AB = k b 2
(1)
This can be written is the b -frame as:

*
*
*
AB = b 3 b 2
To determine the angular acceleration of AB we can differentiate (1):

*
AB =
d*
d * *
AB =
k b 2
dt
dt
*
k +
|{z}
=0
d*
d*
*
k b 2
b
|{z}
dt
dt 2

{z
=0
=0
Since the angular speeds are constant, and k is fixed in space, the only term remaining is
*
*
So we have:
The tip of unit vector b sweeps in the b direction with speed .
2
d *
dt b 2
AB
d*
*
b = (
b 1)
dt 2

44

THREE-DIMENSIONAL
8.4. GENERAL
*
*
AB = b 1
Alternatively, we could have used the expression:

d *
dt AB
d *
*
*
+
=
OA AB
dt S AB
*
*
*
= 0 + k ( k b 2 ) =
*
b 1
45

THREE-DIMENSIONAL
BODIES
MOTION
8.4.5
GOAL: Determine the angular velocity and acceleration of one wheel of the illustrated mechanism.
*
*
GIVEN: Angular velocity of the three-armed body is given by
T = 2 rad/s. h = 0.1 m and
r = 0.004 m.
*
* * *
DRAW: The figure shows the mechanism with ground-fixed *
,*
, k unit vectors as well b 1 , b 2 , b 3
(fixed to the rotating body T ).
ASSUME: Well assume that the wheels roll without slip on the bottom of the microwave oven.
on a rotating body.
SOLVE: The angular velocity of the wheel A is equal to the angular velocity of arm three-arm
body (T ) plus the relative angular velocity of wheel A with respect to the body. The angular
*
*
velocity of the three arm body is 2 *
rad/s = 2 b 2 rad/s ( *
and b 2 are identical for this problem).
The wheel rolls without slip and can find the wheels angular velocity by determining the speed of
the wheel As center (GA ) and then using
*
*
v*C = v*GA +
A r C/
GA
Applying the no-slip constraint that v C = 0 will get us the angular velocity information we need.
Well assume that the wheel A is rotating with respect to T with angular speed .
*
v*A = (2 b 2 rad/s)(0.1 b 1 m) = 0.2 b 3 m/s

v*C
= v*A + v*C/
*
*
= 0.2 b 3 m/s +
A (r b 2 )
*
*
*
*
= 0.2 b 3 m/s + ( b 1 + 2 b 2 )(r b 2 )
*
*
= 0.2 b 3 m/s r b 3
Applying the no-slip constraint that v*C = 0 gives us

0.2 m/s
0.2 m/s
=
= 50 rad/s
=
r
0.004 m
Thus we have
*
*
*
A = (50 b 1 + 2 b 2 ) rad/s
d *
d*
d*
A =
(A ) = 50 b 1 + 2 b 2
dt
dt
dt
*
rad/s = 50(2 b 3 rad/s) rad/s
46

THREE-DIMENSIONAL
8.4. GENERAL
*
2
*
A = 100 b 3 rad/s
47

THREE-DIMENSIONAL
BODIES
MOTION
8.4.6
GOAL: Compute the angular acceleration of a bicycle wheel as a bicyclist travels a circular path.
GIVEN: Radius of wheel, its inclination from vertical, time for the bicyclist to complete one full
circle, and forward speed of bicyclist.
DRAW:
The x, y, z coordinate frame, with corresponding unit vectors b 1 , b 2 , b 3 is fixed to the frame of the
*
bicycle. The *
,*
, k unit vectors are fixed to the inertial ground frame. The relationship between
these two sets of unit vectors is:
*
*
*
k
*
b 1 cos 0 sin
*
0
1
0
b2
*
b 3 sin 0 cos
ASSUME: We assume that the given 25 mph speed is that of the contact between the wheel and
ground as it travels a circular path along the ground. This neglects the small variations in forward
velocity that result from the inclination angle of the bike and the bicyle/riders dimensions. (e.g.
Since the bicyclists center of mass travels a smaller circle than the center of the wheel, the forward
velocities of each would be slightly different.)
of a rotating body.
SOLVE: First we need to determine the two angular rates; that of the bicyclist about the center
of the circular path, and that of the wheel about its center. Since the bicyclist completes one full
circle in 6 s, we have:
2 rad
=
= rad/s
6s
3
The angular speed of the wheel about its center will be the forward speed of the wheel divided by
its radius:
25 mph
440 in/s
=
=
= 33.8 rad/s
13 in
13 in
These angular rates are constant.
The angular velocity of the bicycle about the center of the path is *
, and the angular velocity
*
of the wheel with respect to the frame of the bicycle is b 3 . The total angular velocity of the
wheel is the sum of these:
*
*
= *
b 3
48

THREE-DIMENSIONAL
8.4. GENERAL
The wheels angular acceleration may be computed from:

d *
dt N Body
d *
*
*
+
S Body
dt S Body

d
*
*
=
( *
b 3 ) + ( *
)( *
b 3 )
dt xyz
*
*
= 0 + (
b 3)
=
From the transformation matrix, the unit vector *

is
*
= cos b 1 sin b 3
Thus
*
*
*
*
*
= (cos
b 1 sin b 3 ) b 3 = cos b 2

*
=
rad/s (33.8 rad/s) cos 30 b 2
3
*
= 30.7 b 2 rad/s2
49

THREE-DIMENSIONAL
BODIES
MOTION
8.4.7
GOAL: Determine v*B and a*B at the given instant.
GIVEN: Arms OA and AB spin about their corresponding axes at a constant rate of and ,
respectively. The configuration of the mechanism is such that = = 0.
DRAW:
The velocities and accelerations of two arbitrary, stationary points A and B on a rigid body are
related according to
*
*
v*B = v*A +
AB r B/
(1)
*
B/
A
aB = aA + AB r
*
B/
A
+ AB AB r
(2)
The absolute angular acceleration of a rigid body can be calculated by

body
d *
d *
*
*
=
+
body =
S body
dt N
dt S body
(3)
The coordinate transformations at the given instant between the ground-fixed reference frame and
those rotating with the inner and outer arms are
*
b1
b2
*
b3
*
k
cos(0) = 1 sin(0) = 0 0
sin(0) = 0 cos(0) = 1 0
0
0
1
c1
c2
*
c3
*
b1
b2
b3
1
0
0
0
cos(0) = 1 sin(0) = 0
0 sin(0) = 0 cos(0) = 1
50

THREE-DIMENSIONAL
8.4. GENERAL
SOLVE:
From (1), we have that the velocity of the joint A is
*
*
v*A =
OA r A/
Arm OA: (1)
*
*
v*A = b 3 L b 1
*
v*A = L b 2
It follows that the velocity of the tip B is given by

*
*
v*B = v*A +
AB r B/
Arm AB: (1)
*
*
v*B = L b 2 + b 3 + *
c 1 (h *
c3 + d*
c 2)
*
*
*
*
*
v*B = L b 2 + b 3 + b 1 h b 3 + d b 2
*
*
*
*
v*B = L b 2 d
b 1 h
b 2 + d
b3
*
*
*
v*B = d
b 1 + L h
b 2 + d
b3
Applying (2) gives us that the acceleration of A is

*
*
*
a*A =
OA OA r A/
Arm OA: (2)
*
*
*
a*A = b 3 b 3 L b 1
a*A = L 2 b 1
Using (3), we get that the angular acceleration of the outer arm AB is given by

Arm AB: (3)
AB
d *
d *
*
*
=
=
+
AB
OA AB
dt N
dt S AB

*
*
*
*
*
*
AB = b 3 b 3 + c 1 = b 3 b 1
*
AB = b 2
Thus, the acceleration of B is

Arm AB: (2)
*
*
*
*
*
a*B = a*A +
A
51

THREE-DIMENSIONAL
BODIES
MOTION

h
h
*
*
*
a*B = L 2 b 1 + b 2 (h *
c3 + d*
c 2 ) + b 3 + *
c1
*
*
*
*
*
*
a*B = L 2 b 1 + b 2 h b 3 + d b 2 + b 3 + b 1
*
c3 + d*
c 2)
b 3 + *
c 1 (h *
*
*
*
*
b 3 + b 1 h b 3 + d b 2
i
*
*
*
*
*
*
a*B = L 2 b 1 + h
b 1 2 d b 2 + h
b 1 2 h b 3 2 d b 2
*
*
L 2 *
b 1 d 2 + 2 b 2 2 h b 3
a*B = 2 h
52

THREE-DIMENSIONAL
8.4. GENERAL
8.4.8
GOAL: Determine the angular acceleration of a persons forearm.
GIVEN: Time for the arm segments to reach given configurations. Body geometry.
DRAW:

d *
d *
*
*
= BC +
(1)

F BC
dt BC
dt
N
where F indicates a rotating frame of reference that is rotating at the same speed as AB.
SOLVE:
*
*
*
BC = 1 b 1 + 2 b 2
Were given that the two arm segments change orientation by
2 rad in 1 s and so have
1 = rad/s, 2 = rad/s
2
2
The rotation rates are constant so our angular acceleration expression simplifies to
*
BC
d
*
*
*
= dt
=
F BC
BC
N
= 1 b 1 (1 b 1 + 2 b 2 )
*
= 1 2 b 3
*
2
2 *
*
BC = ( 2 rad/s)( 2 rad/s) b 3 = 4 b 3 rad/s
53

THREE-DIMENSIONAL
BODIES
MOTION
8.4.9
GOAL: Determine a forearms angular acceleration for 0 t 1 s.
GIVEN: Rotational information with regard to the arm segments and body geometry.
DRAW:

d *
d *
*
*
= BC +
(1)

F BC
dt BC
dt
N
where F indicates a rotating frame of reference that is rotating at the same speed as AB.
SOLVE: The arm segment AB alters orientation by
2 rad in 1 s and so we have
*
*
*
AB = 1 b 1 = 2 b 1 rad/s
BC rotates with a constant angular acceleration relative to AB such that after starting from rest
it has moved
2 rad after 1 s. Denoting its relative rotation angle with , we have
1 2
2(/2)
= rad = t
=
= rad/s2
2
2
(1 s)2
We can now use our formula for the derivative of a vector in a rotating body:
*
BC
d
*
*
*
= dt
+
F BC
BC
*
b )
= b 2 + 1 b 1 (1 b 1 + (t)
2
*
*
= b 2 + 1 t b 3
*
BC = b 2 rad/s
2 *
3
2 b 3 rad/ s t
54

THREE-DIMENSIONAL
8.4. GENERAL
8.4.10
GOAL: Determine the angular velocity and angular acceleration of the forearm segment during a
given motion of the arm.
GIVEN: Position of the forearm and upper arm at times t = 0 and t = 1 s, and the fact that the
angular speeds of the segments are constant.
* * *
DRAW: The figures show the arm at times t = 0 and t = 1 s. The unit vectors b 1 , b 2 , b 3 , fixed to
the upper arm, are shown along with the inertial x, y, z axes. At time t = 1 s, = 90 and = 45 .
FORMULATE EQUATIONS: Well use the formulas for the angular velocity and acceleration
of a rotating body.
SOLVE: Since the angular speeds are constant, we can determine the values by dividing the change
in angle by the change in time:
/4 rad
=
=
= rad/s
t
1s
4
/2 rad
=
=
= rad/s
t
1s
2
The angular velocity of the forearm is the angular velocity of the upper arm plus the angular
velocity of the forearm with respect to the upper arm:
*
BC
*
*
=
AB + BC /AB
*
= b 1 + b 3
*
BC = 2 b 1 + 4 b 3 rad/s
The angular acceleration is thus:

*
BC = BC
d
*
*
*
*
=
b1 + b3 = b 1 + b 3 = 0 +
dt
2
4
2
4
4

BC =
2
8
*
b
2 2
b 2 rad/s2
55

THREE-DIMENSIONAL
BODIES
MOTION
Alternatively,

BC
=
=
d *
*
*
+
AB BC
dt AB BC

*
d
*
*
*
*
b1 + b3 + b1 b1 + b3
dt AB
2
4
2
2
4
|
{z
=0
2 *
b rad/s2
8 2
56

THREE-DIMENSIONAL
8.4. GENERAL
8.4.11
GOAL: Find the angular velocity of gear G2 .
*
*
GIVEN: v*A = 10k m/s, v*B = 10k m/s. r1 = 0.2 m, r2 = 0.3 m, d = 0.5 m.
DRAW:
FORMULATE EQUATIONS: Well use the equations for finding velocities on rotating bodies.
SOLVE: All bodies in the differential have two rotational degrees of freedom, which are in the *
*
and *
directions. No rotation is allowed in the k direction, as both wheels remain in contact with
the ground. Let
*
A
*
B
*
C
*
G3
*
G4
=
=
=
=
=
A 1 *
+ A2 *
*
B1 + B2 *
*
*
C1 + C2
G31 *
+ G32 *
*
*
G41 + G42
By the geometric constraints, A2 = B2 = C2 , and G31 = G41 = C1 .

We begin by computing the angular velocities of wheels A and B from the given linear velocities
and the rolling constraint. v*A , v*B refer to the velocity of the centerpoints of the two wheels,
*
*
respectively, and
A , B refer to the angular velocity of the wheels themselves. The wheels have
two angular velocity components, one in the *
direction and another in the *
direction (due to the
lefthand turn).
v*A
*
vA k
A1
v*B
*
*
=
A r A/
= (A1 *
+ A 2 *
)r2 *
= vA /r2
vB k
B1
*
*
=
B r B/
= (B1 *
+ B2 *
)r2 *
= vB /r2
The above yields:

A1
B1
10 m/s
= 33.3 rad/s
0.3 m
10 m/s
= 33.3 rad/s
0.3 m
To determine the *
components of the wheel angular velocities well use the relative motion of B
57

THREE-DIMENSIONAL
BODIES
MOTION
with respect to A (in this case point A can be considered an extended point of wheel B):
v*B
*
vB k
B2
*
*
= v*A +
B r B/
)2d *
+ B2 *
= vA k + (B1 *
vB + vA
10 m/s + 10 m/s
=
=
2d
2(0.5 m)
20.0 rad/s
Having both B1 and B2 , and knowing that wheel B is rigidly attached to gear G2 , we have
*
*
*
*
*
G2 = 1 + 2 = (33.3 + 20.0 ) rad/s
58

THREE-DIMENSIONAL
8.4. GENERAL
8.4.12
GOAL: Determine the highest velocity point on a rolling ice cream cone.
GIVEN: Cone dimensions. Time to make a full circle on the floor is 2 s.
DRAW:
SOLVE: Example 8.4 shows how to determine the angular velocities of a rotating disk on the
end of a bent shaft. The current homework problem can be thought of as precisely the same
problem. The motion of OA will be the same as that of Example 8.4s shaft. From observation
we can deduce that the maximal speed will be found at the point B, the topmost point of the
cone at
the pictured instant. From geometry we have = sin1 (0.25) = 14.48 . |AB| = 1 in and
|OA| = 42 12 in = 3.873 in
The cone takes 2 s to complete one full rotation around the floor and thus we have
2
=
= rad/s
OA
2s
The correspondence between our problem and that of Example 8.4 is
cone
W
S
AO
3.873 in L1
1 in
L2
Substituting these values into the expression for W gives us

cone = ( rad/s) sin 3.873 cos1 + sin *
c 1 + ( rad/s) cos *
c3
= (11.78 *
c 1 + 3.042 *
c 3 ) rad/s
v*B
*
*
=
cone r B/
= (11.78 *
c 1 + 3.042 *
c 3 ) rad/s(3.873 *
c1 + *
c 3 ) in
v*B = 23.56 *
c 2 in/ s
59

THREE-DIMENSIONAL
BODIES
MOTION
8.4.13
GOAL: Show that the angular velocity of a rolling wheel is oriented horizontally.
GIVEN: Wheels angular velocity in terms of unit vectors attached to the wheel.
DRAW:
c1
c2
*
c3
*
b1
cos
0
sin
b2
b3
0 sin
1
0
0 cos
found in the example:
" Well use the angular velocity
#
L
cos
+
L
sin
*
*
1
2
c 1 + S cos *
c3
W = S sin
L2
SOLVE:
*
*
Re-expressing the *
c 1, *
c 3 unit vectors
in terms of b 1 , b 3 gives
us

L
cos
+
L
sin
*
*
1
2
c 1 + S cos *
c3
W = S sin
L2

L
= S sin L1 cos sin *
c 1 + S cos *
c3
2

L
= L1 cos *
c 1 + cos *
c 3 S
2

L2 *
L1 *
L
cos
L c 1 + L c 3 S
= L
2
*
*
= L cos
L2 [cos c 1 sin c 3 ] S
*
= tanS b 1
60

THREE-DIMENSIONAL
8.4. GENERAL
8.4.14
GOAL: Find the acceleration of point D in the illustrated mechanism.
GIVEN: System geometry.
DRAW:
c1
c2
*
c3
*
b1
cos
0
sin
b2
b3
0 sin
1
0
0 cos
ASSUME: The wheel rolls without slip.

FORMULATE EQUATIONS: D is attached to the bent shaft and thus we can view it as a
point on a rotating rigid body. Well use
*
*
v*D =
S r D/
where S indicates the shaft and then differentiate to find the acceleration.
SOLVE:
*
*
*
*
v*D = S b 3 (L1 cos b 1 + L1 sin b 3 ) = S L1 cos b 2
a*D
d
= S L1 cos b 2 + S L1 cos dt
b2
*
*
= S L1 cos b 2 + S L1 cos (S b 1 )
*
*
= L1 cos (S b 2 S2 b 1 )
= L1 cos [S *
c 2 S2 (cos *
c 1 sin *
c 3 )])
a*D = L1 cos (S2 cos *

c 1 + S *
c 2 + S2 sin *
c 3)
61

THREE-DIMENSIONAL
BODIES
MOTION
8.4.15
GOAL: Explain what the physical root is for the angular acceleration components of the disk in
Example 8.4.
GIVEN: Angular velocity and acceleration of the disk.
DRAW:
c1
c2
*
c3
*
b3
b2
0 sin
1
0
0 cos
b1
cos
0
sin
FORMULATE EQUATIONS: The problem statement involves b 1 and b 3 . Well start with the
angular velocity found in the example and re-express it in terms of these unit vectors. Then well
differentiate to find the angular acceleration.
SOLVE:
*
W is given by
"
#
L1 cos + L2 sin *
*
W = S sin
c 1 + S cos *
c3
L2
*
Re-expressing the *
c 1, *
c 3 unit vectors
us

L
cos
+
L
sin
*
*
1
2
c 1 + S cos *
c3
W = S sin
L2

L
c 1 + S cos *
c3
2

L
= L1 cos *
c 1 + cos *
c 3 S
2

L1 *
L2 *
L
cos
= L
L c 1 + L c 3 S
2
*
*
= L cos
*
= tanS b 1
We can differentiate by viewing this as a vector in a rotating reference frame, the frame defined by
the bent shaft. Let S indicate a rotating frame of reference that rotates at the same rate as the
shaft.
62

THREE-DIMENSIONAL
8.4. GENERAL

d *
d *
*
*
=
+
=
W
S W
dt
dt W
N
d
=
dt
*
*
*
tanS b 1 + S b 3 tanS b 1

2 *
*
= tanS b 1 tanS b 2
Both terms depend upon the angular speed and acceleration of the shaft because the wheels
rotation is determined (through a rolling constraint) on the velocity of its center (which is driven
by one end of the rotating shaft).
*
The first term, tanS b 1 , arises when differentiating the angular velocity with respect to the rotating frame. Physically it corresponds to the usual way wed expect to see an angular acceleration
arise, namely by the shafts rotation rate increasing (or decreasing) so as to create a non-zero
acceleration. If the shaft were to rotate at a constant rate this term would disappear.
2 *
*
The second term, tanS b 2 , comes about because the angular velocity (which points in the b 1
*
direction) is swept around in a circle as the shaft rotates. The rotation is positive in the b 3
*
direction (counter-clockwise when looking down at the system along the b 3 direction) and this
*
rotation causes the angular velocity vector to rotate as well, its tip moving in the b 2 direction.
63

THREE-DIMENSIONAL
BODIES
MOTION
8.4.16
GOAL: Find the acceleration of point C in the illustrated mechanism. L1 = 10 cm, = 15 .
*
*
shaft = 3 b 3 rad/s.
DRAW:
c1
c2
*
c3
*
b1
cos
0
sin
b2
b3
0 sin
1
0
0 cos
ASSUME: The wheel rolls without slip.

FORMULATE EQUATIONS: Well start with the angular velocity of the wheel, as found in
*
*
*
*
the example. After re-expressing this in terms of b 1 , b 2 , b 3 well differentiate to find
W . Then, by
viewing the body as rotating about the fixed point O, well determine the acceleration using our
rigid body acceleration formula

*
*
*
*
*
a*C =
W r C/ + W W r C/
O
SOLVE:
"
*
W = S
L cos + L2 sin *
sin 1
c 1 + S cos *
c3
L2
*
Re-expressing the *
c 1, *
c 3 unit vectors
us

L
cos
+
L
sin
*
*
1
2
c 1 + S cos *
c3
W = S sin
L2

L
c 1 + S cos *
c3
2

L
= L1 cos *
c 1 + cos *
c 3 S
2

L1 *
L2 *
L
cos
= L
L c 1 + L c 3 S
2
*
*
= L cos
*
= tanS b 1
64
(1)

THREE-DIMENSIONAL
8.4. GENERAL
*
W =

S *
d*
1 *
*
b1 S
b1 =
S b 1 + S2 b 2
tan
tan dt
tan
Using these expressions in (1) gives us

S *
S *
1 *
*
*
2*
*
aC =
S b 1 + S b 2 L b 1
b
b L b 1
tan
tan 1
tan 1
*
Interestingly, the second term drops out ( b 1 b 1 = 0), leaving us with

LS2 *
a*C =
b
tan 3
From geometry we have
L = 10.35 cm
a*C =
(0.1035 m)(3 rad/s)2 *

*
b 3 = 3.48 b 3 m/s2
tan 15
65

THREE-DIMENSIONAL
BODIES
MOTION
8.4.17
GOAL: Find the velocity and acceleration of point A.
*
*
*
*
*
P = 2 b 3 rad/s, P = 4 b 3 rad/s, gun/
plate
= 3 b 1 rad/s.
DRAW:
*
*
v*A =
gun r A/
(1)
*
*
*
*
*
a*A =
gun r A/ + gun gun r A/
O
(2)
SOLVE: The angular velocity of the gun is given by

*
gun = (2 b 3 + 3 b 1 ) rad/s
*
(3)
v*A = (2 b 3 + 3 b 1 ) rad/s(2 m)(cos 30 b 2 + sin 30 b 3 )
(1), (3)
v*A = (3.464 b 1 3 b 2 + 5.196 b 3 ) m/s

*
2
*
gun = 4 b 3 rad/s + (2 b 3 rad/s)(2 b 3 + 3 b 1 ) rad/s

*
2
*
gun = (4 b 3 + 6 b 2 ) rad/s
*
(2)(4)
(4)
*
a*A = (6 b 2 + 4 b 3 ) rad/s2 (2 m)(cos 30 b 2 + sin 30 b 3 )

*
*
*
*
*
+(2 b 3 + 3 b 1 ) rad/s(3.464 b 1 3 b 2 + 5.196 b 3 )
*
a*A = (5.07 b 1 22.5 b 2 9.0 b 3 ) m/s2
66

THREE-DIMENSIONAL
8.4. GENERAL
8.4.18
GOAL: Find the rate at which the water cannon is pivoting up at a given instant ( = 10 ).
GIVEN: Base rotates about Z-axis at 4 rad/s, the magnitude of the tip Bs velocity is 6 m/s at
the instant when = 10 .
DRAW: The figure below depicts the canon with the original X, Y, Z axes and a set of unit vectors
*
b i that are fixed to the rotating base.
ASSUME: We assume that the given rotation rate of the base is in the positive k direction. It
*
could just as easily be assumed that the rotation is in the negative k direction, without affecting
the magnitude of the tips velocity or the calculated value of .

FORMULATE EQUATIONS: Well use the equation for velocity on a rotating body.
*
SOLVE: The rotation rate of the base is 4k rad/s, and that of the barrel with respect to the base
*
is b 1 . The total angular velocity of the barrel is thus:
*
*
*
*
= 4k + b 1 = 4 b 3 + b 1
*
as k = b 3 .
The velocity of the tip B is:
v*B
*
=
r*B
/O

*
*
*
4 b 3 + b 1 1.2 cos 10 b 2 + 1.2 sin 10 b 3
*
*
*
= 4(1.2) cos 10 b 1 1.2 sin 10 b 2 + 1.2 cos 10 b 3 m/s
The magnitude of the velocity is (v*B v*B )1/2 and is given as 6 m/s:

*
vB
6 m/s =
r
r
4.8 cos 10 m/s

4.8 cos 10 m/s
2
+ 1.2 cos 10 m/s
2
+ 1.2 m/s

2
+ 1.2 sin 10 m/s
2
2
= 3.08 rad/s
67

THREE-DIMENSIONAL
BODIES
MOTION
8.4.19
GOAL: Determine the total angular acceleration of a model airplane propeller using two methods: a) differentiation of the components of the angular velocity vector, and b) the formula for
differentiating a vector in a rotating frame:

d
d *
*
p = p* +
p*

dt N
dt S
GIVEN: The airplane is attached to a tether and circles its attachment point O with a current
angular velocity of 3 rad/s and an angular acceleration of 3 rad/s2 . The propeller turns with
angular velocity 2 rad/s and angular acceleration 2 rad/s2 , both with respect to the model.
*
DRAW: The b 1 , b 2 , b 3 frame is attached to the plane.
FORMULATE EQUATIONS: Well use the equation for angular velocity and angular acceleration of a rotating body.
SOLVE: The angular velocity of the propeller is the sum of the angular velocity of the plane and
the angular velocity of the propeller with respect to the plane:
*
= 3 b 3 + 2 b 2
a) Differentiating:
*
*
*
*
= *
b + 3b 3 + 2 b 2 + 2b 2
3 3
*
= 3 b 3 + 3 (0) + 2 b 2 + 2 (3 b 1 )
*
= 2 3 b 1 + 2 b 2 + 3 b 3
*
b) Using formula for differentiation in the rotating frame B (with b i attached):

d *
=
dt N
=
d * * *
+
B
dt B

* *

d
*
*
*
3 b 3 + 2 b 2 + 3 b 3 3 b 3 + 2 b 2

dt B
*
= 3 b 3 + 2 b 2 2 3 b 1
*
= 2 3 b 1 + 2 b 2 + 3 b 3
68

THREE-DIMENSIONAL
8.4. GENERAL
8.4.20
GOAL: Find the velocity and acceleration of point B.
*
*
2 *
*
*
*
*
OA 1 = 0.8 b 3 rad/s, OA 1 = 2 b 3 rad/s , AB/
*
torso
2
*
*
1.6 b 1 rad/s,
AB/
2 = 0.5 b 1 rad/s ,
torso
DRAW:
2 =
FORMULATE EQUATIONS: Well use the general rigid body equations

*
v*B = v*A +
r*B/
(1)
*
*
*
a*B = a*A +
r*B/ +
r*B/
A
SOLVE:
(1)
(2)
v*A = (0.8 b 3 ) rad/s(0.24 b 1 m) = 0.192 b 2 m/s

*
(2)
(3)
*
a*A = 2 b 3 rad/s2 (0.24 b 1 m) + 0.8 b 3 rad/s(0.192 b 2 m/s)

*
*
= (0.48 b 2 0.1536 b 1 ) m/s2
(1), (3)
v*B
= 0.192 b 2 m/s + (0.8 b 3 1.6 b 1 ) rad/s(0.24 b 3 m)

*
= (0.192 0.384) b 2 m/s
*
v*B = 0.192 b 2 m/s

*
AB
*
*
*
*
*
=
1 + 2 + 1 (1 + 2 )
*
*
*
*
*
2
= (2 b 3 0.5 b 1 ) rad/s + (0.8 b 3 rad/s)(0.8 b 3 rad/s 1.6 b 1 rad/s)
*
*
*
= (0.5 b 1 1.28 b 2 + 2.0 b 3 ) rad/s2
Using (1),(2) and (4) gives us

*
*
*
*
a*B = a*A + (0.5 b 1 1.28
b 2 + 2.0 b 3 ) rad/s2 (0.24ib 3 m)
h
*
*
*
*
*
+(0.8 b 3 1.6 b 1 ) (0.8 b 3 1.6 b 1 )(0.24 b 3 m)
*
= (0.48 b 2 0.1536 b 1 ) m/s2

*
*
+(0.12 b 2 + 0.3072 b 1 ) m/s2
*
*
*
+(0.8 b 3 1.6 b 1 ) rad/s(0.384 b 2 m/s)
*
a*B = (0.461 b 1 + 0.36 b 2 + 0.614 b 3 ) m/s2
69
(4)

THREE-DIMENSIONAL
BODIES
MOTION
8.4.21
GOAL: Determine the velocity of a point T on the tip of a fan blade as a function of time.
GIVEN: Dimensions of fan and blade, tilt angle of fan, spin rate of blades, and the side to side
oscillation. *
DRAW: Let b i be the set of unit vectors attached to the rotating base of the fan; let unit vectors
*
*
c i be the set attached to the tilt arm OA; and let di be a set attached to the blade itself.
The transformations from b i to *

c i and from *
c i to di are:
*
c1
c2
*
c3
*
b1
b2
cos sin
sin cos
0
0
b3
0
0
1
d1
*
d2
*
d3
*
*
c1
c2
c3
1
0
0
0
cos sin
0 sin cos
ASSUME: We assume that the blades are spinning in the positive *

c 1 direction.
FORMULATE EQUATIONS: The velocity of a point T at the blade tip may be written as:
v*T = v*A + v*T
/A
*
= v*A +
r*T + v*rel
AT
(1)
/A
SOLVE: Since the rotating frame used in the construction of (1) is that of the blade itself, v*rel = 0.
We have:
v*T
*
= v*A +
r*T
AT
*
=
r*A
OA
/O
(2)
/A
*
+ r*T
AT
(3)
/A
Let the length of arm OA be L1 = 8 in. and the length of a blade AT be L2 = 4 in. The angular
velocity of the blade is sum of the angular velocity of the arm and the angular velocity of the blade
70

THREE-DIMENSIONAL
8.4. GENERAL
with respect to the arm. From (3):

*
*
*
= b 2 L1 *
c 1 + b 2 + *
c 1 L2 d2
v*T
= (sin *
c 1 + cos *
c 2 )L1 *
c1 +
h
+ (sin *
c 2 + sin *
c 3)
c 1 + cos *
c 2 ) + *
c 1 L2 (cos *

cos *
cos sin *
= L
c 3 + sin + L2 cos *
c 3 sin *
c 2 + L
c1
1
2
Given = 0 sin (t), taking the time derivative yields = 0 cos (t). Letting 0 = 0 such that
= 26t gives:
= t

v*T = 4 0 cos (t) cos sin (26t) *

c 1 4 0 cos (t) sin + 104 sin (26t) *
c 2+
+
h
4 0 cos (t) sin + 104 cos (26t) 8 0 cos (t) cos *

c 3 in/s
71

THREE-DIMENSIONAL
BODIES
MOTION
8.4.22
GOAL: Find the acceleration of collar D.
GIVEN: Angular velocity of link OB, angular velocity of link BC with respect to OB, and velocity
at which collar D slides along link BC.
DRAW:
Unit vectors b i are fixed to link OB, while unit vectors *

c i are fixed to link BC. At the illustrated
instant, both sets of unit vectors and the X, Y, Z axes are aligned.
FORMULATE EQUATIONS: Well use theequationfor motion on a three-dimensional body:
*
*
*
a*D = a*B +
r*D +
r*D
/B
/B
*
+ a*rel + 2
v*rel
SOLVE: The vectors quantities

appearing
in Equation (1) are:

a*B
*
OB
BC
v*rel
a*rel
r*D
/B
*
*
=

r*B
OB
/O
*
*
*
*
= b 1 b 1 0.5 b 3 = 0.5 2 b 3
*
*
= b 1 + b 3
*
*
*
*
*
db
db
= = b 1 + dt1 + b 3 + dt3 = 0 + 0 + 0 b 2 = b 2
BC
=5*
c 2 m/s
=0
= 0.2 *
c2 m
*
The individual terms in (1), with = 4 rad/s and = 5 rad/s, are now:
72
(1)

THREE-DIMENSIONAL
8.4. GENERAL
*
a*B
= (0.5 m) (4 rad/s)2 b 3 = 8 b 3 m/s2
r*D
*
= b 2 0.2 *
c2 = 0
/B
*
*
r*D
/B
h
*
*
= b 1 + b 3
*
*
*
c 2 = 0.2 2 + 2 b 2
b 1 + b 3 0.2 *
*
= (0.2 m) (4 rad/s)2 + (5 rad/s)2 b 2 = 8.2 b 2 m/s2

*
2
v*rel
*
*
*
*
= 2 b 1 + b 3 5 *
c 2 = 10 b 3 10 b 1
*
= (10 m/s) (4 rad/s) b 3 (10 m/s) (5 rad/s) b 1 = 40 b 3 50 b 1
m/s2
Substituting into (1):

*
a*D = 8 b 3 + 0 8.2 b 2 + 0 + 40 b 3 50 b 1 m/s2

a*D = 50 b 1 8.2 b 2 + 48 b 3 m/s2
73

THREE-DIMENSIONAL
BODIES
MOTION
8.4.23
GOAL: Find the angular velocity of the central box C in a differential.
*
*
DRAW:
*
*
and directions. No rotation is allowed in the k direction, as both wheels remain in contact with
the ground. Let
*
A
*
B
*
C
*
G3
*
G4
=
=
=
=
=
A 1 *
+ A2 *
*
*
B1 + B2
C1 *
+ C2 *
*
G31 + G32 *
G41 *
+ G42 *

*
*
respectively, and
lefthand turn).
v*A
*
vA k
A1
v*B
*
*
=
A r A/
= (A1 *
+ A 2 *
)r2 *
= vA /r2
vB k
B1
*
*
=
B r B/
= (B1 *
+ B2 *
)r2 *
= vB /r2
The above yields:

A 1
B1
2 m/s
= 6.6 rad/s
0.3 m
3 m/s
= 10 rad/s
0.3 m
To determine the *
74

THREE-DIMENSIONAL
8.4. GENERAL
v*B
*
*
= v*A +
B r B/
)2d *
= vA k + (B1 + B2 *
vB + vA
3 m/s 2 m/s
=
=
2d
2(0.5 m)
vB k
B2
1.0 rad/s
Thus we have
C2 = B2 = A2 = 1.0 rad/s
(1)
To find C1 we need to determine the rate at which gears G3 and G4 are rotating about axle AB.
Gears G3 and G4 roll against gears G1 and G2 , and it is this rolling, in addition to the rolling of
*
the wheels, that determines the *
component of
C . Examining the relative velocities of the gears
with respect to each other and with respect to point O will allow us to find C1 .
v*F/
*
*
=
C r F/
)r1 *
+ C2 *
= (C1 *
*
= C1 r1 k
v*F/ = C1 r1 k
(2)
Taking a different path to F from O:

v*F/
= v*E/ + v*F/
O
= [(A1 *
+ A2 *
)(r1 *
+ r1 *
)] + [(G31 *
+ G32 *
)r1 *
]
*
= (A1 r1 + A2 r1 G32 r1 )k
v*F/ = (A1 r1 + A2 r1 G32 r1 )k
(3)
Combining (2) and (3), we see that

C1 = A1 + A2 G32
(4)
Taking yet a different path:

v*F/
= v*J/ + v*F/
O
= [(B1 *
+ B2 *
)(r1 *
+ r1 *
)] + [(G31 *
+ G32 *
)r1 *
]
*
= (B1 r1 B2 r1 + G32 r1 )k
v*F/ = (B1 r1 B2 r1 + G32 r1 )k
(5)

C1 = B1 B2 + G32
Combining (4) and (6), with A2 = B2 , yields:
A1 + B1
C1 =
2
Thus,
6.6 rad/s 10 rad/s *
*
*
*
+ 1.0 *
rad/s
C = C1 + C2 =
2
*
*
*
C = 8.33 + 1.0 rad/s

75
(6)
(7)

THREE-DIMENSIONAL
BODIES
MOTION
8.4.24
GOAL: Find the angular velocity of Gear G3 .
*
*
DRAW:
*
*
the ground. Let
*
A
*
B
*
C
*
G3
*
G4
=
=
=
=
=
A 1 *
+ A2 *
*
*
B1 + B2
C1 *
+ C2 *
*
G31 + G32 *
G41 *
+ G42 *

*
*
respectively, and
lefthand turn).
v*A
*
vA k
A1
v*B
*
*
=
A r A/
= (A1 *
+ A 2 *
)r2 *
= vA /r2
vB k
B1
*
*
=
B r B/
= (B1 *
+ B2 *
)r2 *
= vB /r2
The above yields:

A1
B1
10 m/s
= 33.3 rad/s
0.3 m
10 m/s
= 33.3 rad/s
0.3 m
To determine the *
76

THREE-DIMENSIONAL
8.4. GENERAL
v*B
*
vB k
B2
*
*
= v*A +
B r B/
)2d *
= vA k + (B1 + B2 *
vB + vA
10 m/s 10 m/s
=
=
2d
2(0.5 m)
*
Thus we have
C2 = B2 = A2 = 0
(1)
From the figure it is clear that gear G3 will have the same angular velocity as the carrier C as well
as an angular velocity with respect to C. Gears G3 and G4 roll against gears G1 and G2 , and it
*
is this rolling, in addition to the rolling of the wheels, that determines the *
component of
C.
Examining the relative velocities of the gears with respect to each other and with respect to point
O will allow us to find C1 .
v*F/
*
*
=
C r F/
= (C1 *
+ C2 *
)r1 *
= C1 r1 k
v*F/ = C1 r1 k
(2)

v*F/
= v*E/ + v*F/
O
= [(A1 *
+ A2 *
)(r1 *
+ r1 *
)] + [(G31 *
+ G32 *
)r1 *
]
*
= (A1 r1 + A2 r1 G32 r1 )k
v*F/ = (A1 r1 + A2 r1 G32 r1 )k
(3)

C1 = A1 + A2 G32
(4)

v*F/
= v*J/ + v*F/
O
= [(B1 *
+ B2 *
)(r1 *
+ r1 *
)] + [(G31 *
+ G32 *
)r1 *
]
*
= (B1 r1 B2 r1 + G32 r1 )k
v*F/ = (B1 r1 B2 r1 + G32 r1 )k
(5)

C1 = B1 B2 + G32
(6)

C1 =
33.3 + 33.3
A1 + B1
=
rad/s = 33.3 rad/s
2
2
77
(7)

THREE-DIMENSIONAL
BODIES
MOTION
Thus,
*
*
*
*
C = C1 + C2 = 33.3 rad/s
We now have
*
*
A = 33.3 rad/s
(8)
*
*
B = 33.3 rad/s
(9)
*
*
*
G3 = 33.3 rad/s +
(10)
where is the rotational speed of Gear G3 with respect to the carrier C.

We can now apply the formula relating the velocity of two points on a rigid body, the body in
question being gear G3 .
*
*
v*E =
A r E/
G
(11)
= 33.3 *
rad/s[(d r1 ) *
+ (r2 + r1 ) *
]
*
= 33.3(r2 + r1 )k rad/s
v*J
*
*
=
B r J/
= 33.3 *
rad/s[(d r1 ) *
+ (r2 + r1 ) *
]
*
= 33.3(r2 + r1 )k rad/s
(12)
Well now apply

*
*
v*J = v*E +
G3 r J/
(13)
(11), (12), (13)

*
*
rad/s + *
)(2r1 *
)
33.3(r2 + r1 )k rad/s = 33.3(r2 + r1 )k rad/s + (33.3 *
= 0
(14)
*
*
G3 = 33.3 rad/s
(10), (14)
78

THREE-DIMENSIONAL
8.4. GENERAL
8.4.25
GOAL: Find the angular velocity of Gear G4 .
*
GIVEN: v*A = 0, v*B = 6k m/s. r1 = 0.2 m, r2 = 0.3 m, r3 = 0.3 m, d = 0.5 m.
DRAW:
*
*
the ground. Let
*
A
*
B
*
C
*
G3
*
G4
=
=
=
=
=
A 1 *
+ A2 *
*
*
B1 + B2
C1 *
+ C2 *
*
G31 + G32 *
G41 *
+ G42 *

*
*
respectively, and
lefthand turn).
v*A
*
vA k
A1
v*B
*
*
=
A r A/
= (A1 *
+ A 2 *
)r2 *
= vA /r2
vB k
B1
*
*
=
B r B/
= (B1 *
+ B2 *
)r2 *
= vB /r2
The above yields:

A1
B1
0 m/s
=0
0.3 m
6 m/s
= 20 rad/s
0.3 m
To determine the *
79

THREE-DIMENSIONAL
BODIES
MOTION
v*B
*
vB k
B2
*
*
= v*A +
B r B/
)2d *
= vA k + (B1 + B2 *
vB + vA
6 m/s 0
=
=
2d
2(0.5 m)
*
6 rad/s
Thus we have
C2 = B2 = A2 = 6 rad/s
(1)
From the figure it is clear that gear G4 will have the same angular velocity as the carrier C as well
as an angular velocity with respect to C. Gears G3 and G4 roll against gears G1 and G2 , and it
*
is this rolling, in addition to the rolling of the wheels, that determines the *
component of
C.
Examining the relative velocities of the gears with respect to each other and with respect to point
O will allow us to find C1 .
v*F/
*
*
=
C r F/
= (C1 *
+ C2 *
)r1 *
= C1 r1 k
v*F/ = C1 r1 k
(2)

v*F/
= v*E/ + v*F/
O
= [(A1 *
+ A2 *
)(r1 *
+ r1 *
)] + [(G31 *
+ G32 *
)r1 *
]
*
= (A1 r1 + A2 r1 G32 r1 )k
v*F/ = (A1 r1 + A2 r1 G32 r1 )k
(3)

C1 = A1 + A2 G32
(4)

v*F/
= v*J/ + v*F/
O
= [(B1 *
+ B2 *
)(r1 *
+ r1 *
)] + [(G31 *
+ G32 *
)r1 *
]
*
= (B1 r1 B2 r1 + G32 r1 )k
v*F/ = (B1 r1 B2 r1 + G32 r1 )k
(5)

C1 = B1 B2 + G32
C1 =
0 20
A1 + B1
=
rad/s = 10 rad/s
2
2
80
(6)

THREE-DIMENSIONAL
8.4. GENERAL
Thus,
*
*
*
*
*
C = C1 + C2 = (10 + 6 ) rad/s
We now have
*
*
A = 6 rad/s
(7)
*
*
*
B = (20 + 6 ) rad/s
(8)
*
*
*
G4 = 10 rad/s + (6 rad/s + )
(9)
where is the rotational speed of Gear G4 with respect to the carrier C.

We can now apply the formula relating the velocity of two points on a rigid body, the body in
question being gear G4 .
*
*
v*K =
A r K/
G
(10)
= 6*
rad/s[(d r1 ) *
+ (r2 r1 ) *
]
*
= 6(d r1 )k rad/s
*
*
v*L =
B r L/
= (20 *
+ 6*
) rad/s[(d r1 ) *
+ (r2 r1 ) *
]
*
= [20(r2 r1 ) + 6(d r1 )]k rad/s
(11)
Well now apply

*
*
v*L = v*K +
G4 r L/
(12)
(10), (11), (12)

*
*
[20(r2 r1 ) + 6(d r1 )]k rad/s = 6(d r1 )k rad/s + [10 rad/s *
+ (6 rad/s + )
](2r1 *
)
20(0.1 m/s) + 6(0.3 m/s) = 6(0.3 m/s) (0.4 m)(6 rad/s + )

4 rad/s = 0.4
= 10 rad/s
(9), (13)
(13)
*
*
*
G4 = (10 4 ) rad/s
81

8.5. MOMENTS AND PRODUCTS OF INERTIA FOR A THREE-DIMENSIONAL
THREE-DIMENSIONALBODY
MOTION
8.5
Moments and Products of Inertia for a Three-Dimensional

Body
82

8.6. PARALLEL AXIS EXPRESSIONS FOR INERTIAS
8.6
Parallel Axis Expressions for Inertias
83

8.6.1
GOAL: Determine the rotational inertias of the illustrated flat plate.
GIVEN: Bodys orientation and dimensions.
DRAW:
FORMULATE EQUATIONS: From Appendix B we have

ma2
mb2
m(a2 + b2 )
Ix0 x0 =
, Iy 0 y 0 =
, Iz 0 z 0 =
12
12
12
Ix0 y0 = Iy0 z 0 = Iz 0 x0 = 0
SOLVE:
To find the mass moments of inertia and products of inertia we use (8.24)-(8.29) with r1 = b/2,
r2 = a/2 and r3 = 0.
ma2
Ixx = Ix0 x0 + m(r22 + r32 ) =
3
Iyy = Iy0 y0 + m(r32 + r12 ) =
Izz
mb2
3
= Iz 0 z 0 + m(r12 + r22 )

2
+ b2
= m a 12
+m

2
b
2
2
+ a
2
ab
+ mr1 r2 = m
4

Ixy = Ix0 y0
m(a2 + b2 )
3
Iyz = Izx = 0
2
2
2
mb2 , I = m(a + b ) , I = mab , I = I = 0 ,
Ixx = ma
,
I
=
yy
xx
xy
yz
zx
3
3
3
4
84

8.6.2
GOAL: Determine the mass moments and products of inertia for the illustrated cylindrical body.
DRAW:
FORMULATE EQUATIONS: From Appendix B we have the rotational inertias about the
bodys mass center G:
mr2
m(3r2 + h2 )
Iy 0 y 0 =
, I x0 x0 =
2
12
Ix0 y0 = Iy0 z 0 = Iz 0 x0 = 0
SOLVE:
To find the mass moments of inertia and products of inertia we use (8.24)-(8.29) with r1 = 0,
r2 = h
2 and r3 = r.
2
Iyy = Iy0 y0 + mr2 = 3mr
2

2
Ixx = Ix0 x0 + m r2 + h
2
2
5mr2
= mh
3 + 4
From symmetry we see that Ixy = 0 .

The mass of the body is given by
m = r2 h
giving us
2 3
4
h , I = 3r4 h
Ixx = r3 h + 5r
yy
4
2
Ixy = 0
85

8.6.3
GOAL: Determine the illustrated bodys mass moments of inertia and products of inertia along
the given x, y, z axes in terms of the bodys mass m.
GIVEN: The body has an areal density of and negligible thickness.
DRAW:
The mass moments of inertia for a three-dimensional rigid body about axes parallel to its centroidal
axes are of the form

Ixx = I xx + m ry2 + rz2 ,
etc.
(1)
Likewise, a three-dimensional rigid bodys products of inertia about axes parallel to its centroidal
axes have the form
Ixy = I xy + mrx ry ,
etc.
(2)
SOLVE:
By breaking up the depicted body into a square plate and a square hole, we can analyze the
inertia of each component separately and then combine our results to find the total system inertia.
Analyzing the plate first, we have that its moments of inertia are given by
Plate: (1)
Ixx, p

1 2 2
=
a
a + a2 + a2
12
"
2
a
2
2 #
a
2
1
= a4
3
2
1
= a4
3
Plate: (1)
Iyy, p =
1 2 2 2 a
a
a + a
12
2
Plate: (1)
Izz, p =
1 2 2 2 a
a
a + a
12
2
2
= a4
3
86

Similarly, the moments of inertia for the hole are
Hole: (1)
Hole: (1)
Hole: (1)
Ixx, h
1
=
12
a2
4
! "
a 2
a2
4
!
2
Iyy, h
1
=
12
a2
4
!
2
Izz, h
1
=
12
a
2
a
2
2 #
a
a2
4
! "
a 2
!
2
a2
4
!
2
a2
4
a
2
a
2
2 #
a
13 4
a
192
13 4
a
192
13 4
a
96
The total mass of the body is

m = a2
3
a2
= a2
4
4
The bodys mass moments of inertia can then be expressed as

Ixx = Ixx, p + Ixx, h =
17
ma2
24
Iyy = Iyy, p + Iyy, h =
17
ma2
48
Izz = Izz, p + Izz, h =
17
ma2
48
Now turning to the bodys products of inertia, note that I xy = I yx = 0 for a thin rectangular
body, and I xz = I zx = I yz = I zy = 0 by symmetry. Furthermore, since rx = 0, the only nonzero
products of inertia are Iyz = Izy . For the plate, we have that
Plate: (2)
Iyz, p = a
a a
1
= a4
4
Likewise, the holes contribution to the products of inertia is
Hole: (2)
Iyz, h
a2
=
4
!
a
2
a
2
1 4
a
16
87

Hence, the bodys products of inertia are
1
Iyz = Izy = Iyz, p + Iyz, h = ma2
4
The bodys mass moments of inertia and products of inertia are summarized as follows:
Ixx =
17
ma2 ,
24
Iyy = Izz =
Ixy = Iyx = Ixz = Izx = 0,
17
ma2
48
1
Iyz = Izy = ma2
4
88

8.6.4
GOAL:Determine the mass moments of inertia and products of inertia along the x, y, z axes for
the the illustrated body. Express results in terms of the bodys mass m.
GIVEN: The dimensions of the body are illustrated in the figure. We assume a linear density .
DRAW:
First, we note the relationship between the mass and linear density of the body:
m = 3a
Because moments and products of inertia are additive for composite bodies, we will treat the
illustrated body as three narrow rod segments and add the computed inertias of each segment to
arrive at the resultant value for the entire body.
SOLVE:
2
a2
a
7a3
Ixx = (a) + 2(a)
=
12
2
12
Iyy = 2
(a)a2
2a3
=
3
3
"
Izz
(a)a2
(a)a2
+2
+ (a)
=
12
12
a
2
a
2

Ixy = 2(a)
2 !#
2
a
2
a
2
5a3
4
a3
, Iyz = Izx = 0
2
Expressing these in terms of the overall mass m gives us

2
2ma2
5ma2
ma2
Ixx = 7ma
36 , Iyy = 9 , Izz = 12 , Ixy = 6 , Iyz = Izx = 0
89

8.6.5
GOAL: Determine the rotational inertias of the illustrated flat plate.
DRAW:
FORMULATE EQUATIONS: Well find the solution by taking the difference of the rotational
inertias corresponding to a plate with dimensions a2 , b2 and one corresponding to the missing
chunk having dimensions a1 , b1 . Each plate will have the same density . From Appendix B we
have, for a plate with dimensions a, b:
mb2
ma2
m(a2 + b2 )
Ix0 x0 =
, Iy 0 y 0 =
, Iz 0 z 0 =
12
12
12
Ix0 y0 = Iy0 z 0 = Iz 0 x0 = 0
SOLVE: Well start with a complete plate (a2 , b2 ) and put a 2 to the upper left of the I as an
identifier. To find the mass moments of inertia and products of inertia we use (8.24)-(8.29) with
r1 = a2 /2, r2 = b2 /2 and r3 = 0.
m2 b22
2
2
2
2
Ixx = Ix0 x0 + m2 (r2 + r3 ) =
3
2
2I
zz
2I
z0 z0
Iyy =
m2 a22
3
+ m2 (r12 + r22 )
a22 + b22
12
= m2
Iy0 y0 + m2 (r32 + r12 ) =
Ixy =
"
+ m2
b2
2
2
a 2
2
Ix0 y0 + m2 r1 r2 = m2
Iyz =
a2 b2
4
m2 (a22 + b22 )
3
Izx = 0
Next well consider the a plate corresponding to the missing chunk (a1 , b1 ) and put a 1 to the
upper left of the I as an identifier. To find the mass moments of inertia and products of inertia we
use (8.24)-(8.29) with r1 = a1 /2, r2 = b1 /2 and r3 = 0.
m1 b21
1
1
2
2
Ixx = Ix0 x0 + m1 (r2 + r3 ) =
3
1
Iyy =
Iy0 y0 + m1 (r32 + r12 ) =
m1 a21
3
90

1I
zz
1I
z0 z0
+ m1 (r12 + r22 )
a21 + b21
12
= m1
1
Ixy =
"
+ m1
b1
2
2
a 2
1
Ix0 y0 + m1 r1 r2 = m1
1
Iyz =
a1 b1
4
m1 (a21 + b21 )
3
Izx = 0
We can now take the difference of the two sets of rotational inertias, using m1 = a1 b1 and
m2 = b1 b2 to obtain
Ixx
a2 b32
a1 b31
= 3 3
Iyy =
Izz
b2 a32
b1 a31
3
3
(a32 b2 + a2 b32 ) (a31 b1 + a1 b31 )

=
3
3
Ixy =
a22 b22
a21 b21
4
4
91

8.6.6
GOAL: Determine the mass moments of inertia and products of inertia for the illustrated washer
along the x, y, z axes (which go through the bodys mass center). Express the results in terms of .
GIVEN: The outer radius of the washer is ro = 0.03 m, the inner radius is ri = 0.02 m, and the
thickness is h = 0.006 m.
DRAW:
SOLVE: We may compute the inertias in cylindrical r, , z coordinates, with x = r cos , y = r sin ,
and x2 + y 2 = r2 . First, well compute Izz .
h
Izz
x2
y2
R 2 R2 Rro 2
dm =
r r dr d dz
h
2
Body
h
2

R R2 ro4
h
2
= 2h
ro4
4
(0.03 m)4
4
4
r
i
4
r4
i
4
= 2 (0.006 m)
d dz

(0.02 m)4
4
Izz = 6.13109 m5
92

By symmetry, Ixx = Iyy , so we will only need to calculate Ixx :
h
Ixx =
Z
y 2 + z 2 dm =
Z roZ 2Z 2
r
Body
0 h
2
Z roZ 2
= h
r
= h
r2 sin2 + z 2 r dz d dr
h2
r sin + r
12
3
d dr
Z ro 3
r
2
r
2
( sin cos )
0
h2
+ 2r
12
dr
Z ro
= h
h2
r +r
6
3
dr
=
=

1
1
h ro4 ri4 + h3 ro2 ri2
4
12

1
(0.006 m) (0.03 m)4 (0.02 m)4 +
4

1
+ (0.006 m)3 (0.03 m)2 (0.02 m)2
12
Iyy = Ixx = 3.09109 m5

Note that when perfoming the above integrations we could have substituted the lower limit ri with
0, to find the moments of inertia of a solid disk. Subtracting the inertia values of a solid disk of
radius ri from those of a solid disk of radius ro yields identical results.
Since all three planes, xy, xz, and yz, are planes of symmetry for the body, all of the products
of inertia are zero:
Ixy = Iyx = Ixz = Izx = Iyz = Izy = 0
93

8.6.7
GOAL: Determine the illustrated bodys mass moments of inertia and products of inertia along
the given x, y, z axes in terms of the bodys mass m.
GIVEN: Refer to the illustration.
DRAW:

etc.
(1)
axes have the form
etc.
(2)
SOLVE:
A direct application of (1) gives us that the bodys moments of inertia are
"
(1)
(1)
(1)
Ixx
Iyy
Izz
i
1 h
= m b2 + (2b)2 + m b2 +
12

1
= m b2 + b2 + m
12
"
i
1 h
= m b2 + (2b)2 + m
12
"
2 #
b
5
= mb2
3
2 #
2
2
b
2
#
2
+b
2
= mb2
3
5
= mb2
3
94

By symmetry, we see that I xy = I yx = I xz = I zx = I yz = I zy = 0. Hence, we find from (2) that
the bodys products of inertia are

1
b
(b) = mb2
2
2
(2)
Ixy = Iyx = m
(2)
b
=m
2

Ixz = Izx
b
2

b
2

(2)
Iyz = Izy = m (b)
1
= mb2
4
1
= mb2
2
The bodys mass moments of inertia and products of inertia are summarized as follows:
5
Ixx = Izz = mb2 ,
3
1
Ixy = Iyx = Iyz = Izy = mb2 ,
2
2
Iyy = mb2
3
1
Ixz = Izx = mb2
4
95

8.6.8
GOAL: Determine the mass moments and products of inertia for the illustrated triangular prism
DRAW:
FORMULATE EQUATIONS: From Appendix B we have the rotational inertias about the
bodys mass center G of a flat right-triangle:
mb2
ma2
m(a2 + b2 )
Ix0 x0 =
, Iy 0 y 0 =
, Iz 0 z 0 =
18
18
18
mab
I x0 y 0 =
, Iy0 z 0 = Iz 0 x0 = 0
36
To find the mass moments of inertia and products of inertia well use (8.24)-(8.29) with r1 = a
3,
b
c
r2 = 3 and r3 = 2 after determining the rotational inertias of a solid prism from those of the flat
right-triangle.
SOLVE:
The mass of a thin slice having thickness dz is ab2 dz .
Ixx

Rc ab3
Ixx
Rc b2
2
dz = ab
2 0 6 + z dz
2
b2 + c2
= abc 12
6
2
2
= m b6 + c3
2
2
= m a3 + c6
b
2
+ ab
=
36
2 z + 3
0

b2 z + z 3 c
= ab
2
6
3 0
a2 b2
=m
+
6
6
From symmetry we have

2
c2
Iyy = abc a6 + 12
Izz
a2
b2
=m
+
18 18
Izz
a2 b2
+m
+
9
9
2
2
= m a6 + b6
a
3
b
3
a2 + b2
= abc 12
12

Ixy = Ix0 y0 + m
mab mab
mab
+
=
36
9
12
96

a2 b2 c
Ixy = mab
=
12
24
b
3
c
2

Iyz = m
ab2 c2
Iyz = mbc
=
6
12
From symmetry we have
a2 bc2
Izx = mac
=
6
12
97

8.6.9
GOAL: Determine Ixx , Iyy , Izz , and Ixy for the illustrated body. Express the results in terms of
both the areal density and the bodys mass mc . Denote the mass of each half circular piece by
m = 21 mc
GIVEN: The bodys dimensions are given in the figure.
DRAW:
SOLVE: To determine the moments and products of inertia for the composite body, we will require
some inertia values for a half-circular body. Consider a circle with normal axis z 0 through its mass
center. Since the moment of inertia of a full circle with mass mc about an axis through its mass
center and in the plane of the circle is 14 mc r2 , that of a half circle through the same point is:
Iparallel
1
=
2
1
1
mc r2 =
4
2

1
1
(2m) r2 = mr2
4
4

The moment of inertia of a full circle about an axis through its mass center and normal to the
plane of the circle is 12 mc r2 , thus for a half circle through the same point:
Inormal =
1
2
1
1
mc r2 =
2
2

1
1
(2m) r2 = mr2
2
2

By symmetry, Ixx = Izz for the composite body. Thus we will only calculate Izz . Using the parallel
axis expressions of inertia for half circle A we obtain:

A
Izz
= IA0 0 + m r2 + d2
zz
= I A00
z z 00
=
=
+ mr2
1 2
mr + mr2
2
3 2
mr
2
98

For half circle B:
B
Izz
= IB0 0 + mr2
zz
=
=
1 2
mr + mr2
4
5 2
mr
4
Thus, for the composite body,

11 2
mr
4
A
B
Izz = Izz
+ Izz
=
11
2
4
Ixx = Izz = 11
8 mc r = 8 r
The moment of inertia about the y-axis is the same for both half circles. Iyy is therefore quite
straightforward to compute,
1
1
1
B
A
= mr2 + mr2 = mr2
+ Iyy
Iyy = Iyy
4
4
2
Iyy = 14 mc r2 = 14 r4
B , will be zero since the yz plane is a plane of symmetry for half circle
The product of inertia, Ixy
A . One method of obtaining I A
B (with normal x-axis). The product of inertia is then Ixy = Ixy
xy
is to integrate over the half circle A using integration parameters x, y and the bounds x = 0 and
x2 + (y r)2 = r2 . ( x = 0 and x2 = 2yr y 2 )
A
=
Ixy
Z 2rZ
xy dm =
Body
2yry 2
xy dx dy
0
Z 2r
2yr y 2
y dy
2
8r4
=
2r4
3
2 4
r
=
3
Thus,
A = 2 r 4 = 2 m r 2
Ixy = Ixy
3
3 c
99

8.6.10
GOAL: Determine the Ixx , Iyy , Izz and Ixy for the illustrated body.
GIVEN: Bodys orientation and shape. a = 0.1 m, b = 0.02 m, c = 0.07 m, d = 0.06 m. The
density of the large block is 800 kg /m3 and the density of the small block is 1000 kg /m3 .
DRAW:
FORMULATE EQUATIONS: Well solve this problem by breaking it up into two rectangular
bodies, one with dimensions a, a, b and the other with dimensions e, e, d, where e = a c and is
introduced for convenience. e = 0.03
! m. From Appendix B! we have:
!
a2 + b2
a2 + b2
a2 + a2
Ix0 x0 = m
, Iy 0 y 0 = m
, Iz 0 z 0 = m
12
12
12
for the large block and
Ix0 x0
d2 + e2
=m
12
, Iy 0 y 0
d2 + e2
=m
12
, Iz 0 z 0
e2 + e2
=m
12
for the small block.

To find the mass moments of inertia and products of inertia we use (8.24)-(8.29) with appropriate
values of r1 , r2 and r3 .
SOLVE: Lets first consider the body with dimensions a, a, b. Well put a 1 to the upper left of
the I as an identifier.
For this body r1 = a/2, r2 = a/2 and r3 = b/2.
1I
1
2
2
xx = Ix0 x0 + m1 (r2 + r3 )

= m1
1I
yy
1I
y0 y0
= m1
1I
zz
a2 + b2
12
1I
+ m1
a2 + b2
4
a2 + a2
4
a2 + b2
3
a2 + b2
3
a2 + a2
3
= m1
+ m1 (r32 + r12 )
a2 + b2
12
+ m1
z0 z0
+ m1 (r12 + r22 )
= m1
a2 + b2
4
a2 + a2
12
+ m1
= m1
= m1
100

1
Ixy =
a2
4
Ix0 y0 + m1 r1 r2 = m1
Now well consider the body with dimensions d, e, e. Well put a 2 to the upper left of the I as
an identifier.
For this body r1 = e/2, r2 = c + e/2 and r3 = b + d/2.
2I
2
2
2
xx = Ix0 x0 + m2 (r2 + r3 )

= m2
2I
yy
2I
d2 + e2
12
zz
d2 + e2
12
2I
z0 z0
= m2
Ixy =

+ m2 (r32 + r12 )
+ m2
y0 y0
= m2
2I
+ m2
c + 2e
2
+ b+ d
2

2
e
2
+ b+ d
2
2

e 2
+ c + 2e
2
e
2
e
c+
2

2
+ m2 (r12 + r22 )
e2 + e2
12
+ m2

Ix0 y0 + m2 r1 r2 = m2
The individual masses are given by

m1 = (800 kg /m3 )(0.1 m)(0.1 m)(0.02 m) = 0.16 kg
m2 = (1000 kg /m3 )(0.03 m)(0.03 m)(0.06 m) = 0.054 kg
Adding the rotational inertias together and evaluating for the given dimensional values gives us
3 2
Ixx = 1 Ixx + 2 Ixx = (3.4610

m )(0.16 kg) + (1.01102 m2 )(0.054 kg)
Iyy =
Izz =
Ixy =
Iyy + 2 Iyy = (3.46103 m2 )(0.16 kg) + (3.1103 m2 )(0.054 kg)
Izz + 2 Izz = (6.

6103 m2 )(0.16 kg) + (7.6103 m2 )(0.054 kg)
Ixy + 2 Ixy = (2.5103 m2 )(0.16 kg) + (1.275103 m2 )(0.054 kg)

Ixx = 1.10103 kg m2
Iyy = 7.22104 kg m2
Izz = 1.48103 kg m2 Ixy = 4.69104 kg m2
101

8.6.11
GOAL: Determine the mass moments of inertia and products of inertia along the x, y, z axes for
the the illustrated body. Then calculate the inertias about axes parallel to x, y, z that go through
the bodys mass center. Express results in terms of the bodys mass m.
GIVEN: The dimensions of the body are illustrated in the figure; we assume a linear density .
DRAW:
First, we note the relationship between the mass and linear density of the body:
m
=
L1 + L2
(1)
Since moments and products of inertia are additive for composite bodies, we will treat the illustrated
body as two narrow rod segments and add the computed inertias of each segment to arrive at the
resultant value for the entire body.
SOLVE:
Ixx =
Z
y 2 + z 2 dm =
Body
=
=
Iyy =
Z
x +z
y 2 dy +
m
3
L3 +L3
1
2
L +L
1
2
x +y
L
Z 2
(0 + 0) dm +
m
3
L
Z 1
dm =
Body
L3
2
L +L
1
2
y dy +
m
3
L3
1
L +L
1
2
z 3 2
z dz =
3 0
2
L
Z 2
z 3 2
y 3 1
z 2 dz = +
3 0
3 0

3
L1 + L32
3
dm =
Izz =
L
Z 2
L
Z 1
Body
Z
L
Z 1
y 3 1
(0 + 0) dm =
3 0
The segment of length L1 has two planes of symmetry, the xy plane and the yz plane. Likewise,
the segment of length L2 has two planes of symmetry, the xz plane and the y z plane. Since
102

each segment has two planes of symmetry all of the products of inertia are zero. (Also, note that
since each segment is one dimensional, the product of dimensions appearing in the integral terms
must be zero.)
Ixy = Iyx = Ixz = Izx = Iyz = Izy = 0
Denote the segment of length L1 as mass m1 and the segment length L2 as mass m2 . The center
of mass of the body is located at:

r*G =
m1 r*G1 + m2 r*G2
m1 + m2
L
1
L +L
1
2

L
1
+m
L
2
L +L
1
2

L *
2k
m
L12
L2 *
1
1
*
=
+
k
2 L1 + L2
2 L1 + L2
Let x0 , y 0 , z 0 be a set of coordinate axes through the center of mass G that are parallel to the
x, y, z axes, respectively. Using the parallel axis expressions for moments and products of inertia
we obtain:
Ix0 x0
= Ixx m r22 + r32

=
=
Iy0 y0
L1 + L2
m
(L +L )2
1
2
1
12
L32
m
3
L14 + L42 +
= Izz m r12 + r22

=
L31
m
3
mL3
1
(L +L )2
1
2
+ 13 L1
L1 L32 + L2 L13
L2
1
2 L1 + L2
!2
i
!2
m 0 +
1
12 L1
L2
1
2 L1 + L2
L1 + L2
m 0 +
1
12 L2
1
3
!2
L1 + L2
mL3
2
(L +L )2
1
2
L1
1
m
2 L1 + L2
Iy0 z 0 = Iz 0 y0
= Iyy m r12 + r32

=
Iz 0 z 0
L13 + L32
m
3
+ 13 L2
L21
1
2 L1 + L2
!2
= Iyz mr2 r3
2
L1
1
= 0m
2 L1 + L2
=
m
4
L L
1 2
L +L
1
2
L2
1
2 L1 + L2
2
103

The center of mass of the body lies on the plane x = 0, and thus the y 0 , z 0 plane is also a plane of
symmetry. The coordinate axis normal to this plane is the x0 axis. Therefore all products of inertia
involving the x0 axis are zero:
Ix0 y0 = Iy0 x0 = Ix0 z 0 = Iz 0 x0 = 0
Alternatively, note that since the center of mass lies on the plane x = 0, r1 = 0.
104

8.6.12
GOAL: Determine the moments and products of inertia along the x, y, z axes for the the illustrated
triangular body. Then calculate the inertias about axes parallel to x, y, z that go through the bodys
mass center. Express results in terms of the areal density .
GIVEN: The dimensions of the body are illustrated in the figure.
DRAW:
SOLVE: The borders of the triangular region are defined by the lines: x = 0, y = 0, and x =
a(1 y/b). The moments and products of inertia are computed by integrating over this region:
Ixx =
Z
y +z
Z bZ a(1y/b)

y 2 + 0 dx dy
dm =
Body
0
b
y
y 2 dy
b

= a 1
0
b3
b4
= a
3
4b
1
3
12 ab
Iyy may be found similarly, by reversing the order of integration in x and y and using integration
1
limits of 0 and b(1 x/a) on y. By the symmetry of the problem we should find that Iyy = 12
a3 b.
However, lets proceed by maintaining the order above and performing the integration:
Iyy =
Z
x +z
Z bZ a(1y/b)

x2 + 0 dx dy
dm =
Body
0
b
a3 1
3
y 3
b
dy
a3 b
y
1
12
b

4 b

1
3
12 a b
=
For Izz :
Izz =
Z
x +y
dm =
Body
Z bZ a(1y/b)

x2 + y 2 dx dy
105

Notice that this is just the sum of Ixx and Iyy (this is true for all planar figures). Thus,
Izz = Ixx + Iyy =
1
12
ab3 + a3 b
Since the x y plane is a plane of symmetry for the body, all products of inertia involving the
normal z-axis are zero:
Ixz = Izx = Iyz = Izy = 0
The remaining products of inertia are:
Z bZ a(1y/b)
xy dx dy
xy dm =
Ixy = Iyx =
Body
0
b
a2 1
2
y 2
b
y dy
b2 2b2 b2
+
2
3
4
a2
=
2
=
1
2 2
24 a b
To determine the moments and products of inertia about the center of mass, we first need to
determine its location.
1
r =
m
*
G
Z bZ a(1y/b)
2
ab
r dm =
(x *
+ y*
) dx dy
Body
2
ab
a2
y
1
2
b

2
y
+a 1
y*
dy
b
2 a2 b
y
1
ab
6
b

1 *
a + b*
! b
!3
y 2 y 3 *
*
+a
2
3b
Using our parallel axis expressions for inertias, with r1 = a/3, r2 = b/3, and r3 = 0 we have:
= Ixx m
r22
r12
b2
9
ab
1
ab3
12
2
a2
9
ab
1 3
a b
12
2
r32
Iy0 y0
= Iyy m
r32
Iz 0 z 0
= Izz m r12 + r22
Ix0 x0
Iy0 x0 = Ix0 y0 =
Ixy mr1 r2
Ix0 x0 + Iy0 y0
1 2 2 ab a
a b
24
2 3
b
3
1
36
ab3
1
36
a3 b
1
36
ab3 + a3 b
1
72
a2 b2
106

Due to the fact that r3 = 0, or the fact that the z 0 -axis is normal to the plane of symmetry through
the mass center, all other products of inertia are zero.
Ix0 z 0 = Iz 0 x0 = Iy0 z 0 = Iz 0 y0 = 0
107

8.6.13
GOAL: Determine the mass moments of inertia and products of inertia along the x, y, z axes for
the illustrated body. Express answers in terms of the bodys areal density .
GIVEN: Dimension of the body are given in the figure.
DRAW:
FORMULATE EQUATIONS: To determine the inertia values of the composite body, we will
model it as a triangular region with a quarter-circular region removed. Since inertias are additive,
we may obtain the overall inertia values by subtracting those of the quarter-circular region from
those of the triangular region.
*
*
*
I = I triangle I q.circle
SOLVE: The triangular region is bounded by the lines x = 0, y = 0, and x = b y. The moments
and products of inertia are determined by integrating over this area:
4
Ixx =
Z
y +z
dm =
Body
Z Zb by
y 2 + 0 dx dy
0 0
b
= (b y) y 2 dy
0
b4 b4
=
3
4
1 4
=
b
12
By symmetry,
4
4
Iyy
= Ixx
=
1 4
b
12
4
Computing Izz
, noting that z 2 = 0 over the region,
4
Izz
=
Z
4
4
x2 + y 2 dm = Iyy
+ Ixx
Body
1 4
b
6
Since the x y plane is a plane of symmetry for the body, all products of inertia involving the
normal z-axis are zero:
4
4
4
4
Ixz
= Izx
= Iyz
= Izy
= 0
=
108

4
4
Computing Ixy
= Iyx
for the triangular region,
by
Z Zb
xy dx dy
xy dm =
Ixy = Iyx =
0 0
Body
(b y)2
y dy
2
=
0
b4 b4 b4
=
+
4
3
8
1 4
b
=
24
The quarter-circular area may be defined using polar r, coordinates, with x = r cos , y = r sin ,
and r2 = x2 + y 2 . The bounds on the region are 0 r a and 0 /2. In r, coordinates,
the differential area may be written as dA = dr(rd), thus the differential mass unit becomes
dm = r dr d.
Ixx
Z
y +z
Z 2Z
(r sin )2 r dr d
dm =
Body
0 0
a4
sin2 d
4
2
a4
= ( sin cos )
8
0
1
4
a
=
16
By symmetry,
Iyy
= Ixx
=
1
a4
16
,
Now for Izz
Izz
Z
x +y
Z 2Z
dm =
Body
r2 r dr d
0 0
a4
d
4
1
a4
8
The xy plane is a plane of symmetry and thus all moments of inertia involving the normal z-axis
are zero:
Ixz
= Izx
= Iyz
= Izy
= 0
109

The remaining products of inertia are:
Ixy
Iyx
Z 2Z
xy dm =
=
Body
r2 sin cos r dr d
0 0
a4
=
4
sin cos d
0
2
a4
= sin2
8
0
1 4
=
a
8
The moments and products of inertia of the composite body are obtained by subtracting the inertias
of the quarter-circular region from the respective inertias of the triangular region:
4
Ixx = Ixx
Ixx
1
4
12 b
1
4
16 a
Iyy = Iyy
Iyy
1
4
12 b
1
4
16 a
Izz = Izz
Izz
1 4
6 b
4
Ixy
Ixy = Ixy
1
4
24 b
18 a4
Iyx =
1
4
24 b
18 a4
Ixy
18 a4
By symmetry, all products of inertia involving the z-axis are zero:

Ixz = Izx = Iyz = Izy = 0
110

8.6.14
GOAL: Determine the rotational inertias of the illustrated body.
GIVEN: Bodys orientation. a = 0.1 m, b = 0.25 m, c = 0.15 m, d = 0.1 m, e = 0.1 m, f = 0.2 m,
g = 0.15 m. Bodys density is and mass is m.
DRAW:
FORMULATE EQUATIONS: Well solve this problem by breaking it up into two rectangular
bodies, one with dimensions a, b, c and the other with dimensions c, e, g. From Appendix B we
have:
!
!
!
c2 + b2
a2 + c2
a2 + b2
Ix0 x0 = m
, Iy 0 y 0 = m
, Iz 0 z 0 = m
12
12
12
To find the mass moments of inertia and products of inertia we use (8.24)-(8.29) with appropriate
values of r1 , r2 and r3 .
SOLVE: Lets first consider the body with dimensions a, b, c. Well put a 1 to the upper left of
the I as an identifier.
For this body r1 = a/2, r2 = b/2 and r3 = c/2.
2
1I
1
2
xx = Ix0 x0 + m1 (r2 + r3 )

= m1
1I
yy
1I
+ m1
= m1
+ m1 (r32 + r12 )
a2 + c2
12
1I
z0 z0
y0 y0
= m1
1I
zz
c2 + b2
12
+ m1
c2 + b2
4
a2 + c2
4
a2 + b2
4
c2 + b2
3
a2 + c2
3
a2 + b2
3
= m1
= m1
+ m1 (r12 + r22 )
a2 + b2
12
Ixy =
Iyz =
+ m1
= m1

Ix0 y0 + m1 r1 r2 = m1
ab
4
Iy0 z 0 + m1 r2 r3 = m1
cb
4
111

1
Izx =
Iz 0 x0 + m1 r3 r1 = m1
ac
4
Now well consider the body with dimensions c, e, g. Well put a 2 to the upper left of the I as
an identifier.
For this body r1 = a + e/2, r2 = d + g/2 and r3 = c/2.
2I
2
2
2
xx = Ix0 x0 + m2 (r2 + r3 )
2

c + g2
= m2
2I
2I
y0 y0
yy
12
= m2
2I
zz
2I
z0 z0
Ixy =
2
+ d+
g 2
2

c 2
+ a+

e 2
2
e2 + c2
12
+ m2
+ m2

d + g2

Ix0 y0 + m2 r1 r2 = m2
Iyz =
Izx =
+ m2 (r12 + r22 )
12
+ m2 (r32 + r12 )

2
e + g2
= m2
+ m2

c 2
e
a+
2
Iy0 z 0 + m2 r2 r3 = m2
+ a+

g
d+
2
Iz 0 x0 + m2 r3 r1 = m2
2

e 2
2
g
d+
2
e
a+
2

The individual masses are given by

m1 = 3.75103 , m2 = 2.25103
Adding the rotational inertias together and evaluating for the given dimensional values gives us
1
Ixx =
Ixx + 2 Ixx = (1.96104 m5 )
Iyy =
Iyy + 2 Iyy = (1.1104 m5 )
Izz =
Izz + 2 Izz = (2.16104 m5 )
Ixy =
Ixy + 2 Ixy = (8.25105 m5 )
Iyz =
Izx =
Iyz + 2 Iyz = (6.469105 m5 )
Izx + 2 Izx = (3.94105 m5 )
Finally, evaluating in terms of the objects mass, m = (abc + ceg) = (6.0103 m3 ), gives us our
final results:
Ixx = (3.27102 m2 )m, Iyy = (1.83102 m2 )m, Izz = (3.60102 m2 )m
112

Ixy = (1.375102 m2 )m, Iyz = (1.078102 m2 )m, Izx = (6.56103 m2 )m
113

8.6.15
GOAL: Determine Ixx , Ixy , and Izz , for the illustrated body. Express the results in terms of both
the areal density and the bodys mass m. Denote the mass of each half-circular piece by mhc and
the mass of the rectangular piece by mr .
GIVEN: The bodys dimensions are given in the figure.
DRAW:
FORMULATE EQUATIONS: Well use the rotational inertia formulas for a half-circle and flat
rectangular body from Appendix B and then apply the parallel axis theorem.
SOLVE: Well first look at Body A (the left half-circle) then B (the right half-circle) and finally
the rectangular piece C that joins the two half-circles.
Body A:
2
1
b
1
A
Ix00 x00 = mhc
= mhc b2
2
2
8
d is the distance from the y axis to the bodys mass center.
Using the parallel axis theorem gives us
A
Ix0 x0 =
Ix00 x00 mhc d2
and finally
A
Ixx =
A
Izz =
2 !
Ix0 x0 + mhc d +
A
Iz 0 z 0 + mhc
2
b
b
2
1
= mhc b2 + mhc
8
1
= mhc
4
2
b
+ mhc
2
b
2
2
b
3
= mhc b2
8
5
m b2
16 hc
Because Body A lies in the y,z plane Ixy = 0.

Body B :
Well again use x0 , y 0 , z 0 to refer to axes through that bodys mass center. From observation we
have the same value for B Ixx as for Body A:
3
B
Ixx = mhc b2
8
114

BI
BI
z0 z0
zz
+ mhc

2
b
2

b 2
1
2
16 mhc b
+ mhc
5
2
16 mhc b
+ mhc a2
b
2

Ixy = mhc a
+ a2
a2
mhc ab
2
Body C:
C
Ixx = mr b2 /3
1
Izz = mr (a2 + b2 )
3

b
m ab
a
= r
= mr
2
2
4
Ixy
The masses of the individual pieces are given by

mhc = (0.1 m)2 /2 = (1.57102 m2 )
mr = (0.4 m)(0.2 m) = (8.00102 m2 )
Ixx
= A Ixx + B Ixx + C Ixx

= (1.57102 m2 )(2) 83 (0.2 m)2 + 13 (8.00102 m2 )(0.2 m)2
=
Izz
1.54103 m5
= A Izz + B Izz + ChIzz

i
5 (0.2 m)2 + (0.4 m)2 + 1 (8.00102 m2 ) (0.4 m)2 + (0.2 m)2
= (1.57102 m2 ) (2) 16
3
=
8.24103 m5
Ixy
= A Ixy + B Ixy + C Ixy

m) + (8.00102 m2 ) (0.2 m)(0.4 m)
= (1.57102 m2 ) (0.2 m)(0.4
2
4
=
2.23103 m5
The total mass of the body is given by

mt = mr + 2mhc = (0.111 m2 )
Ixx = 1.39102 mt
Izz = 7.40102 mt
Ixy = 2.00102 mt
115

8.7. ANGULAR MOMENTUM
8.7
Angular Momentum
116

8.7.1
GOAL: Determine the angular momentum of the illustrated body about the fixed point O.
GIVEN: The body rotates about the Y -axis with angular speed , and has areal density .
DRAW:
FORMULATE EQUATIONS: Let x, y, z be a set of body-fixed axes with origin O. At the

instant illustrated, these axes are aligned with the ground-fixed X, Y, Z axes. The body rotates
about the Y -axis with angular speed ; thus the y and Y axes remain aligned and the angular
*
velocity may be expressed as:
= *
h. The angular momentumi of the body about point O is then:
*
HO =
I IXY 2 IXZ 3 *
+
h XX 1
i
I IYZ 3 IYX 1 *
+
h YY 2
i*
IZZ 3 IZX 1 IZY 2 k
HO = IXY *
+ IY Y *
IZY k
Once we have determined the relevant inertia values about the point O, we may substitute and
solve for the angular momentum.
SOLVE: We only need to determine IXY , IY Y and IY Z . IY Y is easily found as the mass moment
of inertia about the Y axis is simply that of two thin rods, with masses ab, ac and lengths b, c,
respectively, rotated about their ends:
(ac)c2 (ab)b2
a(b3 + c3 )
IY Y =
+
=
3
3
3
Using the appropriate equations from (8.21)-(8.29) lets us determine the products of inertia. Each
rectangle has no product of inertia when evaluated about its mass center and thus the only finite
products of inertia come about because were shifting our attention from each plates mass center
to the point O.

a b
a2 b2
IXY = (ab)
=
2 2
4
IY Z = (ac)
*
HO =
ac
a2 c2
=
22
4

ab2 *
b3 + c3 *
ac2 k* a
4
3
4
117

8.7.2
*
GOAL: Determine the illustrated bodys instantaneous angular momentum HO about O.
GIVEN: The rod portion of the system has a linear density of = m
L , and the appended balls
*
*
*
*
each have a mass of m. The system rotates with an angular velocity of
= 1 b 1 + 2 b 2 + 3 b 3 at
the given instant.
DRAW:

etc.
(1)
axes have the form
etc.
(2)
*
For a three-dimensional rigid body rotating about a fixed point O, its angular momentum HO can
be expressed in matrix form as
HO = I
(3)
SOLVE:
Well first need to determine the bodys moments and products of inertia. Considering just the
portion of the rod collinear with the x-axis, we have that the associated moments of inertia are
Ixx, r1 = 0
Rod 1: (1)
2
Rod 1: (1)
Iyy, r1 =

L
1
(L) L2 + (L)
12
2
1
1
= L3 = mL2
3
3
118
CHAPTER 8. KINEMATICS AND KINETICS OF RIGID

2

1
L
Rod 1: (1)
Izz, r1 =
=
(L) L2 + (L)
12
2
BODIES IN
1 3 1
L = mL2
3
3
Similarly, the moments of inertia for the portion of the rod parallel to the y-axis are
Rod 2: (1)
Ixx, r2 =
Iyy, r2 = (L) L2 = L3 = mL2
Rod 2: (1)
Rod 2: (1)

1
1
1
(L) L2 = L3 = mL2
12
12
12
Izz, r2 =

1
13
13
(L) L2 + (L) L2 = L3 = mL2
12
12
12
Lastly, the moments of inertia corresponding to the balls are

"
Balls: (1)
Balls: (1)
Ixx, b = 2 m
2 #
L
Iyy, b = 2 mL2 = 2mL2

"
Balls: (1)
1
= mL2
2
2 !#
Izz, b = 2 m L +
L
2
5
= mL2
2
Thus, the moments of inertia for the entire system are given by
Ixx = Ixx, r1 + Ixx, r2 + Ixx, b =
7
mL2
12
Iyy = Iyy, r1 + Iyy, r2 + Iyy, b =
10
mL2
3
Izz = Izz, r1 + Izz, r2 + Izz, b =
47
mL2
12
Lets now move on to the bodys products of inertia. By virtue of the symmetry and thinness
of the rod, we have that I xy, r = I yx, r = I xz, r = I zx, r = I yz, r = I zy, r = 0. Furthermore, since
ry, r = rz, r = 0, it follows that Ixy, r = Iyx, r = Ixz, r = Izx, r = Iyz, r = Izy, r = 0. As for the appended
balls, its clear that Ixz, b = Izx, b = Iyz, b = Izy, b = 0 since rz, b = 0. Also, Ixy, b = Iyx, b = 0
because the balls are positioned symmetrically about O along the y-axis. Therefore, the bodys
products of inertia are all zero, which implies that Ixx , Iyy , and Izz are principal moments of inertia.
119

Furthermore, the inertia matrix I is diagonal, and so it immediately follows from (3) that the bodys
angular momentum about O at the given instant can be expressed in vector form as
(3)
HO = Ixx 1 b 1 + Iyy 2 b 2 + Izz 3 b 3
HO =

mL2
*
*
*
71 b 1 + 402 b 2 + 473 b 3
12
120

8.7.3
GOAL: Determine the angular momentum of the illustrated rectangular body about the fixed
point O.
GIVEN: The body rotates about the Z-axis with angular speed , and has mass m.
DRAW:

about the Z-axis with angular speed ; thus the z and Z axes remain aligned and the angular
*
*
= k .hThe angular momentum
of the body about point O is then:
i
*
HO =
I Ixy 2 Ixz 3 *
+
h xx 1
i
I Iyz 3 Iyx 1 *
+
h yy 2
i*
Izz 3 Izx 1 Izy 2 k
HO = Ixz *
Iyz *
+ Izz k
(1)
SOLVE: The products of inertia about parallel axes through the center of mass G are all zero, due
to the symmetry of the body. The products of inertia about the point O may be computed from
the parallel axis expressions for inertia.

b
1
a
I
=
I
+
mr
r
=
0
+
m
mab
0
0
Ixz :
xz
1
3
xz
2
2
4
c
Iyz = Iy0 z 0 + mr2 r3 = 0 + m
2

Iyz :
b
2
1
= mcb
4
The moment of inertia about the z 0 -axis through the mass center is: Iz 0 z 0 =
the parallel axis expressions for inertia again, we obtain:
Izz :
Izz = Iz 0 z 0 + m
r12
r22
=
=

1 2
m a + c2 + m
12

1 2
m a + c2
3
1
12 m
"
a 2
a2 + c2 . Using
2 #
c
2
121

Substituting into (1),
*
*
HO = m 14 ab *
+ 14 cb *
+ 13 a2 + c2 k

122

8.7.4
GOAL: Determine the angular momentum of the illustrated ring.
GIVEN: The outer radius of the washer is r2 , the inner radius is r1 , the mass is m and the angular
*
velocity is k .
DRAW:
FORMULATE EQUATIONS: From Appendix B we have the following inertias, taken about
the principal axes x0 , y 0 , z 0 of a solid cylinder, oriented as the ring is for this problem.
m(3r2 + h2 )
mr2
Ix0 x0 = Iz 0 z 0 =
, Iy0 y0 =
12
2
All products of inertia are zero.
SOLVE: For our problem well find the moments of inertia for two solid cylinders, one of radius
r1 and one of radius r2 . By subtracting well obtain the inertias for the ring. The mass of the ring
is given by
m = h(R22 R12 )
Outer radius cylinder:
o
Ix0 x0 =
o
Iz 0 z 0 =
Iy0 y0 =
R22 h(3R22 + h2 )
12
R22 hR22
2
hR24
2
Inner radius cylinder:

i
Ix0 x0 = i Iz 0 z 0 =
i
Iy0 y0 =
R12 h(3R12 + h2 )
R12 hR12
12
hR14
=
2
2
We now subtract the inertias of the smaller hcylinder
from
of i
the larger one.

the inertias

h 3 R24 R14 + h2 R22 R12
Ix0 x0 = Iz 0 z 0 =

h 12

i
h R22 R12 h2 + 3 R12 + R22
= h
12 i

m h2 + 3 R12 + R22
=
12
123


i
2
h
h R22 R12 R12 + R22

Iy0 y0 = IY Y =
2

2
2
m R1 + R2
=
2
Using the parallel axis theorem to find IXX and IZZ we obtain
h
IXX = IZZ =
m h2 + 3 R12 + R22
12
+m
2
2
mh2 m(R1 + R2 )
+
3
4
The products of inertia about X, Y , Z are zero from symmetry.

*
*
The general expression for angular momentum (using
= k ) is therefore
2
m(R12 + R22 )
*
HO = mh
+
k
3
4
"
124

8.7.5
*
GOAL: Determine the triangular plates angular momentum HO about O.
*
*
*
GIVEN: The plate has a mass of m, and it spins with an angular velocity of
= 2 b 2 + 3 b 3 .
DRAW:

etc.
(1)
axes have the form
etc.
(2)
*
HO = I
(3)
SOLVE:
The triangular plates moments of inertia are given by
2
1
= ma2
6
2
1
= ma2
6
(1)
Ixx =
ma2
a
+m
18
3
(1)
Iyy =
ma2
a
+m
18
3
125

"
2 #
m(a2 + a2 )
a
1
a 2
(1)
Izz =
+
= ma2
+m
18
3
3
3
Turning to the plates products of inertia, we notice that I xz = I zx = I yz = I zy = 0 because of

the plates thinness. Furthermore, Ixz = Izx = Iyz = Izy = 0 since rz = 0, and hence the only
products of inertia remaining are Ixy = Iyx :
(2)
a
ma2
+m
36
3
a
3

Ixy = Iyx =
3
ma2
36
Using (3), we can then express the plates angular momentum about O as a column vector:
(3)
0
6 3 0
32
ma2
3
6
0
=
HO =
2
62
36
36
3
0
0 12
123
ma2
Therefore, the plates angular momentum about O can be written in standard vector notation as
HO =

ma2
*
*
*
32 b 1 + 62 b 2 + 123 b 3
36
126

8.7.6
GOAL: Calculate the angular momentum of the object about point O.
*
GIVEN: The object has an angular velocity
= (6 *
+ 10 *
) rad/s.
DRAW:
FORMULATE EQUATIONS: Theh angular momentum ofi the body about point O is given by:
Ixx 1 Ixy 2 Ixz 3 *
+
*
HO =
i*
Iyy 2 Iyz 3 Iyx 1 *

+
(1)
Izz 3 Izx 1 Izy 2 k
Once we have determined the relevant inertia values about the point O, we can substitute and solve
for the angular momentum.
SOLVE: Well break the body into two pieces: AB and OC and identify the horizontal bar AB as
H and the vertical bar OC as V .
2m
m
mH =
, mV =
3
3
H
IXX =
IY Y =
V
IZZ
IXY =
V
IXX =
IZZ =
mH L2
2mL2
=
=
3
9
H
IZX = 0
mH L2
mL2
=
3
9
IY Y =
IXY =
IY Z =
IY Z =
IZX = 0
Our overall rotational inertias are given by the sum of the two components:
2mL2 mL2
mL2
IXX =
+
=
9
9
3
IY Y =
mL2
2mL2
, IZZ =
9
9
IXY = IY Z = IZX = 0
Using these values in (1), along with 1 = 6 rad/s, 2 = 10 rad/s, gives us
*
HO
= Ixx 1 *
+ Iyy 2 *
+ Izz 3 k
2
mL2 (10 rad/s) *
*
= mL
(6
rad/s)
3
9
*
*
HO = mL2 2 *
+ 10
9 rad/s
127

8.7.7
GOAL: Calculate the angular momentum of the thin disk D about G and O.
*
GIVEN: The object has an angular velocity
= (24 *
76 *
) rad/s. a = 0.3 m, r = 0.25 m,
m = 10 kg.
DRAW:
FORMULATE EQUATIONS: The angular momentum expressions for the body when rotating
about the points O and G are given by:
h
i
Ixx 1 Ixy 2 Ixz 3 *
+
*
HG =
h
h
Iyy 2 Iyz 3 Iyx 1 *

+
Izz 3 Izx 1 Izy 2 k
h
*
HO =
(1)
i*
i
Ixx 1 Ixy 2 Ixz 3 *

+
i*
Iyy 2 Iyz 3 Iyx 1 *

+
(2)
Izz 3 Izx 1 Izy 2 k
*
*
*
*
*
where
D = 1 + 2 + 3 k = (24 76 ) rad/s.
SOLVE:
mr2
mr2
Iy0 y0 = Iz 0 z 0 =
, I x0 x0 =
(3)
4
2
We can use the parallel axis theorem to find the corresponding rotational inertias about O:
mr2
mr2
IY Y = IZZ =
+ ma2 , IXX =
(4)
4
2
Due to symmetry the products of inertia are still zero.
2
*
mr2 *
*
HG = mr
(1), (3)
2 1 + 4 2 2
(10 kg)(0.25 m)
=
(24 *
38 *
) rad/s
2
= (7.5 *
11.9 *
) kg m2 / s
128

*
(2), (4)
HO
2
r2 + a2 *
*
= mr
+
m
1
2
2
4

(0.25 m)2
(0.25 m)2
*
*
2
= (10 kg)
24 76
+ (0.3 m)
rad/s
2
4
= (7.5 *
80.3 *
) kg m2 / s
129

8.7.8
GOAL: Calculate the angular momentum of the system about O.
GIVEN: The framework has a mass of 0.005 kg and each arm has a length of h = 0.12 m. The
wheels have radii r = 0.007 m and negligible thickness. The framework rotates about the Y axis
at 2.2 rad/s and the wheels rotate without slip. Each wheel has a mass of 0.001 kg.
DRAW:
h
*
HO =
Ixx 1 Ixy 2 Ixz 3 *

+
i*
Iyy 2 Iyz 3 Iyx 1 *

+
(1)
Izz 3 Izx 1 Izy 2 k
SOLVE:
Although the system contains several pieces, its symmetry allows us to simplify the analysis substantially. Each individual wheel will generate an angular momentum contribution due to its rotation
about the axis along the corresponding arm (the X axis for wheel A in the figure, for instance).
Because an identical contribution will be generated by each wheel, their sum will go to zero. Thus
were left with the same angular momentum as wed have for the 3-arm assemble and attached
wheels rotating about the Y axis as a single rigid body.
Each arm of the 3-arm body has mass moment of inertia about the Y axis of
!
m3a h2
m3a h2
IY Y =
=
3
3
9
For each wheel we have
IY Y =
mw r2
+ m w h2
4
The complete rotational inertia is therefore

"
IY Y
(0.005 kg)(0.12 m)2

(0.007 m)2
=3
+ (0.001 kg)
+ (0.12 m)2
9
4
!#
= 6.72105 kg m2
Thus we have
*
HO = 6.72105 kg m2 (2.2 *
rad/s) = 1.48104 *
kg m2 / s
130

8.7.9
GOAL: Determine the angular momentum of the illustrated rectangular body about the fixed
point O.
GIVEN: The body rotates about the Z-axis with angular speed 3 , and has a linear density .
DRAW:
FORMULATE EQUATIONS: Let x, y, z be a set of body-fixed axes with associated unit vectors
*
*
*
b 1 , b 2 , b 3 . The general expression forh the angular momentum
of the body about point O is:
i
*
HO =
I Ixy 2 Ixz 3 *
+
h xx 1
i
I Iyz 3 Iyx 1 *
+
h yy 2
i*
Izz 3 Izx 1 Izy 2 k
Letting 1 = 2 = 0 gives us
*
HO = (Ixz *
Iyz *
+ Izz k )3
SOLVE: Denote the mass of the segment OA by m1 and the mass of the segment AB by m2 .
m L2
Izz = 1 1 + m2 L21
3

L2
m L L
Ixz = m2 L1
= 2 1 2
2
2
Iyz = 0
m1 L21
"
m2 L1 L2 *
+
HO =
2
*
! #
m2 L21
k 3
Re-expressing m1 and m2 in terms of , L1 , L2 gives us

*
HO = L1 3
" 2
L
2
L21
*
3 + L1 L2 k
! #
2 +
131

8.7.10
GOAL: Find the angular momentum of the illustrated structure about the point O.
*
*
GIVEN: The angular velocity of the structure is
= b 1 and its areal density is .
DRAW:
FORMULATE EQUATIONS: The equation of interest is:

*
HO
i*
i*
i*
Ixx 1 Ixy 2 Ixz 3 b 1 +
Iyy 2 Iyz 3 Iyx 1 b 2 +
(1)
Izz 3 Izx 1 Izy 2 b 3
*
SOLVE: Since
= b 1 , equation (1) gives us:
*
HO = Ixx b 1 Iyx b 2 Izx b 3

We need to calculate Ixx , Iyx , and Izx .
The moment of inertia of a thin, rectangular plate about an axis perpendicular to its surface and
1
through the center of mass is 12
m(l2 + w2 ), where l is the length of the plate and w its width. The
moment of inertia about a transverse axis lying in the plane of the plate, through the center of
1
mass and parallel to an edge of length w is 12
ml2 . Using the parallel axis expressions, the moment
of inertia about the x axis for each plate is:

B
Ixx
= I B00
x x00
+ mB r22 + r32
=
=
A
Ixx
= I A0
x0
+ mA r22 + r32

1
mB b2 + c2 + mB
12

1
mB b2 + c2
3
1
c
mA c2 + mA
12
2

"
2
b
2
2
c
+
2

2 #
1
m c2
3 A
For the composite structure,

B
A
Ixx = Ixx
+ Ixx
=

1

1 3
1
bc c2 + b2 + acc2 =
ac + b3 c + bc3
3
3
3
132

A
The plane of symmetry for plate A is the xz plane, so Iyx
= 0. The plane of symmetry for plate B
B
B
is the yz plane, so Iyx = Izx = 0. The only remaining moment of inertia needed for substitution
A
into equation (1) is Izx
. Notice that all products of inertia about the center of mass of each plate
are zero, thus by the parallel axis expressions we have:
Izx = Izx = I
A
z 0 x0
+ mA r3 r1 = 0 + mA
a
2

1
= a2 c2
4
Substition into (1) yields

*
*
1 2 2 *
3
3
3
HO = 1
3 ac + b c + bc b 1 + 4 a c b 3
133

8.7.11
GOAL: Calculate the angular momentum of the system about point O.
*
GIVEN:
The

system consists of four thin bars of length a, and has an angular velocity =
*
10 *
+ 18k rad/s.
DRAW:
FORMULATE EQUATIONS: The framework is symmetric in the xy, xz, and yz planes,
thus all products of inertia about the mass center G are zero. The body-fixed x, y, z axes are
therefore a set of principle axes for the system, and the angular momentum may be expressed as:
*
HG = Ixx 1 b 1 + Iyy 2 b 2 + Izz 3 b 3
(1)
To determine the angular momentum about the point O, well use the expression,
*
HO = HG + r*G/ mv*G
(2)
SOLVE: We need to find the moments of inertia Ixx , Iyy , and Izz about the mass center. Assume
the bars have linear density , and consider a differential mass unit dm = dL, where dL is a
differential unit of length
along a bar. For a unit change in length dL along the bar, there is a
corresponding change 2 dz along the z-axis. dm can thus be expressed as:
dm = dL = 2 dz
Since the bars are one-dimensional, a single variable of integration (chosen to be z) is all thats
needed to calculate the inertias. Well integrate over one of the bars, bar A in the diagram, and
then use our results to find the moments of inertia of the entire system. Note that the limits on z
A
are 0 and a2 . For Iyy
:
a
A
Iyy
=
Z
x2 + z 2 dm =
Z 2

1 3
0 + z 2 2 dz =
a
6
BodyA
A
A
By symmetry, we expect Izz
= Iyy
. Although we could perform this integration over z with the
a
substitution y = 2 z along bar A, it will be easier to just apply the same arguments as above
to the y-axis and integrate over y:
a
A
Izz
=
Z
BodyA
x2 + y 2 dm =
Z 2

1 3
0 + y 2 2 dy =
a
6
134

A
As x2 = 0 in the above equations, for Ixx
we have:
Z
A
Ixx
=
A
A
+ Izz
=
y 2 + z 2 dm = Iyy
1 3
a
3
BodyA
The moments of inertia of all four bars about the center of mass of the framework will be the same,
due to the symmetry of the system. Thus,
4
A
B
C
D
A
Ixx = Ixx
+ Ixx
+ Ixx
+ Ixx
= 4Ixx
= a3
3
Similarly,
2
Iyy = Izz = a3
3
The total mass of the system is M = (4a), so rewriting these expressions in terms of M we obtain:
1
Ixx = M a2
3
1
Iyy = Izz = M a2
6
(3)
There are, of course, a number of ways to determine the above moments of inertia. A second
method worth mentioning involves the use of symmetry arguments and the parallel axis expressions.
Through the symmetry of the framework, we know that Iyy = Izz , and since x2 = 0, we have
Ixx = Iyy + Izz = 2Iyy = 2Izz . Thus, we only need to compute one of the inertia values, Ixx . This
1
mL2 ,
may be computed from the known moment of inertia of a thin bar about a transverse axis, 12
the fact that there are 4 bars, and the parallal axis expressions:

Ixx = 4 Ix0 x0 + m y 2 + z 2
where
a
2
1
= 4
12
M
4
M
a +
4
2
2 !
a
2
1
M a2
3
is the distance from G to the center of any bar.
We are now ready to compute the angular momentum of the system. Note that at the given
* * *
*
instant, the body-fixed b 1 , b 2 , b 3 unit vectors are aligned with the ground-fixed *
,*
, k unit vectors.
Returning to equation (1), with substitutions from (3),
*
*
*
= Ixx 1 b 1 + Iyy 2 b 2 + Izz 3 b 3
1
1
1
*
=
M a2 (0) *
+ M a2 (10) *
+ M a2 (18) k
3
6
6
5
*
=
M a2 *
+ 3M a2 k
3
HG
*
Now substituting into equation (2), with v*G =
r*G/
HO
*
G/
O
= HG + r
=
=
*
G
mv

5
a *
a *
*
2*
2*
*
M a + 3M a k + k M 10 + 18k k
3
2
2
20
*
M a2 *
+ 3M a2 k
3
*
HO = M a2
20 *
3
+ 3k
135

8.8. EQUATIONS OF MOTION FOR A THREE-DIMENSIONAL
THREE-DIMENSIONAL
BODY
MOTION
8.8
Equations of Motion for a Three-Dimensional Body
136

THREE-DIMENSIONAL
8.8. MOTION
EQUATIONS OF MOTION FOR A THREE-DIMENSIONAL BODY
8.8.1
GOAL: Determine the direction of rotation that the student experiences after rotating the axle of
the wheel as described.
GIVEN: The wheel is given an intial spin about its axle in the direction indicated in the figure.
There is no initial rotation of the swiveling platform. The student then rotates the wheel axle so
his right hand is directly above his left, with the axle of the wheel oriented vertically in space.
DRAW:
SOLVE: Consider the mechanical system consisting of the student, wheel, and platform. The
only external forces acting on the system are gravity and the reactions at the platform support.
Since the platform swivels freely about the z-axis, no external moments may be applied to the
system about this axis (or any point lying on the z-axis). The resultant of any external forces
acting on the platform must have a line of action that passes through the z-axis, or else be purely
vertical, parallel to this axis. Gravitational forces are assumed to be purely vertical as well.
Since no external moments may be applied to our system about the z-axis, the angular momentum
*
of the system about any point lying on this axis is conserved in the k -direction. This is clear from
the angular momentum equation of motion:
X
MO
d*
H
dt O
*
*
= HO k
=
137

THREE-DIMENSIONAL
BODY
MOTION
Initially, the wheel axle is oriented horizontally, and the student is at rest. The systems initial
*
angular momentum component in the k -direction is therefore zero, and it must remain zero for all
time. As the student tilts the axle of the wheel, bringing his right hand above the left, the wheel
*
itself begins to acquire an angular momentum component in the positive k direction. To counter
this positive gain, the student and platform must begin rotating in the opposite direction, at an
angular speed which maintains the systems overall angular momentum component in this direction
at zero. Thus,
Student rotates in -z direction, or is negative
In the solution above, we have only addressed the vertical direction, and have made no mention of
the horizontal components. So the question might be asked, What about the change in angular
momentum in the horizontal direction? Initially the wheel has a large component in this direction,
but in the final orientation it has none. The answer is that while the horizontal angular momentum components do change, the platform support provides the external moments allowing for this
change, and the students muscles provide the torques required for him to remain upright.
138

THREE-DIMENSIONAL
8.8. MOTION
8.8.2
GOAL: Determine the forces and moments acting on the body at its fixed pivot O for the illustrated
instant.
*
*
*
GIVEN: The systems instantaneous angular velocity is a constant
= 2 b 2 + 3 b 3 .
DRAW:
*
HO = I
(1)
The location of a three-dimensional composite bodys mass center is given by

n
X
r* =
mi r*i
i=1
n
X
(2)
mi
i=1
With respect to body-fixed axes, a moment balance on a three-dimensional rigid body can be
written as

(3)
(4)
(5)
M1 = H 1 + 2 H3 3 H2
M2 = H 2 + 3 H1 1 H3
M3 = H 3 + 1 H2 2 H1
139

THREE-DIMENSIONAL
BODY
MOTION
Balancing forces on a three-dimensional rigid body yields
*
F = ma*G
(6)
The accelerations of two arbitrary, stationary points A and B on a rigid body are related according
to

*
*
*
*
*
a*B = a*A +
A
(7)
SOLVE:
By setting 1 = 0, we find that the bodys angular momentum about O at the given instant is
*
(1)
HO = H1 b 1 + H2 b 2 + H3 b 3 =

mL2
*
*
402 b 2 + 473 b 3
12
The systems mass center G is located at
(2)
r*G/ =
L*
2 b1
+ m Lb1 + m Lb1 +
L*
2 b2
+ m Lb1
L*
2 b2
4m
7 *
= Lb1
8
Thus, the moments exerted on the system at O are given by

*
FBD, b 1 : (3)
M1 =

7
mL2
472 3 402 3 = mL2 2 3
12
12
7
M2 + 4mg
L =0
8

FBD, b 2 : (4)
7
M2 = mgL
2
M3 = 0
FBD, b 3 : (5)
Since the bodys angular velocity is constant, we have that the acceleration of its mass center G is
(7)
aG = 2 b 2 + 3 b 3

2 b 2 + 3 b 3
7 *
Lb
8 1

*
7
= L 22 + 32 b 1
8
Hence, a force balance gives us that the forces exerted on the body at O are
*
FBD, b 1 : (6)
FBD, b 2 : (6)

7
7
F1 = 4m L 22 + 32 = mL 22 + 32
8
2

F2 = 0
140

THREE-DIMENSIONAL
8.8. MOTION
*
F3 4mg = 0
FBD, b 3 : (6)
F3 = 4mg
To summarize, the forces and moments acting on the body at O for the illustrated instant are

7
F1 = mL 22 + 32 ,
2
M1 =
7
mL2 2 3 ,
12
F2 = 0,
7
M2 = mgL,
2
F3 = 4mg
M3 = 0
141

THREE-DIMENSIONAL
BODY
MOTION
8.8.3
GOAL: Determine the bearing forces for a rotating shaft.
GIVEN: System configuration. Each lumped mass is 2 kg. a = 14 cm and b = 11 cm. =
100 rad/s.
DRAW:
FORMULATE EQUATIONS: Well use the a force balance

*
F = ma*G
and three moment balances aboutX
the shafts mass center
M1 = H 1 + (2 H3 3 H2 )
M2 = H 2 + (3 H1 1 H3 )
M3 = H 3 + (1 H2 2 H1 )
where HG = H1 b 1 + H2 b 2 + H3 b 3
SOLVE: From (8.32) we have:
HG = I x0 z 0 b 1 I y0 z 0 b 2 + I z 0 z 0 b 3
142

THREE-DIMENSIONAL
8.8. MOTION

I x0 z 0
I x0 z 0
I y0 z0
I y0 z0
I z0 z0
= m1
3a
(0) + m2
2

a
a
(b) + m3
(0) + m4
2
2

3a
(b)
2

ab
(m + 3m4 ) = 2mab
2 2

3a
a
a
3a
= m1
(b) + m2
(0) + m3
(b) + m4
(0)
2
2
2
2
ab
= (3m1 + m3 ) = 2mab
2
= b2 (m1 + m2 + m3 + m4 ) = 4mb2
=
HG = 2mab b 1 + 2mab b 2 + 4mb2 b 3
H1 = 2mab
H2 = 2mab
H3 = 4mb2
5a
2
5a
0 + 2mab 2 = (R1 R3 )
2
0
0
0
M1 = 0 2mab 2 = (R4 R2 )
(1)
M2 =
(2)
M3 =
R1 + R3 =
R2 + R4 =
(5) (1)
5aR4 = 2mab 2 R4 =
(6) (5)
R2 =
(4) (2)
5aR1 = 2mab 2 R1 =
(7) (4)
R3 =
(3)
(4)
(5)
2mb 2
5
(6)
2mb 2
5
2mb 2
5
2mb 2
5
Using the given values:

2(2 kg)(0.11 m)(100 rad/s)2
= 880 N
5
R3 = 880 N R2 = 880 N R4 = 880 N
R1 =
143
(7)

THREE-DIMENSIONAL
BODY
MOTION
8.8.4
GOAL: Find the moment the shaft must exert on the disk for it to rotate with constant angular
speed .
GIVEN: The radius of the disk is R and its areal density is . The disk is inclined an angle
from the plane normal to the axis of the shaft, as shown.
DRAW: Let x, y, z be a set of body-fixed axes attached to the disk, with the origin at its center
of mass. The z-axis is chosen to be normal to the plane of the disk.
FORMULATE EQUATIONS: The angular momentum equation of motion has the form:
X
MG = HG
One method of solution is therefore to form HG and take its derivative. A second method of solution
would be to use Eulers equations, since the x, y, z axes are a set of principle axes for the disk. We
will use both methods and check that the solutions are the same.
SOLVE: The moments of inertia of the disk about the x, y, z axes are Ixx = Iyy = 14 mR2 , and
Izz = 1 mR2 . The angular velocity of the disk is:
2
= k
= cos b 3 + sin b 1
*
Since the angular velocity is constant, the angular acceleration
is zero.
By symmetry, all products of inertia in the x, y, z coordinate system are zero (and thus x, y, z are
principle axes). The angular momentum then becomes:
HG
*
*
*
= Ixx 1 b 1 + Iyy 2 b 2 + Izz 3 b 3
1
1
*
*
=
mR2 sin b 1 + 0 + mR2 cos b 3
4
2
144
(1)

THREE-DIMENSIONAL
8.8. MOTION
Taking the derivative:
X
MG

= HG
d *
*
*
=
HG +
HG

dt S

= 0 + cos b 3 + sin b 1
1
1
*
mR sin b 1 + mR2 cos b 3
4
2
2
1
*
= mR2 2 sin cos b 2
4
*
Note that the unit vector b 2 is always in the direction perpendicular to the axis of the shaft. With
m = R2 , we have:
*
*
M = 14 R4 2 sin cos b 2
*
Since
and 2 are zero, the only non-zero Eulers equation is
M2 = Iyy 2 + 1 3 Ixx Izz
= 0 + ( sin ) ( cos )
1
1
mR2 mR2
4
2
M2 = 14 R4 2 sin cos
which yields an identical result as above.
145

THREE-DIMENSIONAL
BODY
MOTION
8.8.5
GOAL: Determine the bearing forces at A.
GIVEN: System configuration. The shaft has a mass m1 and the half-disk has a mass m2 .
DRAW:
The primed axes are attached to the disk and rotate along with it, as do the unit vectors b 1 , b 2 ,
*
b 3 . The radius of the half-disk is given by r = d/2.
FORMULATE EQUATIONS: Well use the a force balance
*
F = ma*G
M1 = H 1 + (2 H3 3 H2 )
M2 = H 2 + (3 H1 1 H3 )
M3 = H 3 + (1 H2 2 H1 )
where HG = H1 b 1 + H2 b 2 + H3 b 3
SOLVE: From (8.32) we have:
*
HG = I z 0 x0 3 b 1 I y0 z 0 3 b 2 + I z 0 z 0 3 b 3
I z 0 x0 = I y 0 z 0 = 0
I zz =
m2 r 2
4
m2 r2 3 *
HG =
b3
4
*
H1 = 0, H2 = 0, H3 =
m2 r2
4
146

THREE-DIMENSIONAL
8.8. MOTION
*
*
where
= 1 b 1 + 2 b 2 + 3 b 3 , 1 = 2 = 0, 3 = .
We can now consider our force and moment balances.
M1 :
M2 :
3d
2
3d
0 = (R1 R3 )
2
F1 :
R1 + R3 (m1 + m2 )g sin = 0
F2 :
0 = (R4 R2 )
(1)
(2)
R2 + R4 (m1 + m2 )g cos = m2 r32 =
(3)
4m2 r32
3
2R1 = g(m1 + m2 ) sin
(2), (3)
R1 = R3 =
g(m1 + m2 ) sin
2
d
32
2
3

(1), (4)
2R2 = g(m1 + m2 ) cos

R2 = R4 =
4m2
g(m1 + m2 ) cos m2 d 2
3
2
147
(4)

THREE-DIMENSIONAL
BODY
MOTION
8.8.6
GOAL: Find the rotational speed that allows to remain constant at 45 . Is this the same result
as if all the mass were concentrated at C?
GIVEN: System configuration. L = 0.5 m, m = 2 kg.
DRAW:
Well use the a force balance
*
F = ma*G
M1 = H 1 + (2 H3 3 H2 )
M2 = H 2 + (3 H1 1 H3 )
M3 = H 3 + (1 H2 2 H1 )
where HG = H1 b 1 + H2 b 2 + H3 b 3
SOLVE:
*
*
(a) Using (8.33) and
= k gives us
*
HO = Izx b 1 Iyz b 2 + Izz b 3

mL2
1
=
+ mL2 sin2 = mL2
+ sin2
12
12
= mL2 cos sin
= 0

Izz
Iyz
Izx
1
H1 = 0, H2 = mL2 cos sin , H3 = mL2 12
+ sin2 .
H 1 = 0, H 2 = 0 and H 3 = 0.
The first of our moment balance equations yields
M1 = H2 = 2 mL2 cos sin = mgL sin

148

THREE-DIMENSIONAL
8.8. MOTION
2 =
g
9.81 m/s2
= 27.75 rad/s2
=
L cos
(0.5 m)(1/ 2)
= 5.27 rad/s
(b) If all the mass were at C then wed have:
Izz = mL2 sin2
Iyz = mL2 cos sin
Izx = 0
Iyz is the same as in (a). Therefore the results for this case will not differ from those of (a).
149

THREE-DIMENSIONAL
BODY
MOTION
8.8.7
GOAL: Determine the forces and moments exerted on the body at its fixed pivot O for the
illustrated instant.
*
*
*
GIVEN: The bodys instantaneous angular velocity is a constant
= 1 b 1 + 2 b 2 .
DRAW:
*
HO = I
(1)
With respect to body-fixed axes, a moment balance on a three-dimensional rigid body can be
written as
X
X
X
(2)
(3)
(4)
M1 = H 1 + 2 H3 3 H2
M2 = H 2 + 3 H1 1 H3
M3 = H 3 + 1 H2 2 H1
Balancing forces on a three-dimensional rigid body yields

*
F = ma*G
150
(5)

THREE-DIMENSIONAL
8.8. MOTION
The accelerations of two arbitrary, stationary points A and B on a rigid body are related according
to

*
*
*
*
*
a*B = a*A +
A
(6)
SOLVE:
The bodys inertia matrix I is given by
34
0
0
17 12
I=
0
48
0 12 17
ma2
The bodys instantaneous angular momentum about O is then
34
0
0
341
ma2
1
17 12 2 =
HO =
0
172
48
48
0
0 12 17
122
ma2
(1)
HO = H1 b 1 + H2 b 2 + H3 b 3 =

ma2
*
*
*
341 b 1 + 172 b 2 122 b 3
48
Therefore, we have that the moments acting on the body at O are

a
2

FBD, b 1 : (2)
M1 mg
FBD, b 2 : (3)
M2 =
FBD, b 3 : (4)
M3 =

ma2
1222
48
1
1
M1 = mga ma2 22
2
4

ma2
1
121 2 = ma2 1 2
48
4

17
ma2
171 2 341 2 = ma2 1 2
48
48
The bodys angular velocity is constant at this instant, and so the acceleration of its mass center
G is given by
(6)
aG = 1 b 1 + 2 b 2
a*G = 12
a
2

a*G =
b 2 12

a
2
1 b 1 + 2 b 2

b 3 + 1 2
a
2

a*
a*
b2 + b3
2
2
b 1 22
a
2

b3

*i
ah
*
*
1 2 b 1 12 b 2 12 + 22 b 3
2
151

THREE-DIMENSIONAL
BODY
MOTION
Thus, we find from balancing forces that the forces acting on the body at O are
1
1
F1 = m a1 2 = ma1 2
2
2

FBD, b 1 : (5)
1
1
F2 = m a12 = ma12
2
2

FBD, b 2 : (5)
FBD, b 3 : (5)

1
F3 mg = m a 12 + 22
2

1
F3 = mg ma 12 + 22
2
In summary, the forces and moments exerted on the body at O for the illustrated instant are
1
F1 = ma1 2 ,
2
1
F2 = ma12 ,
2
1
1
M1 = mga ma2 22 ,
2
4

1
F3 = mg ma 12 + 22
2
1
M2 = ma2 1 2 ,
4
M3 =
17
ma2 1 2
48
152

THREE-DIMENSIONAL
8.8. MOTION
8.8.8
GOAL: Describe the effect of lateral perturbations on the front wheel of a bicycle, when one is
riding with no hands.
DRAW:
ASSUME: Initially, the bike travels in a perfectly straight line and is perfectly upright.
FORMULATE EQUATIONS: The sum of the moments about the mass center of the wheel
must equal the time rate of change of its angular momentum.
X
MG =
d*
H
dt G
*
SOLVE: Let *
be the forward vector, *
the right-to-left vector, and k the vertical up direction.
Initially, the front wheel has an angular momentum about its mass center with only one component
*
in the *
direction, HG = H2*
. Assume that instead of riding with no hands, the handlebars are
* *
held fixed by the rider. If the bike leans to the left (
6= 0), the angular momentum vector
*
will tilt towards the ground, in the k direction. Thus, the net moment on the wheel must also
*
have component in the k direction (provided by the riders grip on the handlebars). We conclude,
*
therefore, that with no hands the wheel will have a tendency to turn in the positive k direction,
or to the left.
A similar argument shows that when the rider leans right, the wheel will turn to the right as well.
Leaning causes the bike to turn in the direction of the lean.
*
We may obtain the same result with an examination of a moment balance. Let b 1 , b 2 , b 3 be a set
*
of body-fixed unit vectors initially aligned with *
,*
k . If the bike is traveling forward and leaning
*
*
*
to the right then its angular velocity may be represented as
= 1 b 1 + 2 b 2 and the angular
*
*
*
*
momentum as HG = H1 b 1 + H2 b 2 . Our third moment balance equation, corresponding to the b 3
component, is
X
M3 = Izz 3 + 1 2 (Iyy Ixx )
For a wheel, Iyy > Ixx . With no hands, and assuming a negligible
resistance to turning at the
P
contact point between the wheel and ground, the net moment M3 will be zero and thus
3 =
1 2 (Iyy Ixx )
< 0
Izz
153

THREE-DIMENSIONAL
BODY
MOTION
Thus the wheel turns to the right.
The resulting motion of the wheel will tend to stabilize the bicycle. When the wheel turns, the
centripetal acceleration of the bicycle requires a frictional force between the wheels and ground
toward the center of curvature of the riders path. The moment this force exerts on the bicycle will
tend to counter the moment due to gravity.
154

THREE-DIMENSIONAL
8.8. MOTION
8.8.9
*
*
GOAL: Find the total force F and moment MG acting on the rigid body.
GIVEN: Linear velocity and acceleration; angular velocity and acceleration; mass of body; and
all moments and products of inertia.
DRAW:
GOVERNING EQUATIONS:
*
F = ma*
MG

= HG
(1)
d *
*
*
=
HG +
HG

dt S
(2)
SOLVE: Determing the net force acting on the body

is
a simple matter.

*
F = 25 kg 4 *
m/s2
(1)
F = 100 *
N
To apply (2), we require the angular momentum about G, which may be computed from the
expression
HG
i*
i*
(3)
i*
At the given instant,

[(0.05)(8) (0.02)(12) (0.04)(3)] *
+
*
HG
= [(0.06)(12) (0.02)(8) (0.07)(3)] *

+
*
[(0.10)(3) (0.04)(8) (0.07)(12)]k

*
= (0.52 *
1.09 *
+ 0.82k ) kgm2 /s
155

THREE-DIMENSIONAL
BODY
MOTION
Now, with the substitution of (3) into (2),
X
MG
=
=
d *
*
*
HG +
HG

dt S
h
i*
i*
i*
*
Izz 3 Izx 1 Izy 2 b 3 +
HG
= [(0.05)(85) (0.02)(100) (0.04)(30)] *

+
*
[(0.06)(100) (0.02)(85) (0.07)(30)] +
*
[(0.10)(30) (0.04)(85) (0.07)(100)]k +

*
(8 *
12 *
+ 3k )(0.52 *
1.09 *
+ 0.82k )
*
MG =
6.57 *
11.8 *
2.48k
Nm
Note that the linear velocity does not appear in any of our computations.
156

THREE-DIMENSIONAL
8.8. MOTION
8.8.10
*
GOAL: Determine the angular acceleration
of the T-bar, and the linear accelerations a*G and a*P
of the center of mass and point P , respectively, at the moment a given force F is applied.
GIVEN: Were given the mass m and dimension h for the body, and the applied force F with its
location. The body is initially at rest.
DRAW:
ASSUME: The thickness of the T-bar is negligible and may be modeled as a slender rod.
FORMULATE EQUATIONS: The center of mass of the T-bar is located at
*
x
G =
1 2
1
h
m(0) + m *
m 3
3
2

h
= *
= 0.05 *
m
6
(1)
Let x0 , y 0 , z 0 be a set of axes that pass through the mass center and are parallel with the given x, y,
z. The products of inertia about the x0 , y 0 , z 0 axes will all equal zero, due to the symmetry of the
body (and thus Eulers equations are generally applicable). In addition, since the body is initially
*
at rest, its angular velocity
= 0 at the moment of interest. These conditions lead to a simplified
version of the angular equations of motion.
*
F = ma*G
X

= HG
MG
(2)
d *
*
*
*
=
HG +
HG = Ix0 x0 1 *
+ Iy0 y0 2 *
+ Iz 0 z 0 3 k

dt S
SOLVE: The moments of inertia about the x0 , y 0 , z 0 axes are

Ix0 x0
Iy0 y0
Iz 0 z 0
h 2
1 m 2
m
h 2
1
2
m
+
h +
=
mh2 = 0.0225 kgm2
=
3
6
12 3
3
3
12

1 2
2
=
m (2h)2 =
mh2 = 0.06 kgm2
12 3
9
11
mh2 = 0.0825 kgm2
= Ix0 x0 + Iy0 y0 =
36

The moment about the mass center is

X
MG = r*F = (0.15 *
+ 0.05 *
) m(50 *
+ 40 *
+ 20k ) N = ( *
+ 3*
3.5k ) Nm
157
(3)

THREE-DIMENSIONAL
BODY
MOTION
Solving (3) for the angular acceleration components yields:
1
1 Nm
= 44.4 rad/s2
0.0225 kgm2
3 Nm
= 50 rad/s2
2
0.0600 kgm
3.5 Nm2
= 42.4 rad/s2
0.0825 kgm2
*
= (44.4 *
+ 50*
42.4k ) rad/s2
The center of mass acceleration is computed from (2),

*
(50 *
+ 40 *
+ 20k ) N
*
=
= (16.7 *
+ 13.3 *
+ 6.67k ) m/s2
3 kg
*
G
The acceleration of point P is then

a*P
*
*
*
= a*G +
r*P/ +
r*P/
G
= (16.7 + 13.3 + 6.67k ) m/s2 + (44.4 *

+ 50 *
42.4k ) rad/s2 (0.3 *
+ 0.05 *
)m + 0
*
a*P = (14.5 *
+ 0.606 *
6.11k ) m/s2
158

THREE-DIMENSIONAL
8.8. MOTION
8.8.11
GOAL: Determine the angular speed , and its direction, that is required if the angle between
the vertical and shafts AC and BD is to remain constant at = 30 , for a given rotational rate .
GIVEN: Each disk has mass m = 5 kg and radius R = 0.08 m; shafts AC and BD have length
L1 = 0.20 m with spring attachment points at a distance L2 = 0.15 m from points C and D;
the length of link CD is L3 = 0.30 m, which is the same as the unstretched length of the spring
(k = 320 N/m); = 3 rad/s in the direction shown.
DRAW:
b1
b2
*
b3
*
cos
0
sin
0
1
0
k
sin
0
cos
ASSUME: The mass of the spring and linkages is negligible.

FORMULATE EQUATIONS: Since the system is symmetric, we can confine our work to only
one disk and linkage. The linear and angular equations of motion for rigid bodies are
X*
F = ma*G
159
(1)

THREE-DIMENSIONAL
BODY
MOTION
X
MG = HG
=
N
d *
*
*
H +
HG
dt S G
(2)
SOLVE: The shaft is massless, so the only moments of inertia to consider are that of the disk.
*
*
*
Since the disks are axisymmetric, we may use the shaft-fixed b 1 , b 2 , b 3 directions as body-fixed
unit vectors without loss of generality. All products of inertia are zero.
1
Ixx = mR2
4
1
Iyy = mR2
4
1
Izz = mR2
2
With constant, the angular velocity of the disk is

*
= k + b 3 = sin b 1 + ( cos + ) b 3
(3)
The angular momentum of the disk is then

*
HG
HG
*
*
= Ixx sin b 1 + Izz ( cos + ) b 3
1
1
*
*
= mR2 sin b 1 + mR2 ( cos + ) b 3
4
2
1
1
*
*
2
= mR sin ( cos b 2 ) + mR2 ( cos + )( sin b 2 )
4
2
1
mR2 sin ( cos + 2)
=
4
(4)
(5)
Let the reaction force at point D be Fx *

+ Fy *
+ Fz k . The link is pinned at D so that there is no
*
moment in the b 2 -direction; the negligible mass of the shaft and the fact that the disk spins freely
*
about is axis indicates that there can be no moment about b 3 either. Thus the reaction moment is
*
just M1 b 1 .
X
MG
( r*F) + M1 b 1
*
+ Fz k ) + (L1 L2 ) b 3 (2kL2 sin ) *

+ M1 b 1
+ Fy *
= L1 b 3 (Fx *
*
= (L1 Fy + M1 ) b 1 + [L1 Fz sin L1 Fx cos + 2k(L1 L2 )L2 sin cos ] b 2

*
(6)
Substituting (5) and (6) into (2), and then equating b 1 and b 2 components gives
0 = L1 Fy + M1
(7)
1
mR2 sin ( cos + 2) = L1 Fz sin L1 Fx cos + 2k(L1 L2 )L2 sin cos
4
(8)
The mass center travels a circular path of radius L3 /2+L1 sin with constant speed. Its acceleration
is
*
*
*
a*G = k [k (L3 /2 *
+ L1 b 3 )] = 2 (L3 /2 + L1 sin ) *
The component equations of our force balance (1) are

m2 (L3 /2 + L1 sin ) = Fx 2kL2 sin
0 = Fy
0 = Fz mg
(9)
(10)
(11)
160

THREE-DIMENSIONAL
8.8. MOTION
By (10) and (7), Fy = 0 and M1 = 0. Solving (9) and (11) for Fx and Fz and substituting into (8)
yields:
1
mR2 sin ( cos + 2) = L1 mg sin + 2k(L1 L2 )L2 sin cos
4
L1 [2kL2 sin m2 (L3 /2 + L1 sin )] cos
(12)
Using the given parameter values in (12) allows us to solve for ,

*
= 24.5 rad/s, in the positive b 3 direction
161

THREE-DIMENSIONAL
BODY
MOTION
8.8.12
GOAL: Determine the precession rate and rotational kinetic energy of a football during flight.
GIVEN: Weight and geometry of football; the spin rate is 15 rad/s about the long axis of the
football and the long axis itself wobbles through a total angle of 15 .
DRAW:
FORMULATE EQUATIONS: Since there are no external moments acting on the football its
angular momentum is conserved. We can determine the precession rate by setting
X
MG =
d*
H = 0
dt G
(1)
The rotational kinetic enegy may be found using

KE rot =
1* *
HG
2
(2)
SOLVE: Modeling the football as a solid prolate spheroid, its has two equal semi-minor axes
a = b = (19 in)/(2) = 3.024 in. and a semi-major axis c = 5 in. First lets get some unit
conversions out of the way,
a = b =
19 in
5 in
= 0.252 ft
c =
= 0.416 ft
2(12 in/ft)
12 in/ft
9 oz
m =
= 0.0175 slug
(16 oz/lb)(32.2 ft/s2 )
The moments of inertia of an ellipsoid about principal axes through its mass center are
Ixx
Iyy
2
1
m(a2 + b2 ) =
ma2 = 4.44104 slugft2
5
5
1
= Izz =
m(a2 + c2 ) = 8.28104 slugft2
5
The angular velocity of the football may be expressed as

*
= 2 b 1 + 1 *
= (2 + 1 cos ) b 1 1 sin b 2
*
We may now write an expression for the angular momentum HG ,

*
*
*
HG = Ixx (2 + 1 cos ) b 1 + Iyy (1 sin ) b 2
162

THREE-DIMENSIONAL
8.8. MOTION
Taking the derivative with respect to time, and setting it equal to zero
d*
H
dt G
d*
d*
= Ixx (2 + 1 cos ) b 1 Iyy 1 sin b 2
dt
dt
*
*
= Ixx (2 + 1 cos )1 sin b 3 Iyy 12 sin cos b 3 = 0
(3)
Note that in the above we have assumed 1 = 0 and 2 = 0. Had these terms been included we
*
*
would have seen some b 1 and b 2 components in the above equation, but with no external moments
we would quickly find that they are zero. Solving (3) for 1 yields
1 =
Ixx
Iyy Ixx
2a2 2
2
2(3.024 in)2 (15 rad/s)
=
=
cos
(c2 a2 ) cos
[(5 in)2 (3.024 in)2 ] cos 15
1 = 17.9 rad/s
The rotational kinetic energy is computed from (2).

KE rot =
=
=
=
1* *
HG
2
i h
i
1h
*
*
*
*
(2 + 1 cos ) b 1 1 sin b 2 Ixx (2 + 1 cos ) b 1 Iyy 1 sin b 2
2
i
1h
Ixx (2 + 1 cos )2 + Iyy (1 sin )2
2
1h
(4.44104 slugft2 )[15 rad/s + (17.9 rad/s) cos 15 ]2 +
2
i
+(8.28104 slugft2 )[(17.9 rad/s) sin 15 ]2

KE rot = 0.240 ftlb
163

THREE-DIMENSIONAL
BODY
MOTION
8.8.13
GOAL: Determine the angle through which the student and platform rotate before coming to
rest, after the described action is perfomed.
GIVEN: Mass and moments of inertia of the wheel; initial rotation rate of wheel and its direction;
magnitude of the torsional friction; distance d between vertical axis and wheel center; approximate
moment of inertia I for student/platform combination about vertical z-axis.
DRAW:
ASSUME: The described action is performed instantaneously. The student does not shift the
position of his mass center or that of the wheel. Neglect any friction in the wheel axle.
*
FORMULATE EQUATIONS: The wheel itself spins freely about the body-fixed b 1 axis, and
*
thus its angular rotation rate is constant. This is evident from an examination of the b 1 component of Eulers equation
X
* disk
M1
= Ixx 1 + 2 3 (Izz Iyy )

0 = Ixx + 2 3 (0)
= 0
The angular velocity of the wheel after the rotation of its axle will therefore be
*
wheel = b 1 = k
(1)
To find the angle through which the platform rotates we will have to determine the intial rotation
*
rate of the platform, and apply our angular equation of motion in the k direction
X
MP k
d* *
H k
dt P
(2)
and then integrate to get .

to find ,
SOLVE: Since it is assumed that the student performs the 90 rotation of the wheel axis instantaneously, the torsional friction does no work and the angular momentum of the system about the
164

THREE-DIMENSIONAL
8.8. MOTION
vertical z-axis is conserved during this action. Initially, the student is at rest and the wheel axle is
*
*
*
horizontal, so the angular momentum about the k direction is zero (HP k = 0). We can use this
fact to determine the rotational rate of the student immediately after the axle rotation:
*
HP k
= I + Ixx +
0 =
= I + HG ,wheel k + ( r*GG/ mv*Gwheel ) k
= 0
md2
= 0
Ixx
(0.2 kgm2 )(18 rad/s)
=
= 2.39 rad/s
I + md2
0.9 kgm2 + (2 kg)(0.55 m)2
(3)
(4)
We now apply equation (2), where the only moment about point P in the k -direction is the torsional
friction Tf , in the direction opposite the rotation ,
X
MP k
Tf
d* *
H k
dt P
= (I + md2 )
Tf
I + md2
= 0.133 rad/s2
Integrating,
Z
d =
1 2
)
( 20 ) = (
0
2
Set = 0 to determine the angle through which the platform rotates before coming to rest.
0 =
20
(Ixx )2
(2.39 rad/s)2
=
=
2Tf (I + md2 )
2
2(0.133 rad/s2 )
Letting 0 = 0,
= 21.5 rad
165
(5)

THREE-DIMENSIONAL
BODY
MOTION
8.8.14
GOAL: Determine the ground reaction moment at point O.
GIVEN: The given parameters are the mass and geometry of system. The system revolves about
*
*
*
the vertical with a constant angular velocity
= 30k rev/min = k rad/s.
* * *
DRAW: The body-fixed b 1 , b 2 , b 3 unit vectors are attached to the rotating support beam. They
*
coincide with the absolute *
,*
, k unit vectors at the instant depicted in the diagram.
ASSUME: Neglect the mass of the support beam; consider only the hemispherical shells.
FORMULATE EQUATIONS: The angular momentum equation of motion for rigid bodies will
allow us to compute the reaction moment at O.
X
MO = HO
=
N
d *
*
*
HO +
HO

dt S
(1)
SOLVE: The angular momentum of the structure about point O is
HO
Iyy 2 Iyz 3 Iyx 1 b 2 + = Ixz 3 b 1 Iyz 3 b 2 + Izz 3 b 3
i*
i*
i*
where 1 = 2 = 0 and 3 = rad/s.

166
(2)

THREE-DIMENSIONAL
8.8. MOTION
*
Since the angular velocity is constant,
= 0, and (1) becomes
MO
*
=
HO = 3 b 3 (Ixz 3 b 1 Iyz 3 b 2 + Izz 3 b 3 )
*
= Ixz 32 b 2 + Iyz 32 b 1
(3)
We therefore only need to compute the two products of inertia Ixz and Iyz . Since the x-z plane
is a plane of symmetry for the structure, Iyz = 0, leaving us with only Ixz to compute. The mass
*
*
center of the upper sphere is located at 2r b 1 + L2 b 3 while that of the lower sphere is located at
*
*
2r b 1 + L1 b 3 . Using the parallel axis expressions and the superposition principle for composite
bodies allows us to compute Ixz . By symmetry, Ix0 z 0 = Ix00 z 00 = 0 we

Iy00 y00 + m L22 + Ixz
r
= Ix00 z 00 + mL1
2

r
+ Ix0 z 0 + mL2
2
1
mr(L2 L1 )
2
The reaction moment at O may now be computed from (3):

X
MO
1
*
*
= Ixz 32 b 2 = mr(L2 L1 )32 b 2
2
!
1
250 lb
*
=
(4 ft)(24 ft 16 ft)( rad/s)2 b 2
2
2 32.2 ft/s
*
MO = 1.23103*
ftlb
167

THREE-DIMENSIONAL
BODY
MOTION
8.8.15
GOAL: Determine the angular speed 1 required for the support force between brace E and arm
BC to go to zero, for a given 2 .
* *
GIVEN: Geometry and dimensions of system; the angular velocity
2 k of the vertical shaft AB.
* * *
DRAW: Let b 1 , b 2 , b 3 be a set of unit vectors fixed to arm BC.
b1
b2
*
b3
*
cos
0
sin
0
1
0
k
sin
0
cos
ASSUME: Neglect the mass of arm BC.

FORMULATE EQUATIONS: We will apply the angular equations of motion for a rigid body
about point B. We choose point B, instead of the mass center G, simply because it will eliminate
the reaction forces at B from our equations and avoid a consideration of the force equations.

MB = HB
d *
*
*
= HB +
HB
dt S
(1)
SOLVE: The angular velocity of the disk is

*
= 2 k + 1 b 3 = 2 sin b 1 + (2 cos + 1 ) b 3
*
To apply (1), we need to determine the angular momentum HB . The moments of inertia of the disk
*
about the b i axes through its mass center are Ixx = Iyy = 41 mR2 and Izz = 12 mR2 . We utilize the
168

THREE-DIMENSIONAL
8.8. MOTION
parallel axis expressions to determine the inertia values about point B:
1
1
1
Ixx = mR2 + mL2
Iyy = mR2 + mL2
Izz = mR2
4
4
2
Ixy = Ixz = Iyz = 0
(by symmetry)
The angular momentum is now
*
HB
= Ixx 2 sin b 1 + Izz (2 cos + 1 ) b 3

1
*
mR2 + mL2 2 sin b 1 +
4

1
*
mR2 (2 cos + 1 ) b 3
2

(2)
*
The system is subject to the condition that 1 , 2 , and are constant. The time derivative of HB
is therefore
*
HB
= 2 k HB = 2 (sin b 1 + cos b 3 )HB

1
*
mR2 + mL2 22 sin cos b 2
4

1
*
mR2 (2 cos + 1 )2 sin b 2
2

(3)
With arm BC pinned about b 2 , the moment at B may be represented as M1 b 1 + M3 b 3 (although

intuitively we know these are both zero due to the steady motion of the system and the fact that
the disk spins freely about its axis). When the contact force at the brace E goes to zero it will
exert no moment on BC, and so the only external moment is that due to gravity. The sum of the
moments about B is thus
X
= M1 b 1 + M3 b 3 + (L b 3 )[mg(sin b 1 + cos b 3 )]
MB
= M1 b 1 + M3 b 3 + mgL sin b 2
(4)
Applying (1), and equating the b 2 -components of (3) and (4) gives

mgL sin =
1
mR2 + mL2 22 sin cos
4

1
mR2 (2 cos + 1 )2 sin
2

Solving (5) for 1 yields

!
2L2 1
2gL
2 cos 2
2
R
2
R 2
2(0.3 m)2 1
2(9.81 m/s2 )(0.3 m)
(2
rad/s)
cos
30
(0.1 m)2
2
(0.1 m)2 (2 rad/s)
!
= 264 rad/s
*
1 = 264 b 3 rad/s
169
(5)

THREE-DIMENSIONAL
BODY
MOTION
8.8.16
GOAL: Determine the ratio (1 2 )/(L1 L2 ) that will result in a steady precession rate
about the vertical, with shaft CD remaining in the horizontal plane.
GIVEN: The mass and dimensions of the system components are assumed to be known. The
angular velocities of the disks are assumed to be 1 and 2 , in the directions indicated by the
diagram.
*
* * *
DRAW: Let b 1 , b 2 , b 3 be a set of unit vectors fixed to the shaft CD. b 3 will thus always be the
vertical upward direction.
ASSUME: The mass of the shaft is negligible.

FORMULATE EQUATIONS: Well choose to solve this problem by using the angular equations
of motion about the fixed point O.
X*
d*
(1)
MO = HO
dt
SOLVE: The moments of inertia of the two disks about points O will be very similar. Note the
use of the parallel axis expressions in Iyy and Izz below.
A
Ixx
A
Iyy
A
Izz
=
=
1
mR2
2
1
2
2
4 mR + mL1
1
2
2
4 mR + mL1
B
Ixx
B
Iyy
B
Izz
=
=
1
2
2 mR
1
2
4 mR
1
2
4 mR
+ mL22
+ mL22
The products of inerta are all zero, by symmetry.

If the shaft remains horizontal, the angular velocity of each disk will be
*
*A
= 1 b 1 + b 3
*B
= 2 b 1 + b 3
(2)
Since we are using a set of principal axes, the angular momentum about O becomes
*
*A
*B
HO
= HO + HO
HO
A
A
B
B
= Ixx
1 b 1 + Izz
b 3 Ixx
2 b 1 + Izz
b3
A
(3)
= Ixx 1 b 1 + Ixx 1b 1 + 0 Ixx 2 b 1 Ixx 2b 1 + 0

1
1
*
*
mR2 ( 1 2 ) b 1 + mR2 (1 2 ) b 2
=
2
2
170
(4)

THREE-DIMENSIONAL
8.8. MOTION
The only moment about O is that due to gravity
X
MO = L1 b 1 (mg b 3 ) + (L2 b 1 )(mg b 3 ) = mg(L1 L2 ) b 2
(5)
Substitution of (4) and (5) into (1) yields

*
mg(L1 L2 ) b 2 =
1
1
*
*
mR2 ( 1 2 ) b 1 + mR2 (1 2 ) b 2
2
2
(6)
Equating the b 2 components gives the answer were looking for

1 2
L1 L2
2g
R2
*
Note that since disks A and B spin freely about the shaft, 1 = 0 and 2 = 0, satisfying the b 1
component of the above equation. Writing the equations of motion for each disk about its mass
center would quickly reveal that this is true. In fact, as an alternative solution we could have
employed these equations instead, along with a moment balance for the massless shaft.
171

THREE-DIMENSIONAL
BODY
MOTION
8.8.17
GOALS:
(0.1) Find the full equations of motion for the illustrated system under the condition = 0.
(0.2) Find the equilibrium conditions for which = 0 (constant), = = 0 and = 0 6= 0.
GIVEN: The rod is attached by a horizontal pivot to a vertical shaft, as shown in the figure. The
linear density of the rod is .
DRAW: Let x, y, z be a body-fixed coordinate system attached to the rod, with corresponding
* * *
unit vectors *
c 1, *
c 2, *
c 3 . Let b 1 , b 2 , b 3 be a set of unit vectors that rotate with the vertical shaft,
and, at the instant depicted, are aligned with the ground-fixed X, Y, Z axes.
The coordinate transformation matrix between b i and *

c i is:
*
*
c1
c2
*
c3
*
b1
b2
b3
1
0
0
0 cos sin
0 sin cos
GOVERNING EQUATIONS: The full equations of motion will consist of three force equations
and three moment equations. Newtons law provides the force equations, and since x, y, z are
principle axes for the rod (two planes of symmetry, xz and yz), Eulers equations will provide
the moment equations:
*
F = ma*G
(1)

M1
= Ixx 1 + 2 3 Izz Iyy
M2
= Iyy 2 + 1 3 (Ixx Izz )
M3
= Izz 3 + 1 2 Iyy Ixx
where MO = M1 *
c 1 + M2 *
c 2 + M3 *
c 3 is the net moment acting on the rod about the point O.
172
(2)
(3)
(4)

THREE-DIMENSIONAL
8.8. MOTION
SOLVE: Well begin with the left side of equations (1-4). The forces acting on the rod are the
force of gravity and the reaction force between the rod and shaft at point O. Denote the reaction
force acting on the rod as having components Ri in the *
c i frame. The net force acting on the rod
is then:
*
F = R1 *
c 1 + R2 *
c 2 + R3 *
c 3 mg b 3
*
*
*
= R1 c 1 + R2 c 2 + R3 c 3 Lg ( sin *
c 2 + cos *
c 3)
(5)
The rod pivots freely about the *

c 1 direction, so we may write the reaction torque at O as having
*
only two components, T2 and T3 , in the *
c 2 and *
c 3 directions. The net moment MO acting on the
rod is then:
*
MO
= T2 *
c 2 + T3 *
c 3 + r*G/ mg b 3
L
= T2 c 2 + T3 c 3 +
c 3 Lg sin *
c 2 + cos *
c3
2
1
= T2 *
c 2 + T3 *
c 3 + gL2 sin *
c1
2
(6)
That takes care of the left side of our equations. We will now address the kinematic and inertial
terms appearing on the right side of equations (1-4). We begin with the angular velocity of the
rod, which is:
*
*
*
= b 3 b 1 = (cos *
c 3 sin *
c 2 ) *
c1
(7)
Taking a time derivative, the angular acceleration is
*
db
db
*
*
= b 3 + 3 b 1 1
dt
dt
*
*
*
= (0) b 3 + (0)
b 1 b 2
= *
c cos *
c sin *
c
*
(8)
Since O is fixed in space, the velocity and acceleration of the rods center of mass may be computed
as
v*G
*
=
r*G/
=
=
a*G
L
c
cos *
c 3 sin *
c 2 *
c 1 *
2 3
1
1 *
L sin *
c 1 L
c2
2
2
(9)
*
*
=
r*G/ +
v*G
O
L
*
c 1 cos *
c 2 sin *
c 3 *
c +
2 3

1
1 *
sin *
c 1 L
c2
+ cos *
c 3 sin *
c 2 *
c 1 L
2
2

1
1
cos *
= L
c 1 + L 2 sin cos *
c 2 + L 2 sin2 + 2 *
c3
2
2
(10)
The moments of inertia of the thin rod about the x, y, z axes are Ixx = Iyy = 13 mL2 = 13 L3 and
Izz = 0. Substitution of (6),(7),(8) into our moment balance equations (2-4), with m = L, now
yields:
173

THREE-DIMENSIONAL
BODY
MOTION
X
(2)

1 3
1
L + sin cos 0 L3
3
3

1 3 2
L + sin cos
3
1
M1 = mgL sin =
2
1
gL2 sin =
2

3g sin 2 sin cos = 0

+ 2L
(11)
This is the equation of motion for , integration of which will yield (t).
hX
(3)
M2 = T2
(4)
M3 = T3
T2 = 23 L3 cos
hX

1
1 3
L cos + cos
L3 0
3
3

= 0 sin +
(12)

sin
1
L L3
3
3
1
T3 = 0
(13)
Note that the constraint torque T3 has been included in our analysis since rotation of the rod about
*
c 3 is constrained (unlike the rotation about *
c 1 , for example). However, our asssumption that the
rod is one-dimensional requires that this constraint torque is always zero.
*
Let Fi = F *
c i and ai = a* *
c i . A force balance (1) then takes the form (with m = L):
*
F = ma*G
Fi = Lai
(i = 1, 2, 3)
2 cos
R1 = L
R2 + Lg sin =
1
2
2 L
R3 Lg cos =
1
2
2 L
(F = ma*G ) *
c1
(F = ma*G ) *
c2
(F = ma*G ) *
c3
(14)

2 sin cos
2 sin2 + 2
(15)
(16)
You might notice that force equation (15) and motion equation (11) share some common terms.
Although unnecessary for our purposes, this leads to an interesting simplification for R2 , in that
both the second and first order time-derivatives may be eliminated:
1
R2 = Lg sin
(11) (15)
4
174

THREE-DIMENSIONAL
8.8. MOTION
(0.2) Substitution of the given equilibrium conditions into the equation of motion (11) yields:
0+
3g
sin 0 02 sin 0 cos 0 = 0
2L
3g
02 cos 0 = 0
2L
0 =
cos1
3g
2L 02
which is the equilibrium value of for a given 0 .

In order for the above inverse cosine function to exist, the operand must lie in the range [-1,1].
Thus,
3g
1
1
2L 02
Since all quantities appearing in the operand are positive, this is equivalent to:
3g
02 2L
If 0 is too small, no such equilibria (0 6= 0) exists. Also note that the same argument implies
cos 0, assuring /2 0 /2.
175

THREE-DIMENSIONAL
BODY
MOTION
8.8.18
GOAL: Determine the angular acceleration of the bar and the support force FO at the instant the
bar is released. Consider two cases: a) = 0 and = 30 .
GIVEN: Mass and dimensions of bar, initial positions before release.
DRAW: For convenience, well use a ground-fixed x,y,z set of axes and when done re-express the
*
*0
answer in terms of the illustrated X,Y ,Z set. Unit vectors *
,*
,k align with X,Y ,Z and *
0, *
0 ,k
*
*0
align with x,y,z. *
0 = k , *
0 = *
,k =*
.
FORMULATE EQUATIONS: The equations of motion for a rigid body are

*
F = ma*
MO =
(1)
d *
d *
*
*
HO = HO +
HO

dt N
dt S
(2)
*
Since we are only concerned with the instant of release,
= 0, and equation (2) becomes:
MO
i*
i*
(3)
i*
SOLVE: The moment of inertia for a slim rod about a transverse axis through its mass center
1
is 12
mL2 . With a little help from the superposition principle and the parallel axis theorem, the
176

THREE-DIMENSIONAL
8.8. MOTION
inertias of our rigid body about point O are:
1 3
1 2
m b2 =
mb = 0.0386 kgm2
3 7
7

1 4
3
13
m a2 + ma2 =
ma2 = 0.297 kgm2
3 7
7
21

Ixx
Iyy
13
b 2
1
3
=
ma2 + mb2 = 0.336 kgm2
Ixx + Iyy = m a2 +
7
2
21
7

b
3
3
ma
=
mab = 0.0771 kgm2
7
2
14
0
0

Izz
Ixy
Ixz
Iyz
=
=

where m = 3 kg, a = 0.40 m, and b = 0.30 m.

The center of mass of the bar is located at
*
x
G =
4 a*
3 *
b*
b1 +
ab1 + b2
7 2
7
2

5 *
3 *
*
*
a b1 +
b b 2 = 0.286 b 1 + 0.0643 b 2
7
14
*0
(a) When = 0, the space-fixed *

0, *
0 , k and body-fixed b i unit vectors are aligned. The only
moment about O is that due to gravity, which at the given instant is
X
5mga *0 3mgb *0

7
14
*0
*
MO = x
G (mg k ) =
Using this result in (3) yields three equations
3mgb
= Ixx 1 Ixy 2
14
5mga
= Iyy 2 Ixy 1
7
0 = Izz 3
which may be solved for the angular accelerations

1 = 15.7 rad/s2 ;
2 = 32.4 rad/s2 ;
*0
*0
= (15.7 + 32.4 ) rad/s
3 = 0
2
= (32.4 *
15.7k ) rad/s2
The acceleration of the mass center is

*0
2
*
*
*0
*0
*0
*0
a* =
x
G = (15.7 + 32.4 )(0.286 + 0.0643 ) = 8.24k rad/s
Equation (1) may now be solved for the reaction force,

*
*0
FO mg k
= ma*
*0
*0
FO = (3 kg)(8.24k rad/s2 ) + (3 kg)(9.81 m/s2 )k

177

THREE-DIMENSIONAL
BODY
MOTION
*0
FO = 4.71k N FO = 4.71 *
N
*
(b) When = 30 , the gravity vector becomes g sin 30 b 2 g cos 30 b 3 . The moment about O is
now:
X
5 *
3 *
*
*
=
a b1 +
b b (mg sin 30 b 2 mg cos 30 b 3 )
7
14 2
5amg *
5 3amg *
3 3bmg *
=
b +
b2
b1
14 3
14
28

MO
Using this result in (3) and solving for the angular acceleration components yields
1 = 13.6 rad/s2 ;
*
2 = 28.0 rad/s2 ;
3 = 12.5 rad/s2
*0
= (13.6 b 1 + 28.0 b 2 12.5 b 3 ) rad/s2 = (13.6 *

0 + 30.5 *
0 + 3.17k ) rad/s2
= (30.5 *
+ 3.17 *
13.6k ) rad/s2

*
*
a* =
x
G
= (13.6 b 1 + 28.0 b 2 12.5 b 3 )(0.286 b 1 + 0.0643 b 2 )

*
= (0.805 b 1 3.58 b 2 7.14 b 3 ) rad/s2

*
and the force FO is

*
FO
= ma* + mg(sin 30 b 2 + cos 30 b 3 )

*
= (3 kg)(0.805 b 1 3.58 b 2 7.14 b 3 ) + (3 kg)(9.81 m/s2 )(sin 30 b 2 + cos 30 b 3 )

*
*0
FO = (2.42 b 1 + 3.98 b 2 + 4.08 b 3 ) N = (2.42 *

0 + 1.41 *
0 + 5.52k ) N
*
FO = (1.41 *
+ 5.52 *
2.42k ) N
178

THREE-DIMENSIONAL
8.8. MOTION
8.8.19
*
*
GOAL: Determine the angular acceleration
of the disk and the reaction force FO at the given
instant.
GIVEN: Were given the mass and dimensions of the disk as well as its initial position and angular
velocity.
DRAW:
GOVERNING EQUATIONS: The equations of motion for a rigid body are

*
F = ma*G
X
MO

= HO
(1)

d *
*
*
=
HO +
HO

dt S
(2)
SOLVE: The center of mass of the disk is located at

*
G/
O
4R *
=
= R
3
*
4 *

3
*
The mass moments of inertia of the disk about point O are
Ixy
1
1
mR2 =
(12 kg)(1.0 m)2
4
4
5
1
mR2 + mR2 =
mR2 =
=
4
4
1
3
=
mR2 + mR2 =
mR2 =
2
2

4
4R
= m (R)
=
mR2
3
3
Ixz
= Iyz = 0
Ixx
Iyy
Izz
= 3 kgm2
5
(12 kg)(1.0 m)2 = 15 kgm2
4
3
(12 kg)(1.0 m)2 = 18 kgm2
2
4
16
=
(12 kg)(1.0 m)2 =
kgm2
3
179
(3)

THREE-DIMENSIONAL
BODY
MOTION
To apply (2) we require the angular momentum of the disk about O, which may be computed from
h
i*
i*
i*
HO
(4)
At the given instant,

*
HO
[0 (16/)(2) 0] *
+ [(15)(2) 0 0] *
+ [(18)(5) 0 0]k
kg m2 / s
= (32/ *
+ 30 *
+ 90k ) kgm2 /s
Substituting (4) and (5) into (2), with
*
with *
,*
, k yields three equations:
(5)
*
MO = r*G m(g k ), and then taking the dot products
16g/ kg m = [31 (16/)2 ] kg m2

+(2 rad/s)(90 kg m2 / s) (5 rad/s)(30 kg m2 / s)
12g kg m = [152 (16/)1 ] kg m2 + (5 rad/s)(32/) kg m2 / s
0
= 183 kg m2 (2 rad/s)(32/) kg m2 / s
(2) *

(2) *

*
(2) k
Solving the above for 1 , 2 , and 3 ,

1 = 2.14 rad/s2
2 = 5.18 rad/s2
3 = 1.13 rad/s2
*
= (2.14 *
5.18 *
1.13k ) rad/s2

*
*
*
a*G =
r*G/ +
r*G/
O
*
*
Using the calculated values for
and
gives us
a*G = 28.5 *
+ 11.7 *
8.52k
m/s2
Equation (1) may now be solved for the force FO ,

*
FO mg k
= ma*G
FO = (12 kg)(9.81 m/s2 )k + (12 kg)(28.5 *

+ 11.7 *
8.52k ) m/s2
*
FO = (342 *
+ 141 *
+ 15.5k ) N
180

THREE-DIMENSIONAL
8.8. MOTION
8.8.20
*
GOAL: Find the acceleration a*G of the mass center, the angular acceleration ,
and the acceler*
ation aP of the point P at the instant given.
*
GIVEN: Weight and dimensions of body, its angular velocity; and the force F Q applied at point
Q.
DRAW:

*
F = ma*G
X

*

= HG
MG
(1)

d *
*
*
HG +
HG

dt
(2)
SOLVE: From (1), the acceleration of the mass center is

*
aG
F
[(20 *
8*
+ 10k ) 40 *
] lbs
*
= (16.1 *
38.64 *
+ 8.05k ) ft/s2
=
=

40
lbs
m
32.2 ft/s2
(3)
The rigid body can be viewed as a composite body with three sections: a lower-left cube, an upperright cube, and a rectangular parallelpiped in the middle. The moments of inertia for the body are
found by superimposing the inertias of all three sections, and applying the parallel-axis expressions
as needed. Let x0 , y 0 , z 0 be a new set of coordinates axes parallel to x, y, z, and with an origin at
the mass center. By symmetry, Ix0 z 0 = Iy0 z 0 = 0.
Ix0 x0
1 m 2
= 2
h +
6 4
Iy0 y0
1 m 2
= 2
h +
6 4
Iz 0 z 0
Ix0 y0

m
4
2
m
4

h
2
3h
2
1 m 2
+
h
6 2
2

1 m
+
12 2

7
mh2
24
h + (2h)
1 m 2
m
3h 2
h 2
1 m
h +
+
= 2
+
6 4
4
2
2
12 2

m 3
h
m
3
h
3
=
h
+
h
=
mh2
4 2
2
4
2
2
8

=
2
17
mh2
12
h + (2h)

37
mh2
24
181

THREE-DIMENSIONAL
BODY
MOTION
The moment exerted on the body about its mass center is
X
8
20 * 32 *
*
*
*
*
MG = r*Q/ FQ = (2h *
0.5hk )(20 *
8*
+ 10k ) = *
+
+ k ftlbs
G
3
3
3
*
To apply (2), we also need the angular momentum HG ,

h
i*
*
Ix0 x0 1 Ix0 y0 2 Ix0 z 0 3 b 1 +
HG
*
Iy0 y0 2 Iy0 z 0 3 Iy0 x0 1 b 2 +
(4)
Iz 0 z 0 3 Iz 0 x0 1 Iz 0 y0 2 b 3
40 lbs
32.2 ft/s2

8 in
12 in/ft
2
7
3
17
3
37
*
(5) (4) *
+
(4) (5) *
+
(1) k
24
8
12
8
24

= (1.63 *
+ 4.16 *
0.851k ) slugft2 /s
(5)
Equation (2) may be rewritten as

X
MG =
*
*
*
HG
+ Iz 0 z 0 3 k +
Ix0 x0 1 Ix0 y0 2 *
+ Iy0 y0 2 Iy0 x0 1 *
Substitution of (4), (5), and
*
MG into (6) yields three equations that may be solved for ,
= 1 *
+ 2*
+ 3k
= (9.10 *
+ 9.47*
+ 29.3k ) rad/s2
The acceleration of point P will be

a*P
*
*
*
= a*G +
r*P/ +
r*P/
G
= (16.1 38.64 + 8.05k ) +

4* 2* 1*
+ + k +
3
3
3

4* 2* 1*
*
*
*
*
*
*
(5 + 4 k ) (5 + 4 k )
+ + k
3
3
3
*
(9.10 *
+ 9.47*
+ 29.3k )
a*P = (34.6 *
41.9 *
20.3k ) ft/s2
182
(6)

THREE-DIMENSIONAL
8.8. MOTION
8.8.21
*
GOAL: Find the angular acceleration
of the body, the acceleration a*G of the mass center, and
*
*
the velocity and acceleration vQ and aQ of the point mass Q, all at time t = 0.
GIVEN: Geometry and mass of system components; the initial linear and angular velocities of the
system; the force applied to the system and its point of application.
DRAW:
ASSUME: The thickness of the cylindrical shell is negligible.

F = ma*G
d *
d *
*
*
MG = HG = HG +
HG
dt N
dt S
(1)
(2)
SOLVE: From (1), the acceleration of the mass center is
*
G
F
(60 *
+ 40 *
50k ) N
*
=
=
= (5.45 *
+ 3.64 *
4.55k ) m/s2
M + 2m
5 kg + 2(3 kg)
(3)
To compute the moments of inertia for the system we may superimpose the individual inertia
values for the two point masses and the cylindrical shell. Note that the origin of the given x, y, z
183

THREE-DIMENSIONAL
BODY
MOTION
coordinate system is the current center of mass. By symmetry, Ixz = Iyz = 0.
Ixx
=
=
Iyy
=
=
Izz
Ixy
L 2
M R + 2m R +
= (5 kg)(0.05 m)2 + 2(3 kg) (0.05 m + 0.20 m)2 =
4
0.3875 kgm2
2
1
1
L
2
2
=
M R + M L + 2m
2
12
4
1
1
(5 kg)(0.05 m)2 + (5 kg)(0.80 m)2 + 2(3 kg)(0.20 m)2 = 0.5129 kgm2
2
12 "
#
2
L 2
1
L
1
1
2
2
+ R+
M R + M L + 2m
=
(5 kg)(0.05 m)2 +
2
12
4
4
2
h
i
1
+ (5 kg)(0.80 m)2 + 2(3 kg) (0.20 m)2 + (0.25 m)2 = 0.8879 kgm2
12

L
L
L
L
R+
+m
R
= 2(3 kg)(0.20 m)(0.25 m) =
m
4
4
4
4

= 0.30 kgm2
The moment exerted on the body about its mass center is
X
MG = r*F = (0.20 *
+ 0.25 *
)(60 *
+ 40 *
50k ) = (12.5 *
10 *
+ 7k ) Nm
*
To apply (2), we also require the angular momentum HG ,
HG
*
*
(4)
i*

*
= [(0.3875)(5) (0.3)(2)] *
+ [(0.5129)(2) (0.3)(5)]*
+ [(0.8879)(3)]k
*
= (2.54 *
+ 2.53 *
2.66k ) kgm2 /s
(5)
Equation (2) may be rewritten as

X
MG =
*
*
*
Ixx 1 Ixy 2 *
+ Iyy 2 Iyx 1 *
+ Izz 3 k +
HG
Substitution of (4), (5), and
*
MG into (6) yields three equations that may be solved for ,
= 1 *
+ 2*
+ 3k
= (26.2 *
15.3*
0.624k ) rad/s2
The velocity and acceleration of the point mass Q will be

v*Q
*
= v*G +
r*Q/
= 0 + (5 *
+ 2*
3k ) rad/s(0.20 *
0.25 *
)m
G
*
v*Q = (0.75 *
0.60 *
1.65k ) m/s2
184
(6)

THREE-DIMENSIONAL
8.8. MOTION
a*Q
*
*
*
= a*G +
r*Q/ +
r*Q/
G
= (5.45 + 3.64 4.55k ) m/s2 + (26.2 *

15.3 *
0.624k ) rad/s2 (0.20 *
0.25 *
)m +
*
+(5 + 2 3k ) rad/s (5 + 2 3k ) rad/s(0.20 0.25 ) m

*
a*Q = (10.7 *
+ 14.0 *
+ 3.57k ) m/s2
185

THREE-DIMENSIONAL
BODY
MOTION
8.8.22
GOAL: (a) Find expressions for the vertical components of the reaction forces at the spheres
contact point C and at the support O; (b) Write an expression for the angle at which the contact
force goes to zero, and note any restrictions on m, R, and L for which this is impossible.
GIVEN: The mass of the sphere, length of the rod, radius of the sphere, and angle are all
assumed to be known. is constant.
DRAW:
b1
b2
*
b3
*
cos
0
sin
0
1
0
k
sin
0
cos
ASSUME: The mass of the rod may be neglected. We assume that when the vertical reaction force
goes to zero the sphere continues a rolling motion over the surface, although there is essentially no
contact. We will also assume that the horizontal component of the contact force in the *
direction
is zero. This will be a valid assumption at the moment contact is lost, and without this assumption
the *
-components of the reactions at C and O would be redundant. Of course, this assumption
would also hold for a very smooth surface (we would just have to initiate rolling somehow).
FORMULATE EQUATIONS: We will choose to write our moment equation about the center
of mass. The point O would work just as well, and we could even choose C, with a little more
work.
X*
F = ma*G
(1)

d *
d *
*
*
MG =
HG =
H +
HG
(2)

dt N
dt S G
We are given the rotation rate about the vertical axis. Since the sphere is rolling its motion also
consists of a rotation about the shaft, which we will denote as a rate . The angular velocity of
*
*
*
the sphere is therefore
= k + b 3 . Since the point C is stationary, we may write a constraint
condition relating and :
X
*
v*C =
r*C/
= ( k + b 3 )(L b 3 Rk ) = L sin b 2 + R sin b 2 = 0
L = R
186
(3)

THREE-DIMENSIONAL
8.8. MOTION
The locus of contact points on the sphere is a circle of radius R sin .
SOLVE: The moments of inertia for a sphere about its mass center are identical, and all products
of inertia about axes through G are zero.
2
Ixx = Iyy = Izz =
mR2
5
*
*
With
= k + b 3 = sin b 1 + ( cos + ) b 3 , the angular momentum of the sphere becomes:
*
HG
HG
2
2
*
*
= mR2 sin b 1 + mR2 ( cos + ) b 3
5
5
2
2
*
*
2
= mR sin ( cos ) b 2 + mR2 ( cos + )( sin ) b 2
5
5
2
*
=
mR2 sin b 2
5
*
(4)
(5)
*
Let the reaction forces at O and C be FC = FC x *

+ FC y *
+ FC z k , and FO = FOx *
+ FOy *
+ FOz k .
*
*
*
The moment at O will consist of a single component in the b 1 -direction, MO = MO1 b 1 . The other
*
two components are zero because the system is pinned horizontally about b 2 , and the massless
*
shaft allows free rotation of the sphere about b 3 .
X
MG
= (L b 3 )(FOx *
+ FOy *
+ FOz k ) + (Rk )(FC x *
+ FC y *
+ FC z k ) + MO1 b 1
*
= (RFC y cos FOy L + MO1 ) b 1 + (RFC x + FOx L cos FOz L sin ) b 2 +

*
+RFC y sin b 3
(6)
Equating components of (5) and (6) gives

0 = RFC y cos FOy L + MO1
(7)
2
mR2 sin = RFC x + FOx L cos FOz L sin
5
0 = RFC y sin
(8)
(9)
The spheres center travels in a circle of radius L sin , with angular speed . Its acceleration is
a*G = L 2 sin *
and our force balance (1) yields the component equations
mL 2 sin = FC x + FOx
0 = FC y + FOy
(10)
(11)
0 = FC z + FOz mg
(12)
From (9), (11), and (7) we see that FC y = 0, FOy = 0, and MO1 = 0. Interesting, but not what we
need. The relevant equations for our purposes are (8), (10), and (12). With our assumption that
FC x = 0 (as it must when the sphere loses contact, or on a very smooth surface), these equations
may be solved for the vertical reactions at C and O,
2
mRL 2 sin = mL2 2 sin cos FOz L sin
(10),(3)(8)
5
2
FOz = m 2 L cos R
5

(13)
187

THREE-DIMENSIONAL
BODY
MOTION
(13)(12)
2
FC z = mg m 2 L cos R
5

(14)
(b) Letting FC z go to zero in equation (14) and solving for yields

2
1 g
+ R
2
L
5

cos =
Since cos 1, we have

g
2
+ R<L
2
5
Thus no matter how large may be, it will be impossible for the vertical reaction to equal zero
unless
2
R<L
5
There is also a lower limit on , namely, >
g/L.
188

THREE-DIMENSIONAL
8.8. MOTION
8.8.23
GOAL: Examine the angular momentum and angular velocity of a discus after its release, and
how they change over time. Also examine the trajectory of the discus mass center and the distance
it is thrown.
GIVEN: Mass and dimensions of discus; initial position, orientation, linear velocity and angular
velocity.
DRAW:
ASSUME: The discus may be approximated as a circular disk with given mass and dimensions.
* * *
*
SOLVE: Let b 1 , b 2 , b 3 be a set of body-fixed unit vectors with b 2 being the spin axis, or the
direction normal to the disk surface. Using our cicular disk approximation for the discus gives
moments of inertia equal to:
Ix0 x0
Iy0 y0
Iz 0 z 0
2
1
d
m
4
2
1
1
1
mt2 =
(2 kg)(0.11 m)2 + (2 kg)(0.045 m)2 = 0.00639 kgm2
12
4
12
1
d 2
1
=
m
=
(2 kg)(0.11 m)2 = 0.0121 kgm2
2
2
2
= Ix0 x0 = 0.00639 kgm2

All products of inertia are zero, by symmetry.

(a) The initial angular momentum of the discus is
*
HG
*
*
*
= Ix0 x0 1 b 1 + Iy0 y0 2 b 2 + Iz 0 z 0 3 b 3
*
= [(0.00639)(1.3) b 1 + (0.0121)(20) b 2 + (0.00639)(0.8) b 3 ] kgm2 /s

*
HG = (8.30103 b 1 + 0.242 b 2 + 5.11103 b 3 ) kgm2 /s

Since there are no moments acting on the discus about its mass center, the rate of change of angular
momentum is zero,
MG = HG = 0. Thus HG is constant.
189

THREE-DIMENSIONAL
BODY
MOTION
(b) From Eulers equations, the motion of the discus is described by
Ix0 x0 1 + 2 3 (Iz 0 z 0 Iy0 y0 ) = 0
Iy0 y0 2 + 3 1 (Ix0 x0 Iz 0 z 0 ) = 0
(1)
Iz 0 z 0 3 + 1 2 (Iy0 y0 Ix0 x0 ) = 0
We can rearrange the above equations to yield (observe Ix0 x0 Iz 0 z 0 = 0)
1 =
Iy0 y0 Iz 0 z 0
2 3
I 0 0
2 = 0
3 =
xx
Ix0 x0 Iy0 y0
1 2
I 0 0
(2)
zz
and note that 1 = C3 and 1 = C3 , where C is a constant.

*
*
*
* * *
*
In general, if
= 1 b 1 + 2 b 2 + 3 b 3 , where b 1 , b 2 , b 3 are body-fixed unit vectors, the rate of
*
change of
may be expressed as
*
= 1 b 1 + 2 b 2 + 3 b 3
(3)
For the present case,

Ix0 x0 Iy0 y0
Iy0 y0 Iz 0 z 0
*
*
2 3 b 1 +
1 2 b 3
=
I x0 x0
Iz 0 z 0
*
*
Examining (2) and (3), we see that there are three release conditions for which
is constant.
1 = 3 = 0;
Only spin imparted to discus, 2 6= 0
2 = 0;
No spin imparted. Rotation is about a fixed transverse axis.
1 = 2 = 3 = 0; No rotation whatsoever, a special case of the above
(c) Neglecting air resistance, the discus will follow a typical parabolic trajectory for a projectile
under the influence of gravity. We can compute the distance of the throw by considering the vertical
and horizontal components of the motion equations. The time that will elapse before the discus
strikes the ground may be computed from the vertical component,
t =
=
voy
+
g
2 + 2gy
voy
o
m/s) sin 25
(25
9.81 m/s2
(25 m/s)2 (sin 25 )2 + 2(9.81 m/s2 )(1.5 m)

9.81 m/s2
= 2.29 s
The throw distance is now computed from the horizontal component,

x = vox t = (25 m/s)(cos 25 )(2.29 s) = 51.8 m
Our computation has come up short compared to an actual Olympic throw with the same release
conditions. The reason for this is because we have neglected the lift provided by the 35 attack
angle. While the frictional resistance of air will generally decrease a projectiles speed, the lift
provided under these particular conditions is large enough to actually increase the maximum height
and flight time for the discus. This increase in flight time is apparently the more significant effect,
allowing a properly-trained athlete to throw the discus farther than our prediction.
190

THREE-DIMENSIONAL
8.8. MOTION
8.8.24
*
GOAL: (a) Determine 1 , 2 , and the angular acceleration
at the instant a given force is applied
to the cylinder. (b) Find the reaction forces and moments at the support A at this instant.
GIVEN: Mass and dimensions of system; initial rotation rates 1 , 2 ; and the applied force F
and its location.
DRAW:
The b 1 , b 2 , b 3 axes are attached to the shaft, with b 2 remaining vertical.

ASSUME: The mass of the 90 -bend shaft is negligible.
FORMULATE EQUATIONS: We employ the rigid body equations of motion. We will choose
to sum the applied moments about the fixed point O lying at the center of the 90 -bend.
X*
F = ma*G
(1)
d *
d *
*
*
HO
MO = HO = HO +
dt N
dt S
*
(2)
SOLVE: The moments of inertia for the cylinder about its mass center are Ixx = 21 mR2 and
1
Iyy = Izz = 14 mR2 + 12
mt2 . Since we have chosen the fixed point O well use the parallel axis
expressions to obtain the inertia values about this point.
Ixx
Iyy
1
mR2
2

1
1
t 2 1
1
2
2
= mR2 + mt2 + mL2 + mLt
mR + mt + m L +
4
12
2
4
3
1
1
t
mR2 + mt2 + m L +
4
12
2

Izz
2
1
1
= mR2 + mt2 + mL2 + mLt
4
3
The angular velocity of the cylinder is

*
= 1 b 1 + 2 b 2
(3)
The angular momentum of the system about O is

1
*
*
HO = mR2 1 b 1 +
2
1
1
*
mR2 + mt2 + mL2 + mLt 2 b 2
4
3

191
(4)

THREE-DIMENSIONAL
BODY
MOTION
Taking the derivative,
1
1
*
*
HO = mR2 1 b 1 + mR2 1 (2 b 3 ) +
2
2
1
1
*
mR2 + mt2 + mL2 + mLt 2 b 2
4
3

(5)
The forces acting on the system are gravity mg b 2 , the applied force F = 40 b 3 N, and the reaction
forces. Since the shaft is assumed to be massless, the net forces and moments acting on any portion
of it must be zero (otherwise it would have infinite acceleration terms). It will be easier to visualize
the reactions if we initially consider only those existing at point O of the shaft. Doing so also
removes them from the moment equation. Well wait until part (b) below to consider those existing
at point A.
*
*
*
*
The reaction force at O may be written as FO = FO1 b 1 + FO2 b 2 + FO3 b 3 . The reaction moment at
*
*
*
O consists of only one component, MO = MO3 b 3 . Since the cylinder spins freely about b 1 there can
*
be no reaction torque in this direction; and since the shaft revolves freely about b 2 there can be no
reaction torque in this direction either. The sum of the moments about O is now
X
MO
t *
*
*
*
*
*
b 1 (mg) b 2 + (L b 1 + R b 2 )F b 3 + MO3 b 3
=
L+
2

t *
*
*
= RF b 1 LF b 2 + MO3 mg L +
b3
2

(6)
Substitution of (5) and (6) into (2) and equating like components gives
1
mR2 1
2

1
1
mR2 + mt2 + mL2 + mLt 2
4
3
1
mR2 1 2
2
= RF
(7)
= LF
(8)
t
mg L +
2

= MO3
(9)
The acceleration of the cylinders mass center is

*
aG

t *
t *
t
*
*
*
*
b 1 + 2 b 2 2 b 2 L +
b1 = L +
2 b 3 22 b 1
= 2 b 2 L +
2
2
2
*
The component equations of the force balance (1) are now

FO1
= m22 L +
t
2
t
2
(10)
FO2 mg = 0
(11)

FO3 + F
= m 2 L +
(12)
Equations (7)-(12) are our six rigid body equations of motion. Equations (7) and (8) may be solved
directly for 1 and 2 :
1 =
2F
2(40 N)
=
= 320 rad/s2
mR
(5 kg)(0.05 m)
(13)
192

THREE-DIMENSIONAL
8.8. MOTION
LF
1 2
mR + mt + mL2 + mLt
4
3
(0.15 m)(40 N)

=
1
1
2
(5 kg) (0.05 m) + (0.10 m)2 + (0.15 m)2 + (0.15 m)(0.10 m)
4
3
=1
2 = 28.9 rad/s2
(14)
*
We can now solve for the angular acceleration .
Note 1 = 120 rev/min = 4 rad/s, and 2 =
4
40 rev/min = 3 rad/s
*
*
=
= 1 b 1 + 2 b 2 1 2 b 3 = 320 b 1 28.9 b 2 (4)
4 *
b3
3

= (320 b 1 28.9 b 2 52.6 b 3 ) rad/s2
(15)
(b) Equations (9)-(12) may be solved for the force and moment reactions at O. To find the reactions
at A, we just have to balance the forces and moments acting on the AO segment of the shaft.
Again, since the shaft is assumed massless these forces and moments must cancel. Well let the
*
*
*
*
*
*
*
force reaction at A be FA = FA1 b 1 + FA2 b 2 + FA3 b 3 , and the moment reaction MA = MA1 b 1 + MA3 b 3 .
m22
t
L+
2
= 17.5 N
FA1
= FO1
FA2
= FO2
= mg
FA3
= FO3
= F m 2 L +
= 49.1 N

t
2
= 11.06 N
*
FA = (17.5 b 1 + 49.1 b 2 11.06 b 3 ) N

Summing the moments for massless segment AO about O, which must equal zero,
X
M = (L) b 2 (FA1 b 1 + FA2 b 2 + FA3 b 3 ) + MA1 b 1 + MA3 b 3 MO3 b 3 = 0

= 1.659 Nm
MA1
LFA3
MA3
= MO3 LFA1
= mg L +
*
t
2
12 mR2 1 2 LFA1
= 12.1 Nm
MA = (1.659 b 1 + 12.1 b 3 ) Nm
193

THREE-DIMENSIONAL
BODY
MOTION
8.8.25
GOAL: Find the tension in the string, and the reaction forces at each ball-and-socket joint, when
mass m3 has descended a distance s = 29 r2 from the given release position.
GIVEN: m1 = 3 kg, m2 = 0.5 kg, m3 = 2 kg, r1 = 10 cm, r2 = 4 cm, d = 6 cm, and
L1 = L2 = L3 = 15 cm.
* * *
DRAW: Let b 1 , b 2 , b 3 be a set of body-fixed unit vectors attached to the rotating shaft. Initially,
* * *
*
b 1 , b 2 , b 3 and *
,*
, k coincide.
The rotational transformation from *

,*
, k to b 1 , b 2 , b 3 , with =
*
b1
b2
*
b3
*
cos
0
sin
0
1
0
s
r2 ,
is
k
sin
0
cos
FORMULATE EQUATIONS: The system is viewed as two rigid bodies, the first being the
shaft, disk, and pulley; the second being the hanging mass m3 . The governing equations are the
moment and force balances for the shaft, and a force balance for the hanging mass. There are eight
unknowns: six reaction force components at A and B, the tension T in the string, and the motion
of the system. The moment and force balances will provide 7 equations, but we will see that two
force components merely cancel, leaving 6 equations in 6 unknowns.
It is convenient to write the moment balance about a fixed point along the shaft axis. We will
choose the point B, since this choice eliminates the reactions at B from the moment equations.
Our governing equations are then:
shaft:
MB = HB
(2)
T m3 g = m3 a
(3)
F shaft = (m1 + m2 )a*shaft
hanging mass:
(1)
X*
As an alternative approach, the force equation for the shaft (2) could easily be replaced by a second
moment balance, perhaps about A, to solve for the reactions at B.
194

THREE-DIMENSIONAL
8.8. MOTION
*
*
SOLVE: The angular velocity of the shaft may be written
= *
= b 2 . With only one rotational
component, the expression for the angular momentum of the shaft becomes:
*
HB = Iyy b 2 Ixy b 1 Izy b 3
(4)
The required moments of inertia may be computed using the known values for a disk, the parallel
axis theorem, and the additive property for composite bodies:
Iyy
Ixy
Izy
1
Iyy
1
Ixy
2
Iyy
2
Ixy
I10
y y0
1
2
= Izy
+ Izy
=
x y0
y y 00
+ m2 (0)
z y0
+ m1 (0)(2L) + I200
x y 00
I10
1
1
m1 r12 + m1 d2 + m2 r22
2
2
+ I200

I10
+ m1 d
+ m2 (0)(L)
= 0+0

+ m1 (d)(2L) + I200
z y 00
= 0 2m1 dL + 0
+ m2 (0)(L)
The right side of equation (1) is now

*
= Iyy b 2 Izy b 3 Izy 2 b 1
HB
1
1
*
*
*
m1 r12 + m1 d2 + m2 r22 b 2 + 2m1 dL b 3 + 2 b 1
2
2

(5)
*
Let the reactions at A and B be written as FA = FAx *

+ FAy *
+ FAzk and FB = FBx *
+ FBy *
+ FBzk .
There are no constraint torques since the ball-and-socket joints rotate freely in all directions. Also
denote L = L1 = L2 = L3 . The moment about B is then
X
*
*
MB = r*A/ FA + r*G1/ m1 g k + r*G2/ m2 g k + r*C/ Tk

B
= 3L *
FAx *
+ FAy *
+ FAzk + 2L *
+ d b 3 m1 g k +
L *
m2 g k + L *
+ r2 *
T k

+ 3LFAxk
= 3LFAz + 2Lm1 g + Lm2 g + T L *
+ m1 gd sin rs + T r2 *
(6)
Substitution of (5) and (6) into (1), and taking dot products with *
,*
, k , yields the first three
equations of motion:
(1) *
:
3LFAz + 2Lm1 g + Lm2 g + T L = 2m1 dL sin rs + 2 cos rs

2
(1) *
:
m1 gd sin rs + T r2 =
(1) k :
(7)
1
1
m1 r12 + m1 d2 + m2 r22
2
2

3LFAx = 2m1 dL cos rs 2 sin rs

2
(8)
(9)
The force balance for the shaft, as written in Eqn. (2), requires the acceleration of the center of
mass of the disk and pulley. However, since the pulleys center of mass remains stationary, we
can balance the external forces acting on the system using the motion of the disk center alone.
Equation (2) then becomes:
X*
F shaft = m1 a*disk
195

THREE-DIMENSIONAL
BODY
MOTION
where
*
*
*
*
a*disk =
r* + (
r*) = b 2 d b 3 + b 2 b 2 d b 3
= m1 d b 1 2 b 3
Using the above force balance, the three force equations for the shaft are then

FAx + FBx = m1 d cos rs 2 sin rs
(10)
FAy + FBy = 0
(11)
FAz + FBz m1 + m2 g T = m1 d sin rs 2 cos rs
k :
(12)
The acceleration of the hanging mass is a* = ak = r2k . Using this result in (3) gives
T m3 g = m3 r2
(13)
We now have all equations necessary for the solution. Specifically, these are equations (7)-(13).
Equations (8) and (13) govern the motion of the system and may be solved for :
=
m1 gd sin rs + m3 gr2
2
1
2
2 m1 r1
(14)
+ m1 d2 + 21 m2 r22 + m3 r22
We also need to determine , which may be found by integrating our expression for . To simplify
dw
this task we will first apply the chain rule to obtain the relation = s dw
ds = r2 ds r2 ds = d.
Substitution into this relation, with dummy variables s0 and 0 , yields:
Z
1
1
1
2
2
2
2
2 m1 r1 + m1 d + 2 m2 r2 + m3 r2
Z s
0
2 =
m1 gd 1 cos rs
1
2
4 m1 r1
m1 gd
s0
sin + m3 g ds0
r2
r2

+ m3 gs
+ 12 m1 d2 + 14 m2 r22 + 21 m3 r22
(15)
With the given mass and length parameters, equations (14) and (15) will give us the angular velocity
and acceleration at the instant s = 29 r2 :
= 86.8 rad/s2
= 29.6 rad/s
Using these values in equations (7),(9), and (13), with s = 92 r2 , we can solve for the tension T
and the reactions FAx and FAz :
T = 12.7 N;
FAx = 105.0 N;
FAz = 15.1 N
Inserting these values in equations (10) and (12) we find FBx and FBz :
FBx = 52.5 N;
FBz = 16.3 N
The remaining equation of motion, (11), only tells us that

FAy = FBy
That is, the y-components of the reaction forces at A and B must cancel. With no externally
applied forces in this direction, and no preexisting stresses in the shaft along the y-axis, these
forces should remain zero.
196

THREE-DIMENSIONAL
8.8. MOTION
8.8.26
GOAL: Determine the bending moment at the weld O in terms of m, , r, and g. Use two methods:
(i) Equations of motion for the mass center G, and (ii) Equations of motion about the fixed point
O.
GIVEN: The hemispherical shell rotates with constant angular velocity about the shaft axis, in
the direction indicated.
The shell has mass m and radius r.
* * *
DRAW: Let b 1 , b 2 , b 3 be a set of body-fixed unit vectors that, at the instant illustrated, are
aligned with the x, y, z axes, respectively.
GOVERNING EQUATIONS:
d*
H
dt G
X*
F = ma*G
X
(i)
(ii)
(1)
MG =
MO =
(2)
d*
H
dt O
(3)
SOLVE: (i) The moments of inertia of the hemispherical shell about its mass center are Ixx = 32 mr2
5
and Iyy = Izz = 12
mr2 . All products of inertia are zero. The angular velocity of the shell is
*
*
= b 3 . The expression for angular momentum is thus:

*
*
HG = Izz b 3 =
5
*
mr2 b 3
12
(4)
*
Let the contraint forces and moments at the weld be written as F = F1 b 1 + F2 b 2 + F3 b 3 and
*
*
*
*
M = M1 b 1 + M2 b 2 + M3 b 3 . For a hemispherical shell, the mass center G is located a distance 2r
along the x-axis, from either end of the shell. Substitution of the constraint forces and moments
into equation (1) yields:
X*
d*
MG = HG
dt
197

THREE-DIMENSIONAL
BODY
MOTION
*
1
1
*
*
*
*
*
F3 r b 2 F2 r b 3 + M1 b 1 + M2 b 2 + M3 b 3 = 0
2
2

F2 r b 1 + F1 r +
(5)
r
1
*
*
2
The acceleration of the mass center is a*G =
2 b 1 = 2 r b 1 . The force balance, equation

(2), now yields:
1
*
*
*
*
*
(6)
F1 b 1 + F2 b 2 + F3 b 3 mg b 3 = mr 2 b 1
2
Equation (6) may be solved for the constraint forces, F1 = 12 mr 2 ; F2 = 0; F3 = mg. Using these
results in equation (5) gives us the moments:

1
M2 = mr g + r 2 ;
2
M1 = 0;
M3 = 0
*
*
M = 12 mr g + r 2 b 2
(ii) If we center our work about the fixed point O well see that we only need one equation to solve
for the bending moment, at a cost of slightly more complex inertia terms and a non-zero angular
*
momentum time-derivative. With only one angular velocity component, in the b 3 direction, the
angular momentum expression is
*
O
O
O
HO = Izz
b 3 Ixz
b 1 Iyz
b2
(7)
Using the parallel axis expressions, we find the moments and products of inertia appearing in the
above equation to be:

r2
5
mr2 + m
+0
12
4
r
0+m
r
2
0+m 0 r

O
Izz
Izz + m r12 + r22
O
Ixz
Ixz + mr1 r3
O
Iyz
Iyz + mr2 r3
=
=
=
2 2
mr
3
1 2
mr
2
0
And from equation (7) we now have:

*
HO
d*
H
dt O
2 2 *
1
*
mr b 3 mr2 b 1
3
2
1
*
= mr2 2 b 2
2
Since the reaction forces at O exert no moment about O, equation (3) becomes;
1
1
*
*
*
*
*
M1 b 1 + M2 b 2 + M3 b 3 + mgr b 2 = mr2 2 b 2
2
2
*
*
M = 12 mr g + r 2 b 2
198

THREE-DIMENSIONAL
8.8. MOTION
8.8.27
GOAL: (a) Determine the angular acceleration of the spherical shell when its angular velocity is
*
*
= 10k rad/s. (b) Find the reaction moment at the weld O at this same instant. Report in the
x, y, z coordinate frame.
GIVEN: We are given the external motor torque that is driving the shaft, and the areal density
and radius of *
the *shell.
*
*
DRAW: Let b 1 , b 2 , b 3 be body-fixed axes aligned with the principle axes of the shell, while *
,*
,k
are body-fixed axes attached to the rotating shaft.
b1
b2
*
b3
*
sin
0
cos
0
1
0
k
cos
0
sin
ASSUME: The mass of the shaft is negligible.

FORMULATE EQUATIONS: We will apply the rigid body equations of motion about point
O:
*
F = ma*G
(1)
X
MO

= HO
d *
*
*
=
HO +
HO

dt S
(2)
SOLVE: The location of the mass center with respect to point O is

*
G/
O
*
A/
O
= r
*
G/
A
+r
r*
1
*
*
= rk + b 1 = r
cos b 1 + r sin b 3
2
2

The moments and products of inertia of the shell about its mass center are
2
Ix0 x0 = mr2
3
5
Iy0 y0 = Iz 0 z 0 = mr2
12
Ix0 y0 = Ix0 z 0 = Iy0 z 0 = 0
The moments and products of inertia about point O may be found using the parallel axis expres199

THREE-DIMENSIONAL
BODY
MOTION
sions:
2 2
2
mr + mr2 sin2
= 2r4
+ sin2
3
3
"
#
2

5
5
2
2 1
2
2
mr + m r
cos + r sin = 2r4
cos
12
2
3

Ix00 x00
Iy00 y00
2
5
2
2 1
=
mr + mr
cos
12
2

1
cos (r sin )
= 0 + mr
2
= Iy00 z 00 = 0 + 0
Iz 00 z 00
Ix00 z 00
Ix00 y00
"
= 2r
5
+
12
1
cos
2
1
= 2r sin
cos
2
= 0
4
2 #
Substituting the given geometric and mass properties gives

Ix00 x00
= 7.03104 kgm2
Iy00 y00 = 5.87104 kgm2
Iz 00 z 00
= 3.18104 kgm2
Ix00 z 00 = 1.11104 kgm2
The angular velocity of the system may be expressed as

*
= k
= ( cos b 1 + sin b 3 )
The angular momentum about point O is

h
i*
i*
i*
Ix00 x00 1 Ix00 y00 2 Ix00 z 00 3 b 1 +
HO
Iy00 y00 2 Iy00 z 00 3 Iy00 x00 1 b 2 +
Iz 00 z 00 3 Iz 00 x00 1 Iz 00 y00 2 b 3
*
*
Ix00 x00 cos Ix00 z 00 sin b 1 + Iz 00 z 00 sin + Ix00 z 00 cos b 3
(3)
Summing the moments about point O,

X
MO
=
=
rk +
r*
*
*
b (mg k ) + MO1 *
+ MO 2 *
+T
2 1

1
*
*
*
*
*
*
mgr sin b 2 + MO1 (sin b 1 + cos b 3 ) + MO2 b 2 T cos b 1 + T sin b 3
2
(4)
where T = 0.05 Nm.

Equation (2) may now be expressed in component form as
X
*
*
MO b 1 = H 1 + (2 H3 3 H2 )
*
*
MO b 2 = H 2 + (3 H1 1 H3 )
*
*
MO b 3 = H 3 + (1 H2 2 H1 )
200
(5)

THREE-DIMENSIONAL
8.8. MOTION
yielding the three equations
MO1 sin T cos = Ix00 x00 cos Ix00 z 00 sin + 0
(6)
MO1 cos + T sin = Iz 00 z 00 sin + Ix00 z 00 cos + 0

1
mgr sin + MO2 = 0 + ( sin ) Ix00 x00 cos Ix00 z 00 sin
2

(7)
( cos ) Iz 00 z 00 sin + Ix00 z 00 cos

= 2 Iz 00 z 00 Ix00 x00 sin cos + 2 Ix00 z 00 cos2 sin2
(8)
Equations (6) and (7) may be solved for and MO1 , and with the substitutions = 40 , T =
0.05 Nm and the computed inertia values we have
=
MO 1
Ix00 x00
cos2
+ Iz 00 z 00
T
sin2 + 2Ix00 z 00 sin cos
= 115 rad/s2
i
= (Iz 00 z 00 Ix00 x00 ) sin cos + Ix00 z 00 (cos2 sin2 )
= 0.0241 Nm
Equation (8) may be solved for MO2 ,

MO 2

1
= 2 Iz 00 z 00 Ix00 x00 sin cos + 2 Ix00 z 00 cos2 sin2 mgr sin =
2
= 2.81 Nm
*
*
*
=
= k
= 115k rad/s2
MO = (0.0241 *
2.81 *
) Nm
201

8.9. ENERGY OF THREE-DIMENSIONAL BODIES
8.9
Energy of Three-Dimensional Bodies
202

8.9.1
GOAL: Determine the kinetic energy of the illustrated system.
*
*
*
*
*
*
GIVEN: Bodys orientation. v*G = (1.5 b 1 + 1.5 b 2 + 10 b 3 ) m/s,
= (5 b 1 + 15 b 3 ) rad/s.
DRAW:
FORMULATE EQUATIONS: !
!
!
a2 + c2
b2 + a2
b2 + c2
Ixx = m
, Iyy = m
, Izz = m
12
12
12
The x,y,z axes are centered on the bodys mass center and parallel to the principal axes and thus
there are no products of inertia to consider.
SOLVE:
Having all the relevant rotational inertias and knowing that
1* *
1
*
KE =
HO + v*G L
2
2
we can form the bodys kinetic energy. With no products of inertia the kinetic energy simplifies to
1
1
KE = (Ixx 12 + Iyy 22 + Izz 32 ) + m(v12 + v22 + v32 )
2
2
KE
=m
2

a2 + c2 2 +
12
1
2
2
2
+m
2 v1 + v2 + v3
=m
2

b2 + a2 2 +
12
2
b2 + c2 225 ( rad/s)2
12
b2 + c2 2
12
3
a2 + c2 25 +
12
2
+m
2 (2.25 + 2.25 + 100) ( m/s)
KE = m
2

25a2 + 225b2 + 250c2 ( rad/s)2 + 104.5( m/s)2

12
203

8.9.2
GOAL: Determine the illustrated bodys instantaneous kinetic energy.
*
*
*
*
GIVEN: The systems angular velocity at the given instant is
= 1 b 1 + 2 b 2 + 3 b 3 .
DRAW:
*
HO = I
(1)
The kinetic energy of a three-dimensional rigid body rotating about a fixed point O is given by
KE =
1* *
HO
2
SOLVE:
The systems instantaneous angular momentum about its fixed end O is
*
(1)
HO =

mL2
*
*
*
71 b 1 + 402 b 2 + 473 b 3
12
Therefore, the systems associated kinetic energy is

(2)
KE =
mL2

1 *
*
*
*
*
*
1 b 1 + 2 b 2 + 3 b 3
71 b 1 + 402 b 2 + 473 b 3
2
12
KE =

mL2 2
71 + 4022 + 4732
24
204
(2)

8.9.3
GOAL: Determine the kinetic energy of the illustrated system and compare how the energy changes
for finite vs infinitesimal width.
*
GIVEN: Bodys orientation.
= (20 *
10 *
) rad/s, a = 0.5 m, b = 0.4 m, h = 0.02 m or 0.
DRAW:
FORMULATE EQUATIONS:!From Appendix B we have:

!
!
b2 + h2
a2 + b2
a2 + h2
Ix0 x0 = m
, Iy 0 y 0 = m
, Iz 0 z 0 = m
12
12
12
To find the mass moments of inertia and products of inertia we use (8.24)-(8.29) with r1 = a/2,
r2 = h/2 and r3 = b/2.
Ixx = Ix0 x0 + m(r22 + r32 )

2
+ h2
= m b 12
Iyy
2
h2
+m b +
4
2
h2
=m b +
3
= Iy0 y0 + m(r32 + r12 )

2
+ b2
= m a 12
Izz
2
b2
+m a +
4
2
b2
=m a +
3
= Iz 0 z 0 + m(r12 + r22 )

2
+ h2
= m a 12
2
h2
+m a +
4
2
h2
=m a +
3
ah
+ mr1 r2 = m
4
bh
4
ab
4
Ixy = Ix0 y0
Iyz = Iy0 z 0 + mr2 r3 = m

Izx = Iz 0 x0 + mr3 r1 = m
SOLVE:
205

1* *
HO
KE =
2
we can form the bodys kinetic energy using (8.33) with 1 = 20 rad/s, 2 = 10 rad/s, 3 = 0:
KE =
m
a2 + b2 (10 rad/s) ah (20 rad/s) *
[(20 *
10 *
) rad/s]
+
2
3
4
i*
h
ab (20 rad/s) bh (10 rad/s) k

4
4
10 rad/s

20 rad/s 2
10 rad/s 2
m
(20 rad/s)
b + h2 +
a + b2 (5 rad/s)ah
ah (10 rad/s)
2
3
4
3

KE =

2
2
ah
b
+
h
*
3 (20 rad/s) 4 (10 rad/s) +

KE = m a
50
3
+b
250
3
+h
200
3
+ 50ah ( rad/s)2
Using a = 0.5 m, b = h0.4 m and

h
= 0.02 mgives us

i
50
2
2 250 + (0.02)2 200 + 50(0.5)(0.02) m/s2
KE = m (0.5)
+
(0.4)
3
3
3
= m(18.03 m/s2 )
Neglecting h gives us
KE = m(17.5 m/s2 )
Thus the reduction in kinetic energy
is equal to
18.03 17.5
100 2.92%
18.03
206


8.9.4
*
= (8 *
+ 6*
) rad/s, r = 0.2 m and h = 0.6 m.
DRAW:
From Appendix B we have
!
Ix0 x0 = Iy0 y0 =
3m(4r2 + h2 )
, Iz 0 z 0 = IZZ =
80
3mr2
10
To find the mass moments of inertia and products of inertia we use (8.24)-(8.29) with r1 = r2 = 0
and r3 = 3h
4.
!
9mh2
3m(r2 + 4h2 )
IXX = IY Y = Ix0 x0 +
=
16
20
Ixy = Iyz = Izx = 0
SOLVE:
1* *
KE =
HO
2
3m(r2 + 4h2 )
*
(8 rad/s)
20
1 *
*
KE = [(8 + 6 ) rad/s]
3m(r 2 + 4h2 )
*
(6
rad/s)
20
KE =
(0.2 m)2 + 4(0.6 m)2
(8 rad/s) *
20
3m *
[(8 + 6 *
) rad/s]
2
2
(0.2 m) + 4(0.6 m) (6 rad/s) *

20
KE = m(7.104 + 3.996)( m/s)2 = 11.1m( m/s)2
207

8.9.5
GOAL: Determine the triangular plates kinetic energy.
*
*
*
GIVEN: The plate spins about its fixed end O with an angular velocity of
= 2 b 2 + 3 b 3 .
DRAW:
*
HO = I
(1)
The kinetic energy of a three-dimensional rigid body rotating about a fixed point O is given by
KE =
1* *
HO
2
SOLVE:
The plates angular momentum about its fixed end O is
*
(1)
HO =

ma2
*
*
*
52 b 1 + 62 b 2 + 123 b 3
36
Thus, we have that the plates kinetic energy is given by

(2)
KE =
ma2

1 *
*
*
*
*
2 b 2 + 3 b 3
52 b 1 + 62 b 2 + 123 b 3
2
36
KE =

ma2 2
2 + 232
12
208
(2)

8.9.6
*
= (20 *
10 *
) rad/s, a = 0.5 m, b = 0.4 m, h = 0.02 m or 0.
DRAW:
!
Ixx
b2
a2
a2 + b2
=m
, Iyy = m
, Izz = m
18
18
18
ab
, Iyz = Izx = 0
= m
36

, Ixy
To find the mass moments of inertia and products of inertia we use (8.24)-(8.29) with r1 = a/3,
r2 = b/2 and r3 = 0.
IXX = Ixx + mr22

b2
= m 18
2
+ m b9
2
= m b6
= Iyy + mr12
IY Y
a2
= m 18
IZZ
2
+ m a9
2
= m a6
= Izz + m(r12 + r22 )

2
+ b2
= m a 18
2
b2
+m a +
9
ab
+ mr1 r2 = m
36

IXY = Ixy
2
b2
=m a +
6
ab
+m
9

ab
=m
12

IY Z = IZX = 0
SOLVE:
1* *
KE =
HO
2

2
b
ab
*
m *
6 (6 rad/s) 12 (6 rad/s) +
*

KE = [(6 + 6 ) rad/s]
2
a2 (6 rad/s) ab (6 rad/s) *
6
12
209

KE = 3m a2 + b2 ab ( rad/s)2
210

8.9.7
GOAL: Determine the kinetic energy of the arm AB.
DRAW:
Let L1 = |OA| and L2 = |AB|.
*
*
*
From the given information of the original problem we see that
AB = b 3 b 2 .
Using the general formula for the mass moment of inertia of a thin rod along with the parallel axis
theorem gives us
mL22
mL22
IXX = mL21 , IY Y =
, IZZ =
+ mL21
3
3
The only non-zero product of inertia is IXY :
L
Z2
IXY =
L1 x dx =
L1 L22
2
mL1 L2
2
SOLVE:
1* *
HO
KE =
2
= :
we can form the bodys kinetic energy using (8.33) with 1 = 0, 2 = ,
3
mL1 L2 *
b 1 ()+
mL2
1
*
*
KE = [( b 2 + b 3 )]
KE = m
" 2
L
2 2
3 () b 2 +
mL22
2
3 + mL1
L22
L21
+
6
2
b3
211

8.9.8
GOAL: Determine the kinetic energy of the rotating disk.
GIVEN: Bodys orientation. r = 0.23 m, h = 0.01 m, a = 0.3 m, 1 = 10 rad/s, 2 = 70 rad/s,
m = 1.2 kg.
DRAW:
FORMULATE EQUATIONS: Let the disks radius be denoted by r. From the given informa*
*
*
tion in the original problem we see that
AB = 1 + 2 .
2 ) and that
Well determine the kinetic energy associated with the speed of the mass center ( 21 mvG
associated with rotation about the mass center.

m 3r2 + h2
mr2
Iyy = Izz =
, Ixx =
12
2
SOLVE:
1* *
1
2
+
KE = mvG
H
2
2 D G
we can form the bodys kinetic energy using (8.33) with D = 70 *
rad/s 10 *
rad/s. Note that
from the definition in the original problem 1 indicates rotational velocity about the (negative) Y
axis and 2 indicates rotational velocity about the x axis.
The component of kinetic energy due to motion of the mass center is given by

1
1
1

2
KE
= mvG
= m(a1 )2 = (1.2 kg)(0.3 m)2 (10 rad/s)2 = 5.4 J
2
2
2
trans
The rotational kinetic energy is found from
mr
*
(
)
+
2
2
1

*
*
KE = [(2 1 )]
2
rot
2
2
m(3r + h ) ( ) *
1
12

KE = KE
trans

+ KE
2 2
(3r2 + h2 )12
m r 2
= 5.4 J +
+
2
2
12
"
rot
212

"
1.2 kg (0.23 m)2 (70 rad/s)2 (3(0.23 m)2 + (0.01 m)2 )(10 rad/s)2
KE = 5.4 J +
+
= 84.0 J
2
2
12
213

8.9.9
GOAL: Determine the kinetic energy of the rotating system.
GIVEN: Bodys orientation. r = 0.004 m, h = 0.1 m.
DRAW:
FORMULATE EQUATIONS: From the given information in the original problem we see that
*
*
*
*
*
A = 1 b 1 + 2 b 2 = (50 b 1 + 2 b 2 ) rad/s.
Well consider three components of the kinetic energy of the system: the rotational energy of the
3-arm body about O, the translational kinetic energy of the mass center of each wheel and the
rotational energy of each wheel about its mass center.
Approximating the arms as thin rods lets us calculate the mass moment of inertia of the 3-arm
body about the Y axis:
!
m3a h2
I3a = 3
= m3a h2
3
Approximating the wheels as thin disks we have, from Appendix B:
mr2
mr2
Izz = Iyy =
, Ixx =
4
2
SOLVE:
1
1
1* *
2
KE = I3a 22 + mvG
+
H
2
2
2 w G
*
we can form the bodys kinetic energy using (8.33) with w = 50 b 1 rad/s + 2 b 2 rad/s.
The kinetic energy due to rotation of the 3-arm body is given by

1
1

KE
= I3a 22 = (0.005 kg)(0.1 m)2 (2 rad/s)2 = 1.0104 J
2
2
3a
The component of kinetic energy due to motion of the mass center of the wheels is given by

1

KE
= 3 mw h2 22 = 1.5(0.002 kg)(0.1 m)2 (2 rad/s)2 = 1.2104 J
2
trans
Finally, the rotational kinetic energy of the wheels is found from
mr2 *
b
+

2
1 1
1
*
*

KE = 3 [(1 b 1 + 2 b 2 )]
2
rot
mr 2 *
b
4 2 2
214


KE
r2 12 r2 22
= 3m
2
2 + 4
"
rot
3(0.002) kg (0.004 m)2 (50 rad/s)2 (0.004 m)2 (2 rad/s)2

=
+
2
2
4

= 6.00105 J
Summing the three components gives us
KE = 1.0104 J + 1.2104 J + 6.00105 J = 2.8104 J
215

8.9.10
GOAL: Determine the kinetic energy of a rolling cone.
GIVEN: Bodys orientation and dimensions. m = 22 g.
DRAW:
FORMULATE EQUATIONS: First we need to determine the cones angular velocity. Example
8.4 shows how to determine the angular velocities of a rotating disk on the end of a bent shaft. Our
rolling cone can be thought of as precisely the same problem. The motion of OA will be the same
1
as that of Example
8.4s shaft. From geometry we have = sin (0.25) = 14.48 . r = |AB| = 1 in
and h = |OA| = 42 12 in = 3.873 in
The cone takes 2 s to complete one full rotation around the floor and thus we have
2
=
= rad/s
OA
2s
The correspondence between our problem and that of Example 8.4 is
cone
W
S
AO
3.873 in L1
1 in
L2
Substituting these values into the expression for W gives us

3.873
cos
+
sin
*
cone = ( rad/s) sin
c 1 + ( rad/s) cos *
c3
1
*
*
= (11.78 c 1 + 3.042 c 3 ) rad/s
(Note that these axes do not directly correspond to the ones in our problem). For this figure we
have
m(9r2 + 2h2 )
mr2
, Iz 0 z 0 = IZZ =
I x0 x0 = I y 0 y 0 =
36
2
For our problem m = 22 g, r = 1 in = 0.0254 m and h = 3.87 in = 0.0984 m.
216

To find the mass moments of inertia and products of inertia we use (8.24)-(8.29) with r2 = r3 = 0
and r1 = 2h
3.
4mh2
m(r2 + 2h2 )
IY Y = IZZ = Iy0 y0 +
=
9
4
IXY = IY Z = IZX = 0
SOLVE:
1* *
KE =
HO
2
we can form the bodys kinetic energy using (8.33) with 1 = 11.8 rad/s, 2 = 0, 3 = 3.04 rad/s:
mr
*
(11.78 rad/s) c 1
2
1
*
*
KE = [(11.78 c 1 + 3.042 c 3 ) rad/s]
m(r 2 + 2h2 )
*
(3.042
rad/s)
c
3
4
KE =
(0.0254 m)2
(11.78 rad/s) *
c1
(0.022 kg)
[(11.78 *
c 1 + 3.042 *
c 3 ) rad/s]
2
2
(0.0254 m) + 2(0.0984 m) (3.042 rad/s) *

c
KE = 1.00103 J
217

8.9.11
GOAL: Determine the angular momentum of the illustrated body about the fixed point O.
GIVEN: The body rotates about the Y -axis with angular speed , and has areal density .
DRAW:

*
= *
. The angular momentum of the body about point O is
then:
IXY
IY Y
IZY
IXX
*
*
HO = IO
= IY X
IZX
IXZ
0
*
IY Z = IXY *
+ IY Y *
IY Z k
IZZ
0
(1)
SOLVE: We only need to determine IXY , IY Y and IY Z . IY Y is easily found as the mass moment
of inertia about the Y axis is simply that of two thin rods, with masses ab, ac and lengths b, c,
respectively, rotated about their ends:
a(b3 + c3 )
(ac)c2 (ab)b2
+
=
IY Y =
3
3
3
Using the appropriate equations from (8.21)-(8.29) lets us determine the products of inertia. Each
rectangle has no product of inertia when evaluated about its mass center and thus the only finite
products of inertia come about because were shifting our attention from each plates mass center
to the point O.

a b
a2 b2
IXY = (ab)
=
2 2
4
IY Z = (ac)
ac
a2 c2
=
22
4
Using these inertia values gives us

*
HO =
ab2 * b3 + c3 * ac2
+

4
3
4
The kinetic energy is found from

1* *
1
KE =
HO = *

2
2
b3 + c3
3
!
*
a =
b3 + c3 a 2
6
218

8.9.12
GOAL: Determine the kinetic energy of the illustrated rectangular body about the fixed point O.
GIVEN: The body rotates about the Z-axis with angular speed , and has mass m.
DRAW:

*
*
= k . The angular momentum of the body about point O is
then:
Ixx Ixy Ixz

0
*
*
*
HO = IO
= Iyx Iyy Iyz 0 = Ixz *
Iyz *
+ Izz k
(1)
Izx Izy Izz
SOLVE: The products of inertia about parallel axes through the center of mass G are all zero, due
to the symmetry of the body. The products of inertia about the point O may be computed from
the parallel axis expressions for inertia.

a
b
1
Ixz = Ix0 z 0 + mr1 r3 = 0 + m
= mab
Ixz :
2
2
4
c
= Iy0 z 0 + mr2 r3 = 0 + m
2

Iyz
Iyz :
1
= mcb
4
The moment of inertia about the z 0 -axis through the mass center is: Iz 0 z 0 =
the parallel axis expressions for inertia again, we obtain:
Izz
Izz :
= Iz 0 z 0 + m r12 + r22
=
=

1 2
m a + c2 + m
12

1 2
m a + c2
3
1
12 m
"
a 2
a2 + c2 . Using
2 #
c
2
Substituting into (1),

*
HO = m
*
1 * 1 * 1 2
ab + cb +
a + c2 k
4
4
3
The kinetic energy is found from

2
1 * a2 + c2
1
*
*
c2 m 2
KE = HO = k
m k = a +
6
2
2
3
219

8.9.13
*
*
= k .
DRAW:
For our problem well find the moments of inertia for two solid cylinders, one of radius r1 and one
of radius r2 . By subtracting well obtain the inertias for the ring. The mass of the ring is given by
m = h(R22 R12 )
Outer radius cylinder:
o
Ix0 x0 =
o
R22 h(3R22 + h2 )
Iz 0 z 0 =
Iy0 y0 =
12
R22 hR22
2
hR24
2
Inner radius cylinder:

i
Ix0 x0 = Iz 0 z 0 =
i
Iy0 y0 =
R12 h(3R12 + h2 )
12
R12 hR12
hR14
=
2
2
We now subtract the inertias of
h the
smaller cylinder
from the
h of the larger one.
i
i inertias
4
4
2
2
2
m h2 + 3 R12 + R22
h 3 R2 R1 + h R2 R1
Ix0 x0 = Iz 0 z 0 =
=
12
12

Iy0 y0 = IY Y =
h R22 R12
Using the parallel axis theorem to find IXX

h
IXX = IZZ =
R12 + R22
=
2
and IZZ we obtain
m h2 + 3 R12 + R22
12

i
+m
2
h
m R12 + R22
2
2
2
mh2 m(R1 + R2 )
+
3
4
The products of inertia about X, Y , Z are zero from symmetry.

*
*
The general expression for angular momentum (using
= k ) is therefore
220

2
2
mh2 m(R1 + R2 )
*
+
HO =
k
3
4
"
SOLVE:
Having the relevant rotational inertia and knowing that
1* *
HO
KE =
2
we can form the bodys kinetic energy using (8.33):
"
2
2 #
1 *
mh2 m(R1 + R2 )
*
KE = [ k ]
+
k
2
3
4
2
m(R12 + R22 ) 2
KE = mh
+
6
8
"
221

SYSTEM ANALYSIS: Chapter 8
222

SA8.1
GOAL: Determine the acceleration experienced at the head of a test subject in a centrifuge.
*
*
GIVEN: r*H/ = (2 b 1 + 3 b 2 ) ft, ra = 8 ft. The cab will experience roll (R) about the centrifuge
C
arm and planetary (P ) motion about the centrifuges base.

DRAW:
Well utilize the three dimensional kinematical equations for a rigid body:
*
v*B = v*A +
r*B/
(1)
*
*
*
r*B/ )
a*B = a*A +
r*B/ + (
(2)
SOLVE:
(a)
a*C
= a*O + P b 2 rC/ b 1 + P b 2 (P b 2 rC/ b 1 )

*
= P rC/ b 3 P2 rC/ b 1
O
We now need to determine the cabs angular velocity and acceleration.

*
cab = R b 1 + P b 2
*
cab =
(3)
*
d
*
*
*
*
*
cab
= R b 1 + P b 2 + (P b 2 )(P b 2 R b 1 )
dt
*
cab = R b 1 + P b 2 + P R b 3
(4)
We can now determine the acceleration at the test subject.

a*H
(1), (2), (4)
= a*C + (R b 1 + P b 2 + P R b 3 )(2 b 1 + 3 b 2 ) ft
*
*
*
*
*
*
+(R b 1 + P b 2 )[(R b 1 + P b 2 )(2 b 1 + 3 b 2 ) ft]
*
*
2 ] ft + *
= a*C + b 1 [6R P 2P2 ] ft + b 2 [3R
b 3 [3R 2P ] ft
*
*
*
2
2
= b 1 [10P 6R P ] ft + b 2 [3R ] ft + b 3 [10P 3R ] ft
*
2 ] ft + b [10 3 ] ft
a*H = b 1 [10P2 6R P ] ft + b 2 [3R
3
P
R
(b) To find the maximum acceleration we need to choose the limiting values of the angular rates
*
so as to add together within each b component. Letting P = 2.932 rad/s, R = 1.047 rad/s,
223

P = 0.2618 rad/s2 , R = 1.745 rad/s2
gives us a solution of
|aH | = 105 ft/s2 = 3.3g
224

Kinematics and Kinetics of Rigidbodies

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CHAPTER 8.

KINEMATICS AND KINETICS OF RIGID BODIES IN

CHAPTER 8. KINEMATICS AND KINETICS OF RIGID BODIES IN

Angular Velocity of Rigid Bodies in Three-Dimensional Motion

CHAPTER 8. KINEMATICS AND KINETICS OF RIGID BODIES IN

Angular Acceleration of Rigid Bodies in Three-Dimensional

CHAPTER 8. KINEMATICS AND KINETICS OF RIGID BODIES IN

General Motion Of and On Three-Dimensional Bodies

CHAPTER 8. KINEMATICS AND KINETICS OF RIGID BODIES IN

CHAPTER 8. KINEMATICS AND KINETICS OF RIGID BODIES IN

CHAPTER 8. KINEMATICS AND KINETICS OF RIGID BODIES IN

The absolute angular acceleration of a rigid body can be calculated by

CHAPTER 8. KINEMATICS AND KINETICS OF RIGID BODIES IN

Arm OA: (1)

Thus, the velocity of B is given by

Arm AB: (1)

We find from (2) that the acceleration of A is

Arm AB: (3)

Hence, the acceleration of B is

Arm AB: (2)

CHAPTER 8. KINEMATICS AND KINETICS OF RIGID BODIES IN

CHAPTER 8. KINEMATICS AND KINETICS OF RIGID BODIES IN

This can be written is the b -frame as:

To determine the angular acceleration of AB we can differentiate (1):

CHAPTER 8. KINEMATICS AND KINETICS OF RIGID BODIES IN

Alternatively, we could have used the expression:

CHAPTER 8. KINEMATICS AND KINETICS OF RIGID BODIES IN

v*A = (2 b 2 rad/s)(0.1 b 1 m) = 0.2 b 3 m/s

Applying the no-slip constraint that v*C = 0 gives us

rad/s = 50(2 b 3 rad/s) rad/s

CHAPTER 8. KINEMATICS AND KINETICS OF RIGID BODIES IN

CHAPTER 8. KINEMATICS AND KINETICS OF RIGID BODIES IN

CHAPTER 8. KINEMATICS AND KINETICS OF RIGID BODIES IN

From the transformation matrix, the unit vector *

CHAPTER 8. KINEMATICS AND KINETICS OF RIGID BODIES IN

The absolute angular acceleration of a rigid body can be calculated by

CHAPTER 8. KINEMATICS AND KINETICS OF RIGID BODIES IN

Arm OA: (1)

It follows that the velocity of the tip B is given by

Arm AB: (1)

Arm OA: (2)

Arm AB: (3)

Thus, the acceleration of B is

Arm AB: (2)

CHAPTER 8. KINEMATICS AND KINETICS OF RIGID BODIES IN

CHAPTER 8. KINEMATICS AND KINETICS OF RIGID BODIES IN

BC = ( 2 rad/s)( 2 rad/s) b 3 = 4 b 3 rad/s

CHAPTER 8. KINEMATICS AND KINETICS OF RIGID BODIES IN

CHAPTER 8. KINEMATICS AND KINETICS OF RIGID BODIES IN

The angular acceleration is thus:

CHAPTER 8. KINEMATICS AND KINETICS OF RIGID BODIES IN

CHAPTER 8. KINEMATICS AND KINETICS OF RIGID BODIES IN

By the geometric constraints, A2 = B2 = C2 , and G31 = G41 = C1 .

The above yields:

CHAPTER 8. KINEMATICS AND KINETICS OF RIGID BODIES IN

G2 = 1 + 2 = (33.3 + 20.0 ) rad/s

CHAPTER 8. KINEMATICS AND KINETICS OF RIGID BODIES IN

CHAPTER 8. KINEMATICS AND KINETICS OF RIGID BODIES IN

CHAPTER 8. KINEMATICS AND KINETICS OF RIGID BODIES IN

ASSUME: The wheel rolls without slip.

a*D = L1 cos (S2 cos *

CHAPTER 8. KINEMATICS AND KINETICS OF RIGID BODIES IN

CHAPTER 8. KINEMATICS AND KINETICS OF RIGID BODIES IN

aD = L1 cos (S2 cos

vT = 4 0 cos (t) cos sin (26t)