Lecture 39

21 April 2016

3-D Kinetics of Rigid Bodies

3-D Kinetics of Rigid Bodies

Angular Momentum
Generalized Newtons second law for the motion for a 3-D mass system

Moment eqn for 3-D motion will be different than that obtained for plane

motion
Consider a rigid body in general motion in space
: x-y-z are attached to the body
with origin at mass center G

: Angular velocity of body becomes

the angular velocity of x-y-z as observed
from fixed X-Y-Z

ME101 - Division III

Eulers Equation
Eulers Equation: Three dimensional equation of motion of rigid body
Rotation about a fixed point

-For system of particles, sum of moments about o is rate of

change of angular momentum

H O ri mi ( ri )
i

Eulers Equation
Secondary coordinate system at o
Express angular velocity and position
vector in secondary system

xi y j z k
ri xii yi j zi k
i

H O ri mi x y
rx ry

z
rz

H O ri mi ( ri )
i

Eulers Equation
Angular momentum components

H ox I xxx I xy y I xzz
H oy I yxx I yy y I yzz
H oz I zx x I zy y I zz z

Moment of Inertia

I xx mi ( yi2 zi2 ); I yy mi ( xi2 zi2 ); I zz mi ( xi2 yi2 )

i

Product of Inertia

I xy I yx mi xi yi ; I yz I yz mi zi yi ; I xz I zx mi zi xi
i

Angular momentum

H o H oxi H oy j H oz k
Moment @ o

substitute

dH o
M o dt

Eulers Equation
Angular momentum H o H oxi H oy j H oz k
dH o
Moment
M o dt
We deal with secondary coordinate system ;Angular velocity of
secondary system is
If body fixed system

dH oy
dH o dH ox
dH oz
di
dj
dk

i
j
k H ox H oy
H oz
dt
dt
dt
dt
dt
dt
dt
di
dj
dk
i; j; k
dt
dt
dt
dH oy
dH o dH ox
dH oz
M o dt dt i dt j dt k H o

Eulers Equation
Mo

Moment equation

dH oy
dH o dH ox
dH oz

i
j
k H o
dt
dt
dt
dt

H ox I xxx I xy y I xzz
H oy I yxx I yy y I yzz

Angular momentum

H oz I zx x I zy y I zz z

H ox I xx

H oy I yx
H I
oz zx

Matrix notation H

I xy
I yy
I zy

I xz x

I yz y
I zz z

Moment about point o

d y
dx
dz
M

I
o xx dt xy dt xz dt

d y
d y

dx
dx
dz
dz
i

I
j

I
yx

zx
yy
yz
zy
zz
dt
dt
dt
dt
dt
dt

i
x

j
y

k
z

I xx x I xy y I xz z

I yx x I yy y I yz z

I zx x I zy y I zz z

Eulers Equation
Moment equation scalar components

M ox I xx

d y
dx
dz
I xy
I xz
z ( I yxx I yy y I yzz ) y ( I zxx I zy y I zzz )
dt
dt
dt

M oy I yx

d y
dx
dz
I yy
I yz
z ( I xxx I xy y I xzz ) x ( I zxx I zy y I zzz )
dt
dt
dt

M oz I zx

d y
dx
dz
I zy
I zz
y ( I xxx I xy y I xzz ) x ( I yxx I yy y I yzz )
dt
dt
dt

Eulers Equation
Matrix notation for Moment

dx
dt
M ox I xx I xy I xz
d y

M oy I yx I yy I yz

dt
M I

I
I
zy
zz d
oz zx
z
dt

0
z y I xx I xy I xz x

0
x I yx I yy I yz y
z
y x
I zx I zy I zz z
0

[I] is inertia symmetric and

3D Kinetics of Rigid Bodies

Principal Axes
Inertia Matrix or Inertia Tensor
Inertia Tensor in xyz coordinate system

Find the orientation of coordinate system where product of inertia is zero

Eigen value of Inertia matrix ( I o I ) X 0

I xx

I yx
I zx

I xy
I yy
I zy

I xz l

I yz m 0
I zz n

l 2 m2 n2 1

Eigen value
l,m,n are orientation of principal moment of inertia

3D Kinetics of Rigid Bodies

Kinetic Energy
For any general system of mass, rigid or non-rigid:
v is the vel of mass center
G, and i is the vel of mi wrt
translating reference frame
moving with G
Total KE of a mass system = KE due to translation of the system as a
whole + KE due to motion of all particles relative to the mass center.
The translational term:
r is the vel v of mass center and G is the linear momentum of the body

For a rigid body, the relative term becomes KE due to rotation @ mass center

is the angular velocity of the body

Since dot and cross may be interchanged in triple scalar product, i.e., P x QR = PQ x R

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3D Kinetics of Rigid Bodies

Kinetic Energy
. 2

1
1
1
2mi i 2 . i mi ( i ) 2 .HG

1
1
T V .G .HG
2
2
1
1
T V .G x y
2
2

I xx

z I yx
I zx

I xy
I yy
I zy

I xz x

I yz y
I zz z

1
1
T V .G I xxx2 I yyy2 I zzz2 I xyxy I yzzy I zxxz
2
2

Example on 3-D Kinetics

Solution:
Mass Calculations:
mA = (0.1)(0.125)70 = 0.875 kg
mB = (0.075)(0.15)70 = 0.788 kg

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Example on 3-D Kinetics

Solution: mA = 0.875 kg, mB = 0.788 kg
Part A: Angular momentum is given by:
x = 0
y = 0
z = 30 rad/s
Calculating the moments and products of inertia (neglect thickness of the plate):
For MI and PI: Consider Area (face) of the plate normal to the axis under consideration.

Plate A

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Example on 3-D Kinetics

Solution: mA = 0.875 kg, mB = 0.788 kg
Part A: Angular momentum
Plate A

Since the plate is symmetric and thickness is neglected

Plate B

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Example on 3-D Kinetics

Solution: mA = 0.875 kg, mB = 0.788 kg
Part A: Angular momentum
Plate B

Summing the respective terms for the two plates:

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Example on 3-D Kinetics

Solution: mA = 0.875 kg, mB = 0.788 kg
Part A: Angular momentum

Part B: KE
Since the body is rotating @ fixed point O:

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