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Chapter 6:
Planar Kinematics of a
Rigid Body: Force and
Acceleration
En. Mohd Khairul Rabani bin Hashim
Biosystem Engineering Unversiti Malaysia
Perlis
Chapter Outline
1. Mass Moment of Inertia
2. Planar Kinetic Equations of Motion
3. Equations of Motion: Translation
4. Equations of Motion: Rotation about a Foxed
Axis
5. Equations of Motion: General Plane Motion
6.1 Mass Moment of Inertia
• A body has a definite size and shape, the
body can be translated and rotated
• Translational motion are governed by the
equation F = ma
• Rotational motion is governed by M = Iα
• Moment of inertia, I, is a
measure of the resistance
of a body to angular acceleration
6.1 Mass Moment of Inertia
• Moment of inertia is defined as the integral of
second moment about an axis of all the
elements of mass, dm
• For body’s moment of inertia about the z axis,
2
I = ∫m r dm
dV = (2πy)(z) dy
6.1 Mass Moment of Inertia
Procedure for Analysis
Disk Elements
• A disk element with radius y, and thickness
dz is chosen for integration,
2
dV = πy dz
• Determine moment of inertia of
the element about the z axis
and then integrate the result
6.1 Mass Moment of Inertia
Parallel Axis Theorem
• Moment of inertia about any other parallel
axis can determined by using parallel axis
theorem
• Consider body where the z’ axis passes
through the mass center G and the
corresponding parallel z axis lies at a
constant distance d away
6.1 Mass Moment of Inertia
Parallel Axis Theorem
• Using Pythagoras theorem for moment of the
body about the z axis,
Radius of Gyration
• Moment of inertia of the body about a specified
axis can be expressed using radius of gyration
• For the body’s moment of inertia
2 I
I mk or k m
6.2 Planar Kinetic Equations of Motion
• Planar kinetics to rigid bodies studies is considered to
be symmetrical with respect to fixed reference plane
• Motion of the body is viewed within the reference plane
and all the forces and moments on the body can be
projected onto the plane
6.2 Planar Kinetic Equations of Motion
• Inertial frame of reference x, y, z has its origin
coincident with the arbitrary point P in the body
• By definition, these axes do not rotate and are
either fixed or translate with constant velocity
=
6.2 Planar Kinetic Equations of Motion
Equation of Rotational Motion
• Summing moments of forces acting on the
particle about point P,
r x Fi + r x fi = r x miai or (MP)i = r x miai
Fx m(aG )x
Fy (aG ) y
MG 0
6.3 Equations of Motion: Translation
Rectilinear Translation
• If point A is chosen, which lies at a
perpendicular distance d from the line of
action, M A Mk A ; M A maG d
6.3 Equations of Motion: Translation
Curvilinear Translation
• All the particles of the body travel along
parallel curved paths
• For the equations of motion,
Fn m(aG )n
Ft (aG )t
MG 0