Mechanics of Rigid Body

Kinematics, Kinetics and Static

1.- Introduction 2.- Kinematics. Types of Rigid Body Motion: Translation, Rotation General Plane Motion 3.- Kinetics. Forces and Accelerations. Energy and Momentum Methods. Angular Momentum and Moment of Inertia Fundamental Equations of Dynamics 4.- Statics. Equilibrium.

Mechanics of Rigid Body Introduction. Rigid Body as a particular system of particles System of Particles. Internal and External forces Rigid Body is defined as a particular system of particles which does not deform. Let A and B
be any two of its particles; then, in a rigid body the distance between A y B will remain without changes. Limits of this assumption: elasticity and break

rB = rB rA
A

AB = rB / A = C

Mechanics of Rigid Body 1.- Introduction: Forces acting on a rigid body Forces acting of rigid bodies can be
also separated in two groups: (a) The external forces, represent the action of other bodies on the rigid body under consideration; (b) The internal forces are the forces which hold together the particles forming the rigid body. Only external forces can impart to the rigid body a motion of translation or rotation or both Transmissibility principle: The effect of an external force on a rigid body remains unchanged if that force is moved along its line of action. We will need the math concept of moment
of a force (torque) to describe its principle.

Connected Rigid Bodies : Mechanisms. i.e. slider-crank, gear box

Mechanics of Rigid Body Free Body Diagrams: Showing all the forces acting on the body Reactions at supports and connections

Restaurant

Exercise: Free-Body Diagram on the front wheel and on the rear wheel (a) Exercise: Free-Body Diagram constant speed (b) accelerating (c) on the rod (beam) embedded Acting brakes in the wall

Exercise: Free-Body Diagram on the sliding stair with friction in supporting points

Keeping Constant Speed over a incline with angle

Mechanics of Rigid Body

Introduction. Mass Center (Center of Gravity) of a System of Particles:

Concept. Static and Dynamic properties

The center of mass of a system of particles (Rigid Body is a particular case) is the point of the space where the system of gravitational forces formed by all elementary gravitational forces acting on each elementary particle (dm g), is equivalent to one force (mg) placed there. The potential energy of a system of particles is simply mgy, where y is the height of center of mass. This concept provides a method to find the center of mass of a body. The center of mass moves like a particle of mass m = mi under the influence of the external forces acting on the system,

Fext = m aCM
m rCM = mi ri
i i

or

mvCM = mi vi
i

To compute the point where is placed the center of mass

or

m rCM = r dm
i i

m xCM = mi xi ; m yCM = mi yi ; m zCM = mi zi

Find the center of mass (with math and without math)

2m

Mechanics of Rigid Body. Kinematics

Fig. 15.1 a 15.4

1.- Kinematics. Types of motion: TRANSLATION, ROTATION about a fixed axis , GENERAL PLANE MOTION, MOTION about a fixed pint, GENERAL MOTION TRANSLATION. A motion is said to be a
translation if any straight line inside the body keeps the same direction during the movement. All the particles forming the body move along parallel paths. If these paths are straight lines, the motion is said a rectilinear translation; if the paths are curved lines, the motion is a curvilinear motion

ROTATION about a fixed axis. The

particles forming the rigid body move in parallel planes along circles centered on the same fixed axis. If this axis, called the axis of rotation intersects the rigid body, the particles located on the axis have zero velocity and zero acceleration

Exercise: Distinguish between curvilinear translation and rotation about a fixed axis

Mechanics of Rigid Body. Kinematics

GENERAL PLANE MOTION.

Any plane motion which is neither a translation or a rotation is referred as a general plane motion. Plan motion is that in which all the particles of the body move in parallel planes. Translation and rotation are plane motions.

MOTION about a fixed point. The

three-dimensional motion of a rigid body attached at a fixed point, for example, the motion of a top on a rough floor, is known as motion about a fixed point.

GENERAL MOTION Any motion of

a rigid body which does not fall in any of the cathegories above described.

Mechanics of Rigid Body. Kinematics

Fig. 15.1 a 15.4

Exercise: Identify different types of motion

Mechanics of Rigid Body. Kinematics

TRANSLATION. Motion equations Fig. 15.1 Fig. 15.7 pag 918

rB / A = rB rA
will be constant in magnitude (rigid body) and in direction (translation motion), then

the derivative of rB / A is zero

vB = v A
aB = a A
When a rigid body is in translation all the points of the body have the same velocity and the same acceleration.

Conclusion: A rigid body in translation can be considered as a particle

Mechanics of Rigid Body. Kinematics. Rotation about a fixed axis

ROTATION about a fixed axis. Motion equations. Velocity Representative slab

Basic relationships curvilinear motion arc = angle x radius

ds = d R ds d = R dt dt v = R

Where angle is in radians!!!

Angular velocity, Angular acceleration,

d = dt

d dt

Angular velocity and angular acceleration are invariants. They are the same for all points of the solid. They are a characteristic of the rotating motion of the solid
Exercise: A compact disk rotating at 500 rev/min is scanned by a laser that begins at the inner radius of about 2.4 cm and moves out the edge at 6.0 cm. Which is the linear (tangential) velocity of the disk where the laser beam strikes: (a) at the beginning of scanning and (b) at the end?. The same for acceleration

Mechanics of Rigid Body. Kinematics. Rotation about a fixed axis

ROTATION about a fixed axis. Motion equations. Acceleration

d dt

aT =

dv d (R) d = = R = R dt dt dt v 2 (R) 2 aN = = = 2 R R R

aT R aN P

Representative slab

Mechanics of Rigid Body. Kinematics. Rotation about a fixed axis

ROTATION about a fixed axis. The vector motion equations

Vector expressions for velocity and acceleration in rotation about a fixed axis

vB = rB / A

aB = rB / A + ( rB / A )

Mechanics of Rigid Body. Kinematics. Rotation about a fixed axis

ROTATION about a fixed axis.

MechanismRigid Body connected

The red arrow shows the angular velocity of the horizontal gear 1. Draw the angular velocity for the other gear, 2 and 3. Solve the problem with quantitative values: 1 = 500 rev/min; R1 = 2 cm 2 = ? rev/min; R2 = 5 cm; R2=10 cm 3 = ? rev/min; R4 = 10 cm;

1 2 3
The bucket falls from the rest with a constant linear acceleration of 0.3 g. (a) Estimate the speed of the bucket after 5 seconds and the fallen distance. (b) Compute the angular acceleration of the pulley How fast will it rotate after 5 s.

3 2 1

Gear 1 rotates clockwise at angular velocity of 12 rad/s. How fast will gear 2 and 3 rotate. Data: R1:5 cm; R2:10 cm; R3:20 cm.

Mechanics of Rigid Body. Kinematics. General Plane Motion

GENERAL PLANE MOTION. Any general plane motion can be considered as a

translation plus a rotation Eulers Theorem

Mechanics of Rigid Body. Kinematics. General Plane Motion

GENERAL PLANE MOTION. Any general plane motion can be considered as a

translation plus a rotation

Sliding rod

Angular velocity and angular acceleration of rod are independent of the selected point to rotate

Mechanics of Rigid Body. Kinematics. General Plane Motion

Rolling without slipping.

As the wheel of radius R rotates through angle , the point of the contact between the wheel and the plane moves a distance s that is related with by s= R. If there is no sliding, the distance traveled by point C is exactly the same s.

.C

Rolling without slipping.

s = R vC = R aC = R

.C

Rolling with slipping.

An object slides and rolls

Rolling with slipping.

s R vC R aC R

Mechanics of Rigid Body. Kinematics. General Plane Motion

Find the angular velocity of sliding stair of length 3 m, when the velocity of contact point with the soil is 3 m/s. The angles between the stair and the floor is 45

A bicycle travels with a speed of 40 km/h. How fast the cycle rider pedals in rev/min?. Data: Sprocket radius: 2.5 cm; Front gear radius: 10 cm; rear wheel radius: 40 cm

The slider-crank mechanism converts the rotational motion of crank in linear motion of slider. Find the relationship between the angular velocity of crank and the linear velocity of slider piston