Seventh Edition

CHAPTER

18

VECTOR MECHANICS FOR ENGINEERS:

DYNAMICS
Ferdinand P. Beer
E. Russell Johnston, Jr.

Kinematics of Rigid Bodies in

Three Dimensions

Lecture Notes:
J. Walt Oler
Texas Tech University

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Seventh

Vector Mechanics for Engineers: Dynamics

Contents
Introduction

Motion About a Fixed Point or a Fixed

Axis

Rigid Body Angular Momentum in Th

ree Dimensions
Sample Problem 18.3
Principle of Impulse and Momentum

Motion of a Gyroscope. Eulerian Angles

Kinetic Energy

Steady Precession of a Gyroscope

Sample Problem 18.1

Motion of an Axisymmetrical Body Under

No Force

Sample Problem 18.2

Motion of a Rigid Body in Three
Dimensions
Eulers Equations of Motion and
DAlemberts Principle

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Vector Mechanics for Engineers: Dynamics

Introduction
The fundamental relations developed
for the plane motion of rigid bodies
may also be applied to the general
motion of three dimensional bodies.

The relation H G I
which was used to determine the
angular momentum of a rigid slab is not
valid for general three dimensional bodies
and motion.

m
a

M H
G

The current chapter is concerned with

evaluation of the angular momentum and
its rate of change for three dimensional
motion and application to effective forces,
the impulse-momentum and the workenergy principles.

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Seventh

Vector Mechanics for Engineers: Dynamics

Rigid Body Angular Momentum in Three Dimensions
Angular momentum of a body about its mass center,
n
n

H G ri vi mi ri ri mi
i 1

i 1

The x component of the angular momentum,

n

H x yi ri z zi ri y mi
i 1
n

yi x yi y xi zi z xi x zi mi
i 1

i 1

i 1

x yi2 zi2 mi y xi yi mi z zi xi mi
i 1

H x x y 2 z 2 dm y xy dm z zx dm

I x x I xy y I xz z
H y I yx x I y y I yz z
H z I zx x I zy y I z z
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Vector Mechanics for Engineers: Dynamics

Rigid Body Angular Momentum in Three Dimensions

Transformation of into H G is characterized

by the inertia tensor for the body,
Ix

I yx
I
zx

I xy
Iy
I zy

I xz

I yz
I z

With respect to the principal axes of inertia,

H x I x x I xy y I xz z
H y I yx x I y y I yz z
H z I zx x I zy y I z z

I x

0
0

0
I y
0

H x I x x

0
I z

H y I y y H z I z z

The angular momentum H G of a rigid body

and its angular velocity have the same

direction if, and only if, is directed along a

principal axis of inertia.

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Seventh

Vector Mechanics for Engineers: Dynamics

Rigid Body Angular Momentum in Three Dimensions
The momenta of the particles of a rigid body can
be reduced to:

L linear momentum

mv

H G angular momentum about G

H x I x x I xy y I xz z
H y I yx x I y y I yz z
H z I zx x I zy y I z z

The angular momentum about any other given

point O is

H O r mv H G

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Seventh

Vector Mechanics for Engineers: Dynamics

Rigid Body Angular Momentum in Three Dimensions
The angular momentum of a body constrained to
rotate about a fixed point may be calculated from

H O r mv H G
Or, the angular momentum may be computed
directly from the moments and products of inertia
with respect to the Oxyz frame.
n

H O ri vi m

i 1
n

r
i ri mi

i 1

H x I x x I xy y I xz z
H y I yx x I y y I yz z
H z I zx x I zy y I z z
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Seventh

Vector Mechanics for Engineers: Dynamics

Principle of Impulse and Momentum

The principle of impulse and momentum can be applied directly to the

three-dimensional motion of a rigid body,
Syst Momenta1 + Syst Ext Imp1-2 = Syst Momenta2
The free-body diagram equation is used to develop component and
moment equations.
For bodies rotating about a fixed point, eliminate the impulse of the
reactions at O by writing equation for moments of momenta and
impulses about O.
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Vector Mechanics for Engineers: Dynamics

Kinetic Energy
Kinetic energy of particles forming rigid body,
n

2
1
m
v
2

mi vi 2

2
1
m
v
2

2
ri mi

1
2
1
2

i 1
n

i 1

12 mv 2 12 ( I x x2 I y 2y I z z2 2 I xy x y
2 I yz y z 2 I zx z x )

If the axes correspond instantaneously with the

principle axes,
T 12 mv 2 12 ( I x x2 I y 2y I z z2 )
With these results, the principles of work and
energy and conservation of energy may be applied
to the three-dimensional motion of a rigid body.
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Seventh

Vector Mechanics for Engineers: Dynamics

Kinetic Energy
Kinetic energy of a rigid body with a fixed point,
T 12 ( I x x2 I y 2y I z z2 2 I xy x y
2 I yz y z 2 I zx z x )
If the axes Oxyz correspond instantaneously with
the principle axes Oxyz,
T 12 ( I x x2 I y 2y I z z2 )

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Vector Mechanics for Engineers: Dynamics

Sample Problem 18.1

Rectangular plate of mass m that is

suspended from two wires is hit at D in
a direction perpendicular to the plate.
Immediately after the impact,
determine a) the velocity of the mass
center G, and b) the angular velocity of
the plate.

SOLUTION:
Apply the principle of impulse and
momentum. Since the initial momenta
is zero, the system of impulses must be
equivalent to the final system of
momenta.
Assume that the supporting cables
remain taut such that the vertical
velocity and the rotation about an axis
normal to the plate is zero.
Principle of impulse and momentum
yields to two equations for linear
momentum and two equations for
angular momentum.
Solve for the two horizontal components
of the linear and angular velocity
vectors.

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Vector Mechanics for Engineers: Dynamics

Sample Problem 18.1

SOLUTION:
Apply the principle of impulse and momentum. Since the initial momenta is zero,
the system of impulses must be equivalent to the final system of momenta.
Assume that the supporting cables remain taut such that the vertical velocity and the
rotation about an axis normal to the plate is zero.

xi y j
v vxi vz k

Since the x, y, and z axes are principal axes of inertia,

1
1

H G I x x i I y y j 12
mb 2 x i 12
ma 2 y j
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Seventh

Vector Mechanics for Engineers: Dynamics

Sample Problem 18.1

Principle of impulse and momentum yields two equations for linear momentum and
two equations for angular momentum.
Solve for the two horizontal components of the linear and angular velocity vectors.
0 mvx
vx 0

Ft mv z
v z F t m

v Ft m k

1 bFt
2

12 aFt H y

Hx
1 mb 2
12
x

x 6 Ft mb

1 ma 2
12
y

y 6 Ft ma

6 Ft
ai b j

mab
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Seventh

Vector Mechanics for Engineers: Dynamics

Sample Problem 18.1

v Ft m k

6 Ft
ai b j

mab

1 mb 2 i 1 ma 2 j
H G 12
x
y
12
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Seventh

Vector Mechanics for Engineers: Dynamics

Sample Problem 18.2
SOLUTION:
The disk rotates about the vertical axis
through O as well as about OG.
Combine the rotation components for
the angular velocity of the disk.
A homogeneous disk of mass m is
mounted on an axle OG of negligible
mass. The disk rotates counterclockwise at the rate 1 about OG.

Compute the angular momentum of the

disk using principle axes of inertia and
noting that O is a fixed point.

The kinetic energy is computed from

the angular velocity and moments of
Determine: a) the angular velocity of
inertia.
the disk, b) its angular momentum
The vector and couple at G are also
about O, c) its kinetic energy, and d) the
computed from the angular velocity and
vector and couple at G equivalent to the
moments of inertia.
momenta of the particles of the disk.

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Seventh

Vector Mechanics for Engineers: Dynamics

Sample Problem 18.2
SOLUTION:
The disk rotates about the vertical axis through O as well
as about OG. Combine the rotation components for the
angular velocity of the disk.

1i 2 j
Noting that the velocity at C is zero,

vC rC 0

0 1i 2 j Li rj

L 2 r1 k

2 r1 L

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1i r1 L j

Seventh

Vector Mechanics for Engineers: Dynamics

Sample Problem 18.2
Compute the angular momentum of the disk using
principle axes of inertia and noting that O is a fixed point.

H O I x x i I y y j I z z k

mr
mL mr r
mL mr 0 0

H x I x x
H y I y y

1i r1 L j

H z I z z

1
2

1
4

1
4

H O 12 mr 21i m L2 14 r 2 r1 L j
The kinetic energy is computed from the angular velocity
and moments of inertia.

T 12 I x x2 I y 2y I z z2

12 mr 212 m L2 14 r 2 r1 L 2
T
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r2 2
6 2 1
L

1
mr 2
8

Seventh

Vector Mechanics for Engineers: Dynamics

Sample Problem 18.2

1i r1 L j

The vector and couple at G are also computed from the

angular velocity and moments of inertia.

mv mr1k

H G I x x i I y y j I z z k

2 1
2
1
2 mr 1i 4 mr r L j

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r
H G 12 mr 21 i

2L

Seventh

Vector Mechanics for Engineers: Dynamics

Motion of a Rigid Body in Three Dimensions
Angular momentum and its rate of change are
taken with respect to centroidal axes GXYZ of
fixed orientation.

Transformation of into H G is independent of

the system of coordinate axes.

m
a

M H

Convenient to use body fixed axes Gxyz where

moments and products of inertia are not time
dependent.

Define rate of change of change of H G with

respect to the rotating frame,

HG
H xi H y j H z k

Gxyz

Then,

H H
G

G Gxyz

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HG

Seventh

Vector Mechanics for Engineers: Dynamics

Eulers Eqs of Motion & DAlemberts Principle

With and Gxyz chosen to correspond
to the principal axes of inertia,

M H
H

G Gxyz

Eulers Equations:

M x I x x I y I z y z

M y I y y I z I x z x
M z I z z I x I y x y

System of external forces and effective forces

are equivalent for general three dimensional
motion.
System of external forces are equivalent
to

the vector and couple, ma and H G .

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Seventh

Vector Mechanics for Engineers: Dynamics

Motion About a Fixed Point or a Fixed Axis
For a rigid body rotation around a fixed point,

M O HO

H
H

O Oxyz

For a rigid body rotation around a fixed axis,

H x I xz
H y I yz
H z I z

M O H O

HO
Oxyz

I xz i I yz j I z k

k I xz i I yz j I z k

I xz i I yz j I z k I xz j I yz i 2

M x I xz I yz 2
M y I yz I xz 2
M z I z
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Vector Mechanics for Engineers: Dynamics

Rotation About a Fixed Axis
For a rigid body rotation around a fixed axis,
M x I xz I yz 2

M y I yz I xz 2
M z I z
If symmetrical with respect to the xy plane,
M x 0 M y 0 M z I z
If not symmetrical, the sum of external moments
will not be zero, even if = 0,

M x I yz 2 M y I xz 2 M z 0
A rotating shaft requires both static 0 and
dynamic 0 balancing to avoid excessive
vibration and bearing reactions.
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Seventh

Vector Mechanics for Engineers: Dynamics

Sample Problem 18.3
SOLUTION:
Evaluate the system of effectiveforces
by reducing them to a vector
ma
attached at G and couple H G .

Rod AB with weight W = 20 kg is

pinned at A to a vertical axle which
rotates with constant angular velocity
= 15 rad/s. The rod position is
maintained by a horizontal wire BC.

Expressing that the system of external

forces is equivalent to the system of
effective forces, write vector expressions
for the sum of moments about A and the
summation of forces.
Solve for the wire tension and the
reactions at A.

Determine the tension in the wire and

the reaction at A.
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Vector Mechanics for Engineers: Dynamics

Sample Problem 18.3
SOLUTION:
Evaluate the system
of effective forces byreducing them

to a vector ma attached at G and couple H G .

a an r 2 I 12 L cos 2 I

135 m s 2 I

2
ma ( 20 kg ) (135 m/s ) 2700 N I

H G I x x i I y y j I z z k
I x 12 mL2
x cos

2
1
H G 12 mL cos i

Iy 0
y sin

I z 12 mL2
z 0

H G ( H G )Gxyz H G

2
1
0 cos i sin j 12 mL cos i

2 2
1
12 mL sin cos k 935 N m k

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Seventh

Vector Mechanics for Engineers: Dynamics

Sample Problem 18.3
Expressing that the system of external forces is equivalent
to the system of effective forces, write vector expressions
for the sum of moments about A and the summation of
forces.

M A M A eff

2.08 J TI 0.6 I 196 J 1.04 J 2700 I 935 K

2.08T 118 K 2808 935 K

T 1856 N

F F eff

AX I AY J AZ K 1856 I 196 J 2700 I

A 844 N I 196 N J

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Seventh

Vector Mechanics for Engineers: Dynamics

Motion of a Gyroscope. Eulerian Angles
A gyroscope consists of a rotor with its mass center
fixed in space but which can spin freely about its
geometric axis and assume any orientation.
From a reference position with gimbals and a
reference diameter of the rotor aligned, the
gyroscope may be brought to any orientation
through a succession of three steps:
1) rotation of outer gimbal through about
2) AA,
rotation of inner gimbal through about
BB, of the rotor through about CC.
3) rotation
and are called the Eulerian Angles and
rate of precession

rate of nutation
rate of spin
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Vector Mechanics for Engineers: Dynamics

Motion of a Gyroscope. Eulerian Angles
The angular velocity of the gyroscope,

K j k

with K sin i cos j

sin i j cos k
Equation of motion,

M O H O Oxyz H O

H O I sin i I j I cos k

K j

M x I sin 2 cos I cos

M y I 2 sin cos I sin cos

Mz I

d
cos
dt

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Vector Mechanics for Engineers: Dynamics

Steady Precession of a Gyroscope

M O HO

When the precession and spin

axis are at a right angle,

, , are constant
I z I cos sin j
90

sin i z k
M

j
Couple is applied about an axis
O

H O I sin i I z k perpendicular to the precession Gyroscope will precess about an

and spin axes

axis perpendicular to both the

sin i cos k
spin axis and couple axis.

Steady precession,

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Vector Mechanics for Engineers: Dynamics

Motion of an Axisymmetrical Body Under No Force
Consider motion about its mass center of an
axisymmetrical body under no force but its own
weight, e.g., projectiles, satellites, and space craft.

H 0
H constant
G

Define the Z axis to be aligned with H G and z in a

rotating axes system along the axis of symmetry.
The x axis is chosen to lie in the Zz plane.
H sin
H x H G sin I x
x G
I
H y 0 I y
y 0
H G cos
I
= constant and body is in steady precession.
H z H G cos I z

Note:

x
I

tan tan
z
I

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Seventh

Vector Mechanics for Engineers: Dynamics

Motion of an Axisymmetrical Body Under No Force
Two cases of motion of an axisymmetrical body which
under no force which involve no precession:
Body set to spin about its axis of symmetry,
x H x 0

and H G are aligned

and body keeps spinning about its axis of
symmetry.
Body is set to spin about its transverse axis,
z H z 0

and H G are aligned

and body keeps spinning about the given
transverse axis.

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Seventh

Vector Mechanics for Engineers: Dynamics

Motion of an Axisymmetrical Body Under No Force
The motion of a body about a fixed point (or its mass
center) can be represented by the motion of a body cone
rolling on a space cone. In the case of steady precession
the two cones are circular.
I < I. Case of an elongated body. and the
vector lies inside the angle ZGz. The space
cone and body cone are tangent externally; the
spin and precession are both counterclockwise
from the positive z axis. The precession is said to
be direct.
I > I. Case of a flattened body. and the
vector lies outside the angle ZGz. The space
cone is inside the body cone; the spin and
precession have opposite senses. The precession
is said to be retrograde.
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