Dynamics

ENME608 Mechanisms and Dynamics of Machinery

Attribution
Various content in this presentation may be
reproduced from the prescribed text:
• Robert L. Norton, Design of Machinery: An
Introduction to the Synthesis and Analysis of
Mechanisms and Machines, 5th Edition, McGraw-
Hill
Student response system
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Notation
Force applied at point A on link 1
֊
𝐹 𝐴1
Torque applied about point A on link 1
֊
𝑇 𝐴1
Mass of link 1
m1
Polar mass moment of inertia about axis 𝑥ො through point
c on link 1
𝐼𝑥ො 𝑐1
Moment of inertia matrix about point c on link 1
𝐼𝑐1
Moments of Inertia
z
• Polar moment – “resistance to spinning
about an axis”
y
𝐼𝑧𝑧 𝑐1 = 𝐼𝑧Ƹ 𝑐1 = න 𝑟𝑥2 + 𝑟𝑦2 𝑑𝑚
dm
• Product moment rx ry
x
𝐼𝑥𝑦 𝑐1 = න 𝑟𝑥 𝑟𝑦 𝑑𝑚

• Inertia matrix
𝐼𝑥𝑥 𝑐1 −𝐼𝑥𝑦 𝑐1 −𝐼𝑥𝑧 𝑐1
𝐼𝑐1 = −𝐼𝑥𝑦 𝑐1 𝐼𝑦𝑦 𝑐1 −𝐼𝑦𝑧 𝑐1
−𝐼𝑥𝑧 𝑐1 −𝐼𝑦𝑧 𝑐1 𝐼𝑧𝑧 𝑐1

https://en.wikipedia.org/wiki/List_of_moments_of_inertia
Which products of inertia are
zero?
a) Ixy, Iyz
b) Ixy, Ixz
c) Ixz, Iyz
d) Ixz
z
e) Ixy

y
Moments of Inertia -
Transformations
Parallel axis theorem
֊ ֊
𝐼𝑥𝑑
ො 1 = 𝑚 𝑑𝑔 . 𝑑𝑔 + I𝑥𝑔
ො 1
Inertia matrix in rotated reference frames
𝐼𝑐1 = 𝑅𝑀. 1𝐼𝑐1 . 𝑅𝑀𝑇
where
• 1𝐼𝑐1 is the inertia matrix expressed in a coordinate
system fixed to the link 1
• 𝐼𝑐1 is the inertia matrix expressed in the ground
(inertial) coordinate system
• RM is the rotation matrix necessary to transform link 1
coordinates to ground coordinates
Newton’s law: Sum of Forces

෍ 𝐹Ԧ𝑝𝑛1 = 𝑎Ԧ𝑔1 𝑚1
𝑛
i.e. sum of forces 𝐹Ԧ𝑝𝑛1 applied at n points 𝑝𝑛 to link 1 determines the
acceleration of the centre of mass 𝑎Ԧ𝑔1
Newton’s law: Sum of Torques

෍ 𝑇𝑔1𝑛 = 𝐼𝑔1 . 𝛼Ԧ1 + 𝜔 × (𝐼𝑔1 . 𝜔1 )

𝑛
i.e. sum of n torques 𝑇𝑔1𝑛 about the centre of mass ‘g’ applied to link 1 is
related to the angular velocity and angular acceleration of the link

For plane motion: σ𝑛 𝑇𝑔1𝑛 = 𝐼𝑧Ƹ 𝑔1 . 𝛼Ԧ1

Summing about an alternative point ‘c’
෍ 𝑇𝑐1𝑛 = 𝐼𝑔1 . 𝛼Ԧ1 + 𝜔 × 𝐼𝑔1 . 𝜔1 + 𝑎Ԧ𝑔1 × 𝑔𝑐 𝑚1
𝑛
Gyroscopic Effect
 Gyroscopic Effect
֊ ′ ′
֊ ֊ ሿ ′ ሿ ሿ ֊
𝛼 𝑡 = 𝜔 [𝑡൧ = 𝑢𝐵 [𝑡 𝜔 [𝑡 + 𝜔[𝑡 𝑢𝐵 [𝑡ሿ

(−) 𝑢֊𝐵 [𝑡ሿ

′
(−) 𝑢֊𝐵 [𝑡ሿ

𝜏Ԧ 𝑡 = 𝑰 𝛼Ԧ 𝑡 + 𝜔[𝑡ሿ × 𝑰𝜔[𝑡ሿ