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Angular momentum…
• L defines an axis through the pivot, the rotational
axis, which points perpendicularly to the plane
momentum spanned by г and p.
• The corresponding definition holds for the moment
of the force, which is defined by
rF
and is also called torque.
The time variation of the angular momentum is
equal to the torque:
L
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Angular momentum…
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Angular momentum…
• If, in particular, = r x F = 0 = dL/dt, it then
follows that L = constant. This is the conservation
law for the angular momentum.
• But the quantity г х F vanishes only then
• (except for the trivial cases г = 0, F = 0) if г and F
point along the same or the opposite direction.
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Angular momentum…
• A force that acts exclusively parallel or
antiparallel to the position vector is called the
central force.
• This implies that central forces obey the
Conservation law of angular momentum
L = constant , because = 0.
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Moment of Inertia
• A rigid body rotates about a rotation axis z fixed
in space. By substituting the angular velocity
v r
i i
for the velocity in the kinetic energy, one obtains …
next slid
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Moment of Inertia ….
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Moment of inertia…
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Moment of Inertia…
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Moment of Inertia…
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Moment of Inertia…
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Moment of Inertia…
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Moment of Inertia…
• Equations relating the angular momentum L
and angular velocity can be put using a
single operator I acting on as:
L=I
Where (x y z )
Lx
L Ly I
Lz
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Rotation about a Fixed Axis
• A rigid body has 6 degrees of freedom, 3 of
translation and 3 of rotation.
• The most general motion of a rigid body can be
separated into the translation of a body point and
the rotation about an axis through this
• The 3 translational degrees of freedom give the
coordinates of the particular body point, 2 of the
rotational degrees of freedom determine the
orientation of the rotation axis, and the third one
fixes the rotation angle about this axis.
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Rotation about …
• If a point of the rigid body is kept fixed, then any
displacement corresponds to a rotation of the body
about an axis through this fixed point (Euler's
theorem).
• There exists an axis (through the fixed point) such
that the result of several consecutive rotations can be
replaced by a single rotation about this axis.
• For an extended body the vanishing of the sum of all
acting forces is no longer sufficient as an equilibrium
condition.
• Two oppositely oriented equal forces -F and F that act
at two points of a body separated by the distance
vector r are called a couple. A couple causes,
independent of the reference point, the torque =IxF.
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Rotation about …
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Rotation about …
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Rotation about …
For the calculation of the equilibrium condition, the origin of
the vectors ri (reference point of the moments) is arbitrary.
Actually, for the point O it follows that (see Figure 2)
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General MoMent equation
• The moment equation (the symbols , D , L , M
are used for moment force=torque or simply
moment ) is applicable to systems of particles and
rigid bodies in three and two dimensions.
• For a system of particles connected rigidly or a
rigid body in arbitrary motion,(no point is fixed)
using Newton’s second law leads to the general
moment equation given by:
• (1)
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MoMent equation…
L I I (3)
p p 22
MoMent equation…
• where Ip is the mass moment of inertia of the
body about an axis through point P and α is the
angular acceleration. Hence the moment
equation becomes:
(4)
Thus we have
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Example 2: A Two-Degree-of-Freedom
Rotational Mass–Spring System
• Consider the disk–shaft system shown in Figure
2a. The mass moments of inertia of disks are I1
and I2 , respectively. The shafts can be modeled
as massless torsional springs. The torsional mass-
spring model is shown in Figure 2b.
Fig.2
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Example 2…
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Example2…
To get the transfer function of the model proceed as follows
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