Plane Kinetics of Rigid Bodies: Chapter Outline

CHAPTER 6
PLANE KINETICS OF RIGID

BODIES
CHAPTER OUTLINE
6/1 Introduction
SECTION A Force, Mass, and Acceleration
6/2 General Equations of Motion
6/3 Translation
6/4 Fixed-Axis Rotation
6/5 General Plane Motion
SECTION B Work and Energy
6/6 Work-Energy Relations
6/7 Acceleration from Work-Energy; Virtual Work
SECTION C Impulse and Momentum
6/8 Impulse-Momentum Equations pedrosala/Shutterstock
Article 6/1 Introduction
• Comments on Chapter Focus
• Plane motion of rigid bodies which are approximated as thin slabs.
• The plane of motion will contain the mass center.
• All forces which act on the body will be projected into this plane.
• Background for the Study of Kinetics

• Chapter 3 – Two force equations define the motion of a particle in a plane.
• Chapter 4 – Kinetic relationships of a general system of particles.
• Chapter 5 – Kinematic relationships of a rigid body in plane motion.
Article 6/1 – Introduction (cont.)
• Need for Diagrams
• For problems involving the instantaneous relationships among force, mass, and
acceleration, the body or system should be explicitly defined by isolating it with its free-
body diagram.
• For problems involving the principles of work and energy, an active-force diagram
which shows only those external forces which do work may be used.
• For problems involving impulse-momentum methods, the impulse-momentum diagram
should be constructed.
• Mass Moment of Inertia

• In the kinetics of rigid bodies which have angular motion, we must introduce a property
of the body which accounts for the radial distribution of its mass with respect to a
particular axis of rotation normal to the plane of motion. This property is known as the
mass moment of inertia of the body, and it is essential that we be able to calculate this
property in order to solve rotational problems.
Article 6/2 General Equations of Motion
• From Article 4/4…
• ΣF = m, where is the acceleration of the mass center G of a rigid body.
• ΣMG = G, where G is the time rate of change of the angular momentum of the
body about the mass center G.
• Visualization of the Equations

• Free-Body Diagram
• Equivalent Force-Couple System
• Kinetic Diagram
Article 6/2 – Plane-Motion Equations (1 of 2)
• Situation of Interest
• m = mass of the body
• = acceleration of the mass center G
• ω = angular velocity of the body (in +k)
• α = angular acceleration of the body (in +k)
• Derivation
• HG = Σρi × mii = Σρi × mi(ω × ρi)
• The term ω × ρi has magnitude ωρi and is normal to ρi.
• Thus, the term ρi × i has magnitude ωρi2.
• Now, HG = Σωρi2mi = ωΣρi2mi = ω because Σρi2mi = ∫ ρ2 dm and is the mass
moment of inertia about the mass center G.
• We can now write G = = α.
Article 6/2 – Plane-Motion Equations (2 of 2)
• Resulting Equations
• Comment
• The force vector may be expressed in terms of its two scalar components using
x-y, n-t, or r-θ coordinates, whichever is most convenient for the problem at
hand.
Article 6/2 – Alternative Derivation (1 of 3)
• Situation of Interest
• mi = mass of a representative particle.
• = acceleration component of mi which results from the
acceleration of the mass center G.
• ρiα = tangential component of acceleration of mi which
results from circular motion about the mass center G.
• ρiω2 = normal component of acceleration of mi which
results from circular motion about the mass center G.
• Multiplying each acceleration component by the mass
of the particle will give an associated force.
• The moment which these force components create about
the mass center G is…
• Summation over the Body
• Because the origin is at the mass center, the terms

Σmixi = m = 0 and Σmiyi = m = 0.
• Result
• Comment
• The force component miρiω2 passes through the mass center. This means the angular
velocity of the body has no influence on the moment equation about the mass center.
• Representation of the Equations
• Free-Body Diagram
• Illustrates the Forces and Moments
• Kinetic Diagram
• Illustrates the Dynamic Response
• Comment
• Be careful to stay consistent with assumed positive directions in all equations.
Article 6/2 – Alternative Moment Equations (1 of 3)
• Moment about an Arbitrary Point P
• As previously shown, for plane motion, the

scalar form of G is α.
• The term × m is the moment of magnitude

md of m about point P.
• Result
• Alternative Form about P
• If P is fixed to the body, then the scalar form

of (P)rel becomes Ipα, where IP is the mass
moment of inertia about an axis through P
and α is the angular acceleration of the body.
• Result
• Alternative Form (cont.)
• If = 0, point P becomes the mass center G,

and the equation becomes…
ΣMG = α
• If point P a point O which is fixed in an

inertial reference system and attached to the
body, or the body extended, then aP = 0, and
the equation becomes…
Article 6/2 – Constrained versus Unconstrained Motion
• Unconstrained Motion
• The acceleration components x and y of the mass center, and
the angular acceleration α may be determined independently
of one another by direct application of Eqs. 6/1.
• Constrained Motion
• The vertical and horizontal guides for the ends of the bar
impose a kinematic relationship between the acceleration
components of the mass center and the angular acceleration of
the bar.
• This kinematic relationship must be established via the
principles developed in Chapter 5 and combined with the
force and moment equations of motion to obtain a solution.
Article 6/2 – Systems of Interconnected Bodies
• Illustration
• Equations of Interest
Article 6/2 – Analyzing Plane-Motion Kinetics Problems
• Analysis Procedure
1. Kinematics
Identify the class of motion and then solve for any needed linear and angular accelerations which can
be determined solely from the given kinematic information. For constrained plane motion, it is
usually necessary to establish the relation between the linear acceleration of the mass center and the
angular acceleration of the body by first solving the appropriate relative-velocity and relative-
acceleration equations.
2. Diagrams
Always draw a complete free-body diagram of the body to be analyzed and include an inertial
coordinate system and label all known and unknown quantities. The kinetic diagram may be
constructed to clarify the equivalence between the applied forces and the resulting dynamic response.
3. Equations of Motion
Apply the three equations of motion from Eqs. 6/1, being consistent with the algebraic signs in
relation to the choice of reference axes. Equation 6/2 or 6/3 may be employed as an alternative to the
second of Eqs. 6/1. Combine these relations with the results from any needed kinematic analysis.
Count the number of unknowns and be certain that there are an equal number of independent
equations available. A solvable rigid-body problem in plane motion, can have no more than the five
scalar unknowns which can be determined from the three scalar equations of motion, and the two
scalar component relations from the relative-acceleration equation.
Article 6/3 Translation
•• Pure
translation of a rigid body means there is no angular acceleration and no angular
velocity. The body remains parallel to its original configuration always.
• ΣFx = mx = m
• ΣFy = my = 0
• ΣMP = md (CW)
• Rectilinear Translation
• All points move in straight lines.
• Use x-y coordinates for simplicity.
• Other moment centers, e.g., P, A, or B, are permitted.
Article 6/3 – Translation (cont.)
• Equations
of Interest
• As Shown…
• ΣFn = mn = mω2
• ΣFt = mt = mα
• ΣMA = mndA (CW)
• ΣMB = mtdB (CCW)
• Curvilinear Translation
• All points move along congruent paths.
• Use n-t coordinates for simplicity.
• Other moment centers, e.g., P, A, or B are permitted.
Article 6/3 – Sample Problem 6/1 (1 of 4)
• Problem Statement
The pickup truck weighs 3220 lb and reaches a speed of 30 mi/hr from rest in a distance of 200
ft up the 10-percent incline with constant acceleration. Calculate the normal force under each
pair of wheels and the friction force under the rear driving wheels. The effective coefficient of
friction between the tires and the road is known to be at least 0.80.
• Kinematics
• Kinetics
• Comment about Friction Force
• Alternative Solution
The vertical bar AB has a mass of 150 kg with center of mass G midway between the ends. The
bar is elevated from rest at 𝜃 = 0 by means of the parallel links of negligible mass, with a
constant couple M = 5 kN∙m applied to the lower link at C. Determine the angular acceleration 𝛼
of the links as a function of 𝜃 and find the force B in the link DB at the instant when 𝜃 = 30°.
• Angular Acceleration of the Links
• Angular Velocity of the Links
• Kinematic Diagram Components

• Solution
Article 6/4 Fixed-Axis Rotation
• Description
• Fixed-axis rotation of a rigid body means all points in the body move in circles about the
rotation axis, and all lines in the body have the same angular velocity ω and the same angular
acceleration α.
• Illustration
• Comments
• Acceleration components are easily expressed in n-t coordinates.
Article 6/4 – Fixed-Axis Rotation (cont.)
• As Shown…
• ΣFn = mn = mω2
• ΣFt = mt = mα
• ΣMO = α + mt = α + m2 = ( + m2) = IOα
• Diagrams of Interest
Article 6/4 – Center of Percussion
• Description
• The center of percussion Q has the unique property that the
resultant of all forces applied to the body must pass through it.
The sum of the moments of all forces about the center of
percussion is always zero, ΣMQ = 0.
• Derivation
• mαq = α + mt = α + m2 = Ioα = mkO2α → q = kO2/
The concrete block weighing 644 lb is elevated by the hoisting mechanism shown, where the
cables are securely wrapped around the respective drums. The drums, which are fastened
together and turn as a single unit about their mass center at O, have a combined weight of 322 lb
and a radius of gyration about O of 18 in. If a constant tension P = 400 lb is maintained by the
power unit at A, determine the vertical acceleration of the block and the resultant force on the
bearing at O.
• Solution I
• Solution I (cont.)
• Solution II
The pendulum has a mass of 7.5 kg with center of mass at G and has a radius of gyration about
the pivot O of 295 mm. If the pendulum is released from rest at 𝜃 = 0, determine the total force
supported by the bearing at the instant when 𝜃 = 60°. Friction in the bearing is negligible.
• Solution
• Solution (cont.)
• Comment on Ot and Center of Percussion
Article 6/5 General Plane Motion
• Description
• General plane motion of a rigid body combines translation and rotation.
• Diagrams of Interest
Article 6/5 – Solving Plane Motion Problems (1 of 3)
•1. Choice of Coordinate System
The force equation should be expressed in whatever coordinate system most readily describes
the acceleration of the mass center. You should consider rectangular, normal-tangential, and
polar coordinates.
2. Choice of Moment Equation

You should be comfortable taking moments about several types of points, e.g., the mass center,
convenient moment centers, accelerating points, based on the needs of the problem. The various
moment equations are listed below as a reminder.
Mass Center: ΣMG = α

Arbitrary Point (scalar): ΣMP = α + md
Arbitrary Point (vector): ΣMP = IPα + ρ × maP
Fixed Point: ΣMO = IOα
3. Constrained versus Unconstrained Motion
If the motion is constrained, you must account for the kinematic relationship between the linear and
the angular accelerations and incorporate it into the force and moment equations of motion. If the
motion is unconstrained, the accelerations can be determined independently of one another by direct
application of the three motion equations.
4. Number of Unknowns
The number of unknowns cannot exceed the number of independent equations available to describe
them, and a check on the sufficiency of the relationships should always be made. At the most, for
plane motion we have three scalar equations of motion and two scalar components of the vector
relative-acceleration equation for constrained motion. Thus, we can handle as many as five unknowns
for each rigid body.
5. Identification of the Body or System

We emphasize the importance of clearly choosing the body to be isolated and representing this
isolation by a correct free-body diagram. Only after this vital step has been completed can we
properly evaluate the equivalence between the external forces and their resultants.
6. Kinematics
Of equal importance in the analysis of plane motion is a clear understanding of the kinematics
involved. Very often, the difficulties experienced at this point have to do with kinematics, and a
thorough review of the relative-acceleration relations for plane motion will be most helpful.
7. Consistency of Assumption
In formulating the solution to a problem, we recognize that the directions of certain forces or
accelerations may not be known at the outset, so that it may be necessary to make initial
assumptions whose validity will be proved or disproved when the solution is carried out. It is
essential, however, that all assumptions made be consistent with the principle of action and
reaction and with any kinematic requirements, which are also called conditions of constraint.
A metal hoop with a radius r = 6 in. is released from rest on the 20° incline. If the coefficients of
static and kinetic friction are 𝜇s = 0.15 and 𝜇k = 0.12, determine the angular acceleration 𝛼 of the
hoop and the time t for the hoop to move a distance of 10 ft down the incline.
• Assume Roll without Slip
• Check Assumption
• Evaluate Equations of Motion a Second Time
The drum A is given a constant angular acceleration 𝛼0 of 3 rad/s2 and causes the 70-kg spool B
to roll on the horizontal surface by means of the connecting cable, which wraps around the inner
hub of the spool. The radius of gyration k of the spool about its mass center G is 250 mm, and
the coefficients of friction between the spool and the horizontal surface are 𝜇 s = 0.25 and 𝜇k =
0.20. Determine the tension T in the cable and the friction force F exerted by the horizontal
surface on the spool.
• Solution (Assume Roll without Slip)
• Check Assumption
The slender bar AB weighs 60 lb and moves in the vertical plane, with its ends constrained to
follow the smooth horizontal and vertical guides. If the 30-lb force is applied at A with the bar
initially at rest in the position for which 𝜃 = 30°, calculate the resulting angular acceleration of
the bar and the forces on the small end rollers at A and B.
• Acceleration of G
• Kinetics
A car door is inadvertently left slightly open when the brakes are applied to give the car a
constant rearward acceleration a. Derive expressions for the angular velocity of the door as it
swings past the 90° position and the components of the hinge reactions for any value of 𝜃. The
mass of the door is m, its mass center is a distance r from the hinge axis O, and the radius of
gyration about O is kO.
• Acceleration of G
• Angular Properties of the Door
• Hinge Reactions
Article 6/6 Work-Energy Relations
• Introduction
• Work of Forces – Treated in Art. 3/6

U = ∫ F·dr or U = ∫ (F cos α) ds
• Work of Couples
• M = Fb
• In time dt, the body rotates by dθ and line AB moves to A′B′.
• For the translational part of the motion, the work by the forces will cancel.
• The work done by the couple is U = ∫ M dθ.
• The work is positive if the couple acts in the same direction in which the body
rotates and negative otherwise.
Article 6/6 – Kinetic Energy (1 of 5)
• (a) Translation
• All particles in the body have a common velocity v.
• Body Mass, m
• Particle Mass, mi
• Kinetic Energy of a Particle, Ti = ½ miv2
• Total Kinetic Energy of the Body, T = Σ½ miv2 = ½ v2 Σmi
• Result:
• (b) Fixed-Axis Rotation
• The body rotates with an angular velocity ω about a fixed axis through O .
• Body Mass, m
• Kinetic Energy of a Particle, Ti = ½ mivi2 = ½ mi(riω)2
• Total Kinetic Energy of the Body, T = Σ½ mi(riω)2 = ½ ω2 Σmiri2 and IO = Σmiri2
• Result:
• (c) General Plane Motion
• The body rotates and translates simultaneously.
• Body Mass, m
• Mass Center Velocity,
• Angular Velocity, ω
• Radial Distance of Particle from G, ρi
• Kinetic Energy of a Particle, Ti = ½ mivi2 = ½ mi(2 + ρi2ω2 + 2ρiω cosθ)

• (c) General Plane Motion (cont.)
• Total Kinetic Energy of the Body
Ti = Σ½ mi(2 + ρi2ω2 + 2ρiω cosθ)
• First Term: Σ½ 2mi = ½ 2Σmi = ½ m2
• Second Term: Σ½ mi ρi2ω2 = ½ ω2Σmi ρi2 = ½ ω2
• Third Term: Σ½ mi (2ρiω cosθ) = ωΣmi ρi cos θ = ωΣmi yi = ωm
and = 0, so…
• Result:
• Comment about the Instantaneous Center of Zero Velocity, C
• The kinetic energy of the body may also be expressed in relation to an
instantaneous center of zero velocity.
• Point C behaves analogous to a fixed point O, since the center of zero velocity is
stationary at the instant considered.
• Result:
Article 6/6 – Potential Energy
• Gravitational Potential Energy
• Vg = mg where denotes the height of the mass center G above some datum.
• Elastic Potential Energy

• Ve = ½ kx2, where x is the amount of stretch (or compression) in the spring.
Article 6/6 – The Work-Energy Principle
• Work-Energy Equation
• Potential Energy Form of the Equation
• Comments
• When applying the work-energy principle to a single rigid body, either a free-body
diagram or an active-force diagram should be used.
• For an interconnected system of rigid bodies, an active-force diagram should be drawn
to determine all forces which do work on the system.
• This method is most useful for analyzing conservative systems with negligible friction.
Article 6/6 – Power (1 of 3)
• Power is the rate at which work is performed (Art. 3/6).
• Power from Forces:
• Power from Couples:
• Total Instantaneous Power:

• Power is also expressed as the rate at which the total mechanical energy
of a rigid body or a system of rigid bodies is changing.
• Work-Energy Relation for Infinitesimal Displacement:

dU′ = dT + dV where dU′ is the work of active forces and couples on the system.
• Power of the Active Forces and Couples

• The time rate of change of kinetic energy may also be expressed as…
where R is the resultant of all forces acting on the body and is the resultant
moment about the mass center G of all forces.
The wheel rolls up the incline on its hubs without slipping and is pulled by the 100-N force
applied to the cord wrapped around its outer rim. If the wheel starts from rest, compute its
angular velocity 𝜔 after its center has moved a distance of 3 m up the incline. The wheel has a
mass of 40 kg with center of mass at O and has a centroidal radius of gyration of 150 mm.
Determine the power input from the 100-N force at the end of the 3-m motion interval.
• Solution
The 4-ft slender bar weighs 40 lb with mass center at B and is released from rest in the position
for which 𝜃 is essentially zero. Point B is confined to move in the smooth vertical guide, while
end A moves in the smooth horizontal guide and compresses the spring as the bar falls.
Determine (a) the angular velocity of the bar as the position 𝜃 = 30° is passed and (b) the
velocity with which B strikes the horizontal surface if the stiffness of the spring is 30 lb/in.
• Part (a)
• Part (b)
• Part (b) – Alternative Approach
In the mechanism shown, each of the two wheels has a mass of 30 kg and a centroidal radius of
gyration of 100 mm. Each link OB has a mass of 10 kg and may be treated as a slender bar. The
7-kg collar at B slides on the fixed vertical shaft with negligible friction. The spring has a
stiffness k = 30 kN/m and is contacted by the bottom of the collar when the links reach the
horizontal position. If the collar is released from rest at the position 𝜃 = 45° and if friction is
sufficient to prevent the wheels from slipping, determine (a) the velocity vB of the collar as it
first strikes the spring and (b) the maximum deformation x of the spring.
• Part (a)
• Part (b)
Article 6/7 Acceleration from Work-Energy; Virtual Work
• Work-Energy Equation for Differential Motions: dU′ = dT + dV
• dU′ = total work done by all active nonpotential forces acting on the system
• Differential Change in Kinetic Energy, dT

• dT = d(Σ½mii2 + Σ½iωi2) = Σmiidi + Σiωidωi
• The subscript i denotes a representative body of the interconnected system.
• di = the respective changes in the magnitudes of the center-of-mass velocities
• dωi = the respective changes in the magnitudes of the angular velocities
• For each body… miidi = miidi and iωidωi = iαidθi

• di = infinitesimal linear displacement of the center of mass of the body
• dθi = infinitesimal angular displacement of the body in the plane of motion
• Also, i·di = (i)tdi and αi = i.
Article 6/7 – Acceleration from Work-Energy (cont.)
• Differential Change in Kinetic Energy (cont.)
• dT = Σmii·di + Σiαidθi or dT = ΣRi·di + ΣMG,i·αidθi
• Ri = the resultant force acting on body i
• MG,i = the resultant couple acting on body i
• Differential Change in Potential Energy, dV

• dV = d(Σmighi + Σ½kjxj2) = Σmigdhi + Σkjxjdxj
• hi = the vertical distance of the center of mass of the representative body of mass mi
above any convenient datum
• xj = the deformation, tensile or compressive, of a representative elastic member of the
system whose stiffness is kj
• Complete Expression
Article 6/7 – Virtual Work
• Virtual Displacement
• Any assumed and arbitrary displacement, linear or angular, away from the
natural or actual position. It is consistent with the constraints of the system.
• Virtual Work
• The work done by any force which acts on the body during a virtual
displacement.
• Equation of Interest
δU′ = Σmii·δi + Σiαiδθi + Σmigδhi + Σkjxjδxj

The movable rack A has a mass of 3 kg, and rack B is fixed. The gear has a mass of 2 kg and a
radius of gyration of 60 mm. In the position shown, the spring, which has a stiffness of 1.2
kN/m, is stretched a distance of 40 mm. For the instant represented, determine the acceleration a
of rack A under the action of the 80-N force. The plane of the figure is vertical.
• Kinetic Energy
• Potential Energy and the Acceleration
A constant force P is applied to end A of the two identical and uniform links and causes them to
move to the right in their vertical plane with a horizontal acceleration a. Determine the steady-
state angle 𝜃 made by the bars with one another.
• Acceleration Terms
• Potential Energy and Virtual Changes
Article 6/8 Impulse-Momentum Equations
• Linear Momentum of a Mass System or Rigid Body
• Note that this result and the ones which follow are identical to those
developed in Chapter 4 for a system of particles, and analogous to the
equations developed in Chapter 3.
• Newton’s Generalized Second Law (Vector Form)
• Newton’s Generalized Second Law (Scalar Form)

Article 6/8 – Angular Momentum Equations (1 of 2)
• Angular Momentum about the Mass Center, G
• Moment-Angular-Momentum Relation about the Mass Center
• Angular Momentum about any Point, O

Article 6/8 – Angular Momentum Equations (2 of 2)
• Angular Momentum about a Fixed Point, O
• Moment-Angular-Momentum Relation about a Fixed Point

Article 6/8 – Interconnected Rigid Bodies
• Extension to a System of Interconnected Rigid Bodies
• Integral Relationships
Article 6/8 – Conservation of Momentum
• Linear Momentum
• If ΣF = 0 for a given interval of time, then the linear momentum of a rigid
body, or system of interconnected rigid bodies, is conserved.
• Angular Momentum
• If ΣM = 0 about either a fixed point O, or about the mass center G, then the
angular momentum of a rigid body or system of interconnected rigid bodies is
conserved.
Article 6/8 – Impact of Rigid Bodies
• Comments
• Impact of rigid bodies is a complex interrelationship of energy and momentum
transfer, energy dissipation, elastic and plastic deformation, relative impact
velocity, and body geometry.
• Chapter 3 studied the simplified cases of central and oblique impact of
spheres. This simplification assumed a constant value of the coefficient of
restitution, but modern studies show that the coefficient of restitution is a
complex and variable factor of limited use.
• Attempts to extend the simplified theory of Chapter 3 and utilize a coefficient
of restitution for the noncentral impact of rigid bodies of varying shape is a
gross oversimplification which has little practical value, and is therefore not
included in this text.
The force P, which is applied to the cable wrapped around the central hub of the symmetrical
wheel, is increased slowly according to P = 1.5t, where P is in pounds and t is the time in
seconds after P is first applied. Determine the angular velocity 𝜔2 of the wheel 10 seconds after
P is applied if the wheel is rolling to the left with a velocity of its center of 3 ft/sec at time t = 0.
The wheel weighs 120 lb with a radius of gyration about its center of 10 in. and rolls without
slipping.
• Impulse-Momentum Diagram
• Equations
The sheave E of the hoisting rig shown has a mass of 30 kg and a
centroidal radius of gyration of 250 mm. The 40-kg load D which is
carried by the sheave has an initial downward velocity v1 = 1.2 m/s at
the instant when a clockwise torque is applied to the hoisting drum A
to maintain essentially a constant force F = 380 N in the cable at B.
Compute the angular velocity 𝜔2 of the sheave 5 seconds after the
torque is applied to the drum and find the tension T in the cable at O
during the interval. Neglect all friction.
• Impulse-Momentum Diagrams
• Angular Momentum
• Linear Momentum
• The uniform rectangular block of dimensions shown is sliding to the left on the horizontal
surface with a velocity v1 when it strikes the small step at O. Assume negligible rebound at the
step and compute the minimum value of v1 which will permit the block to pivot freely about O
and just reach the standing position A with no velocity. Compute the percentage energy loss n
for b = c.
• Impulse-Momentum Diagrams
• Part I: Collision
• Part II: Rotation about O

Plane Kinetics of Rigid Bodies: Chapter Outline

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CHAPTER 6

PLANE KINETICS OF RIGID

• Background for the Study of Kinetics

• Mass Moment of Inertia

• Visualization of the Equations

• Because the origin is at the mass center, the terms

• As previously shown, for plane motion, the

• The term × m is the moment of magnitude

• If P is fixed to the body, then the scalar form

• If = 0, point P becomes the mass center G,

• If point P a point O which is fixed in an

• Kinematic Diagram Components

2. Choice of Moment Equation

Mass Center: ΣMG = α

5. Identification of the Body or System

• Work of Forces – Treated in Art. 3/6

• Kinetic Energy of a Particle, Ti = ½ miv2

• Total Kinetic Energy of the Body, T = Σ½ miv2 = ½ v2 Σmi

• Kinetic Energy of a Particle, Ti = ½ mivi2 = ½ mi(riω)2

• Total Kinetic Energy of the Body, T = Σ½ mi(riω)2 = ½ ω2 Σmiri2 and IO = Σmiri2

• Mass Center Velocity,

• Radial Distance of Particle from G, ρi

• Kinetic Energy of a Particle, Ti = ½ mivi2 = ½ mi(2 + ρi2ω2 + 2ρiω cosθ)

Ti = Σ½ mi(2 + ρi2ω2 + 2ρiω cosθ)

• First Term: Σ½ 2mi = ½ 2Σmi = ½ m2

• Second Term: Σ½ mi ρi2ω2 = ½ ω2Σmi ρi2 = ½ ω2

• Third Term: Σ½ mi (2ρiω cosθ) = ωΣmi ρi cos θ = ωΣmi yi = ωm

• Elastic Potential Energy

• Potential Energy Form of the Equation

• Power from Forces:

• Power from Couples:

• Total Instantaneous Power:

• Work-Energy Relation for Infinitesimal Displacement:

• Power of the Active Forces and Couples

• Differential Change in Kinetic Energy, dT

• For each body… miidi = miidi and iωidωi = iαidθi

• Differential Change in Potential Energy, dV

δU′ = Σmii·δi + Σiαiδθi + Σmigδhi + Σkjxjδxj

• Newton’s Generalized Second Law (Scalar Form)

• Moment-Angular-Momentum Relation about the Mass Center

• Angular Momentum about any Point, O

• Moment-Angular-Momentum Relation about a Fixed Point

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