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Understanding Rigid Body Dynamics

Rigid body dynamics involves the study of systems where the distance between particles remains constant. The types of motion include pure translational, pure rotational, and combined translational and rotational motion, each with distinct characteristics and equations governing their behavior. The moment of inertia, a key concept, quantifies the distribution of mass relative to an axis of rotation and is influenced by the body's shape, size, and material density.

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16 views2 pages

Understanding Rigid Body Dynamics

Rigid body dynamics involves the study of systems where the distance between particles remains constant. The types of motion include pure translational, pure rotational, and combined translational and rotational motion, each with distinct characteristics and equations governing their behavior. The moment of inertia, a key concept, quantifies the distribution of mass relative to an axis of rotation and is influenced by the body's shape, size, and material density.

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pehanhansajaph
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Rigid Body Dynamics

Rigid Body
A rigid body is defined as a system of particles in which distance between each pair of particles
remains constant. (with respect to time)

A rigid body is a mathematical concept and any system which satisfies the above condition is
said to be a rigid body if it satisfies the definition.

Types of motion of rigid body

1. Pure Translational motion


2. Pure Rotational motion
3. Combined Translational and rotational motion

1) Pure Translational motion


A body is said to be in pure translational motion, if the displacement of each particle of
the system is the same during any time interval. During such a motion, all the particles
have the same displacement (s), velocity (v), and all the acceleration (a) at an instant.
Consider a system of 𝑁 particles 𝑚1 , 𝑚2 , … … … . . , 𝑚𝑁 undergoing pure translation,
then from above definition of translational motion,
𝑎1 = 𝑎2 = … … … … … .. = 𝑎𝑁 = 𝑎
𝑣1 = 𝑣2 = … … … … … .. = 𝑣𝑁 = 𝑣
From Newton’s laws for a system,
𝐹𝑒𝑥𝑡 = 𝑚1 𝑎1 + 𝑚2 𝑎2 + … … … …. + 𝑚𝑁 𝑎𝑁
𝐹𝑒𝑥𝑡 = 𝑀𝑎 ; where M is total mass of the body

𝑃 = 𝑚1 𝑣1 + 𝑚2 𝑣2 + … … … …. + 𝑚𝑁 𝑣𝑁
𝑃 = 𝑀𝑣
1 1 1
Total Kinetic Energy of body (𝑇) = 2 𝑚1 𝑣12 + 2 𝑚2 𝑣22 + … … … … + 2 𝑚𝑁 𝑣𝑁2
1
= 2 𝑀𝑣 2

2) Pure Rotational motion


Figure shows a rigid body of arbitrary shape in rotation about a fixed axis
called the “axis of rotation”. Every point of the body moves in a circle
whose center lies on the axis of rotation and every point moves through the
same angle during a particular time interval. Such a motion is called “pure
rotation”. We know that each particle has the same angular velocity (since
the body is rigid). So, 𝑣 = 𝑟𝜔
𝑣1 = 𝜔 × 𝑟1 , … … … … … , 𝑣𝑁 = 𝜔 × 𝑟𝑁
1 1 1
Total Kinetic Energy = 𝑇 = 2 𝑚1 𝑣12 + 2 𝑚2 𝑣22 + … … … … + 2 𝑚𝑁 𝑣𝑁2
1
𝑇 = 2 (𝑚1 𝑟12 + 𝑚2 𝑟22 + … … … … + 𝑚𝑁 𝑟𝑁2 )𝜔2
1
𝑇 = 𝐼𝜔2
2
2
Where 𝐼 (Moment of Inertia) = 𝑚1 𝑟12 + 𝑚2 𝑟22 + … … … … + 𝑚𝑁 𝑟𝑁2 = ∑𝑁
1 𝑚𝑖 𝑟𝑖

3) Combined Translational and rotational motion


A body is said to be combined with translational and rotational motion if all points in
the body rotates about an axis of rotation and the axis of rotation moves with respect to
the ground.
Any general motion of a rigid body can be viewed as a combined translational and
rotational motion.

Moment of Inertia (𝑰) about an axis

Moment of Inertia of a system of 𝑁 particles


about an axis is defined as;

𝐼 = 𝑚1 𝑟12 + 𝑚2 𝑟22 + … … … … + 𝑚𝑁 𝑟𝑁2

2
𝐼 = ∑𝑁
1 𝑚𝑖 𝑟𝑖

Where 𝑟𝑖 = perpendicular distance of mass


𝑚𝑖 from axis of rotation.
Moment of inertia is a scalar positive quantity.

For a continuous system,


𝐼 = ∫ 𝑟 2 𝑑𝑚; where 𝑑𝑚 is the mass of a small element.

Moment of inertia depends on,


I. Density of the material of body
II. Shape and size of body
III. Axis of rotation

In totally, we can say that it depends upon distribution of mass relative to axis of rotation.

Note:
Moment of inertia does not change if the mass,

i. is shifted parallel to the axis of rotation because 𝑟𝑖 does not change.


ii. is rotated about axis of rotation in a circular path because 𝑟𝑖 does not change.

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