Rigid Body Motion: Forces & Acceleration
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ScribdTranslationsRigid Body Motion: Forces & Acceleration
Translated by
ScribdTranslationsPLANE MOVEMENT OF A RIGID BODY: FORCE AND ACCELERATION
1.- EQUATIONS OF MOTION
Equations of translational motion. The external forces acting on a body.
rigid are represented by the effect of gravitational forces, or contact between bodies
adjacent.
The equation of the resultant of this system of forces:
F = maG
The equation of rotational motion
Establishes that the sum of the moments of all external forces calculated with respect to
The center of mass G is equal to the product of the moment of inertia of the body with respect to a
axis that passes through G and the angular acceleration of the body.
MGIG
2.- EQUATIONS OF MOTION: TRANSLATION
When a rigid body experiences a translation, all its particles have the same
acceleration, so thatG=[Link] = 0
A.-Linear translation. When a body is subjected to linear translation. All its
Particles travel along parallel straight line trajectories. The body diagrams
free and kinetic are shown in the figure:
Free body diagram Kinetic diagram (k)
The equations of motion are:
Fx= m (aG)x
Fy= m (aG)y
M G= 0
Moments regarding other points on and off the body are also added, in which
in case of the moment of demaG must be taken into account. For example, if point A is chosen, which is
find at a distance from the action line of the theme.G the following equation is applicable to
moment:
MA= (MA)k
MA=G)d
B.- Curvilinear translation. When a rigid body undergoes curvilinear translation, all its
particles move along curved parallel trajectories. For the analysis, it is advisable to use a
coordinate system in the normal and tangential directions to the trajectory of the motion
Free body diagram Kinetic diagram (k)
The three scalar equations of motion:
Fn= m (aG)n
Ft = m (aG)t
MG = 0
Here (toG)ty(aG)n represent, respectively, the magnitudes of the components of
tangential and normal acceleration of point G.
If the moment equation MG= 0 is replaced by a sum of moments with respect to
to the arbitrary point B:
MB= (ℳB)K
MB= e [m (aG) t ]–h [m (aG) n]
ANALYSIS PROCEDURE
Free body diagrams.
Establish the inertial coordinate system x, y, t and draw the body diagram.
free from all external forces and the torque moments acting on the body.
In the kinetic diagram (K) indicates the direction and the sense of the acceleration of the center.
body massG.
Identify the unknowns present in the problem.
If the solution decides to use the rotational motion equation MP= (ℳP)K,
then draw in the kinetic diagram, the components (m(aG)x,m(aG)yom(aG)nm(aG)t.
Equations of motion
Apply the three equations of motion according to the sign convention
established.
The momentum equation MG= 0 can be replaced by the equation of
kinetic moments MP= (ℳP)K.
If the body is in contact with a rough surface and sliding occurs, use the
friction equation F = μkN. The frictional force F always acts on the surface of
contact and opposes the movement
3.-Equations of motion: Rotation about a fixed axis
Free body diagram Kinetic diagram (K)
The weight of the body W = mg, and the reaction Fo at the pin is included in the diagram of
free body since they represent external forces acting on the body. The two
components m(aG)y m(aG)nshown in the kinetic diagram, are associated with the
tangential and normal components of acceleration of the center of mass of the body. The vector
IG acts in the same direction as and has a magnitude of IG whereIGit is the moment to
body mass calculated with respect to an axis perpendicular to the page that passes through G.
The equations of motion:
Fn= m (aG)n
Ft = m (aG)t
MGIG
The tangential component of acceleration has a magnitude of (aG)t= Gand must act in
a direction that is consistent with angular acceleration of the body. The magnitude of the
normal component of accelerations (aG)= 2rG
The moment equation can be replaced by a sum of moments with respect to
any arbitrary point P on or outside the body if the moments are taken into account
(ℳK)P, generated byIG ,m(aG)tym(aG)n, regarding the point. In many problems it is
It is convenient to sum moments with respect to the pin to eliminate the unknown force.
For. Of the kinetic diagram:
MO= (Mo)K
MO= rGm(aG) t] + IG
The moment of m(aG)nit is not included in the sum since the line of action of this vector passes
perO. Replacing (aG)t= rG we can rewrite the previous equation as
MTheIG+ mr2) G.
of the parallel axes theorem: ITheIG+ md2
MTheIO
and therefore the term in parentheses represents the moment of inertia of the body with
regarding the fixed axis of rotation that passes through O.
MTheIO
ANALYSIS PROCEDURE
Free body diagram.
Set the inertial coordinate system x, y, t and specify the direction and sense of
the accelerations (aG)y(aG)t, and the angular acceleration of the body. Remember that (toG)tmust
act in a tangential direction, while (aG)nalways acts towards the axis of
rotation, the point O.
Draw the free body diagram of all external forces and moments of torque that
they act on the body.
Calculate the moment of inertiaGHiO
Identify the unknowns in the problem.
Equations of motion
Apply the three equations of motion according to the sign convention.
established.
If the moments are summed with respect to the center of mass G of the body, then
MGIG , since and m(aG)t y m(aG)nThey do not generate moment with respect to G.
If the moments are summed with respect to the support of the pin on the axis of
rotation, then m(aG)ndoes not generate moment with respect to A G, and MOIO
4.- Equations of motion: General plane motion
The rigid body shown in the figure is subjected to a general plane motion caused by
by the externally applied force and torque.
Free body diagram Kinetic diagram (K)
The free body and kinetic diagrams for the body are shown in the figure. When choosing, as
A coordinated inertial system x, y is shown; the three equations of motion:
Fx= m (aG) x
Fy= m (aG) y
MGIG
In some problems, it may be convenient to sum moments with respect to a point P.
different from G. This is usually done to eliminate unknown forces from the
sum of moments.
Fx= m (aG) x
Fy= m (aG) y
MP= (ℳP)K
Here (ℳP)Krepresents the sum of moments of IG oh myG(or its components) with
regarding aAccording to what is determined by the data shown in the kinetic diagram.
No slipping. If the frictional force F is large enough to allow
that the disk rolls without slipping, thenGit may be related to through the
kinematic equation
aG= r
No slipping occurs if F ≤ μsN, where μsit is the coefficient of static friction. If the equality
It is satisfied, the problem is solved. However, when F≥μsNo, the problem must
reconsider, since the disc slides while rolling.
Sliding. In the case of sliding, and toGthey are independent of each other
Another, instead, the magnitude of the frictional force is related to the magnitude of the
normal force using the coefficient of kinetic friction μkthis is,
F = μkN
ANALYSIS PROCEDURE
The kinetic problems involving general planar motion of a rigid body can
to be solved using the following procedure.
Establish the inertial coordinate system x, y; and draw the free body diagram for it.
body.
Specify the direction and sense of the acceleration of the center of mass, a,Gand the
angular acceleration of the body.
Calculate the moment of inertia IG.
Identify the unknowns in the problem.
If it is decided that the rotational motion equation will be used MP= (ℳP)Kthen
draw the kinetic diagram to help 'visualize' the 'moments' developed by
the components m(aG)xG)yeIG .
PROPOSED PROBLEMS
1.- The loaded mine cart has
a mass of 2000 kg and is subjected to the
towed vehicle by means of the
light articulated bar CD. If the
vehicle of trailer has a
acceleration of 3 m/s2determine the
reactions under the wheels of small
size A and B
2.- A uniform rectangular plate weighing 5 kg is
keeps in the indicated position by means of the
three strings represented. Knowing that θ =
300immediately after being cut
the chord CF, determine
a) the acceleration of the plate,
b) the tension in the strings AD and BE
3.- At the shown moment, the CD element rotates with
an angular velocity of ωCD= 8 rad/s. If the element
CD is subjected to a torque of M = 650.
[Link], determine the force in element AB and the
angular acceleration of the element.
The weight of the box is 150 lb and it is fixed to the platform.
Do not consider the weight of the platform and the bars.
4.- The wheel of the figure has a radius of 500 mm, a
mass of 120 kg and a radius of gyration of 375 mm. A block
a 15 kg weight is attached to a wire coiled around the
the wheel and the system is released from rest. Neglecting the
effect of friction, find:
a) The acceleration of the block.
b) the speed of the block after traveling 1.5 m.
5.- The thin rod AB weighing 8 lb and another rod
slim BC of 5 lb are connected at B by
a fastener and a rope AC. The set can
rotate in the vertical plane under the action of the
gravity and a couple M applied to the rod BC.
Knowing that in the represented position the
The angular velocity of the system is zero, find:
the angular acceleration of the set and the magnitude
from the moment of pair M
6.- The mass of the disk is 50 kg and the mass
The bar weighs 25 kg. A coiled cable
The disc A is tied to the bar at B.
In the shown position, the bar BC is
horizontally and rotating clockwise
counterclockwise with an angular velocity of 5
rad/s. Determine the angular acceleration
from disk A, the tension in the cable, the
horizontal and vertical components of the
reaction in C
7.- A force P = 260 N acts on the bar
as shown in the figure. The weight of the
the wheel weighs 375 N and its radius of rotation with respect to
the axle of the wheel is 231 mm. The wheel goes
rolling without slipping and in the position
the showed one has an angular velocity of 15
rad/s in a clockwise direction. Determine the
angular acceleration of the wheel and the
horizontal and vertical components
8.- The bars AB and BC weigh 10 kg and 15 kg.
kg of mass. In the position shown, the
collar C is moving towards the
left at a speed of 1 m/s,
increasing its speed at a rate of 2
m/s2Determine the force F and the forces
That the laces A and B exert on the
bar.