MODULE- III: RIGID BODY DYNAMICS
KINEMATICS OF A RIGID BODY
i) PURE ROTATIONAL MOTION
1 The rotation of flywheel is governed by the equation ꞷ=3t 2 – 2t + 2 where ꞷ is in radians L3
per second and t is in seconds. After 1 second from the start the angular displacement was for
4 radians. Determine the angular displacement, angular velocity and angular acceleration of
the fly wheel when t= 3 seconds. (Ans. θ=26 rad, ω=23 rad/sec, α= 16 rad/s2)
2 A fly wheel, which accelerates at uniform velocity is observed to have made 100 revolutions L3
to increase its velocity from 120 rpm to 160 rpm. If the fly in originally started from rest.
Determine
(i) the value of acceleration
(ii) time taken to increase the velocity from 120 rpm to 160 rpm and
(iii) revolution made in reaching a velocity of 160 rpm starting from rest
(Ans. α=0.0977 rad/s2, t=42.86 sec, θ’=228.57 rev)
3 The step pulley shown in figure starts from rest and L3
accelerates at 2 rad /sec2 .How much time is required
for block A to move 20 m ? Find also the velocity of A
and B at that time.
(Ans: t=4.472 sec, ω=8.944 rad/sec, VA=8.944 m/s,
VB=6.7 m/s,)
4 The circular plate shown is initially at rest knowing that L3
r = 200 mm and that the plate has a constant angular
acceleration of 0.3 rad/s2, determine the magnitude of
the total acceleration of point B when
a)t = 0
b)t = 2 s
(Ans. a) a=0.06 m/s2, b) a=0.0937 m/s2)
5 The angular acceleration of the 600 mm radius circular plate shown is defined by the relation L3
α = αoe-t. Knowing that the plate is at rest when t = 0 and that α o= 10 rad/s2, determine the
magnitude of the total acceleration of point B when a) t = 0 , b) t = 0.5 s and c) t = ꚙ
(Ans. a) a=6m/s2, b) a=9.956 m/s2, c) a=60 m/s2)
6 Discs A and B rotate about vertical spindles as shown. L3
Knowing that the constant angular velocity of disc B is
ωB = 30 rad/s j and that no slipping occurs at the point
of contact of the discs, determine :
a)The angular velocity of disc A
b)The accelerations of the points of the discs which
are in contact.
(Ans. VA=-1.8k, a) ωA=-12j rad/s2 b) aB=54 i m/s2,
aA= -21.6 i m/s2,)
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7 A simple friction drive consists of two discs A and B. L3
Initially, disc A has a clockwise angular velocity of 500
rpm and disc B is at rest. It is known that disc ‘A’ will
come to rest in 60 seconds. However, rather than
waiting until both discs are at rest to bring them
together, disc ‘B’ is given a constant angular
acceleration of 2.5 rad/s2 counterclockwise.
Determine : (a) at what time, the discs can be brought
together if they are not to slip.
(b) The angular velocity of each disc as contact is made.
(Ans. αA= - 0.873 rad/s2, VB=0.15 t, a) VB= VA=0.15t,
t=19.08 s, b) ωA=35.7 rad/s, ωB=47.7 rad/s)
8 A motor gives disc ‘A’ an angular acceleration of α A = L3
(0.6t2+0.75) rad/s2, where ‘t’ is in seconds. If the initial
angular velocity of the disc is ωo = 6 rad/s, determine 6 rad/ s
m
the magnitudes of the velocity and acceleration of block 0 .15
B when t = 2 s
(Ans. at t=2 s, ω=9.1 rad/s, v=1.365 m/s, α=3.15 A
rad/s2 , a=0.4725 m/s2 )
B
9 The rotation of a flywheel is governed by the relation α = 10 t - t 2 where α is in rad/s2 and ‘t’ L3
is in seconds. How many revolutions will the flywheel make, starting from rest, before it
stops for a moment and start reversing its direction.
(Ans. t=15s, θ=1406.25 rad, θ=223.81 rev.)
10 Imagine you are designing a spinning toy where a solid disc is mounted on a slender rod. The L3
solid disc has a mass of 0.5 kg and a radius of 0.2m. The rod, which is fixed parallelly at the
centre of the disc, has a mass of 0.2 kg and a length of 0.6 m. The entire toy rotates about its
central axis with an angular velocity of 15 rad/s. Compute the total angular momentum of the
spinning toy. (Ans: L=0.24kg⋅m2/s)
11 You are designing a wind turbine prototype, and the three turbine blades are modelled as thin L3
rods. Each blade is 1.5 m long with a mass of 2 kg. The turbine hub, which connects the
blades, is modelled as a solid cylinder with a mass of 5 kg and a radius of 0.4 m. The turbine
rotates about its central axis at an angular velocity of 10 rad/s. Compute the total angular
momentum of the turbine using the total moment of inertia and the given angular velocity.
( Ans: L=94.6 kg⋅m2/s)
12 Consider a ceiling fan where the three fan blades are modelled as uniform thin rods. Each L3
blade has a length of 0.8 m and a mass of 1 kg. The central motor, which is modelled as a
solid disc, has a mass of 3 kg and a radius of 0.15 m. The fan rotates at an angular velocity of
12 rad/s. Compute the total angular momentum of the ceiling fan. ( Ans: L=13.215 kg⋅m2/s)
13 A 500 kg merry-go-round with a radius of 10 m moving at a speed of 0.5 rad/s. A 40 kg child L2
jumps on the merry-go-round at a position of 4 m away from the centre of rotation.
Determine:
(i) Moment of Inertia (M.I) of the merry-go-round (ii) Moment of Inertia (M.I) of the child
on the merry-go-round (iii) Final speed of the merry-go-round when the child jumps in.
(Ans: Im=25000 kgm2 , Ic= 640 kgm2, ꞷ=0.488 rad/sec)
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B) GENERAL PLANE MOTION: INSTANTANEOUS CENTRE OF ROTATION
(ICR)
1 Knowing that crank AB has constant L3
angular velocity of 160 rpm
counterclockwise, determine the angular
velocity of rod BD and the velocity of collar
D when Ө = 60°.
(Ans. ωBD=2.673 rad/s, VD=0.69 m/s)
2 In the position shown, bar AB has a L3
constant angular velocity of 20 rad/s
counterclockwise. Determine :
a) The angular velocity of member BDH
b) The velocity of point “G”
(Ans: VB=1000 mm/s, ωWDH=12 rad/sec,
VG=0.8 m/s)
3 Knowing that at the instant shown the L3
velocity of collar A is 900 mm/s to the left,
determine
a) The angular velocity of rod ADB,
b) The velocity of point ‘B’
(Ans: ωADB=6 rad/sec, VB=0.762 m/s)
4 Knowing that at the instant shown in figure L3
the velocity of collar D is 120 mm/sec. to
the left. Determine: a) Angular velocity is
of crank AB and rod BE. b) The velocity
of point E.
(Ans:
ωBE= 1.2rad/sec(ACW); ωAB= 2.7
rad/sec(ACW); VE=239.46mm/sec.)
5 The disc of radius r rolls without slipping L3
between two plates A and B. If plates are
having velocities v and 2v as shown in fig.
determine the angular velocity of disc and
velocity of centre.
(Ans. AI= 2r/3, BI= 4r/3, CI=r/3, ωdisc=
3V/2r, Vc= v/2 )
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C) MASS MOMENT OF INERTIA
1 The thin plate has a mass per unit area of L3
10kg/m2. Determine mass moment of inertia
about y – axis.
(Ans. Iy = 0.144 kgm2 )
2 Find the mass moment of inertia of an object L3
about an axis perpendicular to the plane and
passing through point ‘A’. The slender rod has a
mass of 4 kg/m2.
(Ans. IA = 0.0453 kgm2 )
3 For a composite pendulum made of a uniform L3
slender rod (12 kg) and a uniform disk (8 kg),
determine its mass moment of inertia about x axis
that passes through its center of gravity, as well as
the radius of gyration about the x axis.
(Ans. IX= 4.96 kgm2, KX = 0.5 m)
4 Each of the three slender rods has a mass m. L3
Determine the moment of inertia of the assembly
about an axis that is perpendicular to the page and
passes through the center point O.
(Ans: 0.5ma2)
5 Find moment of inertia about the geometric L3
centre of the given structure made up of one thin
rod connecting two similar solid spheres of radius
10cm as shown in Figure.
(Ans: I = 2.7 kgm2)
D) D’ALEMBERT’S PRINCIPLE
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1 Each of the double pulleys shown has mass moment L3
of inertia of 20 kgm2 and is initially at rest. The outer
radius is 0.4 m and inner radius is 0.2 m find:
1) Angular acceleration of each pulley
2) Angular velocity of each pulley after point A on
the cord has moved 3 m.
(Ans. Case1. α=6.765 rad/s2 ccw,
ꞷ=14.25 rad/s ccw Case2. α=4.45 rad/s2 ccw,
a=1.535 m/s2, ꞷ=11.55 rad/s ccw
Case3. α=5.945 rad/s2 ccw, ꞷ=9.44 rad/s ccw)
2 A drum of 0.1 m radius is attached to a disc of 0.2 m L3
radius. The combination has mass of 5 kg and radius 20 N
of gyration 0.15 m. A cord attached as shown in
figure and pulled with a force of 20 N. If µ s=0.25 and
µk=0.2.
Determine:
(a) Whether or not the disk slides
(b) Angular acceleration of disc G
(c) Acceleration of center g
(Ans. I=0.1125 kgm2 , α=6.4 rad/s2, a= 1.28 m/s2,
F=6.4 N, Fmax=7.26 N, The disc does not slide)
3 A right circular cylinder of mass m and radius r is L3
suspended from a cord that is wound round its
circumference. If the cylinder is allowed to fall
freely, find acceleration of its mass center G and the
tension in the cord,
(Ans. a=2g/3, T=mg/3)
4 A drum of radius 60mm is attached to a disc of L3
radius 120 mm. The combined mass is 6kg, radius of
gyration 90 mm. A cord is attached as shown in
figure and pulled with a force of 20N. The disc rolls
without sliding. Find:
(1) Angular acceleration of the disc
(2) Acceleration of G
(3) Minimum value of co-efficient of static
friction that makes such a motion possible.
(Ans. I= 0.0486 kgm2, α=8.889 rad/s2 CC,
a=1.067 m/s2 →, F=13.6 N, µ=0.231.)
5 The spool has mass of 500 kg and a radius of L3
gyration 1.3 m about c.g. It rests on the surface of a
conveyor belt for which µ=0.4. If the conveyor belt
accelerates at ac= 1 m/ s2, determine:
a) The initial tension in the wire
b) The angular acceleration of the spool
(Ans. α = 1.25 rad/s2, cw, a= 1 m/s2, T= 2320.3 N)
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