MDB 2043 - Dynamics

PLANAR KINETICS OF RIGID BODY:

ROTATION ABOUT A FIXED AXIS

Todays Objectives:
Students will be able to:
1. Analyze the planar kinetics
of a rigid body undergoing
rotational motion.

READING QUIZ
1. In rotational motion, the normal component of acceleration
at the bodys center of gravity (G) is always __________.
A) zero
B) tangent to the path of motion of G
C) directed from G toward the center of rotation
D) directed from the center of rotation toward G
[c]
2. If a rigid body rotates about point O, the sum of the
moments of the external forces acting on the body about
point O equals?
A) IGa

B) IOa

C) m aG

D) m aO

[B]

EXAMPLE
Given:The uniform slender rod has a
mass of 15 kg.
G

Find: The reactions at the pin O and

the angular acceleration of the
rod just after the cord is cut.

Plan: Since the mass center, G, moves in a circle of radius

0.15 m, its acceleration has a normal component toward O
and a tangential component acting downward and
perpendicular to rG.

Apply the problem solving procedure.

EXAMPLE
Solution:
(continued)
FBD & Kinetic Diagram
rG

=
Equations of motion:
+ Fn = man = mrGw2

Ox = 0 N

+ Ft = mat = mrGa

-Oy + 15(9.81) = 15(0.15)a (1)

+ MO = IG a + m rG a (rG) (0.15) 15(9.81)= IG a + m(rG)2 a

Using IG = (ml2)/12 and rG = (0.15), we can write:

IG a + m(rG)2 a = [(150.92)/12 + 15(0.15)2] a = 1.35 a

EXAMPLE
(continued)
rG

After substituting:
22.07 = 1.35 a a = 16.4 rad/s2

From Eq (1) :
-Oy + 15(9.81) = 15(0.15)a
Oy = 15(9.81) 15(0.15)16.4 = 110 N

CONCEPT QUIZ
1. If a rigid bar of length l (above) is released
from rest in the horizontal position (q = 0),
the magnitude of its angular acceleration is
at maximum when
A) q = 0

B) q = 90

C) q = 180

D) q = 0 and 180
[D]

2. In the above problem, when q = 90, the horizontal

component of the reaction at pin O is __________.
A) zero

B) m g

C) m (l/2) w2

D) None of the above

[A]

GROUP PROBLEM SOLVING

Given: Wsphere = 30 lb,
Wrod = 10 lb
Find: The reaction at the pin O
just after the cord AB is cut.
Plan:

Draw the free body diagram and kinetic diagram of the

rod and sphere as one unit.
Then apply the equations of motion.

GROUP PROBLEM SOLVING

(continued)

Solution:
FBD and kinetic diagram;
30 lb

msphere(3)(0)2

10 lb

(IG)spherea
Ox
Oy

=
msphere(3a)

(IG)roda
mrod(1.0)(0)2

mrod(1.0a)

Equations of motion:
Fn = m(aG)n: Ox = (30/32.2)(3)(0)2 + (10/32.2)(1.0)(0)2
Ox = 0 lb

GROUP PROBLEM SOLVING

(continued)
30 lb

msphere(3)(0)2

10 lb

(IG)spherea
Ox

Oy

=
msphere(3a)

(IG)roda
mrod(1.0)(0)2

mrod(1.0a)

Ft = m(aG)t: - Oy + 30 + 10 = (30/32.2) (3a) + (10/32.2) (1.0a)

Oy = 40 3.106 a
MO = Ioa:
30(3.0) + 10(1.0) = [ 0.4 (30/32.2) (1)2 + (30/32.2) (3)2 ]sphere a
+ [ (1/12) (10/32.2) (2)2 + (10/32.2) (1)2 ]rod a
100 = 9.172 a

Therefore, a = 10.9 rad/s2, Oy = 6.14 lb

(a)

ATTENTION QUIZ

(b)

10 lb

m
T
10 lb

1. A drum of mass m is set into motion in two ways: (a) by a

constant 40 N force, and, (b) by a block of weight 40 N. If aa
and ab represent the angular acceleration of the drum in each
case, select the true statement.
A) aa > ab

B) aa < ab

C) aa = ab

D) None of the above

[A]

2. In case (b) above, what is the tension T in the cable?

A) T = 40 N

B) T < 40 N

C) T > 40 N

D) None of the above

[B]