Dinamika

TKM 2302 / 3 SKS

Dr. Indraswari Kusumaningtyas
14-11-2014

Jurusan Teknik Mesin dan Industri, Fakultas Teknik, Universitas Gadjah Mada

4 Kinetika Benda Tegar

Gaya dan Percepatan - II
We continue the previous discussion on the relations between
the forces acting on a rigid body, the shape and mass of the
body, and the motion produced.
Today:
Constrained plane motion
Non-centroidal rotation about a fixed axis
Rolling motion

Jurusan Teknik Mesin dan Industri FT UGM

Dinamika Kinetika Benda Tegar Gaya & Percepatan

Constrained Plane Motion

Most engineering applications deal with rigid
bodies moving under given constraints, e.g.
cranks, non-slipping rolling wheels and
connecting rods.
Constrained plane motion:
motions with definite relations
between the components of the
acceleration of the mass center
and the angular acceleration of
the body.
Solution of a problem involving
constrained plane motion begins
with a kinematic analysis.
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Dinamika Kinetika Benda Tegar Gaya & Percepatan

Constrained Plane Motion

Example of the slender rod AB:
A. If , , and are given, find P, NA and NB.
Kinematic analysis yields the acceleration of
the mass center G:
Application of dAlemberts
principle yields P, NA and NB.
We can also use the method of
dynamic equilibrium.

B. If P, and are known, find ,

Kinematic analysis: express ax and ay in
terms of the rods angular acceleration
Apply dAlemberts principle to get , NA and
NB.
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Dinamika Kinetika Benda Tegar Gaya & Percepatan

Constrained Plane Motion

Non-Centroidal Rotation about a fixed axis
The motion of a rigid body is constrained to
rotate about a fixed axis O which does not
pass through its mass center.
The tangential and normal components of
the acceleration of G about O is:

Since line OG is part of the rigid body, then the above equation
also defines the kinematic relation between the motion of the
mass center G and the motion of the body about G.
It can be used to eliminate at and an from the kinetic equations
derived by dAlemberts principle or the dynamic equilibrium.
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Dinamika Kinetika Benda Tegar Gaya & Percepatan

Constrained Plane Motion

Parallel-axis theorem
If we know the moment of inertia about an axis passing through G,
we can find the moment of inertia about any other parallel axis.

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Dinamika Kinetika Benda Tegar Gaya & Percepatan

Constrained Plane Motion

Composite bodies
If a body consists of a number of simple shapes, the moment of
inertia of the body about any axis can be determined by:

- Calculating the moment of inertia of each simple-shape

composite parts about the axis.
- Algebraically adding the moments of inertia calculating above.
If the center of mass of each composite parts does not lie on the
axis of analysis, then use the parallel-axis theorem.

Jurusan Teknik Mesin dan Industri FT UGM

Dinamika Kinetika Benda Tegar Gaya & Percepatan

Constrained Plane Motion

Non-Centroidal Rotation about a fixed axis
An interesting relation is
obtained by equating
the moments about the
fixed point O:

Parallel-axis theorem:
IO is the moment of inertia of the rigid body about the fixed axis
of rotation O.
Hence:
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Dinamika Kinetika Benda Tegar Gaya & Percepatan

Constrained Plane Motion

Rolling Motion
A balanced disk constrained
to roll without sliding,

Rollling, no sliding:

Rolling, sliding impending:

Rotating and sliding:

no relative motion between the

point of the disk in contact with
the ground and the ground itself
comparable to a block at rest.
F is independent of N

, a r
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Dinamika Kinetika Benda Tegar Gaya & Percepatan

Constrained Plane Motion

Rolling Motion
When it is not known whether or not a disk slides, first assume
that the disk rolls without sliding.
If F sN : assumption correct
If F sN : assumption incorrect, resolve assuming rotating and sliding

Unbalanced disk, mass center G does not

coincide with its geometric center O:
but
With and known:

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Dinamika Kinetika Benda Tegar Gaya & Percepatan

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Dinamika Kinetika Benda Tegar Gaya & Percepatan

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Dinamika Kinetika Benda Tegar Gaya & Percepatan

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