Lecture 4 : Rigid Body Kinetics

or the forces and moments in moving rigid bodies

4. Equations of Motion for Rigid Bodies

4.1. Insights & Derivation

1. For a rigid body, we need equations of motion for both the

translational motion and the change in orientation.

2. The translation can be characterised by selecting a point to

represent the rigid body.

Question : Which point is a good representation of the rigid

body ?

Gerard Leng, ME Dept, NUS

4.1.1. EOM for translation Y Pi
G

1. Let G be the representative RG Ri

point to be defined.
i.e. define RG

O X

2. Divide the rigid body into small masses. For each small
mass mi, located at point Pi there is an applied force Fi ,

Fi = mi d2Ri /dt2

Gerard Leng, ME Dept, NUS

3. Let Ri = RG + ( Ri - RG)

Hence Fi = mi d2RG /dt2 + mi d2 ( Ri - RG) /dt2

4. Sum over all the small masses

Ftotal = mtotal d2RG /dt2 + d2 ( (mi Ri) - mtotal RG) /dt2

Question
So where should we place the representative point RG ?

Gerard Leng, ME Dept, NUS

Answer : Pick it so that (mi Ri) - mtotal RG = 0. This simplifies
the equation.

i.e. define

RG = (mi Ri) / mtotal

This point is called the mass centre of the rigid body.

Gerard Leng, ME Dept, NUS

6. Only if the mass centre is the representative point, then the
translation equation of motion for a rigid body is similar to that for
a particle :

F total = mtotal x aG

Gerard Leng, ME Dept, NUS

Example : Finding the mass centre
Y
1. Semi-circular wire hoop,
ds = Rdq radius R

2. Total mass M
q
X

Consider a small piece of length ds located at q

position vector of this small piece is R = R{ cosq, sinq}

mass of this small piece = ds/(R) x M = Mdq /

Gerard Leng, ME Dept, NUS

By definition, the mass centre is located at RG = (mi Ri) / mtotal

So we sum over all the small pieces from q = 0 to

RG = Mdq / R cosq / M
0 sinq

0
= 2R/

Note that the mass centre does not lie on the rigid body

Gerard Leng, ME Dept, NUS

4.1.2. EOM for change in orientation (planar motion)

1. For characterising the change in orientation, we embed a

reference frame at the mass centre and let the frame rotate with the
rigid body.

2. For a small mass at P,

P Fi = mi aP
ri

G
3. Take moments about G
ri x Fi = ri x mi ap

Gerard Leng, ME Dept, NUS

4. P and G are points on a rigid body, hence

ri x Fi = ri x mi ( aG + x ( x ri ) + x ri )

5. For the case of planar motion, and are perpendicular to ri , the

second and third terms simplify:

, ri x mi ( x ( x ri ))
= ri x mi (- 2 ri )
= 0

ri x mi ( x ri )
ri = mi ri2

Gerard Leng, ME Dept, NUS

6. Now sum the simplified equation over all the masses

(ri x Fi ) = (mi ri) x aG + ( mi ri2 )

7. The term (mi ri) is 0 by the definition of the mass centre G.

Y ri Pi
(mi ri)
G
= (mi Ri - mi RG )
RG Ri
= (mi Ri ) - mtotal RG
= 0
O X
Gerard Leng, ME Dept, NUS
8. So finally the change in orientation is governed by :

(ri x Fi ) = ( mi ri2 )

NOTE : This holds only for planar motion !

Gerard Leng, ME Dept, NUS

 Example : Finding the moment of inertia
Y
1. Uniform rod , length L

x 2. Total mass M
X
-L/2 G L/2
dx

Consider a small piece located at x of length dx

distance of this small piece from the mass centre = x

mass of this small piece = (dx/L)M

Gerard Leng, ME Dept, NUS

By definition the moment of inertia is IG = ( mi ri2 )
So we sum over all the small pieces
L/2

IG = (dx/L)M x2
-L/2

= ML2/ 12

Refer to the Table in the text book

Gerard Leng, ME Dept, NUS

 Example : Point of application matters!

b 1. A uniform block of mass M kg sit

on a surface with coefficient of
friction .
F
G 2. A force is applied at a height of h
c m above the surface. Find hA and
hB such that
h Mg i) The block starts to topple at A
A B ii) The block starts to topple at B

3. What are the conditions for the

block to translate ?

Gerard Leng, ME Dept, NUS

 1. Free body diagram

J At the point of toppling at A, the

reaction and friction acts there.

F Taking moments about G

G
MG =
hA Mg
Mg
On the verge of toppling, MG = 0,
Mg I
b/2 hA =

Gerard Leng, ME Dept, NUS

2. Similarly at the point of toppling at B,

J Taking moments about G

MG =
F
G
On the verge of toppling MG = 0,
hB Mg
Mg hB =
Mg I
b/2

Hence the block translates provided hA h hB

Gerard Leng, ME Dept, NUS

Example : A swinging rigid body with one degree of freedom

Fy j 1. Rigid body pivoted at O.

O mass = m
moment of inertia = IG
Fx
2. Released from rest. ( q given ).
L G
Find the pivot reaction force at
this instant.

Step 1. Principles involved

q F = m aG
i
MG = I G
mg
Gerard Leng, ME Dept, NUS
 j Step 2 : Write the vectors
Fy
O F =
aG =
Fx
MG = =
L G
Step 3 : Assemble the equations

q
i
Mg

Gerard Leng, ME Dept, NUS

Step 4 : Check the no. of equations and unknowns

3 equations in 5 unknowns Fx , Fy , aGx , aGy ,

Need two more equations. Whats missing ?

Step 5 : Include the kinematic constraints

aG = aO + x ( x rG/O ) + x rG/O
=

This provides 2 more equations. Now solve.

Gerard Leng, ME Dept, NUS

So what happens if we have two swinging rigid bodies like

There are two degrees of freedom.

J
Assume
1. The bars are uniform
q1 2. There is no friction.
3. The angular displacements qi are
given and not small.
4. The angular velocities i = qi
q2 are given.

Challenge
I Derive the equations of motion.
Animate
Gerard Leng, ME Dept, NUS