Chapter 6: Kinetics of Rigid Body.

6.0 Introduction
In the study of rigid-body kinetics, we study the relationship
between external forces and moments and the linear and angular
acceleration of the body. (Recall that a rigid body is one that does
not deform under load.)

General examples of three types of plane (two-dimensional)

motion:
- Translation
- Rotation about a fixed axis
- General plane motion

Figure 6.1
Laws of Rotary Motion
First Law: a body remains at rest or continues to rotates about an
axis with constant angular velocity unless it is disturbed by an
external moment that changes its state

Second Law: the rate of change of angular momentum of body that

rotates about an axis is proportional to the external moment that
acts on the body, and the change in angular moment takes place in
the direction of the moment

Third Law: to every moment, there is always an equal and opposite

moment

6.2 Equations of motions

The equation of motion of a rigid body include NSL,

∑ F = ma (1)

which states that the sum of the external forces acting on the body
equals the product of the mass of the body and the acceleration of
its center of mass. If a rigid body rotates about a fixed axis O as
shown in Figure 6.2 (a), the sum of the moments about the axis due
to external forces and couples acting on the body is related to its
angular acceleration by

∑ M 0 = I oα (2)

where Io is the moment of inertia of the rigid body about O. The

moment of inertia Io determines the angular acceleration resulting
from the sum of the moments about the axis.

In general plane motion (Figure 6.2 (b)) the sum of the moments
about the center of mass of a rigid body is related to its angular
acceleration by
•
∑ MG = I α = H G (3)
where,
I is the moment of inertia of the rigid body about its center
of mass.

∑ M G - resultant moment about ‘G’ of the external

forces
•
H G - the time rate of change of the angular momentum of
the body about ‘G’.
Figure 6.2: (a) a rigid body rotating about a fixed axis O. (b) a rigid
body in general planar motion [1].

The equivalence between FBD and the kinetic diagram (KD)

enables us to clearly visualize and easily remember the separate
translational and rotational effects of the forces applied to a rigid
body (refer Fig. 6.3).
Figure 6.3: (a) FBD, (b) equivalent force couple system studied in
statics, (c) kinetic diagram as F=ma (translation motion) &
•
M= H (rotational motion)

Moment of Momentum
Linear momentum for a body moving along a straight line = mass
of the body times its velocity.
As shown a rigid body of mass m rotates about point 0 with
constant angular velocity.

Fig: 6.4.
Momentum of elementary mass about 0

= dm × V = dm × ω r
Moment of momentum of the elementary mass about 0
( ) (
= dm × ω r × r = dm × r × ω
2
)

For the entire mass, the moment of momentum about 0

 ( ) (
= ∫ dm × r × ω = ω ∫ dm × r
2 2
)

∫ (dm × r ) represents the moment of inertia of the whole

2
The term
mass about 0. Then Moment of momentum of the whole body
about 0

=I ω

Thus the moment of momentum may be defined as “the product

of mass moment of inertia and the angular velocity of a rotating
body”

Moment of momentum is also known as angular momentum

If the external torque acting on a system is zero, the angular

momentum of the system remains constant.
6.3 Plane motion equations
This Fig. 6.5 is to solve for Eq. 3. The angular momentum about
‘G’ can be expressed as

Figure 6.5: a rigid body moving with plane motion in x-y plane.

H G = ∑ ri × mi vi
•
= ∑ ri × mi r i (4)
where, ri – is the position vector relative to ‘G’ of the particle mass
mi.

=> for the rigid body, the velocity of mi about ‘G’ is

•
r i = ω × ri and its magnitude is riω
•
=> the magnitude of ri × ri = ri (riω ) = ri 2ω
=> Eq. 4 can now be written as

H G = ∑ ri miω
2

= ω ∑ ri mi
2

= ω ∫ r 2 dm (5)

= ωI
where I is mass moment of inertia and is the constant property of
the body.
=> substituting Eq. 5 into Eq. 3 we get
• •
∑ M G = H G = I ω = Iα
Now the generalized plane motion equations can be written as

∑ F = ma
∑ M = Iα
G
(6)
6.4 Rotation about fixed axis equations
Acceleration components of body can be expressed as n-t
coordinates

a n = rω 2 and a t = rα

Fig. 6.6: fixed axis rotation

corresponding FBD and KD is shown below, for the

diagram of fixed axis rotation.
 Fig. 6.7: FBD & KD
general equations for plane motion are directly applicable
to this problem also;

∑ F = ma
i.e.
∑ M = Iα
G

therefore

∑ n
F = ma n = mr ω 2

∑F t = mat = mrα
when we apply moment about point ‘O’ in FBD we get
 ∑M o = I oα
when we apply moment about point ‘O’ in KD we get

∑M o = Iα + mat r (7)
using parallel axis theorem for mass moment inertia at point
‘O’

I o = I + mr 2
I = I o − mr 2
Sub above expression in 7 and also a t = rα we get

∑ o o
M = I α − mr 2
α + mr 2
α

∑M o = I oα
Note: In general rotation of a rigid body about a fixed axis
through its mass center G, then a=0, and therefore

∑F = 0
Thus the resultant of applied forces is the couple Iα
6.5 Mass Moment of Inertia
a. Mass moment of inertia about an axis
b. Radius of gyration
c. Parallel axis theorem

6.5.1 Mass moment of inertia about an axis

We see that the mass moment of inertia is a measure of
“The distribution of the mass relative to the axis in question”.

If the density ρ is a constant throughout the body, than the mass of

the element may be written as dm= ρ dV and

I = ∫ r 2 dm = ∫ r 2 ρdV = ρ ∫ r 2 dV
(we note here that ρ is a true density with the units of mass per
unit volume)
For example

Fig: 6.8
Moment of inertia is a measure of the ability of the body to resist a
change in its angular motion about the A – axis, just as the mass of
the body is a measure of its ability to resist a change in its
translation motion.
Unit = kg.m2.

6.5.2 Radius of Gyration

The radius of gyration k can be thought of as the distance away
from an axis at which all the mass of a body may be concentrated
and not change the mass moment of inertia about that axis. Thus

I = mk 2
So that

I
k=
m
The radius of gyration allows us to compare the rotational
resistances of bodies that have the same mass.

Uniform disk

1 2
I= mr = mk 2 ,
2
k = 0.707 r
Sphere

2 2
I= mr = mk 2 ,
5
k = 0.632r

Slender bar

1 2
I= ml = mk 2 ,
12
k = 0.289r

6.5.3 Parallel Axis Theorem

For two or three dimensional situations, we use more precise
subscripts:

Figure 6.9
I xx = ∫ ( y 2 + z 2 )dm

I yy = ∫ ( x 2 + z 2 )dm
I zz = ∫ ( x 2 + y 2 )dm

The double subscripts distinguish mass moments of inertia from

area moments of inertia which use single subscripts.

Fig:10

The moment of inertia of the object about O is

I O = ∫ r 2 dm = ∫ ( x 2 + y 2 )dm (A)

Where r is the perpendicular distance from O to the differential

element mass dm and x and y are the coordinates of dm in the x-y
plane. These are given as

x = x′ + d x
y = y′ + d y

Substituting these in equation A gives

I O = ∫ r 2 dm = ∫ (( x′ + d x ) 2 + ( y′ + d y ) 2 )dm

[ ]
I O = ∫ ( x′) 2 + ( y′) 2 dm + 2d x ∫ x′dm + 2d y ∫ y′dm + ∫ (d x2 + d y2 )dm

• We know that ( x′) 2 + ( y ′) 2 = r ′ 2 where r ′ is the

perpendicular distance from O to dm, the first integral of this
equation is the moment of inertia of the object about mass
center G.

• We know that x′ and y′ coordinates of the center of mass of

the object relative to x′, y′, z′ coordinate system are defined

as
 −
∫ x′dm −
∫ y′dm
x′ = y′ =
∫ dm ∫ dm
Since the mass center is at the origin x′, y′, z′ , we have
−
x′ =
−
0 and y ′ = 0. Therefore the second and third integral is zero.

• Finally, we see that d x2 + d y2 = d 2 , where d is the

perpendicular distance between O and mass center G. we
obtain

I O = I G + md 2
Where m is the mass of the object. THIS IS CALLED THE
PARALLEL AXIS THEOREM.

Reference
1. Bedford, A., and Fowler, W., Engineering Mechanics:
Dynamics, Prentice Hall, Fourth Edition, 2005.

Example 1
Use the mass element dm = p dx, where p is the mass per unit
length, and determine the mass moment of inertia Iyy and Iy’y’ of the
homogeneous slender rod of mass m and length l.
 Figure 6.11
Solution:
l/2
1
I yy = ∫ x dm = ∫ x ρAdx = ρA ∫ x 2 dx =
2 2
ρAl 3
−l / 2
12
We know that
dm = ρdv
dv = Al where l = dx
m = ρAl
m
ρ=
Al

1 1 m 1
I yy = ρAl 3 = Al 3 ( ) = ml 2
12 12 Al 12

1 l 1
I y ′y ′ = I yy + md 2 = ml 2 + m( ) 2 = ml 2
12 2 3
Example 2
Determine Ixx for the cylinder with a centered circular hole. The
mass of the body is m.

Figure 6.12

Solution:

1 1
I xx = m2 r2 − m1r1
2 2

2 2
We know that m = ρV = ρπr l
2

Hence, I xx can be written as

 1 1
I xx = ( ρπr2 l )r2 − ( ρπr1 l )r1
2 2 2 2

2 2
1
= ρπl (r2 − r1 )
4 4
I xx
2
1
= ρπl (r2 − r1 )(r2 + r1 )
2 2 2 2
I xx
2
Using identity (a2 – b2) = (a - b) (a + b)

We know that
m = ρπl (r22 − r12 )

Hence

1
I xx = m(r2 + r1 )
2 2

Example 3
The crate in the Fig. below is pulled up the inclined surface by the
winch. The mass of the crate is m = 45kg and the dimension b =

0.15m, µk = 0.4 . The moment of inertia of the drum on which

the cable is being wound, including the part of the cable already
wound on the drum is IA = 4 kg-m2. If the motor exerts a couple
M=50 N-m on the drum, what is the crates acceleration?
 Figure 13
Solution:

∑ F = T − mg. sin 20 − µ N = ma
x k x

∑ F = N − mg. cos 20 = 0
y

∑ M = M − bT = I α
A A

Eliminate T and N we get

M − bmg (sin 20 + µ k cos 20 ) − bma x = I Aα

We know ax = bα and we get
 M − bmg (sin 20 + µ k cos 20)
ax =
bm + I A / b
= 0.0737m / s 2

Example 4
The moments of inertia of the pulleys are IA = 0.0025 kg-m2, IB =
0.045 kg-m2, and IC = 0.036 kg-m2. A 5 N-m counterclockwise
couple is applied to pulley A. Determine the resulting
counterclockwise angular accelerations of the three pulleys.

Figure 14
Solution:
• The tension in each belt changes as it goes around each
pulleys.
• The unknowns are TAB, TAB, αA, αB and αC

We will write three dynamic equations and two constraint equation

∑M A = 5 − TAB (0.1) = 0.0025α A
∑M B = TAB (0.2) − TBC (0.1) = 0.045α B
∑M C = TBC (0.2) = 0.036α C

0.1α A = 0.2α B
0.1α B = 0.2α C

Solving we get
TAB = 42.2 N
TAB = 14.1 N
αA = 313 rad/s2
αB = 156 rad/s2
αC = 78.1 rad/s2

Example 5
The 5-kg slender bar is released from rest in the horizontal position
shown. Determine the bar’s counterclockwise angular acceleration
(a) at the instant it is released, and (b) at the instant when it has
rotated 45◦.

Figure 15
Solution

L 1 2
∑ M O = mg = mL α
2 3
3 g 3(9.81)
α= = = 12.3 rad / s 2
2 L 2(1.2)

L 1
∑ M O = mg 2
cos 45 = mL2α
3
3g 3(9.81)
α= cos 45 = cos 45 = 8.67 rad / s 2
2L 2(1.2)
6.6 Moment – angular-momentum principles
We now obtain relations between the sum of the moments due to
the forces acting on the system of particles and the rate of change
of the total angular momentum on the system.

Fig. 6.16: the vector Ri is the position vector of the ith particle
relative to the center of mass [1]

∑ F = ma

dvi d
∑ Fi , j + ∑ Fi E = mi = (mi vi )
dt dt
Take cross product with position vector ri. Sum of the internal
forces are zero hence we get

d
∑ Fi × ri = dt ∑ ri × mi vi
E

where [∑ F × ri ] is the sum of the moments about O due to

E
i

external forces which is denoted as ∑M o ;

 •
∑ Mo = H o

where H o = ∑ ri × mi vi ; the total angular momentum about

O.

Fig 6.17: the angular momentum about O equals the sum of the
angular momentum about the center of mass and the angular
momentum about O due to the velocity of the center of mass [1].

Example 6
The 40 kg unbalanced wheel in Figure 18 is rolling without
slipping under the action of a counterclockwise couple Co = 20
Nm. When the wheel is in the position shown, its angular velocity
w = 2 rad/s, clockwise. For this position, calculate the angular
acceleration α and the forces exerted on the wheel at C by the
rough horizontal plane. The radius of gyration of the wheel about it
mass center G is k = 200 mm.

Figure 18
Solution

I = mk 2 = 40(0.2) 2 = 1.6 kgm2

aG = aO + aG / O
aG = rαi + (−rαj − rω 2i )
aG = 0.25αi + (−0.12αj − 0.12(2) 2 i )
aG = (0.25α − 0.48)i − 0.12αj

max = (0.25α − 0.48)40 = 10α − 19.2

ma y = (−0.12α )40 = −4.8α

I O = I G + md 2
I O = 1.6 + 40(0.12) 2
I O = 2.176 kgm2

∑ M O = I Oα − − − − − CCW +
20 − 392(0.12) + FC (0.25) = −2.176α
0.25FC − 27.04 = −2.176α − − − − − − − − − (1)
or
∑ M G = I Gα − − − − − CCW +
20 + FC (0.25) − N C (0.12) = 1.6α − − − − − −(1)
∑ Fx = max
FC = 10α − 19.2 − − − − − − − − − −(2)
∑ Fy = ma y
− 392 + N C = 4.8α − − − − − − − −(3)

Solving 1, 2 and 3, we get

α = 6.82 rad / s 2
FC = 49 N
N C = 359.3 N

All positive so the directions selected are correct on the FBD.