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Rigid Body Rotational Dynamics
John Chiasson
Boise State University
September 30, 2011
ii
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Contents
1 Rigid Body Rotational Dynamics 1
1.1 Moment of Inertia . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.2 Newtons Law of Rotational Motion . . . . . . . . . . . . . . . . . . . . . . . 2
1.3 Gears . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1.3.1 Algebraic Relationships Between Two Gears . . . . . . . . . . . . . . 11
1.3.2 Dynamic Relationships Between Two Gears . . . . . . . . . . . . . . 12
1.4 Rolling Cylinder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
1.5 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
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1
Rigid Body Rotational Dynamics
1.1 Moment of Inertia
The equations of motion of a rigid body that is constrained to rotate about a xed axis are
reviewed here briey. Consider a cylinder which is constrained to rotate about a xed axis
as shown in Figure 1.1.
R

Axle
FIGURE 1.1. Cylinder constrained to rotate about a xed axis.
The approach here is to obtain the equations of motion of the cylinder by rst obtaining
an expression for its kinetic energy. To do so, denote the angular speed of the cylinder by .
and the mass density of the material making up the cylinder by j. Then consider the cylinder
to be made up of a large number : of small pieces of material :
i
where the i
tI
piece has
mass
:
i
= j:
i
o/:.
This is illustrated in Figure 1.2.
i
m

d r
i
d
d
dr
i
r
FIGURE 1.2. Cylinder is considered to be made up of small masses
i
Drawn by Sharon Katz.
Each piece of mass :
i
is rotating at the same angular speed . so that the linear speed
of :
i
is
i
= :
i
. where :
i
is the distance of :
i
from the axis of rotation. The kinetic
energy 11
i
of :
i
is given by
11
i
=
1
2
:
i

2
i
=
1
2
:
i
(:
i
.)
2
.
2 1. Rigid Body Rotational Dynamics
The total kinetic energy is then
11 =
a
X
i=1
(11)
i
=
a
X
i=1
1
2
:
i

2
i
=
a
X
i=1
1
2
:
i
(:
i
.)
2
=
1
2
.
2
a
X
i=1
:
i
:
2
i
.
Dividing the cylinder into ner and ner pieces so that : and :
i
0, the sum
a
X
i=1
:
i
:
2
i
becomes the integral
J =
ZZZ
cj|iaocv
:
2
d:.
The quantity J is called the moment of inertia. Using J the kinetic energy of the cylinder
may now be written as
11 =
1
2
J.
2
.
Assuming the axle radius is zero, the moment of inertia of the cylinder (assuming j is
constant) is computed to be
J =
Z
1
0
Z

0
Z
2
0
:
2
j:dod/d: =
1
2
(:1
2
/j)1
2
=
1
2
`1
2
where ` is the total mass of the cylinder.
1.2 Newtons Law of Rotational Motion
The above expression for the kinetic energy is now used to derive a relationship between
torque and angular acceleration. Recall from elementary mechanics that the work done on a
mass by an external force equals the change in its kinetic energy. In particular, consider an
external force

F acting on the cylinder as shown in Figure 1.3.
T
F
N
F
F

x
y
y
x
z
FIGURE 1.3. Force

F applied to the cylinder is resolved into a normal and tangential component.
Drawn by Sharon Katz.
1. Rigid Body Rotational Dynamics 3
The cylinder is on an axle and therefore constrained to rotate about the . axis. Figure
1.3 shows the force

F applied to the cylinder at the position (:. o) (in polar coordinates)
resolved into a tangential component 1
T
(tangent to the rotational motion) and a normal
component 1
.
. Using polar coordinates, we write this force as

F = 1
.
r +1
T

where r is a
unit vector in the increasing : direction and

is a unit vector in the increasing o direction.
Similarly, x. y. and z are unit vectors in the increasing r. . . directions, respectively. The
torque about an axis is dened as the cross product ,r

F where r is vector from the
axis to the point of application of the force and

F is the applied force. We then have
,r

F = :r

1
.
r + 1
T

:1
.
r r
| {z }

0
+ :1
.
r

| {z }
z
= :1
T
z
= :1 sin()z (1.1)
where is the angle betweenr and

F. Recall from elementary mechanics that the magnitude
of the cross product r

F is dened as :1 sin() and the direction of r

F is perpendicular to
bothr and

F along the axis of rotation determined by the right hand rule
1
. As 1
T
= 1 sin()
is the tangential component, the torque may be rewritten as
= tz = :1
T
z
or, in scalar form, as
t = :1
T
.
The motivation for the denition of torque as given by (1.1) is that it is the cause of rotational
motion. Specically, the rotational motion about an axis is caused by the applied tangential
force 1
T
and the further away from the axis of rotation that the tangential force 1
T
is
applied, the easier it is to get rotational motion. That is, the torque (cause of rotational
motion) increases if either : or 1
T
increases which corresponds to ones experience (e.g.,
opening doors).
To summarize, is a vector pointing along the axis of rotation and the magnitude is given
by
| | = |t| = |:1
T
| .
(Recall that the angular velocity vector = .z also points along the axis of rotation where
. is the angular speed.)
With ds , d:

= :do

, the change in work done on the cylinder by the external force

F
is
d\ =

F ds = 1
T
:do = tdo
where t , :1
T
. Dividing by dt, the power (rate of work) delivered to the cylinder is given
by
d\
dt
= t
do
dt
= t..
1
Using your right hand, curl your ngers in the direction from the rst vector r to the second vecotor

F. Then your thumb
points in the direction of r

F.
4 1. Rigid Body Rotational Dynamics
As the rate of work done equals the rate of change of kinetic energy, it follows that
d\
dt
=
d
dt

1
2
J.
2

= t
do
dt
(1.2)
or
J.
d.
dt
= t..
This gives the fundamental relationship between torque and angular acceleration:
t = J
d.
dt
.
That is, the applied torque equals the moment of inertia times the angular acceleration. This
is the basic equation for rigid body rotational dynamics.
Viscous Rotational Friction
Almost always there are frictional forces, and therefore, frictional torques acting between the
axle and the bearings.
2
This is illustrated in Figure 1.4.

y
x
Frictional force
f
F

Axle
FIGURE 1.4. Viscous friction torque.
Often the frictional force is proportional to the angular speed and this model of friction is
called viscous friction which is expressed mathematically as
= , = ,.z
or, in scalar form,
t = ,.
where , 0 is the coecient of viscous friction.
2
An interesting exception are magnetic bearings where the axel is levitated by magnetic elds so that there is no mechanical
contact.
1. Rigid Body Rotational Dynamics 5
Sign Convention for Torque
Suppose the axis of rotation is along the . axis. Recall that the denition of torque is
,r

F = :1 sin()z = :1
T
z
where is the angle betweenr and

F. The magnitude of the cross product r

F is :1 sin()
and the direction of r

F is perpendicular to both r and

F along the . axis. In engineering
applications, the systems are designed so that the applied force is tangential to the rotational
motion, i.e., = :,2, 1 = 1
T
. and
, tz = :1z.
If t = :1 0 then the torque will cause the cylinder to rotate around the . axis in
the direction indicated by the curved arrow. On the other hand, if t = :1 < 0 then the
torque will cause the cylinder to rotate around the . axis in the direction opposite to that
indicated by the curved arrow. Typically in engineering texts, the sign convention for torque
is indicated by a curved arrow as shown in Figure 1.5. (Physics texts prefer to write , tz.)

r
F
z
FIGURE 1.5. Sign convention for torque.
Example 1 Rack and Pinion System
A rack and pinion system is illustrated in Figure 1.6 which is used to convert rotary motion
to linear motion and vice-versa. In Figure 1.6 the axis of the pinion (gear wheel) is considered
to be xed in space. A torque 1 applied to the shaft causes the pinion to rotate and to move
the rack in the r direction through the contact of their teeth.
FIGURE 1.6. Rack and Pinion system (From System Dynamics by W. J. Palm III [1])
6 1. Rigid Body Rotational Dynamics
We take the input to be the torque 1 (produced by a motor) and the output to be the
position r. Because the teeth on the pinion wheel and rack are meshed together, there is an
algebraic relationship between the angle o and position r given by r = 1o. : is the mass of
the rack and 1 is the inertia of the pinion gear wheel. Let 1 be the force of the pinion tooth
on the rack tooth in the r direction so that 1 is the reaction force of the rack tooth on the
pinion tooth. Applying Newtons law to the mass of the rack we have
: r = 1.
Applying Newtons law for rotational motion to the pinion gear we have
1

o = 1 11
where 11 is the reaction torque on the pinion gear produced by the rack. Multiply the
rst equation by 1 and add to the second to obtain
1

o + :1 r = 1.
In this equation we eliminate o using the algebraic constraint o = r,1 and rearrange it to
obtain
(1 + :1
2
) r = 11.
Computing the Laplace transform, the transfer function is then
A(:)
1(:)
=
1
1 + :1
2
1
:
2
Conservation of Energy
Lets redo the above using conservation of energy. The kinetic energy of the rack and
pinion system is
11 =
1
2
1

o
2
+
1
2
: r
2
=
1
2
1 r
2
,1
2
+
1
2
: r
2
=
1
2

1,1
2
+ :

r
2
.
Recalling that rate of work done equals the rate of change of kinetic energy [see equation
(1.2)], that is,
1
do
dt
=
d(11)
dt
we have
1
1
1
dr
dt
=

1,1
2
+ :

r r
or
11 = (1 + :1
2
) r
and thus
A(:)
1(:)
=
1
1 + :1
2
1
:
2
as before.
1. Rigid Body Rotational Dynamics 7
Example 2 Rack and Pinion System Connected to a Spring
Figure 1.7 shows a rack and pinion system with the rack connected to the wall through a
spring and also some viscous friction damping between the rack and a table top. We consider
the torque 1 (produced by a motor) to be the input and we take the position r to be the
output. 1 is the radius of the pinion (gear), 1
j
is the moment of inertia of the pinion about its
center, 1
n
is the moment of inertia of the motor, c is the viscous friction coecient between
the rack and the surface it is on, / is the spring constant and :
v
is the mass of the rack.
FIGURE 1.7. Rack and Pinion system (From System Dynamics by W. J. Palm III [1])
The input is the torque 1 and the position r is the output. Lets rst nd the transfer
function using Newtons laws.
The equations modeling this system are then
(1
n
+ 1
j
)

o = 1 11
:
v
r = 1 c r /r.
Also, we have the algebraic constraint
r = 1o.
Let 1 be the force of the pinion wheel tooth on the rack gear tooth. Then the reaction force
of the rack gear tooth on the pinion wheel is 1 resulting in a reaction torque on the pinion
wheel of 11. 1 is not known and typically not measurable. Consequently, we eliminate 1
from these two equations to obtain
(1
n
+ 1
j
)

o + 1:
v
r = 1 1(c r + /r)
or
(1
n
+ 1
j
) r,1 + 1:
v
r = 1 1c r 1/r
where we used the fact that r = 1o implies r = 1

o and r = 1

o. Rearranging this becomes

(1
n
+ 1
j
+ :
v
1
2
) r + 1
2
c r + /1
2
r = 11.
Taking the Laplace transform with zero initial conditions gives
(1
n
+ 1
j
+ :
v
1
2
):
2
A(:) + 1
2
c:A(:) + /1
2
A(:) = 11(:).
8 1. Rigid Body Rotational Dynamics
The transfer function is then
A(:) =
1
(1
n
+ 1
j
+ :
v
1
2
):
2
+ 1
2
c: + /1
2
1(:).
Equations of Motion Using Conservation of Energy
Lets now nd the equations of motion using conservation of energy. If the external torque
1 rotates the system by do, the work d\ done on the system is 1do. By conservation of
energy, this is equal to the change in the kinetic energy of 1
n
+1
j
and :
v
plus the change in
the springs potential energy plus the heat dissipated due to the viscous friction. In terms of
the input power 1 = d\,dt put into the system by 1 , we have 1 = d\,dt = 1do,dt and
1
do
dt
|{z}
Input Mechanical Power
=
d
dt

1
2
(1
n
+ 1
j
)

o
2
+
1
2
:
v
r
2
| {z }
Kinetic Energy
+
1
2
/r
2
| {z }
Potential Energy

+ (c r) r
| {z }
Power Dissipated as Heat
= (1
n
+ 1
j
)

o + :
v
r r + /r r + c r
2
.
Using the algebraic constraint r = :o this becomes
1
d(r,1)
dt
= (1
n
+ 1
j
) ( r,1) ( r,1) + :
v
r r + /r r + c r
2
.
Multiplying through by 1
2
and canceling the common factor r we have
11 = (1
n
+ 1
j
+ :
v
1
2
) r + 1
2
c r + /1
2
r
which gives the same transfer function as before.
Example 3 Rotational Spring-Mass-Damper System
Figure 1.8 (c) shows a rotational uid system used to damp out angular oscillations of a
pulley wheel due to a not completely rigid crankshaft.
FIGURE 1.8. Rotational Spring-Mass-Damper System (From System Dynamics by W. J. Palm III
[1])
In this example, the crankshaft angle c is the input and angular position o
j
of the pulley
wheel is the output. The cylinder inside the pulley wheel has inertia 1
o
is surrounded by a
1. Rigid Body Rotational Dynamics 9
uid and has the eect of damping out vibrations of the crankshaft. A rotational spring-mass-
damper system shown in 1.8 (/) is used to model the system. We want to nd the transfer
function form c to o
j
. Applying Newtons law for rotational motion to the two inertias 1
j
and 1
o
, we obtain
1
j
d
2
o
j
dt
2
= /
T
(c o
j
) c
T
(

o
j

o
o
)
1
o
d
2
o
o
dt
2
= c
T
(

o
j

o
o
).
Taking the Laplace transform (zero initial conditions) gives

1
j
:
2
+ c
T
: + /
T

o
j
(:) = /
T
c(:) + c
T
:o
o
(:)

1
o
:
2
+ c
T
:

o
o
(:) = c
T
:o
j
(:).
Eliminating o
o
(:) gives

1
j
:
2
+ c
T
: + /
T

o
j
(:) = /
T
c(:) +
c
2
T
:
2
1
o
:
2
+ c
T
:
o
j
(:) = /
T
c(:) +
c
2
T
:
1
o
: + c
T
o
j
(:).
Multiply through by 1
o
: + c
T

1
j
:
2
+ c
T
: + /
T

(1
o
: + c
T
) o
j
(:) = /
T
(1
o
: + c
T
) c(:) + c
2
T
:o
j
(:)
and then solve for
o
j
(:)
c(:)
we have
o
j
(:)
c(:)
=
/
T
(1
o
: + c
T
)
(1
j
:
2
+ c
T
: + /
T
) (1
o
: + c
T
) c
2
T
:
=
/
T
(1
o
: + c
T
)
1
o
1
j
:
3
+ (1
o
c
T
+ 1
j
c
T
) :
2
+ 1
o
/
T
: + c
T
/
T
10 1. Rigid Body Rotational Dynamics
1.3 Gears
This presentation is from that given on page 296 of K. Ogatas book [2]. Using the elementary
rigid body dynamics developed previously, the model of a two gear system illustrated in
Figure 1.9 below is now developed.
1

,
2

1
r
2
r
2
r
x F
1 1
F

x F
2 2
F

x
y
z
Gear 1
Gear 2
,
2

z n
m

FIGURE 1.9. Two gear system. Drawn by Sharon Katz.

In Figure 1.9,
t
1
is the torque exerted on gear 1 by gear 2.
1
1
is the force exerted on gear 1 by gear 2.
t
2
is the torque exerted on gear 2 by gear 1.
1
2
is the force exerted on gear 2 by gear 1.
o
1
is the angle rotated by gear 1.
o
2
is the angle rotated by gear 2.
:
1
is the number of teeth on gear 1.
:
2
is the number of teeth on gear 2.
:
1
is the radius of gear 1.
:
2
is the radius of gear 2.
Let

F
1
, 1
1
( x) so that if 1
1
0, the force is in the x direction as shown in Figure 1.9.
Also, let r
1
, :
1
( y) so that
1
= r
1


F
1
= :
1
1
1
( y) ( x) = :
1
1
1
(z) = :
1
1
1
n. That
is,
1
= t
1
n where t
1
= :
1
1
1
and n ,z is a unit vector. Similarly, let

F
2
, 1
2
x so that
if 1
2
0, the force is in the x direction. Writing r
2
, :
2
y it follows that
2
= r
2


F
2
=
:
2
1
2
(z) = t
2
z = t
2
n with t
2
= :
2
1
2
. The reason that r
1
.
1
.

F
1
are referred to the basis
vectors x. y. z while r
2
.
2
.

F
2
are referred to the basis vectors x. y. z is so that there
will no minus signs in the gear relationships to be derived below.
1. Rigid Body Rotational Dynamics 11
1.3.1 Algebraic Relationships Between Two Gears
There are three important algebraic relationships between the gears.
1. The gears have dierent radii, but the teeth on each gear are the same size so that
they will mesh together properly. Consequently, the number of teeth on the surface
of each gear is proportional to the radius of each gear. For example, if :
2
= 2:
1
. then
:
2
= 2:
1
. In general,
:
2
:
1
=
:
2
:
1
.
2. By Newtons third law, the forces

F
1
= 1
1
( x).

F
2
, 1
2
x are equal in magnitude, but
opposite in direction so that 1
2
= (1
1
) = 1
1
. Thus, as t
1
= :
1
1
1
and t
2
= :
2
1
2
it
follows that
t
2
t
1
=
:
2
:
1
.
3. As the teeth on each gear are meshed together at the point of contact, the distance
traveled along the surface of the gears is the same. In other words, o
1
:
1
= o
2
:
2
or
o
2
o
1
=
:
1
:
2
The rst two algebraic relationships can be summarized as
t
2
t
1
=
:
2
:
1
=
:
2
:
1
and these ratios are easily remembered by thinking of gear 2 as larger in radius than gear 1.
Then the number of teeth on gear 2 must also be larger (because its circumference is larger)
and the torque on gear 2 is also larger (because its radius is larger).
The last algebraic relationship is summarized as
:
1
:
2
=
o
2
o
1
=
.
2
.
1
but it is more easily remembered by writing o
1
:
1
= o
2
:
2
which just states the distance
traveled along the surface of each gear is the same as they are meshed together.
12 1. Rigid Body Rotational Dynamics
1.3.2 Dynamic Relationships Between Two Gears
Consider the two gear system shown in Figure 1.10 below. The motor torque t
n
acts on gear
1 and the torque t
1
is a load torque acting on gear 2.
2
n
L

z
,
2

1
f
2
f
1

1
,
m
2
J
Gear 1
Gear 2
1
n
1
J
z n
FIGURE 1.10. Dynamic equations for a two gear system. Drawn by Sharon Katz.
In Figure 1.10,
J
1
is the moment of inertia of the motor shaft.
J
2
is the moment of inertia of the output shaft.
,
1
is the viscous friction coecient of the motor shaft.
,
2
is the viscous friction coecient of the output shaft.
o
1
is the angle rotated by gear 1.
o
2
is the angle rotated by gear 2.
.
1
is the angular speed of gear 1.
.
2
is the angular speed of gear 2.
t
1
is the torque exerted on gear 1 by gear 2.
t
2
is the torque exerted on gear 2 by gear 1.
The sign conventions for the torques t
n
. t
1
. t
2
. t
1
are indicated in Figure 1.10. In particu-
lar, if t
n
0. t
1
0 then they oppose each other and similarly, if t
2
0. t
1
0 then these
two torques oppose each other. A load torque is illustrated in Figure 1.11 in which the load
torque on gear 2 is t
1
= :
2
:q with :
2
the radius of the pick up reel (gear 2).
Motor
mg
L

2
r
1
r
m

Gear 1
Gear 2
FIGURE 1.11. Illustration of load torque. Drawn by Sharon Katz.
The above development is now put together to write down dierential equations that
1. Rigid Body Rotational Dynamics 13
characterize the dynamic behavior of the gears. Recall that the fundamental equation of
rigid body dynamics is given by
t = J
d.
dt
where t is the total torque on the rigid body, J is the moment of inertia of the rigid body and
d.,dt is its angular acceleration about the xed axis of rotation. Applying this relationship,
the equations of motion for the two gears are then
t
n
t
1
,
1
.
1
= J
1
d.
1
dt
(1.3)
t
2
t
1
,
2
.
2
= J
2
d.
2
dt
.
Typically, the input (motor) torque t
n
is known and further the output position o
2
and
speed .
2
are measured. Consequently, the variables t
1
. t
2
. .
1
need to be eliminated which is
done as follows:
t
2
=
:
2
:
1
t
1
=
:
2
:
1

t
n
,
1
.
1
J
1
d.
1
dt

=
:
2
:
1

t
n
,
1

:
2
:
1
.
2

J
1
d
dt

:
2
:
1
.
2

=
:
2
:
1
t
n

:
2
:
1

2
,
1
.
2

:
2
:
1

2
J
1
d.
2
dt
. (1.4)
Substituting this expression for t
2
into the second equation of (1.3) results in
:
2
:
1
t
n

:
2
:
1

2
,
1
.
2

:
2
:
1

2
J
1
d.
2
dt
t
1
,
2
.
2
= J
2
d.
2
dt
Rearranging, the desired result is
:
2
:
1
t
n
=

J
2
+ (:
2
,:
1
)
2
J
1

| {z }
J
d.
2
dt
+

,
2
+ (:
2
,:
1
)
2
,
1

| {z }
)
.
2
+ t
1
. (1.5)
Let : = :
2
,:
1
denote the gear ratio, J , J
2
+ :
2
J
1
denote the total inertia reected to the
output shaft and , , ,
2
+ :
2
,
1
denote the total viscous friction coecient reected to the
output shaft, equation (1.5) can be written succinctly as
:t
n
= J
d.
2
dt
+ ,.
2
+ t
1
. (1.6)
The net eect of the gears is to increase the motor torque from t
n
on the motor shaft to
:t
n
on the output shaft, to add the quantity :
2
J
1
to the inertia of the output shaft and to
add :
2
,
1
to the viscous friction coecient of the output shaft.
Remark
Everything could have been referred to the motor shaft instead of the output (load) shaft.
To do so, simply substitute .
2
= (:
1
,:
2
).
1
into (1.5) to obtain
:
2
:
1
t
n
=

J
2
+

:
2
:
1

2
J
1
!
d

:
1
:
2
.
1

dt
+

,
2
+

:
2
:
1

2
,
1
!

:
1
:
2
.
1

+ t
1
14 1. Rigid Body Rotational Dynamics
Multiply both sides by :
1
,:
2
results in
t
n
=

J
2
+

:
2
:
1

2
J
1
!

:
1
:
2

2
d.
1
dt
+

,
2
+

:
2
:
1

2
,
1
!

:
2
:
1

2
.
1
+
:
1
:
2
t
1
or, nally, the desired form is
t
n
=

:
1
:
2

2
J
2
+ J
1
!
d.
1
dt
+

:
1
:
2

2
,
2
+ ,
1
!
.
1
+
:
1
:
2
t
1
. (1.7)
In this formulation, the load torque on the input shaft is reduced by :
1
,:
2
from that on the
output shaft, and (:
1
,:
2
)
2
J
2
has been added to the inertia of the motor shaft and (:
1
,:
2
)
2
,
2
has been added to the viscous friction coecient of the motor shaft.
1. Rigid Body Rotational Dynamics 15
1.4 Rolling Cylinder
We now develop the equations of motion for a cylinder rolling on a surface without slipping.
Rolling on a Flat Surface Without Slipping
Consider the cylinder in Figure 1.12 which has mass : and moment of inertia 1 about its
axis of rotation (. direction in the gure). The center of mass of the cylinder is on the axis
of rotation in the midpoint of the cylinder. To say that the cylinder rolls without slipping
means that
r = :o
where o is the angle the cylinder has rotated and r is the distance the cylinder has rotated
along the surface. The surface provides an upward normal force ` to cancel the downward
force :q of gravity.
r
v
cm

cm
v
cm Q
v v 2
0
P
v
P
Q
r

r x
x
y
N
mg
FIGURE 1.12. Cylinder rolling on a at surface with no slip.
As Figure 1.12 indicates, the velocity of the center of mass of the cylinder is denoted as

cn
and

cn
=
dr
dt
.
The cylinder rotates about the center of mass with angular rate
. =
do
dt
=
d(r,:)
dt
=

cn
:
Note that at the point of contact 1 of the cylinder with the surface, the speed of the part
of the cylinder in contact with the surface is zero. There are no forces or torques on the
cylinder.
11 =
1
2
:
2
cn
+
1
2
1.
2
=
1
2
:
2
cn
+
1
2
1
:
2

2
cn
=
1
2

: +
1
:
2

2
cn
Cylinder Rolling Down an Inclined Plane
Figure 1.13 shows a cylinder rolling down an inclined plane. The cylinder has mass : and
moment of inertia 1. The r direction is taken to be positive going up the inclined plane
and the direction is perpendicular to the inclined plane. There is a component of gravity
:q sin(c) that is pushing the cylinder in the r direction down the inclined plane. Due to
friction (think of it as a rack and pinion) there is a force 1
)
produced on the wheel at the
16 1. Rigid Body Rotational Dynamics
point of contact with the inclined plane (and by Newtons 3rd law a force 1
)
produced by
the wheel on the the inclined plane). It is this force 1
)
that produces the torque to turn the
wheel. As illustrated in Figure 1.14, we can think of this force as the same as that in a rack
and pinion system. Here the rack is the surface of the incline, the pinion is the cylinder and
their meshed teeth model the surfaces interacting. This is not viscous friction and so there is
no energy loss. (Think of viscous friction as two bodies rubbing/slipping against each other.)
r

) sin( mg
mg
f
F

x
y

) cos( mg
N
Force on wheel
due to friction
between wheel
and inclined plane.
FIGURE 1.13. Cylinder rolling down an incline under the inuence of gravity.
f
F
FIGURE 1.14. Modeling the interaction of the surface of the incline and the surface of the cylinder
as a rack and pinion system.
We assume the cylinder rolls without slip so that
r = :o
dr
dt
= :.
where in this case . < 0 as it is rolling down the inclined plane so that r is decreasing.
Equations of Motion using Newtons Laws
Newtons three laws of motion are valid with respect to non accelerating coordinate sys-
tems. The rotational law t = Jd.,dt was derived from the three laws so it also valid in non
accelerating coordinate systems. However, it also turns out that t = Jd.,dt still holds in an
accelerating coordinate system if the axis of rotation is through the center of mass.
The cylinder is not moving in the direction as there is a normal force ` = :q cos(c)
in the + direction that cancels out the gravity component :q cos(c) in the direction.
1. Rigid Body Rotational Dynamics 17
There is a friction force 1
)
at the point of contact of the cylinder with the inclined plane.
:
d
2

dt
2
= :q cos(c) + ` = 0
:
d
2
r
dt
2
= :q sin(c) + 1
)
1
d
2
o
dt
2
= :1
)
r = :o
Note that the third equation is written from the point of view of being on the axis of rotation
which is accelerating down as the cylinder rolls down the incline. However, as the axis goes
through the center of mass of the cylinder, t = Jd.,dt is still valid in this case.
Multiplying the second equation by : and adding to the third equation we obtain
::
d
2
r
dt
2
+ 1
d
2
o
dt
2
= ::q sin(c).
Using o = r,: (no slip condition) we have
::
d
2
r
dt
2
+
1
:
d
2
r
dt
2
= ::q sin(c)
or
d
2
r
dt
2
=
::
2
::
2
+ 1
q sin(c)
| {z }
constant
Equations of Motion Derived from Conservation of Energy
The kinetic energy of the cylinder is given by
11 =
1
2
:
2
cn
+
1
2
1.
2
=
1
2
:
2
cn
+
1
2
1
:
2

2
cn
=
1
2

: +
1
:
2

2
cn
If the cylinder is at the position r along the inclined plane, then it is at a height rsin(c)
above the horizontal. Thus the potential energy is
11 = :qrsin(c)
so that the total energy of the cylinder is then
11 + 11 =
1
2

: +
1
:
2

2
cn
+ :qrsin(c).
The total energy is constant so we have
d
dt
(11 + 11) =

: +
1
:
2

cn
d
cn
dt
+ :q
cn
sin(c) = 0.
Thus
d
2
r
dt
2
=
d
cn
dt
=
::
2
::
2
+ 1
q sin(c)
18 1. Rigid Body Rotational Dynamics
Motorized Cylinder Going Up an Inclined Plane
Suppose the cylinder has a motor inside to produce a torque t
n
. Due to friction (think of
it as a rack and pinion) there is a force 1
)
produced on the wheel at the point of contact
with the inclined plane (and by Newtons 3rd law a force 1
)
produced by the wheel on the
inclined plane). It is this force 1
)
that propels the cylinder up the inclined plane.

) sin( mg
f
F

m
,
Reaction force on
wheel due to
friction between
wheel and inclined
plane.
x
y
r

) cos( mg
N
mg
FIGURE 1.15. Cylinder going up an incline using a motor.
Equations of Motion from Newtons Laws
:
d
2

dt
2
= :q cos(c) + ` = 0
:
d
2
r
dt
2
= :q sin(c) + 1
)
1
d
2
o
dt
2
= t
n
:1
)
r = :o
Multiplying the second equation by : and adding to the third equation we obtain
::
d
2
r
dt
2
+ 1
d
2
o
dt
2
= t
n
::q sin(c).
Using the no slip condition we have
::
d
2
r
dt
2
+
1
:
d
2
r
dt
2
= t
n
::q sin(c)
or
d
2
r
dt
2
=
:
::
2
+ 1
t
n

:
::
2
+ 1
::q sin(c)
Equations of Motion Derived from Conservation of Energy
The kinetic plus potential energy is
11 + 11 =
1
2

: +
1
:
2

2
cn
+ :qrsin(c).
The rate of change of the cylinders energy is equal to the mechanical power t
n
. put into
the cylinder by the motor, i.e.,
d
dt
(11 + 11) =

: +
1
:
2

cn
d
cn
dt
+ :q
cn
sin(c) = t
n
. = t
n

cn
:
.
1. Rigid Body Rotational Dynamics 19
Thus
d
2
r
dt
2
=
d
cn
dt
=
t
n
:

: +
1
:
2

:
: +
1
:
2
q sin(c)
=
:
::
2
+ 1
t
n

::
2
::
2
+ 1
q sin(c)
20 1. Rigid Body Rotational Dynamics
Problem 1 Wind Up Cable
In Figure 1.16 below, a shaft with a steel drum of total inertia 1 is used to wind up a
cable in order to raise a mass :. The back end of the shaft is connected to a wall through
a rotary damper with damping coecient c
T
. The input to the shaft is the torque 1 and
also the weight :q produces a disturbance (input) torque on the shaft as well. The output
is taken to be the angular position of the shaft o which has the same sign convention as ..
Ignore the mass of the cable.
FIGURE 1.16.
(a) Find the equations of motion of the shaft.
(b) Compute the transfer function.
Problem 2 Modeling a Gear System
Figure 1.17 shows a gear system for an elevator car. The input shaft has a moment of
inertia is 1
1
and a torque (from a motor) 1
1
applied to it. The output shaft has moment of
inertia 1
2
and has a pulley attached to it used to raise and lower an elevator car with mass
` and a counter weight of mass :. The pulley has radius :
j
and the position of the elevator
car is denoted by .. The algebraic gear relationships are
.
1
.
2
=
o
1
o
2
= ` =
:
2
:
1
=
:
2
:
1
=
t
2
t
1
.
1. Rigid Body Rotational Dynamics 21
p
r pulley radius
z
1
2
1
2
1
2
2
1

n
n
r
r
N
L
T
M
m
FIGURE 1.17. Gear system for an elevator [1].
(a) Write down Newtons equation for rotational motion for the input (rst) shaft.
(b) Write down Newtons equation for rotational motion for the output (second) shaft. Note
that both the car weight and the counterweight produce a load torque 1
1
on the output
shaft. Your answer should have this load torque written down explicitly in terms of
`. :. q. and :
j
.
(c) Using your answers in parts (c) and (/), give a single dierential equation for o
2
with
input 1
1
. That is, eliminate t
1
. t
2
. .
1
. o
1
from your equations.
(d) Assume there is no slip between the pulley and the cable (i.e., . = :
j
o
2
) and that . = 0
means the elevator car is on the ground oor. Using your answer in part (c), write
down the dierential equation for the elevator car position . with the motor torque 1
1
as input.
22 1. Rigid Body Rotational Dynamics
1.5 References
[1] William J. Palm III, System Dynamics, Second Edition, McGraw-Hill, 2010.
[2] K. Ogata, Modern Control Engineering, Prentice-Hall, Englewood Clis, NJ, 2002.