SEMINAR

PRESENTATION

Topic Kinetic Energy of rigid body arbitarily moving in space

Name - Parveen Sahni

Roll no - 17ME63R52
Subject - ME69305
Date - 5/10/2017
 Kinetic Energy for general System of Particles:-

Ith particle

Consider a system made up of n particles. A typical particle, i, has mass mi, an

absolute velocity vi , and a kinetic energy Ti= (1/2)mi vi2 .
The total kinetic energy of the system, T, is simply the sum of the kinetic energies for
each particle,

where v , velocity relative to the center of mass and vG ,is velocity of centre of
mass.Thus, we see that the kinetic energy of a system of particles equals the kinetic
energy of a particle of mass m moving with the velocity of the center of mass, plus
the kinetic energy due to the motion of the particles relative to the center of mass,
G.
 Kinetic Energy for Rigid Body moving in Space:-

The total kinetic energy of the system, T, is simply the sum of the kinetic energies for each
particle,

For a rigid body ,the summation i = 1 , n becomes an integral over the total mass M.

T = M (1/2)v2 dm = (1/2) M vG2 + M (1/2) v 2 dm.

For a rigid body, the relative velocity w.r.t. center of mass is written as :-
= X
where is position vector of mass dm w.r.t. centre of mass and is the angular velocity
of the body.
Using the vector identity ,

We have, v2 = . = ( X ) . ( ) = .( X )

Therefore , M v2 dm = . M X dm = . G , = X ( X )dm

And expression for kinetic energy of rigid body can be written as :-

T = (1/2) M vG2 + (1/2) .G

Where , vG is the velocity of centre of the mass and G is the angular momentum
of the body about centre of mass.

From this we can see that kinetic energy has two components one is due to
translation(first term) and other is due to rotation (second term).
 The general expression for the angular momentum either about the mass center G or about
a fixed point O for a rigid body rotating with an instantaneous angular velocity :-

= X ( X )dm , = x i + y j + z k and = x i + y j + z k

on expansion of above by cross- product we get general expression for angular momentum,
= (Ixx x - Ixy y - Ixz z )i + (-Iyx x + Iyy y - Iyz z )j + (-Izx x - Izy y + Izz z )k
Where ,

The quantities Ixx, Iyy, Izz are called the moments of inertia of the body about the respective axes
and Ixy , Ixz, Iyz are the products of inertia with respect to the coordinate axes.
 PROBLEM

The bent plate has a mass of 70 kg per square meter of surface area and
revolves about the z-axis at the rate 30 rad/s. Determine (a) the angular
momentum H of the plate about point O and (b) the kinetic energy T of the
plate. Neglect the mass of the hub and the thickness of the plate compared
with its surface dimensions
 Solution

Mass of the part A , mA = (70)(0.100)(0.125)

= 0.875 kg
Mass of the part B, mB = (0.075)(0.150)(70)
= 0.788 kg

Part A
By parallel-axis theorem ,
Ixx = xx +md2
Ixx = (0.875/12)[(0.100)2 + (0.125)2] + 0.875 [(0.050)2 + (0.0625)2 ]
= 0.00747 kg . m2

Iyy = (1/3)ml2 = (0.875/3) (0.100)2 = 0.00292 kg.m2

Izz = (1/3)ml2 = (0.875/3) (0.125)2 = 0.004 56 kg.m2

Ixz = xz dm = 0 , Ixy = xy dm = 0 , since x co-ordinate of all elements of the part A is zero

By transfer-of-axis relation ,
Iyz = yz + mdydz = 0 + 0.875(0.0625)(0.050) = 0.00273 kg.m2 , [By symmetry , yz = 0 ]
Part B

Ixx = (0.788/12)(0.150)2 + 0.788 [(0.125)2 + (0.075)2 ]

= 0.01821 kg . m2

Iyy = (0.788/12)[(0.075)2 + (0.150)2]

+ 0.788 [(0.0375)2 + (0.075)2 ]
= 0.00747 kg . m2

Izz = (0.788/12)(0.075)2 + 0.788 [(0.125)2 + (0.0375)2 ]

= 0.01378 kg . m2

Ixy = xy + mdxdy = 0 + 0.788(0.0375)(0.125) = 0.00369 kg.m2

Iyz = yz + mdydz = 0 + 0.788(0.0375)(0.075) = 0.00221 kg.m2

Ixz= xz + mdxdz = 0 + 0.788(0.125)(0.0750) = 0.00738 kg.m2

The sum of the respective inertia terms gives for the two plates together

Ixx = 0.0257 kg.m2 Ixy = 0.00369 kg.m2

Iyy = 0.0103 kg.m2 Ixz = 0.00221 kg.m2

Izz = 0.01834 kg.m2 Iyz = 0.01012 kg.m2

(a) The angular momentum of the body is given by

o = (Ixx x - Ixy y - Ixz z )i + (-Iyx x + Iyy y - Iyz z )j + (-Izx x - Izy y + Izz z )k

in our problem x = y = 0 and z = 30 rad/s therefore,

o = 30 ( - 0.00221 i - 0.01012 j + 0.01834 k ) N.m.s

(b) The kinetic energy becomes

T = (1/2) M vG2 + (1/2) . o = (1/2) (30k) . 30 ( - 0.00221 i - 0.01012 j + 0.01834 k )
= 8.25 J
References
1. J. L. Meriam, L. G. Kraige, Engineering Mechanics, Vol. 2:Dynamics , Seventh
Edition, John Wiley & Sons, Inc.

2. MIT lecture note 27, 3D Rigid Body Dynamics: Kinetic Energy ,Instability,
Equations of Motion