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UNIT 2
MECHANICS
OF
A RIGID BODY
J.M. KRODKIEWSKI
2008
CONTENTS
1 THREE-DIMENSIONAL KINEMATICS OF A PARTICLE.
1.1 MOTION OF A PARTICLE IN TERMS OF THE INERTIAL FRAME.
1.1.1 Absolute linear velocity and absolute linear acceleration
1.2 MOTION IN TERMS OF THE NON-INERTIAL FRAMES (RELATIVE MOTION). . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2.1 Motion in terms of translating system of coordinates. .
1.2.2 Motion in terms of rotating system of coordinates. . .
1.2.3 Motion in terms of translating and rotating system of
coordinates. . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3 PROBLEMS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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CONTENTS
CONTENTS
INTRODUCTION.
The purpose of this text is to provide the students with the theoretical background and engineering applications of the three dimensional mechanics of a rigid
body. It is divided into four chapters.
The first one, Three-Dimensional Kinematics of A Particle, deals with
the geometry of motion of an individual particle in terms of the inertial as well as
in terms of the non-inertial system of coordinates. The introduced in this chapter
translating, rotating as well as the translating and rotating system of coordinates
allows motion of the rigid body with respect to the inertial frame to be determined
and classified.
The second chapter, entitled Three-Dimensional Kinematics of A Rigid
Body, provides procedures for determination of the absolute velocity and the absolute
acceleration of any point that belong to the rigid body. Both, the general motion and
the motion about a fixed point is considered.
The last two chapters are related with the relationships between motion and
forces that act on bodies. The chapter Kinetics of A System of Particles oers
general principles that can be apply to any system of particles regardless of their
number and internal forces acting between the individual particles. Because each
continuum (fluid, gas, rigid or elastic body) can be considered as a system of particles,
the derived equations form a base for development of many branches of mechanics
(fluid mechanics, solid mechanics, rigid body mechanics etc.).
The developed principles are widely utilized in the chapter entitled Kinetics
of A Rigid Body. This chapter gives procedures for determination of matrix of
inertia of a rigid body and its principal axes. This makes possible to produce expression for the kinetic energy of the moving rigid body as well as to derive its equations
of motion. Both, the general motion as well as rotation of a rigid body is considered.
Each chapter is ended with several engineering problems. Solution to some
of them is provided. Students should produce solution to the other problems during
tutorials and in their own time.
Chapter 1
THREE-DIMENSIONAL KINEMATICS OF A PARTICLE.
1.1
v
O
X
Oa
Ya
Xa
Figure 1
To consider motion of a particle we assume the existence of so-called absolute (motionless) system of coordinates Xa Ya Za (see Fig. 1).
DEFINITION: Inertial system of coordinated is one that does not rotate and
which origin is fixed in the absolute space or moves along straight line at
a constant velocity.
Inertial systems of coordinates are usually denoted by upper characters, e.g. XY Z, to
distinguish them from non-inertial systems of coordinates which are usually denoted
by lower characters, e.g. xyz.
1.1.1 Absolute linear velocity and absolute linear acceleration
Let us assume that a motion of a particle is given by a set of parametric equations
1.1 which determine the particle coordinates for any instant of time.
rX = rX (t)
rY = rY (t)
rZ = rZ (t)
(1.1)
K
I
r(t)
r(t+ t)
J rZ (t)
O
Y
rX (t)
rY (t)
Figure 2
These coordinates represent scalar magnitude of components of so called absolute position vector r along the inertial system of coordinates XY Z.
r = IrX (t) + JrY (t) + KrZ (t)
(1.2)
were I, J, K are unit vectors of the inertial system of coordinates XY Z. Vector of the
absolute velocity, as the first derivative of the absolute position vector r with respect
to time, is given by the following formula.
r
rX
rY
rZ
= I lim
+ J lim
+ K lim
= IrX + JrY + KrZ
tO t
tO t
tO t
tO t
(1.3)
Similarly, vector of the absolute acceleration is defined as the second derivative of the
position vector with respect to time.
v = r = lim
v
= I
rX + J
rY + K
rZ
tO t
a=
r = lim
2
v = |v| = v v = rX
+ rY2 + rZ2
(1.4)
(1.5)
2
a a = rX
+ rY2 + rZ2
(1.6)
The distance done by the particle in a certain interval of time 0 < < t is given by
the formula 1.7.
Z tp
Z t
v d =
rX ( )2 + rY ( )2 + rZ ( )2 d = s(t)
(1.7)
s=
0
1.2
z
o
o
O
x
x
X
b
X
Figure 3
DEFINITION:System of coordinates which can not be classified as inertial
is called non-inertial system of coordinates.
The non-inertial systems of coordinates are denoted by lower characters (e.g.
xyz) to distinguish it from inertial one.
DEFINITION: If a non-inertial system of coordinates does not rotate (its
axes xyz are always parallel to an inertial system) the system is called translating
system of coordinates (Fig. 3 a).
DEFINITION: If a non-inertial system of coordinates rotates about origin
of an inertial system of coordinates, the system is called rotating system of
coordinates (Fig. 3b)
In a general case a non-inertial system of coordinates may translate and rotate.
DEFINITION: System of coordinates which can translate and rotate is
called translating and rotating system of coordinates (Fig.3c)
1.2.1 Motion in terms of translating system of coordinates.
Z
rP
ro
O
P
rP,o
y
Y
x
X
Figure 4
Let XY Z be the inertial system of coordinates and xyz be the translating system
of coordinates. The relative motion of xyz system with respect to XY Z is usually
defined by a position vector ro (Fig.4). Let us consider a particle P which moves
with respect to the translating system of coordinates and its relative motion is given
by the position vector rP,o . The position vector of the particle P in the XY Z frame
can be composed from vectors ro and rP,o .
rP = ro + rP,o = IroX + JroY + KroZ + irP,ox + jrP,oy + krP,oz
(1.8)
Hence, the absolute velocity of the particle P , as the first derivative of vector rP with
respect to time is
oX + Jr
oY + Kr
oZ
r P = IroX + JroY + KroZ + Ir
P,oy + kr
P,oz
+irP,ox + jrP,oy + krP,oz + irP,ox + jr
(1.9)
= i = j = k = 0
Since, I = J = K
r P = IroX + JroY + KroZ + irP,ox + jrP,oy + krP,oz
(1.10)
In the expression for the absolute velocity one may distinguish two parts called velocity
of transportation and relative velocity.
DEFINITION: Velocity of transportation is the velocity of the particle it
would have if it would be motionless with respect to the non-inertial frame
(rP,o = const)
DEFINITION: Relative velocity is the velocity of the particle it would have
if the non-inertial system of coordinates would be motionless (ro = const).
According to the above definitions the velocity of transportation in the case considered
is
vT = r o = IroX + JroY + KroZ
(1.11)
and the relative velocity is
vR = irP,ox + jrP,oy + krP,oz
(1.12)
vP = r P = vT + vR
(1.13)
Similarly, one can prove that the absolute acceleration of the particle P is
rP = aT + aR
aP =
(1.14)
where aT and aR stand for the acceleration of transportation and the relative acceleration respectively.
DEFINITION: Acceleration of transportation is the acceleration of the
particle it would have if it would be motionless with respect to the noninertial frame (rP,o = const)
10
(1.15)
aR = i
rP,ox + j
rP,oy + k
rP,oz
(1.16)
j
O
y
J
i
X
Figure 5
As it was mention before, the rotating system of coordinates has its origin coinciding
the origin of an inertial system of coordinates (Fig.5). First of all, we have to establish
matrix which transfers components of a vector from rotating system of coordinates
xyz to the inertial XY Z.
Matrix of direction cosines.
Let the relative motion of a particle P be determined by a position vector r, which
components in the rotating system of coordinates xyz (Fig.6) are
r = irx + jry + krz
(1.17)
r I = rx i I + ry j I + rz k I
rx cos iI + ry cos jI + rz cos kI
r J = rx i J + ry j J + rz k J
rx cos iJ + ry cos jJ + rz cos kJ
r K = rx i K + ry j K + rz k K
rx cos iK + ry cos jK + rz cos kK
(1.18)
11
P
r
rz
rZ
kI
O
I
rx
J
o
jI
rX
ry
iI
rY
x
Figure 6
rX
rx
cos iI cos jI cos kI
rx
rY = cos iJ cos jJ cos kJ ry = [Cri ] ry
rZ
rz
rz
cos iK cos jK cos kK
(1.19)
(1.20)
Another useful relationship should be noticed from Fig. 7. Cosine of angle between
two unit vectors e.g. i and J is equal to the component of one on the other.
i
Jx
iJ
iY
Figure 7
cos iJ =
Jx
iY
= iY =
= Jx
i
J
(1.21)
12
Z
i
iZ
O i
Y
iX
Figure 8
From Fig. 8 one can see that components iX, iY, iZ ,which are equal to corresponding direction cosines, fulfil the following relationship.
i2X + i2Y + i2Z = cos2 iI + cos2 iJ + cos2 iK = 1
(1.22)
There exists six such relationships. Hence, only three direction angles can be chosen
independently. The three independent angles, which uniquely determined the position
of the rotating system of coordinates with respect to the inertial one, are called Eulers
angles.
Euler angles.
Z ,z
O,o
Y, y
X, x
Figure 9
Let us assume that the rotating system of coordinates xyz coincide the inertial one
XY Z. as shown in Fig.9. Now, let us turn the system of coordinates xyz with respect
to the inertial one XY Z about axis Z by an angle , so the system xyz takes position
x1 y1 z1 (Fig. 10). The matrix of direction cosines between system x1 y1 z1 and XY Z
is
13
Z ,z1
y1
O,o
x1
Figure 10
cos sin 0
[Cr1 i ] = sin cos 0
0
0
1
(1.23)
In the next step, let us turn the system xyz about axis x1 by an angle . The new
position of the system xyz is shown in Fig. 11 as x2 y2 z2 . The matrix of direction
cosines between system x2 y2 z2 and x1 y1 z1 has the following form.
z2
Z ,z1
y2
O,o
y1
x1 ,x 2
Figure 11
1
0
0
[Cr2 r1 ] = 0 cos sin
0 sin cos
(1.24)
In the last step, the system xyz is turned by an angle about axis z2 to its final
position xyz (Fig. 12). The matrix of direction cosines between xyz and x2 y2 z2 is
z2 ,z
14
Z ,z1
y2
O,o
y1
x2
Figure 12
cos sin 0
[Crr2 ] = sin cos 0
0
0
1
rx1
rX
rY = [Cr1 i ] ry1
rZ
rz1
rx2
rx1
ry1 = [Cr2 r1 ] ry2
rz1
rz2
rx
rx2
ry2 = [Crr2 ] ry
rz2
rz
(1.25)
(1.26)
(1.27)
(1.28)
Introducing Eq. 1.28 into Eq. 1.27) and than Eq. 1.27) into Eq. 1.26) one may
obtained
rx
rx
rX
rY = [Cr1 i ][Cr2 r1 ][Crr2 ] ry = [Cri ] ry
(1.29)
rZ
rz
rz
Hence the matrix of direction cosines between rotating system xyz and the inertial
XY Z is
[Cri ] = [Cr1 i ][Cr2 r1 ][Crr2 ]
(1.30)
The last formula allows to express the direction cosines as function of three independent angles known as Eulers angles. The angle is called angle of precession, angle
is called angle of mutation and the angle is called angle of spin.
15
A1
Z
A2
r2
r1
r0
r2
A2
A0
O
r0
r1
A0
A1
a
X
Figure 13
The introduced Euler angles can not be considered as vectorial values. To show it let
us consider transformation of point Ao due to rotation about axes x and y by 90o .
If we turn the vector ro by 90o first about axis x and then about axis y, the final
position of the point Ao is represented by vector r2 (Fig.13a). Let us do the same,
but now the vector ro is turned about axis y first and then about axis x (Fig. 13 b).
We can see that the final position depend on the order of rotation. Hence, angular
displacement can not be considered as a vector because at least the commutative law
would be violated.
Figure 14
It is easy to show, but the proof is here omitted, that the infinitesimal angular
displacement can be considered as vectorial magnitude. Vector of the infinitesimal
angular displacement is perpendicular to the plane of rotation and its sense is determined by the law of right-handed screw (Fig. 14). Such vectors which have
determined only direction and sense are called free vectors to distinguish them from
linear vectors (sense and line of action is determined) and position vectors ( position
of its tail, direction and sense is determined). According to the above rules the infinitesimal angular increments of Eulers angles d, d and d may be drawn as shown
in Fig. 15.
16
Z
d
d
d
d
y
O
Y
d
x
x1
Figure 15
d = d + d + d
l
d
d
h
r
dr
A
O
Y
x
X
Figure 16
Now, let us consider point A fixed in the xyz system of coordinates determined
by a position vector r (Fig. 16). And let the axis l be the instantaneous axis of
rotation of the system xyz with respect to the inertial one. Let d be an infinitesimal
17
angular displacement of the system of coordinates xyz. Hence, the point A at the
instance considered moves along circle of radius
(1.32)
h = r sin
(1.33)
d
dt
dr
d
=
r
dt
dt
(1.35)
d
dt
(1.36)
(1.37)
d
d Kd + i1 d + kd
d
d
=
=K + i1 + k
dt
dt
dt
dt
dt
The angular speed as well as its individual components are shown in Fig. 17.
The instantaneous axis of rotation
d
dt
d
dt
y
O
d
dt
X
x
x1
Figure 17
(1.38)
18
= I X + JY + KZ
X = I K
Y
Z
(1.40)
body cone
Z
t0
ti
t0
ti
t0
y
Y
ti
Figure 18
The vector of angular speed can be as well resolved along axes of the system
of coordinates xyz
(1.41)
= ix + jy + kz
and the components can be expressed as a function of time.
d
d
d
+ i i1 + i k
dt
dt
dt
d
d
d
= j K + j i1 + j k
dt
dt
dt
d
d
d
= k K + k i1 + k k
dt
dt
dt
x = i K
y
z
(1.42)
19
The components x, y, z determine for any instant of time direction of the angular
velocity in the rotating system of coordinates. The locus of these lines make up so
called body cone (Fig. 18 b). The rotational motion of the system xyz with respect
to the XY Z, can be hence considered as rolling without slipping of the body cone on
the space cone (Fig. 18 c).
The angular acceleration is defined as the first derivative of the vector of
angular velocity with respect to time.
=
d
dt
(1.43)
A
Ay
Ax
Y
O
Figure 19
Consider a vector A which is given by its components along the rotating system
of coordinates xyz.
A = iAx + jAy + kAz
(1.44)
Let us dierentiate this vector with respect to time.
= d (iAx + jAy + kAz )
A
dt
(1.45)
y + kA
z
= iA x + jA y + kA z + iAx + jA
A
(1.46)
Hence
The first three terms represent vector which can be obtained by direct dierentiating
of the components Ax , Ay , Az with respect to time. This vector will be denoted by
A0 .
A0 = iA x + jA y + kA z
(1.47)
20
Thus
y + kA
z
= A0 + iAx + jA
A
(1.48)
According to definition of vector derivative, the first derivative of the unit vector i is
the ratio of the infinitesimal vector increment di and dt (Fig. 20).
z
y
O
Y
i vi
X
Figure 20
i = di = vi dt = vi
dt
dt
were vi is a velocity of head of the vector i. But, according to Eq. 1.37
(1.49)
vi = i
(1.50)
i = i
(1.51)
Hence
Similarly
j = j
and
k = k
(1.52)
(1.53)
(1.54)
where:
A0 = iA x + jA y + kA z
- is the absolute angular velocity of the rotating system of coordinates xyz
along which the vector A was resolved to produce vector A0
A - is the dierentiated vector.
The last formula provides the rule for dierentiation of a vector that it is resolved
along a non-inertial system of coordinates. It can be applied to any vector (eg position
vector, velocity, angular velocity etc.)
21
(1.55)
where
rP x , rP y , rP z components of the vector rP along system of coordinates xyz.
The system xyz itself has its own rotational motion determined by absolute
angular velocity . We are interested in the absolute velocity and absolute acceleration of this particle.
z
rP
y
o
Figure 21
The absolute velocity of the particle P is
vP = r P = r0P + rP
(1.56)
(1.57)
For the case of motionless system of coordinates xyz ( = 0), according to Eq. 1.56
the relative velocity is
(1.58)
vR = r0P
Hence
vP = vR + vT
(1.59)
The absolute acceleration one may obtain dierentiating equation 1.56 with respect
to time.
rP =
d 0
d
rP + ( rP ) = r00P + r0P + rP + (r0P + rP )
dt
dt
(1.60)
22
(1.61)
Assuming that the point P is motionless (rP = constant) one may obtain the following
expression for acceleration of transportation
aT = rP + ( rP )
(1.62)
Here, the term rP is called tangential acceleration of transportation and the term
( rP ) is called normal acceleration of transportation.
Assumption, that the system of coordinates is motionless yields expression for
the relative acceleration.
aR = r00
(1.63)
The last term in equation 1.61 is called Coriolis acceleration aC .
aC = 2 r0
(1.64)
Now, we can state that the absolute acceleration is composed of acceleration of transportation, relative acceleration and Coriolis acceleration.
(1.65)
aP = aT + aR + aC
rP
ro
x
X
Figure 22
23
Let us assume that the relative position vector rP,o is determined by its components along the translating and rotating system of coordinates xyz.
rP,o = irP,ox + jrP,oy + krP,oz
(1.67)
According to the previously developed rules, the absolute velocity of the point P is
r P = r o + r0P,o + rP,o
where
r o + rP,o velocity of transportation
r0P,o relative velocity
The second derivative yields the absolute acceleration
ro + r00P,o + r0P ,o + rP,o + (r0P ,o + rP,o )
rP =
=
ro + rP,o + rP,o + r00P,o + 2 r0P ,o
Here:
(1.68)
PROBLEMS.
1.3
24
PROBLEMS.
Problem 1
Z z1
z2
2
1
21
y1 y2
X 1 t
x1
2 1t
x
Figure 23
The frame 1 of the system shown in Fig. 23 rotates about the vertical axis Z
with a constant angular velocity 1 whereas the disc 2 has its own constant relative
angular velocity 21 . Calculate components of the absolute angular velocity 2 of
the disc 2 and its absolute acceleration 2 .
Solution.
System of coordinates x1 y1 z1 is rigidly attached to the frame 1 and system
x2 y2 z2 is body 2 system of coordinates. Absolute angular velocity of the body 2 is
2 = k1 1 + j1 21
(1.69)
Its first vector derivative with respect to time yields absolute angular acceleration.
i1 j1 k1
(1.70)
2 = 2 = 02 + 1 2 = k1 0 + j1 0 + 0 0 1 = i1 1 21
0 21 1
PROBLEMS.
25
Problem 2
O o1
.
o t
z2
y1
Y
x1 x2
Z z1
y2
o
y1
2
1
Figure 24
A radar antenna rotates about the vertical axis Z at the constant angular
speed o . At the same time the angle is being changed as follow
= a sin At
Produce
the components of the angular velocity and the angular acceleration of the
antenna
1. along the inertial XY Z system of coordinates
2. the body 2 system of coordinates x2 y2 z2
the magnitude of the angular velocity and acceleration of the antenna..
the components of velocity and acceleration of the probe P along the body 2
system of coordinates.
the magnitude of velocity and acceleration of the probe P .
PROBLEMS.
26
Solution.
A. Matrices of direction cosines.
Fig. 24 permits to produce matrices of direction cosines between the inertial system of coordinates XY Z, the rotating system of coordinates x1 y1 z1 and the
rotating system of coordinates x2 y2 z2 .
x1
X
cos o t sin o t 0
X
y1 = sin o t cos o t 0 Y = [CI1 ] Y
(1.71)
0
0
1
Z
z1
Z
x1
1
0
0
x1
x2
y2 = 0 cos sin y1 = [C12 ] y1
(1.72)
0 sin cos
z2
z1
z1
x2
X
y2 = [C12 ][CI1 ] Y
z2
Z
1
0
0
cos o t
sin o t
0 cos sin
=
0
0 sin cos
sin o t
cos o t
sin o t 0
X
cos o t 0 Y
0
1
Z
0
X
sin
Y
cos
Z
(1.73)
B. Angular velocities.
The angular velocity of the body 2 is determined by the following vector
equation.
2 = o k1 + i
1
(1.74)
Its components along the system of coordinates x2 y2 z2 may be calculated with help
of Eq. 1.72.
2x2
1
0
0
2x1
1
0
0
sin
=
(1.75)
o
o cos
Since
= asinAt
(1.76)
2x2 = aA cos At
2y2 = o sin(a sin At)
2z2 = o cos(a sin At)
(1.77)
PROBLEMS.
27
The above equations may be considered as parametric equations of the body cone.
Parametric equations of the space cone are determined by components of the angular
velocity 2 along inertial system of coordinates. These components may be obtained
with help of the equation 1.71.
2X
2x1
cos o t sin o t 0
2Y = [CI1 ]1 2y1 = sin o t cos o t 0 0
0
0
1
o
2Z
2z1
cos o t
= sin o t
(1.78)
o
Introduction of Eq. 1.76 into Eq. 1.78 yields the parametric equations of the space
cone.
2X = aA cos At cos o t
2Y = aA cos At sin o t
2Z = o
(1.79)
Both, the space cone and body cone, are presented in Fig. 25. They were computed
for the following data
a = 1[m],
o = 1[1/s],
A = 3[1/s]
y2
Y
2
-3
-2
-1
-1
-2
-2
x2
-1
-3
-2
-1
z2
x2
a)
b)
Figure 25
(1.80)
PROBLEMS.
28
The absolute angular acceleration of the antenna can be obtained by dierentiation of the vector 2 Eq. 1.75.
+ j2 o cos k2 o sin
2 = 2 = 02 + 2 2 = i2
(1.81)
(1.82)
where
= aA cos At
= aA2 sin At
(1.83)
l = k2 l
Its first derivative with respect to time yields the absolute velocity of the point P .
i2
j2
k2
0
(1.85)
vP = l = l + 2 l = o sin o cos = i2 o l sin j2 l
0
0
1
Hence, magnitude of velocity of the point P is
p
2
vP = ( o l sin )2 + (l)
(1.86)
i2
j2
k2
o sin o cos
= i2 ( o l cos ) j2 (l
) +
o l sin
l
0
= i2 ( o l cos + o l cos )
+ 2o l sin cos )
+j2 (l
+k2 (l 2 2o l sin2 )
= i2 aPx2 + j2 aPy2 + k2 aPz2
q
a2Px2 + a2Py2 + a2Pz2
(1.87)
(1.88)
PROBLEMS.
29
Problem 3
3
L
v
Figure 26
The belt conveyor 1 shown in Fig. 26 is mounted at the constant angle = 30o
with respect to the horizontal plane on the rotating table 2. The table rotates with
the constant angular speed = 1rad/s whereas the belt 3 moves with the constant
linear velocity v = 2m/s in the direction shown. Calculate magnitude of velocity and
acceleration of the particle 4 travelling without slipping for the position defined by
the distance L = 5m.
PROBLEMS.
30
Solution.
X x
t
Z
z
y
v
L
R
O
Figure 27
Axes XY Z form the inertial system of coordinates. Axes xyz are fixed to
the rotating table 2 and have its origin at O. Angular velocity of the system of
coordinates xyz is vertical and its components along xyz system of coordinates are
2 = j sin + k cos
(1.89)
(1.90)
Its first derivative with respect to time produces the absolute velocity of the particle
4.
i
j
k
0
= R + 2 R = jL + 0 sin cos = iL cos + jv
(1.91)
R
0
L
0
(1.92)
The first derivative of the absolute velocity yields the absolute acceleration of the
particle.
i
j
k
= iv cos +
= R
+ 2 R
0
sin
cos
L cos
v
0
= i2v cos j 2 L cos2 + kL 2 sin cos
(1.93)
PROBLEMS.
31
PROBLEMS.
32
Problem 4
1
L
A
Figure 28
Wheel of radius is free to rotate about axle CD which turns about the vertical
axis with a constant speed . The wheel rolls without slipping on the horizontal plane.
Determine, as a function of its angular position , the magnitudes of velocity and
acceleration of the shown in the Fig. 28 point A .
Given are: , l, .
PROBLEMS.
33
Solution.
O
z1
t
Z
Y
y1
x1
1
L
21
C
O
x1
x2
F
D
L
z1
z2
y1
y2
Figure 29
Axes XYZ, in Fig. 29, form the inertial system of coordinates. Axis x1 y1 z1
are rigidly attached to the axle 1 and form the body 1 system of coordinates. Its
axis x1 coincides axis X of the inertial system of coordinates. Therefore the angular
speed of this system of coordinates is
(1.95)
1 = I = i1
Axes x2 y2 z2 are fixed to the wheel 2 and its axis x2 goes through the point A
whereas its axis z2 coincides axis z1 . Its absolute angular velocity 2 is assembled of
the absolute angular velocity 1 and the relative velocity 21.
(1.96)
2 = 1 + 21
(1.97)
Since the vector 21 has opposite direction to the positive direction of axis z1 , vector
of the absolute angular velocity 2 is
L
2 = i1 + k1 ( )
(1.98)
PROBLEMS.
34
(1.99)
(1.100)
i1
j1
k1
0
0
vA = r = r0 + 1 r = i1 sin + j1 cos +
cos sin L
= i1 ( sin ) + j1 ( cos L) + k1 ( sin )
(1.101)
Magnitude of the absolute velocity is
p
|vA | = |r| = ( sin )2 + ( cos L)2 + ( sin )2
(1.102)
Similarly, the first derivative of the absolute velocity yields the absolute acceleration
of the point A.
i1
j
k
1
1
0
0
aA = v A = vA + 1 vA = i1 v Ax1 + j1 v Ay1 + k1 v Az1 +
v Ax1 vAy1 v Az1
= i1 (v Ax1 ) + j1 (v Ay1 vAz1 ) + k1 (v Az1 + vAy1 )
(1.103)
where, according to (1.101)
vAx1 = sin
vAy1 = cos L
vAz1 = sin
Hence, the magnitude of absolute acceleration is
q
aA = (v Ax1 )2 + (v Ay1 vAz1 )2 + (v Az1 + vAy1 )2
(1.104)
(1.105)
PROBLEMS.
35
Problem 5
Figure 30
A crane shown in Fig. 30 is revolving about vertical axis with the constant
angular speed = 1rad/s in the direction shown. Simultaneously the boom is being
lowered at the constant angular speed = 0.5rad/s. Calculate the magnitude of the
velocity and acceleration of the end P of the boom for the instant when it passes the
position = 30o . The boom has the length l = 10m.
Answer:
v = 7.07m/s
PROBLEMS.
36
Problem 6
0
y2
X
1 2
x1
z3
M
3
x2 x 3
z1 z2
Y y1
o1
y3
y2
l
Figure 31
The turret on a tank (see Fig. 31) rotates about the vertical axis at angular
speed t and the barrel is being raised at a constant angular speed b . The tank has
constant forward speed v. When the barrel is in position defined by angles t and
b a shell leaves the barrel with muzzle velocity vs and acceleration as . Determine
the absolute velocity vm and acceleration am of the barrel muzzle as well as absolute
velocity v and acceleration a of the shell when it leaves the barrel.
Answer:
The components of the absolute position vector of the point M that belong to the
barrel
rMbx2 = vt sin t rMby2 = vt cos t + l cos b
rMbz2 = l sin b
where l = constant
The components of the absolute velocity of the point M that belong to the barrel
vMbx2 = rMbx2 t l cos b t vt cos t vMby2 = rMby2 +t vt sin t
vMbz2 = rMbz2
The components of the absolute acceleration of the point M that belong to the barrel
aMbx2 = v Mbx2 t vMby2 aMby2 = v Mby2 + t vMbx2
aMbz2 = v Mbz2
The components of the absolute position vector of the point M that belong to the
shell
rMsx2 = vt sin t rMsy2 = vt cos t + l(t) cos b
rMsz2 = l(t) sin b
where l = vs l = as
The components of the absolute velocity of the point M that belong to the shell
vMsx2 = rMsx2 t l cos b t vt cos t vMsy2 = rMsy2 +t vt sin t
vMsz2 = rMsz2
The components of the absolute acceleration of the point M that belong to the barrel
aMsz2 = v Msz2
aMsx2 = v Msx2 t vMsy2 aMsy2 = v Msy2 + t vMsx2
PROBLEMS.
37
Problem 7
O
y
z1
Y
x
21 t
P
R
O
Z z
21
z1
l
y1
x1
O
2
1
Figure 32
The link 1 of the mechanical system shown in Fig. 32 performs the rotational
motion about the absolute axis Z. Its instantaneous position is determined by the
angle . The link 2 rotates with respect to the link 1 with the constant relative
angular velocity 21 . Point P belongs to the body 2.
Given are: l, R, 21 , , (t)
Produce the expression for:
1. the components of the linear absolute velocity of the point P along the body 1
system of coordinates x1 y1 z1 .
Answer:
vx1 = R 21 cos 21 t + R sin cos 21 t l cos
vy1 = R cos sin 21 t
vz1 = R 21 sin 21 t R sin sin 21 t
2. the components of the absolute acceleration of the point P along the body system
of coordinates x1 y1 z1 .
Answer:
ax1 = v x1 + vz1 sin vy1 cos
ay1 = v y1 + vx1 cos
az1 = v z1 vx1 sin
PROBLEMS.
38
Problem 8
Z,z 1
y1
X
x1
Z,z 1
1
R
y1
Figure 33
The link 1, shown in Fig. 33, rotates about the vertical axis Z and its instantaneous angular position is determined by the angle . The bead 2 moves along the
circular slide of radius R and its relative angular position with respect to the link 1
is determined by the angle .
Produce
1. the expressions for the components of the absolute linear velocity along system of
coordinates x1 y1 z1
Answer:
v = i1 ((R
PROBLEMS.
39
Problem 9
o1
y1
o2
Y
x2
x1
y2
P
Z
z1
z2
L
2
1
o1
o2
y1
D
Figure 34
The base 1 of the crane shown in Fig. 34 rotates about the vertical axis Z
of the inertial system of coordinates XY Z. Its motion is determined by the angular
displacement . The system of coordinates x1 y1 z1 is attached to the base 1. At
the same time the boom 2 is being raised. This relative motion about the axis x1
is determined by the angular displacement . The system of coordinates x2 y2 z2 is
attached to the boom.
Given are: L, D, (t), (t)
Produce the expressions for
1. the components of the absolute angular velocity of the boom 2 along the x2 y2 z2
system of coordinates
Answer:
2x2 =
2y2 = sin 2z2 = cos
2. the components of the absolute angular acceleration of the boom 2 along the x2 y2 z2
system of coordinates
Answer:
2x2 =
2y2 =
sin + cos 2z2 =
cos sin
PROBLEMS.
40
3. the components of the absolute linear velocity of the point P along the x2 y2 z2
system of coordinates
Answer:
vP x2 = D L cos
vP y2 = 0 vP z2 = L
4. the components of the absolute linear acceleration of the point P along the x2 y2 z2
system of coordinates
Answer:
2
aP x2 = D
L
cos + 2L sin
aP y2 = D 2 cos L 2 cos2 L
aP z2 =
2
2
Chapter 2
THREE-DIMENSIONAL KINEMATICS OF A RIGID BODY
DEFINITION: A body which by assumption does not deform and therefore the distances between two of its points remains unchanged, regardless
of forces acting on the body, is called rigid body.
z
P
Z
G
k rP,o
rP
rG,o
o
ro
i
O
Y
x
Figure 1
To analyze motion of a rigid body usually we attach to the body a system
of coordinates xyz at an arbitrarily chosen point o (see Fig.1). Such a system of
coordinates is called body system of coordinates. The body system of coordinates, in
a general case, may translate and rotate. Hence, motion of the rigid body may be
determined in the same manner as the motion of the translating and rotating system
of coordinates. As we remember, motion of the translating and rotating system of
coordinates can be determined by a position vector ro and a vector of the angular
velocity . The angular velocity of the body system of coordinates is called angular
velocity of the rigid body.
2.1
GENERAL MOTION
GENERAL MOTION
42
Fig.1) be defined by a position vector rP,o . Since components of the vector rP,o along
the system of coordinates xyz are constant, the relative velocity of P with respect to
the body system of coordinates, r0P ,o ,is always 0. Therefore its absolute velocity is
vP = r P = r o + r P,o = r o + r0P ,o + rP,o = r o + rP,o
(2.1)
(2.2)
Hence, the relative velocity of the point Q with respect to the point P is
vQP = vQ vP = r o + rQ,o (ro + rP,o ) = (rQ,o rP,o ) =
(2.3)
rQ,P
The absolute acceleration of P is
aP =
rP =
ro + rP,o + ( rP,o )
(2.4)
(2.6)
anQP = ( rQ,P )
(2.7)
(2.8)
(2.9)
(2.10)
2.2
ROTATION ABOUT A POINT THAT IS FIXED IN THE INERTIAL SPACE (ROTATIONAL MOTION)
rG
rP
X
x
Figure 2
The linear velocity of an arbitrarily chosen point P of the rigid body as well
as its acceleration is determined by the angular velocity of the body . Indeed
vP = r P = r0P + rP = rP
(2.11)
rP = rP + ( rP )
aP =
(2.12)
PROBLEMS.
2.3
44
PROBLEMS.
Problem 10
Y
1
X
2
y1
x11
1
Z z1
G
y1
Figure 3
Base 1 of the ventilator shown in Fig. 3, performs an oscillatory motion
about the vertical axis Z of the inertial system of coordinates XY Z. This motion is
determined by the following equation
= o sint.
The axis of relative rotation of the rotor 2 is fixed at the constant angle with
respect to the horizontal plane. The rotor 2 rotate with a constant angular velocity
in the direction shown. The centre of gravity G of the rotor is displaced from its
axis of rotation by distance . Determine:
1. components of the absolute angular velocity of the rotor along a system of
coordinates fixed to the rotor.
2. components of the absolute velocity of the centre of gravity of the rotor
along the same system of coordinates.
Given are: o , , L, , , .
PROBLEMS.
45
Solution.
Y
z 12 t
1
y1
z2
X
x11
y12 y2
z 12
z 11
y12
x12
x2
y1
x11 x12
Figure 4
In Fig. 4, system of coordinates x11 , y11 , z11 is rigidly attached to the base 1 and
rotates about the vertical axis Z of the inertial system of coordinates XY Z. The
angular displacement determines uniquely its instantaneous position. System of
coordinates x21 , y12 , z12 is rigidly attached to the base 1 and it is turned by angle about
axis x11 . System of coordinates x2 , y2 , z2 is fixed to the rotor 2. Its axis y2 coincides
axis y12 and its instantaneous position is determined by the angular displacement t.
Absolute angular velocity of the rotor 2 is
2 = 1 + 2,1 = k11 + j2 = (k21 cos + j21 sin ) + j2
= ((k2 cos t i2 sin t) cos + j2 sin ) + j2
= i2 ( cos sin t) + j2 ( sin + ) + k2 ( cos cos t)
(2.13)
(2.14)
Hence, its fist derivative with respect to time yields its absolute velocity
i2
j2
k2
0
L
(2.15)
PROBLEMS.
46
Problem 11
Z
3
B
1
lAB
O c
Y
2
A
X
Figure 5
Fig. 5 shows the kinematic diagram of a spatial mechanism. Its link 1 can
move along axis X and is free to rotate about that axis. The link 2 is hinged to the
link 1 at the point A and at the point B is connected to the link 3 through a ball
joint. The link 3 can move in plane Y Z along axis which is parallel to Y .
Given are:
1. Motion of the point A (its position vector rA ).
2. Distance c between the point B and axis Y .
3. Length of the link 2 lAB .
Determine:
1. Positions of individual links.
2. Linear velocity of the link 3.
3. Angular velocity of the link 1.
4. Angular velocity of the link 2.
PROBLEMS.
47
Solution.
Z
3
z1 , z2
C
rC O c
rA
A
X
x1
rBC
y2
rBA
2
y1
x2
Figure 6
X
1
0
0
x1
Y = 0 cos sin y1
(2.16)
z1
Z
0 sin cos
In the same manner we can easily derive matrix of direction cosines between body 2
system of coordinates x2 y2 z2 and system of coordinates x1 y1 z1 .
x1
cos sin 0
x2
y1 = sin cos 0 y2
(2.17)
z1
z2
0
0
1
Introduction of Eq. 2.17 into Eq. 2.16 yields matrix of direction cosines between the
body 2 system of coordinates and the inertial one.
X
1
0
0
cos sin 0
x2
Y = 0 cos sin sin cos 0 y2
z2
Z
0 sin cos
0
0
1
cos
sin
0
x2
y2
cos sin cos cos sin
(2.18)
=
z2
sin sin sin cos cos
PROBLEMS.
48
(2.19)
(2.20)
or
The above equation is equivalent to 3 scalar equations which may be obtained by
subsequent multiplication its both sides by unit vectors I, J, K.
0 = rA + I j2 lAB
rBC = J j2 lAB
c = K j2 lAB
(2.21)
The dot products, appearing in the above equations, can be taken directly from
matrix 2.18.
0 = rA lAB sin
rBC = lAB cos cos
c = lAB sin cos
(2.22)
(2.23)
(2.24)
= arcsin(rA /lAB )
= arcsin(c/lAB cos )
rBC = lAB cos cos
(2.25)
(2.26)
(2.27)
Hence,
The three above equations determine position of all links for any instant of time.
C. Angular velocities of individual links.
Since the link 1 performs rotational motion about axis X, its absolute angular
velocity 1 may be obtained by dierentiation of 2.26 with respect to time.
1 = I
(2.28)
2 = 1 + 21
(2.29)
21 = k2
(2.30)
Since
the absolute angular velocity 2 takes the following form
2 = I + k2
(2.31)
(2.32)
PROBLEMS.
49
(2.33)
PROBLEMS.
50
Problem 12
The point A of the body 1 shown in Fig. 7 can move along the vertical slide 2
which is located along the axis Z of the inertial system of coordinates XY Z. Motion
of the point A is determined by the following function of time
ZA = ZA (t)
The point B of the body 1 can move along the horizontal slide located in the plane
Y Z. This slide is by a apart from axis Y . The point C is in a constant contact
with the plane XY . According to the described constraints,motion of the body 1 is
uniquely determined by the function ZA .
Produce:
1. Components of the linear velocity of the point B and the point C.
2. Components of the absolute angular velocity of the body 1.
90 o
a
Z(t)
O
1
a
X
Figure 7
PROBLEMS.
51
Solution.
A. direction cosines
a
rBA
x
A
90 or
rA
Z(t)
rCA
O
rCB
rC
C
y
Figure 8
(2.34)
(2.35)
or
Hence
ZA
rBY
+K(1
)
(2.36)
a
a
Multiplication of the above vector equation by the units vectors associated with the
inertial system of coordinates I, J and K yields the direction cosines between the axis
z and axes of the inertial system of coordinates XY Z.
k=J
k I = coskI =0
rBY
k J = coskJ =
a
k K = coskK = 1
Since
ZA
a
we have that
2
(0) +
BY
ZA
+ 1
=1
a
(2.37)
(2.38)
(2.39)
PROBLEMS.
52
The last relationship permits the unknown component rBY to be determined as the
explicit function of time
q
rBY = 2aZA ZA2 )
(2.40)
To determine the direction cosines between the axis y and axes of the inertial system
of coordinates, let us consider equation
rC = rA + rCA
(2.41)
(2.42)
or
Since according to the above equation
j=I
rCX
rCY
ZA
+J
K
a
a
a
(2.43)
(2.44)
(2.45)
2
2
+ rCY
+ ZA2 = a2
rCX
(2.46)
yields
The second equation for determination of the unknown rCX and rCY one may obtain
by consideration of the following vector equation
rC = rB + rCB
(2.47)
rCB = rB rC
(2.48)
It follows that
Multiplication of the above equation by unit vectors I, J and K respectively yields
components of the vector rCB along the initial system of coordinates.
rCBX = rB I rC I = rCX
rCBY
= rB J rC J =rBY rCY =
rCBZ = rB K rC K =a
q
2aZA ZA2 rCY
As one can see from Fig. 7 the length of the vector rCB is equal to
2
2
2
+ rCBY
+ rCBZ
= 2a2
rCBX
(2.49)
2a. Hence
(2.50)
PROBLEMS.
53
Therefore the second equation for determination of the components rCX and rCY
takes form
2
q
2
2
2aZA ZA rCY
+ a2 = 2a2
(2.51)
rCX +
The above equation together with Eq. 2.46 form set of two equations that determine
the components rCX and rCY as explicit functions of time. They are
s
2(a ZA )
rCX = a
2a ZA
ZA (a ZA )
rCY = p
ZA (2a ZA )
rCZ = 0
(2.52)
These equations allow the trajectory of the point C to be computed. This trajectory
is shown in Fig. 9 for a = 1
0.35
0.3
0.25
r CY 0.2
0.15
0.1
0.05
0
0
0.5
r CX
Figure 9
The unit vector associated with axis x can be produced as a vector product
of unit vectors j and k.
i=jk
(2.53)
where
j = I cos jI + J cos jJ + K cos jK
k = I cos kI + J cos kJ + K cos kK
Therefore
I
J
K
0
cos kJ cos kK
= I(cos jJ cos kK cos jK cos kJ)
+J( cos jI cos kK)
+K( cos jI cos kJ)
(2.54)
(2.55)
PROBLEMS.
54
Hence, the direction cosines between the axis x and axes XY Z are
cos iI = cos jJ cos kK cos jK cos kJ
cos iJ = cos jI cos kK
cos iK = cos jI cos kJ
(2.56)
B. Linear velocities
The linear velocity of the point B can be obtained by dierentiation of the
position vector rB which according to Eq. 2.40
q
(2.57)
rB = J 2aZA ZA2 + Ka
Hence
a ZA
vB = J p
Z
2 A
2aZA ZA
(2.58)
Similarly, dierentiation of the vector rC yields velocity of the point C. The position
vector rC according to Eq. 2.52
s
2(a ZA )
ZA (a ZA )
rC = Ia
+ Jp
(2.59)
2a ZA
ZA (2a ZA )
Hence
(2.60)
vC = IvCX + JvCY
where
vCX
2
1 2 Z A
p
= a
2 2a ZA (2a2 3aZA + ZA2 )
2
vCY
a 3aZA + ZA
= Z A p
3
ZA
(2a ZA )
(2.61)
Angular velocities.
The angular velocity of the link 1 may be obtained from the following vector
relationship
vB = vA + rBA
(2.62)
or
rBA = vB vA
(2.63)
The components of the vector rBA along the inertial system of coordinates are
rBAX = rBA I =ak I =acoskI =0
rBAY
q
= 2aZA ZA2 )
(2.64)
PROBLEMS.
55
I
J
K
x
z = I(0 0) + J(vBY 0) + K(0 Z A )
p y
2
0
2aZA ZA ) a ZA
= I(0) + J(vBY ) + K( Z A )
(2.65)
The above vector equation is equivalent to the following three scalar equation
q
y (a ZA ) z 2aZA ZA2 ) = 0
Hence
x (a ZA ) = vBY
q
x 2aZA ZA2 ) = Z A
(2.66)
Z A
x = p
(2.67)
2aZA ZA2 )
To produce the remaining components of the angular velocity let as consider the
vector relationship between the point C and A belonging to the same body 1.
or
vC = vA + rCA
(2.68)
(2.69)
rCA = vC vA
The developed earlier direction cosines (Eq. 2.44) permits the components of the
relative position vector to be obtain as an explicit function of time.
rCAX = rCA I =aj I =acosjI =rCX
rCAY = rCA J =aj J =acosjJ =rCY
rCAZ = rCA K =aj K =acosjK = ZA
(2.70)
where rCX and rCY are given by equation 2.52.Introducing them into Eq. 2.69 one
can get the following vector equation.
I
J
K
x y
z = I(vCX 0) + J(vCY 0) + K(0 Z A )
rCX rCY ZA
(2.71)
= I(vCX ) + J(vCY ) + K( Z A )
that is equivalent to three scalar equation of form 2.72
y ZA z rCY = vCX
z rCX + x ZA = vCY
x rCY y rCX = Z A
(2.72)
PROBLEMS.
56
Problem 13
Z z1
y1
1
X
x1
Z
z1
32
a
s 21
O
3
y1
Figure 10
The base 1 of a robot shown in Fig. 10 rotates about the vertical Z and
its angular position is determined by the angle 1 . The link 2 can move along the
vertical slide of the base and its relative position is determined by s21 . The link 3 is
hinged to the link 2 and the angle 32 determines its relative position.
Upon assuming that 1 , s21 , 32 are given functions of time and a, l, are given
parameters, derive expressions for components of:
1. absolute angular velocity and acceleration of the link 3 along a body 3
system of coordinates.
2. linear velocity of the point P along the same system of coordinates.
PROBLEMS.
57
Solution.
Z z1
y1
1
X
x1
Z
z 1 z2
l
z3
32
l
y2
a
s 21
y3
s21
O
3
y1
Figure 11
In Fig. 11, the following systems of coordinates were introduced:
XY Z inertial system of coordinates
x1 y1 z1 body 1 rotating system of coordinates
x2 y2 z2 body 2 rotating and translating system of coordinates
x3 y3 z3 body 3 rotating and translating system of coordinates.
The angular velocity of the body 3 is
3 = 1 + 21 + 32
Since 21 = 0 one may obtain the following expression for the angular velocity of the
link 3.
3 = 1 + 32 = k2 1 + i3 32 = (k3 cos 32 + j3 sin 32 ) 1 + i3 32
= i3 32 + j3 1 sin 32 + k3 1 cos 32
(2.73)
The angular acceleration of the body 3 can be obtain as vector derivative of 3 with
respect to time.
3 = 3 = 03 + 3 3 = 03
= i3
32 + j3 (
1 sin 32 + 1 32 cos 32 ) + k3 (
1 cos 32 1 32 sin 32(2.74)
)
The position vector of the point P , according to Fig. 11 is
r = s21 + a + l = k2 s21 + j2 a + j3 l
= (k3 cos 32 + j3 sin 32 )s21 + (j3 cos 32 k3 sin 32 )a + j3 l
= j3 (s21 sin 32 + a cos 32 + l) + k3 (s21 cos 32 a sin 32 )
(2.75)
PROBLEMS.
58
Its first derivative with respect to time represents the wanted velocity of the point P .
r = r0 + 3 r
(2.76)
(2.77)
where
i3
j
k
3
3
1 sin 32
1 cos 32
3 r = 32
(2.79)
PROBLEMS.
59
Problem 14
X
X
3
P
P
l
r
x1
x
z
Z3
r
O
Z3
z2
Z z1
a)
b)
y1
Figure 12
Fig. 12 shows the kinematic scheme of a mechanism. Its link 1 rotates with
the constant angular velocity about the horizontal axis Z of the motionless system
of coordinates XY Z. The link 3 is free to slide along and to rotate about axis Z3 .
The axis Z3 is fixed in the plane XZ and its position is determined by angle . The
link 2 joins point P of the link 1 and point Q of the link 3 by means of kinematic
constraints as is shown in Fig. 12. Derive the analytical expression for the linear
velocity of the link 3.
Given are:
angular velocity of the link 1.
r distance between points O and P .
l length of the link 2.
angle between axis Z and Z3
PROBLEMS.
60
Solution.
X
rP
x1
rQP
z
= t r
rQ
Z3
z2
Z z1
Y
y1
Figure 13
From Fig. 13 one can see that
rQ = rP + rQP
(2.80)
(2.81)
(2.82)
(2.83)
where x , y and z are angles between the axis z2 and axes of the system of coordinates x1 y1 z1 .Introduction of the above expressions into Eq. 2.80 yields
KrQ cos + IrQ sin = i1 r + i1 l cos x + j1 l cos y + k1 l cos z
(2.84)
Multiplication of the equation Eq. 2.84 by the unit vectors i1 , j1 and k1 respectively
oers three scalar equations.
rQ cos sin = r + l cos x
rQ sin sin = l cos y
rQ cos = l cos z
(2.85)
(2.86)
(2.87)
(2.88)
(2.89)
(2.90)
Hence
PROBLEMS.
61
(2.91)
Introduction of Eqs.. 2.88, 2.89 and 2.90 into Eq. (2.91) yields
(rQ cos sin r)2 + (rQ sin sin )2 + (rQ cos )2 = l2
(2.92)
(2.93)
(2.95)
There are two possible solution. One corresponds to sign + and the other corresponds to sing -.
X
P
l
Q+
r
Q-
Z3
Figure 14
The physical interpretation of those two solutions is given in Fig. 14.
PROBLEMS.
62
Problem 15
y2
2
A
x3
21 t
y1
y3
y2
O
o2
r
z3
A
o3
x2
x1 X
z1
z2
P
3
s
z1 z2
o2
2
l
y1
1
O
o1
Figure 15
A sketch of the Ferris Wheel is shown in Fig. 15. Its base 1 oscillates about the
horizontal axis X of the XY Z inertial system of coordinates. The instantaneous position of this base is determined by the angular position . The system of coordinates
x1 y1 z1 is rigidly attached to the base 1.
The relative angular velocity of the wheel 2 with respect to the base 1 is
constant and is equal to 21 . The system of coordinates x2 y2 z2 is rigidly attached to
the wheel 2.
The seat 3 is hinged to the wheel at the point A. The instantaneous position
of the seat 3 with respect to the wheel 2 is determined by the angular displacement
. The system of coordinates x3 y3 z3 is rigidly attached to the seat 3.
Produce expression for components of:
1. the absolute angular velocity of the seat 3 along the system of coordinates
x3 y3 z3
2. the absolute angular acceleration of the seat 3 along the system of coordinates x3 y3 z3
3. the absolute linear velocity of the point P along the system of coordinates
x3 y3 z3
Given are: r, l, s, 21 , (t), (t).
PROBLEMS.
63
Solution
3
y2
2
A
x3
21t
y1
y3
o2
r
z3
x1 X
z1 z2
A
o3
3
x2
y2
z1
z2
o2
o2
y1
1
O
o1
Figure 16
The absolute angular velocity of the system of coordinates x1 y1 z1 .
(2.96)
1 = i1
The absolute angular velocity of the system of coordinates x2 y2 z2 .
2 = 1 + 21 = i1 + k2 21
The absolute angular velocity of the system of coordinates x3 y3 z3
3 = 2 + 32 = i1 + k2 21 + i3
(2.97)
(2.98)
Since
i1 = i2 cos 21 t j2 sin 21 t = i3 cos 21 t (j3 cos k3 sin ) sin 21 t =
(2.99)
= i3 cos 21 t + j3 ( cos sin 21 t) + k3 (sin sin 21 t)
k2 = j3 sin + k3 cos
the components of the angular velocity along the system of coordinates are x3 y3 z3
3 = (i3 cos 21 t + j3 ( cos sin 21 t) + k3 (sin sin 21 t))
+ (j3 sin + k3 cos ) 21 + i3
PROBLEMS.
64
= 3 = 3 + 3 3 =
cos 21 t
21 sin 21 t +
= i3 (
+k3
21 sin cos 21 t 21 sin(2.101)
RP = k2 l + j2 r + k3 (s)
= (j3 sin + k3 cos ) l + (j3 cos k3 sin ) r + k3 (s)
= i3 (0) + j3 (l sin + r cos ) + k3 (l cos r sin s)
(2.102)
The first derivative of this vector yields the absolute liner velocity of the point P.
P = R0P + 3 RP
vP = R
i3
j3
k3
0
l sin + r cos
l cos r sin s
= i3 vP x3 + j3 vP y3 + k3 vP z3
(2.103)
PROBLEMS.
65
Problem 16
O
x
X
z1
Y
y
1
y
2
32
x2
o2
x
1
1
a
b
2
Figure 17
Fig. 17 shows a diagram of a wheel excavator. Its base 1 rotates about the
vertical axis Y of the inertial system of coordinates XY Z. System of coordinates
x1 y1 z1 is rigidly attached to the base 1. Its instantaneous position is determined by
the angle . The arm 2 rotates with respect to the base 1 about axis that is parallel
to z1 . System of coordinates x2 y2 z2 is rigidly attached to the arm 2. Its relative
angular position is determined by an angle .
The wheel 3 rotates with respect to the arm 2 about axis that is parallel to
z1 with the angular velocity 32 .
Given are: (t), (t), 32 (t), a, b.
Produce
1. the expressions for the components of the absolute angular velocity of the wheel 3
along system of coordinates x2 y2 z2 .
Answer:
PROBLEMS.
66
Problem 17
z1
y3
z3
B
1
G
y1
rA
2
l/2
Figure 18
Fig. 18 shows the kinematic scheme of a mechanism. Its link 1 rotates with a
constant angular velocity 1 about the vertical axis Z. The link 2 can translate with
respect to the link 1 and its motion is determined by position vector of the point A.
rA = k1 rA
Given are:
1 angular velocity of the link 1
rA (t) position of the point A as a function of time.
l length of the link 3
Produce expressions for
1. the components of the absolute angular velocity of the link 3 along the body 3
system of coordinates x3 y3 z3 .
Answer:
3x3 =
3y3 =
3z3 = 1 cos
rA1 sin
where = arcsin l
= r2A 2
l rA
2. the components of the absolute velocity of the point B along the body 1 system
of coordinates x1 y1 z1 .
Answer:
p
2
vBx1 = 1 l2 rA
vBy1 = rA2rA 2
vBz1 = 0
l rA
3. the components of the absolute velocity of the point G along the body 3 system
of coordinates x3 y3 z3 .
Answer:
vGx1 = 2l 1 cos
vGy1 = rA sin vGz1 = rA cos + 2l
PROBLEMS.
67
Problem 18
y1
Y
X
z2
x1
Z
z1
y3
z3
y2
P
y1
R
1
Figure 19
The base 1 of the Ferris Wheel shown in Fig. 19 rotates about the vertical
axis Z of the inertial system of coordinates XY Z. Its angular position is determined
by the angular displacement (t) which is a given function of time. The system of
coordinates x1 y1 z1 is rigidly attached to this base. The wheel 2 of radius R performs
rotational motion about axis x1 with respect to the base 1. This relative motion is
determined by function (t). The system of coordinates x2 y2 z2 is rigidly attached to
the wheel 2. The seat 3 is hinged to the wheel 2. The relative angular position of
the seat 3 with respect to the wheel 2 is determined by angle (t). The system of
coordinates x3 y3 z3 is rigidly attached to the seat 3.
1. Derive expressions for the components of the absolute angular acceleration
of the seat 3 along the system of coordinates x2 y2 z2 .
2. Derive expressions for the components of the absolute linear velocity of the
point P along system of coordinates x2 y2 z2 .
Given are: (t), (t), (t), R, L
PROBLEMS.
68
Problem 19
Z
1
z1
2
y1
x2
z2
21
R
x1
C
X
x1
z1
y1
y2
C
Figure 20
The link 1 of the mechanical system shown in Fig. 20 is free to rotate about
axis X of the inertial system of coordinates XY Z. Its instantaneous position is
determined by the angle 1 . The system of coordinates is rigidly attached to the link
1. The link 2 can rotates with respect to the link 1 and its relative angular position
is determined by the angle 21 . Derive expression for the components of
1. the absolute angular acceleration of the link 2 along the body 2 system of
coordinates
2. the absolute linear velocity of the point P along the body 2 system of
coordinates .
Given are: 1 , 21 ,L, R
PROBLEMS.
69
Problem 20
1
y1
1 t
X
x1
Z
z1
z2
o2
y2
P
2
P
y1
a
y2
x2
o2
b
Figure 21
The helicopter blade 2 is hinged at to the helicopter rotor 1 as shown in Fig.
21. The distance between the hinge and the rotor axis is c. The helicopter body
is stationary with respect to the inertial system of coordinates XY Z. Its rotor 1
rotates with a constant angular velocity 1 about the vertical axis Z. The system
of coordinates x1 y1 z1 is rigidly attached to the rotor 1. The relative position of the
blade 2 with respect to the rotor 1 is determined by the angular displacement . This
relative angular displacement is a given function of time. The system of coordinates
x2 y2 z2 is rigidly attached to the blade 2. The position of the point P which belong
to the blade is determined by its coordinates a and b along the system of coordinates
x2 y2 z2 .
Produce:
1. the components of the absolute velocity and the absolute acceleration of the point
P along the system of coordinates x2 y2 z2
2. the components of the absolute angular acceleration of the blade 2 along the
system of coordinates x2 y2 z2
PROBLEMS.
70
Problem 21
0
vA
A
a
2,1 y1
z1
x1
o1
o1
2
x1
Figure 22
The point A of the plane 1, shown in Fig. 22, follows the circular path of
radius R with the constant linear velocity vA . Its longitudinal axis E F is always
tangential to the path of the point A. This path belongs to the horizontal plane of
the inertial space XY Z. System of coordinates x1 , y1 , z1 is rigidly attached to the
plane 1. Its propeller 2 rotates with the constant angular velocity 2,1 with respect
to the plane 1.
Produce:
1. Components of the absolute velocity of the tip P of the propeller 2 along the
system of coordinates x1 , y1 , z1 as a function of the angular displacements and .
Answer:
vP x1 = r sin b
vP y1 = (R
+ a + r cos )
vP z1 = r cos
2. Components of the absolute acceleration of the tip P along the system of coordinates x1 , y1 , z1 as a function of the angular displacements and .
Answer:
aP x1 = v P x1 v
P y1
aP y1 = v P y1 v
P x1
aP z1 = v P z1
3. Components of the angular acceleration of the propeller 2 along the system of
coordinates x1 , y1 , z1 as a function of the angular displacements and .
Answer:
x1 =
2,1
y1 = 0
z1 = 0
PROBLEMS.
71
Problem 22
z1 z2 z 3
z1
3
z2
1
x1
x2
x3
z1
b
o
x1
y2
y1 2
y3
y2
b)
a)
x3
3
x2
Figure 23
Fig. 23a) shows the self-steering mechanism of the yacht 1. The system of
coordinates x1 , y1 , z1 is attached to the yacht. The shaft 2 of this mechanism is free
to rotate about the axis x1 . The system of coordinates x2 , y2 , z2 is attached to this
shaft. Its instantaneous position is determined by the angle 2 (see Fig. 23b)). The
link 3 is hinged to the link 2 at the point o. The instantaneous position of the body 3
system of coordinates x3 , y3 , z3 with respect to the system of coordinates x2 , y2 , z2 is
determined by the angle 3 . The yacht is travelling along a straight line with velocity
v. Given are: a, b, v(t), 2 (t), 3 (t).
Produce the expression for
1. the components of the absolute angular velocity of the link 3 along the system of
coordinates x3 , y3 , z3
Answer:
3x3 = 2 cos 3 3y3 = 2 sin 3
3z3 = 3
2. the components of the absolute angular acceleration of the link 3 along the system
of coordinates x3 , y3 , z3
Answer:
3x3 =
2 cos 3 2 3 sin 3 3y3 =
2 sin 3 2 3 cos 3
3z3 =
3
3. the components of the absolute velocity of the point A shown in Fig. 23a) along
the system of coordinates x3 , y3 , z3 .
Answer:
vAx3 = v cos 3 b 2 sin 3 vAy3 = v sin 3 a 3 b 2 cos 3 vAz3 = a 2 sin 3
PROBLEMS.
72
Problem 23
y2
z1
z2
Y y1
3
1
x1 x2
Figure 24
The ship 1 (Fig. 24) rotates about the axis Y of the absolute system of
coordinates XY Z. Its instantaneous position is determined by the angle . System
of coordinates x1 , y1 , z1 is rigidly attached to the ship. The housing 2 performs the
rotational motion about axis x1 . The relative position of the housing with respect to
the ship is given by the angular displacement . System of coordinates x2 , y2 , z2 is
fixed to the housing. The gyroscope 3 rotates about axis with respect to the housing.
Its relative angular velocity is .
Produce:
1. components of the absolute angular velocity of the gyroscope along the
system of coordinates x2 , y2 , z2
2. components of the absolute angular acceleration of the gyroscope along
system of coordinates x2 , y2 , z2
3. components of the absolute linear velocity of the point P along the system
of coordinates x2 , y2 , z2
4. components of the absolute linear velocity of the point P along the system
of coordinates x1 , y1 , z1
PROBLEMS.
73
Problem 24
z1
z2
z3
o3
y3
z1
x3
21
x1
y1
o1 y1
o2 y2
x1
x2
o1
Z
O X
Y
Figure 25
Fig. 25 shows the sketch of a Ferris Wheel. Its base 1 oscillates about the
horizontal axis X of the inertial system of coordinates XY Z. Its instantaneous
position is determined by the angular displacement . The wheel 2 of radius R
rotates with respect to the base 1 with the constant velocity 21 about axis y1 of
the body 1 system of coordinates x1 y1 z1 . The system of coordinates x2 y2 z2 is rigidly
attached to the wheel 2. The seat 3 is free to rotate about axis y3 and its relative
position is determined by the angular position .
Produce the expressions for
1. the components of the absolute angular velocity of the seat 3 along the system of
coordinates x2 y2 z2
Answer:
3 = i2 ( cos ) + j2 ( 21 + )
+ k2 ( sin )
2. the components of the absolute angular acceleration of the seat 3 along the system
of coordinates x2 y2 z2
Answer:
3 = i2 (
cos
21 sin sin ) + j2 (
) + k2 (
sin +
21 cos cos )
3. the components of the absolute linear velocity of the point o3 along the system of
coordinates x2 y2 z2
Answer:
vo3 = i2 (21 R) + j2 (L R cos ) + k2 (0)
PROBLEMS.
74
Problem 25
1
y1
y1
A
A
z1
f
O
x1
X
y1 y2
f
Z
z2
P
z1
A
x2
x1
OA
Z z1 P
z2
x1
a)
x2
b)
Figure 26
The link 1 of the mechanical system shown in Fig. 26 rotates about the horizontal axis Z of the inertial system of coordinates XY Z. Its instantaneous position
is determined by the angular displacement . The system of coordinates x1 y1 z is
attached to the link 1. The link 2 is free to rotate about the axis y1 and its relative
angular position is determined by the angle . The system of coordinates x2 y2 z2 is
attached to the link 2. The dimensions f and L locate position of the point P with
respect to this system of coordinates.
Produce
1. the components of the absolute angular velocity of the link 2 along the system of
coordinates x2 y2 z2 .
Answer:
+ k2 ( cos )
2 = i2 ( sin ) + j2 ()
2. the components of the absolute angular acceleration of the link 2 along the system
of coordinates x2 y2 z2 .
PROBLEMS.
75
Answer:
+ k2 (
2 = i2 (
sin cos ) + j2 ()
cos sin )
3. the components of the absolute linear velocity of the point P along the system of
coordinates x2 y2 z2 .
Answer:
f cos ) + j2 (L sin ) + k2 (f sin )
vP = i2 (L
PROBLEMS.
76
Problem 26
z1
Z
z1
y1 x1
O
o1
o1
Y
z2
Y(t
)
a
y2
o2
o2
x2
Figure 27
Figure 27 shows the suspension of the casting ladle 2. The point o1 of the
carriage 1 moves along the horizontal axis Y of the inertial system of coordinates
XY Z. Its motion is determined by the displacement Y (t). This carriage is free to
rotate about the axis x1 of the body 1 system of coordinates x1 y1 z1 . Its angular
position is given by the function of time (t). The ladle 2 rotates about the axis y2 of
the body 2 system of coordinates x2 y2 z2 . Its relative angular position is determined
by the angle (t).
Produce:
1. the expression for the components of the absolute angular velocity of the ladle 2
along the system of coordinates x2 y2 z2 .
Answer:
2 = i2 cos + j2 + k2 sin
2. the expression for the components of the absolute angular acceleration of the ladle
2 along the system of coordinates x2 y2 z2 .
Answer:
2 = i2 (
cos sin ) + j2 + k2 (
sin + cos )
3. the components of the absolute velocity of the point P along the system of coordinates x2 y2 z2 .
PROBLEMS.
Answer:
vP = i2 (Y sin sin + Y cos sin + Y sin cos + L cos )+
+j2 (Y cos Y sin )+
+k 2 (Y sin cos Y cos cos + Y sin sin + L sin )+
i2
j2
k2
+
cos
sin
Y sin sin + L sin a Y cos Y sin cos L cos + b
77
PROBLEMS.
78
Problem 27
y2
Z z1
z2
G
y1
a
O
x2
a
x1
X
Figure 28
Fig. 28 shows the physical model of a mechanical system. The link 1 of this
system rotates about the vertical axes Z of the inertial frame XYZ. Its instantaneous
position is given by the absolute angular displacement . The system of coordinates
x 1 y 1 z 1 is rigidly attached to the link 1. The link 2 is hinged to the link 1 at the
point A. The other end of this link P always stays in contact with the cylindrical
surface 3 of radius R (b>R). The system of coordinates x 2 y 2 z 2 is attached to
the body 2 and coincides with its principal axes. The link 2 possesses the mass m
and its principal moments of inertia about the system of coordinates x 2 y 2 z 2 are
I x2 , I y2 and I z2 . Its centre of gravity G is located by the distance c. The angular
displacement determines the relative position of the link 2 with respect to the
system of coordinates x 1 y 1 z 1 .
Produce:
1. The expression for the components of the absolute angular velocity of the link 2
along the system of coordinates x 2 y 2 z 2 in terms of and
2. The expression for the components of the absolute angular acceleration of the link
2 along the system of coordinates x 2 y 2 z 2 in terms of and
3. The expression for the components of the absolute velocity of the point P
PROBLEMS.
79
Chapter 3
KINETICS OF SYSTEM OF PARTICLES.
Z
m
r
O
Y
X
Figure 1
Newton second law for a single particle (see Fig. 1) can be formulated in the
following form
d
F = (mr)
(3.1)
dt
where
F - is the resultant force acting on the particle
m - mass of the particle
r - is its absolute velocity.
If the mass is constant, the second law can be rewritten in more simple way.
F = m
r
(3.2)
If the position vector r and force F are determined by its components along the
absolute rectangular system of coordinates (r = IrX + JrY + KrZ , F = IFX + JFY +
KFZ ) the above equation is equivalent to three scalar equations.
rX
FX = m
FY = m
rY
FZ = m
rZ
(3.3)
If number of particles n is relatively low, we are able to produce free body diagram
for each particle separately and create 3n dierential equations which permit each
81
Fi
Z
Fij
mi
r ij
ri
mj
Fji
rj
Fj
O
Y
X
Figure 2
Since the internal forces are to be eliminated from equations ofPmotion, the resultant
force F have to be resolved into resultant of all internal forces N
j=1 Fij and resultant
of all external forces Fi acting on the i th particle (see Fig. 2).
F = Fi +
N
X
Fij
(3.4)
j=1
Here
N represents number of particles involved
Fi represents resultant of all forces coming from sources external to the
system considered (gravity force or any force explicitly determined in time).
Fij - represents internal force acting on a particle i as result of interaction with
a particle j.
Hence, the second Newton law may be adopted in the following form
r = Fi +
mi
N
X
Fij
(3.5)
j=1
and
Fii = Fjj = 0
(3.6)
3.1
82
mi
G
ri
rG
O
Y
X
Figure 3
PN
i=1
(3.7)
mi r i
N
X
(3.8)
mi
ri
i=1
N
N
N
N
N X
X
X
X
X
(Fi +
Fij ) =
Fi +
Fij
i=1
j=1
i=1
(3.9)
i=1 j=1
Taking into account that according to Eq. 3.6 Fij = Fji and Fii = Fjj = 0 the
formula 3.9 can be rewritten in form
=
P
PN
i=1
Fi = Fex
(3.10)
MOMENT OF MOMENTUM.
83
Let vector rG be the position vector of the centre of mass of a system of particles
(Fig. 3 ). According to the definition of a centre of particles we have
rG m =
N
X
(3.11)
ri mi
i=1
where
P
m= N
i=1 mi - is the total mass of the system of particles.
Dierentiating the equation 3.11 with respect to time one can obtain
r G m =
N
X
(3.12)
r i mi = P
i=1
rG m = P
(3.13)
rG m = Fex
(3.14)
MOMENT OF MOMENTUM.
PN
i=1 ri
(mi r i )
(3.15)
N
N
N
X
X
X
(ri (mi r i )) +
(ri (mi
ri )) =
(ri (mi
ri ))
i=1
i=1
i=1
(3.16)
MOMENT OF MOMENTUM.
84
mi
ri
O
Y
X
Figure 4
Applying the second Newton law to the equation 3.16 we have
O=
H
N
X
i=1
ri (Fi +
N
X
Fij ) =
j=1
N
X
i=1
ri Fi +
N X
N
X
i=1 j=1
ri Fij
(3.17)
To show that the last term is equal to zero, let us consider two particles mi and mj
(Fig. 5)
Fij
mi
r ij
ri
mj
rj
O
Y
X
Figure 5
(3.18)
(3.19)
Taking into account the above equation, one may say that
N
N X
X
i=1 j=1
ri Fij = 0
(3.20)
MOMENT OF MOMENTUM.
85
N
X
i=1
ri Fi
(3.21)
The left hand side of equation 3.21 represents resultant moment MO of all external
forces acting on the system of particles with respect to the fixed point O. Hence, we
may conclude this paragraph with the following statement.
STATEMENT: The rate of change of the angular momentum of a system
of particles about a fixed point is equal to the sum of moments of all
external forces acting on the system of particles about that point.
O = MO
H
(3.22)
mi
r i,C
ri
rC
O
Y
X
Figure 6
If the motion of the particle mi is determined by vector ri , the relative motion of the
particle mi with respect to the point C is determined by the formula (3.23).
ri,C = ri rC
(3.23)
PN
i=1 ri,C
(mi r i )
(3.24)
N
X
i=1
r i,C (mi r i ) +
N
X
i=1
ri,C (mi
ri )
(3.25)
MOMENT OF MOMENTUM.
86
Introducing Eq. 3.23 into Eq. 3.25 and taking advantage from the second Newton
law, the first derivative of the angular momentum can be written as follow.
C=
H
N
X
i=1
r i (mi r i )
N
X
i=1
r C (mi r i ) +
N
X
i=1
ri,C (Fi +
N
X
Fij )
(3.26)
j=1
But
PN
r i (mi r i ) = 0 since r i is parallel to mi r i,
PN
Pi=1
N
i=1 ri,C
j=1 Fij = 0 because ri,C Fij + rj,C Fji = (ri,C rj,C ) Fij =
rij Fij = 0 (see Fig. 7)
mj
ri,j
mi
rj
Fi,j
r i,C
rj,C
C
rC
ri
O
Y
X
Figure 7
Hence
C =
H
where
N
X
i=1
r C (mi r i ) +
N
X
i=1
ri,C Fi = rC P + MC
(3.27)
P
(m r ) - is the linear momentum of the system considered
P= N
i=1
PN i i
MC = i=1 ri,C Fi - is resultant moment of all external forces about the
moving point C.
According to consideration curried out in chapter 2 section 1, P = r G m. Hence
C = rC r G m + MC
H
(3.28)
If the arbitrarily chosen point C coincides the gravity centre G (rC = r G ), the above
formula yields
G = MG
H
(3.29)
The last relationship allows to formulate the following statement.
STATEMENT: The rate of change of angular momentum about centre of
gravity of a system of particles is equal to moment about that centre of
all external forces acting on the system of particles.
MOMENT OF MOMENTUM.
87
mi
ri
r i,C r G,C
C
rC
O
Y
X
Figure 8
PN
(ri,C mi )
i=1 ri,C
(3.30)
N
X
i=1
r i,C (ri,C mi ) +
N
X
i=1
ri,C (
ri,C mi )
(3.31)
(3.32)
Hence
r i,C = r i r C
ri,C =
ri
rC
and
(3.33)
The first term in the right hand side of equation 3.31 is equal to 0. Hence, introduction
of Eq. 3.33 into it yields
h C =
N
X
i=1
N
X
i=1
N
X
i=1
ri,C (
ri mi )
ri,C (Fi +
N
X
i=1
N
X
j=1
Fij ) +
rC
ri,C Fi +
rC
= MC +
rC mrG,C
ri,C (
rC mi )
N
X
N
X
(ri,C mi )
i=1
(ri,C mi )
i=1
(3.34)
88
If C always coincides the centre of gravity G (rG,C = 0), moment of the relative
angular momentum about the systems centre of gravity is
h G = MG
(3.35)
and
HG = hG
(3.36)
The last expression is obvious because for motionless system of particles both moments of momentum are equal to 0.
3.3
In the previous sections of this chapter four vectorial equations has been derived. Not
all of them are independent. The independent pairs of equations are.
=F
=F
=F
P
P
P
(3.37)
G = MG
O = MO
H
H
h G = MG
Depending on the dynamic problem to be solved, we can choose one of these three
pairs of equations. Each of them is equivalent to six scalar equations. It means, that
these problems can only be solved, without additional equations expressing interaction between individual particles, which have six scalar unknown only. Very small
range of dynamic problems fulfil these requirements.
3.3.1 Conservation of momentum principle.
Let us assumed that the component of the resultant of all external forces F along the
fixed in the inertial space axis defined by the unit vector is equal to zero.
Z
O
Y
X
Figure 9
89
(3.39)
MO
O
Y
X
Figure 10
(3.40)
HO = const
(3.41)
Hence,
90
=F
=F
=F
P
P
P
(3.42)
O = MO
G = MG
H
H
h G = MG
O dt =
Pdt
=
H
Fdt,
MO dt,
to
to
to
to
Z t
Z t
Z t
Z t
HG dt =
MG dt,
MG dt
hG dt =
to
to
to
(3.43)
to
(3.44)
to
(3.45)
to
(3.46)
to
(3.47)
to
(3.48)
to
MO dt = UMO
(3.49)
MG dt = UMG
(3.50)
to
to
HO = UMO ,
HG = hG = UMG
(3.51)
PROBLEMS.
3.4
91
PROBLEMS.
Problem 28
Figure 11
On a massless and free to rotate about the vertical axis Z table, two dogs take
position at B and S as shown in Fig. 11. The dog B has a mass mB greater then
that of the dog S (mB > mS ).At the instant t = 0, when a food was placed outside
the table at F , the dogs as well as the table were motionless. Show, that regardless
of relative velocities developed by the dogs with respect to the table, the small dog
S will reach the food first.
PROBLEMS.
92
Solution
.
RB
B
F .
RS
RB
RS
Figure 12
According to the introduced definition (see Eq. 3.15), the angular momentum
of the system considered about fixed in the inertial space point O (see Fig. 12) in
arbitrarily chosen instance of time is
B + RS mS R
S
HO = RB mB R
= K(mB RB R B + mS RS R S )
(3.52)
This angular momentum has to be equal to zero since the system is conserved about
the vertical axis Z and at the beginning the system was motionless. Taking into
account that RS = RB = R, we have
mB
R S =
RB
mS
(3.53)
B
Since m
> 1, the absolute velocity of the small dog R S is always greater then the
mS
absolute velocity of the big dog R B .
PROBLEMS.
93
Problem 29
1
2
D
Figure 13
The sprinkler shown in Fig. 13 distributes water of density at the volume
rate Q. Each of the two nozzles has the exit area equal to A. The friction moment
between the rotating part 1 and the stationary one 2 is equal M. Produce expression
for the steady state angular velocity of the rotating part 1. The diameter d of the
nozzle as well as D are small as compare with the distance R shown in the drawing
13.
PROBLEMS.
94
Solution
F
F
O
G
p
Z,z
Z,z
B
vA
B
vR
M
x
y
Y
a)
B
vT
b)
Figure 14
Let us consider the system of particles limited by the boundary shown in Fig.
14a) by the dash-dot line. This system is assembled of the rotating part 1 and water
that is shadowed in Fig. 14a). Axes XY Z forms the inertial system of coordinates
and axes xyz are attached to the part 1. The forces F represents external forces
acting on the system of particles due to its interaction with the stationary part 2.
The resultant force due to gravitation is denoted by G. The friction between the
rotating and stationary part of the sprinkler is represented by moment M. The
pressure p is due to interaction of particles of water that belong to the system and
the cut-o stream of water. All the above specified forces should be classified as
external with respect to the system considered. The atmospheric pressure is evenly
distributed over the entire outer surface of the system of particles. Since its resultant
is always equal to zero, it is not shown in this diagram.
Position of the particles shown in the Fig. 14a) corresponds to an arbitrarily
chosen instant of time t. Fig. 14b) presents position of these particles after a small
increment in time t. The increment in the linear momentum associated with the
increment of time t is due to volume of water B and C as well as loss of water in
the volume E.
Let us produce expression for the linear momentum of particles in the volume
B. If the diameter of the nozzle is small with respect to the distance R, one can assume
B
that all particles that belong to the volume B have the same absolute velocity vA
.
Therefore the increment in the linear momentum is
B
PB = mB vA
(3.54)
PROBLEMS.
95
where mB stands for total mass of particles in the volume B and is equal to
1
mB = Qt
(3.55)
2
B
is equal to sum of the velocity of transportation vTB and the
The absolute velocity vA
B
relative velocity vR
.
i
j
k
Q
Q
B
B
B
0
0
+ j( ) =
vA = vT + vR = R + i =
A
A
R cos R sin 0
Q
(3.56)
= i(R sin ) + j(R cos ) + k(0)
A
Hence
Q
B
B
P = m i(R sin ) + j(R cos )
(3.57)
A
Increment in the angular momentum about fixed point O is
i
j
k
B
B
R sin
0 =
HB
O = R P = m R cos
Q
R sin R cos
0
A
Q
= k mB (R2 R cos )
(3.58)
A
In the same manner one may produce expressions for increment in the angular momentum of particles associated with the volume C and E.
Q
C
C
2
(3.59)
HO = k m (R R cos )
A
HE
(3.60)
O = 0
Hence the total increment in the angular momentum is
Q
B
C
E
2
(3.61)
HO =HO + HO + HO = k m(R R cos )
A
where m is
m = mB + mC = Q t
(3.62)
To solve the problem, one may take advantage of the angular momentum - angular
impulse principle.
HO = UMO
(3.63)
where
UMO = kMt
(3.64)
Introduction of 3.61, 3.62 and 3.64 into 3.63 yields
Q
Q t(R2 R cos )t = Mt
(3.65)
A
Hence the wanted angular speed of the sprinkler is
=
Q2 R cos
A
R2
(3.66)
Chapter 4
KINETICS OF RIGID BODY.
4.1
z
Z
ri,o
G
z
ri rG
rG,o
o
y
ro
dm
Y
x
X
Figure 1
The rigid body can be considered as a system of particles assembled of infinitesimal elements dm which positions with respect to the body frame is given by the
position vector ri,o . The mass of an individual element dm is
(4.1)
dm = (xyz)dxdydz
where is density. Hence, the total mass of the rigid body can be expressed as follow
Z
ZZZ
(xyz)dxdydz = dm
(4.2)
m=
V
The centre of gravity of the rigid body, according to the above notations, with respect
to the body system of coordinates is
Z
1
rG,o =
ri,o dm
(4.3)
m
m
97
(4.4)
(4.5)
where
Introducing Eq. 4.5 into Eq. 4.4 one can obtain
P = (ro + rG,o )m
(4.6)
(4.7)
(4.8)
(4.9)
If both vectors involved are given by their components along the body system of
coordinates, namely
= i x + j y + kz
and
ri,o = ix + jy + kz
(4.10)
i(+ x
+j( x
Zm
+k( x
(y + z )dm y
yxdm + y
xydm z
(x2 + z 2 )dm z
zxdm y
zydm + z
Zm
xzdm)
yzdm)
(x2 + y 2 )dm)
(4.12)
Introducing notations
R
Ix = (y 2 + z 2 )dm,
R
Iy = (x2 + z 2 )dm,
Ixy =
98
xy dm,
Iyz =
yz dm,
R
Iz = (x2 + y 2 )dm
m
Ixz =
xz dm
(4.13)
(4.14)
where: Ix , Iy , Iz are called moments of inertia and Ixy , Iyz , Ixz are called products
of inertia.
The above relations can be written in the following matrix form.
hox
x
Ix Ixy Ixz
hoy = Iyx Iy Iyz y
(4.15)
hoz
Izx Izy Iz
z
or shorter
{ho } = [I]{}
(4.16)
Z
i
ri
dm
G
rG
z
O
y
X
x
Figure 2
For the particular case of rotational motion of the rigid body about the fixed
in the inertial space point O (see Fig. 2) the angular momentum is
Z
Z
Z
(4.17)
HO = dHO = ri r i dm = ri (ri )dm
m
99
(4.18)
(4.19)
(4.20)
yz dm
permit elements of the inertia matrix to be calculated for bodies of a simple geometrical shape like a cylinder, sphere, rectangular block etc. As an example let as calculate
the moments and products of inertia for the rectangular block shown in Fig. 3.
dm
o
y
z
x
Figure 3
Ix =
ZZZ
Zc Zb Za
(y + z )dxdydz = ( ( (y 2 + z 2 )dx)dy)dz
2
Zc Z b
Zc Z b
2
2
a
= ( (y + z )x |0 )dy)dz = a ( (y 2 + z 2 )dy)dz
0
= a
Zc
0
1
( y 3 |b0 +z 2 y |b0 )dz = a
3
Zc
1
( b3 + z 2 b)dz
3
1
1
1
= a( b3 z |c0 + z 3 b |c0 ) = a (b3 c + c3 b)
3
3
3
1
1
2
2
2
abc(b + c ) = m(b + c2 )
=
3
3
(4.21)
100
In a similar manner the remaining elements may be calculated. The result of such
calculations is collected in appendix B.
For bodies having more complicated shape (see Fig. 4) a division into small
elements have to be carried out.
mi
zi
yi
y
xi
x
Figure 4
Then, each element can be considered as a particle and the integration may
be replaced by summation.
N
X
(yi2 + zi2 )mi
Ix
(4.22)
i=1
Eventually, the inertia matrix with respect to the arbitrarily chosen system of coordinates may be analytically established.
Ix Ixy Ixz
[I] = Iyx Iy Iyz
(4.23)
Izx Izy Iz
The following considerations allow us to calculate inertia matrix with respect to any
system of coordinates if once it has been established for a system of coordinates.
4.2.1 Parallel axis theorem.
Let us assume, that the inertia matrix of a body is known about the body system of
coordinates xyz (Fig. 5).
Ix Ixy Ixz
[I] = Iyx Iy Iyz
(4.24)
Izx Izy Iz
101
zG
dm
z
xG
zG
yG
yG
z
xG
c
O
b
x
y
Figure 5
Moment of inertia of the body along axis x, according to the previously introduced definition, is
Z
Z
2
2
Ix =
(y + z )dm = ((b + yG )2 + (c + zG )2 )dm =
m
2
2
(b2 + yG
+ 2byG + c2 + zG
+ 2czG )dm
2
(yG
2
zG
)dm
b dm +
= IxG + b2 m + c2 m + 2b
c dm +
yG dm + 2c
1
m
But,
1
m
xG dm,
2byG dm +
2czG dm
(4.25)
zG dm
zG dm,
1
m
yG dm
(4.26)
represents components of the distance between origin G and the centre of gravity,
which is actually 0. Hence,
Ix = IxG + m(b2 + c2 )
Now, let us consider a product of inertia.
Z
Z
yzdm = (yG + b)(zG + c)dm
Iyz =
m
yG zG dm + c
yG dm + b
zG dm +
(4.27)
102
Similarly, one may derive expressions for the remained products and moments of
inertia. All these equations can be written in the following matrix form.
2
ac
b + c2 ab
bc
[I] = [IG ] + m ba a2 + c2
(4.29)
2
ca
cb a + b2
The above formula is known as the parallel axes theorem and allows for calculation
of inertia matrix about any axes xyz parallel to xG, yG, zG or vise versa.
2
ac
b + c2 ab
bc
[IG ]=[I]-m ba a2 + c2
(4.30)
2
ca
cb a + b2
4.2.2 Principal axes.
Inertia matrices about axes having the same origin.
Let us assumed that the matrix of inertia of a body is known about the system of
coordinates x1, y1, z1 (see Fig. 6). Introduce new body system of coordinates x2 , y2 , z2
which has the same origin O, but it is turned with respect to the first one. The
relative position of the system x2 y2 z2 can be uniquely determined by the matrix of
direction cosines [C12 ].
z2
z1
dm
t 23
y2
o
y1
x1
x2
Figure 6
x1
x2
t11 t12 t13
x1
y2 = [C12 ] y1 = t21 t22 t23 y1
z2
z1
t31 t32 t33
z1
(4.31)
hox1
x1
hoy1 = [I]1 y1
(4.32)
hoz1
z1
103
Or in shorter form,
{ho }1 = [I]1 {}1
(4.33)
(4.34)
Similarly
But
{ho }2 = [C12 ]{h}1
and
(4.35)
(4.36)
(4.37)
(4.38)
The above formula permits to calculate the matrix of inertia along the system of
coordinates x2 , y2 , z2 when the matrix of inertia about the system of coordinates
x1 , y1 , z1 is known.
Principal axes.
zp
z1
yp
o
y1
x1
xp
Figure 7
In this paragraph will be proved existence of such a system of coordinates
xp yp zp (see Fig. 7), turned with respect to the arbitrarily chosen system x1 y1 z1 , that
all products of inertia about these axes are equal to 0.
0
Ixp 0
[I]p = 0 Iyp 0
(4.39)
0
0 Izp
104
(4.40)
(4.41)
or
or
t13 Ixp
t23 Iyp
t33 Izp
t13
t23
t33
(4.42)
The above relationship is fulfilled if and only if the corresponding columns are identical. Hence,
t11
t11
= [I]1 t12
Ixp [1] t12
t13
t13
t21
t21
= [I]1 t22
Iyp [1] t22
t23
t23
t31
t31
Izp [1] t32
= [I]1 t32
(4.43)
t33
t33
where
1 0 0
[1] = 0 1 0
0 0 1
t11
([I]1 Ixp [1]) t12
t13
t21
([I]1 Iyp [1]) t22
t23
t31
([I]1 Izp [1]) t32
t33
= 0
= 0
= 0
(4.44)
The above sets of equations have not trivial solutions if and only if their common
characteristic determinant is equal to 0
|[I]1 Ip [1]| = 0
(4.45)
or
Iz1 x1
Iz1 y1 Iz1 Ip
105
=0
(4.46)
The last equation, if developed, forms an algebraic equation of third order. Hence,
it has three roots. It may be proved that for any matrix of inertia [I]1 , the roots of
equation 4.46 Ixp , Iyp , Izp are always real and positive. For each of these roots the
sets of equations 4.44 becomes linearly dependent. Only two of them within each set
are independent and may be used to identify the unknown direction cosines t11 , t12 ,
t13 .
(Ix1 Ixp )t11 + (Ix1 y1 )t12 + (Ix1 z1 )t13 = 0
(Iy1 x1 )t11 + (Iy1 Ixp )t12 + (Iy1 z1 )t13 = 0
(4.47)
(4.48)
Equations 4.47 and 4.48 form set of equation which determines the direction cosines
t11 , t12 , t13 .
In similar manner one may obtain equations which allows the other direction
cosines to be determined.
(Ix1 Iyp )t21 + (Ix1 y1 )t22 + (Ix1 z1 )t23 = 0
(Iy1 x1 )t21 + (Iy1 Iyp )t22 + (Iy1 z1 )t23 = 0
t221 + t222 + t223 = 1
(4.49)
(4.50)
Solutions of the above equations determine uniquely a position of the principal axes.
106
4.2.3 Problems
Problem 30
Figure 8
The figure above shows an element assembled of two identical thin and uniform
bars. The bars were welded together at right angles at A. Each of the bars have a
length l and mass m. Calculate the principal moments of inertia of the assembly
along axes through its centre of gravity. Use the following numerical values; l = 1m,
m = 12kg.
107
Solution.
y1
y2
x3
y3
l/4
G1
1
x2
G
l/4
G2
x1
2
Figure 9
Coordinates of the centre of gravity of the whole assembly are (see Fig. 9)
l
4
Inertia matrix about axes x1 y1 z1 for the element 1.
ml2
0 0
3
I1,1 = 0 0 0
2
0 0 ml3
(4.51)
xG = yG =
(4.52)
0 0
0
2
0
I1,2 = 0 ml3
ml2
0 0
3
(4.53)
ml2
0
0
3
2
I1 = 0 ml3
0
2ml2
0
0
3
(4.54)
ba a + c
bc
I2 = I1 2m
2
ca
cb a + b2
ml2
l2 l2
0
0
3
16
16
2
2
l2
= 0 ml
0 2m l
3
2ml2
3
5 3 0
ml
3 5 0
=
24
0 0 10
2
16
16
0
0
l2
8
(4.55)
108
Since axis x3 is axis of symmetry of the body considered, x3 y3 z3 are principal axes.
Transfer matrix C23 between axes x2 y2 z2 and x3 y3 z3 is.
x3
x2
cos 45o cos 45o cos 90o
y3 = cos 135o cos 45o cos 90o y2
z3
cos 90o cos 90o cos 0o
z2
2 2
0
x2
2
2
2
2
y2
(4.56)
=
2
0
2
z2
0
0 1
2 2
0
5
2
2
2
ml 2 2
T
3
I3 = C23 I2 C23 =
2
0
2
24
0
0
0 1
4 0 0
= 0 1 0
0 0 5
is
0
3 0
2
2
2
5 0 2
0
2
2
0 10
0
0
1
(4.57)
109
Problem 31
r1
R1
O1
O
y
l
l
r2
R2
O2
Figure 10
The rigid body, shown in the figure 10, rotates about a fixed point O. To
analyze its motion it is necessary to know the principal axes through the point O and
principal moments of inertia.
Calculate the angular position of the principal axes with respect to the given
system of coordinates xyz as well as magnitudes of the principal moments of inertia.
The balls 1 and 2 are homogeneous and have masses m1 and m2 respectively whereas
the rods can be considered as rigid and massless. Assume the following numerical
data:
m1 = 1kg - mass of the ball 1
m2 =2kg - mass of the ball 2
r1 = 5/2 m - radius of the ball 1
r2 = 5m- radius of the ball 2
R1 = 1m
R2 = 2m
l = 1m
110
Solution.
z1
r1
R1
O1
z2
y1
O
y
l
R2
O2
r2
Figure 11
Moment of inertia of the ball 1 about axes x1 y1 z1 (see Fig. 11)
2
Ix1 = Iy1 = Iz1 = m1 r12 = 0.5 kgm2
5
(4.58)
(4.59)
Coordinates of the points O1 and O2 with respect to system of coordinates xyz are
as follow
O1 (0, l, R1 )
O2 (0, l, R2 )
(4.60)
Hence, according to parallel axes theorem the matrix of inertia of the ball 1 about
system of coordinates xyz is
0
0
0
(l + R12 )
Ix1 0
0
R12
(lR1 )
[I1 ] = 0 Iy1 0 + m1
0
0 Iz1
0
(R1 (l))
l2
2.5 0
0
= 0 1.5 1 kgm2
(4.61)
0
1 1.5
and the matrix of inertia of the ball 2 is
0
0
0
(l + R22 )
Ix2 0
0
R22
(lR2 )
[I2 ] = 0 Iy2 0 + m1
l2
0
0 Iz2
0
(R2 (l))
14 0 0
(4.62)
= 0 12 4 kgm2
0 4 6
111
Hence, matrix of inertia of the whole assembly about system of coordinates xyz is
16.5 0
0
[I] = [I1 ] + [I2 ] = 0 13.5 5 kgm2
(4.63)
0
5 7.5
16.5 Ip
0
0
=0
0
13.5
I
5
p
0
5
7.5 Ip
(4.64)
(4.65)
Ipy = 16.33kgm2 ,
Ipz = 4.67kgm2
(4.66)
If matrix of directional cosines between principal axes and the system of coordinates
xyz is defined as follow
x
xp
t11 t12 t13
yp = t21 t22 t23 y
(4.67)
zp
t31 t32 t33
z
(4.68)
(4.69)
(4.70)
t13 = 0.0000
t23 = 0.4926
t33 = 0.8700
(4.71)
112
cos 90o
cos 90o
1
0
0
cos 0o
Cxyzxp yp zp = 0 0.867 0.4926 = cos 90o cos 29.88o cos 60.48o
cos 90o cos 119.75o cos 29.88o
0 0.4926 0.87
(4.72)
Position of the principal axes with respect to the system of coordinates xyz is shown
in Fig 12.
zp
z
60.48 o
yp
119.75 o
29.88 o y
x xp
Figure 12
113
Problem 32
y
Figure 13
Matrix of inertia of a flat object shown in Fig. 13 about axes x, y, z is
Ix Ixy Ixz
10 5 0
Iyx Iy Iyz = 5 3 0 kgm2
Izx Izy Iz
0
0 13
Determine position of the principal axes of the object through the origin O.
114
Solution.
The principal moments of inertia can be obtained by solving the following
equation.
10 Ip 5
5
=0
0
3 Ip
(4.73)
0
0
13 Ip
which can be developed as follow
(4.74)
Hence
Ipx
Ipy
Ipz
169 20
= 12.6
=
2
13 169 20
= 0.4
=
2
= 13kgm2
13 +
(4.75)
Since the object is flat, the principal axis zp must coincide the axis z. The directional
cosines between the principal axis xp and axes x and y may be obtained from the
following set of equations.
(10 12.6)t11 + (5)t12 = 0
t211 + t212 = 0
(4.76)
(4.77)
5
t12 = 1.92t12
2.6
(4.78)
1
= 0.46
=+
4.7
r
1
t12 =
= 0.46
4.7
t012
(4.79)
(4.80)
(4.81)
t011 = 0.885
(4.82)
t11 = 0.885
(4.83)
(4.84)
115
(4.85)
yp
117.5 o
x
O
z
27.5o
xp
Figure 14
The solution 4.119 have to be neglected since those angles determine left
handed system of coordinates and this is in disagreement with the adopted assumptions. The only possible position of axes xp and yp with respect to system of coordinates xy is shown in Fig. 14
116
Problem 33
y
b
C
y
Figure 15
The rectangular plate, shown in Fig. 15, rotates about axis x x. Determine
moment of inertia of the plate about this axis of rotation.
Given are:
a, b - length of sides of the plate.
- angle between side a and the axis of rotation x x.
m - mass of the plate.
Moment of inertia of the rectangular plate about axis y y is determine by
the following formula
1
Iy = mb2
12
117
Problem 34
2r
Figure 16
The cam shown in Fig. 16 can be considered as a thin, flat, uniform and rigid
body of mass M. Compute the principal moments of inertia of the cam about axes
through the point O.
Given are: r = 1[m], M = 20[kg]
Answer:
Ipx = 16.375kgm2
Ipy = 21.625kgm2
Ipz = 38kgm2
118
Problem 35
y
(b)
(a)
l1
yG
l/2
xG
90 o
l2
Figure 17
Two uniform and rigid rods of length l1 and l2 are joined together to form
a rigid body (see Fig. 17a). Their masses are m1 and m2 respectively. Determine
matrix of inertia of this body about axis xyz.
Moments of inertia of the uniform rod of length l and mass m, shown in Fig.
17b, about axis through its centre of gravity G are as follows.
IxG = 0,
IyG = IzG =
1 2
ml
12
119
Problem 36
yG
l1
G
xG
1
2
l2
Figure 18
To find its matrix of inertia, the golf club shown in Fig. 18 was approximated
by the slender rod 1 and the particle 2. Mass of the rod and the particle is m1 and
m2 respectively.
Produce
1. expression for the matrix of inertia of the golf club about axes xG yG zG through its
centre of gravity G.
Answer:
1
m l2 b2 (m1 +m2 )
ab(m1 + m2 )
0
3 1 1
ab(m1 + m2 )
m2 l22 a2 (m1 +m2 )
0
IG =
1
2
2
2
2
0
0
m l +m2 l2 (a +b )(m1 +m2 )
3 1 1
l1
2 l2
where a = mm1 +m
b = 2(mm11+m
2
2)
2. expression for the principal moments of inertia about axes through the centre of
gravity
Answer:
The principal moment of inertia are solution of the following equation
1
+
m
)
[m
l
a
(m
+m
)]
I
0
ab(m
1
2
2 2
1
2
p
1
2
2
2
2
m
l
+m
l
(a
+b
)(m
+m
)
Ip
0
0
1
2
1
2
1
2
3
=0
120
Problem 37
l1
2
G
l2
Figure 19
Two uniform bars of length l 1 and l 2 and mass m 1 and m 2 respectively were
joined together to form the rigid body shown in Fig. B2.
Produce:
1. The expression for the coordinates of the centre of gravity G of the rigid body.
Answer:
l2
l1
xG = 2(mm12+m
;
yG = 2(mm11+m
2)
2)
2. The matrix of inertia of the rigid body about axes xyz.
Answer:
m1 l12
0
0
3
m2 l22
I= 0
0
3
1
2
2
0
0
(m1 l1 + m2 l2 )
3
3. The principal moments of inertia about the axes through the center of gravity G.
Answer:
IG =
m1 l12
2
(m
+
m
)y
(m
+
m
)x
y
0
1
2 G
1
2 G G
3
m2 l22
2
= (m1 + m2 )xG yG
=
(m
+
m
)x
0
1
2
G
3
1
2
2
2
2
0
0
(m1 l1 + m2 l2 ) (m1 + m2 ) (xG + yG )
3
IxG yG 0
IxG
IyG
0
= IxG yG
0
0
IzG
4. The matrix of directional cosines between the system of coordinates xyz and the
principal axes through the center of gravity G.
Answer:
(IxG +IyG ) (IxG +IyG )2 4(IxG IyG Ix2G yG )
Ixp =
2
121
The moment of inertia of a uniform bar of mass m and length l about the axis
through its center of gravity is
IG =
1
ml2
12
122
Problem 38
3
l
2
1
O
Y
l
l
X
Figure 20
Three uniform rods each of mass m and length l are joined together to form
the rigid body shown in Fig. 20.
Produce
1.
The matrix of inertia of the body about axes XY Z
2.
The principal moments of inertia about axes through the point O
3.
The matrix of directional cosines that locate the principal axes through
the point O in relation to the system of coordinates XY Z.
123
Solution.
Z
3
G3(a,b,c)
2
1
l
c=l/2
O
Y
l
b=l
X
Figure 21
The matrix of inertia of the rod 1 about axes XY Z.
0 0 0
I1O = 0 13 0 ml2
0 0 13
1
0
0
3
I2O = 0 0 0 ml2
0 0 13
2
ac
b + c2 ab
bc
I3O = I1G3 + m ba a2 + c2
2
ca
cb a + b2
2
1
l 2
+
(
)
0
0
l
0
0
2
12
2
1
0 ml2 + m
0
( 2l )2 l2
= 0 12
2
0 0 0
0
l2
l2
4
0
0
3
= 0 13 12 ml2
0 12 1
(4.86)
(4.87)
124
1
4
0 0
0
0
0 0 0
3
3
= 0 13 0 ml2 + 0 0 0 ml2 + 0 13 12 ml2
0 0 13
0 0 13
0 12 1
5
0
0
3
= 0 23 12 ml2
0 12 35
(4.88)
The principal moments of inertia about axes through the origin O are roots of the
following equation
5 2
ml Ip
0
0
3
2
1
2
2
=0
0
ml
ml
(4.89)
p
3
2
5
1
2
2
0
2 ml
ml
I
p
3
They are
5 2
ml = 1.666ml2 : 1.873ml2 : 0.459ml2
3
Taking into consideration the matrix of inertia IO , one can see that
Z
Z
XY dm = 0 and
XZdm = 0
m
(4.90)
(4.91)
Therefore the axis X coincides with the principal axis Xp and the root associated
with the first raw of the determinant 4.91 ( 53 ml2 = 1.666ml2 ) stands for the moment
of inertia about the principal axis Xp .
IXp = 1.666ml2
(4.92)
(4.94)
The first equation is fulfilled for any magnitudes of t11 , t12 and t13 . The two last
equations if and only if t12 = t13 = 0. Because
t211 + t212 + t213 = 1
(4.95)
125
(4.96)
(4.97)
The axis Y is located by the directional cosines linked with second raw of 4.93. They
are
5
( 1.873)t21 + (0)t22 + (0) t23 = 0
3
2
(0) t21 + ( 1.873)t22 (0.5) t23 = 0
3
t221 + t222 + t223 = 1
(4.98)
(4.99)
(4.100)
(4.101)
The axis Z is located by the directional cosines linked with third raw of 4.93. They
are
5
( 0.459)t31 + (0)t32 + (0) t33 = 0
3
2
(0) t31 + ( 0.459)t32 (0.5) t33 = 0
3
t231 + t232 + t233 = 1
(4.102)
(4.103)
(4.104)
(4.105)
126
Z
Yp(2)
67.52o
Zp(1)
X
Y
22.54o
Zp(2)
Yp(1)
Figure 22
To verify the result obtained let us transfer the inertia matrix from the system
(1)
(1)
(1)
of coordinates X, Y, Z into Xp , Yp , Zp .The matrix of directional cosines is
p5 p p
0
0
1
0
0
1
0
0
3
= 0 0.3823 0.9236 0 23 12 0 0.382 3 0.923 6
0 12 35
0 0.923 6 0.382 3
0 0.92360 0.3823
1.6667
0.0
0.0
0.0
1.8723
0.0
=
(4.107)
0.0
0.0
0.45919
As one can see this transformation results in the diagonal matrix having elements
equal to the principal moments of inertia
IXp = 1.666ml2 , IY p = 1.873ml2 and IZp = 0.459ml2
(4.108)
KINETIC ENERGY.
4.3
127
KINETIC ENERGY.
dm
ri
O
X
x
Figure 23
ponents along the body system of coordinates rotating with angular velocity , the
above expression may be developed as follow
1
1
1
dT = r i (r0i + ri )dm = r i ( ri )dm = (ri r i )dm
2
2
2
But, according to consideration in the previous chapter
(4.110)
1
dT = dHO
2
Upon integrating of Eq. 4.111 over the entire body we are finally getting
x
T = 12 HO = 12 [x , y , z ][I] y
z
(4.111)
(4.112)
where
KINETIC ENERGY.
128
(4.113)
dm
ri
ri,G
G
rG
O
x
X
Figure 24
(4.114)
ri = rG +ri,G
Introducing Eq. 4.114 into Eq. 4.113 one can obtain that
1
1
dT = (rG + r i,G )2 dm = (r2G dm + r 2i,G dm + 2rG r i,G dm)
2
2
(4.115)
Integration over the entire body yields the total kinetic energy in the fallowing form
Z
Z
Z
1 2
2
T = (rG dm + r i,G dm + 2rG r i,G dm)
(4.116)
2
m
KINETIC ENERGY.
129
But
dm = m
r 2i,G dm
=
2rG
r i,G dm = 2rG
ri,G r i,G dm = hG
Z
ri,G dm
= 2rG (
The last relation becomes obvious if we notice that for the chosen system of coordinates rG,G = 0.
Implementation of Eq. 4.117 into Eq. 4.116 gives the following formula for
kinetic energy.
x
T = 12 r 2G m + 12 hG = 12 r 2G m + 12 [ x , y , z ][I] y
z
(4.118)
where:
[I] - is inertia matrix about system of coordinates through centre of gravity of
the body.
x , y , z -are components of the angular velocity of the body along that system of coordinates.
The last formula permits to formulate the following statement.
STATEMENT: Kinetic energy of a rigid body is equal to the sum of its
energy in the translational motion with velocity of its centre of gravity
(energy of translation) and the energy in the rotational motion about its
centre of gravity (energy of rotation).
KINETIC ENERGY.
130
4.3.3 Problems
Problem 39
y1
Z, z1
x1
z2
Z, z1
A
y1
x1
z1
A
l
1
2
x2
Figure 25
Fig. 25 shows a mechanical system. Its link 1 is free to rotate about the
vertical axis Z of the inertial system of coordinates XY Z. Moment of inertia of the
link 1 about axis Z is I1Z . The link 2 of the system is hinged to the link 1 at the
point A as it is shown in Fig. 25. Distance between the point A and axis of rotation
Z is a. Distance between the centre of gravity G and the point A is equal to l.
Axes x2 , y2 , z2 are principal axis of inertia of the link 2 and the principal moments of
inertia about these axes are I2x2 , I2y2 , I2z2 respectively. Mass of the link 2 is equal to
m. Derive expression for the kinetic energy of the system as a function of angles
and .
KINETIC ENERGY.
131
Solution
y1
Z, z1
x1
z2
Z, z1
rA
y1
x1
z1
A
rGA
1
2
x2
Figure 26
The kinetic energy of the system T is sum of the kinetic energy possessed by
the link 1 T1 and kinetic energy possessed by the link 2 T2 .
T = T1 + T2
(4.119)
The link 1 performs the rotational motion about axis Z which is fixed in the inertial
space. Therefore its kinetic energy is
1
T1 = I1Z 21
2
(4.120)
The link 2 performs the general motion in the inertial space. Therefore its kinetic
energy is determined by the following equation.
0
2x2
I2x2 0
1
1
2
T2 = m2 vG
+ [ 2x2, 2y2, 2z2 ] 0 I2y2 0 2y2,
(4.121)
2
2
0
0 I2z2
2z2
In the above equation vG stands for the absolute velocity of the centre of gravity of
the link 2 and 2x2, 2y2, 2z2 are components of its absolute angular velocity. Angular
velocity of the link 1 is
1 = K
(4.122)
The absolute angular velocity of the link 2 is
2 = 1 + 21 = K + j1
(4.123)
KINETIC ENERGY.
132
(4.124)
The absolute velocity of the centre of gravity of the link 2 may be obtained by
integration of its position vector.
rG = rA + rGA = j2 a k2 l
(4.125)
Hence,
r G
i2
j2
k2
0
a
l
= i2 (l a cos ) + j2 (l sin ) + k2 (a sin )
(4.126)
Taking into consideration Eqs.. 4.122, 4.124 and 4.126 the wanted expression for the
kinematic energy function is
T =
1
I1Z 2
2
a cos
l
sin
I
0
0
2x2
+
sin cos 0 I2y2 0
2
0
0 I2z2
cos
KINETIC ENERGY.
133
Problem 40
x1
y3
x3
O,G
z3
x3
y1
y3
Y
4
G
c
2
z3
Figure 27
The mixing tank 1 and rotor of the electric motor 2, combined, are considered
as rigid body (see Fig. 27). Its principal moments of inertia about axes through
its centre of gravity are Ix1 , Iy1 , Iz1 and its mass is m. The tank rotates with the
constant angular velocity about axis z3 relatively to the housing 3. At the same
time the housing 3 rotates about the axis X. Its motion is determined by the angular
displacement . Given are: a, b, c, , Ix1 , Iy1 , Iz1 , m, .
Produce expressions for kinetic energy function of the mixing tank 1.
Answer:
2
I
+
ma
0
0
cos
t
x1
0
Iy1 + ma2 0 sin t
T = 12 cos t sin t
0
0
Iz1
KINETIC ENERGY.
134
Problem 41
R
L/2
(t)
X
L/2
x
Y
z Z
1
o
y
zG
b)
a)
G
H(t)
xG
R
yG
L
Figure 28
To displace the cylinder 4 of mass m, the arm of the robot shown in Fig. 28a
translates and rotates with respect to the inertial frame XY Z. The translation is
determined by function H(t) and the rotation is determined by the angular displacement (t). Upon assuming that the elements 2,3 and 4 forms one rigid body, derive
expression for the kinetic energy of the cylinder 4.
Given are: H(t), (t), a, b, R, L, m
The principal moments of inertia of a cylinder (see Fig. 28b) through centre
of gravity G are
IxG =
T =
mR2
;
2
IyG = IzG =
Answer:
1
+ b2 2 ) + 12 2 12
m(3R2 + L2 )
1
m(H
2
1
m(3R2 + L2 )
12
KINETIC ENERGY.
135
Problem 42
y1
x1 x2
Z z1
xG
l
Y
y2
a)
z2
y1
zG
yG
a
1
l
b)
Figure 29
The base 1 of the robot arm, shown in Fig. 29a), rotates about the vertical
axis Z of the inertial system of coordinates XY Z. The instantaneous position of this
base is determined by the angular displacement .The link 2 is hinged to the base 1
at the point A. The relative instantaneous position of the link 2 with respect to the
base 1 is determined by the angular displacement . The link 2 can be considered
as a rigid cylinder of length l, radius r and mass m attached rigidly to the massless
element AB. The system of coordinates x1 y1 z1 and x2 y2 z2 are rigidly attached to the
links 1 and 2 respectively. Produce kinetic energy function for the link 2 as a function
of (t) and (t).
The principal moments of inertia of the cylinder shown in Fig. 29b) about
axes through its centre of gravity G are as follows
1
1
IxG = IyG = mr2 + ml2
4
12
1
IzG = mr2
2
KINETIC ENERGY.
136
Problem 43
X
yG
m
r
xG
a)
yG
L/2
L/2
r
r
G
2r
1
zG
l
b)
2r
2,1
r r
Z
Figure 30
The exciter shown in Fig. 30a) is design to produce the oscillatory motion of
an object. Its rotor 2 can be treated as a rigid body assembled of two spheres each
of mass ms and a cylinder of mass mc . These elements are join together by means
of massless elements as it is shown in Fig. 30a). This rotor rotates with respect to
its housing 1 with the constant angular velocity 2,1 . The oscillatory motion of the
housing 1 is determined by the angular displacement . Produce expression for the
kinetic energy of the rotor of the exciter.
The principal moments of inertia for the sphere shown in Fig. 30b) are
2
IxG = IyG = IzG = mr2
5
The principal moments of inertia for the cylinder shown in Fig. 30b) are
1
1
IxG = IyG = mr2 + ml2
4
12
1
IzG = mr2
2
KINETIC ENERGY.
137
Problem 44
0
y2
X
1 2
x1
z3
x2 x 3
z1 z2
t
Y y1
o1
y3
y2
l
Figure 31
The turret 2 of the tank 1 shown in Fig. 31is rotating about the vertical
axis with the angular velocity t and the barrel 3 is being raised with the constant
angular velocity b . The tank has the constant forward linear velocity v. The system
of coordinates x3 , y3 , z3 is rigidly attached to the barrel 3 and coincides with its
principal axes. Moments of inertia about these axes are Ix3 , Iy3 and Iz3 respectively.
Mass of the barrel is m and its centre of gravity is by l apart from o1 .
Produce expression for the kinetic energy of the barrel when the barrel passes
the position defined by angles t and b .
Answer:
2
I
ml
0
0
x3
3x3
2
3y3
0
Iy3
0
+ 12 3x3 3y3 3z3
T = 12 mvG
2
3z3
0
0 Iz3 ml
where
3y3 = t sin b
3z3 = t cos b
3x3 = b
0
vG = rG + 3 rG
rG = i3 (vt sin t )+j3 (vt cos b cos t +l)+k3 (vt sin b cos t )
KINETIC ENERGY.
138
Problem 45
z2
Z z1
o2 y2
x2
l
o1
y1
x1
Figure 32
The base 1 of the crane shown in Fig. 32 rotates with the constant angular
velocity about the vertical axis Z of the inertial system of coordinates XY Z. The
system of coordinates x1 y1 z1 is attached to the base. At the same time its boom 2 of
mass m is being lowered. This relative motion about the axis is determined by the
angular displacement . The system of coordinates x2 y2 z2 is attached to the boom.
Its origin coincides with the booms centre of gravity G. The distance l determines
the position of the centre of gravity. The axes of the system of coordinates x2 y2 z2
coincide with principal axes of the boom. The principal moments of inertia about
these axes are Ix , Iy , Iz respectively.
Produce the expression for the kinetic energy of the boom.
Answer:
sin
I
+
ml
0
0
x
0
Iy + ml2 0
T = 12 sin cos
0
0
Iz
cos
KINETIC ENERGY.
139
Problem 46
y1
y2
x2
21 t
o2 o1
x1
2
l
z1
X
o2 o1
x1
Figure 33
The massless link 1 (see Fig. 33) is free to rotate about the horizontal axis
Y of the inertial system of coordinates XY Z. The system of coordinates x1 y1 z1 is
rigidly attached to the link 1. Its angular position is determined by the angle . The
link 2 that can be considered as a slender and uniform bar of mass m and length l
rotates with respect to the link 1 with the constant velocity 21 .
Produce the expression for the kinetic energy of the link 2.
Answer:
1 2
2
ml
+
ma
0
0
t
sin
21
3
0
ma2 12 mal cos 21 t
T = 12 [ sin 21 t, cos 21 t, 21 ]
0
12 mal 13 ml2
21
KINETIC ENERGY.
140
Problem 47
z1 Z
z2
y1 y2
Y
a
b
x1
x2
Figure 34
Figure 34 shows the physical model of a mechanism. The slide 0 is motionless
with respect to the inertial system of coordinates XYZ . It is parallel to the axis Y
and its position is determined by the dimensions a and b. The link 1 rotates about
the vertical axis Z and its instantaneous position is given by the angular displacement
. The system of coordinates x 1 y 1 z 1 is rigidly attached to the link 1. The link
2 is hinged to the link 1 at the point O and it is supported by the slide 0. The
system of coordinates x 2 y 2 z 2 is rigidly attached to the link 2 and coincides with
its principal axis. The angular displacement defines the relative position of the
link 2 with respect to the link 1. The principal moments of inertia of the link 2 are
I x2 , I y2 , I z2 and its mass is m. The distance l identifies the position of the center of
gravity G of the link 2.
Produce:
1. The expression for the components of the absolute angular velocity of the link 2
along the system of coordinates x 2 y 2 z 2 in terms of and .
Answer:
2 = i2 ( sin ) + j2 + k2 ( cos )
2. The expression for the components of the absolute angular acceleration of the link
2 along the system of coordinates x 2 y 2 z 2 in terms of and .
KINETIC ENERGY.
141
Answer:
2 = i2 (
sin cos ) + j2 + k2 (
cos sin )
3. The expression for the components of the absolute velocity of the point G along
the system of coordinates x 2 y 2 z 2 in terms of and .
Answer:
= arctan ab cos
KINETIC ENERGY.
142
Problem 48
y2
Z z1
z2
G
y1
a
O
x2
a
x1
X
Figure 35
Fig. 35 shows the physical model of a mechanical system. The link 1 of this
system rotates about the vertical axes Z of the inertial frame XYZ. Its instantaneous
position is given by the absolute angular displacement . The system of coordinates
x 1 y 1 z 1 is rigidly attached to the link 1. The link 2 is hinged to the link 1 at the
point A. The other end of this link P always stays in contact with the cylindrical
surface 3 of radius R (b>R). The system of coordinates x 2 y 2 z 2 is attached to
the body 2 and coincides with its principal axes. The link 2 possesses the mass m
and its principal moments of inertia about the system of coordinates x 2 y 2 z 2 are
I x2 , I y2 and I z2 . Its centre of gravity G is located by the distance c. The angular
displacement determines the relative position of the link 2 with respect to the
system of coordinates x 1 y 1 z 1 .
Produce:
1. The expression for the components of the absolute angular velocity of the link 2
along the system of coordinates x 2 y 2 z 2 in terms of and
2. The expression for the components of the absolute angular acceleration of the link
2 along the system of coordinates x 2 y 2 z 2 in terms of and
3. The expression for the components of the absolute velocity of the point P along
the system of coordinates x 2 y 2 z 2 in terms of and
4. The kinetic energy of the link 2 as a function of and .
5. The expression for the angular displacement as a function of .
KINETIC ENERGY.
143
Solution
1. The absolute angular velocity of the link 2 is
2 = 1 + 21 = k1 + i2
Its components along the system coordinates x 2 y 2 z 2 are
2x2 = i2 k1 + i2 =
2y2 = j2 k1 + i2 = sin
2k2 = k2 k1 + i2 = cos
2 = 02 + 2 2 = 02 = i2 + j2
sin + cos + k2
cos sin
3.
y2
Z z1
z2
rP
y1
a
O
x2
a
x1
X
Figure 36
The absolute position vector of the point P (see Fig. 36) is
rP = j1 a + j2 b
(4.127)
KINETIC ENERGY.
144
(4.128)
The first time derivative of the position vector rP yields the absolute velocity of the
point P
0
r P = rP + 2 rP
j2
k2
i2
= j2 a sin + k2 a cos +
sin
cos =
0 a cos + b a sin
2
2
+ k2 a cos + a cos + b
= i2 (a b cos ) + k2 b
(4.129)
4.
z2
y2
Z z1
y1
D
b
x2
a
x1
X
Figure 37
KINETIC ENERGY.
145
The angular displacement is not an independent variable. There is a relationship between the variable and the independent coordinate imposed by the
kinematic constrains. To develop this relationship let us consider the vector equation
shown in Fig. 37.
CO + OD = CD
(4.130)
or
Ja+j1 (a + b cos ) = I (R sin ) + JR cos
(4.131)
Multiplication of the above equation by the unit vectors I and J results in the following
set of scalar algebraic equations
I Ja+I j1 (a + b cos ) = I I (R sin ) + I JR cos
J Ja+J j1 (a + b cos ) = J I (R sin ) + J JR cos
(4.132)
or
sin (a + b cos ) = R sin
a + cos (a + b cos ) = R cos
(4.133)
Hence
R2 = sin2 (a + b cos )2 + a2 + 2a cos (a + b cos ) + cos2 (a + b cos )2
R2 = (a + b cos )2 + a2 + 2a cos (a + b cos )
(4.134)
or
(a + b cos )2 + 2a cos (a + b cos ) (R2 a2 ) = 0
(4.135)
(4.136)
(4.137)
q
1
2
2
2
(2a cos ) (2a cos ) + 4(R a )
z=
2
(4.138)
q
1
1 1
2
2
2
cos =
(z a) =
(2a cos ) (2a cos ) + 4(R a ) a
b
b 2
q
1
2
2
2
(a cos ) (a cos ) + (R a ) a
b
s
2
R
a
1 1
cos cos2 +
(4.139)
b
a
EQUATIONS OF MOTION
4.4
146
EQUATIONS OF MOTION
Under influence of a set of external forces Fi (see Fig. 38) the considered body moves
Fi
dm
ri
ri,G
G
rG
y
vG
O
x
Figure 38
in the inertial system of coordinates XY Z. Let vG be its absolute velocity of its
centre of gravity G and its absolute angular velocity. To derive the formula for
the linear momentum P let us introduce a body system of coordinates xyz. The
body system of coordinates has its origin at the body centre of gravity G and its axes
coincides principal axes of inertia. Such selection of the body system of coordinates,
according to considerations in the previous section, is always possible.
The linear momentum of the body considered is
P = mvG
(4.142)
(4.143)
(4.144)
EQUATIONS OF MOTION
147
where
0
vG
= iv Gx + jv Gy + kv Gz
and
(4.145)
= ix + jy + k z
i
j
k
P = m (iv Gx + jv Gy + kv Gz ) + x y z
vGx vGy vGz
= im(v Gx + vGz y vGy z )
+jm(v Gy + vGx z vGz x )
+km(v Gz + vGy x vGx y )
= iFx + jFy + kFz
(4.146)
(4.147)
Components of moment of the relative momentum, according to Eq. 4.15, in the case
considered may be adopted in the following form.
0
x
hGx
IGx 0
IGx x
hGy = 0 IGy 0 y = IGy y
(4.148)
0
0 IGz
hGz
z
IGz z
Taking into account the above relationship, the equation 4.141 may be transformed
to form 4.149.
h G = h0G + hG
i
j
k
y
z
= iIGx x + jIGy y + kIGz z + x
IGx x IGy y IGz z
=
i(IGx x + (IGz IGy ) z y )
+j(IGy y + (IGx IGz ) x z )
+k(IGz z + (IGy IGx )y x )
=
iMGx + jMGy + kMGz
(4.149)
(4.150)
Eventually, we obtained six independent equations which allow to obtain either kinematic parameters ( and vG ) in case all the external forces are known, or resultant
external force F and resultant moment MG one has to apply to the rigid body to
keep it going according to the assumed motion.
EQUATIONS OF MOTION
148
Rotational motion
In a case, when the rigid body performs the rotational motion about the point O
which is fixed in the inertial space (see Fig. 39) it can be considered as system with
three degree of freedom. Hence only three equations are necessary to describe its
motion. The wanted equations may be obtained from equation 4.18.
X
O = MO =
H
ri Fi
(4.151)
dm
Fi
G
rG
O
ri
R
y
X
x
Figure 39
Let us introduce through point of rotation O body system of coordinates which
axes coincide principal axis of the body. Components of the angular momentum along
these axes are
0
x
HOx
IOx 0
IOx x
HOy = 0 IOy 0 y = IOy y
(4.152)
0
0 IOz
HOz
z
IOz z
O = H0O + HO = MO
H
(4.153)
In a similar way to that shown in the previous paragraph, one may transform the
above equation into three equivalent equations known as Eulers equations.
IOx x + (IOz IOy )z y = MOz
IOy y + (IOx IOz ) x z = MOy
IOz z + (IOy IOx ) y x = MOz
(4.154)
The three unknown components of the reaction R in the pivot O are determined by
Eq. 4.147
m(v Gx + vGz y vGy z ) = Fx
m(v Gy + vGx z vGz x ) = Fy
m(v Gz + vGy x vGx y ) = Fz
(4.155)
EQUATIONS OF MOTION
149
where
vG = rG
(4.156)
The external force F comprises both, the known driving forces Fd and the unknown
reaction R.
F = R + Fd
(4.157)
4.4.2 Modified Eulers equations of motion
General case
The modified equations of motion corresponds to the particular case of motion of a
rigid body which fulfils the following requirements:
1. The body has an axis of symmetry (see Fig. 40).
2. The body rotates with a relative angular velocity about its axis of
symmetry z with respect to a translating and rotating system of coordinates xyz.
x
Figure 40
For further consideration we will assume that the translating and rotating
system of coordinates xyz has its origin at the centre of gravity of the symmetric
body.
As an example of possible application let us consider rotor of a turbo-compressor
of a jet shown in Fig. 41.
z
vG
Figure 41
The system of coordinates xyz is fixed to the jet and its origin is chosen at the
centre of gravity G of the rotor. This system of coordinates possesses its own angular
EQUATIONS OF MOTION
150
speed . The rotor of the turbo-compressor itself rotates with angular velocity
about axis of symmetry z. Hence, all the above requirements are fulfilled.
In such cases, equations of motion of a rigid body may be formulated in terms
of kinematic parameters of the system xyz (vG , ) and the relative angular velocity
of the body .
y
Fi
dm
yb
ri,G
xb
rG
vG
z zb
z
O
Y
X
b)
a)
Figure 42
(4.158)
(4.159)
hGxb
Ax
b
hGyb = IG
Ayb
(4.160)
xb, yb ,zb
hGzb
Azb
where
[IG ]xb, yb ,zb is matrix of inertia of the body about the body system of coordinates.
Axb , Ayb , Azb are components of the absolute angular velocity of the body
along the body system of coordinates.
Taking into consideration that
hGxb
hGx
hGyb = [Cxyzxb yb zb ] hGy
(4.161)
hGzb
hGz
EQUATIONS OF MOTION
and
151
Axb
Ax
Ayb = [Cxyzxb yb zb ] Ay
Azb
Az
(4.162)
Ax
hGx
hGy = ([Cxyzxb yb zb ]T IG
[Cxyzxb yb zb ]) Ay
(4.163)
xb, yb ,zb
hGz
Az
Hence
IG
xb, yb ,zb
0
IG 0
= 0 IG 0
0 0 IGz
(4.165)
[Cxyzxb yb zb ]T IG x y ,z [Cxyzxb yb zb ]
b, b b
0
cos (t) sin (t) 0
cos (t) sin (t) 0
IG 0
= sin (t) cos (t) 0 0 IG 0 sin (t) cos (t) 0
0 0 IGz
0
0
1
0
0
1
0
IG 0
0 IG 0
=
(4.166)
0 0 IGz
0
Ax
hGx
IG 0
hGy = 0 IG 0 Ay
0 0 IGz
hGz
Az
(4.167)
A = + = i x + j y + k( z + )
(4.168)
It is easy to see from Fig. 42 a that the absolute angular velocity of the body A is
hGx
IG
hGy = 0
0
hGz
0
0
x
IGx x
IG 0 y =
IGy y
0 IGz
z +
IGz ( z + )
(4.169)
EQUATIONS OF MOTION
152
Since the vector of the angular relative momentum hG is resolved along non-inertial
system of coordinates its derivative takes form
h G = h0 + hG
i
j
k
y
z
= iIG x + jIG y + kIGz ( z + ) + x
IGx x IGy y IGz ( z + )
= i(IG x + (IGz IG ) z y + IGz y )
+j(IG y (IGz IG ) x z IGz x )
+k(IGz ( z + ))
= iMGx + jMGy + kMGz
(4.170)
(4.171)
The equation 4.158, treated in the same way as in the previous section, yields three
additional equations
m(v Gx + vGz y vGy z ) = Fx
m(v Gy + vGx z vGz x ) = Fy
m(v Gz + vGy x vGx y ) = Fz
(4.172)
Rotational motion.
In case of rotational motion (see Fig. 43) the origin of the rotating system of coordinates x, y, z is always chosen at a point of rotation O.
z
Z
R
G
rG
Fi
y
ri
Figure 43
EQUATIONS OF MOTION
153
Let be the angular velocity of the rotating system of coordinates xyz and the
body rotates about its axis of symmetry z with the angular velocity with respect
to the rotating system of coordinates xyz. Hence the absolute angular velocity of the
body considered is
A = + = i( x ) + j( y ) + k(z + )
(4.173)
Similar consideration to this in the previous section leads to conclusion that the
components of the angular momentum about the point O are
0
HOx
x
IO 0
IO x
HOy = 0 IO 0 y =
IO y
(4.174)
0 0 IOz
HOz
z +
IOz (z + )
i
j
k
+ x
IO x IO y IOz ( z + )
(4.175)
(4.176)
(4.177)
which permit the unknown vector to be obtained. The above equations are known
as modified Eulers equations.
The equation 4.158, if treated in the same way as it has been done in the
previous section, yields
m(v Gx + vGz y vGy z ) = Fx
m(v Gy + vGx z vGz x ) = Fy
m(v Gz + vGy x vGx y ) = Fz
(4.178)
Since velocity of the centre of gravity vG can be obtained from the formula below
j
k
(4.179)
vG = rG = x y z
0 0 rGz
the equations 4.178 allow to the unknown components of the reactions R at the
constrain O to be determined.
EQUATIONS OF MOTION
154
4.4.3 Problems.
Problem 49
y1
z 3 z1
O,G
O
A
o1,o3
z 3 z1
x1
a
b
O
x3
4
G
c
2
x3
y3
y3
Figure 44
The mixing tank 1 and rotor of the electric motor 2, combined, are considered
as rigid body. Its principal moments of inertia about axes through its centre of gravity
are Ix , Iy , Iz and its mass is m. The tank rotates with the constant angular velocity
about axis z3 relatively to the housing 3. At the same time it rotates with the
constant angular velocity about the axis X. Derive expressions for all components
of reactions at A and B when the mixing tank passes an angular position . The
senses of the angular velocities and necessary dimensions are shown in Fig. 44.
Given are: a, b, c, , , Ix = Iy , Iz , m, .
EQUATIONS OF MOTION
155
Solution.
z3
O
R A =0
z3
a
G
R Ax3 A
R Bz3
B
R Bx3
R Ay3 b
RB
y3
y3
Figure 45
In Fig. 45 the x3 y3 z3 system of coordinates is fixed to the housing 3. Its
absolute angular velocity is
3 = i3
(4.180)
The relative angular velocity of the mixing tank 1 with respect to the x3 y3 z3 system
of coordinates is
= k3
(4.181)
The absolute position vector of the centre of gravity G can be determine along the
system x3 y3 z3 as follows
rG = k3 a
(4.182)
Hence, the absolute velocity of G is
i3 j3 k3
vG = 3 rG = i3 (ak3 ) = 0 0
0 0 a
= j3 a
(4.183)
Since axis z3 is axis of symmetry for the tank, its motion is governed by the modified
Euler equations. The tank performs the rotational motion about point O. But in
the case considered it is more convenient to take advantage of the equations for the
general case.
m(v Gx3 + vGz3 y3 vGy3 z3 ) = RAx3 + RBx3
m(v Gy3 + vGx3 z3 vGz3 y3 ) = RAy3 + RBy3 + mgsin
m(v Gz3 + vGy3 x3 vGx3 y3 ) = RBz3 mgcos
I x3 + (Iz I) y3 z3 + Iz y3 = RAy3 b + RBy3 (b + c)
I y3 (Iz I) x3 z3 Iz x3 = RAx3 b RBx3 (b + c)
= Mz3
Iz3 ( z3 + )
(4.184)
(4.185)
EQUATIONS OF MOTION
156
where I and Iz are moments of inertia of the body about axes x1 y1 z1 through the
centre of gravity G.
According to Eqs. 4.180 and 4.183
vGx3 = 0
x3 =
vGy3 = a
y3 = 0
vGz3 = 0
z3 = 0
(4.186)
(4.187)
Introducing Eqs. 4.57 and 4.187 into Eqs. 4.184 and 4.185 one can obtain
0
0
2
m(a )
0
Iz
0
=
=
=
=
=
=
RAx3 + RBx3
RAy3 + RBy3 + mg sin
RBz3 mg cos
RAy3 b + RBy3 (b + c)
RAx3 b RBx3 (b + c)
Mz3
(4.188)
The first five equations allow for determination of the unknown reaction at A and B.
RAx3 =
RAy3 =
RBx3 =
RBy3 =
RBz3 =
1
Iz
c
b+c
mg sin
c
1
Iz
c
b
mg sin
c
ma2 2 + mg cos
(4.189)
The last equation oers the driving moment of the tank. In the case considered it is
equal to zero.
EQUATIONS OF MOTION
157
Problem 50
C
G
l1
l2
Figure 46
Figure 46 shows a mobile concrete mixer. The line AC is the axis of symmetry
of the mixing tank which is supported by a bearing at A and rollers at B. The bearing
at A may react load in any direction but the rollers at B may only provide a reaction
through C in a plane normal to AC. The mixing tank, which rotates about AC at
10RP M, clockwise when viewed from the rear, has a mass of 730kg; its centre of mass
is at G. Its moment of inertia about AC is 9000kgm2 , and about any axis through
G normal to AC is 11000kgm2 . The dimensions shown in the Fig. 46 are as follows:
l1 = 1.2m, l2 = 1.8m = 20o .
The concrete mixer is driven on horizontal ground round a bend to the left
of 30m radius at a steady speed 40km/h. Find the bearing reactions at A and C
induced by motion of the vehicle.
EQUATIONS OF MOTION
158
Solution.
According to the given data
= 10 RP M = 10 /30 rad/s = 1.05 rad/s
v = 40 km/h = 40 1000/3600 m/s = 11.1 m/s
= v/R = 11.1/30 = 0.37 rad/s
l2 = 1.8 m
l1 = 1.2 m
Iz = 9000 kgm2
I = 11000 kgm2
G = 730 kg 9.81 m/s = 7161 N
= 20o
vx2 = v sin = 11.1 sin 20o = 3.8 m/s
vy2 = 0
vz2 = v cos = 11.1 cos 20o = 10.4 m/s
x2 = cos = 0.37 cos 20o = 0.348 rad/s
y2 = 0
z2 = sin = 0.37 sin 20o = 0.126 rad/s
G
z1
y1
x1
x2
R Cy2
RA
R Cz2= 0
y2
RA z2
z2
C
G
v
A
z1
R Cx2
M A z2 G
RA x2
l1
Figure 47
l2
EQUATIONS OF MOTION
159
(4.190)
(4.191)
Introducing the given data into the above equations one may obtain
RCx2 + RAx2 7161 cos 20o
RCy2 + RAy2
RAz2 7161 sin 20o
RCy2 (1.8 1.2) + RAy2 1.2
+RCx2 (1.8 1.2) RAx2 1.2
MAz2
=
=
=
=
=
=
0
730(3.8 0.126 (10.4)0.348)
0
0
(9000 11000)0.348 0.126 9000 0.348 (1.05)
0
(4.192)
Hence
RCx2 + RAx2
RCy2 + RAy2
RAz2
RCy2 + 2RAy2
+RCx2 2RAx2
MAz2
=
=
=
=
=
=
6729
2990
2450
0
5627
0
Eventually
RAx2 = 367 N
RAy2 = 996 N
RAz2 = 2450 N
RCx2 = 6362 N
RCy2 = 1994 N
Mz2 = 0
EQUATIONS OF MOTION
160
Problem 51
A
l
Figure 48
Derive dierential equations of motion of the system shown in Fig. 48. The
link CA rotates with a constant angular speed about its vertical axis. The uniform
rod AB of mass m and length l is hinged at A to the link CA.
EQUATIONS OF MOTION
161
Solution.
y1
x1
z1
z2
x1
A
l/2
2
mg
x2
Figure 49
Let us introduce the following systems of coordinates (see Fig. 49):
XY Z inertial system of coordinates.
x1 y1 z1 body 1 system of coordinates
x2 y2 z2 body 2 system of coordinates
The absolute angular speed of the link 1 is
1 = K = k1
(4.193)
The relative angular speed of the link 2 with respect to the link 1 can be obtain by
dierentiation of the generalized coordinate
= j1 = j2
21 =
(4.194)
(4.195)
Since the link 2 performs rotational motion about the point A, its motion is governed
by Eulers equations
Ix 2x2 + (Iz Iy ) 2y2 2z2 = Mx2
Iy 2y2 + (Ix Iz ) 2x2 2z2 = My2
Iz 2z2 + (Iy Ix )2x2 2y2 = Mz2
(4.196)
EQUATIONS OF MOTION
162
z1
y2
R 2,1y2
1
M2,1y2 =0
R 2,1y2
z2
R 2,1z2
A
R 2,1x2
l/2
A
R 2,1x2
M2,1z2
x1
M2,1x2
M2,1x2
G
x2
mg
x2
Figure 50
Iy = Iz = I =
ml2
3
Mx2 = M2,1x2
1
My2 =
mgl cos
2
Mz2 = M21z2
(4.197)
Upon introducing Eqs. 4.195 and 4.197 into Eq. 4.196 one may obtain
0 = M2,1x2
1
I
+ I 2 sin cos =
mgl cos
2
I sin I
sin = M21z2
(4.198)
(4.199)
(4.200)
(4.201)
After solving it with respect to the unknown function , the equation 4.200 allows
the interaction moment M21z2 to be obtained.
EQUATIONS OF MOTION
163
Problem 52
1
y2 Y y1
3
O
Z
z1
z2
x1 x2
X
Figure 51
To record the angular velocity of the floating platform 1 about the vertical
axis Y a gyroscope was installed as presented in Fig. 51. The shown spring, of a
stiness k, keeps the ring 2 in the horizontal position ( = 0) if the platform does
not rotate ( = 0). The damper c produces a moment which can be approximated
by a linear function
Mc = c
(4.202)
The ring 2 may be considered as massless. The gyroscope 3 is symmetrical with
respect to its axis of relative rotation z2 and its moments of inertia are Ix2 = Iy2 = I,
and Iz2 . The gyroscope rotates, relative to the ring 2, with the constant angular
velocity .
Upon assuming that the platform can rotate about a vertical axis only, derive
the relationship between its constant angular velocity = p and angular position of
the gyroscope .
EQUATIONS OF MOTION
164
Solution.
The system of coordinates x1 y1 z1 ,which is attached to the platform, rotates
with respect to the inertial frame XY Z with angular velocity 1 .
1 = j1 = j2 cos k2 sin
(4.203)
The relative angular velocity of the ring 2 with respect to the system of coordinate
x1 y1 z1 is
21 = i2
(4.204)
(4.205)
Since the gyroscope 3 rotates about its axis of symmetry z2 with relative velocity ,
the modified Eulers equations may be used to derive its equations of motion.
I x2 + (Iz2 I) y2 z2 + Iz2 y2 = Mx2
I y2 (Iz2 I)x2 z2 Iz2 x2 = My2
= Mz2
Iz2 ( z2 + )
(4.206)
(4.207)
Introduction of Eqs. 4.205) and (4.207) into the first equation of the set 4.206
produces equation of motion of the gyroscope.
I + (Iz2 I)( 2 sin cos ) + Iz2 cos = k c
(4.208)
(4.209)
If angular velocity o << , the first term of Eq. 4.209 can be omitted and the
required relationship has the following explicit form
o =
ko
Iz2 cos o
(4.210)
EQUATIONS OF MOTION
165
Problem 53
1
2
Z
l
Figure 52
Link 1 of the mechanical system shown in Fig. 52 performs rotational motion
about the horizontal and motionless axis Z. Its motion is determined by angle
which is a known function of time. Link 2, which can be considered as a uniform and
rigid rod of mass m and length l, is hinged to the link 1 at point A.
Derive the equation of motion of the link 2. Given are:
(t) equation of motion of the link 1
m mass of the link 2
l length of the link 2
EQUATIONS OF MOTION
166
Solution.
z2
X
A
21
x1 x2
Z z1
x1 x2
1
y1
rG
Z z1
l
y1
y2
Figure 53
In Fig. 53 system of coordinates x1 y1 z1 is rigidly attached to the link 1 and
rotates with respect to the inertial system of coordinates XY Z about the horizontal
axis Z. Its instantaneous position is determined by the angle . System of coordinates
x2 y2 z2 is fixed to the link 2 and rotates about axis x1 of the system of coordinates
x1 y1 z1 . Angle determines its instantaneous position with respect to the system of
coordinates x1 y1 z1 . Since the link 2 performs rotational motion about the point A,
the following Euler equations of motion can be utilized.
Ix 2x2 + (Iz Iy )2y2 2z2 = M2x2
Iy 2y2 + (Ix Iz )2x2 2z2 = M2y2
Iz 2z2 + (Iy Ix )2x2 2y2 = M2z2
(4.211)
where
Ix = 13 (ml2 ) moment of inertia of the body 2 about axis x2
Iy = 0 moment of inertia of the body 2 about axis y2
Iz = 13 (ml2 ) moment of inertia of the body 2 about axis z2 .
Components of the absolute angular velocity of the link 2 along its body
system of coordinates x2 y2 z2 may be determined as follows
2 = 1 + 21 = k1 + i2
(4.212)
Hence,
2x2 = i2 2 =
2y2 = j2 2 = sin
2z2 = k2 2 = cos
(4.213)
Moment M2 is due to the interaction force R21 and interaction moment M21 (see
Fig. 54) in the constrain A and the gravity force G.
M2 = M21 +M2G
(4.214)
EQUATIONS OF MOTION
167
M 2,1y2
R2,1y2
M 2,1y2
R2,1x2
x2
M 2,1x2 =0
z2
A
M 2,1z2
R2,1z2
1 Z z1
A
x1 x2
rG
l
1
G
2
R2,1y2
y2
y2
y1
Figure 54
Since the link 1 is free to rotate about axis x2 , component of the interaction moment
along axis x is
M21x2 = 0
(4.215)
Moment produced by the gravity force G is a vector product of position vector rG
and the gravity force G.Hence
rG G = j2 (l/2) Jmg = (mlg/2)j2 J
(mlg/2)j2 (j1 cos + i2 sin )
(mlg/2)j2 ((j2 cos k2 sin ) cos + i2 sin )
(mlg/2)j2 (i2 sin + j2 cos cos k2 cos sin )
i2
j
k
2
2
1
0
= (mlg/2) 0
M2G =
=
=
=
(4.216)
Upon introducing Eqs. 4.213 and 4.214 into first equation of the set 4.211 one can
obtain equation of motion in the following form
(4.217)
+ 2 sin cos + (3g/2l) cos sin = 0
The second and third equation allow the unknown components of interaction moment
M21 to be obtained.
Ix 2x2 + (Iz Iy )2y2 2z2 = M2x2
Iy 2y2 + (Ix Iz )2x2 2z2 = M2y2
Iz 2z2 + (Iy Ix )2x2 2y2 = M2z2
(4.218)
EQUATIONS OF MOTION
M21y2 = 0
168
(4.219)
EQUATIONS OF MOTION
169
Problem 54
1
x1
R
m
C
D
z1
r
Figure 55
Wheel of radius r and mass m is free to rotate about axle CD which turns
about the vertical axis with a constant angular speed . The wheel rolls without
slipping on the horizontal plane. Determine the reaction between the wheel and the
horizontal plane. Given are:
r =0.5m
R =2m
m =100kg
=1rad/s
Iz1 =12.5kgm2 , Iy1 = Ix1 =10kgm2 principal moments of inertia of the
wheel
EQUATIONS OF MOTION
170
Solution
z1
O,o
z2
Y
y2
x2
1
x1 12 t x2
R
m
C
D
z1
O,o
y2
12
z2
r
y1
Figure 56
Ioz = Iz1
2 = i2
2x2 =
2y2 = 0
2z2 = 0
R
r
rG = k2 R
i2 j2 k2
vG = r G = r0G + 2 rG = 0 + 0 0 = j2 (R)
0 0 R
12 =
vGx2 = 0
vGy2 = R
vGz2 = 0
EQUATIONS OF MOTION
171
0 = F1x2
0 = F1y2
Rm 2 = F1z2
0 = M1x2
R
= M1y2
Ioz 2
r
0 = M1z2
0 = F1x2 = R12x2 mg + N
0 = F1y2 = R12y2 + T
Rm 2 = F1z2 = R12z2
0 = M1x2 = M12x2 RT
R
= M1y2 = Rmg + RN
Ioz 2
r
0 = M1z2 = rT
T =0
N = mg + Ioz 2
R
r
R12x2 = mg N = Ioz 2
R12y2 = 0
R12z2 = Rm 2
M12x2 = RT = 0
R
r
EQUATIONS OF MOTION
172
2
R12
M12
C
D
Figure 57
x2
x2
2
R 12x2
1
x1
M12y2=0
M12x2
C
O,o M =0
12z2
M12x2
z1
y 2 R 12y2
z2
R 12z2
r
12 t R 12x2
G
y1
T
Figure 58
EQUATIONS OF MOTION
173
Problem 55
X
x1
z1
1
Figure 59
On the rotating about the vertical axis X platform 1 (see Fig. 59) a turbine is
installed. Rotor of the turbine has mass m and its centre of gravity G is at a distance
a from the axis X. Axis z1 is axis of symmetry of the rotor and its principal moments
of inertia I2x1 = I2y1 = I2 and I2z1 are known.
If the platform rotates with the constant angular velocity and the rotor has
the relative angular velocity , determine components of reactions at the bearings A
and B along system of coordinates x1 y1 z1 fixed to the platform 1.
Given are: I2 , I2z1 , m, , , a, b.
EQUATIONS OF MOTION
174
Problem 56
1
a
v
Figure 60
The thin and uniform bar 1 has mass m and length l. Its end A is moving with
constant velocity v along the horizontal axis Y of the inertial system of coordinates
XY Z. Upon assuming that there is no friction in the constraints A and B and all the
motion is in the vertical plane Y Z, produce the expression for the dynamic reactions
in these constraints as a function of the bar angular position .
Answer:
Solution of the folowing set of equations yields the wanted reactions.
l
l 2
cos + sin m = RAX + RB cos
2
2
l
l 2
sin cos m = mg + RB sin + RAY
2
2
a
ml2
l
l
l
= RAY sin + RAX cos + RB
12
2
2
2 cos
EQUATIONS OF MOTION
175
Problem 57
B
X,x1
O
y1 y2
X,x1
x2
2
l
y1 y2 O
z1
z2
z1
r
z2 z 3
x3
X
2
3
G
y3
Figure 61
Body 3 (see Fig. 61) is driven by means of the massless links 1 and 2 that are
hinged to each other at the point O. Link 1 rotates about the vertical axis X with
the constant angular velocity and the body 3 rolls over the horizontal motionless
ring 4 without slipping. Axis z2 is the axis of symmetry of body 3 and its moments
of inertia about the body system of coordinates x3 y3 z3 are Ix3 = Iy3 = I and Iz
respectively.
Derive the expression for the components of the reaction N and T between
the body 3 and the ring 4.
Given are:
m - mass of the body 3
I, Iz - moments of inertia of the body 3
l - distance between the point of rotation O and centre of gravity G of the
body 3
r - radius of the ring 4
- angular velocity of the link 1
- angle between axis z2 and the horizontal plane
Hint: The body 3 performs rotational motion about the point O.
EQUATIONS OF MOTION
176
Problem 58
z2
3
Y
G3
y2
2
1
X
x2
Figure 62
Fig. 62 shows the physical model of a shaker frequently used to excite the
rolling motion of a ship. The housing 2 of the gyroscope 3 performs oscillatory
motion about axis Y of the inertial system of coordinates XY Z. This motion is
determined by the following equation
= 0 sin t
The system of coordinates x2 y2 z2 is rigidly attached to the housing. The gyroscope
3 of mass m and moments of inertia I3x2 = I3y2 = I3 and I3z about axes x2 y2 z2
respectively, rotates with the constant angular velocity . Upon assuming that the
mass of the housing is negligible, derive an expression for the components of the
moment transmitted to the board 1 of the ship.
EQUATIONS OF MOTION
177
Problem 59
Y
a)
G3
G1
G3
G1
a
O
x2
b)
G3
y2
x1
z2
t
z1
y1
G3
G1
Z
z1
Figure 63
Fig. 63a) shows a gyrostabilizer for stabilization of the monorail car 1. To
test this gyrostabilizer, the car 1 was forced to move along the coordinate (see Fig.
63b)) according to the following equation
= A sin ft
Simultaneously the housing 2 was rotated with respect to the car 1 with constant
angular velocity . The relative angular velocity of the gyroscope 3 with respect to
EQUATIONS OF MOTION
178
EQUATIONS OF MOTION
179
Problem 60
0
x1
A
z1
a
1
G
2
l
l
b
Figure 64
The aircraft landing gear shown in Fig. 64 is being retracted while the aircraft
0 moves with constant velocity along a horizontal straight line. The instantaneous
position of the arm 1 is determined by the angular displacement . The wheel 2
rotates with the constant relative angular velocity with respect to the arm 1.
Given are:
a, b, l, - dimensions shown
m - mass of the wheel 2
Iz - moment of inertia of the wheel 2 about its axis of relative rotation
I = Ix = Iy - moments of inertia of the wheel 2 about axes perpendicular to the axis
of relative rotation
(t) - the angular displacement of the arm 1 with respect to the plane.
- the angular velocity of the wheel 2 with respect to the arm
Produce the expression for the components of the interaction forces between
the wheel 2 and the arm 1 along the body 1 system of coordinates x1 y1 z1 .
EQUATIONS OF MOTION
180
Problem 61
a
O
t
o1
x1
z1 , z2
2
2
y1
y2
x2
21 t
O
o1
x1
Figure 65
Fig. 65 presents the physical model of a ventilator. Its base 1 rotates with
the constant angular velocity about the vertical axis Y of the inertial system of
coordinates XY Z. The system of coordinates x1 y1 z1 is attached to this base. The
rotor 2 is free to rotate about the axis z1 . The relative angular velocity of the rotor
2 with respect to the base 1 is constant and its magnitude is 21 . The system of
coordinates x2 y2 z2 is attached to the rotor 2. The axis z2 is the axis of symmetry
of the rotor and its moments of inertia about the system of coordinates x2 y2 z2 are
Ix2 = Iy2 = I2 , Iz2 respectively. The mass of the rotor is m.
Produce the expression for the components of the interaction force between
the rotor 2 and its base 1.
Answer:
Rx1 = ma 2
Ry1 = mg
Rz1 = bm 2
Mx1 = Iz2 21 My1 = 0
Mz1 = Md = 0
EQUATIONS OF MOTION
181
Problem 62
Z z1
z2
a/2
A
a/2
y1 y2
O
1
a
x1
x2
X
b
b
Figure 66
The link 1 of the mechanical system shown in Fig.66 rotates about the vertical
axis Z of the inertial system of coordinates XYZ with a constant angular velocity .
The system of coordinates x 1 y 1 z 1 is rigidly attached to this link. Two uniform bars,
each of length a and mass m, were joined together to form the link 2 of this system.
The system of coordinates x 2 y 2 z 2 is rigidly attached to the link 2. Its instantaneous
relative position with respect to the system of coordinates x 1 y 1 z 1 is determined by
the angular displacement . Produce:
1.
The free body diagram for the link 2.
2.
The dierential equation of motion of the link 2 in terms of the variable .
3.
The equations for the determination of the interaction forces between the link
2 and 1 in the kinematic constraints A and B.
The moment of inertia of a uniform bar of mass m and length l about the axis
through its centre of gravity is
1
ml2
12
IG =
4.5
182
4.5.1 Modelling.
Physical model.
Let us consider motion of a rigid body about a fixed in an inertial space point O (Fig.
67).
z
Z z1
G
.
y1
Y
1
x1 x
Figure 67
Axis x of the rotating system of coordinates xyz stays always in plane XY of
the absolute system of coordinates XY Z. The angle , between those two axes is
called angle of precession and together with angle of mutation determines uniquely
position of axes the rotating system of coordinates xyz. For further consideration,
we shell assume that axis z is axis of symmetry of the body. Since the body is free to
rotate about axis z it has three degree of freedom. Let be the angular velocity of
the body with respect to xyz. The body has mass m. Its centre of gravity is located
on axis z at the point G. Its position is given by a distance r. IOx = IOy = IO and
IOz represent principal moment of inertia of the body about axis xyz.
Kinematic analysis
Angular velocity of the system of coordinates xyz is
+
= K + i
=
(4.220)
183
x = i (K+i
)
= sin
y = j (K+i
)
= cos
z = k (K+i
(4.221)
Equations of motion.
The introduced assumptions allow to take advantage from the modified Eulers equations.
IO x + (IOz IO ) z y + IOz y = MOx
IO y (IOz IO )x z IOz x = MOy
= MOz
IOz ( z + )
(4.222)
Components of moment
MO = kr K(mg)
(4.223)
are
Mx
My
Mz
1
0
0
0
1 = rmgsin
= (i (k K))rmg = rmg 0
0 sin cos
0
1
0
0
1 = 0
= (j (k K))rmg = rmg 0
0 sin cos
0
0
1
0
1 = 0
(4.224)
= (k (k K))rmg = rmg 0
0 sin cos
Upon introducing Eq. 4.224 and 4.221 into Eq. 4.222 one can obtain equations of
motion in the following form.
+ (IOz IO ) 2 sin cos + IOz sin rmg sin = 0
IO
sin + IO
cos (IOz IO )
cos IOz
= 0
IO
sin + )
= 0
IOz (cos
(4.225)
4.5.2 Analysis.
General solutions of the mathematical model 4.225 can not be obtain by means of any
analytical methods. But, very often, we can procure a number of particular solutions
by guessing their form.
184
Particular solutions.
Let us predict the particular solution of the set of equations 4.225 in the following
form
= pt
= o
= o
(4.226)
where
p, o , o are constant values. Hence
= p
=0
=0
=0
= 0
(4.227)
Upon introducing Eq. 4.226 into Eq. 4.225 one can see that second and third equation
is fulfilled for any instant of time. The first equation yields
(IOz IO )p2 sin o cos o + IOz o p sin o rmg sin o = 0
(4.228)
The predicted solution 4.226 may be considered as an solution, if the equation 4.228
is fulfilled. It is fulfilled for
o = 0
o =
(4.229)
R
b
R=0.04m
b=0.015m
m=0.6kg
0.025m
r=
0.015m
Figure 68
185
For r = 0.025m, IO = 0.000629kgm2 > IOz = 0.000482kgm2 the static characteristic of the gyroscope for a few values of angular velocity (o = 0, 5, 10, 15, 20
and 25s1 ) is shown in Fig. 69.For high angular velocity o = 25s1 (see Fig. 70)
the gyroscope can perform the fast and slow regular precession p for any mutation
angle o . If angular velocity o is slower e.g. o = 15s1 , the gyroscope can perform
regular precession only for certain range of angle of mutation o .
Fig. 71 present static characteristics for r = 0.015m. In this case IO =
0.000388kgm2 < IOz = 0.000482kgm2 .
The presented characteristics determine regular precession which may be obtained only for certain set of initial conditions which strictly correspond to the assumed form of particular solution 4.226. More particular solution can be obtained
by numerical integration of the mathematical model 4.225.
Numerical solution of equations of motion.
Fig. 73. presents a few numerical solutions carried out for r = .025m. The diagrams
in this figure show instantaneous positions yG of the point G of the gyroscope versus
its angle of precession . For all cases the initial speed of the gyroscope was assumed
to be i = 15s1 .
Fig 73A presents solution for initial conditions chosen in vicinity of upper
i = 0, i = 0, i = 0, i = 15s1 ).
equilibrium position o = 0(i = 0.01s1 ,
Since the gyroscope can not perform regular precession (see Fig. 70), it execute large
oscillations.
Fig. 73B corresponds to situation when the gyroscope, performing regular
o = 0, o = p1 = 25s1 , o = 15s1 see Fig. 70) was pushed
precession (o = 1.26,
i = 8s1 . Due to the following initial
out of its motion at t = 0 with initial velocity
i = 8s1 , i = 0, i = 0, i = 15s1 the gyroscope
conditions i = 1.26rad,
performs small oscillation around regular precession.
Similar behavior can be observed if it is pushed out of its regular fast precession
o = 0, o = p2 = 136, o = 15 see Fig. 70). This situation is
(o = 1.26rad,
presented in Fig. 73C.
Figures 73D and 73E show solution of disturbed motion of the gyroscope about
186
[rad/s]
20
10
0
0
0.63
= 0
= 5
1.26
= 10
o [rad]
1.88
= 15
2.51
= 20
3.14
= 25 [rad]
2
r=0.025 [m]
400
300
200
p
100
[rad/s]
0
-100
-200
-300
-400
0
0.63
1.26
1.88
2.51
3.14
o [rad]
= 0
= 5
= 10
= 15
Figure 69
= 20
= 25 [rad]
= 25 [rad/s]
187
r=0.025 [m]
200
150
100
50
p
[rad/s]
0
-50
-100
-150
-200
0
0.63
1.26
1.88
slow precession
2.51
fast precession
p
2
3.14
[rad]
r=0.025 [m]
200
150
100
50
p
[rad/s]
0
-50
-100
-150
-200
0
0.63
1.26
slow precession
1.88
o
Figure 70
2.51
3.14
[rad]
fast precession
p
2
188
r = 0.015 [m]
60
50
40
p
30
[rad/s]
20
10
0
0
0.63
= 0
= 5
1.26
= 10
o [rad]
1.88
= 15
2.51
= 20
3.14
= 25 [rad]
r = 0.015 [m]
400
300
200
100
p
2
[rad/s]
0
-100
-200
-300
-400
0
0.63
1.26
1.88
2.51
3.14
o [rad]
= 0
= 5
= 10
= 15
Figure 71
= 20
= 25 [rad]
= 20 [rad/s]
189
r = 0.015 [m]
200
150
100
50
p
[rad/s]
0
-50
-100
-150
-200
0
0.63
1.26
1.88
slow precession
2.51
fast precession
p
2
3.14
[rad]
r = 0.015 [m]
200
150
100
50
p
[rad/s]
0
-50
-100
-150
-200
0
0.63
1.26
slow precession
1.88
o
Figure 72
2.51
3.14
[rad]
fast precession
p
2
[rad]
0
0
[rad]
-20
20
[rad]
0
20
[rad]
0
20
[rad]
0
20
[rad]
yG [m]
0
G
yG
O
Figure 73
0
-0.04
190
Chapter 5
APPENDIXES
5.1
NOTATION.
z
V
k
i
Vz
y
Vx
Vy
The vector quantities are printed in boldface type V or, in handwriting, should
always be indicated by symbol V to distinguish them from the scalar quantities V.
Vector quantities are usually defined in the right-handed system of coordinates by
its scalar components Vx , Vy , Vz .
(5.1)
q
Vx2 + Vy2 + Vz2
(5.2)
Vx
V
n = cos ]Vj =
Vy
V
m = cos ]Vk =
Vz
V
(5.3)
Useful relations
l2 + n2 + m2 = 1
(5.4)
192
magnitude
P Q =P Q cos
(5.5)
Useful relations
PQ=
Px
PQ=QP
(5.6)
ii=jj=kk=1
(5.7)
ij=jk=ij=0
Q
x
Py Pz Qy = Px Qx + Py Qy + Pz Qz
Qz
Px = i P
Py = j P
Pz = k P
(5.8)
(5.9)
(5.10)
Useful relations
P (Q + R) = P Q + P R
(5.11)
Q P = P Q
(5.12)
ij=k
jk=i
ki=j
(5.13)
ii=jj=kk=0
i
j
k
P Q = Px Py Pz
Qx Qy Qz
(5.14)
(P Q) R
(5.16)
(5.15)
193
Useful relations
(P Q) R = (R P) Q = (Q R) P
Px Py Pz
(P Q) R = Qx Qy Qz
Rx Ry Rz
(5.17)
P (Q R)
(5.19)
P (Q R) = Q (R P) R (P Q)
(5.20)
dP
P
= lim
=P
t0
dt
t
(5.21)
(5.18)
Useful relations
DERIVATIVE OF A VECTOR
Useful relations
d(Pf )
+ Pf
= Pf
dt
d(P Q)
Q+PQ
= P
dt
d(P Q)
Q+PQ
= P
dt
(5.22)
(5.23)
(5.24)
5.2
Sphere
z
R
G
4
V = R3
3
2
Ixx = Iyy = Izz = mR2
5
Hemisphere
z
3R
8
y
G
R
x
2
V = R3
3
2
Izz = mR2
5
Cone
z
1h
4
y
h
G
R
1
V = R2 h
3
Ixx = Iyy =
3
m(4R2 + h2 )
80
Cylinder
z
1h
2
1h
2
x
y
G
R
Izz =
3
mR2
10
V = R2 h
Ixx = Iyy =
1
m(3R2 + h2 )
12
1
Izz = mR2
2
Rectangular block
z
y
c
a
b
V = abc
Ixx =
1
m(b2 + c2 )
12
Iyy =
1
m(a2 + c2 )
12
Slender rod
z
R
l
G
V =0
Ixx = Iyy =
1 2
ml
12
Izz = 0
Izz =
1
m(a2 + b2 )
12