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Introduction
Lecture 9 Three dimensional analyses are needed to determine
the forces and moments on the gimbals of
Plane kinetics of rigid body: gyroscopes, the rotors of amusement park rides, and
the housings of wind turbines.
Angular Momentum of
Rigid Bodies in 3D
Dr Mohammad Uddin
Course Coordinator
School of Engineering

MENG 2014
Engineering Dynamics

Kinetics of rigid bodies

= rate of change of linear momentum

We often need to determine moment on the arm

due to rotation of disc about its mass centre while = rate of change of angular momentum

the arm rotates I = mass moment of inertia of rigid body through its mass centre G

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Mass moment of inertia MOMENT OF INERTIA

APPLICATIONS Consider a rigid body with a center of

The large flywheel in the picture is
connected to a large metal cutter. The
flywheel mass is used to help provide a
uniform motion to the cutting blade.
mass at G. It is free to rotate about the z
axis, which passes through G. Now, if we
apply a torque T about the z axis to the
body, the body begins to rotate with an
angular acceleration of .

What property of the flywheel is most

important for this use? How can we T and are related by the equation T = I . In this equation, I
determine a value for this property? is the moment of inertia (MI) about the z axis.
The MI of a body is a property that measures the resistance
Why is most of the mass of the flywheel located near the of the body to angular acceleration. The MI is often used
flywheels circumference? when analyzing rotational motion.
Moment of inertia may change with the axis of rotation

MOMENT OF INERTIA Example calculation of MI

y
Consider a rigid body and the arbitrary axis x
dx
P shown in the figure. x
dm
The MI about the P axis is defined as L Slender rod
z

I = m r2 dm, Calculate MI about y axis

= 2
where r, the moment arm, is the =

perpendicular distance from the axis to the = 2
arbitrary element dm.
=

= 2
Moment of inertia is always a positive 0
= 0 as radius of rod is too small
quantity and has a unit of kg m2
=

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y
Example MI about mass centre Parallel axis theorem
r
Thin disc G = mass centre of the rigid body = moment of inertia at G about AB axis
Example
G
x 1 1 = moment of inertia about CD axis
= 2 = = 2
2 4 A C
= + 2
z y d=r
sphere
For sphere:
r 2 7
3D sphere
2 r
G
= 2 + 2 = 2
G = = = 2 5 5
x 5

z y Radius of Gyration (k):

slender rod = 0 B D
= 2 =
G
1
L
x = = 2
z 12

MI of composite body Sample problem on MI

Solution:
Given: The pendulum consists of a slender
q m from Point O. The center of mass for sphere is
rod with a mass 10 kg and sphere with
a mass of 15 kg.
r Find: The pendulums MI about an axis
p perpendicular to the screen and
passing through point O.
Plan: The pendulums can be divided into a
slender rod (r) and sphere (s).
Composite body = slender rod + sphere
1. The center of mass for rod is at point Gr, 0.225
at Gs, 0.55 m from point O.
2. The MI data for a slender rod and sphere are
shown earlier. Using those data and the parallel-
axis theorem, calculate the following.
IO = IG + (m) (d) 2
IOr = (1/12) (10)(0.45)2 +10 (0.225)2 = 0.675 kgm2
IOs = (2/5) (15) (0.1)2 + 15 (0.55)2 = 4.598 kgm2
3. Now add the two MIs about point O.
IO = IOr + IOs = 5.27 kgm2

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Rigid Body Angular Momentum in 3D (x, y and x) Rigid Body Angular Momentum in 3D
Angular momentum about mass centre G, HG = I
Angular momentum about G in three axis components,

I and will be expressed in three components

(x,y,z)

H x I xxx I xy y I xzz
G = mass centre of rigid body H y I yxx I yy y I yzz
G = mass centre of the rigid body
H z I zxx I zy y I zzz
Force = rate of change of linear momentum
= moment of interia = scalar
Moment = rate of change of angular momentum = angular velocity = vector

Thus, we need to determine angular momentum of rigid body xyz=reference system attached to G of
moving body
XYZ = fixed reference system
where,
Ixx = moment of inertia about x
Ixy = product of inertias about x and y = xy(m)

Rigid Body Angular Momentum in 3D Angular momentum at any given point

Moments of inertia and products of inertia can be written as:

Angular momentum at point O:

The array of moments is: If the coordinate axes coincide with the
principal axes of inertia, the momentum
becomes:
= x +

or

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Sample Problem 1: How to calculate MI of a rigid body Sample Problem 1

Two L-shaped arms, each weighing Given: m = 2 kg
2 kg, are welded at the third points a = 200mm
of the 600 mm shaft AB. Knowing 200mm
(2 )(240)
that shaft AB rotates at the constant 200mm z 8 rad/s, x 0, y 0
rate = 240 rpm, determine the 200mm 60
200mm
angular momentum of the body Find: HB, T
about B H x I xxx I xy y I xzz
There is only rotation about the z-
H y I yxx I yy y I yzz
axis, what relationship(s) can you
H z I zxx I zy y I zzz
SOLUTION: use?
( H B ) x I xz ( H B ) y I yz ( H B ) z I z
The part rotates about the axis AB. Determine the mass moment of inertia
matrix for the part. Split the part into four different segments, then determine Ixz, Iyz,
Compute the angular momentum of the body using the moments inertia. and Iz. What is the mass of each segment?
Mass of each of the four segments m= 2/2 =1 kg

Sample Problem 1 Sample Problem 1

Fill in the table below to help you Calculate Hx Calculate Hy

determine Ixz and Iyz 1
( ) = = 1.5 2 ( ) = = 1.5 2
a= = 1.5 1 0.2 2 8
2 = 1.5 1 0.2 2 8
Ixz Iyz = 1.51 kg. m. m/s = 1.51 kg. m. m/s
1 m(a)(a) m(0.5a)(a) 3 4
2 m(0.5a)(a) m(0)(a)
3 m(0.5a)(2a) m(0)(2a)
Calculate Hz
10 2
4 m(a)(2a) m(0.5a)(2a) ( ) = =
3

10
S 1.5ma 2 1.5ma 2 =
3
2
1 0.2 8
Parts 2 and 3 are also = 3.35 kg. m. m/s
Determine Iz by using the parallel axis equal to one another and
theorem (PAT) do parts 1 and 4 first using PAT Total angular momentum vector
2 1 2
ma 2 m 12 a a + ( )2
1 2 2 2 = 3 =
I z 1 I z 4 12 2 = 1.51 1.51 + 3.35
12 1 2
=
3

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Sample problem 2 Sample problem 2

A thin disc of mass m = 4 kg rotates at the constant rate 2 = 15 y
rad/s with respect to arm ABC, which itself rotates at the 1=5j
Radius r =150mm
constant rate 1 = 5 rad/s about the y axis. Determine the
angular momentum of the disc about point A. Angular velocity of disc:
C x
1 = y=5 rad/s 2=15k
2 = z= 15 rad/s
z

= 1j + 2k = 5j + 15k (rad/s)

Moment of inertia: 1 1
= = 2 = 4 0.15 2 = 0.0225 kg. m2
4 4
1 1
= 2 = 4 0.15 2 = 0.045 kg. m2
2 2

Angular momentum about point C:

= + +
= 0 + 0.0225 5 + 0.045 15 = 0.1125 + 0.6750

Sample problem Retracting the landing gear while the wheels are still spinning
can result in unforeseen moments being applied to the gear.
y
1=5j

Location of mass centre:

C x
/ = 0.45 + 0.225
2=15k

Velocity of mass centre:

z How rate of change of
= 1 / = 5 x (0.45 + 0.225 = 2.25 angular momentum
causes moment or couple
Angular momentum about point A: of moments on the rigid
body?
= + x

= 0.1125 + 0.675 + 0.45 + 0.225 4 2.25
= 0.1125 + 0.675 + 4.05 2.025
= 2.03 + 4.16 +0.675k

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Time rate of change of angular momentum = moment Sample Problem

For a rigid body rotation around a fixed point, A four-bladed airplane propeller has a mass
of 160 kg and a radius of gyration of 800
Moment M O HO

mm. Knowing that the propeller rotates at
HO Oxyz
HO 1600 rpm as the airplane is traveling in a
circular path of 600-m radius at 540 km/h,
For a rigid body rotation around a fixed axis, determine the magnitude of the couple
H x I xz H y I yz H z I z exerted by the propeller on its shaft due to

the rotation of the airplane
Moment M O H O Oxyz H O
SOLUTION:

I xzi I yz j I z k Determine the overall angular velocity of the aircraft propeller



k I xzi I yz j I z k Determine the mass moment of inertia for the propeller





I xzi I yz j I z k I xz j I yz i 2 Calculate the angular momentum of the propeller about its CG
Calculate the time rate of change of the angular momentum of the
M x I xz I yz 2
propeller about its CG
M y I yz I xz 2
Calculate the moment that must be applied to the propeller and the
M z I z resulting moment that is applied on the shaft

Sample Problem 3 Sample Problem 3

Establish axes for the rotations of the aircraft propeller Angular momentum about G equation:

Determine the x-component of its HG I x x i I y y j

angular velocity 2 rad
x 1600 rpm Time rate of change of angular momentum

60 s about G :
167.55 rad/s
HG (HG )Gxyz HG 0 y j ( I xx i I yy j)

Determine the y-component of its angular velocity HG I xx y k (102.4 kg m2 )(167.55 rad/s)(0.25 rad/s)k
v 540 km/h 150 m/s HG (4289 N m)k = (4.29 kN m)k
v 150 m/s
y 0.25 rad/s
600 m Determine the moment that must be Determine the couple that is exerted
applied to the propeller shaft on the shaft by the propeller
Determine the mass moment of inertia
M HG (4.29 kN m)k Mon shaft M (4.29 kN m)k
I x mk 2 (160 kg)(0.8 m)2 102.4 kg m2

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Gyroscope
Gyroscopic motion an example
M = torque vector
Gyroscopes are used in the navigation system of the aero p = rotor spin velocity
planes, Hubble telescope, and can also be used as sensors = precession velocity
(such as in the Segway PT). Modern gyroscopes can also be
MEMS (Micro Electro-Mechanical System) devices, or based
on fiber optic technology.

Torque, rotor spin and

precession axes are
perpendicular to each
other

The relations of torque, rotor spin and precession can be written in

cross product as:

(Do observe in more details during Practical 2 session)

See more examples at weekly

Gyroscopic Motion
tutorials and via Learnonline
Demonstration Video