Unit 6 New PDF

MEC-107: Basic Engineering Mechanics
Unit- 6
Plane Kinematics and Kinetics of Rigid
Bodies
Unit- 6
Plane Kinematics and Kinetics of Rigid
Bodies
Module Description of Topic
D' Alembert's principle and its applications

in plane motion and connected bodies,
6 Work energy principle and its application
in plane motion of connected bodies,
Kinetics of rigid body rotation
Kinetics of Particles
2-4
‘Linear momentum’ has the same direction as
the velocity of particle and its magnitude is equal to
the product of Plane Kinematics and Kinetics of Rigid
Bodies.
Tangential and Normal Components
2-7
Dynamic Equilibrium
The vector, ‘-ma’ of magnitude ‘ma’ and of direction opposite to

that of acceleration, is called an ‘Inertia Vector’. The particle is
said to be in ‘Dynamic Equilibrium’.
In case of coplanar forces, all vectors can be drawn tip-to-
nail to form a closed vector polygon.
Equations of Motion in Radial &
Transverse Components
2-9
Kinetics of Particles
Work and Energy
• Work
Work is the product of force and distance,
SI unit: joule (J)/ 1 kg⋅m2⋅s−2/ 1N-m
Other units: Foot-pound, Erg
• Energy
Mechanical energy is the sum of potential energy and kinetic
energy,
It is the energy associated with the motion and position of an object.
SI unit: joule (J), kg m2 s−2
Other units: erg, calorie, kcal, BTU, kW⋅h, eV
Work and Energy Method
dv
Ft = ma t = m
dt
dv ds dv
=m = mv
ds dt ds
F t ds = mv dv
s2 v2
 t  1 2 1 2
F ds = m v dv = 2 mv2 − 2 mv1
s1 v1
U1→2 = T2 − T1 T = 12 mv2 = kinetic energy
Where, U1-2 is the work energy from 1 to 2.

Principle of Work and Energy for
a Rigid Body
T1 + U 1→ 2 = T2
Principle of Work and Energy
• When a particle moves from A1 to A2 under the action of
force F, the work of the force F is equal to the change
in kinetic energy of the particle. This is known as the
principle of work and energy.
Work Energy
Force Distance Δ Kinetic Energy
mvf2/2 mvi2/2
Principle of Work and Energy
• Advantages
1. Forces which do no work are eliminated,
2. All quantities are scalars,
3. Velocity found without determining acceleration
and integration.
• Disadvantages
1. Principle of work and energy cannot be applied
to directly determine the acceleration of the
pendulum bob.
Principle of Impulse and Momentum
• Newton’s second law

r d r r
F = (mv ) mv = linear momentum
dt
r r
F dt = d (m v )
t2 r r r
 F dt = m v 2 − m v 1
t1
t2
r r
 Fdt = Imp 1→2 = impulse of the force F
t1
r r
m v1 + Imp 1→ 2 = m v2
Principle of Impulse and Momentum
• Final momentum = initial momentum +
impulse of force during time interval
• Units of impulse is =[kg m/s]
Change in
Impluse momentum
Force time Δ momentum
mvf mvi
Particle moves along parallel path
Path are straight line Path are curved

Particle moves in parallel plane along circle
centered on the same fixed axis
Particle moves parallel circles Particle moves concentric circles

Particles of the body moves in
parallel plane
rotation and
translation
Motion of the top on the rough floor
Any motion not fall in this category

Magnitude constant so derivative of rB/A zero
All the points of the body have same velocity and acceleration at any given
2 - 19
instant
2 - 20
Angular acceleration is zero ie angular velocity
constant
Angular acceleration is constant

Sum of translation and rotation
2 - 22
2 - 23
2 - 24
KINETICS OF RIGID BODIES
Design of prosthetic legs relied
heavily on kinetics. It was The forces and moments applied to
necessary to calculate the a robotic arm control the resulting
different kinematics, loads, and kinematics, and therefore the end
moments applied to the leg to position and forces of the actuator
make a safe device. at the end of the robot arm.
2 - 25
KINETICS OF RIGID BODIES
• we will be concerned with the kinetics of rigid bodies, i.e.,

relations between the forces acting on a rigid body, the shape
and mass of the body, and the motion produced.
• Results of this chapter will be restricted to:

- plane motion of rigid bodies
• Our approach will be to consider rigid bodies as made of large numbers of

particles and to use the results for the motion of systems of particles.
• Specifically,
r r r r&
 F = ma and  M G = H G
Which relates
Equations of Motion for a Rigid Body
• Consider a rigid body acted upon
by several external forces.
• Assume that the body is made of
a large number of particles.
• For the motion of the mass center
G of the body with respect to the
Newtonian frame,
r Oxyz,
r
 F = ma
• For the motion of the body with
respect to the centroidal frame
Gx’y’z’,-moment resultant
moment resultant = Angular momentum
r r&
 M G = HG
Angular Momentum of a Rigid Body in Plane
Motion
• Angular momentum of the slab may be
computed by
r n r r
H G =  (ri′× vi′Δmi )
i =1
n r r r
=  [ri′× (ω × ri′)Δmi ]
i =1
r
(
= ω  ri′ 2 Δmi)
r
= Iω
• After differentiation,
Rate of change of Angular momentum
r& r r
H G = I ω& = I α
• Results are also valid for plane motion of bodies
• Consider a rigid slab in which are symmetrical with respect to the
plane motion. reference plane.
• Results are not valid for asymmetrical bodies or
three-dimensional motion.
Plane Motion of a Rigid Body: D’Alembert’s
Principle
• Motion of a rigid body in plane motion is
completely defined by the resultant force and
moment resultant about G of the external forces.
 Fx = ma x  Fy = ma y  M G = Iα
• The external forces and the collective effective
forces of the slab particles are equipollent (which
have same resultant and same moment resultant)
and equivalent (have the same effect on the
body).
• d’Alembert’s Principle: The external forces
acting on a rigid body are equivalent to the
effective forces (product of mass and
acceleration) of the various particles forming the
body.
• The most general motion of a rigid body that is
symmetrical with respect to the reference plane
can be replaced by the sum of a translation and a
16 - 29
centroidal rotation.
D’Alembert’s Principle
Plane Motion of a Rigid Body: D’Alembert’s
Principle
Problems Involving the Motion of a Rigid Body
• The fundamental relation between the forces

acting on a rigid body in plane motion and
the acceleration of its mass center and the
angular acceleration of the body is
illustrated in a free-body-diagram equation.
• The techniques for solving problems of
static equilibrium may be applied to solve
problems of plane motion by utilizing
- d’Alembert’s principle, or
- principle of dynamic equilibrium
• These techniques may also be applied to
problems involving plane motion of
connected rigid bodies by drawing a free-
body-diagram equation for each body and
solving the corresponding equations of
motion simultaneously.
Free Body and Kinetic Diagram
Free Body Diagrams and Kinetic Diagrams
The free body diagram is the same as you have done in statics we
will add the kinetic diagram in our dynamic analysis.
1. Isolate the body of interest (free body)
2. Draw your axis system (Cartesian, polar, path)
3. Add in applied forces (e.g., weight)
4. Replace supports with forces (e.g., tension force)
5. Draw appropriate dimensions (angles and distances)
y
x
Include your
positive z-axis
direction too
Free Body Diagrams and Kinetic
Diagrams
Put the inertial terms for the body of interest on the kinetic diagram.
1. Isolate the body of interest (free body)
2. Draw in the mass times acceleration of the particle; if unknown,
do this in the positive direction according to your chosen axes. For
rigid bodies, also include the rotational term, IGα.
ΣF = ma
ΣM G = Iα
12 - 35
Diagrams
Draw the FBD and KD for
the bar AB of mass m. A
known force P is applied at
the bottom of the bar.
2 - 36
Diagrams 1. Isolate body
y 2. Axes
Cy 3. Applied forces
A x 4. Replace supports with forces
5. Dimensions
C Cx 6. Kinetic diagram
L/2
ma y
r
Iα
G G max
L/2 mg
B P
2 - 37
Kinetics: Constrained Plane Motion
The forces at the bottom of the The forces on the wind turbine
pendulum depend on the blades are also dependent on mass,
pendulum mass and mass moment mass moment of inertia, and
of inertia, as well as the pendulum kinematics.
kinematics.
2 - 38
Constrained Plane Motion
• Most engineering applications involve rigid
bodies which are moving under given
constraints, e.g., cranks, connecting rods, and
non-slipping wheels.
• Constrained plane motion: motions with
definite relations between the components of
acceleration of the mass center and the angular
acceleration of the body.
• Solution of a problem involving constrained
plane motion begins with a kinematic analysis.
• e.g., given θ, ω, and α, find P, NA, and NB.
- kinematic analysis yields a x and a y .
- application of d’Alembert’s principle yields
P, NA, and NB.
16 - 39
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MEC-107: Basic Engineering Mechanics

Module Description of Topic

D' Alembert's principle and its applications

The vector, ‘-ma’ of magnitude ‘ma’ and of direction opposite to

U1→2 = T2 − T1 T = 12 mv2 = kinetic energy

Where, U1-2 is the work energy from 1 to 2.

Force Distance Δ Kinetic Energy

• Newton’s second law

Force time Δ momentum

Path are straight line Path are curved

Particle moves parallel circles Particle moves concentric circles

Motion of the top on the rough floor

Any motion not fall in this category

Angular acceleration is constant

• we will be concerned with the kinetics of rigid bodies, i.e.,

• Results of this chapter will be restricted to:

• Our approach will be to consider rigid bodies as made of large numbers of

• The fundamental relation between the forces

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