Vector Dynamics and Vibrations

CHAPTER

4 :

Angular Momentum and Kinetic Energy

ANGULAR MOMENTUM

4.0 Introduction
4.1 Angular Momentum of a Rigid Body in Three Dimensions
4.2 Kinetic Energy of a Rigid Body in Three Dimensions
4.3 Applications
Tips and Motivation
Worksheets
Exercises 4.0
4.0

INTRODUCTION
The two fundamental principles used in the analysis of the plane motion of a rigid
body remain valid in the most general case of the motion of a rigid body in three
dimensions, namely,
F = maG
MG = H G

MG

F2

F3

G
F4

maG
G

F1

Free-Body Diagram

(a)

Equivalent Force-Couple system

(b)
Figure 4.1

Kinetic Diagram

(c)

We note that the system of forces acted on the body, Figure 4.1(a), can be reduced to
an equivalent force-couple system, Figure 4.1(b), which results in the two inertia
forces (also called effective forces) as in Figure 4.1(c).
4-1

Angular Momentum and Kinetic Energy

4.1

Vector Dynamics and Vibrations

ANGULAR MOMENTUM OF A RIGID BODY IN THREE DIMENSIONS

Consider a rigid body having a three-dimensional motion with
velocity of the body at the instant considered as shown.

being the angular

The position vector of the particle P of mass

dm can be written as

z
P

G
RG

dm

R = RG + p
Its linear velocity is then given by

v = R = R G + p

where p =

The linear momentum of the particle P is

dL = dm v = dm R

Angular Momentum of a Rigid Body About Any Given Point O

The angular momentum of the particle P about point O is
dHO = R

dL = R

dm v = R

dm R + p

= RG

dm R

= (RG + p)
dm R

dm R

and therefore, the total angular momentum of the entire body about point O is
HO =
where

RG
RG
p

dm R +
dm R = RG

dm R
dm R = RG

mvG

dm R = HG = the angular momentum about the mass center G

Therefore, the total angular momentum of the entire body about point O is then
HO = RG

mvG + HG

which is known as the transfer theorem for angular momentum.

4-2

Vector Dynamics and Vibrations

Angular Momentum and Kinetic Energy

Angular Momentum of a Rigid Body About Its Mass Center G

HG =

Note that

dm R =

dm( R G + p )

dm R G +

(dm p)

dm p

R G +

dm p

(dm p) = 0 since it represents the first moment of the mass with respect to

the centroidal plane i.e. the location of the mass center is itself in a coordinate plane.
Therefore,
HG =

dm p =

p) dm

Using the local coordinates, we may express p and

p = xi + yj + zk

as

and

i +

j +

and substituting them into the above expression, we have

p

p) = (x i + y j + z k) [(
= [(y2 + z2)
[ yx

zy

i +

j +

xz

+ (y2 + z2)

[ zx

xy

k)

(x i + y j + z k)]

]i +

yz

]j +

+ (y2 + z2)

]k

It follows that
p

p) dm =

dm [(y2 + z2)
dm [ yx

x
x

dm [ zx
= [I x

[ I yx

I xy
x

[ I zx

+ Iy
x

xy

xz

+ (z2 + x2)
x

zy

I xz
y

I zy

4-3

I yz
y

+ Iz

]i +

yz

+ (x2 + y2)

]i +
z

]j +
z

]k

]j +
z

]k

Angular Momentum and Kinetic Energy

Vector Dynamics and Vibrations

For simplicity, we may express HG as

Z

HG = Hx i + Hy j + Hz k

HG

where Hx = [ I x
Hy = [ I yx
Hz = [ I zx

I xy y I xz z ]
x + I y y I yz z ]
x I zy y + I z z ]

Y
We can see that a new value of moments and
products of inertia will be obtained if a
different set of coordinate axes were used.

If the centroidal coordinate axes were chosen such that they coincide with the principal
axes of inertia (i.e. each of the planes is symmetry), then all the products of inertia will
be zero. The above equation reduces to
HG = I x

i + Iy

j + Iz

Example 4.1
A homogeneous disk of mass m =
4.8 kg spins at the constant rate s =
12 rad/s relative to the uniform bent
arm OAB as shown. At the same
instant, the bent arm OAB rotates at
the constant rate p = 6 rad/s about
the Y axis. Knowing that the mass of
the bent arm OAB is 4 kg, determine
the angular momentum of the
assembly about point O.
Solution:
Rod OA,

RG

HO = RG

X
p

1
12

mvG + HG

(2)(0.52) = 0.0417 kg m2 , I z = 0 kg m2

and I xy = I yz = = I zx = 0 kg m2 (due to symmetry)

4-4

30 cm

p1 = 0.25K ;
1 =
p j = 6J
vG = (6J) (0.25K) = 1.5I
(since i = I)
mvG = 0.25K 2(1.5I) = 0.75J kg m2/s

Ix = Iy =

50 cm

A
50 cm

Figure E4.1

Vector Dynamics and Vibrations

Hx = I x x I xy y I xz
Hy = I yx x + I y y I yz
Hz = I zx x I zy y + I z

Angular Momentum and Kinetic Energy

= 0 0 0 = 0 kg m2/s
2
z = 0 + (0.0417)(6) 0 = 0.2502 kg m /s
2
z = 0 0 0 = 0 kg m /s

HG = 0.2502j = 0.2502J kg m2/s (since j = J)

HO (rod OA) = 0.75J + 0.2502J = 1.0J kg m2/s
Rod AB,

RG

p2 = 0.5K + 0.25I ;
2 =
1 = 6J
vG = (6J) ( 0.5K + 0.25I) = 3I 1.5K
mvG = (0.5K + 0.25I) 2(3I 1.5K) = 3.75J kg m2/s
1
12

Iy = Iz =

(2)(0.52) = 0.0417 kg m2 , I x = 0 kg m2

and I xy = I yz = = I zx = 0 kg m2 (due to symmetry)

Hx = I x x I xy y I xz
Hy = I yx x + I y y I yz
Hz = I zx x I zy y + I z

0 0 = 0 kg m2/s
= 0 + 0.0417(6) 0 = 0.2502 kg m2/s
= 0 0 0 = 0 kg m2/s

z
z

HG = 0.2502j = 0.2502J kg m2/s

HO (rod AB) = 3.75J + 0.2502J = 4.0J kg m2/s
Disk,

RG

p3 = 0.5K + 0.5I ;
3 = (6J + 12i)
vG = (6J) (0.5K + 0.5I) = 3I 3K
mvG = (0.5K + 0.5I) 4.8(3I 3K) = 14.4J k g m2/s

Iy= Iz =

1
4

(4.8)(0.3)2 = 0.108 kg m2, I x =

1
2

(4.8)(0.3)2 = 0.216 kg m2

and I xy = I yz = I zx = 0 (due to symmetry)

Hx = I x x I xy y I xz
Hy = I yx x + I y y I yz
Hz = I zx x I zy y + I z

= 0.216(12) 0 0 = 2.592 kg m2/s

2
z = 0 + 0.108(6) 0 = 0.648 kg m /s
2
z = 0 0 0 = 0 kg m /s

HG = 2.592i + 0.648j = 2.592I + 0.648J kg m2/s (since i= I , j = J)

HO (disk) = 14.4J + 2.592I + 0.648J = 2.592I + 15.048J kg m2/s
Finally we obtain for the entire assembly,
HO, total = 2.592I + 20.05J kg m2/s

[Ans]

4-5

Angular Momentum and Kinetic Energy

4.2

Vector Dynamics and Vibrations

KINETIC ENERGY OF A RIGID BODY IN SPATIAL MOTION

The kinetic energy of a rigid body having a three-dimensional motion with being the
angular velocity of the body at the instant considered can be derived as follows.
Consider a particle of mass dm on the rigid
body. The kinetic energy of this particle is
given by

z
p

P dm

1
2

dT =

G
RG

dm (vPvP)

and from vP = R = R G + p , we now have

y
1
2

dT =

dm( R G + p )( R G + p )

x
Expanding the terms and noting that p =
1
2

dT =

dm[ R G R G + 2( R G p ) + ( p p )]

Substituting p =
1
2

dT =

p , we obtain

p, we have

dm[( R G R G) + 2( R G(

p)) + (

p)(

p)]

The total kinetic energy for the entire body is, therefore,
T=
=

1
2

dm[( R G R G) + 2( R G(

1
2

dm[( R G R G) +

=
where

dT

1
2

p)(

1
2

m(vGvG) +
p) = (
= (

i +
y z

p) = (y2 + z2)
2( xy

p)) + (

dm( R G(

dm(

p) +

p)(

p)(
1
2

p)]
p)(

dm(

p)

j + z k) (x i + y j + z k)
z y) i + ( z x x z) j + ( x y
y

2
x

+ (z2 + x2)
x y + yz y

4-6

2
y
z

+ (x2 + y2)
+ yz y z)

2
z

x) k

p)

Vector Dynamics and Vibrations

dm(

p)(

Angular Momentum and Kinetic Energy

(y2 + z2)dm

p) =

2(
= Ix

2
x

xy dm
+ Iy

2
y

(z2 + x2)dm

yz dm
2

+ Iz

2( I xy

(x2 + y2)dm

yz dm

+ I yz

+ I zx

2
z

z)

+ I zx

z)

We obtain finally
T =

1
2

m(vGvG) +

1
2

( Ix

2
x

+ Iy

( I xy

+ I yz

+ Iz

z
y

z)

If the axes coincide with the principal axes of inertia, the kinetic energy is merely
T =

1
2

m(vGvG) +

1
2

( Ix

2
x

+ Iy

2
y

+ Iz

2
z

Alternatively, the kinetic energy of a rigid body moving with the angular velocity
and the velocity of its mass center vG can be expressed in general form as
T =

1
2

vGL +

1
2

HG

where L = mvG

When a rigid body is constrained to rotate in three-dimensional space about a fixed

point O or when there is a point O in the body which momentarily has zero velocity,
the kinetic energy of such body reduces to
T =

1
2

HO

4-7

Angular Momentum and Kinetic Energy

Vector Dynamics and Vibrations

Example 4.3
X

A homogeneous disk of mass m =

4.8 kg spins at the constant rate s =
12 rad/s relative to the uniform bent
arm OAB as shown. At the same
instant, the bent arm OAB rotates at
the constant rate p = 6 rad/s about
the Y axis. Knowing that the mass of
the bent arm OAB is 4 kg, determine
the total kinetic energy of the
assembly.

50 cm
30 cm

B
A

50 cm

Figure E4.3

Solution:
Ttotal = Trod OA + Trod AB + Tdisk
where
T = 12 m(vGvG) + 12 ( I x x2 + I y y2 + I z

2
z

) ( I xy

+ I yz

+ I zx

From Example E4.1, we have

Rod OA,

vG = 1.5I m/s

Trod OA =

1
2

1
2

(0.0417)(6)2 = 3.0 J

vG = 3I 1.5K m/s

Rod AB,
Trod AB =

1
2

(2)[(3)2 + (1.5)2] +

(0.0417)(6)2 = 12.0 J

1
2

vG = 3I 3K m/s

Disk B,
Tdisk =

(2)(1.5)2 +

1
2

(4.8)[(3)2 + (3)2] +

1
2

[(0.216)(12)2 + (0.108)(6)2 ] = 60.7 J

Ttotal = 3 + 12 + 60.7 = 75.7 J

4-8

[Ans]

z)

Vector Dynamics and Vibrations

Angular Momentum and Kinetic Energy

Example 4.4
Given:

The assembly which consists of two

rectangular plates, each of mass 0.1 kg,
attached to a uniform slender arm of
negligible mass spins about its axis at a
constant rate of 2 = 4 rad/s. The arm at the
same instant rotates at a constant rate of 1
= 2 rad/s about its Y-axis shaft. For the
instant represented in Figure Q4, determine
a) the angular momentum of the assembly
with respect to point A, and
b) the kinetic energy of the assembly.

a = 120 mm
b = 100 mm
l = 180 mm

l
z

Figure E4.4

Solution:

HA = RG mvG + HG
[Note that the C.G is as shown at point G (neglecting size of rod AB)]
a
RG = (l + )I = 0.24I m
[note that p = 1 and q = 2 ]
2
(since j = J)
arm = p = pj = 2J rad/s
vG = arm RG = (2J) (0.24I) = 0.48K m/s
RG mvG = (0.24I) (0.2)( 0.48K)
Note: total mass is m = 0.2 kg
= 0.02304J kg m2/s
1
1
(0.2)(0.2)2 = 0.000667 kg m2 ; I y = 12
(0.2)(0.12)2 = 0.00024 kg m2
I x = 12
1
12

Iz =

(0.2)(0.122+ 0.22) = 0.000907 kg m2 ;

I xy = I yz = I zx = 0 kg m2 (due to plane of symmetry)

plate

= p + q = 2j 4i

[Note that i = I, j = J, and k = K ]

Hx = I x x I xy y I xz
Hy = I yx x + I y y I yz
Hz = I zx x I zy y + I z

= 0.000667( 4) 0 0 = 0.002668 kg m2/s

= 0.00048 kg m2/s
z = 0 + 0.00024(2) 0
= 0 kg m2/s
z = 0 0 + 0.1323(0)

HG = 0.002668I + 0.00048J kg m2/s

HA = 0.002668I + 0.02352J kg m2/s
T =

1
2

m( v G v G ) +

1
2

(Ix

2
x

+ Iy

[Ans]

2
y

+ Iz

2
z

) ( I xy

+ I yz

+ I zx

Tplate = 12 (0.2)( 0.48)2 + 12 [0.000667( 4)2 + (0.00024)(2)2 + (0.000907)(0)2 ] [0]

= 0.02304 + 0.005816
4-9

x)

Angular Momentum and Kinetic Energy

Tplate = 0.028856 J

Vector Dynamics and Vibrations

10

[Ans]

Alternatively, since both angular motions 1 and 2 pass through the same point A (i.e. motion
about a fixed point A), we may consequently compute HA using
HA = (IX
where

plate

IXY

IXZ

Z)I

+ (IYX

= p + q = 2j 4i = 2J 4I

IX = I x =

1
12

+ IY

=>

IYZ

Z)J

= 4,

+ (IZX

IZY

= 2,

= 0

+ IZ

Z)K

(0.2)(0.2)2 = 0.000667 kg m2

a 2
1
) = 12
(0.2)(0.12)2 + 0.2(0.18 + 0.06)2 = 0.01176 kg m2
2
a
1
(0.2) (0.122+ 0.22) + 0.2(0.18 + 0.06)2 = 0.012427 kg m2
I z + m(l + )2 = 12
2
0 kg m2 (due to symmetrical plane ZX)
0 kg m2 (due to symmetrical plane ZX)
0 kg m2 (due to symmetrical plane XY)

IY = I y + m(l +
IZ =
IXY =
IYZ =
IZX =
HA = (IX

IXY

IXZ

Z)I

+ (IYX

+ IY

IYZ

Z)J

+ (IZX

IZY

= 0.000667( 4) I + 0.01176(2)J
HA = 0.002668I + 0.2352J kg m2/s

[Ans]

For this type of motion, the kinetic energy is then given by

T =

1
2

HA =

1
2

(2J 4I) ( 0.002668I + 0.2352J) = 0.028856 J

4 - 10

[Ans]

+ IZ

Z)K

Vector Dynamics and Vibrations

Angular Momentum and Kinetic Energy

Example 4.5

Y
p

90

A thin rectangular plate of mass m = 1.2 kg is

designed to spin at a constant rate of q = 1.5 rad/s
relative to arm AB which at the same instant
rotates at the constant rate of p = 3 rad/s relative
to arm OA which itself rotates at the constant rate
of = 2 rad/s. Determine
(a) the angular momentum of the plate about
point O, and
(b) the kinetic energy of the plate.

120
360

q
240

X
O
Z

Figure E4.5

Solution:
HO = RG

Y
p

90
120

360

240

mvG + HG

note that point G = B

RG = 0.24J + 0.36I ;
= + p = 2K 3J
vG =
RG = (2K 3J) (0.24J + 0.36I)
= 0.48I 0.72J + 1.08K m/s

X
O

RG

mvG = (0.24J + 0.36I) (1.2)(0.48I 0.72J + 1.08K)

= 0.311I 0.467J 0.449K

Iy=

1
12

(1.2)(0.09)2 = 0.00081 kg m2, I z =

Ix=

1
12

(1.2)(0.122 + 0.092) = 0.00225 kg m2; I xy = I yz = I zx = 0 (symmetry)

plate

1
12

(1.2)(0.12)2 = 0.00144 kg m2

+ p + q = 2k 3j + 1.5i (i = I, j = J, k = K)

HG = Hx i + Hy j + Hz k
where Hx = I x x I xy y I xz z = 0.00225(1.5) 0 0 = 0.003375
Hy = I yx x + I y y I yz z = 0 + 0.00081(3) 0 = 0.00243
Hz = I zx x I zy y + I z z = 0 0 + 0.00144(2) = 0.00288
HO = (0.311I 0.467J 0.449K) + (0.003375I 0.00243J 0.00288K)
= 0.314I 0.469J 0.452K = 0.314I 0.469J 0.452K kg m2/s
T=

1
2

m(vG vG) +

Tplate =

11

1
2

1
2

(I x

2
x

+ Iy

2
y

+ Iz

2
z

) ( I xy

+ I yz

+ I zx

(1.2)[(0.48)2 + (0.72)2+ (1.08)2] +

[(0.00225)(1.5)2 + (0.00081)(3)2 + (0.00144)(2)2 ] [0]

= 1.1491 + 0.00906 = 1.1582 J [Ans]
1
2

4 - 11

x)

Angular Momentum and Kinetic Energy

Vector Dynamics and Vibrations

12

Worksheet 4.1 :
90 mm

A 5.1-kg homogeneous disk of radius 90

mm rotates at the constant rate 2 = 10
rad/s with respect to arm OAB, which
itself rotates at the constant rate 1 = 2
rad/s about the Y axis. Determine the
angular momentum of the disk about
point O and also its kinetic energy.

B
1

280 mm

400 mm

Figure W4.1

4 - 12

Vector Dynamics and Vibrations

Angular Momentum and Kinetic Energy

13

Worksheet 4.2 :

Y
p

90
120
360

q
240

X
O
Z

Figure W4.2

A thin rectangular plate of mass m = 1.2 kg is

designed to spin at a constant rate of q = 1.5 rad/s
relative to arm AB (m = 0.9 kg) which at the same
instant rotates at the constant rate of p = 3 rad/s
relative to arm OA which itself rotates at the
constant rate of = 2 rad/s. Determine
(a) the angular momentum of arm AB about
point O, and
(b) the kinetic energy of arm AB.

Solution:

Y
p

90
120

360
A
x

z
240

X
O
Z

4 - 13

Angular Momentum and Kinetic Energy

Vector Dynamics and Vibrations

14

Worksheet 4.3 :
z
a
A

b
B

q
C

Figure W4.3

4 - 14

A thin homogeneous disk of radius r

rotates at the constant rate q rad/s
with respect to the fork-ended rod
ABCD which itself rotates at the
constant rate p rad/s about the y axis.
Determine the angular momentum of
the disk about the support at B and
also the kinetic energy of the disk.

Vector Dynamics and Vibrations

Angular Momentum and Kinetic Energy

15

Exercise 4.0:
4-1

End of Chapter 4

4 - 15