ES 12

DYNAMICS
OF RIGID BODIES

Asst. Prof. ARIEL U. GLORIOSO

 ES 12

PLANAR KINETICS
OF RIGID BODIES
Force and Acceleration
 PLANAR KINETICS OF A RIGID BODY: FORCE AND ACCELERATION

OBJECTIVES
To introduce the methods used to determine the mass
moment of inertia of a body

To develop the planar kinetic equations of motion for

a symmetric rigid body

To discuss applications of these equations to bodies

undergoing translation, rotation about a fixed axis, and
general plane motion
PLANAR KINETICS OF A RIGID BODY: FORCE AND ACCELERATION

In the following analyses, we will limit our study of planar

kinetics to rigid bodies which are considered symmetrical with
respect to a fixed reference frame.
Since the motion of the body can be viewed within the reference
plane, all the forces acting on the body can be projected on the
plane.
The inertial frame of reference on
the right figure, has its origin
coincident with the arbitrary point P
in the body. These axes do not
rotate and are either fixed or
translate with constant velocity.

Figure 1
 PLANAR KINETICS OF A RIGID BODY: FORCE AND ACCELERATION

Equation of Translational Motion

The sum of all external forces acting on the body in
Figure 1 is equal to the body’s mass times the
acceleration of its mass center G.

𝐹 = 𝑚𝑎𝐺

This could also be written in scalar form as,

𝐹𝑥 = 𝑚(𝑎𝐺 )𝑥 𝐹𝑦 = 𝑚(𝑎𝐺 )𝑦
 PLANAR KINETICS OF A RIGID BODY: FORCE AND ACCELERATION

Equation of Rotational Motion

The sum of moments of all the external forces computed
about the body’s mass center G is equal to the product
of the moment of inertia of the body an axis passing
through G and the body’s angular acceleration.

𝑀𝐺 = 𝐼𝐺 𝛼
 PLANAR KINETICS OF A RIGID BODY: FORCE AND ACCELERATION

Equation of Rotational Motion

=
Figure 2

When moments of the external forces shown on the Figure 2

are summed about point P, they are equivalent to the sum of
the “kinetic moments” of 𝑚𝑎𝐺 about P plus the “kinetic
moment” of 𝐼𝐺 α.
𝑀𝑃 = (𝜇𝑘 )𝑃
 PLANAR KINETICS OF A RIGID BODY: FORCE AND ACCELERATION

Equations of Motion: Translation

Figure 3

When the body on Figure 3 undergoes a translation, all

the particles of the body have the same acceleration.
Furthermore, 𝛼 = 0 , in which case the rotational
equation of motion applied at point G reduces to a
simplified form, 𝑀𝐺 = 0.
 PLANAR KINETICS OF A RIGID BODY: FORCE AND ACCELERATION

Equations of Motion: Translation

Rectilinear Motion
When a body is subjected to rectilinear translation, all
the particles of the body (slab) travel along parallel
straight-line paths. Since 𝐼𝐺 α = 0, only 𝑚𝑎𝐺 is shown on
the kinetic diagram. Hence, the equations of motion
which apply in this case become,

𝐹𝑥 = 𝑚(𝑎𝐺 )𝑥 𝐹𝑦 = 𝑚(𝑎𝐺 )𝑦 𝑀𝐺 = 0
 PLANAR KINETICS OF A RIGID BODY: FORCE AND ACCELERATION

Equations of Motion: Translation

Rectilinear Motion

Figure 4
It is also possible to sum moments about other points om or off
the body, in which case the moment of 𝑚𝑎𝐺 must be taken into
account. If point A is chosen, which lies at a perpendicular
distance d from the line of action 𝑚𝑎𝐺 , 𝑀𝐴 = (𝑚𝑎𝐺 )𝑑 applies.
 PLANAR KINETICS OF A RIGID BODY: FORCE AND ACCELERATION

Equations of Motion: Translation

Curvilinear Motion
When a body is subjected to curvilinear translation, all the
particles of the body have the same acceleration as they
travel along the curved paths. It is best to use an inertial
coordinate system having an origin which coincides with the
body’s mass center at the instant considered, and axes which
are oriented in the normal and tangential directions of the
path of motion.

𝐹𝑛 = 𝑚(𝑎𝐺 )𝑛 𝐹𝑡 = 𝑚(𝑎𝐺 )𝑡 𝑀𝐺 = 0
 PLANAR KINETICS OF A RIGID BODY: FORCE AND ACCELERATION

Equations of Motion: Translation

Curvilinear Motion

=
Figure 5

If moments are summed about point B, then it is necessary to account

for the moments (𝜇𝑘 )𝐵 , of the two components 𝑚(𝑎𝐺 )𝑛 and
𝑚(𝑎𝐺 )𝑡 about this point. From the kinetic diagram, h and e represent
the perpendicular distances from B to the lines of action of the
components. The moment equation becomes + 𝑀𝐵 = (𝜇𝑘 )𝐵 .
 PLANAR KINETICS OF A RIGID BODY: FORCE AND ACCELERATION

Equations of Motion: Rotation about a Fixed Axis

Consider the rigid body show in in Figure 6
which is constrained to rotate in the vertical
plane about a fixed axis perpendicular to the
page and passing through the pin at O.

The angular velocity and angular acceleration

are caused by the external force and couple
Figure 6
moment system acting on the body. Because
the body’s center at G moves around a circular path, the
acceleration of this point is best represented by its tangential and
normal components.
 PLANAR KINETICS OF A RIGID BODY: FORCE AND ACCELERATION

Equations of Motion: Rotation about a Fixed Axis

The tangential component of acceleration has a
magnitude of (𝑎𝐺 )𝑡 = 𝛼𝑟𝐺 and must act in a direction
which is consistent with the body’s angular acceleration
𝛼 . The magnitude of the normal component of
acceleration is (𝑎𝐺 )𝑛 = 𝜔2 𝑟𝐺 . This component is always
directed from point G to O, regardless of the rotational
sense of 𝜔.
 PLANAR KINETICS OF A RIGID BODY: FORCE AND ACCELERATION

Equations of Motion: Rotation about a Fixed Axis

=
Figure 7
The two components 𝑚(𝑎𝐺 )𝑡 and 𝑚(𝑎𝐺 )𝑛 , shown on the kinetic diagram
are associated with the tangential and normal components of
acceleration of the body’s mass center. The 𝐼𝐺 𝛼 vector acts in the same
direction as 𝛼 and has a magnitude of 𝐼𝐺 𝛼, where 𝐼𝐺 is the body’s moment
of inertia calculated about an axis which is perpendicular to the page and
passes through G.
 PLANAR KINETICS OF A RIGID BODY: FORCE AND ACCELERATION

Equations of Motion: Rotation about a Fixed Axis

The equations of motion which apply to the body can be
written in the form,

𝐹𝑛 = 𝑚(𝑎𝐺 )𝑛 = 𝑚𝜔2 𝑟𝐺

𝐹𝑡 = 𝑚(𝑎𝐺 )𝑡 = 𝑚𝛼𝑟𝐺

𝑀𝐺 = 𝐼𝐺 𝛼
 PLANAR KINETICS OF A RIGID BODY: FORCE AND ACCELERATION

Equations of Motion: Rotation about a Fixed Axis

Moment Equation About Point O
It if often convenient to sum moments about the pin at O in
order to eliminate the unknown force 𝐹𝑂 . From the kinetic
diagram on Figure 7, this requires
𝑀𝑂 = 𝑟𝐺 𝑚(𝑎𝐺 )𝑡 + 𝐼𝐺 𝛼
+ 𝑀𝑂 = (𝜇𝑘 )𝑂

Note that the moment of 𝑚(𝑎𝐺 )𝑛 is not included since the

line of action of this vector passes through O. Substituting
(𝑎𝐺 )𝑡 = 𝑟𝐺 𝛼, we may rewrite the above equation as

+ 𝑀𝑂 = (𝐼𝐺 + 𝑚𝑟𝐺 2 )𝛼
 PLANAR KINETICS OF A RIGID BODY: FORCE AND ACCELERATION

Equations of Motion: Rotation about a Fixed Axis

Moment Equation About Point O
From the parallel-axis theorem, 𝐼𝑂 = 𝐼𝐺 + 𝑚𝑑 2 , and
therefore the term in the parentheses represents the
moment of interia of the body about the fixed axis of
rotation passing through O.

𝑀𝐺 = 𝐼𝑂 𝛼

Note that 𝐼𝑂 𝛼 accounts for the “moment” of both 𝑚(𝑎𝐺 )𝑡

and 𝐼𝐺 𝛼about point O.
 PLANAR KINETICS OF A RIGID BODY: FORCE AND ACCELERATION

Equations of Motion: General Plane Motion

Figure 8

When a rigid body is subjected to external forces and couple-

moments, it can under go both translational motion as well as
rotational motion. This combination is called general plane motion.
 PLANAR KINETICS OF A RIGID BODY: FORCE AND ACCELERATION

Equations of Motion: General Plane Motion

Using an x-y inertial coordinate system, the equations of motions
about the center of mass G, may be written as

𝐹𝑥 = 𝑚(𝑎𝐺 )𝑥 𝐹𝑦 = 𝑚(𝑎𝐺 )𝑦 𝑀𝐺 = 𝐼𝐺 𝛼

Sometimes, it may be convenient to write the moment equation

about some point P other than G. Then the equations of motion are
written as follows:

𝐹𝑥 = 𝑚(𝑎𝐺 )𝑥 𝐹𝑦 = 𝑚(𝑎𝐺 )𝑦 𝑀𝑃 = (𝜇𝑘 )𝑃

In this case, (𝜇𝑘 )𝑃 represents the sum of the moments 𝐼𝐺 𝛼 and

𝑚𝑎𝐺 about point P.
 ES 12

EXAMPLES
PLANAR KINETICS OF A RIGID BODY: FORCE AND ACCELERATION
1
The handcart has a mass of 200 kg and center of mass at G.
Determine the normal reactions at each of the two wheels at
A and the wheels at B if force of P = 50N is applied to the
handle. Neglect the mass of the wheels.

Given:

Required: NA’, NB’

2
The uniform rod has a mass of 5 kg. If the cord at A is cut,
determine the reaction at pin O when the rod is still in the
horizontal position. The mass moment of inertia of a slender
rod is Io = (mL2)/12.

Given:

200 mm 600 mm

Required: Ro
3
The 50-kg uniform crate Given:
rests on the platform for
which the coefficient of
static friction is µs = 0.5.
If the supporting links
have an angular velocity
ω = 1 rad/s, determine
the greatest angular
acceleration α they can
have so that the crate
does not slip or tip at the
instant θ = 30°

Required: α
4
Block A has weight 50 lb
and the platform has weight Given:
20 lb. If P = 100 lb,
determine the normal force
exerted by block A on B.
Neglect the weight of the
pulleys and bars of the
triangular frame.

Required: N
5
Disk A has a weight of 5 lb and disk B has a weight of 10lb. If
no slipping occurs between them. Determine the couple
moment M which must be applied to disk A to give it an
angular acceleration of 4 rad/s2

Given:

Required: M
6
The pendulum consists of a uniform 5-kg plate and a 2-kg
slender rod. Determine the horizontal and vertical components
of the reaction that the pin O exerts on the rod at the instant
θ=30°, at which time its angular velocity is ω = 3 rad/s.
Given:

Required: Ox, Oy
7
The truck carries the spool which has a weight of 500 lb and a
radius of gyration of kG = 2 ft. Determine the angular
acceleration of the spool if it is not tied down on the truck and
the truck begins to accelerate at 3 ft/s2 . Assume the spool
does not slip on the bed of the truck.

Given:

3 ft

Required: αt
8
A 5-kg cylinder is tied to a spool that has a mass of 100kg and
a radius of gyration kG = 0.3m. If the coefficients of static and
kinetic friction are µs = 0.2 and µk = 0.15, respectively,
determine the angular acceleration of the spool. Neglect the
mass of the pulley.

Given:

Required: αspool
9
The lawn roller has a mass of 80 kg and a radius of gyration of
KG = 0.175 m. If it is pushed forward with a force of 200 N
when the handle is 45°, determine its angular acceleration.
The coefficients of static and kinetic friction between the
ground and the roller are µs = 0.12 and µs = 0.1 respectively.
Given:

Required: α
10
A girl sits snugly inside a large tire such that both the girl and
tire have a total weight of 185 lb, a center of mass at G, and a
radius of gyration of kG = 1.65 ft about G. If the tire rolls freely
down the incline, determine the normal and frictional forces it
exerts on the ground when it is in the position shown and has
an angular velocity of 6 rad/s. Assume that the tire does not
slip as it rolls.

Given:

Required: f, N
 ES 12

THE END
PLANAR KINETICS OF A RIGID BODY: FORCE AND ACCELERATION