PROBLEM 18.

38

Show that the kinetic energy of a rigid body with a fixed Point O can be
expressed as T = 12 I OLω 2 , where ω is the instantaneous angular velocity of
the body and I OL is its moment of inertia about the line of action OL of ω.
Derive this expression (a) from Eqs. (9.46) and (18.19), (b) by considering T as
the sum of the kinetic energies of particles Pi describing circles of radius ρi
about line OL.

SOLUTION

(a) T=
1
2
(
I xω x2 + I yω y2 + I zω z2 − 2 I xyω xω y − 2 I yz ω yω z − 2 I xzω xω z )
Let ω x = ω cos θ x = ωλx
ω y = ω cos θ y = ωλ y

ω z = ω cos θ z = ωλz

T=
1
2
( )
I x λx2 + I y λ y2 + I z λz2 − 2 I xy λx λ y − 2 I yz λ y λz − 2 I xz λx λz ω 2

1 1
= I OLω 2 T= I OLω 2 
2 2
(b) Each particle of mass (Δm)i describes a circle of radius ρi .

The speed of the particle is vi = ρiω.

1 1
Its kinetic energy is (ΔT )i = (Δmi )vi2 = (Δmi ) ρi2ω 2
2 2
The kinetic energy of the entire body is
1
T = Σ( ΔT )i = Σ(Δmi ) ρi2ω 2
2

but I OL = Σ( Δmi ) ρi2

1
Hence, T= I OLω 2 
2

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2019
 PROBLEM 18.39

Determine the kinetic energy of the disk of Problem 18.1.

PROBLEM 18.1 A thin, homogeneous disk of mass m and radius r

spins at the constant rate ω1 about an axle held by a fork-ended vertical
rod, which rotates at the constant rate ω 2 . Determine the angular
momentum H G of the disk about its mass center G.

SOLUTION

Angular velocity: ω = ω2 j + ω1k

1 2 1 2 1 2
Moments of inertia: Ix = mr , Iy = mr , Iz = mr
4 4 2
Products of inertia: by symmetry, I xy = I yz = I zx = 0

Kinetic energy: T=
1
2
(
I xω x2 + I y ω y2 + I zω z )
1   1 2  2  1 2  2
T= 0 + mr  ω2 +  mr  ω1 
2   4  2  
1
(
T = mr 2 ω22 + 2ω12 
8
)

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2020
 PROBLEM 18.40

Determine the kinetic energy of the plate of Problem 18.2.

PROBLEM 18.2 A thin rectangular plate of weight 15 lb rotates

about its vertical diagonal AB with an angular velocity ω. Knowing
that the z axis is perpendicular to the plate and that ω is constant
and equal to 5 rad/s, determine the angular momentum of the plate
about its mass center G.

SOLUTION

h = (9 in.)2 + (12 in.) 2 = 15 in.

Resolving ω along the principal axes x′, y′, z:

12
ω x′ = ω = 0.8(5 rad/s) = 4 rad/s
15
9
ω y′ = ω = 0.6(5 rad/s) = 3 rad/s
15
ωz = 0
Moments of inertia:
1  15 lb  9 
I x′ = ft  = 0.021836 slug ⋅ ft 2
12  32.2 
 12 
2
1  15 lb  12 
I y′ = ft  = 0.038820 slug ⋅ ft 2
12  32.2 
 12 

From Eqs. (18.20):

1
T= ( I x′ω x2′ + I y′ω y2′ + I z′ω z2′ )
2
1
= [(0.021836)(4) 2 + (0.038820)(3) 2 + 0]
2
T = 0.34938 ft ⋅ lb
T = 0.349 ft ⋅ lb 

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2021
 PROBLEM 18.41

Determine the kinetic energy of the assembly of Problem 18.3.

PROBLEM 18.3 Two uniform rods AB and CE, each of

weight 3 lb and length 2 ft, are welded to each other at their
midpoints. Knowing that this assembly has an angular velocity
of constant magnitude ω = 12 rad/s, determine the magnitude
and direction of the angular momentum HD of the assembly
about D.

SOLUTION
W 3
m= = = 0.093168 lb ⋅ s 2 /ft, l = 24 in. = 2 ft,
g 32.2
ω = (12 rad/s)i

1
For rod ADB, T = I xω 2 ≈ 0, since I x ≈ 0.
2

For rod CDE, use principal axes x′, y′ as shown.

9
cosθ = , θ = 41.410°
12
ω x′ = ω cosθ = 9 rad/s 2
ω y′ = ω sin θ = 7.93725 rad/s 2
ω z′ = 0
I x′ ≈ 0

1 2 1
I y′ = ml = (0.093168)(2)2
12 12
= 0.0310559 lb ⋅ s 2 ⋅ ft

1 1 1 1
T = mv 2 + I x′ω 2x′ + I y′ω 2y′ + I z ′ω 2z′
2 2 2 2
1
=0+0+ (0.0310559)(7.93725) 2 + 0
2
= 0.97826 ft ⋅ lb T = 0.978 ft ⋅ lb 

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2022
 PROBLEM 18.42

Determine the kinetic energy of the disk of Problem 18.4.

PROBLEM 18.4 A homogeneous disk of weight W = 6 lb

rotates at the constant rate ω 1 = 16 rad/s with respect to arm
ABC, which is welded to a shaft DCE rotating at the constant
rate ω 2 = 8 rad/s. Determine the angular momentum H A of the
disk about its center A.

SOLUTION

W 6
m= = = 0.1863 lb ⋅ s 2 /ft
g 32.2

ω = ω2 i + ω1 j = (8 rad/s)i + (16 rad/s) j

For axes x′, y ′, z ′ parallel to x, y, z with origin at A,

2
1 2 1  8 
I x′ = mr = (0.1863)   = 0.0207 lb ⋅ s 2 ⋅ ft
4 4  12 

I z′ = I x′ = 0.0207 lb ⋅ s 2 ⋅ ft, I y ′ = I x′ + I z′ = 0.0414 lb ⋅ s 2 ⋅ ft

Point A is the mass center of the disk.

rA/C = (9 in.)i − (9 in.)k = (0.75 ft)i − (0.75 ft)k
v = v A = ω2 i × rA/C = 8i × (0.75 j − 0.75k )
= (6 ft/s) j + (6 ft/s)k
v = (6)2 + (6) 2 = 8.4853 ft/s

1 1 1 1
Kinetic energy: T= mv 2 + I x′ω x2 + I y′ω y2 + I z′ω z2
2 2 2 2
1 1 1
T = (0.1863)(8.4853)2 + (0.0207)(8) 2 + (0.0414)(16) 2 + 0
2 2 2
= 6.7068 + 0.6624 + 5.2992 = 12.6684 ft ⋅ lb T = 12.67 ft ⋅ lb 

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2023
 PROBLEM 18.43
Determine the kinetic energy of the disk of Problem 18.5.

PROBLEM 18.5 A thin disk of mass m = 4 kg rotates at the

constant rate ω2 = 15 rad/s with respect to arm ABC, which itself
rotates at the constant rate ω1 = 5 rad/s about the y axis. Determine
the angular momentum of the disk about its center C.

SOLUTION

r = 150 mm
Angular velocity of disk:
ω = ω1 j + ω2 k
= (5 rad/s) j + (15 rad/s)k
Centroidal moments of inertia:
1 2
I x′ = I y ′ = mr
4
1
= (4)(0.150 m) 2 = 0.0225 kg ⋅ m 2
4
1 2
I z′ = mr = 0.045 kg ⋅ m 2
2
Location of mass center. rC/ A = (0.450 m)i + (0.225 m) j

Velocity of mass center. v = ω1 × rC/ A = 5 j × (0.45i + 0.225 j)

= − (2.25 m/s)k

1 1 1 1
Kinetic energy: T= mv 2 + I xω x2 + I y ω y2 + I zω z2
2 2 2 2
1 1 1
= (4)(2.25) 2 + 0 + (0.0225)(5)2 + (0.0450)(15) 2
2 2 2
= 10.125 + 0 + 0.28125 + 5.0625 T = 15.47 J 

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2024
 PROBLEM 18.44

Determine the kinetic energy of the solid parallelepiped of Problem 18.6.

PROBLEM 18.6 A solid rectangular parallelepiped of mass m has a

square base of side a and a length 2a. Knowing that it rotates at the
constant rate ω about its diagonal AC ′ and that its rotation is observed
from A as counterclockwise, determine (a) the magnitude of the angular
momentum H G of the parallelepiped about its mass center G, (b) the
angle that H G forms with the diagonal AC ′.

SOLUTION

Body diagonal: d = a 2 + (2a) 2 + a 2 = 6a

ω ω 2ω ω
ω= ( − ai + 2 aj − ak ) = − i+ j− k
d 6 6 6
1 5
I x = m[(2a) 2 + a 2 ] = ma 2
12 12
1 1
I y = m[a 2 + a 2 ] = ma 2
12 6
1 5
I z = m[a 2 + (2a) 2 ] = ma 2
12 12
Axis of rotation passes through the mass center, hence v = 0.
1 1 1 1
Kinetic energy: T= mv 2 + I xω x2 + I yω y2 + I zω z2
2 2 2 2
2 2 2
1 5  ω  1  1 2   2ω  1 5 2  ω  1 2 2
T = 0 +  ma 2    +  ma    +  ma    = ma ω
2  12  6  26  6  2  12  6  8

T = 0.1250 ma 2ω 2 

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2025
 PROBLEM 18.45
Determine the kinetic energy of the hollow parallelepiped of Problem 18.7.

PROBLEM 18.7 Solve Problem 18.6, assuming that the solid rectangular
parallelepiped has been replaced by a hollow one consisting of six thin
metal plates welded together.

SOLUTION

Body diagonal: d = a 2 + (2a) 2 + a 2 = 6a

ω ω 2ω ω
ω= ( −ai + 2aj − ak ) = − i+ j− k
d 6 6 6
Total area = 2( a 2 + 2a 2 + 2a 2 ) = 10a 2

1
For each square plate, m′ = m
10
1 13 13
I x = m′a 2 + m′a 2 = m′a 2 = ma 2
12 12 120
1 1
I y = m′a 2 = ma 2
6 60
13
Iz = Ix = ma 2
120
1
For each plate parallel to the yz plane, m′ = m
5
1 5 1
Ix = m′[ a 2 + (2a) 2 ] = m′a 2 = ma 2
12 12 12
2
1 a 1 1
I y = m′a 2 + m′   = m′a 2 = ma 2
12 2 3 15
2
1 a 7 7
Iz = m′(2a )2 + m′   = m′a 2 = ma 2
12  2  12 60

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2026
 PROBLEM 18.45 (Continued)

1
For each plate parallel to the xy plane, m′ = m
5
2
1 a 7 7
Ix = m′(2a )2 + m′   = m′a 2 = ma 2
12  
2 12 60
2
1 a 1 1
Iy = m′a 2 + m′   = m′a 2 = ma 2
12 2 3 15
1 5 1
I z = m′[ a 2 + (2a) 2 ] = m′a 2 = ma 2
12 12 12
Total moments of inertia:

 13 1 7  37 2
Ix = 2 + +  ma 2 = ma
 120 12 60  60
 1 1 1  3
I y = 2 + +  ma 2 = ma 2
 60 15 15  10
 13 7 1  37 2
Iz = 2 + +  ma 2 = ma
 120 60 12  60
Axis of rotation passes through the mass center, hence v = 0.
Kinetic energy:
1 1 1 1
T= mv 2 + I xω x2 + I y ω y2 + I zω z2
2 2 2 2
2 2 2
1  37  ω  1 3 2   2ω  1  37 2   ω  73
T = 0 +  ma 2    +  ma    +  ma    = ma 2ω 2
2  60  6  2  10  6  2  60  6  360

T = 0.203 ma 2ω 2 

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2027
 PROBLEM 18.46

Determine the kinetic energy of the disk of Problem 18.8.

PROBLEM 18.8 A homogeneous disk of mass m and radius r is mounted

on the vertical shaft AB. The normal to the disk at G forms an angle
β = 25° with the shaft. Knowing that the shaft has a constant angular
velocity ω, determine the angle θ formed by the shaft AB and the angular
momentum HG of the disk about its mass center G.

SOLUTION

Use the principal centroidal axes Gx′y ′z.

Moments of inertia.
1 2
I x′ = I z = mr
4
1 2
I y′ = mr
2
Angular velocities.
ω x′ = −ω sin β
ω y′ = ω cos β
ωz = 0
1 1 1 1
Kinetic energy: T= mv 2 + I x2′ω x2′ + I y′ω y2′ + I z′ω z2′
2 2 2 2
1 1 1 1
= 0 + ⋅ mr 2 (−ω sin β ) 2 + ⋅ mr 2 (ω cos β ) 2 + 0
2 4 2 2
1
= mr 2ω 2 (sin 2 β + 2 cos 2 β )
8
1
= mr 2ω 2 (sin 2 25° + 2 cos 2 25°)
8

T = 0.228 mr 2ω 2 

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2028