Work Energy Method in Rigid Body

The work done on a rigid body by external forces and couples as it

moves between two positions is equal to the change in its kinetic energy.

The sum of the kinetic energies of the particles is given as

1
T =∑ mi vi vi ----------------------------------(1)
2

dri
v
where i =
dt

Figure 1: A system of particles. The vector ri is the position vector of the

ith particle.

Newtons second law on the ith particle

d
∑ Fij (int ernal force) + Fi E (external force) =
dt
( mi vi )

Taking dot product

 d
∑ Fij • Vi + Fi E • Vi = ∑ Vi •
dt
(mi vi ) -------------------(2)

d d 1 dT
∑ V • dt (m v ) = dt ∑
i i i
2
miVi • Vi =
dt

Multiplying eq. 2 by dt and integrating, we get

ri 2 ri 2

∑ ∫ Fij • d ri + ∑ ∫ Fi E • d ri = T2 − T1 -----------------(3)
ri 1 ri 1

We see that the work done on the system by internal and external forces
as the particles moves from positions ri1 to ri2 equals the change in the
total kinetic energy of the system.

Assumptions

• The sum of the internal forces are zero

• Hence, denoting the work done by external forces, U12,

The work done by the external forces and couples as a rigid body
moves between two positions equals the change in total kinetic
energy of the body

U12 = T2 – T1

Same is true for system of rigid body.

Kinetic Energy

Translation

Translating rigid body has a mass ‘m’ and all of its particle have a
common velocity ‘V’.

Now kinetic energy of a particle mass mi of the body is

1
Ti = mi v 2
2
1
for the entire body T = ∑ mi v 2
2
1
T = v 2 ∑ mi
2
1
T = mv 2 − − − − − − − − − − − − − − − − − − − −(4)
2

Eq. 4 holds for the both rectilinear and curvilinear translation.

Fixed axis Rotation (kinetic energy)

1
Ti =
2
mi vi for a particle
2
1
Ti = mi (ωri ) 2
2
1
for the entire body T = ω 2 ∑ mi ri
2

But the moment of inertia of the object about ‘O’ is

I O = ∑ mi ri
2

1
Therefore T = I Oω 2 − − − − − − − − − − − − − (5)
2

General plane motion

Particle of mass, mi has velocity Vi, as the rigid body consist both
translation and rotation motion, the respective velocity termed as V
and riω for the particle.
So consider Vi as the resultant of both and by cosine law following
expression can be established

Total kinetic energy about G for all particles

1
T =∑
2
mi vi
2
1
T =∑ mi (v 2 + ri ω 2 + 2Vriω cosθ )
2

2 from cos ine rule

1
now ( 2Vriω cosθ )
2
∑ mi consides

ωV ∑ mi ri cosθ = ωV ∑ mi yi = 0 → [ri cosθ = yi ]

sin ce ∑m yi i = my = 0 centroid of area w.r.t. G

Thus the kinetic energy expression follows as

 1 2 1
T= v ∑ mi + ω 2 ∑ mi ri
2

2 2
1 1
T = mv 2 + Iω 2 − − − − − − − − − − − − − − − (6)
2 2

Potential Energy – work and power of a couple

Calculating work done by a couple is necessary when applying

work energy method to rigid body motion.

To evaluate the work done by a couple ‘M’ which acts on a rigid

body during its motion.

Couple ‘M’ = F.b

During time dt the body rotates an angle ‘dθ’ before that presume
body has translated motion from AB to A/B// and then w.r.t. A/ made
rotary motion of A/B/.
 So that the net work done

dV = F (bdθ )
dV = Mdθ
sin ce M = Fb

We see that work of a couple depends on the rotation of the body and is
independent of the translation. Another way to explain this is that the
work done by F is cancelled by work done by –F, because the
displacement of A and B are equal.

θ2
V1− 2 = ∫ Mdθ
θ1

where θ1 and θ 2 are the initial and final angular positions of the rigid
body.

When the magnitude of the couple remains constant then

V1−2 = M (θ 2 − θ1 ) = M∆θ

The work energy relation for particle motion is given by

T1 + U12 = T2

T1 and T2 are the initial and final kinetic energies of all moving parts

U12 is the work done by all external forces.

If the effects of the weight and spring to be included by means of
potential energy (P.E), than the above equation can be written as

T1 + V1 + U12 = T2 + V2

U12 = denotes the work done by all the forces other than wight and
spring forces

V1 and V2 – are the initial and final potential energy.

If all the forces and couples that do work on a rigid body are
conservative, we can express that the total work done as the body moves
between to positions 1 and 2 in terms of the total potential energy of the
forces and couples

U12 = V1 – V2.

Combining this relation with the principle of work and energy we

conclude that the sum of the kinetic energy and the total potential energy
is constant energy is conserved.

T + V = constant

When a rigid body moves under the action of conservative forces, it can
be expressed as,

T1 + V1 = T2 + V2

• Work done by a spring

 1 2
V= kθ
2

Power

It is the time rate at which work is performed

dU F .dr
So, P = = = FV for translational displacement
dt dt

For rotational displacement

dV M .dθ
P= = = Mω
dt dt

So the total instantaneous power is

P = F .V + Mω

Can also be expressed as

P = (ma)V + ( Iα )ω
where F = ma and M = Iα

The total work done on a rigid body during an interval of time equals the
change in kinetic energy of the body. So the total power transmitted
equals rate of change of body’s kinetic energy.

dT
P=
dt

The average power with respect to time during an interval of time from
t1 to t2 is

T2 − T1 U
Pav = = 12
t2 − t1 t2 − t1

Example 1

Figure below shows a counterclockwise couple M that acts on the

uniform 1.5 kg bar AB. Calculate the total work done on the bar as it
rotates in the vertical plane about A from θ = 0 to θ = 180o if

a) M = 4.9 sin θ N.m; and

b) If M varies as shown in Figure b.
Solution

(a)

WD by weight = mg (h1 – h2) = 1.5 (9.81) (-0.2 – 0.2) = -5.886 N.m.

Note: point A is datum, position 1 is when θ = 0 and position 2 when θ =

180o.

WD by couple =

V1− 2 = ∫ Mdθ = ∫ 4.9 sin θdθ = [− 4.9 cos θ ]0 = 9.8 N .m

θ2 π π
θ1 0

Therefore, total work done on the bar is

U12 = 9.8 – 5.886 = 3.9 N.m.

(b)

Recognizing that the work done by the couple equals the area under the
M-θ diagram, we have
 1 π
V1− 2 =  (4.9) 2 = 7.7 N .m
2 2

And the total work done on the bar becomes

U12 = 7.7 – 5.886 = 1.8 N.m.

Example 2

Bar AB of the mechanism shown in figure below is rotating

counterclockwise at the constant angular velocity of ω AB = 2.5 rad/s.

Calculate the total kinetic energy of the mechanism when it is in the
position shown. The mass per unit length of each bar is 2 kg/m.
Solution

−
− − BG 0.4
BO = CO = = = 0.8 m
cos 60 cos 60
− −
GO = BG tan 60 = 0.4 tan 60 = 0.6928 m
−
vB = AB ω AB = 0.8(2.5) = 2 m / s

−
vB = BO ω BC
2
ω BC = = 2.5 rad / s
0.8
−
vC = OC ω BC = 0.8(2.5) = 2 m / s
vC 2
ωCD = −
= = 5 rad / s
CD 0.4

m AB L2AB 1.6(0.8) 2
I A AB = = = 0.3413 kg.m 2
3 3
____ 2 ____ 2
mBC L2BC
I O BC = I BC + mBC GO = + mBC GO
12
1.6(0.8) 2
= + 1.6(0.6928) 2 = 0.8533 kg .m 2
12
mCD L2CD 0.8(0.4) 2
I D CD = = = 0.04267 kg.m 2
3 3
T = TAB + TBC + TCD
1 1 1
T= I Aω AB
2
+ I Oω BC
2
+ I DωCD
2

2 2 2
1 1 1
T = 0.3413(2.5) 2 + 0.8533(2.5) 2 + 0.0427(5) 2
2 2 2
T = 4.27 J

Example 3

Figure below shows a slider-crank mechanism that is being driven by a

constant clockwise couple M = 0.5 N.m. All the components are
homogeneous, with the mass and dimensions as indicated. When the
mechanism is in position 1 as shown in figure, the angular velocity of
the crank is ω1 = 12 rad/s clockwise. After it has rotated through 90o
(Position 2), determine (neglect friction and assume the motion is in a
vertical plane):

a) the moment of inertia about its mass center of crank A and bar BC?
b) the total potential energy at position 1 and the total potential energy
at position 2? (Choose the horizontal plane passing through OC to be
the datum for the gravitational potential energy calculations and
position 1 to be the datum for the potential energy calculations
involving the couple M)
c) the total kinetic energy at position 1?
d) the angular velocity of the crank at position 2 using conservation of
mechanical energy principle?

Solution

mR 2 1
IA = = (2)(0.1) 2 = 0.01 kgm 2
2 2
(a) mL2 1
I BC = = (0.6)(0.3) 2 = 0.0045 kgm 2
12 12

(b)

P.E at 1 = mgh = 0.6 (9.81) (0.05) = 0.294 N.m

Potential energy by the constant couple is zero at 1

Work done by constant couple

U12 = PE1 − PE2

π
0.5( ) = 0 − PE2
2
PE2 = −0.785 N .m

PE2 = mgh + Mdθ

PE2 = 0.6(9.81)(0) − 0.785 = −0.785 N .m

(c)

1  1 1  1 
T1 =  Iω 2  +  Iω 2 + mv 2  +  mv 2 
2 A  2 2  BC  2 C
1   1  1 
T1 =  (001)12 2  +  0 + (0.6)1.2 2  +  (0.8)1.2 2 
2 A  2  BC  2 C
T1 = 1.728 N .m

Note:

• since O is fixed vB = Rw1 = 0.1(12) = 1.2 m/s

• Since vB and vC are horizontal at position 1, then wBC = 0, meaning
bar BC is translating
• Since bar BC is translating, the velocity of mass center will be 1.2
m/s
(d)

At position 2

• vB = 0.1w2 ↓
• vB is vertical and the path of C is horizontal, we conclude that C is
the instant center for bar BC
vB 0.1ω2 ω2
ω =
• because vC = 0, BC L = = rad / s
BC 0 .3 3

• the velocity of mass center BC is

ω
o vG BC = ω BC 0.15 = (0.15) = 0.05ω2
2
3

1 2
1 ω 
2
 1
T2 =  (0.01)ω 2  +  (0.0045) 2   +  (0.6)0.05ω2 2  + 0
2   2  3   2
 
T2 = 0.006ω2
2

Conservation of mech. energy

PE1 + T1 = PE2 + T2

0.294 + 1.728 = -0.785 + 0.006 ω2

2

ω 2 = 21.6 rad/s
Example 4

The uniform 20 kg slender bar AC rotates in a vertyical plane about the

opin at B. The ideal spring AD has a spring constant k = 15 N/m and an
undeformed length LO = 2 m. When the bar is at rest in the position θ =
0, it is given a small angular displacement and released. Find the angular
velocity of the bar when it reaches the horizontal position.
Solution

We use work energy method as we have relationship between changes in

velocity to changes in position.

Work is done by weight and spring forces.

WD by weight = mg (h1 – h2) = 20 (9.81) (0.5 – 0) = 98 N.m. (datum at

point O)

Length of spring at 1 = 1 m, S1 = 1 – 2 = -1 m

Length of spring at 2 = 5 m, S2 = 5 – 2 = 3 m.

1
WD by spring = − k ( S 2 − S1 ) = 0.5(15)(3 − (−1) ) = −60 N .m
2 2 2 2

Since point B is fixed, the kinetic energy of the bar is given by

1
T2 = I Bω 2
2
 20(52 )
I B = I + md =
2
+ 20(0.52 ) = 46.67 kg.m 2
12

Knowing that the bar is released from rest (T1 = 0), we apply work
energy principle

1
U12 = T2 − T1 = I Bω 2 − 0
2

2
1
98 − 60 = (46.67)ω 2
2

2
ω2 = 1.276 rad / s