Module #1: PLANAR KINETIC EQUATIONS IN MOTION

●Translation
●Rotation about a Fixed Axis
●Equations defining the Rotation of a Rigid Body about a fixed Axis

OVERVIEW
At the end of the module, students will be able to analyze the kinematics of a rigid body
undergoing planar translation or rotation about a fixed axis.

LEARNING OBJECTIVES
● To understand the Translational Equation, Rotational Equation and General Application of
Motion
● To discuss the difference between Rectilinear and Curvilinear Translation
● To analyze the Planar Kinetics of a Rigid Body undergoing Rotational Motion
● To describe the physical meaning of Rotational Variables as applied to Fixed-Axis
Rotation
● To solve equations defining the Rotation of a Rigid Body about a Fixed Axis

SUPPLEMENTARY MATERIALS

TYPE LINK
Book https://classroom.google.com/c/NDk3NzYxMDIxMzM1/a/NDk3ODk
4MzY0MzMy/details
Module https://web.aeromech.usyd.edu.au/AMME9500/Course_Documents/2
016%20Lectures/weeks%205&6%20lectures.pdf

Video https://www.youtube.com/watch?v=9VqknziLrTk
Video https://www.youtube.com/watch?v=zrmBObWEDuE
Video https://www.youtube.com/watch?v=UNuRhIHthhY
Module #1 Part #1: Translation

In the following analysis we will limit our study of planar

kinetics to rigid bodies which, along with their loadings,
are considered to be symmetrical with respect to a fixed
reference plane. * Since the motion of the body can be
viewed within the reference plane, all the forces (and
couple moments) acting on the body can then be projected
onto the plane. An example of an arbitrary body of this
type is shown in Fig. 17-8a. Here the inertial frame of
reference x, y, Z has its origin coincident with the
arbitrary point P in the body. By definition, these axes do
not rotate and are either fixed or translate with constant
velocity.

EQUATIONS OF TRANSLATIONAL MOTION

If a body undergoes translational motion, the equation of motion is
ΣF = m aG
This can also be written in scalar form as
Σ Fx = m(aG)x and Σ Fy = m(aG)y

In words: the sum of all the external forces acting on the body is equal
to the body’s mass times the acceleration of its mass center.

EQUATIONS OF ROTATIONAL MOTION

We need to determine the effects caused by the moments of an external force system.
The moment about point P can be written as:
Σ (𝑟i × Fi ) + Σ Mi = 𝑟 × maG + IGα ;
Σ Mp = Σ(Mk)p
where 𝑟 = 𝑥i + 𝑦j and Σ Mp is the resultant moment
about P due to all the external forces. The term
Σ(Mk)p is called the kinetic moment about point P

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If point P coincides with the mass center G, this equation reduces to the scalar equation of
ΣMG = IGα .

In words: the resultant (summation) moment about the mass center due to all the external forces
is equal to the moment of inertia about G times the angular acceleration of the body.

Thus, three independent scalar equations of motion may be used to describe the general planar
motion of a rigid body. These equations are:
Σ Fx = m(aG)x
Σ Fy = m(aG)y ;
Σ MG = IGα or Σ Mp = Σ (Mk)p

EQUATION OF MOTION: TRANSLATION

When the rigid body in Fig. 17-9a undergoes a translation, all the particles
the body has the same acceleration. Furthermore, α = 0, in which case the
rotational equation of motion applied at point G reduces to a simplified
form, namely, ΣMG = 0. Application of this and the force equations of
motion will now be discussed for each of the two types of translation.

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RECTILINEAR TRANSLATION
When a body is subjected to rectilinear translation, all the particles of the body (slab) travel
along parallel straight- line paths.

Since IGα = 0, only mac is shown on the kinetic diagram. Hence, the equations of motion which
apply in this case become:
Σ Fx = m(aG)x
ΣFy = m(aG)y
Σ MG = 0

Note that, if it makes the problem easier, the moment equation can be applied about another
point instead of the mass center. For example, if point A is chosen,
ΣMA = (maG) d .
CURVILINEAR TRANSLATION
When a rigid body is subjected to curvilinear translation, it is best to use an n-t coordinate
system. Then apply the equations of motion, as written below, for n-t coordinates.
Σ Fn = m(aG)n
Σ Ft = m(aG)t
Σ MG = 0 or;
Σ MB = e[m(aG)t] – h[m(aG)n]

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PROCEDURE FOR ANALYSIS

Problems involving kinetics of a rigid body in only translation should be solved using the
following procedure:

1. Establish an (x-y) or (n-t) inertial coordinate system and specify the sense and direction of
acceleration of the mass center, aG.
2. Draw a FBD and kinetic diagram showing all external forces, couples and the inertia forces
and couples.
3. Identify the unknowns.
4. Apply the three equations of motion (one set or the other):

5. Remember, friction forces always act on the body opposing the motion of the body.

SAMPLE PROBLEM

The car shown in figure has a mass of 2 Mg and a

center of mass at G. Determine the acceleration if
the rear "driving" wheels are always slipping,
whereas the front wheels are free to rotate.
Neglect the mass of the wheels. The coefficient of
kinetic friction between the wheels and the road is
µk = 0.25.

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SOLUTION:

Part I
Free-body Diagram.
As shown in figure, the rear-wheel frictional force FB pushes
the car forward, and since slipping occurs, FB = 0.25NB. The
frictional forces acting on the front wheels are zero,
since these wheels have negligible mass. * There are three
unknowns in the problem, NA, NB, and aG ' Here we will sum
up moments about the mass center. The car (point G)
accelerates to the left, i.e., in the negative x direction.

Equations in Motion.
+→ Σ Fx = m (aG)x ;
-0.25NB = - (2000 kg)aG
+↑ Σ Fy = m (aG)y ;
NA + NB - 2000(9.81) N =0

Solving,

aG = 1.59 m/s2 +­←

NA = 6.88 kN
NB = 12.7 kN

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Part II

Free-Body and Kinetic Diagrams.

If the "moment" equation is applied about point A, then the
unknown NA will be eliminated from the equation. To
"visualize" the moment of maG about A, we will include the
kinetic diagram as part of the analysis, Fig. 17-10c.

Equation of Motion.

↺+ ΣMA = Σ(Mk)A
NB(2 m) - [2000(9.81) N] (1.25 m) = (2000 kg) aG( 0.3 m)

Solving this and Eq. 1 for aG leads to a simpler solution than that obtained from Eqs. 1 to 3.

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Module #1 Part #2: Rotation about a Fixed Axis

THEORY

Unlike particle motion, rigid bodies can rotate and translate. This means both linear and angular
velocities need to be analyzed.

All general two-dimensional plane motion can be separated into rotating and translating motion.
The rotating motion is commonly referred to as "rotation about a fixed axis". The two
animations to the right show both rotational and translational motion.

A good example of combined rotational and translational

motion is the piston connecting rod. The arm moves back and
forth but also rotates about the crankshaft, as illustrated.

Fixed Rotation of a Rigid Body

It is easier to solve problems when the translation and

rotation components of motion are separated. By definition, a
rotating body will have a point that has zero velocity which is
its point of rotation (it can be on or off the object). If the body
is pinned, this point is easy to identify. If not pinned, then this
point can move as the object moves.

For rotating bodies, there is no radial motion (the point is

always rotating in a circle), and there is only motion in the
tangent direction. Of course, the tangent direction can change
for rotating objects that are not physically pinned.

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This type of motion is best described in polar coordinates:

v = r ω eθ + dr/dt er

The tangential velocity will be the angular velocity, ω

(=dθ/dt), times the radial distance to the point and will only
be in the tangent direction. The radial velocity will be zero
since it is pinned. This simplifies the velocity to,
v = r ω eθ + 0 er = ω × r

Likewise, the acceleration for a point on a rotating object can

be described using polar coordinates. The acceleration for a
point on a rotating object will have two components, the θ and
the radial direction. However, there will be no radial velocity
or radial acceleration terms (i.e. dr/dt = d2r/dt2 = 0). The polar
acceleration terms become,

or a = rα eθ - rω2 er = α × r + ω × (ω × r)

APPLICATION

The “Catherine wheel” is a fireworks display consisting of a

coiled tube of powder pinned at its center. As the powder burns,
the mass of powder decreases as the exhaust gases produce a
force directed tangent to the wheel. This force tends to rotate the
wheel.

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Module #1 Part #3: Equations Defining the Rotation of a Rigid Body about a Fixed Axis

When a rigid body rotates about a fixed axis

perpendicular to the plane of the body at point O, the
body’s center of gravity G moves in a circular path of
radius rG. Thus, the acceleration of point G can be
represented by a tangential component (aG)t = rG α and a
normal component (aG)n = rG ω2.

Since the body experiences an angular acceleration, its inertia creates a moment of magnitude, IG
α, equal to the moment of the external forces about point G. Thus, the scalar equations of motion
can be stated as:

∑ Fn = m (aG)n = m rG ω2
∑ Ft = m (aG)t = m rG α
∑ MG = IG α

Note that the ∑MG moment equation may be replaced by a moment

summation about any arbitrary point. Summing the moment about the
center of rotation O yields ∑MO = IGa + rG m (aG) t = [IG + m(rG)2] α.
From the parallel axis theorem, IO = IG + m(rG)2, therefore the term in
parentheses represents IO. Consequently, we can write the three
equations of motion for the body as:
∑Fn = m (aG)n = m rG ω2
∑Ft = m (aG)t = m rG α
∑MO = IO α

When using these equations, remember that "IOα" accounts for the
"moment" of both m(aG)t and IGα about point O,

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Procedure For Analysis:
Kinetic problems which involve the rotation of a body about a fixed axis can be solved
using the following procedure.

Free-Body Diagram.
● Establish the inertial n, t coordinate system and specify the direction and sense of the
accelerations (aG)n and (aG)t and the angular acceleration α of the body. Recall that
(aG)t must act in a direction which is in accordance with the rotational sense of α,
whereas (aG)n always acts toward the axis of rotation, point O.
● Draw the free-body diagram to account for all the external forces and couple moments
that act on the body.
● Determine the moment of inertia IG or IO,
● Identify the unknowns in the problem.
● If it is decided that the rotational equation of motion ∑Mp = ∑(Mk)p is to be used, i.e., P
is a point other than G or O, then consider drawing the kinetic diagram in order to help
"visualize" the "moments" developed by the components m(aG)n, m(aG)t, and IGα when
writing the terms for the moment sum ∑(Mk)p.

Equations of Motion.
● Apply the three equations of motion in accordance with the established sign
convention.
● If moments are summed about the body's mass center, G, then ∑MG = IGα, since
(maG)t and (maG)n create no moment about G.
● If moments are summed about the pin support O on the axis of
● rotation, then (maG)n creates no moment about O, and it can be
● shown that ∑MO = IGα.

Kinematics.
● Use kinematics if a complete solution cannot be obtained strictly from the equations of
motion.
● If the angular acceleration is variable, use
𝑑ω 𝑑θ
α = 𝑑𝑡 α 𝑑θ = ω 𝑑ω ω = 𝑑𝑡

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 ● If the angular acceleration is constant, use
ω = ω0 + α𝑐𝑡
1 2
θ = θ0 + ω0𝑡 + 2
α𝑐𝑡
2 2
ω = ω0 + 2α𝑐(θ − θ0)

SAMPLE PROBLEM 1

At the instant shown in Fig. 17-16a, the 20-kg

slender rod has an angular velocity of w = S rad/s.
Determine the angular acceleration and the
horizontal and vertical components of reaction of
the pin on the rod at this instant.

SOLUTION:
Free-Body and Kinetic Diagrams. Fig. 17-16b. As shown
on the kinetic diagram, point G moves around a circular
path and so it has two components of acceleration. It is
important that the tangential component α𝑡 = αrG act
downward since it must be in accordance with the rotational
sense of α. The three unknowns are On, Ot , and α.

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A more direct solution to this problem would be to sum moments about point O to eliminate On
and Ot and obtain a direct solution for α. Here,
NOTE: By comparison, the last equation provides the simplest solution for α and does not
require use of the kinetic diagram.

SAMPLE PROBLEM 2

The drum shown in Fig. 17-17a has a mass of 60 kg and a radius of gyration
kO = 0.25 m. A cord of negligible mass is wrapped around the periphery of
the drum and attached to a block having a mass of 20 kg. If the block is
released, determine the drum's angular acceleration.

SOLUTION 1:
Free-Body Diagram. Here we will consider the drum and block
separately, Fig. 17-17 b. Assuming the block accelerates
downward at a, it creates a counterclockwise angular acceleration
α of the drum. The moment of inertia of the drum is

2 2 2
𝐼𝑂 = 𝑚𝑘𝑂 = (60 𝑘𝑔) (0. 25𝑚) = 3. 75 𝑘𝑔 · 𝑚
There are five unknowns, namely OX, OY, T, a, and α.
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Equations of Motion. Applying the translational equations of motion ∑Fx = m(aG)x and ∑Fy =
m(aG)y to the drum is of no consequence to the solution, since these equations involve the
unknowns Ox and Oy. Thus, for the drum and block, respectively,

Kinematics. Since the point of contact A between the cord and drum has a tangential component
of acceleration a, Fig. 17-17 a, then

SOLUTION 2:

Free-Body and Kinetic Diagrams. The cable tension T can be

eliminated from the analysis by considering the drum and block as
a single system, Fig. 17-17c. The kinetic diagram is shown since
moments will be summed about point O.

Equations of Motion. Using Eq. 3 and applying the moment

equation about O to eliminate the unknowns OX and OY, we have

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NOTE: If the block were removed and a force of 20(9.81) N were applied to the cord, show that
α = 20.9 rad/s2. This value is larger since the block has an inertia, or resistance to acceleration.

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