Engineering Mechanics II:

Course Code: Mec 1131

Plane Dynamics of Rigid Body

Fall 2021

Prof. Abdel-Raouf Helaly

Office: 20411
Grading System:

1- Final Exam …………................... 60%

2- Class Work ……………………………. 40%
- Midterm ……………………………. 20%
- Quizzes …............................. 10%
- Take Home Exam ………………….. 10%
 Course Out Lines:
Chapter (1):
1.1- Center of Mass ( C. M., C. G. and Centroid)
1.2- Moment of Inertia M.O.I. ( Polar M.O.I)

Intended Learning Objects (ILO’s):

Calculate the cross section mechanical properties
(mass, center of mass, moment of inertia) for
distributed masses and composite sections.
Chpter (2)- Plane Kinematics Of Rigid Body:
Velocity Relation, Acceleration Relation,
Instantaneous Center and Wheel Motion

Intended Learning Objects (ILO’s):

Calculate linear velocity and linear acceleration
for each point in a system of rigid bodies using
algebraic or instantaneous center methods
Chapter (3)- Plane Kinetics Of Rigid Body:
Application of Newton’s Law in:
Translation ( Rectilinear or Curvilinear) Motion,
Rotational Motion and General Motion

Intended Learning Objects (ILO’s):

Calculate Reactions and both linear and
angular accelerations for a system of rigid
bodies due to external forces and couples
Chapter (4)- Work and Energy:
- Work Definition
- Kinetic Energy and Principle of Work and
Kinetic Energy
- Potential Energy and Principle of Mechanical
Energy
- Intended Learning Objects (ILO’s):
Calculate all types of energy for a system of
rigid bodies (Kinetic, Potential) and work done
by different external forces.
Chapter (5)- Viberations:
Single Degree of Freedom – Free Viberations
Damped Viberations – Forced Viberations
Forced / Damped Viberations

Intended Learning Objects (ILO’s):

Define the structure viberations state and
calculate the parameters in concern ( natural
frequency, magnification factor and maximum
displacement)
References:
1- Vector Mechanics for Engineers: Dynamics, F.P. Beer, E.R.
Johnston and P. Cornwell, McGraw-Hill, 9th edition.
2- Vector Mechanics for Engineers: Dynamics, R. C . Hibbeler,
Pearson, 13th edition.
NOTE to Students:

>>>> Letter R should be in Capital

 Chapter(1)

Center of Mass and Moment of Inertia

1.1 – Center of Mass ( C.M./C.G.): (2D)

y ??
For a systemmof particles:
2 (x2,y2) y
c m (xG,yG)
m1 (x1,y1)
mn (xn,yn)
=
o x
o x
m = m1 + m2 +….+ mn
= Σ mi

Since, moment of total mass about an axis equal sum

of moments of all masses about the same axis
Taking moment about y-axis,
m xG = m1 x1 + m2 x2 + …….+ mn xn , m = Σ mi
= Σ m i xi
xG = Σ mi xi / Σ mi

Similarly, Taking moment about x-axis,

m yG = m1 y1 + m2 y2 + …….+ mn yn
= Σ mi yi
yG = Σ mi yi / Σ mi
xG = Σ mi xi / Σ mi
yG = Σ mi yi / Σ mi
Properties:
1) c.m. does not depend on the origin, but it depends
on the relative positions of the particles
2)If a system of particles has an axis of symmetry (a.o.s)
Then, its c.m. lies on that axis:
m2 (x2,y2)
y m1 (x1,y1)

X x
o G
m1 (x1,- y1) m2 (x2, - y2)
YG= [m1 y1 + m1(-y1) + m2 y2 + m2 (-y2)]/ 2(m1+m2)
=0
xG = 0
3) Center of mass and Centroid:
The center of mass is the location at which the weight
of the body affects
The centroid is the geometrical center of the body
regardless of the material used
IF the body has a constant mass density ρ ( uniform
and homogeneous ), the two locations are the same
4) In case of a composite figure, each part should be
replaced by a particle located at its c.m. and the mass
of that particle is calculated as:
a) Wires : m = ρ L [ρ] = kg/m
b) Areas : m = ρ A [ρ] = kg/𝑚2
c) Solids : m = ρ V [ρ] = kg/𝑚3
i.e., the composite figure is replaced by a system of
particles of known masses and c.m.
5) Arrange the above data as in the following table:
mi Xi yi mi xi mi yi
m1 x1 y1 m1 x1 m1 y1
m2 x2 y2 m2 x2 m2 y2
-------- -------- -------- -------- -------
mn xn yn mn xn mn yn
Σ mi Σ mi xi Σ mi yi

xG = Σ mi xi / Σ mi yG = Σ mi yi / Σ mi
Example: Locate the center of mass of the shown system of
particles. y
1m 10 kg = m3
m1= 40 kg 3m
1.5 m 2m
O
60 kg = m4
1m 2m x
m2= 20 kg 1.5 m

mi Xi yi mi xi mi yi
40 -3 1.5 -120 60
20 -1.5 -1 -30 -20
10 1 2 10 20 xG = -20/130
60 2 0 120 0 = - 0.154

Σ mi Σ mi xi Σ mi yi yG = 60/130
= 130 = - 20 = 60 = 0.462
C.M. of Some Simple Uniform Figures ( Thin Wires/ Rods):
i.e. The material is distributed along a line or a perimeter
Shape Length mass G

G
(a) ρ(a) (a/2 ,0)
a

(2 πR) ρ (2 πR) ( 0, 0 )
G

G (2πR)/2 = ρ ( πR) (0, 2R/ π )

= πR

G
(πR)/2 ρ(π 𝑹)/2 (2R/ π , 2R/ π )
C.M. of Some Simple Uniform Figures ( Laminas/Area ):
Shape Area mass G

b G
( ab ) ρ ( ab ) (a/2 , b/2)
a

b G ( ½ a b) ρ ( ½ a b) (a/3 , b/3)
a

( π 𝑹𝟐 ) ρ ( π 𝑹𝟐 ) ( 0, 0 )
G

G (π 𝑹𝟐 )/2 ρ(π 𝑹𝟐 )/2 (0, 4R/3 π )

G (π 𝑹𝟐 )/4 ρ(π 𝑹𝟐 )/4 (4R/3 π , 4R/3 π )

Example (1): Locate c.m. of the shown shaded lamina.
ρ1
3m ρ1 = 1 kg/m2
3m ρ2 ρ2 = 2 kg/m2
3m
Solution:
1) Divide the figure into simple known shapes as:
ρ1 ρ2
C1
+ 3m
C2

m1 = ρ1 A1= (1) (3)(3)= 9 kg m2 =ρ2 A2= 2(1/2) (3)(3)=9 kg

C1 = (1.5, 1.5) C2 = (4, 1 )
2) Arrange the above data in the following table:

mi Xi yi mi xi mi yi
9 1.5 1.5 13.5 13.5
9 4 1 36 9
Σ mi Σ mi xi Σ mi yi
= 18 = 49.5 = 22.5

xG = Σ mi xi /Σ mi = 49.5/18 = 2.75 m

yG = Σ mi yi /Σ mi = 22.5/18 = 1.25 m
Note:
1- In case of calculating centroid, use the Area instead
of the Mass in the rules given for c.m.
i.e.,
xc = Σ Ai xi / Σ Ai
yc = Σ Ai yi / Σ Ai

2- Mass represents the resistance to Translational

Motion
1.2 – Mass Moment Of Inertia (M.O.I): (2D)
-It is very important quantity in mechanics used in the
structures design, many Engineering and Physics laws
-It represents the resistance to Rotational Motion
Moment of Inertia of a Particle about an axis:
𝑰𝒙𝒙 = m 𝒚𝟐
𝑰𝒚𝒚 = m 𝒙𝟐
𝑰𝑶 = m 𝒓𝟐 𝒓𝟐 = 𝒙𝟐 + 𝒚𝟐
= m (𝒙𝟐 + 𝒚𝟐 ) y (x, y)
= 𝑰𝒙𝒙 + 𝑰𝒚𝒚 r

𝑰𝑶 is the Polar Moment of Inertia at O O x

I.e. M.O.I. about an axis perpendicular to xy- plane and passing
by O ( axis of Rotation) which equal to two perpendicular axes
Intersect at this point ( Invariant quantity)
Properties:
- M.O.I. is always a positive quantity
- Units : [I] = [mass] [𝒍𝒆𝒏𝒈𝒕𝒉𝟐 ]
= kg . 𝒎𝟐
- For a system of particle in xy-plane:
𝑰𝒙𝒙 = Σ m 𝒚𝟐
𝑰𝒚𝒚 = Σ m 𝒚𝟐
𝑰𝑶 = Σ m 𝒓𝟐
Note: In all previous expressions, by replacing
mass m of the figure by its area we get the area
moment of inertia
 Parallel-Axis Theorem Example
• The axis of rotation goes through O
• The axis through the center of mass is shown
• The moment of inertia about the axis through O
would be IO = ICM + MD 2

Note: the M.O.I. about any axis

Passing by C.M. is the minimum
M.O.I. in that direction
M.O.I.of Some Simple Uniform Figures ( Thin Wires/ Rods):
i.e. The material is distributed along a line or a perimeter
Shape Length mass M.O.I.
𝑰𝒙𝒙 = 0
G
L
(L) ρ(L) 𝑰𝒚𝒚 = (1/3)m 𝑳𝟐
𝑰𝒙𝒙 = 𝑰𝒚𝒚 = (1/2)m 𝑹𝟐
( 2π 𝑹) ρ ( 2π 𝑹) = M.O.I. about any diameter
G
I 𝑮 = 𝑰𝒙𝒙 + 𝑰𝒚𝒚 = m 𝑹𝟐

𝑰𝒙𝒙 = 𝑰𝒚𝒚 =(1/2) m 𝑹𝟐

G (π 𝑹) ρ(π 𝑹) = M.O.I. about any diameter
O I 𝑶 = 𝑰𝒙𝒙 + 𝑰𝒚𝒚 = m 𝑹𝟐

𝑰𝒙𝒙 = 𝑰𝒚𝒚 =(1/2) m 𝑹𝟐

G (π 𝑹)/2 ρ(π 𝑹)/2 = M.O.I. about any diameter
O I 𝑶 = 𝑰𝒙𝒙 + 𝑰𝒚𝒚 = m 𝑹𝟐
C.M. of Some Simple Uniform Figures ( Laminas/Area ):
Shape Area mass M.O.I.
𝑰𝒙𝒙 = (1/3)m 𝒃𝟐
b G
( ab ) ρ ( ab ) 𝑰𝒚𝒚 = (1/3)m 𝒂𝟐
a

𝑰𝒙𝒙 = (1/6)m 𝒃𝟐
𝟐
b G ( ½ a b) ρ ( ½ a b) 𝑰𝒚𝒚 = (1/6)m 𝒂
a

𝑰𝒙𝒙 = 𝑰𝒚𝒚 = (1/4)m 𝑹𝟐

( π 𝑹𝟐 ) ρ ( π 𝑹𝟐 ) = M.O.I. about any diameter
G
I 𝑮 = 𝑰𝒙𝒙 + 𝑰𝒚𝒚 =(1/2) m 𝑹𝟐

G (π 𝑹𝟐 )/2 ρ(π 𝑹𝟐 )/2 The same as above

O
I 𝑶 = 𝑰𝒙𝒙 + 𝑰𝒚𝒚 =(1/2) m 𝑹𝟐

The same as above

G (π 𝑹𝟐 )/4 ρ(π 𝑹𝟐 )/4 I 𝑶 = 𝑰𝒙𝒙 + 𝑰𝒚𝒚 =(1/2) m 𝑹𝟐
Examples:
- Moment of Inertia of a Uniform Thin Hoop

• Since this is a thin

hoop, all mass
elements are the
same distance from
the center
2
I   r dm  R
2
 dm
I  MR 2
- Moments of Inertia of Various Rigid
Objects
Radius of Gyration:

m
m
= k
M.O.I. about the shown axis for both figures is:
I = m 𝒌𝟐
𝑰
i.e. k = in meter >>> Radius of Gyration
𝒎
i.e. it is a fictitious distance, from the axis under study,
at which a particle of mass m equal to the mass of the
original object TO give the same M.O.I.