Plane Motion of Rigid

Bodies:
Energy Methods

Reference:
Beer, Ferdinand P. et al, Vector Mechanics for Engineers : Dynamics, 8th Edition, Mc GrawHill
Hibbeler R.C., Engineering Mechanics: Dynamics, 11th Edition, Prentice Hall (Chapter 18)

Work of Forces Acting on a Rigid Body

Work of Forces Acting on a Rigid Body

Forces acting on rigid bodies which do no work:
Forces applied to fixed points:
- reactions at a frictionless pin when the supported body
rotates about the pin.
Forces acting in a direction perpendicular to the displacement
of their point of application:
- reaction at a frictionless surface to a body moving along
the surface
- weight of a body when its center of gravity moves
horizontally
Friction force at the point of contact of a body rolling without
sliding on a fixed surface.
dU F dsC F vc dt 0
3

Kinetic Energy of a Rigid Body in Plane Motion

Conservation of Energy

Power
Power = rate at which work is done

For a body acted upon by force F and moving with velocity v ,

dU
Power
F v
dt

For a rigid body rotating with an

angular
velocity
and acted

upon by a couple of moment M parallel to the axis of rotation,

Power

dU M d

M
dt
dt

Sample Problem 17.1

2
For the drum and flywheel, I 10.5 kgm
The bearing friction is equivalent to a
couple of 60 N m At the instant shown,
the block is moving downward at 6 m /s

Determine the velocity of the block after it

has moved 4 m downward.

Sample Problem 17.1

Sample Problem 17.2

mA 10 kg k A 200 mm
mB 3 kg

k B 80 mm

The system is at rest when a moment

of M 6 N m is applied to gear B.

Neglecting friction, a) determine the

number of revolutions of gear B before
its angular velocity reaches 600 rpm,
and b) tangential force exerted by gear
B on gear A.

Sample Problem 17.2

10

Sample Problem 17.3

A sphere, cylinder, and hoop, each

having the same mass and radius, are
released from rest on an incline.
Determine the velocity of each body
after it has rolled through a distance
corresponding to a change of elevation h.
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Sample Problem 17.3

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Sample Problem 17.4

A 30-N slender rod pivots about the

point O. The other end is pressed
against a spring (k = 1800 N/m) until
the spring is compressed 30 cm and the
rod is in a horizontal position.

If the rod is released from this position,

determine its angular velocity and the
reaction at the pivot as the rod passes
through a vertical position.
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Sample Problem 17.4

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Sample Problem 17.5

Each of the two slender rods has a

mass of 6 kg. The system is released
from rest with b = 60o.
Determine a) the angular velocity of
rod AB when b = 20o, and b) the
velocity of the point D at the same
instant.
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Sample Problem 17.5

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Sample Problem 17.5

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EXAMPLE 1
Given: The rod AB has a mass of 10 kg.
Piston B is attached to a spring of
constant k = 800 N/m. The spring
is un-stretched when = 0.
Neglect the mass of the pistons.
Find: The angular velocity of rod AB at
= 0 if the rod is released from
rest when = 30.

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EXAMPLE 1 (continued)
Initial Position

Final Position

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EXAMPLE 1 (continued)
Initial Position

Final Position

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EXAMPLE 2
Given: The weight of the disk is 30 N and
its kG equals 0.6 m. The spring has
a stiffness of 2 N/m and an
unstretched length of 1 m.

Find: The velocity at the instant G

moves 3 m to the left. The disk is
released from rest in the position
shown and rolls without slipping.

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EXAMPLE 2 (continued)

(1) Initial Position

(2) Final Position

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EXAMPLE 2 (continued)

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