Advanced Engineering

Systems in Motion:
Dynamics of Three
Dimensional (3D) Motion
Dr. Wayne Whiteman
Director of the Office of Student Services
and Senior Academic Professional
School of Mechanical Engineering

This course is an advanced study of bodies in motion as applied to

engineering systems and structures.

School of Mechanical Engineering

Advanced Engineering Systems in Motion: 3D Dynamics Overview

Kinematics
Angular velocity and angular acceleration
Velocities and accelerations in moving reference frames
Eulerian angles
Rotation matrices
Kinetics
Angular momentum in 3D
Inertial properties of 3D bodies
3D rotational motion of rigid bodies
3D Work-Energy principle
3D Impulse-Momentum principle

Module 27 Learning Outcome

Develop the Motion Equations Governing 3D

Rotational Motion of a Rigid Body (Euler
Equations)

Recall: Eulers 2nd Law (The Moment Equation)

Summary
Eulers 2nd Law for a point fixed in an Inertial Reference Frame

d
M

O dt H O

Eulers 2nd Law about the Mass Center

d
M C dt H C

Eulers 2nd Law for an arbitrary point, P

m
a
P C PC C
4

Rotational Motion of a 3D Rigid Body

Eulers

2nd

Law about the Mass Center

d
M C dt H C

Consider a body B with mass center

C moving in an inertial frame I

J
I
Inertial Frame I

k
C

B / F

Body B

Used with permission from Engineering

Mechanics: Dynamics, McGill/King, 4th Ed, 2003

I
M C HC

Let body
B a frame in which we have M C
and H C conveniently written.
Body Fixed Frame

Rotational Motion of a 3D Rigid Body

I
M C HC

Recall for Mass Center C

Derivative Formula
I

A A A

Let
A HC

I xxC

H C I C I xyC
I xzC

I xyC
C
I yy

I yzC

J
I
Inertial Frame I

k
C

B / F

Body B

Used with permission from Engineering

Mechanics: Dynamics, McGill/King, 4th Ed, 2003

I xzC x

C
I yz y
I zzC z
6

Rotational
Motion
of a 3D Rigid Body

M C H C B / I H C

C
C
C

I
C xx x xy y xz z i
B

HC

C
I xyC x I yy
y I yzC z j

I xxC

I xyC
I xzC

I xyC
C
I yy

I yzC

I xzC x

I yzC y
I zzC z

I xzC x I yzC y I zzC z k

j
k

C
I zzC I yy
yz I yzC y2 z2 x y I xzC z I xyC i

I xxC I zzC zx I xzC

C
yy

C
xx

2
z

2
x

C
z xy

x I yzC

I xyC x2 y2 z x I yzC y I xzC

Rotational Motion of a 3D Rigid Body

For axes in frame/body B picked to be Principal Axes
through point C where all Products of Inertia vanish
Body Fixed Frame

C
C
C

I
C xx x xy y xz z i

C
I xyC x I yy
y I yzC z j

J
I
Inertial Frame I

k
C

B / F

Body B

Used with permission from Engineering

Mechanics: Dynamics, McGill/King, 4th Ed, 2003

I xzC x I yzC y I zzC z k

j
k

C
I zzC I yy
yz I yzC y2 z2 x y I xzC z I xyC i

I xxC I zzC zx I xzC

C
yy

C
xx

2
z

2
x

C
z xy

x I yzC

I xyC x2 y2 z x I yzC y I xzC

Rotational Motion of a 3D Rigid Body about the Mass Center C

K

Eulers Equations (Equations of Motion)

Body Fixed Frame

C
C
C

I
C xx x yy zz yz i

C
I yy
y I zzC I xxC zx j

Inertial Frame I

C
I zzC z I xxC I yy
x y k

k
C

B / F

Body B

Used with permission from Engineering

Mechanics: Dynamics, McGill/King, 4th Ed, 2003

Rotational Motion of a 3D Rigid Body about the Mass Center C

K

Eulers Equations (Equations of Motion)

Body Fixed Frame

I
I

M Cx I x I I y z
C
xx

C
M

I
C y yy y

C
M

I
Cz zz z

C
yy

C
zz

C
zz

I xxC

C
xx

I yyC

I
Inertial Frame I

k
C

B / F

Body B

Used with permission from Engineering

Mechanics: Dynamics, McGill/King, 4th Ed, 2003

10