1 DYNAMICS
8
Ferdinand P. Beer
E. Russell Johnston, Jr.
Kinematics of Rigid Bodies in
Three Dimensions
Lecture Notes:
J. Walt Oler
Texas Tech University
Contents
Introduction Motion About a Fixed Point or a Fixed Axis
Rigid Body Angular Momentum in ThreeSample
Dimensions
Problem 18.3
Principle of Impulse and Momentum Motion of a Gyroscope. Eulerian Angles
Kinetic Energy Steady Precession of a Gyroscope
Sample Problem 18.1 Motion of an Axisymmetrical Body Under N
Sample Problem 18.2
Motion of a Rigid Body in Three Dimensions
Euler’s Equations of Motion and
D’Alembert’s Principle
Introduction
•The fundamental relations developed
for the plane motion of rigid bodies
may also be applied to the general
motion of three dimensional bodies.
•The relation H G = I ω
which was used to determine the
angular momentum of a rigid slab is not
valid for general three dimensional bodies
and motion.
•The current chapter is concerned with
∑ F = m a
evaluation of the angular momentum and
∑ M =H
G G its rate of change for three dimensional
motion and application to effective forces,
the impulse-momentum and the work-
energy principles.
∑ [ yi (ω x yi − ω y xi ) − zi ( ω z xi − ω x zi ) ]Δmi
n
=
i =1
= ωx ∑
n
( yi2 + zi2 )Δmi − ω y ∑ xi yi Δmi − ω z ∑ zi xi Δmi
n n
i =1 i =1 i =1
( )
H x = ω x ∫ y 2 + z 2 dm − ω y ∫ xy dm − ω z ∫ zx dm
= + I xω x − I xyω y − I xzω z
H y = − I yxω x + I yω y − I yzω z
H z = − I zxω x − I zyω y + I zω z
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Vector Mechanics for Engineers: Dynamics
Edition
Seventh
H x = + I xω x − I xyω y − I xzω z
H y = − I yxω x + I yω y − I yzω z
H z = − I zxω x − I zyω y + I zω z
• For bodies rotating about a fixed point, eliminate the impulse of the
reactions at O by writing equation for moments of momenta and
impulses about O.
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Vector Mechanics for Engineers: Dynamics
Edition
Seventh
Kinetic Energy
• Kinetic energy of particles forming rigid body,
n
1 mv 2 ′2
T= 2
+ 1
2 ∑ Δ m i vi
i =1
n
= 12 mv 2 + 1
∑ ω × r′i 2 Δmi
2
i =1
= 12 mv 2 + 1 (I ω 2 + I ω 2 + I ω 2
2 x x y y z z − 2 I xyω xω y
− 2 I yzω yω z − 2 I zxω zω x )
Kinetic Energy
SOLUTION:
• Apply the principle of impulse and momentum. Since the initial momenta is zero,
the system of impulses must be equivalent to the final system of momenta.
• Assume that the supporting cables remain taut such that the vertical velocity and the
rotation about an axis normal to the plate is zero.
v = vxi + vz k ω = ω xi + ω y j
• Principle of impulse and momentum yields two equations for linear momentum and
two equations for angular momentum.
• Solve for the two horizontal components of the linear and angular velocity vectors.
0 = mvx − FΔt = mvz 1 bFΔt = Hx − 12 aFΔt = H y
2
vx = 0 vz = − FΔt m 1 mb 2ω 1 ma 2ω
= 12 x = 12 y
v = −( FΔt m ) k ω x = 6 FΔt mb ω y = −( 6 FΔt ma )
6 FΔt
ω= ( ai + b j )
mab
v − ( FΔt m ) k
6 FΔt
ω= ( ai + b j )
mab
1 mb 2ω i + 1 ma 2ω j
H G = 12 x 12 y
H x = I xω x = ( 12 mr 2 )ω1
H y = I yω y = ( mL2 + 14 mr 2 )( − rω1 L )
H z = I zω z = ( mL2 + 14 mr 2 )0 = 0
ω = ω1i − ( rω1 L ) j
H O = 12 mr 2ω1i − m( L2 + 14 r 2 )( rω1 L ) j
1 mr 2 6 + r 2 2
T= 8 2 1
ω
L
ω = ω1i − ( rω1 L ) j r
H G = 12 mr 2ω1 i − j
2 L
∑
M =H G
H ( G )Gxyz
=H i +H j+H k
x
y
z
Then,
H = H
G ( G )Gxyz
+ Ω × HG
Ω =ω
Euler’s Equations:
∑ M x = I xω x − ( I y − I z )ω yω z
∑ M y = I yω y − ( I z − I x )ω zω x
∑ M z = I zω z − ( I x − I y )ω xω y
•System of external forces and effective forces
are equivalent for general three dimensional
motion.
•System of external forces are equivalent
to
the vector and couple, ma and H G .
∑ M x = − I xzα + I yzω 2
∑ M y = − I yzα + I xzω 2
∑ M z = I zα
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Vector Mechanics for Engineers: Dynamics
Edition
Seventh
(
= − 450 ft s I 2
)
40
ma = ( − 450 ) = −( 559 lb ) I
g
H G = I xω x i + I yω y j + I zω z k
I x = 12 mL2 Iy = 0 I z = 12 mL2
ω x = −ω cos β ω y = ω sin β ω z = 0
1 2
HG = − 12 mL ω cos β i
H G ( )
= H G Gxyz + ω × H G
1
(
= 0 + ( − ω cos β i + ω sin β j ) × 12 mL ω cos β i
2
)
= 12 mL ω sin β cos β k = ( 645 lb ⋅ ft ) k
1 2 2
• Equation of motion,
( )
∑ M O = H O Oxyz + Ω × H O
H O = − I ′φ sin θ i + I ′θ j + I (Ψ + φ cosθ ) k
Ω = φ K +θ j
Steady precession, ∑ M O = Ω × HO When the precession
and spin axis are at a right
θ ,φ ,ψ are constant
= ( Iω z − I ′φ cosθ )φ sin θ j
angle,θ = 90°
ω = −φ sin θ i + ω z k
Couple is applied ∑ O
M = IΨφ j
H O = − I ′φ sin θ i + Iω z k about an axis perpendicular to Gyroscope will
the precession and spin axes
Ω = −φ sin θ i + φ cosθ k precess about an axis
perpendicular to both the spin
axis and couple axis.
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Vector Mechanics for Engineers: Dynamics
Edition
Seventh
ωx I
•Note: − = tan γ = tan θ
ωz I′