Professional Documents
Culture Documents
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
2
Recall, in general, the inertia matrix about any point in a body is:
I xx I xy I xz - Inertial Property Matrix (Inertia Matrix)
I F I xy I yy I yz - Symmetric
I xz I yz I zz - Includes info about mass, shape, and geometry
If, for a particular coordinate orientation: I xy I xz I yz 0
I 0 0
Such that: xx
I B 0 I yy 0
0 0 I zz
Then x, y, z axes are called principal axes
The moments of inertia with respect to the principal axes are
called principal moments of inertia, I , I , I
xx yy zz
3
Recall Moment of Momentum (Angular Momentum)
For Mass Center C I xxC I xyC I xzC x
C B
H C I xy C
I yy I yzC y
I xzC I yzC I zzC z
F
Consider B / F iˆ where x,y,z is centered at C
(x-axis is parallel to angular velocity)
Then H C I xx iˆ I xyC ˆj I xzC kˆ
Used with permission from “Engineering
C Mechanics: Dynamics,” McGill/King, 4th Ed, 2003
H C is parallel to iff I xy I xz 0
C C
4
Principal Axes
H C parallel to defines a principal axis
B
Note: F
For a body spinning about a principal axis,
motion continues about that axis without Used with permission from “Engineering
Mechanics: Dynamics,” McGill/King, 4th Ed, 2003
any need for external moments to
maintain that motion.