Seventh Edition

CHAPTER VECTOR MECHANICS FOR ENGINEERS:

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

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 Vector Mechanics for Engineers: Dynamics
Edition
Seventh

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

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 Vector Mechanics for Engineers: Dynamics
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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.

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 Vector Mechanics for Engineers: Dynamics
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Rigid Body Angular Momentum in Three Dimensions

• Angular momentum of a body about its mass center,
 n   n   
H G = ∑ ( ri′× vi ∆mi ) = ∑ [ ri′× ( ω × ri′) Δmi ]
i =1 i =1
• The x component of the angular momentum,
n
[
   
H x = ∑ yi ( ω × ri′) z − zi ( ω × ri′) y Δmi ]
i =1

∑ [ 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
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Rigid Body Angular Momentum in Three Dimensions

 
• Transformation of ω into H G is characterized
by the inertia tensor for the body,
 + Ix − I xy − I xz 
 
 − I yx + Iy − I yz 
− I − I zy + I z 
 zx
• With respect to the principal axes of inertia,
 I x′ 0 0
 
 0 I y′ 0
 0 0 I z′ 
H x = + I xω x − I xyω y − I xzω z 

H y = − I yxω x + I yω y − I yzω z H x′ = I x′ω x′H y′ = I y′ω y′ H z′ = I z′ω z′


H z = − I zxω x − I zyω y + I zω z • The angular momentum H G of a rigid body

and its angular velocity ω have the same

direction if, and only if, ω is directed along a
principal axis of inertia.
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Rigid Body Angular Momentum in Three Dimensions

• The momenta of the particles of a rigid body can
be reduced to:

L = linear momentum

= mv

H G = angular momentum about G
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

• The angular momentum about any other given

point O is
   
H O = r × mv + H G

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 Vector Mechanics for Engineers: Dynamics
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Rigid Body Angular Momentum in Three Dimensions

• The angular momentum of a body constrained to
rotate about a fixed point may be calculated from
   
H O = r × mv + H G

• Or, the angular momentum may be computed

directly from the moments and products of inertia
with respect to the Oxyz frame.
 n  
H O = ∑ ( ri × vi Δm )
i =1
n  
= ∑ i × ( ω × ri ) Δmi ]
[ r
i =1

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

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Principle of Impulse and Momentum

• The principle of impulse and momentum can be applied directly to the

three-dimensional motion of a rigid body,
Syst Momenta1 + Syst Ext Imp1-2 = Syst Momenta2

• The free-body diagram equation is used to develop component and

moment equations.

• 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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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 )

• If the axes correspond instantaneously with the

principle axes,
T = 12 mv 2 + 12 ( I x′ω x2′ + I y′ω 2y′ + I z′ω z2′ )

• With these results, the principles of work and

energy and conservation of energy may be applied
to the three-dimensional motion of a rigid body.
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Kinetic Energy

• Kinetic energy of a rigid body with a fixed point,

T = 12 ( I xω x2 + I yω 2y + I zω z2 − 2 I xyω xω y
− 2 I yzω yω z − 2 I zxω zω x )

• If the axes Oxyz correspond instantaneously with

the principle axes Ox’y’z’,
T = 12 ( I x′ω x2′ + I y′ω 2y′ + I z′ω z2′ )

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 Vector Mechanics for Engineers: Dynamics
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Sample Problem 18.1
Rectangular plate of mass m that is
suspended from two wires is hit at D in
a direction perpendicular to the plate.
Immediately after the impact,
determine a) the velocity of the mass
center G, and b) the angular velocity of
the plate.
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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.
• Principle of impulse and momentum
yields to two equations for linear
momentum and two equations for
angular momentum.
• Solve for the two horizontal components
of the linear and angular velocity
vectors.
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Sample Problem 18.1

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

Since the x, y, and z axes are principal axes of inertia,

   1  1 
H G = I xω x i + I yω y j = 12 mb 2ω x i + 12 ma 2ω y j

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 Vector Mechanics for Engineers: Dynamics
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Sample Problem 18.1

• 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

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 Vector Mechanics for Engineers: Dynamics
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Sample Problem 18.1

 
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

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 Vector Mechanics for Engineers: Dynamics
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Sample Problem 18.2
A homogeneous disk of mass m is
mounted on an axle OG of negligible
mass. The disk rotates counter-
clockwise at the rate ω1 about OG.
Determine: a) the angular velocity of
the disk, b) its angular momentum
about O, c) its kinetic energy, and d) the
vector and couple at G equivalent to the
momenta of the particles of the disk.
© 2003 The McGraw-Hill Companies, Inc. All rights reserved.
SOLUTION:
• The disk rotates about the vertical axis
through O as well as about OG.
Combine the rotation components for
the angular velocity of the disk.
• Compute the angular momentum of the
disk using principle axes of inertia and
noting that O is a fixed point.
• The kinetic energy is computed from
the angular velocity and moments of
inertia.
• The vector and couple at G are also
computed from the angular velocity and
moments of inertia.
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Sample Problem 18.2

SOLUTION:
• The disk rotates about the vertical axis through O as well
as about OG. Combine the rotation components for the
angular velocity of the disk.
  
ω = ω1i + ω 2 j
Noting that the velocity at C is zero,
  
vC = ω × rC = 0
   
0 = (ω1i + ω 2 j ) × ( Li − rj )

= ( Lω 2 − rω1 ) k
ω 2 = rω1 L
  
ω = ω1i − ( rω1 L ) j

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 Vector Mechanics for Engineers: Dynamics
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Sample Problem 18.2

• Compute the angular momentum of the disk using
principle axes of inertia and noting that O is a fixed point.
   
H O = I xω x i + I yω y j + I zω z k

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
  

• The kinetic energy is computed from the angular velocity

and moments of inertia.
( )
T = 12 I xω x2 + I yω 2y + I zω z2

= 12 [mr 2ω12 + m( L2 + 14 r 2 )( − rω1 L ) 2 ]


1 mr 2  6 + r 2  2
T= 8  2 1
ω
 L 

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 Vector Mechanics for Engineers: Dynamics
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Sample Problem 18.2

• The vector and couple at G are also computed from the
angular velocity and moments of inertia.
 
mv = mrω1k
   
H G = I x′ω x i + I y ′ω y j + I z ′ω z k
2  1 
= 2 mr ω1i + 4 mr ( − rω L ) j
1 2

  
ω = ω1i − ( rω1 L ) j    r 
H G = 12 mr 2ω1 i − j
 2 L 

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 Vector Mechanics for Engineers: Dynamics
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Motion of a Rigid Body in Three Dimensions

• Angular momentum and its rate of change are
taken with respect to centroidal axes GX’Y’Z’ of
fixed orientation.
 
• Transformation of ω into H G is independent of
the system of coordinate axes.
• Convenient to use body fixed axes Gxyz where
moments and products of inertia are not time
dependent.

•Define rate of change of change of H Gwith
 
∑ F = ma respect to the rotating frame,

∑
 
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

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Euler’s Eqs of Motion & D’Alembert’s Principle

 
•With Ω = ω and Gxyz chosen to correspond to
the principal axes of inertia,
∑

M = H G

( G )Gxyz  
+Ω ×H G

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 .

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 Vector Mechanics for Engineers: Dynamics
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Motion About a Fixed Point or a Fixed Axis

•For a rigid body rotation around a fixed point,
 
∑ MO = HO
= H

( O )Oxyz
 
+Ω ×H O

•For a rigid body rotation around a fixed axis,

H x = − I xzω H y = − I yzω H z = − I zω
 
( )  
∑ M O = H O Oxyz + ω × H O

( 
)
= − I xz i − I yz j + I z k ω
 
(  
)
+ ωk × − I xz i − I yz j + I z k ω

( 
) ( 
)
 2
= − I xz i − I yz j + I z k α + − I xz j + I yz i ω

∑ 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
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Rotation About a Fixed Axis

•For a rigid body rotation around a fixed axis,
∑ M x = − I xzα + I yzω 2
∑ M y = − I yzα + I xzω 2
∑ M z = I zα
•If symmetrical with respect to the xy plane,
∑ M x = 0 ∑ M y = 0 ∑ M z = I zα

•If not symmetrical, the sum of external moments

will not be zero, even if α = 0,
∑ M x = I yzω 2 ∑ M y = I xzω 2 ∑ M z = 0

•A rotating shaft requires both static ( ω = 0 ) and

dynamic ( ω ≠ 0balancing
) to avoid excessive
vibration and bearing reactions.

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Sample Problem 18.3

SOLUTION:
• Evaluate the system of effectiveforces
 ma
by reducing them to a vector
attached at G and couple H G .

• Expressing that the system of external

forces is equivalent to the system of
effective forces, write vector expressions
for the sum of moments about A and the
summation of forces.
Rod AB with weight W = 40 lb is
pinned at A to a vertical axle which •Solve for the wire tension and the
rotates with constant angular velocity reactions at A.
ω = 15 rad/s. The rod position is
maintained by a horizontal wire BC.
Determine the tension in the wire and
the reaction at A.
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 Vector Mechanics for Engineers: Dynamics
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Sample Problem 18.3

SOLUTION:
• Evaluate the system
 of effective forces byreducing them
to a vector ma attached at G and couple H G .
  2
(
a = an = − rω I = − 2 L cos β ω I
1 )
2

(
= − 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

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 Vector Mechanics for Engineers: Dynamics
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Sample Problem 18.3

• Expressing that the system of external forces is equivalent
to the system of effective forces, write vector expressions
for the sum of moments about A and the summation of
forces.
 
∑ M A = ∑ ( M A ) eff
      
6.93 J × ( − TI ) + 2 I × ( − 40 J ) = 3.46 J × ( − 559 I ) + 645 K
 
( 6.93T − 80) K = (1934 + 645) K
T = 384 lb
 
∑ F = ∑ ( F ) eff
     
AX I + AY J + AZ K − 384 I − 40 J = −559 I
  
A = −(175 lb ) I + ( 40 lb ) J

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 Vector Mechanics for Engineers: Dynamics
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Motion of a Gyroscope. Eulerian Angles

•A gyroscope consists of a rotor with its mass center
fixed in space but which can spin freely about its
geometric axis and assume any orientation.
• From a reference position with gimbals and a
reference diameter of the rotor aligned, the
gyroscope may be brought to any orientation
through a succession of three steps:
• rotation of outer gimbal through ϕ about
• AA’,
rotation of inner gimbal through θ about
• BB’,
rotation of the rotor through ψ about
CC’.
• ϕ, θ, and ψ are called the Eulerian Angles and
φ = rate of precession
θ = rate of nutation
Ψ = rate of spin

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Motion of a Gyroscope. Eulerian Angles

• The angular velocity of the gyroscope,
     
ω = φ K + θ j +Ψ k
  
with K = − sin θ i + cosθ j
  
ω = −φ sin θ i + θ j + (Ψ + φ cosθ ) k
    

• 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
 

∑ M x = − I ′(φ sin θ + 2θφ cosθ ) + Iθ (Ψ + φ cosθ )

∑ M y = I ′(θ − φ 2 sin θ cosθ ) + Iφ sin θ (Ψ + φ cosθ )
d  
∑Mz = I (Ψ + φ cosθ )
dt
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Steady Precession of a Gyroscope

  
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 = IΨφ 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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Motion of an Axisymmetrical Body Under No Force

•Consider motion about its mass center of an
axisymmetrical body under no force but its own
weight, e.g., projectiles, satellites, and space craft.
 
H =0 G H = constant
G

•Define the Z axis to be aligned with H Gand z in a
rotating axes system along the axis of symmetry.
The x axis is chosen to lie in the Zz plane.
H sin θ
H x = − H G sin θ = I ′ω x ωx = − G
I′
H y = 0 = I ′ω y ωy = 0
H G cosθ
H z = H G cosθ = Iω z ωz =
I
• θ = constant and body is in steady precession.

ωx I
•Note: − = tan γ = tan θ
ωz I′

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Motion of an Axisymmetrical Body Under No Force

Two cases of motion of an axisymmetrical body
which under no force which involve no precession:

•Body set to spin about its axis of symmetry,

ωx = Hx = 0
 
ω and H G are aligned
and body keeps spinning about its axis of
symmetry.

•Body is set to spin about its transverse axis,

ωz = Hz = 0
 
ω and H G are aligned
and body keeps spinning about the given
transverse axis.

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Motion of an Axisymmetrical Body Under No Force

The motion of a body about a fixed point (or its
mass center) can be represented by the motion of a body
cone rolling on a space cone. In the case of steady
precession the two cones are circular.

•I < I’. Case of an elongated body. γ < θ and the

vector ω lies inside the angle ZGz. The space cone
and body cone are tangent externally; the spin and
precession are both counterclockwise from the
positive z axis. The precession is said to be direct.

•I > I’. Case of a flattened body. γ > θ and the

vector ω lies outside the angle ZGz. The space
cone is inside the body cone; the spin and
precession have opposite senses. The precession is
said to be retrograde.

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