Chapter 2

Kinetics of Rigid Bodies

Parts 1+2
1- Geometry of mass, Center of gravity
P is a point related to (S) of elementary mass mi.
The total mass of (S) Is:

We Can consider the elementary mass dm to make the

Distribution on the whole rigid body (S).

In the case a continuous distribution the total mass is or

or

Linear distribution
Volume distribution Surface distribution m = s S
The center of mass of (S)

G is the center of mass of m if:

The coordinates of G w.r.t to a point A is:
m1(GA+AM1) +m2(GA+AM2) +…= 0

In the case of a continuous distribution:

M is an elementary point mass related to S
Ex2: (S) a homogenous triangular plate in the plane xoy, of mass m,
and of surface density s, OA=a, OB=b
-Find the center of gravity of (S).

s
B

O A
Ex3: Find the center of
gravity Of a homogenous
cone (S) Of height h
and of circular base
Of radius R, of mass m.

2nd method
Let’s consider un
element of
volume dV,
We can use the symmetry to determine the center of gravity G of (S). G belongs to the elements of
symmetry of (S).

-Symmetry by rotation: G belongs to the axis of rotation

-Symmetry by plane (mirror) G belongs to the plane of symmetry

For example: The half disk of radius R has the plane YOZ as a plane of symmetry. So G belongs to this
plane : XG=0

Guldin Theorems
1-First theorem: Let’s consider a curve of length L and of center of
Mass G. The rotation of this curve around an axis of rotation D
didn’t cross it and make a surface S. The distance between G and
the axis D is d:
 Example: the quarter of a circumference of radius R:
The length of this quarter is L:

The rotation around OY axis make a half hollow hemisphere of surface:

So the distance of G to OY axis is:

The rotation around OX axis make a half hollow hemisphere of surface:

So the distance of G to OX axis is:

The coordinates of G are:

 Second theorem-Guldin
Let’s consider a homogeneous solid of area S and of center of gravity G.
The rotation of the surface around the axis d didn’t cross it and make a
Volume V. The distance of G to D is :

Example:
Quarter of a disk of radius R:
The area S is:
The rotation around OY makes a half full sphere of volume V:

The distance from G to OY axis is :

The rotation around OX makes a half full sphere of volume V:

 Barycenter reference

A solid (S) of center of gravity G is in motion w.r.t a reference

The reference of the barycenter at G is

Is the reference in translation motion w.r.t R
From the definition of the barycenter we Velocity
can calculate the velocity and the
acceleration of the center of the center of
gravity w.r.t (R).
acceleration

GM= GO +OM
OM= GM +OG
Moments of inertia, operator of inertia, matrix of inertia of a solid

The moment of inertia of a solid w.r.t an axis D is:

The operator of inertia of (S) at a point A:

In the triangle AHP:
The operator of inertia of (S) at
A in u direction w.r.t /R

Matrix of inertia

The operator of inertia is symmetric and linear , then we associate to it a linear matrix of inertia:
 Is the transpose of the unit vector u.

Diagonal
element

Off diagonal element

Ixy is called the product of inertia between the ZoX and ZoY

(ZOY)

(ZOX) x
y

O
The total matrix of inertia w.r.t a reference R is:

A= I OX = I XX
B= I OY = I YY
C= I OZ = I ZZ
Moment of inertia w.r.t a point
P (S)

O
 Example
Calculate the matrix of inertia [I(S)] at O w.r.t R of a
quarter of a homogeneous hoop of radius R and mass m
And of linear density l.
 as

Io
 Example: A full homogeneous cylinder (S) of radius R and height h of mass m. OZ
is the axis of symmetry of revolution of its related reference Rs(O,X,Y,Z). A=B

X=y
A=B

Off-diagonal elements are null, OX, OY and OZ

are axis of symmetry.
The matrix of inertia of (S) at O w.r.t Rs is:

Rs(O,X,Y,Z)
Example: A hollow homogeneous sphere of mass m of radius R of a related reference Rs (OXYZ).
OX, Oy and OZ are axis of symmetry. Rs is a principal reference of inertia.

A=B=C and the off diagonal elements are null

The matrix of inertia is a principal matrix of inertia
X=Y=Z

The matrix of inertia of (S) at O w.r.t Rs

Rs(OXYZ)
 Huygens’ Theorems:
The moment of inertia ID of (S) of mass m w.r.t an axis D which is parallel
to the axis DG (G is the center of gravity of (S)) is:

Where is the distance from the center of gravity G to D

Example: A rod S homogeneous of mass m and of length L placed along OY axis
The moment of inertia of S w.r.t D along OZ axis is ID:

ID= IDG +md2

Where d is the distance between the two axis.

ID is parallel IDG
Rs (XYZ)
Where IO(G,m)
Is the matrix of moments between
R and RG references
Let’s show

By using the definition of the center of gravity G of (S)

is the moment of inertia of S w.r.t

t
Is the square of the distance of o
Similarly
 Is the moment of inertia of S wr.t
Is the square of the distance from

Is the moment of inertia of S wr.t

Is the square of the distance from

Let’s show

Is the product of inertia of S w.r.t

Similarly

is the product of inertia of S w.r.t

Is the product of inertia of S w.r.t

Example: Full homogeneous sphere of radius R

The coordinates of the center of gravity G are:

The matrix of inertia of S at G:

The matrix of inertia at O

 Kinetics of a solid is the kinematic study by taking the influence of
the mass.

We need to find the linear momentum and the angular momentum of a point mass
or a solid at a chosen point.

Case of a point mass of mass m

The linear momentum of this point mass w.r.t a reference R is

II- The angular momentum or the kinetic moment of this point mass at a point A w.r.t R is:
A is the point of application of the moment

The set of the linear momentum and the kinetic moment is constituting
the elements of reduction of a torsor named the
Kinetic torsor of the point mass at A w.r.t R
Where: the linear momentum is the resultant of the kinetic torsor
And s is the kinetic moment at a point is the moment of the kinetic torsor
at this point.

Note: The moment of a torsor is always an anti-symmetric field vector.

So: the kinetic moment is A-S

 2- Case of a solid (S) of mass m:

I-The linear momentum of (S) w.r.t a reference R is

w.r.t R
w.rt

II-The kinetic moment of (S) at a

point A w.r.t R

At a point B and w.r.t R:

 Dynamic Torsor of a solid S w.r.t (R):
1- the resultant is :

2-The moment at a point A w.r.t (R)

d is an A-S field vector so:

Relation between the kinetic moment and the dynamic moment:
The kinetic energy of a solid S w.r.t (R)

K
Proof

At

k
Case of a
Example: a disk is in motion in the plane OXY of a fixed
reference along OY axis>

The disk is rolling without sliding on OY

Let R1 be the reference

related to (S) and

1- Determine the kinetic and dynamic torsors of S at G and at I

w.r.t (R)
2- Determine the kinetic energy of S w.r.t (R)

S is rolling without sliding on OY at I

Where I is the geometrical point
2- The kinetic energy of S w.r.t (R)
Ex1: (S) is a homogenous quarter sphere of center O, radius R and a mass M. R(O,X,Y,Z) is its related reference.

1- Determine the position of the center of gravity G of (S).

2- Determine the matrix of inertia of (S) at O [I(S)]O/R.
3-Determine the matrix of inertia of (S) at G [I(S)]G/R.

Solution
The interval of the quarter of the sphere is :

The mass M is :

The center of gravity G:

2
f

q
 2- The matrix of inertia of (S) at O is:

The plane YOZ is a plane of symmetry,

3- The matrix of inertia at G, by using

Huygens's theorem:
Ex2: A rod AB (S1 ) of length 2l of mass m1 and center of gravity G.
(S2) is a disk of center C, radius R and mass m2. The extremity A of the
rod slides along x0 axis OA =XA(t) x0. S1 is in a point contact with S2 at J.
(AB,x0)=f.
(S2) is rolling without sliding on x0 at I. OI = Xc(t), S2 is rotating around z
axis by q.
Let Reference related to

S1 S2

-b) Write the condition of rolling without sliding

J

J
 0 0
0 0

0 0
 Comoment between the kinetic torsor of S2 at C and
Comoment between the kinetic torsor of S1 at G and
The kinematic torsor of S12 at C
The kinematic torsor of S1 at G
1- Calculate the matrix of inertia of (S) at point O in the related reference (X,Y,Z) and at a point A(0,0,-R)
2-Calculate the moment of inertia of (S) w.r.t a tangent D to the sphere from A parallel to Y or X
3-Calculate the moment of inertia of (S) at A in (X,Y,Z) and the matrix of inertia in (u,Y, Z1) which is in
rotation a around OY.

Principal matrix of inertia at O in (X,Y,Z)

At point A in (A,X,Y,Z) The matrix related to the distance from
The center of gravity to A

Y
A
X
 Z1

Y=0x +1Y +0Z

U,Y,Z1
Ex: Let’s consider a massless rod OA related to a reference R1(O,X1,Y1,Z1) rotation around Z1 axis with
An angular velocity a =cst. W,r,t R0 (O,x0,y0,z0)
A homogenous cylinder of mass m, height h, center of inertia G and of a related reference R3 (G,X3,Y3,Z3)
The disk is rotating around x2 of the intermediate reference R2 (G,x2,y2,z2) with an angular velocity Y.
R2 is in a translation motion along X1 axis with a x(t). (Y2,Y3)=(Z2,Z3)= Y
1-Determine the matrix of inertia of the cylinder at G in R3 and R2.
2-Determine the rotational vector of the cylinder w.r.t R0.
3-Determien the velocity and the acceleration of the point M related to the cylinder by using composition law.
4- Determine the kinetic torsor and the dynamic torsor at point O w.r.t R0.
5- Determine the kinetic energy
of the system
 1

3
M related to R2
t

t
t
Kinetic torsor at
Dynamic torsor at
Kinetic energy of the system is the kinetic energy of the cylinder
as the rod is massless