6

CHAPTER
MOTION OF RIGID BODY
INTRODUCTIONN
A rigid body is a one in which the
constituent particles is a constant. In strictdistance between any two of its
body in nature is perfectly sense (or in
rigid. It is because the reality), no material
body are never at rest. particles constituting a
Except at 0°K (or 0 K), all atoms or
body are in
the state of molecules of a
rigid bodies, this vibratoryvibratory motion. While studying the motion of
motion of particles can always be neglected.
There are some other types of
displacements, such as elastic
deformations of the
body in which the size and
change. In solid bodies these shape of the body
neglected. Hence a microscopic changes are small and can be
solid given body may be treated as a rigid
In this
chapter, we shall body.
study the dynamic of a rigid
6.1 MOTION OF RIGID BODY IN
body.
SPACE (April 17)
A rigid body can have translational motion
space. Therefore rigid body in motion can
a
and rotational motion in
be completely specified if its
position and orientation are given. This can
be achieved by specifying the
cOordinates of any three non-collinear
any one
points body. in the
because if It is
point of the body is fixed, the body may rotate
about any axis
passing through that point. If two points of the
the
body can rotate about an axis passing body are considered then
tne through these two points. Then
coordinates of the third point outside the axis, can
locate the rigid
body completely in space.
A
point in space is specified by three coordinates.
Therefore, to
pecity a
rigid body in space (i.e. 3 non-collinear points of the body),
we
would need nine (09) coordinates.
hese nine coordinates are not all independent of each other i.e.
there
ETe are
are not nine degrees of freedom to the body. There are three (03)
quations of constraints.
 vectors of three (031
The vectors r and r represent the position
points in the rigid body.
i-r2= constant

I1-r3= constant

r2-ral= constant
and

These are holonomic constraints and ri, l2, r3 are position vectors of

points.

This reduces the number of degrees of freedom to six (06),

09 - 3 = 06 (3N-k= j)
Thus only six coordinates are independent of each other.

A general motion of a rigid body in space has six (06) degrees of

freedom.
Their interpretation is given below.

Three independent coordinates (x, y, z) are required to specify a point

on the instantaneous axis of rotation in the rigid body, which is
undergoing a translational motion relative to some fixed frame of
reference. Two (02) more coordinates are direction cosines which will be
required to specify the axis of rotation passing through the point already
specified, and one more independent coordinate is an angle and will be
required to specify the orientation of the rigid body.

3+2+1 = 6

Thus out of six (06) degrees of freedom, three degrees of freedom

represent the free translational motion of the body and remaining three
degrees of freedom represent its rotational motion.

The orientation of the rotating rigid body can be expressed in terms

ofthree (03) angles (0, 6, v), which may be called the Euler's angles.

To discuss the motion of rigid body, it is convenient to use two

cOordinate systems.
 Z ody coordinate: ystem
(Non-inertial frame)
Z
Fixed
frame of
reference
(Inertial
frame)
X RigidRigid body
OL

Fig.6.1
One of them is fixed in space and is known as an inertial frame of

reference. This fixed frame of reference does not undergo translational

or

are called
rotational motion along with the rigid body. The axes x, y, z
spaceset of axes.
the rigid body and is referred
The other coordinate system is fixed in
coordinate system undergoes
coordinate system. This body
as the body
with the rigid body. Therefore,
translational and rotational motion along
a non-inertial
frame of reference.
the body coordinate system is
rigid body is
discussion on the study of motion of
Generally, the motion and
separate aspects i.e, translational
Separated into two (02) motion of
understand both the aspects of
motion. It helps to
rotational

rigid body in space very clearly.

ina
with the centre of
mass
coincides
The centre of qravity of course,

uniform gravitational field.

(Oct. 16, April 17)
6.2 EULER'S THEOREM
used in the description
of the basic theorems
Euler's theorem is one
displacement of a
states that: "Any general
Or motion of a rigid body. It about some
axis passing
a rotation
is fixed, is
gid body, one point of which
through the fixed point"
 A'
B

B'

Fig. 6.2
As one point of the rigid body
is fixed, the body (as well as the point)
does not have translational motion (and has only rotational
motion)
Hence a single rotation about some axis for arbitrary rotation from its
initial orientation to final orientation will be observed. In rotational
motion, the position vector of any particle of the body does not change
in magnitude. The theorem will be
proved if we can find an axis of
rotation such that the distance of particles of the
body
from this axis
remains constant during motion.
Now it is of a rotation, namely the axis of
rotation, is left unaffected
by the operation. Thus any vector lying along the axis of rotation must
have the same components in both the initial and
final axes.
Let O be the fixed point.
Suppose body coordinate system such that origin
a
of body
coordinate system coincides with the fixed
point. Consider any two
particles, A and B, in the rigid body. These particles (A and B) occupy
positions A' and B' after some arbitrary angular displacements. Thus the
body has initial configuration OAB and its final configuration is OA'B'. The
planes P and P2 are drawn perpendicular to the planes of triangles
and OBB' respectively.
OAA
 Let the planes divide angle of triangles at O and intersect each other
along the straight line OC.
The straight line OC of the intersection of planes Pi and P2 is such
that the distances of particles A and B from the straight line OC before
and after rotation are equal. Thus, the straight line OC is the axis of
rotation. Further even when the body is brought from the initial
configuration OAB to its final configuration OA'B' axis, OC remains
unchanged and the displacement of the particles A and B or equivalent to
a rotation about OC. It proves Euler's theorem.
The above discussion leads to another basic theorem called Chasles
theorem. Chasles theorem states that:
"The most general displacement of a rigid body is a translation plus a
rotation".
OR
"The most general displacement of a rigid body is a translation plus a
rotation about some axis".
6.3 ANGULAR MOMENTUM (L)
AND ENERGY (KINETIC ENERGY)
Consider a rigid body consisting of n particles of masses m, ( = 1, 2,

3, n) and rotating with angular velocity o. If one point in the body is

fixed, then no translational motion of the body is there. The body will
perform only the rotational motion about an axis passing through the
fixed point.

The linear velocity (Vi) of the particle of mass mi and position vector

rwith respect to the fixed point is given by

Vi = x r
( V = ro).. (6.1)

o is same for all particles of the rigid body. But linear velocity (v) will
be different for each particle. The linear momentum of the particle

Pi m; Vi (6.2)
(a) Angular momentum (L): (April 17)
The moment of linear momentum is angular momentum

= TX Pi
 momentum L is the sum of angular momentum
The total angular
of individual particles and is given by

= x p
i = 1

n
by equation (6.2) (p = mv)
2rxm; Vi
i= 1

m; ri X Vi

2m; r x (@ x r) by equation (6.1) (v =ro)

i = 1

= m[r x (0x ri)]

i= 1

Using vector triple product

a x(bx c) = (a c) b - (a b) c
=

i = 1
m,[(r) -(ri o)rl
n

or
=

i = 1
m[o (r r)-r ( o)]

The angular velocity o has components a, o, and o along x, y and

axes respectively and is given by
A
=i0 +j+ ko
Further the position vector is given by

A A
r i x, + j yi + k zi

vectorj should not be confined with particle number i

a
The unit
to n.
 becomes
Equation of L
A
A
n
A
+ kzi) (ix + jyi + kz;)}
ja, ko) {(ix + jyi
2m,
i = 1
[(i a0, + +

A
A
kz;)- (i o, + ja, + k»)}]
(ix +
jy + kz:) {(ix + jyi +

Let us solve dot () product

A

as ii=j.j =k. k =1 and

=fR =f.k =f.i =k.î=k.j =o

A 2 2

m [Cio, +
ja, + ko) (xj + yi +2)
i 1
A A
A
(ix+ jy; + kz) (X0 +
y,y + Z,0)]
collect coefficients of
Solve the parenthesis, simultaneously,
A
Aand k.
n
A
Zi)- ix (x%o, +
y0 + z,0)
L =2m, [io, (X+yi
i = 1
+

2 2 A . (6.3)
+ja, +
y + z)- jyi (%o +
yi, +Z0)
+ k (x +Yi2 + Zi) - kz; (X, +yi + z0)]

If L Ly and Ly are the components of angular momentum along x, y

and z axes respectively, then

L = iL + jL, + kL,
A A A
Equating coefficients of i, j and k, we get,
n
L m; [o x 2 + y 2 +zi) - X (x0 + y y + Z,0)]
L i = 1

n
m , [o, 2 +z) - x; (y:0y + Z0))
or L i 1

2 m, [o (yi +z)- xy0 X{z,0]

i = 1
 2 2 2 2
as X + Yi +Z = i

2 2 2 2
yi +Z = i Xi

Ly 2 m, [(o, ( -

x) xy,0 -
-

XZ,0Jd
= 1

Ly m, ( 2 - x) o - 2 m, xyay- 2 mxz{®%
or ... (6.4)
I1 i= 1 i=1

of L.
Equating coefficient of, we get y-component
n

Ly m, [a, ( + yí + zi) - ¥i (xa, + y@y + Z,0%)]

i = 1

n
2 2
m [oxi +y + 0 - Yxo, - yi o,-yiZ;0]
i 1

n
2 2
=

i = 1
m [ax +
0,zi
-

yX0, -yiz0J|
n
2
=
2m; [oa, (x zi)
i = 1
+ -

yxo -

yz0]
2 2
Since r =
X +y; +Z
2
- y = +z

2 m i [o, ( - yi)- yixo - yz;0]

i = 1

=
myxo +2 ma, (-yi)- 2 myz
-

i = 1 ... (6.5)
A

Equating coefficients of k, we get z-component of L i.e. Lz

n
2 2
L, =

1
m, [»(x, +
Yi +
z) -

z; (x,00, +
yi0, +
Z,0,)]
n
2 2
2 m [0X; +
0y; +
i = 1 0Z ZiX{0 - ZY;0yZ; O2
n

i = 1
m [o, X + Yi)- ZX0 zy,0] x+
2
y +Z
2
 2 2 2
Z X + yi
n
2
L m [o, (r,-- z)- Zx,0 zy0,]
n n

2mzx,0 m z y . a , + m , o ( r , - z) . (6.6)
L i1 1 i = 1

In above equations of L, Ly and L, the coefficients of o, 0, and o

have dimensions of moment of inertia. Let us introduce following
symbols for coefficients
n n

m, i = 1
(r -x). Iy=- 2 mxy,
i = 1

n n

Ly = m , (r - y,).
Iz 2 -mxz,
i = 1 i = 1

myx
i = 1
Iy =-2myz
i 1
n

ry 2 m,zy,
zx 2m,zX, i 1

m,(- z)
i = 1

Note that: y = lne lzx = ha and lyz = lay

Substituting these values,

L, = Io, + Iy@ + I a

Ly = l y , + Iya, + lyz0%

L= Izo, + Iy + Iz

and I called the moments of inertia

The equations for L Iy are

etc. are called the

about x, y and z axes respectively while lxy lz lyz.
be written
products of inertia. The equations for L, Ly and L,
can as :

L Ia
(b) Kinetic energy (T): (Oct. 16)
The kinetic energy of a rigid body is,

T 2_ mv, 2 m (o xr.) ( x r,)

 vectors is given by
Scalar product of four

(Ax B) ( xD) =A [B x ( x D)
T . 2 m [ x (0x n)]

2T = 0 2 m; [ri x (@x ri)I

i1

2T= w L
Here o has three components viz o, a 0 along X, Y, Z axes

respectively. And angular momentum L has 3 components along X, y, z

axes respectively.
Total K.E.

T L
i = 1

But L= 2 lj a
i = 1

T 1 1
On expansion above equation becomes,

T Lx + Iy y+ a
+lyx , , + lyy O, + lyz O

+Izx , 0 +Izy 0, + Iz o]
2 2 2
T
+ly +lz
+21y a , + 22 +21zy 0 a]
If the body is rotating about z axis with
angular velocity o then two
components , and a, will be zero.
2
T a
 This is the expression for K.E. of a rigid body, which is rotating with
angular velocity o

The components of angular momenta can be written as

LyIyz =lyz

This shows that in rotational motion of rigid body, the directions of

angular velocity vector o and angular momentum vector L are not in
same sense (direction).

To illustrate this, let us consider simple system of

a
particles
connected by rigid robd.

The vector L is perpendicular to the connecting rod and not parallel

to .

V
m2
Fig. 6.3: Angular momentum
6.4 EULER'S EQUATIONS OF MOTION (Oct. 16, April 17)
f choose the axes of the co-ordinate system fixed in the body
we
With respect to which
off-diagonal elements disappear and only the
diagonal elements remain in the inertial tensor, then such axes are called
the
principal axes of the body and the corresponding moments of inertia
as the principal moments of inertia.
 Then the tensor is,
x 00

I 0 Iy0
.0 0
If the three components of M.I. about principal axes are equal

.e. x= ly lz then the body is called spherical top.

If two of the three components of MI are equal then the body is
called symmetric top (l = y # Izz. If all the components of the M.I. are
distinct then the body is asymmetric top.
If Lx = ly and lz = 0, then the body is called rotor (e.g. diatomic
molecule).
Consider a rigid body, one point of which is fixed. Let a torque t act
on it.
Then in the fixed (inertial) frame of reference, the equation of
rotational motion of a rigid body is

T
dtdL f
We know the operator,
(d. d.. + OX ...
dt dt
fix rot

Operating on L we get t as
dL dL + XL
dt IX dt rot
d 0x L
dt )

dt x L
. (6.7)
If
O are the
corresponding components
and of angular veloCity
L Ly Lz are those of angular momentum about
then, the principal axes

ds
da
dt
lyy dt 1 do
A
+(io+ joy ko) x(i L, jL,
A +
A

kL + + .. (6.8)
 The cross product,

T x j = kxk =o
and ixj= k jxi=-k

jxk Kx- i
kxi =
dt do L y
d@ + d
do2)
dt)

A A
+0+ kaLy- j olz- ka,L, + 0 + ialz
A A
+ j0%ly- io,Ly +0
da
dt t d t + dt
doy
do
A A
A
a,L).. (6.9)
(alz Ly)+ j (0Ly - , ) k (oLy-
+
+i -

can be as given
The angular momentum (L =
Io) in the tensor form

0
Ly
L
Ly= lymy L = lz
Or L I =

Substituting these in equation (6.9),

+ d y doy do
l dt)
dt
dt A
k (a,aly-a0l)
+ i (az - 00l)+ j (0%0x 0,0l+
'= d@ l ddodt
d A
j (G-I) 00
+k (ly-ba 0,a
+i lz - I) ao, +

A
As T = it, + jt, + k
of torque,
eparating the three components

T a ( - ly) y0
dt

Tyyy dt +(- ,0%

do +(ly-ad o,a
Tld
 If we replace x, y, z by 1, 2, 3 then

T2 I2 o + (1-1,) d20h

T3 I3 + (l2 - L) o02
These arecalled Euler's equations of motion ofrigid body