應用力學(二)

Applied Mechanics (II)

CH 17剛體平面運動力學：力與加速度
Planar Kinetics of a rigid body: Force and Acceleration
動力學 Dynamics
蔡尚南 Tsai, Shang-Nan
Department of Mechanical and Electro-Mechanical Engineering
National Sun Yat-Sen University 1
Homework
• 17-31 (P.436), 17-63 (P.450), 17-111 (P.466)

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Chapter Objectives
• To introduce the methods used to determine the mass moment
of inertia of a body
• 介紹求物體質量慣性矩的方法。
• To develop the planar kinetic equations of motion for a
symmetric rigid body
• 推導對稱剛體的平面運動方程式。
• To discuss applications of these equations to bodies undergoing
translation, rotation about a fixed axis, and general plane motion
• 討論這些運動方程式應用於物體的平移、繞固定軸旋轉及一般平
面運動。 4
17.1 Mass Moment of Inertia 慣性矩(轉動慣量)

• A body has a definite size and shape, the body can be

translated and rotated
• 物體有一定的體積形狀，它可以平移或旋轉
• The translational motion (平移) are governed by the equation
F = ma
• 平移運動由公式 F = ma 控制
• The rotational motion (旋轉) are governed by the
equation M = Iα
• 旋轉運動由公式 M =Iα 控制 5
• The mass moment of inertia (質量慣性矩), I, is a measure of
the body’s resistance to angular acceleration
• 慣性矩是物體對角加速度的抵抗能力
• 又稱為轉動慣量 (rotational inertia)
• The mass, m, of a body is the body’s resistance to (linear)
acceleration
• 質量是物體對加速度的抵抗能力

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• Moment of inertia is defined as the integral of “second
moment” about an axis of all the elements of mass, dm
• 慣性矩：所有組成物體的質量元素dm 對某一軸的
“二次矩”的積分式
• The body’s moment of inertia about the z axis is
I =  r 2 dm
m (17-1)

• The “moment arm”, r, is the perpendicular distance

from the z axis to the arbitrary element dm
• 「力臂」r 是從z 軸到任意元素 dm 之間的垂直距離。
Fig. 17-1
• I 值對不同的軸，計算出來的值亦有所不同。
質量慣性矩永遠為正值，單位為 kg ．m2。
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• The chosen axis usually passes through the mass center, G,
and is always perpendicular to the motion plane
• 通常會選擇通過質心G並且垂直於運動平面的軸
• The moment of inertia about this axis will be denoted as IG
• The mass moment of inertia always a positive quantity
• Using volume elements for integration,
I =  r 2  dV (17-2)
V

• When ρ (density) is a constant,

I =   r 2 dV (17-3)
V

• 所選擇的體積元素為三個方向的微小量時， 則 dV = dx dy dz ，
如右圖，物體的慣性矩將以“三重積分”來計算。 8
Fig. 17-2 9
從中心軸逐層往外面積

從下面逐層往上面積

Fig. 17-2 10
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Parallel-Axis Theorem 平行軸定理
• Moment of inertia about any other
parallel axis can be determined by
using parallel-axis theorem
• 已知物體對通過質心之軸的慣性矩，
則對任何與該軸平行之軸的慣性矩皆
可利用平行軸定理求得
• Consider body where the z’ axis
passes through the mass center G Fig. 17-5
and the corresponding parallel z axis
lies at a constant distance d away
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• Using the Pythagorean theorem, we can express the moment
of inertia of the body about the z axis as :

I= m
r 2 dm =  m
[(d + x)2 + y 2 ] dm

= ( x2 + y 2 ) dm + 2d  x dm + d 2  dm
m m m

• Since r’2 = x’2 + y’2, the 1st integral represents IG

• The 2nd integral = 0, since z’ axis passes through the body’s
mass center
• Since mr G = Σm ir i (center of mass 質心), or mx’ G = Σm ix’ i,
and x’ G is at z’ axis, i.e. x’= 0.
Therefore, Σm ix’ i = 0, or ∫m x’dm = 0 16
• The 3rd integral represents the total mass m of the body
• The moment of inertia about the z axis, I = I G + md 2 (17-4)

Radius of Gyration 迴轉半徑/慣性半徑

• The moment of inertia of a body about a specified axis can
be expressed using the radius of gyration, k.
• The body’s moment of inertia is determined from :
I
I = mk 2
or k =
m (17-5)

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Composite Bodies 組合物體
• If a body is constructed of a number of simple shapess, the mass
moment of inertia of the body about any axis can be determined
by algebraically adding together all the mass moments of inertia,
found about the same axis, of the different shapes.
• 若物體由一些簡單形狀，如圓盤、球及桿組合而成，則物體
對任意軸的慣性矩可由各部分形狀的物體對此軸的慣性矩以
代數相加而得。

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17.2 Planar Kinetic Equations of Motion
平面運動的運動方程式
• In the following analysis, the planar
kinetics studies will be limited to rigid
bodies which are considered to be
symmetrical with respect to a fixed
reference plane
• 只考慮相對於固定參考平面對稱的剛體
• The motion of the body can be viewed
within the reference plane and all the
Fig. 17-8
forces and moments acting on the
body can be projected onto the plane 25
• Inertial frame of reference x, y, z has its origin coincident
with the arbitrary point P in the body
• By definition, these axes do not rotate and are either fixed
or translate with constant velocity
Equation of Translational Motion 平移運動方程式
• The external forces represent the effect of gravitational,
electrical, magnetic or contact forces between adjacent
bodies ΣF = maG
• This equation is the translational equation of motion for
the mass center of a rigid body, it states :
• Sum of all the external forces acting on the body is equal to the
body’s mass times the acceleration of its mass center G
作用於物體上的外力的總和 = 物體的質量 * 他的質心的加速度
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• For motion of the body in the x-y plane
ΣFx = m(aG)x ΣFy = m(aG)y
Equation of Rotational Motion
旋轉運動方程式
• Fi represent the resultant external
force acting on the particle
• fi represent the resultant internal
force caused by interactions
with adjacent particles

Fig. 17-8
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• Summing moments about point P,
r  Fi + r  fi = r  mi ai
=
or (M P )i = r  mi ai
• For moment about P,
ref:
質點i相對於P點的加速度

• The last term = 0 since r × r = 0

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• Carrying out the cross-product operations
( M P )i k = mi ( xi + yj)  [(aP ) x i + (aP ) y j]
+( xi + yj)  [ k  ( xi + yj]
( M P )i k = mi [− y (aP ) x + x(aP ) y +  x 2 +  y 2 ]k
( M P )i = mi [− y (aP ) x + x(aP ) y +  r 2 ]
• Letting mi → dm and integrating, we have
M P = − (m
)
y dm (aP ) x + (
m
)
x dm (aP ) y + (
m
)
r 2 dm 

• The integrals in the 1st and 2nd terms are used to locate the
body’s center of mass G with respect to P, since
ym =  y dm and x m =  x dm
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• The last integral represents the body’s moment
of inertia computed about the z axis :
I P =  r dm
2

• Thus
 M P = − ym( a P )x + x m( a P )y + I P
• If point P coincides with the mass center G
for the body, then y = x = 0 .
Therefore,  M = I  (17-7)
G G

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 • Since point G is located at point ( x , y ) related to P
by parallel-axis theorem, I = I + m( x 2 + y 2 )
P G

• Thus, Substitute in

 M P = ym [ −( aP )x + y ] + x m [( aP )y + x  ] + I G (17-8)

• From the kinematic diagram,

aG = a P + α  r −  2r
(aG ) x i + (aG ) y j = (aP ) x i + (aP ) y j + k  ( x i + yj) −  2 ( x i + yj)

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• By cross product and equating the i and j components,
(aG ) x = (a P ) x − y − x  2
[−(aP ) x + y ] = [−(aG ) x − x 2 ]
(aG ) y = ( a P ) y + x  − y 2
[(aP ) y + x ] = [(aG ) y + y 2 ]

• Substitute in eq. 17.8 and simplifying,

 M P = − ym(aG ) x + x m(aG ) y + I G α (17-9)

• In a more general form :

(17-10)

(Mk)p is called the kinetic

moment about point P
相對於P的動力矩 32
General Applications of the Equations of Motion
運動方程式的一般應用
• For three independent scalar equations,
對稱剛體的一般平面運動可由三個獨立的純量方程式來描述
Fx = m(aG ) x
Fy = m(aG ) y
M G = I G
or M P =  ( M k ) P (17-11)

• 在某些問題中亦需畫出物體的動力圖 ( 圖17-8(f) ) 藉以幫助解題。在

此圖中須標示出 m(aG )x 、 m(aG )y 及 IGα 等項，在計算maG 的分量及
的各項力矩時特別方便。 33
 17.3 Equations of Motion: Translation
運動方程式：平移
Rectilinear Translation 直線平移
• When a body is subjected to rectilinear
translation, all the particles of the body
(slab) travel along parallel straight-line paths
• Since IGα = 0, only maG is
shown on the kinetic diagram.
• The equations of motion
become :  Fx = m(aG ) x
 Fy = m(aG ) y
 MG = 0 (17-12) Fig. 17-9 34
Rectilinear Translation 直線平移
• If point A is chosen, which lies at a perpendicular distance d
from the line of action,

(aG)x = aG
(aG)y = 0
𝑦ത = 𝑑
d
y A x
maG
G
Fig. 17-9 35
Curvilinear Translation 曲線平移
• All the particles of the body travel
along parallel curved paths
• The equations of motion,
 Fn = m(aG ) n
 Ft = m(aG ) t
 MG = 0 (17-13)

• The moment equation is

+M B = (M k ) B ; M B = e[m(aG )t ] − h[m(aG ) n ]
Fig. 17-9 36
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 17.4 Equations of Motion: Rotation about a Fixed Axis
運動方程式：繞固定軸旋轉
• The angular velocity and angular acceleration are caused by external
force and couple moment (力偶矩) system acting on the body
• Acceleration of point G is represented by its
tangential and normal components
• The tangential component of acceleration
has a magnitude of (aG)t = αrG
• The normal component
of acceleration is (aG)n = ω2rG
Fig. 17-13 47
• The equations of motion,
 Fn = m(aG ) n = m 2 rG
 Ft = m(aG )t = mrG
 M G = I G (17-14)

Moment Equation about Point O

• Sum the moments about the pin
at O to eliminate FO
• From the kinetic diagram,
+M O = ( M k )O ; M O = rG m(aG )t + I G (17-15)

 Fn = m(aG ) n = m 2 rG
 Ft = m(aG )t = mrG Fig. 17-13
 M O = I O (17-16) 48
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 17.5 Equations of Motion: General Plane Motion
運動方程式：一般平面運動
• The rigid body is subjected to
general plane motion caused by
the externally applied force and
couple-moment system
• If an x and y inertial coordinate
system is established, the three
equations of motion are :
 Fx = m(aG ) x
 Fy = m(aG ) y
  G = I G (17-17)
Fig. 17-18 58
• To sum moments about a point P other than G, the three
equations of motion are :

(17-18)

• 式中 表示 IGα 及 maG ( 或其分量 ) 對 P 點的力矩和，

該值可由動力圖中求得。

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Moment Equation About the IC (零速度瞬時中心)
對 IC 的力矩方程式
• There is a particular type of problem that involves a uniform
disk, or body of circular shape, that rolls on a rough surface
without slipping.
• If we sum the moments about the instantaneous
center of zero velocity, then Σ(Mk)IC becomes
IICα, so that :  Μ IC = I IC (17-19)
• This result compares with ΣMO = IOα,
which is used for a body
pinned at point O.
Fig. 17-19 60
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