6.

B WORK AND ENERGY

Work done by a force ⃗F: dU = ⃗F ∙ dr  U = ∫ ⃗F ∙ dr

Work done by a moment M which acts on a rigid body:
During time dt, the body rotates through an
angle dθ, and line AB moves to A′ B′ .
We may consider this motion in two parts, first
a translation to A′ B′′ and then a rotation dθ
about A′  during the translation the work
done by one of the forces cancels that done by
the other force
Net work done is due to the rotational part of the motion

dU = F(bdθ) = Mdθ  U = ∫ Mdθ

If the couple acts in the sense opposite to the rotation, the work done is negative.

Kinetic Energy of a Rigid Body

a) Translation:
1 1
T = ∑ mi v 2 = ∑ mi v 2
2 2
=m

1
 T = mv 2
2

b) Fixed-axis rotation:
1
T = ∑ mi (ri ω)2
2
1
 T = IO ω2
2

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 c) General plane motion:
1
T = ∑ mi vi 2
2

where v
⃗i = v
⃗G+ω
⃗⃗ × ρ
⃗i

vi 2 = vG 2 + (ωρi )2 + 2vG ωρi cos θ yi

1 1
T = mvG 2 + ω2 ∑ mi ρi 2 + vG ω ∑ mi ρi cos θ
2 2

IG ∑ mi yi = 0
first moment of mass
about a centroidal axis
1 1
∴ T = mv 2 + IG ω2
2 2

Alternatively, one can use Instantaneous Center of Zero Velocity (ICZV) at point
C.
1 1
 T = m(ri ω)2 = IC ω2
2 2

Gravitational Potential Energy

G
Vg = ∑ mi ghi = g ∑ mi hi = mghG
hi hG
∆Vg = mg∆hG

Work-Energy Equation for a System of Interconnected Rigid Bodies

Summing the work-energy equations for all particles, one obtains:
U1−2 = ∆T
′
or U1−2 = ∆T + ∆Vg + ∆Ve
′
where U1−2 : work done by external forces (and moments) (other than weights
and spring forces)
∆T: sum of changes in Kinetic Energy of all bodies

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 - Power: Power of ⃗F
dU ⃗ ∙dr⃗
F
P= = = ⃗F ∙ v
⃗
dt dt

- Power: Power of M
dU M∙dθ
P= = = Mω
dt dt

Example 6.132
The sheave of 400-mm radius has a mass of 50 kg and a
radius of gyration of 300 mm. The sheave and its 100-kg
load are suspended by the cable and the spring, which has a
stiffness of 1.5 kN/m.
If the system is released from rest with the spring initially
stretched 100 mm, determine the velocity of O after it has
dropped 50 mm.

′
No external force acting on the system  U1−2 = 0 = ∆T + ∆Vg + ∆Ve

Initial deflection: 0.1 m & Final deflection: 0.2 m

1
∆Ve = (1500)[0.22 − 0.12 ] = 22.5 J
2

∆Vg = −150(0.05)9.81 = −73.58 J

1 1 1
∆T = 100vO 2 + 50vO 2 + IG ω2
2 2 2
vO
vO = ωr  ω =
0.4

1 2 1 2 vO 2
∆T = 150vO + [50(0.3) ] ( ) = 89.06vO 2
2 2 0.4

vO = 0.757 m/s

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Example 6.152
The uniform bar ABC has a mass m and starts from
rest with θ = 180° where A, B, C and O are
collinear. If the applied force P is constant in
magnitude, determine the angular velocity ω of the
bar as B reaches O with θ = 0°. The mass of the
roller at B and the mass of the strut OC are
negligible.
Let’s replace P by a force P at B and a
moment.
b
In this case: M = Pb
P at A  P and M at B
M ′
θ/2 U1−2 = ∆T + ∆Vg where ∆Vg = 0

x M is a moment applied to the bar. As θ

goes from π to 0, the bar rotates from 0
to π⁄2 (CW).
′ π θ 0 θ π
U1−2 = M + ∫ P cos ( ) (−dx) where − ∫π Md = M
2 2 2 2

θ θ
x = 2b sin ( )  dx = b cos ( ) dθ
2 2

′ π 0 θ
U1−2 = M − ∫π Pb cos 2 ( ) dθ
2 2

′ π θ sin θ 0 π π ′
U1−2 = M − Pb [ + ] = M + Pb  U1−2 = Pbπ
2 2 2 π 2 2

At the final position ICZV is b away from the C point in (+)y-direction.

vG = vB = 2bω
ω
1 1 13
∆T = m(2bω)2 + IG ω2 = mb2 ω2
2 2 6
vB

13 6Pπ
Pbπ = mb2 ω2  ω = √
6 13mb

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Example
The spring is initially unstretched and the system
is at rest. Bar has a uniform mass distribution and
a mass of 30 kg. The spring constant is 150 N/m
Find vA when the bar strikes the horizontal
surface.
′
U1−2 = 0 = ∆T + ∆Vg + ∆Ve
1
∆Ve = k(x2 2 − x1 2 ) ; where x1 = 0 m
2

x2 = √(1.2)2 + (0.9)2 − 0.3 = 1.2 m

1
∆Ve = 150(1.22 − 0) = 108 J
2

∆Vg = mg(hG2 − hG1 ) = 30(9.81)(−0.6) = −176.6 J

1 1 1
∆T = IO ω2 − 0 = ( 30 ∙ 1.22 + 30 ∙ 0.62 ) ω2 & va = 1.2ω
2 2 12

 ∆T = 5va 2
0 = 5va 2 + 108 − 176.6  va = 3.7 m/s

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6.C IMPULSE-MOMENTUM EQUATIONS

Linear Momentum:
⃗ = mv
For a system of particles: G ⃗ G.
̇
Hence, for a rigid body, also: ∑ ⃗F = ⃗G
Integrating with respect to time:
t2
⃗ = ⃗G2 − ⃗G1 = mv
∫t ∑ ⃗F dt = ∆G ⃗ G2 − mv
⃗ G1
1

We get two scalar equations from the above vector equation.

Angular Momentum:
In Chapter 6, we wrote the angular momentum of a rigid body about its mass
center as: HG = IG ω

For a system of particles (Chapter 4) and hence for a rigid body: ∑ MG = ḢG
Integrating:
t2
∫t ∑ MG dt = ∆HG = HG2 − HG1 = IG (ω2 − ω1 )
1

HO = IG ω + mvG d

or as a vector equation: ⃗H ⃗⃗ + ⃗d × mv
⃗ O = IG ω ⃗G

If O is not a fixed point, then ∑ MO ≠ ḢO

⃗ ̇ O = IG α ̇
This is because ⃗H ⃗ + ⃗d × mv
⃗ G + ⃗d × ma⃗G

If O is a fixed point, then ∑ MO = ḢO

⃗ ̇ O = IG α
This is because ⃗H ⃗ + ⃗d × ma⃗G or ḢO = IG α + maG d

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 - Special case: fixed axis rotation:
vG = rG ω and d = rG
∴ HO = IG ω + mrG ωrG
 ω(IG + mrG 2 ) = IO ω
HO = IO ω
t
2
∫t ∑ MO dt = ∆HO = HO2 − HO1 = IO (ω2 − ω1 )
1

Interconnected Rigid Bodies:

For each body, we have:

∑ ⃗F = ⃗Ġ & ∑ MO = ḢO

Add these cancelling the joint forces
which are equal and opposite direction:

⃗̇a + G
⃗ =G
∑F ⃗̇b + ⋯

∑ MO = ḢOa + ḢOb + ⋯
In integrated form:
t2
⃗ = ∆G
∫t ∑ ⃗F dt = ∆G ⃗ a + ∆G
⃗ b+⋯
1

t2
∫t ∑ MO dt = ∆HO = ∆HOa + ∆HOb + ⋯
1

Conservation of Momentum:
⃗ = 0. (for a single body or system of
If ∑ ⃗F = 0 during an interval of time, ∆G
bodies)
If ∑ MO = 0 (for a fixed point O) or ∑ MG = 0 during an interval of time, then
∆HO = 0 or ∆HG = 0, respectively. (for a single body or system of bodies)
For a system of bodies, G is the mass center of the system (inconvenient)

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Example 6.180
The uniform circular disk of 200-mm radius has a
mass of 25 kg and is mounted on the rotating bar
OA in three different ways. In each case the bar
rotates about its vertical shaft at O with a clockwise
angular velocity ω0 = 4 rad/s.
In case (a) the disk is welded to the bar.
In case (b) the disk which is pinned freely at A,
moves with curvilinear translation and therefore has
no rigid-body rotation.
In case (c) the relative angle between the disk and
the bar is increasing at the rate θ̇ = 8 rad/s.
Calculate the angular momentum of the disk about point O for each case.
(Neglect the mass and inertia of the bar)
1 1
IG = IA = mr 2 = (25)(0.2)2 = 0.5 kg·m2
2 2

a) ω = ω0 and the disk is making fixed-axis rotation about O.

HO = IG ω + md2 ω = IO ω
 HO = [0.5 + 25(0.4)2 ]4 = 18 kg·m2/s
b) ω = 0 & HO = mvG d = 25(0.4)4(0.4) = 16 kg·m2/s (assuming the disk
is not initially rotating)
c) ω = ω0 + ωrel = 4 − 8 = −4 rad/s
HO = 0.5(−4) + 16 = 14 kg·m2/s

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