PLANAR KINETICS OF A

RIGID BODY
WORK AND ENERGY
 Objectives:
Students will be able to:
• Define the various ways a force and couple
do work.
• Apply the principle of work and energy to a
rigid body
• Determine the potential energy of
conservative forces.
• Apply the principle of conservation of
energy.
 APPLICATIONS

The work of the torque (or

moment) developed by the
driving gears on the two
motors on the concrete
mixer is transformed into
the rotational kinetic
energy of the mixing
drum.

If the motor gear characteristics are known, could

the velocity of the mixing drum be found?
 KINETIC ENERGY
The kinetic energy of a rigid body can be expressed as the
sum of its translational and rotational kinetic energies. In
equation form, a body in general plane motion has kinetic
energy given by
T = 1/2 m (vG)2 + 1/2 IG 2

Several simplifications can occur.

1. Pure Translation: When a rigid
body is subjected to only curvilinear
or rectilinear translation, the
rotational kinetic energy is zero
( = 0). Therefore,
T = 1/2m (vG)2
 KINETIC ENERGY (continued)
2. Pure Rotation: When a rigid body is
rotating about a fixed axis passing through
point O, the body has both translational and
rotational kinetic energy. Thus,
T = 1/2m(vG)2 + 1/2IG2
Since vG = rG, we can express the kinetic
energy of the body as
T = 1/2(IG + m(rG)2)2 = 1/2IO2
If the rotation occurs about the mass center, G, then what is the
value of vG?
In this case, the velocity of the mass center is equal to zero. So
the kinetic energy equation reduces to
T = 1/2 IG 2
 WORK OF A FORCE
Recall that the work done by a force can be written as
UF =  F•dr =  (F cos  ds.
s

When the force is constant, this equation reduces to

UFc = (Fc cos)s where Fccos represents the component of the
force acting in the direction of displacement s.
Work of a weight: As before, the work can be
expressed as Uw = -Wy. Remember, if the
force and movement are in the same direction,
the work is positive.

Work of a spring force: For a linear spring,

the work is
Us = -0.5k[(s2)2 – (s1)2]
 FORCES THAT DO NO WORK

There are some external forces that do no work. For

instance, reactions at fixed supports do no work because
the displacement at their point of application is zero.

Normal forces and friction forces acting

on bodies as they roll without slipping
over a rough surface also do no work
since there is no instantaneous
displacement of the point in contact
with ground (it is an instant center, IC).

Internal forces do no work because they always act in

equal and opposite pairs. Thus, the sum of their work is
zero.
 THE WORK OF A COUPLE
When a body subjected to a couple experiences
general plane motion, the two couple forces do
work only when the body undergoes rotation.
If the body rotates through an angular
displacement d, the work of the couple
moment, M, is 
2

UM   M d
1

If the couple moment, M, is constant, then

UM = M (2 – 1)
Here the work is positive, provided M and (2 – 1) are in
the same direction.
 PRINCIPLE OF WORK AND ENERGY

Recall the statement of the principle of work and energy

used earlier:
T1 + U1-2 = T2

In the case of general plane motion, this equation states

that the sum of the initial kinetic energy (both
translational and rotational) and the work done by all
external forces and couple moments equals the body’s
final kinetic energy (translational and rotational).
This equation is a scalar equation. It can be applied to a
system of rigid bodies by summing contributions from all
bodies.
 EXAMPLE 1
Given:The disk has a mass of 20
kg and a radius of gyration
(kG) of 0.18 m. A 22 N·m
moment is applied and the
spring has a spring constant
of 160 N/m.

Find: The angular velocity of the wheel when point G moves

0.15 m. The wheel starts from rest and rolls without
slipping. The spring is initially unstretched.

Plan: Use the principle of work and energy since distance is

the primary parameter. Draw a free body diagram of
the disk and calculate the work of the external forces.
 EXAMPLE 1 (continued)
Solution:
Free body diagram of the disk:

Since the body rolls without slipping

on a horizontal surface, only the
spring force and couple moment M
do work. Why don’t forces FB and
NB do work?

Since the spring is attached to the

top of the wheel, it will stretch
twice the amount of displacement
of G, or 0.3 m.
 EXAMPLE 1 (continued)

Work: U1-2 = -0.5k[(s2)2 – (s1)2] + M(2 – 1)

U1-2 = -0.5(160)(0.32 – 0) + 22(0.15/0.24) = 6.55 J

Kinematic relation: vG = r  = 0.24

Kinetic energy: T1 = 0
T2 = 0.5m (vG)2 + 0.5 IG 2
T2 = 0.5(20)(0.24)2 + 0.5(20)(0.18)22
T2 = 0.9 2
ergy: T1 + U1-2 = T2
0 + 6.55 = 0.9 2
 = 2.70 rad/s
 CONCEPT QUIZ
1. If a rigid body rotates about its center of gravity, its
translational kinetic energy is _________ at all times.
A) constant
B) zero
C) equal to its rotational kinetic energy
D) Cannot be determined.

2. A rigid bar of mass m and length L is released from rest in

the horizontal position. What is the rod’s angular velocity
when it has rotated through 90°?
m
A) g/3L B) 3g/L •
L
C) 12g/L D) g/L
 ATTENTION QUIZ
1. A disk and a sphere, each of mass m and radius r, are
released from rest. After 2 full turns, which body has a
larger angular velocity? Assume roll without slip.
r
A) Sphere B) Disk 
C) The two are equal. D) Cannot be determined.

2. A slender bar of mass m and length L is released from rest in

a horizontal position. The work done by its weight when it
has rotated through 90° is
m
A) m g (/2) B) m g L •
L
C) m g (L/2) D) -m g (L/2)
 CONSERVATION OF ENERGY
The conservation of energy theorem is a “simpler” energy
method (recall that the principle of work and energy is also an
energy method) for solving problems. Once again, the problem
parameter of distance is a key indicator of when conservation of
energy is a good method for solving the problem.

If it is appropriate, conservation of energy is easier to use than

the principle of work and energy. This is because the calculation
of the work of a conservative force is simpler. But, what makes
a force conservative?
 CONSERVATIVE FORCES
A force F is conservative if the work done by the force is
independent of the path. In this case, the work depends only
on the initial and final positions of the object with the path
between positions of no consequence.

Typical conservative forces encountered in dynamics are

gravitational forces (i.e., weight) and elastic forces (i.e.,
springs).

What is a common force that is not conservative?

 CONSERVATION OF ENERGY

When a rigid body is acted upon by a system of conservative

forces, the work done by these forces is conserved. Thus,
the sum of kinetic energy and potential energy remains
constant. This principle is called conservation of energy and
is expressed as

T1 + V1 = T2 + V2 = Constant

In other words, as a rigid body moves from one position to

another when acted upon by only conservative forces, kinetic
energy is converted to potential energy and vice versa.
 GRAVITATIONAL POTENTIAL ENERGY
The gravitational potential energy of an object is a
function of the height of the body’s center of gravity
above or below a datum.

The gravitational potential

energy of a body is found
by the equation

Vg = W yG

Gravitational potential energy is positive when yG is

positive, since the weight has the ability to do positive
work when the body is moved back to the datum.
 ELASTIC POTENTIAL ENERGY

Spring forces are also conservative forces.

The potential energy of

a spring force (F = ks)
is found by the equation

Ve = ½ ks2

Notice that the elastic potential energy is always positive.

 PROCEDURE FOR ANALYSIS
Problems involving velocity, displacement and conservative
force systems can be solved using the conservation of energy
equation.
• Potential energy: Draw two diagrams: one with the body
located at its initial position and one at the final position.
Compute the potential energy at each position using
V = Vg+Ve, where Vg=W yG and Ve = 1/2 k s2.

• Kinetic energy: Compute the kinetic energy of the rigid body at

each location. Kinetic energy has two components:
translational kinetic energy (½ m(vG)2 ) and rotational kinetic
energy (½ IG 2 ).

• Apply the conservation of energy equation.

 EXAMPLE 2

Given:The rod AB has a mass of 10 kg.

Piston B is attached to a spring of
constant k = 800 N/m. The spring
is un-stretched when  = 0°.
Neglect the mass of the pistons.

Find: The angular velocity of rod AB at

 = 0° if the rod is released from
rest when  = 30°.
Plan: Use the energy conservation equation since all forces are
conservative and distance is a parameter (represented
here by ). The potential energy and kinetic energy of
the rod at states 1 and 2 will have to be determined.
 EXAMPLE 2 (continued)
Solution:
Initial Position Final Position

Potential Energy:
Let’s put the datum in line with the rod when  = 0°.
Then, the gravitational potential energy and the elastic potential
energy will be zero at position 2. => V2 = 0
Gravitational potential energy at 1: - (10)( 9.81) (0.2 sin 30)
Elastic potential energy at 1: ½ (800) (0.4 sin 30)2
So V1 = - 9.81 J + 16.0 J = 6.19 J
 EXAMPLE 2 (continued)
Initial Position Final Position

Kinetic Energy:
The rod is released from rest from position 1
(so vG1 = 0, 1 = 0). Therefore, T1 = 0.

At position 2, the angular velocity is 2 and

the velocity at the center of mass is vG2 .
 EXAMPLE 1 (continued)

Therefore,
T2 = ½ (10)(vG2)2 + ½ (1/12)(10)(0.42)(2)2

At position 2, point A is the instantaneous center

of rotation. Hence, vG2 = r  = 0.2 2 .

Then, T2 = 0.2 22 + 0.067 22 = 0.267 22

Now apply the conservation of energy equation and solve for

the unknown angular velocity, 2.
T1 + V1 = T2 + V2
0 + 6.19 = 0.26722 + 0 => 2 = 4.82 rad/s
 EXAMPLE 3
Given:The mass of the disk is 15 kg and
its kG equals 0.18 m. The spring
has a stiffness of 30 N/m and an
unstretched length of 0.3 m.
Find: The velocity at the instant G
moves 0.9 m to the left. The disk
is released from rest in the position
shown and rolls without slipping.
Plan: Since distance is a parameter and all forces doing work are
conservative, use conservation of energy. Determine the
potential energy and kinetic energy of the system at both
positions and apply the conservation of energy equation.
 EXAMPLE 3 (continued)
Solution:
Potential Energy:
There are no changes in the gravitational
potential energy since the disk is
moving
horizontally.
The elastic potential energy at position
1 is: V1 = 0.5 k (s1)2 where s1 = 1.2 m.
(1) Initial Position
Thus, V1 = 0.5 (30) (1.2)2 = 21.6 J
(2) Final
Similarly, the elastic potential energy at position 2 is
Position
V2 = 0.5 (30) (0.9)2 = 12.15 J
 EXAMPLE 3 (continued)

Kinetic Energy:
The disk is released from rest at position 1, so
vG1 = 0 and 1 = 0. Thus, the kinetic energy
at position 1 is T1 = 0.

At position 2, the angular velocity is 2 and

the velocity at the center of mass is vG2 .
T2 = 0.5m (vG2)2 + 0.5 IG (2) 2
= 0.5(15) (vG2)2 + 0.5 (15) 0.182 (2) 2
The disk is rolling without slipping, so vG2 = (0.225 2).

T2 = 0.5(15)(0.225 2)2 + ½(15) 0.182 (2)2 = 0.6227 (2)2

 EXAMPLE 3 (continued)

Now all terms in the conservation of energy equation have been

formulated. First, writing the general equation and then
substituting into it yields:

T1 + V1 = T2 + V2
0 +21.6 J = 0.6227 22 + 12.15 J
Solving , 2 = 3.90 rad/s
 ATTENTION QUIZ

1. Blocks A and B are released from rest and the 1m datum

disk turns 2 revolutions. The V2 of the system
includes a term for
A) only the 40 kg block. 40 kg

B) only the 80 kg block. 80 kg

C) the disk and both blocks.

D) only the two blocks.
2. A slender bar is released from rest while in the horizontal
position. The kinetic energy (T2) of the bar when it has
rotated through 90° is m
•
A) ½ m (vG2)2 B) ½ IG (2) 2 L

C) ½ k (s1)2 - W (L/2) D) ½ m (vG2)2 + ½ IG (2) 2

 CONCEPT QUIZ
1. At the instant shown, the spring is
undeformed. Determine the change in 3 m/s
potential energy if the 20 kg disk datum
(kG = 0.5 m) rolls 2 revolutions
without slipping.
A) ½(200)(1.2)2 + (20)9.81(1.2 sin30)
B) - ½(200) (1.2)2 - (20)9.81(1.2 sin30)
C) ½(200)(1.2)2 - (20)9.81(1.2 sin30)
D) ½(200)(1.2)2
2. Determine the kinetic energy of the disk at this instant.
A) (½)(20)(3)2 B) ½(20)(0.52)(10)2
C) Answer A + Answer B D) None of the above.
 GROUP PROBLEM SOLVING

Given: A 50 N bar is rotating

downward at 2 rad/s.
4m
The spring has an
unstretched length of 2
m and a spring constant
6m of 12 N/m.
Find: The angle (measured down from the horizontal) to which
the bar rotates before it stops its initial downward
movement.
Plan: Conservative forces and distance () leads to the use of
conservation of energy. First, determine the potential
energy and kinetic energy for both positions. Then
apply the conservation of energy equation.
 GROUP PROBLEM SOLVING (continued)
Solution:
Potential Energy:
Let’s put the datum in line with
the rod when  = 0. 4m
Then, at position 1, the
gravitational potential energy 1
is zero and the elastic potential  3 sin 
energy will be 6 sin 
V1 = 0.5 k (s1)2 6m 2

= 0.5 (12) (4 - 2)2

Gravitational potential energy at position 2: - (50) (3 sin )
Elastic potential energy at position 2: 0.5 (12) {4 + (6 sin ) - 2}2
So, V2 = - (50) (3sin ) + 0.5 (12) {4 + (6 sin ) - 2}2
 GROUP PROBLEM SOLVING (continued)

Kinetic Energy:
At position 1 (when  = 0), the 4m
rod has a rotational motion
about point A.
T1 = 0.5 IA (2 )
6m
= 0.5{1/3 (50/9.81) 6 } (2 )
2 2

At position 2, the rod momentarily has no translation or rotation

since the rod comes to rest.
Therefore, T2 = 0.
 GROUP PROBLEM SOLVING (continued)

Now, substitute into the 4m

conservation of energy
equation.
T1 + V1 = T2 + V2
6m
0.5{1/3 (50/9.81) 62}( 22 ) + 0.5 (12) (4 - 2)2
= 0.0 - (50)(3 sin ) + 0.5(12){4 + (6 sin ) - 2}2

Solving for sin  yields

sin  = 0.7666. Thus,  = 50.0 deg.