Rigid Body Dynamics

Rigid Body Dynamics: Kinematics and Kinetics
Rigid Body Dynamics
K. Craig
Topics
Introduction to Dynamics Basic Concepts Problem Solving Procedure Kinematics of a Rigid Body Essential Example Problem Kinetics of a Rigid Body Supplement: Rigid Body Plane Kinetics Essential Example Problem
Rigid Body Dynamics K. Craig 2
Introduction
Dynamics
The branch of mechanics that deals with the motion of bodies under the action of forces. Newtonian Dynamics
This is the study of the motion of objects that travel with speeds significantly less than the speed of light. Here we deal with the motion of objects on a macroscopic scale.
Relativistic Dynamics
This is the study of motion of objects that travel with speeds at or near the speed of light. Here we deal with the motion of objects on a microscopic or submicroscopic scale.
Newtonian Dynamics
Kinematics This is the study of the geometry of motion. It describes the motion of bodies without reference to the forces which either cause the motion or are generated as a result of the motion. It is used to relate position, velocity, acceleration, and time without reference to the cause of the motion. Kinetics This is the study of the relation existing between the forces acting on a body, the mass distribution of the body, and the motion of the body. It is used to predict the motion caused by given forces or to determine the forces required to produce a given motion.
Basic Concepts
Space
Space is the geometric region occupied by bodies. Position in space is determined relative to some geometric reference system by means of linear and angular measurements. The basic frame of reference (perspective from which observations are made) for the laws of Newtonian mechanics is the primary inertial system which is an imaginary set of rectangular axes assumed to have no translation or rotation in space.
Measurements show that the laws of Newtonian mechanics are valid for this reference system as long as any velocities involved are negligible compared with the speed of light (186,000 miles per second). Measurements made with respect to this reference system are said to absolute. A reference frame attached to the surface of the earth has a somewhat complicated motion in the primary system, and a correction to the basic equations of mechanics must be applied for measurements made relative to the earths reference frame.
Rigid Body Dynamics
K. Craig
In the calculation of rocket- and space-flight trajectories, the absolute motion of the earth becomes an important parameter. For most engineering problems of machines and structures which remain on the earths surface, the corrections are extremely small and may be neglected. For these problems, the laws of Newtonian mechanics may be applied directly for measurements made relative to the earth, and, in a practical sense, such measurements will be referred to as absolute.
Time
Time is the measure of the succession of events and is considered an absolute quantity in Newtonian mechanics.
Mass
Mass is the quantitative measure of the inertia or resistance to change in motion of a body. It is also the property which gives rise to gravitational attraction and acceleration. In Newtonian mechanics, mass is constant.
Newtons Law of Universal Gravitation

The force of attraction between two bodies of mass M and m, respectively, separated by a distance r, is given by:
GMm F = 2 er r
M
Rigid Body Dynamics
G = 6.673 1011
m3 kg s 2
er
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Mass Moment of Inertia

The mass moment of inertia of a rigid body is a constant property of a body and is a measure of the radial distribution of the bodys mass with respect to an axis through some point. It represents the bodys resistance to change in angular motion about the axis through the point.
Force
Force is the vector action of one body on another. There are two types of forces in Newtonian mechanics: Direct contact forces between two bodies. Forces which act at a distance without physical contact, of which there are only two: gravitational and electromagnetic.
Particle
A particle is a body of negligible dimensions. Also, when the dimensions of a body are irrelevant to the description of its motion or the action of the forces acting on it, the body may be treated as a particle. It can also be defined as a rigid body that does not rotate.
Rigid Body
A rigid body is a body whose changes in shape are negligible compared with the overall dimensions of the body or with the changes in position of the body as a whole.
Coordinate
A coordinate is a quantity which specifies position. Any convenient measure of displacement can be used as a coordinate.
Degrees of Freedom
This is the number of independent coordinates needed to completely describe the motion of a mechanical system. This is a characteristic of the system itself and does not depend upon the set of coordinates chosen.
Constraint
A constraint is a limitation to motion. If the number of coordinates is greater than the number of degrees of freedom, there must be enough equations of constraint to make up the difference.
Generalized Coordinates
These are a set of coordinates which describe general motion and recognize constraint.
A set of coordinates is called independent when all but one of the coordinates are fixed, there still remains a range of values for that one coordinate which corresponds to a range of admissible configurations. A set of coordinates is called complete if their values corresponding to an arbitrary admissible configuration of the system are sufficient to locate all parts of the system. Hence, generalized coordinates are complete and independent.
Newtons Laws of Motion (for a particle)

1st Law: Every particle continues in its state of rest or of uniform motion in a straight line unless compelled to change that state by forces acting on it. That is, the velocity of a particle can only be changed by the application of a force.
2nd Law: The time rate of change of the linear momentum of a particle is proportional to the resultant force (sum of all forces) acting upon it and occurs in the direction in which the resultant force acts. 3rd Law: To every action there is an equal and opposite reaction, i.e., the mutual forces of two bodies acting upon each other are equal in magnitude, opposite in direction, and collinear. These laws have been verified by countless physical measurements. The first two laws hold for measurements made in an absolute frame of reference, but are subject to some correction when the motion is measured relative to a reference system having acceleration.
Units
SI Units The primary dimensions are: mass, M, length, L, and time, T. The units are: mass (kg), length (m), and time (sec). This is an absolute set of units based on mass, which is invariant. Force, F, has dimensions of ML/T2 with the unit newton (N).
kg m 1 N =1 s2
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Rigid Body Dynamics
US Customary Units The primary dimensions are: force, F, length, L, and time, T. The units are: force (lb), length (ft), and time (sec) This is a relative set of units dependent upon the local force of gravitational attraction. Mass, M, has dimensions FT2/L with the unit slug. lb s 2 1 slug = 1 ft
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When close to the surface of the earth, g = 9.81 m/s2 in SI units, and g = 32.2 ft/s2 in US Customary units. Some useful conversions: 1 ft = 0.3048 m 1 lb = 4.448 N 1 slug = 14.59 kg Weight = mg = magnitude of the gravitational force acting on mass m near the surface of the earth.
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Scalar
A scalar is any quantity that is expressible as a real number.
Vector
A vector is any quantity that has both magnitude and direction. Because the study of Newtonian mechanics focuses on the motion of objects in threedimensional space, we are interested in threedimensional vectors. A unit vector has a magnitude of unity.
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There are three types of vectors: Free Vector: no specified line of action or point of application Sliding Vector: specified line of action but no specified point of application Bound Vector: specified line of action and specified point of application. A bound vector is unique, i.e., only one vector can have a specified direction, magnitude, line of action, and origin. Note that vector algebra is valid only for free vectors. Consequently, the result of any algebraic operation on vectors, regardless of the type of vector, results in a free vector.
Matrices
An array of numbers arranged in rows and columns is called a matrix. A m n matrix has m rows and n columns. Our use of matrices will initially be restricted to coordinate transformations and later to the concept of the inertia matrix. 1 1 i i 0 0 1 = 0 cos sin j j k 0 sin cos k 1
1 = i i 1 = cos + sin k j j k1 = sin + cos k j
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Notation and Reference Frames

A reference frame is a perspective from which observations are made regarding the motion of a system. A moving body, such as an automobile or airplane, frequently provides a useful reference frame for our observations of motion. Even when we are not moving, it is often easier to describe the motion of a point by reference to a moving object. This is the case for many common machines, such as linkages. An engineer needs to be able to correlate observations of position, velocity, and acceleration of points on moving bodies, as well as the angular velocities and angular accelerations of those moving bodies, from both fixed and moving reference frames.
Reference Frames and Notation
a P ????
R1 ????
R2
Meaningless!
Proper Notation
R
????
y1
aP
R1 R 2
Reference Frames:
R ground: xyz R1 shaft: x1y1z1 R2 disk: x2y2z2
x2
R1
O z1
1 1 i i 0 0 = 0 cos sin j1 j 0 sin cos k k1

y2 y1
2 cos sin 0 1 i i = sin cos 0 j j2 1 0 0 1 k1 k2

Rigid Body Dynamics
x1
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2 = cos 1 + sin 1 i i j 2 = sin 1 + cos 1 j i j
1 = unit vector in x1 direction i 1 = unit vector in y1 direction j 2 = unit vector in x 2 direction i 2 = unit vector in y 2 direction j
1 = cos 2 sin 2 i i j 1 = sin 2 + cos 2 j i j
2 cos sin 1 i i = j 2 sin cos j1

Rigid Body Dynamics
1 cos sin 2 i i = 1 sin cos 2 j j

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Procedure for the Solution of Engineering Problems

GIVEN State briefly and concisely (in your own words) the information given. FIND State the information that you have to find. DIAGRAM A drawing showing all quantities involved should be included. BASIC LAWS Give appropriate mathematical formulation of the basic laws that you consider necessary to solve the problem. ASSUMPTIONS List the simplifying assumptions that you feel are appropriate in the problem.
ANALYSIS Carry through the analysis to the point where it is appropriate to substitute numerical values. NUMBERS Substitute numerical values (using a consistent set of units) to obtain a numerical answer. The significant figures in the answer should be consistent with the given data. CHECK Check the answer and the assumptions made in the solution to make sure they are reasonable. Check the units, if appropriate. LABEL Label the answer (e.g., underline it or enclose it in a box).
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Kinematics of a Rigid Body

Angular Velocity of a Rigid Body Differentiation of a Vector in Two Reference Frames Addition Theorem for Angular Velocities Angular Acceleration of a Rigid Body Reference Frame Transformations Velocity and Acceleration of a Point Coriolis Acceleration and Centripetal Acceleration Essential Example Problem
Angular Velocity of a Rigid Body

R is the ground reference frame y1 with coordinate axes xyz fixed in R R1 reference frame is a rigid body R1 x1 moving in reference frame R with coordinate axes x1y1z1 fixed in R1 A y is any vector fixed in R1 1 1 k1 form a right-handed set of i j z1 mutually perpendicular unit vectors fixed in R1 x O R z Angular velocity is the time rate of R d R R1 change of orientation of the body. = It is not in general equal to the dt derivative of any single vector. Defining equation for
Simple Angular Velocity of a Rigid Body

When a rigid body R1 moves in a reference frame R in such a way that there exists throughout some time interval a unit vector whose orientation in both R1 and R is independent of the time, then rigid body R1 is said to have simple angular velocity in R throughout this time interval. R R1 For example: = R R1 k = k
= angular speed of R1 in R
Here R1 has simple angular velocity in R (1) and R2 has simple angular velocity in R1 (2). R2 does not have simple angular velocity in R.
Differentiation of a Vector in Two Reference Frames

If R and R1 are any two reference frames, the first time derivatives of any vector (not fixed in either R or R1) in R and in R1 are related to each other as follows: y1
d d R R 1 = + ( ) dt dt
R1
R1 y z1 z O R x
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x1 A
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Addition Theorem for Angular Velocities

Consider multiple reference frames: R1, R2, , RN The following relation applies, whether the angular velocities are simple or not:
R
RN
= + +
R R1 R1 R2
R N 1
RN
There exists at any one instant only one Also RN R R RN
R N
This addition theorem is very powerful as it allows one to develop an expression for a complicated angular velocity by using intermediate reference frames, real or fictitious, that have simple-angularvelocity relations between each of them.
R2
= +
R R1
R1
R2
simple angular velocity NOT simple angular velocity
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Angular Acceleration
The angular acceleration of reference frame R1 in reference frame R is given by: There is no addition theorem for angular accelerations. When R1 has simple angular velocity in R, e.g., R R R R
d = dt
R R1
R1
R1
d dt
R
R1
y1 R1 y z1 z O R x
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x1 A
k = k1
Rigid Body Dynamics
1 = 1k R R1 = R R1 k
= ==
Reference Frame Transformations

R1 x1y1z1 R2 x2y2z2
R1
1 cos i j1 = sin k1 0 2 cos i j2 = sin k 2 0

Rigid Body Dynamics
R 2 =
R1
R 2 k1 =
R1
R 2 k 2
R1
R 2 =
i sin 0 2 cos 0 2 j 0 1 k 2 sin 0 1 i cos 0 1 j 0 1 k1
Define: V = Vx1 1 + Vy1 1 = Vx 2 2 + Vy2 2 i j i j What Is

R1
dV ? dt
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dV d Vx1 i1 + Vy1 1 = Vx1 1 + Vy1 1 j = i j are fixed in R1 dt dt R1 R1 dV d Vx 2 i2 + Vy2 2 j = One Approach dt dt R2 d = Vx 2 i2 + Vy2 2 + ( R1 R 2 V) j dt Another Approach = V + V + (k V) i j
Are the two approaches d equivalent? = Vx1 cos + Vy1 sin 2 + i
x2 2 y2 2 1
R1
R1
and i1 j1
and i2 j2 are fixed in R 2

Rigid Body Dynamics
dt d Vx1 sin + Vy1 cos 2 + j dt k1 (Vx 1 + Vy 1 ) i j 1 1 K. Craig
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= Vx1 cos Vx1 sin + Vy1 sin + Vy1 cos 2 + i Vx1 sin Vx1 cos + Vy1 cos Vy1 sin 2 + j Vx 1 Vy 1 i 1 1j = Vx1 cos 2 sin 2 + Vy1 sin 2 + cos 2 + i j i j Vx1 sin 2 cos 2 + Vy1 cos 2 sin 2 + j i j i Vx 1 Vy 1 j i 1 1 = V + V V + V + V V i j j i j i
x1 1 y1 1 x1 1 y1 1 x1 1 y1 1
= Vx1 1 + Vy1 1 i j
Rigid Body Dynamics
Same Result !
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Velocity and Acceleration of a Point

The solution of nearly every problem in dynamics requires the formulation of expressions for velocities and accelerations of points of a system under consideration.
R R
Reference Frames R - Ground xyz R1 - Body x1y1z1 y1 P R1 y z1 z O R x A x1
vP =
v A + ( R R1 r AP ) +
R1
vP
a P = R a A + R R1
R1 r AP )
+ R R1 r AP + R1 a P + 2 R R1 R1 v P
Rigid Body Dynamics
Relative Acceleration Centripetal Acceleration Tangential Acceleration Coriolis Acceleration
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Derivation
y1
AP
r
R
OP
=r
OA
+r
R1 A z1
x1
d OP y v = (r ) dt r OA R R d OA d AP = (r ) + (r ) dt dt O R z R1 d AP R A R R1 AP = v + (r ) + ( r ) dt R A R1 P R R1 AP = v + v +( r )
P R
r AP r
OP
v =
P
v +( r
A R R1
AP
)+
R1
P
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Rigid Body Dynamics
d R P d a = ( v )= dt dt
P
R v A + ( R R1 r AP ) +
R1
vP
d R A ( v ) = R aA dt d dt
r
R1
AP
d AP ) = ( r ) + ( dt r ) = ( R R1 r AP ) + R R1 [ R1 v P + ( R R1 r AP )]
R R1 AP R R1 R1
R1 d R1 P d R1 P ( v )= ( v ) + ( R R1 R1 v P ) = dt dt
a P + ( R R1 R1 v P )
a P = R a A + R R1
R1 r AP )
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+ R R1 r AP + R1 a P + 2 R R1 R1 v P
Rigid Body Dynamics
Anatomy of Coriolis and Centripetal Acceleration

Situation: A turntable, with its center pivot O fixed to ground, is rotating clockwise at a constant angular rate. An ant is at point P on the turntable walking at a constant speed v, relative to the turntable, towards some food at point 2. What is the absolute acceleration of the ant? R a P
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a P = R a O + R R1 ( R R1 r OP ) + R R1 r OP + R1 a P + 2 R R1 R1 v P j = R R1k1 ( R R1k1 rj1 ) + 2 R R1k1 v1 j i = r21 + 2v1

= Centripetal Acceleration + Coriolis Acceleration
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The approximate acceleration of the ant with respect to the R reference frame is the difference between its velocity at points 2 and 1 divided by t. Then we take the limit as t 0. The result is: R a P Acceleration in the y direction:
v radial = [ 2 + 4 ] v = [ vcos (r + r)sin ] v = v 2 rt 2 v(t) 2 v a radial v radial = lim = r2 t 0 t cos 1 sin
Centripetal Acceleration
Rigid Body Dynamics
due to term 4 v has no effect on aradial depends on ants position

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Acceleration in the x direction:
v tangential = [ 1 + 3 ] r = [ vsin + (r + r)cos ] r = [ vt + r + vt ] r a tangential = lim v tangential t

t 0
= v + v = 2v
cos 1 sin
Coriolis Acceleration
Rigid Body Dynamics
independent of ants position effect of on v (term 1 ) is always exactly the same as the effect of v on (term 3 ). effect of changing the orientation of v is exactly the same as the effect of v carrying r to a different radius, changing its magnitude.
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Rigid Body 3D Kinematics Example
Rigid Body Dynamics
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Rigid Body Kinematics Essential Example
R1 = 5i = constant Given: R1 R 2 = 4k1 = constant

R
R R1
r = 0.06 m
Find:
aP
R2 O
= 30
1 1 i i 0 0 j 1 = 0 cos sin j k 0 sin cos k 1

y1
y2 y1 x2
Reference Frames: R ground: xyz R1 shaft: x1y1z1 R2 disk: x2y2z2
x1
O z1
r OP = ( r cos ) 1 + ( r sin ) 1 i j
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Rigid Body Dynamics
a P = R a O + R R 2
R 2 r OP ) + R R 2 r OP
+ R 2 a P + 2 R R 2 R 2 v P
R R2 R2
a O = 0 Point O at end of rotating shaft is fixed in R aP = 0 vP = 0

Point P is fixed in R2 (disk)
R
R 2 =
R2
R R
R1 +
R1
R 2 = 5i + 4k1
R
d R R 2 = = dt R dk1 = 0+4 dt = 4 5i1 k1
d 5i + 4k1 dt
=4
R1 k1
1
)
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) = 20j
Rigid Body Dynamics
= 20 jcos + k sin
After Substitution and Simplification:

R
a = ( 16r cos ) 1 + ( 41r sin ) 1 + ( 40r cos ) k1 i j

P
Alternate Solution:
R
a P = R a O + R R1
R1 r OP ) + R R1 r OP
+ R1 a P + 2 R R1 R1 v P
a =0 R R1 = 5i = constant
R O R
d = =0 dt
R R R1 R1
r OP = ( r cos ) 1 + ( r sin ) 1 i j
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R1
R1 R1
a =
P
R1
R1 R 2 a +
O
R1
r
R2
OP
+ R1 R 2 r OP )
(P is fixed in R2)
aO = 0
R2
= 4k1
R1
d R1 R 2 R1 d R1 R 2 4k1 = 0 = = dt dt R1 P v = R1 vO + ( R1 R 2 r OP ) R1 O r OP = ( r cos ) 1 + ( r sin ) 1 i j v =0

After Substitution and Simplification:
R
a P = ( 16r cos ) 1 + ( 41r sin ) 1 + ( 40r cos ) k1 i j
Same Result
Kinetics of a Rigid Body

Rigid Body Degrees of Freedom Linear Momentum Angular Momentum
Mass Moments of Inertia & Parallel Axis Theorem Principal Axes and Planes of Symmetry Translation Theorem for Angular Momentum
Equations of Motion
Eulers Equations
Rigid Body Dynamics
Kinetic Energy and Work-Energy Principle Impulse-Momentum Principle Essential Example Problem
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Rigid Body Degrees of Freedom

If a system of particles becomes a continuum and the measured distances between points in the system remains constant, the system is said to be a rigid body. The same laws of motion that influence a system of particles must also govern the motion of a rigid body. The difference is that with a continuum present, the summation of physical quantities for discrete particles now becomes an integration over the whole volume. An unconstrained rigid body has 6 degrees of freedom (3 translational and 3 rotational) and 6 equations of motion are needed to specify its motion.
Linear Momentum of a Rigid Body

C mass center O reference point in body B xyz body-fixed axes XYZ ground axes
L = linear momentum of rigid body L = v dm = R vO + ( R B r) dm

B B
= v
R
dm +
B O R O
r dm
B B B
total mass
center of mass location
= m v + ( mr )
R
m = dm
B
= m v + ( r ) = m v
R R B R
1 r = r dm mB
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Rigid Body Dynamics
L=m v
R
Angular Momentum of a Rigid Body

C mass center O reference point in body B xyz body-fixed axes XYZ ground axes
HO
Angular Momentum of B about point O

B
H O = (r v) dm = r R vO + ( R B r) dm
B
= R v O r dm + r ( R B r) dm = r ( R B r) dm
B B B
R
v O = 0 if point O is fixed in R
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Rigid Body Dynamics
r dm = 0 if point O coincides with C

B
H O = r ( R B r) dm
B
Point O is fixed in R Point C is the mass center of B dm y Y z Z Ground R X

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H = ( R B ) dm
B
HO = H x + H y + Hz k i j
R
B = R B x + R B y + R B z k i j
Here we assume either point O is fixed in R or coincident with point C.
r
O
r
x C
HO
R
Independent of the orientation of the xyz body-fixed axes, but their components are not.
Rigid Body B
Rigid Body Dynamics
We can show by integration that:
H x Ix H = I y yx H z I zx
I x = (y 2 + z 2 )dm
B
I xy Iy I zy
I xz R B x R B I yz y z I z R B
B Mass Products I = (xz)dm = I xz zx of B Inertia
Inertia Matrix
Mass I y = (x 2 + z 2 )dm Moments of B Inertia
I xy = (xy)dm = I yx
I z = (x 2 + y 2 )dm
B
I yz = (yz)dm = I zy
Rigid Body Dynamics
Note: the elements of the inertia matrix are for a particular point and a particular orientation of the xyz body-fixed axes. K. Craig
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Parallel Axis Theorem of Inertia Matrix

There is an inertia matrix associated with every point of a rigid body. Consider two parallel coordinate systems fixed to a rigid body: x1y1z1 and x2y2z2. Let point 1 coincide with the mass center C.
b2 + c2 [ I]2 = [ I]C + m ab ac x 2 = x1 + a
y 2 = y1 + b z 2 = z1 + c
Rigid Body Dynamics
ab c2 + a 2 bc
ac bc 2 2 a +b
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Principal Axes
It is often convenient to deal with rigid-body dynamics problems using the coordinate system fixed in the body for which all products of inertia are zero simultaneously, i.e., the inertia matrix is diagonal. The 3 mutually perpendicular axes are called principal axes. The 3 mass moments of inertia are called principal moments of inertia. The 3 planes formed by the principal axes are called principal planes.
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Plane of Symmetry
Many rigid bodies have a plane of symmetry. For example, if the xy plane is a plane of symmetry, then for every mass element with coordinates (x, y, z) there exists a mass element with coordinates (x, y, -z). Hence I =I =0
yz xz
Translation Theorem for Angular Momentum

The angular momentum of a body B about any point P(on or off the body, fixed or moving) can be expressed as:
H P = (r
PC
L) + H
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H P = (r v) dm
B
Derivation
dm
= r R v C + ( R B ) dm
B
r
P
= (r PC + ) R v C + ( R B ) dm
B
PC
= (r PC R vC ) dm + ( R v C ) dm +
Rigid Body B r PC ( R B ) dm + ( R B ) dm B B Y 0 R C PC R C = r m v v dm + B 0 PC R B r dm + ( R B ) dm Z Ground R X B B
Rigid Body Dynamics
B B
H P = (r
PC
L) + H
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Equations of Motion
The six scalar equations of motion for a rigid body are given by the two vector equations:
R R C d d v F = L=m dt dt R R d d M = H or M O = HO dt dt R
F is the resultant of all external forces acting on the body. M (M O ) is the resultant moment of external forces and couples about the mass center C (fixed point O).
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Lets express these equations in terms of the bodyfixed xyz coordinate system.
R R B B = R B + R B + R z k i j x y
H = H x + H y + Hz k i j H O = H O x + H O y + H Oz k i j
vC = R vC + R vC + R vC k i j x y z
R
d R vC B d R vC R B R C = +( v ) dt dt B = ( R v C + R vC + R vC k) + ( R B + R B + R z k) R vC i j i j x y z x y
B = ( R vC + R v C R B R vC R z )i x z y y
+ ( R vC + R v C R B R v C R B ) y x z z x j + ( R vC + R v C R B R v C R B )k z y x x y
B dH dH R B = + ( H) dt dt = (H x + H y + H z k) + ( R B H) i j
(H x + H z R B H y R B )i y z
B + (H y + H x R z H z R B ) x j
+ (H z + H y R B H x R B )k x y
The inertia matrix is constant with respect to time since it is expressed in the bodyfixed coordinate system. So we can write:
Rigid Body Dynamics
H x Ix H = I y yx H z I zx H x Ix H = I y yx H z I zx
I xy Iy I zy I xy Iy I zy
I xz R B x I yz R B y z I z R B I xz R B x I yz R B y B I z R z
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The velocity terms refer to: R v C The angular velocity terms refer to: R B The xyz axes are body-fixed axes. Fx = m v x + v z y v y z
Six Scalar Equations of Motion
Fy = m v y + v x z v z x Fz = m v z + v y x v x y
M x = I x x + I xy (y x z ) + I xz (z + x y ) + (I z I y )y z + I yz (2 2 ) y z M y = I y y + I xy (x + y z ) + I yz (z x y ) + (I x I z )x z + I xz (2 2 ) z x M z = I z z + I xz (x y z ) + I yz (y + x z ) + (I y I x )x y + I xy (2 2 ) x y
Rigid Body Dynamics
The moments and inertia terms are with respect to axes fixed in the body with origin at C, the mass center.
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If we assume that the xyz body-fixed axes are principal axes (1, 2, and 3), then all the products of inertia are zero, and the mass moments of inertia are identified as:
I x = I1
I y = I2
I z = I3
The three rotational equations then are:
I11 + (I3 I 2 )2 3 = M1 I 2 2 + (I1 I3 )13 = M 2 I33 + (I 2 I1 )12 = M 3

Note: If only z and z are nonzero in the general equations, then: For these to be zero, M x = I xz z I yz 2 z the xy plane must be a 2 M y = I yz z + I xz z plane of symmetry: M z = I z z I xz = I yz = 0
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Kinetic Energy
T = Kinetic Energy
v is the velocity of particle dm with respect to R 1 2 1 dm dT = v dm = (vi v)dm R B = 2 2 y 1 = (v + )i(v + ) dm 2 C 1 Y z T = (v + )i(v + ) dm 2 B

1 1 = m(v i v) + [ ( )i( ) ] dm 2 2B = Ttranslation + Trotation
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Rigid Body B
Z Ground R X
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Note:
dm = 0
B
1 Ttranslation = m(v i v) 2 1 Trotation = [ ( )i( ) ] dm 2B

1 = [ i( ( )) ] dm 2B
vector identity
1 = iH 2 1 2 = (I x 2 + I y 2 + I z z ) x y 2 + I xy x y + I yz y z + I zx z x
Rigid Body Dynamics
1 T T = m[ v] [ v] 2 1 T + [ ] I [ ] 2
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1 T T = [ ] [ I ]O [ ] 2
If the body has a fixed point O in inertial space and the origin of the xyz coordinate system is at this point, then the total kinetic energy T is entirely due to rotational motion about the fixed point.
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Work-Energy Equation
The resultant of all external forces acting on the rigid body The resultant moment of external forces and couples acting on the rigid body about the center of mass C The work done by all external forces and couples in time interval from t1 to t2
M
U12
U12 = (Fi v)dt + (M i)dt

t1 t1
t2
t2
U12 = T2 T1
Impulse-Momentum Principle
Integration of the force equation with respect to time yields the theorem that the linear impulse of a rigid body is equal to the change in linear momentum.
d R vC F = m dt
t2
t1
Fdt = m [ v(t 2 ) v(t1 ) ]
Similarly, integration of the moment equation with respect to time yields the theorem that the angular impulse of a rigid body is equal to the change in angular momentum.
Rigid Body Dynamics
d M = H dt
t2
t1
M dt = H(t 2 ) H(t1 )
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Supplement: Rigid Body Plane Kinetics
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Rigid Body 3D Kinetics Example
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Rigid Body Dynamics: Kinematics and Kinetics