Fundamental Relationships - Particles:
ds dv
v= dt , a= dt , ads = vdv
P~ P~ d~
p
Newton’s 2nd Law: Fext = m~a, or Fext = dt , where p~ = m~v
R t2 R v2 R s2 R v2
Impulse-Momentum: t1
F~ dt = m v1
d~v , Work-Energy: s1
F~ · d~s = m v1
~v d~v
Vector Derivative: d~
r
dt = ~ṙ + ω
~ × ~r, where ω
~ is the angular velocity of the
coordinate system
Fundamental Relationships - Rigid Bodies:
Parallel Axis Theorem: IO = IG + md2OG , where dOG is the distance from
the centre of mass to point O.
P~
Newton’s 2nd Law: Fext = m~aG , where G is the centre of mass.
~ = ~r × F~ , where ~r is a vector directed from the
Definition of a Moment: M
point the moment is computed about to the line of action of the force.
P ~ P ~
Moment Balance (2D): MG = IG α ~ or M O = IO α
~ , where O is a fixed
point and α
~ is the angular acceleration.
P ~ ~G ~
Moment Balance (3D): MG = dH
dt , where HG is the angular momentum.
HX Ixx −Ixy −Ixz ωX
~ G = HY = −Ixy Iyy −Iyz ωY
H
HZ −Ixz −Iyz Izz ωZ
Moments
P of inertia:
Ixx = P mi (yi2 + zi2 ),
Iyy = P mi (x2i + zi2 ),
Izz = mi (x2i + yi2 )
Products of inertia:
P
Ixy = Iyx = P mi (xi yi ),
Ixz = Izx = P mi (xi zi ),
Iyz = Izy = mi (yi zi )
Work Energy Principle: T1 + Vg1 + Ve1 + U1−2 = T2 + Vg2 + Ve2 ,
where T = 12 mVG2 + 12 IG ω 2 , or T = 12 IO ω 2 .
R2
~ dθ + s2 F~ · d~s, and Vg and Ve are gravita-
R
O is a fixed point, U1−2 = 1 M s1
tional potential and elastic potential energy terms.
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Q1 (5 marks). The 2D rigid body with mass, m has only one external force, 𝐹⃑ , acting on it.
True or False:
a) 𝑟⃗1 𝑋𝐹⃗ ≠ 𝑟⃗2 𝑋𝐹⃑ .
b) 𝐹⃗ = 𝑚 ∗ 𝑎⃗𝐺 , where 𝑎⃗𝐺 is the absolute acceleration of the centre of mass.
Q2 (5 marks). Circle the correct location(s) to compute moments for link CD. Assume link CD has
uniform density and length L.
Q3 (5 marks). A football is in midflight. At the instant shown it has the angular velocity and angular
momentum shown. Neglect the effects of air resistance and assume all values are expressed in the body
fixed coordinate system.
a) Choose the correct statement regarding how the angular velocity and angular momentum vectors
change with respect to time.
A. 𝜔 ⃗⃗𝐺 is constant.
⃗⃗ is constant, 𝐻
B. 𝜔
⃗⃗ is not constant, 𝐻⃗⃗𝐺 is constant.
C. 𝜔 ⃗⃗𝐺 is not constant.
⃗⃗ is constant, 𝐻
D. 𝜔
⃗⃗ is not constant, 𝐻⃗⃗𝐺 is not constant.
b) Is the force of gravity able to change the football’s rotation? Why or why not?
Q4 (5 marks). The 𝑖̂1 -𝑗̂1 -𝑘̂1 coordinate system is rotating with angular velocity 𝜔
⃗⃗ = 𝜃̇𝑘̂1 . The 𝑖̂0 -𝑗̂0 -𝑘̂0
system is fixed to the ground. Compute the following derivatives:
𝑑𝑖̂0
=
𝑑𝑡
𝑑𝑗̂0
=
𝑑𝑡
𝑑𝑖̂1
=
𝑑𝑡
𝑑𝑗̂1
=
𝑑𝑡
Q5 (5 marks). The inertia tensor of a rigid body about its centre of mass is expressed in terms of a body-
fixed coordinate system, 𝑖̂-𝑗̂-𝑘̂ . The coordinate system axes are aligned with the principal axes of the rigid
body. Indicate which terms in the inertia tensor go to zero:
𝐼𝑥𝑥 −𝐼𝑥𝑦 −𝐼𝑥𝑧
𝐼𝐺 = [−𝐼𝑦𝑥 𝐼𝑦𝑦 −𝐼𝑦𝑧 ]
−𝐼𝑧𝑥 −𝐼𝑧𝑦 𝐼𝑧𝑧
Q6 (20 marks). The two particle masses (m and 2m) are attached to each other by the rigid massless link
shown. The link is pinned to the ground with a frictionless pin at point O and a horizontal damper c,
connects the link to the ground. The system oscillates with small rotations away from its equilibrium
position (shown). Reminder: The small angle approximations are sin 𝜃 ≈ 𝜃, cos 𝜃 ≈ 1.
a) Is there a component of gravity that acts as a restoring force? (Answer yes or no).
b) Draw a free body diagram of the system when it is rotated a small angle 𝜃 clockwise to its
equilibrium position.
c) Write the moment balance for the mass-link body about the centre of rotation, O (∑ 𝑀 ⃗⃗⃑ = 𝐼𝑜 𝛼⃑).
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d) Using your answer from c, write the equation of motion for the body. State any assumptions or
approximations.
e) Assume the system parameters are adjusted such that the system is overdamped. Which curve
best represents the expected behaviour of the system when it is released from an initial angle,
θ0, from vertical?
Q7 (15 marks). The thin uniform rod of mass, m, and length L is released from vertical (in the position
shown). Write an expression for the angular velocity of the rod when it is horizontal in terms of the
variables given. The spring is stretched in the position shown and unstretched when the rod reaches
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horizontal. The moment of inertia about the centre of mass for a thin, uniform rod is 𝑚𝐿2 , where L is
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the length of the rod.
Q8 (40 marks). The figure shows two thin uniform rods each having mass, m, and length, 2𝑙. The rods
are pinned together at B. Rod AB is pinned to the ground at point A. Rod BC is pinned to a small roller
with negligible mass C. There is no friction anywhere and the roller moves on a horizontal platform.
A horizontal force, P, is applied to rod BC at point C. Hint: The moment of inertia about the centre of
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mass for a thin, uniform rod is 𝑚𝐿2 , where L is the length of the rod.
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a) Define your choice of coordinate system (hint: use one ground-fixed system). Write out any
kinematic constraints. Write kinematic expressions for the absolute acceleration of the
centres of mass and the angular velocities of the two bodies.
b) Draw FBDs of the bodies.
c) Write the force and moment balance equations for the two bodies. Use your kinematic
expressions from a) to compute the right side of each equation.
d) List the equations and unknowns. Assume you know the initial conditions for 𝜃 and 𝜃̇. (Do
not solve the system of equations).
