16.07 Dynamics Fall 2004 Version 1.1 Lecture D20- 2d Rigid Body Dynamics: Impulse and momentum In lecture D9, we saw the principle of impulse and momentum applied to particle motion. This principle was of particular importance when the applied forces were functions of time and when interactions between particles occurred over very short times, such as with impact forces. In this lecture, we extend these principles to two dimensional rigid body dynamics Impulse and momentum equations Linear momentum In lecture D18, we introduced the equations of motion for a two dimensional rigid body. The linear momen- tum for a system of particles is defined as L= mUG here m is the total mass of the system, and vG is the velocity of the center of mass measured with respect an inertial reference frame. Assuming the mass of the system to be constant, we have that the sum of the external applied forces to the system, F, must equal the change in linear momentum, L= F, or, integratin between times t, and t2 。-L F dt Note that this is a vector equation and therefore must be satisfied for each component separately. Expression 1 is particularly useful when the precise time variation of the applied forces is unknown, but their total impulse can be calculated. Of course, when the impulse of the applied forces is zero, the momentum is conserved and we have (UG)2=(UG)1 Angular Momentum A similar expression to 1 can be derived for the angular momentum if we start from the principle of conser vation mass, and MG is the moment of all externally applied forces about the center of mass. Integrating betwe imes t, and t2, we have (Hc)2-(Hc)1 Mc dt
J. Peraire 16.07 Dynamics Fall 2004 Version 1.1 Lecture D20 - 2D Rigid Body Dynamics: Impulse and Momentum In lecture D9, we saw the principle of impulse and momentum applied to particle motion. This principle was of particular importance when the applied forces were functions of time and when interactions between particles occurred over very short times, such as with impact forces. In this lecture, we extend these principles to two dimensional rigid body dynamics. Impulse and Momentum Equations Linear Momentum In lecture D18, we introduced the equations of motion for a two dimensional rigid body. The linear momentum for a system of particles is defined as L = mvG , where m is the total mass of the system, and vG is the velocity of the center of mass measured with respect to an inertial reference frame. Assuming the mass of the system to be constant, we have that the sum of the external applied forces to the system, F, must equal the change in linear momentum, L˙ = F, or, integrating between times t1 and t2, L2 − L1 = Z t2 t1 F dt (1) Note that this is a vector equation and therefore must be satisfied for each component separately. Expression 1 is particularly useful when the precise time variation of the applied forces is unknown, but their total impulse can be calculated. Of course, when the impulse of the applied forces is zero, the momentum is conserved and we have (vG)2 = (vG)1. Angular Momentum A similar expression to 1 can be derived for the angular momentum if we start from the principle of conservation of angular momentum, H˙ G = MG. Here, HG = IGω is the angular momentum about the center of mass, and MG is the moment of all externally applied forces about the center of mass. Integrating between times t1 and t2, we have, (HG)2 − (HG)1 = Z t2 t1 MG dt . (2) 1
In a similar manner, for rotation about a fixed point O, we can write, Modt where h ow, the moment of inertia, Io, refers to the fixed point O, and the external moments are with respect to point O Finally, if the external applied moment is zero, then we have conservation of angular momentum, which Example Cylinder rolling over a step We consider a disk of radius R rolling over a fat surface, and striking a rough step of height h 不G Initial Impact First, we consider the situation an instant before and an instant after the impact with the step. Before the mpact, the velocity of the center of mass, UG, is in the horizontal direction and has a magnitude of ug=wR. After the cylinder hits the step, it starts turning around point O, and therefore the velocity of the center of mass, UG, must be perpendicular to the segment OG. Clearly, this change in velocity direction happens over a very short time interval and is caused by the impulsive forces generated during the impact. Since we are assuming a rough step, the point on the cylinder which is in contact with the step at o has zero velocity (no slipping)during this short interval. Therefore, we can use equation 3 about point O to characterize the change in UG. The angular momentum of the cylinder about o before impact is Ho= IGw+mRsin AvG=n+m(R-h)UG The angular momentum just after impact B=lod=l=+ml吃 In these equations, w and w' are the angular velocities before and after the the mass of the cylinder. The change in angular momentum, according to equation 3, is equal to the angula impulse about O. Clearly, the normal and tangential forces, N and F, generate no moment about O. The
In a similar manner, for rotation about a fixed point O, we can write, (HO)2 − (HO)1 = Z t2 t1 MO dt , (3) where HO = IOω, the moment of inertia, IO, refers to the fixed point O, and the external moments are with respect to point O. Finally, if the external applied moment is zero, then we have conservation of angular momentum, which implies ω2 = ω1. Example Cylinder rolling over a step We consider a disk of radius R rolling over a flat surface, and striking a rough step of height h. Initial Impact First, we consider the situation an instant before and an instant after the impact with the step. Before the impact, the velocity of the center of mass, vG, is in the horizontal direction and has a magnitude of vG = ωR. After the cylinder hits the step, it starts turning around point O, and therefore the velocity of the center of mass, vG, must be perpendicular to the segment OG. Clearly, this change in velocity direction happens over a very short time interval and is caused by the impulsive forces generated during the impact. Since we are assuming a rough step, the point on the cylinder which is in contact with the step at O has zero velocity (no slipping) during this short interval. Therefore, we can use equation 3 about point O to characterize the change in vG. The angular momentum of the cylinder about O before impact is HO = IGω + mR sin θ vG = [ IG R + m(R − h)] vG . The angular momentum just after impact is, H′ O = IOω ′ = IO v ′ G R = [ IG R + mR] v ′ G . In these equations, ω and ω ′ are the angular velocities before and after the impact, respectively, and m is the mass of the cylinder. The change in angular momentum, according to equation 3, is equal to the angular impulse about O. Clearly, the normal and tangential forces, N and F, generate no moment about O. The 2
only other force is the weight, w, which is not an impulsive force. Hence, the impulse generated over a ver short time interval, t2-t1, will be negligible. Thus, Ho =Ho, which implies that, =+mB(Rbm=(1-局 IG +mR2 where ko=VIo/m is the radius of gyration of the cylinder about O Rolling about O After the initial impact, the cy linder rolls about point O. During this process, since there are no dissipation mechanisms, energy will be conserved. Therefore, we can use the conservation of energy principle and require that the sum of the potential and kinetic energies remains constant R h工 The change in potential energy, mgh, is obtained by a decrease in the kinetic energy, thus Tow=mgh+lou R2 ugh The residual velocity after the cylinder has climbed the step, uG, can be expressed in terms of the initial relocity, UG, using 4, as, =(1-mh)2n If we want to determine the minimum initial velocity, (uG)min, that would allow the cylinder to climb the step, we set the residual velocity, uG, to zero and obtain ghaR So far, we have assumed that the cylinder pivots around point O without loosing contact with the step. It is clear that if the velocity uG is very large, then, as soon as the turning starts, a force will be require to produce the centripetal acceleration. For small velocities, the weight should be sufficient, but velocities, it is possible that the normal reaction force, N, will become zero, and the cylinder will loose
only other force is the weight, W, which is not an impulsive force. Hence, the impulse generated over a very short time interval, t2 → t1, will be negligible. Thus, HO = H′ O, which implies that, v ′ G = IG + mR(R − h) IG + mR2 vG = (1 − Rh k 2 O ) vG , (4) where kO = p IO/m is the radius of gyration of the cylinder about O. Rolling about O After the initial impact, the cylinder rolls about point O. During this process, since there are no dissipation mechanisms, energy will be conserved. Therefore, we can use the conservation of energy principle and require that the sum of the potential and kinetic energies remains constant. The change in potential energy, mgh, is obtained by a decrease in the kinetic energy, thus 1 2 IOω ′2 = mgh + 1 2 IOω ′′2 , or, v ′′2 G = v ′2 G − 2ghR2 k 2 O . The residual velocity after the cylinder has climbed the step, v ′′ G, can be expressed in terms of the initial velocity, vG, using 4, as, v ′′2 G = (1 − Rh k 2 O ) 2 v 2 G − 2ghR2 k 2 O . If we want to determine the minimum initial velocity, (vG)min, that would allow the cylinder to climb the step, we set the residual velocity, v ′′ G, to zero and obtain, (vG) 2 min = 2gh R 2 k 2 O (1 − Rh k 2 O ) 2 . Rebounding So far, we have assumed that the cylinder pivots around point O without loosing contact with the step. It is clear that if the velocity v ′ G is very large, then, as soon as the turning starts, a force will be required to produce the centripetal acceleration. For small velocities, the weight should be sufficient, but, for larger velocities, it is possible that the normal reaction force, N, will become zero, and the cylinder will loose 3
ontact with the step. The normal force, N, can be calculated from the normal momentum equation. That is, the sum of the forces in the direction of OG should equal the centripetal acceleration W sin 8-n=m Setting W=mg, sin=(R-h/R, and N=0, we can determine the minimum velocity, (uG)rebound, that will produce separation. The resulting expression can be combined with equation 4 to obtain an expression for the minimum inital velocity required for separation 9(R-h) UG rebound (1-)2 We note that for h/(R-h)<ko/(2R2),(uG)min <(uG)rebound, and, in this case, there is aa range of velocities for which it is possible for the cylinder to climb the step without rebounding Center of percussion relative to an Instantaneous Center of motion n some situations, it is of interest to determine how a body should be impulsively set in motion such that a certain prescribed point will be(at least momentarily) the instantaneous center of motion. Consider a rigid body of mass m which is initially at rest. An impulse J is applied at t=0 at point P in the body. The application of j to the body initiates both translational and rotational motion. Thus, The modulus of the initial angular velocity dpr/IG, and the modulus of the velocity of the center of mass is UG =J/m. We now wish to find out the point P such that a prescribed point C in the body the instantaneous center of motion. If C is the center of motion, then UG rcG, or, in magnitude UG=wdc. Therefore d ma pr
contact with the step. The normal force, N, can be calculated from the normal momentum equation. That is, the sum of the forces in the direction of OG should equal the centripetal acceleration, W sin θ − N = m v ′ G 2 R . Setting W = mg, sin θ = (R − h)/R, and N = 0, we can determine the minimum velocity, (v ′ G)rebound, that will produce separation. The resulting expression can be combined with equation 4 to obtain an expression for the minimum inital velocity required for separation, (vG) 2 rebound = g(R − h) (1 − Rh k 2 O ) 2 . We note that for h/(R − h) < k2 O/(2R2 ), (vG)min < (vG)rebound, and, in this case, there is a a range of velocities for which it is possible for the cylinder to climb the step without rebounding. Center of Percussion Relative to an Instantaneous Center of Motion In some situations, it is of interest to determine how a body should be impulsively set in motion such that a certain prescribed point will be (at least momentarily) the instantaneous center of motion. Consider a rigid body of mass m which is initially at rest. An impulse J is applied at t = 0 at point P in the body. The application of J to the body initiates both translational and rotational motion. Thus, mvG = J , IGω = r ′ × J . The modulus of the initial angular velocity is ω = dP ′J/IG, and the modulus of the velocity of the center of mass is vG = J/m. We now wish to find out the point P such that a prescribed point C in the body is the instantaneous center of motion. If C is the center of motion, then vG = ω × rCG, or, in magnitude vG = ωdC. Therefore, dc = vG ω = J/m dP ′J/IG = IG mdP ′ , or, d ′ P = IG mdC = k 2 G dC . 4
Note that the same result would be obtained if the impulse J were applied anywhere along the line through P in the direction of J. The point P is called the center of percussion associated with the center of motion Example Striking a billiard ball We want to know at what height above the table does a billiard ball have to be hit so that rolls on the table without slippin R Since the moment of inertia of a homogeneous sphere about its center of mass is IG=(2/5)mR, if we want the instantaneous center of motion to be at C, the height above g, dpr, should be d pr IG/m R h=R+d ADDITIONAL READING J. L. Meriam and L G. Kraige, Engineering Mechanics, DYNAMICS, 5th Edition 6/8 References [1 M. Martinez-Sanchez, Unified Engineering Notes, Course 95-96
Note that the same result would be obtained if the impulse J were applied anywhere along the line through P in the direction of J. The point P ′ is called the center of percussion associated with the center of motion C. Example Striking a billiard ball We want to know at what height above the table does a billiard ball have to be hit so that rolls on the table without slipping. Since the moment of inertia of a homogeneous sphere about its center of mass is IG = (2/5)mR2 , if we want the instantaneous center of motion to be at C, the height above G, dP ′ , should be, dP ′ = IG/m R = 2 5 R , and h = R + dP ′ = 7 5 R . ADDITIONAL READING J.L. Meriam and L.G. Kraige, Engineering Mechanics, DYNAMICS, 5th Edition 6/8 References [1] M. Martinez-Sanchez, Unified Engineering Notes, Course 95-96. 5
