Rigid-body Assemblages EOM is formulated for an assemblage of rigid bodies with distributed mass supported by discrete springs and dampers subjected to time-varing forces. Inertial forces of rigid-body assemblages For each rigid body,inertial forces are distributed forces, acting on each material point,their resultant can be described by (1)A force applied to the centre of mass of the body, proportional to acceleration vector and total mass M=∫dm (2)A couple,proportional to angular acceleration and the moment of inertia J of the rigid body J=∫(x2+y2)dm 目 主京2相季院 Rigid-body Assemblages • EOM is formulated for an assemblage of rigid bodies with distributed mass supported by discrete springs and dampers subjected to time-varing forces. • Inertial forces of rigid-body assemblages For each rigid body, inertial forces are distributed forces, acting on each material point, their resultant can be described by (1) A force applied to the centre of mass of the body, proportional to acceleration vector and total mass (2) A couple, proportional to angular acceleration and the moment of inertia J of the rigid body M dm     2 2 J x y dm   