4DA00: Dynamics

S6/4 FIXED-AXIS ROTATION

Erik Steur ([email protected]) and Rob Fey ([email protected])

Department of Mechanical Engineering, Dynamics and Control Group

Rotations about a fixed axis in 2D
All points other than those on the axis of
rotation move on concentric circles

n-t coordinates (S5/2) are convenient:

      
aG = aG ,n en + aG ,t et = rGω 2 en + rGα et G, t G
 
G, n G

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Rotations about a fixed axis in 2D
All points other than those on the axis of
rotation move on concentric circles

n-t coordinates (S5/2) are convenient:  G

     G, t

aG = aG ,n en + aG ,t et = rGω 2 en + rGα et
 G, n

General EoM are applicable:

 
G (or ∑ n
∑ F = ma F = maG ,n , ∑ Ft = maG ,t )

∑M G = I Gα

Do not forget to include FO in ∑M G !!

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Rotations about a fixed axis in 2D

Often it is convenient to take the moments

about the fixed point O :
 G

∑ F = ma
n G ,n G, t

∑ F = ma
t G ,t  G, n

∑M O = I Oα G

where I=
O I G + mrG2
  
Special case O = G : ∑
= F ma
= G 0

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 α Sample problem 6/3
Determine: 1. the vertical acceleration of
the concrete block; 2. the magnitude of
the reaction force in point O

Solution (part I)
• Kinematic constraint:= α 0.300α
y ri=


• Radius of gyration of the drum

g = 9.81[m / s 2 ] about O: kdrum,=
O k=
O 0.450 [mm]
y
+ m k 2 drum ,O
⇒ I drum ,O =

x 450 ⋅ 0.4502 =
= 30.4 [kg m 2 ]

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 Sample problem 6/3
Determine: 1. the vertical acceleration of
the concrete block; 2. the magnitude of
the reaction force in point O

+
Solution (part I)
• Vertical motion concrete block:
my 300
= = y 300
 = a ∑ Fy= T − 300 ⋅ 9.81[ N ]
• Moments about O :
I drum
= ,Oα 30.4
= α ∑ MO
g = 9.81[m / s 2 ] = 0.600 ⋅1800 − 0.300T [ Nm]
• Three unknowns, three equations as
a = 0.300α

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 Sample problem 6/3
Determine: 1. the vertical acceleration of
the concrete block; 2. the magnitude of
the reaction force in point O

+
Solution (part I)
Linear system of equations:
 1 −0.300 0  a   0 
 0 30.4 0.300  α  =  0.6 ⋅1800 
    
 −300 0   
1  T   300 ⋅ 9.81  
g = 9.81[m / s 2 ]


=⇒ a 1.03
= [m / s 2 ] (T 3250 [ N ], α = 3.44[rad / s 2 ])

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 Sample problem 6/3
Determine: 1. the vertical acceleration of
the concrete block; 2. the magnitude of
the reaction force in point O

+
Solution (part II)
Forces on the drum:
∑ F= x Ox − 1800 cos 45° = 0 [ N ]

=∑F y Oy − T − 150 ⋅ 9.81 − 1800sin 45° =0[ N ]

g = 9.81[m / s 2 ] ⇒ Ox 1273[ N=
= ], Oy 6000[ N ]

⇒ O=Ox2 + Oy2 = 6130 [ N ]

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Alternative: solve the matrix equation
a = 0.300α
30.4α = 0.600 ⋅1800 − 0.300T [ Nm]
300a = T − 300 ⋅ 9.81[ N ]
Ox − 1800 cos 45° = 0 [ N ]
Oy − T − 150 ⋅ 9.81 − 1800sin 45° =0[ N ]

 1 −0.300 0 0 0 a   0 
 0  
30.4 0.300 0 0  α    0.600 ⋅1800 
   
 −300 0 1 0 0 T  =  300 ⋅ 9.81 
 0  
0 0 1 0   Ox   1800cos 45° 
   
 0 0   O   
−1 0 1   y  150 ⋅ 9.81 + 1800sin 45° 


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 Questions/comments: [email protected]

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