Rigid Body Dynamics Ch.

4: Vibration

Chapter (4)
Vibration of Structural Systems

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Rigid Body Dynamics Ch. 4: Vibration

Vibration of Structural Systems

1) INTRODUCTION
The analysis of vibration is an important subject for engineers and it contains large
physical and mathematical knowledge. In this chapter, the study will be limited to simple
types of vibrations to describe the main concepts of the subject.
Vibration is defined as the oscillatory motion of a RB or a system about its stable
equilibrium position as shown if Fig. (4.1).
O

k
 
m
m

Vibration of Mass-spring System Vibration of Simple Pendulum

Fig. (4.1): Oscillatory Motion

Equilibrium is a mathematical concept means that the

m
forces acting on a system are in equilibrium and equations O

of equilibrium can be applied. However, stability is a

physical concept means that the system will return to its
O
stable equilibrium position if it slightly displaced away m
from it as in case (a) in Fig. (4.2). However, if the system
a) Stable b) Unstable
is slightly displaced from the unstable equilibrium
position it will not return to it but will continue to rest in Fig. (4.2): Equilibrium
the stable position as the case (b) shown in Fig. (4.2). Positions
Vibration is undesirable phenomenon because it increases the level of stresses in
structures due to the exerted inertia forces appear when the structure dynamic state is
changed. Also, vibration causes energy losses in machinery operation and causes
damages for both heavy and sensitive machines. Recently, many high rise buildings and
light structures are constructed. These structures are very sensitive to vibration and must
be designed to control the vibration amplitude to those levels suitable for the human
satisfaction.

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Rigid Body Dynamics Ch. 4: Vibration

2) DEGREES OF FREEDOM
Degrees of freedom of a system are the minimum number of variables required to
describe the system motion. As the number of variables required for describing the
system motion increases, the mathematical treatment of the system becomes more
complicated. Figure (4.3) shows systems with different degrees of freedom.

x x1 x2

O O

r
 
m
m

Single Degrees of Two Degrees of

Freedom system Freedom system

x4
x
x3

x2

r
 x1

Three Degrees of Four Degrees of

Freedom system Freedom system

Fig. (4.3): Systems with Different Degrees of Freedom

In single degree of freedom system, only one variable (x, y or ) is enough to define
position, velocity and acceleration of the RB, while in two degrees of freedom system
two variables are required and so on. The number of differential equations required to
study the system motion is equal to its degrees of freedom. In this study, only single
degree of freedom systems will be studied.

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3) DYNAMIC LOADS
Dynamic loads (called excitations) are these forces whose magnitude or direction or both
varies with time.

F(t) F(t) F(t)

FO FO
FO

t t t
Unit impulse load Unit Step load Multiple impulses load

F(t) F(t)

FO

t t

FO

Random load (Earthquake) Harmonic Load F(t)=Fo sin ( t)

Fig. (4.4): Different Types of Dynamic Loads (Excitations)

Mathematically, the harmonic load is the simplest one to be dealt with in dynamic
analysis while other types need difficult treatment. Most of dynamic loads acting on
structure are in the form of harmonic load due to motion of the rotating parts in machines
and equipments. The harmonic load may be expressed in sine or cosine form and totally
described by its (FO) amplitude and frequency (). Actually, as FO or  increases the
effect of the load increases. The harmonic load may be expressed as:
F (t ) = FO sin  t N (4.1)
F (t ) = FOcos  t N (4.2)
where:
FO is the load amplitude which is the maximum (or minimum) value of the load.
 is the circular frequency of the load which represents the variation with time.
The ordinary frequency of load is given by: F=/2 Hz (Hz =cycle per second)
Other types of non-harmonic loading can be transformed to harmonics load by
mathematical methods as Fourier Transform.

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4) MODLING
Modeling are important tools widely used to solve complex engineering problems, by
transforming a real structure to simple model that behaves as the real structure to simplify
the mathematical treatments. The model must have the mechanical properties and
dynamic behavior of the real structure. Simple modeling process is that in which many
springs in mass-spring system are replaced by one equivalent spring. In vibration
analysis, most real structures can be modeled as mass-spring systems. In the following
cases, as system is displaced from stable equilibrium position, internal force (called
restoring force) of the system will appear and try to return back the system to its stable
equilibrium position. This force is proportional to the displacement of the system from its
equilibrium position due to the elasticity of the system or gravity force. Following figures
in Fig. (4.5) show examples of modeling of different systems.
k1
ke

k2 m m

Real System Vibration Model

ke=k1+k2

a) Replacing Two Parallel Springs by Equivalent Spring

ke
k1 k2
m m

Real System Vibration Model

k1k2
ke =
k1 + k2

b) Replacing Two Serial Springs by Equivalent Spring

x
m F

One Column ke
N-Columns
m

Loading Test Vibration Model

Real Structure
k1=Fav/ xav ke=N k1

c) Modeling Water Tank by Replacing N-Columns by Equivalent Spring

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N-Beams F One Beam

m ke
m
y
Real Structure Vibration Model
Loading Test
k1=Fav/ yav ke=N k1

d) Modeling Machine Resting on N-Beams by Equivalent Spring

Base (mb , Ab) Plate (AP)

Machine (m) F
ke
m
y

Loading Test Vibration Model

Rectangular base AxB m ke=(Ab /AP) kP
kP=Fav/ yav
Real Structure

e) Modeling Machine Foundation by Equivalent Spring

Fig. (4.5): Modeling Real Structures by Simple Vibration Model

In above examples, real structures of single degree of freedom are represented by a

simple mass-spring system. In case (a) and (b) many springs may be represented by one
spring of equivalent stiffness. In case (c), water elevated tank or guard tower supported
by cantilever N-columns can be modeled by a mass-spring system of equivalent stiffness
ke. A loading test is carried on one column to obtain the column stiffness against
horizontal displacement. A horizontal force F is applied at the top of the column and the
displacement x is measured many times using different forces, then different values Fi
and the corresponding displacement xi can be obtained. Then, the average force Fav and
the average displacement xav can be calculated as:
N N

 Fi x i
Fav = i =1
, xav = i =1
N N (4.3)
Hence, the stiffness of the equivalent spring is obtained as:
F
ke = av (4.4)
xav
In case (d), machine vibrates in the vertical direction and similar procedures for loading
test in case (c) are carried out to obtain the equivalent stiffness of the vibration model.

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In case (e), a machine fitted with rectangular base with area (Ab= AxB m) fixed in the
ground is represented by mass-spring system. In that case a plate loading test with plate
of area Ap is carried out to obtain the plate stiffness kp. Then, the stiffness of the
equivalent spring can be calculated as:
A
ke = b k p (4.5)
Ap

Example (1):
A machine supported on a rectangular base (2x3 m). The base is fixed in a rocky layer.
To measure the system stiffness, a plate loading test is carried out in the site where the
machine will be fitted using circular plate of diameter 0.3 m. The data of the load test are:

F (N) 100 150 200 300

x (mm) 1.03 1.48 1.95 3.1
Calculate the system stiffness. Also, if the required stiffness of the system to control
vibration amplitude is 7200 kN/m, calculate L if a rectangular base (Lx2L m) to be used.

Base Circular Plate

Machine F
ke
m

0.3 m
2x3 m Vibration Model
Loading Test
ke=(Ab /AP) kP
Real Structure

Solution:

a) The system stiffness

Fav (  Fi / N ) F
kP = = = i

xav (  xi / N ) x i

 F = 750
i N , x i = 7.65 mm
750
 kP = -3
= 98.04x103 N / m = 98.04 kN/ms
7.65x10
Ab
ke = x kP
AP
(2 *3)
 ke = x 98.04 = 8321.9 kN/m
( * 0.32 / 4)

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b) The new base dimensions

Ab k
ke = x k P   Ab = e x AP
AP kP
7200
 Ab = x ( * 0.32 / 4) = 5.2 m 2
98.04
Ab = Lx2L =2L2  L = ( Ab / 2)0.5 = (5.2/2)0.5 = 1.611 m

5) TYPES OF VIBRATION
There are two main types of vibration, free vibration and forced vibration:
5.1) Free vibration
In free vibration, the system is disturbed from its equilibrium position by a given initial
energy and then vibrates under the action of its internal forces without any external
dynamic force. Example of free vibration is the vibration of a mass-spring system when it
is given an initial potential energy by displaced it from its equilibrium position and then
released. Also, another example of the free vibration is the vibration of a simple
pendulum if it is given an initial velocity (kinetic energy) in its equilibrium position, it
will vibrate about its equilibrium position.
The system response x(t) in free vibration is depending on the resistance of the system
forces to movement (resistance or friction which dissipates the initial energy given to the
system). There are two cases, undamped free vibration and damped free vibration.
Undamped Free Vibration
This is a theoretical case to introduce the mathematical treatment in a simple way. If no
resistance or friction is considered, then the system will keep the given initial given
energy without change (conservative system) and continue to vibrate due to the change
between kinetic energy and potential energy, theoretically to an infinite time as shown in
Fig. (4.6).

x(t)

ke
m
t

Vibration Model

Fig. (4.6): Undamped Free vibration

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Rigid Body Dynamics Ch. 4: Vibration

Damped Free Vibration

This is the real case, where the resistance or friction of the system is usually acting on the
system. The resistance or friction will do negative work on the system and cause
dissipation of the given initial energy. The system will vibrate with decreasing amplitude
until it rests again after a time depending on the value of the resistance of the system to
movement as shown in Fig. (4.7).
x(t)

ke
t m
R

Vibration Model

Fig. (4.7): Damped Free Vibration

5.2) Forced vibration

In the forced vibration, there are external dynamic force (excitation) acting on the system
and forced it to vibrate. Similar to free vibration, there are two types of forced vibration
based on the neglecting or considering the system resistance to movement.
Undamped Forced Vibration
Neglecting the system resistance to movement will simplify the mathematical treatment
and produce approximate solution. In this case, the system will vibrate under the action of
the external dynamic force (excitation) with constant amplitude as shown in Fig. (4.8).
x(t)
F(t)

ke
m
t

Vibration Model

Fig. (4.8): Undamped Forced Vibration

Damped Forced Vibration

In real structures, when the system resistance to motion is considered the mathematical
solution becomes more difficult but the obtained solution will be accurate. In this case,
the system will vibrate with variable amplitude as shown in Fig. (4.9).

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x(t)
F(t)
ke
t m
R

Vibration Model

Transient state Steady state

Fig. (4.9): Damped Forced Vibration

6) UNDAMPED FREE VIBRATIONS x(t)

The undamped free vibration model is shown in Fig. (4.10). ke
To study the system motion, assume the block is at a m
distance x from its equilibrium position , derive the equation
Fig. (4.10): Undamped
of motion and solve it to obtain the response x (t ) , the
Free Vibration
velocity x (t ) and the acceleration x (t ) of the block.

Equations of motion:

Since the block has a rectilinear translational motion, then its equations of motion reduces
to one equation in x-direction. Draw E.F.S and I.F.S as shown, the equation of motion is:

Equil. Pos. Equil. Pos.

x x

kex mx

External Force System Inertia Force System

Fig. (4.11): Mechanical Model of Undamped Free Vibration

Equations of motion:
(4.5)
→ − k e x = mx

Rearrange the terms and divide by m then;

k 
x +  e x = 0
m 
ke
let: n2 = (n is called the natural frequncy)
m
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Substitute in the above equation, the equation of motion can be obtained in the standard
form as:

x + n2 x = 0 (4.6)
According to the theory of differential equations, Eq. (4.6) is a homogeneous linear
differential equation (D.E.) of the second order and its general solution may be obtained
by different methods.
The solution of a D.E. means obtaining a function x(t) that satisfies the equation. By
inspection of Eq. (4.6), one can think that the sine or cosine function may be a solution
the equation, as these functions when differentiating twice give the same function.
Trying sin (nt) or cos (nt) by substituting it into Eq.(4.6), one can find that these
functions satisfy the equation, then it may consider a solution. According to Theory of
D.E's, the general solution is a superposition of the two functions, then:
x (t ) = C1 sin(nt ) + C 2 cos(nt ) (4.7)

where C1 and C2 are constants obtained from the initial conditions of the motion. The
initial condition for the given problem are only two cases:
Case (1):
Displacing the block a distance A m from the equilibrium position and then released, then
the initial conditions are: at t=0, x=A and vO=0, substitute into Eq. (4.7):
A = C 1 sin(0) + C 2 cos(0)   C 2 = A m
Substituteagain in Eq.(3):
 x (t ) = C 1 sin(nt ) + A cos(nt ) (4.8)
Differentiate Eq. (4.8) with respect to time (t) and substitute by the initial conditions:
x (t ) = C 1n cos(nt ) − A n sin(nt )
At t = 0 , x = 0   0 = C 1 n cos(0) − 0 (4.9)
 C 1 n = 0  n  0   C 1 = 0
Substitute by constants C1 and C2 in Eq. (4.7), the displacement of the RB as a function
of time (t), the velocity and the acceleration are obtained as:
x (t ) = A cos(nt ) (4.10)
x (t ) = − A n sin(nt ) (4.11)
x (t ) = − A  cos(nt )
2
n (4.12)

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Case (2):
Giving the block an initial velocity vO from its equilibrium position, then the initial
conditions are ; at t=0, x=0 and x = vO, substitute in Eq. (4.7):
0 = C 1 sin(0) + C 2 cos(0)   C 2 = 0 m
Substituteagain into Eq.(4.7), the response of the block is obtained as:
 x (t ) = C 1 sin(nt ) (4.13)
Differentiate Eq. (4.13) with respect to time (t) and substitute by the initial conditions:
x (t ) = C 1n cos(nt )
vO
v O = C 1 n cos(0)  C 1 =
n
Substitute by constants C1 in Eq. (4.13), the displacement of the RB as a function of time
(t), the velocity and the acceleration are obtained as:

v 
x (t ) =  O  sin(nt ) (4.14)
 n 
x (t ) = − A n cos(nt ) (4.15)
x (t ) = − A n2 sin(nt ) (4.16)
The characteristics of the machine vibration are defined by:

ke
The natural circular frequncy n =
m
n
The vibration frequncy: F = Hz ( cicle/sec)
2
1 2
The periodical time T = = sec/cicle (4.17)
F n

6.1) EXAMPLES OF UNDAMPED FREE VIBRATIONS

Example (2):
A machine (m=100 kg) supported by connecting it to a wall
k1
with three springs k1= 12 kN/m, k2= 6 kN/m and k3= 4
kN/m as shown. The machine is mounted on two smooth k2 k3 m
rollers to eliminate the friction with the floor. If the
machine is displaced by 10 cm to the right and then
Real Problem
released, study the subsequent motion.

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Solution:
Since the machine moves only in the horizontal
ke
direction, it has one degree of freedom and its motion is m
totally described by x , x and x . The machine can be
represented dynamically by a mass-spring system
Vibration Model
(vibration model) as shown, where:
kk 6000* 4000
ke = k1 + 2 3   ke = 12000 + = 12000 + 2400
k2 + k3 6000 + 4000
= 14400 N / m = 14.4 kN / m

According to the above analysis, the equation of motion of the machine is given by:
 x + 144 x = 0
14400
 n2 = = 144   n =12 sec-1 (1)
100
According to case (a), Eq. (4.10 - 4.13):
The response of the machine, the velocity and the acceleration as functions of time are
given by:
x(t ) = A cos(12 t ) = 0.1cos(12 t ) (2)
x(t ) = −1.2sin(12 t ) (3)
x(t ) = −14.4n2 cos(12 t ) (4)
The characteristics of the machine vibration are defined by:
The natural circular frequncy n = 12 sec−1
n 12
The vibration frequncy: F = = = 1.91 Hz = 1.91cicle/sec
2 2
1 2
The periodical time: T = = = 0.524 sec/cicle
F n
Also, the maximum displacement of the machine (vibration amplitude), the maximum
velocity and the maximum acceleration are:
x max (the amplitude) = 0.1 m;
v max = x max = 1.2 m/sec ;
x max = 14.4 m/sec 2

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7) UNDAMPED FOCED VIBRATIONS

To study the undamped forced vibration, we assume a ke FO(t)
m
harmonic force acting on the system, then the vibration
model will be as shown in Fig. (4.11). To describe the
system motion, assume the block in a general position,
Vibration Model
i.e. at a distance x from its equilibrium position. Then,
drive the equation of motion and solve it to obtain the Fig. (4.11): Undamped
Forced Vibration
block response x (t ) , the velocity x (t ) and the
acceleration x (t ) .

Equations of motion:
The harmonic force is:
F (t ) = FO sin t (4.18)
Since the block has a rectilinear translational motion, then, its equations of motion
reduced to one equation in x-direction and the E.F.S and I.F.S are as shown.

Equil. Pos. Equil. Pos.

x x

kex FO(t) mx

External Force System Inertia Force System

Fig. (4.12): Mechanical Model of Undamped Forced Vibration

The equation of motion is:

→ FO (t ) − ke x = mx (4.19)
Substitute Eq. (4.18) into Eq. (4.19):
 FO sin(t ) − ke x = mx
ke
Rearrange the terms, divide by m and put n2 = , then the standard form of equation of
m
motion is obtained as:
FO
x + n2 x = sin(t ) (4.20)
m
Equation (4.20) is a nonhomogeneous linear differential equation of second order.
According to the theory of differential equation, the general solution is given by:
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x(t ) = xh (t ) + xP (t ) (4.21)
where:
xh (t ) is the solution of the homogeneous part of the equation, and;
xP (t ) is called the particular solution.
The homogeneous part is:
x + n2 x = 0 (4.22)
The solution of the homogeneous part is:
xh (t ) = C1 sin(nt ) + C2 cos(nt ) (4.23)
where C1 and C2 are constants obtained from the initial conditions of the motion.
Although the damping is always exists in real system, it was neglected to simplify the
mathematical treatment, but actually this part will die out with time. Therefore, the
homogeneous solution xh(t) will be neglected.
The particular solution is assumed as:
xP (t ) = C3 sin( t ) (4.24)
where : C3 is a constant obtained such that Eq. (4.24) satisfies Eq. (4.20). Substituting
(4.24) into (4.20):
F
 −  2C 3 sin(t ) + n2 C 3 sin(t ) = O sin(t )
m
 F 
sin(t ) C 3 (n2 −  2 ) − O 
 m

sin(t )  0  C 3 (n2 −  2 ) − O = 0
F
m
F 1 FO 1
C 3 = O = =  S  MF (4.25)
m (n2 −  2 ) m n     2 
2

1 −   
  n  
 
F F 1 
where:  S = O 2 = O , MF = and r =
m n k e 1− r 2
n
 S is called the static dispalacement, MF is the magnification facor and r is the ferquency ratio.
Then, the response, the velocity and the acceleration are obtained as:
x (t ) = x P (t ) =  S  MF .sin(t ) (4.26)
x (t ) = x P (t ) =  S  MF .  cos(t ) (4.27)
x (t ) = x P (t ) = − S  MF . 2 sin(t ) (4.28)

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Then, vibration amplitude of vibration xmax= S . MF. The value of xmax depends on the
value of the magnification factor MF, so it is important to study the variation of MF with
the frequency ratio r. The following chart shows the variation of MF with r.

30
MF Magnification Factor
20

10

0
0 0.5 1 1.5 2 2.5 3
-10

-20

-30
r Frequency Ratio

Fig. (4.13): MF –r Chart

From the MF-r chart, we can conclude the following:

For r =1 → MF =  → x =  i.e. the system will be destroid (prohibted r )
For 0<r  1 → MF = + ve, MF  1 (not recommended for design)
For 1<r  2 → MF = − ve, MF  1 (not recommended for design)
For r > 2 → MF = − ve, MF  1 (recommended range for design)

Example (4.3):
A machine (m=100 kg) connected to a wall by three
springs k1= 12 kN/m, k2= 6 kN/m and k3= 4 kN/m as k1
shown. The machine operation produces a harmonic k2 k3 m
dynamic force given by F(t)= 500 sin(14t), find the
vibration amplitude. Also find the additional mass
Real Problem
required to decrease the vibration amplitude by 40%

Solution:

A) The vibration amplitude:

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The machine moves in the horizontal direction and its ke FO(t)

m
motion can be represented by the opposite vibration
model, where:
Vibration Model

k2 k3 6000* 4000
ke = k1 +   ke = 12000 + = 12000 + 2400
k2 + k3 6000 + 4000
= 14400 N / m = 14.4 kN / m
The equation of motion of the machine is given by:
F
 x + 144 x = O sin(14t )
ke
where:
14400
 n = = 12 , FO = 500 and  = 14 (1)
100
 14 F 500
r= = = 1.1667 ,  S = O = = 0.03472 m = 34.72 mm
n 12 k e 14400

According to Eq. (4.26 - 4.28):

The response of the machine, the velocity and the acceleration as functions of time due to
the dynamic force are given by:
x(t ) =  S .MF .sin(14 t ) = 34.72 (2.77)sin(14t ) = 96.15 sin(14t ) mm
x(t ) = 1.346 cos(14t ) m / sec
x(t ) = 18.85 sin(14t ) m / sec 2
The maximum displacement of the machine (vibration amplitude), the maximum velocity
and the maximum acceleration are:
xmax (the amplitude) = 0.0962 m;
vmax = xmax = 1.346 m/sec ;
xmax = 18.84 m/sec 2

B) The additional mass to decrease the vibration amplitude

To decrease the amplitude by 40%, then xmax new will be equal 60% xmax of case (1):
xmax 2 = 0.6 xmax 1   ( S .MF )2 = 0.6 ( S .MF )1
1 0.6
As  S 1 =  S   MF2 = 0.6 MF2   =
2
1 − r2 1 − r12
2

0.5
1 − r12  r12 1   14
r2
2
= 1-  r2 =  +1−  = 1.266  n 2 = = = 11.062
0.6  0.6 0.6  r2 1.266

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ke 14400
m2 = = = 117.69 kg   m = m2 − m1 = 117.69 − 100 = 17.69 kg
 2
n (11.062) 2
The additional mass required to decreases the vibration amplitude by 40% is 17.69 kg.

8) DAMPED FREE VIBRATIONS

The forces cause damping of vibration may be the friction between moving dry contact
surfaces which called the dry damping or the resistance of fluids as air, water and oil to
the moving bodies in it which called the viscous damping. The viscous damping is the
common case in most engineering application where the oil is always added between
contact surfaces to minimize the energy loss and surfaces erosion.

Damper or Dashpot:

The dampers (or Dashpots) as shown in the opposite

figure are elements fitted in cars and machines to
absorb shocks and decrease vibration. As a force F v
acting on the piston link, the oil in the front of the F
oil
piston moves to the back space through the slot
between the piston and the body of the damper and
resists the piston motion. Dashpot or damper
As the force F increases, the velocity of the piston v
increases, i.e.:
F  v   F =Cv Damping symbol
Fig. (4.14): Damping Element
where c is called the damping coefficeint.
F
C = N .sec/ m
v

Example (4.4):
To measure the damping coefficient of a dashpot, a force F is applied to the dashpot link
and the velocity of the link v is measured. The test is repeated many times and the
measured values of F and r are recorded. The average of the measured values are:
Fav = 25 N , vav = 2 cm / sec , calculate the damping coefficient.

Solution:

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Rigid Body Dynamics Ch. 4: Vibration

F 25
The damping coefficeint is given by: C = = = 1250 N .sec/ m
v 0.02
= 1.250 kN .sec/ m
The vibration model of damped free vibration:
The vibration model for damped free vibration is
ke
composed of a mass fitted with a spring and a dashpot
as shown in Fig. (4.15). To describe the system motion, c m
assume the block in a general position, i.e. at a distance
x from its equilibrium position. Then, drive the equation Vibration Model
of motion and solve it to obtain the block response x (t ) Fig. (4.15): damped Free
, the velocity x (t ) and the acceleration x (t ) . Vibration

Equations of motion:

Equil. Pos. Equil. Pos.

x x
kex mx

cx
External Force System Inertia Force System

Fig. (4.16): Mechanical Model of Damped Free Vibration

The equation of motion is:

→ − C x − ke x = mx
ke
Rearrange the terms, divide by m and put n2 = , then the standard form of equation of
m
motion is obtained as:
C
x+ x + n2 x = 0 (4.29)
m
Equation (4.29) is a linear differential equation of second order. According to the theory
of differential equation, the general solution of Eq. (4.29) is given by:
x(t ) = Ae−t (4.30)
where A and  are constants obtained such that Eq. (4.30) satisfies Eq. (4.29).

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Rigid Body Dynamics Ch. 4: Vibration

It should be noted that, the variation of the exponential function e − t with time for real
values of the constant  will decrease exponentially with time as shown in Fig.(4.13-a),
i.e. the block will not vibrate. While, for complex value of the constant  the variation of
e− t with time will be as shown in Fig.(4.13-b) which means that the block will vibrate.

0.8

0.6
e − t
0.4

0.2

0
0 0.5 1 1.5 2

Time (t)

a)  - Complex
1

0.5
− t
e
0
0 5 10 15 20

-0.5

-1

Time (t)
b)  - Complex

Fig. (4.17): Variation of Exponential Function with time

for Different Values of ()

To obtain , substituting (4.30) into (4.29):

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Rigid Body Dynamics Ch. 4: Vibration

C
 2 Ae − t −  Ae − t + n2  2 Ae − t = 0
m
 C 
Ae − t   2 −  + n2  = 0
 m 
As: Ae − t  0
C
  2 −  + n2 = 0 (4.31)
m
Equation (4.31) is called the characteristic equation of the system, whose solution will
describe the type of the system motion. The values of  are given as:
2
 C 
2
C  C  C
 1 =    − n2 =  n  2 
−1
2
2m  2m  2m  2mn 
C
Put : Cc = 2mn2 and D = , then:
Cc

C
 1 =  n D 2 − 1 (4.32)
2
2m
Where: CC is called the critical damping coefficient and D is called the damping ratio.
The roots  are depending on the value of the damping ratio D. There are three cases:
Case(1): System with Critical Damping Ratio (D=1)
In this case, the roots are real and equal (repeated roots), which mean that the system will
not vibrate, and the response will as the case (a) of Fig. (4.13). The roots are:
C
 1 = (4.33)
2
2m
and the response x(t) will be:
C
− t
x(t ) = ( A1 + A2t ) e 2m
(4.34)

Physically, that means the force produced by the dashpot is just equal to the force of the
spring and the block will lose its initial energy in one cycle.
Case (2): System with Over Damping Ratio, (D>1)
In this case, the roots are real but different, which also mean that the system will not
vibrate, and the response will as the case (a) of Fig. (4.13). The roots are:
C
 1 =  n D 2 − 1 (4.35)
2
2m

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Rigid Body Dynamics Ch. 4: Vibration

and the response x(t) will be:

− 1t
x(t ) = Ae
1 + A2e−2t (4.36)
Case (3): System with Under Damping Ratio, (D<1)
In this case, the roots are complex and different, which mean that the system will vibrate,
and the response will as the case (b) of Fig. (4.13). The roots will be:
C
 1 =  in 1 − D 2 , i = −1
2
2m
put:  D = n 1 − D 2
C
then: 1 =  iD (4.37)
2
2m
where: D is called the natural damped frequency. The response x(t) will be:
C

( Ae )
− t
iD
x(t ) = e 2m
1 + A2e −i  D (4.38)

Using Euler’s identity:

ei  = cos + i sin  (4.39)
Then, the response may be expressed as:
C
−
( B1 sin( D t ) + B2 cos( D t ) )
t
x(t ) = e 2m
(4.40)

Where B1 and B2 are constants obtained from the initial conditions.

Example (4.4):
A block (m=100 kg) is connected to a wall by three
springs k1= 12 kN/m, k2= 6 kN/m and k3= 4 kN/m and k1
dashpot with damping coefficient C=0.48 kN.sec/m, as k2 k3
shown. The block is displaced by 10 cm to the right then
m
released to move, study the subsequent motion of the C
block. How many dashpots required to prevent free
vibration

Solution:

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Rigid Body Dynamics Ch. 4: Vibration

A) The vibration model:

The block vibration model will be as shown in the
opposite vibration model, where:
ke
kk 14400
ke = k1 + 2 3 = 14.4 kN / m, n = = 12 c m
k2 + k3 100
Cc = 2 m n = 2 * (100) *12 = 2400
C 480 Vibration Model
D= = = 0.2
Cc 2400
The system is a system with under damping ratio, then the system will vibrate with
circular frequency:
D = D 1 − D2 = 12 1 − 0.22 = 11.76
To prevent free vibration D 1:
Then:
C e  C c  NC 1  C c where C 1 is the damping coefficient of one dashpot
C c 2400
N    5 , then the number of dashpots to prevent free vibration : N = 5
C 1 480

9) DAMPED FOCED VIBRATIONS

To study the damped forced vibration, we assume a
ke
harmonic force acting on the system. The vibration F(t)
model will be as shown in Fig. (4.14). To analyze the m
C
system motion, assume the block in a general position,
i.e. at a distance x from its equilibrium position. Then,
Fig. (4.18): Undamped
drive the equation of motion and solve it to obtain the Forced Vibration
block response x (t ) , the velocity x (t ) and the
acceleration x (t ) .

Equations of motion:
The harmonic force is:
F (t ) = FO sin t (4.41)

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Rigid Body Dynamics Ch. 4: Vibration

Equil. Pos. Equil. Pos.

x x
kex F(t) mx

cx
External Force System Inertia Force System

Fig. (4.19): Mechanical Model of Damped Forced Vibration

The equation of motion is:

→ FO (t ) − Cx − k e x = mx (4.42)
Substitute Eq. (4.41) into Eq. (4.42):
 FO sin(t ) − Cx − ke x = mx
ke
Rearrange the terms, divide by m and put n2 = , then the standard form of equation of
m
motion is obtained as:
C F
x+ x + n2 x = O sin(t ) (4.42)
m m
Equation (4.42) is a nonhomogeneous linear differential equation of second order.
According to the theory of differential equation, the general solution is given by:
x (t ) = x h (t ) + x P (t ) (4.43)
where:
x h (t ) is the solution of the homogeneous part of the equation.
x P (t ) is called the particular solution.
The homogeneous part will die out with time, hence it will be neglected.
The particular solution is assumed as:
x P (t ) = C 3 sin(t −  ) (4.44)
where: C3 and  are constants obtained such that Eq. (4.44) satisfies Eq. (4.42).
Substituting (4.44) into (4.42):
C F
 − 2C 3 sin(t −  ) + C 3 cos(t −  ) + n2 C 3 sin(t −  ) = O sin(t ) (4.45)
m m
There are different methods to obtain C3 and  form Eq. (4.45), one of them is substitute
by two values of t to obtain two equation in C3 and  as follow:
Assume Ωt-=0, substitute into Eq. (4.45), then:
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Rigid Body Dynamics Ch. 4: Vibration

C F
 C 3 = O sin(t ) (4.46)
m m
Also, assume Ωt-=/2 and substitute in Eq. (45), then:
 F
C 3 (n2 − 2 ) = O sin( + ) = O cos( )
F
(4.47)
m 2 m
Solving Eq. (4.46) and Eq. (4.47) for C3 and :
Dividing the two equation:
C sin( )
= = tan 
m (n −  ) cos( )
2 2

C C 2rD
tan  = = =
m (n2 − 2 ) m n2 (1 − r 2 ) 1 − r
2

 2rD 
  = tan −1  2 
(4.48)
1− r 
 is called the phase angle, which the angle between the acting load F(t) and the system
response x(t).

Squaring the two equation and adding result in:

F2 F2
C 32 (n2 − 2 )2 + 2 2C 32 = O2 ( sin 2 ( ) + cos2 ( ) ) = O2
C2
m m m
2 2
F 1 FO 1
 C 32 = O2 =
m  2 2C 2  m n  22C 2 
2 4

 n −  2 2
+ − 2 2
+
m 2   2n4 m 2 
( ) (1 r )
 
FO2 1 FO2 1
 C 32 = =
ke  22C 2  k e (1 − r 2 ) 2 + ( 2r D )2 
2 2

 (1 − r 2 2
) + 2 2   
  n C 
C
S
 C3 = (4.49)
(1 − r ) + ( 2r D )
2 2 2

Substituting Eq.(4.49) into Eq. (4.43), the responsex (t )is obtained as:
x (t ) =  S .MF .sin(t −  ) (4.49)
where the magnification factor MF is defined as
1
MF = (4.50)
(1 − r 2 ) 2 + ( 2r D )
2

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Rigid Body Dynamics Ch. 4: Vibration

The variation of the magnification factor (MF) and phase angle () with the frequency
ratio r and the damping ratio D () for the case of damped forced vibration is shown in
Fig. (4.20).
MF
 -Degrees

Frequency Ratio ( r )
Fig. (4.20): The variation of the magnification factor (MF)
and phase angle ()

The velocity and acceleration of the system are obtained as:

x (t ) = x P (t ) =  S  MF .  cos(t −  ) (4.51)
x (t ) = x P (t ) = − S  MF . 2 sin(t −  ) (4.52)
Then, vibration amplitude of vibration xmax= S . MF
Example (4.5):
A machine (m=100 kg) connected to a wall by three
k1
springs (k1= 12 kN/m, k2= 6 kN/m and k3= 4 kN/m) and
dashpot (C1 = 0.48 kN.sec/m) as shown. The machine k2 k3 F(t)
operation produces a harmonic dynamic force given by m
C
F(t)= 500 sin(14t), calculate the undamped and damped
vibration amplitude.

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Rigid Body Dynamics Ch. 4: Vibration

Solution:

A) The vibration Model: ke

F(t)
The machine can be represented by the opposite C m
vibration model, where:

The equivalent stiffness:

k k
ke = k1 + 2 3
k2 + k3
6000* 4000
 k e = 12000 + = 12000 + 2400 = 14400 N / m = 14.4 kN / m
6000 + 4000
The equation of motion of the machine is given by:
 x + 4.8 x + 144 x = 5sin(14t )
FO = 500 and  = 14
14400  14
n = = 12  r = = = 1.1667
100 n 12
FO 500
S = = = 0.03472 m = 34.72 mm
k e 14400
The critical damping and damping ratio:
C1 480
C C = 2m n = 2 *100 *12 = 2400 , D = = = 0.2
C C 2400
The magnification factors:
1 1
MF = = = 2.77
undamped
1− r 2
1 − 1.1667 2
1 1
MF = = = 1.695
(1 − r ) + ( 2r D ) (1 − 1.1667 ) + ( 2 *1.1667 * 0.2 )
damped 2 2 2 2 2 2

The vibration amplitude:

x max =  S .MF
 x max undamped
= 2.77 *34.72 = 96.17 mm
 x max damped
= 1.695*34.72 = 58.85 mm

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Rigid Body Dynamics Ch. 4: Vibration

Exercise 4

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Rigid Body Dynamics Ch. 4: Vibration

Exercise 4
g = 10 m/sec 2
Problem No. (1): The shown square plate (m kg, L
A
m) is hinged at A and rest in equilibrium position.
The plate is displaced from the equilibrium position
with small angle  o and released.
L m
Choose the correct answers:
m kg L m 
Data
10 1.5 8
No Required A B C D
1 Type of plate motion G.P.M N.C.R.M T.M C.R.M
2 Polar Moment of Inertia IA (kg.m2) 18.29 15.00 27.31 40.00
3 Natural Circular Freq.  n (rad/sec) 2.66 2.30 2.75 2.57
4 Periodical Time t (sec/cycle) 2.44 2.73 2.36 2.28
5 Angular velocity at  = 0 (rad/sec) 0.480 0.371 0.402 0.315
6 Vertical Reaction at  = 0 (N) 153.43 143.20 161.79 101.46
7 Horizontal Reaction at =0 (N) 12 0.00 50.23 200.00
8 Approx. Error in  Calculations % 0.47 0.51 0.33 0.25
Problem No.(2): The shown system is consists of a A
uniform rod AB (m kg, L m) and a particle B (m kg).
The system is displaced from the equilibrium position Lm

with small angle  o, then released.

B
Choose the correct answers.
m kg L m 
Data
15 3 5
No Required A B C D
9 Type of motion G.P.M T.M R.T.M N. C.R.M
10 The dist. between A and G - AG (m) 2.250 3.000 3.375 2.025
11 Polar Moment of Inertia IA (kg.m2) 324.00 170.67 180.00 97.20
12 Natural Circular Freq.  n (rad/sec) 2.041 1.369 1.677 1.581
13 Periodical Time t (sec/cycle) 3.078 3.747 3.974 4.589
14 Angular velocity at  = 0 (rad/sec) 0.178 0.138 0.119 0.146
Problem No.(3): The shown guard tower with
cabinet of mass m is supported over N steel light m
cantilever columns. The loading test of a column by a
horizontal force P applied at its top causes
displacement of X mm.

Choose the correct answers.

m kg N P N X mm
Data
900 6 80 2
No Required A B C D
15 The horiz. stiff. of each col. k1 (kN/m) 19.23 40.00 10.00 16.67
16 The horiz. stiff. of the sys. ke (kN/m) 240.00 70.00 115.38 83.33
17 Natural Circular Freq.  n (rad/sec) 17.25 19.61 16.33 14.35

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Rigid Body Dynamics Ch. 4: Vibration

Problem No.(4): A machine of mass m kg, is fixed

at the center of two simply supported steel beams of
rectangular cross section (bxt cm) and length of L m.
m
The deflection at the beam center is given by:
X = PL^3/48EI , Es=2100 t/cm2 , I=Area M.I. =AL^2/12
Lm
Choose the correct answers :
m kg L m b cm t cm
Data
2000 4 6 12
No Required A B C D
18 The vert. stiff. of each beam k1 (kN/m) 1034.00 141.75 921.98 1360.80
19 The vert. stiff. of the system ke (kN/m) 2721.60 1843.97 2068.00 283.50
20 The natural freq. of the system (F) Hz 5.58 5.12 5.87 2.45
Problem No.(5): A machine of mass m, is supported
by 2 springs each of stiffness k1 and 2 dashpots. m
The dashpot moves by a velocity of v due to the
application of a force P.

Choose the correct answers:

m kg k1 kN/m v cm/sec P N
Data
1500 160 2 100
No Required A B C D
21 Natural Circular Freq.  n (rad/sec) 20.00 14.61 11.38 18.26
22 Critical damping (kN.sec/m) 43.82 80.00 54.77 45.54
23 Damping ratio D 0.176 0.228 0.150 0.274
24 Damped frequency  d (rad/sec) 17.56 11.21 14.22 19.77
25 Min. No.
Problem of dashpots
No.(6): to prevent
The shown blockVibration 14
m is connected 12 8 9
by four springs each of stiffness k and acted upon by F(t)
a dynamic force given by: k1

k1 k1
m
k1
F(t)= Fo sin ( t) N
Choose the correct answers:
m kg k kN/m Fo N 
Data
500 200 400 35
No Required A B C D
26 Stiffness of the system ke (kN/m) 375.00 750.00 550.00 500.00
27 Natural Circular Freq.  n (rad/sec) 35.36 27.39 31.62 26.22
28 Magnification Factor MF 4.44 1.58 3.57 3.24
29 Maximum block response X max (mm) 2.94 3.56 1.26 2.38
30 Add. mass to reduce resp. by 40% 61.22 87.50 N79 129.25
31 Spring stiff. to reduce resp. by 50% 55.00 152.00 216.00 155.00

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Rigid Body Dynamics Ch. 4: Vibration

Problem No.(7): A mechanism m is supported on a

light squire base LxL fixed in elastic ground as
shown. The operation of the machine produces a
dynamic vertical load given by:
F(t)
F(t)=Fo sin ( t) N m
The plate loading test using a force P=270 N
measures average deflection of 3mm under plate
(30x30 cm).
Choose the correct answers:
m kg L m Fo N 
Data
800 2 400 85
No Required A B C D
32 Stiffness of the system ke (kN/m) 2592.59 2518.52 4000.00 1407.41
33 Natural Circular Freq.  n (rad/sec) 44.02 70.71 41.94 40.25
34 Magnification Factor MF 2.25 1.84 2.38 3.44
35 Max. vertical response X max (mm) 1.09 0.84 0.71 0.22
36 Base mass to reduce resp. by 30% 101.59 125.40 105.59 241.27
37 Base area to reduce resp. by 60% 0.74 1.33 2.26 1.47
Problem No. (8): An electric generator m1 is
supported on a base m2. The base is fixed in the
m1
ground by 8 springs each of k1 and 4 dashpots each
of damping factor C1. The operation of the generator
produces a vertical dynamic force of: m2

F(t)= Fo sin ( t) N
Choose the correct answers in the following two cases:

Case (1): the dashpots are removed and the base

mass m2 is chosen to make MF=0.5.
Case(2): m2 = 500 kg and the dashpot damping
factor C1 is chosen to make MF=0.3.
m1 kg k1 kN/m Fo N 
Data
1200 52.08333 300 25
No Required A B C D
Case (1)
38 Stiffness of the system ke (kN/m) 2040.00 416.67 2613.33 720.00
39 Natural Circular Freq.  n (rad/sec) 17.32 40.41 14.43 34.64
40 Base mass (kg) 900.00 800.00 1200.00 850.00
41 Max. vertical response X max (mm) 0.0383 0.2083 0.0980 0.3600
Case (2)
42 Natural Circular Freq.  n (rad/sec) 38.87 15.66 20.58 46.67
43 Damp. Fact. of dashpot (kN.sec/m) 12.30 7.91 6.45 4.29
44 Minimum C1 .to stop free vib. 17.49 26.24 13.31 28.00

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Rigid Body Dynamics Ch. 5: Impulse and Impact

Chapter (5)
The study the Rigid Body Motion
Using the Momentum and Impulse
Principles

Faculty of Engineering - Cairo University – D. Mohamed Taha

Rigid Body Dynamics Ch. 5: Impulse and Impact

Chapter (5): The study the Rigid Body Motion

Using the Momentum and Impulse Principles
1) INTRODUCTION
In this chapter, the plane motion of a rigid body using momentum and impulse principles
is to be illustrated. First, the definitions of momentum, impulse and impulsive forces are
introduced. Then the principles of momentum and impulse are driven. The application of
the impulse-momentum principles will be divided into two parts:
• Impulse-Momentum Equations: the study of rigid body motion under the action of
ordinary forces which can be studied using equations of motion or energy
principles, but its study with impulse-momentum principles is easier.
• Impact Equations: the study of the rigid body motion under the action of impulsive
forces which act during a very short time. In this case neither the equations of
motion nor the energy principles can be used properly.
A group of practical examples are solved to discuss how these principles are used to deal
with problems of the plane motion of rigid body which subjected to ordinary forces or
impulsive forces or sudden huge blows.
2) DEFINITIONS
2.1) The linear Momentum:
m v
Particle: The linear momentum P of a particle of
mass m and velocity v is defined as: P
P = mv (6.1) Fig.(6.1)

Rigid Body: The linear momentum P of a rigid vi

body is defined as the sum of the linear mi
momentum of its particles, i.e.;
P =  mi v i G vG
From the definition of the mass center "G":

rG =  =
mi r i mi r i
→ m r G =  m i r i Fig.(6.2)
m i m
Bydifferentiation w.r.to time :
 mv G =  m i v i

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Rigid Body Dynamics Ch. 5: Impulse and Impact

Sub. into above equation, then:

P = mv G (6.2)

where m is the mass of the rigid body and vG is

the velocity of its mass-center G.

2.2) The angular Momentum: P

Particle: The angular momentum of a particle

of mass m and velocity v about a point O is
defined as the moment of its linear momentum
O
about that point, i.e.;
hO = r  P = r  mv Fig.(6.3)
(6.3)

Rigid Body: The angular momentum of a rigid body

about a point O is defined as the sum of the angular
momentum of its particles about O, i.e.;
h O =  r i  P i =  (r G + r iG )  m i v i
= r G   m i v i +  r iG  m (v G + v iG )
= r G  mv G + (  m i r iG ) v G +  m i r iG v iG
Pi
 m i r iG = 0 ; From the definitions of "G":
v iG =  riG and ⊥ to r iG
rG

The vectorial product of vectors is defined as:

 r iG v iG = (riG )( riG )sin(90) k
r iG v iG =  m i  riG2 k = (  m i riG2 )  k
O
m i

From the definitions of moment of inertai: Fig.(6.4)

I G =  m i riG2
  m i r iG v iG = I G  k

 hO = r G  mvG +  I G k (6.4)

where m is the mass of the rigid body, vG is the velocity of its mass-center G, IG is the
polar moment of inertia about G,  is the angular velocity of the R.B. and k is the unit
vector perpendicular to the plane of motion in sense of .

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Angular Momentum about G:

 hG = r GG  mvG +  IG k =  I G k (6.5)

Angular Momentum about I.C.:

 h IC = r GC  mvG +  I G k
vG =  rGC and ⊥ r GC , r GC  mvG =  mrGC
2
k , then:
h IC = (mrGC
2
+ I G )  k = I IC k

h IC = (mrGC
2
+ I G )  k = I IC k (6.6)

Important Notes:
1. The center of gravity of a rigid body “G ” is defined as:

rG =
 mi r i =  mi r i →  r G  m =  m r i →  m (r − rG ) = 0
 mi i i i i
m
  mi r iG = 0; m v i iG = 0 and m ai iG =0
2. The vectorial product of two vectors is given by:
c = a  b = ab sin  n , where n isa unit vector ⊥ to the plane of a and b
then: r iG  viG = r iG viG sin(90)k = (riG )(riG )k = riG2 k
3. The angular momentum is a vectorial quantity in the direction perpendicular to the
plane of motion. As its direction is always known, then it may be considered as scalar
quantity (as the moment of a force) and its direction is defined by c.w. or c.c.w.

EXAMPLE (6.1): r=2m



For the shown disc (m=20 kg, r=2m) which rolls on a vo

C
horizontal surface with =2 rad/sec (c.w.), calculate the
linear momentum and angular momentum about O.
O

SOLUTION:
The disc moves with a general plane motion with I.C. at O.
Linear momentum:

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Rigid Body Dynamics Ch. 5: Impulse and Impact

P = mvG = mr i = (20)(2)(2)i = 80i kg.m

Angular momentum about “O”:
As “O” is the instantaneous center of the disc, then:
hO = IO k or its magnitude is : hO =  IO (c.w.)
1 3
hO =  I O =  ( mr 2 + mr 2 ) = mr 2
2 2
3
= (20)(2) 2 (2) = 240 kg .m 2 (c .w .)
2

EXAMPLE (6.2): y

The shown rod (m=30 kg, L=4m) moves in a vertical A x

plane such that A slides on a vertical surface while B
moves on a horizontal surface. In the shown instant,
60
the velocity of B is 3 m/sec to the right. Calculate the
rod linear momentum and angular momentum about O O B
in the shown instant.

SOLUTION:
The rod moves with a general plane motion, the velocity relation is:

The velocity of G:
v B = v A + v BA ,
where :
v B = 3i , v A = −v A j A 
(
v BA =  (AB ) sin(60)i + cos(60) j ) vA
(
3i = −v A j +  (4) sin(60)i + cos(60) j ) 60
60 vBA

x − comp .: 3 =  (4)sin(60)
B vB
  = 0.866 rad / sec (c .c .w )
y − comp .: 0 = −v A + (0.866)(4)cos(60)
v A = 1.732 m / sec ()

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v +v 
v B = 3 i , v A = −1.732 j → vG =  A B 
 2 
 vG = 1.5 i − 0.866 j
Linear momentum:
A
P = mvG Py

 P = 30(1.5 i − 0.866 j ) = 45i − 25.98 j G Px

Angular momentum about “O”: 
The angular momentum of the AB about O is
given by: 60
O
 hO = r G  mvG +  I G k B

L L   30* 42 
hO =  cos(60)i + sin(60) j   (45i − 25.98 j ) + 0.866   (k )
2 2   12 
= −25.98k − 77.94k + 34.64 = −69.28k (-k means c.w.)
Another Solution:
The moment of the linear momentum equals the moment of its components about O, in
addition to the angular momentum of -term, then the total angular momentum about O
in the c.w. direction is given by:
L  L   30* 42 
hO = − Px  sin(60)  + Py  cos(60)  + 0.866  
2  2   12 
= −45(2)sin(60) + (−25.98)(2)cos(60) + 34.64 = −69.28 kg .m 2 / sec (c .c .w .)

F(t)
2.3 The linear Impulse:
The linear impulse S12 of a force F over a time interval
[t1, t2] is defined by: F(t)

t2
S 12 =  F dt (6.7) t1 t2
t1 t

Fig.(6.5)

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Linear impulse is a vector whose direction is the direction of the force F, and its
magnitude is represented by the area under the F-t curve between t1, and t2. The total
(resultant) linear impulse S12 of a set of forces is given as:
t2 t2
S 12 =  F i dt =  R dt
t1 t1
(6.8)
where: R =  Fi

EXAMPLE (6.3):
Calculate the magnitude of the linear impulse S12 for the following forces:
F(t) N F(t) N F(t) N
F=100 N F=400 N F(t)=50 sin(t)
F=50 N

t=
t=5 t=7 t=2 t=4 t (sec)
t (sec) t (sec)
(c)
(a) (b)

SOLUTION:
The magnitude of linear impulse is given by the area under F-t curve, then:
Case (a):
t2 7
S 12 =  F dt =  ( 100 ) dt = 100t 5 = 100( 7 − 5 ) = 200 N .sec
7
t1 5

Case (b):
2
t2 2 14
S 12 =  F dt =  200t dt +  400 dt = ( 200t 2 ) + 400t
4
2
t1 0 2 2 0

= 400 + (1600 − 800 ) = 1200 N .sec

Case (c):

S 12 =  F( t ) dt =  50 sin( t ) dt = −50cos( t ) 0 = −50 ( −1 − 1) = 100 N .sec
t2 
t1 0

2.4 The angular Impulse:

The angular impulse of a set of forces F1, F2,…FN about a point O over the time interval
[t1, t2] is defined as:

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Rigid Body Dynamics Ch. 5: Impulse and Impact

t 2 i =n
M 12 = 
O
t1
r  F
i =1
i i dt
(6.9)

3) THE IMPULSE - MOMENTUM THEOREMS:

The theorems of impulse and momentum are time integral forms of the equations of
motion.

3.1) Theorem (1):

“The linear impulse of the forces acting on a particle or a rigid body equals the
change in its linear momentum”

For a Particle:

Newton’s second law for a particle of mass m acted upon by a force F may be expressed
in the form

d
F= (mv )
dt

Integrating with respect to time from t = t1 to time t = t2:

t2 t2

 Fdt = 
t1 t1
d (mv )

 S 12 = m v (t 2 ) −v (t 1 )
(6.10)

For a Rigid body:

The linear momentum of a rigid body is defined as:

P = mv G

The equation of linear motion of a rigid body is given as:

dP d
R = F = = mv G
dt dt

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Integrating with respect to time from t = t1 to time t = t2, then:

t2 t2

 Rdt = 
t1 t1
d (mv G )

 S 12 = m v G (t 2 ) −v G (t1 )
(6.11)

3.2) Theorem (2)

“The angular impulse of the external forces acting on a rigid body about the
center of mass G or about a fixed point O over interval [t 1, t2] is equal to the
change of its angular momentum about G or about O respectively”

The angular momentum of a rigid body about a point O is

defined as:
h O =  r iO  P i =  r iO  m i v i
By differentiation with respect to time:
Pi
d hO r v
=  iO  m i v i +  r iO  m i i
dt dt dt
= v iO  m i v i +  r iO  m i a i
=  (v i − v O )  m i v i +  r iO  m i a i O

= v i  m i v i −v O  m i v i +  r iO  m i a i Fig.(6.6)

= v i  m i v i −v O   m i v i +  r iO  m i a i

v i  mi v i = 0 ; m v
i i = mv G ; and m i a i = F i ;
d hO
 = 0 + v O  mv G +  r iO  F i
dt
= v O  mv G +  r iO  F i
 d h O = (v O  mv G +  r iO  F i ) dt

By integration the two sides over the interval [t1,t2]::

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t2 t2 t2

d h O = −  (v O  mv G ) dt +  (  r iO  F i )dt
t1 t1 t1
t2

 h O (t 2 ) − h O (t 1 ) = M −  (v O  P ) dt
O
12
t1

t2

 M 12 = h O (t 2 ) − h O (t 1 ) + v O  Pdt
O

t1 (6.11)

Important Notes:
1) Fixed Point: If "O" is a fixed point, vO=0, then the principle of angular impulse -
angular momentum about "O" may be expressed as:
t2

= h O (t 2 ) − h O (t 1 ) +  0  Pdt = h O (t 2 ) − h O (t 1 )
O
M 12
t1

2) Center of Gravity G: By using Eq. (6.11) about center of gravity "G", the principle of
angular impulse - angular momentum may be expressed as:
t2 t2 t2

= h G (t 2 ) − h G (t 1 ) + v G  Pdt ; v  Pdt = v G  mv G dt = 0
G
M 12 G
t1 t1 t1

 M 12 = h G (t 2 ) − h G (t1 ) = I G (2 − 1 ) (k )

G

3.3) Summary "Equations of Momentum-Impulse":

Three equations of motion may be written to study the rigid body motion, two equations
obtained by summing and equating the x and y components of the acting forces impulses
and linear momentum, and the third by summing and equating the angular impulses and
angular momentum of the rigid body about its mass center G (or equivalently about a
fixed point O).

S 12 x = m v Gx (t 2 ) −v Gx (t 1 ) (1)

S 12 y
= m v Gy (t 2 ) −v Gy (t 1 )  (2)

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Rigid Body Dynamics Ch. 5: Impulse and Impact

M 12G = I G (2 − 1 ) (3)

Using these equations, the velocity of the mass center of the rigid body and its angular
velocity can be calculated at any time, if the forces acting on the rigid body are known.

EXAMPLE (6.4):
r=0.25 m
In the shown figure, two gears A (m=10 kg, r=0.25m, r=0.1 m

kA=0.2 m) and B (m=3 kg, r=0.1m, kA=0.08 m) starting

motion from rest under the action of a couple Q = 6 N.m. Q

Calculate: A B
a) the time required for B= 600 r.p.m
b) the number of rotations of the gear A during that time.
SOLUTION:
Kinematical condition:
When the gear B moves it will cause the gear A to move at a certain velocity depends on
the gear B velocity. In that case, the two gears are called kinematically dependent. In
other words, the velocity of the gear A may be obtained in terms of the velocity of the
gear B as follow:
The velocity of point of contact is:
v C = A rA = B rB
(1)
Differentiation and integration of Eq. (1) with respect to time, relations between
accelerations and rotations of the two gears can be obtained as follow:
 A rA =  B rB
(2)
A rA = B rB
(3)
Equations (1), (2) and (3) are called the kinematical conditions relates the motion
components of gear A to the motion components of the gear B.

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Rigid Body Dynamics Ch. 5: Impulse and Impact

Momentum - Impulse Equation for gear A:

r=0.25 m
The angular momentum-impulse equation (c.c.w) :
M 12G = I G (2 − 1 )
yA
t2

 F (0.25)dt = k
2
A m A ( A −0 ) = k A2 m A  A A xA N
t1

t2
(0.2) 2 (10) mA g F
 Fdt =
0
0.25
A = 1.6 A
(4)
Momentum - Impulse Equation for gear B:
The angular momentum-impulse equation (c.w.):
M 12G = I G (2 − 1 ) yB r=0.1 m
t2
F
 (Q − F (0.1) )dt
t1
= k B2 m B ( B −0 ) = k B2 m B  B
N Q xB
t2
B
 (Q − F (0.1) )dt = (0.08) (3) = 0.0192 B
2
B
0
m Bg
t2

 6t − 0.1 Fdt = 0.0192 B

0
(5)
Equations Solving:
Sub. Eq. (4) into Eq. (5):
 6t − 0.1(1.6A ) = 0.0192 B (6)
From the given data:
600 * 2 * 
B = 600r . p .m = ( ) = 62.832 rad / sec
60
From the kinematical condition:
0.1B 0.1(62.832)
A = = = 25.133
0.25 0.25
Sub. into Eq. (6), the time is obtained as:
0.0192 B + 0.1(1.6A )
t = = 0.871 sec
6
The rotations of gear A:
As the gears moves under the action of constant couple, then the accelerations are
constant, and the laws of motion with constant accelerations may be used:
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Rigid Body Dynamics Ch. 5: Impulse and Impact

A − 0 25.133
A t = A t =0 +  A t →  A = = = 28.85 rad / sec2
t 0.871
1 1
A t = A t =0
+  A t 2 →  A = 0 + (28.85)(0.871) = 12.563 rad = 2 revolutions.
2 2
EXAMPLE (6.5):
A bowling ball of mass (m=10 kg, r=0.1 m, IC= 0.4 mr2
r = 0.1 m
kg.m2), is thrown such that its center C has an initial
velocity 10 m/sec to the right and the ball has an initial o
angular velocity 5 rad/sec (c.cw.) as it touches the C vo
horizontal surface where =0.1. Calculate:
a) The time after which the ball begins to roll tS.
b) The distance covered by C during tS. O
c) The loss in the K.E. during tS.
d) The work of nonconservative forces during tS.
SOLUTION:
Let t1 = 0 when motion starts and t2 = tS when sliding stops, i.e. when the velocity of point
of contact of the ball with the horizontal surface, becomes zero (rolling means that
contact point O is the instantaneous center of the ball).
Let v1 and ω1 be the velocity of the mass-center C and the angular velocity of the ball at t
= ts respectively, then form rolling condition:
v1 = r ω1 (1)

o  1
C vo C v C v1
F= N mg

O O O
N
at t=0 at t at t=tS

During the sliding interval [0, ts], the forces acting on the ball are:
• The ball weight mg;
• The normal reaction N between the ball and the horizontal surface and;
• The friction force F = μ N in the shown direction since the ball slides on the
horizontal surface.
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The impulse-momentum equations:

In the x-direction:
S x = m vGx ( ts ) − vGx ( 0 )
tS

  ( − mg )dt = m( v1 − vo ) → −  gt s = v1 − vo (2)
0

In the y-direction:
S y = m vGy ( ts ) − vGy ( 0 )
tS

  ( N − mg )dt = m( 0 − 0 ) → N − mg = 0 → N = mg (3)
0

Moment equation about G:

M12G = IG ( ts ) − ( 0 )
tr
2
( c.w.)    N( r )dt = mr 2 1 − ( −o ) →  N t s = 0.4 mr( 1 + o ) (4)
0
5

Equations Solving:
Sub. (3) into (4);
 mg tS = 0.4 mr( 1 + o ) →  g tS = 0.4 r( 1 + o ) (5)
Sub. (1), (2) into (5);
 g tS = 0.4 r ( 1 + o ) = vo − v1 = vo − r1
0.4 ( 0.1 )( 5 + 1 ) = 10 − ( 0.1 )1 →  1 = 70 rad / sec
Sub. into (5);
0.4 r ( o + 1 ) 0.4 ( 0.1 )( 5 + 70 )
tS = = = 3 sec
g 0.1( 10 )
b) The covered distance by C:
Since the ball moves under the action of constant forces during tS, then its acceleration is
constant and the laws of linear motion by constant acceleration may be used:
v −v 7 − 10
v1 = vo + at → v1 = r1 = ( 0.1 )( 70 ) = 7 → a = 1 o = = −1
tS 3
1
x = vot + at 2 = ( 6 )* ( 3 ) + 0.5( −1 )( 3 )2 = 13.5 m
2

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Rigid Body Dynamics Ch. 5: Impulse and Impact

c) The loss in kinetic energy:

The type of the motion of the ball is general plane motion, then the k.E. is given by:
1 1
T1 = mvo2 + o2 I G = 0.5* 10 * ( 10 )2 + 0.5( 5 )2 ( 0.4 * 10 * ( 0.1 )2 ) = 500.5 Jouls
2 2
1 1
T2 = mv12 + 12 I G = 0.5* 10 * ( 6 )2 + 0.5( 70 )2 ( 0.4 * 10 * ( 0.1 )2 ) = 278 Jouls
2 2
  T = T1 − T2 = 500.5 − 278 = 222.5 Jouls
c) The work of nonconservative force:
The conservative forces acting on the ball are only the friction force and the conservative
force is the weight of the ball. As the conservative forces do no work, therefore the work
of the nonconservative force equals the work of all external forces; then:
T1 − T2 = W1−2 = 222.5 Joule

EXAMPLE (6.6):
r1 = 0.45 m
A wheel (m=60 kg, r=0.45 m and kG= 0.25 m) is pulled o
r2 = 0.225 m
by a force P which increased slowly according to P =6.5t
G F
N. If the horizontal surface is rough enough to prevent
sliding of the wheel and the wheel is rolling to the left
with a velocity of its center G of 0.9 m/s at t=0, determine O
the angular velocity of the wheel 10 s after P is applied.

SOLUTION
During the sliding interval [t=0, t=10 sec], the forces acting on the ball are:
• The wheel weight mg;
• Forces N and F between the wheel and the horizontal surface and;
• The pulling force P.
t1 = 0 t2 = 10s
x
o y 
vo G G v
P P
mg F mg
F

N N
Fig.5.2

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Rigid Body Dynamics Ch. 5: Impulse and Impact

The impulse-momentum equations:

In the x-direction:
S x = m vGx ( 10 ) − vGx ( 0 )
10 10
  ( 6.5t − F )dt = m v1 − ( −0.9 ) →  3.25 t 2 10
−  F dt = 60( v1 + 0.9 ) (1)
0
0 0

Note that : the initial velocity vo is to the left, i.e. in the negative direction of x.

In the y-direction:
S y = m vGy ( 10 ) − vGy ( 0 )
tS

  ( N − mg )dt = m( 0 − 0 ) → N − mg = 0 → N = mg (2)
0

Moment equation about G:

M12G = IG ( ts ) − ( 0 )
10
( c.c.w.)    6.5 t( 0.225 ) − F( 0.45 ) dt = kG2 m  −1 − o  → v = r  (rolling)
0
(3)
 v + 0.9 
10
− 0.45  Fdt = − ( 0.25 ) ( 60 )  1
10 2
3.25 ( 0.225 )t 0
0  0.45 
Note that : the initial angular velocity o is c.c.w, i.e. in the negative direction of the
angular momentum equation.

Equations Solving:
Sub. (1) into (3);
 v + 0.9 
− 0.45 3.25 t 2 − 60( v1 + 0.9 ) = −( 0.25 )2 ( 60 )  1
10 10
3.25 ( 0.225 )t 2
0  0   0.45 
73.125 + 27v1 − 121.95 = −8.333v1 − 7.5
1.17
 v1 = 1.17 m / sec → 1 = = 2.6 rad / sec
0.45
4) IMPACT PROBLEMS
In impact problems, very large forces (defined by impulsive forces) are acting on a rigid
body during a very short time interval and produce a definite change in its momentum.

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Rigid Body Dynamics Ch. 5: Impulse and Impact

The collided of two rigid bodies, and when a point on a moving rigid body is suddenly
forced to become fixed are examples of these problems. In such cases, the application of
equations of motion to solve the problem is difficult as the acting forces have variable
magnitude during the time of the impact. Also, during impact, the positions of different
points and bodies may be not changed, then the energy principles cannot be applied. In
such cases, the impulse-momentum principles are usually used with some simplifying
assumption that not affect the accuracy as illustrated in the following examples.
4.1) Impulsive forces
It is a force of a huge magnitude and is acting on the rigid body during a very short time.
The magnitude of impulsive force varies from zero to a maximum value, then decrease to
zero again during the time of impact. An average value of the impulsive force, Fav may
be obtained by dividing the force impulse by the time of the impact.
4.2) Impact Assumptions
a) Although the impulsive force has a huge (infinite) magnitude, but its impulse is finite
due its short action time:
t2

S 12 =  F imp dt  F imp av
t  Finite
t1

S 12
 F imp = = The average value of impulsive force.
av t
b) The impulsive forces appear in the following case:
▪ Between two colloidal rigid bodies.
▪ When a point in a moving body is suddenly stopped.
▪ When a rigid body received a strong blow.
c) Since the impact time is very short, then the impulse of ordinary forces as weight,
spring force and friction may be neglected without affecting the solution accuracy,
then the impulse acting on the system may be expressed by:
S 12  F imp t
All Forces (6.12)
and the impact of ordinary forces may be neglected.
d) During impact, the change in positions of different points and bodies may be slightly
changed, and the change in the position vectors may be neglected:

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 i=N 
t2 i=N t2 i= N
M 12 =    r iO  F i  dt = r iO   F i dt = r iO  F imp  t
O
(6.13)
t  i =1
1
 i =1 t 1
i =1

5) THE IMPACT THEOREMS:

5.1) Theorem (3)
“During impact, the linear impulse of impulsive force acting on a system equals
the change in its linear momentum.”

Proof
Theorem (1) states that the total linear impulse acting on a system equals the change in its
linear momentum:

S 12 = m vG (t2 ) − vG (t1 )

S12  S imp "from impact assumption" →  S imp = m vG (t2 ) − vG (t1 )

 S imp = m vG − vG 
a b

where “a” means after impact and “b” means before impact are replaced the times t1 and
t2 whose cannot be identified.
5.2) Theorem (4)
“During impact, the angular impulse of an impulsive force acting on a system
about a point “O” equals the moment of its linear momentum about the point.”

Proof
a a
=  r iO  F imp dt = r iO   F imp dt
O
M 12
b b

as the positions of different points are constant during impact (r iO is constant )

a
M = riO   F imp dt = riO  ( F imp  t ) = riO  S imp
O
12
b

This will simplify the calculations of angular impulse as it can be calculated from the
impulse of the impulsive forces directly.

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5.3) Theorem (5)

“During impact, the angular impulse of impulsive forces acting on a system
about a point “O” equals the change in its angular momentum about that point.”

Proof
Theorem (2) states that the relation between the angular impulse acting on a system about
a point “O” equals and its angular momentum about that point is given by:
t2

= hO (t2 ) − hO (t1 ) +  vO  Pdt r O is constant → vO = 0

O
M 12
t1

 M 12 = hO (t2 ) − hO (t1 )
O

 M 12 = riO  S imp = hO − hO
O a a

where “a” means after impact and “b” means before impact and S imp is impulse pf
impulsive forces.
5.4) Summary: Impact Equations
To solve the impact problems, the first step is the drawing of the impact figures in
different states as shown in Fig. (6.6), then the impact equation may be easily derived and
solved to get the unknowns. It should be noted that impact equations are 3-equations and
then can be used to calculate 3 unknowns.

b a
b a
v
Gy G
v Gy

b Sx a
G vGx G vGx
Sy

Before Impact Impulsive of impulsive forces After Impact

Figure (6.6): Impact Figures

The impact equations used to solve the impact problems are similar to the equations of
motion, but the forces are replaced by the impulse of impulses forces and summarized in
the following equations:

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Rigid Body Dynamics Ch. 5: Impulse and Impact

Simp = m vGx
a
− vGx
b
 (1)
x

Simp = m vGy
a
− vGy
b
 (2)
y

r O
 S imp = IO (Oa − Ob ) → or r G
 S imp = I G (Ga − Gb ) (3)

Using these equations, the velocity of the mass center of a rigid body and its angular
velocity can be calculated after impact, if it is given before impact.

EXAMPLE (6.7)
A rod AB of mass m=25 kg, length L=3 m resting on a horizontal plane, receives a
horizontal impulse S=100 N.sec perpendicular to its length at its end A. Calculate the
velocity of G and the angular velocity of the rod just after impact. Also calculate the
kinetic energy T of the rod.
SOLUTION
To solve that problem, first we shall draw the impact figures and identify the given and
required data, then derive the impact equations and solve it to obtain the required
unknowns. Note that: v Gb X = 0, v Gb y = 0 and b = 0 → as the rod is at rest.

A A A
S a
b
vbGy
va Gy

G G G
b
v GX
va GX

B B B

Just before Impulse Just after

The impact figures

The impact equations:
In the x-direction:
→ S imp = m v a −v b 
X  GX GX

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(
S = m v Ga X − 0 ) (1)
In the y-direction:
 S imp = m v a −v b 
y  
Gy Gy

(
 0 = m v Ga y − 0 ) (2)
Moment equation about G:
G
M imp = I G a − b 

 L   mL  a
( )
2
( c.w .) S   =    −0 (3)
 2   12 

Equations Solving:
From Eq. (1) and (2):
S 100
v Ga X = = = 4 m / sec
m 25
v Ga y = 0 m / sec
From Eq. (3):
6S 600
a = = = 8 rad / sec ( c.w .)
mL 3( 25 )

The rod kinetic energy

The motion type of the rod is a general plan motion, then its kinetic energy T after impact
is given by:

( ) ( )
2 2
T = 0.5 m v Ga + 0.5 I G a → v Gy
a
= 0 → v Ga = v Ga X = 4 , a = 8
 25( 3 ) 2  2
T = 0.5 ( 25 )( 4 ) + 0.5   (8 ) = 200 + 600 = 800 Joule
2

 12 

EXAMPLE (6.8)

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Rigid Body Dynamics Ch. 5: Impulse and Impact

In material strength testing machine, a testing rod (m= 20 kg, B

L= 1m) is released from rest from the horizontal position to
h
strikes the sample at A, and rebounds after impact with a speed
of 3 rad/sec. Determine the value of the distance h that A

minimizes the reaction at hinge B during the impact and find the
average value of the impact force if the impact time is 0.02 sec.

SOLUTION:
In this problem, when the testing rod is released from the horizontal position, its velocity
will increase during descending till it strikes the sample at A, then it will rebound. To
calculate the testing force, the impact of the testing rod with the sample at A is to be
studied.

During the impact, the impulsive forces acting on the rod are:
• Horizontal reaction at sample (A);
• Two components of reactions at hinge B.
Since these forces are represent 3-unknowns, then all other velocity components of the
rod just before impact and just after impact must be known, i.e. either given or calculated.
The velocities of the rod just before impact:

To obtain the velocities of the rod just before striking the sample, the energy principles
may be used. Applying the principle of mechanical energy (E=T+V) and work of
nonconservative forces W 1−N2.C .F between pos.(1) and pos. (2):

L=1 m V g=0
G

1
G 2
Position (1)
Position (2)
The principle of mechanical energy and work of nonconservative forces (reaction at B)

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Rigid Body Dynamics Ch. 5: Impulse and Impact

between pos.(1) and pos. (2):

T1 +V 1 +W 1−N2.C .F = T 2 +V 2
where:
T1 = 0 , V 1 = 0 and W 1−N2.C .F = 0
1 L
T2 = I B 22 ,V 2 = mg ( − )
2 2
2 2
mL ( 20 )( 1)
IB = = = 6.667 kg .m 2
3 3
0.5 0.5
 3g   30 
 2 =   =  = 5.477 rad / sec ( c.w .)
 L   1 
Note that: the nonconservative forces are the reactions components at B which do no
work as the point B has no displacement and the ground acceleration g=10 m/sec.

The impact equations:

To derive the impact equations, the impact figures is to be drawn as follow:
By
Bx B
B B
vb y va
Gy
0.5m Gy

vb
GX
h x va
GX G
G G
S
b A
a

Just before Impulse Just after

The impact figures

In the x-direction:
→ S X = m v a −v b 
 GX  GX

 L 
 ( ) L
− S + B x = m v Ga X −v Gb X = m  − a − b  = −84.77
 2 2 
(1)

In the y-direction:

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 S y = m v a −v b 
 Gy  Gy

 ( )
B y = m v Ga y −v Gb y = m ( 0 − 0 ) = 0 (2)

Moment equation about G:

c.w . M B
S = I B a − b 

 mL2  a
( c.w .) S ( h ) = (
  +  = 56.513
b
)
 3  (3)
56.513
S =
h

Equations Solving:
From Eq. (1) and (3):
56.513
B X = S − 169.54 h = − 84.77
h
56.513
 B X = 0 when = 84.77 → for min. reaction B x → h = 0.667 m
h
From Eq. (3):
56.513
S = = 84.77
h

The average value of impulsive force at A:

(
 S = Fimp
av
)  t → Fimp
av
=
S
t
=
84.77
0.02
= 4238.5 N

The loss in rod kinetic energy

The loss in the rod kinetic energy due to impact is given by:

1
2
2 2 1  20( 1) 2 
T = T b −T a = I B ( b − a ) = 
2 3 
2
(
 ( 5.477 ) − ( 3) = 70 Joule
2
)
EXAMPLE (6.9):

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A sphere (m=25 kg, r=2 m, kG = (2/5) mr2 kg.m2) resting

on a rough horizontal plane (=0.6), is struck by a
horizontal blow S=500 N.sec along a line in the vertical S
plane passes through the center G and at a distance h h G
above the center. Find the distance h that makes the
sphere starts motion without sliding (i.e. starts its motion A
by rolling). Also calculate the kinetic energy of the sphere
after impact.

SOLUTION:
To solve the problem using impact equations, one should identify the impulsive forces
and draw the impact diagrams first, and then derive the impact equations and solve it to
obtain the required unknowns.
Due to the impulse S, two impulses due to impulsive forces will be exerted at the point of
contact A, one is the impulse of the normal reaction AN and the other is the impulse of the
friction force AF, where the rolling condition is:
A F  S AN
During the impact, the impulsive forces acting on the sphere are:
• The impulse S;
• The impulses AN and AF between the sphere and the horizontal surface.
 b= 0
a
S
vGb = 0 vGa
G h G vG G

AF A
A A
AN
Just Before Impulses during Impact Just After
Impact diagrams
The Impact equations:
In the x-direction:
→ S x = m v Gx
a
−v Gx
b


 500 − A F = 25 v Gx
a
− 0 (1)

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In the y-direction:
 S y = m v Gy
a
−v Gy
a


 A N = m  0 − 0 (2)
Moment equation about G:
c.w . M G
S = I G a − b 

 S ( h ) + A F ( r ) = I G a − 0 (3)

Equations Solution:
2 2
Note that the sphere moment of inertia : I G = m r 2 = ( 25 )( 2 ) = 40 kg .m 2
2

5 5
From Eq. (2):
AN = 0 → AF = 0

From Eq. (1):

500
 500 − 0 = 25 vGx
a
− 0 → vGx
a
= vG = = 20 m / sec
25

From Eq. (3):

40a
 a

 Sh − 0 = 40  − 0 = 40 →  h =
a
(4)
500
Rolling Condition:
vGa 20
vA = 0 →  v = r →   =
a
G
a
= = 10 rad / sec
a
(5)
r 2

Sub. Eq. (5) into Eq. (4):

40a 40( 10 )
 h= = = 0.8 m
500 500
Sphere kinetic energy:
The ball will make general plane motion after impact:
1 1
T = mv G2 + I G 2 = 0.5 ( 25)( 20 ) + 0.5 ( 40 )(10 ) = 7000 Joule
2 2

2 2

EXAMPLE(6.10):

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A circular disc (m=16 kg, r=0.4 m) is rotating in its plane about its
center G with angular velocity =10 rad/sec (c.w.). Suddenly, a
point A on its perimeter is set to be fixed. Calculate the angular G
A
velocity of the disk just after A fixation and the loss in the kinetic 
energy of the disk due to the sudden fixation of A.

SOLUTION
When a point in a moving rigid body is set to be fixed suddenly, an impulsive force with
unknown direction exerts at that point. We can solve the equations to obtain the impulse
of this force and its direction, but solving equations contains unknown angles is difficult
and it is recommended to replace this force by two perpendicular components in x and y
directions. Then the unknowns are the two impulses of the components of fixation force
and the angular velocity of the disc after fixation.
During the impact, the impulsive forces acting on the disc are:
• The impulses components SX and Sy;

G Ax G G
A
 vGa
Ay a
Just Before Impulses during Impact Just After
Impact diagrams
The Impact equations:
In the x-direction:
→ S x = m v Gx
a
−v Gx
b


 A X = 16 0 − 0 (1)
In the y-direction:
 S y = m v Gy
a
−v Gy
a


 A y = m  −v Ga − 0 (2)
Moment equation about G:
c.w . M G
S = I G a − b 

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1
 ( 0.4) = (16 )( 0.4 ) a − 10
2
A y (3)
2
Equations Solution:
From Eq. (1):
Ax =0

From kinematics:
vGa = r a (4)
Sub. in Eq. (2)
 A y = −16 ( 0.4 ) a = − 6.4 a (5)

Sub. in Eq. (3)

 ( −6.4  ) ( 0.4 ) = 12 (16 )( 0.4 )

a 2
a − 10  = 1.28 a − 12.8

 − 2.56 a = 1.28 a − 12.8 →  a = 3.333 rad/sec

Loss in kinetic energy:
The disc rotates with b about G before impact and will make rotational motion about A
with a after impact, then the loss in its kinetic energy is given by:
1 1 1 2 3 2
T = T1 −T 2 = I G b − I A a = 0.5  (16 )( 0.4 )  (10 ) − 0.5  (16 )( 0.4 )  ( 3.33)
2 2

2 2 2  2 
= 64 − 21.333 = 42.667 Joule

EXAMPLE(6.11):
A square plate ABCD (m=300 kg, L=2 m) free to rotate in a
vertical plane about a hinge at point E; the midpoint of its side E
AD. An impulse S=800 N.sec strikes the plate as shown A D
(=45), calculate:
- The polar moment of inertia IE . L
- The impulse of reactions at E.
-  and T of the plate just after impulse. B C
- The rotation angle of the plate due to the impact 1.
S 
- The impulse S to rotate the plate such that the side DC just 0.6 L
reaches the horizontal position.

SOLUTION

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1) The polar moment of inertia IE

The polar moment of inertia IE is the sum of the moment
y
of inertia about two perpendicular axes passing through x E x
the point E, say the selected axes x-x and y-y as shown in
the opposite figure.
L
1 1 5
I E = I xx + I yy = m L + m L = m L
2 2 2

3 12 12
5
= ( 300 )( 2 ) = 500 kg .m 2
2 y
12
2) The impulse of reactions at E.
When the blow S struck the plate, impulsive reactions will be exerted at point E, this
impulsive reaction can be replaced by two perpendicular components, say in x and y
direction. Then the unknowns are the impulses of the components of impulsive reactions
at E, say EX and Ey and the angular velocity of the plate just after impact  a.
During the impact, the impulsive forces acting on the sphere are:
• The given impulse S, replaced by two components S sin and S cos;
• The impulses of the E-reaction components EX and Ey.
Ey
E Ex E
E

v Gb = 0 G v Ga = 0
G
L
0.6 L
 b= 0  a= 0
S sin (45)
S cos (45)
Just Before Impulses during Impact Just After
Impact diagrams
The Impact equations:
In the x-direction:
→ S X = m v Gx
a
−v Gx
b

S
 + E X = 300 v Ga − 0 (1)
2
In the y-direction:
 S y = m v Gy
a
−v Gy
a


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S
 + E y = m  0 − 0 (2)
2
Moment equation about G:
c.c.w . M E
S = I E a − b 
S S
 ( L ) + ( 0.1L ) = I E a − 0 (3)
2 2
Equations Solution:
From Eq. (2):
S
Ey = − = −565.685 N .sec
2

From Eq. (3)

1.1L S
 a = = 2.489 rad / sec (4)
IE 2

From kinematics:
L 
v Ga =   a (5)
2
Sub. in Eq. (1)
S 800
 EX = − 300 v Ga  = − 300 ( 2 )( 2.489 )  = −927.715 N .sec
2 2
The Impulse at E
 E = E x2 + E x2 = ( −927.715) + ( −565.685) = 1086.6 N .sec
2 2

3) The kinetic energy:

The plate makes rotational motion about E, then:
1
( )
T a = I E a = 0.5 ( 500 )( 2.489 ) = 1548.78 Joule
2 2

2
4) The angle of rotation
As the plate rotates after impact, its angular velocity will decrease gradually till it stop
and then returns back to its original position. The maximum angle reached by the plate is
called the angle of rotation due to impact. Using principle of work and energy,
considering pos.(1) is the position of the plate just after impact pos. (2) is the position
where the plate stops.

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The non-conservative forces acting on the plate during moving from pos. (1) to pos. (2)
are the reactions at E and its work equals zero as the point E has no displacement.
The angle of rotation 1 may be obtained as follow:

E V g=0
A D

G G
2=0
1
a
B C

Just after Impact When the plate stopped

Pos. (1) Pos. (2)

The work - Energy principle is:

T1 +V 1 +W 1−N2.C .F = T 2 +V 2
1  L  L 
 I E a2 + mg  −  + 0 = 0 + mg  − cos ( 1 ) 
2  2  2 
1  L  L 
 I E a2 + mg  −  + 0 = 0 + mg  − cos ( 1 ) 
2  2  2 
I 2 − mgL ( 500 )( 2.489 ) − ( 300 )(10 )( 2 )
2

 cos ( 1 ) = E a = = 0.4837
−mgL − ( 300 )(10 )( 2 )
 1 = cos −1 ( 0.4837 ) = 61.07o

5) The value of S so that DC reaches the horizontal position

When the blow S increases the angle of rotation of the plate due to impact increases.
Using the principle of work and energy, considering pos.(1) is the position of the plate
just after impact and pos. (3) is position when the plate stops so that the side DC reaches
the horizontal position, then the value of the angular velocity of the plate can be
calculated and then using the impact equations the value of the impulse S can be
calculated as follow:

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D C
3=0
E V g=0
A D G

E
G

A B
a
B C
The plate stops when DC
reaches the horizontal position
Just after Impact Pos. (3)
Pos. (1)
The work - Energy principle is:
T1 +V 1 +W 1−N2.C .F = T 3 +V 3
1  L mgL 6000
 I E a2 + mg  −  + 0 = 0 + 0 = 0 → a2 = = = 12
2  2 IE 500
 a = 12 = 3.464 rad / sec

Sub. in Eq. (4):

1.1L S a I A 2
 a = → S = = 1113.4 N .sec
IA 2 1.1L

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Exercise 5

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Rigid Body Dynamics Ch. 5: Impulse and Impact

Exercise 5
Problem No. (1): A circular disc of (m, r) is thrown so that its vo
center velocity vo m/sec ( upward) and angular velocity o o
rad/sec(c.c.w) upward an inclined rough plane (, ). Choose the
correct answers.
30o
=0.1

m kg r m Vo o
Data
40 0.6 14 4
No Required A B C D
1 Polar Moment of Inertia IG (kg.m2) 7.20 1.60 10.00 7.50
2 T1 just after the disc thrown 2295 6885 1007 3978
3 time after which sliding stops t1 1.47 2.37 2.16 2.37
4 The angular velocity of the disc at t1 3.38 2.23 2.21 1.10
5 T2 at t1 27.46 54.77 18.26 53.75
6 the work done by ext. force during t1 -6830 -3924 -2277 -980
7 distance covered by disc center after t1 16.55 19.07 19.07 8.37
Problem No. (2): A circular disc of (m,r) is suspended from a
horizontal axis coinciding with its tangent and hangs with its plane A A
vertical. An impulse S N.sec is struck perpendicular to its plane
through the center. Choose the correct answers.

m kg r m S
Data
40 0.6 100
No Required A B C D
2
1 Polar Moment of Inertia IA (kg.m ) 40.00 4.00 100.00 18.00
2 The impulse A x at the axis A-A 20.00 10.00 24.00 60.00
3 The impulse A y at the axis A-A 100.00 21.53 0.00 151.07
4 w just after the impulse 2.40 3.00 5.00 3.33
5 T just after the impulse 50.000 450.000 115.200 100.000
6 The rotation angle of the disc 64.06 54.31 44.60 67.98
7 Smin to cause complete revolution 316.2 565.7 89.4 219.1
Problem No. (3): A circular disc (m, r) free to rotate about an
axis, through a point on its perimeter, perpendicular to its plane. A
A horizontal impulse S N.sec is struck along a diameter of the
disc. Choose the correct answers.

m kg r m S
Data
40 0.6 70
No Required A B C D
2
1 Polar Moment of Inertia IA (kg.m ) 21.60 48.00 4.80 48.00
2 The impulse A x at the axis A-A 23.33 16.67 26.67 80.00
3 The impulse A y at the axis A-A 12.53 115.00 0.00 10.05
4 w just after the impulse 1.33 4.00 4.17 1.94
5 T just after the impulse 41.67 384.00 42.67 40.83
6 Smin to cause complete revolution 69.28 244.95 244.95 169.71

Faculty of Engineering - Cairo University – D. Mohamed Taha 158

Rigid Body Dynamics Ch. 5: Impulse and Impact

Problem No. (4): A rod AB (m, L) lying on a smooth horizontal B

table is set spinning about an axis through its mass-center with 
angular velocity o rad/sec (c.w.). The end A of the rod suddenly
forced to be fixed so that the rod can turn freely about it. Choose
the correct answers.

m kg L m o
Data
35 3 6
No Required A B C D
1 The angular velocity about A 1.50 2.50 1.25 2.00
2 The Impulse at A 75.00 150.00 50.00 78.75
3 The Loss in K.E. of the disc 250.00 900.00 354.38 281.25
Problem No. (5): A disc (m, r) is rotating about its mass-center
with angular velocity o rad/sec (c.w.) when suddenly a point A on
the perimeter set to be fixed. Choose the correct answers.

A
m kg r m o
Data
40 0.6 6
No Required A B C D
1 The angular velocity about A 2.67 1.67 1.33 2.00
2 The Impulse at A 48.00 80.00 106.67 33.33
3 The Loss in K.E. of the disc 33.33 86.40 160.00 341.33
Problem No. (6): A disc (m, r) is moving in its plane, the velocity of

its center is u m/sec to the right, and its angular velocity is 
rad/sec (c.w.). The points A in the disc at a distance r/2 from the
center, in a direction perpendicular to that of u, is suddenly fixed. U
Choose the correct answers.
A

m kg r m u 
Data
30 0.5 7 3
No Required A B C D
1 The angular velocity about A 11.33 6.89 10.00 12.67
2 The Impulse at A 125.00 40.00 102.67 173.33
3 The Loss in K.E. of the disc 450.67 225.87 390.63 60.00
Problem No. (7): A disc (m, r) on a horizontal plane, for which
the coefficient of friction is , receives a horizontal impulse S
N.sec through the mass-center. Choose the correct answers. S

m kg r m  S
Data
30 0.5 0.1 90
No Required A B C D
1 The center velocity after impact 2.00 3.00 5.00 5.71
2 The angular velocity after impact 2.00 0.00 -2.00 4.00
3 Time after which sliding stops ts 1.00 1.67 1.90 0.67
4 T ( K.E.) of the disc just after impact 100 375 135 571
5 T (K.E.) of the disc after sliding stops 90 381 67 250

Faculty of Engineering - Cairo University – D. Mohamed Taha 159