lec09 - Cite as: Thomas Peacock and Nicolas...

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Unformatted text preview: Cite as: Thomas Peacock and Nicolas Hadjiconstantinou, course materials for 2.003J/1.053J Dynamics and Control I, Spring 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology. Downloaded on [DD Month YYYY]. 1 Kinetics of Rigid Bodies 2.003J/1.053J Dynamics and Control I, Spring 2007 Professor Thomas Peacock 3/7/2007 Lecture 9 2D Motion of Rigid Bodies: Kinetics, Poolball Example Kinetics of Rigid Bodies Angular Momentum Principle for a Rigid Body Figure 1: Rigid Body rotating with angular velocity . Figure by MIT OCW. H B = r i m i ( v c + i ) i After some steps (see Lecture 8): H B = r P + m i c i i i We now use: a b c = ( a c ) b ( a b ) c = i 2 ( ) i i i i = 2 i Cite as: Thomas Peacock and Nicolas Hadjiconstantinou, course materials for 2.003J/1.053J Dynamics and Control I, Spring 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology. Downloaded on [DD Month YYYY]. 2 Kinetics of Rigid Bodies For 2-D motion, = because the vectors are . For 3-D, this term does i not have to be 0. H B = r c P + m i 2 i i = r c P + I c I c : Moment of Inertia. I c = i m i i 2 (Intrinsic Property of Rigid Body) Example:...
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lec09 - Cite as: Thomas Peacock and Nicolas...

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