A Concise Introduction to Mechanics of Rigid Bodies by L. Huang

Author:L. Huang
Language: eng
Format: epub
Publisher: Springer International Publishing, Cham

4. Dynamics

L. Huang1

(1)School of Engineering, Computer and Mathematical Sciences, Auckland University of Technology, Auckland, New Zealand

4.1 Inertial Properties

The mass of a particle is the measurement of its resistance to changes in its velocity, a property called inertia. Similarly, a rigid body’s inertia is a measurement of its resistance to changes in its linear and angular velocities.

4.1.1 Inertial Properties for Linear Motion

Linear motion of a body is represented by the motion of a point in the body, which is normally the center of mass (COM). As such, the inertial properties corresponding to the linear motion are related to two factors: the mass and the position of the center of mass. Consider the rigid body in Fig. 4.1, which is a continuum (volume V ) comprising an infinite number of particles and whose density, ρ(x, y, z), at a point is a function of the position of that point. The mass (m) of the body is

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