Name: angular momentum relative to point p
Uploaded: 2024-03-07T13:22:28.000Z
Duration: 1 min 11 s
Channel: JoVE

質量 'm' の剛体と点 G の重心が慣性基準座標系で回転しているとします。
任意の点Pでは、角運動量は、各質量要素の位置ベクトルと線形運動量ベクトルの外積を取ることによって決定されます。
質量要素の速度は、その並進速度と、ボディの回転によって生じる相対速度で構成されます。
速度方程式を角運動量方程式に代入し、外積を拡大し、質量全体にわたって積分すると、点Pに関する総角運動量が得られます。
ここで、点Pが物体の重心として選択されると、最初の積分はゼロになります。点 P を固定点として選択すると、線速度の項は消えます。
その他の任意の点については、積分を簡略化できます。ここで、最初の項は線形運動量によるモーメントを示し、2番目の項はオブジェクトの重心での角運動量を示します。

 任意の点に関する角運動量

Angular Momentum about an Arbitrary Axis

「m」で示される質量を持つ剛体が点 G に重心を持ち、慣性基準系の周りを回転していると想像してください。 任意の点 P における角運動量は、個々の質量要素の位置ベクトルと線形運動量ベクトルの外積をとることで計算できます。

質量要素の速度は、その並進速度と物体の回転によって引き起こされる相対速度で構成されます。 速度方程式を角運動量方程式に代入し、外積を展開し、質量全体にわたって積分すると、点 P の周りの合計角運動量が得られます。

点 P が物体の質量中心として選択された場合、位置ベクトルがゼロになるため、最初の積分もゼロになります。 点 P が固定点として選択されると、線速度は消えます。 他の任意の点については、積分を簡略化できます。 この場合、第 1 項は線形運動量によるモーメントを示し、第 2 項は物体の質量中心における角運動量を示します。 このアプローチにより、回転体のさまざまな点に関連した角運動量を包括的に理解できます。

質量 'm' の剛体と点 G の重心が慣性基準座標系で回転しているとします。
任意の点Pでは、角度...

Education

JoVE Core

Mechanical Engineering

機械工学

Unit 1

ユニット1

3-Dimensional Kinetics of a Rigid Body

剛体の三次元動力学

KEY TERMS AND CONCEPTS

主要用語および概念

angular momentum relative to point p

Angular momentum relative to point P is found by adding the motion of every mass element in a rigid body. The body has mass m and a center of mass at point G. It rotates in an inertial reference frame, and the angular momentum at P comes from the cross product of each position vector and its linear momentum.

To build the full expression, the velocity of each mass element is written as two parts. One part is the translational velocity of the body. The other part is the relative velocity caused by rotation. Substituting this velocity into the angular momentum equation, expanding the cross product, and integrating over the entire mass gives the total angular momentum about point P.

The choice of point P changes the result in useful ways. If P is the center of mass, the first integral becomes zero because the position vector is zero. If P is a fixed point, the linear velocity term disappears. For any other arbitrary point, the integral can still be simplified. In that case, the first term gives the moment from linear momentum, and the second term gives the angular momentum at the center of mass of the object.

Angular Momentum Relative to Point P

moments and product of inertia

Moment and Product of Inertia Basics

Moment of inertia and product of inertia describe how mass is distributed in a rigid body. They help show how the body responds about coordinate axes and planes. For a small mass element, the moment of inertia is found by multiplying the element's mass by the square of the shortest distance to one of the three coordinate axes. That same idea is extended to the whole body by integration. Adding the contributions of all the small mass elements gives the body's moment of inertia about that axis.

inertia tensor

Principal Axes and Moments of Inertia

The inertia tensor describes how mass is spread out in a rigid body and how that body resists rotation. It is written as a 3×3 matrix, and each entry represents a moment of inertia about a particular axis. This makes the tensor a compact way to study rotational behavior in three dimensions. The diagonal entries show the moments of inertia about the principal axes. These principal axes are the directions where the object has the least resistance to rotation. A smaller moment of inertia along...

moment of inertia about an arbitrary axis

moment-of-inertia-about-an-arbitrary-axis

Calculating Moment of Inertia on Any Axis

Moment of inertia can be calculated about any chosen axis, not just a principal axis. It depends on the mass distribution of the object along that axis. This makes it useful when an object rotates in a real machine or other setup where balance and stability matter. To find the moment of inertia about an arbitrary axis, the perpendicular distance from the axis to each mass element is needed. That distance is obtained with a cross product between the unit vector that gives the axis direction and...

angular momentum about an arbitrary axis

Angular momentum relative to point P is found by adding the motion of every mass element in a rigid body. The body has mass m and a center of mass at point G. It rotates in an inertial reference frame, and the angular momentum at P comes from the cross product of each position vector and its linear momentum. To build the full expression, the velocity of each mass element is written as two parts. One part is the translational velocity of the body. The other part is the relative velocity caused...

angular momentum and principle axes of inertia

angular-momentum-and-principle-axes-of-inertia

Angular Momentum in Principal Axes

Angular momentum in a rigid body can be written using rectangular coordinates. The body’s angular momentum comes from the cross-product of each mass element’s position vector with the cross-product of the body’s angular velocity and that position vector. This gives a compact way to describe how a solid structure moves in rotation. To work with the equation more easily, the XYZ axes can be chosen as a new set of rectangular axes. These axes may be inclined at any angle to the reference frame.

principle of impulse and moment

Impulse and Angular Momentum in Rigid Bodies

Impulse and angular momentum help describe a rigid body moving in a plane. This motion combines translation and rotation. The topic uses Newton's second law to connect force, momentum, and motion. For translational motion, the equation is written for the center of mass, labeled G. When this equation is multiplied by a small time interval, dt, and integrated, it gives the principle of linear impulse. This principle shows that a change in momentum is proportional to the impulse applied to the...

kinetic energy for a rigid body

Rigid Body Energy from Center and Rotation

Rigid body kinetic energy in planar motion can be written using the body’s center of mass and its rotation. The solid object moves in general planar motion, and its center of mass is marked at point G. To find the kinetic energy of the i-th particle, the relative velocity definition is used with the position vector rA from point A to that particle. The kinetic energy of the whole body is built from the particles. First, a scalar product is taken. Then the expression is written in integral form.

equation of motion for a rigid body

Rigid Body Motion: Force and Moment Balance

Rigid body motion is described with both translational motion and rotational motion about the center of mass, point G. The center of mass is the point where Newton's Second Law applies to translation. It gives the linear motion of the body. The same body also has rotational motion about point G. The combined moments about the center of mass equal the rate of change of angular momentum. A moment is the turning effect caused by a force, and an external force applied away from the center of mass...

euler equations of motion

Rigid Body Rotation in Euler’s Frame

Euler’s equations of motion describe how a rigid body rotates when measured in a moving frame attached to the body. The body rotates with angular velocity ω in an inertial frame, and the attached frame rotates with angular velocity Ω. Together, these two frames help describe the motion of the rigid body around its center of mass. The total moment about the center of mass is found by adding two parts. One part is the rate of change of angular momentum about the center of mass in the rotating...

torque free motion

Mars Spin Under No Torque

Torque-free motion describes the movement of a rigid body when no external torques act on it. It can be seen in places with no outside forces or friction, such as outer space. Mars is one example of this kind of motion because it rotates in space without external torque. Mars is an axisymmetric object, which means it has an axis of symmetry. That symmetry defines the rotating z-axis. The rotating frame is set so that Mars&amp;#39;s center of mass is at the origin. This setup makes the moments...

key terms and concepts

Learn how angular momentum is calculated about an arbitrary point in a rigid body, and how the center of mass or a fixed point changes the result.

Angular Momentum Relative to Point P | JoVE K12

JoVE Core 機械工学は、平衡、力、トラス解析、構造力学などの重要なトピックをカバーする簡潔でわかりやすいアニメーション ビデオを提供します。実際のアプリケーションを探索し、科学者主導の実験を通じてこれらのコンセプトが実際に動作しているのを目撃してください。

mechanical engineering

Angular Momentum Relative to Point P

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