Mecânica Avançada

Material Teórico
Rotação de Corpos Rígidos

Responsável pelo Conteúdo:

Prof. Dr. Jaime Sandro da Veiga

Revisão Textual:
Prof.ª Dr.ª Selma Aparecida Cesarin
 Rotação de Corpos Rígidos

• Rotação de Corpos Rígidos.

OBJETIVO DE APRENDIZADO
• Estudar a Mecânica Newtoniana, particularmente, a rotação de corpos rígidos;
• É dado um tratamento especial a Euler, cuja principal característica é a introdução
dos três ângulos de Euler, que são adequados para a localização de um corpo rígido
no tratamento de rotações.
 Orientações de estudo
Para que o conteúdo desta Disciplina seja bem
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formação acadêmica e atuação profissional, siga
algumas recomendações básicas:
Conserve seu
material e local de
estudos sempre
organizados.
Aproveite as
Procure manter indicações
contato com seus de Material
colegas e tutores Complementar.
para trocar ideias!
Determine um Isso amplia a
horário fixo aprendizagem.
para estudar.

Mantenha o foco!
Evite se distrair com
as redes sociais.

Seja original!
Nunca plagie
trabalhos.

Não se esqueça
de se alimentar
Assim: e de se manter
Organize seus estudos de maneira que passem a fazer parte hidratado.
da sua rotina. Por exemplo, você poderá determinar um dia e
horário fixos como seu “momento do estudo”;

Procure se alimentar e se hidratar quando for estudar; lembre-se de que uma

alimentação saudável pode proporcionar melhor aproveitamento do estudo;

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sites para aprofundar os conhecimentos adquiridos ao longo da Unidade. Além disso, você tam-
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Após o contato com o conteúdo proposto, participe dos debates mediados em fóruns de discus-
são, pois irão auxiliar a verificar o quanto você absorveu de conhecimento, além de propiciar o
contato com seus colegas e tutores, o que se apresenta como rico espaço de troca de ideias e
de aprendizagem.
UNIDADE Rotação de Corpos Rígidos

Rotação de Corpos Rígidos

 
           
           
             
           
            
            
         
       
          
           
              
          
          
          

    

          
             
         
            
             
             
           
             
            
  
             
             

   

   
  
        

 

         

8
      
       
     

              

             
          
              
             
        
 

    

     
     
  

             

              
             
     
    
       

                 
   
       


          

 
     
         

     

      

9
9
UNIDADE Rotação de Corpos Rígidos

 
   

 
         
 
              
 

     
 
    
      
   
        

 
       
          

      
  

       
            
             
   
      
          
         
   
           
      
 
         

                  
                
              
         
               
              
          
         
            
             
        
              
 

              

10
            
 
   
    
    
  

   
   
     
  
    
           
       
    
  
     
        
 
     
  
   
     
    
           
  

           

  
  
       
  
               
  

            
     Z  
Y 1
       

}
a
l, m, n
l1, m1, n1
23
23 , α
α2 , α
1

p
Z
z
θ r
x
ij e2 y α 11, α 12, α 13 X
z1
e1
e3 Y1
i1 0 i2
x1
ψ Φ

X1 y1 N

           

        
   

                  
                 
 
                

       
            
                      
       
       
   
     
   
   
   
   
 
  
       
       
                      

  
   
     
  
   
     
    
   
    
 

 
 
       
     
     




11
11
UNIDADE Rotação de Corpos Rígidos

                      



                      
     

        

            
            

        

        
      

      

                

                      


            

             
        

   

               
          
             
            
         
           
           
  
         
          
  

12
  3        
      

              

           
          
               
            
                
        
            
              
             

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UNIDADE Rotação de Corpos Rígidos

 4    

   
           

             

                 
                
             
             
                
                 
                      
               
                 
             
             
            
              
          
       
          
                      
            
        
                          
 
              
          
 
                
 

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   
           


                
        

             
             
             

                

               
     
 
                
 
                
 
                

             

            
            
   

       

             
                

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UNIDADE Rotação de Corpos Rígidos

 5   

                     

           
     
 
                  

         


 
                     
 
                     
 
         

         

     
 
  
                      
   
                      
 
                

          

         
            
            

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        
          
           
         
          
  
        
           
           
 
              
 
                
          
           
            
              
            
            
          
           
         

 6  


               
          
         
              
            



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17
UNIDADE Rotação de Corpos Rígidos

               

         
    
         

 7      

     
  

    

      
  
          
     

                 
               

         

 8      

  



18
     

      



  

       
          
      

 9     

  


              

                
            
                  
         

      


 
  
 

     
           
        
           
            



19
19
UNIDADE Rotação de Corpos Rígidos

              

       
             
                
              
             
          

 10  

           

   
         
      
 
  
                      
   
                      
 
                

          

             

      

                      



20
           

                        

   
       
          
       
 
     
      
                 
        
 
     
     
                    
           
           
            
            
           
        
           
            
          
      
 
           
   
    
            
   

  
  

 
   
 
          
             
            
           
              
 
 
   
      
    
           
    
                



21
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UNIDADE Rotação de Corpos Rígidos

            

   
 
  
 
  
          
  
          


             
               
               
          

 11    

     
  
 



22
  11    

           



              

                            


   
      
          
          

   

             
         



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UNIDADE Rotação de Corpos Rígidos

 12   

   

 12    

      
      
     




24
  12    
    
    
    
     
   
       
    
    
       
  

           

              
              
              
             
              
           
              
             
             
         
           
       
              
            
               



25
25
UNIDADE Rotação de Corpos Rígidos

              

               
               
       

        

         
         

           

            
  
                    
 
              
       
                  
   


             

               
      
 
 
          

           
        
 
 
         

            
              


    
    

        

             
       
        
         
           
           
          
          



26
           
           
          


  

               

             


      
  
 
         

 

         
      
   
 
    
    
          
    

  
     


  
            
             
             
 
   
   
          
  
 
       


        

   
        
         

        

    
     
          

 
  
          

  

  
  
               


    

  
   



27
27
UNIDADE Rotação de Corpos Rígidos

  

            
           
              
           
           
      
   
     

          

   
 
            
     
 
               
   
         
          
 
 
   

     
         
     
  
          
 
 
          
 
   
 
          
   
 
           
   
       
     

      
       
            
          
 
     
 
        
 

    
                   
  
 

             

   
         
    


            



28
         
              
  
            
  

         

              
           
           
        

         
 
  
        

         

     
 
   
            
 
    
       

             

      

    
    
    
             
       
   
             
   
         
      
                     
 

             

      
  
   
           


          

     
 
            

                

  



29
29
UNIDADE Rotação de Corpos Rígidos

             
              
               
   
         
  

                      
  
              
               
            
        
          
             
            
      
 
          
 
        
 
  
       
  

        

 

     


          

 
     


   

                
              
             
    
                   

          
       

  
  
           
               



30
 
            
                  
    
  


               
    
  
                      

      

 
 
            

    

             
        
  
   
           


              
            
             
          
              
         
 
  
        
  

           

            
          
           

              
              
            
              
      

            

               

             



31
31
UNIDADE Rotação de Corpos Rígidos

          

 
  
       
  

           


         
            
                
           
            

           
           
     
  
             
 

              
 
         
           
            
                

            

 
     

   

            

 
     

 
   


              

 
  
       
 
 
   




32
      

         

                 
     
  
      

  
      

  
       


                

      
  
      

  
      

  
       


                  

              
   
 
  
        
 

     


      

   
          
           
           
              
            
     
 
           

          

 
              



33
33
UNIDADE Rotação de Corpos Rígidos

        


    

          
            
              

  


 
 
 
  
 
         
        
  
                
   
    
    
             
  
  

             

 
 
   
 

                     

                
  
 
     
  
     
        
               
              
            
             
          


     
 
   
 

   



34
  13   

           

    
        
             
                 
       
             
         

elipsoide de inércia

plano
ρ invariável

herpolhode

L
 14       
   



35
35
UNIDADE Rotação de Corpos Rígidos

Material Complementar
Indicações para saber mais sobre os assuntos abordados nesta Unidade:

 Vídeos
Mecânica - Tema 6 - Leis de Newton - Exercício 1
https://goo.gl/maB3Z8
Dinâmica do corpo rígido - base teórica
https://youtu.be/IxTHpac59LM
Dinâmica de corpos rígidos I (Aula 15, parte 1)
https://youtu.be/262BAyh-h70

 Leitura
Tópicos de Mecânica Clássica
https://goo.gl/Ydk2m2
Dinâmica dos Corpos Rígidos
PESCE, Celso Pupo. Dinâmica dos Corpos Rígidos.
https://goo.gl/UU3q6q

36
Referências
GOLDSTEIN, H., POOLE, C., SAFKO, J. Classical Mechanis. 3rded. San Fran-
cisco: Addison Wesley, 2000.

TAYLOR, John R. Mecânica clássica. Porto Alegre: Bookman, 2013. (E-Book)

THORNTON, Stephen T.; MARION, Jerry B. Dinâmica Clássica de Partículas e

Sistemas Cengage Learning. São Paulo: Cengage, 2012 608p.

TIPLER, Paul Allen. Física para Cientistas e Engenheiros: mecânica, oscilações

e ondas, termodinâmica. 6.ed. Rio de Janeiro: LTC, 2009. v. 1 . (E-Book)

ZILIO, S. C.; BAGNATO, V. S. Mecânica, calor e ondas. Cap. 8. Disponível em:

<http://www.fotonica.ifsc.usp.br/ebook/book3/Capitulo8.pdf>. Acesso em: 28
de Setembro de 2018.

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37