ESO 209: Assignment 3

August 18, 2015

PROBLEM

An electric motor must be arranged to turn a ood control valve through an angle <
in a
right hand sense about a xed directed line through the origin and the point P = 1/3, 2/3, 0 m in
frame {E, ei }. An engineer has shown that any design is acceptable for which R11 = 3/5, R22 = 9/10
and R33 = 1/2 are satised in E . Determine the angle and the axis of rotation, and compute the
remaining six components of R in E .
PROBLEM

A cardboard box is initially positioned with its centroid C at the place 4/3, 2, 7/3 m in frame
{E,
ei } xed in a packaging machine. The
empty carton must be transported by a rotation about
a line through the point P = 2/3, 0, 1/3 m in E to a new conguration where the box is lled
and sealed. The rotation required for the operation is specied by the rotation matrix

 
1
R E=
9

4 3
+1
5 3
(1 + 3)

(1 + 3)
5 3
(1/2)(5 3 +8) (1/2)(5
4 3) .
(1/2)(11 4 3) (1/2)(5 3 + 8)

Determine the rotation angle, and nd the equation in E of the line of rotation. What is the displacement of C ? Find the location from the
old location of C of the point T which initially was at
the top of the carton at the place 4/3, 2, 3 m in E .
PROBLEM

A rigid body is rotated about a line through the point C at 1/3, 1, 5/3 m in {E, ei }. The rotation
tensor in E is

 
R E =

2/2
0
2/2

2/4
3/2
2/4

6/4
.
1/2

6/4

Determine
the nal position in E of the particle P whose place initially was x = ( 2/3)e1 +

(2 3/9)
e2 + (2/3)
e3 m. What is the displacement of P ? Find the axis and the angle of rotation of
the body in E .