Assignment #7

Q1.
i)

Page 208:

Q7

Angular velocity: =

d
dt

Line velocity in the direction perpendicular

d
to arm length: v = L = L
dt
Vector momentum in this direction: mv = mL
Angular momentum:
= L mv = LmL

d
d
= mL2
dt
dt

ii)

Torque = L mg sin = mgL sin

iii)

Newtons law for rotational motion:

Torque =

d
(angular momentum)
dt

mgL sin =

d
d
(mL2
)
dt
dt

mgL sin = mL2

d 2
dt 2

d 2 g
sin = 0
Rewrite:
dt 2 L

d
dt

v
mgsin

mg

Q2.

Page 228:

Q12

1)

Diagram: y (t )

2)

Conservation:

r
r
F
= ma

Fg = mg

Fs = ky

Fd = c

dy
dt

Fexternal = 0.3 cos t

r
d2y
ma = m 2
dt

Sub into conservation law:

m

d2y
dy
= mg ky c + 0.3 cos t
2
dt
dt

Rearrange:

d 2 y c dy k
0 .3
+
+ y=g+
cos t
2
m dt m
m
dt

Sub into values to determine which case should be

d2y
dt

5 dy k
+ y = 10 + 0.15 cos t
2 dt 2

---- (1)

k is unknown to be determined.
From the statement, when the system is subject to spring force and mass gravity
force, the spring is stretched 20cm down
as shown on right.
L

Unstretched

At that state, gravity is balanced

by spring force. Such as

mg = ky 2 10 = k 0.2 100

ky

20cm

Ynew(0)=5cm

Sub into Eq. (1)

2

d y
dy
+ 2.5 + 50 y = 10 + 0.15 cos t ----- ODE for y
2
dt
dt

mg

ynew

3) Since the initial conditions are provided with respect to the equilibrium position
(ynew), the ODE should be translated to ynew so that the initial conditions can be
directly applied.
'
"
y = y new + 0.2 y new = y 0.2 y new
= y ' , y new
= y"

Substituting the above relationship into the ODE for y, the ODE for y new can be
obtained as:
d 2 y new
dt

d 2 y new
dt 2

+ 2.5

dy new
+ 50( y new + 0.2) = 10 + 0.15 cos t
dt

+ 2.5

dy new
+ 50 y new = 0.15 cos t
dt

4) Solve
A.E.:

r + 2.5r + 50 = 0
2

b 2 4ac < 0
b

= = 1.25, = 6.96
2a

y new _ c = e 1.25t [c1 cos 6.96t + c 2 sin 6.96t ]

MUC

y new _ p = B cos t + C sin t

y new _ p ' = B sin t + C cos t
y new _ p ' ' = B cos t C sin t

Sub into ODE:

B cos t C sin t + 2.5( B sin t + C cos t ) + 50 B cos t + 50C sin t
= 0.15 cos t

(2.5 B + 49C ) sin t = 0

B = 0.003

(2.5C + 49 B) cos t = 0.15 cos t C = 1.557 10 4

y new _ p = 0.003 cos t + 1.56 10 4 sin t

General solution:

y new = e 1.25t [c1 cos 6.96t + c 2 sin 6.96t ]

+ 0.003 cos t + 1.56 10 4 sin t

I.C.: t = 0

y new _ 0 = 0.05
y new _ 0 ' = 0

y new (0) = c1 + 0.003 = 0.05 c1 = 0.047

y ' = 1.25e 1.25t [c1 cos 6.96t + c 2 sin 6.96t ]

+ e 1.25t [6.96c1 sin 6.96t + 6.96c 2 cos 6.96t ] 0.003 sin t + 1.56 10 4 cos t
y ' (0) = 1.25[c1 ] + [6.96c 2 ] + 1.56 10 4

c 2 0.0084
Final solution for ynew:
y new = e 1.25t [0.048 cos 6.96t + 0.0084 sin 6.96t ] + 0.003 cos t + 1.56 10 4 sin t

Therefore the final solution for y is

y = 0.2 + e 1.25t [0.048 cos 6.96t + 0.0084 sin 6.96t ] + 0.003 cos t + 1.56 10 4 sin t

Steady-state solution:
lim y = 0.2 + 0.003 cos t + 1.56 10 4 sin t
t

Steady state solution is the particular solution

The maximum value for cost and sint =1
Therefore, yt 0.2
This means, at steady state, the mass is vibratory at the location which is only
stretched by mass gravity.