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1 Out: Wednesday, September 15, 2004 Due: Wednesday, September 22, 2004 at the beginning of class

Fall 2004

Problem 1

A pendulum is constructed by attaching a mass m to an extensionless string of xed length l. The upper end of the string is connected to the uppermost point of a vertical xed disk of radius R (R < l/ ), as shown below. At t = 0 the mass hangs at rest at the equilibrium position = 0, when it is given an initial velocity v0 along the horizontal. Derive expressions for the two extreme deections (in terms of ) of the pendulum resulting from this initial perturbation. Do not make a small-angle approximation.

R g

m v 0

Problem 2

A point mass moves without friction on a horizontal plane. A massless inextensible string is attached to the point mass and led through a hole (see gure below). At time = t0 the mass moves along a circle with constant velocity v0 . We gradually pull the free end of the string downwards until, at time t1 , we have |r (t1 )| = L0 /2. What is the velocity of the mass at time t1 ?

Problem 3 A particle of mass m1 is attached to a massless rod of length L which is pivoted at O and is free to rotate in the vertical plane as shown below. A bead of mass m2 is free to slide along the smooth rod under the action of a spring of stiness k and unstretched length L0 . (a) Choose a complete and independent set of generalized coordinates. (b) Derive the governing equations of motion by applying momentum principles.

g m 2

Problem 4

Consider the system shown below under the assumption that the pendulum arm connecting m2 and m3 is massless. By applying momentum principles, obtain the dierential equations of motion for the generalized coordinates x1 , x2 and .

x1 k1 m1 k2 m2

x2 g

m3

Problem 5

Two identical rods of length l, that have equal masses m attached at their ends, are clamped at an angle to a shaft as shown. (The shaft and the rods are in the same plane.) What reaction forces must the bearings be able to withstand, if the angle can be set anywhere from zero to 90 and the maximum angular velocity of the shaft is ? (For simplicity, you may neglect the mass of the rods and ignore the eects of gravity.)

m

d

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