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APRIL EXAMINATION

UEME1143 DYNAMICS

FRIDAY, 21 APRIL 2006

YEAR ONE

Instruction to Candidates :

Answer four out of five questions. All questions carry equal marks.

UEME1143 DYNAMICS

Q1. (a)

measure the velocity of RB1. The raw data from the encoder are collected at a

frequency of 10Hz through a data acquisition program written by an engineer.

The first 90 data are plotted in a graph (refer to Figure Q1(a)). The robot

information is shown in Table Q1(a). To simplify the analysis, the robot can

be treated as particle undergoing rectilinear motion.

3

Velocity (m/s)

2.5

2

1.5

1

0.62

0.5

0

1

11

21

31

41

51

61

71

81

Encoder Data

Figure Q1(a)

Table Q1(a)

Mass

Dimension

Motor

Maximum Translate Speed

120kg

65cm x 105cm x 85cm

24V DC Servo Motor

2m/s

(i)

0.62m/s. Determine the average acceleration of the robot in this period.

(3 marks)

(ii)

observed in Data No.77.

(3 marks)

(iii)

(3 marks)

UEME1143 DYNAMICS

Q1. (Continued)

(b)

strings as shown in Figure Q1(b). The weights of the blocks are W1=8.1N,

W2=16.2N and W3=48.6N. The masses and the friction of the small pulleys

are negligible. The coefficient of sliding friction between the blocks and the

planes is =0.2. Assume that the blocks remain on their original planes during

the motion.

Inextensible

strings

2

1

30o

60o

Figure Q1(b)

Q2.

(a)

(i)

in both strings after the blocks are released from rest in the position

shown.

(13 marks)

(ii)

Determine the speed of the blocks at the instant the blocks have

slid 10m.

(3 marks)

[Total : 25 marks]

projectile such as a bullet. Figure Q2(a) shows that the bullet of mass mb is

fired horizontally into a large block of wood of mass mw, suspended by light

wires. The bullet becomes embedded in the block of wood. The block and

bullet swing up to a height h.

vb

mb

mw

Figure Q2(a)

UEME1143 DYNAMICS

Q2.(a) (Continued)

(i)

mw

mb

2 gh

(7 marks)

(ii)

A bullet of mass 5g is fired into a wood block of mass 1kg. The block

and bullet swing up to a height of 100mm. Calculate the speed of the

bullet and the impulse imparted to the block by the bullet.

(5 marks)

(iii)

(3 marks)

(b)

Explain and give one example for a conservative force and a non-conservative

force.

(4 marks)

(c )

Figure Q2 (c). Determine the maximum angular velocity during the ensuing

motion. Friction at the pivot is negligible.

(6 marks)

Information on mass moments of inertia

m=mass of body shown

b

2b

L

z

b

a

Figure Q2(c)

G

x

1

m(a 2 + L2 )

12

1

= m(b 2 + L2 )

12

1

= m(a 2 + b 2 )

12

I xx =

I yy

I zz

[Total : 25 marks]

UEME1143 DYNAMICS

Q3.

(a)

Figure Q3(a) shows a rectangular plate pinned at points A and B with two

identical rods OA and CB (OA=CB=1m) which in turn are pinned at fixed

points O and C respectively. The lengths OC and AB are equal.

O

C

1m

A

0.5m

1.5m

0.4m

B

G

2m

Figure Q3(a)

(b)

(i)

(4 marks)

(ii)

at 0.6 rad/s. Locate the instantaneous center of zero velocity for the

rectangular plate and determine the velocity of point G.

(5 marks)

In the engine system shown in Figure Q3(b), the crank AB has a constant

clockwise angular velocity of 2000 rpm. For the crank position indicated,

determine

(i)

BD.

(ii)

B

100mm

A

(16 marks)

[Total : 25 marks]

200mm

45o

P

D

Figure Q3(b)

UEME1143 DYNAMICS

Q4. (a)

A uniform slender rod of mass m with its bottom end resting on a frictionless

table is released from rest at an angle 0 to the vertical as shown in Figure

Q4(a). Find the force exerted by the table upon the rod at an infinitesimally

small time after its release.

(8 marks)

Information on mass moments of inertia

m=mass of body shown

L

y1

0

L L

y

G

y1

1

mL2

12

1

= mL2

3

I yy =

I y1 y1

Figure Q4(a)

(b)

Four-bar linkages can be classified as Grashof (e.g. crank rocker) or NonGrashof mechanisms. Given that the link lengths of the following mechanism

are:

L0 = unknown length (Fixed link);

L1 = 400mm (Driver crank);

L2 = 600mm (Coupler);

L3 = 750mm (Follower crank)

Determine the range of values for L0 if the linkage will theoretically act as a

(c)

(i)

(ii)

(iii)

(iv)

Change-point mechanism;

(v)

Triple-rocker mechanism.

(13 marks)

to an unsatisfactory transmission angle.

(4 marks)

[Total : 25 marks]

UEME1143 DYNAMICS

Q5.

(a)

Figure Q5(a) depicts a four-throw crankshaft that has the following properties:

masses m1=m2=m3=m4=10kg and radial distance r1=r2=r3=r4=40mm.

Determine the balancing arrangement in correction planes P and Q. (14 marks)

r1=40mm

90o

90o

90o

90o

Figure Q5(a)

(b)

Consider the spring mass system shown in Figure Q5(b). A block of mass m is

connected by 5 springs with stiffness k1, k2, k3, k4, k5 respectively. Determine

(i)

The natural frequency of the system in terms of k1, k2, k3, k4, k5 and m.

(7 marks)

(ii)

velocity of 0.5m/s as it passes through its equilibrium position,

calculate the magnitude amax of its maximum acceleration. The spring

stiffness are given as k1=k2=100kN/m, k3=k4=k5=200kN/m. The

displacement

function

of

the

block

is

given

as

x

x = x0 cos n t + 0 sin n t

frequency of the system

k1

k2

k1

k2

k1

1

1

1

+

k1 k 2

keq = k1+ k2

k2

k3

k4

k eq =

is the natural

(4 marks)

k5

Natural

System

keq Frequency of Spring-Mass

keq

m

n =

m

Figure Q5(b)

[Total : 25 marks]

UEME1143 DYNAMICS

APPENDIX

Derivatives

Integrals

dx n

= nx n 1

dx

d (uv)

dv

du

=u +v

dx

dx

dx

u

du

dv

d

u

v

v

= dx 2 dx

dx

v

d sin x

= cos x

dx

d cos x

= sin x

dx

d tan x

= sec 2 x

dx

x n dx =

x n +1

n +1

dx

= ln x

x

dx

2

a x

xdx

x a

xdx

a x

= sin 1

=

x

a

x2 a2

= a2 x2

cos xdx = sin x

1

1 + sin x

ln

2

1 sin x

x sin 2 x

sin 2 xdx =

2

4

x sin 2 x

cos 2 xdx = +

2

4

sec xdx =

e ax dx =

sin 2 x

2

e ax

a

x cos xdx = cos x + x sin x

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