2.

003SC
Recitation 8 Notes: Cart and Pendulum (Lagrange)

Cart and Pendulum - Problem Statement

A cart and pendulum, shown below, consists of a cart of mass, m1 , moving on a horizontal surface, acted
upon by a spring with spring constant k. From the cart is suspended a pendulum consisting of a uniform
rod of length, l , and mass, m2 , pivoting about point A .

Derive the equations of motion for this system by Lagrange. Specically,

Find T , the systems kinetic energy
Find V , the systems potential energy
Find vG 2 , the square of the magnitude of the pendulums center of gravity

Cart and Pendulum - Solution

Generalized Coordinates

q1 = x,

q2 =

Kinematics
The linear velocity of the pendulums center of mass, vG , is given by
l
l
l
vG = x I + j = (x + cos)I + ( sin)J
2
2
2
The square of its magnitude is given by

2
vG
= (x +

l
l
cos)2 + ( sin)2
2
2

Expanding and simplifying,

2
vG
= x 2 + 2

l
l
lx
cos + ( )2 cos2 + ( )2 sin2
2
2
2

l2 2
2
= x 2 + xlcos

+
vG
4
Kinetic Energy

1
1
1
T = m1 x 2 + m2 vG 2 + IG 2
2
2
2

1 ml2
2
1
1
l2 2
2
2

T = m1 x + m2 (x + x lcos +
)+ (
)
2
2
4
2 12
Potential Energy
1
l
V = kx2 + m2 g (1 cos)
2
2
Lagrangian
L=T V
l
1
1
l2 2
1 ml2 2 1 2
L = m1 x 2 + m2 (x 2 + xlcos

+
)+ (
) kx m2 g (1 cos)
2
2
4
2 12
2
2

Lagranges equation for the rst generalized coordinate,

d L
L
( )
= Qx
dt x
x
yields the rst equation of motion.
x+
(m1 + m2 )

m2 l
m2 l 2
cos
sin + kx = 0
2
2

(1)

Lagranges equation for the second generalized coordinate,

d L
L
( )
= Q
dt

yields the second equation of motion.

(

m2 l2 m2 l2 m2 l
l
+
) +
xcos

+ m2 g sin = 0
4
12
2
2

(2)
2

Cart and Pendulum - Problem Statement

Assume that the cart and pendulum system now contain a damper/dashpot of constant b between the cart
and ground, as well as an external force, F (t) , applied to the cart.

Derive the equations of motion for this system by Lagrange. Specically, show the generalized forces.

Cart and Pendulum - Solution

Both the damper and the external force are non-conservative (forces). Consequently, they enter the
Lagrange formulation as generalized forces.
Generalized Forces

nc

N
N

finc

Ri =

n
N

Qj j

j=1

W nc = [bx + F (t)]x + [0]

Qx = bx + F (t)

Q = 0

which changes the rst equation to become,

x+
(m1 + m2 )

m2 l
m2 l 2
cos
sin + kx = bx + F (t)
2
2

So our equations of motion become

x+
(m1 + m2 )

m2 l
m2 l 2
cos
sin + bx + kx = F (t)
2
2

(3)

and

m2 l2 m2 l2 m2 l
l
(
+
) +
xcos

+ m2 g sin = 0
4
12
2
2

(4)
3

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2.003SC / 1.053J Engineering Dynamics

Fall 2011

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