MSMS 2015-2016

2014-2015
Basilio Bona DAUIN PoliTo

Problem 5
Same as Problem 4, but with a torsion spring inserted as in Figure 1. All the remaining
masses, inertias, parameters, etc., are invariate.

Questions
Answer to the following questions:
 T
1. Compute the new potential energy of the system if g 0 = 0 G 0 , and the P = 0
line is that across the origin of R0 and the torsion spring has a elastic coefficient
k = 103 N m1 and a rest angle = 0.

2. Write the two new second order differential equations obtained using the modified
potential energy.

3. Find the linear state equations of the system around the condition q1 = 45 .

1
MSMS Problem 2014-2015 2

Figure 1: Problem 4.