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 = xI + j = (x + cos)I + ( sin)J
2 2 2
The square of its magnitude is given by

2 l l
vG = (x + cos)2 + ( sin)2
2 2

Expanding and simplifying,

1
 2 lx l l
vG = x2 + 2 cos + ( )2 cos2 + ( )2 sin2
2 2 2

2 l2 2
vG = x2 + xlcos +
4
Kinetic Energy

1 1 1
T = m1 x2 + m2 vG 2 + IG 2
2 2 2

1 2 1 2 l2 2 1 ml2
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

1 1 l2 2 1 ml2 2 1 2 l
L = m1 x2 + m2 (x2 + 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.

m2 l m2 l 2
(m1 + m2 )x + cos sin + kx = 0 (1)
2 2

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 (2)
4 12 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

N
N n
N
nc
W = finc Ri = Qj j
i j=1

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

Qx = bx + F (t) Q = 0

which changes the rst equation to become,

m2 l m2 l 2
(m1 + m2 )x + cos sin + kx = bx + F (t)
2 2

So our equations of motion become

m2 l m2 l 2
(m1 + m2 )x + cos sin + bx + kx = F (t) (3)
2 2
and

m2 l2 m2 l2 m2 l l
( + ) + xcos
+ m2 g sin = 0 (4)
4 12 2 2
3
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2.003SC / 1.053J Engineering Dynamics

Fall 2011

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