Engineering

Dynamics
JERRY GINSBERG
Georgia Institute of Technology

Solutions to Chapter 1
Chapter 1, Page 1
Chapter 1, Page 2
Chapter 1, Page 3
 Chapter 1, Page 4

Matlab

% Exercise 1.3: Vector calculations

clear all
omega = [-50 0 -20]';
alpha = [1500 -500 1000]';
I = [[500 0 200]; [0 800 0]; [200 0 300]];
H = I * omega;
partial_H = I * alpha;
S = 0.5 * alpha' * partial_H + alpha' * (cross(omega, H));
disp(['S = ', num2str(S)])

----
S = 1222500000

Mathcad

⎛ −50 ⎞ ⎛ 1500 ⎞
ω := ⎜ 0 ⎟ α := ⎜ −500 ⎟
⎜ ⎟ ⎜ ⎟
⎝ −20 ⎠ ⎝ 1000 ⎠
Ixx := 500 Iyy := 800 Izz := 300 Ixz := −200

⎛ Ixx 0 −Ixz ⎞ ⎛ −2.900000 × 104 ⎞

⎜ ⎟ ⎜ ⎟
I := ⎜ 0 Iyy 0 ⎟ HA := I ⋅ω = ⎜ 0.000000 ⎟
⎜ −I ⎟ ⎜ 4⎟
⎝ xz 0 Izz ⎠ ⎝ −1.600000 × 10 ⎠
⎛ 9.500000 × 105 ⎞ ⎛ ⎞
⎜ ⎟ ⎜
0.000000
⎟
partial_HA := I ⋅α = −4.000000 × 10 ⎟
⎜ 5 ω × HA = ⎜ −2.200000 × 105 ⎟
⎜ ⎟ ⎜ ⎟
⎜ 6.000000 × 105 ⎟ ⎝ 0.000000 ⎠
⎝ ⎠

( )
1 T T 9
S := ⋅α ⋅partial_HA + α ⋅ ω × HA = 1.222500 × 10
2
Chapter 1, Page 5
Chapter 1, Page 6
Chapter 1, Page 7
Chapter 1, Page 8
Chapter 1, Page 9
Chapter 1, Page 10
Chapter 1, Page 11