Engineering

Dynamics
JERRY GINSBERG
Georgia Institute of Technology

Solutions to Chapter 2
Chapter 2, Page 1
Chapter 2, Page 2
Chapter 2, Page 3
Chapter 2, Page 4
Chapter 2, Page 5
Chapter 2, Page 6
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Chapter 2, Page 11
 Chapter 2, Page 12

% HW 2.12 Path variables for a roller coaster.

% Define range of x:
clear all
x = [-50:1:50];
r = [x; 0.01*x.^2; 20*(cos(pi*x/50)+1)];
r_1prime = [ones(1,length(x)); 0.02*x; -0.4*pi*sin(pi*x/50)];
r_2prime = [zeros(1,length(x)); 0.02*ones(1,length(x)); ...
-0.008*pi^2*cos(pi*x/50)];
for n = 1:length(x)
s_prime = norm(r_1prime(:,n));
e_t(:,n) = r_1prime(:,n)/s_prime;
den = sqrt((r_2prime(:,n)' * r_2prime(:,n))*s_prime^2 ...
- (r_1prime(:,n)' * r_2prime(:,n))^2);
e_n(:,n) = (r_2prime(:,n)*s_prime^2 ...
- r_1prime(:,n)*(r_1prime(:,n)' * r_2prime(:,n)))/(s_prime * den);
rho(n) = s_prime^3/den;
e_b(:,n) = cross(e_t(:,n), e_n(:,n));
end
 Chapter 2, Page 13

figure(1)
plot3(r(1,:)', r(2,:)', r(3,:)')
xlabel('x (meters)')
ylabel('y (meters)')
zlabel('z (meters)')
grid on
axis equal
figure(2)
subplot(3,1,1)
plot(x, e_t(1,:), 'k-', x, e_t(2,:), 'r:', x, e_t(3,:), 'b--')
text(0,0.5,'e_t')
subplot(3,1,2)
plot(x, e_n(1,:), 'k-', x, e_n(2,:), 'r:', x, e_n(3,:), 'b--')
text(0,0.5,'e_n')
subplot(3,1,3)
plot(x, e_b(1,:), 'k-', x, e_b(2,:), 'r:', x, e_b(3,:), 'b--')
xlabel('x (meters)')
text(0,0.5,'e_b')
legend('x comp.', 'y comp.', 'z comp.')
figure(3)
plot(x, rho)
xlabel('x (meters)')
ylabel('\rho (meters)')

1
e
t
0

x comp.
-1 y comp.
-50 0 50
z comp.
1
e
n
0

-1
-50 0 50
1
e
b
0

-1
-50 0 50
x (meters)

160

140

120

100
ρ (meters)

80

60

40

20

0
-50 0 50
x (meters)
 Chapter 2, Page 14

50
T angential
Normal
Acceleration (m/s ) 40

30

20

10

-10
-50 0 50
x (meters )
 Chapter 2, Page 15

% HW 2.13 Acceleration of a roller coaster.

% Define range of x:
clear all
gee = 9.807;
x = [-50:1:50];
y = 0.01*x.^2;
z= 20*(cos(pi*x/50)+1);
r_1prime = [ones(1,length(x)); 0.02*x; -0.4*pi*sin(pi*x/50)];
r_2prime = [zeros(1,length(x)); 0.02*ones(1,length(x)); ...
-0.008*pi^2*cos(pi*x/50)];
for n = 1:length(x)
s_prime = norm(r_1prime(:,n));
den = sqrt((r_2prime(:,n)' * r_2prime(:,n))*s_prime^2 ...
- (r_1prime(:,n)' * r_2prime(:,n))^2);
rho(n) = s_prime^3/den;
end
v = sqrt(2 * gee * (60 - z));
v_dot = 0.4 * pi * gee * sin(pi * x/50)./sqrt(1 +0.0004 * x.^2 ...
+ 0.16 * pi^2 * sin(pi * x/50).^2);
a_n = v.^2./rho;

figure(1)
plot(x, v_dot, x, a_n)
xlabel('x (meters)')
Chapter 2, Page 16
Chapter 2, Page 17
 Chapter 2, Page 18

Exercise 2.15 (cont.)

2
240 v
v := = 66.666667 ρ0 := s0 := 1000
3.6 0.5⋅9.807

⌠
⎮ 1
⎮ du → asin ( u)
2
⎮ 1−u
⌡

s s
⌠
⎮ ⎛ ξ2 ⎞ ⌠
⎮ ⎛ ξ2 ⎞
X ( s) := ⎮ cos ⎜ ⎟ dξ Y ( s) := ⎮ sin ⎜ ⎟ dξ
⎮ ⎝ 2 ⋅ρ0 ⋅s0 ⎠ ⎮ ⎝ 2 ⋅ρ0 ⋅s0 ⎠
⌡0 ⌡0
j−1
j := 1 .. 251 sj := ⋅s xj := X ( sj ) yj := Y ( sj )
250 0
200 200

150 150

yj 100 yj 100

50 50

0 0
0 400 800 0 400 800
sj xj

3
1×10
800
600
sj
5 400
4 200
2
v ⋅ sj 3 0
ρ0⋅ s0 2 0 400 800
xj
1
0
0 400 800
xj
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