Engineering

Dynamics
JERRY GINSBERG
Georgia Institute of Technology

Solutions to Chapter 3
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560 1440
vA := vB := ρ := 3200
3.6 3.6

⎛ 0 ⎞
⎜ ⎟ tmax :=
5200
N := 200
tmax
ω := ⎜ 0 ⎟ vA Δt :=
N
⎜ vB ⎟ vB
⎜ ⎟ n := 1 .. N + 1 tn := Δt ⋅( n − 1) sA := 5200 − vA ⋅tn θn := ⋅tn
⎝ ρ ⎠ n ρ

⎛ρ ⎞
rn := ( n)
sA
2
+ ρ − 2 ⋅sA ⋅ρ ⋅sin ( θn)
2
n
βn := asin ⎜ ⋅cos ( θn) ⎟
⎝ n
r ⎠
φn := θn − βn

3
8×10 270
3
6×10 180
180
rn 4×10
3 φn ⋅ 90
π
3
2×10 0

0 − 90
0 10 20 30 40 0 10 20 30
tn tn

Note that there is no collision because min( r ) = 51.504553

sA ⎛ sA ⎞
1 ⎜
r' n := −vA⋅cos ( βn ) − vB ⋅ ⋅sin( βn ) ⋅ −vA⋅sin( βn ) + vB ⋅ ⋅cos ( βn ) ⎟
n n
φ' n :=
ρ rn ⎝ ρ ⎠
400 8

200 6
0 φ'n 4
r' n
− 200
2
− 400
− 600 0
0 10 20 30 40 0 10 20 30 40
tn tn
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