Engineering

Dynamics
JERRY GINSBERG
Georgia Institute of Technology

Solutions to Chapter 6
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m := 500 r1 := 0.4 r2 := 0.3 κ := 0.3 μ := 0.2 g := 9.807

π
j := 1 .. 180 θj := j ⋅
360
2 2
κ + r1
Fslip := μ ⋅m ⋅g⋅
κ ⋅( cos ( θj ) + μ ⋅sin( θj ) ) + μ ⋅r1 ⋅sin( θj ) + r1 ⋅r2
j 2 2

m ⋅g
FN :=
j sin ( θj )

3
8×10
Fslip 3
j 6×10
3
FN 4×10
j
3
2×10
0
0 20 40 60 80
180
θj ⋅
π

The broken curve is the value of F that leads to N = 0. In this case it is larger than F for slippage, regardless of θ.
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⎡1 ⎛ 1
2
⎞ ⎤
HAΩ ( θ , Ω) := Ω ⋅L ⋅⎢ ⋅cos ( θ) ⎟ + 0.5⎥
2 2
⋅cos ( θ) + ⎜ 1 +
⎣ 12 ⎝ 2 ⎠ ⎦

1 2 ⎡⎛ ⎞ 2 1 2 1 ⋅Ω2 ⋅cos ( θ) 2 + 0.5⋅Ω2⎥⎤

2
1
T ( θ , θ' , Ω) := ⋅L ⋅⎢⎜ 1 + ⋅cos ( θ) ⎟ ⋅Ω + ⋅θ' +
2 ⎣⎝ 2 ⎠ 3 12 ⎦

−1
V ( θ) := ⋅g ⋅L ⋅sin ( θ)
2
π
g θ1 := 150 ⋅
Ω1 := 4 ⋅ 180 θ'1 := 0
L

( ) 2 g
H := HAΩ θ1 , Ω1 float , 5 → 3.5359⋅L ⋅
L

( ) ( )
E := T θ1 , θ'1 , Ω1 + V θ1 float , 5 → 6.8218 ⋅L ⋅g

Part a:
π H 2 g
θ2 := Ω2 := float , 5 → 2.3573 ⋅L ⋅
2 ⎡1 2 ⎤ L
⎢ ⋅cos ( θ2) 2 + ⎛⎜ 1 + 1 ⋅cos ( θ2) ⎞⎟ + 0.5⎥
⎣ 12 ⎝ 2 ⎠ ⎦
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float , 5
( ) 5 2 2 2 g
T θ2 , θ'2 , Ω2 → 4.1676⋅L ⋅g + 0.16667⋅L ⋅θ'2 Ω2 float , 5 → 2.3573⋅L ⋅
simplify L

( )
V θ2 float , 5 → −0.5⋅L ⋅g
( )
E − V θ2 − 4.1675⋅L ⋅g simplify g
θ'2 := → 4.3503⋅
0.16667⋅L
2 float , 5 L

Part b:
2
3.5359 1
F ( θ) := − ⋅sin ( θ) − 6.8218
⎛ 3 + cos ( θ) + 1 ⋅cos ( θ) 2⎞
2 ⋅⎜
2
⎟
⎝2 3 ⎠
2

0
( )
F θ1 = 3.230277 × 10
−6
F ( θ) − 2

−4 −2 ⋅ π
θ2 :=
3
−6
− 100
( ( ) )
0 100
θ2 := root F θ2 , θ2 θ2 = −133.798191⋅deg
180
θ⋅
π
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