Mechanical Systems

Level 3

Mechatronics Department
Course instructor

Assos .Prof. Mohamed Abdelrahman

2022
Modeling the Rotational
mechanical system
Translational System Rotational
System

෍ 𝑭 = 𝒎𝑿ሷ ෍ 𝑻 = 𝑱𝜽ሷ

𝑻𝟏 − 𝑻𝟐 = 𝑱𝜽ሷ
F Force T Torque
m Mass J Inertia Force
X Linear Displacement 𝜽 Angular
Displacement 𝑻𝟐

𝑿ሶ Velocity 𝜽ሶ Angular Velocity 𝜽

𝑿ሷ Linear acceleration 𝜽ሷ Angular
acceleration 𝑻𝟏
Torsional Torque
 Rules for solving any Rotary mechanical system:
1. The number of inertia in the system determines the minimum number of displacements

2. The point of action of a torque always has a displacement

3. Angular displacement before inertia= Angular displacement after inertia = Angular

displacement of inertia

4. The Angular displacement before the spring is not the same as the Angular displacement
after the spring

5. The Angular displacement before the damper is not equal to the Angular displacement
after the damper
Example : Find the transfer function , 𝜃1(s)/T(s), for the system of Figure
Example : Find the transfer function , 𝜃2(s)/T(s), for the system of Figure