Dynamic System Analysis

MECH 432

Transactional Mechanical Motion

Ideal Pulley
The Ideal Pulley

• A pulley can be used to change the

direction of motion of a translational
mechanical system.

• An ideal pulley has a no mass and no

friction. Furthermore, we assume that
there is no slippage between the cable and
the surface of the cylinder (i.e., same
velocity).

• We also assume the cable is always in

tension but does not stretch (add spring in
series to the model if necessary).
Example 2.7 Animate the
pulley
• Find the equations of motion
 Example 2.7
• Find the equations of motion

For 𝑀1 :
For 𝑀2 :
𝐾1 (𝑥2 − 𝑥1 )
Resistive:
Resistive:
𝐾1 : 𝑓𝐾1 = 𝐾1 (𝑥1 − 𝑥2 )
𝐾2 : 𝑓𝐾1 = 𝐾2 𝑥2 − 𝑥𝑤𝑎𝑙𝑙
𝑀1 : 𝑓𝐼 = 𝑀1 𝑥1ሷ
= 𝐾2 𝑥2
𝐵: 𝑓𝐵 = 𝐵1 𝑥1ሶ
𝐾1 : 𝑓𝐾1 = 𝐾1 𝑥2 − 𝑥1
𝑀2 : 𝑓𝐼 = 𝑀2 𝑥2ሷ
Assistive:
𝑓𝑎 : +𝑓𝑎 (𝑡) 𝐵2 : 𝑓𝐵 = 𝐵2 (𝑥ሶ 2 −
𝑥𝑤𝑎𝑙𝑙
ሶ )=𝐵2 𝑥2ሶ

𝑀1 𝑥ሷ 1 + 𝐵1 𝑥ሶ 1 + 𝐾1 𝑥1 − 𝑥2 = +𝑓𝑎 (𝑡) Assistive:

𝑀𝑔: −𝑀2 𝑔
𝑀2 𝑥ሷ 2 + 𝐵2 𝑥ሶ 2 + 𝐾1 𝑥2 − 𝑥1 + 𝐾2 𝑥2 = −𝑀2 𝑔

Ensure that x2<x1, otherwise the string will be loaded in compression!

Example 2.7

𝑀1 𝑥ሷ 1 + 𝐵1 𝑥ሶ 1 + 𝐾1 𝑥1 − 𝑥2 = +𝑓𝑎 (𝑡)
𝑀2 𝑥ሷ 2 + 𝐵2 𝑥ሶ 2 + 𝐾1 𝑥2 − 𝑥1 + 𝐾2 𝑥2 = 0

𝑀1 𝑥ሷ 1 + 𝐵1 𝑥ሶ 1 + 𝐾1 𝑥1 − 𝑥2 = +𝑓𝑎 (𝑡)
𝑀2 𝑥ሷ 2 + 𝐵2 𝑥ሶ 2 + 𝐾1 𝑥2 − 𝑥1 + 𝐾2 𝑥2 = −𝑀2 𝑔