ME2001-

ME101 Basic Mechanical

Basic Mechanical Engineering
Engineering

Lecture
Delivered 13
on 2021-05-04
Practice Problems of System Dynamics
Lecture 18 - Practice Problems
Prof. Dr.-Ing. Mukhtar Ullah
Engineer
Head Faryal
of Electrical Gula
Engineering
Department
FAST of Electrical
NUCES, Engineering,
Islamabad
NUCES FAST, Islamabad
Gearsets revisited (constant speed) Output
Input
p
• Speed transformation
( ) ( ) g
𝜔g = 𝑟p ∕𝑟g 𝜔p = 𝑁p ∕𝑁g 𝜔p
VCF = 𝜔g ∕𝜔p = 𝑁p ∕𝑁g
• Torque balance
Pinion (p) Gear (g)
𝑇p = 𝑟p 𝐹, 𝑇g = 𝑟g 𝐹
• Torque trasformation Pitch circles
( ) ( )
Tg
𝑇g = 𝑟g ∕𝑟p 𝑇p = 𝑁g ∕𝑁p 𝑇p g

TCF = 𝑇g ∕𝑇p = 𝑁g ∕𝑁p Tp

p
• Power in each gear F

𝑃g = 𝑇g 𝜔g = 𝑇p 𝜔p = 𝑃p
• Power input to the system
F
𝑃in = 𝑃p − 𝑃g = 0
 I1
Example 3.3.1 (Palm III)
Consider the spur gears shown on the right. Derive the
expression for the equivalent inertia 𝐼𝑒 felt on the input shaft, T1
ω1 ω
and obtain the equation of motion in terms of the speed 𝜔1 . N = ω12
ω2
Kinetic energy of the system T2
1 1 1( )
K.E. = 𝐼1 𝜔12 + 𝐼2 𝜔22 = 𝐼1 + 𝐼2 ∕𝑁 2 𝜔12
2 2 2 I2
Equivalent inertia felt on the input shaft
𝐼𝑒 = 𝐼1 + 𝐼2 ∕𝑁 2
Power input to the system
𝑃in = 𝑇1 𝜔1 + 𝑇2 𝜔2 = (𝑇1 + 𝑇2 ∕𝑁) 𝜔1
Equivalent external torque felt on the input shaft
𝑇𝑒 = 𝑇1 + 𝑇2 ∕𝑁
Equation of motion
𝐼𝑒 𝜔̇ 1 = 𝑇𝑒
Example 3.3.2 (Palm III)
For the same geared system (of the last problem), the inertias
in kg ⋅ m2 are 𝐼1 = 0.1, for the motor shaft and 𝐼2 = 0.4 for
the load shaft. The motor speed 𝜔1 is five times larger than the
load speed 𝜔2 , so this device is called a speed reducer. Obtain
the equation of motion (a) in terms of 𝜔1 and (b) in terms of
𝜔2 , assuming that the motor torque 𝑇1 and load torque 𝑇2 are
given.
(a) Equations in terms of 𝜔1 :
𝐼𝑒 = 𝐼1 + 𝐼2 ∕𝑁 2 = 0.1 + 0.4∕52
𝑇𝑒 = 𝑇1 + 𝑇2 ∕𝑁 = 𝑇1 + 𝑇2 ∕5
𝐼𝑒 𝜔̇ 1 = 𝑇𝑒
(b) Equations in terms of 𝜔2 :
𝐼𝑒out = 𝑁 2 𝐼1 + 𝐼2 = 52 × 0.1 + 0.4
𝑇𝑒out = 𝑁𝑇1 + 𝑇2 = 5𝑇1 + 𝑇2
𝐼𝑒out 𝜔̇ 2 = 𝑇𝑒out
Example 3.3.3 (Palm III)
I4
For the system shown on the right, assume that the shaft
inertias are small. The remaining inertias in kg ⋅ m2 are I1
𝐼1 = 0.005, 𝐼2 = 0.01, 𝐼3 = 0.02, 𝐼4 = 0.04, and 𝐼5 = 0.2. T ω1
I2 ω2
The speed ratios are
𝜔1 ∕𝜔2 = 3∕2, 𝜔2 ∕𝜔3 = 2
I3
Obtain the equation of motion in terms of 𝜔3 . The torque 𝑇
ω3 I5
is given.
Equivalent inertia felt on the output shaft
2 2
𝐼𝑒out = (𝜔1 ∕𝜔3 ) (𝐼1 + 𝐼5 ) + (𝜔2 ∕𝜔3 ) 𝐼2 + (𝐼3 + 𝐼5 )
Equivalent external torque felt on the output shaft
𝑇𝑒out = (𝜔1 ∕𝜔3 ) 𝑇
Equation of motion
𝐼𝑒out 𝜔̇ 3 = 𝑇𝑒out
Example 3.3.4 (Palm III) R
θ
A rack-and-pinion, shown on the right, is used to convert T
I
x
rotation into translation. The input shaft rotates through the
angle 𝜃 as a result of the torque 𝑇 produced by a motor. The
m
pinion rotates and causes the rack to translate. Derive the
expression for the equivalent inertia 𝐼𝑒 felt on the input shaft.
The mass of the rack is 𝑚, the inertia of the pinion is 𝐼 , and
its mean radius is 𝑅.
Kinetic energy of the system
1 1 1( )
K.E. = 𝐼 𝜃̇ 2 + 𝑚𝑥̇ 2 = 𝐼 + 𝑚𝑅2 𝜃̇ 2
2 2 2
Equivalent inertia felt on the input shaft
𝐼𝑒 = 𝐼 + 𝑚𝑅2
Equation of motion in terms of 𝜃
𝐼𝑒 𝜃̈ = 𝑇
Example 3.3.5 (Palm III) v
Belt drives and chain drives, like those used on bicycles, have r2
similar characteristics and can be analyzed in a similar way. I2
A belt drive is shown on the right. The input shaft (shaft 1) is T1 ω
1
connected to a device (such as a bicycle crank) that produces r1 ω2
a torque 𝑇1 at a speed 𝜔1 , and drives the output shaft (shaft I1 m
2). The mean sprocket radii are 𝑟1 and 𝑟2 , and their inertias
are 𝐼1 and 𝐼2 . The belt mass is 𝑚. Derive the expression for
the equivalent inertia 𝐼𝑒 felt on the input shaft.
Kinetic energy of the system
1 1 1 1[ 2
]
K.E. = 𝐼1 𝜔12 + 𝐼2 𝜔22 + 𝑚𝑣 2 = 𝐼1 + (𝑟1 ∕𝑟2 ) 𝐼2 + 𝑚𝑟12 𝜔12
2 2 2 2
Equivalent inertia felt on the input shaft
2
𝐼𝑒 = 𝐼1 + (𝑟1 ∕𝑟2 ) 𝐼2 + 𝑚𝑟12
Equation of motion in terms of 𝜃
𝐼𝑒 𝜔̇ 1 = 𝑇1
Problem 3.19 (Palm III)
I1
The geared system shown on the right represents an elevator
system. The motor has an inertia 𝐼1 and supplies a torque ω1
T1 ω2 = 2
ω1
𝑇1 . Neglect the inertias of the gears, and assume that the
cable does not slip on the pulley. Derive an expression for ω2
the equivalent inertia 𝐼𝑒 felt on the input shaft (shaft 1). Then Pulley
derive the dynamic model of the system in terms of the speed
𝜔1 and the applied torque 𝑇1 . The pulley radius is 𝑅. I2

Equivalent inertia felt on the output shaft

𝐼2 + (𝑚2 + 𝑚3 ) 𝑅2
𝐼𝑒 = 𝐼1 +
22 Car m
Equivalent external torque felt on the output shaft 2 m3 Counterweight

(𝑚3 − 𝑚2 ) 𝑔𝑅
𝑇𝑒 = 𝑇1 + g
2
Equation of motion
𝐼𝑒 𝜔̇ 1 = 𝑇𝑒
Sliding versus Rolling Motion (Palm III) v

R
f
• Pure rolling motion (no slipping)
𝑣 = 𝑅𝜔 ft ω
• Pure sliding motion (no rotation)
N
𝜔 = 0, 𝑣 ≠ 𝑅𝜔
• Sliding and rolling motion
𝜔 ≠ 0, 𝑣 ≠ 𝑅𝜔
 v

Example 3.3.6 (Palm III)

mc y
An inextensible cable with a tension force 𝑓 = 400 N is used Rw
f mw
to pull a two-wheeled cart on a horizontal surface. The wheels x
Gω
roll without slipping. The cart has a mass 𝑚𝑐 = 100 kg. Each
wheel has a radius 𝑅𝑤 = 0.3 m. Disregard the mass of the
mc Ry
axle. The center of mass of the system is at point 𝐺 . We wish G
Rx
f Rx Ry
to solve for the translational acceleration 𝑣̇ of the cart.
2ft
1. Solve the problem assuming that the wheel masses are
mcg
negligible. 2N
Force balance for the cart
𝑚𝑐 𝑣̇ = 𝑓 − 𝑅𝑥 , 0 = 𝑅𝑦 − 𝑚𝑐 𝑔
Force and moment balance (about 𝐺 ) for the wheels
0 = −2𝑓𝑡 + 𝑅𝑥 , 0 = 2𝑁 − 𝑅𝑦 , 0 = 2𝑓𝑡 𝑅𝑤
The last equation implies 𝑓𝑡 = 0. Eliminating 𝑅𝑥 and 𝑅𝑦 from the remaining equations yields
𝑚𝑐 𝑣̇ = 𝑓