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Midterm

This document is a midterm exam for a dynamics course consisting of 3 problems worth 30, 40, and 30 points respectively. The first problem involves numerically solving and plotting the dynamics of a rigid body undergoing 3-2-1 Euler angle rotations. The second problem similarly analyzes the dynamics of a rigid body undergoing 3-2-1 rotations subject to an applied torque. The third problem analyzes the stability of equilibria and linearizes a vibrational pendulum system.

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33 views3 pages

Midterm

This document is a midterm exam for a dynamics course consisting of 3 problems worth 30, 40, and 30 points respectively. The first problem involves numerically solving and plotting the dynamics of a rigid body undergoing 3-2-1 Euler angle rotations. The second problem similarly analyzes the dynamics of a rigid body undergoing 3-2-1 rotations subject to an applied torque. The third problem analyzes the stability of equilibria and linearizes a vibrational pendulum system.

Uploaded by

Valhar
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Name: ESM 5314 October 27, 2022

Midterm Exam
Sign the following pledge: I have neither given nor received unauthorized aid on this exam.
Signature:

Exam Policies:
i) The exam is open book (any book), open notes, closed internet, and closed friends! You are
NOT allowed to use online information, talk to anyone about the exam, or work with someone on
the problems.
ii) You must submit your work as a single PDF file and include your codes as appendices.
iii) Your figures must be professional and include figure number, axes labels, legends, and caption.
iv) The exam is due at 11:59 PM on Monday, October 31. Late submissions will not be accepted.

1. A rigid body has the angular velocity 𝜔 ⃗ 𝑏/𝑖 = 0.3𝑏̂1 + 0.1𝑏̂2 − 0.3𝑏̂3 rad/s, where {𝑏̂} and
{𝑖̂} are the body and inertial frames, respectively. A 3-2-1 sequence of rotations through
angles 𝜃1 , 𝜃2 , and 𝜃3 is used to determine the orientation of the body. Initially the body
and the inertial frames coincide, i.e., at 𝑡0 = 0, the Euler angles are 𝜃1 = 𝜃2 = 𝜃3 = 0. (30
points)
a) Numerically solve and plot the Euler angles 𝜃𝑖 , 𝑖 = 1,2,3, in degrees for the first 10
seconds of the motion, i.e., from 𝑡0 to 𝑡𝑓 = 10 s.
b) Plot the rate of change of the Euler angles, i.e., 𝜃̇𝑖 , 𝑖 = 1,2,3, in rad/s from 𝑡0 to 𝑡𝑓 .
c) Briefly explain what happens around 𝑡 = 6.1 s and why.
d) One method to avoid singularity when using Euler angles is to switch to another
sequence of rotations. Which sequences of rotations are proper ones to switch into?
e) To avoid singularity, it is decided to switch into 1-2-1 sequence of rotations at 𝑡 = 5 s.
Repeat parts (a) and (b) while avoiding singularity using the switching of the sequence
of rotations technique.
2. Consider a rigid body, its principal body frame {𝑏̂} at the center of mass C of the body, and
its principal moments of inertia 𝐼1 = 1 kg.m2, 𝐼2 = 0.8 kg.m2, and 𝐼3 = 0.5 kg.m2 with
respect to that body frame. Initially the body is at rest, and the body frame and the inertial
frames coincide. A torque 𝑀 ⃗⃗ = 0.4 sin 𝑡 𝑏̂1 + 1.35 sin 2𝑡 𝑏̂2 + 0.2𝑏̂3 N.m is applied to the
body and a 3-2-1 sequence of rotations through angles 𝜃1 , 𝜃2 , and 𝜃3 is used to determine
the orientation of the body. (40 points)
a) Write the equations of motion of the body. Numerically solve and plot the components
of the angular velocity 𝜔
⃗ 𝑏/𝑖 expressed in the body frame, the Euler angles 𝜃𝑖 in degrees,
and the rate of change of the Euler angles 𝜃̇𝑖 in rad/s from 𝑡0 = 0 to 𝑡𝑓 = 10 s.
b) Briefly explain what happens around 𝑡 = 5.4 s and why.
c) To avoid singularity, it is decided to switch into 1-2-1 sequence of rotations at 𝑡 = 5 s.
Repeat part (a) while avoiding singularity using the switching technique.
3. Consider the average dynamics of a vibrational pendulum with the equation of motion:
𝜃̈ = −𝑐𝑡 𝜃̇ − 𝑎 sin 𝜃 + 𝑏 sin 2𝜃
where 𝑐𝑡 , 𝑎, and 𝑏 are positive constants and 𝜃 is the average angle of the pendulum
measured from its downward orientation. (You don’t need to worry about the physical
system itself.) (30 points)
a) For 𝑐𝑡 = 0.1 and 𝑎 = 𝑏 = 0.4 determine the stability of the equilibria of the system
using linearization.
b) Suppose that 𝜃 = 𝜃𝑒 is an equilibrium of the system. Linearize the system about 𝜃𝑒 and
determine the linearized system about that equilibrium. Numerically solve and plot the
responses of the nonlinear and linearized systems in the same figure with the initial
conditions 𝜃0 = 𝜃𝑒 + 5° and 𝜃̇0 = 0 for the first 5 or 50 seconds of the motion. Do it
for all the equilibria of the system.

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