MECH326:

Dynamics of Mechanisms
Tutorial Week 2
Lecturer
Dr. Emre Sariyildiz
School of Mechanical, Materials, Mechatronic and Biomedical Engineering,
Building 8, Room 116.
Phone: 02 4221 3319
E-mail: [email protected]
Consultation Times: Available in the Subject Outline
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Prepared by Dr. E. Sariyildiz
 Example
Nonholonomic System Holonomic System

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Prepared by Dr. E. Sariyildiz
 Example Virtual Work
Solve for the angles θ1 and θ2 corresponding to a condition of static equilibrium

2l V = −mgl ( 3cos (1 ) + cos ( 2 ) )

l
l 1
1 d  d 2 
m V = mgl  3sin (1 ) + sin ( 2 ) =0
2
l l 2 m d1  d1 

l ( 2sin (1 ) + 2sin ( 2 ) ) = 2l sin (1 ) + sin ( 2 ) = 1

m

3
Prepared by Dr. E. Sariyildiz
 d
f ( x)
sin ( f ( x ) ) = dx
d −1

dx 1− f 2 ( x)

Example Virtual Work

Solve for the angles and corresponding to a condition of static equilibrium
sin (1 ) + sin ( 2 ) = 1  2 = sin −1 (1 − sin (1 ) )
2l
l
1
l 1 d 2 cos (1 )
m =−
l l m d1 1 − (1 − sin (1 ) )
2
2 2

m d 2 cos (1 )
=−
d1 cos ( 2 )
4
Prepared by Dr. E. Sariyildiz
 Example Virtual Work
Solve for the angles and corresponding to a condition of static equilibrium

d  d 2 
2l V = mgl  3sin (1 ) + sin ( 2 ) =0
l d1  d1 
1
l 1
m
d 2 cos (1 )
2
l l 2 m =−
d1 cos ( 2 ) 1 = 17.82o
m  2 = 43.95o
3 tan (1 ) = tan ( 2 )
Second Equilibrium
Prepared by Dr. E. Sariyildiz
sin (1 ) + sin ( 2 ) = 1 Angles? 5
 Example 1
Derive the differential equation of motion of a double pendulum shown in figure.

v1 = l

(
v2 = l  +  + 2 cos ( −  ) )
1/ 2
2 2

1 2
(
T = ml 2 2 +  2 + 2 cos ( −  )
2
)
V = −mgl ( 2 cos  + cos  )
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 Example 1
Derive the differential equation of motion of a double pendulum shown in figure.

V = −mgl ( 2 cos  + cos  )

V = mgl (1 − cos  ) +

mgl ( (1 − cos  ) + (1 − cos  ) )

= mgl ( 2 (1 − cos  ) + (1 − cos  ) )

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 Example 1
Derive the differential equation of motion of a double pendulum shown in figure.
1 2
2
2 2
(
T = ml 2 +  + 2 cos ( −  ) ) V = −mgl ( 2 cos  + cos  )

1 2
( )
L = ml 2 2 +  2 + 2 cos ( −  ) +
2
mgl ( 2 cos  + cos  )

8
Prepared by Dr. E. Sariyildiz
 Example 1
Derive the differential equation of motion of a double pendulum shown in figure.
1 2
( )
L = ml 2 +  + 2 cos ( −  ) + mgl ( 2 cos  + cos  )
2
2 2

L

= ml 2
(2 +  cos ( −  ) )

dt 
= ( ( ) ( )
d L ml 2 2 +  cos  −  −   −  sin  − 
( ) )
L
= ml  sin ( −  ) − 2mgl sin ( )
2

 9
Prepared by Dr. E. Sariyildiz
 Example 1
Derive the differential equation of motion of a double pendulum shown in figure.

d L L
− =0
dt  

ml 2
( 2 +  cos ( −  ) −  2
)
sin ( −  ) + 2mgl sin ( ) = 0

10
Prepared by Dr. E. Sariyildiz
 Example 1
Derive the differential equation of motion of a double pendulum shown in figure.
1 2
( )
L = ml 2 +  + 2 cos ( −  ) + mgl ( 2 cos  + cos  )
2
2 2

L

(
= ml  +  cos ( −  )
2
)
d L
dt 
2
( ( ) )
= ml  +  cos ( −  ) −   −  sin ( −  )

L
= −ml 2 sin ( −  ) − mgl sin ( )
 11
Prepared by Dr. E. Sariyildiz
 Example 1
Derive the differential equation of motion of a double pendulum shown in figure.

d L L
− =0
dt  

( )
ml  +  cos ( −  ) +  sin ( −  ) + mgl sin ( ) = 0
2 2

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 Example 1
Derive the differential equation of motion of a double pendulum shown in figure.

Small  and 
cos ( −  )  1 and sin ( −  )   − 

ml 2
( 2 +  ) + 2mgl = 0
( )
ml  +  + mgl = 0
2

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 Example 2
A particle of mass m can slide without friction on the inside of a small tube which
bent in the form of a circle of radius r. The tube rotates about a vertical diameter
with a constant angular velocity ω as shown in the figure. Write the differential
equation of motion.

(
v = r  +  sin ( ) )
1/ 2
2 2 2

1 2 2
(
T = mr  +  2 sin 2 ( )
2
)
V = mgr cos ( )
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 Example 2
A particle of mass m can slide without friction on the inside of a small tube which
bent in the form of a circle of radius r. The tube rotates about a vertical diameter
with a constant angular velocity ω as shown in the figure. Write the differential
equation of motion. 1
T=
2
2
(
mr  +  sin ( )
2 2 2
) V = mgr cos ( )

L = T −V =
1 2 2
2
( )
mr  +  2 sin 2 ( ) − mgr cos ( )
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Prepared by Dr. E. Sariyildiz
 Example 2
A particle of mass m can slide without friction on the inside of a small tube which
bent in the form of a circle of radius r. The tube rotates about a vertical diameter
with a constant angular velocity ω as shown in the figure. Write the differential
equation of motion.
L=
2
1 2 2
( )
mr  +  sin ( ) − mgr cos ( )
2 2

d L
= mr 
2

dt 
L
= mr 2 2 sin ( ) cos ( ) + mgr sin ( )
 16
Prepared by Dr. E. Sariyildiz
 Example 2
A particle of mass m can slide without friction on the inside of a small tube which
bent in the form of a circle of radius r. The tube rotates about a vertical diameter
with a constant angular velocity ω as shown in the figure. Write the differential
equation of motion.
d L L
− =0
dt  

mr  − mr  sin ( ) cos ( ) − mgr sin ( ) = 0

2 2 2

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 Example 3
A particle of mass m is connected by a massless spring of stiffness k and
unstressed length r0 to a point P which is moving along a circular path of radius a
at a uniform angular rate ω (See Figure). Assuming that the particle moves
without friction on a horizontal plane, find the differential equation of motion
v p :absolute velocity at point P
T = m ( v p + vmp )
1 2

2 vmp : velocity of m w.r.t point P

1 2 1 2
= mv p + mvmp + mv p vmp 0

2 2
T3
T1 T2
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 − a sin (t )   r cos ( ) − r sin ( ) 
vp =   vmp = 
 a cos (  t )   r sin ( )
 + r  cos ( )


Example 3
A particle of mass m is connected by a massless spring of stiffness k and
unstressed length r0 to a point P which is moving along a circular path of radius a
at a uniform angular rate ω (See Figure). Assuming that the particle moves
without friction on a horizontal plane, find the differential equation of motion
1 2 1 2 1
T = mv p + mvmp + mv p vmp
0
T1 = ma 2 2
2 2 2
T3
1
( )
T1 T2
T2 = m r 2 + r 2 2
2

(
T3 = ma r sin ( − t ) + r cos ( − t ) ) 19
Prepared by Dr. E. Sariyildiz
 Example 3
A particle of mass m is connected by a massless spring of stiffness k and
unstressed length r0 to a point P which is moving along a circular path of radius a
at a uniform angular rate ω (See Figure). Assuming that the particle moves
without friction on a horizontal plane, find the differential equation of motion

V =?
1
V = k ( r − r0 )
2

Horizontal Plane Motion !

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Prepared by Dr. E. Sariyildiz
 Example 3
A particle of mass m is connected by a massless spring of stiffness k and
unstressed length r0 to a point P which is moving along a circular path of radius a
at a uniform angular rate ω (See Figure). Assuming that the particle moves
without friction on a horizontal plane, find the differential equation of motion
L = T −V

1
( (
= m a 2 2 + r 2 + r 2 2 + 2a r sin ( − t ) + r cos ( − t )
2
))
1
− k ( r − r0 )
2

2 21
Prepared by Dr. E. Sariyildiz
 Example 3
A particle of mass m is connected by a massless spring of stiffness k and
unstressed length r0 to a point P which is moving along a circular path of radius a
at a uniform angular rate ω (See Figure). Assuming that the particle moves
without friction on a horizontal plane, find the differential equation of motion
d L L
− =0
dt  

mr 2 + 2mrr + mar 2 sin ( − t ) = 0

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Prepared by Dr. E. Sariyildiz
 Example 3
A particle of mass m is connected by a massless spring of stiffness k and
unstressed length r0 to a point P which is moving along a circular path of radius a
at a uniform angular rate ω (See Figure). Assuming that the particle moves
without friction on a horizontal plane, find the differential equation of motion
d L L
− =0
dt r r

mr − mr 2 − ma 2 cos ( − t ) + k ( r − r0 ) = 0

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 Example 4
Derive the differential equation of motion of a system shown in figure

1 1
T = m1 x1 + m2 x22
2

2 2

1 2 1
V = k1 x1 + k2 ( x2 − x1 )
2

2 2

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 Example 4
Derive the differential equation of motion of a system shown in figure
1 1 1 2 1
T = m1 x1 + m2 x22 V = k1 x1 + k2 ( x2 − x1 )
?
2 2

2 2 2 2 c
d L L
− =0
dt x1 x1
m1 x1 + k1 x1 + k2 ( x1 − x2 ) = 0
d L L
− =0
dt x2 x2
m2 x2 + k2 ( x2 − x1 ) = 0 25
Prepared by Dr. E. Sariyildiz
 Example 4
Derive the differential equation of motion of a system shown in figure
1 1 1 2 1
T = m1 x1 + m2 x22 V = k1 x1 + k2 ( x2 − x1 )
2 2

2 2 2 2
d L L
− = Q1
dt x1 x1
m1 x1 + k1 x1 + k2 ( x1 − x2 ) = F1 − c1 x1 − c2 ( x1 − x2 )
d L L
− = Q2
dt x2 x2
m2 x2 + k2 ( x2 − x1 ) = F2 − c2 ( x2 − x1 ) 26
Prepared by Dr. E. Sariyildiz
 Example 4
Derive the differential equation of motion of a system shown in figure

1 1
T = m1 y1 + m2 ( y1 + y2 )
2 2

2 2

1 1
V = k1 y1 + k2 y2
2 2

2 2

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Prepared by Dr. E. Sariyildiz
 Example 4
Derive the differential equation of motion of a system shown in figure
1 1 1 1
T = m1 y1 + m2 ( y1 + y2 ) V = k1 y1 + k2 y2
2 2 2 2

2 2 2 2

m1 y1 + m2 ( y1 + y2 ) + k1 y1 + = F + F2 − c1 y1

m2 ( y1 + y2 ) + k2 y2 = F2 − c2 y2

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Prepared by Dr. E. Sariyildiz
 Appendix: Example 1
Derive the differential equation of motion of a double pendulum shown in figure.
v1
v2
l 
 l Vector Summation
l
v 2 = v12 + v22 + 2v1v2 cos ( )
 −

 − ( ) ( ) + 2l 2 cos ( −  )
2 2
v = l
2
+ l
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 Appendix: Example 2
A particle of mass m can slide without friction on the inside of a small tube which
bent in the form of a circle of radius r. The tube rotates about a vertical diameter
with a constant angular velocity ω as shown in the figure. Write the differential
equation of motion.
Spherical Coordinates :

v = r v 2 = vr2 + v2
v = r sin ( ) 1 2 2
(
T = mr  +  2 sin 2 ( ) )
V = mgr cos ( )
2
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