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Date Content
Day 1 Review of the basics of mechanics.
(01/08) Kinematics of rigid bodies - coordinate transformation, angular velocity
vector, description of velocity and acceleration in relatively moving frames.
Day 2 Euler angles, Review of methods of momentum and angular momentum of
system of particles, inertia tensor of rigid body.
(03/08)
Dynamics of rigid bodies - Euler equations, application to motion of
symmetric tops and gyroscopes and problems of system of bodies.
Day 3 Kinetic energy of a rigid body, virtual displacement and classification of
constraints.
(05/08)
D Alemberts principle.
Day 4 Introduction to generalized coordinates, derivation of Lagrange's equation
from D Alemberts principle.
(07/08)
Small oscillations, matrix formulation, Eigen value problem and numerical
solutions.
Day 5 Modelling mechanical systems, Introduction to MATLAB, computer
generation and solution of equations of motion.
(09/08)
Introduction to complex analytic functions, Laplace and Fourier transform.
JU 2017/HL
Content
Purpose:
Focus on
4 Preview of dynamics of rigid bodies
4 Euler equations,
4 Application to motion of symmetric tops and
gyroscopes and problems of system of bodies.
JU 2017/HL
= + WxH
dt
where H = Ri x mi (w x Ri )
where
JU 2017/HL
M C
= (H
! ) fixed = (H
C
! )body + w x H ;
C C M C
= external applied torque
axis axis
w x H = - (w2w3 (I 2 - I 3 ))i
d ( Iw ) - (w3w1 (I 3 - I1 ))j
(H! )body
C axis = - (w1w2 (I1 - I 2 ))k
dt
= Iw! = (I1w!1 )i I1w!1 - w2w3 (I 2 - I 3 ) = M x
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+ (I 2w! 2 )j
I 2w! 2 - w3w1 (I 3 - I1 ) = M y Euler ' s Equations
+ (I 3w! 3 )k
I 3w! 3 - w1w2 (I1 - I 2 ) = M z
DMS6021 - Dynamics and Control of Mechanical Systems 5
Eulers Equations
4 For a reference axes coinciding with the principal axes
of inertia
The origin can be either at the mass center (C) or at a point O
fixed to the body and fixed in space
The products of inertia: Ixy = Iyz = Ixz = 0
Thus, the moment equation becomes
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dt
Where the subscripts are simplified as follows: xx = 1, yy = 2 and zz = 3
I 2w! 2 = w3w1 (I 3 - I1 )
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?
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Solution
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Exercise 2
4 A pendulum consisting of a mass, M, is suspended by a rigid rod of
length L. The pendulum is initially at rest and the mass of the rod can
be neglected. A bullet of mass m and velocity v0 impacts M and stays
embedded in it. The angle that the velocity vector v0 forms with the
horizontal is .
Find out the angle max reached by the pendulum.
Solution
JU 2017/HL