ME 3600 Control Systems

Equations of Motion of a Simple Pendulum and Accelerating Simple Pendulum

Simple Pendulum
o A simple pendulum with end mass m is shown
in the figure to the right. The end mass is
assumed to be connected to the support with a
light, slender, rigid rod of length .
o The differential equation of motion of the
pendulum may be found by summing forces in
the tangential (e t ) direction. Referring to the
free body diagram, we write

Ft mat

mg sin( ) m

or

g sin( ) 0

(1)

o The solution of this differential equation describes the movement of the pendulum for
any initial conditions.
o Equilibrium Positions: These are found by setting 0 in the differential equation of
motion (1). Hence, the pendulum has two equilibrium positions: eq 0, .
o Linearized Equation of Motion: eq 0

To study small motions of the pendulum

about the equilibrium position eq 0 , we let eq and linearize the equation of

motion (1) about that position. This is done by linearizing the function f ( ) sin( )
about 0 .

df

f d

o Hence, the approximate linear equation of motion for small motions about 0 is

g 0

o The solution of this differential equation describes small movements of the pendulum
about 0 .

Kamman ME 3600 page: 1/2

Accelerating Simple Pendulum

o An accelerating simple pendulum with end mass m
is shown in the figure to the right. The end mass is
assumed to be connected to the accelerating base with
a light, slender, rigid rod of length .
o The base accelerates at a constant rate a0 to the left.
The acceleration of mass m may be found using the
relative acceleration equation as follows:

e e
a cos( ) e a sin( ) e

am a A am / A a0 i

o The differential equation of motion of the pendulum may be found by summing forces
in the tangential (e t ) direction. Referring to the free body diagram, we write

Ft mat

mg sin( ) m a0 cos( )

g sin( ) a cos( ) 0
0

o The solution of this differential equation describes the movement of the pendulum for
any initial conditions.
o Equilibrium Positions: As before, these are found by setting 0 . Hence, the

accelerating pendulum has two equilibrium positions: eq tan 1 g0 . For example, if

a0 0.5 g , then eq tan 1 (0.5) 26.57o ,206.57o .

o Linearized Equation of Motion: a0 0.5g and eq 26.57o

To study small motion

of the pendulum about eq 26.57o , we let eq and linearize the equation of

motion about that position. This is done
g
f ( ) sin( ) 12 cos( ) about eq 26.57o .
df
f ( )
d

g
cos( ) 12 sin( )

eq

eq

by

linearizing

1.118

the

function

o The approximate linear equation of motion for small motion about 26.57o is

1.118

o The solution of this differential equation describes small movements of the pendulum
about 26.57o .
Kamman ME 3600 page: 2/2