MCE 366 System Dynamics, Spring 2010

Problem Set 1

Reading: Chapter 2, Sections 2.1 through 2.3

Problems in Second Edition: 2.7(b), 2.10, 2.11, 2.12, 2.13, 2.14, 2.15, 2.17, 2.18, 2.19
Problems in First Edition: 2.7(b), 2.11, 2.13, 2.14, 2.15, 2.16, 2.17, 2.19, 2.20, 2.21
( indicates that the parameter values are different in the second edition.)

Solutions to Set 1

2.7 b) The answer from part (a) shows that the center of mass is a distance L = 2.808 ft
below the pivot point. Summing moments about the pivot point O gives

IO = mgL sin

where m is the total mass. From the parallel-axis theorem, treating the rod as a slender
rod, we obtain
     
1 3 3 10
IO = (5)2 + (0.5)2 + (3.5)2 = 4.022 slug ft2
12 g g g

and mgL = 13(2.808) = 36.504 ft-lb. Thus the equation of motion is

4.022 = 36.504 sin

or
+ 9.076 sin = 0

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2.10 a) Let T be the tension in the cable attached to mass m2 . See the following figure.
Then the cable force pulling up on m1 is T /2 because of the pulleys. Note also that because
of the pulleys, x = 2y. Summing forces acting on m2 parallel to the plane, we obtain

m2 y = T m2g sin (1)

Summing the vertical forces acting on m1 , we obtain

1
m1x = m1g T (2)
2
Since x = 2y, this becomes
1
2m1 y = m1 g T (3)
2
Solve for T :
T = 2m1g 4m1y (4)
Substitute this into (1) and collect the y terms to obtain

(4m1 + m2 )y = 2m1g m2 g sin (5)

The mass m1 will lift m2 if y > 0; that is, if

2m1 m2 sin > 0

Figure : for Problem 2.10

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 2.10 b) Follow the same procedure as in part (a) but include the friction force. Equation
(1) becomes
m2 y = T m2g sin d m2 g cos (6)
Equations (2) through (4) remain the same, but (5) becomes

(4m1 + m2 )y = 2m1g m2 g(d cos + sin ) (7)

The mass m1 will lift m2 if y > 0; that is, if

2m1 m2(d cos + sin ) > 0

For the case m1 = m2 /2, this becomes

1 (d cos + sin ) > 0

or
1 sin
d <
cos
2.11 The assumption in Example 2.3.2 is that the only inertia on each shaft is the concen-
trated inertia I1 and I2 at each end. This implies that the inertias of the shafts and gears
are negligible. If, on the other hand, the inertias of the shafts are not negligible, then the
kinetic energy expression becomes
1 1
KE = (I1 + Is1 ) 12 + (I2 + Is2 ) 22
2 2
or  2
1 1 1
KE = (I1 + Is1 ) 12 + (I2 + Is2 )
2 2 N
Therefore the equivalent inertia felt on the input shaft is
I2 + Is2
Ie = I1 + Is1 +
N2

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2.12 Let F be the contact force between the two gears. Let r1 and r2 be the radii of the
gears. For gear 1,
IG1 1 = T1 r1F
For gear 2,
IG2 2 = T2 + r2F
If 1 = 0 and 2 = 0, or if IG1 = IG2 = 0, then

T1 = r1 F T2 = r2 F

which give
r1 1
T1 = T2 = T 2
r2 N
So T2 = N T1 and the magnitude of T2 is |T2| = N |T1|.
Setting 1 = 2 = 0, or IG1 = IG2 = 0, is equivalent to having static equilibrium. In
this case it can be easily seen that the torque T2 must oppose T1, and therefore T2 must
have the opposite sign of T1 .

2.13 Since R is radius of the pulley, the equivalent inertia felt on shaft 1 is
1 1 1
Ie = I1 + I2 + 2 m 2 R 2 + 2 m 3 R 2
N2 N N
With N = 2,
1 
I e = I1 + I2 + m 2 R 2 + m 3 R 2
4
The equation of motion is
m2gR m3 gR gR
Ie 1 = T1 + = T1 (m3 m2)
N N 2

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2.14 The total kinetic energy is
1 1
KE = (Is + I) 2 + mx2
2 2
Substituting x = R we obtain
1 
KE = Is + I + mR2 2
2
Thus the equivalent inertia is
Ie = Is + I + mR2

2.15 The total kinetic energy is

1 1 1
KE = (I1 + IS1 ) 12 + (I2 + IS2 ) 22 + mv 2
2 2 2
Substituting 2 = r11 /r2 and v = r11 we obtain
 2
1 1 r1 1 1
KE = (I1 + IS1 ) 12 + (I2 + IS2 ) + m (r11 )2
2 2 r2 2
or "  2 #
1 r1
KE = I1 + IS1 + (I2 + IS2 ) + mr12 12
2 r2
Thus the equivalent inertia is
 2
r1
Ie = I1 + IS1 + (I2 + IS2 ) + mr12
r2

1-5
2.17 With I1 = I2 = I3 = 0, the total kinetic energy is
1 1
KE = I4 12 + I532
2 2
Substituting 2 = 1.63 and 1 = 1.62 = (1.6)23 = 2.563, and I4 = 0.03, I5 = 0.15, we
obtain
1h i 1
KE = (0.03(2.56)2 + 0.15 32 = (0.3467)32
2 2
and the equivalent inertia is Ie = 0.3467 kgm2.
The equation of motion is Ie 3 = (1.6)2T , or 0.34673 = 2.56T

The solution for Problem 2.19 in the first edition is:

With I1 = I2 = I3 = 0, the total kinetic energy is
1 1
KE = I4 12 + I532
2 2
Substituting 2 = 1.43 and 1 = 1.42 = (1.4)23 = 1.963, and I4 = 0.02, I5 = 0.1, we
obtain
1
KE = (0.177)32
2
and the equivalent inertia is Ie = 0.177 kgm2.
The equation of motion is Ie 3 = (1.4)2T , or 0.1773 = 1.96T

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2.18 The total kinetic energy is
1 1 1
KE = (I4 + I1 ) 12 + I2 22 + (I3 + I5 ) 32
2 2 2
Substituting 2 = 1.63 and 1 = 1.62 = (1.6)23 = 2.563 and the given values of the
inertias, we obtain
1h i
KE = (0.03 + 0.001)(2.56)2 + (3.84 103 )(1.6)2 + 0.0148 + 0.15 32
2
or
1
KE == (0.203 + 0.00983 + 0.1648)32
2
This simplifies to
1
KE = (0.3773)32
2
and the equivalent inertia is Ie = 0.3773 kgm2.
The equation of motion is Ie 3 = (1.6)2T , or 0.37733 = 2.56T

The solution for Problem 2.20 in the first edition is:

The total kinetic energy is
1 1 1
KE = (I4 + I1 ) 12 + I2 22 + (I3 + I5 ) 32
2 2 2
Substituting 2 = 1.43 and 1 = 1.42 = (1.4)23 = 1.963 and the given values of the
inertias, we obtain
1
KE = (0.203)32
2
and the equivalent inertia is Ie = 0.203 kgm2.
The equation of motion is Ie 3 = (1.4)2T , or 0.2033 = 1.96T

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2.19 a)
4 4 3 2 13 3
= = 3 = 2.1127
1 3 2 1 11 5
b) The torque T1 felt on shaft 4 is T1/2.127 and the equation of motion is

T1
I 4 =
2.127

The solution for Problem 2.21 in the first edition is:

a)   
4 4 3 2 7 3
= = 3 = 2.1
1 3 2 1 6 5
b) The torque T1 felt on shaft 4 is T1/2.1 and the equation of motion is

T1
I 4 =
2.1

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