KTH Mechanics

2006 10 24

Advanced Engineering Dynamics, 5C1150

Solutions to Exam, 2006 10 24
Calculational problems
Problem 1: A top consists of a homogeneous, straight, circular cone of mass m, height h,
and base radius r. The vertex of the cone is connected to a xed point O by means of a ball
and socket joint, so that the cone can rotate freely about O. The plane that passes through
the axis of the cone and the vertical through O rotates with constant angular velocity
about the vertical through O. The angle between the axis and the vertical remains xed.
Determine the angular velocity of the cone relative to this plane.
z

W
a

r
h
y
O
x

= M one obtains, using the Resal or B-system, that

Solution 1: From L
dB
L +O B L = M
dt
B
O A
B
Here O B = (sin eB
2 + cos e3 ). The angular velocity of the cone is = sin e2 +
B
( cos + ) e3 . The angular momentum of the cone with respect to O is then:
B
B
B
B
L1 eB
1 + L2 e2 + L3 e3 = J1 sin e2 + J3 ( cos + ) e3

since the B-system is a principal

axes


 system of the cone even if it is not body xed. Here
3
3
r2
2
2
J3 = 10 mr and J1 = 5 m h + 4 . We also have that,
3
M = hmg sin eB
1,
4
since the center of mass of the cone is at height h/4 from the base. Since all components
of L in the B-system are constant we now get O B L = M which gives


3
r2
3
mr2 ( cos + ) sin m h2 +
10
5
4

3
2 cos sin = hmg sin
4

Solving for one obtains: Answer:



4h2 r2
2r2

cos +

5 hg
.
2 r2

Problem 2: A small tube of mass m is bent in the form of a circle of radius r and
is pivoted about a xed point O on its circumference. A particle, also of mass m, can
slide with negligible friction inside the tube. a) Use the Lagrangian method to obtain the
equations of motion, assuming plane motion. b) Now assume small amplitude motion and
obtain the natural frequencies and the corresponding amplitude ratios.

r
m

j
m

Solution 2: The kinetic energy is T = 12 JO 2 + 12 mv 2 , with JO = 2mr2 and v = r where

() + r( + )e
r = re () + re ( + ). We get v = re
( + ) so v 2 = r2 [2 + ( + )
2+
1
2
2
2

)].
2( + )
cos()]. The kinetic energy is thus T = 2 mr [ (4+2 cos )+ +2(1+cos
The potential energy is V = 2mgr cos mgr cos( + ). Lagranges equations of motion
for the - motion and the - motion respectively are:
+ cos ) + (1
mr2 [2(2
+ cos ) (2
+ )
sin ] mgr[2 sin + sin( + )] = 0
2

mr [ + (1 + cos ) + 2 sin ] + mgr sin( + ) = 0

For small amplitude motion we have
1
1
L = T V = mr2 (62 + 4 + 2 ) + mgr[32 + 2 + 2 ]
2
2
The secular equation

 6rx + 3g

det(Mx + K) = 
 2rx + g

2rx + g
rx + g

becomes (6rx 3g)(rx g) (2rx g)2 = 0. The roots give

x1 = 12 =

g
,
2r

x2 = 22 =

2g
.
r

Then solving
(Mxa + K)aa = 0
gives
a1 /a1 = 0, a2 /a2 = 3
and this concludes this problem.




=0


Problem 3: A rigid rod of mass m and length l is motionless with = 45 when, at t = 0,

the vertical wall begins to move in the positive x-direction at constant speed v. Denote the
coordinates of the midpoint (center of mass) of the rod x, y. Assuming smooth surfaces,
and that contact with the surfaces are maintained, solve for the initial values of x,
y,
and
Find the impulse exerted on the rod by the wall at t = 0.
.
y

Wall
v

l
q
x

Solution 3: The lower end remains on the horizontal surface so there are two degrees-offreedom and we can use generalized coordinates x, . For the y-coordinate of the center of
mass we then get y = 2l sin . This gives y = 2l cos and the kinetic energy is therefore
1
1 l2
1
T = m(x 2 + y 2 ) + JG 2 = m[ (1 + 3 cos2 )2 + x 2 ].
2
2
2 12

At the initial position cos = sin = 1/ 2.

The position of the point of contact with the wall is
r P (x, ) = xP ex + yP ey = (x

l
cos )ex + l sin ey .
2

The work done by the impact force is then dW = F dr P = Fx ex

rP
x

r P d .
dx +

This gives dW = Fx dx + Fx 2l sin d. The generalized forces are thus Qx = Fx and Q =

Fx 2l sin . If we call the impulse Ix we now get for the generalized impulses Qx = Ix and
I = Ix 2l sin . The Lagrange impact equations now become:
px 0 = mx 0 = Ix
p 0 = m

5l2
l
0 = Ix
24
2 2

We also have that

l
v = x P = x +
2 2
Eliminating Ix from the rst pair of equations gives =
nally give:
3 v
Answer: x = 58 v, y = 38 v, = 2
, and Ix = m 58 v.
2 l

12
x .
5 2l

Minor calculations then

Idea problems:
Problem 4: Show that the moments of inertia of a homogeneous, straight,
circular
cone



3
3
r2
2
2
of mass m, height h, and base radius r are Jz = 10 mr and Jx = 5 m h + 4 . Here the
z-axis is the symmetry axis of the cone and the x-axis is a perpendicular axis through the
vertex.
Problem 5: Eulers dynamic equations are the components of the equation of motion
= M along the body xed principal axes system of a rigid body. Derive these and show
L
how they simplify for a symmetric top. Assume M = 0 and solve them for the symmetric
top case.
Problem 6: An n-degree-of-freedom system is described by the Lagrangian,
L(q1 , . . . , qn , q1 , . . . , qn ).
How are the generalized momenta dened? Under what conditions are these constants of
the motion? Prove this!

Each problem gives maximum 3 points. A minimum of three points on each of the calculational and idea parts is required.
Allowed equipment: Handbooks of mathematics and physics. One A4 size page with your
own compilation of formulas.
HE 06 10 24