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    ME 563 Mechanical Vibrations Lecture #6: Lagrange's Method For Deriving Equations of Motion (Examples)

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    nils4586
    This document summarizes lecture notes on using Lagrange's method to derive equations of motion. It provides examples of applying the method to: 1) A rolling disc on a moving cart with two degrees of freedom (position and rotation). 2) A rolling disc on an incline with a torque applied, demonstrating how to account for torques rather than just forces. 3) A two degree of freedom system and checking the accuracy of the derived equations.

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    ME 563 Mechanical Vibrations Lecture #6: Lagrange's Method For Deriving Equations of Motion (Examples)

    Uploaded by

    nils4586
    65 views17 pages
    This document summarizes lecture notes on using Lagrange's method to derive equations of motion. It provides examples of applying the method to: 1) A rolling disc on a moving cart with two degrees of freedom (position and rotation). 2) A rolling disc on an incline with a torque applied, demonstrating how to account for torques rather than just forces. 3) A two degree of freedom system and checking the accuracy of the derived equations.

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    This document summarizes lecture notes on using Lagrange's method to derive equations of motion. It provides examples of applying the method to: 1) A rolling disc on a moving cart with two degrees of freedom (position and rotation). 2) A rolling disc on an incline with a torque applied, demonstrating how to account for torques rather than just forces. 3) A two degree of freedom system and checking the accuracy of the derived equations.

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    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    65 views17 pages

    ME 563 Mechanical Vibrations Lecture #6: Lagrange's Method For Deriving Equations of Motion (Examples)

    Uploaded by

    nils4586
    This document summarizes lecture notes on using Lagrange's method to derive equations of motion. It provides examples of applying the method to: 1) A rolling disc on a moving cart with two degrees of freedom (position and rotation). 2) A rolling disc on an incline with a torque applied, demonstrating how to account for torques rather than just forces. 3) A two degree of freedom system and checking the accuracy of the derived equations.

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    ME 563

    Mechanical Vibrations
    Lecture #6
    Lagranges Method for
    Deriving Equations of Motion
    (examples)

    Example
    Rolling Disc on a Moving Cart
    1
    K1
    g
    f(t)

    D
    No slip M1,Icm
    A
    M2

    3D/4

    K2
    x2

    Example
    Rolling Disc on a Moving Cart

    Eliminate constraints
    (keep x2 and 1)

    Example
    Rolling Disc on a Moving Cart
    N

    ri
    Q = (Fi,nc )
    1
    i=1

    Qx*2 = (Fi,nc )

    *
    1

    i=1

    ri
    x 2

    D
    x 2 + 1 i
    N
    2

    = f (t)i
    1
    i=1

    D
    x 2 + 1 i
    N
    2

    = f (t)i
    x 2
    i=1

    D
    = f (t)i i
    2
    D
    = f (t)
    2

    = f (t)i 1i
    = f (t)

    Example
    Rolling Disc on a Moving Cart

    Torque Example
    Rolling Disc on Incline
    In the last slide, we considered forces but what about a torque
    applied at the center of mass of the rolling disc? How
    do we compute the generalized force.

    (t)

    Torque, (t), acting


    about point C
    We need to think in terms of
    torque acting about a point

    Explanation
    Rolling Disc on Incline
    There are several things to keep in mind with a torque:
    -A torque is not a force; therefore, the generalized coordinate
    we need to use is not x.
    -Our intuition about torques and where they are applied
    can let us down; when we apply a torque, we say it is applied
    about a point in the plane, not at a point x.
    -To understand the solution, we can think in terms of
    the work done by the generalized forces; the work done by
    these forces must be equal to the actual work done by
    the forces and torques applied to the body.

    Option #1
    Rolling Disc on Incline
    So the work done by a force p(t) applied at c is:

    And the work done by a torque (t) applied about c is:

    Then we can find the generalized force by equating the


    last two expressions in the these two equations.

    Option #2
    Rolling Disc on Incline
    Or, we can solve for the generalized force by applying the
    equation we used in all the other examples we have done:
    Force p(t) at c,

    Torque (t) about c,

    Example
    Two Degree of Freedom System

    10

    Example
    Two Degree of Freedom System

    Raleighs dissipation function

    11

    Example
    Two Degree of Freedom System

    Check for accuracy through symmetry and


    positive definiteness of element matrices.

    12

    Example
    Two Degree of Freedom System

    Use of relative coordinates will distort symmetry.

    13

    Sprung Pendulum
    g
    r

    14

    Sprung Pendulum
    Rate of change of
    unit vector

    15

    Sprung Pendulum

    16

    Sprung Pendulum
    g
    r

    What if r is fixed?

    What if is fixed?

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