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1.053/2.003 Dynamics and Control I Fall 2006 Problem Set 7: 1. Oscillating Slender Rod

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Vaibhav Gupta

This document contains instructions for problem set 7 of the Dynamics and Control I course. It describes 4 problems involving mechanical systems and asks students to choose generalized coordinates and derive equations of motion using the Lagrangian approach. The 4 systems are: 1) an oscillating slender rod in an L-shaped groove attached to springs, 2) a double pendulum made of two rods, 3) two carts connected by a bar and springs, and 4) a wheeled pendulum with an inverted pendulum attached to a rolling disk.

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1.053/2.003 Dynamics and Control I Fall 2006 Problem Set 7: 1. Oscillating Slender Rod

Uploaded by

Vaibhav Gupta
37 views4 pages
This document contains instructions for problem set 7 of the Dynamics and Control I course. It describes 4 problems involving mechanical systems and asks students to choose generalized coordinates and derive equations of motion using the Lagrangian approach. The 4 systems are: 1) an oscillating slender rod in an L-shaped groove attached to springs, 2) a double pendulum made of two rods, 3) two carts connected by a bar and springs, and 4) a wheeled pendulum with an inverted pendulum attached to a rolling disk.

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This document contains instructions for problem set 7 of the Dynamics and Control I course. It describes 4 problems involving mechanical systems and asks students to choose generalized coordinates and derive equations of motion using the Lagrangian approach. The 4 systems are: 1) an oscillating slender rod in an L-shaped groove attached to springs, 2) a double pendulum made of two rods, 3) two carts connected by a bar and springs, and 4) a wheeled pendulum with an inverted pendulum attached to a rolling disk.

Copyright:

© All Rights Reserved
Download as PDF, TXT or read online from Scribd
Download as pdf or txt
37 views4 pages

1.053/2.003 Dynamics and Control I Fall 2006 Problem Set 7: 1. Oscillating Slender Rod

Uploaded by

Vaibhav Gupta
This document contains instructions for problem set 7 of the Dynamics and Control I course. It describes 4 problems involving mechanical systems and asks students to choose generalized coordinates and derive equations of motion using the Lagrangian approach. The 4 systems are: 1) an oscillating slender rod in an L-shaped groove attached to springs, 2) a double pendulum made of two rods, 3) two carts connected by a bar and springs, and 4) a wheeled pendulum with an inverted pendulum attached to a rolling disk.

Copyright:

© All Rights Reserved
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1.053/2.

003 Dynamics and Control I


Fall 2006

Problem Set 7
Out: Monday, October 29th, 2007

Due: Monday, November 5th, 2007

1. Oscillating slender rod

An L-shaped groove is shown in the figure below. Two ends of a slender rod of mass m
and length L are attached to identical springs, each with a spring constant k. Both the
springs are fixed to the L-shaped groove as shown in the figure below. Both the ends of
the rod are constrained to move only along the L-shaped groove. Ignore gravity for this
problem. Choose appropriate generalized coordinate(s) and derive the equation(s) of
motion for this system using the Lagrangian approach.

Cite as: Sanjay Sarma, Nicholas Makris, Yahya Modarres-Sadeghi, and Peter So, course materials for 2.003J/1.053J

Dynamics and Control I, Fall 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology.

Downloaded on [DD Month YYYY].


2. Double pendulum

A double pendulum is formed using two rigid, slender rods each of mass m and length l
as shown in the figure below. Link 1 is free to pivot about point O and link 2 is free to
pivot about point P. Note that gravity acts. Choose appropriate generalized coordinate(s)
and derive the equation(s) of motion for this system using the Lagrangian approach.

Cite as: Sanjay Sarma, Nicholas Makris, Yahya Modarres-Sadeghi, and Peter So, course materials for 2.003J/1.053J

Dynamics and Control I, Fall 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology.

Downloaded on [DD Month YYYY].


3. Carts and springs

Two carts, of masses m1 and m3 respectively, are constrained to move together by a bar of
mass m2 and length l (this can be approximated as a slender rod). The bar is connected to
the first cart via a fixed pin-joint, and to the second cart via a pin-joint that can translate
vertically in a slot. Furthermore, each cart is connected to an adjacent wall by a spring,
and both springs have stiffness k. Note that gravity acts. Choose appropriate generalized
coordinate(s) and derive the equation(s) of motion for this system using the Lagrangian
approach.

Cite as: Sanjay Sarma, Nicholas Makris, Yahya Modarres-Sadeghi, and Peter So, course materials for 2.003J/1.053J

Dynamics and Control I, Fall 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology.

Downloaded on [DD Month YYYY].


4. Wheeled pendulum

The figure below shows an inverted pendulum mounted on a rolling wheel. The wheel,
which can be modeled as a disk of radius r1 and mass m1, rolls on the flat ground without
slipping. The pendulum can be modeled as a point mass m2 at one end of a mass-less rod
of length r2. The other end of the rod is attached to the disk and is free to pivot about
point C. Note that gravity acts. Choose appropriate generalized coordinate(s) and derive
the equation(s) of motion for this system using the Lagrangian approach.

Cite as: Sanjay Sarma, Nicholas Makris, Yahya Modarres-Sadeghi, and Peter So, course materials for 2.003J/1.053J

Dynamics and Control I, Fall 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology.

Downloaded on [DD Month YYYY].

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