# 18 - P_P1_D&amp;amp;gt;=L*E1&amp;amp;gt; % State velocities...

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Sheet1 Page 1 % Kevin Menear % Multibody Dynamics - Spring '08 % Exam 2 - Problem #3 % % Particle P1 % Particle D % Point O - Newtonian origin % M1 - Mass of Particle P1 % M2 - Mass of Particle D % Q1 - Horizontal Distance from O to P1 in RF B % Q2 - Verticel Distance from O to P1 in RF B % Q3 - Angle between B and E reference frames % W - Angle between A and B reference frames % L - length of body R PAUSE 0 FRAMES B, E POINTS O PARTICLES P1, D CONSTANTS M1, M2, L, W, G VARIABLES Q{3}',U{3}', Wt % Define Newtonian Reference Frame NEWTONIAN A % Define Masses of bodies J,K,L MASS P1=M1, D=M2 % Define Orientation of Bodies and Reference Frames SIMPROT(A,B,2,Wt) SIMPROT(B,E,3,Q3) % Define positions of key points P_O_P1>=Q1*B1>+Q2*B2>

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Unformatted text preview: P_P1_D&gt;=L*E1&gt; % State velocities and angular velocities of key points V_O_A&gt;=0&gt; W_B_A&gt;=W*B2&gt; W_E_B&gt;=U3*E3&gt; V_P1_A&gt;=Dt(P_O_P1&gt;,A) V_D_A&gt;=Dt(P_O_D&gt;,A) V_D_B&gt;=Dt(P_O_D&gt;,B) % Create Kinematical Differential Equations EQS=[U1-Dot(V_P1_A&gt;,E1&gt;) SOLVE(EQS,Q1',Q2',Q3') % Inform AUTOLEV that U3 and U4 are auxiliary and they should be constrained out DEPENDENT[1]=Dot(V_D_B&gt;,E2&gt;) CONSTRAIN(DEPENDENT[U3]) Sheet1 Page 2 % Specification of Applied Loads GRAVITY(-G*A2&gt;) % Solve for generalized active and generalized inertia forces FR() FRSTAR() ZERO=FR()+FRSTAR() % Form Kane's Dynamical Equations KANE() SAVE HW4_P4.all Sheet1 Page 3 U2-Dot(V_P1_A&gt;,E2&gt;) Q3'-U3] Sheet1 Page 4...
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## 18 - P_P1_D&amp;amp;gt;=L*E1&amp;amp;gt; % State velocities...

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