HW4_P4_2 - V_O_A>=0>...

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% 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{5}',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> P_P1_D>=L*E1> % Create Kinematical Differential Equations Q4'=U1 Q5'=U2 Q3'=U3 % State velocities and angular velocities of key points
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Unformatted text preview: V_O_A>=0> W_B_A>=W*B2> W_E_B>=U3*E3> V_P1_A>=U1*E1>+U2*E2>-W*Q1*E3> V_D_A>=U1*E1>-(W*Q1+L*W*COS(Q3))*E3> % Inform AUTOLEV that U3 and U4 are auxiliary and they should be constrained out DEPENDENT[1]=Dot(V_D_B>,E2>) DEPENDENT[2]=Dot(V_D_B>,E3>) CONSTRAIN(DEPENDENT[U3]) % Specification of Applied Loads GRAVITY(-G*A2>) % Solve for generalized active and generalized inertia forces ZERO=FR()+FRSTAR() % Form Kane's Dynamical Equations KANE() % Specify the units for all variables and constants UNITS M1=kg, M2=kg, L=m, & Q1=m, Q2=m, T=S, Q3=rad/s & U1=m/s, U2=m/s % State quantities to be output OUTPUT T,U1,U2,Q3 % Write computer code associated with dynamics analysis CODE DYNAMICS() HW3_P4.C...
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HW4_P4_2 - V_O_A>=0>...

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