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EX5.1Robot-aud - Copy

# EX5.1Robot-aud - Copy - Lesson 5 EX5.1 Robot Robot...

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Lesson 5 EX5.1 Robot Robot Dance (Those crazy Europeans!)

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r = 1 − 0 . 5 cos ( 2 π t) m θ = 0 . 5 − 0 . 2 sin ( 2 π t) rad . Determine the radial and transverse components of the force exerted on A by the robot’s jaws at t = 2 s. What forces are being exerted on the part? There is some type of radial motion, plus a changing angle θ . We should choose polar. F r F θ ma θ ma r e r e θ The radial force is due to friction of the grips, the transverse force is due to the normal force of the grips. r r a m F = θ θ = a m F a a ) ( sin 2 θ θ r r m mg F r - = - ) 2 ( cos θ θ θ θ r r m mg F + = - What next? Equations of motion – write them out. ) 2 cos( 5 . 0 1 t r π - = ) 2 sin( 2 . 0 5 . 0 t π θ - = ) 2 sin( 5 . 0 ) 2 ( t r π π = ) 2 cos(
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