BabybootHard

BabybootHard - File BabybootHard.al Set up problem...

This preview shows pages 1–2. Sign up to view the full content.

Sheet1 Page 1 % File: BabybootHard.al %-------------------------------------------------------------------- % Set up problem NewtonianFrame N % Fixed reference frame RigidBody A % Upper rod RigidBody B % Lower plate Point P % Attachment point of plate to rod Variable qA'' % Pendulum angle and its time-derivatives Variable qB'' % Plate angle and its time-derivative Variable FxA, FyA, FzA, TyA, TzA % Reactions on A at No Variable FxB, FyB, FzB, TxB, TyB % Reactions on B at P Constant mA, mB % Mass of A and B Constant IxxA, IyyA, IzzA Constant IxxB, IyyB, IzzB Constant L % Length of upper rod Constant H,W,D % Height, width, and depth of lower plate Constant g % Gravity AutoOverwrite On %-------------------------------------------------------------------- % Rotation matrices A.RotateX( N, qA ) % A rotates "about +x" in N by qA B.RotateZ( A, qB ) % B rotates "about +z" in A by qB %-------------------------------------------------------------------- % Angular velocities - start from N and work outward w_A_N> = qA'*Ax> w_B_A> = qB'*Az> w_B_N> = w_A_N> + w_B_A> Express( w_B_N>, B ) %-------------------------------------------------------------------- % Position vectors p_No_Acm> = -0.5*L*Az>

This preview has intentionally blurred sections. Sign up to view the full version.

View Full Document
This is the end of the preview. Sign up to access the rest of the document.

{[ snackBarMessage ]}

Page1 / 3

BabybootHard - File BabybootHard.al Set up problem...

This preview shows document pages 1 - 2. Sign up to view the full document.

View Full Document
Ask a homework question - tutors are online