Pendulums_al - % EGM 3400/3401 Classic pendulum dynamics...

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Sheet1 Page 1 % EGM 3400/3401 Classic pendulum dynamics example problems % Based on Chapter 19 in textbook % Example 1: Particle with 1 DOF % Example 2: Rod with 1 DOF % Example 3: Rod with 2 DOFs Overwrite On Frames N % n1> to the right, n2> up, and n3> = n1> x n2> Points Q Particles P Bodies B Variables theta'',Ten,Fx,Fy,x'' Mass B=m,P=m Inertia B,Ixx,Iyy,Izz,0,0,0 Constants g,l % Rotation matrices Simprot(N,B,3,theta) % Angular velocities w_B_N>=theta'*b3> % Example 1: Particle with 1 DOF % Linear velocities v_No_N>=0> p_No_P>=-l*b2> v_P_N>=v_No_N>+Cross(w_B_N>,p_No_P>) % Tension and gravity forces on P F_P>=Ten*b2>-m*g*n2> F_P>=Express(F_P>,B) M_B_P>=0> M_B_No>=Cross(p_No_P>,F_P>) % Linear momentum principle L_P_N>=m*v_P_N> Zero_Lin>=F_P>-Dt(L_P_N>,N) EqnLin1=Dot(Zero_Lin>,n1>) EqnLin2=Dot(Zero_Lin>,n2>) EqnLin3=Dot(Zero_Lin>,b1>) EqnLin4=Dot(Zero_Lin>,b2>) % Angular momentum principle about mass center P H_B_P_N>=Cross(p_P_P>,L_P_N>) Zero_Ang_P>=M_B_P>-Dt(H_B_P_N>,N) % Just gives 0> = 0>
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Pendulums_al - % EGM 3400/3401 Classic pendulum dynamics...

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