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# Ex8p8 - Rolling coin problem in Section 8-8 This is also a...

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Sheet1 Page 1 % Rolling coin problem in Section 8-8 % This is also a good review of rolling contact. % % Set up problem overwrite on newtonian n frames a,b,c bodies d % so that D will have inertia % Mass center of D is point do constants r,g,i mass d=m j=m*r^2/4 i_d_do>>=j*d1>*d1>+2*j*d2>*d2>+j*d3>*d3> points dhat variables h'',l'',s'',f{3} % % Rotation matrices simprot(n,a,2,i) simprot(a,b,3,h) simprot(b,c,-1,L) simprot(c,d,2,s) % % Rotational kinematics % Note that we don't need to form w_a_n>=0> % explicitly, since a can serve as our Newtonian % reference frame just as well as N can. w_b_a>=h'*b3> w_c_b>=-l'*c1> w_d_c>=s'*d2> w_d_a>=w_b_a>+w_c_b>+w_d_c> alf_d_a>=dt(w_d_a>,d) % Million dollar formula under the covers % Could also do dt(w_d_a>,a) % Question: Why do we want to calculate alf_d_a>? % % Translational kinematics v_dhat_a>=0> % Rolling contact p_dhat_do>=r*c3> express(w_d_a>,c) v_do_a>=v_dhat_a>+cross(w_d_a>,p_dhat_do>) a_do_a>=dt(v_do_a>,a) % Million dollar formula again % Question: Could I say a_dhat_a>=0> and then used two points % fixed on a rigid body to find a_do_a>? Why or why not?

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