pendulum_al

# Pendulum_al - PENDULUM.AL Pendulum problem in section 8-2 involving dynamics of a particle Use this problem to demonstrate inertia forces and

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Sheet1 Page 1 % PENDULUM.AL % Pendulum problem in section 8-2 involving dynamics of a particle. % Use this problem to demonstrate inertia forces and torques, how % selection of dot product directions influences the final linear % system of equations, inverse dynamics, and Netwonian reference % frames. % % Set up problem overwrite on degrees on autoz on particles p points pbar % coincident point mass p=mp frames n,e,a,b points o,q constants h+,l+,c,omega constants r=6.37814e6,g=6.6732e-11,me=5.97e24 variables q{2}'',f{2},tension zee_not=[tension,f1,f2] % % Rotation matrices sn>=-sin(c)*e1>+cos(c)*e3> simprot(e,a,1,q1) simprot(a,b,2,q2) % % Angular kinematics w_e_n>=omega*sn> w_a_e>=q1'*e1> w_b_a>=q2'*a2> w_b_n>=w_e_n>+w_a_e>+w_b_a> % % Linear kinematics v_eo_n>=0> p_eo_q>=(r+h)*e3> v_q_n>=v_eo_n>+cross(w_e_n>,p_eo_q>) % 2 points equation p_q_p>=-l*b3> v_p_n>=v_q_n>+cross(w_b_n>,p_q_p>) a_p_n>=dt(v_p_n>,n) % Million dollar formula under the covers % % Contact force on P c_force>=f1*e1>+f2*e2>+tension*b3> % % Distance force on P p_eo_p>=p_eo_q>+p_q_p> magp=mag(p_eo_p>) dirp>=unitvec(p_eo_p>) d_force>=explicit(-(g*me*mp/magp^2)*dirp>) % % Inertia force on P i_force>=-mp*a_p_n> %

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Sheet1 Page 2 % Apply zero set concept % The resultant> = 0> gives three scalar equations in the % three unknowns q1'', q2'', and tension (f1 and f2 are
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## This note was uploaded on 06/13/2011 for the course EML 5215 taught by Professor Staff during the Fall '08 term at University of Florida.

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Pendulum_al - PENDULUM.AL Pendulum problem in section 8-2 involving dynamics of a particle Use this problem to demonstrate inertia forces and

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