lagrange_continu

lagrange_continu - (outermost box in the figure τ = τ...

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LAGRANGE’S EQUATIONS (CONTINUED) Mechanism in “uncoupled” inertial coordinates: (innermost box in the figure) dt d p F = ; Mv p = Mechanism in generalized coordinates: (middle box in the figure) τ = d η /dt – E k * / ∂θ ; η = I ( θ ) ω ; E k * ( θ , ω ) = ½ ω t I ( θ ) ω or ω L dt d θ L = τ with L( θ , ω ) = E k * ( θ , ω )
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Add elastic elements in generalized coordinates:
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Unformatted text preview: (outermost box in the figure) τ = τ inertial + τ elastic = d η /dt – ∂ E k * / ∂θ + ∂ E p / ∂θ or ⎥ ⎦ ⎤ ⎢ ⎣ ⎡ ∂ ∂ ω L dt d – θ ∂ ∂ L = τ with L( θ , ω ) = E k * ( θ , ω ) – E p ( θ )...
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This note was uploaded on 02/27/2012 for the course MECHANICAL 2.141 taught by Professor Nevillehogan during the Fall '06 term at MIT.

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lagrange_continu - (outermost box in the figure τ = τ...

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