Machine Dynamics MEng6202 Assignment Set Number 2 Fall 2013 Submission Date

31/12/13
1. Use type I Euler angles to analyze the free rotational motion of a rigid body. (a)Obtain
equations for ψ˙, θ˙, φ˙ in terms of ψ, θ, φ, assuming that the H vector points upward
in the direction of the negative Z-axis. (b) What do these equations reduce to if the
rigid body is symmetrical about its x-axis?

2. An axially symmetric rigid body of mass m has axial and transverse moments of
inertia Ia and It , where It is taken about the fixed point O. The xyz coordinate system
has its origin at O and the x-axis is the axis of symmetry. The z-axis remains
horizontal and the xy-plane is vertical. (a) Find the θ and φ differential equations of
motion. (b)
Assume the initial conditions θ(0) = 60◦, θ˙(0) = φ˙(0) = 0, ωx (0) = Ωand solve for
the minimum value of θ during the motion. Assume that I2aΩ2 = 2Itmgl.

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3. Two thin disks, each of mass m and radius r, are connected by a thin rigid axle of
mass m0 and length L, and roll without slipping on the horizontal xy-plane. (a) Using
(v, φ˙) as velocity variables, find the kinetic energy and the mass matrix. (b) If the
system is initially at rest, solve for v and φ ˙ due to a transverse horizontal impulse F
which is applied to the axle at a distance c from its centre.

4. A servomotor maintains a constant value of the spin rate φ˙ at which the disk rotates
relative to the pivoted shaft AB. The precession rate Ω is held constant by a torque
M(t) applied to the vertical shaft. Derive the differential equation governing the
unsteady nutation angle θ, and derive an expression for M as a function of θ. Then
determine all possible states of steady precession, in which θ is constant, and evaluate
the stability of each state.