System Dynamics (ME 344) Homework #2

5 problems – 3 pages
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1. A mass m is attached, through an unstretchable cable, to a drum of radius R

and moment of inertia I about its axis of rotation (see Fig. 1).
a. Find the equation that describes the motion of the mass when no
torques are applied to the shaft of the drum. HINTS: split the system in
two sub-systems: falling mass and rotating drum; draw the F-B-D and
write the equations of motions of both systems. Write the kinematic
equation that links the displacement of the mass to the rotation of the
drum. Finally combine all the equations to find the answer.
b. Find the same equation of motion as in a) but this time using the
conservation of mechanical energy.

Fig. 1.

2. Consider the system shown in Fig. 2. A pulley 1 of radius R1 and moment of

inertia I1 is connected another pulley A of radius R3 by mean of an
unstrecthable belt. Pulleys A and B form a rigid body with a common hub and
moment of inertia I2.
a. Use the conservation of mechanical energy to find the equivalent
system that can be used to replace the pulleys system (pulleys only).
b. Write the kinematic equations relating the rotations between the
pulleys.
c. Use the equations found in a) and b) to determine the equivalent
moment of inertia of the pulleys system.
d. Determine the moment generated by the mass at pulley B and find the
equivalent moment felt at the pulley 1.
 e. Write the equation of motion in terms of the angular velocity of the
pulley 1 in case a moment M is applied at the shaft of the pulley 1.

Fig. 2.

3. Consider the system shown in Fig. 3, and derive an equation of motion for the
block of mass m1 – that is, find an expression for the acceleration x . The
expression should not contain any other variables but will include parameters
such as the angles β and ϕ, the radius of the cylinder R, and the cylinder’s mass
m2 (the moment of inertia of the cylinder, about its center, is 12 m2 R 2 ). There is
negligible friction between block m1 and the surface on which it slides, but
sufficient friction between the cylinder and its slope so that it rolls without
slipping. The rope connecting the block to the cylinder has negligible mass
and does not change length. The pulley over which the rope rides has
negligible friction and negligible inertia.

Fig. 3.
4. Consider the pulley system shown in Fig. 4, and derive an equation of motion
for the mass m1. Assume that: m1 > m2 and that the pulley 1 has negligible
friction and negligible inertia – that is, the tensions on the cable are the same
on both sides of this pulley. The pulley with moment of inertia I2 has radius
R2.

Fig. 4.

5. Consider the system shown in Fig. 5, and derive an equation of motion

for the block of mass m1. Assume that: m1 < m2 and that both pulleys
have negligible friction and negligible inertia.

Fig. 5.