Engineering Systems Design 2

Lecture M12
Pendulum motion Eric Poon (epoon@unimelb.edu.au)

Engineering Systems Design

Melbourne School of Engineering

Batmans predicament
Let go of sling here

Engineering Systems Design

Melbourne School of Engineering

Swinging pendulum
y is the tension in the string () is the instantaneous length of the string The string is being shortened by () m/s. () is given i.e. usually specified in the question x

T
L(t) V(t)

mg
Engineering Systems Design

Melbourne School of Engineering

Finding governing equations for (t).

Using Newtons 2nd law,

Equating the coefficients of the and the vectors give

(12.1)

(12.2)
Engineering Systems Design

Melbourne School of Engineering

How do we get du/dt and dv/dt?

(12.3)

(12.4)

Engineering Systems Design

Melbourne School of Engineering

How do we get du/dt and dv/dt (cont)?

Now substitute Eqs. (12.3) and (12.4) back into Eqs. (12.1) and (12.2) gives

(12.5)

(12.6)

Engineering Systems Design

Melbourne School of Engineering

How do we get du/dt and dv/dt (cont)?

Now substitute Eqs. (12.3) and (12.4) back into Eqs. (12.1) and (12.2) gives

(12.5)

(12.6)

Engineering Systems Design

Melbourne School of Engineering

How do we get du/dt and dv/dt (cont)?

Now substitute Eqs. (12.3) and (12.4) back into Eqs. (12.1) and (12.2) gives

(12.5)

(12.6)

Engineering Systems Design

Melbourne School of Engineering

From Eq. (12.5) we get

(12.7) From Eq. (12.6) we get

(12.8) Equating (12.7) and (12.8) gives

Engineering Systems Design

Melbourne School of Engineering

(12.9) But

Substituting into Eq. (12.9) gives

(12.10)

Engineering Systems Design

Melbourne School of Engineering

(12.9) But

Substituting into Eq. (12.9) gives

(12.10)

Engineering Systems Design

Melbourne School of Engineering

If we let

(12.11)

then Eq. (12.10) becomes (12.12)

Eqs. (12.11) and Eq. (12.12) governs the equation of the mass at the end of a a string that is being shortened at a rate of V(t) m/s

Engineering Systems Design

Melbourne School of Engineering

If we let Angular velocity (12.11)

then Eq. (12.10) becomes Angular acceleration (12.12)

Eqs. (12.11) and Eq. (12.12) governs the equation of the mass at the end of a a string that is being shortened at a rate of V(t) m/s

Engineering Systems Design

Melbourne School of Engineering

L(t)
V(t)

mg

Engineering Systems Design

10

Melbourne School of Engineering

T L(t) V(t) mg Exercise M12.1 Write a MATLAB program to solve the following two equations

= 1 2 = sin

Assume that ( = 0) = 45 and ( = 0) = 0. You are also given that () = 10 3 . Plot vs for 0 < < 2. Recall that = and = . Start with MATLAB program M10p2.m

Engineering Systems Design

11

Melbourne School of Engineering

Solving the Spiderman problem (Question 3, Assignment 9)

Engineering Systems Design

12

Melbourne School of Engineering

Lecture M12 Lecture M11

Engineering Systems Design

13

Melbourne School of Engineering